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GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright © 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.
Preamble
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#ifndef CONFIGURATION_H
#define CONFIGURATION_H
// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
//// The following define selects which electronics board you have. Please choose the one that matches your setup
// Gen6 = 5,
#define MOTHERBOARD 5
//// Thermistor settings:
// 1 is 100k thermistor
// 2 is 200k thermistor
// 3 is mendel-parts thermistor
#define THERMISTORHEATER 3
// extruder advance constant (s2/mm3)
//
// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
//
// hooke's law says: force = k * distance
// bernoulli's priniciple says: v ^ 2 / 2 + g . h + pressure / density = constant
// so: v ^ 2 is proportional to number of steps we advance the extruder
//#define ADVANCE
#ifdef ADVANCE
#define EXTRUDER_ADVANCE_K 0.02
#define D_FILAMENT 1.7
#define STEPS_MM_E 65
//#define D_FILAMENT 2.85
//#define STEPS_MM_E 367.35
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
#endif // ADVANCE
//// Calibration variables
// X, Y, Z, E steps per unit - Metric Prusa Mendel with V9 extruder:
float axis_steps_per_unit[] = {40, 40, 3333.92,76.2};
// Metric Prusa Mendel with Makergear geared stepper extruder:
//float axis_steps_per_unit[] = {80,80,3200/1.25,1380};
//// Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool ENDSTOPS_INVERTING = false; //set to true to invert the logic of the endstops
// This determines the communication speed of the printer
#define BAUDRATE 250000
// Comment out (using // at the start of the line) to disable SD support:
//#define SDSUPPORT
//// ADVANCED SETTINGS - to tweak parameters
#include "thermistortables.h"
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
#define Y_ENABLE_ON 0
#define Z_ENABLE_ON 0
#define E_ENABLE_ON 0
// Disables axis when it's not being used.
#define DISABLE_X false
#define DISABLE_Y false
#define DISABLE_Z true
#define DISABLE_E false
// Inverting axis direction
#define INVERT_X_DIR false
#define INVERT_Y_DIR true
#define INVERT_Z_DIR false
#define INVERT_E_DIR true
//// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
#define X_HOME_DIR -1
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1
#define min_software_endstops false //If true, axis won't move to coordinates less than zero.
#define max_software_endstops true //If true, axis won't move to coordinates greater than the defined lengths below.
#define X_MAX_LENGTH 200
#define Y_MAX_LENGTH 200
#define Z_MAX_LENGTH 100
//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
float max_feedrate[] = {60000, 60000, 170, 500000};
float homing_feedrate[] = {1500,1500,120,0};
bool axis_relative_modes[] = {false, false, false, false};
//// Acceleration settings
// X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
float acceleration = 3000; // Normal acceleration mm/s^2
float retract_acceleration = 7000; // Normal acceleration mm/s^2
float max_jerk = 20*60;
long max_acceleration_units_per_sq_second[] = {7000,7000,20,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
// Not used long max_travel_acceleration_units_per_sq_second[] = {500,500,50,500}; // X, Y, Z max acceleration in mm/s^2 for travel moves
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
//#define WATCHPERIOD 5000 //5 seconds
//// The minimal temperature defines the temperature below which the heater will not be enabled
#define MINTEMP 5
// When temperature exceeds max temp, your heater will be switched off.
// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
// You should use MINTEMP for thermistor short/failure protection.
#define MAXTEMP 275
/// PID settings:
// Uncomment the following line to enable PID support.
//#define PIDTEMP
#ifdef PIDTEMP
//#define PID_DEBUG 1 // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
#define PID_MAX 156 // limits current to nozzle
#define PID_INTEGRAL_DRIVE_MAX 156.0
#define PID_dT 0.16
double Kp = 20.0;
double Ki = 1.5*PID_dT;
double Kd = 80/PID_dT;
#endif // PIDTEMP
#endif

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/* Arduino SdFat Library
* Copyright (C) 2009 by William Greiman
*
* This file is part of the Arduino SdFat Library
*
* This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
#ifndef FatStructs_h
#define FatStructs_h
/**
* \file
* FAT file structures
*/
/*
* mostly from Microsoft document fatgen103.doc
* http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx
*/
//------------------------------------------------------------------------------
/** Value for byte 510 of boot block or MBR */
uint8_t const BOOTSIG0 = 0X55;
/** Value for byte 511 of boot block or MBR */
uint8_t const BOOTSIG1 = 0XAA;
//------------------------------------------------------------------------------
/**
* \struct partitionTable
* \brief MBR partition table entry
*
* A partition table entry for a MBR formatted storage device.
* The MBR partition table has four entries.
*/
struct partitionTable {
/**
* Boot Indicator . Indicates whether the volume is the active
* partition. Legal values include: 0X00. Do not use for booting.
* 0X80 Active partition.
*/
uint8_t boot;
/**
* Head part of Cylinder-head-sector address of the first block in
* the partition. Legal values are 0-255. Only used in old PC BIOS.
*/
uint8_t beginHead;
/**
* Sector part of Cylinder-head-sector address of the first block in
* the partition. Legal values are 1-63. Only used in old PC BIOS.
*/
unsigned beginSector : 6;
/** High bits cylinder for first block in partition. */
unsigned beginCylinderHigh : 2;
/**
* Combine beginCylinderLow with beginCylinderHigh. Legal values
* are 0-1023. Only used in old PC BIOS.
*/
uint8_t beginCylinderLow;
/**
* Partition type. See defines that begin with PART_TYPE_ for
* some Microsoft partition types.
*/
uint8_t type;
/**
* head part of cylinder-head-sector address of the last sector in the
* partition. Legal values are 0-255. Only used in old PC BIOS.
*/
uint8_t endHead;
/**
* Sector part of cylinder-head-sector address of the last sector in
* the partition. Legal values are 1-63. Only used in old PC BIOS.
*/
unsigned endSector : 6;
/** High bits of end cylinder */
unsigned endCylinderHigh : 2;
/**
* Combine endCylinderLow with endCylinderHigh. Legal values
* are 0-1023. Only used in old PC BIOS.
*/
uint8_t endCylinderLow;
/** Logical block address of the first block in the partition. */
uint32_t firstSector;
/** Length of the partition, in blocks. */
uint32_t totalSectors;
};
/** Type name for partitionTable */
typedef struct partitionTable part_t;
//------------------------------------------------------------------------------
/**
* \struct masterBootRecord
*
* \brief Master Boot Record
*
* The first block of a storage device that is formatted with a MBR.
*/
struct masterBootRecord {
/** Code Area for master boot program. */
uint8_t codeArea[440];
/** Optional WindowsNT disk signature. May contain more boot code. */
uint32_t diskSignature;
/** Usually zero but may be more boot code. */
uint16_t usuallyZero;
/** Partition tables. */
part_t part[4];
/** First MBR signature byte. Must be 0X55 */
uint8_t mbrSig0;
/** Second MBR signature byte. Must be 0XAA */
uint8_t mbrSig1;
};
/** Type name for masterBootRecord */
typedef struct masterBootRecord mbr_t;
//------------------------------------------------------------------------------
/**
* \struct biosParmBlock
*
* \brief BIOS parameter block
*
* The BIOS parameter block describes the physical layout of a FAT volume.
*/
struct biosParmBlock {
/**
* Count of bytes per sector. This value may take on only the
* following values: 512, 1024, 2048 or 4096
*/
uint16_t bytesPerSector;
/**
* Number of sectors per allocation unit. This value must be a
* power of 2 that is greater than 0. The legal values are
* 1, 2, 4, 8, 16, 32, 64, and 128.
*/
uint8_t sectorsPerCluster;
/**
* Number of sectors before the first FAT.
* This value must not be zero.
*/
uint16_t reservedSectorCount;
/** The count of FAT data structures on the volume. This field should
* always contain the value 2 for any FAT volume of any type.
*/
uint8_t fatCount;
/**
* For FAT12 and FAT16 volumes, this field contains the count of
* 32-byte directory entries in the root directory. For FAT32 volumes,
* this field must be set to 0. For FAT12 and FAT16 volumes, this
* value should always specify a count that when multiplied by 32
* results in a multiple of bytesPerSector. FAT16 volumes should
* use the value 512.
*/
uint16_t rootDirEntryCount;
/**
* This field is the old 16-bit total count of sectors on the volume.
* This count includes the count of all sectors in all four regions
* of the volume. This field can be 0; if it is 0, then totalSectors32
* must be non-zero. For FAT32 volumes, this field must be 0. For
* FAT12 and FAT16 volumes, this field contains the sector count, and
* totalSectors32 is 0 if the total sector count fits
* (is less than 0x10000).
*/
uint16_t totalSectors16;
/**
* This dates back to the old MS-DOS 1.x media determination and is
* no longer usually used for anything. 0xF8 is the standard value
* for fixed (non-removable) media. For removable media, 0xF0 is
* frequently used. Legal values are 0xF0 or 0xF8-0xFF.
*/
uint8_t mediaType;
/**
* Count of sectors occupied by one FAT on FAT12/FAT16 volumes.
* On FAT32 volumes this field must be 0, and sectorsPerFat32
* contains the FAT size count.
*/
uint16_t sectorsPerFat16;
/** Sectors per track for interrupt 0x13. Not used otherwise. */
uint16_t sectorsPerTrtack;
/** Number of heads for interrupt 0x13. Not used otherwise. */
uint16_t headCount;
/**
* Count of hidden sectors preceding the partition that contains this
* FAT volume. This field is generally only relevant for media
* visible on interrupt 0x13.
*/
uint32_t hidddenSectors;
/**
* This field is the new 32-bit total count of sectors on the volume.
* This count includes the count of all sectors in all four regions
* of the volume. This field can be 0; if it is 0, then
* totalSectors16 must be non-zero.
*/
uint32_t totalSectors32;
/**
* Count of sectors occupied by one FAT on FAT32 volumes.
*/
uint32_t sectorsPerFat32;
/**
* This field is only defined for FAT32 media and does not exist on
* FAT12 and FAT16 media.
* Bits 0-3 -- Zero-based number of active FAT.
* Only valid if mirroring is disabled.
* Bits 4-6 -- Reserved.
* Bit 7 -- 0 means the FAT is mirrored at runtime into all FATs.
* -- 1 means only one FAT is active; it is the one referenced in bits 0-3.
* Bits 8-15 -- Reserved.
*/
uint16_t fat32Flags;
/**
* FAT32 version. High byte is major revision number.
* Low byte is minor revision number. Only 0.0 define.
*/
uint16_t fat32Version;
/**
* Cluster number of the first cluster of the root directory for FAT32.
* This usually 2 but not required to be 2.
*/
uint32_t fat32RootCluster;
/**
* Sector number of FSINFO structure in the reserved area of the
* FAT32 volume. Usually 1.
*/
uint16_t fat32FSInfo;
/**
* If non-zero, indicates the sector number in the reserved area
* of the volume of a copy of the boot record. Usually 6.
* No value other than 6 is recommended.
*/
uint16_t fat32BackBootBlock;
/**
* Reserved for future expansion. Code that formats FAT32 volumes
* should always set all of the bytes of this field to 0.
*/
uint8_t fat32Reserved[12];
};
/** Type name for biosParmBlock */
typedef struct biosParmBlock bpb_t;
//------------------------------------------------------------------------------
/**
* \struct fat32BootSector
*
* \brief Boot sector for a FAT16 or FAT32 volume.
*
*/
struct fat32BootSector {
/** X86 jmp to boot program */
uint8_t jmpToBootCode[3];
/** informational only - don't depend on it */
char oemName[8];
/** BIOS Parameter Block */
bpb_t bpb;
/** for int0x13 use value 0X80 for hard drive */
uint8_t driveNumber;
/** used by Windows NT - should be zero for FAT */
uint8_t reserved1;
/** 0X29 if next three fields are valid */
uint8_t bootSignature;
/** usually generated by combining date and time */
uint32_t volumeSerialNumber;
/** should match volume label in root dir */
char volumeLabel[11];
/** informational only - don't depend on it */
char fileSystemType[8];
/** X86 boot code */
uint8_t bootCode[420];
/** must be 0X55 */
uint8_t bootSectorSig0;
/** must be 0XAA */
uint8_t bootSectorSig1;
};
//------------------------------------------------------------------------------
// End Of Chain values for FAT entries
/** FAT16 end of chain value used by Microsoft. */
uint16_t const FAT16EOC = 0XFFFF;
/** Minimum value for FAT16 EOC. Use to test for EOC. */
uint16_t const FAT16EOC_MIN = 0XFFF8;
/** FAT32 end of chain value used by Microsoft. */
uint32_t const FAT32EOC = 0X0FFFFFFF;
/** Minimum value for FAT32 EOC. Use to test for EOC. */
uint32_t const FAT32EOC_MIN = 0X0FFFFFF8;
/** Mask a for FAT32 entry. Entries are 28 bits. */
uint32_t const FAT32MASK = 0X0FFFFFFF;
/** Type name for fat32BootSector */
typedef struct fat32BootSector fbs_t;
//------------------------------------------------------------------------------
/**
* \struct directoryEntry
* \brief FAT short directory entry
*
* Short means short 8.3 name, not the entry size.
*
* Date Format. A FAT directory entry date stamp is a 16-bit field that is
* basically a date relative to the MS-DOS epoch of 01/01/1980. Here is the
* format (bit 0 is the LSB of the 16-bit word, bit 15 is the MSB of the
* 16-bit word):
*
* Bits 9-15: Count of years from 1980, valid value range 0-127
* inclusive (1980-2107).
*
* Bits 5-8: Month of year, 1 = January, valid value range 1-12 inclusive.
*
* Bits 0-4: Day of month, valid value range 1-31 inclusive.
*
* Time Format. A FAT directory entry time stamp is a 16-bit field that has
* a granularity of 2 seconds. Here is the format (bit 0 is the LSB of the
* 16-bit word, bit 15 is the MSB of the 16-bit word).
*
* Bits 11-15: Hours, valid value range 0-23 inclusive.
*
* Bits 5-10: Minutes, valid value range 0-59 inclusive.
*
* Bits 0-4: 2-second count, valid value range 0-29 inclusive (0 - 58 seconds).
*
* The valid time range is from Midnight 00:00:00 to 23:59:58.
*/
struct directoryEntry {
/**
* Short 8.3 name.
* The first eight bytes contain the file name with blank fill.
* The last three bytes contain the file extension with blank fill.
*/
uint8_t name[11];
/** Entry attributes.
*
* The upper two bits of the attribute byte are reserved and should
* always be set to 0 when a file is created and never modified or
* looked at after that. See defines that begin with DIR_ATT_.
*/
uint8_t attributes;
/**
* Reserved for use by Windows NT. Set value to 0 when a file is
* created and never modify or look at it after that.
*/
uint8_t reservedNT;
/**
* The granularity of the seconds part of creationTime is 2 seconds
* so this field is a count of tenths of a second and its valid
* value range is 0-199 inclusive. (WHG note - seems to be hundredths)
*/
uint8_t creationTimeTenths;
/** Time file was created. */
uint16_t creationTime;
/** Date file was created. */
uint16_t creationDate;
/**
* Last access date. Note that there is no last access time, only
* a date. This is the date of last read or write. In the case of
* a write, this should be set to the same date as lastWriteDate.
*/
uint16_t lastAccessDate;
/**
* High word of this entry's first cluster number (always 0 for a
* FAT12 or FAT16 volume).
*/
uint16_t firstClusterHigh;
/** Time of last write. File creation is considered a write. */
uint16_t lastWriteTime;
/** Date of last write. File creation is considered a write. */
uint16_t lastWriteDate;
/** Low word of this entry's first cluster number. */
uint16_t firstClusterLow;
/** 32-bit unsigned holding this file's size in bytes. */
uint32_t fileSize;
};
//------------------------------------------------------------------------------
// Definitions for directory entries
//
/** Type name for directoryEntry */
typedef struct directoryEntry dir_t;
/** escape for name[0] = 0XE5 */
uint8_t const DIR_NAME_0XE5 = 0X05;
/** name[0] value for entry that is free after being "deleted" */
uint8_t const DIR_NAME_DELETED = 0XE5;
/** name[0] value for entry that is free and no allocated entries follow */
uint8_t const DIR_NAME_FREE = 0X00;
/** file is read-only */
uint8_t const DIR_ATT_READ_ONLY = 0X01;
/** File should hidden in directory listings */
uint8_t const DIR_ATT_HIDDEN = 0X02;
/** Entry is for a system file */
uint8_t const DIR_ATT_SYSTEM = 0X04;
/** Directory entry contains the volume label */
uint8_t const DIR_ATT_VOLUME_ID = 0X08;
/** Entry is for a directory */
uint8_t const DIR_ATT_DIRECTORY = 0X10;
/** Old DOS archive bit for backup support */
uint8_t const DIR_ATT_ARCHIVE = 0X20;
/** Test value for long name entry. Test is
(d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */
uint8_t const DIR_ATT_LONG_NAME = 0X0F;
/** Test mask for long name entry */
uint8_t const DIR_ATT_LONG_NAME_MASK = 0X3F;
/** defined attribute bits */
uint8_t const DIR_ATT_DEFINED_BITS = 0X3F;
/** Directory entry is part of a long name */
static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) {
return (dir->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME;
}
/** Mask for file/subdirectory tests */
uint8_t const DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY);
/** Directory entry is for a file */
static inline uint8_t DIR_IS_FILE(const dir_t* dir) {
return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == 0;
}
/** Directory entry is for a subdirectory */
static inline uint8_t DIR_IS_SUBDIR(const dir_t* dir) {
return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == DIR_ATT_DIRECTORY;
}
/** Directory entry is for a file or subdirectory */
static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) {
return (dir->attributes & DIR_ATT_VOLUME_ID) == 0;
}
#endif // FatStructs_h

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# Marlin Arduino Project Makefile
#
# Makefile Based on:
# Arduino 0011 Makefile
# Arduino adaptation by mellis, eighthave, oli.keller
#
# This has been tested with Arduino 0022.
#
# This makefile allows you to build sketches from the command line
# without the Arduino environment (or Java).
#
# Detailed instructions for using the makefile:
#
# 1. Modify the line containg "INSTALL_DIR" to point to the directory that
# contains the Arduino installation (for example, under Mac OS X, this
# might be /Applications/arduino-0012).
#
# 2. Modify the line containing "PORT" to refer to the filename
# representing the USB or serial connection to your Arduino board
# (e.g. PORT = /dev/tty.USB0). If the exact name of this file
# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.usb*).
#
# 3. Set the line containing "MCU" to match your board's processor.
# Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth
# or Diecimila have the atmega168. If you're using a LilyPad Arduino,
# change F_CPU to 8000000.
#
# 4. Type "make" and press enter to compile/verify your program.
#
# 5. Type "make upload", reset your Arduino board, and press enter to
# upload your program to the Arduino board.
#
# $Id$
TARGET = Marlin
INSTALL_DIR = ../../Desktop/arduino-0018/
UPLOAD_RATE = 38400
AVRDUDE_PROGRAMMER = stk500v1
PORT = /dev/ttyUSB0
#MCU = atmega2560
#For "old" Arduino Mega
#MCU = atmega1280
#For Sanguinololu
MCU = atmega644p
F_CPU = 16000000
############################################################################
# Below here nothing should be changed...
ARDUINO = $(INSTALL_DIR)/hardware/Sanguino/cores/arduino
AVR_TOOLS_PATH = $(INSTALL_DIR)/hardware/tools/avr/bin
SRC = $(ARDUINO)/pins_arduino.c wiring.c wiring_serial.c \
$(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
$(ARDUINO)/wiring_pulse.c \
$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \
$(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp
FORMAT = ihex
# Name of this Makefile (used for "make depend").
MAKEFILE = Makefile
# Debugging format.
# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
DEBUG = stabs
OPT = s
# Place -D or -U options here
CDEFS = -DF_CPU=$(F_CPU)
CXXDEFS = -DF_CPU=$(F_CPU)
# Place -I options here
CINCS = -I$(ARDUINO)
CXXINCS = -I$(ARDUINO)
# Compiler flag to set the C Standard level.
# c89 - "ANSI" C
# gnu89 - c89 plus GCC extensions
# c99 - ISO C99 standard (not yet fully implemented)
# gnu99 - c99 plus GCC extensions
#CSTANDARD = -std=gnu99
CDEBUG = -g$(DEBUG)
CWARN = -Wall -Wunused-variable
CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -w -ffunction-sections -fdata-sections -DARDUINO=22
#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CEXTRA) $(CTUNING)
CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) -Wall $(CEXTRA) $(CTUNING)
#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
LDFLAGS = -lm
# Programming support using avrdude. Settings and variables.
AVRDUDE_PORT = $(PORT)
AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex:i
AVRDUDE_FLAGS = -D -C $(INSTALL_DIR)/hardware/tools/avrdude.conf \
-p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \
-b $(UPLOAD_RATE)
# Program settings
CC = $(AVR_TOOLS_PATH)/avr-gcc
CXX = $(AVR_TOOLS_PATH)/avr-g++
OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy
OBJDUMP = $(AVR_TOOLS_PATH)/avr-objdump
AR = $(AVR_TOOLS_PATH)/avr-ar
SIZE = $(AVR_TOOLS_PATH)/avr-size
NM = $(AVR_TOOLS_PATH)/avr-nm
AVRDUDE = $(INSTALL_DIR)/hardware/tools/avrdude
REMOVE = rm -f
MV = mv -f
# Define all object files.
OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
# Define all listing files.
LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
# Combine all necessary flags and optional flags.
# Add target processor to flags.
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS)
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
# Default target.
all: applet_files_ez build sizeafter
build: elf hex
applet_files_ez: $(TARGET).pde
# Here is the "preprocessing".
# It creates a .cpp file based with the same name as the .pde file.
# On top of the new .cpp file comes the WProgram.h header.
# At the end there is a generic main() function attached.
# Then the .cpp file will be compiled. Errors during compile will
# refer to this new, automatically generated, file.
# Not the original .pde file you actually edit...
test -d applet || mkdir applet
echo '#include "WProgram.h"' > applet/$(TARGET).cpp
cat $(TARGET).pde >> applet/$(TARGET).cpp
cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp
elf: applet/$(TARGET).elf
hex: applet/$(TARGET).hex
eep: applet/$(TARGET).eep
lss: applet/$(TARGET).lss
sym: applet/$(TARGET).sym
# Program the device.
upload: applet/$(TARGET).hex
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
# Display size of file.
HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex
ELFSIZE = $(SIZE) applet/$(TARGET).elf
sizebefore:
@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
sizeafter:
@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(HEXSIZE); echo; fi
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
COFFCONVERT=$(OBJCOPY) --debugging \
--change-section-address .data-0x800000 \
--change-section-address .bss-0x800000 \
--change-section-address .noinit-0x800000 \
--change-section-address .eeprom-0x810000
coff: applet/$(TARGET).elf
$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf $(TARGET).cof
extcoff: $(TARGET).elf
$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf $(TARGET).cof
.SUFFIXES: .elf .hex .eep .lss .sym
.elf.hex:
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
.elf.eep:
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
# Create extended listing file from ELF output file.
.elf.lss:
$(OBJDUMP) -h -S $< > $@
# Create a symbol table from ELF output file.
.elf.sym:
$(NM) -n $< > $@
# Link: create ELF output file from library.
applet/$(TARGET).elf: $(TARGET).pde applet/core.a
$(CC) $(ALL_CFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
applet/core.a: $(OBJ)
@for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
# Compile: create object files from C++ source files.
.cpp.o:
$(CXX) -c $(ALL_CXXFLAGS) $< -o $@
# Compile: create object files from C source files.
.c.o:
$(CC) -c $(ALL_CFLAGS) $< -o $@
# Compile: create assembler files from C source files.
.c.s:
$(CC) -S $(ALL_CFLAGS) $< -o $@
# Assemble: create object files from assembler source files.
.S.o:
$(CC) -c $(ALL_ASFLAGS) $< -o $@
# Target: clean project.
clean:
$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/core.a \
$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
depend:
if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
then \
sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
$(MAKEFILE).$$$$ && \
$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
fi
echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
>> $(MAKEFILE); \
$(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE)
.PHONY: all build elf hex eep lss sym program coff extcoff clean depend applet_files sizebefore sizeafter

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// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
#include <WProgram.h>
#include "fastio.h"
extern "C" void __cxa_pure_virtual();
void __cxa_pure_virtual(){};
void get_command();
void process_commands();
void manage_inactivity(byte debug);
void manage_heater();
int temp2analogu(int celsius, const short table[][2], int numtemps);
float analog2tempu(int raw, const short table[][2], int numtemps);
#ifdef HEATER_USES_THERMISTOR
#define HEATERSOURCE 1
#endif
#ifdef BED_USES_THERMISTOR
#define BEDSOURCE 1
#endif
#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS)
#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS)
#if X_ENABLE_PIN > -1
#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
#else
#define enable_x() ;
#define disable_x() ;
#endif
#if Y_ENABLE_PIN > -1
#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
#else
#define enable_y() ;
#define disable_y() ;
#endif
#if Z_ENABLE_PIN > -1
#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
#else
#define enable_z() ;
#define disable_z() ;
#endif
#if E_ENABLE_PIN > -1
#define enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
#else
#define enable_e() ;
#define disable_e() ;
#endif
#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2
#define E_AXIS 3
void FlushSerialRequestResend();
void ClearToSend();
void get_coordinates();
void prepare_move();
void linear_move(unsigned long steps_remaining[]);
void do_step(int axis);
void kill(byte debug);
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct {
// Fields used by the bresenham algorithm for tracing the line
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
long step_event_count; // The number of step events required to complete this block
volatile long accelerate_until; // The index of the step event on which to stop acceleration
volatile long decelerate_after; // The index of the step event on which to start decelerating
volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
long advance_rate;
volatile long initial_advance;
volatile long final_advance;
float advance;
// Fields used by the motion planner to manage acceleration
float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
float nominal_speed; // The nominal speed for this block in mm/min
float millimeters; // The total travel of this block in mm
float entry_speed;
// Settings for the trapezoid generator
long nominal_rate; // The nominal step rate for this block in step_events/sec
volatile long initial_rate; // The jerk-adjusted step rate at start of block
volatile long final_rate; // The minimal rate at exit
long acceleration; // acceleration mm/sec^2
volatile char busy;
} block_t;
void check_axes_activity();
void plan_init();
void st_init();
void tp_init();
void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
void plan_set_position(float x, float y, float z, float e);
void st_wake_up();
void st_synchronize();

