SunRed/Marlin-Artillery-M600
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Merge branch 'Development' into delta_auto_bed_level

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Conflicts:
	Marlin/Marlin_main.cpp
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maverikou 2015-03-16 08:24:26 +02:00
commit 8a739b6fba
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2
.travis.yml
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@ -13,6 +13,8 @@ install:
- sudo apt-get update -q
- sudo apt-get install arduino
before_script:
# copy TMC and L6470 libraries to arduino dir, as conditional includes do not work in .ino files
- sudo cp -r ArduinoAddons/Arduino_1.x.x/libraries/ /usr/share/arduino
# add U8glib, LiquidCrystal_I2C & LiquidTWI2 libraries
- sudo unzip u8glib_arduino_v1.17.zip -d /usr/share/arduino/libraries/
- cd /usr/share/arduino/libraries/

723
ArduinoAddons/Arduino_1.x.x/libraries/L6470/L6470.cpp Normal file
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@ -0,0 +1,723 @@
////////////////////////////////////////////////////////////
//ORIGINAL CODE 12/12/2011- Mike Hord, SparkFun Electronics
//LIBRARY Created by Adam Meyer of bildr Aug 18th 2012
//Released as MIT license
////////////////////////////////////////////////////////////
#include <Arduino.h>
#include "L6470.h"
#include <SPI.h>
#define ENABLE_RESET_PIN 0
#define K_VALUE 100
L6470::L6470(int SSPin){
_SSPin = SSPin;
// Serial.begin(9600);
}
void L6470::init(int k_value){
// This is the generic initialization function to set up the Arduino to
// communicate with the dSPIN chip.
// set up the input/output pins for the application.
pinMode(SLAVE_SELECT_PIN, OUTPUT); // The SPI peripheral REQUIRES the hardware SS pin-
// pin 10- to be an output. This is in here just
// in case some future user makes something other
// than pin 10 the SS pin.
pinMode(_SSPin, OUTPUT);
digitalWrite(_SSPin, HIGH);
pinMode(MOSI, OUTPUT);
pinMode(MISO, INPUT);
pinMode(SCK, OUTPUT);
pinMode(BUSYN, INPUT);
#if (ENABLE_RESET_PIN == 1)
pinMode(RESET, OUTPUT);
// reset the dSPIN chip. This could also be accomplished by
// calling the "L6470::ResetDev()" function after SPI is initialized.
digitalWrite(RESET, HIGH);
delay(10);
digitalWrite(RESET, LOW);
delay(10);
digitalWrite(RESET, HIGH);
delay(10);
#endif
// initialize SPI for the dSPIN chip's needs:
// most significant bit first,
// SPI clock not to exceed 5MHz,
// SPI_MODE3 (clock idle high, latch data on rising edge of clock)
SPI.begin();
SPI.setBitOrder(MSBFIRST);
SPI.setClockDivider(SPI_CLOCK_DIV16); // or 2, 8, 16, 32, 64
SPI.setDataMode(SPI_MODE3);
// First things first: let's check communications. The CONFIG register should
// power up to 0x2E88, so we can use that to check the communications.
if (GetParam(CONFIG) == 0x2E88){
//Serial.println('good to go');
}
else{
//Serial.println('Comm issue');
}
#if (ENABLE_RESET_PIN == 0)
resetDev();
#endif
// First, let's set the step mode register:
// - SYNC_EN controls whether the BUSY/SYNC pin reflects the step
// frequency or the BUSY status of the chip. We want it to be the BUSY
// status.
// - STEP_SEL_x is the microstepping rate- we'll go full step.
// - SYNC_SEL_x is the ratio of (micro)steps to toggles on the
// BUSY/SYNC pin (when that pin is used for SYNC). Make it 1:1, despite
// not using that pin.
//SetParam(STEP_MODE, !SYNC_EN | STEP_SEL_1 | SYNC_SEL_1);
SetParam(KVAL_RUN, k_value);
SetParam(KVAL_ACC, k_value);
SetParam(KVAL_DEC, k_value);
SetParam(KVAL_HOLD, k_value);
// Set up the CONFIG register as follows:
// PWM frequency divisor = 1
// PWM frequency multiplier = 2 (62.5kHz PWM frequency)
// Slew rate is 290V/us
// Do NOT shut down bridges on overcurrent
// Disable motor voltage compensation
// Hard stop on switch low
// 16MHz internal oscillator, nothing on output
SetParam(CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_SR_290V_us| CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ);
// Configure the RUN KVAL. This defines the duty cycle of the PWM of the bridges
// during running. 0xFF means that they are essentially NOT PWMed during run; this
// MAY result in more power being dissipated than you actually need for the task.
// Setting this value too low may result in failure to turn.
// There are ACC, DEC, and HOLD KVAL registers as well; you may need to play with
// those values to get acceptable performance for a given application.
//SetParam(KVAL_RUN, 0xFF);
// Calling GetStatus() clears the UVLO bit in the status register, which is set by
// default on power-up. The driver may not run without that bit cleared by this
// read operation.
getStatus();
hardStop(); //engage motors
}
boolean L6470::isBusy(){
int status = getStatus();
return !((status >> 1) & 0b1);
}
void L6470::setMicroSteps(int microSteps){
byte stepVal = 0;
for(stepVal = 0; stepVal < 8; stepVal++){
if(microSteps == 1) break;
microSteps = microSteps >> 1;
}
SetParam(STEP_MODE, !SYNC_EN | stepVal | SYNC_SEL_1);
}
void L6470::setThresholdSpeed(float thresholdSpeed){
// Configure the FS_SPD register- this is the speed at which the driver ceases
// microstepping and goes to full stepping. FSCalc() converts a value in steps/s
// to a value suitable for this register; to disable full-step switching, you
// can pass 0x3FF to this register.
if(thresholdSpeed == 0.0){
SetParam(FS_SPD, 0x3FF);
}
else{
SetParam(FS_SPD, FSCalc(thresholdSpeed));
}
}
void L6470::setCurrent(int current){}
void L6470::setMaxSpeed(int speed){
// Configure the MAX_SPEED register- this is the maximum number of (micro)steps per
// second allowed. You'll want to mess around with your desired application to see
// how far you can push it before the motor starts to slip. The ACTUAL parameter
// passed to this function is in steps/tick; MaxSpdCalc() will convert a number of
// steps/s into an appropriate value for this function. Note that for any move or
// goto type function where no speed is specified, this value will be used.
SetParam(MAX_SPEED, MaxSpdCalc(speed));
}
void L6470::setMinSpeed(int speed){
// Configure the MAX_SPEED register- this is the maximum number of (micro)steps per
// second allowed. You'll want to mess around with your desired application to see
// how far you can push it before the motor starts to slip. The ACTUAL parameter
// passed to this function is in steps/tick; MaxSpdCalc() will convert a number of
// steps/s into an appropriate value for this function. Note that for any move or
// goto type function where no speed is specified, this value will be used.
SetParam(MIN_SPEED, MinSpdCalc(speed));
}
void L6470::setAcc(float acceleration){
// Configure the acceleration rate, in steps/tick/tick. There is also a DEC register;
// both of them have a function (AccCalc() and DecCalc() respectively) that convert
// from steps/s/s into the appropriate value for the register. Writing ACC to 0xfff
// sets the acceleration and deceleration to 'infinite' (or as near as the driver can
// manage). If ACC is set to 0xfff, DEC is ignored. To get infinite deceleration
// without infinite acceleration, only hard stop will work.
unsigned long accelerationBYTES = AccCalc(acceleration);
SetParam(ACC, accelerationBYTES);
}
void L6470::setDec(float deceleration){
unsigned long decelerationBYTES = DecCalc(deceleration);
SetParam(DEC, decelerationBYTES);
}
long L6470::getPos(){
unsigned long position = GetParam(ABS_POS);
return convert(position);
}
float L6470::getSpeed(){
/*
SPEED
The SPEED register contains the current motor speed, expressed in step/tick (format unsigned fixed point 0.28).
In order to convert the SPEED value in step/s the following formula can be used:
Equation 4
where SPEED is the integer number stored into the register and tick is 250 ns.
The available range is from 0 to 15625 step/s with a resolution of 0.015 step/s.
Note: The range effectively available to the user is limited by the MAX_SPEED parameter.
*/
return (float) GetParam(SPEED);
//return (float) speed * pow(8, -22);
//return FSCalc(speed); NEEDS FIX
}
void L6470::setOverCurrent(unsigned int ma_current){
// Configure the overcurrent detection threshold.
byte OCValue = floor(ma_current / 375);
if(OCValue > 0x0F)OCValue = 0x0F;
SetParam(OCD_TH, OCValue);
}
void L6470::setStallCurrent(float ma_current){
byte STHValue = (byte)floor(ma_current / 31.25);
if(STHValue > 0x80)STHValue = 0x80;
if(STHValue < 0)STHValue = 0;
SetParam(STALL_TH, STHValue);
}
void L6470::SetLowSpeedOpt(boolean enable){
// Enable or disable the low-speed optimization option. If enabling,
// the other 12 bits of the register will be automatically zero.
// When disabling, the value will have to be explicitly written by
// the user with a SetParam() call. See the datasheet for further
// information about low-speed optimization.
Xfer(SET_PARAM | MIN_SPEED);
if (enable) Param(0x1000, 13);
else Param(0, 13);
}
void L6470::run(byte dir, float spd){
// RUN sets the motor spinning in a direction (defined by the constants
// FWD and REV). Maximum speed and minimum speed are defined
// by the MAX_SPEED and MIN_SPEED registers; exceeding the FS_SPD value
// will switch the device into full-step mode.
// The SpdCalc() function is provided to convert steps/s values into
// appropriate integer values for this function.
unsigned long speedVal = SpdCalc(spd);
Xfer(RUN | dir);
if (speedVal > 0xFFFFF) speedVal = 0xFFFFF;
Xfer((byte)(speedVal >> 16));
Xfer((byte)(speedVal >> 8));
Xfer((byte)(speedVal));
}
void L6470::Step_Clock(byte dir){
// STEP_CLOCK puts the device in external step clocking mode. When active,
// pin 25, STCK, becomes the step clock for the device, and steps it in
// the direction (set by the FWD and REV constants) imposed by the call
// of this function. Motion commands (RUN, MOVE, etc) will cause the device
// to exit step clocking mode.
Xfer(STEP_CLOCK | dir);
}
void L6470::move(long n_step){
// MOVE will send the motor n_step steps (size based on step mode) in the
// direction imposed by dir (FWD or REV constants may be used). The motor
// will accelerate according the acceleration and deceleration curves, and
// will run at MAX_SPEED. Stepping mode will adhere to FS_SPD value, as well.
byte dir;
if(n_step >= 0){
dir = FWD;
}
else{
dir = REV;
}
long n_stepABS = abs(n_step);
Xfer(MOVE | dir); //set direction
if (n_stepABS > 0x3FFFFF) n_step = 0x3FFFFF;
Xfer((byte)(n_stepABS >> 16));
Xfer((byte)(n_stepABS >> 8));
Xfer((byte)(n_stepABS));
}
void L6470::goTo(long pos){
// GOTO operates much like MOVE, except it produces absolute motion instead
// of relative motion. The motor will be moved to the indicated position
// in the shortest possible fashion.
Xfer(GOTO);
if (pos > 0x3FFFFF) pos = 0x3FFFFF;
Xfer((byte)(pos >> 16));
Xfer((byte)(pos >> 8));
Xfer((byte)(pos));
}
void L6470::goTo_DIR(byte dir, long pos){
// Same as GOTO, but with user constrained rotational direction.
Xfer(GOTO_DIR);
if (pos > 0x3FFFFF) pos = 0x3FFFFF;
Xfer((byte)(pos >> 16));
Xfer((byte)(pos >> 8));
Xfer((byte)(pos));
}
void L6470::goUntil(byte act, byte dir, unsigned long spd){
// GoUntil will set the motor running with direction dir (REV or
// FWD) until a falling edge is detected on the SW pin. Depending
// on bit SW_MODE in CONFIG, either a hard stop or a soft stop is
// performed at the falling edge, and depending on the value of
// act (either RESET or COPY) the value in the ABS_POS register is
// either RESET to 0 or COPY-ed into the MARK register.
Xfer(GO_UNTIL | act | dir);
if (spd > 0x3FFFFF) spd = 0x3FFFFF;
Xfer((byte)(spd >> 16));
Xfer((byte)(spd >> 8));
Xfer((byte)(spd));
}
void L6470::releaseSW(byte act, byte dir){
// Similar in nature to GoUntil, ReleaseSW produces motion at the
// higher of two speeds: the value in MIN_SPEED or 5 steps/s.
// The motor continues to run at this speed until a rising edge
// is detected on the switch input, then a hard stop is performed
// and the ABS_POS register is either COPY-ed into MARK or RESET to
// 0, depending on whether RESET or COPY was passed to the function
// for act.
Xfer(RELEASE_SW | act | dir);
}
void L6470::goHome(){
// GoHome is equivalent to GoTo(0), but requires less time to send.
// Note that no direction is provided; motion occurs through shortest
// path. If a direction is required, use GoTo_DIR().
Xfer(GO_HOME);
}
void L6470::goMark(){
// GoMark is equivalent to GoTo(MARK), but requires less time to send.
// Note that no direction is provided; motion occurs through shortest
// path. If a direction is required, use GoTo_DIR().
Xfer(GO_MARK);
}
void L6470::setMark(long value){
Xfer(MARK);
if (value > 0x3FFFFF) value = 0x3FFFFF;
if (value < -0x3FFFFF) value = -0x3FFFFF;
Xfer((byte)(value >> 16));
Xfer((byte)(value >> 8));
Xfer((byte)(value));
}
void L6470::setMark(){
long value = getPos();
Xfer(MARK);
if (value > 0x3FFFFF) value = 0x3FFFFF;
if (value < -0x3FFFFF) value = -0x3FFFFF;
Xfer((byte)(value >> 16));
Xfer((byte)(value >> 8));
Xfer((byte)(value));
}
void L6470::setAsHome(){
// Sets the ABS_POS register to 0, effectively declaring the current
// position to be "HOME".
Xfer(RESET_POS);
}
void L6470::resetDev(){
// Reset device to power up conditions. Equivalent to toggling the STBY
// pin or cycling power.
Xfer(RESET_DEVICE);
}
void L6470::softStop(){
// Bring the motor to a halt using the deceleration curve.
Xfer(SOFT_STOP);
}
void L6470::hardStop(){
// Stop the motor right away. No deceleration.
Xfer(HARD_STOP);
}
void L6470::softFree(){
// Decelerate the motor and disengage
Xfer(SOFT_HIZ);
}
void L6470::free(){
// disengage the motor immediately with no deceleration.
Xfer(HARD_HIZ);
}
int L6470::getStatus(){
// Fetch and return the 16-bit value in the STATUS register. Resets
// any warning flags and exits any error states. Using GetParam()
// to read STATUS does not clear these values.
int temp = 0;
Xfer(GET_STATUS);
temp = Xfer(0)<<8;
temp |= Xfer(0);
return temp;
}
unsigned long L6470::AccCalc(float stepsPerSecPerSec){
// The value in the ACC register is [(steps/s/s)*(tick^2)]/(2^-40) where tick is
// 250ns (datasheet value)- 0x08A on boot.
// Multiply desired steps/s/s by .137438 to get an appropriate value for this register.
// This is a 12-bit value, so we need to make sure the value is at or below 0xFFF.
float temp = stepsPerSecPerSec * 0.137438;
if( (unsigned long) long(temp) > 0x00000FFF) return 0x00000FFF;
else return (unsigned long) long(temp);
}
unsigned long L6470::DecCalc(float stepsPerSecPerSec){
// The calculation for DEC is the same as for ACC. Value is 0x08A on boot.
// This is a 12-bit value, so we need to make sure the value is at or below 0xFFF.
float temp = stepsPerSecPerSec * 0.137438;
if( (unsigned long) long(temp) > 0x00000FFF) return 0x00000FFF;
else return (unsigned long) long(temp);
}
unsigned long L6470::MaxSpdCalc(float stepsPerSec){
// The value in the MAX_SPD register is [(steps/s)*(tick)]/(2^-18) where tick is
// 250ns (datasheet value)- 0x041 on boot.
// Multiply desired steps/s by .065536 to get an appropriate value for this register
// This is a 10-bit value, so we need to make sure it remains at or below 0x3FF
float temp = stepsPerSec * .065536;
if( (unsigned long) long(temp) > 0x000003FF) return 0x000003FF;
else return (unsigned long) long(temp);
}
unsigned long L6470::MinSpdCalc(float stepsPerSec){
// The value in the MIN_SPD register is [(steps/s)*(tick)]/(2^-24) where tick is
// 250ns (datasheet value)- 0x000 on boot.
// Multiply desired steps/s by 4.1943 to get an appropriate value for this register
// This is a 12-bit value, so we need to make sure the value is at or below 0xFFF.
float temp = stepsPerSec * 4.1943;
if( (unsigned long) long(temp) > 0x00000FFF) return 0x00000FFF;
else return (unsigned long) long(temp);
}
unsigned long L6470::FSCalc(float stepsPerSec){
// The value in the FS_SPD register is ([(steps/s)*(tick)]/(2^-18))-0.5 where tick is
// 250ns (datasheet value)- 0x027 on boot.
// Multiply desired steps/s by .065536 and subtract .5 to get an appropriate value for this register
// This is a 10-bit value, so we need to make sure the value is at or below 0x3FF.
float temp = (stepsPerSec * .065536)-.5;
if( (unsigned long) long(temp) > 0x000003FF) return 0x000003FF;
else return (unsigned long) long(temp);
}
unsigned long L6470::IntSpdCalc(float stepsPerSec){
// The value in the INT_SPD register is [(steps/s)*(tick)]/(2^-24) where tick is
// 250ns (datasheet value)- 0x408 on boot.
// Multiply desired steps/s by 4.1943 to get an appropriate value for this register
// This is a 14-bit value, so we need to make sure the value is at or below 0x3FFF.
float temp = stepsPerSec * 4.1943;
if( (unsigned long) long(temp) > 0x00003FFF) return 0x00003FFF;
else return (unsigned long) long(temp);
}
unsigned long L6470::SpdCalc(float stepsPerSec){
// When issuing RUN command, the 20-bit speed is [(steps/s)*(tick)]/(2^-28) where tick is
// 250ns (datasheet value).
// Multiply desired steps/s by 67.106 to get an appropriate value for this register
// This is a 20-bit value, so we need to make sure the value is at or below 0xFFFFF.
float temp = stepsPerSec * 67.106;
if( (unsigned long) long(temp) > 0x000FFFFF) return 0x000FFFFF;
else return (unsigned long)temp;
}
unsigned long L6470::Param(unsigned long value, byte bit_len){
// Generalization of the subsections of the register read/write functionality.
// We want the end user to just write the value without worrying about length,
// so we pass a bit length parameter from the calling function.
unsigned long ret_val=0; // We'll return this to generalize this function
// for both read and write of registers.
byte byte_len = bit_len/8; // How many BYTES do we have?
if (bit_len%8 > 0) byte_len++; // Make sure not to lose any partial byte values.
// Let's make sure our value has no spurious bits set, and if the value was too
// high, max it out.
unsigned long mask = 0xffffffff >> (32-bit_len);
if (value > mask) value = mask;
// The following three if statements handle the various possible byte length
// transfers- it'll be no less than 1 but no more than 3 bytes of data.
// L6470::Xfer() sends a byte out through SPI and returns a byte received
// over SPI- when calling it, we typecast a shifted version of the masked
// value, then we shift the received value back by the same amount and
// store it until return time.
if (byte_len == 3) {
ret_val |= long(Xfer((byte)(value>>16))) << 16;
//Serial.println(ret_val, HEX);
}
if (byte_len >= 2) {
ret_val |= long(Xfer((byte)(value>>8))) << 8;
//Serial.println(ret_val, HEX);
}
if (byte_len >= 1) {
ret_val |= Xfer((byte)value);
//Serial.println(ret_val, HEX);
}
// Return the received values. Mask off any unnecessary bits, just for
// the sake of thoroughness- we don't EXPECT to see anything outside
// the bit length range but better to be safe than sorry.
return (ret_val & mask);
}
byte L6470::Xfer(byte data){
// This simple function shifts a byte out over SPI and receives a byte over
// SPI. Unusually for SPI devices, the dSPIN requires a toggling of the
// CS (slaveSelect) pin after each byte sent. That makes this function
// a bit more reasonable, because we can include more functionality in it.
byte data_out;
digitalWrite(_SSPin,LOW);
// SPI.transfer() both shifts a byte out on the MOSI pin AND receives a
// byte in on the MISO pin.
data_out = SPI.transfer(data);
digitalWrite(_SSPin,HIGH);
return data_out;
}
void L6470::SetParam(byte param, unsigned long value){
Xfer(SET_PARAM | param);
ParamHandler(param, value);
}
unsigned long L6470::GetParam(byte param){
// Realize the "get parameter" function, to read from the various registers in
// the dSPIN chip.
Xfer(GET_PARAM | param);
return ParamHandler(param, 0);
}
long L6470::convert(unsigned long val){
//convert 22bit 2s comp to signed long
int MSB = val >> 21;
val = val << 11;
val = val >> 11;
if(MSB == 1) val = val | 0b11111111111000000000000000000000;
return val;
}
unsigned long L6470::ParamHandler(byte param, unsigned long value){
// Much of the functionality between "get parameter" and "set parameter" is
// very similar, so we deal with that by putting all of it in one function
// here to save memory space and simplify the program.
unsigned long ret_val = 0; // This is a temp for the value to return.
// This switch structure handles the appropriate action for each register.
// This is necessary since not all registers are of the same length, either
// bit-wise or byte-wise, so we want to make sure we mask out any spurious
// bits and do the right number of transfers. That is handled by the dSPIN_Param()
// function, in most cases, but for 1-byte or smaller transfers, we call
// Xfer() directly.
switch (param)
{
// ABS_POS is the current absolute offset from home. It is a 22 bit number expressed
// in two's complement. At power up, this value is 0. It cannot be written when
// the motor is running, but at any other time, it can be updated to change the
// interpreted position of the motor.
case ABS_POS:
ret_val = Param(value, 22);
break;
// EL_POS is the current electrical position in the step generation cycle. It can
// be set when the motor is not in motion. Value is 0 on power up.
case EL_POS:
ret_val = Param(value, 9);
break;
// MARK is a second position other than 0 that the motor can be told to go to. As
// with ABS_POS, it is 22-bit two's complement. Value is 0 on power up.
case MARK:
ret_val = Param(value, 22);
break;
// SPEED contains information about the current speed. It is read-only. It does
// NOT provide direction information.
case SPEED:
ret_val = Param(0, 20);
break;
// ACC and DEC set the acceleration and deceleration rates. Set ACC to 0xFFF
// to get infinite acceleration/decelaeration- there is no way to get infinite
// deceleration w/o infinite acceleration (except the HARD STOP command).
// Cannot be written while motor is running. Both default to 0x08A on power up.
// AccCalc() and DecCalc() functions exist to convert steps/s/s values into
// 12-bit values for these two registers.
case ACC:
ret_val = Param(value, 12);
break;
case DEC:
ret_val = Param(value, 12);
break;
// MAX_SPEED is just what it says- any command which attempts to set the speed
// of the motor above this value will simply cause the motor to turn at this
// speed. Value is 0x041 on power up.
// MaxSpdCalc() function exists to convert steps/s value into a 10-bit value
// for this register.
case MAX_SPEED:
ret_val = Param(value, 10);
break;
// MIN_SPEED controls two things- the activation of the low-speed optimization
// feature and the lowest speed the motor will be allowed to operate at. LSPD_OPT
// is the 13th bit, and when it is set, the minimum allowed speed is automatically
// set to zero. This value is 0 on startup.
// MinSpdCalc() function exists to convert steps/s value into a 12-bit value for this
// register. SetLowSpeedOpt() function exists to enable/disable the optimization feature.
case MIN_SPEED:
ret_val = Param(value, 12);
break;
// FS_SPD register contains a threshold value above which microstepping is disabled
// and the dSPIN operates in full-step mode. Defaults to 0x027 on power up.
// FSCalc() function exists to convert steps/s value into 10-bit integer for this
// register.
case FS_SPD:
ret_val = Param(value, 10);
break;
// KVAL is the maximum voltage of the PWM outputs. These 8-bit values are ratiometric
// representations: 255 for full output voltage, 128 for half, etc. Default is 0x29.
// The implications of different KVAL settings is too complex to dig into here, but
// it will usually work to max the value for RUN, ACC, and DEC. Maxing the value for
// HOLD may result in excessive power dissipation when the motor is not running.
case KVAL_HOLD:
ret_val = Xfer((byte)value);
break;
case KVAL_RUN:
ret_val = Xfer((byte)value);
break;
case KVAL_ACC:
ret_val = Xfer((byte)value);
break;
case KVAL_DEC:
ret_val = Xfer((byte)value);
break;
// INT_SPD, ST_SLP, FN_SLP_ACC and FN_SLP_DEC are all related to the back EMF
// compensation functionality. Please see the datasheet for details of this
// function- it is too complex to discuss here. Default values seem to work
// well enough.
case INT_SPD:
ret_val = Param(value, 14);
break;
case ST_SLP:
ret_val = Xfer((byte)value);
break;
case FN_SLP_ACC:
ret_val = Xfer((byte)value);
break;
case FN_SLP_DEC:
ret_val = Xfer((byte)value);
break;
// K_THERM is motor winding thermal drift compensation. Please see the datasheet
// for full details on operation- the default value should be okay for most users.
case K_THERM:
ret_val = Xfer((byte)value & 0x0F);
break;
// ADC_OUT is a read-only register containing the result of the ADC measurements.
// This is less useful than it sounds; see the datasheet for more information.
case ADC_OUT:
ret_val = Xfer(0);
break;
// Set the overcurrent threshold. Ranges from 375mA to 6A in steps of 375mA.
// A set of defined constants is provided for the user's convenience. Default
// value is 3.375A- 0x08. This is a 4-bit value.
case OCD_TH:
ret_val = Xfer((byte)value & 0x0F);
break;
// Stall current threshold. Defaults to 0x40, or 2.03A. Value is from 31.25mA to
// 4A in 31.25mA steps. This is a 7-bit value.
case STALL_TH:
ret_val = Xfer((byte)value & 0x7F);
break;
// STEP_MODE controls the microstepping settings, as well as the generation of an
// output signal from the dSPIN. Bits 2:0 control the number of microsteps per
// step the part will generate. Bit 7 controls whether the BUSY/SYNC pin outputs
// a BUSY signal or a step synchronization signal. Bits 6:4 control the frequency
// of the output signal relative to the full-step frequency; see datasheet for
// that relationship as it is too complex to reproduce here.
// Most likely, only the microsteps per step value will be needed; there is a set
// of constants provided for ease of use of these values.
case STEP_MODE:
ret_val = Xfer((byte)value);
break;
// ALARM_EN controls which alarms will cause the FLAG pin to fall. A set of constants
// is provided to make this easy to interpret. By default, ALL alarms will trigger the
// FLAG pin.
case ALARM_EN:
ret_val = Xfer((byte)value);
break;
// CONFIG contains some assorted configuration bits and fields. A fairly comprehensive
// set of reasonably self-explanatory constants is provided, but users should refer
// to the datasheet before modifying the contents of this register to be certain they
// understand the implications of their modifications. Value on boot is 0x2E88; this
// can be a useful way to verify proper start up and operation of the dSPIN chip.
case CONFIG:
ret_val = Param(value, 16);
break;
// STATUS contains read-only information about the current condition of the chip. A
// comprehensive set of constants for masking and testing this register is provided, but
// users should refer to the datasheet to ensure that they fully understand each one of
// the bits in the register.
case STATUS: // STATUS is a read-only register
ret_val = Param(0, 16);
break;
default:
ret_val = Xfer((byte)(value));
break;
}
return ret_val;
}

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////////////////////////////////////////////////////////////
//ORIGINAL CODE 12/12/2011- Mike Hord, SparkFun Electronics
//LIBRARY Created by Adam Meyer of bildr Aug 18th 2012
//Released as MIT license
////////////////////////////////////////////////////////////
#ifndef L6470_h
#define L6470_h
#include <Arduino.h>
#include <SPI.h>
#define SLAVE_SELECT_PIN 38 // Wire this to the CSN pin
// #define RESET 6 // Wire this to the STBY line
#define BUSYN 7 // Wire this to the BSYN line
// constant definitions for overcurrent thresholds. Write these values to
// register dSPIN_OCD_TH to set the level at which an overcurrent even occurs.
#define OCD_TH_375mA 0x00
#define OCD_TH_750mA 0x01
#define OCD_TH_1125mA 0x02
#define OCD_TH_1500mA 0x03
#define OCD_TH_1875mA 0x04
#define OCD_TH_2250mA 0x05
#define OCD_TH_2625mA 0x06
#define OCD_TH_3000mA 0x07
#define OCD_TH_3375mA 0x08
#define OCD_TH_3750mA 0x09
#define OCD_TH_4125mA 0x0A
#define OCD_TH_4500mA 0x0B
#define OCD_TH_4875mA 0x0C
#define OCD_TH_5250mA 0x0D
#define OCD_TH_5625mA 0x0E
#define OCD_TH_6000mA 0x0F
// STEP_MODE option values.
// First comes the "microsteps per step" options...
#define STEP_MODE_STEP_SEL 0x07 // Mask for these bits only.
#define STEP_SEL_1 0x00
#define STEP_SEL_1_2 0x01
#define STEP_SEL_1_4 0x02
#define STEP_SEL_1_8 0x03
#define STEP_SEL_1_16 0x04
#define STEP_SEL_1_32 0x05
#define STEP_SEL_1_64 0x06
#define STEP_SEL_1_128 0x07
// ...next, define the SYNC_EN bit. When set, the BUSYN pin will instead
// output a clock related to the full-step frequency as defined by the
// SYNC_SEL bits below.
#define STEP_MODE_SYNC_EN 0x80 // Mask for this bit
#define SYNC_EN 0x80
// ...last, define the SYNC_SEL modes. The clock output is defined by
// the full-step frequency and the value in these bits- see the datasheet
// for a matrix describing that relationship (page 46).
#define STEP_MODE_SYNC_SEL 0x70
#define SYNC_SEL_1_2 0x00
#define SYNC_SEL_1 0x10
#define SYNC_SEL_2 0x20
#define SYNC_SEL_4 0x30
#define SYNC_SEL_8 0x40
#define SYNC_SEL_16 0x50
#define SYNC_SEL_32 0x60
#define SYNC_SEL_64 0x70
// Bit names for the ALARM_EN register.
// Each of these bits defines one potential alarm condition.
// When one of these conditions occurs and the respective bit in ALARM_EN is set,
// the FLAG pin will go low. The register must be queried to determine which event
// caused the alarm.
#define ALARM_EN_OVERCURRENT 0x01
#define ALARM_EN_THERMAL_SHUTDOWN 0x02
#define ALARM_EN_THERMAL_WARNING 0x04
#define ALARM_EN_UNDER_VOLTAGE 0x08
#define ALARM_EN_STALL_DET_A 0x10
#define ALARM_EN_STALL_DET_B 0x20
#define ALARM_EN_SW_TURN_ON 0x40
#define ALARM_EN_WRONG_NPERF_CMD 0x80
// CONFIG register renames.
// Oscillator options.
// The dSPIN needs to know what the clock frequency is because it uses that for some
// calculations during operation.
#define CONFIG_OSC_SEL 0x000F // Mask for this bit field.
#define CONFIG_INT_16MHZ 0x0000 // Internal 16MHz, no output
#define CONFIG_INT_16MHZ_OSCOUT_2MHZ 0x0008 // Default; internal 16MHz, 2MHz output
#define CONFIG_INT_16MHZ_OSCOUT_4MHZ 0x0009 // Internal 16MHz, 4MHz output
#define CONFIG_INT_16MHZ_OSCOUT_8MHZ 0x000A // Internal 16MHz, 8MHz output
#define CONFIG_INT_16MHZ_OSCOUT_16MHZ 0x000B // Internal 16MHz, 16MHz output
#define CONFIG_EXT_8MHZ_XTAL_DRIVE 0x0004 // External 8MHz crystal
#define CONFIG_EXT_16MHZ_XTAL_DRIVE 0x0005 // External 16MHz crystal
#define CONFIG_EXT_24MHZ_XTAL_DRIVE 0x0006 // External 24MHz crystal
#define CONFIG_EXT_32MHZ_XTAL_DRIVE 0x0007 // External 32MHz crystal
#define CONFIG_EXT_8MHZ_OSCOUT_INVERT 0x000C // External 8MHz crystal, output inverted
#define CONFIG_EXT_16MHZ_OSCOUT_INVERT 0x000D // External 16MHz crystal, output inverted
#define CONFIG_EXT_24MHZ_OSCOUT_INVERT 0x000E // External 24MHz crystal, output inverted
#define CONFIG_EXT_32MHZ_OSCOUT_INVERT 0x000F // External 32MHz crystal, output inverted
// Configure the functionality of the external switch input
#define CONFIG_SW_MODE 0x0010 // Mask for this bit.
#define CONFIG_SW_HARD_STOP 0x0000 // Default; hard stop motor on switch.
#define CONFIG_SW_USER 0x0010 // Tie to the GoUntil and ReleaseSW
// commands to provide jog function.
// See page 25 of datasheet.
// Configure the motor voltage compensation mode (see page 34 of datasheet)
#define CONFIG_EN_VSCOMP 0x0020 // Mask for this bit.
#define CONFIG_VS_COMP_DISABLE 0x0000 // Disable motor voltage compensation.
#define CONFIG_VS_COMP_ENABLE 0x0020 // Enable motor voltage compensation.
// Configure overcurrent detection event handling
#define CONFIG_OC_SD 0x0080 // Mask for this bit.
#define CONFIG_OC_SD_DISABLE 0x0000 // Bridges do NOT shutdown on OC detect
#define CONFIG_OC_SD_ENABLE 0x0080 // Bridges shutdown on OC detect
// Configure the slew rate of the power bridge output
#define CONFIG_POW_SR 0x0300 // Mask for this bit field.
#define CONFIG_SR_180V_us 0x0000 // 180V/us
#define CONFIG_SR_290V_us 0x0200 // 290V/us
#define CONFIG_SR_530V_us 0x0300 // 530V/us
// Integer divisors for PWM sinewave generation
// See page 32 of the datasheet for more information on this.
#define CONFIG_F_PWM_DEC 0x1C00 // mask for this bit field
#define CONFIG_PWM_MUL_0_625 (0x00)<<10
#define CONFIG_PWM_MUL_0_75 (0x01)<<10
#define CONFIG_PWM_MUL_0_875 (0x02)<<10
#define CONFIG_PWM_MUL_1 (0x03)<<10
#define CONFIG_PWM_MUL_1_25 (0x04)<<10
#define CONFIG_PWM_MUL_1_5 (0x05)<<10
#define CONFIG_PWM_MUL_1_75 (0x06)<<10
#define CONFIG_PWM_MUL_2 (0x07)<<10
// Multiplier for the PWM sinewave frequency
#define CONFIG_F_PWM_INT 0xE000 // mask for this bit field.
#define CONFIG_PWM_DIV_1 (0x00)<<13
#define CONFIG_PWM_DIV_2 (0x01)<<13
#define CONFIG_PWM_DIV_3 (0x02)<<13
#define CONFIG_PWM_DIV_4 (0x03)<<13
#define CONFIG_PWM_DIV_5 (0x04)<<13
#define CONFIG_PWM_DIV_6 (0x05)<<13
#define CONFIG_PWM_DIV_7 (0x06)<<13
// Status register bit renames- read-only bits conferring information about the
// device to the user.
#define STATUS_HIZ 0x0001 // high when bridges are in HiZ mode
#define STATUS_BUSY 0x0002 // mirrors BUSY pin
#define STATUS_SW_F 0x0004 // low when switch open, high when closed
#define STATUS_SW_EVN 0x0008 // active high, set on switch falling edge,
// cleared by reading STATUS
#define STATUS_DIR 0x0010 // Indicates current motor direction.
// High is FWD, Low is REV.
#define STATUS_NOTPERF_CMD 0x0080 // Last command not performed.
#define STATUS_WRONG_CMD 0x0100 // Last command not valid.
#define STATUS_UVLO 0x0200 // Undervoltage lockout is active
#define STATUS_TH_WRN 0x0400 // Thermal warning
#define STATUS_TH_SD 0x0800 // Thermal shutdown
#define STATUS_OCD 0x1000 // Overcurrent detected
#define STATUS_STEP_LOSS_A 0x2000 // Stall detected on A bridge
#define STATUS_STEP_LOSS_B 0x4000 // Stall detected on B bridge
#define STATUS_SCK_MOD 0x8000 // Step clock mode is active
// Status register motor status field
#define STATUS_MOT_STATUS 0x0060 // field mask
#define STATUS_MOT_STATUS_STOPPED (0x0000)<<13 // Motor stopped
#define STATUS_MOT_STATUS_ACCELERATION (0x0001)<<13 // Motor accelerating
#define STATUS_MOT_STATUS_DECELERATION (0x0002)<<13 // Motor decelerating
#define STATUS_MOT_STATUS_CONST_SPD (0x0003)<<13 // Motor at constant speed
// Register address redefines.
// See the Param_Handler() function for more info about these.
#define ABS_POS 0x01
#define EL_POS 0x02
#define MARK 0x03
#define SPEED 0x04
#define ACC 0x05
#define DEC 0x06
#define MAX_SPEED 0x07
#define MIN_SPEED 0x08
#define FS_SPD 0x15
#define KVAL_HOLD 0x09
#define KVAL_RUN 0x0A
#define KVAL_ACC 0x0B
#define KVAL_DEC 0x0C
#define INT_SPD 0x0D
#define ST_SLP 0x0E
#define FN_SLP_ACC 0x0F
#define FN_SLP_DEC 0x10
#define K_THERM 0x11
#define ADC_OUT 0x12
#define OCD_TH 0x13
#define STALL_TH 0x14
#define STEP_MODE 0x16
#define ALARM_EN 0x17
#define CONFIG 0x18
#define STATUS 0x19
//dSPIN commands
#define NOP 0x00
#define SET_PARAM 0x00
#define GET_PARAM 0x20
#define RUN 0x50
#define STEP_CLOCK 0x58
#define MOVE 0x40
#define GOTO 0x60
#define GOTO_DIR 0x68
#define GO_UNTIL 0x82
#define RELEASE_SW 0x92
#define GO_HOME 0x70
#define GO_MARK 0x78
#define RESET_POS 0xD8
#define RESET_DEVICE 0xC0
#define SOFT_STOP 0xB0
#define HARD_STOP 0xB8
#define SOFT_HIZ 0xA0
#define HARD_HIZ 0xA8
#define GET_STATUS 0xD0
/* dSPIN direction options */
#define FWD 0x01
#define REV 0x00
/* dSPIN action options */
#define ACTION_RESET 0x00
#define ACTION_COPY 0x01
class L6470{
public:
L6470(int SSPin);
void init(int k_value);
void setMicroSteps(int microSteps);
void setCurrent(int current);
void setMaxSpeed(int speed);
void setMinSpeed(int speed);
void setAcc(float acceleration);
void setDec(float deceleration);
void setOverCurrent(unsigned int ma_current);
void setThresholdSpeed(float threshold);
void setStallCurrent(float ma_current);
unsigned long ParamHandler(byte param, unsigned long value);
void SetLowSpeedOpt(boolean enable);
void run(byte dir, float spd);
void Step_Clock(byte dir);
void goHome();
void setAsHome();
void goMark();
void move(long n_step);
void goTo(long pos);
void goTo_DIR(byte dir, long pos);
void goUntil(byte act, byte dir, unsigned long spd);
boolean isBusy();
void releaseSW(byte act, byte dir);
float getSpeed();
long getPos();
void setMark();
void setMark(long value);
void resetPos();
void resetDev();
void softStop();
void hardStop();
void softFree();
void free();
int getStatus();
void SetParam(byte param, unsigned long value);
private:
long convert(unsigned long val);
unsigned long GetParam(byte param);
unsigned long AccCalc(float stepsPerSecPerSec);
unsigned long DecCalc(float stepsPerSecPerSec);
unsigned long MaxSpdCalc(float stepsPerSec);
unsigned long MinSpdCalc(float stepsPerSec);
unsigned long FSCalc(float stepsPerSec);
unsigned long IntSpdCalc(float stepsPerSec);
unsigned long SpdCalc(float stepsPerSec);
unsigned long Param(unsigned long value, byte bit_len);
byte Xfer(byte data);
int _SSPin;
};
#endif

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#######################################################
# keywords.txt - keywords file for the L6470 library
#
# ORIGINAL CODE 12/12/2011- Mike Hord, SparkFun Electronics
# Library by Adam Meyer of bildr Aug 18th 2012
#
# Released as MIT license
#######################################################
#######################################
# Datatypes (KEYWORD1)
#######################################
L6470 KEYWORD1
#######################################
# Methods and Functions (KEYWORD2)
#######################################
L6470 KEYWORD2
init KEYWORD2
setMicroSteps KEYWORD2
setCurrent KEYWORD2
setMaxSpeed KEYWORD2
setMinSpeed KEYWORD2
setAcc KEYWORD2
setDec KEYWORD2
setOverCurrent KEYWORD2
setThresholdSpeed KEYWORD2
setStallCurrent KEYWORD2
ParamHandler KEYWORD2
SetLowSpeedOpt KEYWORD2
run KEYWORD2
Step_Clock KEYWORD2
goHome KEYWORD2
goMark KEYWORD2
move KEYWORD2
goTo KEYWORD2
goTo_DIR KEYWORD2
goUntil KEYWORD2
isBusy KEYWORD2
releaseSW KEYWORD2
resetPos KEYWORD2
resetDev KEYWORD2
softStop KEYWORD2
hardStop KEYWORD2
softHiZ KEYWORD2
hardHiZ KEYWORD2
getStatus KEYWORD2
#######################################
# Constants (LITERAL1)
#######################################

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#mac stuff
.DS_Store
#eclipse stuff
.classpath
.project
#processing stuff
generated/
examples/TMC26XMotorTester/processing/TMC26XMotorTest/application.*/
examples/TMC26XMotorTester/processing/TMC26XMotorTest/application.*
#eagle stuff
schematics/*.b#?
schematics/*.s#?
*.zip