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/*
Reprap firmware based on Sprinter and grbl.
Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
This firmware is a mashup between Sprinter and grbl.
It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
(https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree)
This firmware is optimized for gen6 electronics.
*/
#include "fastio.h"
#include "Configuration.h"
#include "pins.h"
#include "Marlin.h"
#include "speed_lookuptable.h"
char version_string[] = "0.9.0";
#ifdef SDSUPPORT
#include "SdFat.h"
#endif
#ifndef CRITICAL_SECTION_START
#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli()
#define CRITICAL_SECTION_END SREG = _sreg
#endif
// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
//Implemented Codes
//-------------------
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G4 - Dwell S<seconds> or P<milliseconds>
// G28 - Home all Axis
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
//RepRap M Codes
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Wait for extruder current temp to reach target temp.
// M114 - Display current position
//Custom M Codes
// M80 - Turn on Power Supply
// M20 - List SD card
// M21 - Init SD card
// M22 - Release SD card
// M23 - Select SD file (M23 filename.g)
// M24 - Start/resume SD print
// M25 - Pause SD print
// M26 - Set SD position in bytes (M26 S12345)
// M27 - Report SD print status
// M28 - Start SD write (M28 filename.g)
// M29 - Stop SD write
// M81 - Turn off Power Supply
// M82 - Set E codes absolute (default)
// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
// M84 - Disable steppers until next move,
// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M92 - Set axis_steps_per_unit - same syntax as G92
// M115 - Capabilities string
// M140 - Set bed target temp
// M190 - Wait for bed current temp to reach target temp.
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000)
// M301 - Set PID parameters P I and D
//Stepper Movement Variables
char axis_codes[NUM_AXIS] = {
'X', 'Y', 'Z', 'E'};
float destination[NUM_AXIS] = {
0.0, 0.0, 0.0, 0.0};
float current_position[NUM_AXIS] = {
0.0, 0.0, 0.0, 0.0};
bool home_all_axis = true;
long feedrate = 1500, next_feedrate, saved_feedrate;
long gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
unsigned long axis_steps_per_sqr_second[NUM_AXIS];
// comm variables
#define MAX_CMD_SIZE 96
#define BUFSIZE 8
char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
bool fromsd[BUFSIZE];
int bufindr = 0;
int bufindw = 0;
int buflen = 0;
int i = 0;
char serial_char;
int serial_count = 0;
boolean comment_mode = false;
char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
// Manage heater variables.
int target_raw = 0;
int current_raw = 0;
unsigned char temp_meas_ready = false;
#ifdef PIDTEMP
double temp_iState = 0;
double temp_dState = 0;
double pTerm;
double iTerm;
double dTerm;
//int output;
double pid_error;
double temp_iState_min;
double temp_iState_max;
double pid_setpoint = 0.0;
double pid_input;
double pid_output;
bool pid_reset;
#endif
#ifdef WATCHPERIOD
int watch_raw = -1000;
unsigned long watchmillis = 0;
#endif
#ifdef MINTEMP
int minttemp = temp2analogh(MINTEMP);
#endif
#ifdef MAXTEMP
int maxttemp = temp2analogh(MAXTEMP);
#endif
//Inactivity shutdown variables
unsigned long previous_millis_cmd = 0;
unsigned long max_inactive_time = 0;
unsigned long stepper_inactive_time = 0;
#ifdef SDSUPPORT
Sd2Card card;
SdVolume volume;
SdFile root;
SdFile file;
uint32_t filesize = 0;
uint32_t sdpos = 0;
bool sdmode = false;
bool sdactive = false;
bool savetosd = false;
int16_t n;
void initsd(){
sdactive = false;
#if SDSS >- 1
if(root.isOpen())
root.close();
if (!card.init(SPI_FULL_SPEED,SDSS)){
//if (!card.init(SPI_HALF_SPEED,SDSS))
Serial.println("SD init fail");
}
else if (!volume.init(&card))
Serial.println("volume.init failed");
else if (!root.openRoot(&volume))
Serial.println("openRoot failed");
else
sdactive = true;
#endif
}
inline void write_command(char *buf){
char* begin = buf;
char* npos = 0;
char* end = buf + strlen(buf) - 1;
file.writeError = false;
if((npos = strchr(buf, 'N')) != NULL){
begin = strchr(npos, ' ') + 1;
end = strchr(npos, '*') - 1;
}
end[1] = '\r';
end[2] = '\n';
end[3] = '\0';
//Serial.println(begin);
file.write(begin);
if (file.writeError){
Serial.println("error writing to file");
}
}
#endif
void setup()
{
Serial.begin(BAUDRATE);
Serial.print("Marlin ");
Serial.println(version_string);
Serial.println("start");
for(int i = 0; i < BUFSIZE; i++){
fromsd[i] = false;
}
//Initialize Dir Pins
#if X_DIR_PIN > -1
SET_OUTPUT(X_DIR_PIN);
#endif
#if Y_DIR_PIN > -1
SET_OUTPUT(Y_DIR_PIN);
#endif
#if Z_DIR_PIN > -1
SET_OUTPUT(Z_DIR_PIN);
#endif
#if E_DIR_PIN > -1
SET_OUTPUT(E_DIR_PIN);
#endif
//Initialize Enable Pins - steppers default to disabled.
#if (X_ENABLE_PIN > -1)
SET_OUTPUT(X_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
#endif
#if (Y_ENABLE_PIN > -1)
SET_OUTPUT(Y_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
#endif
#if (Z_ENABLE_PIN > -1)
SET_OUTPUT(Z_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
#endif
#if (E_ENABLE_PIN > -1)
SET_OUTPUT(E_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
#endif
//endstops and pullups
#ifdef ENDSTOPPULLUPS
#if X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN);
WRITE(X_MIN_PIN,HIGH);
#endif
#if X_MAX_PIN > -1
SET_INPUT(X_MAX_PIN);
WRITE(X_MAX_PIN,HIGH);
#endif
#if Y_MIN_PIN > -1
SET_INPUT(Y_MIN_PIN);
WRITE(Y_MIN_PIN,HIGH);
#endif
#if Y_MAX_PIN > -1
SET_INPUT(Y_MAX_PIN);
WRITE(Y_MAX_PIN,HIGH);
#endif
#if Z_MIN_PIN > -1
SET_INPUT(Z_MIN_PIN);
WRITE(Z_MIN_PIN,HIGH);
#endif
#if Z_MAX_PIN > -1
SET_INPUT(Z_MAX_PIN);
WRITE(Z_MAX_PIN,HIGH);
#endif
#else
#if X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN);
#endif
#if X_MAX_PIN > -1
SET_INPUT(X_MAX_PIN);
#endif
#if Y_MIN_PIN > -1
SET_INPUT(Y_MIN_PIN);
#endif
#if Y_MAX_PIN > -1
SET_INPUT(Y_MAX_PIN);
#endif
#if Z_MIN_PIN > -1
SET_INPUT(Z_MIN_PIN);
#endif
#if Z_MAX_PIN > -1
SET_INPUT(Z_MAX_PIN);
#endif
#endif
#if (HEATER_0_PIN > -1)
SET_OUTPUT(HEATER_0_PIN);
#endif
#if (HEATER_1_PIN > -1)
SET_OUTPUT(HEATER_1_PIN);
#endif
//Initialize Step Pins
#if (X_STEP_PIN > -1)
SET_OUTPUT(X_STEP_PIN);
#endif
#if (Y_STEP_PIN > -1)
SET_OUTPUT(Y_STEP_PIN);
#endif
#if (Z_STEP_PIN > -1)
SET_OUTPUT(Z_STEP_PIN);
#endif
#if (E_STEP_PIN > -1)
SET_OUTPUT(E_STEP_PIN);
#endif
for(int i=0; i < NUM_AXIS; i++){
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
#ifdef PIDTEMP
temp_iState_min = 0.0;
temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
#endif //PIDTEMP
#ifdef SDSUPPORT
//power to SD reader
#if SDPOWER > -1
SET_OUTPUT(SDPOWER);
WRITE(SDPOWER,HIGH);
#endif
initsd();
#endif
plan_init(); // Initialize planner;
st_init(); // Initialize stepper;
tp_init(); // Initialize temperature loop
}
void loop()
{
if(buflen<3)
get_command();
if(buflen){
#ifdef SDSUPPORT
if(savetosd){
if(strstr(cmdbuffer[bufindr],"M29") == NULL){
write_command(cmdbuffer[bufindr]);
Serial.println("ok");
}
else{
file.sync();
file.close();
savetosd = false;
Serial.println("Done saving file.");
}
}
else{
process_commands();
}
#else
process_commands();
#endif
buflen = (buflen-1);
bufindr = (bufindr + 1)%BUFSIZE;
}
//check heater every n milliseconds
manage_heater();
manage_inactivity(1);
}
inline void get_command()
{
while( Serial.available() > 0 && buflen < BUFSIZE) {
serial_char = Serial.read();
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count) return; //if empty line
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
fromsd[bufindw] = false;
if(strstr(cmdbuffer[bufindw], "N") != NULL)
{
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
Serial.print("Serial Error: Line Number is not Last Line Number+1, Last Line:");
Serial.println(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if(strstr(cmdbuffer[bufindw], "*") != NULL)
{
byte checksum = 0;
byte count = 0;
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
Serial.print("Error: checksum mismatch, Last Line:");
Serial.println(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
//if no errors, continue parsing
}
else
{
Serial.print("Error: No Checksum with line number, Last Line:");
Serial.println(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
gcode_LastN = gcode_N;
//if no errors, continue parsing
}
else // if we don't receive 'N' but still see '*'
{
if((strstr(cmdbuffer[bufindw], "*") != NULL))
{
Serial.print("Error: No Line Number with checksum, Last Line:");
Serial.println(gcode_LastN);
serial_count = 0;
return;
}
}
if((strstr(cmdbuffer[bufindw], "G") != NULL)){
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
case 0:
case 1:
#ifdef SDSUPPORT
if(savetosd)
break;
#endif
Serial.println("ok");
break;
default:
break;
}
}
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
}
comment_mode = false; //for new command
serial_count = 0; //clear buffer
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
#ifdef SDSUPPORT
if(!sdmode || serial_count!=0){
return;
}
while( filesize > sdpos && buflen < BUFSIZE) {
n = file.read();
serial_char = (char)n;
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || n == -1)
{
sdpos = file.curPosition();
if(sdpos >= filesize){
sdmode = false;
Serial.println("Done printing file");
}
if(!serial_count) return; //if empty line
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
fromsd[bufindw] = true;
buflen += 1;
bufindw = (bufindw + 1)%BUFSIZE;
}
comment_mode = false; //for new command
serial_count = 0; //clear buffer
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
#endif
}
inline float code_value() {
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
}
inline long code_value_long() {
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
}
inline bool code_seen(char code_string[]) {
return (strstr(cmdbuffer[bufindr], code_string) != NULL);
} //Return True if the string was found
inline bool code_seen(char code)
{
strchr_pointer = strchr(cmdbuffer[bufindr], code);
return (strchr_pointer != NULL); //Return True if a character was found
}
inline void process_commands()
{
unsigned long codenum; //throw away variable
char *starpos = NULL;
if(code_seen('G'))
{
switch((int)code_value())
{
case 0: // G0 -> G1
case 1: // G1
get_coordinates(); // For X Y Z E F
prepare_move();
previous_millis_cmd = millis();
//ClearToSend();
return;
//break;
case 4: // G4 dwell
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
codenum += millis(); // keep track of when we started waiting
while(millis() < codenum ){
manage_heater();
}
break;
case 28: //G28 Home all Axis one at a time
saved_feedrate = feedrate;
for(int i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i];
}
feedrate = 0;
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) {
if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)){
st_synchronize();
current_position[X_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
feedrate = homing_feedrate[X_AXIS];
prepare_move();
st_synchronize();
current_position[X_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = -5 * X_HOME_DIR;
prepare_move();
st_synchronize();
destination[X_AXIS] = 10 * X_HOME_DIR;
feedrate = homing_feedrate[X_AXIS]/2 ;
prepare_move();
st_synchronize();
current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
feedrate = 0;
}
}
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)){
current_position[Y_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
feedrate = homing_feedrate[Y_AXIS];
prepare_move();
st_synchronize();
current_position[Y_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = -5 * Y_HOME_DIR;
prepare_move();
st_synchronize();
destination[Y_AXIS] = 10 * Y_HOME_DIR;
feedrate = homing_feedrate[Y_AXIS]/2;
prepare_move();
st_synchronize();
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = current_position[Y_AXIS];
feedrate = 0;
}
}
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)){
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
feedrate = homing_feedrate[Z_AXIS];
prepare_move();
st_synchronize();
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = -2 * Z_HOME_DIR;
prepare_move();
st_synchronize();
destination[Z_AXIS] = 3 * Z_HOME_DIR;
feedrate = homing_feedrate[Z_AXIS]/2;
prepare_move();
st_synchronize();
current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = current_position[Z_AXIS];
feedrate = 0;
}
}
feedrate = saved_feedrate;
previous_millis_cmd = millis();
break;
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
if(!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for(int i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) current_position[i] = code_value();
}
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
break;
}
}
else if(code_seen('M'))
{
switch( (int)code_value() )
{
#ifdef SDSUPPORT
case 20: // M20 - list SD card
Serial.println("Begin file list");
root.ls();
Serial.println("End file list");
break;
case 21: // M21 - init SD card
sdmode = false;
initsd();
break;
case 22: //M22 - release SD card
sdmode = false;
sdactive = false;
break;
case 23: //M23 - Select file
if(sdactive){
sdmode = false;
file.close();
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos!=NULL)
*(starpos-1)='\0';
if (file.open(&root, strchr_pointer + 4, O_READ)) {
Serial.print("File opened:");
Serial.print(strchr_pointer + 4);
Serial.print(" Size:");
Serial.println(file.fileSize());
sdpos = 0;
filesize = file.fileSize();
Serial.println("File selected");
}
else{
Serial.println("file.open failed");
}
}
break;
case 24: //M24 - Start SD print
if(sdactive){
sdmode = true;
}
break;
case 25: //M25 - Pause SD print
if(sdmode){
sdmode = false;
}
break;
case 26: //M26 - Set SD index
if(sdactive && code_seen('S')){
sdpos = code_value_long();
file.seekSet(sdpos);
}
break;
case 27: //M27 - Get SD status
if(sdactive){
Serial.print("SD printing byte ");
Serial.print(sdpos);
Serial.print("/");
Serial.println(filesize);
}
else{
Serial.println("Not SD printing");
}
break;
case 28: //M28 - Start SD write
if(sdactive){
char* npos = 0;
file.close();
sdmode = false;
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos != NULL){
npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos-1) = '\0';
}
if (!file.open(&root, strchr_pointer+4, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
{
Serial.print("open failed, File: ");
Serial.print(strchr_pointer + 4);
Serial.print(".");
}
else{
savetosd = true;
Serial.print("Writing to file: ");
Serial.println(strchr_pointer + 4);
}
}
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//savetosd = false;
break;
#endif
case 104: // M104
#ifdef PID_OPENLOOP
if (code_seen('S')) PidTemp_Output = code_value() * (PID_MAX/100.0);
if(pid_output > PID_MAX) pid_output = PID_MAX;
if(pid_output < 0) pid_output = 0;
#else //PID_OPENLOOP
if (code_seen('S')) {
target_raw = temp2analogh(code_value());
#ifdef PIDTEMP
pid_setpoint = code_value();
#endif //PIDTEMP
}
#ifdef WATCHPERIOD
if(target_raw > current_raw){
watchmillis = max(1,millis());
watch_raw = current_raw;
}
else{
watchmillis = 0;
}
#endif //WATCHPERIOD
#endif //PID_OPENLOOP
break;
case 105: // M105
Serial.print("ok T:");
Serial.println(analog2temp(current_raw));
return;
//break;
case 109: // M109 - Wait for extruder heater to reach target.
if (code_seen('S')) target_raw = temp2analogh(code_value());
#ifdef WATCHPERIOD
if(target_raw>current_raw){
watchmillis = max(1,millis());
watch_raw = current_raw;
}
else{
watchmillis = 0;
}
#endif
codenum = millis();
while(current_raw < target_raw) {
if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
Serial.print("T:");
Serial.println( analog2temp(current_raw));
codenum = millis();
}
manage_heater();
}
break;
case 190:
break;
case 82:
axis_relative_modes[3] = false;
break;
case 83:
axis_relative_modes[3] = true;
break;
case 84:
if(code_seen('S')){
stepper_inactive_time = code_value() * 1000;
}
else{
st_synchronize();
disable_x();
disable_y();
disable_z();
disable_e();
}
break;
case 85: // M85
code_seen('S');
max_inactive_time = code_value() * 1000;
break;
case 92: // M92
for(int i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value();
}
break;
case 115: // M115
Serial.println("FIRMWARE_NAME:Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1");
break;
case 114: // M114
Serial.print("X:");
Serial.print(current_position[X_AXIS]);
Serial.print("Y:");
Serial.print(current_position[Y_AXIS]);
Serial.print("Z:");
Serial.print(current_position[Z_AXIS]);
Serial.print("E:");
Serial.println(current_position[E_AXIS]);
break;
case 119: // M119
#if (X_MIN_PIN > -1)
Serial.print("x_min:");
Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (X_MAX_PIN > -1)
Serial.print("x_max:");
Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Y_MIN_PIN > -1)
Serial.print("y_min:");
Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Y_MAX_PIN > -1)
Serial.print("y_max:");
Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Z_MIN_PIN > -1)
Serial.print("z_min:");
Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Z_MAX_PIN > -1)
Serial.print("z_max:");
Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
Serial.println("");
break;
//TODO: update for all axis, use for loop
case 201: // M201
for(int i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
#if 0 // Not used for Sprinter/grbl gen6
case 202: // M202
for(int i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
#endif
#ifdef PIDTEMP
case 301: // M301
if(code_seen('P')) Kp = code_value();
if(code_seen('I')) Ki = code_value()*PID_dT;
if(code_seen('D')) Kd = code_value()/PID_dT;
Serial.print("Kp ");Serial.println(Kp);
Serial.print("Ki ");Serial.println(Ki/PID_dT);
Serial.print("Kd ");Serial.println(Kd*PID_dT);
temp_iState_min = 0.0;
temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
break;
#endif //PIDTEMP
}
}
else{
Serial.println("Unknown command:");
Serial.println(cmdbuffer[bufindr]);
}
ClearToSend();
}
void FlushSerialRequestResend()
{
//char cmdbuffer[bufindr][100]="Resend:";
Serial.flush();
Serial.print("Resend:");
Serial.println(gcode_LastN + 1);
ClearToSend();
}
void ClearToSend()
{
previous_millis_cmd = millis();
#ifdef SDSUPPORT
if(fromsd[bufindr])
return;
#endif
Serial.println("ok");
}
inline void get_coordinates()
{
for(int i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
else destination[i] = current_position[i]; //Are these else lines really needed?
}
if(code_seen('F')) {
next_feedrate = code_value();
if(next_feedrate > 0.0) feedrate = next_feedrate;
}
}
void prepare_move()
{
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60);
for(int i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
}
void manage_heater()
{
float pid_input;
float pid_output;
if(temp_meas_ready != true)
return;
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
#ifdef PIDTEMP
pid_input = analog2temp(current_raw);//ACT
#ifndef PID_OPENLOOP
pid_error = pid_setpoint - pid_input;
if(pid_error > 10){
pid_output = PID_MAX;
pid_reset = true;
}
else if(pid_error < -10) {
pid_output = 0;
pid_reset = true;
}
else {
if(pid_reset == true) {
temp_iState = 0.0;
pid_reset = false;
}
pTerm = Kp * pid_error;
temp_iState += pid_error;
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
iTerm = Ki * temp_iState;
#define K1 0.8
#define K2 (1.0-K1)
dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
temp_dState = pid_input;
pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
}
#endif //PID_OPENLOOP
#ifdef PID_DEBUG
Serial.print(" Input ");
Serial.print(pid_input);
Serial.print(" Output ");
Serial.print(pid_output);
Serial.print(" pTerm ");
Serial.print(pTerm);
Serial.print(" iTerm ");
Serial.print(iTerm);
Serial.print(" dTerm ");
Serial.print(dTerm);
Serial.println();
#endif //PID_DEBUG
OCR2B = pid_output;
#endif
}
int temp2analogu(int celsius, const short table[][2], int numtemps) {
int raw = 0;
byte i;
for (i=1; i<numtemps; i++) {
if (table[i][1] < celsius) {
raw = table[i-1][0] +
(celsius - table[i-1][1]) *
(table[i][0] - table[i-1][0]) /
(table[i][1] - table[i-1][1]);
break;
}
}
// Overflow: Set to last value in the table
if (i == numtemps) raw = table[i-1][0];
return 16383 - raw;
}
float analog2tempu(int raw,const short table[][2], int numtemps) {
float celsius = 0.0;
byte i;
raw = 16383 - raw;
for (i=1; i<numtemps; i++) {
if (table[i][0] > raw) {
celsius = (float)table[i-1][1] +
(float)(raw - table[i-1][0]) *
(float)(table[i][1] - table[i-1][1]) /
(float)(table[i][0] - table[i-1][0]);
break;
}
}
// Overflow: Set to last value in the table
if (i == numtemps) celsius = table[i-1][1];
return celsius;
}
inline void kill()
{
target_raw=0;
#ifdef PIDTEMP
pid_setpoint = 0.0;
#endif PIDTEMP
OCR2B = 0;
WRITE(HEATER_0_PIN,LOW);
disable_x();
disable_y();
disable_z();
disable_e();
}
inline void manage_inactivity(byte debug) {
if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill();
if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) {
disable_x();
disable_y();
disable_z();
disable_e();
}
check_axes_activity();
}
// Planner
/*
Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
s == speed, a == acceleration, t == time, d == distance
Basic definitions:
Speed[s_, a_, t_] := s + (a*t)
Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
Distance to reach a specific speed with a constant acceleration:
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
Speed after a given distance of travel with constant acceleration:
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
m -> Sqrt[2 a d + s^2]
DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
When to start braking (di) to reach a specified destionation speed (s2) after accelerating
from initial speed s1 without ever stopping at a plateau:
Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
*/
// The number of linear motions that can be in the plan at any give time
#define BLOCK_BUFFER_SIZE 16
#define BLOCK_BUFFER_MASK 0x0f
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
static volatile unsigned char block_buffer_head; // Index of the next block to be pushed
static volatile unsigned char block_buffer_tail; // Index of the block to process now
// The current position of the tool in absolute steps
static long position[4];
#define ONE_MINUTE_OF_MICROSECONDS 60000000.0
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration:
inline long estimate_acceleration_distance(long initial_rate, long target_rate, long acceleration) {
return(
(target_rate*target_rate-initial_rate*initial_rate)/
(2L*acceleration)
);
}
// This function gives you the point at which you must start braking (at the rate of -acceleration) if
// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
// a total travel of distance. This can be used to compute the intersection point between acceleration and
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
inline long intersection_distance(long initial_rate, long final_rate, long acceleration, long distance) {
return(
(2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
(4*acceleration)
);
}
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed) {
if(block->busy == true) return; // If block is busy then bail out.
float entry_factor = entry_speed / block->nominal_speed;
float exit_factor = exit_speed / block->nominal_speed;
long initial_rate = ceil(block->nominal_rate*entry_factor);
long final_rate = ceil(block->nominal_rate*exit_factor);
#ifdef ADVANCE
long initial_advance = block->advance*entry_factor*entry_factor;
long final_advance = block->advance*exit_factor*exit_factor;
#endif // ADVANCE
// Limit minimal step rate (Otherwise the timer will overflow.)
if(initial_rate <32) initial_rate=32;
if(final_rate < 32) final_rate=32;
// Calculate the acceleration steps
long acceleration = block->acceleration;
long accelerate_steps = estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration);
long decelerate_steps = estimate_acceleration_distance(final_rate, block->nominal_rate, acceleration);
// Calculate the size of Plateau of Nominal Rate.
long plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count);
plateau_steps = 0;
}
long decelerate_after = accelerate_steps+plateau_steps;
long acceleration_rate = (long)((float)acceleration * 8.388608);
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if(block->busy == false) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
block->decelerate_after = decelerate_after;
block->acceleration_rate = acceleration_rate;
block->initial_rate = initial_rate;
block->final_rate = final_rate;
#ifdef ADVANCE
block->initial_advance = initial_advance;
block->final_advance = final_advance;
#endif ADVANCE
}
CRITICAL_SECTION_END;
}
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance.
inline float max_allowable_speed(float acceleration, float target_velocity, float distance) {
return(
sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance)
);
}
// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
// This method will calculate the junction jerk as the euclidean distance between the nominal
// velocities of the respective blocks.
inline float junction_jerk(block_t *before, block_t *after) {
return(sqrt(
pow((before->speed_x-after->speed_x), 2)+
pow((before->speed_y-after->speed_y), 2)+
pow((before->speed_z-after->speed_z)*axis_steps_per_unit[Z_AXIS]/axis_steps_per_unit[X_AXIS], 2))
);
}
// Return the safe speed which is max_jerk/2, e.g. the
// speed under which you cannot exceed max_jerk no matter what you do.
float safe_speed(block_t *block) {
float safe_speed;
safe_speed = max_jerk/2;
if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed;
return safe_speed;
}
// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) {
return;
}
float entry_speed = current->nominal_speed;
float exit_factor;
float exit_speed;
if (next) {
exit_speed = next->entry_speed;
}
else {
exit_speed = safe_speed(current);
}
// Calculate the entry_factor for the current block.
if (previous) {
// Reduce speed so that junction_jerk is within the maximum allowed
float jerk = junction_jerk(previous, current);
if((previous->steps_x == 0) && (previous->steps_y == 0)) {
entry_speed = safe_speed(current);
}
else if (jerk > max_jerk) {
entry_speed = (max_jerk/jerk) * entry_speed;
}
// If the required deceleration across the block is too rapid, reduce the entry_factor accordingly.
if (entry_speed > exit_speed) {
float max_entry_speed = max_allowable_speed(-acceleration,exit_speed, current->millimeters);
if (max_entry_speed < entry_speed) {
entry_speed = max_entry_speed;
}
}
}
else {
entry_speed = safe_speed(current);
}
// Store result
current->entry_speed = entry_speed;
}
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the reverse pass.
void planner_reverse_pass() {
char block_index = block_buffer_head;
block_t *block[3] = {
NULL, NULL, NULL };
while(block_index != block_buffer_tail) {
block_index--;
if(block_index < 0) {
block_index = BLOCK_BUFFER_SIZE-1;
}
block[2]= block[1];
block[1]= block[0];
block[0] = &block_buffer[block_index];
planner_reverse_pass_kernel(block[0], block[1], block[2]);
}
planner_reverse_pass_kernel(NULL, block[0], block[1]);
}
// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) {
return;
}
if(previous) {
// If the previous block is an acceleration block, but it is not long enough to
// complete the full speed change within the block, we need to adjust out entry
// speed accordingly. Remember current->entry_factor equals the exit factor of
// the previous block.
if(previous->entry_speed < current->entry_speed) {
float max_entry_speed = max_allowable_speed(-acceleration, previous->entry_speed, previous->millimeters);
if (max_entry_speed < current->entry_speed) {
current->entry_speed = max_entry_speed;
}
}
}
}
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the forward pass.
void planner_forward_pass() {
char block_index = block_buffer_tail;
block_t *block[3] = {
NULL, NULL, NULL };
while(block_index != block_buffer_head) {
block[0] = block[1];
block[1] = block[2];
block[2] = &block_buffer[block_index];
planner_forward_pass_kernel(block[0],block[1],block[2]);
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
}
planner_forward_pass_kernel(block[1], block[2], NULL);
}
// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
// entry_factor for each junction. Must be called by planner_recalculate() after
// updating the blocks.
void planner_recalculate_trapezoids() {
char block_index = block_buffer_tail;
block_t *current;
block_t *next = NULL;
while(block_index != block_buffer_head) {
current = next;
next = &block_buffer[block_index];
if (current) {
calculate_trapezoid_for_block(current, current->entry_speed, next->entry_speed);
}
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
}
calculate_trapezoid_for_block(next, next->entry_speed, safe_speed(next));
}
// Recalculates the motion plan according to the following algorithm:
//
// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
// so that:
// a. The junction jerk is within the set limit
// b. No speed reduction within one block requires faster deceleration than the one, true constant
// acceleration.
// 2. Go over every block in chronological order and dial down junction speed reduction values if
// a. The speed increase within one block would require faster accelleration than the one, true
// constant acceleration.
//
// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
// the set limit. Finally it will:
//
// 3. Recalculate trapezoids for all blocks.
void planner_recalculate() {
planner_reverse_pass();
planner_forward_pass();
planner_recalculate_trapezoids();
}
void plan_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position
}
inline void plan_discard_current_block() {
if (block_buffer_head != block_buffer_tail) {
block_buffer_tail = (block_buffer_tail + 1) & BLOCK_BUFFER_MASK;
}
}
inline block_t *plan_get_current_block() {
if (block_buffer_head == block_buffer_tail) {
return(NULL);
}
block_t *block = &block_buffer[block_buffer_tail];
block->busy = true;
return(block);
}
void check_axes_activity() {
unsigned char x_active = 0;
unsigned char y_active = 0;
unsigned char z_active = 0;
unsigned char e_active = 0;
block_t *block;
if(block_buffer_tail != block_buffer_head) {
char block_index = block_buffer_tail;
while(block_index != block_buffer_head) {
block = &block_buffer[block_index];
if(block->steps_x != 0) x_active++;
if(block->steps_y != 0) y_active++;
if(block->steps_z != 0) z_active++;
if(block->steps_e != 0) e_active++;
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
}
}
if((DISABLE_X) && (x_active == 0)) disable_x();
if((DISABLE_Y) && (y_active == 0)) disable_y();
if((DISABLE_Z) && (z_active == 0)) disable_z();
if((DISABLE_E) && (e_active == 0)) disable_e();
}
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters.
void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
long target[4];
target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
// Calculate the buffer head after we push this byte
int next_buffer_head = (block_buffer_head + 1) & BLOCK_BUFFER_MASK;
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
while(block_buffer_tail == next_buffer_head) {
manage_heater();
manage_inactivity(1);
}
// Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
// Mark block as not busy (Not executed by the stepper interrupt)
block->busy = false;
// Number of steps for each axis
block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
// Bail if this is a zero-length block
if (block->step_event_count == 0) {
return;
};
float delta_x_mm = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
float delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
float delta_z_mm = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
float delta_e_mm = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
block->millimeters = sqrt(square(delta_x_mm) + square(delta_y_mm) + square(delta_z_mm) + square(delta_e_mm));
unsigned long microseconds;
microseconds = lround((block->millimeters/feed_rate)*1000000);
// Calculate speed in mm/minute for each axis
float multiplier = 60.0*1000000.0/microseconds;
block->speed_z = delta_z_mm * multiplier;
block->speed_x = delta_x_mm * multiplier;
block->speed_y = delta_y_mm * multiplier;
block->speed_e = delta_e_mm * multiplier;
// Limit speed per axis
float speed_factor = 1;
float tmp_speed_factor;
if(abs(block->speed_x) > max_feedrate[X_AXIS]) {
speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_x);
}
if(abs(block->speed_y) > max_feedrate[Y_AXIS]){
tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y);
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
}
if(abs(block->speed_z) > max_feedrate[Z_AXIS]){
tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z);
if(tmp_speed_factor < speed_factor) speed_factor = tmp_speed_factor;
}
if(abs(block->speed_e) > max_feedrate[E_AXIS]){
tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e);
if(tmp_speed_factor < speed_factor) speed_factor = tmp_speed_factor;
}
multiplier = multiplier * speed_factor;
block->speed_z = delta_z_mm * multiplier;
block->speed_x = delta_x_mm * multiplier;
block->speed_y = delta_y_mm * multiplier;
block->speed_e = delta_e_mm * multiplier;
block->nominal_speed = block->millimeters * multiplier;
block->nominal_rate = ceil(block->step_event_count * multiplier / 60);
if(block->nominal_rate < 32) block->nominal_rate = 32;
block->entry_speed = safe_speed(block);
// Compute the acceleration rate for the trapezoid generator.
float travel_per_step = block->millimeters/block->step_event_count;
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) {
block->acceleration = ceil( (retract_acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
}
else {
block->acceleration = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
// Limit acceleration per axis
if((block->acceleration * block->steps_x / block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration = axis_steps_per_sqr_second[X_AXIS];
if((block->acceleration * block->steps_y / block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration = axis_steps_per_sqr_second[Y_AXIS];
if((block->acceleration * block->steps_e / block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
block->acceleration = axis_steps_per_sqr_second[E_AXIS];
if((block->acceleration * block->steps_z / block->step_event_count) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration = axis_steps_per_sqr_second[Z_AXIS];
}
#ifdef ADVANCE
// Calculate advance rate
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
block->advance_rate = 0;
block->advance = 0;
}
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration);
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
(block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
block->advance = advance;
if(acc_dist == 0) {
block->advance_rate = 0;
}
else {
block->advance_rate = advance / (float)acc_dist;
}
}
#endif // ADVANCE
// compute a preliminary conservative acceleration trapezoid
float safespeed = safe_speed(block);
calculate_trapezoid_for_block(block, safespeed, safespeed);
// Compute direction bits for this block
block->direction_bits = 0;
if (target[X_AXIS] < position[X_AXIS]) {
block->direction_bits |= (1<<X_AXIS);
}
if (target[Y_AXIS] < position[Y_AXIS]) {
block->direction_bits |= (1<<Y_AXIS);
}
if (target[Z_AXIS] < position[Z_AXIS]) {
block->direction_bits |= (1<<Z_AXIS);
}
if (target[E_AXIS] < position[E_AXIS]) {
block->direction_bits |= (1<<E_AXIS);
}
//enable active axes
if(block->steps_x != 0) enable_x();
if(block->steps_y != 0) enable_y();
if(block->steps_z != 0) enable_z();
if(block->steps_e != 0) enable_e();
// Move buffer head
block_buffer_head = next_buffer_head;
// Update position
memcpy(position, target, sizeof(target)); // position[] = target[]
planner_recalculate();
st_wake_up();
}
void plan_set_position(float x, float y, float z, float e)
{
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
}
// Stepper
// intRes = intIn1 * intIn2 >> 16
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 24 bit result
#define MultiU16X8toH16(intRes, charIn1, intIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %A1, %A2 \n\t" \
"add %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r0 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (charIn1), \
"d" (intIn2) \
: \
"r26" , "r27" \
)
// intRes = longIn1 * longIn2 >> 24
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 48bit result
#define MultiU24X24toH16(intRes, longIn1, longIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"mov r27, r1 \n\t" \
"mul %B1, %C2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %C1, %C2 \n\t" \
"add %B0, r0 \n\t" \
"mul %C1, %B2 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %A1, %C2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %B2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %C1, %A2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %A2 \n\t" \
"add r27, r1 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r27 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (longIn1), \
"d" (longIn2) \
: \
"r26" , "r27" \
)
// Some useful constants
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
static block_t *current_block; // A pointer to the block currently being traced
// Variables used by The Stepper Driver Interrupt
static unsigned char out_bits; // The next stepping-bits to be output
static long counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z,
counter_e;
static unsigned long step_events_completed; // The number of step events executed in the current block
static long advance_rate, advance, final_advance = 0;
static short old_advance = 0;
static short e_steps;
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
static long acceleration_time, deceleration_time;
static long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate;
static unsigned short acc_step_rate; // needed for deccelaration start point
// __________________________
// /| |\ _________________ ^
// / | | \ /| |\ |
// / | | \ / | | \ s
// / | | | | | \ p
// / | | | | | \ e
// +-----+------------------------+---+--+---------------+----+ e
// | BLOCK 1 | BLOCK 2 | d
//
// time ----->
//
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
// first block->accelerate_until step_events_completed, then keeps going at constant speed until
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
// The slope of acceleration is calculated with the leib ramp alghorithm.
void st_wake_up() {
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
inline unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer;
if(step_rate < 32) step_rate = 32;
step_rate -= 32; // Correct for minimal speed
if(step_rate > (8*256)){ // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00ff);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
MultiU16X8toH16(timer, tmp_step_rate, gain);
timer = (unsigned short)pgm_read_word_near(table_address) - timer;
}
else { // lower step rates
unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
table_address += ((step_rate)>>1) & 0xfffc;
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
}
if(timer < 100) timer = 100;
return timer;
}
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
inline void trapezoid_generator_reset() {
accelerate_until = current_block->accelerate_until;
decelerate_after = current_block->decelerate_after;
acceleration_rate = current_block->acceleration_rate;
initial_rate = current_block->initial_rate;
final_rate = current_block->final_rate;
advance = current_block->initial_advance;
final_advance = current_block->final_advance;
deceleration_time = 0;
advance_rate = current_block->advance_rate;
// step_rate to timer interval
acc_step_rate = initial_rate;
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
}
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect)
{
if(busy){ /*Serial.println("BUSY")*/;
return;
} // The busy-flag is used to avoid reentering this interrupt
busy = true;
sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
// If there is no current block, attempt to pop one from the buffer
if (current_block == NULL) {
// Anything in the buffer?
current_block = plan_get_current_block();
if (current_block != NULL) {
trapezoid_generator_reset();
counter_x = -(current_block->step_event_count >> 1);
counter_y = counter_x;
counter_z = counter_x;
counter_e = counter_x;
step_events_completed = 0;
e_steps = 0;
}
else {
DISABLE_STEPPER_DRIVER_INTERRUPT();
}
}
if (current_block != NULL) {
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits;
#ifdef ADVANCE
// Calculate E early.
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
CRITICAL_SECTION_START;
e_steps--;
CRITICAL_SECTION_END;
}
else {
CRITICAL_SECTION_START;
e_steps++;
CRITICAL_SECTION_END;
}
}
// Do E steps + advance steps
CRITICAL_SECTION_START;
e_steps += ((advance >> 16) - old_advance);
CRITICAL_SECTION_END;
old_advance = advance >> 16;
#endif //ADVANCE
// Set direction en check limit switches
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
WRITE(X_DIR_PIN, INVERT_X_DIR);
if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
step_events_completed = current_block->step_event_count;
}
}
else // +direction
WRITE(X_DIR_PIN,!INVERT_X_DIR);
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
WRITE(Y_DIR_PIN,INVERT_Y_DIR);
if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
step_events_completed = current_block->step_event_count;
}
}
else // +direction
WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
step_events_completed = current_block->step_event_count;
}
}
else // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
#ifndef ADVANCE
if ((out_bits & (1<<E_AXIS)) != 0) // -direction
WRITE(E_DIR_PIN,INVERT_E_DIR);
else // +direction
WRITE(E_DIR_PIN,!INVERT_E_DIR);
#endif //!ADVANCE
counter_x += current_block->steps_x;
if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH);
counter_x -= current_block->step_event_count;
WRITE(X_STEP_PIN, LOW);
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, HIGH);
counter_y -= current_block->step_event_count;
WRITE(Y_STEP_PIN, LOW);
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, HIGH);
counter_z -= current_block->step_event_count;
WRITE(Z_STEP_PIN, LOW);
}
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
WRITE(E_STEP_PIN, HIGH);
counter_e -= current_block->step_event_count;
WRITE(E_STEP_PIN, LOW);
}
#endif //!ADVANCE
// Calculare new timer value
unsigned short timer;
unsigned short step_rate;
if (step_events_completed < accelerate_until) {
MultiU24X24toH16(acc_step_rate, acceleration_time, acceleration_rate);
acc_step_rate += initial_rate;
// upper limit
if(acc_step_rate > current_block->nominal_rate)
acc_step_rate = current_block->nominal_rate;
// step_rate to timer interval
timer = calc_timer(acc_step_rate);
advance += advance_rate;
acceleration_time += timer;
OCR1A = timer;
}
else if (step_events_completed > decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, acceleration_rate);
if(step_rate > acc_step_rate) { // Check step_rate stays positive
step_rate = final_rate;
}
else {
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
}
// lower limit
if(step_rate < final_rate)
step_rate = final_rate;
// step_rate to timer interval
timer = calc_timer(step_rate);
#ifdef ADVANCE
advance -= advance_rate;
if(advance < final_advance)
advance = final_advance;
#endif //ADVANCE
deceleration_time += timer;
OCR1A = timer;
}
// If current block is finished, reset pointer
step_events_completed += 1;
if (step_events_completed >= current_block->step_event_count) {
current_block = NULL;
plan_discard_current_block();
}
}
busy=false;
}
#ifdef ADVANCE
unsigned char old_OCR0A;
// Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect)
{
// Critical section needed because Timer 1 interrupt has higher priority.
// The pin set functions are placed on trategic position to comply with the stepper driver timing.
WRITE(E_STEP_PIN, LOW);
// e_steps is changed in timer 1 interrupt
CRITICAL_SECTION_START;
// Set E direction (Depends on E direction + advance)
if (e_steps < 0) {
WRITE(E_DIR_PIN,INVERT_E_DIR);
e_steps++;
WRITE(E_STEP_PIN, HIGH);
}
if (e_steps > 0) {
WRITE(E_DIR_PIN,!INVERT_E_DIR);
e_steps--;
WRITE(E_STEP_PIN, HIGH);
}
CRITICAL_SECTION_END;
old_OCR0A += 25; // 10kHz interrupt
OCR0A = old_OCR0A;
}
#endif // ADVANCE
void st_init()
{
// waveform generation = 0100 = CTC
TCCR1B &= ~(1<<WGM13);
TCCR1B |= (1<<WGM12);
TCCR1A &= ~(1<<WGM11);
TCCR1A &= ~(1<<WGM10);
// output mode = 00 (disconnected)
TCCR1A &= ~(3<<COM1A0);
TCCR1A &= ~(3<<COM1B0);
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
OCR1A = 0x4000;
DISABLE_STEPPER_DRIVER_INTERRUPT();
#ifdef ADVANCE
e_steps = 0;
TIMSK0 |= (1<<OCIE0A);
#endif //ADVANCE
sei();
}
// Block until all buffered steps are executed
void st_synchronize()
{
while(plan_get_current_block()) {
manage_heater();
manage_inactivity(1);
}
}
// Temperature loop
void tp_init()
{
DIDR0 = 1<<5; // TEMP_0_PIN for GEN6
ADMUX = ((1 << REFS0) | (5 & 0x07));
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07; // ADC enable, Clear interrupt, 1/128 prescaler.
TCCR2B = 0; //Stop timer in case of running
#ifdef PIDTEMP
TCCR2A = 0x23; //OC2A disable; FastPWM noninverting; FastPWM mode 7
#else
TCCR2A = 0x03; //OC2A disable; FastPWM noninverting; FastPWM mode 7
#endif
OCR2A = 156; //Period is ~10ms
OCR2B = 0; //Duty Cycle for heater pin is 0 (startup)
TIMSK2 = 0x01; //Enable overflow interrupt
TCCR2B = 0x0F; //1/1024 prescaler, start
}
static unsigned char temp_count = 0;
static unsigned long raw_temp_value = 0;
ISR(TIMER2_OVF_vect)
{
// uint8_t low, high;
// low = ADCL;
// high = ADCH;
raw_temp_value += ADC;
// raw_temp_value = (ADCH <<8) | ADCL;
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07; // ADC enable, Clear interrupt, Enable Interrupt, 1/128 prescaler.
// raw_temp_value += (high <<8) | low;
temp_count++;
if(temp_count >= 16)
{
current_raw = 16383 - raw_temp_value;
temp_meas_ready = true;
temp_count = 0;
raw_temp_value = 0;
#ifdef MAXTEMP
if(current_raw >= maxttemp) {
target_raw = 0;
#ifdef PIDTEMP
OCR2B = 0;
#else
WRITE(HEATER_0_PIN,LOW);
#endif
}
#endif
#ifdef MINTEMP
if(current_raw <= minttemp) {
target_raw = 0;
#ifdef PIDTEMP
OCR2B = 0;
#else
WRITE(HEATER_0_PIN,LOW);
#endif
}
#endif
#ifndef PIDTEMP
if(current_raw >= target_raw)
{
WRITE(HEATER_0_PIN,LOW);
}
else
{
WRITE(HEATER_0_PIN,HIGH);
}
#endif
}
}

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Marlin/Sd2Card.cpp Normal file
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/* Arduino Sd2Card Library
* Copyright (C) 2009 by William Greiman
*
* This file is part of the Arduino Sd2Card Library
*
* This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Arduino Sd2Card Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
#include <WProgram.h>
#include "Sd2Card.h"
//------------------------------------------------------------------------------
#ifndef SOFTWARE_SPI
// functions for hardware SPI
/** Send a byte to the card */
static void spiSend(uint8_t b) {
SPDR = b;
while (!(SPSR & (1 << SPIF)));
}
/** Receive a byte from the card */
static uint8_t spiRec(void) {
spiSend(0XFF);
return SPDR;
}
#else // SOFTWARE_SPI
//------------------------------------------------------------------------------
/** nop to tune soft SPI timing */
#define nop asm volatile ("nop\n\t")
//------------------------------------------------------------------------------
/** Soft SPI receive */
uint8_t spiRec(void) {
uint8_t data = 0;
// no interrupts during byte receive - about 8 us
cli();
// output pin high - like sending 0XFF
fastDigitalWrite(SPI_MOSI_PIN, HIGH);
for (uint8_t i = 0; i < 8; i++) {
fastDigitalWrite(SPI_SCK_PIN, HIGH);
// adjust so SCK is nice
nop;
nop;
data <<= 1;
if (fastDigitalRead(SPI_MISO_PIN)) data |= 1;
fastDigitalWrite(SPI_SCK_PIN, LOW);
}
// enable interrupts
sei();
return data;
}
//------------------------------------------------------------------------------
/** Soft SPI send */
void spiSend(uint8_t data) {
// no interrupts during byte send - about 8 us
cli();
for (uint8_t i = 0; i < 8; i++) {
fastDigitalWrite(SPI_SCK_PIN, LOW);
fastDigitalWrite(SPI_MOSI_PIN, data & 0X80);
data <<= 1;
fastDigitalWrite(SPI_SCK_PIN, HIGH);
}
// hold SCK high for a few ns
nop;
nop;
nop;
nop;
fastDigitalWrite(SPI_SCK_PIN, LOW);
// enable interrupts
sei();
}
#endif // SOFTWARE_SPI
//------------------------------------------------------------------------------
// send command and return error code. Return zero for OK
uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) {
// end read if in partialBlockRead mode
readEnd();
// select card
chipSelectLow();
// wait up to 300 ms if busy
waitNotBusy(300);
// send command
spiSend(cmd | 0x40);
// send argument
for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s);
// send CRC
uint8_t crc = 0XFF;
if (cmd == CMD0) crc = 0X95; // correct crc for CMD0 with arg 0
if (cmd == CMD8) crc = 0X87; // correct crc for CMD8 with arg 0X1AA
spiSend(crc);
// wait for response
for (uint8_t i = 0; ((status_ = spiRec()) & 0X80) && i != 0XFF; i++);
return status_;
}
//------------------------------------------------------------------------------
/**
* Determine the size of an SD flash memory card.
*
* \return The number of 512 byte data blocks in the card
* or zero if an error occurs.
*/
uint32_t Sd2Card::cardSize(void) {
csd_t csd;
if (!readCSD(&csd)) return 0;
if (csd.v1.csd_ver == 0) {
uint8_t read_bl_len = csd.v1.read_bl_len;
uint16_t c_size = (csd.v1.c_size_high << 10)
| (csd.v1.c_size_mid << 2) | csd.v1.c_size_low;
uint8_t c_size_mult = (csd.v1.c_size_mult_high << 1)
| csd.v1.c_size_mult_low;
return (uint32_t)(c_size + 1) << (c_size_mult + read_bl_len - 7);
} else if (csd.v2.csd_ver == 1) {
uint32_t c_size = ((uint32_t)csd.v2.c_size_high << 16)
| (csd.v2.c_size_mid << 8) | csd.v2.c_size_low;
return (c_size + 1) << 10;
} else {
error(SD_CARD_ERROR_BAD_CSD);
return 0;
}
}
//------------------------------------------------------------------------------
void Sd2Card::chipSelectHigh(void) {
digitalWrite(chipSelectPin_, HIGH);
}
//------------------------------------------------------------------------------
void Sd2Card::chipSelectLow(void) {
digitalWrite(chipSelectPin_, LOW);
}
//------------------------------------------------------------------------------
/** Erase a range of blocks.
*
* \param[in] firstBlock The address of the first block in the range.
* \param[in] lastBlock The address of the last block in the range.
*
* \note This function requests the SD card to do a flash erase for a
* range of blocks. The data on the card after an erase operation is
* either 0 or 1, depends on the card vendor. The card must support
* single block erase.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t Sd2Card::erase(uint32_t firstBlock, uint32_t lastBlock) {
if (!eraseSingleBlockEnable()) {
error(SD_CARD_ERROR_ERASE_SINGLE_BLOCK);
goto fail;
}
if (type_ != SD_CARD_TYPE_SDHC) {
firstBlock <<= 9;
lastBlock <<= 9;
}
if (cardCommand(CMD32, firstBlock)
|| cardCommand(CMD33, lastBlock)
|| cardCommand(CMD38, 0)) {
error(SD_CARD_ERROR_ERASE);
goto fail;
}
if (!waitNotBusy(SD_ERASE_TIMEOUT)) {
error(SD_CARD_ERROR_ERASE_TIMEOUT);
goto fail;
}
chipSelectHigh();
return true;
fail:
chipSelectHigh();
return false;
}
//------------------------------------------------------------------------------
/** Determine if card supports single block erase.
*
* \return The value one, true, is returned if single block erase is supported.
* The value zero, false, is returned if single block erase is not supported.
*/
uint8_t Sd2Card::eraseSingleBlockEnable(void) {
csd_t csd;
return readCSD(&csd) ? csd.v1.erase_blk_en : 0;
}
//------------------------------------------------------------------------------
/**
* Initialize an SD flash memory card.
*
* \param[in] sckRateID SPI clock rate selector. See setSckRate().
* \param[in] chipSelectPin SD chip select pin number.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. The reason for failure
* can be determined by calling errorCode() and errorData().
*/
uint8_t Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) {
errorCode_ = inBlock_ = partialBlockRead_ = type_ = 0;
chipSelectPin_ = chipSelectPin;
// 16-bit init start time allows over a minute
uint16_t t0 = (uint16_t)millis();
uint32_t arg;
// set pin modes
pinMode(chipSelectPin_, OUTPUT);
chipSelectHigh();
pinMode(SPI_MISO_PIN, INPUT);
pinMode(SPI_MOSI_PIN, OUTPUT);
pinMode(SPI_SCK_PIN, OUTPUT);
#ifndef SOFTWARE_SPI
// SS must be in output mode even it is not chip select
pinMode(SS_PIN, OUTPUT);
// Enable SPI, Master, clock rate f_osc/128
SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0);
// clear double speed
SPSR &= ~(1 << SPI2X);
#endif // SOFTWARE_SPI
// must supply min of 74 clock cycles with CS high.
for (uint8_t i = 0; i < 10; i++) spiSend(0XFF);
chipSelectLow();
// command to go idle in SPI mode
while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
error(SD_CARD_ERROR_CMD0);
goto fail;
}
}
// check SD version
if ((cardCommand(CMD8, 0x1AA) & R1_ILLEGAL_COMMAND)) {
type(SD_CARD_TYPE_SD1);
} else {
// only need last byte of r7 response
for (uint8_t i = 0; i < 4; i++) status_ = spiRec();
if (status_ != 0XAA) {
error(SD_CARD_ERROR_CMD8);
goto fail;
}
type(SD_CARD_TYPE_SD2);
}
// initialize card and send host supports SDHC if SD2
arg = type() == SD_CARD_TYPE_SD2 ? 0X40000000 : 0;
while ((status_ = cardAcmd(ACMD41, arg)) != R1_READY_STATE) {
// check for timeout
if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
error(SD_CARD_ERROR_ACMD41);
goto fail;
}
}
// if SD2 read OCR register to check for SDHC card
if (type() == SD_CARD_TYPE_SD2) {
if (cardCommand(CMD58, 0)) {
error(SD_CARD_ERROR_CMD58);
goto fail;
}
if ((spiRec() & 0XC0) == 0XC0) type(SD_CARD_TYPE_SDHC);
// discard rest of ocr - contains allowed voltage range
for (uint8_t i = 0; i < 3; i++) spiRec();
}
chipSelectHigh();
#ifndef SOFTWARE_SPI
return setSckRate(sckRateID);
#else // SOFTWARE_SPI
return true;
#endif // SOFTWARE_SPI
fail:
chipSelectHigh();
return false;
}
//------------------------------------------------------------------------------
/**
* Enable or disable partial block reads.
*
* Enabling partial block reads improves performance by allowing a block
* to be read over the SPI bus as several sub-blocks. Errors may occur
* if the time between reads is too long since the SD card may timeout.
* The SPI SS line will be held low until the entire block is read or
* readEnd() is called.
*
* Use this for applications like the Adafruit Wave Shield.
*
* \param[in] value The value TRUE (non-zero) or FALSE (zero).)
*/
void Sd2Card::partialBlockRead(uint8_t value) {
readEnd();
partialBlockRead_ = value;
}
//------------------------------------------------------------------------------
/**
* Read a 512 byte block from an SD card device.
*
* \param[in] block Logical block to be read.
* \param[out] dst Pointer to the location that will receive the data.
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t Sd2Card::readBlock(uint32_t block, uint8_t* dst) {
return readData(block, 0, 512, dst);
}
//------------------------------------------------------------------------------
/**
* Read part of a 512 byte block from an SD card.
*
* \param[in] block Logical block to be read.
* \param[in] offset Number of bytes to skip at start of block
* \param[out] dst Pointer to the location that will receive the data.
* \param[in] count Number of bytes to read
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t Sd2Card::readData(uint32_t block,
uint16_t offset, uint16_t count, uint8_t* dst) {
uint16_t n;
if (count == 0) return true;
if ((count + offset) > 512) {
goto fail;
}
if (!inBlock_ || block != block_ || offset < offset_) {
block_ = block;
// use address if not SDHC card
if (type()!= SD_CARD_TYPE_SDHC) block <<= 9;
if (cardCommand(CMD17, block)) {
error(SD_CARD_ERROR_CMD17);
goto fail;
}
if (!waitStartBlock()) {
goto fail;
}
offset_ = 0;
inBlock_ = 1;
}
#ifdef OPTIMIZE_HARDWARE_SPI
// start first spi transfer
SPDR = 0XFF;
// skip data before offset
for (;offset_ < offset; offset_++) {
while (!(SPSR & (1 << SPIF)));
SPDR = 0XFF;
}
// transfer data
n = count - 1;
for (uint16_t i = 0; i < n; i++) {
while (!(SPSR & (1 << SPIF)));
dst[i] = SPDR;
SPDR = 0XFF;
}
// wait for last byte
while (!(SPSR & (1 << SPIF)));
dst[n] = SPDR;
#else // OPTIMIZE_HARDWARE_SPI
// skip data before offset
for (;offset_ < offset; offset_++) {
spiRec();
}
// transfer data
for (uint16_t i = 0; i < count; i++) {
dst[i] = spiRec();
}
#endif // OPTIMIZE_HARDWARE_SPI
offset_ += count;
if (!partialBlockRead_ || offset_ >= 512) {
// read rest of data, checksum and set chip select high
readEnd();
}
return true;
fail:
chipSelectHigh();
return false;
}
//------------------------------------------------------------------------------
/** Skip remaining data in a block when in partial block read mode. */
void Sd2Card::readEnd(void) {
if (inBlock_) {
// skip data and crc
#ifdef OPTIMIZE_HARDWARE_SPI
// optimize skip for hardware
SPDR = 0XFF;
while (offset_++ < 513) {
while (!(SPSR & (1 << SPIF)));
SPDR = 0XFF;
}
// wait for last crc byte
while (!(SPSR & (1 << SPIF)));
#else // OPTIMIZE_HARDWARE_SPI
while (offset_++ < 514) spiRec();
#endif // OPTIMIZE_HARDWARE_SPI
chipSelectHigh();
inBlock_ = 0;
}
}
//------------------------------------------------------------------------------
/** read CID or CSR register */
uint8_t Sd2Card::readRegister(uint8_t cmd, void* buf) {
uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
if (cardCommand(cmd, 0)) {
error(SD_CARD_ERROR_READ_REG);
goto fail;
}
if (!waitStartBlock()) goto fail;
// transfer data
for (uint16_t i = 0; i < 16; i++) dst[i] = spiRec();
spiRec(); // get first crc byte
spiRec(); // get second crc byte
chipSelectHigh();
return true;
fail:
chipSelectHigh();
return false;
}
//------------------------------------------------------------------------------
/**
* Set the SPI clock rate.
*
* \param[in] sckRateID A value in the range [0, 6].
*
* The SPI clock will be set to F_CPU/pow(2, 1 + sckRateID). The maximum
* SPI rate is F_CPU/2 for \a sckRateID = 0 and the minimum rate is F_CPU/128
* for \a scsRateID = 6.
*
* \return The value one, true, is returned for success and the value zero,
* false, is returned for an invalid value of \a sckRateID.
*/
uint8_t Sd2Card::setSckRate(uint8_t sckRateID) {
if (sckRateID > 6) {
error(SD_CARD_ERROR_SCK_RATE);
return false;
}
// see avr processor datasheet for SPI register bit definitions
if ((sckRateID & 1) || sckRateID == 6) {
SPSR &= ~(1 << SPI2X);
} else {
SPSR |= (1 << SPI2X);
}
SPCR &= ~((1 <<SPR1) | (1 << SPR0));
SPCR |= (sckRateID & 4 ? (1 << SPR1) : 0)
| (sckRateID & 2 ? (1 << SPR0) : 0);
return true;
}
//------------------------------------------------------------------------------
// wait for card to go not busy
uint8_t Sd2Card::waitNotBusy(uint16_t timeoutMillis) {
uint16_t t0 = millis();
do {
if (spiRec() == 0XFF) return true;
}
while (((uint16_t)millis() - t0) < timeoutMillis);
return false;
}
//------------------------------------------------------------------------------
/** Wait for start block token */
uint8_t Sd2Card::waitStartBlock(void) {
uint16_t t0 = millis();
while ((status_ = spiRec()) == 0XFF) {
if (((uint16_t)millis() - t0) > SD_READ_TIMEOUT) {
error(SD_CARD_ERROR_READ_TIMEOUT);
goto fail;
}
}
if (status_ != DATA_START_BLOCK) {
error(SD_CARD_ERROR_READ);
goto fail;
}
return true;
fail:
chipSelectHigh();
return false;
}
//------------------------------------------------------------------------------
/**
* Writes a 512 byte block to an SD card.
*
* \param[in] blockNumber Logical block to be written.
* \param[in] src Pointer to the location of the data to be written.
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t Sd2Card::writeBlock(uint32_t blockNumber, const uint8_t* src) {
#if SD_PROTECT_BLOCK_ZERO
// don't allow write to first block
if (blockNumber == 0) {
error(SD_CARD_ERROR_WRITE_BLOCK_ZERO);
goto fail;
}
#endif // SD_PROTECT_BLOCK_ZERO
// use address if not SDHC card
if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;
if (cardCommand(CMD24, blockNumber)) {
error(SD_CARD_ERROR_CMD24);
goto fail;
}
if (!writeData(DATA_START_BLOCK, src)) goto fail;
// wait for flash programming to complete
if (!waitNotBusy(SD_WRITE_TIMEOUT)) {
error(SD_CARD_ERROR_WRITE_TIMEOUT);
goto fail;
}
// response is r2 so get and check two bytes for nonzero
if (cardCommand(CMD13, 0) || spiRec()) {
error(SD_CARD_ERROR_WRITE_PROGRAMMING);
goto fail;
}
chipSelectHigh();
return true;
fail:
chipSelectHigh();
return false;
}
//------------------------------------------------------------------------------
/** Write one data block in a multiple block write sequence */
uint8_t Sd2Card::writeData(const uint8_t* src) {
// wait for previous write to finish
if (!waitNotBusy(SD_WRITE_TIMEOUT)) {
error(SD_CARD_ERROR_WRITE_MULTIPLE);
chipSelectHigh();
return false;
}
return writeData(WRITE_MULTIPLE_TOKEN, src);
}
//------------------------------------------------------------------------------
// send one block of data for write block or write multiple blocks
uint8_t Sd2Card::writeData(uint8_t token, const uint8_t* src) {
#ifdef OPTIMIZE_HARDWARE_SPI
// send data - optimized loop
SPDR = token;
// send two byte per iteration
for (uint16_t i = 0; i < 512; i += 2) {
while (!(SPSR & (1 << SPIF)));
SPDR = src[i];
while (!(SPSR & (1 << SPIF)));
SPDR = src[i+1];
}
// wait for last data byte
while (!(SPSR & (1 << SPIF)));
#else // OPTIMIZE_HARDWARE_SPI
spiSend(token);
for (uint16_t i = 0; i < 512; i++) {
spiSend(src[i]);
}
#endif // OPTIMIZE_HARDWARE_SPI
spiSend(0xff); // dummy crc
spiSend(0xff); // dummy crc
status_ = spiRec();
if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) {
error(SD_CARD_ERROR_WRITE);
chipSelectHigh();
return false;
}
return true;
}
//------------------------------------------------------------------------------
/** Start a write multiple blocks sequence.
*
* \param[in] blockNumber Address of first block in sequence.
* \param[in] eraseCount The number of blocks to be pre-erased.
*
* \note This function is used with writeData() and writeStop()
* for optimized multiple block writes.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t Sd2Card::writeStart(uint32_t blockNumber, uint32_t eraseCount) {
#if SD_PROTECT_BLOCK_ZERO
// don't allow write to first block
if (blockNumber == 0) {
error(SD_CARD_ERROR_WRITE_BLOCK_ZERO);
goto fail;
}
#endif // SD_PROTECT_BLOCK_ZERO
// send pre-erase count
if (cardAcmd(ACMD23, eraseCount)) {
error(SD_CARD_ERROR_ACMD23);
goto fail;
}
// use address if not SDHC card
if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;
if (cardCommand(CMD25, blockNumber)) {
error(SD_CARD_ERROR_CMD25);
goto fail;
}
return true;
fail:
chipSelectHigh();
return false;
}
//------------------------------------------------------------------------------
/** End a write multiple blocks sequence.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t Sd2Card::writeStop(void) {
if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
spiSend(STOP_TRAN_TOKEN);
if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
chipSelectHigh();
return true;
fail:
error(SD_CARD_ERROR_STOP_TRAN);
chipSelectHigh();
return false;
}

233
Marlin/Sd2Card.h Normal file
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/* Arduino Sd2Card Library
* Copyright (C) 2009 by William Greiman
*
* This file is part of the Arduino Sd2Card Library
*
* This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Arduino Sd2Card Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
#ifndef Sd2Card_h
#define Sd2Card_h
/**
* \file
* Sd2Card class
*/
#include "Sd2PinMap.h"
#include "SdInfo.h"
/** Set SCK to max rate of F_CPU/2. See Sd2Card::setSckRate(). */
uint8_t const SPI_FULL_SPEED = 0;
/** Set SCK rate to F_CPU/4. See Sd2Card::setSckRate(). */
uint8_t const SPI_HALF_SPEED = 1;
/** Set SCK rate to F_CPU/8. Sd2Card::setSckRate(). */
uint8_t const SPI_QUARTER_SPEED = 2;
/**
* Define MEGA_SOFT_SPI non-zero to use software SPI on Mega Arduinos.
* Pins used are SS 10, MOSI 11, MISO 12, and SCK 13.
*
* MEGA_SOFT_SPI allows an unmodified Adafruit GPS Shield to be used
* on Mega Arduinos. Software SPI works well with GPS Shield V1.1
* but many SD cards will fail with GPS Shield V1.0.
*/
#define MEGA_SOFT_SPI 0
//------------------------------------------------------------------------------
#if MEGA_SOFT_SPI && (defined(__AVR_ATmega1280__)||defined(__AVR_ATmega2560__))
#define SOFTWARE_SPI
#endif // MEGA_SOFT_SPI
//------------------------------------------------------------------------------
// SPI pin definitions
//
#ifndef SOFTWARE_SPI
// hardware pin defs
/**
* SD Chip Select pin
*
* Warning if this pin is redefined the hardware SS will pin will be enabled
* as an output by init(). An avr processor will not function as an SPI
* master unless SS is set to output mode.
*/
/** The default chip select pin for the SD card is SS. */
uint8_t const SD_CHIP_SELECT_PIN = SS_PIN;
// The following three pins must not be redefined for hardware SPI.
/** SPI Master Out Slave In pin */
uint8_t const SPI_MOSI_PIN = MOSI_PIN;
/** SPI Master In Slave Out pin */
uint8_t const SPI_MISO_PIN = MISO_PIN;
/** SPI Clock pin */
uint8_t const SPI_SCK_PIN = SCK_PIN;
/** optimize loops for hardware SPI */
#define OPTIMIZE_HARDWARE_SPI
#else // SOFTWARE_SPI
// define software SPI pins so Mega can use unmodified GPS Shield
/** SPI chip select pin */
uint8_t const SD_CHIP_SELECT_PIN = 10;
/** SPI Master Out Slave In pin */
uint8_t const SPI_MOSI_PIN = 11;
/** SPI Master In Slave Out pin */
uint8_t const SPI_MISO_PIN = 12;
/** SPI Clock pin */
uint8_t const SPI_SCK_PIN = 13;
#endif // SOFTWARE_SPI
//------------------------------------------------------------------------------
/** Protect block zero from write if nonzero */
#define SD_PROTECT_BLOCK_ZERO 1
/** init timeout ms */
uint16_t const SD_INIT_TIMEOUT = 2000;
/** erase timeout ms */
uint16_t const SD_ERASE_TIMEOUT = 10000;
/** read timeout ms */
uint16_t const SD_READ_TIMEOUT = 300;
/** write time out ms */
uint16_t const SD_WRITE_TIMEOUT = 600;
//------------------------------------------------------------------------------
// SD card errors
/** timeout error for command CMD0 */
uint8_t const SD_CARD_ERROR_CMD0 = 0X1;
/** CMD8 was not accepted - not a valid SD card*/
uint8_t const SD_CARD_ERROR_CMD8 = 0X2;
/** card returned an error response for CMD17 (read block) */
uint8_t const SD_CARD_ERROR_CMD17 = 0X3;
/** card returned an error response for CMD24 (write block) */
uint8_t const SD_CARD_ERROR_CMD24 = 0X4;
/** WRITE_MULTIPLE_BLOCKS command failed */
uint8_t const SD_CARD_ERROR_CMD25 = 0X05;
/** card returned an error response for CMD58 (read OCR) */
uint8_t const SD_CARD_ERROR_CMD58 = 0X06;
/** SET_WR_BLK_ERASE_COUNT failed */
uint8_t const SD_CARD_ERROR_ACMD23 = 0X07;
/** card's ACMD41 initialization process timeout */
uint8_t const SD_CARD_ERROR_ACMD41 = 0X08;
/** card returned a bad CSR version field */
uint8_t const SD_CARD_ERROR_BAD_CSD = 0X09;
/** erase block group command failed */
uint8_t const SD_CARD_ERROR_ERASE = 0X0A;
/** card not capable of single block erase */
uint8_t const SD_CARD_ERROR_ERASE_SINGLE_BLOCK = 0X0B;
/** Erase sequence timed out */
uint8_t const SD_CARD_ERROR_ERASE_TIMEOUT = 0X0C;
/** card returned an error token instead of read data */
uint8_t const SD_CARD_ERROR_READ = 0X0D;
/** read CID or CSD failed */
uint8_t const SD_CARD_ERROR_READ_REG = 0X0E;
/** timeout while waiting for start of read data */
uint8_t const SD_CARD_ERROR_READ_TIMEOUT = 0X0F;
/** card did not accept STOP_TRAN_TOKEN */
uint8_t const SD_CARD_ERROR_STOP_TRAN = 0X10;
/** card returned an error token as a response to a write operation */
uint8_t const SD_CARD_ERROR_WRITE = 0X11;
/** attempt to write protected block zero */
uint8_t const SD_CARD_ERROR_WRITE_BLOCK_ZERO = 0X12;
/** card did not go ready for a multiple block write */
uint8_t const SD_CARD_ERROR_WRITE_MULTIPLE = 0X13;
/** card returned an error to a CMD13 status check after a write */
uint8_t const SD_CARD_ERROR_WRITE_PROGRAMMING = 0X14;
/** timeout occurred during write programming */
uint8_t const SD_CARD_ERROR_WRITE_TIMEOUT = 0X15;
/** incorrect rate selected */
uint8_t const SD_CARD_ERROR_SCK_RATE = 0X16;
//------------------------------------------------------------------------------
// card types
/** Standard capacity V1 SD card */
uint8_t const SD_CARD_TYPE_SD1 = 1;
/** Standard capacity V2 SD card */
uint8_t const SD_CARD_TYPE_SD2 = 2;
/** High Capacity SD card */
uint8_t const SD_CARD_TYPE_SDHC = 3;
//------------------------------------------------------------------------------
/**
* \class Sd2Card
* \brief Raw access to SD and SDHC flash memory cards.
*/
class Sd2Card {
public:
/** Construct an instance of Sd2Card. */
Sd2Card(void) : errorCode_(0), inBlock_(0), partialBlockRead_(0), type_(0) {}
uint32_t cardSize(void);
uint8_t erase(uint32_t firstBlock, uint32_t lastBlock);
uint8_t eraseSingleBlockEnable(void);
/**
* \return error code for last error. See Sd2Card.h for a list of error codes.
*/
uint8_t errorCode(void) const {return errorCode_;}
/** \return error data for last error. */
uint8_t errorData(void) const {return status_;}
/**
* Initialize an SD flash memory card with default clock rate and chip
* select pin. See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin).
*/
uint8_t init(void) {
return init(SPI_FULL_SPEED, SD_CHIP_SELECT_PIN);
}
/**
* Initialize an SD flash memory card with the selected SPI clock rate
* and the default SD chip select pin.
* See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin).
*/
uint8_t init(uint8_t sckRateID) {
return init(sckRateID, SD_CHIP_SELECT_PIN);
}
uint8_t init(uint8_t sckRateID, uint8_t chipSelectPin);
void partialBlockRead(uint8_t value);
/** Returns the current value, true or false, for partial block read. */
uint8_t partialBlockRead(void) const {return partialBlockRead_;}
uint8_t readBlock(uint32_t block, uint8_t* dst);
uint8_t readData(uint32_t block,
uint16_t offset, uint16_t count, uint8_t* dst);
/**
* Read a cards CID register. The CID contains card identification
* information such as Manufacturer ID, Product name, Product serial
* number and Manufacturing date. */
uint8_t readCID(cid_t* cid) {
return readRegister(CMD10, cid);
}
/**
* Read a cards CSD register. The CSD contains Card-Specific Data that
* provides information regarding access to the card's contents. */
uint8_t readCSD(csd_t* csd) {
return readRegister(CMD9, csd);
}
void readEnd(void);
uint8_t setSckRate(uint8_t sckRateID);
/** Return the card type: SD V1, SD V2 or SDHC */
uint8_t type(void) const {return type_;}
uint8_t writeBlock(uint32_t blockNumber, const uint8_t* src);
uint8_t writeData(const uint8_t* src);
uint8_t writeStart(uint32_t blockNumber, uint32_t eraseCount);
uint8_t writeStop(void);
private:
uint32_t block_;
uint8_t chipSelectPin_;
uint8_t errorCode_;
uint8_t inBlock_;
uint16_t offset_;
uint8_t partialBlockRead_;
uint8_t status_;
uint8_t type_;
// private functions
uint8_t cardAcmd(uint8_t cmd, uint32_t arg) {
cardCommand(CMD55, 0);
return cardCommand(cmd, arg);
}
uint8_t cardCommand(uint8_t cmd, uint32_t arg);
void error(uint8_t code) {errorCode_ = code;}
uint8_t readRegister(uint8_t cmd, void* buf);
uint8_t sendWriteCommand(uint32_t blockNumber, uint32_t eraseCount);
void chipSelectHigh(void);
void chipSelectLow(void);
void type(uint8_t value) {type_ = value;}
uint8_t waitNotBusy(uint16_t timeoutMillis);
uint8_t writeData(uint8_t token, const uint8_t* src);
uint8_t waitStartBlock(void);
};
#endif // Sd2Card_h

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/* Arduino SdFat Library
* Copyright (C) 2010 by William Greiman
*
* This file is part of the Arduino SdFat Library
*
* This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
// Warning this file was generated by a program.
#ifndef Sd2PinMap_h
#define Sd2PinMap_h
#include <avr/io.h>
//------------------------------------------------------------------------------
/** struct for mapping digital pins */
struct pin_map_t {
volatile uint8_t* ddr;
volatile uint8_t* pin;
volatile uint8_t* port;
uint8_t bit;
};
//------------------------------------------------------------------------------
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// Mega
// Two Wire (aka I2C) ports
uint8_t const SDA_PIN = 20;
uint8_t const SCL_PIN = 21;
// SPI port
uint8_t const SS_PIN = 53;
uint8_t const MOSI_PIN = 51;
uint8_t const MISO_PIN = 50;
uint8_t const SCK_PIN = 52;
static const pin_map_t digitalPinMap[] = {
{&DDRE, &PINE, &PORTE, 0}, // E0 0
{&DDRE, &PINE, &PORTE, 1}, // E1 1
{&DDRE, &PINE, &PORTE, 4}, // E4 2
{&DDRE, &PINE, &PORTE, 5}, // E5 3
{&DDRG, &PING, &PORTG, 5}, // G5 4
{&DDRE, &PINE, &PORTE, 3}, // E3 5
{&DDRH, &PINH, &PORTH, 3}, // H3 6
{&DDRH, &PINH, &PORTH, 4}, // H4 7
{&DDRH, &PINH, &PORTH, 5}, // H5 8
{&DDRH, &PINH, &PORTH, 6}, // H6 9
{&DDRB, &PINB, &PORTB, 4}, // B4 10
{&DDRB, &PINB, &PORTB, 5}, // B5 11
{&DDRB, &PINB, &PORTB, 6}, // B6 12
{&DDRB, &PINB, &PORTB, 7}, // B7 13
{&DDRJ, &PINJ, &PORTJ, 1}, // J1 14
{&DDRJ, &PINJ, &PORTJ, 0}, // J0 15
{&DDRH, &PINH, &PORTH, 1}, // H1 16
{&DDRH, &PINH, &PORTH, 0}, // H0 17
{&DDRD, &PIND, &PORTD, 3}, // D3 18
{&DDRD, &PIND, &PORTD, 2}, // D2 19
{&DDRD, &PIND, &PORTD, 1}, // D1 20
{&DDRD, &PIND, &PORTD, 0}, // D0 21
{&DDRA, &PINA, &PORTA, 0}, // A0 22
{&DDRA, &PINA, &PORTA, 1}, // A1 23
{&DDRA, &PINA, &PORTA, 2}, // A2 24
{&DDRA, &PINA, &PORTA, 3}, // A3 25
{&DDRA, &PINA, &PORTA, 4}, // A4 26
{&DDRA, &PINA, &PORTA, 5}, // A5 27
{&DDRA, &PINA, &PORTA, 6}, // A6 28
{&DDRA, &PINA, &PORTA, 7}, // A7 29
{&DDRC, &PINC, &PORTC, 7}, // C7 30
{&DDRC, &PINC, &PORTC, 6}, // C6 31
{&DDRC, &PINC, &PORTC, 5}, // C5 32
{&DDRC, &PINC, &PORTC, 4}, // C4 33
{&DDRC, &PINC, &PORTC, 3}, // C3 34
{&DDRC, &PINC, &PORTC, 2}, // C2 35
{&DDRC, &PINC, &PORTC, 1}, // C1 36
{&DDRC, &PINC, &PORTC, 0}, // C0 37
{&DDRD, &PIND, &PORTD, 7}, // D7 38
{&DDRG, &PING, &PORTG, 2}, // G2 39
{&DDRG, &PING, &PORTG, 1}, // G1 40
{&DDRG, &PING, &PORTG, 0}, // G0 41
{&DDRL, &PINL, &PORTL, 7}, // L7 42
{&DDRL, &PINL, &PORTL, 6}, // L6 43
{&DDRL, &PINL, &PORTL, 5}, // L5 44
{&DDRL, &PINL, &PORTL, 4}, // L4 45
{&DDRL, &PINL, &PORTL, 3}, // L3 46
{&DDRL, &PINL, &PORTL, 2}, // L2 47
{&DDRL, &PINL, &PORTL, 1}, // L1 48
{&DDRL, &PINL, &PORTL, 0}, // L0 49
{&DDRB, &PINB, &PORTB, 3}, // B3 50
{&DDRB, &PINB, &PORTB, 2}, // B2 51
{&DDRB, &PINB, &PORTB, 1}, // B1 52
{&DDRB, &PINB, &PORTB, 0}, // B0 53
{&DDRF, &PINF, &PORTF, 0}, // F0 54
{&DDRF, &PINF, &PORTF, 1}, // F1 55
{&DDRF, &PINF, &PORTF, 2}, // F2 56
{&DDRF, &PINF, &PORTF, 3}, // F3 57
{&DDRF, &PINF, &PORTF, 4}, // F4 58
{&DDRF, &PINF, &PORTF, 5}, // F5 59
{&DDRF, &PINF, &PORTF, 6}, // F6 60
{&DDRF, &PINF, &PORTF, 7}, // F7 61
{&DDRK, &PINK, &PORTK, 0}, // K0 62
{&DDRK, &PINK, &PORTK, 1}, // K1 63
{&DDRK, &PINK, &PORTK, 2}, // K2 64
{&DDRK, &PINK, &PORTK, 3}, // K3 65
{&DDRK, &PINK, &PORTK, 4}, // K4 66
{&DDRK, &PINK, &PORTK, 5}, // K5 67
{&DDRK, &PINK, &PORTK, 6}, // K6 68
{&DDRK, &PINK, &PORTK, 7} // K7 69
};
//------------------------------------------------------------------------------
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
// Sanguino
// Two Wire (aka I2C) ports
uint8_t const SDA_PIN = 17;
uint8_t const SCL_PIN = 18;
// SPI port
uint8_t const SS_PIN = 4;
uint8_t const MOSI_PIN = 5;
uint8_t const MISO_PIN = 6;
uint8_t const SCK_PIN = 7;
static const pin_map_t digitalPinMap[] = {
{&DDRB, &PINB, &PORTB, 0}, // B0 0
{&DDRB, &PINB, &PORTB, 1}, // B1 1
{&DDRB, &PINB, &PORTB, 2}, // B2 2
{&DDRB, &PINB, &PORTB, 3}, // B3 3
{&DDRB, &PINB, &PORTB, 4}, // B4 4
{&DDRB, &PINB, &PORTB, 5}, // B5 5
{&DDRB, &PINB, &PORTB, 6}, // B6 6
{&DDRB, &PINB, &PORTB, 7}, // B7 7
{&DDRD, &PIND, &PORTD, 0}, // D0 8
{&DDRD, &PIND, &PORTD, 1}, // D1 9
{&DDRD, &PIND, &PORTD, 2}, // D2 10
{&DDRD, &PIND, &PORTD, 3}, // D3 11
{&DDRD, &PIND, &PORTD, 4}, // D4 12
{&DDRD, &PIND, &PORTD, 5}, // D5 13
{&DDRD, &PIND, &PORTD, 6}, // D6 14
{&DDRD, &PIND, &PORTD, 7}, // D7 15
{&DDRC, &PINC, &PORTC, 0}, // C0 16
{&DDRC, &PINC, &PORTC, 1}, // C1 17
{&DDRC, &PINC, &PORTC, 2}, // C2 18
{&DDRC, &PINC, &PORTC, 3}, // C3 19
{&DDRC, &PINC, &PORTC, 4}, // C4 20
{&DDRC, &PINC, &PORTC, 5}, // C5 21
{&DDRC, &PINC, &PORTC, 6}, // C6 22
{&DDRC, &PINC, &PORTC, 7}, // C7 23
{&DDRA, &PINA, &PORTA, 7}, // A7 24
{&DDRA, &PINA, &PORTA, 6}, // A6 25
{&DDRA, &PINA, &PORTA, 5}, // A5 26
{&DDRA, &PINA, &PORTA, 4}, // A4 27
{&DDRA, &PINA, &PORTA, 3}, // A3 28
{&DDRA, &PINA, &PORTA, 2}, // A2 29
{&DDRA, &PINA, &PORTA, 1}, // A1 30
{&DDRA, &PINA, &PORTA, 0} // A0 31
};
//------------------------------------------------------------------------------
#elif defined(__AVR_ATmega32U4__)
// Teensy 2.0
// Two Wire (aka I2C) ports
uint8_t const SDA_PIN = 6;
uint8_t const SCL_PIN = 5;
// SPI port
uint8_t const SS_PIN = 0;
uint8_t const MOSI_PIN = 2;
uint8_t const MISO_PIN = 3;
uint8_t const SCK_PIN = 1;
static const pin_map_t digitalPinMap[] = {
{&DDRB, &PINB, &PORTB, 0}, // B0 0
{&DDRB, &PINB, &PORTB, 1}, // B1 1
{&DDRB, &PINB, &PORTB, 2}, // B2 2
{&DDRB, &PINB, &PORTB, 3}, // B3 3
{&DDRB, &PINB, &PORTB, 7}, // B7 4
{&DDRD, &PIND, &PORTD, 0}, // D0 5
{&DDRD, &PIND, &PORTD, 1}, // D1 6
{&DDRD, &PIND, &PORTD, 2}, // D2 7
{&DDRD, &PIND, &PORTD, 3}, // D3 8
{&DDRC, &PINC, &PORTC, 6}, // C6 9
{&DDRC, &PINC, &PORTC, 7}, // C7 10
{&DDRD, &PIND, &PORTD, 6}, // D6 11
{&DDRD, &PIND, &PORTD, 7}, // D7 12
{&DDRB, &PINB, &PORTB, 4}, // B4 13
{&DDRB, &PINB, &PORTB, 5}, // B5 14
{&DDRB, &PINB, &PORTB, 6}, // B6 15
{&DDRF, &PINF, &PORTF, 7}, // F7 16
{&DDRF, &PINF, &PORTF, 6}, // F6 17
{&DDRF, &PINF, &PORTF, 5}, // F5 18
{&DDRF, &PINF, &PORTF, 4}, // F4 19
{&DDRF, &PINF, &PORTF, 1}, // F1 20
{&DDRF, &PINF, &PORTF, 0}, // F0 21
{&DDRD, &PIND, &PORTD, 4}, // D4 22
{&DDRD, &PIND, &PORTD, 5}, // D5 23
{&DDRE, &PINE, &PORTE, 6} // E6 24
};
//------------------------------------------------------------------------------
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
// Teensy++ 1.0 & 2.0
// Two Wire (aka I2C) ports
uint8_t const SDA_PIN = 1;
uint8_t const SCL_PIN = 0;
// SPI port
uint8_t const SS_PIN = 20;
uint8_t const MOSI_PIN = 22;
uint8_t const MISO_PIN = 23;
uint8_t const SCK_PIN = 21;
static const pin_map_t digitalPinMap[] = {
{&DDRD, &PIND, &PORTD, 0}, // D0 0
{&DDRD, &PIND, &PORTD, 1}, // D1 1
{&DDRD, &PIND, &PORTD, 2}, // D2 2
{&DDRD, &PIND, &PORTD, 3}, // D3 3
{&DDRD, &PIND, &PORTD, 4}, // D4 4
{&DDRD, &PIND, &PORTD, 5}, // D5 5
{&DDRD, &PIND, &PORTD, 6}, // D6 6
{&DDRD, &PIND, &PORTD, 7}, // D7 7
{&DDRE, &PINE, &PORTE, 0}, // E0 8
{&DDRE, &PINE, &PORTE, 1}, // E1 9
{&DDRC, &PINC, &PORTC, 0}, // C0 10
{&DDRC, &PINC, &PORTC, 1}, // C1 11
{&DDRC, &PINC, &PORTC, 2}, // C2 12
{&DDRC, &PINC, &PORTC, 3}, // C3 13
{&DDRC, &PINC, &PORTC, 4}, // C4 14
{&DDRC, &PINC, &PORTC, 5}, // C5 15
{&DDRC, &PINC, &PORTC, 6}, // C6 16
{&DDRC, &PINC, &PORTC, 7}, // C7 17
{&DDRE, &PINE, &PORTE, 6}, // E6 18
{&DDRE, &PINE, &PORTE, 7}, // E7 19
{&DDRB, &PINB, &PORTB, 0}, // B0 20
{&DDRB, &PINB, &PORTB, 1}, // B1 21
{&DDRB, &PINB, &PORTB, 2}, // B2 22
{&DDRB, &PINB, &PORTB, 3}, // B3 23
{&DDRB, &PINB, &PORTB, 4}, // B4 24
{&DDRB, &PINB, &PORTB, 5}, // B5 25
{&DDRB, &PINB, &PORTB, 6}, // B6 26
{&DDRB, &PINB, &PORTB, 7}, // B7 27
{&DDRA, &PINA, &PORTA, 0}, // A0 28
{&DDRA, &PINA, &PORTA, 1}, // A1 29
{&DDRA, &PINA, &PORTA, 2}, // A2 30
{&DDRA, &PINA, &PORTA, 3}, // A3 31
{&DDRA, &PINA, &PORTA, 4}, // A4 32
{&DDRA, &PINA, &PORTA, 5}, // A5 33
{&DDRA, &PINA, &PORTA, 6}, // A6 34
{&DDRA, &PINA, &PORTA, 7}, // A7 35
{&DDRE, &PINE, &PORTE, 4}, // E4 36
{&DDRE, &PINE, &PORTE, 5}, // E5 37
{&DDRF, &PINF, &PORTF, 0}, // F0 38
{&DDRF, &PINF, &PORTF, 1}, // F1 39
{&DDRF, &PINF, &PORTF, 2}, // F2 40
{&DDRF, &PINF, &PORTF, 3}, // F3 41
{&DDRF, &PINF, &PORTF, 4}, // F4 42
{&DDRF, &PINF, &PORTF, 5}, // F5 43
{&DDRF, &PINF, &PORTF, 6}, // F6 44
{&DDRF, &PINF, &PORTF, 7} // F7 45
};
//------------------------------------------------------------------------------
#else // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// 168 and 328 Arduinos
// Two Wire (aka I2C) ports
uint8_t const SDA_PIN = 18;
uint8_t const SCL_PIN = 19;
// SPI port
uint8_t const SS_PIN = 10;
uint8_t const MOSI_PIN = 11;
uint8_t const MISO_PIN = 12;
uint8_t const SCK_PIN = 13;
static const pin_map_t digitalPinMap[] = {
{&DDRD, &PIND, &PORTD, 0}, // D0 0
{&DDRD, &PIND, &PORTD, 1}, // D1 1
{&DDRD, &PIND, &PORTD, 2}, // D2 2
{&DDRD, &PIND, &PORTD, 3}, // D3 3
{&DDRD, &PIND, &PORTD, 4}, // D4 4
{&DDRD, &PIND, &PORTD, 5}, // D5 5
{&DDRD, &PIND, &PORTD, 6}, // D6 6
{&DDRD, &PIND, &PORTD, 7}, // D7 7
{&DDRB, &PINB, &PORTB, 0}, // B0 8
{&DDRB, &PINB, &PORTB, 1}, // B1 9
{&DDRB, &PINB, &PORTB, 2}, // B2 10
{&DDRB, &PINB, &PORTB, 3}, // B3 11
{&DDRB, &PINB, &PORTB, 4}, // B4 12
{&DDRB, &PINB, &PORTB, 5}, // B5 13
{&DDRC, &PINC, &PORTC, 0}, // C0 14
{&DDRC, &PINC, &PORTC, 1}, // C1 15
{&DDRC, &PINC, &PORTC, 2}, // C2 16
{&DDRC, &PINC, &PORTC, 3}, // C3 17
{&DDRC, &PINC, &PORTC, 4}, // C4 18
{&DDRC, &PINC, &PORTC, 5} // C5 19
};
#endif // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
//------------------------------------------------------------------------------
static const uint8_t digitalPinCount = sizeof(digitalPinMap)/sizeof(pin_map_t);
uint8_t badPinNumber(void)
__attribute__((error("Pin number is too large or not a constant")));
static inline __attribute__((always_inline))
uint8_t getPinMode(uint8_t pin) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) {
return (*digitalPinMap[pin].ddr >> digitalPinMap[pin].bit) & 1;
} else {
return badPinNumber();
}
}
static inline __attribute__((always_inline))
void setPinMode(uint8_t pin, uint8_t mode) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) {
if (mode) {
*digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit;
} else {
*digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit);
}
} else {
badPinNumber();
}
}
static inline __attribute__((always_inline))
uint8_t fastDigitalRead(uint8_t pin) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) {
return (*digitalPinMap[pin].pin >> digitalPinMap[pin].bit) & 1;
} else {
return badPinNumber();
}
}
static inline __attribute__((always_inline))
void fastDigitalWrite(uint8_t pin, uint8_t value) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) {
if (value) {
*digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit;
} else {
*digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit);
}
} else {
badPinNumber();
}
}
#endif // Sd2PinMap_h

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/* Arduino SdFat Library
* Copyright (C) 2009 by William Greiman
*
* This file is part of the Arduino SdFat Library
*
* This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
#ifndef SdFat_h
#define SdFat_h
/**
* \file
* SdFile and SdVolume classes
*/
#include <avr/pgmspace.h>
#include "Sd2Card.h"
#include "FatStructs.h"
#include "Print.h"
//------------------------------------------------------------------------------
/**
* Allow use of deprecated functions if non-zero
*/
#define ALLOW_DEPRECATED_FUNCTIONS 1
//------------------------------------------------------------------------------
// forward declaration since SdVolume is used in SdFile
class SdVolume;
//==============================================================================
// SdFile class
// flags for ls()
/** ls() flag to print modify date */
uint8_t const LS_DATE = 1;
/** ls() flag to print file size */
uint8_t const LS_SIZE = 2;
/** ls() flag for recursive list of subdirectories */
uint8_t const LS_R = 4;
// use the gnu style oflag in open()
/** open() oflag for reading */
uint8_t const O_READ = 0X01;
/** open() oflag - same as O_READ */
uint8_t const O_RDONLY = O_READ;
/** open() oflag for write */
uint8_t const O_WRITE = 0X02;
/** open() oflag - same as O_WRITE */
uint8_t const O_WRONLY = O_WRITE;
/** open() oflag for reading and writing */
uint8_t const O_RDWR = (O_READ | O_WRITE);
/** open() oflag mask for access modes */
uint8_t const O_ACCMODE = (O_READ | O_WRITE);
/** The file offset shall be set to the end of the file prior to each write. */
uint8_t const O_APPEND = 0X04;
/** synchronous writes - call sync() after each write */
uint8_t const O_SYNC = 0X08;
/** create the file if nonexistent */
uint8_t const O_CREAT = 0X10;
/** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */
uint8_t const O_EXCL = 0X20;
/** truncate the file to zero length */
uint8_t const O_TRUNC = 0X40;
// flags for timestamp
/** set the file's last access date */
uint8_t const T_ACCESS = 1;
/** set the file's creation date and time */
uint8_t const T_CREATE = 2;
/** Set the file's write date and time */
uint8_t const T_WRITE = 4;
// values for type_
/** This SdFile has not been opened. */
uint8_t const FAT_FILE_TYPE_CLOSED = 0;
/** SdFile for a file */
uint8_t const FAT_FILE_TYPE_NORMAL = 1;
/** SdFile for a FAT16 root directory */
uint8_t const FAT_FILE_TYPE_ROOT16 = 2;
/** SdFile for a FAT32 root directory */
uint8_t const FAT_FILE_TYPE_ROOT32 = 3;
/** SdFile for a subdirectory */
uint8_t const FAT_FILE_TYPE_SUBDIR = 4;
/** Test value for directory type */
uint8_t const FAT_FILE_TYPE_MIN_DIR = FAT_FILE_TYPE_ROOT16;
/** date field for FAT directory entry */
static inline uint16_t FAT_DATE(uint16_t year, uint8_t month, uint8_t day) {
return (year - 1980) << 9 | month << 5 | day;
}
/** year part of FAT directory date field */
static inline uint16_t FAT_YEAR(uint16_t fatDate) {
return 1980 + (fatDate >> 9);
}
/** month part of FAT directory date field */
static inline uint8_t FAT_MONTH(uint16_t fatDate) {
return (fatDate >> 5) & 0XF;
}
/** day part of FAT directory date field */
static inline uint8_t FAT_DAY(uint16_t fatDate) {
return fatDate & 0X1F;
}
/** time field for FAT directory entry */
static inline uint16_t FAT_TIME(uint8_t hour, uint8_t minute, uint8_t second) {
return hour << 11 | minute << 5 | second >> 1;
}
/** hour part of FAT directory time field */
static inline uint8_t FAT_HOUR(uint16_t fatTime) {
return fatTime >> 11;
}
/** minute part of FAT directory time field */
static inline uint8_t FAT_MINUTE(uint16_t fatTime) {
return(fatTime >> 5) & 0X3F;
}
/** second part of FAT directory time field */
static inline uint8_t FAT_SECOND(uint16_t fatTime) {
return 2*(fatTime & 0X1F);
}
/** Default date for file timestamps is 1 Jan 2000 */
uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1;
/** Default time for file timestamp is 1 am */
uint16_t const FAT_DEFAULT_TIME = (1 << 11);
//------------------------------------------------------------------------------
/**
* \class SdFile
* \brief Access FAT16 and FAT32 files on SD and SDHC cards.
*/
class SdFile : public Print {
public:
/** Create an instance of SdFile. */
SdFile(void) : type_(FAT_FILE_TYPE_CLOSED) {}
/**
* writeError is set to true if an error occurs during a write().
* Set writeError to false before calling print() and/or write() and check
* for true after calls to print() and/or write().
*/
bool writeError;
/**
* Cancel unbuffered reads for this file.
* See setUnbufferedRead()
*/
void clearUnbufferedRead(void) {
flags_ &= ~F_FILE_UNBUFFERED_READ;
}
uint8_t close(void);
uint8_t contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock);
uint8_t createContiguous(SdFile* dirFile,
const char* fileName, uint32_t size);
/** \return The current cluster number for a file or directory. */
uint32_t curCluster(void) const {return curCluster_;}
/** \return The current position for a file or directory. */
uint32_t curPosition(void) const {return curPosition_;}
/**
* Set the date/time callback function
*
* \param[in] dateTime The user's call back function. The callback
* function is of the form:
*
* \code
* void dateTime(uint16_t* date, uint16_t* time) {
* uint16_t year;
* uint8_t month, day, hour, minute, second;
*
* // User gets date and time from GPS or real-time clock here
*
* // return date using FAT_DATE macro to format fields
* *date = FAT_DATE(year, month, day);
*
* // return time using FAT_TIME macro to format fields
* *time = FAT_TIME(hour, minute, second);
* }
* \endcode
*
* Sets the function that is called when a file is created or when
* a file's directory entry is modified by sync(). All timestamps,
* access, creation, and modify, are set when a file is created.
* sync() maintains the last access date and last modify date/time.
*
* See the timestamp() function.
*/
static void dateTimeCallback(
void (*dateTime)(uint16_t* date, uint16_t* time)) {
dateTime_ = dateTime;
}
/**
* Cancel the date/time callback function.
*/
static void dateTimeCallbackCancel(void) {
// use explicit zero since NULL is not defined for Sanguino
dateTime_ = 0;
}
/** \return Address of the block that contains this file's directory. */
uint32_t dirBlock(void) const {return dirBlock_;}
uint8_t dirEntry(dir_t* dir);
/** \return Index of this file's directory in the block dirBlock. */
uint8_t dirIndex(void) const {return dirIndex_;}
static void dirName(const dir_t& dir, char* name);
/** \return The total number of bytes in a file or directory. */
uint32_t fileSize(void) const {return fileSize_;}
/** \return The first cluster number for a file or directory. */
uint32_t firstCluster(void) const {return firstCluster_;}
/** \return True if this is a SdFile for a directory else false. */
uint8_t isDir(void) const {return type_ >= FAT_FILE_TYPE_MIN_DIR;}
/** \return True if this is a SdFile for a file else false. */
uint8_t isFile(void) const {return type_ == FAT_FILE_TYPE_NORMAL;}
/** \return True if this is a SdFile for an open file/directory else false. */
uint8_t isOpen(void) const {return type_ != FAT_FILE_TYPE_CLOSED;}
/** \return True if this is a SdFile for a subdirectory else false. */
uint8_t isSubDir(void) const {return type_ == FAT_FILE_TYPE_SUBDIR;}
/** \return True if this is a SdFile for the root directory. */
uint8_t isRoot(void) const {
return type_ == FAT_FILE_TYPE_ROOT16 || type_ == FAT_FILE_TYPE_ROOT32;
}
void ls(uint8_t flags = 0, uint8_t indent = 0);
uint8_t makeDir(SdFile* dir, const char* dirName);
uint8_t open(SdFile* dirFile, uint16_t index, uint8_t oflag);
uint8_t open(SdFile* dirFile, const char* fileName, uint8_t oflag);
uint8_t openRoot(SdVolume* vol);
static void printDirName(const dir_t& dir, uint8_t width);
static void printFatDate(uint16_t fatDate);
static void printFatTime(uint16_t fatTime);
static void printTwoDigits(uint8_t v);
/**
* Read the next byte from a file.
*
* \return For success read returns the next byte in the file as an int.
* If an error occurs or end of file is reached -1 is returned.
*/
int16_t read(void) {
uint8_t b;
return read(&b, 1) == 1 ? b : -1;
}
int16_t read(void* buf, uint16_t nbyte);
int8_t readDir(dir_t* dir);
static uint8_t remove(SdFile* dirFile, const char* fileName);
uint8_t remove(void);
/** Set the file's current position to zero. */
void rewind(void) {
curPosition_ = curCluster_ = 0;
}
uint8_t rmDir(void);
uint8_t rmRfStar(void);
/** Set the files position to current position + \a pos. See seekSet(). */
uint8_t seekCur(uint32_t pos) {
return seekSet(curPosition_ + pos);
}
/**
* Set the files current position to end of file. Useful to position
* a file for append. See seekSet().
*/
uint8_t seekEnd(void) {return seekSet(fileSize_);}
uint8_t seekSet(uint32_t pos);
/**
* Use unbuffered reads to access this file. Used with Wave
* Shield ISR. Used with Sd2Card::partialBlockRead() in WaveRP.
*
* Not recommended for normal applications.
*/
void setUnbufferedRead(void) {
if (isFile()) flags_ |= F_FILE_UNBUFFERED_READ;
}
uint8_t timestamp(uint8_t flag, uint16_t year, uint8_t month, uint8_t day,
uint8_t hour, uint8_t minute, uint8_t second);
uint8_t sync(void);
/** Type of this SdFile. You should use isFile() or isDir() instead of type()
* if possible.
*
* \return The file or directory type.
*/
uint8_t type(void) const {return type_;}
uint8_t truncate(uint32_t size);
/** \return Unbuffered read flag. */
uint8_t unbufferedRead(void) const {
return flags_ & F_FILE_UNBUFFERED_READ;
}
/** \return SdVolume that contains this file. */
SdVolume* volume(void) const {return vol_;}
void write(uint8_t b);
int16_t write(const void* buf, uint16_t nbyte);
void write(const char* str);
void write_P(PGM_P str);
void writeln_P(PGM_P str);
//------------------------------------------------------------------------------
#if ALLOW_DEPRECATED_FUNCTIONS
// Deprecated functions - suppress cpplint warnings with NOLINT comment
/** \deprecated Use:
* uint8_t SdFile::contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock);
*/
uint8_t contiguousRange(uint32_t& bgnBlock, uint32_t& endBlock) { // NOLINT
return contiguousRange(&bgnBlock, &endBlock);
}
/** \deprecated Use:
* uint8_t SdFile::createContiguous(SdFile* dirFile,
* const char* fileName, uint32_t size)
*/
uint8_t createContiguous(SdFile& dirFile, // NOLINT
const char* fileName, uint32_t size) {
return createContiguous(&dirFile, fileName, size);
}
/**
* \deprecated Use:
* static void SdFile::dateTimeCallback(
* void (*dateTime)(uint16_t* date, uint16_t* time));
*/
static void dateTimeCallback(
void (*dateTime)(uint16_t& date, uint16_t& time)) { // NOLINT
oldDateTime_ = dateTime;
dateTime_ = dateTime ? oldToNew : 0;
}
/** \deprecated Use: uint8_t SdFile::dirEntry(dir_t* dir); */
uint8_t dirEntry(dir_t& dir) {return dirEntry(&dir);} // NOLINT
/** \deprecated Use:
* uint8_t SdFile::makeDir(SdFile* dir, const char* dirName);
*/
uint8_t makeDir(SdFile& dir, const char* dirName) { // NOLINT
return makeDir(&dir, dirName);
}
/** \deprecated Use:
* uint8_t SdFile::open(SdFile* dirFile, const char* fileName, uint8_t oflag);
*/
uint8_t open(SdFile& dirFile, // NOLINT
const char* fileName, uint8_t oflag) {
return open(&dirFile, fileName, oflag);
}
/** \deprecated Do not use in new apps */
uint8_t open(SdFile& dirFile, const char* fileName) { // NOLINT
return open(dirFile, fileName, O_RDWR);
}
/** \deprecated Use:
* uint8_t SdFile::open(SdFile* dirFile, uint16_t index, uint8_t oflag);
*/
uint8_t open(SdFile& dirFile, uint16_t index, uint8_t oflag) { // NOLINT
return open(&dirFile, index, oflag);
}
/** \deprecated Use: uint8_t SdFile::openRoot(SdVolume* vol); */
uint8_t openRoot(SdVolume& vol) {return openRoot(&vol);} // NOLINT
/** \deprecated Use: int8_t SdFile::readDir(dir_t* dir); */
int8_t readDir(dir_t& dir) {return readDir(&dir);} // NOLINT
/** \deprecated Use:
* static uint8_t SdFile::remove(SdFile* dirFile, const char* fileName);
*/
static uint8_t remove(SdFile& dirFile, const char* fileName) { // NOLINT
return remove(&dirFile, fileName);
}
//------------------------------------------------------------------------------
// rest are private
private:
static void (*oldDateTime_)(uint16_t& date, uint16_t& time); // NOLINT
static void oldToNew(uint16_t* date, uint16_t* time) {
uint16_t d;
uint16_t t;
oldDateTime_(d, t);
*date = d;
*time = t;
}
#endif // ALLOW_DEPRECATED_FUNCTIONS
private:
// bits defined in flags_
// should be 0XF
static uint8_t const F_OFLAG = (O_ACCMODE | O_APPEND | O_SYNC);
// available bits
static uint8_t const F_UNUSED = 0X30;
// use unbuffered SD read
static uint8_t const F_FILE_UNBUFFERED_READ = 0X40;
// sync of directory entry required
static uint8_t const F_FILE_DIR_DIRTY = 0X80;
// make sure F_OFLAG is ok
#if ((F_UNUSED | F_FILE_UNBUFFERED_READ | F_FILE_DIR_DIRTY) & F_OFLAG)
#error flags_ bits conflict
#endif // flags_ bits
// private data
uint8_t flags_; // See above for definition of flags_ bits
uint8_t type_; // type of file see above for values
uint32_t curCluster_; // cluster for current file position
uint32_t curPosition_; // current file position in bytes from beginning
uint32_t dirBlock_; // SD block that contains directory entry for file
uint8_t dirIndex_; // index of entry in dirBlock 0 <= dirIndex_ <= 0XF
uint32_t fileSize_; // file size in bytes
uint32_t firstCluster_; // first cluster of file
SdVolume* vol_; // volume where file is located
// private functions
uint8_t addCluster(void);
uint8_t addDirCluster(void);
dir_t* cacheDirEntry(uint8_t action);
static void (*dateTime_)(uint16_t* date, uint16_t* time);
static uint8_t make83Name(const char* str, uint8_t* name);
uint8_t openCachedEntry(uint8_t cacheIndex, uint8_t oflags);
dir_t* readDirCache(void);
};
//==============================================================================
// SdVolume class
/**
* \brief Cache for an SD data block
*/
union cache_t {
/** Used to access cached file data blocks. */
uint8_t data[512];
/** Used to access cached FAT16 entries. */
uint16_t fat16[256];
/** Used to access cached FAT32 entries. */
uint32_t fat32[128];
/** Used to access cached directory entries. */
dir_t dir[16];
/** Used to access a cached MasterBoot Record. */
mbr_t mbr;
/** Used to access to a cached FAT boot sector. */
fbs_t fbs;
};
//------------------------------------------------------------------------------
/**
* \class SdVolume
* \brief Access FAT16 and FAT32 volumes on SD and SDHC cards.
*/
class SdVolume {
public:
/** Create an instance of SdVolume */
SdVolume(void) :allocSearchStart_(2), fatType_(0) {}
/** Clear the cache and returns a pointer to the cache. Used by the WaveRP
* recorder to do raw write to the SD card. Not for normal apps.
*/
static uint8_t* cacheClear(void) {
cacheFlush();
cacheBlockNumber_ = 0XFFFFFFFF;
return cacheBuffer_.data;
}
/**
* Initialize a FAT volume. Try partition one first then try super
* floppy format.
*
* \param[in] dev The Sd2Card where the volume is located.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. Reasons for
* failure include not finding a valid partition, not finding a valid
* FAT file system or an I/O error.
*/
uint8_t init(Sd2Card* dev) { return init(dev, 1) ? true : init(dev, 0);}
uint8_t init(Sd2Card* dev, uint8_t part);
// inline functions that return volume info
/** \return The volume's cluster size in blocks. */
uint8_t blocksPerCluster(void) const {return blocksPerCluster_;}
/** \return The number of blocks in one FAT. */
uint32_t blocksPerFat(void) const {return blocksPerFat_;}
/** \return The total number of clusters in the volume. */
uint32_t clusterCount(void) const {return clusterCount_;}
/** \return The shift count required to multiply by blocksPerCluster. */
uint8_t clusterSizeShift(void) const {return clusterSizeShift_;}
/** \return The logical block number for the start of file data. */
uint32_t dataStartBlock(void) const {return dataStartBlock_;}
/** \return The number of FAT structures on the volume. */
uint8_t fatCount(void) const {return fatCount_;}
/** \return The logical block number for the start of the first FAT. */
uint32_t fatStartBlock(void) const {return fatStartBlock_;}
/** \return The FAT type of the volume. Values are 12, 16 or 32. */
uint8_t fatType(void) const {return fatType_;}
/** \return The number of entries in the root directory for FAT16 volumes. */
uint32_t rootDirEntryCount(void) const {return rootDirEntryCount_;}
/** \return The logical block number for the start of the root directory
on FAT16 volumes or the first cluster number on FAT32 volumes. */
uint32_t rootDirStart(void) const {return rootDirStart_;}
/** return a pointer to the Sd2Card object for this volume */
static Sd2Card* sdCard(void) {return sdCard_;}
//------------------------------------------------------------------------------
#if ALLOW_DEPRECATED_FUNCTIONS
// Deprecated functions - suppress cpplint warnings with NOLINT comment
/** \deprecated Use: uint8_t SdVolume::init(Sd2Card* dev); */
uint8_t init(Sd2Card& dev) {return init(&dev);} // NOLINT
/** \deprecated Use: uint8_t SdVolume::init(Sd2Card* dev, uint8_t vol); */
uint8_t init(Sd2Card& dev, uint8_t part) { // NOLINT
return init(&dev, part);
}
#endif // ALLOW_DEPRECATED_FUNCTIONS
//------------------------------------------------------------------------------
private:
// Allow SdFile access to SdVolume private data.
friend class SdFile;
// value for action argument in cacheRawBlock to indicate read from cache
static uint8_t const CACHE_FOR_READ = 0;
// value for action argument in cacheRawBlock to indicate cache dirty
static uint8_t const CACHE_FOR_WRITE = 1;
static cache_t cacheBuffer_; // 512 byte cache for device blocks
static uint32_t cacheBlockNumber_; // Logical number of block in the cache
static Sd2Card* sdCard_; // Sd2Card object for cache
static uint8_t cacheDirty_; // cacheFlush() will write block if true
static uint32_t cacheMirrorBlock_; // block number for mirror FAT
//
uint32_t allocSearchStart_; // start cluster for alloc search
uint8_t blocksPerCluster_; // cluster size in blocks
uint32_t blocksPerFat_; // FAT size in blocks
uint32_t clusterCount_; // clusters in one FAT
uint8_t clusterSizeShift_; // shift to convert cluster count to block count
uint32_t dataStartBlock_; // first data block number
uint8_t fatCount_; // number of FATs on volume
uint32_t fatStartBlock_; // start block for first FAT
uint8_t fatType_; // volume type (12, 16, OR 32)
uint16_t rootDirEntryCount_; // number of entries in FAT16 root dir
uint32_t rootDirStart_; // root start block for FAT16, cluster for FAT32
//----------------------------------------------------------------------------
uint8_t allocContiguous(uint32_t count, uint32_t* curCluster);
uint8_t blockOfCluster(uint32_t position) const {
return (position >> 9) & (blocksPerCluster_ - 1);}
uint32_t clusterStartBlock(uint32_t cluster) const {
return dataStartBlock_ + ((cluster - 2) << clusterSizeShift_);}
uint32_t blockNumber(uint32_t cluster, uint32_t position) const {
return clusterStartBlock(cluster) + blockOfCluster(position);}
static uint8_t cacheFlush(void);
static uint8_t cacheRawBlock(uint32_t blockNumber, uint8_t action);
static void cacheSetDirty(void) {cacheDirty_ |= CACHE_FOR_WRITE;}
static uint8_t cacheZeroBlock(uint32_t blockNumber);
uint8_t chainSize(uint32_t beginCluster, uint32_t* size) const;
uint8_t fatGet(uint32_t cluster, uint32_t* value) const;
uint8_t fatPut(uint32_t cluster, uint32_t value);
uint8_t fatPutEOC(uint32_t cluster) {
return fatPut(cluster, 0x0FFFFFFF);
}
uint8_t freeChain(uint32_t cluster);
uint8_t isEOC(uint32_t cluster) const {
return cluster >= (fatType_ == 16 ? FAT16EOC_MIN : FAT32EOC_MIN);
}
uint8_t readBlock(uint32_t block, uint8_t* dst) {
return sdCard_->readBlock(block, dst);}
uint8_t readData(uint32_t block, uint16_t offset,
uint16_t count, uint8_t* dst) {
return sdCard_->readData(block, offset, count, dst);
}
uint8_t writeBlock(uint32_t block, const uint8_t* dst) {
return sdCard_->writeBlock(block, dst);
}
};
#endif // SdFat_h