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# Doxyfile 1.7.6.1
# This file describes the settings to be used by the documentation system
# doxygen (www.doxygen.org) for a project
#
# All text after a hash (#) is considered a comment and will be ignored
# The format is:
# TAG = value [value, ...]
# For lists items can also be appended using:
# TAG += value [value, ...]
# Values that contain spaces should be placed between quotes (" ")
#---------------------------------------------------------------------------
# Project related configuration options
#---------------------------------------------------------------------------
# This tag specifies the encoding used for all characters in the config file
# that follow. The default is UTF-8 which is also the encoding used for all
# text before the first occurrence of this tag. Doxygen uses libiconv (or the
# iconv built into libc) for the transcoding. See
# http://www.gnu.org/software/libiconv for the list of possible encodings.
DOXYFILE_ENCODING = UTF-8
# The PROJECT_NAME tag is a single word (or sequence of words) that should
# identify the project. Note that if you do not use Doxywizard you need
# to put quotes around the project name if it contains spaces.
PROJECT_NAME = "Trinamic TMC26X Stepper Driver for Arduino"
# The PROJECT_NUMBER tag can be used to enter a project or revision number.
# This could be handy for archiving the generated documentation or
# if some version control system is used.
PROJECT_NUMBER =
# Using the PROJECT_BRIEF tag one can provide an optional one line description
# for a project that appears at the top of each page and should give viewer
# a quick idea about the purpose of the project. Keep the description short.
PROJECT_BRIEF =
# With the PROJECT_LOGO tag one can specify an logo or icon that is
# included in the documentation. The maximum height of the logo should not
# exceed 55 pixels and the maximum width should not exceed 200 pixels.
# Doxygen will copy the logo to the output directory.
PROJECT_LOGO =
# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
# base path where the generated documentation will be put.
# If a relative path is entered, it will be relative to the location
# where doxygen was started. If left blank the current directory will be used.
OUTPUT_DIRECTORY = /Users/marcus/Arduino/libraries/TMC26XStepper/documentation
# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
# 4096 sub-directories (in 2 levels) under the output directory of each output
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# source files, where putting all generated files in the same directory would
# otherwise cause performance problems for the file system.
CREATE_SUBDIRS = NO
# The OUTPUT_LANGUAGE tag is used to specify the language in which all
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# information to generate all constant output in the proper language.
# The default language is English, other supported languages are:
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OUTPUT_LANGUAGE = English
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# the brief description of a member or function before the detailed description.
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# is one of the parsers supported by doxygen: IDL, Java, Javascript, CSharp, C,
# C++, D, PHP, Objective-C, Python, Fortran, VHDL, C, C++. For instance to make
# doxygen treat .inc files as Fortran files (default is PHP), and .f files as C
# (default is Fortran), use: inc=Fortran f=C. Note that for custom extensions
# you also need to set FILE_PATTERNS otherwise the files are not read by doxygen.
EXTENSION_MAPPING =
# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
# to include (a tag file for) the STL sources as input, then you should
# set this tag to YES in order to let doxygen match functions declarations and
# definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
# func(std::string) {}). This also makes the inheritance and collaboration
# diagrams that involve STL classes more complete and accurate.
BUILTIN_STL_SUPPORT = NO
# If you use Microsoft's C++/CLI language, you should set this option to YES to
# enable parsing support.
CPP_CLI_SUPPORT = NO
# Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
# Doxygen will parse them like normal C++ but will assume all classes use public
# instead of private inheritance when no explicit protection keyword is present.
SIP_SUPPORT = NO
# For Microsoft's IDL there are propget and propput attributes to indicate getter
# and setter methods for a property. Setting this option to YES (the default)
# will make doxygen replace the get and set methods by a property in the
# documentation. This will only work if the methods are indeed getting or
# setting a simple type. If this is not the case, or you want to show the
# methods anyway, you should set this option to NO.
IDL_PROPERTY_SUPPORT = YES
# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
# tag is set to YES, then doxygen will reuse the documentation of the first
# member in the group (if any) for the other members of the group. By default
# all members of a group must be documented explicitly.
DISTRIBUTE_GROUP_DOC = NO
# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
# the same type (for instance a group of public functions) to be put as a
# subgroup of that type (e.g. under the Public Functions section). Set it to
# NO to prevent subgrouping. Alternatively, this can be done per class using
# the \nosubgrouping command.
SUBGROUPING = YES
# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and
# unions are shown inside the group in which they are included (e.g. using
# @ingroup) instead of on a separate page (for HTML and Man pages) or
# section (for LaTeX and RTF).
INLINE_GROUPED_CLASSES = NO
# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and
# unions with only public data fields will be shown inline in the documentation
# of the scope in which they are defined (i.e. file, namespace, or group
# documentation), provided this scope is documented. If set to NO (the default),
# structs, classes, and unions are shown on a separate page (for HTML and Man
# pages) or section (for LaTeX and RTF).
INLINE_SIMPLE_STRUCTS = NO
# When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
# is documented as struct, union, or enum with the name of the typedef. So
# typedef struct TypeS {} TypeT, will appear in the documentation as a struct
# with name TypeT. When disabled the typedef will appear as a member of a file,
# namespace, or class. And the struct will be named TypeS. This can typically
# be useful for C code in case the coding convention dictates that all compound
# types are typedef'ed and only the typedef is referenced, never the tag name.
TYPEDEF_HIDES_STRUCT = NO
# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
# determine which symbols to keep in memory and which to flush to disk.
# When the cache is full, less often used symbols will be written to disk.
# For small to medium size projects (<1000 input files) the default value is
# probably good enough. For larger projects a too small cache size can cause
# doxygen to be busy swapping symbols to and from disk most of the time
# causing a significant performance penalty.
# If the system has enough physical memory increasing the cache will improve the
# performance by keeping more symbols in memory. Note that the value works on
# a logarithmic scale so increasing the size by one will roughly double the
# memory usage. The cache size is given by this formula:
# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
# corresponding to a cache size of 2^16 = 65536 symbols.
SYMBOL_CACHE_SIZE = 0
# Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be
# set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given
# their name and scope. Since this can be an expensive process and often the
# same symbol appear multiple times in the code, doxygen keeps a cache of
# pre-resolved symbols. If the cache is too small doxygen will become slower.
# If the cache is too large, memory is wasted. The cache size is given by this
# formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0,
# corresponding to a cache size of 2^16 = 65536 symbols.
LOOKUP_CACHE_SIZE = 0
#---------------------------------------------------------------------------
# Build related configuration options
#---------------------------------------------------------------------------
# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
# documentation are documented, even if no documentation was available.
# Private class members and static file members will be hidden unless
# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
EXTRACT_ALL = YES
# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
# will be included in the documentation.
EXTRACT_PRIVATE = NO
# If the EXTRACT_STATIC tag is set to YES all static members of a file
# will be included in the documentation.
EXTRACT_STATIC = NO
# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
# defined locally in source files will be included in the documentation.
# If set to NO only classes defined in header files are included.
EXTRACT_LOCAL_CLASSES = YES
# This flag is only useful for Objective-C code. When set to YES local
# methods, which are defined in the implementation section but not in
# the interface are included in the documentation.
# If set to NO (the default) only methods in the interface are included.
EXTRACT_LOCAL_METHODS = NO
# If this flag is set to YES, the members of anonymous namespaces will be
# extracted and appear in the documentation as a namespace called
# 'anonymous_namespace{file}', where file will be replaced with the base
# name of the file that contains the anonymous namespace. By default
# anonymous namespaces are hidden.
EXTRACT_ANON_NSPACES = NO
# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
# undocumented members of documented classes, files or namespaces.
# If set to NO (the default) these members will be included in the
# various overviews, but no documentation section is generated.
# This option has no effect if EXTRACT_ALL is enabled.
HIDE_UNDOC_MEMBERS = NO
# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
# undocumented classes that are normally visible in the class hierarchy.
# If set to NO (the default) these classes will be included in the various
# overviews. This option has no effect if EXTRACT_ALL is enabled.
HIDE_UNDOC_CLASSES = NO
# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
# friend (class|struct|union) declarations.
# If set to NO (the default) these declarations will be included in the
# documentation.
HIDE_FRIEND_COMPOUNDS = NO
# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
# documentation blocks found inside the body of a function.
# If set to NO (the default) these blocks will be appended to the
# function's detailed documentation block.
HIDE_IN_BODY_DOCS = NO
# The INTERNAL_DOCS tag determines if documentation
# that is typed after a \internal command is included. If the tag is set
# to NO (the default) then the documentation will be excluded.
# Set it to YES to include the internal documentation.
INTERNAL_DOCS = NO
# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
# file names in lower-case letters. If set to YES upper-case letters are also
# allowed. This is useful if you have classes or files whose names only differ
# in case and if your file system supports case sensitive file names. Windows
# and Mac users are advised to set this option to NO.
CASE_SENSE_NAMES = NO
# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
# will show members with their full class and namespace scopes in the
# documentation. If set to YES the scope will be hidden.
HIDE_SCOPE_NAMES = NO
# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
# will put a list of the files that are included by a file in the documentation
# of that file.
SHOW_INCLUDE_FILES = YES
# If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
# will list include files with double quotes in the documentation
# rather than with sharp brackets.
FORCE_LOCAL_INCLUDES = NO
# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
# is inserted in the documentation for inline members.
INLINE_INFO = YES
# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
# will sort the (detailed) documentation of file and class members
# alphabetically by member name. If set to NO the members will appear in
# declaration order.
SORT_MEMBER_DOCS = YES
# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
# brief documentation of file, namespace and class members alphabetically
# by member name. If set to NO (the default) the members will appear in
# declaration order.
SORT_BRIEF_DOCS = NO
# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen
# will sort the (brief and detailed) documentation of class members so that
# constructors and destructors are listed first. If set to NO (the default)
# the constructors will appear in the respective orders defined by
# SORT_MEMBER_DOCS and SORT_BRIEF_DOCS.
# This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO
# and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
SORT_MEMBERS_CTORS_1ST = NO
# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
# hierarchy of group names into alphabetical order. If set to NO (the default)
# the group names will appear in their defined order.
SORT_GROUP_NAMES = NO
# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
# sorted by fully-qualified names, including namespaces. If set to
# NO (the default), the class list will be sorted only by class name,
# not including the namespace part.
# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
# Note: This option applies only to the class list, not to the
# alphabetical list.
SORT_BY_SCOPE_NAME = NO
# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to
# do proper type resolution of all parameters of a function it will reject a
# match between the prototype and the implementation of a member function even
# if there is only one candidate or it is obvious which candidate to choose
# by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen
# will still accept a match between prototype and implementation in such cases.
STRICT_PROTO_MATCHING = NO
# The GENERATE_TODOLIST tag can be used to enable (YES) or
# disable (NO) the todo list. This list is created by putting \todo
# commands in the documentation.
GENERATE_TODOLIST = YES
# The GENERATE_TESTLIST tag can be used to enable (YES) or
# disable (NO) the test list. This list is created by putting \test
# commands in the documentation.
GENERATE_TESTLIST = YES
# The GENERATE_BUGLIST tag can be used to enable (YES) or
# disable (NO) the bug list. This list is created by putting \bug
# commands in the documentation.
GENERATE_BUGLIST = YES
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
# disable (NO) the deprecated list. This list is created by putting
# \deprecated commands in the documentation.
GENERATE_DEPRECATEDLIST= YES
# The ENABLED_SECTIONS tag can be used to enable conditional
# documentation sections, marked by \if sectionname ... \endif.
ENABLED_SECTIONS =
# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
# the initial value of a variable or macro consists of for it to appear in
# the documentation. If the initializer consists of more lines than specified
# here it will be hidden. Use a value of 0 to hide initializers completely.
# The appearance of the initializer of individual variables and macros in the
# documentation can be controlled using \showinitializer or \hideinitializer
# command in the documentation regardless of this setting.
MAX_INITIALIZER_LINES = 28
# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
# at the bottom of the documentation of classes and structs. If set to YES the
# list will mention the files that were used to generate the documentation.
SHOW_USED_FILES = YES
# If the sources in your project are distributed over multiple directories
# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
# in the documentation. The default is NO.
SHOW_DIRECTORIES = NO
# Set the SHOW_FILES tag to NO to disable the generation of the Files page.
# This will remove the Files entry from the Quick Index and from the
# Folder Tree View (if specified). The default is YES.
SHOW_FILES = YES
# Set the SHOW_NAMESPACES tag to NO to disable the generation of the
# Namespaces page. This will remove the Namespaces entry from the Quick Index
# and from the Folder Tree View (if specified). The default is YES.
SHOW_NAMESPACES = YES
# The FILE_VERSION_FILTER tag can be used to specify a program or script that
# doxygen should invoke to get the current version for each file (typically from
# the version control system). Doxygen will invoke the program by executing (via
# popen()) the command <command> <input-file>, where <command> is the value of
# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
# provided by doxygen. Whatever the program writes to standard output
# is used as the file version. See the manual for examples.
FILE_VERSION_FILTER =
# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
# by doxygen. The layout file controls the global structure of the generated
# output files in an output format independent way. The create the layout file
# that represents doxygen's defaults, run doxygen with the -l option.
# You can optionally specify a file name after the option, if omitted
# DoxygenLayout.xml will be used as the name of the layout file.
LAYOUT_FILE =
# The CITE_BIB_FILES tag can be used to specify one or more bib files
# containing the references data. This must be a list of .bib files. The
# .bib extension is automatically appended if omitted. Using this command
# requires the bibtex tool to be installed. See also
# http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style
# of the bibliography can be controlled using LATEX_BIB_STYLE. To use this
# feature you need bibtex and perl available in the search path.
CITE_BIB_FILES =
#---------------------------------------------------------------------------
# configuration options related to warning and progress messages
#---------------------------------------------------------------------------
# The QUIET tag can be used to turn on/off the messages that are generated
# by doxygen. Possible values are YES and NO. If left blank NO is used.
QUIET = NO
# The WARNINGS tag can be used to turn on/off the warning messages that are
# generated by doxygen. Possible values are YES and NO. If left blank
# NO is used.
WARNINGS = YES
# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
# for undocumented members. If EXTRACT_ALL is set to YES then this flag will
# automatically be disabled.
WARN_IF_UNDOCUMENTED = YES
# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
# potential errors in the documentation, such as not documenting some
# parameters in a documented function, or documenting parameters that
# don't exist or using markup commands wrongly.
WARN_IF_DOC_ERROR = YES
# The WARN_NO_PARAMDOC option can be enabled to get warnings for
# functions that are documented, but have no documentation for their parameters
# or return value. If set to NO (the default) doxygen will only warn about
# wrong or incomplete parameter documentation, but not about the absence of
# documentation.
WARN_NO_PARAMDOC = NO
# The WARN_FORMAT tag determines the format of the warning messages that
# doxygen can produce. The string should contain the $file, $line, and $text
# tags, which will be replaced by the file and line number from which the
# warning originated and the warning text. Optionally the format may contain
# $version, which will be replaced by the version of the file (if it could
# be obtained via FILE_VERSION_FILTER)
WARN_FORMAT = "$file:$line: $text"
# The WARN_LOGFILE tag can be used to specify a file to which warning
# and error messages should be written. If left blank the output is written
# to stderr.
WARN_LOGFILE =
#---------------------------------------------------------------------------
# configuration options related to the input files
#---------------------------------------------------------------------------
# The INPUT tag can be used to specify the files and/or directories that contain
# documented source files. You may enter file names like "myfile.cpp" or
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
INPUT = /Users/marcus/Arduino/libraries/TMC26XStepper
# This tag can be used to specify the character encoding of the source files
# that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
# also the default input encoding. Doxygen uses libiconv (or the iconv built
# into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
# the list of possible encodings.
INPUT_ENCODING = UTF-8
# If the value of the INPUT tag contains directories, you can use the
# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
# and *.h) to filter out the source-files in the directories. If left
# blank the following patterns are tested:
# *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh
# *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py
# *.f90 *.f *.for *.vhd *.vhdl
FILE_PATTERNS = *.c \
*.cc \
*.cxx \
*.cpp \
*.c++ \
*.d \
*.java \
*.ii \
*.ixx \
*.ipp \
*.i++ \
*.inl \
*.h \
*.hh \
*.hxx \
*.hpp \
*.h++ \
*.idl \
*.odl \
*.cs \
*.php \
*.php3 \
*.inc \
*.m \
*.mm \
*.dox \
*.py \
*.f90 \
*.f \
*.for \
*.vhd \
*.vhdl
# The RECURSIVE tag can be used to turn specify whether or not subdirectories
# should be searched for input files as well. Possible values are YES and NO.
# If left blank NO is used.
RECURSIVE = NO
# The EXCLUDE tag can be used to specify files and/or directories that should be
# excluded from the INPUT source files. This way you can easily exclude a
# subdirectory from a directory tree whose root is specified with the INPUT tag.
# Note that relative paths are relative to the directory from which doxygen is
# run.
EXCLUDE =
# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
# directories that are symbolic links (a Unix file system feature) are excluded
# from the input.
EXCLUDE_SYMLINKS = NO
# If the value of the INPUT tag contains directories, you can use the
# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
# certain files from those directories. Note that the wildcards are matched
# against the file with absolute path, so to exclude all test directories
# for example use the pattern */test/*
EXCLUDE_PATTERNS =
# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
# (namespaces, classes, functions, etc.) that should be excluded from the
# output. The symbol name can be a fully qualified name, a word, or if the
# wildcard * is used, a substring. Examples: ANamespace, AClass,
# AClass::ANamespace, ANamespace::*Test
EXCLUDE_SYMBOLS =
# The EXAMPLE_PATH tag can be used to specify one or more files or
# directories that contain example code fragments that are included (see
# the \include command).
EXAMPLE_PATH =
# If the value of the EXAMPLE_PATH tag contains directories, you can use the
# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
# and *.h) to filter out the source-files in the directories. If left
# blank all files are included.
EXAMPLE_PATTERNS = *
# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
# searched for input files to be used with the \include or \dontinclude
# commands irrespective of the value of the RECURSIVE tag.
# Possible values are YES and NO. If left blank NO is used.
EXAMPLE_RECURSIVE = NO
# The IMAGE_PATH tag can be used to specify one or more files or
# directories that contain image that are included in the documentation (see
# the \image command).
IMAGE_PATH =
# The INPUT_FILTER tag can be used to specify a program that doxygen should
# invoke to filter for each input file. Doxygen will invoke the filter program
# by executing (via popen()) the command <filter> <input-file>, where <filter>
# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
# input file. Doxygen will then use the output that the filter program writes
# to standard output. If FILTER_PATTERNS is specified, this tag will be
# ignored.
INPUT_FILTER =
# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
# basis. Doxygen will compare the file name with each pattern and apply the
# filter if there is a match. The filters are a list of the form:
# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
# info on how filters are used. If FILTER_PATTERNS is empty or if
# non of the patterns match the file name, INPUT_FILTER is applied.
FILTER_PATTERNS =
# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
# INPUT_FILTER) will be used to filter the input files when producing source
# files to browse (i.e. when SOURCE_BROWSER is set to YES).
FILTER_SOURCE_FILES = NO
# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
# pattern. A pattern will override the setting for FILTER_PATTERN (if any)
# and it is also possible to disable source filtering for a specific pattern
# using *.ext= (so without naming a filter). This option only has effect when
# FILTER_SOURCE_FILES is enabled.
FILTER_SOURCE_PATTERNS =
#---------------------------------------------------------------------------
# configuration options related to source browsing
#---------------------------------------------------------------------------
# If the SOURCE_BROWSER tag is set to YES then a list of source files will
# be generated. Documented entities will be cross-referenced with these sources.
# Note: To get rid of all source code in the generated output, make sure also
# VERBATIM_HEADERS is set to NO.
SOURCE_BROWSER = YES
# Setting the INLINE_SOURCES tag to YES will include the body
# of functions and classes directly in the documentation.
INLINE_SOURCES = NO
# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
# doxygen to hide any special comment blocks from generated source code
# fragments. Normal C and C++ comments will always remain visible.
STRIP_CODE_COMMENTS = YES
# If the REFERENCED_BY_RELATION tag is set to YES
# then for each documented function all documented
# functions referencing it will be listed.
REFERENCED_BY_RELATION = NO
# If the REFERENCES_RELATION tag is set to YES
# then for each documented function all documented entities
# called/used by that function will be listed.
REFERENCES_RELATION = NO
# If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
# and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
# functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
# link to the source code. Otherwise they will link to the documentation.
REFERENCES_LINK_SOURCE = YES
# If the USE_HTAGS tag is set to YES then the references to source code
# will point to the HTML generated by the htags(1) tool instead of doxygen
# built-in source browser. The htags tool is part of GNU's global source
# tagging system (see http://www.gnu.org/software/global/global.html). You
# will need version 4.8.6 or higher.
USE_HTAGS = NO
# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
# will generate a verbatim copy of the header file for each class for
# which an include is specified. Set to NO to disable this.
VERBATIM_HEADERS = YES
#---------------------------------------------------------------------------
# configuration options related to the alphabetical class index
#---------------------------------------------------------------------------
# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
# of all compounds will be generated. Enable this if the project
# contains a lot of classes, structs, unions or interfaces.
ALPHABETICAL_INDEX = YES
# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
# in which this list will be split (can be a number in the range [1..20])
COLS_IN_ALPHA_INDEX = 5
# In case all classes in a project start with a common prefix, all
# classes will be put under the same header in the alphabetical index.
# The IGNORE_PREFIX tag can be used to specify one or more prefixes that
# should be ignored while generating the index headers.
IGNORE_PREFIX =
#---------------------------------------------------------------------------
# configuration options related to the HTML output
#---------------------------------------------------------------------------
# If the GENERATE_HTML tag is set to YES (the default) Doxygen will
# generate HTML output.
GENERATE_HTML = YES
# The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
# put in front of it. If left blank `html' will be used as the default path.
HTML_OUTPUT = html
# The HTML_FILE_EXTENSION tag can be used to specify the file extension for
# each generated HTML page (for example: .htm,.php,.asp). If it is left blank
# doxygen will generate files with .html extension.
HTML_FILE_EXTENSION = .html
# The HTML_HEADER tag can be used to specify a personal HTML header for
# each generated HTML page. If it is left blank doxygen will generate a
# standard header. Note that when using a custom header you are responsible
# for the proper inclusion of any scripts and style sheets that doxygen
# needs, which is dependent on the configuration options used.
# It is advised to generate a default header using "doxygen -w html
# header.html footer.html stylesheet.css YourConfigFile" and then modify
# that header. Note that the header is subject to change so you typically
# have to redo this when upgrading to a newer version of doxygen or when
# changing the value of configuration settings such as GENERATE_TREEVIEW!
HTML_HEADER =
# The HTML_FOOTER tag can be used to specify a personal HTML footer for
# each generated HTML page. If it is left blank doxygen will generate a
# standard footer.
HTML_FOOTER =
# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
# style sheet that is used by each HTML page. It can be used to
# fine-tune the look of the HTML output. If the tag is left blank doxygen
# will generate a default style sheet. Note that doxygen will try to copy
# the style sheet file to the HTML output directory, so don't put your own
# style sheet in the HTML output directory as well, or it will be erased!
HTML_STYLESHEET =
# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
# other source files which should be copied to the HTML output directory. Note
# that these files will be copied to the base HTML output directory. Use the
# $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
# files. In the HTML_STYLESHEET file, use the file name only. Also note that
# the files will be copied as-is; there are no commands or markers available.
HTML_EXTRA_FILES =
# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
# Doxygen will adjust the colors in the style sheet and background images
# according to this color. Hue is specified as an angle on a colorwheel,
# see http://en.wikipedia.org/wiki/Hue for more information.
# For instance the value 0 represents red, 60 is yellow, 120 is green,
# 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
# The allowed range is 0 to 359.
HTML_COLORSTYLE_HUE = 220
# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
# the colors in the HTML output. For a value of 0 the output will use
# grayscales only. A value of 255 will produce the most vivid colors.
HTML_COLORSTYLE_SAT = 100
# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
# the luminance component of the colors in the HTML output. Values below
# 100 gradually make the output lighter, whereas values above 100 make
# the output darker. The value divided by 100 is the actual gamma applied,
# so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
# and 100 does not change the gamma.
HTML_COLORSTYLE_GAMMA = 80
# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
# page will contain the date and time when the page was generated. Setting
# this to NO can help when comparing the output of multiple runs.
HTML_TIMESTAMP = YES
# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
# files or namespaces will be aligned in HTML using tables. If set to
# NO a bullet list will be used.
HTML_ALIGN_MEMBERS = YES
# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
# documentation will contain sections that can be hidden and shown after the
# page has loaded. For this to work a browser that supports
# JavaScript and DHTML is required (for instance Mozilla 1.0+, Firefox
# Netscape 6.0+, Internet explorer 5.0+, Konqueror, or Safari).
HTML_DYNAMIC_SECTIONS = NO
# If the GENERATE_DOCSET tag is set to YES, additional index files
# will be generated that can be used as input for Apple's Xcode 3
# integrated development environment, introduced with OSX 10.5 (Leopard).
# To create a documentation set, doxygen will generate a Makefile in the
# HTML output directory. Running make will produce the docset in that
# directory and running "make install" will install the docset in
# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
# it at startup.
# See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
# for more information.
GENERATE_DOCSET = NO
# When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
# feed. A documentation feed provides an umbrella under which multiple
# documentation sets from a single provider (such as a company or product suite)
# can be grouped.
DOCSET_FEEDNAME = "Doxygen generated docs"
# When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
# should uniquely identify the documentation set bundle. This should be a
# reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
# will append .docset to the name.
DOCSET_BUNDLE_ID = org.doxygen.Project
# When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely identify
# the documentation publisher. This should be a reverse domain-name style
# string, e.g. com.mycompany.MyDocSet.documentation.
DOCSET_PUBLISHER_ID = org.doxygen.Publisher
# The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
DOCSET_PUBLISHER_NAME = Publisher
# If the GENERATE_HTMLHELP tag is set to YES, additional index files
# will be generated that can be used as input for tools like the
# Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
# of the generated HTML documentation.
GENERATE_HTMLHELP = NO
# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
# be used to specify the file name of the resulting .chm file. You
# can add a path in front of the file if the result should not be
# written to the html output directory.
CHM_FILE =
# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
# be used to specify the location (absolute path including file name) of
# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
# the HTML help compiler on the generated index.hhp.
HHC_LOCATION =
# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
# controls if a separate .chi index file is generated (YES) or that
# it should be included in the master .chm file (NO).
GENERATE_CHI = NO
# If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
# is used to encode HtmlHelp index (hhk), content (hhc) and project file
# content.
CHM_INDEX_ENCODING =
# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
# controls whether a binary table of contents is generated (YES) or a
# normal table of contents (NO) in the .chm file.
BINARY_TOC = NO
# The TOC_EXPAND flag can be set to YES to add extra items for group members
# to the contents of the HTML help documentation and to the tree view.
TOC_EXPAND = NO
# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated
# that can be used as input for Qt's qhelpgenerator to generate a
# Qt Compressed Help (.qch) of the generated HTML documentation.
GENERATE_QHP = NO
# If the QHG_LOCATION tag is specified, the QCH_FILE tag can
# be used to specify the file name of the resulting .qch file.
# The path specified is relative to the HTML output folder.
QCH_FILE =
# The QHP_NAMESPACE tag specifies the namespace to use when generating
# Qt Help Project output. For more information please see
# http://doc.trolltech.com/qthelpproject.html#namespace
QHP_NAMESPACE = org.doxygen.Project
# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
# Qt Help Project output. For more information please see
# http://doc.trolltech.com/qthelpproject.html#virtual-folders
QHP_VIRTUAL_FOLDER = doc
# If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to
# add. For more information please see
# http://doc.trolltech.com/qthelpproject.html#custom-filters
QHP_CUST_FILTER_NAME =
# The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the
# custom filter to add. For more information please see
# <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">
# Qt Help Project / Custom Filters</a>.
QHP_CUST_FILTER_ATTRS =
# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
# project's
# filter section matches.
# <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">
# Qt Help Project / Filter Attributes</a>.
QHP_SECT_FILTER_ATTRS =
# If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
# be used to specify the location of Qt's qhelpgenerator.
# If non-empty doxygen will try to run qhelpgenerator on the generated
# .qhp file.
QHG_LOCATION =
# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
# will be generated, which together with the HTML files, form an Eclipse help
# plugin. To install this plugin and make it available under the help contents
# menu in Eclipse, the contents of the directory containing the HTML and XML
# files needs to be copied into the plugins directory of eclipse. The name of
# the directory within the plugins directory should be the same as
# the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before
# the help appears.
GENERATE_ECLIPSEHELP = NO
# A unique identifier for the eclipse help plugin. When installing the plugin
# the directory name containing the HTML and XML files should also have
# this name.
ECLIPSE_DOC_ID = org.doxygen.Project
# The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs)
# at top of each HTML page. The value NO (the default) enables the index and
# the value YES disables it. Since the tabs have the same information as the
# navigation tree you can set this option to NO if you already set
# GENERATE_TREEVIEW to YES.
DISABLE_INDEX = NO
# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
# structure should be generated to display hierarchical information.
# If the tag value is set to YES, a side panel will be generated
# containing a tree-like index structure (just like the one that
# is generated for HTML Help). For this to work a browser that supports
# JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
# Windows users are probably better off using the HTML help feature.
# Since the tree basically has the same information as the tab index you
# could consider to set DISABLE_INDEX to NO when enabling this option.
GENERATE_TREEVIEW = NO
# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values
# (range [0,1..20]) that doxygen will group on one line in the generated HTML
# documentation. Note that a value of 0 will completely suppress the enum
# values from appearing in the overview section.
ENUM_VALUES_PER_LINE = 4
# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories,
# and Class Hierarchy pages using a tree view instead of an ordered list.
USE_INLINE_TREES = NO
# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
# used to set the initial width (in pixels) of the frame in which the tree
# is shown.
TREEVIEW_WIDTH = 250
# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open
# links to external symbols imported via tag files in a separate window.
EXT_LINKS_IN_WINDOW = NO
# Use this tag to change the font size of Latex formulas included
# as images in the HTML documentation. The default is 10. Note that
# when you change the font size after a successful doxygen run you need
# to manually remove any form_*.png images from the HTML output directory
# to force them to be regenerated.
FORMULA_FONTSIZE = 10
# Use the FORMULA_TRANPARENT tag to determine whether or not the images
# generated for formulas are transparent PNGs. Transparent PNGs are
# not supported properly for IE 6.0, but are supported on all modern browsers.
# Note that when changing this option you need to delete any form_*.png files
# in the HTML output before the changes have effect.
FORMULA_TRANSPARENT = YES
# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax
# (see http://www.mathjax.org) which uses client side Javascript for the
# rendering instead of using prerendered bitmaps. Use this if you do not
# have LaTeX installed or if you want to formulas look prettier in the HTML
# output. When enabled you also need to install MathJax separately and
# configure the path to it using the MATHJAX_RELPATH option.
USE_MATHJAX = NO
# When MathJax is enabled you need to specify the location relative to the
# HTML output directory using the MATHJAX_RELPATH option. The destination
# directory should contain the MathJax.js script. For instance, if the mathjax
# directory is located at the same level as the HTML output directory, then
# MATHJAX_RELPATH should be ../mathjax. The default value points to the
# mathjax.org site, so you can quickly see the result without installing
# MathJax, but it is strongly recommended to install a local copy of MathJax
# before deployment.
MATHJAX_RELPATH = http://www.mathjax.org/mathjax
# The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
# names that should be enabled during MathJax rendering.
MATHJAX_EXTENSIONS =
# When the SEARCHENGINE tag is enabled doxygen will generate a search box
# for the HTML output. The underlying search engine uses javascript
# and DHTML and should work on any modern browser. Note that when using
# HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets
# (GENERATE_DOCSET) there is already a search function so this one should
# typically be disabled. For large projects the javascript based search engine
# can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
SEARCHENGINE = NO
# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
# implemented using a PHP enabled web server instead of at the web client
# using Javascript. Doxygen will generate the search PHP script and index
# file to put on the web server. The advantage of the server
# based approach is that it scales better to large projects and allows
# full text search. The disadvantages are that it is more difficult to setup
# and does not have live searching capabilities.
SERVER_BASED_SEARCH = NO
#---------------------------------------------------------------------------
# configuration options related to the LaTeX output
#---------------------------------------------------------------------------
# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
# generate Latex output.
GENERATE_LATEX = NO
# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
# put in front of it. If left blank `latex' will be used as the default path.
LATEX_OUTPUT = latex
# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
# invoked. If left blank `latex' will be used as the default command name.
# Note that when enabling USE_PDFLATEX this option is only used for
# generating bitmaps for formulas in the HTML output, but not in the
# Makefile that is written to the output directory.
LATEX_CMD_NAME = latex
# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
# generate index for LaTeX. If left blank `makeindex' will be used as the
# default command name.
MAKEINDEX_CMD_NAME = makeindex
# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
# LaTeX documents. This may be useful for small projects and may help to
# save some trees in general.
COMPACT_LATEX = NO
# The PAPER_TYPE tag can be used to set the paper type that is used
# by the printer. Possible values are: a4, letter, legal and
# executive. If left blank a4wide will be used.
PAPER_TYPE = a4
# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
# packages that should be included in the LaTeX output.
EXTRA_PACKAGES =
# The LATEX_HEADER tag can be used to specify a personal LaTeX header for
# the generated latex document. The header should contain everything until
# the first chapter. If it is left blank doxygen will generate a
# standard header. Notice: only use this tag if you know what you are doing!
LATEX_HEADER =
# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for
# the generated latex document. The footer should contain everything after
# the last chapter. If it is left blank doxygen will generate a
# standard footer. Notice: only use this tag if you know what you are doing!
LATEX_FOOTER =
# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
# is prepared for conversion to pdf (using ps2pdf). The pdf file will
# contain links (just like the HTML output) instead of page references
# This makes the output suitable for online browsing using a pdf viewer.
PDF_HYPERLINKS = YES
# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
# plain latex in the generated Makefile. Set this option to YES to get a
# higher quality PDF documentation.
USE_PDFLATEX = YES
# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
# command to the generated LaTeX files. This will instruct LaTeX to keep
# running if errors occur, instead of asking the user for help.
# This option is also used when generating formulas in HTML.
LATEX_BATCHMODE = NO
# If LATEX_HIDE_INDICES is set to YES then doxygen will not
# include the index chapters (such as File Index, Compound Index, etc.)
# in the output.
LATEX_HIDE_INDICES = NO
# If LATEX_SOURCE_CODE is set to YES then doxygen will include
# source code with syntax highlighting in the LaTeX output.
# Note that which sources are shown also depends on other settings
# such as SOURCE_BROWSER.
LATEX_SOURCE_CODE = NO
# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
# bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See
# http://en.wikipedia.org/wiki/BibTeX for more info.
LATEX_BIB_STYLE = plain
#---------------------------------------------------------------------------
# configuration options related to the RTF output
#---------------------------------------------------------------------------
# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
# The RTF output is optimized for Word 97 and may not look very pretty with
# other RTF readers or editors.
GENERATE_RTF = NO
# The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
# put in front of it. If left blank `rtf' will be used as the default path.
RTF_OUTPUT = rtf
# If the COMPACT_RTF tag is set to YES Doxygen generates more compact
# RTF documents. This may be useful for small projects and may help to
# save some trees in general.
COMPACT_RTF = NO
# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
# will contain hyperlink fields. The RTF file will
# contain links (just like the HTML output) instead of page references.
# This makes the output suitable for online browsing using WORD or other
# programs which support those fields.
# Note: wordpad (write) and others do not support links.
RTF_HYPERLINKS = NO
# Load style sheet definitions from file. Syntax is similar to doxygen's
# config file, i.e. a series of assignments. You only have to provide
# replacements, missing definitions are set to their default value.
RTF_STYLESHEET_FILE =
# Set optional variables used in the generation of an rtf document.
# Syntax is similar to doxygen's config file.
RTF_EXTENSIONS_FILE =
#---------------------------------------------------------------------------
# configuration options related to the man page output
#---------------------------------------------------------------------------
# If the GENERATE_MAN tag is set to YES (the default) Doxygen will
# generate man pages
GENERATE_MAN = NO
# The MAN_OUTPUT tag is used to specify where the man pages will be put.
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
# put in front of it. If left blank `man' will be used as the default path.
MAN_OUTPUT = man
# The MAN_EXTENSION tag determines the extension that is added to
# the generated man pages (default is the subroutine's section .3)
MAN_EXTENSION = .3
# If the MAN_LINKS tag is set to YES and Doxygen generates man output,
# then it will generate one additional man file for each entity
# documented in the real man page(s). These additional files
# only source the real man page, but without them the man command
# would be unable to find the correct page. The default is NO.
MAN_LINKS = NO
#---------------------------------------------------------------------------
# configuration options related to the XML output
#---------------------------------------------------------------------------
# If the GENERATE_XML tag is set to YES Doxygen will
# generate an XML file that captures the structure of
# the code including all documentation.
GENERATE_XML = NO
# The XML_OUTPUT tag is used to specify where the XML pages will be put.
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
# put in front of it. If left blank `xml' will be used as the default path.
XML_OUTPUT = xml
# The XML_SCHEMA tag can be used to specify an XML schema,
# which can be used by a validating XML parser to check the
# syntax of the XML files.
XML_SCHEMA =
# The XML_DTD tag can be used to specify an XML DTD,
# which can be used by a validating XML parser to check the
# syntax of the XML files.
XML_DTD =
# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
# dump the program listings (including syntax highlighting
# and cross-referencing information) to the XML output. Note that
# enabling this will significantly increase the size of the XML output.
XML_PROGRAMLISTING = YES
#---------------------------------------------------------------------------
# configuration options for the AutoGen Definitions output
#---------------------------------------------------------------------------
# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
# generate an AutoGen Definitions (see autogen.sf.net) file
# that captures the structure of the code including all
# documentation. Note that this feature is still experimental
# and incomplete at the moment.
GENERATE_AUTOGEN_DEF = NO
#---------------------------------------------------------------------------
# configuration options related to the Perl module output
#---------------------------------------------------------------------------
# If the GENERATE_PERLMOD tag is set to YES Doxygen will
# generate a Perl module file that captures the structure of
# the code including all documentation. Note that this
# feature is still experimental and incomplete at the
# moment.
GENERATE_PERLMOD = NO
# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
# the necessary Makefile rules, Perl scripts and LaTeX code to be able
# to generate PDF and DVI output from the Perl module output.
PERLMOD_LATEX = NO
# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
# nicely formatted so it can be parsed by a human reader. This is useful
# if you want to understand what is going on. On the other hand, if this
# tag is set to NO the size of the Perl module output will be much smaller
# and Perl will parse it just the same.
PERLMOD_PRETTY = YES
# The names of the make variables in the generated doxyrules.make file
# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
# This is useful so different doxyrules.make files included by the same
# Makefile don't overwrite each other's variables.
PERLMOD_MAKEVAR_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
#---------------------------------------------------------------------------
# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
# evaluate all C-preprocessor directives found in the sources and include
# files.
ENABLE_PREPROCESSING = YES
# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
# names in the source code. If set to NO (the default) only conditional
# compilation will be performed. Macro expansion can be done in a controlled
# way by setting EXPAND_ONLY_PREDEF to YES.
MACRO_EXPANSION = NO
# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
# then the macro expansion is limited to the macros specified with the
# PREDEFINED and EXPAND_AS_DEFINED tags.
EXPAND_ONLY_PREDEF = NO
# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
# pointed to by INCLUDE_PATH will be searched when a #include is found.
SEARCH_INCLUDES = YES
# The INCLUDE_PATH tag can be used to specify one or more directories that
# contain include files that are not input files but should be processed by
# the preprocessor.
INCLUDE_PATH =
# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
# patterns (like *.h and *.hpp) to filter out the header-files in the
# directories. If left blank, the patterns specified with FILE_PATTERNS will
# be used.
INCLUDE_FILE_PATTERNS =
# The PREDEFINED tag can be used to specify one or more macro names that
# are defined before the preprocessor is started (similar to the -D option of
# gcc). The argument of the tag is a list of macros of the form: name
# or name=definition (no spaces). If the definition and the = are
# omitted =1 is assumed. To prevent a macro definition from being
# undefined via #undef or recursively expanded use the := operator
# instead of the = operator.
PREDEFINED =
# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
# this tag can be used to specify a list of macro names that should be expanded.
# The macro definition that is found in the sources will be used.
# Use the PREDEFINED tag if you want to use a different macro definition that
# overrules the definition found in the source code.
EXPAND_AS_DEFINED =
# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
# doxygen's preprocessor will remove all references to function-like macros
# that are alone on a line, have an all uppercase name, and do not end with a
# semicolon, because these will confuse the parser if not removed.
SKIP_FUNCTION_MACROS = YES
#---------------------------------------------------------------------------
# Configuration::additions related to external references
#---------------------------------------------------------------------------
# The TAGFILES option can be used to specify one or more tagfiles.
# Optionally an initial location of the external documentation
# can be added for each tagfile. The format of a tag file without
# this location is as follows:
# TAGFILES = file1 file2 ...
# Adding location for the tag files is done as follows:
# TAGFILES = file1=loc1 "file2 = loc2" ...
# where "loc1" and "loc2" can be relative or absolute paths or
# URLs. If a location is present for each tag, the installdox tool
# does not have to be run to correct the links.
# Note that each tag file must have a unique name
# (where the name does NOT include the path)
# If a tag file is not located in the directory in which doxygen
# is run, you must also specify the path to the tagfile here.
TAGFILES =
# When a file name is specified after GENERATE_TAGFILE, doxygen will create
# a tag file that is based on the input files it reads.
GENERATE_TAGFILE =
# If the ALLEXTERNALS tag is set to YES all external classes will be listed
# in the class index. If set to NO only the inherited external classes
# will be listed.
ALLEXTERNALS = NO
# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
# in the modules index. If set to NO, only the current project's groups will
# be listed.
EXTERNAL_GROUPS = YES
# The PERL_PATH should be the absolute path and name of the perl script
# interpreter (i.e. the result of `which perl').
PERL_PATH = /usr/bin/perl
#---------------------------------------------------------------------------
# Configuration options related to the dot tool
#---------------------------------------------------------------------------
# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
# or super classes. Setting the tag to NO turns the diagrams off. Note that
# this option also works with HAVE_DOT disabled, but it is recommended to
# install and use dot, since it yields more powerful graphs.
CLASS_DIAGRAMS = YES
# You can define message sequence charts within doxygen comments using the \msc
# command. Doxygen will then run the mscgen tool (see
# http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
# documentation. The MSCGEN_PATH tag allows you to specify the directory where
# the mscgen tool resides. If left empty the tool is assumed to be found in the
# default search path.
MSCGEN_PATH =
# If set to YES, the inheritance and collaboration graphs will hide
# inheritance and usage relations if the target is undocumented
# or is not a class.
HIDE_UNDOC_RELATIONS = YES
# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
# available from the path. This tool is part of Graphviz, a graph visualization
# toolkit from AT&T and Lucent Bell Labs. The other options in this section
# have no effect if this option is set to NO (the default)
HAVE_DOT = NO
# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is
# allowed to run in parallel. When set to 0 (the default) doxygen will
# base this on the number of processors available in the system. You can set it
# explicitly to a value larger than 0 to get control over the balance
# between CPU load and processing speed.
DOT_NUM_THREADS = 0
# By default doxygen will use the Helvetica font for all dot files that
# doxygen generates. When you want a differently looking font you can specify
# the font name using DOT_FONTNAME. You need to make sure dot is able to find
# the font, which can be done by putting it in a standard location or by setting
# the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
# directory containing the font.
DOT_FONTNAME = Helvetica
# The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
# The default size is 10pt.
DOT_FONTSIZE = 10
# By default doxygen will tell dot to use the Helvetica font.
# If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to
# set the path where dot can find it.
DOT_FONTPATH =
# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
# will generate a graph for each documented class showing the direct and
# indirect inheritance relations. Setting this tag to YES will force the
# CLASS_DIAGRAMS tag to NO.
CLASS_GRAPH = YES
# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
# will generate a graph for each documented class showing the direct and
# indirect implementation dependencies (inheritance, containment, and
# class references variables) of the class with other documented classes.
COLLABORATION_GRAPH = YES
# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
# will generate a graph for groups, showing the direct groups dependencies
GROUP_GRAPHS = YES
# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
# collaboration diagrams in a style similar to the OMG's Unified Modeling
# Language.
UML_LOOK = NO
# If set to YES, the inheritance and collaboration graphs will show the
# relations between templates and their instances.
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Copyright (c) 2012 Interactive Matter
based on the stepper library by Tom Igoe, et. al.
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

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Arduino TMC26X Stepper Motor Controller Library
===============================================
License
-------
TMC26XStepper.cpp - - TMC 260/261/262 Stepper library for Wiring/Arduino
based on the stepper library by Tom Igoe, et. al.
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
About
-----
The TMC26X is a stepper motor controller for bipolar stepper motors. From the trinamic web site:
The TMC262 is the first energy efficient high current high precision microstepping driver
IC for bipolar stepper motors. The unique high resolution sensorless load detection stallGuard2™
is used to for the world’s first integrated load dependent current control feature called coolStep™.
The ability to read out the load and detect an overload makes the TMC262 an optimum choice for
drives where a high reliability is desired at a low cost. The new patented spreadCycle PWM mixed
decay chopper scheme ensures best zero crossing performance as well as high speed operation.
The TMC262 can be driven with Step & Direction signals as well as by serial SPI™ interface.
Using the microPlyer allows to operate the motor with highest 256 μStep smoothness reducing the
input frequency to 16 μSteps. A full set of protection and diagnostic features makes this device
very rugged. It directly drives external MOSFETs for currents of up to 6A. This way it reaches
highest energy efficiency and allows driving of a high motor current without cooling measures
even at high environment temperatures.
The unique features of the TMC26X are that everything can (and must) be controlled in software:
* the motor current
* microstepping
* stall protection
* current reduction according to load
* stallGuard2™ sensorless load detection
* coolStep™ load dependent current control
* spreadCycle hysteresis PWM chopper
* microPlyer 16-to-256 μStep multiplier
* full protection and diagnostics
This makes the TMC26X a bit harder to use than other stepper motors but much more versatile.
This library resolves all the complicated stuff so that you can use TMC26X straight away.
Furthermore, all the settings are implemented in high level interfaces so that configuring your
motor is a breeze.
How to use
----------
Check out the Setup Guide here:
And the How To here:

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/*
TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino
based on the stepper library by Tom Igoe, et. al.
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#if defined(ARDUINO) && ARDUINO >= 100
#include <Arduino.h>
#else
#include <WProgram.h>
#endif
#include <SPI.h>
#include "TMC26XStepper.h"
//some default values used in initialization
#define DEFAULT_MICROSTEPPING_VALUE 32
//TMC26X register definitions
#define DRIVER_CONTROL_REGISTER 0x0ul
#define CHOPPER_CONFIG_REGISTER 0x80000ul
#define COOL_STEP_REGISTER 0xA0000ul
#define STALL_GUARD2_LOAD_MEASURE_REGISTER 0xC0000ul
#define DRIVER_CONFIG_REGISTER 0xE0000ul
#define REGISTER_BIT_PATTERN 0xFFFFFul
//definitions for the driver control register
#define MICROSTEPPING_PATTERN 0xFul
#define STEP_INTERPOLATION 0x200ul
#define DOUBLE_EDGE_STEP 0x100ul
#define VSENSE 0x40ul
#define READ_MICROSTEP_POSTION 0x0ul
#define READ_STALL_GUARD_READING 0x10ul
#define READ_STALL_GUARD_AND_COOL_STEP 0x20ul
#define READ_SELECTION_PATTERN 0x30ul
//definitions for the chopper config register
#define CHOPPER_MODE_STANDARD 0x0ul
#define CHOPPER_MODE_T_OFF_FAST_DECAY 0x4000ul
#define T_OFF_PATTERN 0xful
#define RANDOM_TOFF_TIME 0x2000ul
#define BLANK_TIMING_PATTERN 0x18000ul
#define BLANK_TIMING_SHIFT 15
#define HYSTERESIS_DECREMENT_PATTERN 0x1800ul
#define HYSTERESIS_DECREMENT_SHIFT 11
#define HYSTERESIS_LOW_VALUE_PATTERN 0x780ul
#define HYSTERESIS_LOW_SHIFT 7
#define HYSTERESIS_START_VALUE_PATTERN 0x78ul
#define HYSTERESIS_START_VALUE_SHIFT 4
#define T_OFF_TIMING_PATERN 0xFul
//definitions for cool step register
#define MINIMUM_CURRENT_FOURTH 0x8000ul
#define CURRENT_DOWN_STEP_SPEED_PATTERN 0x6000ul
#define SE_MAX_PATTERN 0xF00ul
#define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul
#define SE_MIN_PATTERN 0xful
//definitions for stall guard2 current register
#define STALL_GUARD_FILTER_ENABLED 0x10000ul
#define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul
#define CURRENT_SCALING_PATTERN 0x1Ful
#define STALL_GUARD_CONFIG_PATTERN 0x17F00ul
#define STALL_GUARD_VALUE_PATTERN 0x7F00ul
//definitions for the input from the TCM260
#define STATUS_STALL_GUARD_STATUS 0x1ul
#define STATUS_OVER_TEMPERATURE_SHUTDOWN 0x2ul
#define STATUS_OVER_TEMPERATURE_WARNING 0x4ul
#define STATUS_SHORT_TO_GROUND_A 0x8ul
#define STATUS_SHORT_TO_GROUND_B 0x10ul
#define STATUS_OPEN_LOAD_A 0x20ul
#define STATUS_OPEN_LOAD_B 0x40ul
#define STATUS_STAND_STILL 0x80ul
#define READOUT_VALUE_PATTERN 0xFFC00ul
//default values
#define INITIAL_MICROSTEPPING 0x3ul //32th microstepping
//debuging output
//#define DEBUG
/*
* Constructor
* number_of_steps - the steps per rotation
* cs_pin - the SPI client select pin
* dir_pin - the pin where the direction pin is connected
* step_pin - the pin where the step pin is connected
*/
TMC26XStepper::TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor)
{
//we are not started yet
started=false;
//by default cool step is not enabled
cool_step_enabled=false;
//save the pins for later use
this->cs_pin=cs_pin;
this->dir_pin=dir_pin;
this->step_pin = step_pin;
//store the current sense resistor value for later use
this->resistor = resistor;
//initizalize our status values
this->steps_left = 0;
this->direction = 0;
//initialize register values
driver_control_register_value=DRIVER_CONTROL_REGISTER | INITIAL_MICROSTEPPING;
chopper_config_register=CHOPPER_CONFIG_REGISTER;
//setting the default register values
driver_control_register_value=DRIVER_CONTROL_REGISTER|INITIAL_MICROSTEPPING;
microsteps = (1 << INITIAL_MICROSTEPPING);
chopper_config_register=CHOPPER_CONFIG_REGISTER;
cool_step_register_value=COOL_STEP_REGISTER;
stall_guard2_current_register_value=STALL_GUARD2_LOAD_MEASURE_REGISTER;
driver_configuration_register_value = DRIVER_CONFIG_REGISTER | READ_STALL_GUARD_READING;
//set the current
setCurrent(current);
//set to a conservative start value
setConstantOffTimeChopper(7, 54, 13,12,1);
//set a nice microstepping value
setMicrosteps(DEFAULT_MICROSTEPPING_VALUE);
//save the number of steps
this->number_of_steps = number_of_steps;
}
/*
* start & configure the stepper driver
* just must be called.
*/
void TMC26XStepper::start() {
#ifdef DEBUG
Serial.println("TMC26X stepper library");
Serial.print("CS pin: ");
Serial.println(cs_pin);
Serial.print("DIR pin: ");
Serial.println(dir_pin);
Serial.print("STEP pin: ");
Serial.println(step_pin);
Serial.print("current scaling: ");
Serial.println(current_scaling,DEC);
#endif
//set the pins as output & its initial value
pinMode(step_pin, OUTPUT);
pinMode(dir_pin, OUTPUT);
pinMode(cs_pin, OUTPUT);
digitalWrite(step_pin, LOW);
digitalWrite(dir_pin, LOW);
digitalWrite(cs_pin, HIGH);
//configure the SPI interface
SPI.setBitOrder(MSBFIRST);
SPI.setClockDivider(SPI_CLOCK_DIV8);
//todo this does not work reliably - find a way to foolprof set it (e.g. while communicating
//SPI.setDataMode(SPI_MODE3);
SPI.begin();
//set the initial values
send262(driver_control_register_value);
send262(chopper_config_register);
send262(cool_step_register_value);
send262(stall_guard2_current_register_value);
send262(driver_configuration_register_value);
//save that we are in running mode
started=true;
}
/*
Mark the driver as unstarted to be able to start it again
*/
void TMC26XStepper::un_start() {
started=false;
}
/*
Sets the speed in revs per minute
*/
void TMC26XStepper::setSpeed(unsigned int whatSpeed)
{
this->speed = whatSpeed;
this->step_delay = (60UL * 1000UL * 1000UL) / ((unsigned long)this->number_of_steps * (unsigned long)whatSpeed * (unsigned long)this->microsteps);
#ifdef DEBUG
Serial.print("Step delay in micros: ");
Serial.println(this->step_delay);
#endif
//update the next step time
this->next_step_time = this->last_step_time+this->step_delay;
}
unsigned int TMC26XStepper::getSpeed(void) {
return this->speed;
}
/*
Moves the motor steps_to_move steps. If the number is negative,
the motor moves in the reverse direction.
*/
char TMC26XStepper::step(int steps_to_move)
{
if (this->steps_left==0) {
this->steps_left = abs(steps_to_move); // how many steps to take
// determine direction based on whether steps_to_mode is + or -:
if (steps_to_move > 0) {
this->direction = 1;
} else if (steps_to_move < 0) {
this->direction = 0;
}
return 0;
} else {
return -1;
}
}
char TMC26XStepper::move(void) {
// decrement the number of steps, moving one step each time:
if(this->steps_left>0) {
unsigned long time = micros();
// move only if the appropriate delay has passed:
if (time >= this->next_step_time) {
// increment or decrement the step number,
// depending on direction:
if (this->direction == 1) {
digitalWrite(step_pin, HIGH);
} else {
digitalWrite(dir_pin, HIGH);
digitalWrite(step_pin, HIGH);
}
// get the timeStamp of when you stepped:
this->last_step_time = time;
this->next_step_time = time+this->step_delay;
// decrement the steps left:
steps_left--;
//disable the step & dir pins
digitalWrite(step_pin, LOW);
digitalWrite(dir_pin, LOW);
}
return -1;
}
return 0;
}
char TMC26XStepper::isMoving(void) {
return (this->steps_left>0);
}
unsigned int TMC26XStepper::getStepsLeft(void) {
return this->steps_left;
}
char TMC26XStepper::stop(void) {
//note to self if the motor is currently moving
char state = isMoving();
//stop the motor
this->steps_left = 0;
this->direction = 0;
//return if it was moving
return state;
}
void TMC26XStepper::setCurrent(unsigned int current) {
unsigned char current_scaling = 0;
//calculate the current scaling from the max current setting (in mA)
double mASetting = (double)current;
double resistor_value = (double) this->resistor;
// remove vesense flag
this->driver_configuration_register_value &= ~(VSENSE);
//this is derrived from I=(cs+1)/32*(Vsense/Rsense)
//leading to cs = CS = 32*R*I/V (with V = 0,31V oder 0,165V and I = 1000*current)
//with Rsense=0,15
//for vsense = 0,310V (VSENSE not set)
//or vsense = 0,165V (VSENSE set)
current_scaling = (byte)((resistor_value*mASetting*32.0/(0.31*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5
//check if the current scalingis too low
if (current_scaling<16) {
//set the csense bit to get a use half the sense voltage (to support lower motor currents)
this->driver_configuration_register_value |= VSENSE;
//and recalculate the current setting
current_scaling = (byte)((resistor_value*mASetting*32.0/(0.165*1000.0*1000.0))-0.5); //theoretically - 1.0 for better rounding it is 0.5
#ifdef DEBUG
Serial.print("CS (Vsense=1): ");
Serial.println(current_scaling);
} else {
Serial.print("CS: ");
Serial.println(current_scaling);
#endif
}
//do some sanity checks
if (current_scaling>31) {
current_scaling=31;
}
//delete the old value
stall_guard2_current_register_value &= ~(CURRENT_SCALING_PATTERN);
//set the new current scaling
stall_guard2_current_register_value |= current_scaling;
//if started we directly send it to the motor
if (started) {
send262(driver_configuration_register_value);
send262(stall_guard2_current_register_value);
}
}
unsigned int TMC26XStepper::getCurrent(void) {
//we calculate the current according to the datasheet to be on the safe side
//this is not the fastest but the most accurate and illustrative way
double result = (double)(stall_guard2_current_register_value & CURRENT_SCALING_PATTERN);
double resistor_value = (double)this->resistor;
double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31;
result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
return (unsigned int)result;
}
void TMC26XStepper::setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled) {
if (stall_guard_threshold<-64) {
stall_guard_threshold = -64;
//We just have 5 bits
} else if (stall_guard_threshold > 63) {
stall_guard_threshold = 63;
}
//add trim down to 7 bits
stall_guard_threshold &=0x7f;
//delete old stall guard settings
stall_guard2_current_register_value &= ~(STALL_GUARD_CONFIG_PATTERN);
if (stall_guard_filter_enabled) {
stall_guard2_current_register_value |= STALL_GUARD_FILTER_ENABLED;
}
//Set the new stall guard threshold
stall_guard2_current_register_value |= (((unsigned long)stall_guard_threshold << 8) & STALL_GUARD_CONFIG_PATTERN);
//if started we directly send it to the motor
if (started) {
send262(stall_guard2_current_register_value);
}
}
char TMC26XStepper::getStallGuardThreshold(void) {
unsigned long stall_guard_threshold = stall_guard2_current_register_value & STALL_GUARD_VALUE_PATTERN;
//shift it down to bit 0
stall_guard_threshold >>=8;
//convert the value to an int to correctly handle the negative numbers
char result = stall_guard_threshold;
//check if it is negative and fill it up with leading 1 for proper negative number representation
if (result & _BV(6)) {
result |= 0xC0;
}
return result;
}
char TMC26XStepper::getStallGuardFilter(void) {
if (stall_guard2_current_register_value & STALL_GUARD_FILTER_ENABLED) {
return -1;
} else {
return 0;
}
}
/*
* Set the number of microsteps per step.
* 0,2,4,8,16,32,64,128,256 is supported
* any value in between will be mapped to the next smaller value
* 0 and 1 set the motor in full step mode
*/
void TMC26XStepper::setMicrosteps(int number_of_steps) {
long setting_pattern;
//poor mans log
if (number_of_steps>=256) {
setting_pattern=0;
microsteps=256;
} else if (number_of_steps>=128) {
setting_pattern=1;
microsteps=128;
} else if (number_of_steps>=64) {
setting_pattern=2;
microsteps=64;
} else if (number_of_steps>=32) {
setting_pattern=3;
microsteps=32;
} else if (number_of_steps>=16) {
setting_pattern=4;
microsteps=16;
} else if (number_of_steps>=8) {
setting_pattern=5;
microsteps=8;
} else if (number_of_steps>=4) {
setting_pattern=6;
microsteps=4;
} else if (number_of_steps>=2) {
setting_pattern=7;
microsteps=2;
//1 and 0 lead to full step
} else if (number_of_steps<=1) {
setting_pattern=8;
microsteps=1;
}
#ifdef DEBUG
Serial.print("Microstepping: ");
Serial.println(microsteps);
#endif
//delete the old value
this->driver_control_register_value &=0xFFFF0ul;
//set the new value
this->driver_control_register_value |=setting_pattern;
//if started we directly send it to the motor
if (started) {
send262(driver_control_register_value);
}
//recalculate the stepping delay by simply setting the speed again
this->setSpeed(this->speed);
}
/*
* returns the effective number of microsteps at the moment
*/
int TMC26XStepper::getMicrosteps(void) {
return microsteps;
}
/*
* constant_off_time: The off time setting controls the minimum chopper frequency.
* For most applications an off time within the range of 5μs to 20μs will fit.
* 2...15: off time setting
*
* blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
* duration of the ringing on the sense resistor. For
* 0: min. setting 3: max. setting
*
* fast_decay_time_setting: Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle.
* 0: slow decay only
* 1...15: duration of fast decay phase
*
* sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset.
* A positive offset corrects for zero crossing error.
* -3..-1: negative offset 0: no offset 1...12: positive offset
*
* use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle.
* If current comparator is enabled, it terminates the fast decay cycle in case the current
* reaches a higher negative value than the actual positive value.
* 1: enable comparator termination of fast decay cycle
* 0: end by time only
*/
void TMC26XStepper::setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator) {
//perform some sanity checks
if (constant_off_time<2) {
constant_off_time=2;
} else if (constant_off_time>15) {
constant_off_time=15;
}
//save the constant off time
this->constant_off_time = constant_off_time;
char blank_value;
//calculate the value acc to the clock cycles
if (blank_time>=54) {
blank_value=3;
} else if (blank_time>=36) {
blank_value=2;
} else if (blank_time>=24) {
blank_value=1;
} else {
blank_value=0;
}
if (fast_decay_time_setting<0) {
fast_decay_time_setting=0;
} else if (fast_decay_time_setting>15) {
fast_decay_time_setting=15;
}
if (sine_wave_offset < -3) {
sine_wave_offset = -3;
} else if (sine_wave_offset>12) {
sine_wave_offset = 12;
}
//shift the sine_wave_offset
sine_wave_offset +=3;
//calculate the register setting
//first of all delete all the values for this
chopper_config_register &= ~((1<<12) | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
//set the constant off pattern
chopper_config_register |= CHOPPER_MODE_T_OFF_FAST_DECAY;
//set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//setting the constant off time
chopper_config_register |= constant_off_time;
//set the fast decay time
//set msb
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x8))<<HYSTERESIS_DECREMENT_SHIFT);
//other bits
chopper_config_register |= (((unsigned long)(fast_decay_time_setting & 0x7))<<HYSTERESIS_START_VALUE_SHIFT);
//set the sine wave offset
chopper_config_register |= (unsigned long)sine_wave_offset << HYSTERESIS_LOW_SHIFT;
//using the current comparator?
if (!use_current_comparator) {
chopper_config_register |= (1<<12);
}
//if started we directly send it to the motor
if (started) {
send262(driver_control_register_value);
}
}
/*
* constant_off_time: The off time setting controls the minimum chopper frequency.
* For most applications an off time within the range of 5μs to 20μs will fit.
* 2...15: off time setting
*
* blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the
* duration of the ringing on the sense resistor. For
* 0: min. setting 3: max. setting
*
* hysteresis_start: Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value HEND.
* 1...8
*
* hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC.
* The sum HSTRT+HEND must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited.
* -3..-1: negative HEND 0: zero HEND 1...12: positive HEND
*
* hysteresis_decrement: Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.
* 0: fast decrement 3: very slow decrement
*/
void TMC26XStepper::setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement) {
//perform some sanity checks
if (constant_off_time<2) {
constant_off_time=2;
} else if (constant_off_time>15) {
constant_off_time=15;
}
//save the constant off time
this->constant_off_time = constant_off_time;
char blank_value;
//calculate the value acc to the clock cycles
if (blank_time>=54) {
blank_value=3;
} else if (blank_time>=36) {
blank_value=2;
} else if (blank_time>=24) {
blank_value=1;
} else {
blank_value=0;
}
if (hysteresis_start<1) {
hysteresis_start=1;
} else if (hysteresis_start>8) {
hysteresis_start=8;
}
hysteresis_start--;
if (hysteresis_end < -3) {
hysteresis_end = -3;
} else if (hysteresis_end>12) {
hysteresis_end = 12;
}
//shift the hysteresis_end
hysteresis_end +=3;
if (hysteresis_decrement<0) {
hysteresis_decrement=0;
} else if (hysteresis_decrement>3) {
hysteresis_decrement=3;
}
//first of all delete all the values for this
chopper_config_register &= ~(CHOPPER_MODE_T_OFF_FAST_DECAY | BLANK_TIMING_PATTERN | HYSTERESIS_DECREMENT_PATTERN | HYSTERESIS_LOW_VALUE_PATTERN | HYSTERESIS_START_VALUE_PATTERN | T_OFF_TIMING_PATERN);
//set the blank timing value
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//setting the constant off time
chopper_config_register |= constant_off_time;
//set the hysteresis_start
chopper_config_register |= ((unsigned long)hysteresis_start) << HYSTERESIS_START_VALUE_SHIFT;
//set the hysteresis end
chopper_config_register |= ((unsigned long)hysteresis_end) << HYSTERESIS_LOW_SHIFT;
//set the hystereis decrement
chopper_config_register |= ((unsigned long)blank_value) << BLANK_TIMING_SHIFT;
//if started we directly send it to the motor
if (started) {
send262(driver_control_register_value);
}
}
/*
* In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized.
* The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position.
* With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a
* few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc.
* Further factors which can cause a similar effect are a poor layout of sense resistor GND connection.
* Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages
* (please refer to sense resistor layout hint in chapter 8.1).
* In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided.
* It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum,
* reducing electromagnetic emission on single frequencies.
*/
void TMC26XStepper::setRandomOffTime(char value) {
if (value) {
chopper_config_register |= RANDOM_TOFF_TIME;
} else {
chopper_config_register &= ~(RANDOM_TOFF_TIME);
}
//if started we directly send it to the motor
if (started) {
send262(driver_control_register_value);
}
}
void TMC26XStepper::setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
unsigned char current_increment_step_size, unsigned char lower_current_limit) {
//sanitize the input values
if (lower_SG_threshold>480) {
lower_SG_threshold = 480;
}
//divide by 32
lower_SG_threshold >>=5;
if (SG_hysteresis>480) {
SG_hysteresis=480;
}
//divide by 32
SG_hysteresis >>=5;
if (current_decrement_step_size>3) {
current_decrement_step_size=3;
}
if (current_increment_step_size>3) {
current_increment_step_size=3;
}
if (lower_current_limit>1) {
lower_current_limit=1;
}
//store the lower level in order to enable/disable the cool step
this->cool_step_lower_threshold=lower_SG_threshold;
//if cool step is not enabled we delete the lower value to keep it disabled
if (!this->cool_step_enabled) {
lower_SG_threshold=0;
}
//the good news is that we can start with a complete new cool step register value
//and simply set the values in the register
cool_step_register_value = ((unsigned long)lower_SG_threshold) | (((unsigned long)SG_hysteresis)<<8) | (((unsigned long)current_decrement_step_size)<<5)
| (((unsigned long)current_increment_step_size)<<13) | (((unsigned long)lower_current_limit)<<15)
//and of course we have to include the signature of the register
| COOL_STEP_REGISTER;
//Serial.println(cool_step_register_value,HEX);
if (started) {
send262(cool_step_register_value);
}
}
void TMC26XStepper::setCoolStepEnabled(boolean enabled) {
//simply delete the lower limit to disable the cool step
cool_step_register_value &= ~SE_MIN_PATTERN;
//and set it to the proper value if cool step is to be enabled
if (enabled) {
cool_step_register_value |=this->cool_step_lower_threshold;
}
//and save the enabled status
this->cool_step_enabled = enabled;
//save the register value
if (started) {
send262(cool_step_register_value);
}
}
boolean TMC26XStepper::isCoolStepEnabled(void) {
return this->cool_step_enabled;
}
unsigned int TMC26XStepper::getCoolStepLowerSgThreshold() {
//we return our internally stored value - in order to provide the correct setting even if cool step is not enabled
return this->cool_step_lower_threshold<<5;
}
unsigned int TMC26XStepper::getCoolStepUpperSgThreshold() {
return (unsigned char)((cool_step_register_value & SE_MAX_PATTERN)>>8)<<5;
}
unsigned char TMC26XStepper::getCoolStepCurrentIncrementSize() {
return (unsigned char)((cool_step_register_value & CURRENT_DOWN_STEP_SPEED_PATTERN)>>13);
}
unsigned char TMC26XStepper::getCoolStepNumberOfSGReadings() {
return (unsigned char)((cool_step_register_value & SE_CURRENT_STEP_WIDTH_PATTERN)>>5);
}
unsigned char TMC26XStepper::getCoolStepLowerCurrentLimit() {
return (unsigned char)((cool_step_register_value & MINIMUM_CURRENT_FOURTH)>>15);
}
void TMC26XStepper::setEnabled(boolean enabled) {
//delete the t_off in the chopper config to get sure
chopper_config_register &= ~(T_OFF_PATTERN);
if (enabled) {
//and set the t_off time
chopper_config_register |= this->constant_off_time;
}
//if not enabled we don't have to do anything since we already delete t_off from the register
if (started) {
send262(chopper_config_register);
}
}
boolean TMC26XStepper::isEnabled() {
if (chopper_config_register & T_OFF_PATTERN) {
return true;
} else {
return false;
}
}
/*
* reads a value from the TMC26X status register. The value is not obtained directly but can then
* be read by the various status routines.
*
*/
void TMC26XStepper::readStatus(char read_value) {
unsigned long old_driver_configuration_register_value = driver_configuration_register_value;
//reset the readout configuration
driver_configuration_register_value &= ~(READ_SELECTION_PATTERN);
//this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options
if (read_value == TMC26X_READOUT_STALLGUARD) {
driver_configuration_register_value |= READ_STALL_GUARD_READING;
} else if (read_value == TMC26X_READOUT_CURRENT) {
driver_configuration_register_value |= READ_STALL_GUARD_AND_COOL_STEP;
}
//all other cases are ignored to prevent funny values
//check if the readout is configured for the value we are interested in
if (driver_configuration_register_value!=old_driver_configuration_register_value) {
//because then we need to write the value twice - one time for configuring, second time to get the value, see below
send262(driver_configuration_register_value);
}
//write the configuration to get the last status
send262(driver_configuration_register_value);
}
int TMC26XStepper::getMotorPosition(void) {
//we read it out even if we are not started yet - perhaps it is useful information for somebody
readStatus(TMC26X_READOUT_POSITION);
return getReadoutValue();
}
//reads the stall guard setting from last status
//returns -1 if stallguard information is not present
int TMC26XStepper::getCurrentStallGuardReading(void) {
//if we don't yet started there cannot be a stall guard value
if (!started) {
return -1;
}
//not time optimal, but solution optiomal:
//first read out the stall guard value
readStatus(TMC26X_READOUT_STALLGUARD);
return getReadoutValue();
}
unsigned char TMC26XStepper::getCurrentCSReading(void) {
//if we don't yet started there cannot be a stall guard value
if (!started) {
return 0;
}
//not time optimal, but solution optiomal:
//first read out the stall guard value
readStatus(TMC26X_READOUT_CURRENT);
return (getReadoutValue() & 0x1f);
}
unsigned int TMC26XStepper::getCurrentCurrent(void) {
double result = (double)getCurrentCSReading();
double resistor_value = (double)this->resistor;
double voltage = (driver_configuration_register_value & VSENSE)? 0.165:0.31;
result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
return (unsigned int)result;
}
/*
return true if the stallguard threshold has been reached
*/
boolean TMC26XStepper::isStallGuardOverThreshold(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
}
/*
returns if there is any over temperature condition:
OVER_TEMPERATURE_PREWARING if pre warning level has been reached
OVER_TEMPERATURE_SHUTDOWN if the temperature is so hot that the driver is shut down
Any of those levels are not too good.
*/
char TMC26XStepper::getOverTemperature(void) {
if (!this->started) {
return 0;
}
if (driver_status_result & STATUS_OVER_TEMPERATURE_SHUTDOWN) {
return TMC26X_OVERTEMPERATURE_SHUTDOWN;
}
if (driver_status_result & STATUS_OVER_TEMPERATURE_WARNING) {
return TMC26X_OVERTEMPERATURE_PREWARING;
}
return 0;
}
//is motor channel A shorted to ground
boolean TMC26XStepper::isShortToGroundA(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_SHORT_TO_GROUND_A);
}
//is motor channel B shorted to ground
boolean TMC26XStepper::isShortToGroundB(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_SHORT_TO_GROUND_B);
}
//is motor channel A connected
boolean TMC26XStepper::isOpenLoadA(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_OPEN_LOAD_A);
}
//is motor channel B connected
boolean TMC26XStepper::isOpenLoadB(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_OPEN_LOAD_B);
}
//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
boolean TMC26XStepper::isStandStill(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_STAND_STILL);
}
//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
boolean TMC26XStepper::isStallGuardReached(void) {
if (!this->started) {
return false;
}
return (driver_status_result & STATUS_STALL_GUARD_STATUS);
}
//reads the stall guard setting from last status
//returns -1 if stallguard inforamtion is not present
int TMC26XStepper::getReadoutValue(void) {
return (int)(driver_status_result >> 10);
}
int TMC26XStepper::getResistor() {
return this->resistor;
}
boolean TMC26XStepper::isCurrentScalingHalfed() {
if (this->driver_configuration_register_value & VSENSE) {
return true;
} else {
return false;
}
}
/*
version() returns the version of the library:
*/
int TMC26XStepper::version(void)
{
return 1;
}
void TMC26XStepper::debugLastStatus() {
#ifdef DEBUG
if (this->started) {
if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING) {
Serial.println("WARNING: Overtemperature Prewarning!");
} else if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN) {
Serial.println("ERROR: Overtemperature Shutdown!");
}
if (this->isShortToGroundA()) {
Serial.println("ERROR: SHORT to ground on channel A!");
}
if (this->isShortToGroundB()) {
Serial.println("ERROR: SHORT to ground on channel A!");
}
if (this->isOpenLoadA()) {
Serial.println("ERROR: Channel A seems to be unconnected!");
}
if (this->isOpenLoadB()) {
Serial.println("ERROR: Channel B seems to be unconnected!");
}
if (this->isStallGuardReached()) {
Serial.println("INFO: Stall Guard level reached!");
}
if (this->isStandStill()) {
Serial.println("INFO: Motor is standing still.");
}
unsigned long readout_config = driver_configuration_register_value & READ_SELECTION_PATTERN;
int value = getReadoutValue();
if (readout_config == READ_MICROSTEP_POSTION) {
Serial.print("Microstep postion phase A: ");
Serial.println(value);
} else if (readout_config == READ_STALL_GUARD_READING) {
Serial.print("Stall Guard value:");
Serial.println(value);
} else if (readout_config == READ_STALL_GUARD_AND_COOL_STEP) {
int stallGuard = value & 0xf;
int current = value & 0x1F0;
Serial.print("Approx Stall Guard: ");
Serial.println(stallGuard);
Serial.print("Current level");
Serial.println(current);
}
}
#endif
}
/*
* send register settings to the stepper driver via SPI
* returns the current status
*/
inline void TMC26XStepper::send262(unsigned long datagram) {
unsigned long i_datagram;
//preserver the previous spi mode
unsigned char oldMode = SPCR & SPI_MODE_MASK;
//if the mode is not correct set it to mode 3
if (oldMode != SPI_MODE3) {
SPI.setDataMode(SPI_MODE3);
}
//select the TMC driver
digitalWrite(cs_pin,LOW);
//ensure that only valid bist are set (0-19)
//datagram &=REGISTER_BIT_PATTERN;
#ifdef DEBUG
Serial.print("Sending ");
Serial.println(datagram,HEX);
#endif
//write/read the values
i_datagram = SPI.transfer((datagram >> 16) & 0xff);
i_datagram <<= 8;
i_datagram |= SPI.transfer((datagram >> 8) & 0xff);
i_datagram <<= 8;
i_datagram |= SPI.transfer((datagram) & 0xff);
i_datagram >>= 4;
#ifdef DEBUG
Serial.print("Received ");
Serial.println(i_datagram,HEX);
debugLastStatus();
#endif
//deselect the TMC chip
digitalWrite(cs_pin,HIGH);
//restore the previous SPI mode if neccessary
//if the mode is not correct set it to mode 3
if (oldMode != SPI_MODE3) {
SPI.setDataMode(oldMode);
}
//store the datagram as status result
driver_status_result = i_datagram;
}

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/*
TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino
based on the stepper library by Tom Igoe, et. al.
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
// ensure this library description is only included once
#ifndef TMC26XStepper_h
#define TMC26XStepper_h
//! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature situation in the TMC chip
/*!
* This warning indicates that the TCM chip is too warm.
* It is still working but some parameters may be inferior.
* You should do something against it.
*/
#define TMC26X_OVERTEMPERATURE_PREWARING 1
//! return value for TMC26XStepper.getOverTemperature() if there is a overtemperature shutdown in the TMC chip
/*!
* This warning indicates that the TCM chip is too warm to operate and has shut down to prevent damage.
* It will stop working until it cools down again.
* If you encouter this situation you must do something against it. Like reducing the current or improving the PCB layout
* and/or heat management.
*/
#define TMC26X_OVERTEMPERATURE_SHUTDOWN 2
//which values can be read out
/*!
* Selects to readout the microstep position from the motor.
*\sa readStatus()
*/
#define TMC26X_READOUT_POSITION 0
/*!
* Selects to read out the StallGuard value of the motor.
*\sa readStatus()
*/
#define TMC26X_READOUT_STALLGUARD 1
/*!
* Selects to read out the current current setting (acc. to CoolStep) and the upper bits of the StallGuard value from the motor.
*\sa readStatus(), setCurrent()
*/
#define TMC26X_READOUT_CURRENT 3
/*!
* Define to set the minimum current for CoolStep operation to 1/2 of the selected CS minium.
*\sa setCoolStepConfiguration()
*/
#define COOL_STEP_HALF_CS_LIMIT 0
/*!
* Define to set the minimum current for CoolStep operation to 1/4 of the selected CS minium.
*\sa setCoolStepConfiguration()
*/
#define COOL_STEP_QUARTDER_CS_LIMIT 1
/*!
* \class TMC26XStepper
* \brief Class representing a TMC26X stepper driver
*
* In order to use one fo those drivers in your Arduino code you have to create an object of that class:
* \code
* TMC26XStepper stepper = TMC26XStepper(200,1,2,3,500);
* \endcode
* see TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int rms_current)
*
* Keep in mind that you need to start the driver with start() in order to get the TMC26X configured.
*
* The most important function is the move(). It checks if the motor has to do a step or not.
* It is important that you call move() as often as possible in your Arduino loop() routine. I suggest
* to use a very fast loop routine and always call it at the beginning or the end.
*
* In order to move you have to provide a movement speed with setSpeed(). The speed is a positive value setting
* the rotations per minute.
*
* To really move the motor you have to call step() to tell the driver to move the motor the given number
* of steps in the given direction. Positive values move the motor in one direction, negative values in the other direction.
*
* You can check with isMoving() if the mototr is still moving or stop it apruptely with stop().
*/
class TMC26XStepper {
public:
/*!
* \brief creates a new represenatation of a stepper motor connected to a TMC26X stepper driver
*
* This is the main constructor. If in doubt use this. You must provide all parameters as described below.
*
* \param number_of_steps the number of steps the motor has per rotation.
* \param cs_pin The Arduino pin you have connected the Cient Select Pin (!CS) of the TMC26X for SPI
* \param dir_pin the number of the Arduino pin the Direction input of the TMC26X is connected
* \param step_pin the number of the Arduino pin the step pin of the TMC26X driver is connected.
* \param rms_current the maximum current to privide to the motor in mA (!). A value of 200 would send up to 200mA to the motor
* \param resistor the current sense resistor in milli Ohm, defaults to ,15 Ohm ( or 150 milli Ohm) as in the TMC260 Arduino Shield
*
* Keep in mind that you must also call TMC26XStepper.start() in order to configure the stepper driver for use.
*
* By default the Constant Off Time chopper is used, see TCM262Stepper.setConstantOffTimeChopper() for details.
* This should work on most motors (YMMV). You may want to configure and use the Spread Cycle Chopper, see setSpreadCycleChopper().
*
* By default a microstepping of 1/32th is used to provide a smooth motor run, while still giving a good progression per step.
* You can select a different stepping with setMicrosteps() to aa different value.
* \sa start(), setMicrosteps()
*/
TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150);
/*!
* \brief configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
*
* This routine configures the TMC26X stepper driver for the given values via SPI.
* Most member functions are non functional if the driver has not been started.
* Therefore it is best to call this in your Arduino setup() function.
*/
void start();
/*!
* \brief resets the stepper in unconfigured mode.
*
* This routine enables you to call start again. It does not change anything
* in the internal stepper configuration or the desired configuration.
* It just marks the stepper as not yet startet. You do not have to reconfigure
* the stepper to start it again, but it is not reset to any factory settings
* this has to be configured back by yourself.
* (Hint: Normally you do not need this function)
*/
void un_start();
/*!
* \brief Sets the rotation speed in revolutions per minute.
* \param whatSpeed the desired speed in rotations per minute.
*/
void setSpeed(unsigned int whatSpeed);
/*!
* \brief reads out the currently selected speed in revolutions per minute.
* \sa setSpeed()
*/
unsigned int getSpeed(void);
/*!
* \brief Set the number of microsteps in 2^i values (rounded) up to 256
*
* This method set's the number of microsteps per step in 2^i interval.
* This means you can select 1, 2, 4, 16, 32, 64, 128 or 256 as valid microsteps.
* If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2).
* You can always check the current microstepping with getMicrosteps().
*/
void setMicrosteps(int number_of_steps);
/*!
* \brief returns the effective current number of microsteps selected.
*
* This function always returns the effective number of microsteps.
* This can be a bit different than the micro steps set in setMicrosteps() since it is rounded to 2^i.
*
* \sa setMicrosteps()
*/
int getMicrosteps(void);
/*!
* \brief Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction.
*
* \param number_of_steps The number of steps to move the motor.
* \return 0 if the motor was not moving and moves now. -1 if the motor is moving and the new steps could not be set.
*
* If the previous movement is not finished yet the function will return -1 and not change the steps to move the motor.
* If the motor does not move it return 0
*
* The direction of the movement is indicated by the sign of the steps parameter. It is not determinable if positive values are right
* or left This depends on the internal construction of the motor and how you connected it to the stepper driver.
*
* You can always verify with isMoving() or even use stop() to stop the motor before giving it new step directions.
* \sa isMoving(), getStepsLeft(), stop()
*/
char step(int number_of_steps);
/*!
* \brief Central movement method, must be called as often as possible in the lopp function and is very fast.
*
* This routine checks if the motor still has to move, if the waiting delay has passed to send a new step command to the motor
* and manages the number of steps yet to move to fulfill the current move command.
*
* This function is implemented to be as fast as possible to call it as often as possible in your loop routine.
* The more regurlarly you call this function the better. In both senses of 'regularly': Calling it as often as
* possible is not a bad idea and if you even manage that the intervals you call this function are not too irregular helps too.
*
* You can call this routine even if you know that the motor is not miving. It introduces just a very small penalty in your code.
* You must not call isMoving() to determine if you need to call this function, since taht is done internally already and only
* slows down you code.
*
* How often you call this function directly influences your top miving speed for the motor. It may be a good idea to call this
* from an timer overflow interrupt to ensure proper calling.
* \sa step()
*/
char move(void);
/*!
* \brief checks if the motor still has to move to fulfill the last movement command.
* \return 0 if the motor stops, -1 if the motor is moving.
*
* This method can be used to determine if the motor is ready for new movements.
*\sa step(), move()
*/
char isMoving(void);
/*!
* \brief Get the number of steps left in the current movement.
* \return The number of steps left in the movement. This number is always positive.
*/
unsigned int getStepsLeft(void);
/*!
* \brief Stops the motor regardless if it moves or not.
* \return -1 if the motor was moving and is really stoped or 0 if it was not moving at all.
*
* This method directly and apruptely stops the motor and may be used as an emergency stop.
*/
char stop(void);
/*!
* \brief Sets and configure the classical Constant Off Timer Chopper
* \param constant_off_time The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks)
* \param blank_time Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting
* \param fast_decay_time_setting Fast decay time setting. Controls the portion of fast decay for each chopper cycle. 0: slow decay only, 1…15: duration of fast decay phase
* \param sine_wave_offset Sine wave offset. Controls the sine wave offset. A positive offset corrects for zero crossing error. -3…-1: negative offset, 0: no offset,1…12: positive offset
* \param use_curreent_comparator Selects usage of the current comparator for termination of the fast decay cycle. If current comparator is enabled, it terminates the fast decay cycle in case the current reaches a higher negative value than the actual positive value. (0 disable, -1 enable).
*
* The classic constant off time chopper uses a fixed portion of fast decay following each on phase.
* While the duration of the on time is determined by the chopper comparator, the fast decay time needs
* to be set by the user in a way, that the current decay is enough for the driver to be able to follow
* the falling slope of the sine wave, and on the other hand it should not be too long, in order to minimize
* motor current ripple and power dissipation. This best can be tuned using an oscilloscope or
* trying out motor smoothness at different velocities. A good starting value is a fast decay time setting
* similar to the slow decay time setting.
* After tuning of the fast decay time, the offset should be determined, in order to have a smooth zero transition.
* This is necessary, because the fast decay phase leads to the absolute value of the motor current being lower
* than the target current (see figure 17). If the zero offset is too low, the motor stands still for a short
* moment during current zero crossing, if it is set too high, it makes a larger microstep.
* Typically, a positive offset setting is required for optimum operation.
*
* \sa setSpreadCycleChoper() for other alternatives.
* \sa setRandomOffTime() for spreading the noise over a wider spectrum
*/
void setConstantOffTimeChopper(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator);
/*!
* \brief Sets and configures with spread cycle chopper.
* \param constant_off_time The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks)
* \param blank_time Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting
* \param hysteresis_start Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value. 1 … 8
* \param hysteresis_end Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by hysteresis_decrement. The sum hysteresis_start + hysteresis_end must be <16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited.
* \param hysteresis_decrement Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time. 0 (fast decrement) … 3 (slow decrement).
*
* The spreadCycle chopper scheme (pat.fil.) is a precise and simple to use chopper principle, which automatically determines
* the optimum fast decay portion for the motor. Anyhow, a number of settings can be made in order to optimally fit the driver
* to the motor.
* Each chopper cycle is comprised of an on-phase, a slow decay phase, a fast decay phase and a second slow decay phase.
* The slow decay phases limit the maximum chopper frequency and are important for low motor and driver power dissipation.
* The hysteresis start setting limits the chopper frequency by forcing the driver to introduce a minimum amount of
* current ripple into the motor coils. The motor inductivity determines the ability to follow a changing motor current.
* The duration of the on- and fast decay phase needs to cover at least the blank time, because the current comparator is
* disabled during this time.
*
* \sa setRandomOffTime() for spreading the noise over a wider spectrum
*/
void setSpreadCycleChopper(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement);
/*!
* \brief Use random off time for noise reduction (0 for off, -1 for on).
* \param value 0 for off, -1 for on
*
* In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized.
* The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity,
* thus it depends on the microstep position. With some motors a slightly audible beat can occur between the chopper
* frequencies, especially when they are near to each other. This typically occurs at a few microstep positions within
* each quarter wave.
* This effect normally is not audible when compared to mechanical noise generated by ball bearings,
* etc. Further factors which can cause a similar effect are a poor layout of sense resistor GND connection.
* In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided.
* It modulates the slow decay time setting when switched on. The random off time feature further spreads the chopper spectrum,
* reducing electromagnetic emission on single frequencies.
*/
void setRandomOffTime(char value);
/*!
* \brief set the maximum motor current in mA (1000 is 1 Amp)
* Keep in mind this is the maximum peak Current. The RMS current will be 1/sqrt(2) smaller. The actual current can also be smaller
* by employing CoolStep.
* \param current the maximum motor current in mA
* \sa getCurrent(), getCurrentCurrent()
*/
void setCurrent(unsigned int current);
/*!
* \brief readout the motor maximum current in mA (1000 is an Amp)
* This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()
*\return the maximum motor current in milli amps
* \sa getCurrentCurrent()
*/
unsigned int getCurrent(void);
/*!
* \brief set the StallGuard threshold in order to get sensible StallGuard readings.
* \param stall_guard_threshold -64 … 63 the StallGuard threshold
* \param stall_guard_filter_enabled 0 if the filter is disabled, -1 if it is enabled
*
* The StallGuard threshold is used to optimize the StallGuard reading to sensible values. It should be at 0 at
* the maximum allowable load on the otor (but not before). = is a good starting point (and the default)
* If you get Stall Gaurd readings of 0 without any load or with too little laod increase the value.
* If you get readings of 1023 even with load decrease the setting.
*
* If you switch on the filter the StallGuard reading is only updated each 4th full step to reduce the noise in the
* reading.
*
* \sa getCurrentStallGuardReading() to read out the current value.
*/
void setStallGuardThreshold(char stall_guard_threshold, char stall_guard_filter_enabled);
/*!
* \brief reads out the StallGuard threshold
* \return a number between -64 and 63.
*/
char getStallGuardThreshold(void);
/*!
* \brief returns the current setting of the StallGuard filter
* \return 0 if not set, -1 if set
*/
char getStallGuardFilter(void);
/*!
* \brief This method configures the CoolStep smart energy operation. You must have a proper StallGuard configuration for the motor situation (current, voltage, speed) in rder to use this feature.
* \param lower_SG_threshold Sets the lower threshold for stallGuard2TM reading. Below this value, the motor current becomes increased. Allowed values are 0...480
* \param SG_hysteresis Sets the distance between the lower and the upper threshold for stallGuard2TM reading. Above the upper threshold (which is lower_SG_threshold+SG_hysteresis+1) the motor current becomes decreased. Allowed values are 0...480
* \param current_decrement_step_size Sets the current decrement steps. If the StallGuard value is above the threshold the current gets decremented by this step size. 0...32
* \param current_increment_step_size Sets the current increment step. The current becomes incremented for each measured stallGuard2TM value below the lower threshold. 0...8
* \param lower_current_limit Sets the lower motor current limit for coolStepTM operation by scaling the CS value. Values can be COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
* The CoolStep smart energy operation automatically adjust the current sent into the motor according to the current load,
* read out by the StallGuard in order to provide the optimum torque with the minimal current consumption.
* You configure the CoolStep current regulator by defining upper and lower bounds of StallGuard readouts. If the readout is above the
* limit the current gets increased, below the limit the current gets decreased.
* You can specify the upper an lower threshold of the StallGuard readout in order to adjust the current. You can also set the number of
* StallGuard readings neccessary above or below the limit to get a more stable current adjustement.
* The current adjustement itself is configured by the number of steps the current gests in- or decreased and the absolut minimum current
* (1/2 or 1/4th otf the configured current).
* \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
*/
void setCoolStepConfiguration(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size,
unsigned char current_increment_step_size, unsigned char lower_current_limit);
/*!
* \brief enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it.
* \param enabled true if CoolStep should be enabled, false if not.
* \sa setCoolStepConfiguration()
*/
void setCoolStepEnabled(boolean enabled);
/*!
* \brief check if the CoolStep feature is enabled
* \sa setCoolStepEnabled()
*/
boolean isCoolStepEnabled();
/*!
* \brief returns the lower StallGuard threshold for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned int getCoolStepLowerSgThreshold();
/*!
* \brief returns the upper StallGuard threshold for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned int getCoolStepUpperSgThreshold();
/*!
* \brief returns the number of StallGuard readings befor CoolStep adjusts the motor current.
* \sa setCoolStepConfiguration()
*/
unsigned char getCoolStepNumberOfSGReadings();
/*!
* \brief returns the increment steps for the current for the CoolStep operation
* \sa setCoolStepConfiguration()
*/
unsigned char getCoolStepCurrentIncrementSize();
/*!
* \brief returns the absolut minium current for the CoolStep operation
* \sa setCoolStepConfiguration()
* \sa COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT
*/
unsigned char getCoolStepLowerCurrentLimit();
/*!
* \brief Get the current microstep position for phase A
* \return The current microstep position for phase A 0…255
*
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
*/
int getMotorPosition(void);
/*!
* \brief Reads the current StallGuard value.
* \return The current StallGuard value, lesser values indicate higher load, 0 means stall detected.
* Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time.
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
int getCurrentStallGuardReading(void);
/*!
* \brief Reads the current current setting value as fraction of the maximum current
* Returns values between 0 and 31, representing 1/32 to 32/32 (=1)
* \sa setCoolStepConfiguration()
*/
unsigned char getCurrentCSReading(void);
/*!
*\brief a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference.
*\return false if 0.13V is the reference voltage, true if 0.165V is used.
*/
boolean isCurrentScalingHalfed();
/*!
* \brief Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000).
* This method calculates the currently used current setting (either by setting or by CoolStep) and reconstructs
* the current in mA by usinge the VSENSE and resistor value. This method uses floating point math - so it
* may not be the fastest.
* \sa getCurrentCSReading(), getResistor(), isCurrentScalingHalfed(), getCurrent()
*/
unsigned int getCurrentCurrent(void);
/*!
* \brief checks if there is a StallGuard warning in the last status
* \return 0 if there was no warning, -1 if there was some warning.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
boolean isStallGuardOverThreshold(void);
/*!
* \brief Return over temperature status of the last status readout
* return 0 is everything is OK, TMC26X_OVERTEMPERATURE_PREWARING if status is reached, TMC26X_OVERTEMPERATURE_SHUTDOWN is the chip is shutdown, -1 if the status is unknown.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
char getOverTemperature(void);
/*!
* \brief Is motor channel A shorted to ground detected in the last status readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isShortToGroundA(void);
/*!
* \brief Is motor channel B shorted to ground detected in the last status readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isShortToGroundB(void);
/*!
* \brief iIs motor channel A connected according to the last statu readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isOpenLoadA(void);
/*!
* \brief iIs motor channel A connected according to the last statu readout.
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isOpenLoadB(void);
/*!
* \brief Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s
* \return true is yes, false if not.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*/
boolean isStandStill(void);
/*!
* \brief checks if there is a StallGuard warning in the last status
* \return 0 if there was no warning, -1 if there was some warning.
* Keep in mind that this method does not enforce a readout but uses the value of the last status readout.
* You may want to use getMotorPosition() or getCurrentStallGuardReading() to enforce an updated status readout.
*
* \sa isStallGuardOverThreshold()
* TODO why?
*
* \sa setStallGuardThreshold() for tuning the readout to sensible ranges.
*/
boolean isStallGuardReached(void);
/*!
*\brief enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.
*\param enabled a boolean value true if the motor should be enabled, false otherwise.
*/
void setEnabled(boolean enabled);
/*!
*\brief checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely
*\return true if the bridges and by that the motor driver are enabled, false if not.
*\sa setEnabled()
*/
boolean isEnabled();
/*!
* \brief Manually read out the status register
* This function sends a byte to the motor driver in order to get the current readout. The parameter read_value
* seletcs which value will get returned. If the read_vlaue changes in respect to the previous readout this method
* automatically send two bytes to the motor: one to set the redout and one to get the actual readout. So this method
* may take time to send and read one or two bits - depending on the previous readout.
* \param read_value selects which value to read out (0..3). You can use the defines TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, or TMC_262_READOUT_CURRENT
* \sa TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, TMC_262_READOUT_CURRENT
*/
void readStatus(char read_value);
/*!
* \brief Returns the current sense resistor value in milliohm.
* The default value of ,15 Ohm will return 150.
*/
int getResistor();
/*!
* \brief Prints out all the information that can be found in the last status read out - it does not force a status readout.
* The result is printed via Serial
*/
void debugLastStatus(void);
/*!
* \brief library version
* \return the version number as int.
*/
int version(void);
private:
unsigned int steps_left; //the steps the motor has to do to complete the movement
int direction; // Direction of rotation
unsigned long step_delay; // delay between steps, in ms, based on speed
int number_of_steps; // total number of steps this motor can take
unsigned int speed; // we need to store the current speed in order to change the speed after changing microstepping
unsigned int resistor; //current sense resitor value in milliohm
unsigned long last_step_time; // time stamp in ms of when the last step was taken
unsigned long next_step_time; // time stamp in ms of when the last step was taken
//driver control register copies to easily set & modify the registers
unsigned long driver_control_register_value;
unsigned long chopper_config_register;
unsigned long cool_step_register_value;
unsigned long stall_guard2_current_register_value;
unsigned long driver_configuration_register_value;
//the driver status result
unsigned long driver_status_result;
//helper routione to get the top 10 bit of the readout
inline int getReadoutValue();
//the pins for the stepper driver
unsigned char cs_pin;
unsigned char step_pin;
unsigned char dir_pin;
//status values
boolean started; //if the stepper has been started yet
int microsteps; //the current number of micro steps
char constant_off_time; //we need to remember this value in order to enable and disable the motor
unsigned char cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
boolean cool_step_enabled; //we need to remember this to configure the coolstep if it si enabled
//SPI sender
inline void send262(unsigned long datagram);
};
#endif