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/* Arduino SdFat Library
* Copyright (C) 2008 by William Greiman
*
* This file is part of the Arduino SdFat Library
*
* This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
#ifndef SdFatUtil_h
#define SdFatUtil_h
/**
* \file
* Useful utility functions.
*/
#include <WProgram.h>
#include <avr/pgmspace.h>
/** Store and print a string in flash memory.*/
#define PgmPrint(x) SerialPrint_P(PSTR(x))
/** Store and print a string in flash memory followed by a CR/LF.*/
#define PgmPrintln(x) SerialPrintln_P(PSTR(x))
/** Defined so doxygen works for function definitions. */
#define NOINLINE __attribute__((noinline))
//------------------------------------------------------------------------------
/** Return the number of bytes currently free in RAM. */
static int FreeRam(void) {
extern int __bss_end;
extern int* __brkval;
int free_memory;
if (reinterpret_cast<int>(__brkval) == 0) {
// if no heap use from end of bss section
free_memory = reinterpret_cast<int>(&free_memory)
- reinterpret_cast<int>(&__bss_end);
} else {
// use from top of stack to heap
free_memory = reinterpret_cast<int>(&free_memory)
- reinterpret_cast<int>(__brkval);
}
return free_memory;
}
//------------------------------------------------------------------------------
/**
* %Print a string in flash memory to the serial port.
*
* \param[in] str Pointer to string stored in flash memory.
*/
static NOINLINE void SerialPrint_P(PGM_P str) {
for (uint8_t c; (c = pgm_read_byte(str)); str++) Serial.print(c);
}
//------------------------------------------------------------------------------
/**
* %Print a string in flash memory followed by a CR/LF.
*
* \param[in] str Pointer to string stored in flash memory.
*/
static NOINLINE void SerialPrintln_P(PGM_P str) {
SerialPrint_P(str);
Serial.println();
}
#endif // #define SdFatUtil_h

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/* Arduino SdFat Library
* Copyright (C) 2009 by William Greiman
*
* This file is part of the Arduino SdFat Library
*
* This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
/**
\mainpage Arduino SdFat Library
<CENTER>Copyright &copy; 2009 by William Greiman
</CENTER>
\section Intro Introduction
The Arduino SdFat Library is a minimal implementation of FAT16 and FAT32
file systems on SD flash memory cards. Standard SD and high capacity
SDHC cards are supported.
The SdFat only supports short 8.3 names.
The main classes in SdFat are Sd2Card, SdVolume, and SdFile.
The Sd2Card class supports access to standard SD cards and SDHC cards. Most
applications will only need to call the Sd2Card::init() member function.
The SdVolume class supports FAT16 and FAT32 partitions. Most applications
will only need to call the SdVolume::init() member function.
The SdFile class provides file access functions such as open(), read(),
remove(), write(), close() and sync(). This class supports access to the root
directory and subdirectories.
A number of example are provided in the SdFat/examples folder. These were
developed to test SdFat and illustrate its use.
SdFat was developed for high speed data recording. SdFat was used to implement
an audio record/play class, WaveRP, for the Adafruit Wave Shield. This
application uses special Sd2Card calls to write to contiguous files in raw mode.
These functions reduce write latency so that audio can be recorded with the
small amount of RAM in the Arduino.
\section SDcard SD\SDHC Cards
Arduinos access SD cards using the cards SPI protocol. PCs, Macs, and
most consumer devices use the 4-bit parallel SD protocol. A card that
functions well on A PC or Mac may not work well on the Arduino.
Most cards have good SPI read performance but cards vary widely in SPI
write performance. Write performance is limited by how efficiently the
card manages internal erase/remapping operations. The Arduino cannot
optimize writes to reduce erase operations because of its limit RAM.
SanDisk cards generally have good write performance. They seem to have
more internal RAM buffering than other cards and therefore can limit
the number of flash erase operations that the Arduino forces due to its
limited RAM.
\section Hardware Hardware Configuration
SdFat was developed using an
<A HREF = "http://www.adafruit.com/"> Adafruit Industries</A>
<A HREF = "http://www.ladyada.net/make/waveshield/"> Wave Shield</A>.
The hardware interface to the SD card should not use a resistor based level
shifter. SdFat sets the SPI bus frequency to 8 MHz which results in signal
rise times that are too slow for the edge detectors in many newer SD card
controllers when resistor voltage dividers are used.
The 5 to 3.3 V level shifter for 5 V Arduinos should be IC based like the
74HC4050N based circuit shown in the file SdLevel.png. The Adafruit Wave Shield
uses a 74AHC125N. Gravitech sells SD and MicroSD Card Adapters based on the
74LCX245.
If you are using a resistor based level shifter and are having problems try
setting the SPI bus frequency to 4 MHz. This can be done by using
card.init(SPI_HALF_SPEED) to initialize the SD card.
\section comment Bugs and Comments
If you wish to report bugs or have comments, send email to fat16lib@sbcglobal.net.
\section SdFatClass SdFat Usage
SdFat uses a slightly restricted form of short names.
Only printable ASCII characters are supported. No characters with code point
values greater than 127 are allowed. Space is not allowed even though space
was allowed in the API of early versions of DOS.
Short names are limited to 8 characters followed by an optional period (.)
and extension of up to 3 characters. The characters may be any combination
of letters and digits. The following special characters are also allowed:
$ % ' - _ @ ~ ` ! ( ) { } ^ # &
Short names are always converted to upper case and their original case
value is lost.
\note
The Arduino Print class uses character
at a time writes so it was necessary to use a \link SdFile::sync() sync() \endlink
function to control when data is written to the SD card.
\par
An application which writes to a file using \link Print::print() print()\endlink,
\link Print::println() println() \endlink
or \link SdFile::write write() \endlink must call \link SdFile::sync() sync() \endlink
at the appropriate time to force data and directory information to be written
to the SD Card. Data and directory information are also written to the SD card
when \link SdFile::close() close() \endlink is called.
\par
Applications must use care calling \link SdFile::sync() sync() \endlink
since 2048 bytes of I/O is required to update file and
directory information. This includes writing the current data block, reading
the block that contains the directory entry for update, writing the directory
block back and reading back the current data block.
It is possible to open a file with two or more instances of SdFile. A file may
be corrupted if data is written to the file by more than one instance of SdFile.
\section HowTo How to format SD Cards as FAT Volumes
You should use a freshly formatted SD card for best performance. FAT
file systems become slower if many files have been created and deleted.
This is because the directory entry for a deleted file is marked as deleted,
but is not deleted. When a new file is created, these entries must be scanned
before creating the file, a flaw in the FAT design. Also files can become
fragmented which causes reads and writes to be slower.
Microsoft operating systems support removable media formatted with a
Master Boot Record, MBR, or formatted as a super floppy with a FAT Boot Sector
in block zero.
Microsoft operating systems expect MBR formatted removable media
to have only one partition. The first partition should be used.
Microsoft operating systems do not support partitioning SD flash cards.
If you erase an SD card with a program like KillDisk, Most versions of
Windows will format the card as a super floppy.
The best way to restore an SD card's format is to use SDFormatter
which can be downloaded from:
http://www.sdcard.org/consumers/formatter/
SDFormatter aligns flash erase boundaries with file
system structures which reduces write latency and file system overhead.
SDFormatter does not have an option for FAT type so it may format
small cards as FAT12.
After the MBR is restored by SDFormatter you may need to reformat small
cards that have been formatted FAT12 to force the volume type to be FAT16.
If you reformat the SD card with an OS utility, choose a cluster size that
will result in:
4084 < CountOfClusters && CountOfClusters < 65525
The volume will then be FAT16.
If you are formatting an SD card on OS X or Linux, be sure to use the first
partition. Format this partition with a cluster count in above range.
\section References References
Adafruit Industries:
http://www.adafruit.com/
http://www.ladyada.net/make/waveshield/
The Arduino site:
http://www.arduino.cc/
For more information about FAT file systems see:
http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx
For information about using SD cards as SPI devices see:
http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
The ATmega328 datasheet:
http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdf
*/

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/* Arduino SdFat Library
* Copyright (C) 2009 by William Greiman
*
* This file is part of the Arduino SdFat Library
*
* This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
#include "SdFat.h"
#include <avr/pgmspace.h>
#include <WProgram.h>
//------------------------------------------------------------------------------
// callback function for date/time
void (*SdFile::dateTime_)(uint16_t* date, uint16_t* time) = NULL;
#if ALLOW_DEPRECATED_FUNCTIONS
// suppress cpplint warnings with NOLINT comment
void (*SdFile::oldDateTime_)(uint16_t& date, uint16_t& time) = NULL; // NOLINT
#endif // ALLOW_DEPRECATED_FUNCTIONS
//------------------------------------------------------------------------------
// add a cluster to a file
uint8_t SdFile::addCluster() {
if (!vol_->allocContiguous(1, &curCluster_)) return false;
// if first cluster of file link to directory entry
if (firstCluster_ == 0) {
firstCluster_ = curCluster_;
flags_ |= F_FILE_DIR_DIRTY;
}
return true;
}
//------------------------------------------------------------------------------
// Add a cluster to a directory file and zero the cluster.
// return with first block of cluster in the cache
uint8_t SdFile::addDirCluster(void) {
if (!addCluster()) return false;
// zero data in cluster insure first cluster is in cache
uint32_t block = vol_->clusterStartBlock(curCluster_);
for (uint8_t i = vol_->blocksPerCluster_; i != 0; i--) {
if (!SdVolume::cacheZeroBlock(block + i - 1)) return false;
}
// Increase directory file size by cluster size
fileSize_ += 512UL << vol_->clusterSizeShift_;
return true;
}
//------------------------------------------------------------------------------
// cache a file's directory entry
// return pointer to cached entry or null for failure
dir_t* SdFile::cacheDirEntry(uint8_t action) {
if (!SdVolume::cacheRawBlock(dirBlock_, action)) return NULL;
return SdVolume::cacheBuffer_.dir + dirIndex_;
}
//------------------------------------------------------------------------------
/**
* Close a file and force cached data and directory information
* to be written to the storage device.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include no file is open or an I/O error.
*/
uint8_t SdFile::close(void) {
if (!sync())return false;
type_ = FAT_FILE_TYPE_CLOSED;
return true;
}
//------------------------------------------------------------------------------
/**
* Check for contiguous file and return its raw block range.
*
* \param[out] bgnBlock the first block address for the file.
* \param[out] endBlock the last block address for the file.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include file is not contiguous, file has zero length
* or an I/O error occurred.
*/
uint8_t SdFile::contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock) {
// error if no blocks
if (firstCluster_ == 0) return false;
for (uint32_t c = firstCluster_; ; c++) {
uint32_t next;
if (!vol_->fatGet(c, &next)) return false;
// check for contiguous
if (next != (c + 1)) {
// error if not end of chain
if (!vol_->isEOC(next)) return false;
*bgnBlock = vol_->clusterStartBlock(firstCluster_);
*endBlock = vol_->clusterStartBlock(c)
+ vol_->blocksPerCluster_ - 1;
return true;
}
}
}
//------------------------------------------------------------------------------
/**
* Create and open a new contiguous file of a specified size.
*
* \note This function only supports short DOS 8.3 names.
* See open() for more information.
*
* \param[in] dirFile The directory where the file will be created.
* \param[in] fileName A valid DOS 8.3 file name.
* \param[in] size The desired file size.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include \a fileName contains
* an invalid DOS 8.3 file name, the FAT volume has not been initialized,
* a file is already open, the file already exists, the root
* directory is full or an I/O error.
*
*/
uint8_t SdFile::createContiguous(SdFile* dirFile,
const char* fileName, uint32_t size) {
// don't allow zero length file
if (size == 0) return false;
if (!open(dirFile, fileName, O_CREAT | O_EXCL | O_RDWR)) return false;
// calculate number of clusters needed
uint32_t count = ((size - 1) >> (vol_->clusterSizeShift_ + 9)) + 1;
// allocate clusters
if (!vol_->allocContiguous(count, &firstCluster_)) {
remove();
return false;
}
fileSize_ = size;
// insure sync() will update dir entry
flags_ |= F_FILE_DIR_DIRTY;
return sync();
}
//------------------------------------------------------------------------------
/**
* Return a files directory entry
*
* \param[out] dir Location for return of the files directory entry.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t SdFile::dirEntry(dir_t* dir) {
// make sure fields on SD are correct
if (!sync()) return false;
// read entry
dir_t* p = cacheDirEntry(SdVolume::CACHE_FOR_READ);
if (!p) return false;
// copy to caller's struct
memcpy(dir, p, sizeof(dir_t));
return true;
}
//------------------------------------------------------------------------------
/**
* Format the name field of \a dir into the 13 byte array
* \a name in standard 8.3 short name format.
*
* \param[in] dir The directory structure containing the name.
* \param[out] name A 13 byte char array for the formatted name.
*/
void SdFile::dirName(const dir_t& dir, char* name) {
uint8_t j = 0;
for (uint8_t i = 0; i < 11; i++) {
if (dir.name[i] == ' ')continue;
if (i == 8) name[j++] = '.';
name[j++] = dir.name[i];
}
name[j] = 0;
}
//------------------------------------------------------------------------------
/** List directory contents to Serial.
*
* \param[in] flags The inclusive OR of
*
* LS_DATE - %Print file modification date
*
* LS_SIZE - %Print file size.
*
* LS_R - Recursive list of subdirectories.
*
* \param[in] indent Amount of space before file name. Used for recursive
* list to indicate subdirectory level.
*/
void SdFile::ls(uint8_t flags, uint8_t indent) {
dir_t* p;
rewind();
while ((p = readDirCache())) {
// done if past last used entry
if (p->name[0] == DIR_NAME_FREE) break;
// skip deleted entry and entries for . and ..
if (p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') continue;
// only list subdirectories and files
if (!DIR_IS_FILE_OR_SUBDIR(p)) continue;
// print any indent spaces
for (int8_t i = 0; i < indent; i++) Serial.print(' ');
// print file name with possible blank fill
printDirName(*p, flags & (LS_DATE | LS_SIZE) ? 14 : 0);
// print modify date/time if requested
if (flags & LS_DATE) {
printFatDate(p->lastWriteDate);
Serial.print(' ');
printFatTime(p->lastWriteTime);
}
// print size if requested
if (!DIR_IS_SUBDIR(p) && (flags & LS_SIZE)) {
Serial.print(' ');
Serial.print(p->fileSize);
}
Serial.println();
// list subdirectory content if requested
if ((flags & LS_R) && DIR_IS_SUBDIR(p)) {
uint16_t index = curPosition()/32 - 1;
SdFile s;
if (s.open(this, index, O_READ)) s.ls(flags, indent + 2);
seekSet(32 * (index + 1));
}
}
}
//------------------------------------------------------------------------------
// format directory name field from a 8.3 name string
uint8_t SdFile::make83Name(const char* str, uint8_t* name) {
uint8_t c;
uint8_t n = 7; // max index for part before dot
uint8_t i = 0;
// blank fill name and extension
while (i < 11) name[i++] = ' ';
i = 0;
while ((c = *str++) != '\0') {
if (c == '.') {
if (n == 10) return false; // only one dot allowed
n = 10; // max index for full 8.3 name
i = 8; // place for extension
} else {
// illegal FAT characters
PGM_P p = PSTR("|<>^+=?/[];,*\"\\");
uint8_t b;
while ((b = pgm_read_byte(p++))) if (b == c) return false;
// check size and only allow ASCII printable characters
if (i > n || c < 0X21 || c > 0X7E)return false;
// only upper case allowed in 8.3 names - convert lower to upper
name[i++] = c < 'a' || c > 'z' ? c : c + ('A' - 'a');
}
}
// must have a file name, extension is optional
return name[0] != ' ';
}
//------------------------------------------------------------------------------
/** Make a new directory.
*
* \param[in] dir An open SdFat instance for the directory that will containing
* the new directory.
*
* \param[in] dirName A valid 8.3 DOS name for the new directory.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include this SdFile is already open, \a dir is not a
* directory, \a dirName is invalid or already exists in \a dir.
*/
uint8_t SdFile::makeDir(SdFile* dir, const char* dirName) {
dir_t d;
// create a normal file
if (!open(dir, dirName, O_CREAT | O_EXCL | O_RDWR)) return false;
// convert SdFile to directory
flags_ = O_READ;
type_ = FAT_FILE_TYPE_SUBDIR;
// allocate and zero first cluster
if (!addDirCluster())return false;
// force entry to SD
if (!sync()) return false;
// cache entry - should already be in cache due to sync() call
dir_t* p = cacheDirEntry(SdVolume::CACHE_FOR_WRITE);
if (!p) return false;
// change directory entry attribute
p->attributes = DIR_ATT_DIRECTORY;
// make entry for '.'
memcpy(&d, p, sizeof(d));
for (uint8_t i = 1; i < 11; i++) d.name[i] = ' ';
d.name[0] = '.';
// cache block for '.' and '..'
uint32_t block = vol_->clusterStartBlock(firstCluster_);
if (!SdVolume::cacheRawBlock(block, SdVolume::CACHE_FOR_WRITE)) return false;
// copy '.' to block
memcpy(&SdVolume::cacheBuffer_.dir[0], &d, sizeof(d));
// make entry for '..'
d.name[1] = '.';
if (dir->isRoot()) {
d.firstClusterLow = 0;
d.firstClusterHigh = 0;
} else {
d.firstClusterLow = dir->firstCluster_ & 0XFFFF;
d.firstClusterHigh = dir->firstCluster_ >> 16;
}
// copy '..' to block
memcpy(&SdVolume::cacheBuffer_.dir[1], &d, sizeof(d));
// set position after '..'
curPosition_ = 2 * sizeof(d);
// write first block
return SdVolume::cacheFlush();
}
//------------------------------------------------------------------------------
/**
* Open a file or directory by name.
*
* \param[in] dirFile An open SdFat instance for the directory containing the
* file to be opened.
*
* \param[in] fileName A valid 8.3 DOS name for a file to be opened.
*
* \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive
* OR of flags from the following list
*
* O_READ - Open for reading.
*
* O_RDONLY - Same as O_READ.
*
* O_WRITE - Open for writing.
*
* O_WRONLY - Same as O_WRITE.
*
* O_RDWR - Open for reading and writing.
*
* O_APPEND - If set, the file offset shall be set to the end of the
* file prior to each write.
*
* O_CREAT - If the file exists, this flag has no effect except as noted
* under O_EXCL below. Otherwise, the file shall be created
*
* O_EXCL - If O_CREAT and O_EXCL are set, open() shall fail if the file exists.
*
* O_SYNC - Call sync() after each write. This flag should not be used with
* write(uint8_t), write_P(PGM_P), writeln_P(PGM_P), or the Arduino Print class.
* These functions do character at a time writes so sync() will be called
* after each byte.
*
* O_TRUNC - If the file exists and is a regular file, and the file is
* successfully opened and is not read only, its length shall be truncated to 0.
*
* \note Directory files must be opened read only. Write and truncation is
* not allowed for directory files.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include this SdFile is already open, \a difFile is not
* a directory, \a fileName is invalid, the file does not exist
* or can't be opened in the access mode specified by oflag.
*/
uint8_t SdFile::open(SdFile* dirFile, const char* fileName, uint8_t oflag) {
uint8_t dname[11];
dir_t* p;
// error if already open
if (isOpen())return false;
if (!make83Name(fileName, dname)) return false;
vol_ = dirFile->vol_;
dirFile->rewind();
// bool for empty entry found
uint8_t emptyFound = false;
// search for file
while (dirFile->curPosition_ < dirFile->fileSize_) {
uint8_t index = 0XF & (dirFile->curPosition_ >> 5);
p = dirFile->readDirCache();
if (p == NULL) return false;
if (p->name[0] == DIR_NAME_FREE || p->name[0] == DIR_NAME_DELETED) {
// remember first empty slot
if (!emptyFound) {
emptyFound = true;
dirIndex_ = index;
dirBlock_ = SdVolume::cacheBlockNumber_;
}
// done if no entries follow
if (p->name[0] == DIR_NAME_FREE) break;
} else if (!memcmp(dname, p->name, 11)) {
// don't open existing file if O_CREAT and O_EXCL
if ((oflag & (O_CREAT | O_EXCL)) == (O_CREAT | O_EXCL)) return false;
// open found file
return openCachedEntry(0XF & index, oflag);
}
}
// only create file if O_CREAT and O_WRITE
if ((oflag & (O_CREAT | O_WRITE)) != (O_CREAT | O_WRITE)) return false;
// cache found slot or add cluster if end of file
if (emptyFound) {
p = cacheDirEntry(SdVolume::CACHE_FOR_WRITE);
if (!p) return false;
} else {
if (dirFile->type_ == FAT_FILE_TYPE_ROOT16) return false;
// add and zero cluster for dirFile - first cluster is in cache for write
if (!dirFile->addDirCluster()) return false;
// use first entry in cluster
dirIndex_ = 0;
p = SdVolume::cacheBuffer_.dir;
}
// initialize as empty file
memset(p, 0, sizeof(dir_t));
memcpy(p->name, dname, 11);
// set timestamps
if (dateTime_) {
// call user function
dateTime_(&p->creationDate, &p->creationTime);
} else {
// use default date/time
p->creationDate = FAT_DEFAULT_DATE;
p->creationTime = FAT_DEFAULT_TIME;
}
p->lastAccessDate = p->creationDate;
p->lastWriteDate = p->creationDate;
p->lastWriteTime = p->creationTime;
// force write of entry to SD
if (!SdVolume::cacheFlush()) return false;
// open entry in cache
return openCachedEntry(dirIndex_, oflag);
}
//------------------------------------------------------------------------------
/**
* Open a file by index.
*
* \param[in] dirFile An open SdFat instance for the directory.
*
* \param[in] index The \a index of the directory entry for the file to be
* opened. The value for \a index is (directory file position)/32.
*
* \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive
* OR of flags O_READ, O_WRITE, O_TRUNC, and O_SYNC.
*
* See open() by fileName for definition of flags and return values.
*
*/
uint8_t SdFile::open(SdFile* dirFile, uint16_t index, uint8_t oflag) {
// error if already open
if (isOpen())return false;
// don't open existing file if O_CREAT and O_EXCL - user call error
if ((oflag & (O_CREAT | O_EXCL)) == (O_CREAT | O_EXCL)) return false;
vol_ = dirFile->vol_;
// seek to location of entry
if (!dirFile->seekSet(32 * index)) return false;
// read entry into cache
dir_t* p = dirFile->readDirCache();
if (p == NULL) return false;
// error if empty slot or '.' or '..'
if (p->name[0] == DIR_NAME_FREE ||
p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') {
return false;
}
// open cached entry
return openCachedEntry(index & 0XF, oflag);
}
//------------------------------------------------------------------------------
// open a cached directory entry. Assumes vol_ is initializes
uint8_t SdFile::openCachedEntry(uint8_t dirIndex, uint8_t oflag) {
// location of entry in cache
dir_t* p = SdVolume::cacheBuffer_.dir + dirIndex;
// write or truncate is an error for a directory or read-only file
if (p->attributes & (DIR_ATT_READ_ONLY | DIR_ATT_DIRECTORY)) {
if (oflag & (O_WRITE | O_TRUNC)) return false;
}
// remember location of directory entry on SD
dirIndex_ = dirIndex;
dirBlock_ = SdVolume::cacheBlockNumber_;
// copy first cluster number for directory fields
firstCluster_ = (uint32_t)p->firstClusterHigh << 16;
firstCluster_ |= p->firstClusterLow;
// make sure it is a normal file or subdirectory
if (DIR_IS_FILE(p)) {
fileSize_ = p->fileSize;
type_ = FAT_FILE_TYPE_NORMAL;
} else if (DIR_IS_SUBDIR(p)) {
if (!vol_->chainSize(firstCluster_, &fileSize_)) return false;
type_ = FAT_FILE_TYPE_SUBDIR;
} else {
return false;
}
// save open flags for read/write
flags_ = oflag & (O_ACCMODE | O_SYNC | O_APPEND);
// set to start of file
curCluster_ = 0;
curPosition_ = 0;
// truncate file to zero length if requested
if (oflag & O_TRUNC) return truncate(0);
return true;
}
//------------------------------------------------------------------------------
/**
* Open a volume's root directory.
*
* \param[in] vol The FAT volume containing the root directory to be opened.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include the FAT volume has not been initialized
* or it a FAT12 volume.
*/
uint8_t SdFile::openRoot(SdVolume* vol) {
// error if file is already open
if (isOpen()) return false;
if (vol->fatType() == 16) {
type_ = FAT_FILE_TYPE_ROOT16;
firstCluster_ = 0;
fileSize_ = 32 * vol->rootDirEntryCount();
} else if (vol->fatType() == 32) {
type_ = FAT_FILE_TYPE_ROOT32;
firstCluster_ = vol->rootDirStart();
if (!vol->chainSize(firstCluster_, &fileSize_)) return false;
} else {
// volume is not initialized or FAT12
return false;
}
vol_ = vol;
// read only
flags_ = O_READ;
// set to start of file
curCluster_ = 0;
curPosition_ = 0;
// root has no directory entry
dirBlock_ = 0;
dirIndex_ = 0;
return true;
}
//------------------------------------------------------------------------------
/** %Print the name field of a directory entry in 8.3 format to Serial.
*
* \param[in] dir The directory structure containing the name.
* \param[in] width Blank fill name if length is less than \a width.
*/
void SdFile::printDirName(const dir_t& dir, uint8_t width) {
uint8_t w = 0;
for (uint8_t i = 0; i < 11; i++) {
if (dir.name[i] == ' ')continue;
if (i == 8) {
Serial.print('.');
w++;
}
Serial.print(dir.name[i]);
w++;
}
if (DIR_IS_SUBDIR(&dir)) {
Serial.print('/');
w++;
}
while (w < width) {
Serial.print(' ');
w++;
}
}
//------------------------------------------------------------------------------
/** %Print a directory date field to Serial.
*
* Format is yyyy-mm-dd.
*
* \param[in] fatDate The date field from a directory entry.
*/
void SdFile::printFatDate(uint16_t fatDate) {
Serial.print(FAT_YEAR(fatDate));
Serial.print('-');
printTwoDigits(FAT_MONTH(fatDate));
Serial.print('-');
printTwoDigits(FAT_DAY(fatDate));
}
//------------------------------------------------------------------------------
/** %Print a directory time field to Serial.
*
* Format is hh:mm:ss.
*
* \param[in] fatTime The time field from a directory entry.
*/
void SdFile::printFatTime(uint16_t fatTime) {
printTwoDigits(FAT_HOUR(fatTime));
Serial.print(':');
printTwoDigits(FAT_MINUTE(fatTime));
Serial.print(':');
printTwoDigits(FAT_SECOND(fatTime));
}
//------------------------------------------------------------------------------
/** %Print a value as two digits to Serial.
*
* \param[in] v Value to be printed, 0 <= \a v <= 99
*/
void SdFile::printTwoDigits(uint8_t v) {
char str[3];
str[0] = '0' + v/10;
str[1] = '0' + v % 10;
str[2] = 0;
Serial.print(str);
}
//------------------------------------------------------------------------------
/**
* Read data from a file starting at the current position.
*
* \param[out] buf Pointer to the location that will receive the data.
*
* \param[in] nbyte Maximum number of bytes to read.
*
* \return For success read() returns the number of bytes read.
* A value less than \a nbyte, including zero, will be returned
* if end of file is reached.
* If an error occurs, read() returns -1. Possible errors include
* read() called before a file has been opened, corrupt file system
* or an I/O error occurred.
*/
int16_t SdFile::read(void* buf, uint16_t nbyte) {
uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
// error if not open or write only
if (!isOpen() || !(flags_ & O_READ)) return -1;
// max bytes left in file
if (nbyte > (fileSize_ - curPosition_)) nbyte = fileSize_ - curPosition_;
// amount left to read
uint16_t toRead = nbyte;
while (toRead > 0) {
uint32_t block; // raw device block number
uint16_t offset = curPosition_ & 0X1FF; // offset in block
if (type_ == FAT_FILE_TYPE_ROOT16) {
block = vol_->rootDirStart() + (curPosition_ >> 9);
} else {
uint8_t blockOfCluster = vol_->blockOfCluster(curPosition_);
if (offset == 0 && blockOfCluster == 0) {
// start of new cluster
if (curPosition_ == 0) {
// use first cluster in file
curCluster_ = firstCluster_;
} else {
// get next cluster from FAT
if (!vol_->fatGet(curCluster_, &curCluster_)) return -1;
}
}
block = vol_->clusterStartBlock(curCluster_) + blockOfCluster;
}
uint16_t n = toRead;
// amount to be read from current block
if (n > (512 - offset)) n = 512 - offset;
// no buffering needed if n == 512 or user requests no buffering
if ((unbufferedRead() || n == 512) &&
block != SdVolume::cacheBlockNumber_) {
if (!vol_->readData(block, offset, n, dst)) return -1;
dst += n;
} else {
// read block to cache and copy data to caller
if (!SdVolume::cacheRawBlock(block, SdVolume::CACHE_FOR_READ)) return -1;
uint8_t* src = SdVolume::cacheBuffer_.data + offset;
uint8_t* end = src + n;
while (src != end) *dst++ = *src++;
}
curPosition_ += n;
toRead -= n;
}
return nbyte;
}
//------------------------------------------------------------------------------
/**
* Read the next directory entry from a directory file.
*
* \param[out] dir The dir_t struct that will receive the data.
*
* \return For success readDir() returns the number of bytes read.
* A value of zero will be returned if end of file is reached.
* If an error occurs, readDir() returns -1. Possible errors include
* readDir() called before a directory has been opened, this is not
* a directory file or an I/O error occurred.
*/
int8_t SdFile::readDir(dir_t* dir) {
int8_t n;
// if not a directory file or miss-positioned return an error
if (!isDir() || (0X1F & curPosition_)) return -1;
while ((n = read(dir, sizeof(dir_t))) == sizeof(dir_t)) {
// last entry if DIR_NAME_FREE
if (dir->name[0] == DIR_NAME_FREE) break;
// skip empty entries and entry for . and ..
if (dir->name[0] == DIR_NAME_DELETED || dir->name[0] == '.') continue;
// return if normal file or subdirectory
if (DIR_IS_FILE_OR_SUBDIR(dir)) return n;
}
// error, end of file, or past last entry
return n < 0 ? -1 : 0;
}
//------------------------------------------------------------------------------
// Read next directory entry into the cache
// Assumes file is correctly positioned
dir_t* SdFile::readDirCache(void) {
// error if not directory
if (!isDir()) return NULL;
// index of entry in cache
uint8_t i = (curPosition_ >> 5) & 0XF;
// use read to locate and cache block
if (read() < 0) return NULL;
// advance to next entry
curPosition_ += 31;
// return pointer to entry
return (SdVolume::cacheBuffer_.dir + i);
}
//------------------------------------------------------------------------------
/**
* Remove a file.
*
* The directory entry and all data for the file are deleted.
*
* \note This function should not be used to delete the 8.3 version of a
* file that has a long name. For example if a file has the long name
* "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT".
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include the file read-only, is a directory,
* or an I/O error occurred.
*/
uint8_t SdFile::remove(void) {
// free any clusters - will fail if read-only or directory
if (!truncate(0)) return false;
// cache directory entry
dir_t* d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE);
if (!d) return false;
// mark entry deleted
d->name[0] = DIR_NAME_DELETED;
// set this SdFile closed
type_ = FAT_FILE_TYPE_CLOSED;
// write entry to SD
return SdVolume::cacheFlush();
}
//------------------------------------------------------------------------------
/**
* Remove a file.
*
* The directory entry and all data for the file are deleted.
*
* \param[in] dirFile The directory that contains the file.
* \param[in] fileName The name of the file to be removed.
*
* \note This function should not be used to delete the 8.3 version of a
* file that has a long name. For example if a file has the long name
* "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT".
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include the file is a directory, is read only,
* \a dirFile is not a directory, \a fileName is not found
* or an I/O error occurred.
*/
uint8_t SdFile::remove(SdFile* dirFile, const char* fileName) {
SdFile file;
if (!file.open(dirFile, fileName, O_WRITE)) return false;
return file.remove();
}
//------------------------------------------------------------------------------
/** Remove a directory file.
*
* The directory file will be removed only if it is empty and is not the
* root directory. rmDir() follows DOS and Windows and ignores the
* read-only attribute for the directory.
*
* \note This function should not be used to delete the 8.3 version of a
* directory that has a long name. For example if a directory has the
* long name "New folder" you should not delete the 8.3 name "NEWFOL~1".
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include the file is not a directory, is the root
* directory, is not empty, or an I/O error occurred.
*/
uint8_t SdFile::rmDir(void) {
// must be open subdirectory
if (!isSubDir()) return false;
rewind();
// make sure directory is empty
while (curPosition_ < fileSize_) {
dir_t* p = readDirCache();
if (p == NULL) return false;
// done if past last used entry
if (p->name[0] == DIR_NAME_FREE) break;
// skip empty slot or '.' or '..'
if (p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') continue;
// error not empty
if (DIR_IS_FILE_OR_SUBDIR(p)) return false;
}
// convert empty directory to normal file for remove
type_ = FAT_FILE_TYPE_NORMAL;
flags_ |= O_WRITE;
return remove();
}
//------------------------------------------------------------------------------
/** Recursively delete a directory and all contained files.
*
* This is like the Unix/Linux 'rm -rf *' if called with the root directory
* hence the name.
*
* Warning - This will remove all contents of the directory including
* subdirectories. The directory will then be removed if it is not root.
* The read-only attribute for files will be ignored.
*
* \note This function should not be used to delete the 8.3 version of
* a directory that has a long name. See remove() and rmDir().
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t SdFile::rmRfStar(void) {
rewind();
while (curPosition_ < fileSize_) {
SdFile f;
// remember position
uint16_t index = curPosition_/32;
dir_t* p = readDirCache();
if (!p) return false;
// done if past last entry
if (p->name[0] == DIR_NAME_FREE) break;
// skip empty slot or '.' or '..'
if (p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') continue;
// skip if part of long file name or volume label in root
if (!DIR_IS_FILE_OR_SUBDIR(p)) continue;
if (!f.open(this, index, O_READ)) return false;
if (f.isSubDir()) {
// recursively delete
if (!f.rmRfStar()) return false;
} else {
// ignore read-only
f.flags_ |= O_WRITE;
if (!f.remove()) return false;
}
// position to next entry if required
if (curPosition_ != (32*(index + 1))) {
if (!seekSet(32*(index + 1))) return false;
}
}
// don't try to delete root
if (isRoot()) return true;
return rmDir();
}
//------------------------------------------------------------------------------
/**
* Sets a file's position.
*
* \param[in] pos The new position in bytes from the beginning of the file.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t SdFile::seekSet(uint32_t pos) {
// error if file not open or seek past end of file
if (!isOpen() || pos > fileSize_) return false;
if (type_ == FAT_FILE_TYPE_ROOT16) {
curPosition_ = pos;
return true;
}
if (pos == 0) {
// set position to start of file
curCluster_ = 0;
curPosition_ = 0;
return true;
}
// calculate cluster index for cur and new position
uint32_t nCur = (curPosition_ - 1) >> (vol_->clusterSizeShift_ + 9);
uint32_t nNew = (pos - 1) >> (vol_->clusterSizeShift_ + 9);
if (nNew < nCur || curPosition_ == 0) {
// must follow chain from first cluster
curCluster_ = firstCluster_;
} else {
// advance from curPosition
nNew -= nCur;
}
while (nNew--) {
if (!vol_->fatGet(curCluster_, &curCluster_)) return false;
}
curPosition_ = pos;
return true;
}
//------------------------------------------------------------------------------
/**
* The sync() call causes all modified data and directory fields
* to be written to the storage device.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include a call to sync() before a file has been
* opened or an I/O error.
*/
uint8_t SdFile::sync(void) {
// only allow open files and directories
if (!isOpen()) return false;
if (flags_ & F_FILE_DIR_DIRTY) {
dir_t* d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE);
if (!d) return false;
// do not set filesize for dir files
if (!isDir()) d->fileSize = fileSize_;
// update first cluster fields
d->firstClusterLow = firstCluster_ & 0XFFFF;
d->firstClusterHigh = firstCluster_ >> 16;
// set modify time if user supplied a callback date/time function
if (dateTime_) {
dateTime_(&d->lastWriteDate, &d->lastWriteTime);
d->lastAccessDate = d->lastWriteDate;
}
// clear directory dirty
flags_ &= ~F_FILE_DIR_DIRTY;
}
return SdVolume::cacheFlush();
}
//------------------------------------------------------------------------------
/**
* Set a file's timestamps in its directory entry.
*
* \param[in] flags Values for \a flags are constructed by a bitwise-inclusive
* OR of flags from the following list
*
* T_ACCESS - Set the file's last access date.
*
* T_CREATE - Set the file's creation date and time.
*
* T_WRITE - Set the file's last write/modification date and time.
*
* \param[in] year Valid range 1980 - 2107 inclusive.
*
* \param[in] month Valid range 1 - 12 inclusive.
*
* \param[in] day Valid range 1 - 31 inclusive.
*
* \param[in] hour Valid range 0 - 23 inclusive.
*
* \param[in] minute Valid range 0 - 59 inclusive.
*
* \param[in] second Valid range 0 - 59 inclusive
*
* \note It is possible to set an invalid date since there is no check for
* the number of days in a month.
*
* \note
* Modify and access timestamps may be overwritten if a date time callback
* function has been set by dateTimeCallback().
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t SdFile::timestamp(uint8_t flags, uint16_t year, uint8_t month,
uint8_t day, uint8_t hour, uint8_t minute, uint8_t second) {
if (!isOpen()
|| year < 1980
|| year > 2107
|| month < 1
|| month > 12
|| day < 1
|| day > 31
|| hour > 23
|| minute > 59
|| second > 59) {
return false;
}
dir_t* d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE);
if (!d) return false;
uint16_t dirDate = FAT_DATE(year, month, day);
uint16_t dirTime = FAT_TIME(hour, minute, second);
if (flags & T_ACCESS) {
d->lastAccessDate = dirDate;
}
if (flags & T_CREATE) {
d->creationDate = dirDate;
d->creationTime = dirTime;
// seems to be units of 1/100 second not 1/10 as Microsoft states
d->creationTimeTenths = second & 1 ? 100 : 0;
}
if (flags & T_WRITE) {
d->lastWriteDate = dirDate;
d->lastWriteTime = dirTime;
}
SdVolume::cacheSetDirty();
return sync();
}
//------------------------------------------------------------------------------
/**
* Truncate a file to a specified length. The current file position
* will be maintained if it is less than or equal to \a length otherwise
* it will be set to end of file.
*
* \param[in] length The desired length for the file.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
* Reasons for failure include file is read only, file is a directory,
* \a length is greater than the current file size or an I/O error occurs.
*/
uint8_t SdFile::truncate(uint32_t length) {
// error if not a normal file or read-only
if (!isFile() || !(flags_ & O_WRITE)) return false;
// error if length is greater than current size
if (length > fileSize_) return false;
// fileSize and length are zero - nothing to do
if (fileSize_ == 0) return true;
// remember position for seek after truncation
uint32_t newPos = curPosition_ > length ? length : curPosition_;
// position to last cluster in truncated file
if (!seekSet(length)) return false;
if (length == 0) {
// free all clusters
if (!vol_->freeChain(firstCluster_)) return false;
firstCluster_ = 0;
} else {
uint32_t toFree;
if (!vol_->fatGet(curCluster_, &toFree)) return false;
if (!vol_->isEOC(toFree)) {
// free extra clusters
if (!vol_->freeChain(toFree)) return false;
// current cluster is end of chain
if (!vol_->fatPutEOC(curCluster_)) return false;
}
}
fileSize_ = length;
// need to update directory entry
flags_ |= F_FILE_DIR_DIRTY;
if (!sync()) return false;
// set file to correct position
return seekSet(newPos);
}
//------------------------------------------------------------------------------
/**
* Write data to an open file.
*
* \note Data is moved to the cache but may not be written to the
* storage device until sync() is called.
*
* \param[in] buf Pointer to the location of the data to be written.
*
* \param[in] nbyte Number of bytes to write.
*
* \return For success write() returns the number of bytes written, always
* \a nbyte. If an error occurs, write() returns -1. Possible errors
* include write() is called before a file has been opened, write is called
* for a read-only file, device is full, a corrupt file system or an I/O error.
*
*/
int16_t SdFile::write(const void* buf, uint16_t nbyte) {
// convert void* to uint8_t* - must be before goto statements
const uint8_t* src = reinterpret_cast<const uint8_t*>(buf);
// number of bytes left to write - must be before goto statements
uint16_t nToWrite = nbyte;
// error if not a normal file or is read-only
if (!isFile() || !(flags_ & O_WRITE)) goto writeErrorReturn;
// seek to end of file if append flag
if ((flags_ & O_APPEND) && curPosition_ != fileSize_) {
if (!seekEnd()) goto writeErrorReturn;
}
while (nToWrite > 0) {
uint8_t blockOfCluster = vol_->blockOfCluster(curPosition_);
uint16_t blockOffset = curPosition_ & 0X1FF;
if (blockOfCluster == 0 && blockOffset == 0) {
// start of new cluster
if (curCluster_ == 0) {
if (firstCluster_ == 0) {
// allocate first cluster of file
if (!addCluster()) goto writeErrorReturn;
} else {
curCluster_ = firstCluster_;
}
} else {
uint32_t next;
if (!vol_->fatGet(curCluster_, &next)) return false;
if (vol_->isEOC(next)) {
// add cluster if at end of chain
if (!addCluster()) goto writeErrorReturn;
} else {
curCluster_ = next;
}
}
}
// max space in block
uint16_t n = 512 - blockOffset;
// lesser of space and amount to write
if (n > nToWrite) n = nToWrite;
// block for data write
uint32_t block = vol_->clusterStartBlock(curCluster_) + blockOfCluster;
if (n == 512) {
// full block - don't need to use cache
// invalidate cache if block is in cache
if (SdVolume::cacheBlockNumber_ == block) {
SdVolume::cacheBlockNumber_ = 0XFFFFFFFF;
}
if (!vol_->writeBlock(block, src)) goto writeErrorReturn;
src += 512;
} else {
if (blockOffset == 0 && curPosition_ >= fileSize_) {
// start of new block don't need to read into cache
if (!SdVolume::cacheFlush()) goto writeErrorReturn;
SdVolume::cacheBlockNumber_ = block;
SdVolume::cacheSetDirty();
} else {
// rewrite part of block
if (!SdVolume::cacheRawBlock(block, SdVolume::CACHE_FOR_WRITE)) {
goto writeErrorReturn;
}
}
uint8_t* dst = SdVolume::cacheBuffer_.data + blockOffset;
uint8_t* end = dst + n;
while (dst != end) *dst++ = *src++;
}
nToWrite -= n;
curPosition_ += n;
}
if (curPosition_ > fileSize_) {
// update fileSize and insure sync will update dir entry
fileSize_ = curPosition_;
flags_ |= F_FILE_DIR_DIRTY;
} else if (dateTime_ && nbyte) {
// insure sync will update modified date and time
flags_ |= F_FILE_DIR_DIRTY;
}
if (flags_ & O_SYNC) {
if (!sync()) goto writeErrorReturn;
}
return nbyte;
writeErrorReturn:
// return for write error
writeError = true;
return -1;
}
//------------------------------------------------------------------------------
/**
* Write a byte to a file. Required by the Arduino Print class.
*
* Use SdFile::writeError to check for errors.
*/
void SdFile::write(uint8_t b) {
write(&b, 1);
}
//------------------------------------------------------------------------------
/**
* Write a string to a file. Used by the Arduino Print class.
*
* Use SdFile::writeError to check for errors.
*/
void SdFile::write(const char* str) {
write(str, strlen(str));
}
//------------------------------------------------------------------------------
/**
* Write a PROGMEM string to a file.
*
* Use SdFile::writeError to check for errors.
*/
void SdFile::write_P(PGM_P str) {
for (uint8_t c; (c = pgm_read_byte(str)); str++) write(c);
}
//------------------------------------------------------------------------------
/**
* Write a PROGMEM string followed by CR/LF to a file.
*
* Use SdFile::writeError to check for errors.
*/
void SdFile::writeln_P(PGM_P str) {
write_P(str);
println();
}