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<div class="textblock"><code>#include &lt;WProgram.h&gt;</code><br/>
<code>#include &lt;SPI.h&gt;</code><br/>
<code>#include &quot;<a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>&quot;</code><br/>
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<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6560b3471273e99e280ba795e3469ede">DEFAULT_MICROSTEPPING_VALUE</a>&#160;&#160;&#160;32</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">DRIVER_CONTROL_REGISTER</a>&#160;&#160;&#160;0x0ul</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">CHOPPER_CONFIG_REGISTER</a>&#160;&#160;&#160;0x80000ul</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">COOL_STEP_REGISTER</a>&#160;&#160;&#160;0xA0000ul</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a478d9bde09a6528eef6af6ffeeb6caba">STALL_GUARD2_LOAD_MEASURE_REGISTER</a>&#160;&#160;&#160;0xC0000ul</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a143b7757272f07866d9655bde8303d9a">READ_MICROSTEP_POSTION</a>&#160;&#160;&#160;0x0ul</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbb23d2f055c9eab55eac29d1a75deb4">STATUS_OVER_TEMPERATURE_SHUTDOWN</a>&#160;&#160;&#160;0x2ul</td></tr>
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<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab29dc5cd6c6c4e5bf99e71bd563e1be1">STATUS_OPEN_LOAD_B</a>&#160;&#160;&#160;0x40ul</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab96ed1635faee6650e9cce73598a2773">STATUS_STAND_STILL</a>&#160;&#160;&#160;0x80ul</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a5c3d76da63f585e37813c32be2e11ab7">READOUT_VALUE_PATTERN</a>&#160;&#160;&#160;0xFFC00ul</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">INITIAL_MICROSTEPPING</a>&#160;&#160;&#160;0x3ul</td></tr>
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<hr/><h2>Define Documentation</h2>
<a class="anchor" id="a42cb2ce84258587d514ec3268548ba89"></a><!-- doxytag: member="TMC26XStepper.cpp::BLANK_TIMING_PATTERN" ref="a42cb2ce84258587d514ec3268548ba89" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a42cb2ce84258587d514ec3268548ba89">BLANK_TIMING_PATTERN</a>&#160;&#160;&#160;0x18000ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00063">63</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="abdac78f7f2c506972265a8e5883e1eae"></a><!-- doxytag: member="TMC26XStepper.cpp::BLANK_TIMING_SHIFT" ref="abdac78f7f2c506972265a8e5883e1eae" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">BLANK_TIMING_SHIFT</a>&#160;&#160;&#160;15</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00064">64</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a70a540d1090b989b8600b5e4776659fe"></a><!-- doxytag: member="TMC26XStepper.cpp::CHOPPER_CONFIG_REGISTER" ref="a70a540d1090b989b8600b5e4776659fe" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">CHOPPER_CONFIG_REGISTER</a>&#160;&#160;&#160;0x80000ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00041">41</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a57418a67ff726d540b813230bca1d536"></a><!-- doxytag: member="TMC26XStepper.cpp::CHOPPER_MODE_STANDARD" ref="a57418a67ff726d540b813230bca1d536" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a57418a67ff726d540b813230bca1d536">CHOPPER_MODE_STANDARD</a>&#160;&#160;&#160;0x0ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00059">59</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aaf1b564ced7de8ff3245c964e3775826"></a><!-- doxytag: member="TMC26XStepper.cpp::CHOPPER_MODE_T_OFF_FAST_DECAY" ref="aaf1b564ced7de8ff3245c964e3775826" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aaf1b564ced7de8ff3245c964e3775826">CHOPPER_MODE_T_OFF_FAST_DECAY</a>&#160;&#160;&#160;0x4000ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00060">60</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ab9828bfaa075a0a8647c709136016317"></a><!-- doxytag: member="TMC26XStepper.cpp::COOL_STEP_REGISTER" ref="ab9828bfaa075a0a8647c709136016317" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">COOL_STEP_REGISTER</a>&#160;&#160;&#160;0xA0000ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00042">42</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="adbe13a0464355e42fbe786ca5f58ed8d"></a><!-- doxytag: member="TMC26XStepper.cpp::CURRENT_DOWN_STEP_SPEED_PATTERN" ref="adbe13a0464355e42fbe786ca5f58ed8d" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbe13a0464355e42fbe786ca5f58ed8d">CURRENT_DOWN_STEP_SPEED_PATTERN</a>&#160;&#160;&#160;0x6000ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00075">75</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a99dcb8c6d98b0b54c23699a3f90450e4"></a><!-- doxytag: member="TMC26XStepper.cpp::CURRENT_SCALING_PATTERN" ref="a99dcb8c6d98b0b54c23699a3f90450e4" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99dcb8c6d98b0b54c23699a3f90450e4">CURRENT_SCALING_PATTERN</a>&#160;&#160;&#160;0x1Ful</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00083">83</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a6560b3471273e99e280ba795e3469ede"></a><!-- doxytag: member="TMC26XStepper.cpp::DEFAULT_MICROSTEPPING_VALUE" ref="a6560b3471273e99e280ba795e3469ede" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6560b3471273e99e280ba795e3469ede">DEFAULT_MICROSTEPPING_VALUE</a>&#160;&#160;&#160;32</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00037">37</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a770601bf0153e4bc639b9c3005b15af7"></a><!-- doxytag: member="TMC26XStepper.cpp::DOUBLE_EDGE_STEP" ref="a770601bf0153e4bc639b9c3005b15af7" args="" -->
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00051">51</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="af35f569d42ea3b1d634901a3b6a908ee"></a><!-- doxytag: member="TMC26XStepper.cpp::DRIVER_CONFIG_REGISTER" ref="af35f569d42ea3b1d634901a3b6a908ee" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#af35f569d42ea3b1d634901a3b6a908ee">DRIVER_CONFIG_REGISTER</a>&#160;&#160;&#160;0xE0000ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00044">44</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a108f18bf4a30a0e0f0991ac0e4ce0579"></a><!-- doxytag: member="TMC26XStepper.cpp::DRIVER_CONTROL_REGISTER" ref="a108f18bf4a30a0e0f0991ac0e4ce0579" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">DRIVER_CONTROL_REGISTER</a>&#160;&#160;&#160;0x0ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00040">40</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a424c248097b38c1e29e6a58ad48e6bd9"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_DECREMENT_PATTERN" ref="a424c248097b38c1e29e6a58ad48e6bd9" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a424c248097b38c1e29e6a58ad48e6bd9">HYSTERESIS_DECREMENT_PATTERN</a>&#160;&#160;&#160;0x1800ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00065">65</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a36e554a87785ce6ba998b79aae9e74e0"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_DECREMENT_SHIFT" ref="a36e554a87785ce6ba998b79aae9e74e0" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a36e554a87785ce6ba998b79aae9e74e0">HYSTERESIS_DECREMENT_SHIFT</a>&#160;&#160;&#160;11</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00066">66</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a38ce0bb0fa20db28351ac9167f28db98"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_LOW_SHIFT" ref="a38ce0bb0fa20db28351ac9167f28db98" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a38ce0bb0fa20db28351ac9167f28db98">HYSTERESIS_LOW_SHIFT</a>&#160;&#160;&#160;7</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00068">68</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ad9d2302f6d61cd84a612a2e2bcdeb56e"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_LOW_VALUE_PATTERN" ref="ad9d2302f6d61cd84a612a2e2bcdeb56e" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ad9d2302f6d61cd84a612a2e2bcdeb56e">HYSTERESIS_LOW_VALUE_PATTERN</a>&#160;&#160;&#160;0x780ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00067">67</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a0de4e98b412dced62c3a4452b7483af3"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_START_VALUE_PATTERN" ref="a0de4e98b412dced62c3a4452b7483af3" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a0de4e98b412dced62c3a4452b7483af3">HYSTERESIS_START_VALUE_PATTERN</a>&#160;&#160;&#160;0x78ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00069">69</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ac2c1c939256126e605396c4aaee3c804"></a><!-- doxytag: member="TMC26XStepper.cpp::HYSTERESIS_START_VALUE_SHIFT" ref="ac2c1c939256126e605396c4aaee3c804" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac2c1c939256126e605396c4aaee3c804">HYSTERESIS_START_VALUE_SHIFT</a>&#160;&#160;&#160;4</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00070">70</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a54a6d12e96d851361974b10614a00e45"></a><!-- doxytag: member="TMC26XStepper.cpp::INITIAL_MICROSTEPPING" ref="a54a6d12e96d851361974b10614a00e45" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">INITIAL_MICROSTEPPING</a>&#160;&#160;&#160;0x3ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00099">99</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a8f5cb0c066109ffb18cefc0e85ee1d1b"></a><!-- doxytag: member="TMC26XStepper.cpp::MICROSTEPPING_PATTERN" ref="a8f5cb0c066109ffb18cefc0e85ee1d1b" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8f5cb0c066109ffb18cefc0e85ee1d1b">MICROSTEPPING_PATTERN</a>&#160;&#160;&#160;0xFul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00049">49</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a8a261a77d198b85f6dd8416387b354b3"></a><!-- doxytag: member="TMC26XStepper.cpp::MINIMUM_CURRENT_FOURTH" ref="a8a261a77d198b85f6dd8416387b354b3" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8a261a77d198b85f6dd8416387b354b3">MINIMUM_CURRENT_FOURTH</a>&#160;&#160;&#160;0x8000ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00074">74</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a64520580cffd416668f3b91bd60f84e1"></a><!-- doxytag: member="TMC26XStepper.cpp::RANDOM_TOFF_TIME" ref="a64520580cffd416668f3b91bd60f84e1" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a64520580cffd416668f3b91bd60f84e1">RANDOM_TOFF_TIME</a>&#160;&#160;&#160;0x2000ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00062">62</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a143b7757272f07866d9655bde8303d9a"></a><!-- doxytag: member="TMC26XStepper.cpp::READ_MICROSTEP_POSTION" ref="a143b7757272f07866d9655bde8303d9a" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a143b7757272f07866d9655bde8303d9a">READ_MICROSTEP_POSTION</a>&#160;&#160;&#160;0x0ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00053">53</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a88a4b45fa6385eba8aa4f0342334b832"></a><!-- doxytag: member="TMC26XStepper.cpp::READ_SELECTION_PATTERN" ref="a88a4b45fa6385eba8aa4f0342334b832" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a88a4b45fa6385eba8aa4f0342334b832">READ_SELECTION_PATTERN</a>&#160;&#160;&#160;0x30ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00056">56</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aef62b7fdcbac0b33b2d6e9cea4b5f9b2"></a><!-- doxytag: member="TMC26XStepper.cpp::READ_STALL_GUARD_AND_COOL_STEP" ref="aef62b7fdcbac0b33b2d6e9cea4b5f9b2" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aef62b7fdcbac0b33b2d6e9cea4b5f9b2">READ_STALL_GUARD_AND_COOL_STEP</a>&#160;&#160;&#160;0x20ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00055">55</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ac1bd4da94fab7ce1049be2f866211819"></a><!-- doxytag: member="TMC26XStepper.cpp::READ_STALL_GUARD_READING" ref="ac1bd4da94fab7ce1049be2f866211819" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">READ_STALL_GUARD_READING</a>&#160;&#160;&#160;0x10ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00054">54</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a5c3d76da63f585e37813c32be2e11ab7"></a><!-- doxytag: member="TMC26XStepper.cpp::READOUT_VALUE_PATTERN" ref="a5c3d76da63f585e37813c32be2e11ab7" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a5c3d76da63f585e37813c32be2e11ab7">READOUT_VALUE_PATTERN</a>&#160;&#160;&#160;0xFFC00ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00096">96</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a3b02ee1f518b0c90c16488f937abd443"></a><!-- doxytag: member="TMC26XStepper.cpp::REGISTER_BIT_PATTERN" ref="a3b02ee1f518b0c90c16488f937abd443" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a3b02ee1f518b0c90c16488f937abd443">REGISTER_BIT_PATTERN</a>&#160;&#160;&#160;0xFFFFFul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00046">46</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aba6c07e5672e34e618bb3a550ab0d2bc"></a><!-- doxytag: member="TMC26XStepper.cpp::SE_CURRENT_STEP_WIDTH_PATTERN" ref="aba6c07e5672e34e618bb3a550ab0d2bc" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aba6c07e5672e34e618bb3a550ab0d2bc">SE_CURRENT_STEP_WIDTH_PATTERN</a>&#160;&#160;&#160;0x60ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00077">77</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ac8f748bf735c447dbed7dd4c7b631a87"></a><!-- doxytag: member="TMC26XStepper.cpp::SE_MAX_PATTERN" ref="ac8f748bf735c447dbed7dd4c7b631a87" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac8f748bf735c447dbed7dd4c7b631a87">SE_MAX_PATTERN</a>&#160;&#160;&#160;0xF00ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00076">76</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ae1862dfb958c03698b0abd95fda033ea"></a><!-- doxytag: member="TMC26XStepper.cpp::SE_MIN_PATTERN" ref="ae1862dfb958c03698b0abd95fda033ea" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae1862dfb958c03698b0abd95fda033ea">SE_MIN_PATTERN</a>&#160;&#160;&#160;0xful</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00078">78</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a478d9bde09a6528eef6af6ffeeb6caba"></a><!-- doxytag: member="TMC26XStepper.cpp::STALL_GUARD2_LOAD_MEASURE_REGISTER" ref="a478d9bde09a6528eef6af6ffeeb6caba" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a478d9bde09a6528eef6af6ffeeb6caba">STALL_GUARD2_LOAD_MEASURE_REGISTER</a>&#160;&#160;&#160;0xC0000ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00043">43</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a99ac04f0615556fc13c0c9f3e1c1b49d"></a><!-- doxytag: member="TMC26XStepper.cpp::STALL_GUARD_CONFIG_PATTERN" ref="a99ac04f0615556fc13c0c9f3e1c1b49d" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99ac04f0615556fc13c0c9f3e1c1b49d">STALL_GUARD_CONFIG_PATTERN</a>&#160;&#160;&#160;0x17F00ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00084">84</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="afdbbefabd0c29c4b6e403c4663d0f0be"></a><!-- doxytag: member="TMC26XStepper.cpp::STALL_GUARD_FILTER_ENABLED" ref="afdbbefabd0c29c4b6e403c4663d0f0be" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#afdbbefabd0c29c4b6e403c4663d0f0be">STALL_GUARD_FILTER_ENABLED</a>&#160;&#160;&#160;0x10000ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00081">81</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ae631457932894a974334892704550ecc"></a><!-- doxytag: member="TMC26XStepper.cpp::STALL_GUARD_TRESHHOLD_VALUE_PATTERN" ref="ae631457932894a974334892704550ecc" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae631457932894a974334892704550ecc">STALL_GUARD_TRESHHOLD_VALUE_PATTERN</a>&#160;&#160;&#160;0x17F00ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00082">82</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a6a1cb1fd61cf7c570f94376fa11fe55b"></a><!-- doxytag: member="TMC26XStepper.cpp::STALL_GUARD_VALUE_PATTERN" ref="a6a1cb1fd61cf7c570f94376fa11fe55b" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6a1cb1fd61cf7c570f94376fa11fe55b">STALL_GUARD_VALUE_PATTERN</a>&#160;&#160;&#160;0x7F00ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00085">85</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ae9cbbe5af7188e6bff8fe412f8e42f59"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_OPEN_LOAD_A" ref="ae9cbbe5af7188e6bff8fe412f8e42f59" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae9cbbe5af7188e6bff8fe412f8e42f59">STATUS_OPEN_LOAD_A</a>&#160;&#160;&#160;0x20ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00093">93</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ab29dc5cd6c6c4e5bf99e71bd563e1be1"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_OPEN_LOAD_B" ref="ab29dc5cd6c6c4e5bf99e71bd563e1be1" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab29dc5cd6c6c4e5bf99e71bd563e1be1">STATUS_OPEN_LOAD_B</a>&#160;&#160;&#160;0x40ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00094">94</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="adbb23d2f055c9eab55eac29d1a75deb4"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_OVER_TEMPERATURE_SHUTDOWN" ref="adbb23d2f055c9eab55eac29d1a75deb4" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbb23d2f055c9eab55eac29d1a75deb4">STATUS_OVER_TEMPERATURE_SHUTDOWN</a>&#160;&#160;&#160;0x2ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00089">89</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aa317fd77f2f26fdfbfd331e21d9069e8"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_OVER_TEMPERATURE_WARNING" ref="aa317fd77f2f26fdfbfd331e21d9069e8" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa317fd77f2f26fdfbfd331e21d9069e8">STATUS_OVER_TEMPERATURE_WARNING</a>&#160;&#160;&#160;0x4ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00090">90</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a8e03041302a092174fa33b3cf837dca2"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_SHORT_TO_GROUND_A" ref="a8e03041302a092174fa33b3cf837dca2" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8e03041302a092174fa33b3cf837dca2">STATUS_SHORT_TO_GROUND_A</a>&#160;&#160;&#160;0x8ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00091">91</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a903c3eba99695a32c6736463dcfd93ae"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_SHORT_TO_GROUND_B" ref="a903c3eba99695a32c6736463dcfd93ae" args="" -->
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00092">92</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aa09ef662fd19bf2d063d6bd0f48eca14"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_STALL_GUARD_STATUS" ref="aa09ef662fd19bf2d063d6bd0f48eca14" args="" -->
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00088">88</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ab96ed1635faee6650e9cce73598a2773"></a><!-- doxytag: member="TMC26XStepper.cpp::STATUS_STAND_STILL" ref="ab96ed1635faee6650e9cce73598a2773" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab96ed1635faee6650e9cce73598a2773">STATUS_STAND_STILL</a>&#160;&#160;&#160;0x80ul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00095">95</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aa64245f223209654c60588e4558e0bab"></a><!-- doxytag: member="TMC26XStepper.cpp::STEP_INTERPOLATION" ref="aa64245f223209654c60588e4558e0bab" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa64245f223209654c60588e4558e0bab">STEP_INTERPOLATION</a>&#160;&#160;&#160;0x200ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00050">50</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aa4e49237f2671e7f28aa34ae0e89da8d"></a><!-- doxytag: member="TMC26XStepper.cpp::T_OFF_PATTERN" ref="aa4e49237f2671e7f28aa34ae0e89da8d" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa4e49237f2671e7f28aa34ae0e89da8d">T_OFF_PATTERN</a>&#160;&#160;&#160;0xful</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00061">61</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a7659d842c803e47ba911a2a6e26327f3"></a><!-- doxytag: member="TMC26XStepper.cpp::T_OFF_TIMING_PATERN" ref="a7659d842c803e47ba911a2a6e26327f3" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a7659d842c803e47ba911a2a6e26327f3">T_OFF_TIMING_PATERN</a>&#160;&#160;&#160;0xFul</td>
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<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00071">71</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a4fb1c008e2ff76eee9362600eed112e1"></a><!-- doxytag: member="TMC26XStepper.cpp::VSENSE" ref="a4fb1c008e2ff76eee9362600eed112e1" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">VSENSE</a>&#160;&#160;&#160;0x40ul</td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00052">52</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a href="_t_m_c26_x_stepper_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino - Version 0.1</span>
<a name="l00003"></a>00003 <span class="comment"> </span>
<a name="l00004"></a>00004 <span class="comment"> based on the stepper library by Tom Igoe, et. al.</span>
<a name="l00005"></a>00005 <span class="comment"> </span>
<a name="l00006"></a>00006 <span class="comment"> Copyright (c) 2011, Interactive Matter, Marcus Nowotny</span>
<a name="l00007"></a>00007 <span class="comment"> </span>
<a name="l00008"></a>00008 <span class="comment"> Permission is hereby granted, free of charge, to any person obtaining a copy</span>
<a name="l00009"></a>00009 <span class="comment"> of this software and associated documentation files (the &quot;Software&quot;), to deal</span>
<a name="l00010"></a>00010 <span class="comment"> in the Software without restriction, including without limitation the rights</span>
<a name="l00011"></a>00011 <span class="comment"> to use, copy, modify, merge, publish, distribute, sublicense, and/or sell</span>
<a name="l00012"></a>00012 <span class="comment"> copies of the Software, and to permit persons to whom the Software is</span>
<a name="l00013"></a>00013 <span class="comment"> furnished to do so, subject to the following conditions:</span>
<a name="l00014"></a>00014 <span class="comment"> </span>
<a name="l00015"></a>00015 <span class="comment"> The above copyright notice and this permission notice shall be included in</span>
<a name="l00016"></a>00016 <span class="comment"> all copies or substantial portions of the Software.</span>
<a name="l00017"></a>00017 <span class="comment"> </span>
<a name="l00018"></a>00018 <span class="comment"> THE SOFTWARE IS PROVIDED &quot;AS IS&quot;, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span>
<a name="l00019"></a>00019 <span class="comment"> IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span>
<a name="l00020"></a>00020 <span class="comment"> FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE</span>
<a name="l00021"></a>00021 <span class="comment"> AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span>
<a name="l00022"></a>00022 <span class="comment"> LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,</span>
<a name="l00023"></a>00023 <span class="comment"> OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN</span>
<a name="l00024"></a>00024 <span class="comment"> THE SOFTWARE.</span>
<a name="l00025"></a>00025 <span class="comment"> </span>
<a name="l00026"></a>00026 <span class="comment"> */</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="preprocessor">#if defined(ARDUINO) &amp;&amp; ARDUINO &gt;= 100</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor"> #include &lt;Arduino.h&gt;</span>
<a name="l00030"></a>00030 <span class="preprocessor">#else</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor"> #include &lt;WProgram.h&gt;</span>
<a name="l00032"></a>00032 <span class="preprocessor">#endif</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span><span class="preprocessor">#include &lt;SPI.h&gt;</span>
<a name="l00034"></a>00034 <span class="preprocessor">#include &quot;<a class="code" href="_t_m_c26_x_stepper_8h.html">TMC26XStepper.h</a>&quot;</span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="comment">//some default values used in initialization</span>
<a name="l00037"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a6560b3471273e99e280ba795e3469ede">00037</a> <span class="preprocessor">#define DEFAULT_MICROSTEPPING_VALUE 32</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span>
<a name="l00039"></a>00039 <span class="comment">//TMC26X register definitions</span>
<a name="l00040"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">00040</a> <span class="preprocessor">#define DRIVER_CONTROL_REGISTER 0x0ul</span>
<a name="l00041"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">00041</a> <span class="preprocessor"></span><span class="preprocessor">#define CHOPPER_CONFIG_REGISTER 0x80000ul</span>
<a name="l00042"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">00042</a> <span class="preprocessor"></span><span class="preprocessor">#define COOL_STEP_REGISTER 0xA0000ul</span>
<a name="l00043"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a478d9bde09a6528eef6af6ffeeb6caba">00043</a> <span class="preprocessor"></span><span class="preprocessor">#define STALL_GUARD2_LOAD_MEASURE_REGISTER 0xC0000ul</span>
<a name="l00044"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#af35f569d42ea3b1d634901a3b6a908ee">00044</a> <span class="preprocessor"></span><span class="preprocessor">#define DRIVER_CONFIG_REGISTER 0xE0000ul</span>
<a name="l00045"></a>00045 <span class="preprocessor"></span>
<a name="l00046"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a3b02ee1f518b0c90c16488f937abd443">00046</a> <span class="preprocessor">#define REGISTER_BIT_PATTERN 0xFFFFFul</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span>
<a name="l00048"></a>00048 <span class="comment">//definitions for the driver control register</span>
<a name="l00049"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a8f5cb0c066109ffb18cefc0e85ee1d1b">00049</a> <span class="preprocessor">#define MICROSTEPPING_PATTERN 0xFul</span>
<a name="l00050"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#aa64245f223209654c60588e4558e0bab">00050</a> <span class="preprocessor"></span><span class="preprocessor">#define STEP_INTERPOLATION 0x200ul</span>
<a name="l00051"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a770601bf0153e4bc639b9c3005b15af7">00051</a> <span class="preprocessor"></span><span class="preprocessor">#define DOUBLE_EDGE_STEP 0x100ul</span>
<a name="l00052"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">00052</a> <span class="preprocessor"></span><span class="preprocessor">#define VSENSE 0x40ul</span>
<a name="l00053"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a143b7757272f07866d9655bde8303d9a">00053</a> <span class="preprocessor"></span><span class="preprocessor">#define READ_MICROSTEP_POSTION 0x0ul</span>
<a name="l00054"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">00054</a> <span class="preprocessor"></span><span class="preprocessor">#define READ_STALL_GUARD_READING 0x10ul</span>
<a name="l00055"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#aef62b7fdcbac0b33b2d6e9cea4b5f9b2">00055</a> <span class="preprocessor"></span><span class="preprocessor">#define READ_STALL_GUARD_AND_COOL_STEP 0x20ul</span>
<a name="l00056"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a88a4b45fa6385eba8aa4f0342334b832">00056</a> <span class="preprocessor"></span><span class="preprocessor">#define READ_SELECTION_PATTERN 0x30ul</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span>
<a name="l00058"></a>00058 <span class="comment">//definitions for the chopper config register</span>
<a name="l00059"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a57418a67ff726d540b813230bca1d536">00059</a> <span class="preprocessor">#define CHOPPER_MODE_STANDARD 0x0ul</span>
<a name="l00060"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#aaf1b564ced7de8ff3245c964e3775826">00060</a> <span class="preprocessor"></span><span class="preprocessor">#define CHOPPER_MODE_T_OFF_FAST_DECAY 0x4000ul</span>
<a name="l00061"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#aa4e49237f2671e7f28aa34ae0e89da8d">00061</a> <span class="preprocessor"></span><span class="preprocessor">#define T_OFF_PATTERN 0xful</span>
<a name="l00062"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a64520580cffd416668f3b91bd60f84e1">00062</a> <span class="preprocessor"></span><span class="preprocessor">#define RANDOM_TOFF_TIME 0x2000ul</span>
<a name="l00063"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a42cb2ce84258587d514ec3268548ba89">00063</a> <span class="preprocessor"></span><span class="preprocessor">#define BLANK_TIMING_PATTERN 0x18000ul</span>
<a name="l00064"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">00064</a> <span class="preprocessor"></span><span class="preprocessor">#define BLANK_TIMING_SHIFT 15</span>
<a name="l00065"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a424c248097b38c1e29e6a58ad48e6bd9">00065</a> <span class="preprocessor"></span><span class="preprocessor">#define HYSTERESIS_DECREMENT_PATTERN 0x1800ul</span>
<a name="l00066"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a36e554a87785ce6ba998b79aae9e74e0">00066</a> <span class="preprocessor"></span><span class="preprocessor">#define HYSTERESIS_DECREMENT_SHIFT 11</span>
<a name="l00067"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#ad9d2302f6d61cd84a612a2e2bcdeb56e">00067</a> <span class="preprocessor"></span><span class="preprocessor">#define HYSTERESIS_LOW_VALUE_PATTERN 0x780ul</span>
<a name="l00068"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a38ce0bb0fa20db28351ac9167f28db98">00068</a> <span class="preprocessor"></span><span class="preprocessor">#define HYSTERESIS_LOW_SHIFT 7</span>
<a name="l00069"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a0de4e98b412dced62c3a4452b7483af3">00069</a> <span class="preprocessor"></span><span class="preprocessor">#define HYSTERESIS_START_VALUE_PATTERN 0x78ul</span>
<a name="l00070"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#ac2c1c939256126e605396c4aaee3c804">00070</a> <span class="preprocessor"></span><span class="preprocessor">#define HYSTERESIS_START_VALUE_SHIFT 4</span>
<a name="l00071"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a7659d842c803e47ba911a2a6e26327f3">00071</a> <span class="preprocessor"></span><span class="preprocessor">#define T_OFF_TIMING_PATERN 0xFul</span>
<a name="l00072"></a>00072 <span class="preprocessor"></span>
<a name="l00073"></a>00073 <span class="comment">//definitions for cool step register</span>
<a name="l00074"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a8a261a77d198b85f6dd8416387b354b3">00074</a> <span class="preprocessor">#define MINIMUM_CURRENT_FOURTH 0x8000ul</span>
<a name="l00075"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#adbe13a0464355e42fbe786ca5f58ed8d">00075</a> <span class="preprocessor"></span><span class="preprocessor">#define CURRENT_DOWN_STEP_SPEED_PATTERN 0x6000ul</span>
<a name="l00076"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#ac8f748bf735c447dbed7dd4c7b631a87">00076</a> <span class="preprocessor"></span><span class="preprocessor">#define SE_MAX_PATTERN 0xF00ul</span>
<a name="l00077"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#aba6c07e5672e34e618bb3a550ab0d2bc">00077</a> <span class="preprocessor"></span><span class="preprocessor">#define SE_CURRENT_STEP_WIDTH_PATTERN 0x60ul</span>
<a name="l00078"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#ae1862dfb958c03698b0abd95fda033ea">00078</a> <span class="preprocessor"></span><span class="preprocessor">#define SE_MIN_PATTERN 0xful</span>
<a name="l00079"></a>00079 <span class="preprocessor"></span>
<a name="l00080"></a>00080 <span class="comment">//definitions for stall guard2 current register</span>
<a name="l00081"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#afdbbefabd0c29c4b6e403c4663d0f0be">00081</a> <span class="preprocessor">#define STALL_GUARD_FILTER_ENABLED 0x10000ul</span>
<a name="l00082"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#ae631457932894a974334892704550ecc">00082</a> <span class="preprocessor"></span><span class="preprocessor">#define STALL_GUARD_TRESHHOLD_VALUE_PATTERN 0x17F00ul</span>
<a name="l00083"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a99dcb8c6d98b0b54c23699a3f90450e4">00083</a> <span class="preprocessor"></span><span class="preprocessor">#define CURRENT_SCALING_PATTERN 0x1Ful</span>
<a name="l00084"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a99ac04f0615556fc13c0c9f3e1c1b49d">00084</a> <span class="preprocessor"></span><span class="preprocessor">#define STALL_GUARD_CONFIG_PATTERN 0x17F00ul</span>
<a name="l00085"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a6a1cb1fd61cf7c570f94376fa11fe55b">00085</a> <span class="preprocessor"></span><span class="preprocessor">#define STALL_GUARD_VALUE_PATTERN 0x7F00ul</span>
<a name="l00086"></a>00086 <span class="preprocessor"></span>
<a name="l00087"></a>00087 <span class="comment">//definitions for the input from the TCM260</span>
<a name="l00088"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#aa09ef662fd19bf2d063d6bd0f48eca14">00088</a> <span class="preprocessor">#define STATUS_STALL_GUARD_STATUS 0x1ul</span>
<a name="l00089"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#adbb23d2f055c9eab55eac29d1a75deb4">00089</a> <span class="preprocessor"></span><span class="preprocessor">#define STATUS_OVER_TEMPERATURE_SHUTDOWN 0x2ul</span>
<a name="l00090"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#aa317fd77f2f26fdfbfd331e21d9069e8">00090</a> <span class="preprocessor"></span><span class="preprocessor">#define STATUS_OVER_TEMPERATURE_WARNING 0x4ul</span>
<a name="l00091"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a8e03041302a092174fa33b3cf837dca2">00091</a> <span class="preprocessor"></span><span class="preprocessor">#define STATUS_SHORT_TO_GROUND_A 0x8ul</span>
<a name="l00092"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a903c3eba99695a32c6736463dcfd93ae">00092</a> <span class="preprocessor"></span><span class="preprocessor">#define STATUS_SHORT_TO_GROUND_B 0x10ul</span>
<a name="l00093"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#ae9cbbe5af7188e6bff8fe412f8e42f59">00093</a> <span class="preprocessor"></span><span class="preprocessor">#define STATUS_OPEN_LOAD_A 0x20ul</span>
<a name="l00094"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#ab29dc5cd6c6c4e5bf99e71bd563e1be1">00094</a> <span class="preprocessor"></span><span class="preprocessor">#define STATUS_OPEN_LOAD_B 0x40ul</span>
<a name="l00095"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#ab96ed1635faee6650e9cce73598a2773">00095</a> <span class="preprocessor"></span><span class="preprocessor">#define STATUS_STAND_STILL 0x80ul</span>
<a name="l00096"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a5c3d76da63f585e37813c32be2e11ab7">00096</a> <span class="preprocessor"></span><span class="preprocessor">#define READOUT_VALUE_PATTERN 0xFFC00ul</span>
<a name="l00097"></a>00097 <span class="preprocessor"></span>
<a name="l00098"></a>00098 <span class="comment">//default values</span>
<a name="l00099"></a><a class="code" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">00099</a> <span class="preprocessor">#define INITIAL_MICROSTEPPING 0x3ul //32th microstepping</span>
<a name="l00100"></a>00100 <span class="preprocessor"></span>
<a name="l00101"></a>00101 <span class="comment">//debuging output</span>
<a name="l00102"></a>00102 <span class="comment">//#define DEBUG</span>
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="comment">/*</span>
<a name="l00105"></a>00105 <span class="comment"> * Constructor</span>
<a name="l00106"></a>00106 <span class="comment"> * number_of_steps - the steps per rotation</span>
<a name="l00107"></a>00107 <span class="comment"> * cs_pin - the SPI client select pin</span>
<a name="l00108"></a>00108 <span class="comment"> * dir_pin - the pin where the direction pin is connected</span>
<a name="l00109"></a>00109 <span class="comment"> * step_pin - the pin where the step pin is connected</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a><a class="code" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">00111</a> <a class="code" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c" title="creates a new represenatation of a stepper motor connected to a TMC26X stepper driver">TMC26XStepper::TMC26XStepper</a>(<span class="keywordtype">int</span> number_of_steps, <span class="keywordtype">int</span> cs_pin, <span class="keywordtype">int</span> dir_pin, <span class="keywordtype">int</span> step_pin, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> current, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> resistor)
<a name="l00112"></a>00112 {
<a name="l00113"></a>00113 <span class="comment">//we are not started yet</span>
<a name="l00114"></a>00114 started=<span class="keyword">false</span>;
<a name="l00115"></a>00115 <span class="comment">//by default cool step is not enabled</span>
<a name="l00116"></a>00116 cool_step_enabled=<span class="keyword">false</span>;
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="comment">//save the pins for later use</span>
<a name="l00119"></a>00119 this-&gt;cs_pin=cs_pin;
<a name="l00120"></a>00120 this-&gt;dir_pin=dir_pin;
<a name="l00121"></a>00121 this-&gt;step_pin = step_pin;
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="comment">//store the current sense resistor value for later use</span>
<a name="l00124"></a>00124 this-&gt;resistor = resistor;
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="comment">//initizalize our status values</span>
<a name="l00127"></a>00127 this-&gt;steps_left = 0;
<a name="l00128"></a>00128 this-&gt;direction = 0;
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="comment">//initialize register values</span>
<a name="l00131"></a>00131 driver_control_register_value=<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">DRIVER_CONTROL_REGISTER</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">INITIAL_MICROSTEPPING</a>;
<a name="l00132"></a>00132 chopper_config_register=<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">CHOPPER_CONFIG_REGISTER</a>;
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="comment">//setting the default register values</span>
<a name="l00135"></a>00135 driver_control_register_value=<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">DRIVER_CONTROL_REGISTER</a>|<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">INITIAL_MICROSTEPPING</a>;
<a name="l00136"></a>00136 microsteps = (1 &lt;&lt; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">INITIAL_MICROSTEPPING</a>);
<a name="l00137"></a>00137 chopper_config_register=<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">CHOPPER_CONFIG_REGISTER</a>;
<a name="l00138"></a>00138 cool_step_register_value=<a class="code" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">COOL_STEP_REGISTER</a>;
<a name="l00139"></a>00139 stall_guard2_current_register_value=<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a478d9bde09a6528eef6af6ffeeb6caba">STALL_GUARD2_LOAD_MEASURE_REGISTER</a>;
<a name="l00140"></a>00140 driver_configuration_register_value = <a class="code" href="_t_m_c26_x_stepper_8cpp.html#af35f569d42ea3b1d634901a3b6a908ee">DRIVER_CONFIG_REGISTER</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">READ_STALL_GUARD_READING</a>;
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="comment">//set the current</span>
<a name="l00143"></a>00143 <a class="code" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2" title="set the maximum motor current in mA (1000 is 1 Amp) Keep in mind this is the maximum peak Current...">setCurrent</a>(current);
<a name="l00144"></a>00144 <span class="comment">//set to a conservative start value</span>
<a name="l00145"></a>00145 <a class="code" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649" title="Sets and configure the classical Constant Off Timer Chopper.">setConstantOffTimeChopper</a>(7, 54, 13,12,1);
<a name="l00146"></a>00146 <span class="comment">//set a nice microstepping value</span>
<a name="l00147"></a>00147 <a class="code" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps</a>(<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a6560b3471273e99e280ba795e3469ede">DEFAULT_MICROSTEPPING_VALUE</a>);
<a name="l00148"></a>00148 <span class="comment">//save the number of steps</span>
<a name="l00149"></a>00149 this-&gt;number_of_steps = number_of_steps;
<a name="l00150"></a>00150 }
<a name="l00151"></a>00151
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="comment">/*</span>
<a name="l00154"></a>00154 <span class="comment"> * start &amp; configure the stepper driver</span>
<a name="l00155"></a>00155 <span class="comment"> * just must be called.</span>
<a name="l00156"></a>00156 <span class="comment"> */</span>
<a name="l00157"></a><a class="code" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">00157</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7" title="configures and starts the TMC26X stepper driver. Before you called this function the stepper driver i...">TMC26XStepper::start</a>() {
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="preprocessor">#ifdef DEBUG </span>
<a name="l00160"></a>00160 <span class="preprocessor"></span> Serial.println(<span class="stringliteral">&quot;TMC26X stepper library&quot;</span>);
<a name="l00161"></a>00161 Serial.print(<span class="stringliteral">&quot;CS pin: &quot;</span>);
<a name="l00162"></a>00162 Serial.println(cs_pin);
<a name="l00163"></a>00163 Serial.print(<span class="stringliteral">&quot;DIR pin: &quot;</span>);
<a name="l00164"></a>00164 Serial.println(dir_pin);
<a name="l00165"></a>00165 Serial.print(<span class="stringliteral">&quot;STEP pin: &quot;</span>);
<a name="l00166"></a>00166 Serial.println(step_pin);
<a name="l00167"></a>00167 Serial.print(<span class="stringliteral">&quot;current scaling: &quot;</span>);
<a name="l00168"></a>00168 Serial.println(current_scaling,DEC);
<a name="l00169"></a>00169 <span class="preprocessor">#endif</span>
<a name="l00170"></a>00170 <span class="preprocessor"></span> <span class="comment">//set the pins as output &amp; its initial value</span>
<a name="l00171"></a>00171 pinMode(step_pin, OUTPUT);
<a name="l00172"></a>00172 pinMode(dir_pin, OUTPUT);
<a name="l00173"></a>00173 pinMode(cs_pin, OUTPUT);
<a name="l00174"></a>00174 digitalWrite(step_pin, LOW);
<a name="l00175"></a>00175 digitalWrite(dir_pin, LOW);
<a name="l00176"></a>00176 digitalWrite(cs_pin, HIGH);
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <span class="comment">//configure the SPI interface</span>
<a name="l00179"></a>00179 SPI.setBitOrder(MSBFIRST);
<a name="l00180"></a>00180 SPI.setClockDivider(SPI_CLOCK_DIV8);
<a name="l00181"></a>00181 <span class="comment">//todo this does not work reliably - find a way to foolprof set it (e.g. while communicating</span>
<a name="l00182"></a>00182 <span class="comment">//SPI.setDataMode(SPI_MODE3);</span>
<a name="l00183"></a>00183 SPI.begin();
<a name="l00184"></a>00184
<a name="l00185"></a>00185 <span class="comment">//set the initial values</span>
<a name="l00186"></a>00186 send262(driver_control_register_value);
<a name="l00187"></a>00187 send262(chopper_config_register);
<a name="l00188"></a>00188 send262(cool_step_register_value);
<a name="l00189"></a>00189 send262(stall_guard2_current_register_value);
<a name="l00190"></a>00190 send262(driver_configuration_register_value);
<a name="l00191"></a>00191
<a name="l00192"></a>00192 <span class="comment">//save that we are in running mode</span>
<a name="l00193"></a>00193 started=<span class="keyword">true</span>;
<a name="l00194"></a>00194 }
<a name="l00195"></a>00195
<a name="l00196"></a>00196 <span class="comment">/*</span>
<a name="l00197"></a>00197 <span class="comment"> Mark the driver as unstarted to be able to start it again</span>
<a name="l00198"></a>00198 <span class="comment"> */</span>
<a name="l00199"></a><a class="code" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">00199</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5" title="resets the stepper in unconfigured mode.">TMC26XStepper::un_start</a>() {
<a name="l00200"></a>00200 started=<span class="keyword">false</span>;
<a name="l00201"></a>00201 }
<a name="l00202"></a>00202
<a name="l00203"></a>00203
<a name="l00204"></a>00204 <span class="comment">/*</span>
<a name="l00205"></a>00205 <span class="comment"> Sets the speed in revs per minute</span>
<a name="l00206"></a>00206 <span class="comment"></span>
<a name="l00207"></a>00207 <span class="comment">*/</span>
<a name="l00208"></a><a class="code" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">00208</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd" title="Sets the rotation speed in revolutions per minute.">TMC26XStepper::setSpeed</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> whatSpeed)
<a name="l00209"></a>00209 {
<a name="l00210"></a>00210 this-&gt;speed = whatSpeed;
<a name="l00211"></a>00211 this-&gt;step_delay = (60UL * 1000UL * 1000UL) / ((<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>)this-&gt;number_of_steps * (<span class="keywordtype">unsigned</span> long)whatSpeed * (<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>)this-&gt;microsteps);
<a name="l00212"></a>00212 <span class="preprocessor">#ifdef DEBUG</span>
<a name="l00213"></a>00213 <span class="preprocessor"></span> Serial.print(<span class="stringliteral">&quot;Step delay in micros: &quot;</span>);
<a name="l00214"></a>00214 Serial.println(this-&gt;step_delay);
<a name="l00215"></a>00215 <span class="preprocessor">#endif</span>
<a name="l00216"></a>00216 <span class="preprocessor"></span> <span class="comment">//update the next step time</span>
<a name="l00217"></a>00217 this-&gt;next_step_time = this-&gt;last_step_time+this-&gt;step_delay;
<a name="l00218"></a>00218
<a name="l00219"></a>00219 }
<a name="l00220"></a>00220
<a name="l00221"></a><a class="code" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">00221</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29" title="reads out the currently selected speed in revolutions per minute.">TMC26XStepper::getSpeed</a>(<span class="keywordtype">void</span>) {
<a name="l00222"></a>00222 <span class="keywordflow">return</span> this-&gt;speed;
<a name="l00223"></a>00223 }
<a name="l00224"></a>00224
<a name="l00225"></a>00225 <span class="comment">/*</span>
<a name="l00226"></a>00226 <span class="comment"> Moves the motor steps_to_move steps. If the number is negative, </span>
<a name="l00227"></a>00227 <span class="comment"> the motor moves in the reverse direction.</span>
<a name="l00228"></a>00228 <span class="comment"> */</span>
<a name="l00229"></a><a class="code" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">00229</a> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d" title="Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in ...">TMC26XStepper::step</a>(<span class="keywordtype">int</span> steps_to_move)
<a name="l00230"></a>00230 {
<a name="l00231"></a>00231 <span class="keywordflow">if</span> (this-&gt;steps_left==0) {
<a name="l00232"></a>00232 this-&gt;steps_left = abs(steps_to_move); <span class="comment">// how many steps to take</span>
<a name="l00233"></a>00233
<a name="l00234"></a>00234 <span class="comment">// determine direction based on whether steps_to_mode is + or -:</span>
<a name="l00235"></a>00235 <span class="keywordflow">if</span> (steps_to_move &gt; 0) {
<a name="l00236"></a>00236 this-&gt;direction = 1;
<a name="l00237"></a>00237 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (steps_to_move &lt; 0) {
<a name="l00238"></a>00238 this-&gt;direction = 0;
<a name="l00239"></a>00239 }
<a name="l00240"></a>00240 <span class="keywordflow">return</span> 0;
<a name="l00241"></a>00241 } <span class="keywordflow">else</span> {
<a name="l00242"></a>00242 <span class="keywordflow">return</span> -1;
<a name="l00243"></a>00243 }
<a name="l00244"></a>00244 }
<a name="l00245"></a>00245
<a name="l00246"></a><a class="code" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">00246</a> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415" title="Central movement method, must be called as often as possible in the lopp function and is very fast...">TMC26XStepper::move</a>(<span class="keywordtype">void</span>) {
<a name="l00247"></a>00247 <span class="comment">// decrement the number of steps, moving one step each time:</span>
<a name="l00248"></a>00248 <span class="keywordflow">if</span>(this-&gt;steps_left&gt;0) {
<a name="l00249"></a>00249 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> time = micros();
<a name="l00250"></a>00250 <span class="comment">// move only if the appropriate delay has passed:</span>
<a name="l00251"></a>00251 <span class="keywordflow">if</span> (time &gt;= this-&gt;next_step_time) {
<a name="l00252"></a>00252 <span class="comment">// increment or decrement the step number,</span>
<a name="l00253"></a>00253 <span class="comment">// depending on direction:</span>
<a name="l00254"></a>00254 <span class="keywordflow">if</span> (this-&gt;direction == 1) {
<a name="l00255"></a>00255 digitalWrite(step_pin, HIGH);
<a name="l00256"></a>00256 } <span class="keywordflow">else</span> {
<a name="l00257"></a>00257 digitalWrite(dir_pin, HIGH);
<a name="l00258"></a>00258 digitalWrite(step_pin, HIGH);
<a name="l00259"></a>00259 }
<a name="l00260"></a>00260 <span class="comment">// get the timeStamp of when you stepped:</span>
<a name="l00261"></a>00261 this-&gt;last_step_time = time;
<a name="l00262"></a>00262 this-&gt;next_step_time = time+this-&gt;step_delay;
<a name="l00263"></a>00263 <span class="comment">// decrement the steps left:</span>
<a name="l00264"></a>00264 steps_left--;
<a name="l00265"></a>00265 <span class="comment">//disable the step &amp; dir pins</span>
<a name="l00266"></a>00266 digitalWrite(step_pin, LOW);
<a name="l00267"></a>00267 digitalWrite(dir_pin, LOW);
<a name="l00268"></a>00268 }
<a name="l00269"></a>00269 <span class="keywordflow">return</span> -1;
<a name="l00270"></a>00270 }
<a name="l00271"></a>00271 <span class="keywordflow">return</span> 0;
<a name="l00272"></a>00272 }
<a name="l00273"></a>00273
<a name="l00274"></a><a class="code" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e">00274</a> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">TMC26XStepper::isMoving</a>(<span class="keywordtype">void</span>) {
<a name="l00275"></a>00275 <span class="keywordflow">return</span> (this-&gt;steps_left&gt;0);
<a name="l00276"></a>00276 }
<a name="l00277"></a>00277
<a name="l00278"></a><a class="code" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">00278</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7" title="Get the number of steps left in the current movement.">TMC26XStepper::getStepsLeft</a>(<span class="keywordtype">void</span>) {
<a name="l00279"></a>00279 <span class="keywordflow">return</span> this-&gt;steps_left;
<a name="l00280"></a>00280 }
<a name="l00281"></a>00281
<a name="l00282"></a><a class="code" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">00282</a> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123" title="Stops the motor regardless if it moves or not.">TMC26XStepper::stop</a>(<span class="keywordtype">void</span>) {
<a name="l00283"></a>00283 <span class="comment">//note to self if the motor is currently moving</span>
<a name="l00284"></a>00284 <span class="keywordtype">char</span> state = <a class="code" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving</a>();
<a name="l00285"></a>00285 <span class="comment">//stop the motor</span>
<a name="l00286"></a>00286 this-&gt;steps_left = 0;
<a name="l00287"></a>00287 this-&gt;direction = 0;
<a name="l00288"></a>00288 <span class="comment">//return if it was moving</span>
<a name="l00289"></a>00289 <span class="keywordflow">return</span> state;
<a name="l00290"></a>00290 }
<a name="l00291"></a>00291
<a name="l00292"></a><a class="code" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">00292</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2" title="set the maximum motor current in mA (1000 is 1 Amp) Keep in mind this is the maximum peak Current...">TMC26XStepper::setCurrent</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> current) {
<a name="l00293"></a>00293 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> current_scaling = 0;
<a name="l00294"></a>00294 <span class="comment">//calculate the current scaling from the max current setting (in mA)</span>
<a name="l00295"></a>00295 <span class="keywordtype">double</span> mASetting = (double)current;
<a name="l00296"></a>00296 <span class="keywordtype">double</span> resistor_value = (double) this-&gt;resistor;
<a name="l00297"></a>00297 <span class="comment">// remove vesense flag</span>
<a name="l00298"></a>00298 this-&gt;driver_configuration_register_value &amp;= ~(<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">VSENSE</a>);
<a name="l00299"></a>00299 <span class="comment">//this is derrived from I=(cs+1)/32*(Vsense/Rsense)</span>
<a name="l00300"></a>00300 <span class="comment">//leading to cs = CS = 32*R*I/V (with V = 0,31V oder 0,165V and I = 1000*current)</span>
<a name="l00301"></a>00301 <span class="comment">//with Rsense=0,15</span>
<a name="l00302"></a>00302 <span class="comment">//for vsense = 0,310V (VSENSE not set)</span>
<a name="l00303"></a>00303 <span class="comment">//or vsense = 0,165V (VSENSE set)</span>
<a name="l00304"></a>00304 current_scaling = (byte)((resistor_value*mASetting*32.0/(0.31*1000.0*1000.0))-0.5); <span class="comment">//theoretically - 1.0 for better rounding it is 0.5</span>
<a name="l00305"></a>00305
<a name="l00306"></a>00306 <span class="comment">//check if the current scalingis too low</span>
<a name="l00307"></a>00307 <span class="keywordflow">if</span> (current_scaling&lt;16) {
<a name="l00308"></a>00308 <span class="comment">//set the csense bit to get a use half the sense voltage (to support lower motor currents)</span>
<a name="l00309"></a>00309 this-&gt;driver_configuration_register_value |= <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">VSENSE</a>;
<a name="l00310"></a>00310 <span class="comment">//and recalculate the current setting</span>
<a name="l00311"></a>00311 current_scaling = (byte)((resistor_value*mASetting*32.0/(0.165*1000.0*1000.0))-0.5); <span class="comment">//theoretically - 1.0 for better rounding it is 0.5</span>
<a name="l00312"></a>00312 <span class="preprocessor">#ifdef DEBUG</span>
<a name="l00313"></a>00313 <span class="preprocessor"></span> Serial.print(<span class="stringliteral">&quot;CS (Vsense=1): &quot;</span>);
<a name="l00314"></a>00314 Serial.println(current_scaling);
<a name="l00315"></a>00315 } <span class="keywordflow">else</span> {
<a name="l00316"></a>00316 Serial.print(<span class="stringliteral">&quot;CS: &quot;</span>);
<a name="l00317"></a>00317 Serial.println(current_scaling);
<a name="l00318"></a>00318 <span class="preprocessor">#endif</span>
<a name="l00319"></a>00319 <span class="preprocessor"></span> }
<a name="l00320"></a>00320
<a name="l00321"></a>00321 <span class="comment">//do some sanity checks</span>
<a name="l00322"></a>00322 <span class="keywordflow">if</span> (current_scaling&gt;31) {
<a name="l00323"></a>00323 current_scaling=31;
<a name="l00324"></a>00324 }
<a name="l00325"></a>00325 <span class="comment">//delete the old value</span>
<a name="l00326"></a>00326 stall_guard2_current_register_value &amp;= ~(<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a99dcb8c6d98b0b54c23699a3f90450e4">CURRENT_SCALING_PATTERN</a>);
<a name="l00327"></a>00327 <span class="comment">//set the new current scaling</span>
<a name="l00328"></a>00328 stall_guard2_current_register_value |= current_scaling;
<a name="l00329"></a>00329 <span class="comment">//if started we directly send it to the motor</span>
<a name="l00330"></a>00330 <span class="keywordflow">if</span> (started) {
<a name="l00331"></a>00331 send262(driver_configuration_register_value);
<a name="l00332"></a>00332 send262(stall_guard2_current_register_value);
<a name="l00333"></a>00333 }
<a name="l00334"></a>00334 }
<a name="l00335"></a>00335
<a name="l00336"></a><a class="code" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">00336</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f" title="readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()">TMC26XStepper::getCurrent</a>(<span class="keywordtype">void</span>) {
<a name="l00337"></a>00337 <span class="comment">//we calculate the current according to the datasheet to be on the safe side</span>
<a name="l00338"></a>00338 <span class="comment">//this is not the fastest but the most accurate and illustrative way</span>
<a name="l00339"></a>00339 <span class="keywordtype">double</span> result = (double)(stall_guard2_current_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a99dcb8c6d98b0b54c23699a3f90450e4">CURRENT_SCALING_PATTERN</a>);
<a name="l00340"></a>00340 <span class="keywordtype">double</span> resistor_value = (double)this-&gt;resistor;
<a name="l00341"></a>00341 <span class="keywordtype">double</span> voltage = (driver_configuration_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">VSENSE</a>)? 0.165:0.31;
<a name="l00342"></a>00342 result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
<a name="l00343"></a>00343 <span class="keywordflow">return</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)result;
<a name="l00344"></a>00344 }
<a name="l00345"></a>00345
<a name="l00346"></a><a class="code" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">00346</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a" title="set the StallGuard threshold in order to get sensible StallGuard readings.">TMC26XStepper::setStallGuardThreshold</a>(<span class="keywordtype">char</span> stall_guard_threshold, <span class="keywordtype">char</span> stall_guard_filter_enabled) {
<a name="l00347"></a>00347 <span class="keywordflow">if</span> (stall_guard_threshold&lt;-64) {
<a name="l00348"></a>00348 stall_guard_threshold = -64;
<a name="l00349"></a>00349 <span class="comment">//We just have 5 bits </span>
<a name="l00350"></a>00350 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (stall_guard_threshold &gt; 63) {
<a name="l00351"></a>00351 stall_guard_threshold = 63;
<a name="l00352"></a>00352 }
<a name="l00353"></a>00353 <span class="comment">//add trim down to 7 bits</span>
<a name="l00354"></a>00354 stall_guard_threshold &amp;=0x7f;
<a name="l00355"></a>00355 <span class="comment">//delete old stall guard settings</span>
<a name="l00356"></a>00356 stall_guard2_current_register_value &amp;= ~(<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a99ac04f0615556fc13c0c9f3e1c1b49d">STALL_GUARD_CONFIG_PATTERN</a>);
<a name="l00357"></a>00357 <span class="keywordflow">if</span> (stall_guard_filter_enabled) {
<a name="l00358"></a>00358 stall_guard2_current_register_value |= <a class="code" href="_t_m_c26_x_stepper_8cpp.html#afdbbefabd0c29c4b6e403c4663d0f0be">STALL_GUARD_FILTER_ENABLED</a>;
<a name="l00359"></a>00359 }
<a name="l00360"></a>00360 <span class="comment">//Set the new stall guard threshold</span>
<a name="l00361"></a>00361 stall_guard2_current_register_value |= (((<span class="keywordtype">unsigned</span> long)stall_guard_threshold &lt;&lt; 8) &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a99ac04f0615556fc13c0c9f3e1c1b49d">STALL_GUARD_CONFIG_PATTERN</a>);
<a name="l00362"></a>00362 <span class="comment">//if started we directly send it to the motor</span>
<a name="l00363"></a>00363 <span class="keywordflow">if</span> (started) {
<a name="l00364"></a>00364 send262(stall_guard2_current_register_value);
<a name="l00365"></a>00365 }
<a name="l00366"></a>00366 }
<a name="l00367"></a>00367
<a name="l00368"></a><a class="code" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">00368</a> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def" title="reads out the StallGuard threshold">TMC26XStepper::getStallGuardThreshold</a>(<span class="keywordtype">void</span>) {
<a name="l00369"></a>00369 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> stall_guard_threshold = stall_guard2_current_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a6a1cb1fd61cf7c570f94376fa11fe55b">STALL_GUARD_VALUE_PATTERN</a>;
<a name="l00370"></a>00370 <span class="comment">//shift it down to bit 0</span>
<a name="l00371"></a>00371 stall_guard_threshold &gt;&gt;=8;
<a name="l00372"></a>00372 <span class="comment">//convert the value to an int to correctly handle the negative numbers</span>
<a name="l00373"></a>00373 <span class="keywordtype">char</span> result = stall_guard_threshold;
<a name="l00374"></a>00374 <span class="comment">//check if it is negative and fill it up with leading 1 for proper negative number representation</span>
<a name="l00375"></a>00375 <span class="keywordflow">if</span> (result &amp; _BV(6)) {
<a name="l00376"></a>00376 result |= 0xC0;
<a name="l00377"></a>00377 }
<a name="l00378"></a>00378 <span class="keywordflow">return</span> result;
<a name="l00379"></a>00379 }
<a name="l00380"></a>00380
<a name="l00381"></a><a class="code" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a">00381</a> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a" title="returns the current setting of the StallGuard filter">TMC26XStepper::getStallGuardFilter</a>(<span class="keywordtype">void</span>) {
<a name="l00382"></a>00382 <span class="keywordflow">if</span> (stall_guard2_current_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#afdbbefabd0c29c4b6e403c4663d0f0be">STALL_GUARD_FILTER_ENABLED</a>) {
<a name="l00383"></a>00383 <span class="keywordflow">return</span> -1;
<a name="l00384"></a>00384 } <span class="keywordflow">else</span> {
<a name="l00385"></a>00385 <span class="keywordflow">return</span> 0;
<a name="l00386"></a>00386 }
<a name="l00387"></a>00387 }
<a name="l00388"></a>00388 <span class="comment">/*</span>
<a name="l00389"></a>00389 <span class="comment"> * Set the number of microsteps per step.</span>
<a name="l00390"></a>00390 <span class="comment"> * 0,2,4,8,16,32,64,128,256 is supported</span>
<a name="l00391"></a>00391 <span class="comment"> * any value in between will be mapped to the next smaller value</span>
<a name="l00392"></a>00392 <span class="comment"> * 0 and 1 set the motor in full step mode</span>
<a name="l00393"></a>00393 <span class="comment"> */</span>
<a name="l00394"></a><a class="code" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">00394</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">TMC26XStepper::setMicrosteps</a>(<span class="keywordtype">int</span> number_of_steps) {
<a name="l00395"></a>00395 <span class="keywordtype">long</span> setting_pattern;
<a name="l00396"></a>00396 <span class="comment">//poor mans log</span>
<a name="l00397"></a>00397 <span class="keywordflow">if</span> (number_of_steps&gt;=256) {
<a name="l00398"></a>00398 setting_pattern=0;
<a name="l00399"></a>00399 microsteps=256;
<a name="l00400"></a>00400 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (number_of_steps&gt;=128) {
<a name="l00401"></a>00401 setting_pattern=1;
<a name="l00402"></a>00402 microsteps=128;
<a name="l00403"></a>00403 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (number_of_steps&gt;=64) {
<a name="l00404"></a>00404 setting_pattern=2;
<a name="l00405"></a>00405 microsteps=64;
<a name="l00406"></a>00406 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (number_of_steps&gt;=32) {
<a name="l00407"></a>00407 setting_pattern=3;
<a name="l00408"></a>00408 microsteps=32;
<a name="l00409"></a>00409 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (number_of_steps&gt;=16) {
<a name="l00410"></a>00410 setting_pattern=4;
<a name="l00411"></a>00411 microsteps=16;
<a name="l00412"></a>00412 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (number_of_steps&gt;=8) {
<a name="l00413"></a>00413 setting_pattern=5;
<a name="l00414"></a>00414 microsteps=8;
<a name="l00415"></a>00415 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (number_of_steps&gt;=4) {
<a name="l00416"></a>00416 setting_pattern=6;
<a name="l00417"></a>00417 microsteps=4;
<a name="l00418"></a>00418 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (number_of_steps&gt;=2) {
<a name="l00419"></a>00419 setting_pattern=7;
<a name="l00420"></a>00420 microsteps=2;
<a name="l00421"></a>00421 <span class="comment">//1 and 0 lead to full step</span>
<a name="l00422"></a>00422 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (number_of_steps&lt;=1) {
<a name="l00423"></a>00423 setting_pattern=8;
<a name="l00424"></a>00424 microsteps=1;
<a name="l00425"></a>00425 }
<a name="l00426"></a>00426 <span class="preprocessor">#ifdef DEBUG</span>
<a name="l00427"></a>00427 <span class="preprocessor"></span> Serial.print(<span class="stringliteral">&quot;Microstepping: &quot;</span>);
<a name="l00428"></a>00428 Serial.println(microsteps);
<a name="l00429"></a>00429 <span class="preprocessor">#endif</span>
<a name="l00430"></a>00430 <span class="preprocessor"></span> <span class="comment">//delete the old value</span>
<a name="l00431"></a>00431 this-&gt;driver_control_register_value &amp;=0xFFFF0ul;
<a name="l00432"></a>00432 <span class="comment">//set the new value</span>
<a name="l00433"></a>00433 this-&gt;driver_control_register_value |=setting_pattern;
<a name="l00434"></a>00434
<a name="l00435"></a>00435 <span class="comment">//if started we directly send it to the motor</span>
<a name="l00436"></a>00436 <span class="keywordflow">if</span> (started) {
<a name="l00437"></a>00437 send262(driver_control_register_value);
<a name="l00438"></a>00438 }
<a name="l00439"></a>00439 <span class="comment">//recalculate the stepping delay by simply setting the speed again</span>
<a name="l00440"></a>00440 this-&gt;<a class="code" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd" title="Sets the rotation speed in revolutions per minute.">setSpeed</a>(this-&gt;speed);
<a name="l00441"></a>00441 }
<a name="l00442"></a>00442
<a name="l00443"></a>00443 <span class="comment">/*</span>
<a name="l00444"></a>00444 <span class="comment"> * returns the effective number of microsteps at the moment</span>
<a name="l00445"></a>00445 <span class="comment"> */</span>
<a name="l00446"></a><a class="code" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">00446</a> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3" title="returns the effective current number of microsteps selected.">TMC26XStepper::getMicrosteps</a>(<span class="keywordtype">void</span>) {
<a name="l00447"></a>00447 <span class="keywordflow">return</span> microsteps;
<a name="l00448"></a>00448 }
<a name="l00449"></a>00449
<a name="l00450"></a>00450 <span class="comment">/*</span>
<a name="l00451"></a>00451 <span class="comment"> * constant_off_time: The off time setting controls the minimum chopper frequency. </span>
<a name="l00452"></a>00452 <span class="comment"> * For most applications an off time within the range of 5μs to 20μs will fit.</span>
<a name="l00453"></a>00453 <span class="comment"> * 2...15: off time setting</span>
<a name="l00454"></a>00454 <span class="comment"> *</span>
<a name="l00455"></a>00455 <span class="comment"> * blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the</span>
<a name="l00456"></a>00456 <span class="comment"> * duration of the ringing on the sense resistor. For</span>
<a name="l00457"></a>00457 <span class="comment"> * 0: min. setting 3: max. setting</span>
<a name="l00458"></a>00458 <span class="comment"> *</span>
<a name="l00459"></a>00459 <span class="comment"> * fast_decay_time_setting: Fast decay time setting. With CHM=1, these bits control the portion of fast decay for each chopper cycle.</span>
<a name="l00460"></a>00460 <span class="comment"> * 0: slow decay only</span>
<a name="l00461"></a>00461 <span class="comment"> * 1...15: duration of fast decay phase</span>
<a name="l00462"></a>00462 <span class="comment"> *</span>
<a name="l00463"></a>00463 <span class="comment"> * sine_wave_offset: Sine wave offset. With CHM=1, these bits control the sine wave offset. </span>
<a name="l00464"></a>00464 <span class="comment"> * A positive offset corrects for zero crossing error.</span>
<a name="l00465"></a>00465 <span class="comment"> * -3..-1: negative offset 0: no offset 1...12: positive offset</span>
<a name="l00466"></a>00466 <span class="comment"> *</span>
<a name="l00467"></a>00467 <span class="comment"> * use_current_comparator: Selects usage of the current comparator for termination of the fast decay cycle. </span>
<a name="l00468"></a>00468 <span class="comment"> * If current comparator is enabled, it terminates the fast decay cycle in case the current </span>
<a name="l00469"></a>00469 <span class="comment"> * reaches a higher negative value than the actual positive value.</span>
<a name="l00470"></a>00470 <span class="comment"> * 1: enable comparator termination of fast decay cycle</span>
<a name="l00471"></a>00471 <span class="comment"> * 0: end by time only</span>
<a name="l00472"></a>00472 <span class="comment"> */</span>
<a name="l00473"></a><a class="code" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">00473</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649" title="Sets and configure the classical Constant Off Timer Chopper.">TMC26XStepper::setConstantOffTimeChopper</a>(<span class="keywordtype">char</span> constant_off_time, <span class="keywordtype">char</span> blank_time, <span class="keywordtype">char</span> fast_decay_time_setting, <span class="keywordtype">char</span> sine_wave_offset, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> use_current_comparator) {
<a name="l00474"></a>00474 <span class="comment">//perform some sanity checks</span>
<a name="l00475"></a>00475 <span class="keywordflow">if</span> (constant_off_time&lt;2) {
<a name="l00476"></a>00476 constant_off_time=2;
<a name="l00477"></a>00477 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (constant_off_time&gt;15) {
<a name="l00478"></a>00478 constant_off_time=15;
<a name="l00479"></a>00479 }
<a name="l00480"></a>00480 <span class="comment">//save the constant off time</span>
<a name="l00481"></a>00481 this-&gt;constant_off_time = constant_off_time;
<a name="l00482"></a>00482 <span class="keywordtype">char</span> blank_value;
<a name="l00483"></a>00483 <span class="comment">//calculate the value acc to the clock cycles</span>
<a name="l00484"></a>00484 <span class="keywordflow">if</span> (blank_time&gt;=54) {
<a name="l00485"></a>00485 blank_value=3;
<a name="l00486"></a>00486 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (blank_time&gt;=36) {
<a name="l00487"></a>00487 blank_value=2;
<a name="l00488"></a>00488 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (blank_time&gt;=24) {
<a name="l00489"></a>00489 blank_value=1;
<a name="l00490"></a>00490 } <span class="keywordflow">else</span> {
<a name="l00491"></a>00491 blank_value=0;
<a name="l00492"></a>00492 }
<a name="l00493"></a>00493 <span class="keywordflow">if</span> (fast_decay_time_setting&lt;0) {
<a name="l00494"></a>00494 fast_decay_time_setting=0;
<a name="l00495"></a>00495 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (fast_decay_time_setting&gt;15) {
<a name="l00496"></a>00496 fast_decay_time_setting=15;
<a name="l00497"></a>00497 }
<a name="l00498"></a>00498 <span class="keywordflow">if</span> (sine_wave_offset &lt; -3) {
<a name="l00499"></a>00499 sine_wave_offset = -3;
<a name="l00500"></a>00500 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sine_wave_offset&gt;12) {
<a name="l00501"></a>00501 sine_wave_offset = 12;
<a name="l00502"></a>00502 }
<a name="l00503"></a>00503 <span class="comment">//shift the sine_wave_offset</span>
<a name="l00504"></a>00504 sine_wave_offset +=3;
<a name="l00505"></a>00505
<a name="l00506"></a>00506 <span class="comment">//calculate the register setting</span>
<a name="l00507"></a>00507 <span class="comment">//first of all delete all the values for this</span>
<a name="l00508"></a>00508 chopper_config_register &amp;= ~((1&lt;&lt;12) | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a42cb2ce84258587d514ec3268548ba89">BLANK_TIMING_PATTERN</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a424c248097b38c1e29e6a58ad48e6bd9">HYSTERESIS_DECREMENT_PATTERN</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ad9d2302f6d61cd84a612a2e2bcdeb56e">HYSTERESIS_LOW_VALUE_PATTERN</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a0de4e98b412dced62c3a4452b7483af3">HYSTERESIS_START_VALUE_PATTERN</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a7659d842c803e47ba911a2a6e26327f3">T_OFF_TIMING_PATERN</a>);
<a name="l00509"></a>00509 <span class="comment">//set the constant off pattern</span>
<a name="l00510"></a>00510 chopper_config_register |= <a class="code" href="_t_m_c26_x_stepper_8cpp.html#aaf1b564ced7de8ff3245c964e3775826">CHOPPER_MODE_T_OFF_FAST_DECAY</a>;
<a name="l00511"></a>00511 <span class="comment">//set the blank timing value</span>
<a name="l00512"></a>00512 chopper_config_register |= ((<span class="keywordtype">unsigned</span> long)blank_value) &lt;&lt; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">BLANK_TIMING_SHIFT</a>;
<a name="l00513"></a>00513 <span class="comment">//setting the constant off time</span>
<a name="l00514"></a>00514 chopper_config_register |= constant_off_time;
<a name="l00515"></a>00515 <span class="comment">//set the fast decay time</span>
<a name="l00516"></a>00516 <span class="comment">//set msb</span>
<a name="l00517"></a>00517 chopper_config_register |= (((<span class="keywordtype">unsigned</span> long)(fast_decay_time_setting &amp; 0x8))&lt;&lt;<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a36e554a87785ce6ba998b79aae9e74e0">HYSTERESIS_DECREMENT_SHIFT</a>);
<a name="l00518"></a>00518 <span class="comment">//other bits</span>
<a name="l00519"></a>00519 chopper_config_register |= (((<span class="keywordtype">unsigned</span> long)(fast_decay_time_setting &amp; 0x7))&lt;&lt;<a class="code" href="_t_m_c26_x_stepper_8cpp.html#ac2c1c939256126e605396c4aaee3c804">HYSTERESIS_START_VALUE_SHIFT</a>);
<a name="l00520"></a>00520 <span class="comment">//set the sine wave offset</span>
<a name="l00521"></a>00521 chopper_config_register |= (<span class="keywordtype">unsigned</span> long)sine_wave_offset &lt;&lt; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a38ce0bb0fa20db28351ac9167f28db98">HYSTERESIS_LOW_SHIFT</a>;
<a name="l00522"></a>00522 <span class="comment">//using the current comparator?</span>
<a name="l00523"></a>00523 <span class="keywordflow">if</span> (!use_current_comparator) {
<a name="l00524"></a>00524 chopper_config_register |= (1&lt;&lt;12);
<a name="l00525"></a>00525 }
<a name="l00526"></a>00526 <span class="comment">//if started we directly send it to the motor</span>
<a name="l00527"></a>00527 <span class="keywordflow">if</span> (started) {
<a name="l00528"></a>00528 send262(driver_control_register_value);
<a name="l00529"></a>00529 }
<a name="l00530"></a>00530 }
<a name="l00531"></a>00531
<a name="l00532"></a>00532 <span class="comment">/*</span>
<a name="l00533"></a>00533 <span class="comment"> * constant_off_time: The off time setting controls the minimum chopper frequency. </span>
<a name="l00534"></a>00534 <span class="comment"> * For most applications an off time within the range of 5μs to 20μs will fit.</span>
<a name="l00535"></a>00535 <span class="comment"> * 2...15: off time setting</span>
<a name="l00536"></a>00536 <span class="comment"> *</span>
<a name="l00537"></a>00537 <span class="comment"> * blank_time: Selects the comparator blank time. This time needs to safely cover the switching event and the</span>
<a name="l00538"></a>00538 <span class="comment"> * duration of the ringing on the sense resistor. For</span>
<a name="l00539"></a>00539 <span class="comment"> * 0: min. setting 3: max. setting</span>
<a name="l00540"></a>00540 <span class="comment"> *</span>
<a name="l00541"></a>00541 <span class="comment"> * hysteresis_start: Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value HEND.</span>
<a name="l00542"></a>00542 <span class="comment"> * 1...8</span>
<a name="l00543"></a>00543 <span class="comment"> *</span>
<a name="l00544"></a>00544 <span class="comment"> * hysteresis_end: Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by HDEC. </span>
<a name="l00545"></a>00545 <span class="comment"> * The sum HSTRT+HEND must be &lt;16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited.</span>
<a name="l00546"></a>00546 <span class="comment"> * -3..-1: negative HEND 0: zero HEND 1...12: positive HEND</span>
<a name="l00547"></a>00547 <span class="comment"> *</span>
<a name="l00548"></a>00548 <span class="comment"> * hysteresis_decrement: Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time.</span>
<a name="l00549"></a>00549 <span class="comment"> * 0: fast decrement 3: very slow decrement</span>
<a name="l00550"></a>00550 <span class="comment"> */</span>
<a name="l00551"></a>00551
<a name="l00552"></a><a class="code" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">00552</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2" title="Sets and configures with spread cycle chopper.">TMC26XStepper::setSpreadCycleChopper</a>(<span class="keywordtype">char</span> constant_off_time, <span class="keywordtype">char</span> blank_time, <span class="keywordtype">char</span> hysteresis_start, <span class="keywordtype">char</span> hysteresis_end, <span class="keywordtype">char</span> hysteresis_decrement) {
<a name="l00553"></a>00553 <span class="comment">//perform some sanity checks</span>
<a name="l00554"></a>00554 <span class="keywordflow">if</span> (constant_off_time&lt;2) {
<a name="l00555"></a>00555 constant_off_time=2;
<a name="l00556"></a>00556 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (constant_off_time&gt;15) {
<a name="l00557"></a>00557 constant_off_time=15;
<a name="l00558"></a>00558 }
<a name="l00559"></a>00559 <span class="comment">//save the constant off time</span>
<a name="l00560"></a>00560 this-&gt;constant_off_time = constant_off_time;
<a name="l00561"></a>00561 <span class="keywordtype">char</span> blank_value;
<a name="l00562"></a>00562 <span class="comment">//calculate the value acc to the clock cycles</span>
<a name="l00563"></a>00563 <span class="keywordflow">if</span> (blank_time&gt;=54) {
<a name="l00564"></a>00564 blank_value=3;
<a name="l00565"></a>00565 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (blank_time&gt;=36) {
<a name="l00566"></a>00566 blank_value=2;
<a name="l00567"></a>00567 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (blank_time&gt;=24) {
<a name="l00568"></a>00568 blank_value=1;
<a name="l00569"></a>00569 } <span class="keywordflow">else</span> {
<a name="l00570"></a>00570 blank_value=0;
<a name="l00571"></a>00571 }
<a name="l00572"></a>00572 <span class="keywordflow">if</span> (hysteresis_start&lt;1) {
<a name="l00573"></a>00573 hysteresis_start=1;
<a name="l00574"></a>00574 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (hysteresis_start&gt;8) {
<a name="l00575"></a>00575 hysteresis_start=8;
<a name="l00576"></a>00576 }
<a name="l00577"></a>00577 hysteresis_start--;
<a name="l00578"></a>00578
<a name="l00579"></a>00579 <span class="keywordflow">if</span> (hysteresis_end &lt; -3) {
<a name="l00580"></a>00580 hysteresis_end = -3;
<a name="l00581"></a>00581 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (hysteresis_end&gt;12) {
<a name="l00582"></a>00582 hysteresis_end = 12;
<a name="l00583"></a>00583 }
<a name="l00584"></a>00584 <span class="comment">//shift the hysteresis_end</span>
<a name="l00585"></a>00585 hysteresis_end +=3;
<a name="l00586"></a>00586
<a name="l00587"></a>00587 <span class="keywordflow">if</span> (hysteresis_decrement&lt;0) {
<a name="l00588"></a>00588 hysteresis_decrement=0;
<a name="l00589"></a>00589 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (hysteresis_decrement&gt;3) {
<a name="l00590"></a>00590 hysteresis_decrement=3;
<a name="l00591"></a>00591 }
<a name="l00592"></a>00592
<a name="l00593"></a>00593 <span class="comment">//first of all delete all the values for this</span>
<a name="l00594"></a>00594 chopper_config_register &amp;= ~(<a class="code" href="_t_m_c26_x_stepper_8cpp.html#aaf1b564ced7de8ff3245c964e3775826">CHOPPER_MODE_T_OFF_FAST_DECAY</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a42cb2ce84258587d514ec3268548ba89">BLANK_TIMING_PATTERN</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a424c248097b38c1e29e6a58ad48e6bd9">HYSTERESIS_DECREMENT_PATTERN</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ad9d2302f6d61cd84a612a2e2bcdeb56e">HYSTERESIS_LOW_VALUE_PATTERN</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a0de4e98b412dced62c3a4452b7483af3">HYSTERESIS_START_VALUE_PATTERN</a> | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a7659d842c803e47ba911a2a6e26327f3">T_OFF_TIMING_PATERN</a>);
<a name="l00595"></a>00595
<a name="l00596"></a>00596 <span class="comment">//set the blank timing value</span>
<a name="l00597"></a>00597 chopper_config_register |= ((<span class="keywordtype">unsigned</span> long)blank_value) &lt;&lt; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">BLANK_TIMING_SHIFT</a>;
<a name="l00598"></a>00598 <span class="comment">//setting the constant off time</span>
<a name="l00599"></a>00599 chopper_config_register |= constant_off_time;
<a name="l00600"></a>00600 <span class="comment">//set the hysteresis_start</span>
<a name="l00601"></a>00601 chopper_config_register |= ((<span class="keywordtype">unsigned</span> long)hysteresis_start) &lt;&lt; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ac2c1c939256126e605396c4aaee3c804">HYSTERESIS_START_VALUE_SHIFT</a>;
<a name="l00602"></a>00602 <span class="comment">//set the hysteresis end</span>
<a name="l00603"></a>00603 chopper_config_register |= ((<span class="keywordtype">unsigned</span> long)hysteresis_end) &lt;&lt; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a38ce0bb0fa20db28351ac9167f28db98">HYSTERESIS_LOW_SHIFT</a>;
<a name="l00604"></a>00604 <span class="comment">//set the hystereis decrement</span>
<a name="l00605"></a>00605 chopper_config_register |= ((<span class="keywordtype">unsigned</span> long)blank_value) &lt;&lt; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">BLANK_TIMING_SHIFT</a>;
<a name="l00606"></a>00606 <span class="comment">//if started we directly send it to the motor</span>
<a name="l00607"></a>00607 <span class="keywordflow">if</span> (started) {
<a name="l00608"></a>00608 send262(driver_control_register_value);
<a name="l00609"></a>00609 }
<a name="l00610"></a>00610 }
<a name="l00611"></a>00611
<a name="l00612"></a>00612 <span class="comment">/*</span>
<a name="l00613"></a>00613 <span class="comment"> * In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. </span>
<a name="l00614"></a>00614 <span class="comment"> * The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position. </span>
<a name="l00615"></a>00615 <span class="comment"> * With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a </span>
<a name="l00616"></a>00616 <span class="comment"> * few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc. </span>
<a name="l00617"></a>00617 <span class="comment"> * Further factors which can cause a similar effect are a poor layout of sense resistor GND connection.</span>
<a name="l00618"></a>00618 <span class="comment"> * Hint: A common factor, which can cause motor noise, is a bad PCB layout causing coupling of both sense resistor voltages </span>
<a name="l00619"></a>00619 <span class="comment"> * (please refer to sense resistor layout hint in chapter 8.1).</span>
<a name="l00620"></a>00620 <span class="comment"> * In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. </span>
<a name="l00621"></a>00621 <span class="comment"> * It modulates the slow decay time setting when switched on by the RNDTF bit. The RNDTF feature further spreads the chopper spectrum, </span>
<a name="l00622"></a>00622 <span class="comment"> * reducing electromagnetic emission on single frequencies.</span>
<a name="l00623"></a>00623 <span class="comment"> */</span>
<a name="l00624"></a><a class="code" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">00624</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a" title="Use random off time for noise reduction (0 for off, -1 for on).">TMC26XStepper::setRandomOffTime</a>(<span class="keywordtype">char</span> value) {
<a name="l00625"></a>00625 <span class="keywordflow">if</span> (value) {
<a name="l00626"></a>00626 chopper_config_register |= <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a64520580cffd416668f3b91bd60f84e1">RANDOM_TOFF_TIME</a>;
<a name="l00627"></a>00627 } <span class="keywordflow">else</span> {
<a name="l00628"></a>00628 chopper_config_register &amp;= ~(<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a64520580cffd416668f3b91bd60f84e1">RANDOM_TOFF_TIME</a>);
<a name="l00629"></a>00629 }
<a name="l00630"></a>00630 <span class="comment">//if started we directly send it to the motor</span>
<a name="l00631"></a>00631 <span class="keywordflow">if</span> (started) {
<a name="l00632"></a>00632 send262(driver_control_register_value);
<a name="l00633"></a>00633 }
<a name="l00634"></a>00634 }
<a name="l00635"></a>00635
<a name="l00636"></a><a class="code" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">00636</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">TMC26XStepper::setCoolStepConfiguration</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lower_SG_threshold, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> SG_hysteresis, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> current_decrement_step_size,
<a name="l00637"></a>00637 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> current_increment_step_size, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> lower_current_limit) {
<a name="l00638"></a>00638 <span class="comment">//sanitize the input values</span>
<a name="l00639"></a>00639 <span class="keywordflow">if</span> (lower_SG_threshold&gt;480) {
<a name="l00640"></a>00640 lower_SG_threshold = 480;
<a name="l00641"></a>00641 }
<a name="l00642"></a>00642 <span class="comment">//divide by 32</span>
<a name="l00643"></a>00643 lower_SG_threshold &gt;&gt;=5;
<a name="l00644"></a>00644 <span class="keywordflow">if</span> (SG_hysteresis&gt;480) {
<a name="l00645"></a>00645 SG_hysteresis=480;
<a name="l00646"></a>00646 }
<a name="l00647"></a>00647 <span class="comment">//divide by 32</span>
<a name="l00648"></a>00648 SG_hysteresis &gt;&gt;=5;
<a name="l00649"></a>00649 <span class="keywordflow">if</span> (current_decrement_step_size&gt;3) {
<a name="l00650"></a>00650 current_decrement_step_size=3;
<a name="l00651"></a>00651 }
<a name="l00652"></a>00652 <span class="keywordflow">if</span> (current_increment_step_size&gt;3) {
<a name="l00653"></a>00653 current_increment_step_size=3;
<a name="l00654"></a>00654 }
<a name="l00655"></a>00655 <span class="keywordflow">if</span> (lower_current_limit&gt;1) {
<a name="l00656"></a>00656 lower_current_limit=1;
<a name="l00657"></a>00657 }
<a name="l00658"></a>00658 <span class="comment">//store the lower level in order to enable/disable the cool step</span>
<a name="l00659"></a>00659 this-&gt;cool_step_lower_threshold=lower_SG_threshold;
<a name="l00660"></a>00660 <span class="comment">//if cool step is not enabled we delete the lower value to keep it disabled</span>
<a name="l00661"></a>00661 <span class="keywordflow">if</span> (!this-&gt;cool_step_enabled) {
<a name="l00662"></a>00662 lower_SG_threshold=0;
<a name="l00663"></a>00663 }
<a name="l00664"></a>00664 <span class="comment">//the good news is that we can start with a complete new cool step register value</span>
<a name="l00665"></a>00665 <span class="comment">//and simply set the values in the register</span>
<a name="l00666"></a>00666 cool_step_register_value = ((<span class="keywordtype">unsigned</span> long)lower_SG_threshold) | (((<span class="keywordtype">unsigned</span> long)SG_hysteresis)&lt;&lt;8) | (((<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>)current_decrement_step_size)&lt;&lt;5)
<a name="l00667"></a>00667 | (((<span class="keywordtype">unsigned</span> long)current_increment_step_size)&lt;&lt;13) | (((<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>)lower_current_limit)&lt;&lt;15)
<a name="l00668"></a>00668 <span class="comment">//and of course we have to include the signature of the register</span>
<a name="l00669"></a>00669 | <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">COOL_STEP_REGISTER</a>;
<a name="l00670"></a>00670 <span class="comment">//Serial.println(cool_step_register_value,HEX);</span>
<a name="l00671"></a>00671 <span class="keywordflow">if</span> (started) {
<a name="l00672"></a>00672 send262(cool_step_register_value);
<a name="l00673"></a>00673 }
<a name="l00674"></a>00674 }
<a name="l00675"></a>00675
<a name="l00676"></a><a class="code" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">00676</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157" title="enables or disables the CoolStep smart energy operation feature. It must be configured before enablin...">TMC26XStepper::setCoolStepEnabled</a>(<span class="keywordtype">boolean</span> enabled) {
<a name="l00677"></a>00677 <span class="comment">//simply delete the lower limit to disable the cool step</span>
<a name="l00678"></a>00678 cool_step_register_value &amp;= ~<a class="code" href="_t_m_c26_x_stepper_8cpp.html#ae1862dfb958c03698b0abd95fda033ea">SE_MIN_PATTERN</a>;
<a name="l00679"></a>00679 <span class="comment">//and set it to the proper value if cool step is to be enabled</span>
<a name="l00680"></a>00680 <span class="keywordflow">if</span> (enabled) {
<a name="l00681"></a>00681 cool_step_register_value |=this-&gt;cool_step_lower_threshold;
<a name="l00682"></a>00682 }
<a name="l00683"></a>00683 <span class="comment">//and save the enabled status</span>
<a name="l00684"></a>00684 this-&gt;cool_step_enabled = enabled;
<a name="l00685"></a>00685 <span class="comment">//save the register value</span>
<a name="l00686"></a>00686 <span class="keywordflow">if</span> (started) {
<a name="l00687"></a>00687 send262(cool_step_register_value);
<a name="l00688"></a>00688 }
<a name="l00689"></a>00689 }
<a name="l00690"></a>00690
<a name="l00691"></a><a class="code" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d">00691</a> <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d" title="check if the CoolStep feature is enabled">TMC26XStepper::isCoolStepEnabled</a>(<span class="keywordtype">void</span>) {
<a name="l00692"></a>00692 <span class="keywordflow">return</span> this-&gt;cool_step_enabled;
<a name="l00693"></a>00693 }
<a name="l00694"></a>00694
<a name="l00695"></a><a class="code" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">00695</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8" title="returns the lower StallGuard threshold for the CoolStep operation">TMC26XStepper::getCoolStepLowerSgThreshold</a>() {
<a name="l00696"></a>00696 <span class="comment">//we return our internally stored value - in order to provide the correct setting even if cool step is not enabled</span>
<a name="l00697"></a>00697 <span class="keywordflow">return</span> this-&gt;cool_step_lower_threshold&lt;&lt;5;
<a name="l00698"></a>00698 }
<a name="l00699"></a>00699
<a name="l00700"></a><a class="code" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">00700</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f" title="returns the upper StallGuard threshold for the CoolStep operation">TMC26XStepper::getCoolStepUpperSgThreshold</a>() {
<a name="l00701"></a>00701 <span class="keywordflow">return</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>)((cool_step_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ac8f748bf735c447dbed7dd4c7b631a87">SE_MAX_PATTERN</a>)&gt;&gt;8)&lt;&lt;5;
<a name="l00702"></a>00702 }
<a name="l00703"></a>00703
<a name="l00704"></a><a class="code" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">00704</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883" title="returns the increment steps for the current for the CoolStep operation">TMC26XStepper::getCoolStepCurrentIncrementSize</a>() {
<a name="l00705"></a>00705 <span class="keywordflow">return</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>)((cool_step_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#adbe13a0464355e42fbe786ca5f58ed8d">CURRENT_DOWN_STEP_SPEED_PATTERN</a>)&gt;&gt;13);
<a name="l00706"></a>00706 }
<a name="l00707"></a>00707
<a name="l00708"></a><a class="code" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">00708</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46" title="returns the number of StallGuard readings befor CoolStep adjusts the motor current.">TMC26XStepper::getCoolStepNumberOfSGReadings</a>() {
<a name="l00709"></a>00709 <span class="keywordflow">return</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>)((cool_step_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#aba6c07e5672e34e618bb3a550ab0d2bc">SE_CURRENT_STEP_WIDTH_PATTERN</a>)&gt;&gt;5);
<a name="l00710"></a>00710 }
<a name="l00711"></a>00711
<a name="l00712"></a><a class="code" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">00712</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c" title="returns the absolut minium current for the CoolStep operation">TMC26XStepper::getCoolStepLowerCurrentLimit</a>() {
<a name="l00713"></a>00713 <span class="keywordflow">return</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>)((cool_step_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a8a261a77d198b85f6dd8416387b354b3">MINIMUM_CURRENT_FOURTH</a>)&gt;&gt;15);
<a name="l00714"></a>00714 }
<a name="l00715"></a>00715
<a name="l00716"></a><a class="code" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">00716</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305" title="enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.">TMC26XStepper::setEnabled</a>(<span class="keywordtype">boolean</span> enabled) {
<a name="l00717"></a>00717 <span class="comment">//delete the t_off in the chopper config to get sure</span>
<a name="l00718"></a>00718 chopper_config_register &amp;= ~(<a class="code" href="_t_m_c26_x_stepper_8cpp.html#aa4e49237f2671e7f28aa34ae0e89da8d">T_OFF_PATTERN</a>);
<a name="l00719"></a>00719 <span class="keywordflow">if</span> (enabled) {
<a name="l00720"></a>00720 <span class="comment">//and set the t_off time</span>
<a name="l00721"></a>00721 chopper_config_register |= this-&gt;constant_off_time;
<a name="l00722"></a>00722 }
<a name="l00723"></a>00723 <span class="comment">//if not enabled we don&#39;t have to do anything since we already delete t_off from the register</span>
<a name="l00724"></a>00724 <span class="keywordflow">if</span> (started) {
<a name="l00725"></a>00725 send262(chopper_config_register);
<a name="l00726"></a>00726 }
<a name="l00727"></a>00727 }
<a name="l00728"></a>00728
<a name="l00729"></a><a class="code" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">00729</a> <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6" title="checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely...">TMC26XStepper::isEnabled</a>() {
<a name="l00730"></a>00730 <span class="keywordflow">if</span> (chopper_config_register &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#aa4e49237f2671e7f28aa34ae0e89da8d">T_OFF_PATTERN</a>) {
<a name="l00731"></a>00731 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00732"></a>00732 } <span class="keywordflow">else</span> {
<a name="l00733"></a>00733 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00734"></a>00734 }
<a name="l00735"></a>00735 }
<a name="l00736"></a>00736
<a name="l00737"></a>00737 <span class="comment">/*</span>
<a name="l00738"></a>00738 <span class="comment"> * reads a value from the TMC26X status register. The value is not obtained directly but can then </span>
<a name="l00739"></a>00739 <span class="comment"> * be read by the various status routines.</span>
<a name="l00740"></a>00740 <span class="comment"> *</span>
<a name="l00741"></a>00741 <span class="comment"> */</span>
<a name="l00742"></a><a class="code" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">00742</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967" title="Manually read out the status register This function sends a byte to the motor driver in order to get ...">TMC26XStepper::readStatus</a>(<span class="keywordtype">char</span> read_value) {
<a name="l00743"></a>00743 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> old_driver_configuration_register_value = driver_configuration_register_value;
<a name="l00744"></a>00744 <span class="comment">//reset the readout configuration</span>
<a name="l00745"></a>00745 driver_configuration_register_value &amp;= ~(<a class="code" href="_t_m_c26_x_stepper_8cpp.html#a88a4b45fa6385eba8aa4f0342334b832">READ_SELECTION_PATTERN</a>);
<a name="l00746"></a>00746 <span class="comment">//this now equals TMC26X_READOUT_POSITION - so we just have to check the other two options</span>
<a name="l00747"></a>00747 <span class="keywordflow">if</span> (read_value == <a class="code" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">TMC26X_READOUT_STALLGUARD</a>) {
<a name="l00748"></a>00748 driver_configuration_register_value |= <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">READ_STALL_GUARD_READING</a>;
<a name="l00749"></a>00749 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (read_value == <a class="code" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">TMC26X_READOUT_CURRENT</a>) {
<a name="l00750"></a>00750 driver_configuration_register_value |= <a class="code" href="_t_m_c26_x_stepper_8cpp.html#aef62b7fdcbac0b33b2d6e9cea4b5f9b2">READ_STALL_GUARD_AND_COOL_STEP</a>;
<a name="l00751"></a>00751 }
<a name="l00752"></a>00752 <span class="comment">//all other cases are ignored to prevent funny values</span>
<a name="l00753"></a>00753 <span class="comment">//check if the readout is configured for the value we are interested in</span>
<a name="l00754"></a>00754 <span class="keywordflow">if</span> (driver_configuration_register_value!=old_driver_configuration_register_value) {
<a name="l00755"></a>00755 <span class="comment">//because then we need to write the value twice - one time for configuring, second time to get the value, see below</span>
<a name="l00756"></a>00756 send262(driver_configuration_register_value);
<a name="l00757"></a>00757 }
<a name="l00758"></a>00758 <span class="comment">//write the configuration to get the last status </span>
<a name="l00759"></a>00759 send262(driver_configuration_register_value);
<a name="l00760"></a>00760 }
<a name="l00761"></a>00761
<a name="l00762"></a><a class="code" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">00762</a> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">TMC26XStepper::getMotorPosition</a>(<span class="keywordtype">void</span>) {
<a name="l00763"></a>00763 <span class="comment">//we read it out even if we are not started yet - perhaps it is useful information for somebody</span>
<a name="l00764"></a>00764 <a class="code" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967" title="Manually read out the status register This function sends a byte to the motor driver in order to get ...">readStatus</a>(<a class="code" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26X_READOUT_POSITION</a>);
<a name="l00765"></a>00765 <span class="keywordflow">return</span> getReadoutValue();
<a name="l00766"></a>00766 }
<a name="l00767"></a>00767
<a name="l00768"></a>00768 <span class="comment">//reads the stall guard setting from last status</span>
<a name="l00769"></a>00769 <span class="comment">//returns -1 if stallguard information is not present</span>
<a name="l00770"></a><a class="code" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">00770</a> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">TMC26XStepper::getCurrentStallGuardReading</a>(<span class="keywordtype">void</span>) {
<a name="l00771"></a>00771 <span class="comment">//if we don&#39;t yet started there cannot be a stall guard value</span>
<a name="l00772"></a>00772 <span class="keywordflow">if</span> (!started) {
<a name="l00773"></a>00773 <span class="keywordflow">return</span> -1;
<a name="l00774"></a>00774 }
<a name="l00775"></a>00775 <span class="comment">//not time optimal, but solution optiomal:</span>
<a name="l00776"></a>00776 <span class="comment">//first read out the stall guard value</span>
<a name="l00777"></a>00777 <a class="code" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967" title="Manually read out the status register This function sends a byte to the motor driver in order to get ...">readStatus</a>(<a class="code" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">TMC26X_READOUT_STALLGUARD</a>);
<a name="l00778"></a>00778 <span class="keywordflow">return</span> getReadoutValue();
<a name="l00779"></a>00779 }
<a name="l00780"></a>00780
<a name="l00781"></a><a class="code" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">00781</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1" title="Reads the current current setting value as fraction of the maximum current Returns values between 0 a...">TMC26XStepper::getCurrentCSReading</a>(<span class="keywordtype">void</span>) {
<a name="l00782"></a>00782 <span class="comment">//if we don&#39;t yet started there cannot be a stall guard value</span>
<a name="l00783"></a>00783 <span class="keywordflow">if</span> (!started) {
<a name="l00784"></a>00784 <span class="keywordflow">return</span> 0;
<a name="l00785"></a>00785 }
<a name="l00786"></a>00786 <span class="comment">//not time optimal, but solution optiomal:</span>
<a name="l00787"></a>00787 <span class="comment">//first read out the stall guard value</span>
<a name="l00788"></a>00788 <a class="code" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967" title="Manually read out the status register This function sends a byte to the motor driver in order to get ...">readStatus</a>(<a class="code" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">TMC26X_READOUT_CURRENT</a>);
<a name="l00789"></a>00789 <span class="keywordflow">return</span> (getReadoutValue() &amp; 0x1f);
<a name="l00790"></a>00790 }
<a name="l00791"></a>00791
<a name="l00792"></a><a class="code" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7">00792</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">TMC26XStepper::getCurrentCurrent</a>(<span class="keywordtype">void</span>) {
<a name="l00793"></a>00793 <span class="keywordtype">double</span> result = (double)<a class="code" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1" title="Reads the current current setting value as fraction of the maximum current Returns values between 0 a...">getCurrentCSReading</a>();
<a name="l00794"></a>00794 <span class="keywordtype">double</span> resistor_value = (double)this-&gt;resistor;
<a name="l00795"></a>00795 <span class="keywordtype">double</span> voltage = (driver_configuration_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">VSENSE</a>)? 0.165:0.31;
<a name="l00796"></a>00796 result = (result+1.0)/32.0*voltage/resistor_value*1000.0*1000.0;
<a name="l00797"></a>00797 <span class="keywordflow">return</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>)result;
<a name="l00798"></a>00798 }
<a name="l00799"></a>00799
<a name="l00800"></a>00800 <span class="comment">/*</span>
<a name="l00801"></a>00801 <span class="comment"> return true if the stallguard threshold has been reached</span>
<a name="l00802"></a>00802 <span class="comment">*/</span>
<a name="l00803"></a><a class="code" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">00803</a> <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41" title="checks if there is a StallGuard warning in the last status">TMC26XStepper::isStallGuardOverThreshold</a>(<span class="keywordtype">void</span>) {
<a name="l00804"></a>00804 <span class="keywordflow">if</span> (!this-&gt;started) {
<a name="l00805"></a>00805 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00806"></a>00806 }
<a name="l00807"></a>00807 <span class="keywordflow">return</span> (driver_status_result &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#aa09ef662fd19bf2d063d6bd0f48eca14">STATUS_STALL_GUARD_STATUS</a>);
<a name="l00808"></a>00808 }
<a name="l00809"></a>00809
<a name="l00810"></a>00810 <span class="comment">/*</span>
<a name="l00811"></a>00811 <span class="comment"> returns if there is any over temperature condition:</span>
<a name="l00812"></a>00812 <span class="comment"> OVER_TEMPERATURE_PREWARING if pre warning level has been reached</span>
<a name="l00813"></a>00813 <span class="comment"> OVER_TEMPERATURE_SHUTDOWN if the temperature is so hot that the driver is shut down</span>
<a name="l00814"></a>00814 <span class="comment"> Any of those levels are not too good.</span>
<a name="l00815"></a>00815 <span class="comment">*/</span>
<a name="l00816"></a><a class="code" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">00816</a> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">TMC26XStepper::getOverTemperature</a>(<span class="keywordtype">void</span>) {
<a name="l00817"></a>00817 <span class="keywordflow">if</span> (!this-&gt;started) {
<a name="l00818"></a>00818 <span class="keywordflow">return</span> 0;
<a name="l00819"></a>00819 }
<a name="l00820"></a>00820 <span class="keywordflow">if</span> (driver_status_result &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#adbb23d2f055c9eab55eac29d1a75deb4">STATUS_OVER_TEMPERATURE_SHUTDOWN</a>) {
<a name="l00821"></a>00821 <span class="keywordflow">return</span> <a class="code" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436" title="return value for TMC26XStepper.getOverTemperature() if there is a overtemperature shutdown in the TMC...">TMC26X_OVERTEMPERATURE_SHUTDOWN</a>;
<a name="l00822"></a>00822 }
<a name="l00823"></a>00823 <span class="keywordflow">if</span> (driver_status_result &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#aa317fd77f2f26fdfbfd331e21d9069e8">STATUS_OVER_TEMPERATURE_WARNING</a>) {
<a name="l00824"></a>00824 <span class="keywordflow">return</span> <a class="code" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f" title="return value for TMC26XStepper.getOverTemperature() if there is a overtemperature situation in the TM...">TMC26X_OVERTEMPERATURE_PREWARING</a>;
<a name="l00825"></a>00825 }
<a name="l00826"></a>00826 <span class="keywordflow">return</span> 0;
<a name="l00827"></a>00827 }
<a name="l00828"></a>00828
<a name="l00829"></a>00829 <span class="comment">//is motor channel A shorted to ground</span>
<a name="l00830"></a><a class="code" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf">00830</a> <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf" title="Is motor channel A shorted to ground detected in the last status readout.">TMC26XStepper::isShortToGroundA</a>(<span class="keywordtype">void</span>) {
<a name="l00831"></a>00831 <span class="keywordflow">if</span> (!this-&gt;started) {
<a name="l00832"></a>00832 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00833"></a>00833 }
<a name="l00834"></a>00834 <span class="keywordflow">return</span> (driver_status_result &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a8e03041302a092174fa33b3cf837dca2">STATUS_SHORT_TO_GROUND_A</a>);
<a name="l00835"></a>00835 }
<a name="l00836"></a>00836
<a name="l00837"></a>00837 <span class="comment">//is motor channel B shorted to ground</span>
<a name="l00838"></a><a class="code" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b">00838</a> <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b" title="Is motor channel B shorted to ground detected in the last status readout.">TMC26XStepper::isShortToGroundB</a>(<span class="keywordtype">void</span>) {
<a name="l00839"></a>00839 <span class="keywordflow">if</span> (!this-&gt;started) {
<a name="l00840"></a>00840 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00841"></a>00841 }
<a name="l00842"></a>00842 <span class="keywordflow">return</span> (driver_status_result &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a903c3eba99695a32c6736463dcfd93ae">STATUS_SHORT_TO_GROUND_B</a>);
<a name="l00843"></a>00843 }
<a name="l00844"></a>00844
<a name="l00845"></a>00845 <span class="comment">//is motor channel A connected</span>
<a name="l00846"></a><a class="code" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">00846</a> <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c" title="iIs motor channel A connected according to the last statu readout.">TMC26XStepper::isOpenLoadA</a>(<span class="keywordtype">void</span>) {
<a name="l00847"></a>00847 <span class="keywordflow">if</span> (!this-&gt;started) {
<a name="l00848"></a>00848 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00849"></a>00849 }
<a name="l00850"></a>00850 <span class="keywordflow">return</span> (driver_status_result &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ae9cbbe5af7188e6bff8fe412f8e42f59">STATUS_OPEN_LOAD_A</a>);
<a name="l00851"></a>00851 }
<a name="l00852"></a>00852
<a name="l00853"></a>00853 <span class="comment">//is motor channel B connected</span>
<a name="l00854"></a><a class="code" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">00854</a> <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303" title="iIs motor channel A connected according to the last statu readout.">TMC26XStepper::isOpenLoadB</a>(<span class="keywordtype">void</span>) {
<a name="l00855"></a>00855 <span class="keywordflow">if</span> (!this-&gt;started) {
<a name="l00856"></a>00856 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00857"></a>00857 }
<a name="l00858"></a>00858 <span class="keywordflow">return</span> (driver_status_result &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ab29dc5cd6c6c4e5bf99e71bd563e1be1">STATUS_OPEN_LOAD_B</a>);
<a name="l00859"></a>00859 }
<a name="l00860"></a>00860
<a name="l00861"></a>00861 <span class="comment">//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s</span>
<a name="l00862"></a><a class="code" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">00862</a> <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0" title="Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s.">TMC26XStepper::isStandStill</a>(<span class="keywordtype">void</span>) {
<a name="l00863"></a>00863 <span class="keywordflow">if</span> (!this-&gt;started) {
<a name="l00864"></a>00864 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00865"></a>00865 }
<a name="l00866"></a>00866 <span class="keywordflow">return</span> (driver_status_result &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ab96ed1635faee6650e9cce73598a2773">STATUS_STAND_STILL</a>);
<a name="l00867"></a>00867 }
<a name="l00868"></a>00868
<a name="l00869"></a>00869 <span class="comment">//is chopper inactive since 2^20 clock cycles - defaults to ~0,08s</span>
<a name="l00870"></a><a class="code" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">00870</a> <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7" title="checks if there is a StallGuard warning in the last status">TMC26XStepper::isStallGuardReached</a>(<span class="keywordtype">void</span>) {
<a name="l00871"></a>00871 <span class="keywordflow">if</span> (!this-&gt;started) {
<a name="l00872"></a>00872 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00873"></a>00873 }
<a name="l00874"></a>00874 <span class="keywordflow">return</span> (driver_status_result &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#aa09ef662fd19bf2d063d6bd0f48eca14">STATUS_STALL_GUARD_STATUS</a>);
<a name="l00875"></a>00875 }
<a name="l00876"></a>00876
<a name="l00877"></a>00877 <span class="comment">//reads the stall guard setting from last status</span>
<a name="l00878"></a>00878 <span class="comment">//returns -1 if stallguard inforamtion is not present</span>
<a name="l00879"></a>00879 <span class="keywordtype">int</span> TMC26XStepper::getReadoutValue(<span class="keywordtype">void</span>) {
<a name="l00880"></a>00880 <span class="keywordflow">return</span> (<span class="keywordtype">int</span>)(driver_status_result &gt;&gt; 10);
<a name="l00881"></a>00881 }
<a name="l00882"></a>00882
<a name="l00883"></a><a class="code" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">00883</a> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e" title="Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150...">TMC26XStepper::getResistor</a>() {
<a name="l00884"></a>00884 <span class="keywordflow">return</span> this-&gt;resistor;
<a name="l00885"></a>00885 }
<a name="l00886"></a>00886
<a name="l00887"></a><a class="code" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">00887</a> <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905" title="a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference.">TMC26XStepper::isCurrentScalingHalfed</a>() {
<a name="l00888"></a>00888 <span class="keywordflow">if</span> (this-&gt;driver_configuration_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">VSENSE</a>) {
<a name="l00889"></a>00889 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00890"></a>00890 } <span class="keywordflow">else</span> {
<a name="l00891"></a>00891 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00892"></a>00892 }
<a name="l00893"></a>00893 }
<a name="l00894"></a>00894 <span class="comment">/*</span>
<a name="l00895"></a>00895 <span class="comment"> version() returns the version of the library:</span>
<a name="l00896"></a>00896 <span class="comment"> */</span>
<a name="l00897"></a><a class="code" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">00897</a> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215" title="library version">TMC26XStepper::version</a>(<span class="keywordtype">void</span>)
<a name="l00898"></a>00898 {
<a name="l00899"></a>00899 <span class="keywordflow">return</span> 1;
<a name="l00900"></a>00900 }
<a name="l00901"></a>00901
<a name="l00902"></a><a class="code" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">00902</a> <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3" title="Prints out all the information that can be found in the last status read out - it does not force a st...">TMC26XStepper::debugLastStatus</a>() {
<a name="l00903"></a>00903 <span class="preprocessor">#ifdef DEBUG </span>
<a name="l00904"></a>00904 <span class="preprocessor"></span><span class="keywordflow">if</span> (this-&gt;started) {
<a name="l00905"></a>00905 <span class="keywordflow">if</span> (this-&gt;<a class="code" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">getOverTemperature</a>()&amp;<a class="code" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f" title="return value for TMC26XStepper.getOverTemperature() if there is a overtemperature situation in the TM...">TMC26X_OVERTEMPERATURE_PREWARING</a>) {
<a name="l00906"></a>00906 Serial.println(<span class="stringliteral">&quot;WARNING: Overtemperature Prewarning!&quot;</span>);
<a name="l00907"></a>00907 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (this-&gt;<a class="code" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">getOverTemperature</a>()&amp;<a class="code" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436" title="return value for TMC26XStepper.getOverTemperature() if there is a overtemperature shutdown in the TMC...">TMC26X_OVERTEMPERATURE_SHUTDOWN</a>) {
<a name="l00908"></a>00908 Serial.println(<span class="stringliteral">&quot;ERROR: Overtemperature Shutdown!&quot;</span>);
<a name="l00909"></a>00909 }
<a name="l00910"></a>00910 <span class="keywordflow">if</span> (this-&gt;<a class="code" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf" title="Is motor channel A shorted to ground detected in the last status readout.">isShortToGroundA</a>()) {
<a name="l00911"></a>00911 Serial.println(<span class="stringliteral">&quot;ERROR: SHORT to ground on channel A!&quot;</span>);
<a name="l00912"></a>00912 }
<a name="l00913"></a>00913 <span class="keywordflow">if</span> (this-&gt;<a class="code" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b" title="Is motor channel B shorted to ground detected in the last status readout.">isShortToGroundB</a>()) {
<a name="l00914"></a>00914 Serial.println(<span class="stringliteral">&quot;ERROR: SHORT to ground on channel A!&quot;</span>);
<a name="l00915"></a>00915 }
<a name="l00916"></a>00916 <span class="keywordflow">if</span> (this-&gt;<a class="code" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c" title="iIs motor channel A connected according to the last statu readout.">isOpenLoadA</a>()) {
<a name="l00917"></a>00917 Serial.println(<span class="stringliteral">&quot;ERROR: Channel A seems to be unconnected!&quot;</span>);
<a name="l00918"></a>00918 }
<a name="l00919"></a>00919 <span class="keywordflow">if</span> (this-&gt;<a class="code" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303" title="iIs motor channel A connected according to the last statu readout.">isOpenLoadB</a>()) {
<a name="l00920"></a>00920 Serial.println(<span class="stringliteral">&quot;ERROR: Channel B seems to be unconnected!&quot;</span>);
<a name="l00921"></a>00921 }
<a name="l00922"></a>00922 <span class="keywordflow">if</span> (this-&gt;<a class="code" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7" title="checks if there is a StallGuard warning in the last status">isStallGuardReached</a>()) {
<a name="l00923"></a>00923 Serial.println(<span class="stringliteral">&quot;INFO: Stall Guard level reached!&quot;</span>);
<a name="l00924"></a>00924 }
<a name="l00925"></a>00925 <span class="keywordflow">if</span> (this-&gt;<a class="code" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0" title="Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s.">isStandStill</a>()) {
<a name="l00926"></a>00926 Serial.println(<span class="stringliteral">&quot;INFO: Motor is standing still.&quot;</span>);
<a name="l00927"></a>00927 }
<a name="l00928"></a>00928 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> readout_config = driver_configuration_register_value &amp; <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a88a4b45fa6385eba8aa4f0342334b832">READ_SELECTION_PATTERN</a>;
<a name="l00929"></a>00929 <span class="keywordtype">int</span> value = getReadoutValue();
<a name="l00930"></a>00930 <span class="keywordflow">if</span> (readout_config == <a class="code" href="_t_m_c26_x_stepper_8cpp.html#a143b7757272f07866d9655bde8303d9a">READ_MICROSTEP_POSTION</a>) {
<a name="l00931"></a>00931 Serial.print(<span class="stringliteral">&quot;Microstep postion phase A: &quot;</span>);
<a name="l00932"></a>00932 Serial.println(value);
<a name="l00933"></a>00933 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (readout_config == <a class="code" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">READ_STALL_GUARD_READING</a>) {
<a name="l00934"></a>00934 Serial.print(<span class="stringliteral">&quot;Stall Guard value:&quot;</span>);
<a name="l00935"></a>00935 Serial.println(value);
<a name="l00936"></a>00936 } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (readout_config == <a class="code" href="_t_m_c26_x_stepper_8cpp.html#aef62b7fdcbac0b33b2d6e9cea4b5f9b2">READ_STALL_GUARD_AND_COOL_STEP</a>) {
<a name="l00937"></a>00937 <span class="keywordtype">int</span> stallGuard = value &amp; 0xf;
<a name="l00938"></a>00938 <span class="keywordtype">int</span> current = value &amp; 0x1F0;
<a name="l00939"></a>00939 Serial.print(<span class="stringliteral">&quot;Approx Stall Guard: &quot;</span>);
<a name="l00940"></a>00940 Serial.println(stallGuard);
<a name="l00941"></a>00941 Serial.print(<span class="stringliteral">&quot;Current level&quot;</span>);
<a name="l00942"></a>00942 Serial.println(current);
<a name="l00943"></a>00943 }
<a name="l00944"></a>00944 }
<a name="l00945"></a>00945 <span class="preprocessor">#endif</span>
<a name="l00946"></a>00946 <span class="preprocessor"></span>}
<a name="l00947"></a>00947
<a name="l00948"></a>00948 <span class="comment">/*</span>
<a name="l00949"></a>00949 <span class="comment"> * send register settings to the stepper driver via SPI</span>
<a name="l00950"></a>00950 <span class="comment"> * returns the current status</span>
<a name="l00951"></a>00951 <span class="comment"> */</span>
<a name="l00952"></a>00952 <span class="keyword">inline</span> <span class="keywordtype">void</span> TMC26XStepper::send262(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> datagram) {
<a name="l00953"></a>00953 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> i_datagram;
<a name="l00954"></a>00954
<a name="l00955"></a>00955 <span class="comment">//preserver the previous spi mode</span>
<a name="l00956"></a>00956 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> oldMode = SPCR &amp; SPI_MODE_MASK;
<a name="l00957"></a>00957
<a name="l00958"></a>00958 <span class="comment">//if the mode is not correct set it to mode 3</span>
<a name="l00959"></a>00959 <span class="keywordflow">if</span> (oldMode != SPI_MODE3) {
<a name="l00960"></a>00960 SPI.setDataMode(SPI_MODE3);
<a name="l00961"></a>00961 }
<a name="l00962"></a>00962
<a name="l00963"></a>00963 <span class="comment">//select the TMC driver</span>
<a name="l00964"></a>00964 digitalWrite(cs_pin,LOW);
<a name="l00965"></a>00965
<a name="l00966"></a>00966 <span class="comment">//ensure that only valid bist are set (0-19)</span>
<a name="l00967"></a>00967 <span class="comment">//datagram &amp;=REGISTER_BIT_PATTERN;</span>
<a name="l00968"></a>00968
<a name="l00969"></a>00969 <span class="preprocessor">#ifdef DEBUG</span>
<a name="l00970"></a>00970 <span class="preprocessor"></span> Serial.print(<span class="stringliteral">&quot;Sending &quot;</span>);
<a name="l00971"></a>00971 Serial.println(datagram,HEX);
<a name="l00972"></a>00972 <span class="preprocessor">#endif</span>
<a name="l00973"></a>00973 <span class="preprocessor"></span>
<a name="l00974"></a>00974 <span class="comment">//write/read the values</span>
<a name="l00975"></a>00975 i_datagram = SPI.transfer((datagram &gt;&gt; 16) &amp; 0xff);
<a name="l00976"></a>00976 i_datagram &lt;&lt;= 8;
<a name="l00977"></a>00977 i_datagram |= SPI.transfer((datagram &gt;&gt; 8) &amp; 0xff);
<a name="l00978"></a>00978 i_datagram &lt;&lt;= 8;
<a name="l00979"></a>00979 i_datagram |= SPI.transfer((datagram) &amp; 0xff);
<a name="l00980"></a>00980 i_datagram &gt;&gt;= 4;
<a name="l00981"></a>00981
<a name="l00982"></a>00982 <span class="preprocessor">#ifdef DEBUG</span>
<a name="l00983"></a>00983 <span class="preprocessor"></span> Serial.print(<span class="stringliteral">&quot;Received &quot;</span>);
<a name="l00984"></a>00984 Serial.println(i_datagram,HEX);
<a name="l00985"></a>00985 <a class="code" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3" title="Prints out all the information that can be found in the last status read out - it does not force a st...">debugLastStatus</a>();
<a name="l00986"></a>00986 <span class="preprocessor">#endif</span>
<a name="l00987"></a>00987 <span class="preprocessor"></span> <span class="comment">//deselect the TMC chip</span>
<a name="l00988"></a>00988 digitalWrite(cs_pin,HIGH);
<a name="l00989"></a>00989
<a name="l00990"></a>00990 <span class="comment">//restore the previous SPI mode if neccessary</span>
<a name="l00991"></a>00991 <span class="comment">//if the mode is not correct set it to mode 3</span>
<a name="l00992"></a>00992 <span class="keywordflow">if</span> (oldMode != SPI_MODE3) {
<a name="l00993"></a>00993 SPI.setDataMode(oldMode);
<a name="l00994"></a>00994 }
<a name="l00995"></a>00995
<a name="l00996"></a>00996
<a name="l00997"></a>00997 <span class="comment">//store the datagram as status result</span>
<a name="l00998"></a>00998 driver_status_result = i_datagram;
<a name="l00999"></a>00999 }
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Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Class representing a TMC26X stepper driver. <a href="class_t_m_c26_x_stepper.html#details">More...</a><br/></td></tr>
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Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f">TMC26X_OVERTEMPERATURE_PREWARING</a>&#160;&#160;&#160;1</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">return value for <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">TMC26XStepper.getOverTemperature()</a> if there is a overtemperature situation in the TMC chip <a href="#add42eee34f674f92c19bcd5266d2445f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436">TMC26X_OVERTEMPERATURE_SHUTDOWN</a>&#160;&#160;&#160;2</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">return value for <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">TMC26XStepper.getOverTemperature()</a> if there is a overtemperature shutdown in the TMC chip <a href="#adae814ce848677abd87758c7ac79a436"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26X_READOUT_POSITION</a>&#160;&#160;&#160;0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">TMC26X_READOUT_STALLGUARD</a>&#160;&#160;&#160;1</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">TMC26X_READOUT_CURRENT</a>&#160;&#160;&#160;3</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">COOL_STEP_HALF_CS_LIMIT</a>&#160;&#160;&#160;0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_t_m_c26_x_stepper_8h.html#a1a4db5eafd0a9247677153cb4c8b7d54">COOL_STEP_QUARTDER_CS_LIMIT</a>&#160;&#160;&#160;1</td></tr>
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<hr/><h2>Define Documentation</h2>
<a class="anchor" id="a28b1774bd4aa854fb5e4b6dc7db96ecb"></a><!-- doxytag: member="TMC26XStepper.h::COOL_STEP_HALF_CS_LIMIT" ref="a28b1774bd4aa854fb5e4b6dc7db96ecb" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">COOL_STEP_HALF_CS_LIMIT</a>&#160;&#160;&#160;0</td>
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<p>Define to set the minimum current for CoolStep operation to 1/2 of the selected CS minium. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>setCoolStepConfiguration() </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00070">70</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p>
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<p>Define to set the minimum current for CoolStep operation to 1/4 of the selected CS minium. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>setCoolStepConfiguration() </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00075">75</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p>
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<p>return value for <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">TMC26XStepper.getOverTemperature()</a> if there is a overtemperature situation in the TMC chip </p>
<p>This warning indicates that the TCM chip is too warm. It is still working but some parameters may be inferior. You should do something against it. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00039">39</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p>
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436">TMC26X_OVERTEMPERATURE_SHUTDOWN</a>&#160;&#160;&#160;2</td>
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<p>return value for <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">TMC26XStepper.getOverTemperature()</a> if there is a overtemperature shutdown in the TMC chip </p>
<p>This warning indicates that the TCM chip is too warm to operate and has shut down to prevent damage. It will stop working until it cools down again. If you encouter this situation you must do something against it. Like reducing the current or improving the PCB layout and/or heat management. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00047">47</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p>
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<p>Selects to read out the current current setting (acc. to CoolStep) and the upper bits of the StallGuard value from the motor. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>readStatus(), setCurrent() </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00064">64</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p>
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<a class="anchor" id="aff05d4a47ef8821322ccc2a20785fbee"></a><!-- doxytag: member="TMC26XStepper.h::TMC26X_READOUT_POSITION" ref="aff05d4a47ef8821322ccc2a20785fbee" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26X_READOUT_POSITION</a>&#160;&#160;&#160;0</td>
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<p>Selects to readout the microstep position from the motor. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>readStatus() </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00054">54</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p>
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<a class="anchor" id="ac864ff8886123039c7d2d3c617f7ef87"></a><!-- doxytag: member="TMC26XStepper.h::TMC26X_READOUT_STALLGUARD" ref="ac864ff8886123039c7d2d3c617f7ef87" args="" -->
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<td class="memname">#define <a class="el" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">TMC26X_READOUT_STALLGUARD</a>&#160;&#160;&#160;1</td>
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</table>
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<div class="memdoc">
<p>Selects to read out the StallGuard value of the motor. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>readStatus() </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00059">59</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p>
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<a href="_t_m_c26_x_stepper_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> TMC26XStepper.cpp - - TMC26X Stepper library for Wiring/Arduino - Version 0.1</span>
<a name="l00003"></a>00003 <span class="comment"> </span>
<a name="l00004"></a>00004 <span class="comment"> based on the stepper library by Tom Igoe, et. al.</span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment"> Copyright (c) 2011, Interactive Matter, Marcus Nowotny</span>
<a name="l00007"></a>00007 <span class="comment"> </span>
<a name="l00008"></a>00008 <span class="comment"> Permission is hereby granted, free of charge, to any person obtaining a copy</span>
<a name="l00009"></a>00009 <span class="comment"> of this software and associated documentation files (the &quot;Software&quot;), to deal</span>
<a name="l00010"></a>00010 <span class="comment"> in the Software without restriction, including without limitation the rights</span>
<a name="l00011"></a>00011 <span class="comment"> to use, copy, modify, merge, publish, distribute, sublicense, and/or sell</span>
<a name="l00012"></a>00012 <span class="comment"> copies of the Software, and to permit persons to whom the Software is</span>
<a name="l00013"></a>00013 <span class="comment"> furnished to do so, subject to the following conditions:</span>
<a name="l00014"></a>00014 <span class="comment"> </span>
<a name="l00015"></a>00015 <span class="comment"> The above copyright notice and this permission notice shall be included in</span>
<a name="l00016"></a>00016 <span class="comment"> all copies or substantial portions of the Software.</span>
<a name="l00017"></a>00017 <span class="comment"> </span>
<a name="l00018"></a>00018 <span class="comment"> THE SOFTWARE IS PROVIDED &quot;AS IS&quot;, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span>
<a name="l00019"></a>00019 <span class="comment"> IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span>
<a name="l00020"></a>00020 <span class="comment"> FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE</span>
<a name="l00021"></a>00021 <span class="comment"> AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span>
<a name="l00022"></a>00022 <span class="comment"> LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,</span>
<a name="l00023"></a>00023 <span class="comment"> OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN</span>
<a name="l00024"></a>00024 <span class="comment"> THE SOFTWARE.</span>
<a name="l00025"></a>00025 <span class="comment"></span>
<a name="l00026"></a>00026 <span class="comment"> */</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="comment">// ensure this library description is only included once</span>
<a name="l00030"></a>00030 <span class="preprocessor">#ifndef TMC26XStepper_h</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span><span class="preprocessor">#define TMC26XStepper_h</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span>
<a name="l00034"></a>00034
<a name="l00039"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f">00039</a> <span class="preprocessor">#define TMC26X_OVERTEMPERATURE_PREWARING 1</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span>
<a name="l00041"></a>00041
<a name="l00047"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436">00047</a> <span class="preprocessor">#define TMC26X_OVERTEMPERATURE_SHUTDOWN 2</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00049"></a>00049 <span class="comment">//which values can be read out</span>
<a name="l00054"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">00054</a> <span class="comment"></span><span class="preprocessor">#define TMC26X_READOUT_POSITION 0</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span>
<a name="l00059"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">00059</a> <span class="preprocessor">#define TMC26X_READOUT_STALLGUARD 1</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span>
<a name="l00064"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">00064</a> <span class="preprocessor">#define TMC26X_READOUT_CURRENT 3</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span>
<a name="l00070"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">00070</a> <span class="preprocessor">#define COOL_STEP_HALF_CS_LIMIT 0</span>
<a name="l00071"></a>00071 <span class="preprocessor"></span>
<a name="l00075"></a><a class="code" href="_t_m_c26_x_stepper_8h.html#a1a4db5eafd0a9247677153cb4c8b7d54">00075</a> <span class="preprocessor">#define COOL_STEP_QUARTDER_CS_LIMIT 1</span>
<a name="l00076"></a>00076 <span class="preprocessor"></span>
<a name="l00101"></a><a class="code" href="class_t_m_c26_x_stepper.html">00101</a> <span class="keyword">class </span><a class="code" href="class_t_m_c26_x_stepper.html" title="Class representing a TMC26X stepper driver.">TMC26XStepper</a> {
<a name="l00102"></a>00102 <span class="keyword">public</span>:
<a name="l00124"></a>00124 <a class="code" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c" title="creates a new represenatation of a stepper motor connected to a TMC26X stepper driver">TMC26XStepper</a>(<span class="keywordtype">int</span> number_of_steps, <span class="keywordtype">int</span> cs_pin, <span class="keywordtype">int</span> dir_pin, <span class="keywordtype">int</span> step_pin, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> current, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> resistor=150);
<a name="l00125"></a>00125
<a name="l00133"></a>00133 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7" title="configures and starts the TMC26X stepper driver. Before you called this function the stepper driver i...">start</a>();
<a name="l00134"></a>00134
<a name="l00145"></a>00145 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5" title="resets the stepper in unconfigured mode.">un_start</a>();
<a name="l00146"></a>00146
<a name="l00147"></a>00147
<a name="l00152"></a>00152 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd" title="Sets the rotation speed in revolutions per minute.">setSpeed</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> whatSpeed);
<a name="l00153"></a>00153
<a name="l00158"></a>00158 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29" title="reads out the currently selected speed in revolutions per minute.">getSpeed</a>(<span class="keywordtype">void</span>);
<a name="l00159"></a>00159
<a name="l00168"></a>00168 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps</a>(<span class="keywordtype">int</span> number_of_steps);
<a name="l00169"></a>00169
<a name="l00178"></a>00178 <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3" title="returns the effective current number of microsteps selected.">getMicrosteps</a>(<span class="keywordtype">void</span>);
<a name="l00179"></a>00179
<a name="l00195"></a>00195 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d" title="Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in ...">step</a>(<span class="keywordtype">int</span> number_of_steps);
<a name="l00196"></a>00196
<a name="l00215"></a>00215 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415" title="Central movement method, must be called as often as possible in the lopp function and is very fast...">move</a>(<span class="keywordtype">void</span>);
<a name="l00216"></a>00216
<a name="l00224"></a>00224 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving</a>(<span class="keywordtype">void</span>);
<a name="l00225"></a>00225
<a name="l00230"></a>00230 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7" title="Get the number of steps left in the current movement.">getStepsLeft</a>(<span class="keywordtype">void</span>);
<a name="l00231"></a>00231
<a name="l00238"></a>00238 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123" title="Stops the motor regardless if it moves or not.">stop</a>(<span class="keywordtype">void</span>);
<a name="l00239"></a>00239
<a name="l00264"></a>00264 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649" title="Sets and configure the classical Constant Off Timer Chopper.">setConstantOffTimeChopper</a>(<span class="keywordtype">char</span> constant_off_time, <span class="keywordtype">char</span> blank_time, <span class="keywordtype">char</span> fast_decay_time_setting, <span class="keywordtype">char</span> sine_wave_offset, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> use_current_comparator);
<a name="l00265"></a>00265
<a name="l00286"></a>00286 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2" title="Sets and configures with spread cycle chopper.">setSpreadCycleChopper</a>(<span class="keywordtype">char</span> constant_off_time, <span class="keywordtype">char</span> blank_time, <span class="keywordtype">char</span> hysteresis_start, <span class="keywordtype">char</span> hysteresis_end, <span class="keywordtype">char</span> hysteresis_decrement);
<a name="l00287"></a>00287
<a name="l00303"></a>00303 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a" title="Use random off time for noise reduction (0 for off, -1 for on).">setRandomOffTime</a>(<span class="keywordtype">char</span> value);
<a name="l00304"></a>00304
<a name="l00312"></a>00312 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2" title="set the maximum motor current in mA (1000 is 1 Amp) Keep in mind this is the maximum peak Current...">setCurrent</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> current);
<a name="l00313"></a>00313
<a name="l00320"></a>00320 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f" title="readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()">getCurrent</a>(<span class="keywordtype">void</span>);
<a name="l00321"></a>00321
<a name="l00337"></a>00337 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a" title="set the StallGuard threshold in order to get sensible StallGuard readings.">setStallGuardThreshold</a>(<span class="keywordtype">char</span> stall_guard_threshold, <span class="keywordtype">char</span> stall_guard_filter_enabled);
<a name="l00338"></a>00338
<a name="l00343"></a>00343 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def" title="reads out the StallGuard threshold">getStallGuardThreshold</a>(<span class="keywordtype">void</span>);
<a name="l00344"></a>00344
<a name="l00349"></a>00349 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a" title="returns the current setting of the StallGuard filter">getStallGuardFilter</a>(<span class="keywordtype">void</span>);
<a name="l00350"></a>00350
<a name="l00368"></a>00368 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> lower_SG_threshold, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> SG_hysteresis, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> current_decrement_step_size,
<a name="l00369"></a>00369 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> current_increment_step_size, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> lower_current_limit);
<a name="l00370"></a>00370
<a name="l00376"></a>00376 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157" title="enables or disables the CoolStep smart energy operation feature. It must be configured before enablin...">setCoolStepEnabled</a>(<span class="keywordtype">boolean</span> enabled);
<a name="l00377"></a>00377
<a name="l00378"></a>00378
<a name="l00383"></a>00383 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d" title="check if the CoolStep feature is enabled">isCoolStepEnabled</a>();
<a name="l00384"></a>00384
<a name="l00389"></a>00389 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8" title="returns the lower StallGuard threshold for the CoolStep operation">getCoolStepLowerSgThreshold</a>();
<a name="l00390"></a>00390
<a name="l00395"></a>00395 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f" title="returns the upper StallGuard threshold for the CoolStep operation">getCoolStepUpperSgThreshold</a>();
<a name="l00396"></a>00396
<a name="l00401"></a>00401 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46" title="returns the number of StallGuard readings befor CoolStep adjusts the motor current.">getCoolStepNumberOfSGReadings</a>();
<a name="l00402"></a>00402
<a name="l00407"></a>00407 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883" title="returns the increment steps for the current for the CoolStep operation">getCoolStepCurrentIncrementSize</a>();
<a name="l00408"></a>00408
<a name="l00414"></a>00414 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c" title="returns the absolut minium current for the CoolStep operation">getCoolStepLowerCurrentLimit</a>();
<a name="l00415"></a>00415
<a name="l00422"></a>00422 <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition</a>(<span class="keywordtype">void</span>);
<a name="l00423"></a>00423
<a name="l00430"></a>00430 <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading</a>(<span class="keywordtype">void</span>);
<a name="l00431"></a>00431
<a name="l00437"></a>00437 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1" title="Reads the current current setting value as fraction of the maximum current Returns values between 0 a...">getCurrentCSReading</a>(<span class="keywordtype">void</span>);
<a name="l00438"></a>00438
<a name="l00439"></a>00439
<a name="l00444"></a>00444 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905" title="a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference.">isCurrentScalingHalfed</a>();
<a name="l00445"></a>00445
<a name="l00453"></a>00453 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">getCurrentCurrent</a>(<span class="keywordtype">void</span>);
<a name="l00454"></a>00454
<a name="l00463"></a>00463 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41" title="checks if there is a StallGuard warning in the last status">isStallGuardOverThreshold</a>(<span class="keywordtype">void</span>);
<a name="l00464"></a>00464
<a name="l00471"></a>00471 <span class="keywordtype">char</span> <a class="code" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7" title="Return over temperature status of the last status readout return 0 is everything is OK...">getOverTemperature</a>(<span class="keywordtype">void</span>);
<a name="l00472"></a>00472
<a name="l00480"></a>00480 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf" title="Is motor channel A shorted to ground detected in the last status readout.">isShortToGroundA</a>(<span class="keywordtype">void</span>);
<a name="l00481"></a>00481
<a name="l00488"></a>00488 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b" title="Is motor channel B shorted to ground detected in the last status readout.">isShortToGroundB</a>(<span class="keywordtype">void</span>);
<a name="l00495"></a>00495 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c" title="iIs motor channel A connected according to the last statu readout.">isOpenLoadA</a>(<span class="keywordtype">void</span>);
<a name="l00496"></a>00496
<a name="l00503"></a>00503 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303" title="iIs motor channel A connected according to the last statu readout.">isOpenLoadB</a>(<span class="keywordtype">void</span>);
<a name="l00504"></a>00504
<a name="l00511"></a>00511 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0" title="Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s.">isStandStill</a>(<span class="keywordtype">void</span>);
<a name="l00512"></a>00512
<a name="l00524"></a>00524 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7" title="checks if there is a StallGuard warning in the last status">isStallGuardReached</a>(<span class="keywordtype">void</span>);
<a name="l00525"></a>00525
<a name="l00530"></a>00530 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305" title="enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.">setEnabled</a>(<span class="keywordtype">boolean</span> enabled);
<a name="l00531"></a>00531
<a name="l00537"></a>00537 <span class="keywordtype">boolean</span> <a class="code" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6" title="checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely...">isEnabled</a>();
<a name="l00538"></a>00538
<a name="l00548"></a>00548 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967" title="Manually read out the status register This function sends a byte to the motor driver in order to get ...">readStatus</a>(<span class="keywordtype">char</span> read_value);
<a name="l00549"></a>00549
<a name="l00554"></a>00554 <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e" title="Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150...">getResistor</a>();
<a name="l00555"></a>00555
<a name="l00560"></a>00560 <span class="keywordtype">void</span> <a class="code" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3" title="Prints out all the information that can be found in the last status read out - it does not force a st...">debugLastStatus</a>(<span class="keywordtype">void</span>);
<a name="l00565"></a>00565 <span class="keywordtype">int</span> <a class="code" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215" title="library version">version</a>(<span class="keywordtype">void</span>);
<a name="l00566"></a>00566
<a name="l00567"></a>00567 <span class="keyword">private</span>:
<a name="l00568"></a>00568 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps_left; <span class="comment">//the steps the motor has to do to complete the movement</span>
<a name="l00569"></a>00569 <span class="keywordtype">int</span> direction; <span class="comment">// Direction of rotation</span>
<a name="l00570"></a>00570 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> step_delay; <span class="comment">// delay between steps, in ms, based on speed</span>
<a name="l00571"></a>00571 <span class="keywordtype">int</span> number_of_steps; <span class="comment">// total number of steps this motor can take</span>
<a name="l00572"></a>00572 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> speed; <span class="comment">// we need to store the current speed in order to change the speed after changing microstepping</span>
<a name="l00573"></a>00573 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> resistor; <span class="comment">//current sense resitor value in milliohm</span>
<a name="l00574"></a>00574
<a name="l00575"></a>00575 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> last_step_time; <span class="comment">// time stamp in ms of when the last step was taken</span>
<a name="l00576"></a>00576 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> next_step_time; <span class="comment">// time stamp in ms of when the last step was taken</span>
<a name="l00577"></a>00577
<a name="l00578"></a>00578 <span class="comment">//driver control register copies to easily set &amp; modify the registers</span>
<a name="l00579"></a>00579 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> driver_control_register_value;
<a name="l00580"></a>00580 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> chopper_config_register;
<a name="l00581"></a>00581 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> cool_step_register_value;
<a name="l00582"></a>00582 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> stall_guard2_current_register_value;
<a name="l00583"></a>00583 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> driver_configuration_register_value;
<a name="l00584"></a>00584 <span class="comment">//the driver status result</span>
<a name="l00585"></a>00585 <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> driver_status_result;
<a name="l00586"></a>00586
<a name="l00587"></a>00587 <span class="comment">//helper routione to get the top 10 bit of the readout</span>
<a name="l00588"></a>00588 <span class="keyword">inline</span> <span class="keywordtype">int</span> getReadoutValue();
<a name="l00589"></a>00589
<a name="l00590"></a>00590 <span class="comment">//the pins for the stepper driver</span>
<a name="l00591"></a>00591 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> cs_pin;
<a name="l00592"></a>00592 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> step_pin;
<a name="l00593"></a>00593 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> dir_pin;
<a name="l00594"></a>00594
<a name="l00595"></a>00595 <span class="comment">//status values </span>
<a name="l00596"></a>00596 <span class="keywordtype">boolean</span> started; <span class="comment">//if the stepper has been started yet</span>
<a name="l00597"></a>00597 <span class="keywordtype">int</span> microsteps; <span class="comment">//the current number of micro steps</span>
<a name="l00598"></a>00598 <span class="keywordtype">char</span> constant_off_time; <span class="comment">//we need to remember this value in order to enable and disable the motor</span>
<a name="l00599"></a>00599 <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> cool_step_lower_threshold; <span class="comment">// we need to remember the threshold to enable and disable the CoolStep feature</span>
<a name="l00600"></a>00600 <span class="keywordtype">boolean</span> cool_step_enabled; <span class="comment">//we need to remember this to configure the coolstep if it si enabled</span>
<a name="l00601"></a>00601
<a name="l00602"></a>00602 <span class="comment">//SPI sender</span>
<a name="l00603"></a>00603 <span class="keyword">inline</span> <span class="keywordtype">void</span> send262(<span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> datagram);
<a name="l00604"></a>00604 };
<a name="l00605"></a>00605
<a name="l00606"></a>00606 <span class="preprocessor">#endif</span>
<a name="l00607"></a>00607 <span class="preprocessor"></span>
</pre></div></div><!-- contents -->
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<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><table>
<tr><td class="indexkey"><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td class="indexvalue">Class representing a TMC26X stepper driver </td></tr>
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This is the complete list of members for <a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a>, including all inherited members.<table>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">debugLastStatus</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">getCoolStepCurrentIncrementSize</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">getCoolStepLowerCurrentLimit</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">getCoolStepLowerSgThreshold</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">getCoolStepNumberOfSGReadings</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">getCoolStepUpperSgThreshold</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">getCurrent</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">getCurrentCSReading</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7">getCurrentCurrent</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">getCurrentStallGuardReading</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">getMicrosteps</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">getMotorPosition</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">getOverTemperature</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">getResistor</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">getSpeed</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a">getStallGuardFilter</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">getStallGuardThreshold</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">getStepsLeft</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d">isCoolStepEnabled</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">isCurrentScalingHalfed</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">isEnabled</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e">isMoving</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">isOpenLoadA</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">isOpenLoadB</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf">isShortToGroundA</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b">isShortToGroundB</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">isStallGuardOverThreshold</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">isStallGuardReached</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">isStandStill</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">move</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">readStatus</a>(char read_value)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">setConstantOffTimeChopper</a>(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">setCoolStepConfiguration</a>(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size, unsigned char current_increment_step_size, unsigned char lower_current_limit)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">setCoolStepEnabled</a>(boolean enabled)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">setCurrent</a>(unsigned int current)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">setEnabled</a>(boolean enabled)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">setMicrosteps</a>(int number_of_steps)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">setRandomOffTime</a>(char value)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">setSpeed</a>(unsigned int whatSpeed)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">setSpreadCycleChopper</a>(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">setStallGuardThreshold</a>(char stall_guard_threshold, char stall_guard_filter_enabled)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">start</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">step</a>(int number_of_steps)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">stop</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">TMC26XStepper</a>(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">un_start</a>()</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
<tr class="memlist"><td><a class="el" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">version</a>(void)</td><td><a class="el" href="class_t_m_c26_x_stepper.html">TMC26XStepper</a></td><td></td></tr>
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<!-- doxytag: class="TMC26XStepper" -->
<p>Class representing a TMC26X stepper driver.
<a href="class_t_m_c26_x_stepper.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>&gt;</code></p>
<p><a href="class_t_m_c26_x_stepper-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">TMC26XStepper</a> (int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">creates a new represenatation of a stepper motor connected to a TMC26X stepper driver <a href="#a3ef40763b8b8ab2b6ed4978c0647906c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">start</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode. <a href="#aad1ed82b3e05940bde5a6c7ed3d3e8f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">un_start</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">resets the stepper in unconfigured mode. <a href="#af968e70a13068f1e71ac0fa6865630c5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">setSpeed</a> (unsigned int whatSpeed)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the rotation speed in revolutions per minute. <a href="#a9478f43090995c8d5cdb4d4e8c07cdbd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">getSpeed</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">reads out the currently selected speed in revolutions per minute. <a href="#aa564f5cc0218d30ef897c2830c768c29"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">setMicrosteps</a> (int number_of_steps)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the number of microsteps in 2^i values (rounded) up to 256. <a href="#a21041579c7f9284567ee2e2a55a3afd0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">getMicrosteps</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the effective current number of microsteps selected. <a href="#a5808551ced98b79c09bbb4bf47ecfec3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">step</a> (int number_of_steps)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction. <a href="#ac073a742496885f1f60751f9fb9c395d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">move</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Central movement method, must be called as often as possible in the lopp function and is very fast. <a href="#aed5d81f1549615529c723600a68ba415"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e">isMoving</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">checks if the motor still has to move to fulfill the last movement command. <a href="#a880d602be8414b7b965287c1790cd50e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">getStepsLeft</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the number of steps left in the current movement. <a href="#aa6c3211f85301ca0fb2e7b73cb8142a7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">stop</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Stops the motor regardless if it moves or not. <a href="#a6315c18eadbc6bf4f3d81a6f80296123"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">setConstantOffTimeChopper</a> (char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets and configure the classical Constant Off Timer Chopper. <a href="#ac2d8a2bbae2aba3ed7c98e3ff1a06649"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">setSpreadCycleChopper</a> (char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets and configures with spread cycle chopper. <a href="#aa152bb7ddb72a2bc8465553a39232df2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">setRandomOffTime</a> (char value)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Use random off time for noise reduction (0 for off, -1 for on). <a href="#a7ffd602cf4bf385847cba034417d5f0a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">setCurrent</a> (unsigned int current)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">set the maximum motor current in mA (1000 is 1 Amp) Keep in mind this is the maximum peak Current. The RMS current will be 1/sqrt(2) smaller. The actual current can also be smaller by employing CoolStep. <a href="#aaa35fac83417c16b3a941fa168e4a4d2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">getCurrent</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">getCurrentCurrent()</a> <a href="#a0c544e23efe3e4a912aacf57de84b71f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">setStallGuardThreshold</a> (char stall_guard_threshold, char stall_guard_filter_enabled)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">set the StallGuard threshold in order to get sensible StallGuard readings. <a href="#af1a5abc23757860baf8ff421689a425a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">getStallGuardThreshold</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">reads out the StallGuard threshold <a href="#a056661f444725c3ae15696d1e8d91def"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a">getStallGuardFilter</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the current setting of the StallGuard filter <a href="#a47e3443e3e786314c1099b8f14a91b8a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">setCoolStepConfiguration</a> (unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size, unsigned char current_increment_step_size, unsigned char lower_current_limit)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">This method configures the CoolStep smart energy operation. You must have a proper StallGuard configuration for the motor situation (current, voltage, speed) in rder to use this feature. <a href="#a381fbcce7c586ca2f1da8f9e704df14e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">setCoolStepEnabled</a> (boolean enabled)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it. <a href="#a15bf0ed5a166a5d9a41f90f3ccbc6157"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d">isCoolStepEnabled</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">check if the CoolStep feature is enabled <a href="#a6de2306b6d8dc1fa2e50fccb66d8e66d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">getCoolStepLowerSgThreshold</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the lower StallGuard threshold for the CoolStep operation <a href="#aa7469949deaa39a58038b3ddef532bc8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">getCoolStepUpperSgThreshold</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the upper StallGuard threshold for the CoolStep operation <a href="#ac61298fd658773c28823d33ab04e970f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">getCoolStepNumberOfSGReadings</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the number of StallGuard readings befor CoolStep adjusts the motor current. <a href="#aad44ee5ae73bf8e69af05674a304ba46"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">getCoolStepCurrentIncrementSize</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the increment steps for the current for the CoolStep operation <a href="#ababe688a15f087d23d4ff2094fcee883"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">getCoolStepLowerCurrentLimit</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">returns the absolut minium current for the CoolStep operation <a href="#a0c7e8541abc120a3910e35c6fbf2167c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">getMotorPosition</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current microstep position for phase A. <a href="#a1019f6f889acfd3176eecd60a0a20125"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">getCurrentStallGuardReading</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Reads the current StallGuard value. <a href="#aed570ce3eea640e087b046333015de1e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">getCurrentCSReading</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Reads the current current setting value as fraction of the maximum current Returns values between 0 and 31, representing 1/32 to 32/32 (=1) <a href="#a1a939fb495d747c2c11be99a740371e1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">isCurrentScalingHalfed</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference. <a href="#ad435db189ebb101fb2de90a484f33905"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7">getCurrentCurrent</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000). This method calculates the currently used current setting (either by setting or by CoolStep) and reconstructs the current in mA by usinge the VSENSE and resistor value. This method uses floating point math - so it may not be the fastest. <a href="#aa00741168a7def0a7a9d2f2c9d3b99d7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">isStallGuardOverThreshold</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">checks if there is a StallGuard warning in the last status <a href="#aea4c6e1fac909116c6b55f902d6cff41"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">getOverTemperature</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Return over temperature status of the last status readout return 0 is everything is OK, TMC26X_OVERTEMPERATURE_PREWARING if status is reached, TMC26X_OVERTEMPERATURE_SHUTDOWN is the chip is shutdown, -1 if the status is unknown. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. <a href="#a7662c2fbc03d1f5a7da5cabcc153b2d7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf">isShortToGroundA</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Is motor channel A shorted to ground detected in the last status readout. <a href="#ad329fa4693d3139dea241ebe3d0f33cf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b">isShortToGroundB</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Is motor channel B shorted to ground detected in the last status readout. <a href="#a0ccb54d40cce0d802aa56ff6261f9f3b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">isOpenLoadA</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">iIs motor channel A connected according to the last statu readout. <a href="#af97b2ab9d1ba36765ac6f17cf25ec45c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">isOpenLoadB</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">iIs motor channel A connected according to the last statu readout. <a href="#a303590124f5ac6d6a06d0ec60d0b5303"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">isStandStill</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s. <a href="#ab26602f360a4fb6ec6d262011675b2b0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">isStallGuardReached</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">checks if there is a StallGuard warning in the last status <a href="#afdeded501ec2cabeffde33d31b6573f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">setEnabled</a> (boolean enabled)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not. <a href="#a4472cd86ad5b65dec5ec45ce69158305"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">boolean&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">isEnabled</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely <a href="#a15796c0cbdeab23a343c3f25327283b6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">readStatus</a> (char read_value)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Manually read out the status register This function sends a byte to the motor driver in order to get the current readout. The parameter read_value seletcs which value will get returned. If the read_vlaue changes in respect to the previous readout this method automatically send two bytes to the motor: one to set the redout and one to get the actual readout. So this method may take time to send and read one or two bits - depending on the previous readout. <a href="#af95a824bfdf49ef979b5354798e52967"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">getResistor</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150. <a href="#ae1db5ec2ec9bfbfaea83c659e006692e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">debugLastStatus</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Prints out all the information that can be found in the last status read out - it does not force a status readout. The result is printed via Serial. <a href="#ad5e5b1bf5a46d02577dd548083877ec3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">version</a> (void)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">library version <a href="#ab040d9df1e85d6fb0c105205a36b0215"></a><br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Class representing a TMC26X stepper driver. </p>
<p>In order to use one fo those drivers in your Arduino code you have to create an object of that class: </p>
<div class="fragment"><pre class="fragment"> <a class="code" href="class_t_m_c26_x_stepper.html" title="Class representing a TMC26X stepper driver.">TMC26XStepper</a> stepper = <a class="code" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c" title="creates a new represenatation of a stepper motor connected to a TMC26X stepper driver">TMC26XStepper</a>(200,1,2,3,500);
</pre></div><p> see TMC26XStepper(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int rms_current)</p>
<p>Keep in mind that you need to start the driver with <a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7" title="configures and starts the TMC26X stepper driver. Before you called this function the stepper driver i...">start()</a> in order to get the TMC26X configured.</p>
<p>The most important function is the <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415" title="Central movement method, must be called as often as possible in the lopp function and is very fast...">move()</a>. It checks if the motor has to do a step or not. It is important that you call <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415" title="Central movement method, must be called as often as possible in the lopp function and is very fast...">move()</a> as often as possible in your Arduino loop() routine. I suggest to use a very fast loop routine and always call it at the beginning or the end.</p>
<p>In order to move you have to provide a movement speed with <a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd" title="Sets the rotation speed in revolutions per minute.">setSpeed()</a>. The speed is a positive value setting the rotations per minute.</p>
<p>To really move the motor you have to call <a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d" title="Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in ...">step()</a> to tell the driver to move the motor the given number of steps in the given direction. Positive values move the motor in one direction, negative values in the other direction.</p>
<p>You can check with <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving()</a> if the mototr is still moving or stop it apruptely with <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123" title="Stops the motor regardless if it moves or not.">stop()</a>. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8h_source.html#l00101">101</a> of file <a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a>.</p>
</div><hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a3ef40763b8b8ab2b6ed4978c0647906c"></a><!-- doxytag: member="TMC26XStepper::TMC26XStepper" ref="a3ef40763b8b8ab2b6ed4978c0647906c" args="(int number_of_steps, int cs_pin, int dir_pin, int step_pin, unsigned int current, unsigned int resistor=150)" -->
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<td class="memname"><a class="el" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">TMC26XStepper::TMC26XStepper</a> </td>
<td>(</td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>number_of_steps</em>, </td>
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<td class="paramtype">int&#160;</td>
<td class="paramname"><em>cs_pin</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">int&#160;</td>
<td class="paramname"><em>dir_pin</em>, </td>
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<td class="paramtype">int&#160;</td>
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<p>creates a new represenatation of a stepper motor connected to a TMC26X stepper driver </p>
<p>This is the main constructor. If in doubt use this. You must provide all parameters as described below.</p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">number_of_steps</td><td>the number of steps the motor has per rotation. </td></tr>
<tr><td class="paramname">cs_pin</td><td>The Arduino pin you have connected the Cient Select Pin (!CS) of the TMC26X for SPI </td></tr>
<tr><td class="paramname">dir_pin</td><td>the number of the Arduino pin the Direction input of the TMC26X is connected </td></tr>
<tr><td class="paramname">step_pin</td><td>the number of the Arduino pin the step pin of the TMC26X driver is connected. </td></tr>
<tr><td class="paramname">rms_current</td><td>the maximum current to privide to the motor in mA (!). A value of 200 would send up to 200mA to the motor </td></tr>
<tr><td class="paramname">resistor</td><td>the current sense resistor in milli Ohm, defaults to ,15 Ohm ( or 150 milli Ohm) as in the TMC260 Arduino Shield</td></tr>
</table>
</dd>
</dl>
<p>Keep in mind that you must also call <a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7" title="configures and starts the TMC26X stepper driver. Before you called this function the stepper driver i...">TMC26XStepper.start()</a> in order to configure the stepper driver for use.</p>
<p>By default the Constant Off Time chopper is used, see TCM262Stepper.setConstantOffTimeChopper() for details. This should work on most motors (YMMV). You may want to configure and use the Spread Cycle Chopper, see <a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2" title="Sets and configures with spread cycle chopper.">setSpreadCycleChopper()</a>.</p>
<p>By default a microstepping of 1/32th is used to provide a smooth motor run, while still giving a good progression per step. You can select a different stepping with <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps()</a> to aa different value. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7" title="configures and starts the TMC26X stepper driver. Before you called this function the stepper driver i...">start()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00111">111</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ad5e5b1bf5a46d02577dd548083877ec3"></a><!-- doxytag: member="TMC26XStepper::debugLastStatus" ref="ad5e5b1bf5a46d02577dd548083877ec3" args="(void)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">TMC26XStepper::debugLastStatus</a> </td>
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<p>Prints out all the information that can be found in the last status read out - it does not force a status readout. The result is printed via Serial. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00902">902</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ababe688a15f087d23d4ff2094fcee883"></a><!-- doxytag: member="TMC26XStepper::getCoolStepCurrentIncrementSize" ref="ababe688a15f087d23d4ff2094fcee883" args="()" -->
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<td class="memname">unsigned char <a class="el" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">TMC26XStepper::getCoolStepCurrentIncrementSize</a> </td>
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<p>returns the increment steps for the current for the CoolStep operation </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00704">704</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a0c7e8541abc120a3910e35c6fbf2167c"></a><!-- doxytag: member="TMC26XStepper::getCoolStepLowerCurrentLimit" ref="a0c7e8541abc120a3910e35c6fbf2167c" args="()" -->
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<td class="memname">unsigned char <a class="el" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">TMC26XStepper::getCoolStepLowerCurrentLimit</a> </td>
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<p>returns the absolut minium current for the CoolStep operation </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd>
<dd>
<a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">COOL_STEP_HALF_CS_LIMIT</a>, COOL_STEP_QUARTER_CS_LIMIT </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00712">712</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aa7469949deaa39a58038b3ddef532bc8"></a><!-- doxytag: member="TMC26XStepper::getCoolStepLowerSgThreshold" ref="aa7469949deaa39a58038b3ddef532bc8" args="()" -->
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<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">TMC26XStepper::getCoolStepLowerSgThreshold</a> </td>
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<p>returns the lower StallGuard threshold for the CoolStep operation </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00695">695</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aad44ee5ae73bf8e69af05674a304ba46"></a><!-- doxytag: member="TMC26XStepper::getCoolStepNumberOfSGReadings" ref="aad44ee5ae73bf8e69af05674a304ba46" args="()" -->
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<td class="memname">unsigned char <a class="el" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">TMC26XStepper::getCoolStepNumberOfSGReadings</a> </td>
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<p>returns the number of StallGuard readings befor CoolStep adjusts the motor current. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00708">708</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ac61298fd658773c28823d33ab04e970f"></a><!-- doxytag: member="TMC26XStepper::getCoolStepUpperSgThreshold" ref="ac61298fd658773c28823d33ab04e970f" args="()" -->
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<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">TMC26XStepper::getCoolStepUpperSgThreshold</a> </td>
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<p>returns the upper StallGuard threshold for the CoolStep operation </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00700">700</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a0c544e23efe3e4a912aacf57de84b71f"></a><!-- doxytag: member="TMC26XStepper::getCurrent" ref="a0c544e23efe3e4a912aacf57de84b71f" args="(void)" -->
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<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">TMC26XStepper::getCurrent</a> </td>
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<p>readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">getCurrentCurrent()</a> </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>the maximum motor current in milli amps </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">getCurrentCurrent()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00336">336</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a1a939fb495d747c2c11be99a740371e1"></a><!-- doxytag: member="TMC26XStepper::getCurrentCSReading" ref="a1a939fb495d747c2c11be99a740371e1" args="(void)" -->
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<td class="memname">unsigned char <a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">TMC26XStepper::getCurrentCSReading</a> </td>
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<p>Reads the current current setting value as fraction of the maximum current Returns values between 0 and 31, representing 1/32 to 32/32 (=1) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00781">781</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aa00741168a7def0a7a9d2f2c9d3b99d7"></a><!-- doxytag: member="TMC26XStepper::getCurrentCurrent" ref="aa00741168a7def0a7a9d2f2c9d3b99d7" args="(void)" -->
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<p>Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000). This method calculates the currently used current setting (either by setting or by CoolStep) and reconstructs the current in mA by usinge the VSENSE and resistor value. This method uses floating point math - so it may not be the fastest. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1" title="Reads the current current setting value as fraction of the maximum current Returns values between 0 a...">getCurrentCSReading()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e" title="Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150...">getResistor()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905" title="a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference.">isCurrentScalingHalfed()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f" title="readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()">getCurrent()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00792">792</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aed570ce3eea640e087b046333015de1e"></a><!-- doxytag: member="TMC26XStepper::getCurrentStallGuardReading" ref="aed570ce3eea640e087b046333015de1e" args="(void)" -->
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<td class="memname">int <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">TMC26XStepper::getCurrentStallGuardReading</a> </td>
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<p>Reads the current StallGuard value. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The current StallGuard value, lesser values indicate higher load, 0 means stall detected. Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a" title="set the StallGuard threshold in order to get sensible StallGuard readings.">setStallGuardThreshold()</a> for tuning the readout to sensible ranges. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00770">770</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a5808551ced98b79c09bbb4bf47ecfec3"></a><!-- doxytag: member="TMC26XStepper::getMicrosteps" ref="a5808551ced98b79c09bbb4bf47ecfec3" args="(void)" -->
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<td class="memname">int <a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">TMC26XStepper::getMicrosteps</a> </td>
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<p>returns the effective current number of microsteps selected. </p>
<p>This function always returns the effective number of microsteps. This can be a bit different than the micro steps set in <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps()</a> since it is rounded to 2^i.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0" title="Set the number of microsteps in 2^i values (rounded) up to 256.">setMicrosteps()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00446">446</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a1019f6f889acfd3176eecd60a0a20125"></a><!-- doxytag: member="TMC26XStepper::getMotorPosition" ref="a1019f6f889acfd3176eecd60a0a20125" args="(void)" -->
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<td class="memname">int <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">TMC26XStepper::getMotorPosition</a> </td>
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<p>Get the current microstep position for phase A. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The current microstep position for phase A 0…255</dd></dl>
<p>Keep in mind that this routine reads and writes a value via SPI - so this may take a bit time. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00762">762</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a7662c2fbc03d1f5a7da5cabcc153b2d7"></a><!-- doxytag: member="TMC26XStepper::getOverTemperature" ref="a7662c2fbc03d1f5a7da5cabcc153b2d7" args="(void)" -->
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<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">TMC26XStepper::getOverTemperature</a> </td>
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<p>Return over temperature status of the last status readout return 0 is everything is OK, TMC26X_OVERTEMPERATURE_PREWARING if status is reached, TMC26X_OVERTEMPERATURE_SHUTDOWN is the chip is shutdown, -1 if the status is unknown. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00816">816</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ae1db5ec2ec9bfbfaea83c659e006692e"></a><!-- doxytag: member="TMC26XStepper::getResistor" ref="ae1db5ec2ec9bfbfaea83c659e006692e" args="()" -->
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<td class="memname">int <a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">TMC26XStepper::getResistor</a> </td>
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<p>Returns the current sense resistor value in milliohm. The default value of ,15 Ohm will return 150. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00883">883</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aa564f5cc0218d30ef897c2830c768c29"></a><!-- doxytag: member="TMC26XStepper::getSpeed" ref="aa564f5cc0218d30ef897c2830c768c29" args="(void)" -->
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<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">TMC26XStepper::getSpeed</a> </td>
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<p>reads out the currently selected speed in revolutions per minute. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd" title="Sets the rotation speed in revolutions per minute.">setSpeed()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00221">221</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a47e3443e3e786314c1099b8f14a91b8a"></a><!-- doxytag: member="TMC26XStepper::getStallGuardFilter" ref="a47e3443e3e786314c1099b8f14a91b8a" args="(void)" -->
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<p>returns the current setting of the StallGuard filter </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>0 if not set, -1 if set </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00381">381</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a056661f444725c3ae15696d1e8d91def"></a><!-- doxytag: member="TMC26XStepper::getStallGuardThreshold" ref="a056661f444725c3ae15696d1e8d91def" args="(void)" -->
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<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">TMC26XStepper::getStallGuardThreshold</a> </td>
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<p>reads out the StallGuard threshold </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>a number between -64 and 63. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00368">368</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aa6c3211f85301ca0fb2e7b73cb8142a7"></a><!-- doxytag: member="TMC26XStepper::getStepsLeft" ref="aa6c3211f85301ca0fb2e7b73cb8142a7" args="(void)" -->
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<td class="memname">unsigned int <a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">TMC26XStepper::getStepsLeft</a> </td>
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<p>Get the number of steps left in the current movement. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>The number of steps left in the movement. This number is always positive. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00278">278</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a6de2306b6d8dc1fa2e50fccb66d8e66d"></a><!-- doxytag: member="TMC26XStepper::isCoolStepEnabled" ref="a6de2306b6d8dc1fa2e50fccb66d8e66d" args="()" -->
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<p>check if the CoolStep feature is enabled </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157" title="enables or disables the CoolStep smart energy operation feature. It must be configured before enablin...">setCoolStepEnabled()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00691">691</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ad435db189ebb101fb2de90a484f33905"></a><!-- doxytag: member="TMC26XStepper::isCurrentScalingHalfed" ref="ad435db189ebb101fb2de90a484f33905" args="()" -->
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<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">TMC26XStepper::isCurrentScalingHalfed</a> </td>
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<p>a convenience method to determine if the current scaling uses 0.31V or 0.165V as reference. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false if 0.13V is the reference voltage, true if 0.165V is used. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00887">887</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a15796c0cbdeab23a343c3f25327283b6"></a><!-- doxytag: member="TMC26XStepper::isEnabled" ref="a15796c0cbdeab23a343c3f25327283b6" args="()" -->
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<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">TMC26XStepper::isEnabled</a> </td>
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<p>checks if the output bridges are enabled. If the bridges are not enabled the motor can run freely </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if the bridges and by that the motor driver are enabled, false if not. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305" title="enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not.">setEnabled()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00729">729</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a880d602be8414b7b965287c1790cd50e"></a><!-- doxytag: member="TMC26XStepper::isMoving" ref="a880d602be8414b7b965287c1790cd50e" args="(void)" -->
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<p>checks if the motor still has to move to fulfill the last movement command. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>0 if the motor stops, -1 if the motor is moving.</dd></dl>
<p>This method can be used to determine if the motor is ready for new movements. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d" title="Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in ...">step()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415" title="Central movement method, must be called as often as possible in the lopp function and is very fast...">move()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00274">274</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="af97b2ab9d1ba36765ac6f17cf25ec45c"></a><!-- doxytag: member="TMC26XStepper::isOpenLoadA" ref="af97b2ab9d1ba36765ac6f17cf25ec45c" args="(void)" -->
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<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">TMC26XStepper::isOpenLoadA</a> </td>
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<p>iIs motor channel A connected according to the last statu readout. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true is yes, false if not. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00846">846</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">TMC26XStepper::isOpenLoadB</a> </td>
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<p>iIs motor channel A connected according to the last statu readout. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true is yes, false if not. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00854">854</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ad329fa4693d3139dea241ebe3d0f33cf"></a><!-- doxytag: member="TMC26XStepper::isShortToGroundA" ref="ad329fa4693d3139dea241ebe3d0f33cf" args="(void)" -->
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<p>Is motor channel A shorted to ground detected in the last status readout. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true is yes, false if not. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00830">830</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<p>Is motor channel B shorted to ground detected in the last status readout. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true is yes, false if not. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00838">838</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aea4c6e1fac909116c6b55f902d6cff41"></a><!-- doxytag: member="TMC26XStepper::isStallGuardOverThreshold" ref="aea4c6e1fac909116c6b55f902d6cff41" args="(void)" -->
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<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">TMC26XStepper::isStallGuardOverThreshold</a> </td>
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<p>checks if there is a StallGuard warning in the last status </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>0 if there was no warning, -1 if there was some warning. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a" title="set the StallGuard threshold in order to get sensible StallGuard readings.">setStallGuardThreshold()</a> for tuning the readout to sensible ranges. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00803">803</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="afdeded501ec2cabeffde33d31b6573f7"></a><!-- doxytag: member="TMC26XStepper::isStallGuardReached" ref="afdeded501ec2cabeffde33d31b6573f7" args="(void)" -->
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<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">TMC26XStepper::isStallGuardReached</a> </td>
<td>(</td>
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<p>checks if there is a StallGuard warning in the last status </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>0 if there was no warning, -1 if there was some warning. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout.</dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41" title="checks if there is a StallGuard warning in the last status">isStallGuardOverThreshold()</a> TODO why?</dd>
<dd>
<a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a" title="set the StallGuard threshold in order to get sensible StallGuard readings.">setStallGuardThreshold()</a> for tuning the readout to sensible ranges. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00870">870</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ab26602f360a4fb6ec6d262011675b2b0"></a><!-- doxytag: member="TMC26XStepper::isStandStill" ref="ab26602f360a4fb6ec6d262011675b2b0" args="(void)" -->
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<td class="memname">boolean <a class="el" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">TMC26XStepper::isStandStill</a> </td>
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<p>Is chopper inactive since 2^20 clock cycles - defaults to ~0,08s. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true is yes, false if not. Keep in mind that this method does not enforce a readout but uses the value of the last status readout. You may want to use <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125" title="Get the current microstep position for phase A.">getMotorPosition()</a> or <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to enforce an updated status readout. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00862">862</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aed5d81f1549615529c723600a68ba415"></a><!-- doxytag: member="TMC26XStepper::move" ref="aed5d81f1549615529c723600a68ba415" args="(void)" -->
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<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">TMC26XStepper::move</a> </td>
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<p>Central movement method, must be called as often as possible in the lopp function and is very fast. </p>
<p>This routine checks if the motor still has to move, if the waiting delay has passed to send a new step command to the motor and manages the number of steps yet to move to fulfill the current move command.</p>
<p>This function is implemented to be as fast as possible to call it as often as possible in your loop routine. The more regurlarly you call this function the better. In both senses of 'regularly': Calling it as often as possible is not a bad idea and if you even manage that the intervals you call this function are not too irregular helps too.</p>
<p>You can call this routine even if you know that the motor is not miving. It introduces just a very small penalty in your code. You must not call <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving()</a> to determine if you need to call this function, since taht is done internally already and only slows down you code.</p>
<p>How often you call this function directly influences your top miving speed for the motor. It may be a good idea to call this from an timer overflow interrupt to ensure proper calling. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d" title="Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in ...">step()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00246">246</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="af95a824bfdf49ef979b5354798e52967"></a><!-- doxytag: member="TMC26XStepper::readStatus" ref="af95a824bfdf49ef979b5354798e52967" args="(char read_value)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">TMC26XStepper::readStatus</a> </td>
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<p>Manually read out the status register This function sends a byte to the motor driver in order to get the current readout. The parameter read_value seletcs which value will get returned. If the read_vlaue changes in respect to the previous readout this method automatically send two bytes to the motor: one to set the redout and one to get the actual readout. So this method may take time to send and read one or two bits - depending on the previous readout. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">read_value</td><td>selects which value to read out (0..3). You can use the defines TMC26X_READOUT_POSITION, TMC_262_READOUT_STALLGUARD, or TMC_262_READOUT_CURRENT </td></tr>
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</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26X_READOUT_POSITION</a>, TMC_262_READOUT_STALLGUARD, TMC_262_READOUT_CURRENT </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00742">742</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ac2d8a2bbae2aba3ed7c98e3ff1a06649"></a><!-- doxytag: member="TMC26XStepper::setConstantOffTimeChopper" ref="ac2d8a2bbae2aba3ed7c98e3ff1a06649" args="(char constant_off_time, char blank_time, char fast_decay_time_setting, char sine_wave_offset, unsigned char use_current_comparator)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">TMC26XStepper::setConstantOffTimeChopper</a> </td>
<td>(</td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>constant_off_time</em>, </td>
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<td class="paramname"><em>blank_time</em>, </td>
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<td class="paramtype">char&#160;</td>
<td class="paramname"><em>fast_decay_time_setting</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>sine_wave_offset</em>, </td>
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<td class="paramkey"></td>
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<td class="paramname"><em>use_current_comparator</em>&#160;</td>
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<p>Sets and configure the classical Constant Off Timer Chopper. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">constant_off_time</td><td>The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks) </td></tr>
<tr><td class="paramname">blank_time</td><td>Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting </td></tr>
<tr><td class="paramname">fast_decay_time_setting</td><td>Fast decay time setting. Controls the portion of fast decay for each chopper cycle. 0: slow decay only, 1…15: duration of fast decay phase </td></tr>
<tr><td class="paramname">sine_wave_offset</td><td>Sine wave offset. Controls the sine wave offset. A positive offset corrects for zero crossing error. -3…-1: negative offset, 0: no offset,1…12: positive offset </td></tr>
<tr><td class="paramname">use_curreent_comparator</td><td>Selects usage of the current comparator for termination of the fast decay cycle. If current comparator is enabled, it terminates the fast decay cycle in case the current reaches a higher negative value than the actual positive value. (0 disable, -1 enable).</td></tr>
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<p>The classic constant off time chopper uses a fixed portion of fast decay following each on phase. While the duration of the on time is determined by the chopper comparator, the fast decay time needs to be set by the user in a way, that the current decay is enough for the driver to be able to follow the falling slope of the sine wave, and on the other hand it should not be too long, in order to minimize motor current ripple and power dissipation. This best can be tuned using an oscilloscope or trying out motor smoothness at different velocities. A good starting value is a fast decay time setting similar to the slow decay time setting. After tuning of the fast decay time, the offset should be determined, in order to have a smooth zero transition. This is necessary, because the fast decay phase leads to the absolute value of the motor current being lower than the target current (see figure 17). If the zero offset is too low, the motor stands still for a short moment during current zero crossing, if it is set too high, it makes a larger microstep. Typically, a positive offset setting is required for optimum operation.</p>
<dl class="see"><dt><b>See also:</b></dt><dd>setSpreadCycleChoper() for other alternatives. </dd>
<dd>
<a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a" title="Use random off time for noise reduction (0 for off, -1 for on).">setRandomOffTime()</a> for spreading the noise over a wider spectrum </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00473">473</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a381fbcce7c586ca2f1da8f9e704df14e"></a><!-- doxytag: member="TMC26XStepper::setCoolStepConfiguration" ref="a381fbcce7c586ca2f1da8f9e704df14e" args="(unsigned int lower_SG_threshold, unsigned int SG_hysteresis, unsigned char current_decrement_step_size, unsigned char current_increment_step_size, unsigned char lower_current_limit)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">TMC26XStepper::setCoolStepConfiguration</a> </td>
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<td class="paramname"><em>current_decrement_step_size</em>, </td>
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<p>This method configures the CoolStep smart energy operation. You must have a proper StallGuard configuration for the motor situation (current, voltage, speed) in rder to use this feature. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">lower_SG_threshold</td><td>Sets the lower threshold for stallGuard2TM reading. Below this value, the motor current becomes increased. Allowed values are 0...480 </td></tr>
<tr><td class="paramname">SG_hysteresis</td><td>Sets the distance between the lower and the upper threshold for stallGuard2TM reading. Above the upper threshold (which is lower_SG_threshold+SG_hysteresis+1) the motor current becomes decreased. Allowed values are 0...480 </td></tr>
<tr><td class="paramname">current_decrement_step_size</td><td>Sets the current decrement steps. If the StallGuard value is above the threshold the current gets decremented by this step size. 0...32 </td></tr>
<tr><td class="paramname">current_increment_step_size</td><td>Sets the current increment step. The current becomes incremented for each measured stallGuard2TM value below the lower threshold. 0...8 </td></tr>
<tr><td class="paramname">lower_current_limit</td><td>Sets the lower motor current limit for coolStepTM operation by scaling the CS value. Values can be COOL_STEP_HALF_CS_LIMIT, COOL_STEP_QUARTER_CS_LIMIT The CoolStep smart energy operation automatically adjust the current sent into the motor according to the current load, read out by the StallGuard in order to provide the optimum torque with the minimal current consumption. You configure the CoolStep current regulator by defining upper and lower bounds of StallGuard readouts. If the readout is above the limit the current gets increased, below the limit the current gets decreased. You can specify the upper an lower threshold of the StallGuard readout in order to adjust the current. You can also set the number of StallGuard readings neccessary above or below the limit to get a more stable current adjustement. The current adjustement itself is configured by the number of steps the current gests in- or decreased and the absolut minimum current (1/2 or 1/4th otf the configured current). </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">COOL_STEP_HALF_CS_LIMIT</a>, COOL_STEP_QUARTER_CS_LIMIT </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00636">636</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a15bf0ed5a166a5d9a41f90f3ccbc6157"></a><!-- doxytag: member="TMC26XStepper::setCoolStepEnabled" ref="a15bf0ed5a166a5d9a41f90f3ccbc6157" args="(boolean enabled)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">TMC26XStepper::setCoolStepEnabled</a> </td>
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<p>enables or disables the CoolStep smart energy operation feature. It must be configured before enabling it. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
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<tr><td class="paramname">enabled</td><td>true if CoolStep should be enabled, false if not. </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e" title="This method configures the CoolStep smart energy operation. You must have a proper StallGuard configu...">setCoolStepConfiguration()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00676">676</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aaa35fac83417c16b3a941fa168e4a4d2"></a><!-- doxytag: member="TMC26XStepper::setCurrent" ref="aaa35fac83417c16b3a941fa168e4a4d2" args="(unsigned int current)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">TMC26XStepper::setCurrent</a> </td>
<td>(</td>
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<p>set the maximum motor current in mA (1000 is 1 Amp) Keep in mind this is the maximum peak Current. The RMS current will be 1/sqrt(2) smaller. The actual current can also be smaller by employing CoolStep. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">current</td><td>the maximum motor current in mA </td></tr>
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</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f" title="readout the motor maximum current in mA (1000 is an Amp) This is the maximum current. to get the current current - which may be affected by CoolStep us getCurrentCurrent()">getCurrent()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7" title="Reads the current current setting value and recalculates the absolute current in mA (1A would be 1000...">getCurrentCurrent()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00292">292</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a4472cd86ad5b65dec5ec45ce69158305"></a><!-- doxytag: member="TMC26XStepper::setEnabled" ref="a4472cd86ad5b65dec5ec45ce69158305" args="(boolean enabled)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">TMC26XStepper::setEnabled</a> </td>
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<td class="paramtype">boolean&#160;</td>
<td class="paramname"><em>enabled</em></td><td>)</td>
<td></td>
</tr>
</table>
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<div class="memdoc">
<p>enables or disables the motor driver bridges. If disabled the motor can run freely. If enabled not. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">enabled</td><td>a boolean value true if the motor should be enabled, false otherwise. </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00716">716</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a21041579c7f9284567ee2e2a55a3afd0"></a><!-- doxytag: member="TMC26XStepper::setMicrosteps" ref="a21041579c7f9284567ee2e2a55a3afd0" args="(int number_of_steps)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">TMC26XStepper::setMicrosteps</a> </td>
<td>(</td>
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<td class="paramname"><em>number_of_steps</em></td><td>)</td>
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<p>Set the number of microsteps in 2^i values (rounded) up to 256. </p>
<p>This method set's the number of microsteps per step in 2^i interval. This means you can select 1, 2, 4, 16, 32, 64, 128 or 256 as valid microsteps. If you give any other value it will be rounded to the next smaller number (3 would give a microstepping of 2). You can always check the current microstepping with <a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3" title="returns the effective current number of microsteps selected.">getMicrosteps()</a>. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00394">394</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a7ffd602cf4bf385847cba034417d5f0a"></a><!-- doxytag: member="TMC26XStepper::setRandomOffTime" ref="a7ffd602cf4bf385847cba034417d5f0a" args="(char value)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">TMC26XStepper::setRandomOffTime</a> </td>
<td>(</td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>value</em></td><td>)</td>
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<p>Use random off time for noise reduction (0 for off, -1 for on). </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">value</td><td>0 for off, -1 for on</td></tr>
</table>
</dd>
</dl>
<p>In a constant off time chopper scheme both coil choppers run freely, i.e. are not synchronized. The frequency of each chopper mainly depends on the coil current and the position dependant motor coil inductivity, thus it depends on the microstep position. With some motors a slightly audible beat can occur between the chopper frequencies, especially when they are near to each other. This typically occurs at a few microstep positions within each quarter wave. This effect normally is not audible when compared to mechanical noise generated by ball bearings, etc. Further factors which can cause a similar effect are a poor layout of sense resistor GND connection. In order to minimize the effect of a beat between both chopper frequencies, an internal random generator is provided. It modulates the slow decay time setting when switched on. The random off time feature further spreads the chopper spectrum, reducing electromagnetic emission on single frequencies. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00624">624</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a9478f43090995c8d5cdb4d4e8c07cdbd"></a><!-- doxytag: member="TMC26XStepper::setSpeed" ref="a9478f43090995c8d5cdb4d4e8c07cdbd" args="(unsigned int whatSpeed)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">TMC26XStepper::setSpeed</a> </td>
<td>(</td>
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<p>Sets the rotation speed in revolutions per minute. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">whatSpeed</td><td>the desired speed in rotations per minute. </td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00208">208</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="aa152bb7ddb72a2bc8465553a39232df2"></a><!-- doxytag: member="TMC26XStepper::setSpreadCycleChopper" ref="aa152bb7ddb72a2bc8465553a39232df2" args="(char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">TMC26XStepper::setSpreadCycleChopper</a> </td>
<td>(</td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>constant_off_time</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>blank_time</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>hysteresis_start</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>hysteresis_end</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>hysteresis_decrement</em>&#160;</td>
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<p>Sets and configures with spread cycle chopper. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">constant_off_time</td><td>The off time setting controls the minimum chopper frequency. For most applications an off time within the range of 5μs to 20μs will fit. Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel. 0: chopper off, 1:15: off time setting (1 will work with minimum blank time of 24 clocks) </td></tr>
<tr><td class="paramname">blank_time</td><td>Selects the comparator blank time. This time needs to safely cover the switching event and the duration of the ringing on the sense resistor. For most low current drivers, a setting of 1 or 2 is good. For high current applications with large MOSFETs, a setting of 2 or 3 will be required. 0 (min setting) … (3) amx setting </td></tr>
<tr><td class="paramname">hysteresis_start</td><td>Hysteresis start setting. Please remark, that this value is an offset to the hysteresis end value. 1 … 8 </td></tr>
<tr><td class="paramname">hysteresis_end</td><td>Hysteresis end setting. Sets the hysteresis end value after a number of decrements. Decrement interval time is controlled by hysteresis_decrement. The sum hysteresis_start + hysteresis_end must be &lt;16. At a current setting CS of max. 30 (amplitude reduced to 240), the sum is not limited. </td></tr>
<tr><td class="paramname">hysteresis_decrement</td><td>Hysteresis decrement setting. This setting determines the slope of the hysteresis during on time and during fast decay time. 0 (fast decrement) … 3 (slow decrement).</td></tr>
</table>
</dd>
</dl>
<p>The spreadCycle chopper scheme (pat.fil.) is a precise and simple to use chopper principle, which automatically determines the optimum fast decay portion for the motor. Anyhow, a number of settings can be made in order to optimally fit the driver to the motor. Each chopper cycle is comprised of an on-phase, a slow decay phase, a fast decay phase and a second slow decay phase. The slow decay phases limit the maximum chopper frequency and are important for low motor and driver power dissipation. The hysteresis start setting limits the chopper frequency by forcing the driver to introduce a minimum amount of current ripple into the motor coils. The motor inductivity determines the ability to follow a changing motor current. The duration of the on- and fast decay phase needs to cover at least the blank time, because the current comparator is disabled during this time.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a" title="Use random off time for noise reduction (0 for off, -1 for on).">setRandomOffTime()</a> for spreading the noise over a wider spectrum </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00552">552</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="af1a5abc23757860baf8ff421689a425a"></a><!-- doxytag: member="TMC26XStepper::setStallGuardThreshold" ref="af1a5abc23757860baf8ff421689a425a" args="(char stall_guard_threshold, char stall_guard_filter_enabled)" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">TMC26XStepper::setStallGuardThreshold</a> </td>
<td>(</td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>stall_guard_threshold</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">char&#160;</td>
<td class="paramname"><em>stall_guard_filter_enabled</em>&#160;</td>
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<td></td>
<td>)</td>
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<p>set the StallGuard threshold in order to get sensible StallGuard readings. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">stall_guard_threshold</td><td>-64 … 63 the StallGuard threshold </td></tr>
<tr><td class="paramname">stall_guard_filter_enabled</td><td>0 if the filter is disabled, -1 if it is enabled</td></tr>
</table>
</dd>
</dl>
<p>The StallGuard threshold is used to optimize the StallGuard reading to sensible values. It should be at 0 at the maximum allowable load on the otor (but not before). = is a good starting point (and the default) If you get Stall Gaurd readings of 0 without any load or with too little laod increase the value. If you get readings of 1023 even with load decrease the setting.</p>
<p>If you switch on the filter the StallGuard reading is only updated each 4th full step to reduce the noise in the reading.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e" title="Reads the current StallGuard value.">getCurrentStallGuardReading()</a> to read out the current value. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00346">346</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
</div>
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<a class="anchor" id="aad1ed82b3e05940bde5a6c7ed3d3e8f7"></a><!-- doxytag: member="TMC26XStepper::start" ref="aad1ed82b3e05940bde5a6c7ed3d3e8f7" args="()" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">TMC26XStepper::start</a> </td>
<td>(</td>
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<td></td>
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<p>configures and starts the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode. </p>
<p>This routine configures the TMC26X stepper driver for the given values via SPI. Most member functions are non functional if the driver has not been started. Therefore it is best to call this in your Arduino setup() function. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00157">157</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ac073a742496885f1f60751f9fb9c395d"></a><!-- doxytag: member="TMC26XStepper::step" ref="ac073a742496885f1f60751f9fb9c395d" args="(int number_of_steps)" -->
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<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">TMC26XStepper::step</a> </td>
<td>(</td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>number_of_steps</em></td><td>)</td>
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</div>
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<p>Initiate a movement for the given number of steps. Positive numbers move in one, negative numbers in the other direction. </p>
<dl class="params"><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">number_of_steps</td><td>The number of steps to move the motor. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>0 if the motor was not moving and moves now. -1 if the motor is moving and the new steps could not be set.</dd></dl>
<p>If the previous movement is not finished yet the function will return -1 and not change the steps to move the motor. If the motor does not move it return 0</p>
<p>The direction of the movement is indicated by the sign of the steps parameter. It is not determinable if positive values are right or left This depends on the internal construction of the motor and how you connected it to the stepper driver.</p>
<p>You can always verify with <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving()</a> or even use <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123" title="Stops the motor regardless if it moves or not.">stop()</a> to stop the motor before giving it new step directions. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e" title="checks if the motor still has to move to fulfill the last movement command.">isMoving()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7" title="Get the number of steps left in the current movement.">getStepsLeft()</a>, <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123" title="Stops the motor regardless if it moves or not.">stop()</a> </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00229">229</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="a6315c18eadbc6bf4f3d81a6f80296123"></a><!-- doxytag: member="TMC26XStepper::stop" ref="a6315c18eadbc6bf4f3d81a6f80296123" args="(void)" -->
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<td class="memname">char <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">TMC26XStepper::stop</a> </td>
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<p>Stops the motor regardless if it moves or not. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>-1 if the motor was moving and is really stoped or 0 if it was not moving at all.</dd></dl>
<p>This method directly and apruptely stops the motor and may be used as an emergency stop. </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00282">282</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="af968e70a13068f1e71ac0fa6865630c5"></a><!-- doxytag: member="TMC26XStepper::un_start" ref="af968e70a13068f1e71ac0fa6865630c5" args="()" -->
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<td class="memname">void <a class="el" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">TMC26XStepper::un_start</a> </td>
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<p>resets the stepper in unconfigured mode. </p>
<p>This routine enables you to call start again. It does not change anything in the internal stepper configuration or the desired configuration. It just marks the stepper as not yet startet. You do not have to reconfigure the stepper to start it again, but it is not reset to any factory settings this has to be configured back by yourself. (Hint: Normally you do not need this function) </p>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00199">199</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<a class="anchor" id="ab040d9df1e85d6fb0c105205a36b0215"></a><!-- doxytag: member="TMC26XStepper::version" ref="ab040d9df1e85d6fb0c105205a36b0215" args="(void)" -->
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<td class="memname">int <a class="el" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">TMC26XStepper::version</a> </td>
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<p>library version </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>the version number as int. </dd></dl>
<p>Definition at line <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html#l00897">897</a> of file <a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a>.</p>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="_t_m_c26_x_stepper_8h_source.html">TMC26XStepper.h</a></li>
<li><a class="el" href="_t_m_c26_x_stepper_8cpp_source.html">TMC26XStepper.cpp</a></li>
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<div id="navrow4" class="tabs3">
<ul class="tablist">
<li><a href="#index_d"><span>d</span></a></li>
<li><a href="#index_g"><span>g</span></a></li>
<li><a href="#index_i"><span>i</span></a></li>
<li><a href="#index_m"><span>m</span></a></li>
<li><a href="#index_r"><span>r</span></a></li>
<li><a href="#index_s"><span>s</span></a></li>
<li><a href="#index_t"><span>t</span></a></li>
<li><a href="#index_u"><span>u</span></a></li>
<li><a href="#index_v"><span>v</span></a></li>
</ul>
</div>
</div>
<div class="contents">
<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
<h3><a class="anchor" id="index_d"></a>- d -</h3><ul>
<li>debugLastStatus()
: <a class="el" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_g"></a>- g -</h3><ul>
<li>getCoolStepCurrentIncrementSize()
: <a class="el" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">TMC26XStepper</a>
</li>
<li>getCoolStepLowerCurrentLimit()
: <a class="el" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">TMC26XStepper</a>
</li>
<li>getCoolStepLowerSgThreshold()
: <a class="el" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">TMC26XStepper</a>
</li>
<li>getCoolStepNumberOfSGReadings()
: <a class="el" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">TMC26XStepper</a>
</li>
<li>getCoolStepUpperSgThreshold()
: <a class="el" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">TMC26XStepper</a>
</li>
<li>getCurrent()
: <a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">TMC26XStepper</a>
</li>
<li>getCurrentCSReading()
: <a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">TMC26XStepper</a>
</li>
<li>getCurrentCurrent()
: <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7">TMC26XStepper</a>
</li>
<li>getCurrentStallGuardReading()
: <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">TMC26XStepper</a>
</li>
<li>getMicrosteps()
: <a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">TMC26XStepper</a>
</li>
<li>getMotorPosition()
: <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">TMC26XStepper</a>
</li>
<li>getOverTemperature()
: <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">TMC26XStepper</a>
</li>
<li>getResistor()
: <a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">TMC26XStepper</a>
</li>
<li>getSpeed()
: <a class="el" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">TMC26XStepper</a>
</li>
<li>getStallGuardFilter()
: <a class="el" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a">TMC26XStepper</a>
</li>
<li>getStallGuardThreshold()
: <a class="el" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">TMC26XStepper</a>
</li>
<li>getStepsLeft()
: <a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
<li>isCoolStepEnabled()
: <a class="el" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d">TMC26XStepper</a>
</li>
<li>isCurrentScalingHalfed()
: <a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">TMC26XStepper</a>
</li>
<li>isEnabled()
: <a class="el" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">TMC26XStepper</a>
</li>
<li>isMoving()
: <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e">TMC26XStepper</a>
</li>
<li>isOpenLoadA()
: <a class="el" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">TMC26XStepper</a>
</li>
<li>isOpenLoadB()
: <a class="el" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">TMC26XStepper</a>
</li>
<li>isShortToGroundA()
: <a class="el" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf">TMC26XStepper</a>
</li>
<li>isShortToGroundB()
: <a class="el" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b">TMC26XStepper</a>
</li>
<li>isStallGuardOverThreshold()
: <a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">TMC26XStepper</a>
</li>
<li>isStallGuardReached()
: <a class="el" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">TMC26XStepper</a>
</li>
<li>isStandStill()
: <a class="el" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_m"></a>- m -</h3><ul>
<li>move()
: <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
<li>readStatus()
: <a class="el" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
<li>setConstantOffTimeChopper()
: <a class="el" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">TMC26XStepper</a>
</li>
<li>setCoolStepConfiguration()
: <a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">TMC26XStepper</a>
</li>
<li>setCoolStepEnabled()
: <a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">TMC26XStepper</a>
</li>
<li>setCurrent()
: <a class="el" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">TMC26XStepper</a>
</li>
<li>setEnabled()
: <a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">TMC26XStepper</a>
</li>
<li>setMicrosteps()
: <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">TMC26XStepper</a>
</li>
<li>setRandomOffTime()
: <a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">TMC26XStepper</a>
</li>
<li>setSpeed()
: <a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">TMC26XStepper</a>
</li>
<li>setSpreadCycleChopper()
: <a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">TMC26XStepper</a>
</li>
<li>setStallGuardThreshold()
: <a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">TMC26XStepper</a>
</li>
<li>start()
: <a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">TMC26XStepper</a>
</li>
<li>step()
: <a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">TMC26XStepper</a>
</li>
<li>stop()
: <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_t"></a>- t -</h3><ul>
<li>TMC26XStepper()
: <a class="el" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_u"></a>- u -</h3><ul>
<li>un_start()
: <a class="el" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_v"></a>- v -</h3><ul>
<li>version()
: <a class="el" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">TMC26XStepper</a>
</li>
</ul>
</div><!-- contents -->
<hr class="footer"/><address class="footer"><small>
Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.7.6.1
</small></address>
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<title>Trinamic TMC26X Stepper Driver for Arduino: Class Members - Functions</title>
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<div id="projectname">Trinamic TMC26X Stepper Driver for Arduino
</div>
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</div>
<!-- Generated by Doxygen 1.7.6.1 -->
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main&#160;Page</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
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<div id="navrow2" class="tabs2">
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<li><a href="annotated.html"><span>Class&#160;List</span></a></li>
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<div id="navrow3" class="tabs2">
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<li><a href="functions.html"><span>All</span></a></li>
<li class="current"><a href="functions_func.html"><span>Functions</span></a></li>
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<div id="navrow4" class="tabs3">
<ul class="tablist">
<li><a href="#index_d"><span>d</span></a></li>
<li><a href="#index_g"><span>g</span></a></li>
<li><a href="#index_i"><span>i</span></a></li>
<li><a href="#index_m"><span>m</span></a></li>
<li><a href="#index_r"><span>r</span></a></li>
<li><a href="#index_s"><span>s</span></a></li>
<li><a href="#index_t"><span>t</span></a></li>
<li><a href="#index_u"><span>u</span></a></li>
<li><a href="#index_v"><span>v</span></a></li>
</ul>
</div>
</div>
<div class="contents">
&#160;
<h3><a class="anchor" id="index_d"></a>- d -</h3><ul>
<li>debugLastStatus()
: <a class="el" href="class_t_m_c26_x_stepper.html#ad5e5b1bf5a46d02577dd548083877ec3">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_g"></a>- g -</h3><ul>
<li>getCoolStepCurrentIncrementSize()
: <a class="el" href="class_t_m_c26_x_stepper.html#ababe688a15f087d23d4ff2094fcee883">TMC26XStepper</a>
</li>
<li>getCoolStepLowerCurrentLimit()
: <a class="el" href="class_t_m_c26_x_stepper.html#a0c7e8541abc120a3910e35c6fbf2167c">TMC26XStepper</a>
</li>
<li>getCoolStepLowerSgThreshold()
: <a class="el" href="class_t_m_c26_x_stepper.html#aa7469949deaa39a58038b3ddef532bc8">TMC26XStepper</a>
</li>
<li>getCoolStepNumberOfSGReadings()
: <a class="el" href="class_t_m_c26_x_stepper.html#aad44ee5ae73bf8e69af05674a304ba46">TMC26XStepper</a>
</li>
<li>getCoolStepUpperSgThreshold()
: <a class="el" href="class_t_m_c26_x_stepper.html#ac61298fd658773c28823d33ab04e970f">TMC26XStepper</a>
</li>
<li>getCurrent()
: <a class="el" href="class_t_m_c26_x_stepper.html#a0c544e23efe3e4a912aacf57de84b71f">TMC26XStepper</a>
</li>
<li>getCurrentCSReading()
: <a class="el" href="class_t_m_c26_x_stepper.html#a1a939fb495d747c2c11be99a740371e1">TMC26XStepper</a>
</li>
<li>getCurrentCurrent()
: <a class="el" href="class_t_m_c26_x_stepper.html#aa00741168a7def0a7a9d2f2c9d3b99d7">TMC26XStepper</a>
</li>
<li>getCurrentStallGuardReading()
: <a class="el" href="class_t_m_c26_x_stepper.html#aed570ce3eea640e087b046333015de1e">TMC26XStepper</a>
</li>
<li>getMicrosteps()
: <a class="el" href="class_t_m_c26_x_stepper.html#a5808551ced98b79c09bbb4bf47ecfec3">TMC26XStepper</a>
</li>
<li>getMotorPosition()
: <a class="el" href="class_t_m_c26_x_stepper.html#a1019f6f889acfd3176eecd60a0a20125">TMC26XStepper</a>
</li>
<li>getOverTemperature()
: <a class="el" href="class_t_m_c26_x_stepper.html#a7662c2fbc03d1f5a7da5cabcc153b2d7">TMC26XStepper</a>
</li>
<li>getResistor()
: <a class="el" href="class_t_m_c26_x_stepper.html#ae1db5ec2ec9bfbfaea83c659e006692e">TMC26XStepper</a>
</li>
<li>getSpeed()
: <a class="el" href="class_t_m_c26_x_stepper.html#aa564f5cc0218d30ef897c2830c768c29">TMC26XStepper</a>
</li>
<li>getStallGuardFilter()
: <a class="el" href="class_t_m_c26_x_stepper.html#a47e3443e3e786314c1099b8f14a91b8a">TMC26XStepper</a>
</li>
<li>getStallGuardThreshold()
: <a class="el" href="class_t_m_c26_x_stepper.html#a056661f444725c3ae15696d1e8d91def">TMC26XStepper</a>
</li>
<li>getStepsLeft()
: <a class="el" href="class_t_m_c26_x_stepper.html#aa6c3211f85301ca0fb2e7b73cb8142a7">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
<li>isCoolStepEnabled()
: <a class="el" href="class_t_m_c26_x_stepper.html#a6de2306b6d8dc1fa2e50fccb66d8e66d">TMC26XStepper</a>
</li>
<li>isCurrentScalingHalfed()
: <a class="el" href="class_t_m_c26_x_stepper.html#ad435db189ebb101fb2de90a484f33905">TMC26XStepper</a>
</li>
<li>isEnabled()
: <a class="el" href="class_t_m_c26_x_stepper.html#a15796c0cbdeab23a343c3f25327283b6">TMC26XStepper</a>
</li>
<li>isMoving()
: <a class="el" href="class_t_m_c26_x_stepper.html#a880d602be8414b7b965287c1790cd50e">TMC26XStepper</a>
</li>
<li>isOpenLoadA()
: <a class="el" href="class_t_m_c26_x_stepper.html#af97b2ab9d1ba36765ac6f17cf25ec45c">TMC26XStepper</a>
</li>
<li>isOpenLoadB()
: <a class="el" href="class_t_m_c26_x_stepper.html#a303590124f5ac6d6a06d0ec60d0b5303">TMC26XStepper</a>
</li>
<li>isShortToGroundA()
: <a class="el" href="class_t_m_c26_x_stepper.html#ad329fa4693d3139dea241ebe3d0f33cf">TMC26XStepper</a>
</li>
<li>isShortToGroundB()
: <a class="el" href="class_t_m_c26_x_stepper.html#a0ccb54d40cce0d802aa56ff6261f9f3b">TMC26XStepper</a>
</li>
<li>isStallGuardOverThreshold()
: <a class="el" href="class_t_m_c26_x_stepper.html#aea4c6e1fac909116c6b55f902d6cff41">TMC26XStepper</a>
</li>
<li>isStallGuardReached()
: <a class="el" href="class_t_m_c26_x_stepper.html#afdeded501ec2cabeffde33d31b6573f7">TMC26XStepper</a>
</li>
<li>isStandStill()
: <a class="el" href="class_t_m_c26_x_stepper.html#ab26602f360a4fb6ec6d262011675b2b0">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_m"></a>- m -</h3><ul>
<li>move()
: <a class="el" href="class_t_m_c26_x_stepper.html#aed5d81f1549615529c723600a68ba415">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
<li>readStatus()
: <a class="el" href="class_t_m_c26_x_stepper.html#af95a824bfdf49ef979b5354798e52967">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
<li>setConstantOffTimeChopper()
: <a class="el" href="class_t_m_c26_x_stepper.html#ac2d8a2bbae2aba3ed7c98e3ff1a06649">TMC26XStepper</a>
</li>
<li>setCoolStepConfiguration()
: <a class="el" href="class_t_m_c26_x_stepper.html#a381fbcce7c586ca2f1da8f9e704df14e">TMC26XStepper</a>
</li>
<li>setCoolStepEnabled()
: <a class="el" href="class_t_m_c26_x_stepper.html#a15bf0ed5a166a5d9a41f90f3ccbc6157">TMC26XStepper</a>
</li>
<li>setCurrent()
: <a class="el" href="class_t_m_c26_x_stepper.html#aaa35fac83417c16b3a941fa168e4a4d2">TMC26XStepper</a>
</li>
<li>setEnabled()
: <a class="el" href="class_t_m_c26_x_stepper.html#a4472cd86ad5b65dec5ec45ce69158305">TMC26XStepper</a>
</li>
<li>setMicrosteps()
: <a class="el" href="class_t_m_c26_x_stepper.html#a21041579c7f9284567ee2e2a55a3afd0">TMC26XStepper</a>
</li>
<li>setRandomOffTime()
: <a class="el" href="class_t_m_c26_x_stepper.html#a7ffd602cf4bf385847cba034417d5f0a">TMC26XStepper</a>
</li>
<li>setSpeed()
: <a class="el" href="class_t_m_c26_x_stepper.html#a9478f43090995c8d5cdb4d4e8c07cdbd">TMC26XStepper</a>
</li>
<li>setSpreadCycleChopper()
: <a class="el" href="class_t_m_c26_x_stepper.html#aa152bb7ddb72a2bc8465553a39232df2">TMC26XStepper</a>
</li>
<li>setStallGuardThreshold()
: <a class="el" href="class_t_m_c26_x_stepper.html#af1a5abc23757860baf8ff421689a425a">TMC26XStepper</a>
</li>
<li>start()
: <a class="el" href="class_t_m_c26_x_stepper.html#aad1ed82b3e05940bde5a6c7ed3d3e8f7">TMC26XStepper</a>
</li>
<li>step()
: <a class="el" href="class_t_m_c26_x_stepper.html#ac073a742496885f1f60751f9fb9c395d">TMC26XStepper</a>
</li>
<li>stop()
: <a class="el" href="class_t_m_c26_x_stepper.html#a6315c18eadbc6bf4f3d81a6f80296123">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_t"></a>- t -</h3><ul>
<li>TMC26XStepper()
: <a class="el" href="class_t_m_c26_x_stepper.html#a3ef40763b8b8ab2b6ed4978c0647906c">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_u"></a>- u -</h3><ul>
<li>un_start()
: <a class="el" href="class_t_m_c26_x_stepper.html#af968e70a13068f1e71ac0fa6865630c5">TMC26XStepper</a>
</li>
</ul>
<h3><a class="anchor" id="index_v"></a>- v -</h3><ul>
<li>version()
: <a class="el" href="class_t_m_c26_x_stepper.html#ab040d9df1e85d6fb0c105205a36b0215">TMC26XStepper</a>
</li>
</ul>
</div><!-- contents -->
<hr class="footer"/><address class="footer"><small>
Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.7.6.1
</small></address>
</body>
</html>