232
Marlin/SdInfo.h Normal file
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/* Arduino Sd2Card Library
* Copyright (C) 2009 by William Greiman
*
* This file is part of the Arduino Sd2Card Library
*
* This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Arduino Sd2Card Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
#ifndef SdInfo_h
#define SdInfo_h
#include <stdint.h>
// Based on the document:
//
// SD Specifications
// Part 1
// Physical Layer
// Simplified Specification
// Version 2.00
// September 25, 2006
//
// www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
//------------------------------------------------------------------------------
// SD card commands
/** GO_IDLE_STATE - init card in spi mode if CS low */
uint8_t const CMD0 = 0X00;
/** SEND_IF_COND - verify SD Memory Card interface operating condition.*/
uint8_t const CMD8 = 0X08;
/** SEND_CSD - read the Card Specific Data (CSD register) */
uint8_t const CMD9 = 0X09;
/** SEND_CID - read the card identification information (CID register) */
uint8_t const CMD10 = 0X0A;
/** SEND_STATUS - read the card status register */
uint8_t const CMD13 = 0X0D;
/** READ_BLOCK - read a single data block from the card */
uint8_t const CMD17 = 0X11;
/** WRITE_BLOCK - write a single data block to the card */
uint8_t const CMD24 = 0X18;
/** WRITE_MULTIPLE_BLOCK - write blocks of data until a STOP_TRANSMISSION */
uint8_t const CMD25 = 0X19;
/** ERASE_WR_BLK_START - sets the address of the first block to be erased */
uint8_t const CMD32 = 0X20;
/** ERASE_WR_BLK_END - sets the address of the last block of the continuous
range to be erased*/
uint8_t const CMD33 = 0X21;
/** ERASE - erase all previously selected blocks */
uint8_t const CMD38 = 0X26;
/** APP_CMD - escape for application specific command */
uint8_t const CMD55 = 0X37;
/** READ_OCR - read the OCR register of a card */
uint8_t const CMD58 = 0X3A;
/** SET_WR_BLK_ERASE_COUNT - Set the number of write blocks to be
pre-erased before writing */
uint8_t const ACMD23 = 0X17;
/** SD_SEND_OP_COMD - Sends host capacity support information and
activates the card's initialization process */
uint8_t const ACMD41 = 0X29;
//------------------------------------------------------------------------------
/** status for card in the ready state */
uint8_t const R1_READY_STATE = 0X00;
/** status for card in the idle state */
uint8_t const R1_IDLE_STATE = 0X01;
/** status bit for illegal command */
uint8_t const R1_ILLEGAL_COMMAND = 0X04;
/** start data token for read or write single block*/
uint8_t const DATA_START_BLOCK = 0XFE;
/** stop token for write multiple blocks*/
uint8_t const STOP_TRAN_TOKEN = 0XFD;
/** start data token for write multiple blocks*/
uint8_t const WRITE_MULTIPLE_TOKEN = 0XFC;
/** mask for data response tokens after a write block operation */
uint8_t const DATA_RES_MASK = 0X1F;
/** write data accepted token */
uint8_t const DATA_RES_ACCEPTED = 0X05;
//------------------------------------------------------------------------------
typedef struct CID {
// byte 0
uint8_t mid; // Manufacturer ID
// byte 1-2
char oid[2]; // OEM/Application ID
// byte 3-7
char pnm[5]; // Product name
// byte 8
unsigned prv_m : 4; // Product revision n.m
unsigned prv_n : 4;
// byte 9-12
uint32_t psn; // Product serial number
// byte 13
unsigned mdt_year_high : 4; // Manufacturing date
unsigned reserved : 4;
// byte 14
unsigned mdt_month : 4;
unsigned mdt_year_low :4;
// byte 15
unsigned always1 : 1;
unsigned crc : 7;
}cid_t;
//------------------------------------------------------------------------------
// CSD for version 1.00 cards
typedef struct CSDV1 {
// byte 0
unsigned reserved1 : 6;
unsigned csd_ver : 2;
// byte 1
uint8_t taac;
// byte 2
uint8_t nsac;
// byte 3
uint8_t tran_speed;
// byte 4
uint8_t ccc_high;
// byte 5
unsigned read_bl_len : 4;
unsigned ccc_low : 4;
// byte 6
unsigned c_size_high : 2;
unsigned reserved2 : 2;
unsigned dsr_imp : 1;
unsigned read_blk_misalign :1;
unsigned write_blk_misalign : 1;
unsigned read_bl_partial : 1;
// byte 7
uint8_t c_size_mid;
// byte 8
unsigned vdd_r_curr_max : 3;
unsigned vdd_r_curr_min : 3;
unsigned c_size_low :2;
// byte 9
unsigned c_size_mult_high : 2;
unsigned vdd_w_cur_max : 3;
unsigned vdd_w_curr_min : 3;
// byte 10
unsigned sector_size_high : 6;
unsigned erase_blk_en : 1;
unsigned c_size_mult_low : 1;
// byte 11
unsigned wp_grp_size : 7;
unsigned sector_size_low : 1;
// byte 12
unsigned write_bl_len_high : 2;
unsigned r2w_factor : 3;
unsigned reserved3 : 2;
unsigned wp_grp_enable : 1;
// byte 13
unsigned reserved4 : 5;
unsigned write_partial : 1;
unsigned write_bl_len_low : 2;
// byte 14
unsigned reserved5: 2;
unsigned file_format : 2;
unsigned tmp_write_protect : 1;
unsigned perm_write_protect : 1;
unsigned copy : 1;
unsigned file_format_grp : 1;
// byte 15
unsigned always1 : 1;
unsigned crc : 7;
}csd1_t;
//------------------------------------------------------------------------------
// CSD for version 2.00 cards
typedef struct CSDV2 {
// byte 0
unsigned reserved1 : 6;
unsigned csd_ver : 2;
// byte 1
uint8_t taac;
// byte 2
uint8_t nsac;
// byte 3
uint8_t tran_speed;
// byte 4
uint8_t ccc_high;
// byte 5
unsigned read_bl_len : 4;
unsigned ccc_low : 4;
// byte 6
unsigned reserved2 : 4;
unsigned dsr_imp : 1;
unsigned read_blk_misalign :1;
unsigned write_blk_misalign : 1;
unsigned read_bl_partial : 1;
// byte 7
unsigned reserved3 : 2;
unsigned c_size_high : 6;
// byte 8
uint8_t c_size_mid;
// byte 9
uint8_t c_size_low;
// byte 10
unsigned sector_size_high : 6;
unsigned erase_blk_en : 1;
unsigned reserved4 : 1;
// byte 11
unsigned wp_grp_size : 7;
unsigned sector_size_low : 1;
// byte 12
unsigned write_bl_len_high : 2;
unsigned r2w_factor : 3;
unsigned reserved5 : 2;
unsigned wp_grp_enable : 1;
// byte 13
unsigned reserved6 : 5;
unsigned write_partial : 1;
unsigned write_bl_len_low : 2;
// byte 14
unsigned reserved7: 2;
unsigned file_format : 2;
unsigned tmp_write_protect : 1;
unsigned perm_write_protect : 1;
unsigned copy : 1;
unsigned file_format_grp : 1;
// byte 15
unsigned always1 : 1;
unsigned crc : 7;
}csd2_t;
//------------------------------------------------------------------------------
// union of old and new style CSD register
union csd_t {
csd1_t v1;
csd2_t v2;
};
#endif // SdInfo_h

295
Marlin/SdVolume.cpp Normal file
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/* Arduino SdFat Library
* Copyright (C) 2009 by William Greiman
*
* This file is part of the Arduino SdFat Library
*
* This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
#include "SdFat.h"
//------------------------------------------------------------------------------
// raw block cache
// init cacheBlockNumber_to invalid SD block number
uint32_t SdVolume::cacheBlockNumber_ = 0XFFFFFFFF;
cache_t SdVolume::cacheBuffer_; // 512 byte cache for Sd2Card
Sd2Card* SdVolume::sdCard_; // pointer to SD card object
uint8_t SdVolume::cacheDirty_ = 0; // cacheFlush() will write block if true
uint32_t SdVolume::cacheMirrorBlock_ = 0; // mirror block for second FAT
//------------------------------------------------------------------------------
// find a contiguous group of clusters
uint8_t SdVolume::allocContiguous(uint32_t count, uint32_t* curCluster) {
// start of group
uint32_t bgnCluster;
// flag to save place to start next search
uint8_t setStart;
// set search start cluster
if (*curCluster) {
// try to make file contiguous
bgnCluster = *curCluster + 1;
// don't save new start location
setStart = false;
} else {
// start at likely place for free cluster
bgnCluster = allocSearchStart_;
// save next search start if one cluster
setStart = 1 == count;
}
// end of group
uint32_t endCluster = bgnCluster;
// last cluster of FAT
uint32_t fatEnd = clusterCount_ + 1;
// search the FAT for free clusters
for (uint32_t n = 0;; n++, endCluster++) {
// can't find space checked all clusters
if (n >= clusterCount_) return false;
// past end - start from beginning of FAT
if (endCluster > fatEnd) {
bgnCluster = endCluster = 2;
}
uint32_t f;
if (!fatGet(endCluster, &f)) return false;
if (f != 0) {
// cluster in use try next cluster as bgnCluster
bgnCluster = endCluster + 1;
} else if ((endCluster - bgnCluster + 1) == count) {
// done - found space
break;
}
}
// mark end of chain
if (!fatPutEOC(endCluster)) return false;
// link clusters
while (endCluster > bgnCluster) {
if (!fatPut(endCluster - 1, endCluster)) return false;
endCluster--;
}
if (*curCluster != 0) {
// connect chains
if (!fatPut(*curCluster, bgnCluster)) return false;
}
// return first cluster number to caller
*curCluster = bgnCluster;
// remember possible next free cluster
if (setStart) allocSearchStart_ = bgnCluster + 1;
return true;
}
//------------------------------------------------------------------------------
uint8_t SdVolume::cacheFlush(void) {
if (cacheDirty_) {
if (!sdCard_->writeBlock(cacheBlockNumber_, cacheBuffer_.data)) {
return false;
}
// mirror FAT tables
if (cacheMirrorBlock_) {
if (!sdCard_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data)) {
return false;
}
cacheMirrorBlock_ = 0;
}
cacheDirty_ = 0;
}
return true;
}
//------------------------------------------------------------------------------
uint8_t SdVolume::cacheRawBlock(uint32_t blockNumber, uint8_t action) {
if (cacheBlockNumber_ != blockNumber) {
if (!cacheFlush()) return false;
if (!sdCard_->readBlock(blockNumber, cacheBuffer_.data)) return false;
cacheBlockNumber_ = blockNumber;
}
cacheDirty_ |= action;
return true;
}
//------------------------------------------------------------------------------
// cache a zero block for blockNumber
uint8_t SdVolume::cacheZeroBlock(uint32_t blockNumber) {
if (!cacheFlush()) return false;
// loop take less flash than memset(cacheBuffer_.data, 0, 512);
for (uint16_t i = 0; i < 512; i++) {
cacheBuffer_.data[i] = 0;
}
cacheBlockNumber_ = blockNumber;
cacheSetDirty();
return true;
}
//------------------------------------------------------------------------------
// return the size in bytes of a cluster chain
uint8_t SdVolume::chainSize(uint32_t cluster, uint32_t* size) const {
uint32_t s = 0;
do {
if (!fatGet(cluster, &cluster)) return false;
s += 512UL << clusterSizeShift_;
} while (!isEOC(cluster));
*size = s;
return true;
}
//------------------------------------------------------------------------------
// Fetch a FAT entry
uint8_t SdVolume::fatGet(uint32_t cluster, uint32_t* value) const {
if (cluster > (clusterCount_ + 1)) return false;
uint32_t lba = fatStartBlock_;
lba += fatType_ == 16 ? cluster >> 8 : cluster >> 7;
if (lba != cacheBlockNumber_) {
if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false;
}
if (fatType_ == 16) {
*value = cacheBuffer_.fat16[cluster & 0XFF];
} else {
*value = cacheBuffer_.fat32[cluster & 0X7F] & FAT32MASK;
}
return true;
}
//------------------------------------------------------------------------------
// Store a FAT entry
uint8_t SdVolume::fatPut(uint32_t cluster, uint32_t value) {
// error if reserved cluster
if (cluster < 2) return false;
// error if not in FAT
if (cluster > (clusterCount_ + 1)) return false;
// calculate block address for entry
uint32_t lba = fatStartBlock_;
lba += fatType_ == 16 ? cluster >> 8 : cluster >> 7;
if (lba != cacheBlockNumber_) {
if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false;
}
// store entry
if (fatType_ == 16) {
cacheBuffer_.fat16[cluster & 0XFF] = value;
} else {
cacheBuffer_.fat32[cluster & 0X7F] = value;
}
cacheSetDirty();
// mirror second FAT
if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_;
return true;
}
//------------------------------------------------------------------------------
// free a cluster chain
uint8_t SdVolume::freeChain(uint32_t cluster) {
// clear free cluster location
allocSearchStart_ = 2;
do {
uint32_t next;
if (!fatGet(cluster, &next)) return false;
// free cluster
if (!fatPut(cluster, 0)) return false;
cluster = next;
} while (!isEOC(cluster));
return true;
}
//------------------------------------------------------------------------------
/**
* Initialize a FAT volume.
*
* \param[in] dev The SD card where the volume is located.
*
* \param[in] part The partition to be used. Legal values for \a part are
* 1-4 to use the corresponding partition on a device formatted with
* a MBR, Master Boot Record, or zero if the device is formatted as
* a super floppy with the FAT boot sector in block zero.
*
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. Reasons for
* failure include not finding a valid partition, not finding a valid
* FAT file system in the specified partition or an I/O error.
*/
uint8_t SdVolume::init(Sd2Card* dev, uint8_t part) {
uint32_t volumeStartBlock = 0;
sdCard_ = dev;
// if part == 0 assume super floppy with FAT boot sector in block zero
// if part > 0 assume mbr volume with partition table
if (part) {
if (part > 4)return false;
if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false;
part_t* p = &cacheBuffer_.mbr.part[part-1];
if ((p->boot & 0X7F) !=0 ||
p->totalSectors < 100 ||
p->firstSector == 0) {
// not a valid partition
return false;
}
volumeStartBlock = p->firstSector;
}
if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false;
bpb_t* bpb = &cacheBuffer_.fbs.bpb;
if (bpb->bytesPerSector != 512 ||
bpb->fatCount == 0 ||
bpb->reservedSectorCount == 0 ||
bpb->sectorsPerCluster == 0) {
// not valid FAT volume
return false;
}
fatCount_ = bpb->fatCount;
blocksPerCluster_ = bpb->sectorsPerCluster;
// determine shift that is same as multiply by blocksPerCluster_
clusterSizeShift_ = 0;
while (blocksPerCluster_ != (1 << clusterSizeShift_)) {
// error if not power of 2
if (clusterSizeShift_++ > 7) return false;
}
blocksPerFat_ = bpb->sectorsPerFat16 ?
bpb->sectorsPerFat16 : bpb->sectorsPerFat32;
fatStartBlock_ = volumeStartBlock + bpb->reservedSectorCount;
// count for FAT16 zero for FAT32
rootDirEntryCount_ = bpb->rootDirEntryCount;
// directory start for FAT16 dataStart for FAT32
rootDirStart_ = fatStartBlock_ + bpb->fatCount * blocksPerFat_;
// data start for FAT16 and FAT32
dataStartBlock_ = rootDirStart_ + ((32 * bpb->rootDirEntryCount + 511)/512);
// total blocks for FAT16 or FAT32
uint32_t totalBlocks = bpb->totalSectors16 ?
bpb->totalSectors16 : bpb->totalSectors32;
// total data blocks
clusterCount_ = totalBlocks - (dataStartBlock_ - volumeStartBlock);
// divide by cluster size to get cluster count
clusterCount_ >>= clusterSizeShift_;
// FAT type is determined by cluster count
if (clusterCount_ < 4085) {
fatType_ = 12;
} else if (clusterCount_ < 65525) {
fatType_ = 16;
} else {
rootDirStart_ = bpb->fat32RootCluster;
fatType_ = 32;
}
return true;
}

2050
Marlin/applet/Marlin.cpp Normal file
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@ -0,0 +1,2050 @@
#include "WProgram.h"
/*
Reprap firmware based on Sprinter and grbl.
Copyright (C) 2011
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
This firmware is a mashup of Sprinter and grbl.
(https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree)
The acceleration algorithm is derived from http://hwml.com/LeibRamp.pdf
This firmware is optimized for gen6 electronics.
*/
#include "fastio.h"
#include "Configuration.h"
#include "pins.h"
#include "Marlin.h"
#include "speed_lookuptable.h"
#ifdef SDSUPPORT
#include "SdFat.h"
#endif
#ifndef CRITICAL_SECTION_START
#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli()
#define CRITICAL_SECTION_END SREG = _sreg
#endif
// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
//Implemented Codes
//-------------------
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G4 - Dwell S<seconds> or P<milliseconds>
// G28 - Home all Axis
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
//RepRap M Codes
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Wait for extruder current temp to reach target temp.
// M114 - Display current position
//Custom M Codes
// M80 - Turn on Power Supply
// M20 - List SD card
// M21 - Init SD card
// M22 - Release SD card
// M23 - Select SD file (M23 filename.g)
// M24 - Start/resume SD print
// M25 - Pause SD print
// M26 - Set SD position in bytes (M26 S12345)
// M27 - Report SD print status
// M28 - Start SD write (M28 filename.g)
// M29 - Stop SD write
// M81 - Turn off Power Supply
// M82 - Set E codes absolute (default)
// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
// M84 - Disable steppers until next move,
// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M92 - Set axis_steps_per_unit - same syntax as G92
// M115 - Capabilities string
// M140 - Set bed target temp
// M190 - Wait for bed current temp to reach target temp.
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000)
// M301 - Set PID parameters P I and D
//Stepper Movement Variables
char axis_codes[NUM_AXIS] = {
'X', 'Y', 'Z', 'E'};
float destination[NUM_AXIS] = {
0.0, 0.0, 0.0, 0.0};
float current_position[NUM_AXIS] = {
0.0, 0.0, 0.0, 0.0};
bool home_all_axis = true;
long feedrate = 1500, next_feedrate, saved_feedrate;
long gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
unsigned long axis_steps_per_sqr_second[NUM_AXIS];
// comm variables
#define MAX_CMD_SIZE 96
#define BUFSIZE 8
char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
bool fromsd[BUFSIZE];
int bufindr = 0;
int bufindw = 0;
int buflen = 0;
int i = 0;
char serial_char;
int serial_count = 0;
boolean comment_mode = false;
char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
// Manage heater variables.
int target_raw = 0;
int current_raw = 0;
unsigned char temp_meas_ready = false;
#ifdef PIDTEMP
double temp_iState = 0;
double temp_dState = 0;
double pTerm;
double iTerm;
double dTerm;
//int output;
double pid_error;
double temp_iState_min;
double temp_iState_max;
double pid_setpoint = 0.0;
double pid_input;
double pid_output;
bool pid_reset;
#endif
#ifdef WATCHPERIOD
int watch_raw = -1000;
unsigned long watchmillis = 0;
#endif
#ifdef MINTEMP
int minttemp = temp2analogh(MINTEMP);
#endif
#ifdef MAXTEMP
int maxttemp = temp2analogh(MAXTEMP);
#endif
//Inactivity shutdown variables
unsigned long previous_millis_cmd = 0;
unsigned long max_inactive_time = 0;
unsigned long stepper_inactive_time = 0;
#ifdef SDSUPPORT
Sd2Card card;
SdVolume volume;
SdFile root;
SdFile file;
uint32_t filesize = 0;
uint32_t sdpos = 0;
bool sdmode = false;
bool sdactive = false;
bool savetosd = false;
int16_t n;
void initsd(){
sdactive = false;
#if SDSS >- 1
if(root.isOpen())
root.close();
if (!card.init(SPI_FULL_SPEED,SDSS)){
//if (!card.init(SPI_HALF_SPEED,SDSS))
Serial.println("SD init fail");
}
else if (!volume.init(&card))
Serial.println("volume.init failed");
else if (!root.openRoot(&volume))
Serial.println("openRoot failed");
else
sdactive = true;
#endif
}
inline void write_command(char *buf){
char* begin = buf;
char* npos = 0;
char* end = buf + strlen(buf) - 1;
file.writeError = false;
if((npos = strchr(buf, 'N')) != NULL){
begin = strchr(npos, ' ') + 1;
end = strchr(npos, '*') - 1;
}
end[1] = '\r';
end[2] = '\n';
end[3] = '\0';
//Serial.println(begin);
file.write(begin);
if (file.writeError){
Serial.println("error writing to file");
}
}
#endif
void setup()
{
Serial.begin(BAUDRATE);
Serial.println("start");
for(int i = 0; i < BUFSIZE; i++){
fromsd[i] = false;
}
//Initialize Dir Pins
#if X_DIR_PIN > -1
SET_OUTPUT(X_DIR_PIN);
#endif
#if Y_DIR_PIN > -1
SET_OUTPUT(Y_DIR_PIN);
#endif
#if Z_DIR_PIN > -1
SET_OUTPUT(Z_DIR_PIN);
#endif
#if E_DIR_PIN > -1
SET_OUTPUT(E_DIR_PIN);
#endif
//Initialize Enable Pins - steppers default to disabled.
#if (X_ENABLE_PIN > -1)
SET_OUTPUT(X_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
#endif
#if (Y_ENABLE_PIN > -1)
SET_OUTPUT(Y_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
#endif
#if (Z_ENABLE_PIN > -1)
SET_OUTPUT(Z_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
#endif
#if (E_ENABLE_PIN > -1)
SET_OUTPUT(E_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
#endif
//endstops and pullups
#ifdef ENDSTOPPULLUPS
#if X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN);
WRITE(X_MIN_PIN,HIGH);
#endif
#if X_MAX_PIN > -1
SET_INPUT(X_MAX_PIN);
WRITE(X_MAX_PIN,HIGH);
#endif
#if Y_MIN_PIN > -1
SET_INPUT(Y_MIN_PIN);
WRITE(Y_MIN_PIN,HIGH);
#endif
#if Y_MAX_PIN > -1
SET_INPUT(Y_MAX_PIN);
WRITE(Y_MAX_PIN,HIGH);
#endif
#if Z_MIN_PIN > -1
SET_INPUT(Z_MIN_PIN);
WRITE(Z_MIN_PIN,HIGH);
#endif
#if Z_MAX_PIN > -1
SET_INPUT(Z_MAX_PIN);
WRITE(Z_MAX_PIN,HIGH);
#endif
#else
#if X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN);
#endif
#if X_MAX_PIN > -1
SET_INPUT(X_MAX_PIN);
#endif
#if Y_MIN_PIN > -1
SET_INPUT(Y_MIN_PIN);
#endif
#if Y_MAX_PIN > -1
SET_INPUT(Y_MAX_PIN);
#endif
#if Z_MIN_PIN > -1
SET_INPUT(Z_MIN_PIN);
#endif
#if Z_MAX_PIN > -1
SET_INPUT(Z_MAX_PIN);
#endif
#endif
#if (HEATER_0_PIN > -1)
SET_OUTPUT(HEATER_0_PIN);
#endif
#if (HEATER_1_PIN > -1)
SET_OUTPUT(HEATER_1_PIN);
#endif
//Initialize Step Pins
#if (X_STEP_PIN > -1)
SET_OUTPUT(X_STEP_PIN);
#endif
#if (Y_STEP_PIN > -1)
SET_OUTPUT(Y_STEP_PIN);
#endif
#if (Z_STEP_PIN > -1)
SET_OUTPUT(Z_STEP_PIN);
#endif
#if (E_STEP_PIN > -1)
SET_OUTPUT(E_STEP_PIN);
#endif
for(int i=0; i < NUM_AXIS; i++){
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
#ifdef PIDTEMP
temp_iState_min = 0.0;
temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
#endif //PIDTEMP
#ifdef SDSUPPORT
//power to SD reader
#if SDPOWER > -1
SET_OUTPUT(SDPOWER);
WRITE(SDPOWER,HIGH);
#endif
initsd();
#endif
plan_init(); // Initialize planner;
st_init(); // Initialize stepper;
tp_init(); // Initialize temperature loop
}
void loop()
{
if(buflen<3)
get_command();
if(buflen){
#ifdef SDSUPPORT
if(savetosd){
if(strstr(cmdbuffer[bufindr],"M29") == NULL){
write_command(cmdbuffer[bufindr]);
Serial.println("ok");
}
else{
file.sync();
file.close();
savetosd = false;
Serial.println("Done saving file.");
}
}
else{
process_commands();
}
#else
process_commands();
#endif
buflen = (buflen-1);
bufindr = (bufindr + 1)%BUFSIZE;
}
//check heater every n milliseconds
manage_heater();
manage_inactivity(1);
}
inline void get_command()
{
while( Serial.available() > 0 && buflen < BUFSIZE) {
serial_char = Serial.read();
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count) return; //if empty line
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
fromsd[bufindw] = false;
if(strstr(cmdbuffer[bufindw], "N") != NULL)
{
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
Serial.print("Serial Error: Line Number is not Last Line Number+1, Last Line:");
Serial.println(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if(strstr(cmdbuffer[bufindw], "*") != NULL)
{
byte checksum = 0;
byte count = 0;
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
Serial.print("Error: checksum mismatch, Last Line:");
Serial.println(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
//if no errors, continue parsing
}
else
{
Serial.print("Error: No Checksum with line number, Last Line:");
Serial.println(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
gcode_LastN = gcode_N;
//if no errors, continue parsing
}
else // if we don't receive 'N' but still see '*'
{
if((strstr(cmdbuffer[bufindw], "*") != NULL))
{
Serial.print("Error: No Line Number with checksum, Last Line:");
Serial.println(gcode_LastN);
serial_count = 0;
return;
}
}
if((strstr(cmdbuffer[bufindw], "G") != NULL)){
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
case 0:
case 1:
#ifdef SDSUPPORT
if(savetosd)
break;
#endif
Serial.println("ok");
break;
default:
break;
}
}
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
}
comment_mode = false; //for new command
serial_count = 0; //clear buffer
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
#ifdef SDSUPPORT
if(!sdmode || serial_count!=0){
return;
}
while( filesize > sdpos && buflen < BUFSIZE) {
n = file.read();
serial_char = (char)n;
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || n == -1)
{
sdpos = file.curPosition();
if(sdpos >= filesize){
sdmode = false;
Serial.println("Done printing file");
}
if(!serial_count) return; //if empty line
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
fromsd[bufindw] = true;
buflen += 1;
bufindw = (bufindw + 1)%BUFSIZE;
}
comment_mode = false; //for new command
serial_count = 0; //clear buffer
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
#endif
}
inline float code_value() {
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
}
inline long code_value_long() {
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
}
inline bool code_seen(char code_string[]) {
return (strstr(cmdbuffer[bufindr], code_string) != NULL);
} //Return True if the string was found
inline bool code_seen(char code)
{
strchr_pointer = strchr(cmdbuffer[bufindr], code);
return (strchr_pointer != NULL); //Return True if a character was found
}
inline void process_commands()
{
unsigned long codenum; //throw away variable
char *starpos = NULL;
if(code_seen('G'))
{
switch((int)code_value())
{
case 0: // G0 -> G1
case 1: // G1
get_coordinates(); // For X Y Z E F
prepare_move();
previous_millis_cmd = millis();
//ClearToSend();
return;
//break;
case 4: // G4 dwell
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
codenum += millis(); // keep track of when we started waiting
while(millis() < codenum ){
manage_heater();
}
break;
case 28: //G28 Home all Axis one at a time
saved_feedrate = feedrate;
for(int i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i];
}
feedrate = 0;
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) {
if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)){
st_synchronize();
current_position[X_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
feedrate = homing_feedrate[X_AXIS];
prepare_move();
st_synchronize();
current_position[X_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = -5 * X_HOME_DIR;
prepare_move();
st_synchronize();
destination[X_AXIS] = 10 * X_HOME_DIR;
feedrate = homing_feedrate[X_AXIS]/2 ;
prepare_move();
st_synchronize();
current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
feedrate = 0;
}
}
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)){
current_position[Y_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
feedrate = homing_feedrate[Y_AXIS];
prepare_move();
st_synchronize();
current_position[Y_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = -5 * Y_HOME_DIR;
prepare_move();
st_synchronize();
destination[Y_AXIS] = 10 * Y_HOME_DIR;
feedrate = homing_feedrate[Y_AXIS]/2;
prepare_move();
st_synchronize();
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = current_position[Y_AXIS];
feedrate = 0;
}
}
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)){
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
feedrate = homing_feedrate[Z_AXIS];
prepare_move();
st_synchronize();
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = -2 * Z_HOME_DIR;
prepare_move();
st_synchronize();
destination[Z_AXIS] = 3 * Z_HOME_DIR;
feedrate = homing_feedrate[Z_AXIS]/2;
prepare_move();
st_synchronize();
current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = current_position[Z_AXIS];
feedrate = 0;
}
}
feedrate = saved_feedrate;
previous_millis_cmd = millis();
break;
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
if(!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for(int i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) current_position[i] = code_value();
}
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
break;
}
}
else if(code_seen('M'))
{
switch( (int)code_value() )
{
#ifdef SDSUPPORT
case 20: // M20 - list SD card
Serial.println("Begin file list");
root.ls();
Serial.println("End file list");
break;
case 21: // M21 - init SD card
sdmode = false;
initsd();
break;
case 22: //M22 - release SD card
sdmode = false;
sdactive = false;
break;
case 23: //M23 - Select file
if(sdactive){
sdmode = false;
file.close();
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos!=NULL)
*(starpos-1)='\0';
if (file.open(&root, strchr_pointer + 4, O_READ)) {
Serial.print("File opened:");
Serial.print(strchr_pointer + 4);
Serial.print(" Size:");
Serial.println(file.fileSize());
sdpos = 0;
filesize = file.fileSize();
Serial.println("File selected");
}
else{
Serial.println("file.open failed");
}
}
break;
case 24: //M24 - Start SD print
if(sdactive){
sdmode = true;
}
break;
case 25: //M25 - Pause SD print
if(sdmode){
sdmode = false;
}
break;
case 26: //M26 - Set SD index
if(sdactive && code_seen('S')){
sdpos = code_value_long();
file.seekSet(sdpos);
}
break;
case 27: //M27 - Get SD status
if(sdactive){
Serial.print("SD printing byte ");
Serial.print(sdpos);
Serial.print("/");
Serial.println(filesize);
}
else{
Serial.println("Not SD printing");
}
break;
case 28: //M28 - Start SD write
if(sdactive){
char* npos = 0;
file.close();
sdmode = false;
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos != NULL){
npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos-1) = '\0';
}
if (!file.open(&root, strchr_pointer+4, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
{
Serial.print("open failed, File: ");
Serial.print(strchr_pointer + 4);
Serial.print(".");
}
else{
savetosd = true;
Serial.print("Writing to file: ");
Serial.println(strchr_pointer + 4);
}
}
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//savetosd = false;
break;
#endif
case 104: // M104
#ifdef PID_OPENLOOP
if (code_seen('S')) PidTemp_Output = code_value() * (PID_MAX/100.0);
if(pid_output > PID_MAX) pid_output = PID_MAX;
if(pid_output < 0) pid_output = 0;
#else //PID_OPENLOOP
if (code_seen('S')) {
target_raw = temp2analogh(code_value());
#ifdef PIDTEMP
pid_setpoint = code_value();
#endif //PIDTEMP
}
#ifdef WATCHPERIOD
if(target_raw > current_raw){
watchmillis = max(1,millis());
watch_raw = current_raw;
}
else{
watchmillis = 0;
}
#endif //WATCHPERIOD
#endif //PID_OPENLOOP
break;
case 105: // M105
Serial.print("ok T:");
Serial.println(analog2temp(current_raw));
return;
//break;
case 109: // M109 - Wait for extruder heater to reach target.
if (code_seen('S')) target_raw = temp2analogh(code_value());
#ifdef WATCHPERIOD
if(target_raw>current_raw){
watchmillis = max(1,millis());
watch_raw = current_raw;
}
else{
watchmillis = 0;
}
#endif
codenum = millis();
while(current_raw < target_raw) {
if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
Serial.print("T:");
Serial.println( analog2temp(current_raw));
codenum = millis();
}
manage_heater();
}
break;
case 190:
break;
case 82:
axis_relative_modes[3] = false;
break;
case 83:
axis_relative_modes[3] = true;
break;
case 84:
if(code_seen('S')){
stepper_inactive_time = code_value() * 1000;
}
else{
st_synchronize();
disable_x();
disable_y();
disable_z();
disable_e();
}
break;
case 85: // M85
code_seen('S');
max_inactive_time = code_value() * 1000;
break;
case 92: // M92
for(int i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value();
}
break;
case 115: // M115
Serial.println("FIRMWARE_NAME:Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1");
break;
case 114: // M114
Serial.print("X:");
Serial.print(current_position[X_AXIS]);
Serial.print("Y:");
Serial.print(current_position[Y_AXIS]);
Serial.print("Z:");
Serial.print(current_position[Z_AXIS]);
Serial.print("E:");
Serial.println(current_position[E_AXIS]);
break;
case 119: // M119
#if (X_MIN_PIN > -1)
Serial.print("x_min:");
Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (X_MAX_PIN > -1)
Serial.print("x_max:");
Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Y_MIN_PIN > -1)
Serial.print("y_min:");
Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Y_MAX_PIN > -1)
Serial.print("y_max:");
Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Z_MIN_PIN > -1)
Serial.print("z_min:");
Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Z_MAX_PIN > -1)
Serial.print("z_max:");
Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
Serial.println("");
break;
//TODO: update for all axis, use for loop
case 201: // M201
for(int i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
#if 0 // Not used for Sprinter/grbl gen6
case 202: // M202
for(int i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
#endif
#ifdef PIDTEMP
case 301: // M301
if(code_seen('P')) Kp = code_value();
if(code_seen('I')) Ki = code_value()*PID_dT;
if(code_seen('D')) Kd = code_value()/PID_dT;
Serial.print("Kp ");Serial.println(Kp);
Serial.print("Ki ");Serial.println(Ki/PID_dT);
Serial.print("Kd ");Serial.println(Kd*PID_dT);
temp_iState_min = 0.0;
temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
break;
#endif //PIDTEMP
}
}
else{
Serial.println("Unknown command:");
Serial.println(cmdbuffer[bufindr]);
}
ClearToSend();
}
void FlushSerialRequestResend()
{
//char cmdbuffer[bufindr][100]="Resend:";
Serial.flush();
Serial.print("Resend:");
Serial.println(gcode_LastN + 1);
ClearToSend();
}
void ClearToSend()
{
previous_millis_cmd = millis();
#ifdef SDSUPPORT
if(fromsd[bufindr])
return;
#endif
Serial.println("ok");
}
inline void get_coordinates()
{
for(int i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
else destination[i] = current_position[i]; //Are these else lines really needed?
}
if(code_seen('F')) {
next_feedrate = code_value();
if(next_feedrate > 0.0) feedrate = next_feedrate;
}
}
void prepare_move()
{
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60);
for(int i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
}
void manage_heater()
{
float pid_input;
float pid_output;
if(temp_meas_ready != true)
return;
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
#ifdef PIDTEMP
pid_input = analog2temp(current_raw);//ACT
#ifndef PID_OPENLOOP
pid_error = pid_setpoint - pid_input;
if(pid_error > 10){
pid_output = PID_MAX;
pid_reset = true;
}
else if(pid_error < -10) {
pid_output = 0;
pid_reset = true;
}
else {
if(pid_reset == true) {
temp_iState = 0.0;
pid_reset = false;
}
pTerm = Kp * pid_error;
temp_iState += pid_error;
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
iTerm = Ki * temp_iState;
#define K1 0.8
#define K2 (1.0-K1)
dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
temp_dState = pid_input;
pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
}
#endif //PID_OPENLOOP
#ifdef PID_DEBUG
Serial.print(" Input ");
Serial.print(pid_input);
Serial.print(" Output ");
Serial.print(pid_output);
Serial.print(" pTerm ");
Serial.print(pTerm);
Serial.print(" iTerm ");
Serial.print(iTerm);
Serial.print(" dTerm ");
Serial.print(dTerm);
Serial.println();
#endif //PID_DEBUG
OCR2B = pid_output;
#endif
}
int temp2analogu(int celsius, const short table[][2], int numtemps) {
int raw = 0;
byte i;
for (i=1; i<numtemps; i++) {
if (table[i][1] < celsius) {
raw = table[i-1][0] +
(celsius - table[i-1][1]) *
(table[i][0] - table[i-1][0]) /
(table[i][1] - table[i-1][1]);
break;
}
}
// Overflow: Set to last value in the table
if (i == numtemps) raw = table[i-1][0];
return 16383 - raw;
}
float analog2tempu(int raw,const short table[][2], int numtemps) {
float celsius = 0.0;
byte i;
raw = 16383 - raw;
for (i=1; i<numtemps; i++) {
if (table[i][0] > raw) {
celsius = (float)table[i-1][1] +
(float)(raw - table[i-1][0]) *
(float)(table[i][1] - table[i-1][1]) /
(float)(table[i][0] - table[i-1][0]);
break;
}
}
// Overflow: Set to last value in the table
if (i == numtemps) celsius = table[i-1][1];
return celsius;
}
inline void kill()
{
target_raw=0;
#ifdef PIDTEMP
pid_setpoint = 0.0;
#endif PIDTEMP
OCR2B = 0;
WRITE(HEATER_0_PIN,LOW);
disable_x();
disable_y();
disable_z();
disable_e();
}
inline void manage_inactivity(byte debug) {
if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill();
if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) {
disable_x();
disable_y();
disable_z();
disable_e();
}
check_axes_activity();
}
// Planner
/*
Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
s == speed, a == acceleration, t == time, d == distance
Basic definitions:
Speed[s_, a_, t_] := s + (a*t)
Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
Distance to reach a specific speed with a constant acceleration:
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
Speed after a given distance of travel with constant acceleration:
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
m -> Sqrt[2 a d + s^2]
DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
When to start braking (di) to reach a specified destionation speed (s2) after accelerating
from initial speed s1 without ever stopping at a plateau:
Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
*/
// The number of linear motions that can be in the plan at any give time
#define BLOCK_BUFFER_SIZE 16
#define BLOCK_BUFFER_MASK 0x0f
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
static volatile unsigned char block_buffer_head; // Index of the next block to be pushed
static volatile unsigned char block_buffer_tail; // Index of the block to process now
// The current position of the tool in absolute steps
static long position[4];
#define ONE_MINUTE_OF_MICROSECONDS 60000000.0
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration:
inline long estimate_acceleration_distance(long initial_rate, long target_rate, long acceleration) {
return(
(target_rate*target_rate-initial_rate*initial_rate)/
(2L*acceleration)
);
}
// This function gives you the point at which you must start braking (at the rate of -acceleration) if
// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
// a total travel of distance. This can be used to compute the intersection point between acceleration and
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
inline long intersection_distance(long initial_rate, long final_rate, long acceleration, long distance) {
return(
(2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
(4*acceleration)
);
}
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed) {
if(block->busy == true) return; // If block is busy then bail out.
float entry_factor = entry_speed / block->nominal_speed;
float exit_factor = exit_speed / block->nominal_speed;
long initial_rate = ceil(block->nominal_rate*entry_factor);
long final_rate = ceil(block->nominal_rate*exit_factor);
#ifdef ADVANCE
long initial_advance = block->advance*entry_factor*entry_factor;
long final_advance = block->advance*exit_factor*exit_factor;
#endif // ADVANCE
// Limit minimal step rate (Otherwise the timer will overflow.)
if(initial_rate <32) initial_rate=32;
if(final_rate < 32) final_rate=32;
// Calculate the acceleration steps
long acceleration = block->acceleration;
long accelerate_steps = estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration);
long decelerate_steps = estimate_acceleration_distance(final_rate, block->nominal_rate, acceleration);
// Calculate the size of Plateau of Nominal Rate.
long plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count);
plateau_steps = 0;
}
long decelerate_after = accelerate_steps+plateau_steps;
long acceleration_rate = (long)((float)acceleration * 8.388608);
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if(block->busy == false) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
block->decelerate_after = decelerate_after;
block->acceleration_rate = acceleration_rate;
block->initial_rate = initial_rate;
block->final_rate = final_rate;
#ifdef ADVANCE
block->initial_advance = initial_advance;
block->final_advance = final_advance;
#endif ADVANCE
}
CRITICAL_SECTION_END;
}
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance.
inline float max_allowable_speed(float acceleration, float target_velocity, float distance) {
return(
sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance)
);
}
// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
// This method will calculate the junction jerk as the euclidean distance between the nominal
// velocities of the respective blocks.
inline float junction_jerk(block_t *before, block_t *after) {
return(sqrt(
pow((before->speed_x-after->speed_x), 2)+
pow((before->speed_y-after->speed_y), 2)+
pow((before->speed_z-after->speed_z)*axis_steps_per_unit[Z_AXIS]/axis_steps_per_unit[X_AXIS], 2))
);
}
// Return the safe speed which is max_jerk/2, e.g. the
// speed under which you cannot exceed max_jerk no matter what you do.
float safe_speed(block_t *block) {
float safe_speed;
safe_speed = max_jerk/2;
if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed;
return safe_speed;
}
// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) {
return;
}
float entry_speed = current->nominal_speed;
float exit_factor;
float exit_speed;
if (next) {
exit_speed = next->entry_speed;
}
else {
exit_speed = safe_speed(current);
}
// Calculate the entry_factor for the current block.
if (previous) {
// Reduce speed so that junction_jerk is within the maximum allowed
float jerk = junction_jerk(previous, current);
if((previous->steps_x == 0) && (previous->steps_y == 0)) {
entry_speed = safe_speed(current);
}
else if (jerk > max_jerk) {
entry_speed = (max_jerk/jerk) * entry_speed;
}
// If the required deceleration across the block is too rapid, reduce the entry_factor accordingly.
if (entry_speed > exit_speed) {
float max_entry_speed = max_allowable_speed(-acceleration,exit_speed, current->millimeters);
if (max_entry_speed < entry_speed) {
entry_speed = max_entry_speed;
}
}
}
else {
entry_speed = safe_speed(current);
}
// Store result
current->entry_speed = entry_speed;
}
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the reverse pass.
void planner_reverse_pass() {
char block_index = block_buffer_head;
block_t *block[3] = {
NULL, NULL, NULL };
while(block_index != block_buffer_tail) {
block_index--;
if(block_index < 0) {
block_index = BLOCK_BUFFER_SIZE-1;
}
block[2]= block[1];
block[1]= block[0];
block[0] = &block_buffer[block_index];
planner_reverse_pass_kernel(block[0], block[1], block[2]);
}
planner_reverse_pass_kernel(NULL, block[0], block[1]);
}
// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) {
return;
}
if(previous) {
// If the previous block is an acceleration block, but it is not long enough to
// complete the full speed change within the block, we need to adjust out entry
// speed accordingly. Remember current->entry_factor equals the exit factor of
// the previous block.
if(previous->entry_speed < current->entry_speed) {
float max_entry_speed = max_allowable_speed(-acceleration, previous->entry_speed, previous->millimeters);
if (max_entry_speed < current->entry_speed) {
current->entry_speed = max_entry_speed;
}
}
}
}
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the forward pass.
void planner_forward_pass() {
char block_index = block_buffer_tail;
block_t *block[3] = {
NULL, NULL, NULL };
while(block_index != block_buffer_head) {
block[0] = block[1];
block[1] = block[2];
block[2] = &block_buffer[block_index];
planner_forward_pass_kernel(block[0],block[1],block[2]);
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
}
planner_forward_pass_kernel(block[1], block[2], NULL);
}
// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
// entry_factor for each junction. Must be called by planner_recalculate() after
// updating the blocks.
void planner_recalculate_trapezoids() {
char block_index = block_buffer_tail;
block_t *current;
block_t *next = NULL;
while(block_index != block_buffer_head) {
current = next;
next = &block_buffer[block_index];
if (current) {
calculate_trapezoid_for_block(current, current->entry_speed, next->entry_speed);
}
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
}
calculate_trapezoid_for_block(next, next->entry_speed, safe_speed(next));
}
// Recalculates the motion plan according to the following algorithm:
//
// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
// so that:
// a. The junction jerk is within the set limit
// b. No speed reduction within one block requires faster deceleration than the one, true constant
// acceleration.
// 2. Go over every block in chronological order and dial down junction speed reduction values if
// a. The speed increase within one block would require faster accelleration than the one, true
// constant acceleration.
//
// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
// the set limit. Finally it will:
//
// 3. Recalculate trapezoids for all blocks.
void planner_recalculate() {
planner_reverse_pass();
planner_forward_pass();
planner_recalculate_trapezoids();
}
void plan_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position
}
inline void plan_discard_current_block() {
if (block_buffer_head != block_buffer_tail) {
block_buffer_tail = (block_buffer_tail + 1) & BLOCK_BUFFER_MASK;
}
}
inline block_t *plan_get_current_block() {
if (block_buffer_head == block_buffer_tail) {
return(NULL);
}
block_t *block = &block_buffer[block_buffer_tail];
block->busy = true;
return(block);
}
void check_axes_activity() {
unsigned char x_active = 0;
unsigned char y_active = 0;
unsigned char z_active = 0;
unsigned char e_active = 0;
block_t *block;
if(block_buffer_tail != block_buffer_head) {
char block_index = block_buffer_tail;
while(block_index != block_buffer_head) {
block = &block_buffer[block_index];
if(block->steps_x != 0) x_active++;
if(block->steps_y != 0) y_active++;
if(block->steps_z != 0) z_active++;
if(block->steps_e != 0) e_active++;
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
}
}
if((DISABLE_X) && (x_active == 0)) disable_x();
if((DISABLE_Y) && (y_active == 0)) disable_y();
if((DISABLE_Z) && (z_active == 0)) disable_z();
if((DISABLE_E) && (e_active == 0)) disable_e();
}
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters.
void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
long target[4];
target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
// Calculate the buffer head after we push this byte
int next_buffer_head = (block_buffer_head + 1) & BLOCK_BUFFER_MASK;
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
while(block_buffer_tail == next_buffer_head) {
manage_heater();
manage_inactivity(1);
}
// Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
// Mark block as not busy (Not executed by the stepper interrupt)
block->busy = false;
// Number of steps for each axis
block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
// Bail if this is a zero-length block
if (block->step_event_count == 0) {
return;
};
float delta_x_mm = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
float delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
float delta_z_mm = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
float delta_e_mm = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
block->millimeters = sqrt(square(delta_x_mm) + square(delta_y_mm) + square(delta_z_mm) + square(delta_e_mm));
unsigned long microseconds;
microseconds = lround((block->millimeters/feed_rate)*1000000);
// Calculate speed in mm/minute for each axis
float multiplier = 60.0*1000000.0/microseconds;
block->speed_z = delta_z_mm * multiplier;
block->speed_x = delta_x_mm * multiplier;
block->speed_y = delta_y_mm * multiplier;
block->speed_e = delta_e_mm * multiplier;
// Limit speed per axis
float speed_factor = 1;
float tmp_speed_factor;
if(abs(block->speed_x) > max_feedrate[X_AXIS]) {
speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_x);
}
if(abs(block->speed_y) > max_feedrate[Y_AXIS]){
tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y);
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
}
if(abs(block->speed_z) > max_feedrate[Z_AXIS]){
tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z);
if(tmp_speed_factor < speed_factor) speed_factor = tmp_speed_factor;
}
if(abs(block->speed_e) > max_feedrate[E_AXIS]){
tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e);
if(tmp_speed_factor < speed_factor) speed_factor = tmp_speed_factor;
}
multiplier = multiplier * speed_factor;
block->speed_z = delta_z_mm * multiplier;
block->speed_x = delta_x_mm * multiplier;
block->speed_y = delta_y_mm * multiplier;
block->speed_e = delta_e_mm * multiplier;
block->nominal_speed = block->millimeters * multiplier;
block->nominal_rate = ceil(block->step_event_count * multiplier / 60);
if(block->nominal_rate < 32) block->nominal_rate = 32;
block->entry_speed = safe_speed(block);
// Compute the acceleration rate for the trapezoid generator.
float travel_per_step = block->millimeters/block->step_event_count;
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) {
block->acceleration = ceil( (retract_acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
}
else {
block->acceleration = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
// Limit acceleration per axis
if((block->acceleration * block->steps_x / block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration = axis_steps_per_sqr_second[X_AXIS];
if((block->acceleration * block->steps_y / block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration = axis_steps_per_sqr_second[Y_AXIS];
if((block->acceleration * block->steps_e / block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
block->acceleration = axis_steps_per_sqr_second[E_AXIS];
if((block->acceleration * block->steps_z / block->step_event_count) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration = axis_steps_per_sqr_second[Z_AXIS];
}
#ifdef ADVANCE
// Calculate advance rate
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
block->advance_rate = 0;
block->advance = 0;
}
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration);
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
(block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
block->advance = advance;
if(acc_dist == 0) {
block->advance_rate = 0;
}
else {
block->advance_rate = advance / (float)acc_dist;
}
}
#endif // ADVANCE
// compute a preliminary conservative acceleration trapezoid
float safespeed = safe_speed(block);
calculate_trapezoid_for_block(block, safespeed, safespeed);
// Compute direction bits for this block
block->direction_bits = 0;
if (target[X_AXIS] < position[X_AXIS]) {
block->direction_bits |= (1<<X_AXIS);
}
if (target[Y_AXIS] < position[Y_AXIS]) {
block->direction_bits |= (1<<Y_AXIS);
}
if (target[Z_AXIS] < position[Z_AXIS]) {
block->direction_bits |= (1<<Z_AXIS);
}
if (target[E_AXIS] < position[E_AXIS]) {
block->direction_bits |= (1<<E_AXIS);
}
//enable active axes
if(block->steps_x != 0) enable_x();
if(block->steps_y != 0) enable_y();
if(block->steps_z != 0) enable_z();
if(block->steps_e != 0) enable_e();
// Move buffer head
block_buffer_head = next_buffer_head;
// Update position
memcpy(position, target, sizeof(target)); // position[] = target[]
planner_recalculate();
st_wake_up();
}
void plan_set_position(float x, float y, float z, float e)
{
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
}
// Stepper
// intRes = intIn1 * intIn2 >> 16
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 24 bit result
#define MultiU16X8toH16(intRes, charIn1, intIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %A1, %A2 \n\t" \
"add %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r0 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (charIn1), \
"d" (intIn2) \
: \
"r26" , "r27" \
)
// intRes = longIn1 * longIn2 >> 24
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 48bit result
#define MultiU24X24toH16(intRes, longIn1, longIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"mov r27, r1 \n\t" \
"mul %B1, %C2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %C1, %C2 \n\t" \
"add %B0, r0 \n\t" \
"mul %C1, %B2 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %A1, %C2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %B2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %C1, %A2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %A2 \n\t" \
"add r27, r1 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r27 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (longIn1), \
"d" (longIn2) \
: \
"r26" , "r27" \
)
// Some useful constants
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
static block_t *current_block; // A pointer to the block currently being traced
// Variables used by The Stepper Driver Interrupt
static unsigned char out_bits; // The next stepping-bits to be output
static long counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z,
counter_e;
static unsigned long step_events_completed; // The number of step events executed in the current block
static long advance_rate, advance, final_advance = 0;
static short old_advance = 0;
static short e_steps;
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
static long acceleration_time, deceleration_time;
static long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate;
static unsigned short acc_step_rate; // needed for deccelaration start point
// __________________________
// /| |\ _________________ ^
// / | | \ /| |\ |
// / | | \ / | | \ s
// / | | | | | \ p
// / | | | | | \ e
// +-----+------------------------+---+--+---------------+----+ e
// | BLOCK 1 | BLOCK 2 | d
//
// time ----->
//
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
// first block->accelerate_until step_events_completed, then keeps going at constant speed until
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
// The slope of acceleration is calculated with the leib ramp alghorithm.
void st_wake_up() {
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
inline unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer;
if(step_rate < 32) step_rate = 32;
step_rate -= 32; // Correct for minimal speed
if(step_rate > (8*256)){ // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00ff);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
MultiU16X8toH16(timer, tmp_step_rate, gain);
timer = (unsigned short)pgm_read_word_near(table_address) - timer;
}
else { // lower step rates
unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
table_address += ((step_rate)>>1) & 0xfffc;
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
}
if(timer < 100) timer = 100;
return timer;
}
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
inline void trapezoid_generator_reset() {
accelerate_until = current_block->accelerate_until;
decelerate_after = current_block->decelerate_after;
acceleration_rate = current_block->acceleration_rate;
initial_rate = current_block->initial_rate;
final_rate = current_block->final_rate;
advance = current_block->initial_advance;
final_advance = current_block->final_advance;
deceleration_time = 0;
advance_rate = current_block->advance_rate;
// step_rate to timer interval
acc_step_rate = initial_rate;
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
}
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect)
{
if(busy){ /*Serial.println("BUSY")*/;
return;
} // The busy-flag is used to avoid reentering this interrupt
busy = true;
sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
// If there is no current block, attempt to pop one from the buffer
if (current_block == NULL) {
// Anything in the buffer?
current_block = plan_get_current_block();
if (current_block != NULL) {
trapezoid_generator_reset();
counter_x = -(current_block->step_event_count >> 1);
counter_y = counter_x;
counter_z = counter_x;
counter_e = counter_x;
step_events_completed = 0;
e_steps = 0;
}
else {
DISABLE_STEPPER_DRIVER_INTERRUPT();
}
}
if (current_block != NULL) {
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits;
#ifdef ADVANCE
// Calculate E early.
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
CRITICAL_SECTION_START;
e_steps--;
CRITICAL_SECTION_END;
}
else {
CRITICAL_SECTION_START;
e_steps++;
CRITICAL_SECTION_END;
}
}
// Do E steps + advance steps
CRITICAL_SECTION_START;
e_steps += ((advance >> 16) - old_advance);
CRITICAL_SECTION_END;
old_advance = advance >> 16;
#endif //ADVANCE
// Set direction en check limit switches
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
WRITE(X_DIR_PIN, INVERT_X_DIR);
if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
step_events_completed = current_block->step_event_count;
}
}
else // +direction
WRITE(X_DIR_PIN,!INVERT_X_DIR);
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
WRITE(Y_DIR_PIN,INVERT_Y_DIR);
if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
step_events_completed = current_block->step_event_count;
}
}
else // +direction
WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
step_events_completed = current_block->step_event_count;
}
}
else // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
#ifndef ADVANCE
if ((out_bits & (1<<E_AXIS)) != 0) // -direction
WRITE(E_DIR_PIN,INVERT_E_DIR);
else // +direction
WRITE(E_DIR_PIN,!INVERT_E_DIR);
#endif //!ADVANCE
counter_x += current_block->steps_x;
if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH);
counter_x -= current_block->step_event_count;
WRITE(X_STEP_PIN, LOW);
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, HIGH);
counter_y -= current_block->step_event_count;
WRITE(Y_STEP_PIN, LOW);
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, HIGH);
counter_z -= current_block->step_event_count;
WRITE(Z_STEP_PIN, LOW);
}
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
WRITE(E_STEP_PIN, HIGH);
counter_e -= current_block->step_event_count;
WRITE(E_STEP_PIN, LOW);
}
#endif //!ADVANCE
// Calculare new timer value
unsigned short timer;
unsigned short step_rate;
if (step_events_completed < accelerate_until) {
MultiU24X24toH16(acc_step_rate, acceleration_time, acceleration_rate);
acc_step_rate += initial_rate;
// upper limit
if(acc_step_rate > current_block->nominal_rate)
acc_step_rate = current_block->nominal_rate;
// step_rate to timer interval
timer = calc_timer(acc_step_rate);
advance += advance_rate;
acceleration_time += timer;
OCR1A = timer;
}
else if (step_events_completed > decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, acceleration_rate);
if(step_rate > acc_step_rate) { // Check step_rate stays positive
step_rate = final_rate;
}
else {
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
}
// lower limit
if(step_rate < final_rate)
step_rate = final_rate;
// step_rate to timer interval
timer = calc_timer(step_rate);
#ifdef ADVANCE
advance -= advance_rate;
if(advance < final_advance)
advance = final_advance;
#endif //ADVANCE
deceleration_time += timer;
OCR1A = timer;
}
// If current block is finished, reset pointer
step_events_completed += 1;
if (step_events_completed >= current_block->step_event_count) {
current_block = NULL;
plan_discard_current_block();
}
}
busy=false;
}
#ifdef ADVANCE
unsigned char old_OCR0A;
// Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect)
{
// Critical section needed because Timer 1 interrupt has higher priority.
// The pin set functions are placed on trategic position to comply with the stepper driver timing.
WRITE(E_STEP_PIN, LOW);
// e_steps is changed in timer 1 interrupt
CRITICAL_SECTION_START;
// Set E direction (Depends on E direction + advance)
if (e_steps < 0) {
WRITE(E_DIR_PIN,INVERT_E_DIR);
e_steps++;
WRITE(E_STEP_PIN, HIGH);
}
if (e_steps > 0) {
WRITE(E_DIR_PIN,!INVERT_E_DIR);
e_steps--;
WRITE(E_STEP_PIN, HIGH);
}
CRITICAL_SECTION_END;
old_OCR0A += 25; // 10kHz interrupt
OCR0A = old_OCR0A;
}
#endif // ADVANCE
void st_init()
{
// waveform generation = 0100 = CTC
TCCR1B &= ~(1<<WGM13);
TCCR1B |= (1<<WGM12);
TCCR1A &= ~(1<<WGM11);
TCCR1A &= ~(1<<WGM10);
// output mode = 00 (disconnected)
TCCR1A &= ~(3<<COM1A0);
TCCR1A &= ~(3<<COM1B0);
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
OCR1A = 0x4000;
DISABLE_STEPPER_DRIVER_INTERRUPT();
#ifdef ADVANCE
e_steps = 0;
TIMSK0 |= (1<<OCIE0A);
#endif //ADVANCE
sei();
}
// Block until all buffered steps are executed
void st_synchronize()
{
while(plan_get_current_block()) {
manage_heater();
manage_inactivity(1);
}
}
// Temperature loop
void tp_init()
{
DIDR0 = 1<<5; // TEMP_0_PIN for GEN6
ADMUX = ((1 << REFS0) | (5 & 0x07));
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07; // ADC enable, Clear interrupt, 1/128 prescaler.
TCCR2B = 0; //Stop timer in case of running
#ifdef PIDTEMP
TCCR2A = 0x23; //OC2A disable; FastPWM noninverting; FastPWM mode 7
#else
TCCR2A = 0x03; //OC2A disable; FastPWM noninverting; FastPWM mode 7
#endif
OCR2A = 156; //Period is ~10ms
OCR2B = 0; //Duty Cycle for heater pin is 0 (startup)
TIMSK2 = 0x01; //Enable overflow interrupt
TCCR2B = 0x0F; //1/1024 prescaler, start
}
static unsigned char temp_count = 0;
static unsigned long raw_temp_value = 0;
ISR(TIMER2_OVF_vect)
{
// uint8_t low, high;
// low = ADCL;
// high = ADCH;
raw_temp_value += ADC;
// raw_temp_value = (ADCH <<8) | ADCL;
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07; // ADC enable, Clear interrupt, Enable Interrupt, 1/128 prescaler.
// raw_temp_value += (high <<8) | low;
temp_count++;
if(temp_count >= 16)
{
current_raw = 16383 - raw_temp_value;
temp_meas_ready = true;
temp_count = 0;
raw_temp_value = 0;
#ifdef MAXTEMP
if(current_raw >= maxttemp) {
target_raw = 0;
#ifdef PIDTEMP
OCR2B = 0;
#else
WRITE(HEATER_0_PIN,LOW);
#endif
}
#endif
#ifdef MINTEMP
if(current_raw <= minttemp) {
target_raw = 0;
#ifdef PIDTEMP
OCR2B = 0;
#else
WRITE(HEATER_0_PIN,LOW);
#endif
}
#endif
#ifndef PIDTEMP
if(current_raw >= target_raw)
{
WRITE(HEATER_0_PIN,LOW);
}
else
{
WRITE(HEATER_0_PIN,HIGH);
}
#endif
}
}
#include <WProgram.h>
int main(void)
{
init();
setup();
for (;;)
loop();
return 0;
}