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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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<title>Trinamic TMC26X Stepper Driver for Arduino: File Members</title>
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</head>
<body>
<div id="top"><!-- do not remove this div! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr style="height: 56px;">
<td style="padding-left: 0.5em;">
<div id="projectname">Trinamic TMC26X Stepper Driver for Arduino
</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- Generated by Doxygen 1.7.6.1 -->
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main&#160;Page</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
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<ul class="tablist">
<li><a href="files.html"><span>File&#160;List</span></a></li>
<li class="current"><a href="globals.html"><span>File&#160;Members</span></a></li>
</ul>
</div>
<div id="navrow3" class="tabs2">
<ul class="tablist">
<li class="current"><a href="globals.html"><span>All</span></a></li>
<li><a href="globals_defs.html"><span>Defines</span></a></li>
</ul>
</div>
<div id="navrow4" class="tabs3">
<ul class="tablist">
<li><a href="#index_b"><span>b</span></a></li>
<li><a href="#index_c"><span>c</span></a></li>
<li><a href="#index_d"><span>d</span></a></li>
<li><a href="#index_h"><span>h</span></a></li>
<li><a href="#index_i"><span>i</span></a></li>
<li><a href="#index_m"><span>m</span></a></li>
<li><a href="#index_r"><span>r</span></a></li>
<li><a href="#index_s"><span>s</span></a></li>
<li><a href="#index_t"><span>t</span></a></li>
<li><a href="#index_v"><span>v</span></a></li>
</ul>
</div>
</div>
<div class="contents">
<div class="textblock">Here is a list of all file members with links to the files they belong to:</div>
<h3><a class="anchor" id="index_b"></a>- b -</h3><ul>
<li>BLANK_TIMING_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a42cb2ce84258587d514ec3268548ba89">TMC26XStepper.cpp</a>
</li>
<li>BLANK_TIMING_SHIFT
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_c"></a>- c -</h3><ul>
<li>CHOPPER_CONFIG_REGISTER
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">TMC26XStepper.cpp</a>
</li>
<li>CHOPPER_MODE_STANDARD
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a57418a67ff726d540b813230bca1d536">TMC26XStepper.cpp</a>
</li>
<li>CHOPPER_MODE_T_OFF_FAST_DECAY
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aaf1b564ced7de8ff3245c964e3775826">TMC26XStepper.cpp</a>
</li>
<li>COOL_STEP_HALF_CS_LIMIT
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">TMC26XStepper.h</a>
</li>
<li>COOL_STEP_QUARTDER_CS_LIMIT
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a1a4db5eafd0a9247677153cb4c8b7d54">TMC26XStepper.h</a>
</li>
<li>COOL_STEP_REGISTER
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">TMC26XStepper.cpp</a>
</li>
<li>CURRENT_DOWN_STEP_SPEED_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbe13a0464355e42fbe786ca5f58ed8d">TMC26XStepper.cpp</a>
</li>
<li>CURRENT_SCALING_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99dcb8c6d98b0b54c23699a3f90450e4">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_d"></a>- d -</h3><ul>
<li>DEFAULT_MICROSTEPPING_VALUE
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6560b3471273e99e280ba795e3469ede">TMC26XStepper.cpp</a>
</li>
<li>DOUBLE_EDGE_STEP
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a770601bf0153e4bc639b9c3005b15af7">TMC26XStepper.cpp</a>
</li>
<li>DRIVER_CONFIG_REGISTER
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#af35f569d42ea3b1d634901a3b6a908ee">TMC26XStepper.cpp</a>
</li>
<li>DRIVER_CONTROL_REGISTER
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_h"></a>- h -</h3><ul>
<li>HYSTERESIS_DECREMENT_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a424c248097b38c1e29e6a58ad48e6bd9">TMC26XStepper.cpp</a>
</li>
<li>HYSTERESIS_DECREMENT_SHIFT
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a36e554a87785ce6ba998b79aae9e74e0">TMC26XStepper.cpp</a>
</li>
<li>HYSTERESIS_LOW_SHIFT
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a38ce0bb0fa20db28351ac9167f28db98">TMC26XStepper.cpp</a>
</li>
<li>HYSTERESIS_LOW_VALUE_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ad9d2302f6d61cd84a612a2e2bcdeb56e">TMC26XStepper.cpp</a>
</li>
<li>HYSTERESIS_START_VALUE_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a0de4e98b412dced62c3a4452b7483af3">TMC26XStepper.cpp</a>
</li>
<li>HYSTERESIS_START_VALUE_SHIFT
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac2c1c939256126e605396c4aaee3c804">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
<li>INITIAL_MICROSTEPPING
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_m"></a>- m -</h3><ul>
<li>MICROSTEPPING_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8f5cb0c066109ffb18cefc0e85ee1d1b">TMC26XStepper.cpp</a>
</li>
<li>MINIMUM_CURRENT_FOURTH
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8a261a77d198b85f6dd8416387b354b3">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
<li>RANDOM_TOFF_TIME
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a64520580cffd416668f3b91bd60f84e1">TMC26XStepper.cpp</a>
</li>
<li>READ_MICROSTEP_POSTION
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a143b7757272f07866d9655bde8303d9a">TMC26XStepper.cpp</a>
</li>
<li>READ_SELECTION_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a88a4b45fa6385eba8aa4f0342334b832">TMC26XStepper.cpp</a>
</li>
<li>READ_STALL_GUARD_AND_COOL_STEP
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aef62b7fdcbac0b33b2d6e9cea4b5f9b2">TMC26XStepper.cpp</a>
</li>
<li>READ_STALL_GUARD_READING
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">TMC26XStepper.cpp</a>
</li>
<li>READOUT_VALUE_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a5c3d76da63f585e37813c32be2e11ab7">TMC26XStepper.cpp</a>
</li>
<li>REGISTER_BIT_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a3b02ee1f518b0c90c16488f937abd443">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
<li>SE_CURRENT_STEP_WIDTH_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aba6c07e5672e34e618bb3a550ab0d2bc">TMC26XStepper.cpp</a>
</li>
<li>SE_MAX_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac8f748bf735c447dbed7dd4c7b631a87">TMC26XStepper.cpp</a>
</li>
<li>SE_MIN_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae1862dfb958c03698b0abd95fda033ea">TMC26XStepper.cpp</a>
</li>
<li>STALL_GUARD2_LOAD_MEASURE_REGISTER
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a478d9bde09a6528eef6af6ffeeb6caba">TMC26XStepper.cpp</a>
</li>
<li>STALL_GUARD_CONFIG_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99ac04f0615556fc13c0c9f3e1c1b49d">TMC26XStepper.cpp</a>
</li>
<li>STALL_GUARD_FILTER_ENABLED
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#afdbbefabd0c29c4b6e403c4663d0f0be">TMC26XStepper.cpp</a>
</li>
<li>STALL_GUARD_TRESHHOLD_VALUE_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae631457932894a974334892704550ecc">TMC26XStepper.cpp</a>
</li>
<li>STALL_GUARD_VALUE_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6a1cb1fd61cf7c570f94376fa11fe55b">TMC26XStepper.cpp</a>
</li>
<li>STATUS_OPEN_LOAD_A
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae9cbbe5af7188e6bff8fe412f8e42f59">TMC26XStepper.cpp</a>
</li>
<li>STATUS_OPEN_LOAD_B
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab29dc5cd6c6c4e5bf99e71bd563e1be1">TMC26XStepper.cpp</a>
</li>
<li>STATUS_OVER_TEMPERATURE_SHUTDOWN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbb23d2f055c9eab55eac29d1a75deb4">TMC26XStepper.cpp</a>
</li>
<li>STATUS_OVER_TEMPERATURE_WARNING
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa317fd77f2f26fdfbfd331e21d9069e8">TMC26XStepper.cpp</a>
</li>
<li>STATUS_SHORT_TO_GROUND_A
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8e03041302a092174fa33b3cf837dca2">TMC26XStepper.cpp</a>
</li>
<li>STATUS_SHORT_TO_GROUND_B
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a903c3eba99695a32c6736463dcfd93ae">TMC26XStepper.cpp</a>
</li>
<li>STATUS_STALL_GUARD_STATUS
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa09ef662fd19bf2d063d6bd0f48eca14">TMC26XStepper.cpp</a>
</li>
<li>STATUS_STAND_STILL
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab96ed1635faee6650e9cce73598a2773">TMC26XStepper.cpp</a>
</li>
<li>STEP_INTERPOLATION
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa64245f223209654c60588e4558e0bab">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_t"></a>- t -</h3><ul>
<li>T_OFF_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa4e49237f2671e7f28aa34ae0e89da8d">TMC26XStepper.cpp</a>
</li>
<li>T_OFF_TIMING_PATERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a7659d842c803e47ba911a2a6e26327f3">TMC26XStepper.cpp</a>
</li>
<li>TMC26X_OVERTEMPERATURE_PREWARING
: <a class="el" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f">TMC26XStepper.h</a>
</li>
<li>TMC26X_OVERTEMPERATURE_SHUTDOWN
: <a class="el" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436">TMC26XStepper.h</a>
</li>
<li>TMC26X_READOUT_CURRENT
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">TMC26XStepper.h</a>
</li>
<li>TMC26X_READOUT_POSITION
: <a class="el" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26XStepper.h</a>
</li>
<li>TMC26X_READOUT_STALLGUARD
: <a class="el" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">TMC26XStepper.h</a>
</li>
</ul>
<h3><a class="anchor" id="index_v"></a>- v -</h3><ul>
<li>VSENSE
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">TMC26XStepper.cpp</a>
</li>
</ul>
</div><!-- contents -->
<hr class="footer"/><address class="footer"><small>
Generated on Mon Nov 19 2012 20:26:21 for Trinamic TMC26X Stepper Driver for Arduino by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.7.6.1
</small></address>
</body>
</html>