127
Marlin/createTemperatureLookup.py Normal file
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#!/usr/bin/python
#
# Creates a C code lookup table for doing ADC to temperature conversion
# on a microcontroller
# based on: http://hydraraptor.blogspot.com/2007/10/measuring-temperature-easy-way.html
"""Thermistor Value Lookup Table Generator
Generates lookup to temperature values for use in a microcontroller in C format based on:
http://hydraraptor.blogspot.com/2007/10/measuring-temperature-easy-way.html
The main use is for Arduino programs that read data from the circuit board described here:
http://make.rrrf.org/ts-1.0
Usage: python createTemperatureLookup.py [options]
Options:
-h, --help show this help
--r0=... thermistor rating where # is the ohm rating of the thermistor at t0 (eg: 10K = 10000)
--t0=... thermistor temp rating where # is the temperature in Celsuis to get r0 (from your datasheet)
--beta=... thermistor beta rating. see http://reprap.org/bin/view/Main/MeasuringThermistorBeta
--r1=... R1 rating where # is the ohm rating of R1 (eg: 10K = 10000)
--r2=... R2 rating where # is the ohm rating of R2 (eg: 10K = 10000)
--num-temps=... the number of temperature points to calculate (default: 20)
--max-adc=... the max ADC reading to use. if you use R1, it limits the top value for the thermistor circuit, and thus the possible range of ADC values
"""
from math import *
import sys
import getopt
class Thermistor:
"Class to do the thermistor maths"
def __init__(self, r0, t0, beta, r1, r2):
self.r0 = r0 # stated resistance, e.g. 10K
self.t0 = t0 + 273.15 # temperature at stated resistance, e.g. 25C
self.beta = beta # stated beta, e.g. 3500
self.vadc = 5.0 # ADC reference
self.vcc = 5.0 # supply voltage to potential divider
self.k = r0 * exp(-beta / self.t0) # constant part of calculation
if r1 > 0:
self.vs = r1 * self.vcc / (r1 + r2) # effective bias voltage
self.rs = r1 * r2 / (r1 + r2) # effective bias impedance
else:
self.vs = self.vcc # effective bias voltage
self.rs = r2 # effective bias impedance
def temp(self,adc):
"Convert ADC reading into a temperature in Celcius"
v = adc * self.vadc / 1024 # convert the 10 bit ADC value to a voltage
r = self.rs * v / (self.vs - v) # resistance of thermistor
return (self.beta / log(r / self.k)) - 273.15 # temperature
def setting(self, t):
"Convert a temperature into a ADC value"
r = self.r0 * exp(self.beta * (1 / (t + 273.15) - 1 / self.t0)) # resistance of the thermistor
v = self.vs * r / (self.rs + r) # the voltage at the potential divider
return round(v / self.vadc * 1024) # the ADC reading
def main(argv):
r0 = 10000;
t0 = 25;
beta = 3947;
r1 = 680;
r2 = 1600;
num_temps = int(20);
try:
opts, args = getopt.getopt(argv, "h", ["help", "r0=", "t0=", "beta=", "r1=", "r2="])
except getopt.GetoptError:
usage()
sys.exit(2)
for opt, arg in opts:
if opt in ("-h", "--help"):
usage()
sys.exit()
elif opt == "--r0":
r0 = int(arg)
elif opt == "--t0":
t0 = int(arg)
elif opt == "--beta":
beta = int(arg)
elif opt == "--r1":
r1 = int(arg)
elif opt == "--r2":
r2 = int(arg)
if r1:
max_adc = int(1023 * r1 / (r1 + r2));
else:
max_adc = 1023
increment = int(max_adc/(num_temps-1));
t = Thermistor(r0, t0, beta, r1, r2)
adcs = range(1, max_adc, increment);
# adcs = [1, 20, 25, 30, 35, 40, 45, 50, 60, 70, 80, 90, 100, 110, 130, 150, 190, 220, 250, 300]
first = 1
print "// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts)"
print "// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py)"
print "// ./createTemperatureLookup.py --r0=%s --t0=%s --r1=%s --r2=%s --beta=%s --max-adc=%s" % (r0, t0, r1, r2, beta, max_adc)
print "// r0: %s" % (r0)
print "// t0: %s" % (t0)
print "// r1: %s" % (r1)
print "// r2: %s" % (r2)
print "// beta: %s" % (beta)
print "// max adc: %s" % (max_adc)
print "#define NUMTEMPS %s" % (len(adcs))
print "short temptable[NUMTEMPS][2] = {"
counter = 0
for adc in adcs:
counter = counter +1
if counter == len(adcs):
print " {%s, %s}" % (adc, int(t.temp(adc)))
else:
print " {%s, %s}," % (adc, int(t.temp(adc)))
print "};"
def usage():
print __doc__
if __name__ == "__main__":
main(sys.argv[1:])

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Marlin/fastio.h Normal file
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/*
This code contibuted by Triffid_Hunter and modified by Kliment
why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
*/
#ifndef _ARDUINO_H
#define _ARDUINO_H
#include <avr/io.h>
/*
utility functions
*/
#ifndef MASK
/// MASKING- returns \f$2^PIN\f$
#define MASK(PIN) (1 << PIN)
#endif
/*
magic I/O routines
now you can simply SET_OUTPUT(STEP); WRITE(STEP, 1); WRITE(STEP, 0);
*/
/// Read a pin
#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & MASK(DIO ## IO ## _PIN)))
/// write to a pin
#define _WRITE(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0)
/// toggle a pin
#define _TOGGLE(IO) do {DIO ## IO ## _RPORT = MASK(DIO ## IO ## _PIN); } while (0)
/// set pin as input
#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~MASK(DIO ## IO ## _PIN); } while (0)
/// set pin as output
#define _SET_OUTPUT(IO) do {DIO ## IO ## _DDR |= MASK(DIO ## IO ## _PIN); } while (0)
/// check if pin is an input
#define _GET_INPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) == 0)
/// check if pin is an output
#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) != 0)
// why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
/// Read a pin wrapper
#define READ(IO) _READ(IO)
/// Write to a pin wrapper
#define WRITE(IO, v) _WRITE(IO, v)
/// toggle a pin wrapper
#define TOGGLE(IO) _TOGGLE(IO)
/// set pin as input wrapper
#define SET_INPUT(IO) _SET_INPUT(IO)
/// set pin as output wrapper
#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
/// check if pin is an input wrapper
#define GET_INPUT(IO) _GET_INPUT(IO)
/// check if pin is an output wrapper
#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
/*
ports and functions
added as necessary or if I feel like it- not a comprehensive list!
*/
#if defined (__AVR_ATmega168__) || defined (__AVR_ATmega328__) || defined (__AVR_ATmega328P__)
// UART
#define RXD DIO0
#define TXD DIO1
// SPI
#define SCK DIO13
#define MISO DIO12
#define MOSI DIO11
#define SS DIO10
// TWI (I2C)
#define SCL AIO5
#define SDA AIO4
// timers and PWM
#define OC0A DIO6
#define OC0B DIO5
#define OC1A DIO9
#define OC1B DIO10
#define OC2A DIO11
#define OC2B DIO3
#define DEBUG_LED AIO5
/*
pins
*/
#define DIO0_PIN PIND0
#define DIO0_RPORT PIND
#define DIO0_WPORT PORTD
#define DIO0_DDR DDRD
#define DIO0_PWM NULL
#define DIO1_PIN PIND1
#define DIO1_RPORT PIND
#define DIO1_WPORT PORTD
#define DIO1_DDR DDRD
#define DIO1_PWM NULL
#define DIO2_PIN PIND2
#define DIO2_RPORT PIND
#define DIO2_WPORT PORTD
#define DIO2_DDR DDRD
#define DIO2_PWM NULL
#define DIO3_PIN PIND3
#define DIO3_RPORT PIND
#define DIO3_WPORT PORTD
#define DIO3_DDR DDRD
#define DIO3_PWM &OCR2B
#define DIO4_PIN PIND4
#define DIO4_RPORT PIND
#define DIO4_WPORT PORTD
#define DIO4_DDR DDRD
#define DIO4_PWM NULL
#define DIO5_PIN PIND5
#define DIO5_RPORT PIND
#define DIO5_WPORT PORTD
#define DIO5_DDR DDRD
#define DIO5_PWM &OCR0B
#define DIO6_PIN PIND6
#define DIO6_RPORT PIND
#define DIO6_WPORT PORTD
#define DIO6_DDR DDRD
#define DIO6_PWM &OCR0A
#define DIO7_PIN PIND7
#define DIO7_RPORT PIND
#define DIO7_WPORT PORTD
#define DIO7_DDR DDRD
#define DIO7_PWM NULL
#define DIO8_PIN PINB0
#define DIO8_RPORT PINB
#define DIO8_WPORT PORTB
#define DIO8_DDR DDRB
#define DIO8_PWM NULL
#define DIO9_PIN PINB1
#define DIO9_RPORT PINB
#define DIO9_WPORT PORTB
#define DIO9_DDR DDRB
#define DIO9_PWM NULL
#define DIO10_PIN PINB2
#define DIO10_RPORT PINB
#define DIO10_WPORT PORTB
#define DIO10_DDR DDRB
#define DIO10_PWM NULL
#define DIO11_PIN PINB3
#define DIO11_RPORT PINB
#define DIO11_WPORT PORTB
#define DIO11_DDR DDRB
#define DIO11_PWM &OCR2A
#define DIO12_PIN PINB4
#define DIO12_RPORT PINB
#define DIO12_WPORT PORTB
#define DIO12_DDR DDRB
#define DIO12_PWM NULL
#define DIO13_PIN PINB5
#define DIO13_RPORT PINB
#define DIO13_WPORT PORTB
#define DIO13_DDR DDRB
#define DIO13_PWM NULL
#define DIO14_PIN PINC0
#define DIO14_RPORT PINC
#define DIO14_WPORT PORTC
#define DIO14_DDR DDRC
#define DIO14_PWM NULL
#define DIO15_PIN PINC1
#define DIO15_RPORT PINC
#define DIO15_WPORT PORTC
#define DIO15_DDR DDRC
#define DIO15_PWM NULL
#define DIO16_PIN PINC2
#define DIO16_RPORT PINC
#define DIO16_WPORT PORTC
#define DIO16_DDR DDRC
#define DIO16_PWM NULL
#define DIO17_PIN PINC3
#define DIO17_RPORT PINC
#define DIO17_WPORT PORTC
#define DIO17_DDR DDRC
#define DIO17_PWM NULL
#define DIO18_PIN PINC4
#define DIO18_RPORT PINC
#define DIO18_WPORT PORTC
#define DIO18_DDR DDRC
#define DIO18_PWM NULL
#define DIO19_PIN PINC5
#define DIO19_RPORT PINC
#define DIO19_WPORT PORTC
#define DIO19_DDR DDRC
#define DIO19_PWM NULL
#define DIO20_PIN PINC6
#define DIO20_RPORT PINC
#define DIO20_WPORT PORTC
#define DIO20_DDR DDRC
#define DIO20_PWM NULL
#define DIO21_PIN PINC7
#define DIO21_RPORT PINC
#define DIO21_WPORT PORTC
#define DIO21_DDR DDRC
#define DIO21_PWM NULL
#undef PB0
#define PB0_PIN PINB0
#define PB0_RPORT PINB
#define PB0_WPORT PORTB
#define PB0_DDR DDRB
#define PB0_PWM NULL
#undef PB1
#define PB1_PIN PINB1
#define PB1_RPORT PINB
#define PB1_WPORT PORTB
#define PB1_DDR DDRB
#define PB1_PWM NULL
#undef PB2
#define PB2_PIN PINB2
#define PB2_RPORT PINB
#define PB2_WPORT PORTB
#define PB2_DDR DDRB
#define PB2_PWM NULL
#undef PB3
#define PB3_PIN PINB3
#define PB3_RPORT PINB
#define PB3_WPORT PORTB
#define PB3_DDR DDRB
#define PB3_PWM &OCR2A
#undef PB4
#define PB4_PIN PINB4
#define PB4_RPORT PINB
#define PB4_WPORT PORTB
#define PB4_DDR DDRB
#define PB4_PWM NULL
#undef PB5
#define PB5_PIN PINB5
#define PB5_RPORT PINB
#define PB5_WPORT PORTB
#define PB5_DDR DDRB
#define PB5_PWM NULL
#undef PB6
#define PB6_PIN PINB6
#define PB6_RPORT PINB
#define PB6_WPORT PORTB
#define PB6_DDR DDRB
#define PB6_PWM NULL
#undef PB7
#define PB7_PIN PINB7
#define PB7_RPORT PINB
#define PB7_WPORT PORTB
#define PB7_DDR DDRB
#define PB7_PWM NULL
#undef PC0
#define PC0_PIN PINC0
#define PC0_RPORT PINC
#define PC0_WPORT PORTC
#define PC0_DDR DDRC
#define PC0_PWM NULL
#undef PC1
#define PC1_PIN PINC1
#define PC1_RPORT PINC
#define PC1_WPORT PORTC
#define PC1_DDR DDRC
#define PC1_PWM NULL
#undef PC2
#define PC2_PIN PINC2
#define PC2_RPORT PINC
#define PC2_WPORT PORTC
#define PC2_DDR DDRC
#define PC2_PWM NULL
#undef PC3
#define PC3_PIN PINC3
#define PC3_RPORT PINC
#define PC3_WPORT PORTC
#define PC3_DDR DDRC
#define PC3_PWM NULL
#undef PC4
#define PC4_PIN PINC4
#define PC4_RPORT PINC
#define PC4_WPORT PORTC
#define PC4_DDR DDRC
#define PC4_PWM NULL
#undef PC5
#define PC5_PIN PINC5
#define PC5_RPORT PINC
#define PC5_WPORT PORTC
#define PC5_DDR DDRC
#define PC5_PWM NULL
#undef PC6
#define PC6_PIN PINC6
#define PC6_RPORT PINC
#define PC6_WPORT PORTC
#define PC6_DDR DDRC
#define PC6_PWM NULL
#undef PC7
#define PC7_PIN PINC7
#define PC7_RPORT PINC
#define PC7_WPORT PORTC
#define PC7_DDR DDRC
#define PC7_PWM NULL
#undef PD0
#define PD0_PIN PIND0
#define PD0_RPORT PIND
#define PD0_WPORT PORTD
#define PD0_DDR DDRD
#define PD0_PWM NULL
#undef PD1
#define PD1_PIN PIND1
#define PD1_RPORT PIND
#define PD1_WPORT PORTD
#define PD1_DDR DDRD
#define PD1_PWM NULL
#undef PD2
#define PD2_PIN PIND2
#define PD2_RPORT PIND
#define PD2_WPORT PORTD
#define PD2_DDR DDRD
#define PD2_PWM NULL
#undef PD3
#define PD3_PIN PIND3
#define PD3_RPORT PIND
#define PD3_WPORT PORTD
#define PD3_DDR DDRD
#define PD3_PWM &OCR2B
#undef PD4
#define PD4_PIN PIND4
#define PD4_RPORT PIND
#define PD4_WPORT PORTD
#define PD4_DDR DDRD
#define PD4_PWM NULL
#undef PD5
#define PD5_PIN PIND5
#define PD5_RPORT PIND
#define PD5_WPORT PORTD
#define PD5_DDR DDRD
#define PD5_PWM &OCR0B
#undef PD6
#define PD6_PIN PIND6
#define PD6_RPORT PIND
#define PD6_WPORT PORTD
#define PD6_DDR DDRD
#define PD6_PWM &OCR0A
#undef PD7
#define PD7_PIN PIND7
#define PD7_RPORT PIND
#define PD7_WPORT PORTD
#define PD7_DDR DDRD
#define PD7_PWM NULL
#endif /* _AVR_ATmega{168,328,328P}__ */
#if defined (__AVR_ATmega644__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__)
// UART
#define RXD DIO8
#define TXD DIO9
#define RXD0 DIO8
#define TXD0 DIO9
#define RXD1 DIO10
#define TXD1 DIO11
// SPI
#define SCK DIO7
#define MISO DIO6
#define MOSI DIO5
#define SS DIO4
// TWI (I2C)
#define SCL DIO16
#define SDA DIO17
// timers and PWM
#define OC0A DIO3
#define OC0B DIO4
#define OC1A DIO13
#define OC1B DIO12
#define OC2A DIO15
#define OC2B DIO14
#define DEBUG_LED DIO0
/*
pins
*/
#define DIO0_PIN PINB0
#define DIO0_RPORT PINB
#define DIO0_WPORT PORTB
#define DIO0_DDR DDRB
#define DIO0_PWM NULL
#define DIO1_PIN PINB1
#define DIO1_RPORT PINB
#define DIO1_WPORT PORTB
#define DIO1_DDR DDRB
#define DIO1_PWM NULL
#define DIO2_PIN PINB2
#define DIO2_RPORT PINB
#define DIO2_WPORT PORTB
#define DIO2_DDR DDRB
#define DIO2_PWM NULL
#define DIO3_PIN PINB3
#define DIO3_RPORT PINB
#define DIO3_WPORT PORTB
#define DIO3_DDR DDRB
#define DIO3_PWM &OCR0A
#define DIO4_PIN PINB4
#define DIO4_RPORT PINB
#define DIO4_WPORT PORTB
#define DIO4_DDR DDRB
#define DIO4_PWM &OCR0B
#define DIO5_PIN PINB5
#define DIO5_RPORT PINB
#define DIO5_WPORT PORTB
#define DIO5_DDR DDRB
#define DIO5_PWM NULL
#define DIO6_PIN PINB6
#define DIO6_RPORT PINB
#define DIO6_WPORT PORTB
#define DIO6_DDR DDRB
#define DIO6_PWM NULL
#define DIO7_PIN PINB7
#define DIO7_RPORT PINB
#define DIO7_WPORT PORTB
#define DIO7_DDR DDRB
#define DIO7_PWM NULL
#define DIO8_PIN PIND0
#define DIO8_RPORT PIND
#define DIO8_WPORT PORTD
#define DIO8_DDR DDRD
#define DIO8_PWM NULL
#define DIO9_PIN PIND1
#define DIO9_RPORT PIND
#define DIO9_WPORT PORTD
#define DIO9_DDR DDRD
#define DIO9_PWM NULL
#define DIO10_PIN PIND2
#define DIO10_RPORT PIND
#define DIO10_WPORT PORTD
#define DIO10_DDR DDRD
#define DIO10_PWM NULL
#define DIO11_PIN PIND3
#define DIO11_RPORT PIND
#define DIO11_WPORT PORTD
#define DIO11_DDR DDRD
#define DIO11_PWM NULL
#define DIO12_PIN PIND4
#define DIO12_RPORT PIND
#define DIO12_WPORT PORTD
#define DIO12_DDR DDRD
#define DIO12_PWM NULL
#define DIO13_PIN PIND5
#define DIO13_RPORT PIND
#define DIO13_WPORT PORTD
#define DIO13_DDR DDRD
#define DIO13_PWM NULL
#define DIO14_PIN PIND6
#define DIO14_RPORT PIND
#define DIO14_WPORT PORTD
#define DIO14_DDR DDRD
#define DIO14_PWM &OCR2B
#define DIO15_PIN PIND7
#define DIO15_RPORT PIND
#define DIO15_WPORT PORTD
#define DIO15_DDR DDRD
#define DIO15_PWM &OCR2A
#define DIO16_PIN PINC0
#define DIO16_RPORT PINC
#define DIO16_WPORT PORTC
#define DIO16_DDR DDRC
#define DIO16_PWM NULL
#define DIO17_PIN PINC1
#define DIO17_RPORT PINC
#define DIO17_WPORT PORTC
#define DIO17_DDR DDRC
#define DIO17_PWM NULL
#define DIO18_PIN PINC2
#define DIO18_RPORT PINC
#define DIO18_WPORT PORTC
#define DIO18_DDR DDRC
#define DIO18_PWM NULL
#define DIO19_PIN PINC3
#define DIO19_RPORT PINC
#define DIO19_WPORT PORTC
#define DIO19_DDR DDRC
#define DIO19_PWM NULL
#define DIO20_PIN PINC4
#define DIO20_RPORT PINC
#define DIO20_WPORT PORTC
#define DIO20_DDR DDRC
#define DIO20_PWM NULL
#define DIO21_PIN PINC5
#define DIO21_RPORT PINC
#define DIO21_WPORT PORTC
#define DIO21_DDR DDRC
#define DIO21_PWM NULL
#define DIO22_PIN PINC6
#define DIO22_RPORT PINC
#define DIO22_WPORT PORTC
#define DIO22_DDR DDRC
#define DIO22_PWM NULL
#define DIO23_PIN PINC7
#define DIO23_RPORT PINC
#define DIO23_WPORT PORTC
#define DIO23_DDR DDRC
#define DIO23_PWM NULL
#define DIO24_PIN PINA7
#define DIO24_RPORT PINA
#define DIO24_WPORT PORTA
#define DIO24_DDR DDRA
#define DIO24_PWM NULL
#define DIO25_PIN PINA6
#define DIO25_RPORT PINA
#define DIO25_WPORT PORTA
#define DIO25_DDR DDRA
#define DIO25_PWM NULL
#define DIO26_PIN PINA5
#define DIO26_RPORT PINA
#define DIO26_WPORT PORTA
#define DIO26_DDR DDRA
#define DIO26_PWM NULL
#define DIO27_PIN PINA4
#define DIO27_RPORT PINA
#define DIO27_WPORT PORTA
#define DIO27_DDR DDRA
#define DIO27_PWM NULL
#define DIO28_PIN PINA3
#define DIO28_RPORT PINA
#define DIO28_WPORT PORTA
#define DIO28_DDR DDRA
#define DIO28_PWM NULL
#define DIO29_PIN PINA2
#define DIO29_RPORT PINA
#define DIO29_WPORT PORTA
#define DIO29_DDR DDRA
#define DIO29_PWM NULL
#define DIO30_PIN PINA1
#define DIO30_RPORT PINA
#define DIO30_WPORT PORTA
#define DIO30_DDR DDRA
#define DIO30_PWM NULL
#define DIO31_PIN PINA0
#define DIO31_RPORT PINA
#define DIO31_WPORT PORTA
#define DIO31_DDR DDRA
#define DIO31_PWM NULL
#define AIO0_PIN PINA0
#define AIO0_RPORT PINA
#define AIO0_WPORT PORTA
#define AIO0_DDR DDRA
#define AIO0_PWM NULL
#define AIO1_PIN PINA1
#define AIO1_RPORT PINA
#define AIO1_WPORT PORTA
#define AIO1_DDR DDRA
#define AIO1_PWM NULL
#define AIO2_PIN PINA2
#define AIO2_RPORT PINA
#define AIO2_WPORT PORTA
#define AIO2_DDR DDRA
#define AIO2_PWM NULL
#define AIO3_PIN PINA3
#define AIO3_RPORT PINA
#define AIO3_WPORT PORTA
#define AIO3_DDR DDRA
#define AIO3_PWM NULL
#define AIO4_PIN PINA4
#define AIO4_RPORT PINA
#define AIO4_WPORT PORTA
#define AIO4_DDR DDRA
#define AIO4_PWM NULL
#define AIO5_PIN PINA5
#define AIO5_RPORT PINA
#define AIO5_WPORT PORTA
#define AIO5_DDR DDRA
#define AIO5_PWM NULL
#define AIO6_PIN PINA6
#define AIO6_RPORT PINA
#define AIO6_WPORT PORTA
#define AIO6_DDR DDRA
#define AIO6_PWM NULL
#define AIO7_PIN PINA7
#define AIO7_RPORT PINA
#define AIO7_WPORT PORTA
#define AIO7_DDR DDRA
#define AIO7_PWM NULL
#undef PA0
#define PA0_PIN PINA0
#define PA0_RPORT PINA
#define PA0_WPORT PORTA
#define PA0_DDR DDRA
#define PA0_PWM NULL
#undef PA1
#define PA1_PIN PINA1
#define PA1_RPORT PINA
#define PA1_WPORT PORTA
#define PA1_DDR DDRA
#define PA1_PWM NULL
#undef PA2
#define PA2_PIN PINA2
#define PA2_RPORT PINA
#define PA2_WPORT PORTA
#define PA2_DDR DDRA
#define PA2_PWM NULL
#undef PA3
#define PA3_PIN PINA3
#define PA3_RPORT PINA
#define PA3_WPORT PORTA
#define PA3_DDR DDRA
#define PA3_PWM NULL
#undef PA4
#define PA4_PIN PINA4
#define PA4_RPORT PINA
#define PA4_WPORT PORTA
#define PA4_DDR DDRA
#define PA4_PWM NULL
#undef PA5
#define PA5_PIN PINA5
#define PA5_RPORT PINA
#define PA5_WPORT PORTA
#define PA5_DDR DDRA
#define PA5_PWM NULL
#undef PA6
#define PA6_PIN PINA6
#define PA6_RPORT PINA
#define PA6_WPORT PORTA
#define PA6_DDR DDRA
#define PA6_PWM NULL
#undef PA7
#define PA7_PIN PINA7
#define PA7_RPORT PINA
#define PA7_WPORT PORTA
#define PA7_DDR DDRA
#define PA7_PWM NULL
#undef PB0
#define PB0_PIN PINB0
#define PB0_RPORT PINB
#define PB0_WPORT PORTB
#define PB0_DDR DDRB
#define PB0_PWM NULL
#undef PB1
#define PB1_PIN PINB1
#define PB1_RPORT PINB
#define PB1_WPORT PORTB
#define PB1_DDR DDRB
#define PB1_PWM NULL
#undef PB2
#define PB2_PIN PINB2
#define PB2_RPORT PINB
#define PB2_WPORT PORTB
#define PB2_DDR DDRB
#define PB2_PWM NULL
#undef PB3
#define PB3_PIN PINB3
#define PB3_RPORT PINB
#define PB3_WPORT PORTB
#define PB3_DDR DDRB
#define PB3_PWM &OCR0A
#undef PB4
#define PB4_PIN PINB4
#define PB4_RPORT PINB
#define PB4_WPORT PORTB
#define PB4_DDR DDRB
#define PB4_PWM &OCR0B
#undef PB5
#define PB5_PIN PINB5
#define PB5_RPORT PINB
#define PB5_WPORT PORTB
#define PB5_DDR DDRB
#define PB5_PWM NULL
#undef PB6
#define PB6_PIN PINB6
#define PB6_RPORT PINB
#define PB6_WPORT PORTB
#define PB6_DDR DDRB
#define PB6_PWM NULL
#undef PB7
#define PB7_PIN PINB7
#define PB7_RPORT PINB
#define PB7_WPORT PORTB
#define PB7_DDR DDRB
#define PB7_PWM NULL
#undef PC0
#define PC0_PIN PINC0
#define PC0_RPORT PINC
#define PC0_WPORT PORTC
#define PC0_DDR DDRC
#define PC0_PWM NULL
#undef PC1
#define PC1_PIN PINC1
#define PC1_RPORT PINC
#define PC1_WPORT PORTC
#define PC1_DDR DDRC
#define PC1_PWM NULL
#undef PC2
#define PC2_PIN PINC2
#define PC2_RPORT PINC
#define PC2_WPORT PORTC
#define PC2_DDR DDRC
#define PC2_PWM NULL
#undef PC3
#define PC3_PIN PINC3
#define PC3_RPORT PINC
#define PC3_WPORT PORTC
#define PC3_DDR DDRC
#define PC3_PWM NULL
#undef PC4
#define PC4_PIN PINC4
#define PC4_RPORT PINC
#define PC4_WPORT PORTC
#define PC4_DDR DDRC
#define PC4_PWM NULL
#undef PC5
#define PC5_PIN PINC5
#define PC5_RPORT PINC
#define PC5_WPORT PORTC
#define PC5_DDR DDRC
#define PC5_PWM NULL
#undef PC6
#define PC6_PIN PINC6
#define PC6_RPORT PINC
#define PC6_WPORT PORTC
#define PC6_DDR DDRC
#define PC6_PWM NULL
#undef PC7
#define PC7_PIN PINC7
#define PC7_RPORT PINC
#define PC7_WPORT PORTC
#define PC7_DDR DDRC
#define PC7_PWM NULL
#undef PD0
#define PD0_PIN PIND0
#define PD0_RPORT PIND
#define PD0_WPORT PORTD
#define PD0_DDR DDRD
#define PD0_PWM NULL
#undef PD1
#define PD1_PIN PIND1
#define PD1_RPORT PIND
#define PD1_WPORT PORTD
#define PD1_DDR DDRD
#define PD1_PWM NULL
#undef PD2
#define PD2_PIN PIND2
#define PD2_RPORT PIND
#define PD2_WPORT PORTD
#define PD2_DDR DDRD
#define PD2_PWM NULL
#undef PD3
#define PD3_PIN PIND3
#define PD3_RPORT PIND
#define PD3_WPORT PORTD
#define PD3_DDR DDRD
#define PD3_PWM NULL
#undef PD4
#define PD4_PIN PIND4
#define PD4_RPORT PIND
#define PD4_WPORT PORTD
#define PD4_DDR DDRD
#define PD4_PWM NULL
#undef PD5
#define PD5_PIN PIND5
#define PD5_RPORT PIND
#define PD5_WPORT PORTD
#define PD5_DDR DDRD
#define PD5_PWM NULL
#undef PD6
#define PD6_PIN PIND6
#define PD6_RPORT PIND
#define PD6_WPORT PORTD
#define PD6_DDR DDRD
#define PD6_PWM &OCR2B
#undef PD7
#define PD7_PIN PIND7
#define PD7_RPORT PIND
#define PD7_WPORT PORTD
#define PD7_DDR DDRD
#define PD7_PWM &OCR2A
#endif /* _AVR_ATmega{644,644P,644PA}__ */
#if defined (__AVR_ATmega1280__) || defined (__AVR_ATmega2560__)
// UART
#define RXD DIO0
#define TXD DIO1
// SPI
#define SCK DIO52
#define MISO DIO50
#define MOSI DIO51
#define SS DIO53
// TWI (I2C)
#define SCL DIO21
#define SDA DIO20
// timers and PWM
#define OC0A DIO13
#define OC0B DIO4
#define OC1A DIO11
#define OC1B DIO12
#define OC2A DIO10
#define OC2B DIO9
#define OC3A DIO5
#define OC3B DIO2
#define OC3C DIO3
#define OC4A DIO6
#define OC4B DIO7
#define OC4C DIO8
#define OC5A DIO46
#define OC5B DIO45
#define OC5C DIO44
// change for your board
#define DEBUG_LED DIO21
/*
pins
*/
#define DIO0_PIN PINE0
#define DIO0_RPORT PINE
#define DIO0_WPORT PORTE
#define DIO0_DDR DDRE
#define DIO0_PWM NULL
#define DIO1_PIN PINE1
#define DIO1_RPORT PINE
#define DIO1_WPORT PORTE
#define DIO1_DDR DDRE
#define DIO1_PWM NULL
#define DIO2_PIN PINE4
#define DIO2_RPORT PINE
#define DIO2_WPORT PORTE
#define DIO2_DDR DDRE
#define DIO2_PWM &OCR3BL
#define DIO3_PIN PINE5
#define DIO3_RPORT PINE
#define DIO3_WPORT PORTE
#define DIO3_DDR DDRE
#define DIO3_PWM &OCR3CL
#define DIO4_PIN PING5
#define DIO4_RPORT PING
#define DIO4_WPORT PORTG
#define DIO4_DDR DDRG
#define DIO4_PWM &OCR0B
#define DIO5_PIN PINE3
#define DIO5_RPORT PINE
#define DIO5_WPORT PORTE
#define DIO5_DDR DDRE
#define DIO5_PWM &OCR3AL
#define DIO6_PIN PINH3
#define DIO6_RPORT PINH
#define DIO6_WPORT PORTH
#define DIO6_DDR DDRH
#define DIO6_PWM &OCR4AL
#define DIO7_PIN PINH4
#define DIO7_RPORT PINH
#define DIO7_WPORT PORTH
#define DIO7_DDR DDRH
#define DIO7_PWM &OCR4BL
#define DIO8_PIN PINH5
#define DIO8_RPORT PINH
#define DIO8_WPORT PORTH
#define DIO8_DDR DDRH
#define DIO8_PWM &OCR4CL
#define DIO9_PIN PINH6
#define DIO9_RPORT PINH
#define DIO9_WPORT PORTH
#define DIO9_DDR DDRH
#define DIO9_PWM &OCR2B
#define DIO10_PIN PINB4
#define DIO10_RPORT PINB
#define DIO10_WPORT PORTB
#define DIO10_DDR DDRB
#define DIO10_PWM &OCR2A
#define DIO11_PIN PINB5
#define DIO11_RPORT PINB
#define DIO11_WPORT PORTB
#define DIO11_DDR DDRB
#define DIO11_PWM NULL
#define DIO12_PIN PINB6
#define DIO12_RPORT PINB
#define DIO12_WPORT PORTB
#define DIO12_DDR DDRB
#define DIO12_PWM NULL
#define DIO13_PIN PINB7
#define DIO13_RPORT PINB
#define DIO13_WPORT PORTB
#define DIO13_DDR DDRB
#define DIO13_PWM &OCR0A
#define DIO14_PIN PINJ1
#define DIO14_RPORT PINJ
#define DIO14_WPORT PORTJ
#define DIO14_DDR DDRJ
#define DIO14_PWM NULL
#define DIO15_PIN PINJ0
#define DIO15_RPORT PINJ
#define DIO15_WPORT PORTJ
#define DIO15_DDR DDRJ
#define DIO15_PWM NULL
#define DIO16_PIN PINH1
#define DIO16_RPORT PINH
#define DIO16_WPORT PORTH
#define DIO16_DDR DDRH
#define DIO16_PWM NULL
#define DIO17_PIN PINH0
#define DIO17_RPORT PINH
#define DIO17_WPORT PORTH
#define DIO17_DDR DDRH
#define DIO17_PWM NULL
#define DIO18_PIN PIND3
#define DIO18_RPORT PIND
#define DIO18_WPORT PORTD
#define DIO18_DDR DDRD
#define DIO18_PWM NULL
#define DIO19_PIN PIND2
#define DIO19_RPORT PIND
#define DIO19_WPORT PORTD
#define DIO19_DDR DDRD
#define DIO19_PWM NULL
#define DIO20_PIN PIND1
#define DIO20_RPORT PIND
#define DIO20_WPORT PORTD
#define DIO20_DDR DDRD
#define DIO20_PWM NULL
#define DIO21_PIN PIND0
#define DIO21_RPORT PIND
#define DIO21_WPORT PORTD
#define DIO21_DDR DDRD
#define DIO21_PWM NULL
#define DIO22_PIN PINA0
#define DIO22_RPORT PINA
#define DIO22_WPORT PORTA
#define DIO22_DDR DDRA
#define DIO22_PWM NULL
#define DIO23_PIN PINA1
#define DIO23_RPORT PINA
#define DIO23_WPORT PORTA
#define DIO23_DDR DDRA
#define DIO23_PWM NULL
#define DIO24_PIN PINA2
#define DIO24_RPORT PINA
#define DIO24_WPORT PORTA
#define DIO24_DDR DDRA
#define DIO24_PWM NULL
#define DIO25_PIN PINA3
#define DIO25_RPORT PINA
#define DIO25_WPORT PORTA
#define DIO25_DDR DDRA
#define DIO25_PWM NULL
#define DIO26_PIN PINA4
#define DIO26_RPORT PINA
#define DIO26_WPORT PORTA
#define DIO26_DDR DDRA
#define DIO26_PWM NULL
#define DIO27_PIN PINA5
#define DIO27_RPORT PINA
#define DIO27_WPORT PORTA
#define DIO27_DDR DDRA
#define DIO27_PWM NULL
#define DIO28_PIN PINA6
#define DIO28_RPORT PINA
#define DIO28_WPORT PORTA
#define DIO28_DDR DDRA
#define DIO28_PWM NULL
#define DIO29_PIN PINA7
#define DIO29_RPORT PINA
#define DIO29_WPORT PORTA
#define DIO29_DDR DDRA
#define DIO29_PWM NULL
#define DIO30_PIN PINC7
#define DIO30_RPORT PINC
#define DIO30_WPORT PORTC
#define DIO30_DDR DDRC
#define DIO30_PWM NULL
#define DIO31_PIN PINC6
#define DIO31_RPORT PINC
#define DIO31_WPORT PORTC
#define DIO31_DDR DDRC
#define DIO31_PWM NULL
#define DIO32_PIN PINC5
#define DIO32_RPORT PINC
#define DIO32_WPORT PORTC
#define DIO32_DDR DDRC
#define DIO32_PWM NULL
#define DIO33_PIN PINC4
#define DIO33_RPORT PINC
#define DIO33_WPORT PORTC
#define DIO33_DDR DDRC
#define DIO33_PWM NULL
#define DIO34_PIN PINC3
#define DIO34_RPORT PINC
#define DIO34_WPORT PORTC
#define DIO34_DDR DDRC
#define DIO34_PWM NULL
#define DIO35_PIN PINC2
#define DIO35_RPORT PINC
#define DIO35_WPORT PORTC
#define DIO35_DDR DDRC
#define DIO35_PWM NULL
#define DIO36_PIN PINC1
#define DIO36_RPORT PINC
#define DIO36_WPORT PORTC
#define DIO36_DDR DDRC
#define DIO36_PWM NULL
#define DIO37_PIN PINC0
#define DIO37_RPORT PINC
#define DIO37_WPORT PORTC
#define DIO37_DDR DDRC
#define DIO37_PWM NULL
#define DIO38_PIN PIND7
#define DIO38_RPORT PIND
#define DIO38_WPORT PORTD
#define DIO38_DDR DDRD
#define DIO38_PWM NULL
#define DIO39_PIN PING2
#define DIO39_RPORT PING
#define DIO39_WPORT PORTG
#define DIO39_DDR DDRG
#define DIO39_PWM NULL
#define DIO40_PIN PING1
#define DIO40_RPORT PING
#define DIO40_WPORT PORTG
#define DIO40_DDR DDRG
#define DIO40_PWM NULL
#define DIO41_PIN PING0
#define DIO41_RPORT PING
#define DIO41_WPORT PORTG
#define DIO41_DDR DDRG
#define DIO41_PWM NULL
#define DIO42_PIN PINL7
#define DIO42_RPORT PINL
#define DIO42_WPORT PORTL
#define DIO42_DDR DDRL
#define DIO42_PWM NULL
#define DIO43_PIN PINL6
#define DIO43_RPORT PINL
#define DIO43_WPORT PORTL
#define DIO43_DDR DDRL
#define DIO43_PWM NULL
#define DIO44_PIN PINL5
#define DIO44_RPORT PINL
#define DIO44_WPORT PORTL
#define DIO44_DDR DDRL
#define DIO44_PWM &OCR5CL
#define DIO45_PIN PINL4
#define DIO45_RPORT PINL
#define DIO45_WPORT PORTL
#define DIO45_DDR DDRL
#define DIO45_PWM &OCR5BL
#define DIO46_PIN PINL3
#define DIO46_RPORT PINL
#define DIO46_WPORT PORTL
#define DIO46_DDR DDRL
#define DIO46_PWM &OCR5AL
#define DIO47_PIN PINL2
#define DIO47_RPORT PINL
#define DIO47_WPORT PORTL
#define DIO47_DDR DDRL
#define DIO47_PWM NULL
#define DIO48_PIN PINL1
#define DIO48_RPORT PINL
#define DIO48_WPORT PORTL
#define DIO48_DDR DDRL
#define DIO48_PWM NULL
#define DIO49_PIN PINL0
#define DIO49_RPORT PINL
#define DIO49_WPORT PORTL
#define DIO49_DDR DDRL
#define DIO49_PWM NULL
#define DIO50_PIN PINB3
#define DIO50_RPORT PINB
#define DIO50_WPORT PORTB
#define DIO50_DDR DDRB
#define DIO50_PWM NULL
#define DIO51_PIN PINB2
#define DIO51_RPORT PINB
#define DIO51_WPORT PORTB
#define DIO51_DDR DDRB
#define DIO51_PWM NULL
#define DIO52_PIN PINB1
#define DIO52_RPORT PINB
#define DIO52_WPORT PORTB
#define DIO52_DDR DDRB
#define DIO52_PWM NULL
#define DIO53_PIN PINB0
#define DIO53_RPORT PINB
#define DIO53_WPORT PORTB
#define DIO53_DDR DDRB
#define DIO53_PWM NULL
#define DIO54_PIN PINF0
#define DIO54_RPORT PINF
#define DIO54_WPORT PORTF
#define DIO54_DDR DDRF
#define DIO54_PWM NULL
#define DIO55_PIN PINF1
#define DIO55_RPORT PINF
#define DIO55_WPORT PORTF
#define DIO55_DDR DDRF
#define DIO55_PWM NULL
#define DIO56_PIN PINF2
#define DIO56_RPORT PINF
#define DIO56_WPORT PORTF
#define DIO56_DDR DDRF
#define DIO56_PWM NULL
#define DIO57_PIN PINF3
#define DIO57_RPORT PINF
#define DIO57_WPORT PORTF
#define DIO57_DDR DDRF
#define DIO57_PWM NULL
#define DIO58_PIN PINF4
#define DIO58_RPORT PINF
#define DIO58_WPORT PORTF
#define DIO58_DDR DDRF
#define DIO58_PWM NULL
#define DIO59_PIN PINF5
#define DIO59_RPORT PINF
#define DIO59_WPORT PORTF
#define DIO59_DDR DDRF
#define DIO59_PWM NULL
#define DIO60_PIN PINF6
#define DIO60_RPORT PINF
#define DIO60_WPORT PORTF
#define DIO60_DDR DDRF
#define DIO60_PWM NULL
#define DIO61_PIN PINF7
#define DIO61_RPORT PINF
#define DIO61_WPORT PORTF
#define DIO61_DDR DDRF
#define DIO61_PWM NULL
#define DIO62_PIN PINK0
#define DIO62_RPORT PINK
#define DIO62_WPORT PORTK
#define DIO62_DDR DDRK
#define DIO62_PWM NULL
#define DIO63_PIN PINK1
#define DIO63_RPORT PINK
#define DIO63_WPORT PORTK
#define DIO63_DDR DDRK
#define DIO63_PWM NULL
#define DIO64_PIN PINK2
#define DIO64_RPORT PINK
#define DIO64_WPORT PORTK
#define DIO64_DDR DDRK
#define DIO64_PWM NULL
#define DIO65_PIN PINK3
#define DIO65_RPORT PINK
#define DIO65_WPORT PORTK
#define DIO65_DDR DDRK
#define DIO65_PWM NULL
#define DIO66_PIN PINK4
#define DIO66_RPORT PINK
#define DIO66_WPORT PORTK
#define DIO66_DDR DDRK
#define DIO66_PWM NULL
#define DIO67_PIN PINK5
#define DIO67_RPORT PINK
#define DIO67_WPORT PORTK
#define DIO67_DDR DDRK
#define DIO67_PWM NULL
#define DIO68_PIN PINK6
#define DIO68_RPORT PINK
#define DIO68_WPORT PORTK
#define DIO68_DDR DDRK
#define DIO68_PWM NULL
#define DIO69_PIN PINK7
#define DIO69_RPORT PINK
#define DIO69_WPORT PORTK
#define DIO69_DDR DDRK
#define DIO69_PWM NULL
#undef PA0
#define PA0_PIN PINA0
#define PA0_RPORT PINA
#define PA0_WPORT PORTA
#define PA0_DDR DDRA
#define PA0_PWM NULL
#undef PA1
#define PA1_PIN PINA1
#define PA1_RPORT PINA
#define PA1_WPORT PORTA
#define PA1_DDR DDRA
#define PA1_PWM NULL
#undef PA2
#define PA2_PIN PINA2
#define PA2_RPORT PINA
#define PA2_WPORT PORTA
#define PA2_DDR DDRA
#define PA2_PWM NULL
#undef PA3
#define PA3_PIN PINA3
#define PA3_RPORT PINA
#define PA3_WPORT PORTA
#define PA3_DDR DDRA
#define PA3_PWM NULL
#undef PA4
#define PA4_PIN PINA4
#define PA4_RPORT PINA
#define PA4_WPORT PORTA
#define PA4_DDR DDRA
#define PA4_PWM NULL
#undef PA5
#define PA5_PIN PINA5
#define PA5_RPORT PINA
#define PA5_WPORT PORTA
#define PA5_DDR DDRA
#define PA5_PWM NULL
#undef PA6
#define PA6_PIN PINA6
#define PA6_RPORT PINA
#define PA6_WPORT PORTA
#define PA6_DDR DDRA
#define PA6_PWM NULL
#undef PA7
#define PA7_PIN PINA7
#define PA7_RPORT PINA
#define PA7_WPORT PORTA
#define PA7_DDR DDRA
#define PA7_PWM NULL
#undef PB0
#define PB0_PIN PINB0
#define PB0_RPORT PINB
#define PB0_WPORT PORTB
#define PB0_DDR DDRB
#define PB0_PWM NULL
#undef PB1
#define PB1_PIN PINB1
#define PB1_RPORT PINB
#define PB1_WPORT PORTB
#define PB1_DDR DDRB
#define PB1_PWM NULL
#undef PB2
#define PB2_PIN PINB2
#define PB2_RPORT PINB
#define PB2_WPORT PORTB
#define PB2_DDR DDRB
#define PB2_PWM NULL
#undef PB3
#define PB3_PIN PINB3
#define PB3_RPORT PINB
#define PB3_WPORT PORTB
#define PB3_DDR DDRB
#define PB3_PWM NULL
#undef PB4
#define PB4_PIN PINB4
#define PB4_RPORT PINB
#define PB4_WPORT PORTB
#define PB4_DDR DDRB
#define PB4_PWM &OCR2A
#undef PB5
#define PB5_PIN PINB5
#define PB5_RPORT PINB
#define PB5_WPORT PORTB
#define PB5_DDR DDRB
#define PB5_PWM NULL
#undef PB6
#define PB6_PIN PINB6
#define PB6_RPORT PINB
#define PB6_WPORT PORTB
#define PB6_DDR DDRB
#define PB6_PWM NULL
#undef PB7
#define PB7_PIN PINB7
#define PB7_RPORT PINB
#define PB7_WPORT PORTB
#define PB7_DDR DDRB
#define PB7_PWM &OCR0A
#undef PC0
#define PC0_PIN PINC0
#define PC0_RPORT PINC
#define PC0_WPORT PORTC
#define PC0_DDR DDRC
#define PC0_PWM NULL
#undef PC1
#define PC1_PIN PINC1
#define PC1_RPORT PINC
#define PC1_WPORT PORTC
#define PC1_DDR DDRC
#define PC1_PWM NULL
#undef PC2
#define PC2_PIN PINC2
#define PC2_RPORT PINC
#define PC2_WPORT PORTC
#define PC2_DDR DDRC
#define PC2_PWM NULL
#undef PC3
#define PC3_PIN PINC3
#define PC3_RPORT PINC
#define PC3_WPORT PORTC
#define PC3_DDR DDRC
#define PC3_PWM NULL
#undef PC4
#define PC4_PIN PINC4
#define PC4_RPORT PINC
#define PC4_WPORT PORTC
#define PC4_DDR DDRC
#define PC4_PWM NULL
#undef PC5
#define PC5_PIN PINC5
#define PC5_RPORT PINC
#define PC5_WPORT PORTC
#define PC5_DDR DDRC
#define PC5_PWM NULL
#undef PC6
#define PC6_PIN PINC6
#define PC6_RPORT PINC
#define PC6_WPORT PORTC
#define PC6_DDR DDRC
#define PC6_PWM NULL
#undef PC7
#define PC7_PIN PINC7
#define PC7_RPORT PINC
#define PC7_WPORT PORTC
#define PC7_DDR DDRC
#define PC7_PWM NULL
#undef PD0
#define PD0_PIN PIND0
#define PD0_RPORT PIND
#define PD0_WPORT PORTD
#define PD0_DDR DDRD
#define PD0_PWM NULL
#undef PD1
#define PD1_PIN PIND1
#define PD1_RPORT PIND
#define PD1_WPORT PORTD
#define PD1_DDR DDRD
#define PD1_PWM NULL
#undef PD2
#define PD2_PIN PIND2
#define PD2_RPORT PIND
#define PD2_WPORT PORTD
#define PD2_DDR DDRD
#define PD2_PWM NULL
#undef PD3
#define PD3_PIN PIND3
#define PD3_RPORT PIND
#define PD3_WPORT PORTD
#define PD3_DDR DDRD
#define PD3_PWM NULL
#undef PD4
#define PD4_PIN PIND4
#define PD4_RPORT PIND
#define PD4_WPORT PORTD
#define PD4_DDR DDRD
#define PD4_PWM NULL
#undef PD5
#define PD5_PIN PIND5
#define PD5_RPORT PIND
#define PD5_WPORT PORTD
#define PD5_DDR DDRD
#define PD5_PWM NULL
#undef PD6
#define PD6_PIN PIND6
#define PD6_RPORT PIND
#define PD6_WPORT PORTD
#define PD6_DDR DDRD
#define PD6_PWM NULL
#undef PD7
#define PD7_PIN PIND7
#define PD7_RPORT PIND
#define PD7_WPORT PORTD
#define PD7_DDR DDRD
#define PD7_PWM NULL
#undef PE0
#define PE0_PIN PINE0
#define PE0_RPORT PINE
#define PE0_WPORT PORTE
#define PE0_DDR DDRE
#define PE0_PWM NULL
#undef PE1
#define PE1_PIN PINE1
#define PE1_RPORT PINE
#define PE1_WPORT PORTE
#define PE1_DDR DDRE
#define PE1_PWM NULL
#undef PE2
#define PE2_PIN PINE2
#define PE2_RPORT PINE
#define PE2_WPORT PORTE
#define PE2_DDR DDRE
#define PE2_PWM NULL
#undef PE3
#define PE3_PIN PINE3
#define PE3_RPORT PINE
#define PE3_WPORT PORTE
#define PE3_DDR DDRE
#define PE3_PWM &OCR3AL
#undef PE4
#define PE4_PIN PINE4
#define PE4_RPORT PINE
#define PE4_WPORT PORTE
#define PE4_DDR DDRE
#define PE4_PWM &OCR3BL
#undef PE5
#define PE5_PIN PINE5
#define PE5_RPORT PINE
#define PE5_WPORT PORTE
#define PE5_DDR DDRE
#define PE5_PWM &OCR3CL
#undef PE6
#define PE6_PIN PINE6
#define PE6_RPORT PINE
#define PE6_WPORT PORTE
#define PE6_DDR DDRE
#define PE6_PWM NULL
#undef PE7
#define PE7_PIN PINE7
#define PE7_RPORT PINE
#define PE7_WPORT PORTE
#define PE7_DDR DDRE
#define PE7_PWM NULL
#undef PF0
#define PF0_PIN PINF0
#define PF0_RPORT PINF
#define PF0_WPORT PORTF
#define PF0_DDR DDRF
#define PF0_PWM NULL
#undef PF1
#define PF1_PIN PINF1
#define PF1_RPORT PINF
#define PF1_WPORT PORTF
#define PF1_DDR DDRF
#define PF1_PWM NULL
#undef PF2
#define PF2_PIN PINF2
#define PF2_RPORT PINF
#define PF2_WPORT PORTF
#define PF2_DDR DDRF
#define PF2_PWM NULL
#undef PF3
#define PF3_PIN PINF3
#define PF3_RPORT PINF
#define PF3_WPORT PORTF
#define PF3_DDR DDRF
#define PF3_PWM NULL
#undef PF4
#define PF4_PIN PINF4
#define PF4_RPORT PINF
#define PF4_WPORT PORTF
#define PF4_DDR DDRF
#define PF4_PWM NULL
#undef PF5
#define PF5_PIN PINF5
#define PF5_RPORT PINF
#define PF5_WPORT PORTF
#define PF5_DDR DDRF
#define PF5_PWM NULL
#undef PF6
#define PF6_PIN PINF6
#define PF6_RPORT PINF
#define PF6_WPORT PORTF
#define PF6_DDR DDRF
#define PF6_PWM NULL
#undef PF7
#define PF7_PIN PINF7
#define PF7_RPORT PINF
#define PF7_WPORT PORTF
#define PF7_DDR DDRF
#define PF7_PWM NULL
#undef PG0
#define PG0_PIN PING0
#define PG0_RPORT PING
#define PG0_WPORT PORTG
#define PG0_DDR DDRG
#define PG0_PWM NULL
#undef PG1
#define PG1_PIN PING1
#define PG1_RPORT PING
#define PG1_WPORT PORTG
#define PG1_DDR DDRG
#define PG1_PWM NULL
#undef PG2
#define PG2_PIN PING2
#define PG2_RPORT PING
#define PG2_WPORT PORTG
#define PG2_DDR DDRG
#define PG2_PWM NULL
#undef PG3
#define PG3_PIN PING3
#define PG3_RPORT PING
#define PG3_WPORT PORTG
#define PG3_DDR DDRG
#define PG3_PWM NULL
#undef PG4
#define PG4_PIN PING4
#define PG4_RPORT PING
#define PG4_WPORT PORTG
#define PG4_DDR DDRG
#define PG4_PWM NULL
#undef PG5
#define PG5_PIN PING5
#define PG5_RPORT PING
#define PG5_WPORT PORTG
#define PG5_DDR DDRG
#define PG5_PWM &OCR0B
#undef PG6
#define PG6_PIN PING6
#define PG6_RPORT PING
#define PG6_WPORT PORTG
#define PG6_DDR DDRG
#define PG6_PWM NULL
#undef PG7
#define PG7_PIN PING7
#define PG7_RPORT PING
#define PG7_WPORT PORTG
#define PG7_DDR DDRG
#define PG7_PWM NULL
#undef PH0
#define PH0_PIN PINH0
#define PH0_RPORT PINH
#define PH0_WPORT PORTH
#define PH0_DDR DDRH
#define PH0_PWM NULL
#undef PH1
#define PH1_PIN PINH1
#define PH1_RPORT PINH
#define PH1_WPORT PORTH
#define PH1_DDR DDRH
#define PH1_PWM NULL
#undef PH2
#define PH2_PIN PINH2
#define PH2_RPORT PINH
#define PH2_WPORT PORTH
#define PH2_DDR DDRH
#define PH2_PWM NULL
#undef PH3
#define PH3_PIN PINH3
#define PH3_RPORT PINH
#define PH3_WPORT PORTH
#define PH3_DDR DDRH
#define PH3_PWM &OCR4AL
#undef PH4
#define PH4_PIN PINH4
#define PH4_RPORT PINH
#define PH4_WPORT PORTH
#define PH4_DDR DDRH
#define PH4_PWM &OCR4BL
#undef PH5
#define PH5_PIN PINH5
#define PH5_RPORT PINH
#define PH5_WPORT PORTH
#define PH5_DDR DDRH
#define PH5_PWM &OCR4CL
#undef PH6
#define PH6_PIN PINH6
#define PH6_RPORT PINH
#define PH6_WPORT PORTH
#define PH6_DDR DDRH
#define PH6_PWM &OCR2B
#undef PH7
#define PH7_PIN PINH7
#define PH7_RPORT PINH
#define PH7_WPORT PORTH
#define PH7_DDR DDRH
#define PH7_PWM NULL
#undef PJ0
#define PJ0_PIN PINJ0
#define PJ0_RPORT PINJ
#define PJ0_WPORT PORTJ
#define PJ0_DDR DDRJ
#define PJ0_PWM NULL
#undef PJ1
#define PJ1_PIN PINJ1
#define PJ1_RPORT PINJ
#define PJ1_WPORT PORTJ
#define PJ1_DDR DDRJ
#define PJ1_PWM NULL
#undef PJ2
#define PJ2_PIN PINJ2
#define PJ2_RPORT PINJ
#define PJ2_WPORT PORTJ
#define PJ2_DDR DDRJ
#define PJ2_PWM NULL
#undef PJ3
#define PJ3_PIN PINJ3
#define PJ3_RPORT PINJ
#define PJ3_WPORT PORTJ
#define PJ3_DDR DDRJ
#define PJ3_PWM NULL
#undef PJ4
#define PJ4_PIN PINJ4
#define PJ4_RPORT PINJ
#define PJ4_WPORT PORTJ
#define PJ4_DDR DDRJ
#define PJ4_PWM NULL
#undef PJ5
#define PJ5_PIN PINJ5
#define PJ5_RPORT PINJ
#define PJ5_WPORT PORTJ
#define PJ5_DDR DDRJ
#define PJ5_PWM NULL
#undef PJ6
#define PJ6_PIN PINJ6
#define PJ6_RPORT PINJ
#define PJ6_WPORT PORTJ
#define PJ6_DDR DDRJ
#define PJ6_PWM NULL
#undef PJ7
#define PJ7_PIN PINJ7
#define PJ7_RPORT PINJ
#define PJ7_WPORT PORTJ
#define PJ7_DDR DDRJ
#define PJ7_PWM NULL
#undef PK0
#define PK0_PIN PINK0
#define PK0_RPORT PINK
#define PK0_WPORT PORTK
#define PK0_DDR DDRK
#define PK0_PWM NULL
#undef PK1
#define PK1_PIN PINK1
#define PK1_RPORT PINK
#define PK1_WPORT PORTK
#define PK1_DDR DDRK
#define PK1_PWM NULL
#undef PK2
#define PK2_PIN PINK2
#define PK2_RPORT PINK
#define PK2_WPORT PORTK
#define PK2_DDR DDRK
#define PK2_PWM NULL
#undef PK3
#define PK3_PIN PINK3
#define PK3_RPORT PINK
#define PK3_WPORT PORTK
#define PK3_DDR DDRK
#define PK3_PWM NULL
#undef PK4
#define PK4_PIN PINK4
#define PK4_RPORT PINK
#define PK4_WPORT PORTK
#define PK4_DDR DDRK
#define PK4_PWM NULL
#undef PK5
#define PK5_PIN PINK5
#define PK5_RPORT PINK
#define PK5_WPORT PORTK
#define PK5_DDR DDRK
#define PK5_PWM NULL
#undef PK6
#define PK6_PIN PINK6
#define PK6_RPORT PINK
#define PK6_WPORT PORTK
#define PK6_DDR DDRK
#define PK6_PWM NULL
#undef PK7
#define PK7_PIN PINK7
#define PK7_RPORT PINK
#define PK7_WPORT PORTK
#define PK7_DDR DDRK
#define PK7_PWM NULL
#undef PL0
#define PL0_PIN PINL0
#define PL0_RPORT PINL
#define PL0_WPORT PORTL
#define PL0_DDR DDRL
#define PL0_PWM NULL
#undef PL1
#define PL1_PIN PINL1
#define PL1_RPORT PINL
#define PL1_WPORT PORTL
#define PL1_DDR DDRL
#define PL1_PWM NULL
#undef PL2
#define PL2_PIN PINL2
#define PL2_RPORT PINL
#define PL2_WPORT PORTL
#define PL2_DDR DDRL
#define PL2_PWM NULL
#undef PL3
#define PL3_PIN PINL3
#define PL3_RPORT PINL
#define PL3_WPORT PORTL
#define PL3_DDR DDRL
#define PL3_PWM &OCR5AL
#undef PL4
#define PL4_PIN PINL4
#define PL4_RPORT PINL
#define PL4_WPORT PORTL
#define PL4_DDR DDRL
#define PL4_PWM &OCR5BL
#undef PL5
#define PL5_PIN PINL5
#define PL5_RPORT PINL
#define PL5_WPORT PORTL
#define PL5_DDR DDRL
#define PL5_PWM &OCR5CL
#undef PL6
#define PL6_PIN PINL6
#define PL6_RPORT PINL
#define PL6_WPORT PORTL
#define PL6_DDR DDRL
#define PL6_PWM NULL
#undef PL7
#define PL7_PIN PINL7
#define PL7_RPORT PINL
#define PL7_WPORT PORTL
#define PL7_DDR DDRL
#define PL7_PWM NULL
#endif
#if defined (__AVR_AT90USB1287__)
// SPI
#define SCK DIO9
#define MISO DIO11
#define MOSI DIO10
#define SS DIO8
// change for your board
#define DEBUG_LED DIO31 /* led D5 red */
/*
pins
*/
#define DIO0_PIN PINA0
#define DIO0_RPORT PINA
#define DIO0_WPORT PORTA
#define DIO0_PWM NULL
#define DIO0_DDR DDRA
#define DIO1_PIN PINA1
#define DIO1_RPORT PINA
#define DIO1_WPORT PORTA
#define DIO1_PWM NULL
#define DIO1_DDR DDRA
#define DIO2_PIN PINA2
#define DIO2_RPORT PINA
#define DIO2_WPORT PORTA
#define DIO2_PWM NULL
#define DIO2_DDR DDRA
#define DIO3_PIN PINA3
#define DIO3_RPORT PINA
#define DIO3_WPORT PORTA
#define DIO3_PWM NULL
#define DIO3_DDR DDRA
#define DIO4_PIN PINA4
#define DIO4_RPORT PINA
#define DIO4_WPORT PORTA
#define DIO4_PWM NULL
#define DIO4_DDR DDRA
#define DIO5_PIN PINA5
#define DIO5_RPORT PINA
#define DIO5_WPORT PORTA
#define DIO5_PWM NULL
#define DIO5_DDR DDRA
#define DIO6_PIN PINA6
#define DIO6_RPORT PINA
#define DIO6_WPORT PORTA
#define DIO6_PWM NULL
#define DIO6_DDR DDRA
#define DIO7_PIN PINA7
#define DIO7_RPORT PINA
#define DIO7_WPORT PORTA
#define DIO7_PWM NULL
#define DIO7_DDR DDRA
#define DIO8_PIN PINB0
#define DIO8_RPORT PINB
#define DIO8_WPORT PORTB
#define DIO8_PWM NULL
#define DIO8_DDR DDRB
#define DIO9_PIN PINB1
#define DIO9_RPORT PINB
#define DIO9_WPORT PORTB
#define DIO9_PWM NULL
#define DIO9_DDR DDRB
#define DIO10_PIN PINB2
#define DIO10_RPORT PINB
#define DIO10_WPORT PORTB
#define DIO10_PWM NULL
#define DIO10_DDR DDRB
#define DIO11_PIN PINB3
#define DIO11_RPORT PINB
#define DIO11_WPORT PORTB
#define DIO11_PWM NULL
#define DIO11_DDR DDRB
#define DIO12_PIN PINB4
#define DIO12_RPORT PINB
#define DIO12_WPORT PORTB
#define DIO12_PWM NULL
#define DIO12_DDR DDRB
#define DIO13_PIN PINB5
#define DIO13_RPORT PINB
#define DIO13_WPORT PORTB
#define DIO13_PWM NULL
#define DIO13_DDR DDRB
#define DIO14_PIN PINB6
#define DIO14_RPORT PINB
#define DIO14_WPORT PORTB
#define DIO14_PWM NULL
#define DIO14_DDR DDRB
#define DIO15_PIN PINB7
#define DIO15_RPORT PINB
#define DIO15_WPORT PORTB
#define DIO15_PWM NULL
#define DIO15_DDR DDRB
#define DIO16_PIN PINC0
#define DIO16_RPORT PINC
#define DIO16_WPORT PORTC
#define DIO16_PWM NULL
#define DIO16_DDR DDRC
#define DIO17_PIN PINC1
#define DIO17_RPORT PINC
#define DIO17_WPORT PORTC
#define DIO17_PWM NULL
#define DIO17_DDR DDRC
#define DIO18_PIN PINC2
#define DIO18_RPORT PINC
#define DIO18_WPORT PORTC
#define DIO18_PWM NULL
#define DIO18_DDR DDRC
#define DIO19_PIN PINC3
#define DIO19_RPORT PINC
#define DIO19_WPORT PORTC
#define DIO19_PWM NULL
#define DIO19_DDR DDRC
#define DIO20_PIN PINC4
#define DIO20_RPORT PINC
#define DIO20_WPORT PORTC
#define DIO20_PWM NULL
#define DIO20_DDR DDRC
#define DIO21_PIN PINC5
#define DIO21_RPORT PINC
#define DIO21_WPORT PORTC
#define DIO21_PWM NULL
#define DIO21_DDR DDRC
#define DIO22_PIN PINC6
#define DIO22_RPORT PINC
#define DIO22_WPORT PORTC
#define DIO22_PWM NULL
#define DIO22_DDR DDRC
#define DIO23_PIN PINC7
#define DIO23_RPORT PINC
#define DIO23_WPORT PORTC
#define DIO23_PWM NULL
#define DIO23_DDR DDRC
#define DIO24_PIN PIND0
#define DIO24_RPORT PIND
#define DIO24_WPORT PORTD
#define DIO24_PWM NULL
#define DIO24_DDR DDRD
#define DIO25_PIN PIND1
#define DIO25_RPORT PIND
#define DIO25_WPORT PORTD
#define DIO25_PWM NULL
#define DIO25_DDR DDRD
#define DIO26_PIN PIND2
#define DIO26_RPORT PIND
#define DIO26_WPORT PORTD
#define DIO26_PWM NULL
#define DIO26_DDR DDRD
#define DIO27_PIN PIND3
#define DIO27_RPORT PIND
#define DIO27_WPORT PORTD
#define DIO27_PWM NULL
#define DIO27_DDR DDRD
#define DIO28_PIN PIND4
#define DIO28_RPORT PIND
#define DIO28_WPORT PORTD
#define DIO28_PWM NULL
#define DIO28_DDR DDRD
#define DIO29_PIN PIND5
#define DIO29_RPORT PIND
#define DIO29_WPORT PORTD
#define DIO29_PWM NULL
#define DIO29_DDR DDRD
#define DIO30_PIN PIND6
#define DIO30_RPORT PIND
#define DIO30_WPORT PORTD
#define DIO30_PWM NULL
#define DIO30_DDR DDRD
#define DIO31_PIN PIND7
#define DIO31_RPORT PIND
#define DIO31_WPORT PORTD
#define DIO31_PWM NULL
#define DIO31_DDR DDRD
#define DIO32_PIN PINE0
#define DIO32_RPORT PINE
#define DIO32_WPORT PORTE
#define DIO32_PWM NULL
#define DIO32_DDR DDRE
#define DIO33_PIN PINE1
#define DIO33_RPORT PINE
#define DIO33_WPORT PORTE
#define DIO33_PWM NULL
#define DIO33_DDR DDRE
#define DIO34_PIN PINE2
#define DIO34_RPORT PINE
#define DIO34_WPORT PORTE
#define DIO34_PWM NULL
#define DIO34_DDR DDRE
#define DIO35_PIN PINE3
#define DIO35_RPORT PINE
#define DIO35_WPORT PORTE
#define DIO35_PWM NULL
#define DIO35_DDR DDRE
#define DIO36_PIN PINE4
#define DIO36_RPORT PINE
#define DIO36_WPORT PORTE
#define DIO36_PWM NULL
#define DIO36_DDR DDRE
#define DIO37_PIN PINE5
#define DIO37_RPORT PINE
#define DIO37_WPORT PORTE
#define DIO37_PWM NULL
#define DIO37_DDR DDRE
#define DIO38_PIN PINE6
#define DIO38_RPORT PINE
#define DIO38_WPORT PORTE
#define DIO38_PWM NULL
#define DIO38_DDR DDRE
#define DIO39_PIN PINE7
#define DIO39_RPORT PINE
#define DIO39_WPORT PORTE
#define DIO39_PWM NULL
#define DIO39_DDR DDRE
#define AIO0_PIN PINF0
#define AIO0_RPORT PINF
#define AIO0_WPORT PORTF
#define AIO0_PWM NULL
#define AIO0_DDR DDRF
#define AIO1_PIN PINF1
#define AIO1_RPORT PINF
#define AIO1_WPORT PORTF
#define AIO1_PWM NULL
#define AIO1_DDR DDRF
#define AIO2_PIN PINF2
#define AIO2_RPORT PINF
#define AIO2_WPORT PORTF
#define AIO2_PWM NULL
#define AIO2_DDR DDRF
#define AIO3_PIN PINF3
#define AIO3_RPORT PINF
#define AIO3_WPORT PORTF
#define AIO3_PWM NULL
#define AIO3_DDR DDRF
#define AIO4_PIN PINF4
#define AIO4_RPORT PINF
#define AIO4_WPORT PORTF
#define AIO4_PWM NULL
#define AIO4_DDR DDRF
#define AIO5_PIN PINF5
#define AIO5_RPORT PINF
#define AIO5_WPORT PORTF
#define AIO5_PWM NULL
#define AIO5_DDR DDRF
#define AIO6_PIN PINF6
#define AIO6_RPORT PINF
#define AIO6_WPORT PORTF
#define AIO6_PWM NULL
#define AIO6_DDR DDRF
#define AIO7_PIN PINF7
#define AIO7_RPORT PINF
#define AIO7_WPORT PORTF
#define AIO7_PWM NULL
#define AIO7_DDR DDRF
#define DIO40_PIN PINF0
#define DIO40_RPORT PINF
#define DIO40_WPORT PORTF
#define DIO40_PWM NULL
#define DIO40_DDR DDRF
#define DIO41_PIN PINF1
#define DIO41_RPORT PINF
#define DIO41_WPORT PORTF
#define DIO41_PWM NULL
#define DIO41_DDR DDRF
#define DIO42_PIN PINF2
#define DIO42_RPORT PINF
#define DIO42_WPORT PORTF
#define DIO42_PWM NULL
#define DIO42_DDR DDRF
#define DIO43_PIN PINF3
#define DIO43_RPORT PINF
#define DIO43_WPORT PORTF
#define DIO43_PWM NULL
#define DIO43_DDR DDRF
#define DIO44_PIN PINF4
#define DIO44_RPORT PINF
#define DIO44_WPORT PORTF
#define DIO44_PWM NULL
#define DIO44_DDR DDRF
#define DIO45_PIN PINF5
#define DIO45_RPORT PINF
#define DIO45_WPORT PORTF
#define DIO45_PWM NULL
#define DIO45_DDR DDRF
#define DIO46_PIN PINF6
#define DIO46_RPORT PINF
#define DIO46_WPORT PORTF
#define DIO46_PWM NULL
#define DIO46_DDR DDRF
#define DIO47_PIN PINF7
#define DIO47_RPORT PINF
#define DIO47_WPORT PORTF
#define DIO47_PWM NULL
#define DIO47_DDR DDRF
#undef PA0
#define PA0_PIN PINA0
#define PA0_RPORT PINA
#define PA0_WPORT PORTA
#define PA0_PWM NULL
#define PA0_DDR DDRA
#undef PA1
#define PA1_PIN PINA1
#define PA1_RPORT PINA
#define PA1_WPORT PORTA
#define PA1_PWM NULL
#define PA1_DDR DDRA
#undef PA2
#define PA2_PIN PINA2
#define PA2_RPORT PINA
#define PA2_WPORT PORTA
#define PA2_PWM NULL
#define PA2_DDR DDRA
#undef PA3
#define PA3_PIN PINA3
#define PA3_RPORT PINA
#define PA3_WPORT PORTA
#define PA3_PWM NULL
#define PA3_DDR DDRA
#undef PA4
#define PA4_PIN PINA4
#define PA4_RPORT PINA
#define PA4_WPORT PORTA
#define PA4_PWM NULL
#define PA4_DDR DDRA
#undef PA5
#define PA5_PIN PINA5
#define PA5_RPORT PINA
#define PA5_WPORT PORTA
#define PA5_PWM NULL
#define PA5_DDR DDRA
#undef PA6
#define PA6_PIN PINA6
#define PA6_RPORT PINA
#define PA6_WPORT PORTA
#define PA6_PWM NULL
#define PA6_DDR DDRA
#undef PA7
#define PA7_PIN PINA7
#define PA7_RPORT PINA
#define PA7_WPORT PORTA
#define PA7_PWM NULL
#define PA7_DDR DDRA
#undef PB0
#define PB0_PIN PINB0
#define PB0_RPORT PINB
#define PB0_WPORT PORTB
#define PB0_PWM NULL
#define PB0_DDR DDRB
#undef PB1
#define PB1_PIN PINB1
#define PB1_RPORT PINB
#define PB1_WPORT PORTB
#define PB1_PWM NULL
#define PB1_DDR DDRB
#undef PB2
#define PB2_PIN PINB2
#define PB2_RPORT PINB
#define PB2_WPORT PORTB
#define PB2_PWM NULL
#define PB2_DDR DDRB
#undef PB3
#define PB3_PIN PINB3
#define PB3_RPORT PINB
#define PB3_WPORT PORTB
#define PB3_PWM NULL
#define PB3_DDR DDRB
#undef PB4
#define PB4_PIN PINB4
#define PB4_RPORT PINB
#define PB4_WPORT PORTB
#define PB4_PWM NULL
#define PB4_DDR DDRB
#undef PB5
#define PB5_PIN PINB5
#define PB5_RPORT PINB
#define PB5_WPORT PORTB
#define PB5_PWM NULL
#define PB5_DDR DDRB
#undef PB6
#define PB6_PIN PINB6
#define PB6_RPORT PINB
#define PB6_WPORT PORTB
#define PB6_PWM NULL
#define PB6_DDR DDRB
#undef PB7
#define PB7_PIN PINB7
#define PB7_RPORT PINB
#define PB7_WPORT PORTB
#define PB7_PWM NULL
#define PB7_DDR DDRB
#undef PC0
#define PC0_PIN PINC0
#define PC0_RPORT PINC
#define PC0_WPORT PORTC
#define PC0_PWM NULL
#define PC0_DDR DDRC
#undef PC1
#define PC1_PIN PINC1
#define PC1_RPORT PINC
#define PC1_WPORT PORTC
#define PC1_PWM NULL
#define PC1_DDR DDRC
#undef PC2
#define PC2_PIN PINC2
#define PC2_RPORT PINC
#define PC2_WPORT PORTC
#define PC2_PWM NULL
#define PC2_DDR DDRC
#undef PC3
#define PC3_PIN PINC3
#define PC3_RPORT PINC
#define PC3_WPORT PORTC
#define PC3_PWM NULL
#define PC3_DDR DDRC
#undef PC4
#define PC4_PIN PINC4
#define PC4_RPORT PINC
#define PC4_WPORT PORTC
#define PC4_PWM NULL
#define PC4_DDR DDRC
#undef PC5
#define PC5_PIN PINC5
#define PC5_RPORT PINC
#define PC5_WPORT PORTC
#define PC5_PWM NULL
#define PC5_DDR DDRC
#undef PC6
#define PC6_PIN PINC6
#define PC6_RPORT PINC
#define PC6_WPORT PORTC
#define PC6_PWM NULL
#define PC6_DDR DDRC
#undef PC7
#define PC7_PIN PINC7
#define PC7_RPORT PINC
#define PC7_WPORT PORTC
#define PC7_PWM NULL
#define PC7_DDR DDRC
#undef PD0
#define PD0_PIN PIND0
#define PD0_RPORT PIND
#define PD0_WPORT PORTD
#define PD0_PWM NULL
#define PD0_DDR DDRD
#undef PD1
#define PD1_PIN PIND1
#define PD1_RPORT PIND
#define PD1_WPORT PORTD
#define PD1_PWM NULL
#define PD1_DDR DDRD
#undef PD2
#define PD2_PIN PIND2
#define PD2_RPORT PIND
#define PD2_WPORT PORTD
#define PD2_PWM NULL
#define PD2_DDR DDRD
#undef PD3
#define PD3_PIN PIND3
#define PD3_RPORT PIND
#define PD3_WPORT PORTD
#define PD3_PWM NULL
#define PD3_DDR DDRD
#undef PD4
#define PD4_PIN PIND4
#define PD4_RPORT PIND
#define PD4_WPORT PORTD
#define PD4_PWM NULL
#define PD4_DDR DDRD
#undef PD5
#define PD5_PIN PIND5
#define PD5_RPORT PIND
#define PD5_WPORT PORTD
#define PD5_PWM NULL
#define PD5_DDR DDRD
#undef PD6
#define PD6_PIN PIND6
#define PD6_RPORT PIND
#define PD6_WPORT PORTD
#define PD6_PWM NULL
#define PD6_DDR DDRD
#undef PD7
#define PD7_PIN PIND7
#define PD7_RPORT PIND
#define PD7_WPORT PORTD
#define PD7_PWM NULL
#define PD7_DDR DDRD
#undef PE0
#define PE0_PIN PINE0
#define PE0_RPORT PINE
#define PE0_WPORT PORTE
#define PE0_PWM NULL
#define PE0_DDR DDRE
#undef PE1
#define PE1_PIN PINE1
#define PE1_RPORT PINE
#define PE1_WPORT PORTE
#define PE1_PWM NULL
#define PE1_DDR DDRE
#undef PE2
#define PE2_PIN PINE2
#define PE2_RPORT PINE
#define PE2_WPORT PORTE
#define PE2_PWM NULL
#define PE2_DDR DDRE
#undef PE3
#define PE3_PIN PINE3
#define PE3_RPORT PINE
#define PE3_WPORT PORTE
#define PE3_PWM NULL
#define PE3_DDR DDRE
#undef PE4
#define PE4_PIN PINE4
#define PE4_RPORT PINE
#define PE4_WPORT PORTE
#define PE4_PWM NULL
#define PE4_DDR DDRE
#undef PE5
#define PE5_PIN PINE5
#define PE5_RPORT PINE
#define PE5_WPORT PORTE
#define PE5_PWM NULL
#define PE5_DDR DDRE
#undef PE6
#define PE6_PIN PINE6
#define PE6_RPORT PINE
#define PE6_WPORT PORTE
#define PE6_PWM NULL
#define PE6_DDR DDRE
#undef PE7
#define PE7_PIN PINE7
#define PE7_RPORT PINE
#define PE7_WPORT PORTE
#define PE7_PWM NULL
#define PE7_DDR DDRE
#undef PF0
#define PF0_PIN PINF0
#define PF0_RPORT PINF
#define PF0_WPORT PORTF
#define PF0_PWM NULL
#define PF0_DDR DDRF
#undef PF1
#define PF1_PIN PINF1
#define PF1_RPORT PINF
#define PF1_WPORT PORTF
#define PF1_PWM NULL
#define PF1_DDR DDRF
#undef PF2
#define PF2_PIN PINF2
#define PF2_RPORT PINF
#define PF2_WPORT PORTF
#define PF2_PWM NULL
#define PF2_DDR DDRF
#undef PF3
#define PF3_PIN PINF3
#define PF3_RPORT PINF
#define PF3_WPORT PORTF
#define PF3_PWM NULL
#define PF3_DDR DDRF
#undef PF4
#define PF4_PIN PINF4
#define PF4_RPORT PINF
#define PF4_WPORT PORTF
#define PF4_PWM NULL
#define PF4_DDR DDRF
#undef PF5
#define PF5_PIN PINF5
#define PF5_RPORT PINF
#define PF5_WPORT PORTF
#define PF5_PWM NULL
#define PF5_DDR DDRF
#undef PF6
#define PF6_PIN PINF6
#define PF6_RPORT PINF
#define PF6_WPORT PORTF
#define PF6_PWM NULL
#define PF6_DDR DDRF
#undef PF7
#define PF7_PIN PINF7
#define PF7_RPORT PINF
#define PF7_WPORT PORTF
#define PF7_PWM NULL
#define PF7_DDR DDRF
#endif
#ifndef DIO0_PIN
#error pins for this chip not defined in arduino.h! If you write an appropriate pin definition and have this firmware work on your chip, please submit a pull request
#endif
#endif /* _ARDUINO_H */