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<li><a href="#index_b"><span>b</span></a></li>
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<li><a href="#index_h"><span>h</span></a></li>
<li><a href="#index_i"><span>i</span></a></li>
<li><a href="#index_m"><span>m</span></a></li>
<li><a href="#index_r"><span>r</span></a></li>
<li><a href="#index_s"><span>s</span></a></li>
<li><a href="#index_t"><span>t</span></a></li>
<li><a href="#index_v"><span>v</span></a></li>
</ul>
</div>
</div>
<div class="contents">
&#160;
<h3><a class="anchor" id="index_b"></a>- b -</h3><ul>
<li>BLANK_TIMING_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a42cb2ce84258587d514ec3268548ba89">TMC26XStepper.cpp</a>
</li>
<li>BLANK_TIMING_SHIFT
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#abdac78f7f2c506972265a8e5883e1eae">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_c"></a>- c -</h3><ul>
<li>CHOPPER_CONFIG_REGISTER
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a70a540d1090b989b8600b5e4776659fe">TMC26XStepper.cpp</a>
</li>
<li>CHOPPER_MODE_STANDARD
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a57418a67ff726d540b813230bca1d536">TMC26XStepper.cpp</a>
</li>
<li>CHOPPER_MODE_T_OFF_FAST_DECAY
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aaf1b564ced7de8ff3245c964e3775826">TMC26XStepper.cpp</a>
</li>
<li>COOL_STEP_HALF_CS_LIMIT
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a28b1774bd4aa854fb5e4b6dc7db96ecb">TMC26XStepper.h</a>
</li>
<li>COOL_STEP_QUARTDER_CS_LIMIT
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a1a4db5eafd0a9247677153cb4c8b7d54">TMC26XStepper.h</a>
</li>
<li>COOL_STEP_REGISTER
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab9828bfaa075a0a8647c709136016317">TMC26XStepper.cpp</a>
</li>
<li>CURRENT_DOWN_STEP_SPEED_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbe13a0464355e42fbe786ca5f58ed8d">TMC26XStepper.cpp</a>
</li>
<li>CURRENT_SCALING_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99dcb8c6d98b0b54c23699a3f90450e4">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_d"></a>- d -</h3><ul>
<li>DEFAULT_MICROSTEPPING_VALUE
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6560b3471273e99e280ba795e3469ede">TMC26XStepper.cpp</a>
</li>
<li>DOUBLE_EDGE_STEP
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a770601bf0153e4bc639b9c3005b15af7">TMC26XStepper.cpp</a>
</li>
<li>DRIVER_CONFIG_REGISTER
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#af35f569d42ea3b1d634901a3b6a908ee">TMC26XStepper.cpp</a>
</li>
<li>DRIVER_CONTROL_REGISTER
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a108f18bf4a30a0e0f0991ac0e4ce0579">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_h"></a>- h -</h3><ul>
<li>HYSTERESIS_DECREMENT_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a424c248097b38c1e29e6a58ad48e6bd9">TMC26XStepper.cpp</a>
</li>
<li>HYSTERESIS_DECREMENT_SHIFT
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a36e554a87785ce6ba998b79aae9e74e0">TMC26XStepper.cpp</a>
</li>
<li>HYSTERESIS_LOW_SHIFT
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a38ce0bb0fa20db28351ac9167f28db98">TMC26XStepper.cpp</a>
</li>
<li>HYSTERESIS_LOW_VALUE_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ad9d2302f6d61cd84a612a2e2bcdeb56e">TMC26XStepper.cpp</a>
</li>
<li>HYSTERESIS_START_VALUE_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a0de4e98b412dced62c3a4452b7483af3">TMC26XStepper.cpp</a>
</li>
<li>HYSTERESIS_START_VALUE_SHIFT
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac2c1c939256126e605396c4aaee3c804">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_i"></a>- i -</h3><ul>
<li>INITIAL_MICROSTEPPING
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a54a6d12e96d851361974b10614a00e45">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_m"></a>- m -</h3><ul>
<li>MICROSTEPPING_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8f5cb0c066109ffb18cefc0e85ee1d1b">TMC26XStepper.cpp</a>
</li>
<li>MINIMUM_CURRENT_FOURTH
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8a261a77d198b85f6dd8416387b354b3">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_r"></a>- r -</h3><ul>
<li>RANDOM_TOFF_TIME
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a64520580cffd416668f3b91bd60f84e1">TMC26XStepper.cpp</a>
</li>
<li>READ_MICROSTEP_POSTION
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a143b7757272f07866d9655bde8303d9a">TMC26XStepper.cpp</a>
</li>
<li>READ_SELECTION_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a88a4b45fa6385eba8aa4f0342334b832">TMC26XStepper.cpp</a>
</li>
<li>READ_STALL_GUARD_AND_COOL_STEP
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aef62b7fdcbac0b33b2d6e9cea4b5f9b2">TMC26XStepper.cpp</a>
</li>
<li>READ_STALL_GUARD_READING
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac1bd4da94fab7ce1049be2f866211819">TMC26XStepper.cpp</a>
</li>
<li>READOUT_VALUE_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a5c3d76da63f585e37813c32be2e11ab7">TMC26XStepper.cpp</a>
</li>
<li>REGISTER_BIT_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a3b02ee1f518b0c90c16488f937abd443">TMC26XStepper.cpp</a>
</li>
</ul>
<h3><a class="anchor" id="index_s"></a>- s -</h3><ul>
<li>SE_CURRENT_STEP_WIDTH_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aba6c07e5672e34e618bb3a550ab0d2bc">TMC26XStepper.cpp</a>
</li>
<li>SE_MAX_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ac8f748bf735c447dbed7dd4c7b631a87">TMC26XStepper.cpp</a>
</li>
<li>SE_MIN_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae1862dfb958c03698b0abd95fda033ea">TMC26XStepper.cpp</a>
</li>
<li>STALL_GUARD2_LOAD_MEASURE_REGISTER
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a478d9bde09a6528eef6af6ffeeb6caba">TMC26XStepper.cpp</a>
</li>
<li>STALL_GUARD_CONFIG_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a99ac04f0615556fc13c0c9f3e1c1b49d">TMC26XStepper.cpp</a>
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<li>STALL_GUARD_FILTER_ENABLED
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#afdbbefabd0c29c4b6e403c4663d0f0be">TMC26XStepper.cpp</a>
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<li>STALL_GUARD_TRESHHOLD_VALUE_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae631457932894a974334892704550ecc">TMC26XStepper.cpp</a>
</li>
<li>STALL_GUARD_VALUE_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a6a1cb1fd61cf7c570f94376fa11fe55b">TMC26XStepper.cpp</a>
</li>
<li>STATUS_OPEN_LOAD_A
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ae9cbbe5af7188e6bff8fe412f8e42f59">TMC26XStepper.cpp</a>
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<li>STATUS_OPEN_LOAD_B
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab29dc5cd6c6c4e5bf99e71bd563e1be1">TMC26XStepper.cpp</a>
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<li>STATUS_OVER_TEMPERATURE_SHUTDOWN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#adbb23d2f055c9eab55eac29d1a75deb4">TMC26XStepper.cpp</a>
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<li>STATUS_OVER_TEMPERATURE_WARNING
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa317fd77f2f26fdfbfd331e21d9069e8">TMC26XStepper.cpp</a>
</li>
<li>STATUS_SHORT_TO_GROUND_A
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a8e03041302a092174fa33b3cf837dca2">TMC26XStepper.cpp</a>
</li>
<li>STATUS_SHORT_TO_GROUND_B
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a903c3eba99695a32c6736463dcfd93ae">TMC26XStepper.cpp</a>
</li>
<li>STATUS_STALL_GUARD_STATUS
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa09ef662fd19bf2d063d6bd0f48eca14">TMC26XStepper.cpp</a>
</li>
<li>STATUS_STAND_STILL
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#ab96ed1635faee6650e9cce73598a2773">TMC26XStepper.cpp</a>
</li>
<li>STEP_INTERPOLATION
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa64245f223209654c60588e4558e0bab">TMC26XStepper.cpp</a>
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<h3><a class="anchor" id="index_t"></a>- t -</h3><ul>
<li>T_OFF_PATTERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#aa4e49237f2671e7f28aa34ae0e89da8d">TMC26XStepper.cpp</a>
</li>
<li>T_OFF_TIMING_PATERN
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a7659d842c803e47ba911a2a6e26327f3">TMC26XStepper.cpp</a>
</li>
<li>TMC26X_OVERTEMPERATURE_PREWARING
: <a class="el" href="_t_m_c26_x_stepper_8h.html#add42eee34f674f92c19bcd5266d2445f">TMC26XStepper.h</a>
</li>
<li>TMC26X_OVERTEMPERATURE_SHUTDOWN
: <a class="el" href="_t_m_c26_x_stepper_8h.html#adae814ce848677abd87758c7ac79a436">TMC26XStepper.h</a>
</li>
<li>TMC26X_READOUT_CURRENT
: <a class="el" href="_t_m_c26_x_stepper_8h.html#a01760ad15e3846536526a990efe47094">TMC26XStepper.h</a>
</li>
<li>TMC26X_READOUT_POSITION
: <a class="el" href="_t_m_c26_x_stepper_8h.html#aff05d4a47ef8821322ccc2a20785fbee">TMC26XStepper.h</a>
</li>
<li>TMC26X_READOUT_STALLGUARD
: <a class="el" href="_t_m_c26_x_stepper_8h.html#ac864ff8886123039c7d2d3c617f7ef87">TMC26XStepper.h</a>
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<h3><a class="anchor" id="index_v"></a>- v -</h3><ul>
<li>VSENSE
: <a class="el" href="_t_m_c26_x_stepper_8cpp.html#a4fb1c008e2ff76eee9362600eed112e1">TMC26XStepper.cpp</a>
</li>
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<div class="title">TMC 260, 261, 262 Stepper Driver for Arduino </div> </div>
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<div class="textblock"><dl class="author"><dt><b>Author:</b></dt><dd>Interactive MAtter, MArcus Nowotny, <a href="mailto:marcus@interactive-matter.eu">marcus@interactive-matter.eu</a> </dd></dl>
<h2><a class="anchor" id="HOWTO"></a>
How to use the driver</h2>
<p>Here we go with aminial how to description</p>
<h2><a class="anchor" id="COPYRIGHT_NOTIFICATION"></a>
COPYRIGHT NOTIFICATION</h2>
<dl class="user"><dt><b>(c) 2011 Interactive MAtter, Marcus Nowotny </b></dt><dd></dd></dl>
<dl class="user"><dt><b></b></dt><dd>Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:</dd></dl>
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/*
* jQuery hashchange event - v1.3 - 7/21/2010
* http://benalman.com/projects/jquery-hashchange-plugin/
*
* Copyright (c) 2010 "Cowboy" Ben Alman
* Dual licensed under the MIT and GPL licenses.
* http://benalman.com/about/license/
*/
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/*
* jQuery UI 1.7.2
*
* Copyright (c) 2009 AUTHORS.txt (http://jqueryui.com/about)
* Dual licensed under the MIT (MIT-LICENSE.txt)
* and GPL (GPL-LICENSE.txt) licenses.
*
* http://docs.jquery.com/UI
*/
jQuery.ui||(function(c){var i=c.fn.remove,d=c.browser.mozilla&&(parseFloat(c.browser.version)<1.9);c.ui={version:"1.7.2",plugin:{add:function(k,l,n){var m=c.ui[k].prototype;for(var j in n){m.plugins[j]=m.plugins[j]||[];m.plugins[j].push([l,n[j]])}},call:function(j,l,k){var n=j.plugins[l];if(!n||!j.element[0].parentNode){return}for(var m=0;m<n.length;m++){if(j.options[n[m][0]]){n[m][1].apply(j.element,k)}}}},contains:function(k,j){return document.compareDocumentPosition?k.compareDocumentPosition(j)&16:k!==j&&k.contains(j)},hasScroll:function(m,k){if(c(m).css("overflow")=="hidden"){return false}var j=(k&&k=="left")?"scrollLeft":"scrollTop",l=false;if(m[j]>0){return true}m[j]=1;l=(m[j]>0);m[j]=0;return l},isOverAxis:function(k,j,l){return(k>j)&&(k<(j+l))},isOver:function(o,k,n,m,j,l){return c.ui.isOverAxis(o,n,j)&&c.ui.isOverAxis(k,m,l)},keyCode:{BACKSPACE:8,CAPS_LOCK:20,COMMA:188,CONTROL:17,DELETE:46,DOWN:40,END:35,ENTER:13,ESCAPE:27,HOME:36,INSERT:45,LEFT:37,NUMPAD_ADD:107,NUMPAD_DECIMAL:110,NUMPAD_DIVIDE:111,NUMPAD_ENTER:108,NUMPAD_MULTIPLY:106,NUMPAD_SUBTRACT:109,PAGE_DOWN:34,PAGE_UP:33,PERIOD:190,RIGHT:39,SHIFT:16,SPACE:32,TAB:9,UP:38}};if(d){var f=c.attr,e=c.fn.removeAttr,h="http://www.w3.org/2005/07/aaa",a=/^aria-/,b=/^wairole:/;c.attr=function(k,j,l){var m=l!==undefined;return(j=="role"?(m?f.call(this,k,j,"wairole:"+l):(f.apply(this,arguments)||"").replace(b,"")):(a.test(j)?(m?k.setAttributeNS(h,j.replace(a,"aaa:"),l):f.call(this,k,j.replace(a,"aaa:"))):f.apply(this,arguments)))};c.fn.removeAttr=function(j){return(a.test(j)?this.each(function(){this.removeAttributeNS(h,j.replace(a,""))}):e.call(this,j))}}c.fn.extend({remove:function(){c("*",this).add(this).each(function(){c(this).triggerHandler("remove")});return i.apply(this,arguments)},enableSelection:function(){return this.attr("unselectable","off").css("MozUserSelect","").unbind("selectstart.ui")},disableSelection:function(){return this.attr("unselectable","on").css("MozUserSelect","none").bind("selectstart.ui",function(){return false})},scrollParent:function(){var j;if((c.browser.msie&&(/(static|relative)/).test(this.css("position")))||(/absolute/).test(this.css("position"))){j=this.parents().filter(function(){return(/(relative|absolute|fixed)/).test(c.curCSS(this,"position",1))&&(/(auto|scroll)/).test(c.curCSS(this,"overflow",1)+c.curCSS(this,"overflow-y",1)+c.curCSS(this,"overflow-x",1))}).eq(0)}else{j=this.parents().filter(function(){return(/(auto|scroll)/).test(c.curCSS(this,"overflow",1)+c.curCSS(this,"overflow-y",1)+c.curCSS(this,"overflow-x",1))}).eq(0)}return(/fixed/).test(this.css("position"))||!j.length?c(document):j}});c.extend(c.expr[":"],{data:function(l,k,j){return !!c.data(l,j[3])},focusable:function(k){var l=k.nodeName.toLowerCase(),j=c.attr(k,"tabindex");return(/input|select|textarea|button|object/.test(l)?!k.disabled:"a"==l||"area"==l?k.href||!isNaN(j):!isNaN(j))&&!c(k)["area"==l?"parents":"closest"](":hidden").length},tabbable:function(k){var j=c.attr(k,"tabindex");return(isNaN(j)||j>=0)&&c(k).is(":focusable")}});function g(m,n,o,l){function k(q){var p=c[m][n][q]||[];return(typeof p=="string"?p.split(/,?\s+/):p)}var j=k("getter");if(l.length==1&&typeof l[0]=="string"){j=j.concat(k("getterSetter"))}return(c.inArray(o,j)!=-1)}c.widget=function(k,j){var l=k.split(".")[0];k=k.split(".")[1];c.fn[k]=function(p){var n=(typeof p=="string"),o=Array.prototype.slice.call(arguments,1);if(n&&p.substring(0,1)=="_"){return this}if(n&&g(l,k,p,o)){var m=c.data(this[0],k);return(m?m[p].apply(m,o):undefined)}return this.each(function(){var q=c.data(this,k);(!q&&!n&&c.data(this,k,new c[l][k](this,p))._init());(q&&n&&c.isFunction(q[p])&&q[p].apply(q,o))})};c[l]=c[l]||{};c[l][k]=function(o,n){var m=this;this.namespace=l;this.widgetName=k;this.widgetEventPrefix=c[l][k].eventPrefix||k;this.widgetBaseClass=l+"-"+k;this.options=c.extend({},c.widget.defaults,c[l][k].defaults,c.metadata&&c.metadata.get(o)[k],n);this.element=c(o).bind("setData."+k,function(q,p,r){if(q.target==o){return m._setData(p,r)}}).bind("getData."+k,function(q,p){if(q.target==o){return m._getData(p)}}).bind("remove",function(){return m.destroy()})};c[l][k].prototype=c.extend({},c.widget.prototype,j);c[l][k].getterSetter="option"};c.widget.prototype={_init:function(){},destroy:function(){this.element.removeData(this.widgetName).removeClass(this.widgetBaseClass+"-disabled "+this.namespace+"-state-disabled").removeAttr("aria-disabled")},option:function(l,m){var k=l,j=this;if(typeof l=="string"){if(m===undefined){return this._getData(l)}k={};k[l]=m}c.each(k,function(n,o){j._setData(n,o)})},_getData:function(j){return 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false}});if(c.browser.msie){this._mouseUnselectable=this.element.attr("unselectable");this.element.attr("unselectable","on")}this.started=false},_mouseDestroy:function(){this.element.unbind("."+this.widgetName);(c.browser.msie&&this.element.attr("unselectable",this._mouseUnselectable))},_mouseDown:function(l){l.originalEvent=l.originalEvent||{};if(l.originalEvent.mouseHandled){return}(this._mouseStarted&&this._mouseUp(l));this._mouseDownEvent=l;var k=this,m=(l.which==1),j=(typeof this.options.cancel=="string"?c(l.target).parents().add(l.target).filter(this.options.cancel).length:false);if(!m||j||!this._mouseCapture(l)){return true}this.mouseDelayMet=!this.options.delay;if(!this.mouseDelayMet){this._mouseDelayTimer=setTimeout(function(){k.mouseDelayMet=true},this.options.delay)}if(this._mouseDistanceMet(l)&&this._mouseDelayMet(l)){this._mouseStarted=(this._mouseStart(l)!==false);if(!this._mouseStarted){l.preventDefault();return true}}this._mouseMoveDelegate=function(n){return k._mouseMove(n)};this._mouseUpDelegate=function(n){return k._mouseUp(n)};c(document).bind("mousemove."+this.widgetName,this._mouseMoveDelegate).bind("mouseup."+this.widgetName,this._mouseUpDelegate);(c.browser.safari||l.preventDefault());l.originalEvent.mouseHandled=true;return true},_mouseMove:function(j){if(c.browser.msie&&!j.button){return this._mouseUp(j)}if(this._mouseStarted){this._mouseDrag(j);return j.preventDefault()}if(this._mouseDistanceMet(j)&&this._mouseDelayMet(j)){this._mouseStarted=(this._mouseStart(this._mouseDownEvent,j)!==false);(this._mouseStarted?this._mouseDrag(j):this._mouseUp(j))}return !this._mouseStarted},_mouseUp:function(j){c(document).unbind("mousemove."+this.widgetName,this._mouseMoveDelegate).unbind("mouseup."+this.widgetName,this._mouseUpDelegate);if(this._mouseStarted){this._mouseStarted=false;this._preventClickEvent=(j.target==this._mouseDownEvent.target);this._mouseStop(j)}return false},_mouseDistanceMet:function(j){return(Math.max(Math.abs(this._mouseDownEvent.pageX-j.pageX),Math.abs(this._mouseDownEvent.pageY-j.pageY))>=this.options.distance)},_mouseDelayMet:function(j){return this.mouseDelayMet},_mouseStart:function(j){},_mouseDrag:function(j){},_mouseStop:function(j){},_mouseCapture:function(j){return true}};c.ui.mouse.defaults={cancel:null,distance:1,delay:0}})(jQuery);;/* * jQuery UI Resizable 1.7.2
*
* Copyright (c) 2009 AUTHORS.txt (http://jqueryui.com/about)
* Dual licensed under the MIT (MIT-LICENSE.txt)
* and GPL (GPL-LICENSE.txt) licenses.
*
* http://docs.jquery.com/UI/Resizables
*
* Depends:
* ui.core.js
*/
(function(c){c.widget("ui.resizable",c.extend({},c.ui.mouse,{_init:function(){var e=this,j=this.options;this.element.addClass("ui-resizable");c.extend(this,{_aspectRatio:!!(j.aspectRatio),aspectRatio:j.aspectRatio,originalElement:this.element,_proportionallyResizeElements:[],_helper:j.helper||j.ghost||j.animate?j.helper||"ui-resizable-helper":null});if(this.element[0].nodeName.match(/canvas|textarea|input|select|button|img/i)){if(/relative/.test(this.element.css("position"))&&c.browser.opera){this.element.css({position:"relative",top:"auto",left:"auto"})}this.element.wrap(c('<div class="ui-wrapper" style="overflow: hidden;"></div>').css({position:this.element.css("position"),width:this.element.outerWidth(),height:this.element.outerHeight(),top:this.element.css("top"),left:this.element.css("left")}));this.element=this.element.parent().data("resizable",this.element.data("resizable"));this.elementIsWrapper=true;this.element.css({marginLeft:this.originalElement.css("marginLeft"),marginTop:this.originalElement.css("marginTop"),marginRight:this.originalElement.css("marginRight"),marginBottom:this.originalElement.css("marginBottom")});this.originalElement.css({marginLeft:0,marginTop:0,marginRight:0,marginBottom:0});this.originalResizeStyle=this.originalElement.css("resize");this.originalElement.css("resize","none");this._proportionallyResizeElements.push(this.originalElement.css({position:"static",zoom:1,display:"block"}));this.originalElement.css({margin:this.originalElement.css("margin")});this._proportionallyResize()}this.handles=j.handles||(!c(".ui-resizable-handle",this.element).length?"e,s,se":{n:".ui-resizable-n",e:".ui-resizable-e",s:".ui-resizable-s",w:".ui-resizable-w",se:".ui-resizable-se",sw:".ui-resizable-sw",ne:".ui-resizable-ne",nw:".ui-resizable-nw"});if(this.handles.constructor==String){if(this.handles=="all"){this.handles="n,e,s,w,se,sw,ne,nw"}var k=this.handles.split(",");this.handles={};for(var f=0;f<k.length;f++){var h=c.trim(k[f]),d="ui-resizable-"+h;var g=c('<div class="ui-resizable-handle '+d+'"></div>');if(/sw|se|ne|nw/.test(h)){g.css({zIndex:++j.zIndex})}if("se"==h){g.addClass("ui-icon ui-icon-gripsmall-diagonal-se")}this.handles[h]=".ui-resizable-"+h;this.element.append(g)}}this._renderAxis=function(p){p=p||this.element;for(var m in this.handles){if(this.handles[m].constructor==String){this.handles[m]=c(this.handles[m],this.element).show()}if(this.elementIsWrapper&&this.originalElement[0].nodeName.match(/textarea|input|select|button/i)){var n=c(this.handles[m],this.element),o=0;o=/sw|ne|nw|se|n|s/.test(m)?n.outerHeight():n.outerWidth();var l=["padding",/ne|nw|n/.test(m)?"Top":/se|sw|s/.test(m)?"Bottom":/^e$/.test(m)?"Right":"Left"].join("");p.css(l,o);this._proportionallyResize()}if(!c(this.handles[m]).length){continue}}};this._renderAxis(this.element);this._handles=c(".ui-resizable-handle",this.element).disableSelection();this._handles.mouseover(function(){if(!e.resizing){if(this.className){var i=this.className.match(/ui-resizable-(se|sw|ne|nw|n|e|s|w)/i)}e.axis=i&&i[1]?i[1]:"se"}});if(j.autoHide){this._handles.hide();c(this.element).addClass("ui-resizable-autohide").hover(function(){c(this).removeClass("ui-resizable-autohide");e._handles.show()},function(){if(!e.resizing){c(this).addClass("ui-resizable-autohide");e._handles.hide()}})}this._mouseInit()},destroy:function(){this._mouseDestroy();var d=function(f){c(f).removeClass("ui-resizable ui-resizable-disabled ui-resizable-resizing").removeData("resizable").unbind(".resizable").find(".ui-resizable-handle").remove()};if(this.elementIsWrapper){d(this.element);var e=this.element;e.parent().append(this.originalElement.css({position:e.css("position"),width:e.outerWidth(),height:e.outerHeight(),top:e.css("top"),left:e.css("left")})).end().remove()}this.originalElement.css("resize",this.originalResizeStyle);d(this.originalElement)},_mouseCapture:function(e){var f=false;for(var d in this.handles){if(c(this.handles[d])[0]==e.target){f=true}}return this.options.disabled||!!f},_mouseStart:function(f){var i=this.options,e=this.element.position(),d=this.element;this.resizing=true;this.documentScroll={top:c(document).scrollTop(),left:c(document).scrollLeft()};if(d.is(".ui-draggable")||(/absolute/).test(d.css("position"))){d.css({position:"absolute",top:e.top,left:e.left})}if(c.browser.opera&&(/relative/).test(d.css("position"))){d.css({position:"relative",top:"auto",left:"auto"})}this._renderProxy();var j=b(this.helper.css("left")),g=b(this.helper.css("top"));if(i.containment){j+=c(i.containment).scrollLeft()||0;g+=c(i.containment).scrollTop()||0}this.offset=this.helper.offset();this.position={left:j,top:g};this.size=this._helper?{width:d.outerWidth(),height:d.outerHeight()}:{width:d.width(),height:d.height()};this.originalSize=this._helper?{width:d.outerWidth(),height:d.outerHeight()}:{width:d.width(),height:d.height()};this.originalPosition={left:j,top:g};this.sizeDiff={width:d.outerWidth()-d.width(),height:d.outerHeight()-d.height()};this.originalMousePosition={left:f.pageX,top:f.pageY};this.aspectRatio=(typeof i.aspectRatio=="number")?i.aspectRatio:((this.originalSize.width/this.originalSize.height)||1);var h=c(".ui-resizable-"+this.axis).css("cursor");c("body").css("cursor",h=="auto"?this.axis+"-resize":h);d.addClass("ui-resizable-resizing");this._propagate("start",f);return true},_mouseDrag:function(d){var g=this.helper,f=this.options,l={},p=this,i=this.originalMousePosition,m=this.axis;var q=(d.pageX-i.left)||0,n=(d.pageY-i.top)||0;var h=this._change[m];if(!h){return false}var k=h.apply(this,[d,q,n]),j=c.browser.msie&&c.browser.version<7,e=this.sizeDiff;if(this._aspectRatio||d.shiftKey){k=this._updateRatio(k,d)}k=this._respectSize(k,d);this._propagate("resize",d);g.css({top:this.position.top+"px",left:this.position.left+"px",width:this.size.width+"px",height:this.size.height+"px"});if(!this._helper&&this._proportionallyResizeElements.length){this._proportionallyResize()}this._updateCache(k);this._trigger("resize",d,this.ui());return false},_mouseStop:function(g){this.resizing=false;var h=this.options,l=this;if(this._helper){var f=this._proportionallyResizeElements,d=f.length&&(/textarea/i).test(f[0].nodeName),e=d&&c.ui.hasScroll(f[0],"left")?0:l.sizeDiff.height,j=d?0:l.sizeDiff.width;var m={width:(l.size.width-j),height:(l.size.height-e)},i=(parseInt(l.element.css("left"),10)+(l.position.left-l.originalPosition.left))||null,k=(parseInt(l.element.css("top"),10)+(l.position.top-l.originalPosition.top))||null;if(!h.animate){this.element.css(c.extend(m,{top:k,left:i}))}l.helper.height(l.size.height);l.helper.width(l.size.width);if(this._helper&&!h.animate){this._proportionallyResize()}}c("body").css("cursor","auto");this.element.removeClass("ui-resizable-resizing");this._propagate("stop",g);if(this._helper){this.helper.remove()}return false},_updateCache:function(d){var e=this.options;this.offset=this.helper.offset();if(a(d.left)){this.position.left=d.left}if(a(d.top)){this.position.top=d.top}if(a(d.height)){this.size.height=d.height}if(a(d.width)){this.size.width=d.width}},_updateRatio:function(g,f){var h=this.options,i=this.position,e=this.size,d=this.axis;if(g.height){g.width=(e.height*this.aspectRatio)}else{if(g.width){g.height=(e.width/this.aspectRatio)}}if(d=="sw"){g.left=i.left+(e.width-g.width);g.top=null}if(d=="nw"){g.top=i.top+(e.height-g.height);g.left=i.left+(e.width-g.width)}return g},_respectSize:function(k,f){var i=this.helper,h=this.options,q=this._aspectRatio||f.shiftKey,p=this.axis,s=a(k.width)&&h.maxWidth&&(h.maxWidth<k.width),l=a(k.height)&&h.maxHeight&&(h.maxHeight<k.height),g=a(k.width)&&h.minWidth&&(h.minWidth>k.width),r=a(k.height)&&h.minHeight&&(h.minHeight>k.height);if(g){k.width=h.minWidth}if(r){k.height=h.minHeight}if(s){k.width=h.maxWidth}if(l){k.height=h.maxHeight}var e=this.originalPosition.left+this.originalSize.width,n=this.position.top+this.size.height;var j=/sw|nw|w/.test(p),d=/nw|ne|n/.test(p);if(g&&j){k.left=e-h.minWidth}if(s&&j){k.left=e-h.maxWidth}if(r&&d){k.top=n-h.minHeight}if(l&&d){k.top=n-h.maxHeight}var m=!k.width&&!k.height;if(m&&!k.left&&k.top){k.top=null}else{if(m&&!k.top&&k.left){k.left=null}}return k},_proportionallyResize:function(){var j=this.options;if(!this._proportionallyResizeElements.length){return}var f=this.helper||this.element;for(var e=0;e<this._proportionallyResizeElements.length;e++){var g=this._proportionallyResizeElements[e];if(!this.borderDif){var d=[g.css("borderTopWidth"),g.css("borderRightWidth"),g.css("borderBottomWidth"),g.css("borderLeftWidth")],h=[g.css("paddingTop"),g.css("paddingRight"),g.css("paddingBottom"),g.css("paddingLeft")];this.borderDif=c.map(d,function(k,m){var l=parseInt(k,10)||0,n=parseInt(h[m],10)||0;return l+n})}if(c.browser.msie&&!(!(c(f).is(":hidden")||c(f).parents(":hidden").length))){continue}g.css({height:(f.height()-this.borderDif[0]-this.borderDif[2])||0,width:(f.width()-this.borderDif[1]-this.borderDif[3])||0})}},_renderProxy:function(){var e=this.element,h=this.options;this.elementOffset=e.offset();if(this._helper){this.helper=this.helper||c('<div style="overflow:hidden;"></div>');var d=c.browser.msie&&c.browser.version<7,f=(d?1:0),g=(d?2:-1);this.helper.addClass(this._helper).css({width:this.element.outerWidth()+g,height:this.element.outerHeight()+g,position:"absolute",left:this.elementOffset.left-f+"px",top:this.elementOffset.top-f+"px",zIndex:++h.zIndex});this.helper.appendTo("body").disableSelection()}else{this.helper=this.element}},_change:{e:function(f,e,d){return{width:this.originalSize.width+e}},w:function(g,e,d){var i=this.options,f=this.originalSize,h=this.originalPosition;return{left:h.left+e,width:f.width-e}},n:function(g,e,d){var i=this.options,f=this.originalSize,h=this.originalPosition;return{top:h.top+d,height:f.height-d}},s:function(f,e,d){return{height:this.originalSize.height+d}},se:function(f,e,d){return 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/*
TMC26XExample.ino - - TMC26X Stepper library Example for Wiring/Arduino
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include <SPI.h>
#include <TMC26XStepper.h>
//we have a stepper motor with 200 steps per rotation, CS pin 2, dir pin 6, step pin 7 and a current of 300mA
TMC26XStepper tmc26XStepper = TMC26XStepper(200,2,6,7,700);
int curr_step;
int speed = 0;
int speedDirection = 100;
int maxSpeed = 1000;
void setup() {
Serial.begin(9600);
Serial.println("==============================");
Serial.println("TMC26X Stepper Driver Demo App");
Serial.println("==============================");
//set this according to you stepper
Serial.println("Configuring stepper driver");
//char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement
tmc26XStepper.setSpreadCycleChopper(2,24,8,6,0);
tmc26XStepper.setRandomOffTime(0);
tmc26XStepper.setMicrosteps(32);
tmc26XStepper.setStallGuardThreshold(4,0);
Serial.println("config finished, starting");
tmc26XStepper.start();
Serial.println("started");
}
void loop() {
if (!tmc26XStepper.isMoving()) {
speed+=speedDirection;
if (speed>maxSpeed) {
speed = maxSpeed;
speedDirection = -speedDirection;
} else if (speed<0) {
speedDirection = -speedDirection;
speed=speedDirection;
}
//setting the speed
Serial.print("setting speed to ");
Serial.println(speed);
tmc26XStepper.setSpeed(speed);
//we want some kind of constant running time - so the length is just a product of speed
Serial.print("Going ");
Serial.print(10*speed);
Serial.println(" steps");
tmc26XStepper.step(10*speed);
} else {
//we put out the status every 100 steps
if (tmc26XStepper.getStepsLeft()%100==0) {
Serial.print("Stall Guard: ");
Serial.println(tmc26XStepper.getCurrentStallGuardReading());
}
}
tmc26XStepper.move();
}

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/*
TMC26XMotorTest.ino - - TMC26X Stepper library tester for Wiring/Arduino
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
unsigned int motor_counter = 0;
unsigned char motor_moved = 0;
int sgThreshold = 4;
int sgFilter = 0;
int direction = 1;
unsigned int lower_SG_threshold = 0;
unsigned int upper_SG_threshold = 0;
unsigned char number_of_SG_readings=0;
unsigned char current_increment_step_size=0;
unsigned char lower_current_limit=0;
char chopperMode = 0; //0 for spread, 1 for constant off
char t_off = 2;
char t_blank = 24;
char h_start = 8;
char h_end = 6;
char h_decrement = 0;
void startMotor() {
Serial.println(F("Configuring stepper driver"));
//char constant_off_time, char blank_time, char hysteresis_start, char hysteresis_end, char hysteresis_decrement
tmc26XStepper.setSpreadCycleChopper(t_off,t_blank,h_start,h_end,h_decrement);
tmc26XStepper.setRandomOffTime(0);
tmc26XStepper.setMicrosteps(32);
tmc26XStepper.setStallGuardThreshold(sgThreshold,sgFilter);
// Serial.println("config finished, starting");
digitalWrite(ENABLE_PIN,LOW);
tmc26XStepper.start();
tmc26XStepper.setSpeed(10);
TCNT2=setupTimer2(10000);
sei();
}
void runMotor() {
if (running && !tmc26XStepper.isMoving()) {
tmc26XStepper.step(direction*10000);
Serial.println("run");
}
if (!running & tmc26XStepper.isMoving()) {
tmc26XStepper.stop();
Serial.println("stop");
}
}
void setSpeed(unsigned int targetSpeed) {
if (targetSpeed>0 && targetSpeed<MAX_SPEED) {
Serial.print(F("Setting speed: "));
Serial.println(targetSpeed);
tmc26XStepper.setSpeed(targetSpeed);
}
else {
Serial.print(F("improper speed "));
Serial.println(targetSpeed);
}
}
void setMicrostepping(int microstepping) {
if (microstepping<1 || microstepping>256) {
Serial.print(F("Improperd microstepping setting [1...256]: "));
Serial.print(microstepping);
}
else {
tmc26XStepper.setMicrosteps(microstepping);
}
}
void setStallGuardThreshold(int threshold) {
if (threshold<-64 || threshold > 63) {
Serial.print(F("Improper Stall Guard Threshold [-64...63]: "));
Serial.println(threshold);
}
else {
sgThreshold = threshold;
tmc26XStepper.setStallGuardThreshold(threshold,sgFilter);
}
}
void setStallGuardFilter(int filter) {
if (filter) {
sgFilter=1;
}
else {
sgFilter=0;
}
tmc26XStepper.setStallGuardThreshold(sgThreshold,sgFilter);
}
void setCurrent(int current) {
if (current>0 && current <1700) {
tmc26XStepper.setCurrent(current);
}
else {
Serial.print(F("Improper current {0 ... 1200}: "));
Serial.print(current);
}
}
void updateChopper() {
//we can do only spread now
if (chopperMode==0) {
tmc26XStepper.setSpreadCycleChopper(t_off,t_blank,h_start,h_end,h_decrement);
}
}
void updateCoolStep() {
tmc26XStepper.setCoolStepConfiguration(
lower_SG_threshold, upper_SG_threshold, number_of_SG_readings,
current_increment_step_size, lower_current_limit);
}
//from http://www.uchobby.com/index.php/2007/11/24/arduino-interrupts/
//Setup Timer2.s
//Configures the ATMega168 8-Bit Timer2 to generate an interrupt
//at the specified frequency.
//Returns the timer load value which must be loaded into TCNT2
//inside your ISR routine.
//See the example usage below.
unsigned char setupTimer2(float timeoutFrequency){
unsigned char result; //The timer load value.
//Calculate the timer load value
result=(int)((257.0-(TIMER_CLOCK_FREQ/timeoutFrequency))+0.5);
//The 257 really should be 256 but I get better results with 257.
//Timer2 Settings: Timer Prescaler /8, mode 0
//Timer clock = 16MHz/8 = 2Mhz or 0.5us
//The /8 prescale gives us a good range to work with
//so we just hard code this for now.
TCCR2A = 0;
TCCR2B = 0<<CS22 | 1<<CS21 | 0<<CS20;
//Timer2 Overflow Interrupt Enable
TIMSK2 = 1<<TOIE2;
//load the timer for its first cycle
TCNT2=result;
return(result);
}
ISR(TIMER2_OVF_vect) {
motor_moved = tmc26XStepper.move();
motor_counter++;
}

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/*
TMC26XMotorTest.ino - - TMC26X Stepper library tester for Wiring/Arduino
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#define INPUT_BUFFER_LENGTH 32
#define SERIAL_SPEED 115200
#define STATUS_COUNTER 100
char inputBuffer[INPUT_BUFFER_LENGTH+1]; //ad on character to keep the trainling 0
unsigned char inputBufferPosition;
void startSerial() {
Serial.begin(SERIAL_SPEED);
Serial.println(F("================================="));
Serial.println(F("TMC26X Stepper Driver Motor Tester"));
Serial.println(F("================================="));
//empty the input buffer
for (unsigned char i=0; i< INPUT_BUFFER_LENGTH+1; i++) {
inputBuffer[i]=0;
}
inputBufferPosition=0;
}
void loopSerial() {
if (Serial.available()>0 && inputBufferPosition<INPUT_BUFFER_LENGTH) {
char c = Serial.read();
//Read the char
inputBuffer[inputBufferPosition]=c;
inputBufferPosition++;
//always terminate the string
inputBuffer[inputBufferPosition]=0;
//and if the line ended we execute the command
if (c=='\n') {
executeSerialCommand();
}
}
if (motor_moved) {
Serial.print("#sg");
Serial.print(tmc26XStepper.getCurrentStallGuardReading(),DEC);
Serial.print(",p");
Serial.print(tmc26XStepper.getMotorPosition(),DEC);
Serial.print(",k");
Serial.print(tmc26XStepper.getCurrentCurrent(),DEC);
Serial.println(',');
motor_moved=0;
}
if (motor_counter>STATUS_COUNTER) {
motor_counter=0;
char moving = tmc26XStepper.isMoving();
Serial.print('#');
if (moving) {
Serial.print('r');
}
else {
Serial.print('s');
}
Serial.print(',');
Serial.print('d');
Serial.print(direction);
Serial.print(',');
Serial.print("c");
Serial.print(tmc26XStepper.getCurrent(),DEC);
Serial.print(',');
Serial.print('S');
Serial.print(tmc26XStepper.getSpeed(),DEC);
Serial.print(',');
Serial.print('m');
Serial.print(tmc26XStepper.getMicrosteps(),DEC);
Serial.print(',');
Serial.print("t");
Serial.print(tmc26XStepper.getStallGuardThreshold(),DEC);
Serial.print(',');
Serial.print('f');
Serial.print(tmc26XStepper.getStallGuardFilter(),DEC);
Serial.print(',');
//print out the general cool step config
if (tmc26XStepper.isCoolStepEnabled()) {
Serial.print("Ke+,");
}
else {
Serial.print("Ke-,");
}
Serial.print("Kl");
Serial.print(tmc26XStepper.getCoolStepLowerSgThreshold(),DEC);
Serial.print(",Ku");
Serial.print(tmc26XStepper.getCoolStepUpperSgThreshold(),DEC);
Serial.print(",Kn");
Serial.print(tmc26XStepper.getCoolStepNumberOfSGReadings(),DEC);
Serial.print(",Ki");
Serial.print(tmc26XStepper.getCoolStepCurrentIncrementSize(),DEC);
Serial.print(",Km");
Serial.print(tmc26XStepper.getCoolStepLowerCurrentLimit(),DEC);
Serial.print(',');
//detect the winding status
if (tmc26XStepper.isOpenLoadA()) {
Serial.print("ao,");
}
else if(tmc26XStepper.isShortToGroundA()) {
Serial.print("ag,");
}
else {
Serial.print("a-,");
}
//detect the winding status
if (tmc26XStepper.isOpenLoadB()) {
Serial.print("bo,");
}
else if(tmc26XStepper.isShortToGroundB()) {
Serial.print("bg,");
}
else {
Serial.print("b-,");
}
char temperature = tmc26XStepper.getOverTemperature();
if (temperature==0) {
Serial.print("x-,");
}
else if (temperature==TMC26X_OVERTEMPERATURE_PREWARING) {
Serial.print("xw,");
}
else {
Serial.print("xe,");
}
if (tmc26XStepper.isEnabled()) {
Serial.print("e1,");
}
else {
Serial.print("e0,");
}
//write out the current chopper config
Serial.print("Cm");
Serial.print(chopperMode,DEC);
Serial.print(",Co");
Serial.print(t_off,DEC);
Serial.print(",Cb");
Serial.print(t_blank,DEC);
if (chopperMode==0) {
Serial.print(",Cs");
Serial.print(h_start,DEC);
Serial.print(",Ce");
Serial.print(h_end,DEC);
Serial.print(",Cd");
Serial.print(h_decrement,DEC);
}
Serial.print(',');
Serial.println();
}
}
void executeSerialCommand() {
Serial.print("Executing ");
Serial.println(inputBuffer);
//stimple runn & stop commands
switch(inputBuffer[0]) {
case 's':
running = 0;
break;
case 'r':
running = -1;
break;
case 'S':
{
int targetSpeed = decode(1);
setSpeed(targetSpeed);
}
break;
case 'm':
{
int microstepping = decode(1);
setMicrostepping(microstepping);
}
break;
case 't':
{
int threshold = decode(1);
setStallGuardThreshold(threshold);
}
break;
case 'f':
{
int filter = decode(1);
setStallGuardFilter(filter);
}
break;
case 'd':
{
int value = decode(1);
tmc26XStepper.stop();
if (value<0) {
direction=-1;
}
else {
direction=1;
}
}
break;
case 'c':
{
int current = decode(1);
setCurrent(current);
}
break;
case 'e':
{
int enabled = decode(1);
if (enabled) {
tmc26XStepper.setEnabled(true);
}
else {
tmc26XStepper.setEnabled(false);
}
}
break;
case 'C':
switch(inputBuffer[1]) {
case 'o':
{
int value = decode(2);
if (value>0 && value<16) {
t_off=value;
updateChopper();
}
}
break;
case 'b':
{
int value = decode(2);
if (value>=0 && value<=3) {
t_blank=value;
updateChopper();
}
}
break;
case 's':
{
int value = decode(2);
if (value>=0 && value<=8) {
h_start=value;
updateChopper();
}
}
break;
case 'e':
{
int value = decode(2);
if (value>=-3 && value<=12) {
h_end=value;
updateChopper();
}
}
break;
case 'd':
{
int value = decode(2);
if (value>=0 && value<=3) {
h_decrement=value;
updateChopper();
}
}
break;
}
break;
case 'K':
switch(inputBuffer[1]) {
case '+':
tmc26XStepper.setCoolStepEnabled(true);
break;
case '-':
tmc26XStepper.setCoolStepEnabled(false);
break;
case 'l':
{
int value = decode(2);
if (value>=0 && value<480) {
lower_SG_threshold=value;
updateCoolStep();
}
}
break;
case 'u':
{
int value = decode(2);
if (value>=0 && value<480) {
upper_SG_threshold=value;
updateCoolStep();
}
}
break;
case 'n':
{
int value = decode(2);
if (value>=0 && value<4) {
number_of_SG_readings=value;
updateCoolStep();
}
}
break;
case 'i':
{
int value = decode(2);
if (value>=0 && value<4) {
current_increment_step_size=value;
updateCoolStep();
}
}
break;
case 'm':
{
int value = decode(2);
if (value>=0 && value<2) {
lower_current_limit=value;
updateCoolStep();
}
}
break;
}
break;
}
//at the end delete buffer
inputBufferPosition=0;
inputBuffer[0]=0;
}
int decode(unsigned char startPosition) {
int result=0;
boolean negative = false;
if (inputBuffer[startPosition]=='-') {
negative=true;
startPosition++;
}
for (unsigned char i=startPosition; i< (INPUT_BUFFER_LENGTH+1) && inputBuffer[i]!=0; i++) {
char number = inputBuffer[i];
//this very dumb approac can lead to errors, but we expect only numbers after the command anyway
if (number <= '9' && number >='0') {
result *= 10;
result += number - '0';
}
}
if (negative) {
return -result;
}
else {
return result;
}
}

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/*
TMC26XMotorTest.ino - - TMC26X Stepper library Example for Wiring/Arduino
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
#include <SPI.h>
#include <TMC26XStepper.h>
//you may adapt this to your shield or breakout board connection
#define CS_PIN 2
#define DIR_PIN 6
#define STEP_PIN 7
#define ENABLE_PIN 8 //if it is not connected it won't be a problem
#define TIMER_CLOCK_FREQ 2000000.0 //2MHz for /8 prescale from 16MHz
#define INITIAL_CURRENT 500 //in mA
#define MAX_SPEED 1000
//we have a stepper motor with 200 steps per rotation, CS pin 2, dir pin 3, step pin 4 and a current of 300mA
TMC26XStepper tmc26XStepper = TMC26XStepper(200,CS_PIN,DIR_PIN,STEP_PIN,INITIAL_CURRENT);
char running;
void setup() {
//configure the enable pin
pinMode(ENABLE_PIN, OUTPUT);
digitalWrite(ENABLE_PIN,HIGH);
startSerial();
startMotor();
//set this according to you stepper
Serial.println(F("started"));
}
void loop() {
loopSerial();
runMotor();
}

306
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/*
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
String channelAStatus=null;
String channelBStatus=null;
String temperatureStatus=null;
boolean motor_connected = false;
RadioButton serialButtons;
Button serialOkButton;
Button helpButton;
Textarea statusArea;
String[] ports;
int activePortIndex = -1;
String identString="TMC26X Stepper Driver Motor Tester";
int connectTimeout=10*1000; //how long do we wait until the Arduino is connected
StringBuilder serialStringBuilder = new StringBuilder();
void setupSerialConfig() {
Tab defaultTab = controlP5.getTab("default");
//add the list of serial interfaces - it get's populated later
serialButtons = controlP5.addRadioButton("serialport", 200, 100+TMCLogo.height*2+50);
serialConfigElements.add(serialButtons);
serialButtons.captionLabel().set("Select Serial Port");
serialButtons.showBar();
serialButtons.moveTo(defaultTab);
//ad the ok button
serialOkButton = controlP5.addButton("serialOk", 1, 200, height-300, 30, 30);
serialConfigElements.add(serialOkButton);
serialOkButton.setCaptionLabel("OK");
runToggle.moveTo(defaultTab);
//add the status area
statusArea = controlP5.addTextarea("statusArea","",200,height-250,300,50);
serialConfigElements.add(statusArea);
statusArea.moveTo(defaultTab);
helpButton = controlP5.addButton("help", 1, 200, height-250, 80, 30);
serialConfigElements.add(helpButton);
helpButton.moveTo(defaultTab);
//finally update the list of serial ports
updateSerialPortList();
}
void updateSerialPortList() {
//first remove all present serial ports
List items = serialButtons.getItems();
for (Object i:items) {
Toggle item = (Toggle) i;
serialButtons.removeItem(item.getName());
}
//add the serial ports
ports = Serial.list();
for (int i=0; i< ports.length; i++) {
serialButtons.addItem(ports[i],i);
}
serialButtons.setValue(-1);
serialOkButton.setVisible(false);
}
void serialport(int value) {
//ok button is only active if a serial port is selected
serialOkButton.setVisible(value>-1);
if (value>-1) {
statusArea.setText("");
}
activePortIndex = value;
}
void serialOk(int value) {
String error = null;
if (value!=0 && activePortIndex>-1) {
try {
arduinoPort = new Serial(this, ports[activePortIndex], 115200);
int timeStarted = millis();
StringBuilder identBuffer = new StringBuilder();
while (!motor_connected && (millis()-timeStarted)<connectTimeout) {
if (arduinoPort.available ()>0) {
char c = arduinoPort.readChar();
identBuffer.append(c);
if (c=='\n') {
if (identString.contains(identString)) {
motor_connected = true;
toggleUi(true);
return;
}
identBuffer = new StringBuilder();
}
}
}
} catch (RuntimeException e) {
//we simply do nothing
//TODO set status label
error = "There was a problem with serial port "+ports[activePortIndex]+": "+e.getMessage();
}
//ok appearantly we did not find an motor tester - so lets deselect that port
if (error == null) {
error = "Could not find TMC26XMotorTester on serial port "+ports[activePortIndex];
}
statusArea.setText(error);
Toggle selected = serialButtons.getItem(activePortIndex);
selected.setState(false);
serialOkButton.setVisible(false);
}
}
void decodeSerial() {
if (motor_connected) {
while (arduinoPort.available ()>0) {
char c = arduinoPort.readChar();
serialStringBuilder.append(c);
if (c=='\n') {
decodeSerial(serialStringBuilder.toString());
serialStringBuilder = new StringBuilder();
}
}
}
}
void sendCommand(String command) {
if (motor_connected) {
arduinoPort.write(command+"\n");
}
}
void decodeSerial(String line) {
settingStatus=true;
if (line.startsWith("#")) {
String status = line.substring(1);
StringTokenizer statusTokenizer = new StringTokenizer(status, ",");
while (statusTokenizer.hasMoreTokens ()) {
String statusToken = statusTokenizer.nextToken();
if ("s".equals(statusToken)) {
runToggle.setValue(0);
}
else if ("r".equals(statusToken)) {
runToggle.setValue(1);
}
else if (statusToken.startsWith("e")) {
int enabled = getValueOfToken(statusToken, 1);
if (enabled!=0) {
enabledToggle.setValue(1);
}
else {
enabledToggle.setValue(0);
}
}
else if (statusToken.startsWith("S")) {
speedSlider.setValue(getValueOfToken(statusToken, 1));
}
else if (statusToken.startsWith("m")) {
microsteppingButtons.activate("m_1/"+String.valueOf(getValueOfToken(statusToken, 1)));
}
else if (statusToken.startsWith("sg")) {
addStallGuardReading(getValueOfToken(statusToken, 2));
}
else if (statusToken.startsWith("p")) {
addPositionReading(getValueOfToken(statusToken, 1));
}
else if (statusToken.startsWith("k")) {
addCurrentReading(getValueOfToken(statusToken, 1));
}
else if (statusToken.startsWith("t")) {
sgtSlider.setValue(getValueOfToken(statusToken, 1));
}
else if (statusToken.startsWith("f")) {
sgFilterToggle.setValue(getValueOfToken(statusToken, 1));
}
else if (statusToken.startsWith("d")) {
setDirection(getValueOfToken(statusToken, 1));
}
else if (statusToken.startsWith("c")) {
setCurrent(getValueOfToken(statusToken, 1));
}
else if (statusToken.startsWith("a")) {
if (statusToken.charAt(1)=='o') {
channelAStatus="Open Load";
}
else if (statusToken.charAt(1)=='g') {
channelAStatus="Short to Ground!";
}
else {
channelAStatus=null;
}
}
else if (statusToken.startsWith("b")) {
if (statusToken.charAt(1)=='o') {
channelBStatus="Open Load";
}
else if (statusToken.charAt(1)=='g') {
channelBStatus="Short to Ground!";
}
else {
channelBStatus=null;
}
}
else if (statusToken.startsWith("x")) {
if (statusToken.charAt(1)=='w') {
temperatureStatus="Prewarning!";
}
else if (statusToken.charAt(1)=='e') {
temperatureStatus="Error";
}
else {
temperatureStatus=null;
}
}
else if (statusToken.startsWith("Cm")) {
//chopper mode is currently ignored
}
else if (statusToken.startsWith("Co")) {
constantOffSlider.setValue(getValueOfToken(statusToken, 2));
}
else if (statusToken.startsWith("Cb")) {
blankTimeSlider.setValue(getValueOfToken(statusToken, 2));
}
else if (statusToken.startsWith("Cs")) {
hysteresisStartSlider.setValue(getValueOfToken(statusToken, 2));
}
else if (statusToken.startsWith("Ce")) {
hysteresisEndSlider.setValue(getValueOfToken(statusToken, 2));
}
else if (statusToken.startsWith("Cd")) {
setHystDecrement(getValueOfToken(statusToken, 2));
}
else if ("Ke+".equals(statusToken)) {
coolStepActiveToggle.setValue(1);
}
else if ("Ke-".equals(statusToken)) {
coolStepActiveToggle.setValue(0);
}
else if (statusToken.startsWith("Kl")) {
coolStepMinSlider.setValue(getValueOfToken(statusToken, 2));
}
else if (statusToken.startsWith("Ku")) {
coolStepMaxSlider.setValue(getValueOfToken(statusToken, 2));
}
else if (statusToken.startsWith("Kn")) {
coolStepDecrementButtons.activate(getValueOfToken(statusToken, 2));
}
else if (statusToken.startsWith("Ki")) {
coolStepIncrementButtons.activate(getValueOfToken(statusToken, 2));
}
else if (statusToken.startsWith("Km")) {
coolStepMinButtons.activate(getValueOfToken(statusToken, 2));
}
}
}
else {
println(line);
}
settingStatus=false;
}
int getValueOfToken(String token, int position) {
String value = token.substring(position);
try {
return Integer.valueOf(value);
}
catch (NumberFormatException e) {
println("Unable to decode '"+value+"'of '"+token+"' !");
return 0;
}
}
void drawSerial() {
//draw the logo and some epxlaining text while setting up the serial port
if (!motor_connected) {
image(TMCLogo,200, 100);
fill(uiTextColor);
text("Select the serial port where your Arduino is connected\nIf in doubt check it in the Arduino IDE.\nThe Motor Tester will automatically verify if it can find an Motor tester ath the port.",200,100+TMCLogo.height+50);
}
}
void help(float value) {
if (value!=0) {
link(helpUrl);
}
}