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#ifndef PINS_H
#define PINS_H
/****************************************************************************************
* Arduino pin assignment
*
* ATMega168
* +-\/-+
* PC6 1| |28 PC5 (AI 5 / D19)
* (D 0) PD0 2| |27 PC4 (AI 4 / D18)
* (D 1) PD1 3| |26 PC3 (AI 3 / D17)
* (D 2) PD2 4| |25 PC2 (AI 2 / D16)
* PWM+ (D 3) PD3 5| |24 PC1 (AI 1 / D15)
* (D 4) PD4 6| |23 PC0 (AI 0 / D14)
* VCC 7| |22 GND
* GND 8| |21 AREF
* PB6 9| |20 AVCC
* PB7 10| |19 PB5 (D 13)
* PWM+ (D 5) PD5 11| |18 PB4 (D 12)
* PWM+ (D 6) PD6 12| |17 PB3 (D 11) PWM
* (D 7) PD7 13| |16 PB2 (D 10) PWM
* (D 8) PB0 14| |15 PB1 (D 9) PWM
* +----+
****************************************************************************************/
#if MOTHERBOARD == 0
#define KNOWN_BOARD 1
#ifndef __AVR_ATmega168__
#error Oops! Make sure you have 'Arduino Diecimila' selected from the boards menu.
#endif
#define X_STEP_PIN 2
#define X_DIR_PIN 3
#define X_ENABLE_PIN -1
#define X_MIN_PIN 4
#define X_MAX_PIN 9
#define Y_STEP_PIN 10
#define Y_DIR_PIN 7
#define Y_ENABLE_PIN -1
#define Y_MIN_PIN 8
#define Y_MAX_PIN 13
#define Z_STEP_PIN 19
#define Z_DIR_PIN 18
#define Z_ENABLE_PIN 5
#define Z_MIN_PIN 17
#define Z_MAX_PIN 16
#define E_STEP_PIN 11
#define E_DIR_PIN 12
#define E_ENABLE_PIN -1
#define SDPOWER -1
#define SDSS -1
#define LED_PIN -1
#define FAN_PIN -1
#define PS_ON_PIN 15
#define KILL_PIN -1
#define HEATER_0_PIN 6
#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#endif
/****************************************************************************************
* Sanguino/RepRap Motherboard with direct-drive extruders
*
* ATMega644P
*
* +---\/---+
* (D 0) PB0 1| |40 PA0 (AI 0 / D31)
* (D 1) PB1 2| |39 PA1 (AI 1 / D30)
* INT2 (D 2) PB2 3| |38 PA2 (AI 2 / D29)
* PWM (D 3) PB3 4| |37 PA3 (AI 3 / D28)
* PWM (D 4) PB4 5| |36 PA4 (AI 4 / D27)
* MOSI (D 5) PB5 6| |35 PA5 (AI 5 / D26)
* MISO (D 6) PB6 7| |34 PA6 (AI 6 / D25)
* SCK (D 7) PB7 8| |33 PA7 (AI 7 / D24)
* RST 9| |32 AREF
* VCC 10| |31 GND
* GND 11| |30 AVCC
* XTAL2 12| |29 PC7 (D 23)
* XTAL1 13| |28 PC6 (D 22)
* RX0 (D 8) PD0 14| |27 PC5 (D 21) TDI
* TX0 (D 9) PD1 15| |26 PC4 (D 20) TDO
* INT0 RX1 (D 10) PD2 16| |25 PC3 (D 19) TMS
* INT1 TX1 (D 11) PD3 17| |24 PC2 (D 18) TCK
* PWM (D 12) PD4 18| |23 PC1 (D 17) SDA
* PWM (D 13) PD5 19| |22 PC0 (D 16) SCL
* PWM (D 14) PD6 20| |21 PD7 (D 15) PWM
* +--------+
*
****************************************************************************************/
#if MOTHERBOARD == 1
#define KNOWN_BOARD 1
#ifndef __AVR_ATmega644P__
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
#define X_STEP_PIN 15
#define X_DIR_PIN 18
#define X_ENABLE_PIN 19
#define X_MIN_PIN 20
#define X_MAX_PIN 21
#define Y_STEP_PIN 23
#define Y_DIR_PIN 22
#define Y_ENABLE_PIN 19
#define Y_MIN_PIN 25
#define Y_MAX_PIN 26
#define Z_STEP_PIN 29
#define Z_DIR_PIN 30
#define Z_ENABLE_PIN 31
#define Z_MIN_PIN 2
#define Z_MAX_PIN 1
#define E_STEP_PIN 12
#define E_DIR_PIN 16
#define E_ENABLE_PIN 3
#define SDPOWER -1
#define SDSS -1
#define LED_PIN 0
#define FAN_PIN -1
#define PS_ON_PIN -1
#define KILL_PIN -1
#define HEATER_0_PIN 14
#define TEMP_0_PIN 4 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
/* Unused (1) (2) (3) 4 5 6 7 8 9 10 11 12 13 (14) (15) (16) 17 (18) (19) (20) (21) (22) (23) 24 (25) (26) (27) 28 (29) (30) (31) */
#endif
/****************************************************************************************
* RepRap Motherboard ****---NOOOOOO RS485/EXTRUDER CONTROLLER!!!!!!!!!!!!!!!!!---*******
*
****************************************************************************************/
#if MOTHERBOARD == 2
#define KNOWN_BOARD 1
#ifndef __AVR_ATmega644P__
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
#define X_STEP_PIN 15
#define X_DIR_PIN 18
#define X_ENABLE_PIN 19
#define X_MIN_PIN 20
#define X_MAX_PIN 21
#define Y_STEP_PIN 23
#define Y_DIR_PIN 22
#define Y_ENABLE_PIN 24
#define Y_MIN_PIN 25
#define Y_MAX_PIN 26
#define Z_STEP_PINN 27
#define Z_DIR_PINN 28
#define Z_ENABLE_PIN 29
#define Z_MIN_PIN 30
#define Z_MAX_PIN 31
#define E_STEP_PIN 17
#define E_DIR_PIN 16
#define E_ENABLE_PIN -1
#define SDPOWER -1
#define SDSS 4
#define LED_PIN 0
#define SD_CARD_WRITE 2
#define SD_CARD_DETECT 3
#define SD_CARD_SELECT 4
//our RS485 pins
#define TX_ENABLE_PIN 12
#define RX_ENABLE_PIN 13
//pin for controlling the PSU.
#define PS_ON_PIN 14
#define FAN_PIN -1
#define KILL_PIN -1
#define HEATER_0_PIN -1
#define TEMP_0_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#endif
/****************************************************************************************
* Arduino Mega pin assignment
*
****************************************************************************************/
#if MOTHERBOARD == 33
#define MOTHERBOARD 3
#define RAMPS_V_1_3
#endif
#if MOTHERBOARD == 3
#define KNOWN_BOARD 1
//////////////////FIX THIS//////////////
#ifndef __AVR_ATmega1280__
#ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu.
#endif
#endif
// uncomment one of the following lines for RAMPS v1.3 or v1.0, comment both for v1.2 or 1.1
// #define RAMPS_V_1_3
// #define RAMPS_V_1_0
#ifdef RAMPS_V_1_3
#define X_STEP_PIN 54
#define X_DIR_PIN 55
#define X_ENABLE_PIN 38
#define X_MIN_PIN 3
#define X_MAX_PIN -1 //2 //Max endstops default to disabled "-1", set to commented value to enable.
#define Y_STEP_PIN 60
#define Y_DIR_PIN 61
#define Y_ENABLE_PIN 56
#define Y_MIN_PIN 14
#define Y_MAX_PIN -1 //15
#define Z_STEP_PIN 46
#define Z_DIR_PIN 48
#define Z_ENABLE_PIN 62
#define Z_MIN_PIN 18
#define Z_MAX_PIN -1 //19
#define E_STEP_PIN 26
#define E_DIR_PIN 28
#define E_ENABLE_PIN 24
#define SDPOWER -1
#define SDSS 53
#define LED_PIN 13
#define FAN_PIN 9
#define PS_ON_PIN 12
#define KILL_PIN -1
#define HEATER_0_PIN 10
#define HEATER_1_PIN 8
#define TEMP_0_PIN 13 // ANALOG NUMBERING
#define TEMP_1_PIN 14 // ANALOG NUMBERING
#else // RAMPS_V_1_1 or RAMPS_V_1_2 as default
#define X_STEP_PIN 26
#define X_DIR_PIN 28
#define X_ENABLE_PIN 24
#define X_MIN_PIN 3
#define X_MAX_PIN -1 //2
#define Y_STEP_PIN 38
#define Y_DIR_PIN 40
#define Y_ENABLE_PIN 36
#define Y_MIN_PIN 16
#define Y_MAX_PIN -1 //17
#define Z_STEP_PIN 44
#define Z_DIR_PIN 46
#define Z_ENABLE_PIN 42
#define Z_MIN_PIN 18
#define Z_MAX_PIN -1 //19
#define E_STEP_PIN 32
#define E_DIR_PIN 34
#define E_ENABLE_PIN 30
#define SDPOWER 48
#define SDSS 53
#define LED_PIN 13
#define PS_ON_PIN -1
#define KILL_PIN -1
#ifdef RAMPS_V_1_0 // RAMPS_V_1_0
#define HEATER_0_PIN 12 // RAMPS 1.0
#define HEATER_1_PIN -1 // RAMPS 1.0
#define FAN_PIN 11 // RAMPS 1.0
#else // RAMPS_V_1_1 or RAMPS_V_1_2
#define HEATER_0_PIN 10 // RAMPS 1.1
#define HEATER_1_PIN 8 // RAMPS 1.1
#define FAN_PIN 9 // RAMPS 1.1
#endif
#define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define TEMP_1_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#endif
// SPI for Max6675 Thermocouple
#ifndef SDSUPPORT
// these pins are defined in the SD library if building with SD support #define SCK_PIN 52
#define MISO_PIN 50
#define MOSI_PIN 51
#define MAX6675_SS 53
#else
#define MAX6675_SS 49
#endif
#endif
/****************************************************************************************
* Duemilanove w/ ATMega328P pin assignment
*
****************************************************************************************/
#if MOTHERBOARD == 4
#define KNOWN_BOARD 1
#ifndef __AVR_ATmega328P__
#error Oops! Make sure you have 'Arduino Duemilanove w/ ATMega328' selected from the 'Tools -> Boards' menu.
#endif
#define X_STEP_PIN 19
#define X_DIR_PIN 18
#define X_ENABLE_PIN -1
#define X_MIN_PIN 17
#define X_MAX_PIN -1
#define Y_STEP_PIN 10
#define Y_DIR_PIN 7
#define Y_ENABLE_PIN -1
#define Y_MIN_PIN 8
#define Y_MAX_PIN -1
#define Z_STEP_PIN 13
#define Z_DIR_PIN 3
#define Z_ENABLE_PIN 2
#define Z_MIN_PIN 4
#define Z_MAX_PIN -1
#define E_STEP_PIN 11
#define E_DIR_PIN 12
#define E_ENABLE_PIN -1
#define SDPOWER -1
#define SDSS -1
#define LED_PIN -1
#define FAN_PIN 5
#define PS_ON_PIN -1
#define KILL_PIN -1
#define HEATER_0_PIN 6
#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#endif
/****************************************************************************************
* Gen6 pin assignment
*
****************************************************************************************/
#if MOTHERBOARD == 5
#define KNOWN_BOARD 1
#ifndef __AVR_ATmega644P__
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
//x axis pins
#define X_STEP_PIN 15
#define X_DIR_PIN 18
#define X_ENABLE_PIN 19
#define X_MIN_PIN 20
#define X_MAX_PIN -1
//y axis pins
#define Y_STEP_PIN 23
#define Y_DIR_PIN 22
#define Y_ENABLE_PIN 24
#define Y_MIN_PIN 25
#define Y_MAX_PIN -1
//z axis pins
#define Z_STEP_PIN 27
#define Z_DIR_PIN 28
#define Z_ENABLE_PIN 29
#define Z_MIN_PIN 30
#define Z_MAX_PIN -1
//extruder pins
#define E_STEP_PIN 4 //Edited @ EJE Electronics 20100715
#define E_DIR_PIN 2 //Edited @ EJE Electronics 20100715
#define E_ENABLE_PIN 3 //Added @ EJE Electronics 20100715
#define TEMP_0_PIN 5 //changed @ rkoeppl 20110410
#define HEATER_0_PIN 14 //changed @ rkoeppl 20110410
#define HEATER_1_PIN -1 //changed @ rkoeppl 20110410
#define SDPOWER -1
#define SDSS 17
#define LED_PIN -1 //changed @ rkoeppl 20110410
#define TEMP_1_PIN -1 //changed @ rkoeppl 20110410
#define FAN_PIN -1 //changed @ rkoeppl 20110410
#define PS_ON_PIN -1 //changed @ rkoeppl 20110410
//our pin for debugging.
#define DEBUG_PIN 0
//our RS485 pins
#define TX_ENABLE_PIN 12
#define RX_ENABLE_PIN 13
#endif
/****************************************************************************************
* Sanguinololu pin assignment
*
****************************************************************************************/
#if MOTHERBOARD == 62
#define MOTHERBOARD 6
#define SANGUINOLOLU_V_1_2
#endif
#if MOTHERBOARD == 6
#define KNOWN_BOARD 1
#ifndef __AVR_ATmega644P__
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
#define X_STEP_PIN 15
#define X_DIR_PIN 21
#define X_MIN_PIN 18
#define X_MAX_PIN -2
#define Y_STEP_PIN 22
#define Y_DIR_PIN 23
#define Y_MIN_PIN 19
#define Y_MAX_PIN -1
#define Z_STEP_PIN 3
#define Z_DIR_PIN 2
#define Z_MIN_PIN 20
#define Z_MAX_PIN -1
#define E_STEP_PIN 1
#define E_DIR_PIN 0
#define LED_PIN -1
#define FAN_PIN -1
#define PS_ON_PIN -1
#define KILL_PIN -1
#define HEATER_0_PIN 13 // (extruder)
#ifdef SANGUINOLOLU_V_1_2
#define HEATER_1_PIN 12 // (bed)
#define X_ENABLE_PIN 14
#define Y_ENABLE_PIN 14
#define Z_ENABLE_PIN 26
#define E_ENABLE_PIN 14
#else
#define HEATER_1_PIN 14 // (bed)
#define X_ENABLE_PIN -1
#define Y_ENABLE_PIN -1
#define Z_ENABLE_PIN -1
#define E_ENABLE_PIN -1
#endif
#define TEMP_0_PIN 7 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder)
#define TEMP_1_PIN 6 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
#define SDPOWER -1
#define SDSS 31
#ifndef KNOWN_BOARD
#error Unknown MOTHERBOARD value in configuration.h
#endif
#endif
#endif

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#ifndef SPEED_LOOKUPTABLE_H
#define SPEED_LOOKUPTABLE_H
#include <avr/pgmspace.h>
uint16_t speed_lookuptable_fast[256][2] PROGMEM = {
{ 62500, 55556}, { 6944, 3268}, { 3676, 1176}, { 2500, 607}, { 1893, 369}, { 1524, 249}, { 1275, 179}, { 1096, 135},
{ 961, 105}, { 856, 85}, { 771, 69}, { 702, 58}, { 644, 49}, { 595, 42}, { 553, 37}, { 516, 32},
{ 484, 28}, { 456, 25}, { 431, 23}, { 408, 20}, { 388, 19}, { 369, 16}, { 353, 16}, { 337, 14},
{ 323, 13}, { 310, 11}, { 299, 11}, { 288, 11}, { 277, 9}, { 268, 9}, { 259, 8}, { 251, 8},
{ 243, 8}, { 235, 7}, { 228, 6}, { 222, 6}, { 216, 6}, { 210, 6}, { 204, 5}, { 199, 5},
{ 194, 5}, { 189, 4}, { 185, 4}, { 181, 4}, { 177, 4}, { 173, 4}, { 169, 4}, { 165, 3},
{ 162, 3}, { 159, 4}, { 155, 3}, { 152, 3}, { 149, 2}, { 147, 3}, { 144, 3}, { 141, 2},
{ 139, 3}, { 136, 2}, { 134, 2}, { 132, 3}, { 129, 2}, { 127, 2}, { 125, 2}, { 123, 2},
{ 121, 2}, { 119, 1}, { 118, 2}, { 116, 2}, { 114, 1}, { 113, 2}, { 111, 2}, { 109, 1},
{ 108, 2}, { 106, 1}, { 105, 2}, { 103, 1}, { 102, 1}, { 101, 1}, { 100, 2}, { 98, 1},
{ 97, 1}, { 96, 1}, { 95, 2}, { 93, 1}, { 92, 1}, { 91, 1}, { 90, 1}, { 89, 1},
{ 88, 1}, { 87, 1}, { 86, 1}, { 85, 1}, { 84, 1}, { 83, 0}, { 83, 1}, { 82, 1},
{ 81, 1}, { 80, 1}, { 79, 1}, { 78, 0}, { 78, 1}, { 77, 1}, { 76, 1}, { 75, 0},
{ 75, 1}, { 74, 1}, { 73, 1}, { 72, 0}, { 72, 1}, { 71, 1}, { 70, 0}, { 70, 1},
{ 69, 0}, { 69, 1}, { 68, 1}, { 67, 0}, { 67, 1}, { 66, 0}, { 66, 1}, { 65, 0},
{ 65, 1}, { 64, 1}, { 63, 0}, { 63, 1}, { 62, 0}, { 62, 1}, { 61, 0}, { 61, 1},
{ 60, 0}, { 60, 0}, { 60, 1}, { 59, 0}, { 59, 1}, { 58, 0}, { 58, 1}, { 57, 0},
{ 57, 1}, { 56, 0}, { 56, 0}, { 56, 1}, { 55, 0}, { 55, 1}, { 54, 0}, { 54, 0},
{ 54, 1}, { 53, 0}, { 53, 0}, { 53, 1}, { 52, 0}, { 52, 0}, { 52, 1}, { 51, 0},
{ 51, 0}, { 51, 1}, { 50, 0}, { 50, 0}, { 50, 1}, { 49, 0}, { 49, 0}, { 49, 1},
{ 48, 0}, { 48, 0}, { 48, 1}, { 47, 0}, { 47, 0}, { 47, 0}, { 47, 1}, { 46, 0},
{ 46, 0}, { 46, 1}, { 45, 0}, { 45, 0}, { 45, 0}, { 45, 1}, { 44, 0}, { 44, 0},
{ 44, 0}, { 44, 1}, { 43, 0}, { 43, 0}, { 43, 0}, { 43, 1}, { 42, 0}, { 42, 0},
{ 42, 0}, { 42, 1}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 1}, { 40, 0},
{ 40, 0}, { 40, 0}, { 40, 0}, { 40, 1}, { 39, 0}, { 39, 0}, { 39, 0}, { 39, 0},
{ 39, 1}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 1}, { 37, 0}, { 37, 0},
{ 37, 0}, { 37, 0}, { 37, 0}, { 37, 1}, { 36, 0}, { 36, 0}, { 36, 0}, { 36, 0},
{ 36, 1}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 1},
{ 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 1}, { 33, 0}, { 33, 0},
{ 33, 0}, { 33, 0}, { 33, 0}, { 33, 0}, { 33, 1}, { 32, 0}, { 32, 0}, { 32, 0},
{ 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0},
{ 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0},
};
uint16_t speed_lookuptable_slow[256][2] PROGMEM = {
{ 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894},
{ 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657},
{ 12500, 596}, { 11904, 541}, { 11363, 494}, { 10869, 453}, { 10416, 416}, { 10000, 385}, { 9615, 356}, { 9259, 331},
{ 8928, 308}, { 8620, 287}, { 8333, 269}, { 8064, 252}, { 7812, 237}, { 7575, 223}, { 7352, 210}, { 7142, 198},
{ 6944, 188}, { 6756, 178}, { 6578, 168}, { 6410, 160}, { 6250, 153}, { 6097, 145}, { 5952, 139}, { 5813, 132},
{ 5681, 126}, { 5555, 121}, { 5434, 115}, { 5319, 111}, { 5208, 106}, { 5102, 102}, { 5000, 99}, { 4901, 94},
{ 4807, 91}, { 4716, 87}, { 4629, 84}, { 4545, 81}, { 4464, 79}, { 4385, 75}, { 4310, 73}, { 4237, 71},
{ 4166, 68}, { 4098, 66}, { 4032, 64}, { 3968, 62}, { 3906, 60}, { 3846, 59}, { 3787, 56}, { 3731, 55},
{ 3676, 53}, { 3623, 52}, { 3571, 50}, { 3521, 49}, { 3472, 48}, { 3424, 46}, { 3378, 45}, { 3333, 44},
{ 3289, 43}, { 3246, 41}, { 3205, 41}, { 3164, 39}, { 3125, 39}, { 3086, 38}, { 3048, 36}, { 3012, 36},
{ 2976, 35}, { 2941, 35}, { 2906, 33}, { 2873, 33}, { 2840, 32}, { 2808, 31}, { 2777, 30}, { 2747, 30},
{ 2717, 29}, { 2688, 29}, { 2659, 28}, { 2631, 27}, { 2604, 27}, { 2577, 26}, { 2551, 26}, { 2525, 25},
{ 2500, 25}, { 2475, 25}, { 2450, 23}, { 2427, 24}, { 2403, 23}, { 2380, 22}, { 2358, 22}, { 2336, 22},
{ 2314, 21}, { 2293, 21}, { 2272, 20}, { 2252, 20}, { 2232, 20}, { 2212, 20}, { 2192, 19}, { 2173, 18},
{ 2155, 19}, { 2136, 18}, { 2118, 18}, { 2100, 17}, { 2083, 17}, { 2066, 17}, { 2049, 17}, { 2032, 16},
{ 2016, 16}, { 2000, 16}, { 1984, 16}, { 1968, 15}, { 1953, 16}, { 1937, 14}, { 1923, 15}, { 1908, 15},
{ 1893, 14}, { 1879, 14}, { 1865, 14}, { 1851, 13}, { 1838, 14}, { 1824, 13}, { 1811, 13}, { 1798, 13},
{ 1785, 12}, { 1773, 13}, { 1760, 12}, { 1748, 12}, { 1736, 12}, { 1724, 12}, { 1712, 12}, { 1700, 11},
{ 1689, 12}, { 1677, 11}, { 1666, 11}, { 1655, 11}, { 1644, 11}, { 1633, 10}, { 1623, 11}, { 1612, 10},
{ 1602, 10}, { 1592, 10}, { 1582, 10}, { 1572, 10}, { 1562, 10}, { 1552, 9}, { 1543, 10}, { 1533, 9},
{ 1524, 9}, { 1515, 9}, { 1506, 9}, { 1497, 9}, { 1488, 9}, { 1479, 9}, { 1470, 9}, { 1461, 8},
{ 1453, 8}, { 1445, 9}, { 1436, 8}, { 1428, 8}, { 1420, 8}, { 1412, 8}, { 1404, 8}, { 1396, 8},
{ 1388, 7}, { 1381, 8}, { 1373, 7}, { 1366, 8}, { 1358, 7}, { 1351, 7}, { 1344, 8}, { 1336, 7},
{ 1329, 7}, { 1322, 7}, { 1315, 7}, { 1308, 6}, { 1302, 7}, { 1295, 7}, { 1288, 6}, { 1282, 7},
{ 1275, 6}, { 1269, 7}, { 1262, 6}, { 1256, 6}, { 1250, 7}, { 1243, 6}, { 1237, 6}, { 1231, 6},
{ 1225, 6}, { 1219, 6}, { 1213, 6}, { 1207, 6}, { 1201, 5}, { 1196, 6}, { 1190, 6}, { 1184, 5},
{ 1179, 6}, { 1173, 5}, { 1168, 6}, { 1162, 5}, { 1157, 5}, { 1152, 6}, { 1146, 5}, { 1141, 5},
{ 1136, 5}, { 1131, 5}, { 1126, 5}, { 1121, 5}, { 1116, 5}, { 1111, 5}, { 1106, 5}, { 1101, 5},
{ 1096, 5}, { 1091, 5}, { 1086, 4}, { 1082, 5}, { 1077, 5}, { 1072, 4}, { 1068, 5}, { 1063, 4},
{ 1059, 5}, { 1054, 4}, { 1050, 4}, { 1046, 5}, { 1041, 4}, { 1037, 4}, { 1033, 5}, { 1028, 4},
{ 1024, 4}, { 1020, 4}, { 1016, 4}, { 1012, 4}, { 1008, 4}, { 1004, 4}, { 1000, 4}, { 996, 4},
{ 992, 4}, { 988, 4}, { 984, 4}, { 980, 4}, { 976, 4}, { 972, 4}, { 968, 3}, { 965, 3},
};
#endif

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#ifndef THERMISTORTABLES_H_
#define THERMISTORTABLES_H_
#if (THERMISTORHEATER == 1) || (THERMISTORBED == 1) //100k bed thermistor
#define NUMTEMPS_1 61
const short temptable_1[NUMTEMPS_1][2] = {
{ (23*16) , 300 },
{ (25*16) , 295 },
{ (27*16) , 290 },
{ (28*16) , 285 },
{ (31*16) , 280 },
{ (33*16) , 275 },
{ (35*16) , 270 },
{ (38*16) , 265 },
{ (41*16) , 260 },
{ (44*16) , 255 },
{ (48*16) , 250 },
{ (52*16) , 245 },
{ (56*16) , 240 },
{ (61*16) , 235 },
{ (66*16) , 230 },
{ (71*16) , 225 },
{ (78*16) , 220 },
{ (84*16) , 215 },
{ (92*16) , 210 },
{ (100*16), 205 },
{ (109*16), 200 },
{ (120*16), 195 },
{ (131*16), 190 },
{ (143*16), 185 },
{ (156*16), 180 },
{ (171*16), 175 },
{ (187*16), 170 },
{ (205*16), 165 },
{ (224*16), 160 },
{ (245*16), 155 },
{ (268*16), 150 },
{ (293*16), 145 },
{ (320*16), 140 },
{ (348*16), 135 },
{ (379*16), 130 },
{ (411*16), 125 },
{ (445*16), 120 },
{ (480*16), 115 },
{ (516*16), 110 },
{ (553*16), 105 },
{ (591*16), 100 },
{ (628*16), 95 },
{ (665*16), 90 },
{ (702*16), 85 },
{ (737*16), 80 },
{ (770*16), 75 },
{ (801*16), 70 },
{ (830*16), 65 },
{ (857*16), 60 },
{ (881*16), 55 },
{ (903*16), 50 },
{ (922*16), 45 },
{ (939*16), 40 },
{ (954*16), 35 },
{ (966*16), 30 },
{ (977*16), 25 },
{ (985*16), 20 },
{ (993*16), 15 },
{ (999*16), 10 },
{ (1004*16), 5 },
{ (1008*16), 0 } //safety
};
#endif
#if (THERMISTORHEATER == 2) || (THERMISTORBED == 2) //200k bed thermistor
#define NUMTEMPS_2 21
const short temptable_2[NUMTEMPS_2][2] = {
{(1*16), 848},
{(54*16), 275},
{(107*16), 228},
{(160*16), 202},
{(213*16), 185},
{(266*16), 171},
{(319*16), 160},
{(372*16), 150},
{(425*16), 141},
{(478*16), 133},
{(531*16), 125},
{(584*16), 118},
{(637*16), 110},
{(690*16), 103},
{(743*16), 95},
{(796*16), 86},
{(849*16), 77},
{(902*16), 65},
{(955*16), 49},
{(1008*16), 17},
{(1020*16), 0} //safety
};
#endif
#if (THERMISTORHEATER == 3) || (THERMISTORBED == 3) //mendel-parts
#define NUMTEMPS_3 28
const short temptable_3[NUMTEMPS_3][2] = {
{(1*16),864},
{(21*16),300},
{(25*16),290},
{(29*16),280},
{(33*16),270},
{(39*16),260},
{(46*16),250},
{(54*16),240},
{(64*16),230},
{(75*16),220},
{(90*16),210},
{(107*16),200},
{(128*16),190},
{(154*16),180},
{(184*16),170},
{(221*16),160},
{(265*16),150},
{(316*16),140},
{(375*16),130},
{(441*16),120},
{(513*16),110},
{(588*16),100},
{(734*16),80},
{(856*16),60},
{(938*16),40},
{(986*16),20},
{(1008*16),0},
{(1018*16),-20}
};
#endif
#if THERMISTORHEATER == 1
#define NUMTEMPS NUMTEMPS_1
#define temptable temptable_1
#elif THERMISTORHEATER == 2
#define NUMTEMPS NUMTEMPS_2
#define temptable temptable_2
#elif THERMISTORHEATER == 3
#define NUMTEMPS NUMTEMPS_3
#define temptable temptable_3
#else
#error No heater thermistor table specified
#endif
#endif //THERMISTORTABLES_H_

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/*
wiring.c - Partial implementation of the Wiring API for the ATmega8.
Part of Arduino - http://www.arduino.cc/
Copyright (c) 2005-2006 David A. Mellis
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General
Public License along with this library; if not, write to the
Free Software Foundation, Inc., 59 Temple Place, Suite 330,
Boston, MA 02111-1307 USA
$Id: wiring.c 388 2008-03-08 22:05:23Z mellis $
*/
#include "wiring_private.h"
volatile unsigned long timer0_millis = 0;
SIGNAL(TIMER0_OVF_vect)
{
// timer 0 prescale factor is 64 and the timer overflows at 256
timer0_millis++;
}
unsigned long millis()
{
unsigned long m;
uint8_t oldSREG = SREG;
// disable interrupts while we read timer0_millis or we might get an
// inconsistent value (e.g. in the middle of the timer0_millis++)
cli();
m = timer0_millis;
SREG = oldSREG;
return m;
}
void delay(unsigned long ms)
{
unsigned long start = millis();
while (millis() - start <= ms)
;
}
/* Delay for the given number of microseconds. Assumes a 8 or 16 MHz clock.
* Disables interrupts, which will disrupt the millis() function if used
* too frequently. */
void delayMicroseconds(unsigned int us)
{
uint8_t oldSREG;
// calling avrlib's delay_us() function with low values (e.g. 1 or
// 2 microseconds) gives delays longer than desired.
//delay_us(us);
#if F_CPU >= 16000000L
// for the 16 MHz clock on most Arduino boards
// for a one-microsecond delay, simply return. the overhead
// of the function call yields a delay of approximately 1 1/8 us.
if (--us == 0)
return;
// the following loop takes a quarter of a microsecond (4 cycles)
// per iteration, so execute it four times for each microsecond of
// delay requested.
us <<= 2;
// account for the time taken in the preceeding commands.
us -= 2;
#else
// for the 8 MHz internal clock on the ATmega168
// for a one- or two-microsecond delay, simply return. the overhead of
// the function calls takes more than two microseconds. can't just
// subtract two, since us is unsigned; we'd overflow.
if (--us == 0)
return;
if (--us == 0)
return;
// the following loop takes half of a microsecond (4 cycles)
// per iteration, so execute it twice for each microsecond of
// delay requested.
us <<= 1;
// partially compensate for the time taken by the preceeding commands.
// we can't subtract any more than this or we'd overflow w/ small delays.
us--;
#endif
// disable interrupts, otherwise the timer 0 overflow interrupt that
// tracks milliseconds will make us delay longer than we want.
oldSREG = SREG;
cli();
// busy wait
__asm__ __volatile__ (
"1: sbiw %0,1" "\n\t" // 2 cycles
"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
);
// reenable interrupts.
SREG = oldSREG;
}
void init()
{
// this needs to be called before setup() or some functions won't
// work there
sei();
// on the ATmega168, timer 0 is also used for fast hardware pwm
// (using phase-correct PWM would mean that timer 0 overflowed half as often
// resulting in different millis() behavior on the ATmega8 and ATmega168)
sbi(TCCR0A, WGM01);
sbi(TCCR0A, WGM00);
// set timer 0 prescale factor to 64
sbi(TCCR0B, CS01);
sbi(TCCR0B, CS00);
// enable timer 0 overflow interrupt
sbi(TIMSK0, TOIE0);
// timers 1 and 2 are used for phase-correct hardware pwm
// this is better for motors as it ensures an even waveform
// note, however, that fast pwm mode can achieve a frequency of up
// 8 MHz (with a 16 MHz clock) at 50% duty cycle
#if 0
// set timer 1 prescale factor to 64
sbi(TCCR1B, CS11);
sbi(TCCR1B, CS10);
// put timer 1 in 8-bit phase correct pwm mode
sbi(TCCR1A, WGM10);
// set timer 2 prescale factor to 64
sbi(TCCR2B, CS22);
// configure timer 2 for phase correct pwm (8-bit)
sbi(TCCR2A, WGM20);
// set a2d prescale factor to 128
// 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range.
// XXX: this will not work properly for other clock speeds, and
// this code should use F_CPU to determine the prescale factor.
sbi(ADCSRA, ADPS2);
sbi(ADCSRA, ADPS1);
sbi(ADCSRA, ADPS0);
// enable a2d conversions
sbi(ADCSRA, ADEN);
// the bootloader connects pins 0 and 1 to the USART; disconnect them
// here so they can be used as normal digital i/o; they will be
// reconnected in Serial.begin()
UCSR0B = 0;
#if defined(__AVR_ATmega644P__)
//TODO: test to see if disabling this helps?
//UCSR1B = 0;
#endif
#endif
}

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/*
wiring_serial.c - serial functions.
Part of Arduino - http://www.arduino.cc/
Copyright (c) 2005-2006 David A. Mellis
Modified 29 January 2009, Marius Kintel for Sanguino - http://www.sanguino.cc/
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General
Public License along with this library; if not, write to the
Free Software Foundation, Inc., 59 Temple Place, Suite 330,
Boston, MA 02111-1307 USA
$Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
*/
#include "wiring_private.h"
// Define constants and variables for buffering incoming serial data. We're
// using a ring buffer (I think), in which rx_buffer_head is the index of the
// location to which to write the next incoming character and rx_buffer_tail
// is the index of the location from which to read.
#define RX_BUFFER_SIZE 128
#define RX_BUFFER_MASK 0x7f
#if defined(__AVR_ATmega644P__)
unsigned char rx_buffer[2][RX_BUFFER_SIZE];
int rx_buffer_head[2] = {0, 0};
int rx_buffer_tail[2] = {0, 0};
#else
unsigned char rx_buffer[1][RX_BUFFER_SIZE];
int rx_buffer_head[1] = {0};
int rx_buffer_tail[1] = {0};
#endif
#define BEGIN_SERIAL(uart_, baud_) \
{ \
UBRR##uart_##H = ((F_CPU / 16 + baud / 2) / baud - 1) >> 8; \
UBRR##uart_##L = ((F_CPU / 16 + baud / 2) / baud - 1); \
\
/* reset config for UART */ \
UCSR##uart_##A = 0; \
UCSR##uart_##B = 0; \
UCSR##uart_##C = 0; \
\
/* enable rx and tx */ \
sbi(UCSR##uart_##B, RXEN##uart_);\
sbi(UCSR##uart_##B, TXEN##uart_);\
\
/* enable interrupt on complete reception of a byte */ \
sbi(UCSR##uart_##B, RXCIE##uart_); \
UCSR##uart_##C = _BV(UCSZ##uart_##1)|_BV(UCSZ##uart_##0); \
/* defaults to 8-bit, no parity, 1 stop bit */ \
}
void beginSerial(uint8_t uart, long baud)
{
if (uart == 0) BEGIN_SERIAL(0, baud)
#if defined(__AVR_ATmega644P__)
else BEGIN_SERIAL(1, baud)
#endif
}
#define SERIAL_WRITE(uart_, c_) \
while (!(UCSR##uart_##A & (1 << UDRE##uart_))) \
; \
UDR##uart_ = c
void serialWrite(uint8_t uart, unsigned char c)
{
if (uart == 0) {
SERIAL_WRITE(0, c);
}
#if defined(__AVR_ATmega644P__)
else {
SERIAL_WRITE(1, c);
}
#endif
}
int serialAvailable(uint8_t uart)
{
return (RX_BUFFER_SIZE + rx_buffer_head[uart] - rx_buffer_tail[uart]) & RX_BUFFER_MASK;
}
int serialRead(uint8_t uart)
{
// if the head isn't ahead of the tail, we don't have any characters
if (rx_buffer_head[uart] == rx_buffer_tail[uart]) {
return -1;
} else {
unsigned char c = rx_buffer[uart][rx_buffer_tail[uart]];
rx_buffer_tail[uart] = (rx_buffer_tail[uart] + 1) & RX_BUFFER_MASK;
return c;
}
}
void serialFlush(uint8_t uart)
{
// don't reverse this or there may be problems if the RX interrupt
// occurs after reading the value of rx_buffer_head but before writing
// the value to rx_buffer_tail; the previous value of rx_buffer_head
// may be written to rx_buffer_tail, making it appear as if the buffer
// were full, not empty.
rx_buffer_head[uart] = rx_buffer_tail[uart];
}
#define UART_ISR(uart_) \
ISR(USART##uart_##_RX_vect) \
{ \
unsigned char c = UDR##uart_; \
\
int i = (rx_buffer_head[uart_] + 1) & RX_BUFFER_MASK; \
\
/* if we should be storing the received character into the location \
just before the tail (meaning that the head would advance to the \
current location of the tail), we're about to overflow the buffer \
and so we don't write the character or advance the head. */ \
if (i != rx_buffer_tail[uart_]) { \
rx_buffer[uart_][rx_buffer_head[uart_]] = c; \
rx_buffer_head[uart_] = i; \
} \
}
UART_ISR(0)
#if defined(__AVR_ATmega644P__)
UART_ISR(1)
#endif