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/*
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
Slider constantOffSlider;
Slider blankTimeSlider;
Toggle randomOffTimeToggle;
RadioButton ChopperModeButtons;
//for constant off time chopeer
Slider fastDecaySlider;
Slider sineWaveOffsetSlider;
Toggle currentComparatorToggle;
//for spread chopper
Slider hysteresisStartSlider;
Slider hysteresisEndSlider;
Numberbox motorVoltageBox;
Numberbox motorCurrentBox;
Numberbox motorResistanceBox;
Numberbox motorInductanceBox;
RadioButton hysteresisDecrementButtons;
PImage spreadChopperImage;
void setupChooperConfig() {
//add input fields for the various motor parameters
motorVoltageBox = controlP5.addNumberbox("motorvoltage",12.0,20,40,100,20);
motorVoltageBox.setCaptionLabel("Motor Voltage (V)");
motorVoltageBox.setMultiplier(0.025);
motorVoltageBox.setMin(0);
motorVoltageBox.setMax(40.0);
motorVoltageBox.moveTo(configureTab);
motorCurrentBox = controlP5.addNumberbox("motorcurrent",0.5,140,40,100,20);
motorCurrentBox.setCaptionLabel("Motor Current (A)");
motorCurrentBox.setMultiplier(0.025);
motorCurrentBox.setMin(0.46);
motorCurrentBox.setMax(1.7);
motorCurrentBox.moveTo(configureTab);
motorResistanceBox = controlP5.addNumberbox("motorresistance",2,260,40,100,20);
motorResistanceBox.setCaptionLabel("Motor Resistance (Ohm)");
motorResistanceBox.setMultiplier(0.1);
motorResistanceBox.setMin(0);
motorResistanceBox.setMax(250);
motorResistanceBox.moveTo(configureTab);
motorInductanceBox = controlP5.addNumberbox("motorinductance",2,380,40,100,20);
motorInductanceBox.setMultiplier(0.1);
motorInductanceBox.setMin(0);
motorInductanceBox.setMax(250);
motorInductanceBox.setCaptionLabel("Motor Inductance (mH)");
motorInductanceBox.moveTo(configureTab);
// add a vertical slider for speed
constantOffSlider = controlP5.addSlider("constantoff", 1, 15, 1, 20, 80, 400, 20);
constantOffSlider.setCaptionLabel("Constant Off Time");
constantOffSlider.setSliderMode(Slider.FIX);
constantOffSlider.moveTo(configureTab);
blankTimeSlider = controlP5.addSlider("blanktime", 0, 3, 2, 20, 120, 400, 20);
blankTimeSlider.setCaptionLabel("Blank Time");
blankTimeSlider.moveTo(configureTab);
hysteresisStartSlider = controlP5.addSlider("hysteresisstart", 0, 8, 2, 20, 160, 400, 20);
hysteresisStartSlider.setCaptionLabel("Hysteresis Start");
hysteresisStartSlider.moveTo(configureTab);
hysteresisEndSlider = controlP5.addSlider("hysteresisend", -3, 12, 2, 20, 200, 400, 20);
hysteresisEndSlider.setCaptionLabel("Hysteresis End");
hysteresisEndSlider.moveTo(configureTab);
hysteresisDecrementButtons =controlP5.addRadioButton("decrement", 20, 240);
hysteresisDecrementButtons.addItem("fastest", 0);
hysteresisDecrementButtons.addItem("fast", 1);
hysteresisDecrementButtons.addItem("medium", 2);
hysteresisDecrementButtons.addItem("slow", 3);
hysteresisDecrementButtons.showBar();
hysteresisDecrementButtons.moveTo(configureTab);
spreadChopperImage = loadImage("hysteresis.png");
}
void drawChopper() {
if (activeTab!=null && configureTab.equals(activeTab)) {
image(spreadChopperImage, 200, 400);
}
}
void constantoff(int theValue) {
if (!settingStatus) {
if (theValue>0 && theValue<16) {
println("Constant off "+theValue);
sendCommand("cO"+theValue);
}
else {
println("invalid blank time of "+theValue);
}
}
}
void blanktime(int theValue) {
if (!settingStatus) {
if (theValue>=0 && theValue<=3) {
println("blank time "+theValue);
sendCommand("Cb"+theValue);
}
}
}
void hysteresisstart(int start) {
if (!settingStatus) {
if (start>=1 && start<=8) {
println("hystereis start "+start);
sendCommand("Cs"+start);
}
}
}
void hysteresisend(int end) {
if (!settingStatus) {
if (end>=-3 && end<=12) {
println("hystereis end "+end);
sendCommand("Ce"+end);
}
}
}
void setHysteresisDecrement(int theValue) {
if (!settingStatus) {
if (theValue>=0 && theValue<=3) {
println("Hysteresis decrement "+theValue);
sendCommand("Cd"+theValue);
}
else {
println("cannot set decrement to "+theValue);
}
}
}
void setHystDecrement(int value) {
if (value>=0 && value<=3) {
hysteresisDecrementButtons.activate(value);
}
else {
println("this is no proper hysteresis decerement value: "+value);
}
}
void motorcurrent(float value) {
if (activeTab!=null && "default".equals(activeTab.name())) {
currentSlider.setValue(value);
}
}

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/*
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
//our graph dimensions
int plotBottom, plotTop;
int plotLeft, plotRight;
//we already know the minima and maxima of certain dates
int stallGuardMin = 0;
int stallGuardMax =1024;
int positionMin = 0;
int positionMax = 1024;
int dataPointsWidth = 3;
int dataLineWidth = 2;
int highLightWidth = 7;
int numberOfDataPoints=1000;
int legendTitleSize = 10;
int legendTextSize = 10;
int currentLabelInterval = 500;
int currentMinorTickInterval = 25;
DecimalFormat currentLabelFormat = new DecimalFormat("#0.0A");
int stallGuardLabelInterval = 100;
int stallGuardMinorTickInterval = 10;
int positionLabelInterval = 64;
int positionMinorTickInterval = 8;
int coolStepActiveStroke = 2;
int coolStepInactiveStroke = 1;
int stallGuardHighLightDistance = 1;
int positionHighLightDistance = 3;
int currentHighLightDistance = 3;
DataTable stallGuardTable = new DataTable(numberOfDataPoints);
DataTable positionTable = new DataTable(numberOfDataPoints);
DataTable currentTable = new DataTable(numberOfDataPoints);
int logoLeft = 10;
int logoTop = 50;
int logoWidth = 75;
int logoHeight = 75;
void setupData() {
plotBottom = height-50;
plotTop = 300;
plotLeft = 150;
plotRight= width-50;
//recalculate the image dimension for the Logo
logoHeight = (int)((float)logoWidth/(float)TMCLogo.width*(float)TMCLogo.height);
logoTop = height - 10 - logoHeight;
}
void drawData() {
if (motor_connected && activeTab!=null && runTab.equals(activeTab)) {
fill(diagramBackgroundColor);
noStroke();
rect(plotLeft, plotTop, plotRight, plotBottom);
noFill();
rectMode(CORNERS);
noStroke();
//rect(plotLeft, plotBottom, plotRight, plotTop);
strokeWeight(dataLineWidth);
stroke(positionColor);
drawDataLine(positionTable, positionMin, positionMax);
drawDataHighLight(positionTable, positionMin, positionMax, positionHighLightDistance, labelColor, "Microstep Position", false);
strokeWeight(dataLineWidth);
stroke(coolStepColor);
drawCurrentLine(currentTable);
drawCurrentHighLight(positionTable, currentHighLightDistance, labelColor, "Current Ratio", false);
strokeWeight(dataPointsWidth);
stroke(stallGuardColor);
drawDataPoints(stallGuardTable, stallGuardMin, stallGuardMax);
drawDataHighLight(stallGuardTable, stallGuardMin, stallGuardMax, stallGuardHighLightDistance, labelColor, "Stall Guard", true);
if (coolStepActive) {
strokeWeight(coolStepActiveStroke);
} else {
strokeWeight(coolStepInactiveStroke);
}
stroke(coolStepColor);
float coolStepMinHeight = map(coolStepMin, 0, stallGuardMax, plotBottom, plotTop);
line(plotLeft,coolStepMinHeight, plotRight, coolStepMinHeight);
float coolStepMaxHeight = map(coolStepMin+coolStepMax+1, 0, stallGuardMax, plotBottom, plotTop);
line(plotLeft,coolStepMaxHeight, plotRight, coolStepMaxHeight);
textSize(legendTitleSize);
textAlign(RIGHT);
fill(coolStepColor);
text("Motor Current", plotLeft - 50, plotTop - 10);
textSize(legendTextSize);
textAlign(RIGHT);
strokeWeight(1);
stroke(coolStepColor);
int currentScaleMax = (int)(maxCurrent*1000.0);
for (int i=0; i<=currentScaleMax; i++) {
float y = map(i, 0, currentScaleMax, plotBottom, plotTop);
if (i % currentLabelInterval == 0) {
if (i==0) {
textAlign(RIGHT, BOTTOM);
}
else if (i==currentScaleMax) {
textAlign(RIGHT, TOP);
}
else {
textAlign(RIGHT, CENTER);
}
text(currentLabelFormat.format((float)i/1000.0), plotLeft-58, y);
line (plotLeft-55, y, plotLeft-50, y);
}
else if (i % currentMinorTickInterval == 0) {
line (plotLeft-53, y, plotLeft-50, y);
}
}
textSize(legendTitleSize);
textAlign(LEFT);
fill(stallGuardColor);
text("Stall Guard Reading", plotLeft - 30, plotTop - 10);
textSize(legendTextSize);
textAlign(RIGHT);
strokeWeight(1);
stroke(stallGuardColor);
for (int i=stallGuardMin; i<=stallGuardMax; i++) {
float y = map(i, stallGuardMin, stallGuardMax, plotBottom, plotTop);
if (i % stallGuardLabelInterval == 0) {
if (i==stallGuardMin) {
textAlign(RIGHT, BOTTOM);
}
else if (i==stallGuardMax) {
textAlign(RIGHT, TOP);
}
else {
textAlign(RIGHT, CENTER);
}
text(i, plotLeft-8, y);
line (plotLeft-5, y, plotLeft, y);
}
else if (i % stallGuardMinorTickInterval == 0) {
line (plotLeft-3, y, plotLeft, y);
}
}
textSize(legendTitleSize);
fill(positionColor);
textAlign(RIGHT);
text("Position", plotRight + 30, plotTop - 10);
textSize(legendTextSize);
textAlign(LEFT);
strokeWeight(1);
stroke(positionColor);
for (int i=positionMin; i<=positionMax; i++) {
float y = map(i, positionMin, positionMax, plotBottom, plotTop);
if (i % positionLabelInterval == 0) {
if (i==positionMin) {
textAlign(LEFT, BOTTOM);
}
else if (i==stallGuardMax) {
textAlign(LEFT, TOP);
}
else {
textAlign(LEFT, CENTER);
}
text(i, plotRight+8, y);
line (plotRight, y, plotRight+5, y);
}
else if (i % positionMinorTickInterval == 0) {
line (plotRight, y, plotRight+3, y);
}
}
//draw the channel status
textSize(legendTextSize);
textAlign(CENTER);
strokeWeight(1);
int statusY = height - 20;
int channelAX = width/4;
int temperatureX = width/2;
int channelBX = width/4*3;
if (channelAStatus==null) {
fill(goodStatusColor);
text("Channel A: OK", channelAX, statusY);
}
else {
fill(badStatusColor);
text("Channel A: "+channelAStatus, channelAX, statusY);
}
if (channelBStatus==null) {
fill(goodStatusColor);
text("Channel B: OK", channelBX, statusY);
}
else {
fill(badStatusColor);
text("Channel B: "+channelBStatus, channelBX, statusY);
}
if (temperatureStatus==null) {
fill(goodStatusColor);
text("Temperature: OK", temperatureX, statusY);
}
else {
fill(badStatusColor);
text("Temperature: "+temperatureStatus, temperatureX, statusY);
}
}
}
void drawDataPoints(DataTable table, int minValue, int maxValue) {
int dataCount = table.getSize();
for (int i=0; i<dataCount; i++) {
int value = table.getEntry(i);
float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth);
float y = map(value, minValue, maxValue, plotBottom-dataPointsWidth, plotTop+dataPointsWidth);
point(x, y);
}
}
void drawDataLine(DataTable table, int minValue, int maxValue) {
beginShape();
int dataCount = table.getSize();
for (int i=0; i<dataCount; i++) {
int value = table.getEntry(i);
float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth);
float y = map(value, minValue, maxValue, plotBottom-dataPointsWidth, plotTop+dataPointsWidth);
vertex(x, y);
}
endShape();
}
void drawDataHighLight(DataTable table, int minValue, int maxValue, int distance, color textColor, String name, boolean top) {
int dataCount = table.getSize();
for (int i=0; i<dataCount; i++) {
int value = table.getEntry(i);
float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth);
float y = map(value, minValue, maxValue, plotBottom-dataPointsWidth, plotTop+dataPointsWidth);
if (dist(mouseX, mouseY, x, y) < distance) {
strokeWeight(highLightWidth);
point(x, y);
fill(textColor);
textSize(10);
textAlign(CENTER);
if (top) {
text(name+": "+value, x, y-8);
}
else {
text(name+": "+value, x, y+8);
}
}
}
}
void drawCurrentLine(DataTable table) {
noFill();
beginShape();
int dataCount = table.getSize();
for (int i=0; i<dataCount; i++) {
float value = (table.getEntry(i)+1)/1000.0;
float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth);
float y = map(value, 0.0, maxCurrent, (float)plotBottom-dataPointsWidth, (float)plotTop+dataPointsWidth);
vertex(x, y);
}
endShape();
}
void drawCurrentHighLight(DataTable table, int distance, color textColor, String name, boolean top) {
int dataCount = table.getSize();
for (int i=0; i<dataCount; i++) {
float value = (table.getEntry(i)+1)/1000.0;
float x = map(i, 0, numberOfDataPoints-1, plotLeft+dataPointsWidth, plotRight-dataPointsWidth);
float y = map(value, 0.0, maxCurrent, plotBottom-dataPointsWidth, plotTop+dataPointsWidth);
if (dist(mouseX, mouseY, x, y) < distance) {
strokeWeight(highLightWidth);
point(x, y);
fill(textColor);
textSize(10);
textAlign(CENTER);
if (top) {
text(name+": "+value, x, y-8);
}
else {
text(name+": "+value, x, y+8);
}
}
}
}
void addStallGuardReading(int value) {
stallGuardTable.addData(value);
}
void addPositionReading(int value) {
positionTable.addData(value);
}
void addCurrentReading(int value) {
currentTable.addData(value);
}

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/*
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
class DataTable {
LinkedList<Integer> dataList = new LinkedList<Integer>();
int maxEntries;
DataTable(int maxEntries) {
this.maxEntries = maxEntries;
}
void addData(int value) {
dataList.add(value);
if (dataList.size()>maxEntries) {
dataList.remove();
}
}
int getSize() {
return dataList.size();
}
int getEntry(int position) {
return dataList.get(position);
}
}

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/*
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
Slider speedSlider;
Toggle runToggle;
RadioButton directionButtons;
Toggle enabledToggle;
RadioButton microsteppingButtons;
Slider sgtSlider;
Button sgtPlus;
Button sgtMinus;
Toggle sgFilterToggle;
Slider currentSlider;
Slider coolStepMinSlider;
Slider coolStepMaxSlider;
Toggle coolStepActiveToggle;
RadioButton coolStepIncrementButtons;
RadioButton coolStepDecrementButtons;
RadioButton coolStepMinButtons;
List runControls = new LinkedList();
Button trinamicButton;
Button motionControlButton;
void setupRunConfig() {
//the run configuration
//controlP5.getControlFont().setSize(10); - the font is too small, try to increase it!
//add a button te let the motor run
runToggle = controlP5.addToggle("run", false, 20, 40, 30, 30);
controlElements.add(runToggle);
runToggle.moveTo(runTab);
//add some directions buttons
directionButtons = controlP5.addRadioButton("direction", 20, 90);
controlElements.add(directionButtons);
directionButtons.addItem("forward", 1);
directionButtons.addItem("backward", -1);
directionButtons.activate(0);
directionButtons.moveTo(runTab);
enabledToggle = controlP5.addToggle("enabled", false, 20, 220, 30, 30);
controlElements.add(enabledToggle);
enabledToggle.moveTo(runTab);
// add a vertical slider for speed
speedSlider = controlP5.addSlider("speed", 1, 100, 10, 85, 40, 20, 210);
controlElements.add(speedSlider);
speedSlider.moveTo(runTab);
//ad a multilist for the microstepping setting
microsteppingButtons = controlP5.addRadioButton("microstepping", 150, 40);
controlElements.add(microsteppingButtons);
microsteppingButtons.addItem("m_1/1", 1);
microsteppingButtons.addItem("m_1/2", 2);
microsteppingButtons.addItem("m_1/4", 4);
microsteppingButtons.addItem("m_1/8", 8);
microsteppingButtons.addItem("m_1/16", 16);
microsteppingButtons.addItem("m_1/32", 32);
microsteppingButtons.addItem("m_1/64", 64);
microsteppingButtons.addItem("m_1/128", 128);
microsteppingButtons.addItem("m_1/256", 256);
for (Object o:microsteppingButtons.getItems()) {
Toggle t = (Toggle) o;
t.setCaptionLabel(t.getName().substring(2));
}
microsteppingButtons.showBar();
microsteppingButtons.moveTo(runTab);
currentSlider = controlP5.addSlider("current", 0.46, maxCurrent, 0.4, 250, 40, 20, 210);
controlElements.add(currentSlider);
currentSlider.moveTo(runTab);
// add a vertical slider for stallGuard threshold
sgtPlus = controlP5.addButton("sgtplus", 0, 400, 40, 20, 20);
controlElements.add(sgtPlus);
sgtPlus.setCaptionLabel("+");
sgtPlus.moveTo(runTab);
sgtMinus = controlP5.addButton("sgtminus", 1, 400, 70, 20, 20);
controlElements.add(sgtMinus);
sgtMinus.setCaptionLabel("-");
sgtMinus.moveTo(runTab);
sgtSlider = controlP5.addSlider("stallguardthreshold", -64, 63, 0, 350, 40, 20, 150);
controlElements.add(sgtSlider);
sgtSlider.setSliderMode(Slider.FIX);
sgtSlider.setCaptionLabel("Stall Guard Threshold");
sgtSlider.moveTo(runTab);
//ading some buttons to have finer sg control
//adding a button for the filter
sgFilterToggle = controlP5.addToggle("sgfilter", false, 350, 220, 30, 30);
controlElements.add(sgFilterToggle);
sgFilterToggle.setCaptionLabel("Stall GuardFilter");
sgFilterToggle.moveTo(runTab);
//add the coolstep sliders
coolStepMaxSlider = controlP5.addSlider("coolStepUpper", 0, 480, 0, 500, 40, 20, 90);
controlElements.add(coolStepMaxSlider);
coolStepMaxSlider.setCaptionLabel("Cool Step Hysteresis");
coolStepMaxSlider.moveTo(runTab);
coolStepMinSlider = controlP5.addSlider("coolStepLower", 0, 480, 0, 500, 160, 20, 90);
controlElements.add(coolStepMinSlider);
coolStepMinSlider.setCaptionLabel("Cool Step Minimum");
coolStepMinSlider.moveTo(runTab);
coolStepActiveToggle = controlP5.addToggle("coolStepActive", false, 600, 220, 30, 30);
controlElements.add(coolStepActiveToggle);
coolStepActiveToggle.setCaptionLabel("Enable CoolStep");
coolStepActiveToggle.moveTo(runTab);
coolStepIncrementButtons = controlP5.addRadioButton("coolStepIncrement", 600, 40);
controlElements.add(coolStepIncrementButtons);
coolStepIncrementButtons.captionLabel().set("Cool Step Increment");
coolStepIncrementButtons.addItem("i_1", 0);
coolStepIncrementButtons.addItem("i_2", 1);
coolStepIncrementButtons.addItem("i_4", 2);
coolStepIncrementButtons.addItem("i_8", 3);
for (Object o:coolStepIncrementButtons.getItems()) {
Toggle t = (Toggle) o;
t.setCaptionLabel(t.getName().substring(2));
}
coolStepIncrementButtons.showBar();
coolStepIncrementButtons.moveTo(runTab);
coolStepDecrementButtons = controlP5.addRadioButton("coolStepDecrement", 600, 110);
controlElements.add(coolStepDecrementButtons);
coolStepDecrementButtons.captionLabel().set("Cool Step Decrement");
coolStepDecrementButtons.addItem("d_32", 0);
coolStepDecrementButtons.addItem("d_8", 1);
coolStepDecrementButtons.addItem("d_2", 2);
coolStepDecrementButtons.addItem("d_1", 3);
for (Object o:coolStepDecrementButtons.getItems()) {
Toggle t = (Toggle) o;
t.setCaptionLabel(t.getName().substring(2));
}
coolStepDecrementButtons.showBar();
coolStepDecrementButtons.moveTo(runTab);
coolStepMinButtons = controlP5.addRadioButton("coolStepMin", 600, 180);
controlElements.add(coolStepMinButtons);
coolStepMinButtons.addItem("s_1/2", 0);
coolStepMinButtons.addItem("s_1/4", 1);
for (Object o:coolStepMinButtons.getItems()) {
Toggle t = (Toggle) o;
t.setCaptionLabel(t.getName().substring(2));
}
coolStepMinButtons.showBar();
coolStepMinButtons.moveTo(runTab);
trinamicButton = controlP5.addButton("trinamicLogo", 1.0, 750, 40, 200, 100);
trinamicButton.setImage(TMCLogo);
trinamicButton.moveTo(runTab);
controlElements.add(trinamicButton);
motionControlButton = controlP5.addButton("mcLogo", 1.0, 750, 150, 200, 100);
motionControlButton.setImage(MCLogo);
motionControlButton.moveTo(runTab);
controlElements.add(motionControlButton);
}
void speed(int theSpeed) {
if (!settingStatus) {
int speed = (int) theSpeed;
println("setting speed to "+speed);
sendCommand("S"+speed);
}
}
void run(int value) {
if (!settingStatus) {
println("button pressed");
if (running) {
println("stopping motor");
sendCommand("s");
running = false;
}
else {
println("starting motor");
sendCommand("r");
running = true;
}
}
}
void enabled(int value) {
if (!settingStatus) {
println("enabled: "+value);
sendCommand("e"+value);
}
}
void microstepping(int value) {
if (!settingStatus) {
println("microstepping: "+value);
sendCommand("m"+value);
}
}
void stallguardthreshold(int value) {
if (!settingStatus) {
println("stall guard threshold: "+value);
sendCommand("t"+value);
}
if (value==sgtSlider.max()) {
sgtPlus.lock();
}
else {
sgtPlus.unlock();
}
if (value==sgtSlider.min()) {
sgtMinus.lock();
}
else {
sgtMinus.unlock();
}
}
void sgtplus(int value) {
sgtSlider.setValue(sgtSlider.value()+1);
}
void sgtminus(int value) {
sgtSlider.setValue(sgtSlider.value()-1);
}
void sgfilter(int value) {
if (!settingStatus) {
println("filter: "+value);
sendCommand("f"+value);
}
}
void current(float value) {
if (!settingStatus) {
int realValue=(int)(value*1000.0);
println("current: "+((float)realValue/1000.0)+" = "+realValue);
sendCommand("c"+realValue);
if (activeTab!=null && "run".equals(activeTab.name())) {
motorCurrentBox.setValue(value);
}
}
}
void coolStepUpper(int value) {
coolStepMax=value;
if (!settingStatus) {
sendCommand("Ku"+value);
}
}
void coolStepLower(int value) {
coolStepMin = value;
if (!settingStatus) {
sendCommand("Kl"+value);
}
}
void setCoolStepIncrement(int value) {
if (!settingStatus) {
println("cool step increment :"+value);
sendCommand("Ki"+value);
}
}
void setCoolStepDecrement(int value) {
if (!settingStatus) {
println("cool step decrement :"+value);
sendCommand("Kn"+value);
}
}
void setCoolStepMin(int value) {
if (!settingStatus) {
println("cool step minimum :"+value);
sendCommand("Km"+value);
}
}
void coolStepActive(int value) {
if (!settingStatus) {
coolStepActive = (value!=0);
sendCommand(coolStepActive? "K+":"K-");
}
}
void setCurrent(int current) {
currentSlider.setValue((float)current/1000.0);
}
void setDirection(int direction) {
if (!settingStatus) {
if (direction<0) {
println("back");
sendCommand("d-1");
}
else {
sendCommand("d1");
}
}
}
void trinamicLogo(float value){
if (value!=0) {
link(trinamicUrl);
}
}
void mcLogo(float value) {
if (value!=0) {
link(mcUrl);
}
}

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/*
TMC26XMotorTest.pde - - TMC26X Stepper Tester for Processing
Copyright (c) 2011, Interactive Matter, Marcus Nowotny
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
*/
import controlP5.*;
import processing.serial.*;
import java.util.*;
import java.text.*;
ControlP5 controlP5;
Serial arduinoPort;
String helpUrl = "http://www.motioncontrol-community.org/";
String trinamicUrl = "http://trinamic.com";
String mcUrl = "http://www.motioncontrol-community.org/";
//TODO comde up with a nice color scheme
color activeColor = #01ADF1;
color foreGroundColor = #01ADF1;
color uiTextColor = #4D4D4F;
color uiElementColor = #ffffff;
color labelColor = #f0f0f0;
color valueColor = #f0f0f0;
color backgroundColor = #EDEEEF;
color stallGuardColor = #969696;
color positionColor = #01ADF1;
color goodStatusColor = labelColor;
color badStatusColor = stallGuardColor;
color coolStepColor = #4D4D4F;
color diagramBackgroundColor = #ffffff;
CColor uiColor = new CColor( foreGroundColor, uiElementColor, activeColor, uiTextColor, uiTextColor);
Tab configureTab;
Tab runTab;
Tab activeTab;
boolean settingStatus=false;
boolean running = false;
int coolStepMin = 0;
int coolStepMax = 0;
boolean coolStepActive = false;
float maxCurrent = 1.7;
List controlElements = new LinkedList();
List serialConfigElements = new LinkedList();
PImage TMCLogo;
PImage MCLogo;
void setup() {
size(1000, 800);
//load the logos
TMCLogo=loadImage("tmc_logo.jpg");
MCLogo=loadImage("mc_logo.jpg");
//create the UI
controlP5 = new ControlP5(this);
controlP5.setColor(uiColor);
runTab = controlP5.getTab("default");
configureTab =controlP5.addTab("configure");
//customize the tabs a bit
configureTab.setLabel("configure");
controlElements.add(configureTab);
activeTab = controlP5.getTab("default");
controlP5.setTabEventsActive(true);
configureTab.activateEvent(true);
runTab.activateEvent(true);
//configuring the general UI l&f
//the configuration UI
setupRunConfig();
setupChooperConfig();
setupSerialConfig();
//directly hide the controls again since we are not connected to the Arduino yet
toggleUi(motor_connected);
smooth();
setupData();
}
void toggleUi(boolean show_controls) {
for (Object c:controlElements) {
ControllerInterface controller = (ControllerInterface) c;
if (show_controls) {
controller.show();
} else {
controller.hide();
}
}
for (Object c:serialConfigElements) {
ControllerInterface controller = (ControllerInterface) c;
if (show_controls) {
controller.hide();
} else {
controller.show();
}
}
}
void draw() {
background(backgroundColor);
drawSerial();
drawChopper();
drawData();
decodeSerial();
}
void controlEvent(ControlEvent theEvent) {
if (theEvent.isGroup() && !settingStatus) {
if ("microstepping".equals(theEvent.group().name())) {
microstepping((int)theEvent.group().value());
} else
if ("direction".equals(theEvent.group().name())) {
setDirection((int)theEvent.group().value());
} else if ("decrement".equals(theEvent.group().name())) {
setHysteresisDecrement((int)theEvent.group().value());
} else if ("coolStepIncrement".equals(theEvent.group().name())) {
setCoolStepIncrement((int)theEvent.group().value());
} else if ("coolStepDecrement".equals(theEvent.group().name())) {
setCoolStepDecrement((int)theEvent.group().value());
} else if ("coolStepMin".equals(theEvent.group().name())) {
setCoolStepMin((int)theEvent.group().value());
}
}
else if (theEvent.isTab()) {
activeTab = theEvent.tab();
println("Tab: "+activeTab.name());
}
}

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mode.id=processing.mode.java.JavaMode
mode=Java

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ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/keywords.txt Normal file
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#######################################
# Syntax Coloring Map For Test
#######################################
#######################################
# Datatypes (KEYWORD1)
#######################################
Stepper TMC26XStepper
#######################################
# Methods and Functions (KEYWORD2)
#######################################
start KEYWORD2
step KEYWORD2
setSpeed KEYWORD2
getSpeed KEYWORD2
setMicrosteps KEYWORD2
getMicrosteps KEYWORD2
move KEYWORD2
isMoving KEYWORD2
getStepsLeft KEYWORD2
stop KEYWORD2
setConstantOffTimeChopper KEYWORD2
setSpreadCycleChopper KEYWORD2
setRandomOffTime KEYWORD2
setCurrent KEYWORD2
getCurrent KEYWORD2
setStallGuardThreshold KEYWORD2
getStallGuardThreshold KEYWORD2
getStallGuardFilter KEYWORD2
setCoolStepConfiguration KEYWORD2
setCoolStepEnabled KEYWORD2
isCoolStepEnabled KEYWORD2
getCoolStepLowerSgThreshold KEYWORD2
getCoolStepUpperSgThreshold KEYWORD2
getCoolStepNumberOfSGReadings KEYWORD2
getCoolStepCurrentIncrementSize KEYWORD2
getCoolStepLowerCurrentLimit KEYWORD2
getMotorPosition KEYWORD2
getCurrentStallGuardReading KEYWORD2
getCurrentCSReading KEYWORD2
isCurrentScalingHalfed KEYWORD2
getCurrentCurrent KEYWORD2
isStallGuardOverThreshold KEYWORD2
getOverTemperature KEYWORD2
isShortToGroundA KEYWORD2
isShortToGroundB KEYWORD2
isOpenLoadA KEYWORD2
isOpenLoadB KEYWORD2
isStandStill KEYWORD2
isStallGuardReached KEYWORD2
setEnabled KEYWORD2
isEnabled KEYWORD2
readStatus KEYWORD2
getResistor KEYWORD2
debugLastStatus KEYWORD2
version KEYWORD2
######################################
# Instances (KEYWORD2)
#######################################
#######################################
# Constants (LITERAL1)
#######################################
TMC262_OVERTEMPERATURE_PREWARING LITERAL1
TMC262_OVERTEMPERATURE_SHUTDOWN LITERAL1
TMC262_READOUT_POSITION LITERAL1
TMC262_READOUT_STALLGUARD LITERAL1
TMC262_READOUT_CURRENT LITERAL1
COOL_STEP_HALF_CS_LIMIT LITERAL1
COOL_STEP_QUARTDER_CS_LIMIT LITERAL1

30
ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/mainpage.dox Normal file
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/*!
* \mainpage TMC 260, 261, 262 Stepper Driver for Arduino
* \author Interactive MAtter, MArcus Nowotny, marcus@interactive-matter.eu
* \section HOWTO How to use the driver
* Here we go with aminial how to description
*
*
* \section COPYRIGHT_NOTIFICATION COPYRIGHT NOTIFICATION
* \par (c) 2011 Interactive MAtter, Marcus Nowotny
*
* \par
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
*
*/

9797
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<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="6.3">
<drawing>
<settings>
<setting alwaysvectorfont="yes"/>
<setting verticaltext="up"/>
</settings>
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<layer number="17" name="Pads" color="2" fill="1" visible="yes" active="yes"/>
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</layers>
<board>
<plain>
<wire x1="63.8" y1="15.2" x2="68.95" y2="15.2" width="0" layer="41"/>
<wire x1="68.95" y1="15.2" x2="69" y2="10.2" width="0" layer="41"/>
<wire x1="69" y1="10.2" x2="63.8" y2="10.2" width="0" layer="41"/>
<wire x1="63.8" y1="10.2" x2="63.8" y2="15.2" width="0" layer="41"/>
<circle x="66" y="35.625" radius="3.1349" width="0.8128" layer="41"/>
<circle x="14" y="2.5" radius="3.2" width="0" layer="41"/>
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<circle x="14.375" y="2.625" radius="3.2" width="0" layer="42"/>
<text x="54.875" y="26.375" size="1.016" layer="25" rot="R90">A1</text>
<text x="54.875" y="24" size="1.016" layer="25" rot="R90">A2</text>
<text x="54.875" y="21.5" size="1.016" layer="25" rot="R90">B1</text>
<text x="55" y="19" size="1.016" layer="25" rot="R90">B2</text>
<text x="63.65" y="21.7" size="1.016" layer="25" rot="R90">Motor</text>
<text x="22.375" y="42.75" size="1.016" layer="25">!CS</text>
<text x="22.375" y="40.25" size="1.016" layer="25">SG</text>
<text x="22.375" y="37.625" size="1.016" layer="25">DIR</text>
<text x="22.375" y="35.125" size="1.016" layer="25">STEP</text>
<text x="22.375" y="32.625" size="1.016" layer="25">!EN</text>
<text x="1.5" y="13.5" size="1.27" layer="25">&lt;40V</text>
<text x="0.625" y="0.6" size="0.8128" layer="25" ratio="18">v1.5</text>
<text x="1.5" y="15.3" size="1.27" layer="25">Power</text>
<text x="-1" y="-8.4" size="1.778" layer="25">This work is licensed under a
Creative Commons Attribution 3.0 Germany License.</text>
<text x="30.95" y="11" size="1.016" layer="25">GND</text>
<text x="30.95" y="45.85" size="1.016" layer="25">GND</text>
<text x="16.7" y="8.2" size="1.016" layer="25">GND</text>
<text x="17.75" y="29.9" size="1.27" layer="25" ratio="18">TOS-100</text>
<text x="13.25" y="28.15" size="1.27" layer="25" ratio="18">Stepper Motor Shield</text>
<text x="17.6" y="26.35" size="1.27" layer="25" ratio="18">for Arduino</text>
<text x="66.95" y="8" size="1.27" layer="26" rot="MR0">www.motioncontrol-community.org/hardware/tos-100</text>
<text x="67.05" y="10.2" size="1.27" layer="26" rot="MR0">For documentation &amp; more information see</text>
</plain>
<libraries>
<library name="adafruit">
<packages>
<package name="ARDUINO">
<description>&lt;b&gt;Arduino Uno&lt;/b&gt;
&lt;p&gt;
Make a shield with ease, this package has all the named pins as well as the two mounting drill holes and an outline of the USB and DC power connector. The outline is on the DIMENSION layer, so if your board house uses it they will cut the outline to match.</description>
<wire x1="0" y1="0" x2="66.04" y2="0" width="0" layer="20"/>
<wire x1="66.04" y1="0" x2="66.04" y2="2.54" width="0" layer="20"/>
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</library>
<library name="LED">
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<description>&lt;b&gt;Hyper Micro SIDELED®&lt;/b&gt;&lt;p&gt;
Source: http://www.osram.convergy.de/ ... LA_LO_LS_LY Y876.pdf</description>
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<package name="CSV-G">
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10 mm dia, grid 0.0125 inch</description>
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</packages>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<classes>
<class number="0" name="default" width="0" drill="0">
</class>
</classes>
<designrules name="eurocircuits-PCB-Proto">
<description language="de">&lt;b&gt;Euro Circuits Design Rules&lt;/b&gt;
&lt;p&gt;
Default, tight rules</description>
<param name="layerSetup" value="(1*16)"/>
<param name="mtCopper" value="0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm 0.035mm"/>
<param name="mtIsolate" value="1.5mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm 0.15mm 0.2mm"/>
<param name="mdWireWire" value="0.15mm"/>
<param name="mdWirePad" value="0.15mm"/>
<param name="mdWireVia" value="0.15mm"/>
<param name="mdPadPad" value="0.15mm"/>
<param name="mdPadVia" value="0.15mm"/>
<param name="mdViaVia" value="0.15mm"/>
<param name="mdSmdPad" value="0.15mm"/>
<param name="mdSmdVia" value="0.15mm"/>
<param name="mdSmdSmd" value="0.15mm"/>
<param name="mdViaViaSameLayer" value="8mil"/>
<param name="mnLayersViaInSmd" value="2"/>
<param name="mdCopperDimension" value="10mil"/>
<param name="mdDrill" value="8mil"/>
<param name="mdSmdStop" value="0mil"/>
<param name="msWidth" value="0.15mm"/>
<param name="msDrill" value="0.25mm"/>
<param name="msMicroVia" value="0.25mm"/>
<param name="msBlindViaRatio" value="0.5"/>
<param name="rvPadTop" value="0.25"/>
<param name="rvPadInner" value="0.25"/>
<param name="rvPadBottom" value="0.25"/>
<param name="rvViaOuter" value="0.25"/>
<param name="rvViaInner" value="0.25"/>
<param name="rvMicroViaOuter" value="0.25"/>
<param name="rvMicroViaInner" value="0.25"/>
<param name="rlMinPadTop" value="12mil"/>
<param name="rlMaxPadTop" value="20mil"/>
<param name="rlMinPadInner" value="10mil"/>
<param name="rlMaxPadInner" value="20mil"/>
<param name="rlMinPadBottom" value="12mil"/>
<param name="rlMaxPadBottom" value="20mil"/>
<param name="rlMinViaOuter" value="10mil"/>
<param name="rlMaxViaOuter" value="20mil"/>
<param name="rlMinViaInner" value="10mil"/>
<param name="rlMaxViaInner" value="20mil"/>
<param name="rlMinMicroViaOuter" value="4mil"/>
<param name="rlMaxMicroViaOuter" value="20mil"/>
<param name="rlMinMicroViaInner" value="4mil"/>
<param name="rlMaxMicroViaInner" value="20mil"/>
<param name="psTop" value="-1"/>
<param name="psBottom" value="-1"/>
<param name="psFirst" value="-1"/>
<param name="psElongationLong" value="100"/>
<param name="psElongationOffset" value="100"/>
<param name="mvStopFrame" value="1"/>
<param name="mvCreamFrame" value="0"/>
<param name="mlMinStopFrame" value="4mil"/>
<param name="mlMaxStopFrame" value="4mil"/>
<param name="mlMinCreamFrame" value="0mil"/>
<param name="mlMaxCreamFrame" value="0mil"/>
<param name="mlViaStopLimit" value="25mil"/>
<param name="srRoundness" value="0"/>
<param name="srMinRoundness" value="0mil"/>
<param name="srMaxRoundness" value="0mil"/>
<param name="slThermalIsolate" value="10mil"/>
<param name="slThermalsForVias" value="0"/>
<param name="dpMaxLengthDifference" value="10mm"/>
<param name="dpGapFactor" value="2.5"/>
<param name="checkGrid" value="0"/>
<param name="checkAngle" value="0"/>
<param name="checkFont" value="1"/>
<param name="checkRestrict" value="1"/>
<param name="useDiameter" value="13"/>
<param name="maxErrors" value="50"/>
</designrules>
<autorouter>
<pass name="Default">
<param name="RoutingGrid" value="50mil"/>
<param name="tpViaShape" value="round"/>
<param name="PrefDir.1" value="|"/>
<param name="PrefDir.2" value="0"/>
<param name="PrefDir.3" value="0"/>
<param name="PrefDir.4" value="0"/>
<param name="PrefDir.5" value="0"/>
<param name="PrefDir.6" value="0"/>
<param name="PrefDir.7" value="0"/>
<param name="PrefDir.8" value="0"/>
<param name="PrefDir.9" value="0"/>
<param name="PrefDir.10" value="0"/>
<param name="PrefDir.11" value="0"/>
<param name="PrefDir.12" value="0"/>
<param name="PrefDir.13" value="0"/>
<param name="PrefDir.14" value="0"/>
<param name="PrefDir.15" value="0"/>
<param name="PrefDir.16" value="-"/>
<param name="cfVia" value="8"/>
<param name="cfNonPref" value="5"/>
<param name="cfChangeDir" value="2"/>
<param name="cfOrthStep" value="2"/>
<param name="cfDiagStep" value="3"/>
<param name="cfExtdStep" value="0"/>
<param name="cfBonusStep" value="1"/>
<param name="cfMalusStep" value="1"/>
<param name="cfPadImpact" value="4"/>
<param name="cfSmdImpact" value="4"/>
<param name="cfBusImpact" value="0"/>
<param name="cfHugging" value="3"/>
<param name="cfAvoid" value="4"/>
<param name="cfPolygon" value="10"/>
<param name="cfBase.1" value="0"/>
<param name="cfBase.2" value="1"/>
<param name="cfBase.3" value="1"/>
<param name="cfBase.4" value="1"/>
<param name="cfBase.5" value="1"/>
<param name="cfBase.6" value="1"/>
<param name="cfBase.7" value="1"/>
<param name="cfBase.8" value="1"/>
<param name="cfBase.9" value="1"/>
<param name="cfBase.10" value="1"/>
<param name="cfBase.11" value="1"/>
<param name="cfBase.12" value="1"/>
<param name="cfBase.13" value="1"/>
<param name="cfBase.14" value="1"/>
<param name="cfBase.15" value="1"/>
<param name="cfBase.16" value="0"/>
<param name="mnVias" value="20"/>
<param name="mnSegments" value="9999"/>
<param name="mnExtdSteps" value="9999"/>
<param name="mnRipupLevel" value="10"/>
<param name="mnRipupSteps" value="100"/>
<param name="mnRipupTotal" value="100"/>
</pass>
<pass name="Follow-me" refer="Default" active="yes">
</pass>
<pass name="Busses" refer="Default" active="yes">
<param name="cfNonPref" value="4"/>
<param name="cfBusImpact" value="4"/>
<param name="cfHugging" value="0"/>
<param name="mnVias" value="0"/>
</pass>
<pass name="Route" refer="Default" active="yes">
</pass>
<pass name="Optimize1" refer="Default" active="yes">
<param name="cfVia" value="99"/>
<param name="cfExtdStep" value="10"/>
<param name="cfHugging" value="1"/>
<param name="mnExtdSteps" value="1"/>
<param name="mnRipupLevel" value="0"/>
</pass>
<pass name="Optimize2" refer="Optimize1" active="yes">
<param name="cfNonPref" value="0"/>
<param name="cfChangeDir" value="6"/>
<param name="cfExtdStep" value="0"/>
<param name="cfBonusStep" value="2"/>
<param name="cfMalusStep" value="2"/>
<param name="cfPadImpact" value="2"/>
<param name="cfSmdImpact" value="2"/>
<param name="cfHugging" value="0"/>
</pass>
<pass name="Optimize3" refer="Optimize2" active="yes">
<param name="cfChangeDir" value="8"/>
<param name="cfPadImpact" value="0"/>
<param name="cfSmdImpact" value="0"/>
</pass>
<pass name="Optimize4" refer="Optimize3" active="yes">
<param name="cfChangeDir" value="25"/>
</pass>
</autorouter>
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<attribute name="NAME" x="38.443" y="37.144" size="0.8128" layer="25" ratio="18"/>
<attribute name="VALUE" x="38.518" y="38.8339" size="0.8128" layer="25" ratio="18"/>
</element>
<element name="J1" library="SparkFun" package="POWER_JACK_PTH" value="POWER_JACKPTH" x="-2.055" y="8.255" rot="R270"/>
<element name="EN" library="LED" package="MICRO-SIDELED" value="Green" x="4.04" y="31.03" smashed="yes" rot="R180">
<attribute name="NAME" x="1.01" y="32.335" size="1.27" layer="25" ratio="18" rot="R270"/>
<attribute name="VALUE" x="-4.635" y="30.9" size="1.016" layer="27"/>
</element>
<element name="PWR" library="LED" package="MICRO-SIDELED" value="Green" x="4.04" y="25.02" smashed="yes" rot="R180">
<attribute name="NAME" x="1.01" y="26.925" size="1.27" layer="25" ratio="18" rot="R270"/>
<attribute name="VALUE" x="-0.675" y="25.4" size="1.016" layer="27" rot="R180"/>
</element>
<element name="C2" library="rc-master" package="CSV-G" value="Elko Panasonic G, 50V, EEEFC1H470P / EEEFK1H221P" x="24.98" y="18.985" smashed="yes" rot="R90">
<attribute name="NAME" x="23.7" y="25.54" size="0.8128" layer="25" ratio="18" rot="R180"/>
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</element>
<element name="C1" library="rc-master" package="CSV-G" value="Elko Panasonic G, 50V, EEEFC1H470P / EEEFK1H221P" x="13.925" y="18.985" smashed="yes" rot="R90">
<attribute name="NAME" x="17.1" y="25.485" size="0.8128" layer="25" ratio="18" rot="R180"/>
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</element>
<element name="JP1" library="SparkFun" package="SCREWTERMINAL-3.5MM-4" value="" x="58.935" y="28.675" smashed="yes" rot="R270">
<attribute name="VALUE" x="60.205" y="29.945" size="0.4064" layer="27" rot="R270"/>
</element>
<element name="JP2" library="SparkFun" package="1X06" value="" x="45.72" y="46.99" smashed="yes">
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<element name="JP4" library="SparkFun" package="1X03" value="" x="36.505" y="46.99" smashed="yes">
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<element name="JP5" library="SparkFun" package="1X06" value="" x="63.5" y="6.35" smashed="yes" rot="R180">
<attribute name="VALUE" x="64.77" y="9.525" size="1.27" layer="27" rot="R180"/>
</element>
<element name="JP3" library="SparkFun" package="1X05" value="" x="20.525" y="33.07" smashed="yes" rot="R90">
<attribute name="VALUE" x="23.7" y="31.8" size="1.27" layer="27" rot="R90"/>
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<element name="R1" library="rc-master-smd" package="R0603" value="10" x="35.985" y="35.645" smashed="yes">
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<element name="R2" library="rc-master-smd" package="R0603" value="10" x="36.525" y="23.005"/>
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<element name="R4" library="rc-master-smd" package="R2512" value="0,18" x="35.995" y="17.005" smashed="yes" rot="R90">
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</element>
<element name="C7" library="rc-master-smd" package="C0603" value="1µF" x="51.24" y="27.005" smashed="yes" rot="R90">
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<element name="C9" library="rc-master-smd" package="C0603" value="1µF" x="52.98" y="30.44" smashed="yes" rot="R90">
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<element name="C10" library="rc-master-smd" package="C0603" value="1µF" x="33.695" y="33.385" smashed="yes" rot="R270">
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<element name="RESET" library="SparkFun" package="TACTILE_SWITCH_SMD" value="" x="21.97" y="3.58" smashed="yes">
<attribute name="NAME" x="25.03" y="1.04" size="1.27" layer="25" ratio="10"/>
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<element name="STEP" library="LED" package="MICRO-SIDELED" value="Yellow" x="4" y="37" smashed="yes" rot="R180">
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</signal>
<signal name="3V">
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<signal name="N$1">
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<signal name="N$2">
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<signal name="N$3">
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<signal name="N$4">
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<signal name="N$5">
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<signal name="N$6">
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<signal name="N$7">
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<signal name="N$8">
<contactref element="U$1" pad="D3"/>
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<signal name="N$9">
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<signal name="N$10">
<contactref element="U$1" pad="A5"/>
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<signal name="N$11">
<contactref element="U$1" pad="A4"/>
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</signal>
<signal name="N$12">
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<signal name="N$13">
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</signal>
<signal name="N$14">
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</signal>
<signal name="N$15">
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<signal name="STEP">
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<wire x1="11" y1="41.262" x2="11" y2="41.3" width="0.3048" layer="1"/>
<wire x1="12.6" y1="41.3" x2="13.2" y2="41.9" width="0.3048" layer="1"/>
<wire x1="13.2" y1="41.9" x2="13.2" y2="43" width="0.3048" layer="1"/>
<wire x1="13.2" y1="43" x2="19.5" y2="43" width="0.3048" layer="16"/>
<wire x1="19.5" y1="43" x2="19.7" y2="43.2" width="0.3048" layer="16"/>
<wire x1="19.7" y1="43.2" x2="20.5" y2="43.2" width="0.3048" layer="16"/>
<wire x1="20.5" y1="43.2" x2="20.525" y2="43.23" width="0.3048" layer="16"/>
<via x="13.2" y="43" extent="1-16" drill="0.3"/>
</signal>
<signal name="SCK">
<contactref element="IC1" pad="16"/>
<contactref element="U$1" pad="D13"/>
<wire x1="31.75" y1="32.25" x2="30.5" y2="33.5" width="0.3048" layer="1"/>
<wire x1="31.75" y1="30.875" x2="31.75" y2="32.25" width="0.3048" layer="1"/>
<wire x1="32.375" y1="30.25" x2="31.75" y2="30.875" width="0.3048" layer="1"/>
<wire x1="32.375" y1="30.25" x2="35.75" y2="30.25" width="0.3048" layer="1"/>
<wire x1="35.75" y1="30.25" x2="35.875" y2="30.125" width="0.3048" layer="1"/>
<wire x1="35.875" y1="30.125" x2="36.5" y2="30.125" width="0.3048" layer="1"/>
<wire x1="36.5" y1="30.125" x2="36.599" y2="30.137" width="0.4064" layer="1"/>
<wire x1="30.5" y1="49.25" x2="29" y2="50.75" width="0.4064" layer="1"/>
<wire x1="29" y1="50.75" x2="28.956" y2="50.8" width="0.4064" layer="1"/>
<wire x1="30.5" y1="33.5" x2="30.5" y2="35.6" width="0.3048" layer="1"/>
<wire x1="30.5" y1="35.6" x2="29.55" y2="36.55" width="0.3048" layer="1"/>
<wire x1="29.55" y1="36.55" x2="29.55" y2="46.85" width="0.3048" layer="1"/>
<wire x1="29.55" y1="46.85" x2="30.5" y2="47.8" width="0.3048" layer="1"/>
<wire x1="30.5" y1="47.8" x2="30.5" y2="49.25" width="0.3048" layer="1"/>
</signal>
<signal name="MOSI">
<contactref element="IC1" pad="15"/>
<contactref element="U$1" pad="D11"/>
<wire x1="32.375" y1="33.375" x2="31.75" y2="34" width="0.3048" layer="1"/>
<wire x1="32.625" y1="33.375" x2="32.375" y2="33.375" width="0.4064" layer="1"/>
<wire x1="32.625" y1="31.125" x2="32.625" y2="33.375" width="0.3048" layer="16"/>
<wire x1="32.625" y1="31.125" x2="32.875" y2="31.125" width="0.4064" layer="1"/>
<wire x1="32.875" y1="31.125" x2="33.125" y2="30.875" width="0.3048" layer="1"/>
<wire x1="33.125" y1="30.875" x2="36.5" y2="30.875" width="0.3048" layer="1"/>
<wire x1="36.5" y1="30.875" x2="36.599" y2="30.937" width="0.3048" layer="1"/>
<wire x1="34.036" y1="50.8" x2="34" y2="50.75" width="0.4064" layer="1"/>
<wire x1="31.75" y1="34" x2="31.75" y2="36" width="0.3048" layer="1"/>
<wire x1="31.75" y1="36" x2="30.65" y2="37.1" width="0.3048" layer="1"/>
<wire x1="30.65" y1="37.1" x2="30.65" y2="45.8" width="0.3048" layer="1"/>
<wire x1="30.65" y1="45.8" x2="34" y2="49.15" width="0.3048" layer="1"/>
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<wire x1="34" y1="50.764" x2="34.036" y2="50.8" width="0.3048" layer="1"/>
<via x="32.625" y="33.375" extent="1-16" drill="0.3"/>
<via x="32.625" y="31.125" extent="1-16" drill="0.3"/>
</signal>
<signal name="MISO">
<contactref element="IC1" pad="14"/>
<contactref element="U$1" pad="D12"/>
<wire x1="31.125" y1="33.75" x2="33.375" y2="31.5" width="0.3048" layer="1"/>
<wire x1="33.375" y1="31.5" x2="35.25" y2="31.5" width="0.3048" layer="1"/>
<wire x1="35.25" y1="31.5" x2="35.5" y2="31.75" width="0.3048" layer="1"/>
<wire x1="35.5" y1="31.75" x2="36.5" y2="31.75" width="0.3048" layer="1"/>
<wire x1="36.5" y1="31.75" x2="36.599" y2="31.737" width="0.4064" layer="1"/>
<wire x1="31.375" y1="50.75" x2="31.125" y2="50.5" width="0.4064" layer="1"/>
<wire x1="31.496" y1="50.8" x2="31.375" y2="50.75" width="0.4064" layer="1"/>
<wire x1="31.125" y1="35.775" x2="31.125" y2="33.75" width="0.3048" layer="1"/>
<wire x1="30.1" y1="36.8" x2="31.125" y2="35.775" width="0.3048" layer="1"/>
<wire x1="30.1" y1="36.8" x2="30.1" y2="46.4" width="0.3048" layer="1"/>
<wire x1="30.1" y1="46.4" x2="31.5" y2="47.8" width="0.3048" layer="1"/>
<wire x1="31.5" y1="47.8" x2="31.5" y2="50.796" width="0.3048" layer="1"/>
<wire x1="31.5" y1="50.796" x2="31.496" y2="50.8" width="0.3048" layer="1"/>
</signal>
<signal name="!EN">
<contactref element="IC1" pad="19"/>
<contactref element="JP3" pad="1"/>
<contactref element="R7" pad="1"/>
<contactref element="R15" pad="1"/>
<wire x1="20.525" y1="33.07" x2="20.625" y2="33" width="0.3048" layer="1"/>
<wire x1="20.625" y1="33" x2="28" y2="33" width="0.3048" layer="1"/>
<wire x1="28" y1="33" x2="32" y2="29" width="0.3048" layer="1"/>
<wire x1="32" y1="29" x2="33.075" y2="29" width="0.3048" layer="1"/>
<wire x1="33.075" y1="29" x2="34.325" y2="27.75" width="0.3048" layer="1"/>
<wire x1="34.325" y1="27.75" x2="36.5" y2="27.75" width="0.3048" layer="1"/>
<wire x1="36.5" y1="27.75" x2="36.599" y2="27.737" width="0.3048" layer="1"/>
<wire x1="13.8" y1="34.3" x2="14.4" y2="33.7" width="0.3048" layer="1"/>
<wire x1="11.1" y1="34.3" x2="13.8" y2="34.3" width="0.3048" layer="1"/>
<wire x1="11" y1="34.262" x2="11.1" y2="34.3" width="0.3048" layer="1"/>
<wire x1="14.4" y1="33.7" x2="20.5" y2="33.7" width="0.3048" layer="1"/>
<wire x1="20.5" y1="33.7" x2="20.5" y2="33.2" width="0.3048" layer="1"/>
<wire x1="20.5" y1="33.2" x2="20.525" y2="33.07" width="0.3048" layer="1"/>
<wire x1="10" y1="32.3" x2="10" y2="34.2" width="0.3048" layer="1"/>
<wire x1="10" y1="34.2" x2="10.1" y2="34.3" width="0.3048" layer="1"/>
<wire x1="10.1" y1="34.3" x2="10.9" y2="34.3" width="0.3048" layer="1"/>
<wire x1="10.9" y1="34.3" x2="11" y2="34.262" width="0.3048" layer="1"/>
<wire x1="9.9" y1="32.2" x2="10" y2="32.3" width="0.3048" layer="1"/>
<wire x1="9.9" y1="31.6" x2="9.9" y2="32.2" width="0.3048" layer="1"/>
<wire x1="9.7" y1="31.4" x2="9.9" y2="31.6" width="0.3048" layer="1"/>
<wire x1="9.7" y1="30.7" x2="9.7" y2="31.4" width="0.3048" layer="1"/>
<wire x1="9.5" y1="30.5" x2="9.7" y2="30.7" width="0.3048" layer="1"/>
<wire x1="9.5" y1="27.5" x2="9.5" y2="30.5" width="0.3048" layer="1"/>
<wire x1="9.3" y1="27.3" x2="9.5" y2="27.5" width="0.3048" layer="1"/>
<wire x1="8" y1="27.3" x2="9.3" y2="27.3" width="0.3048" layer="1"/>
<wire x1="8" y1="27.262" x2="8" y2="27.3" width="0.3048" layer="1"/>
</signal>
<signal name="SG">
<contactref element="IC1" pad="38"/>
<contactref element="JP3" pad="4"/>
<contactref element="R13" pad="1"/>
<wire x1="44.35" y1="27.75" x2="45.1" y2="28.5" width="0.3048" layer="1"/>
<wire x1="45.1" y1="28.5" x2="48.875" y2="28.5" width="0.3048" layer="1"/>
<wire x1="48.875" y1="28.5" x2="48.999" y2="28.537" width="0.3048" layer="1"/>
<wire x1="20.4" y1="40.6" x2="17.3" y2="40.6" width="0.3048" layer="1"/>
<wire x1="17.3" y1="40.6" x2="9.6" y2="48.3" width="0.3048" layer="1"/>
<wire x1="9.6" y1="48.3" x2="8" y2="48.3" width="0.3048" layer="1"/>
<wire x1="8" y1="48.3" x2="8" y2="48.262" width="0.3048" layer="1"/>
<wire x1="20.525" y1="40.69" x2="20.4" y2="40.6" width="0.4064" layer="1"/>
<wire x1="24.15" y1="34.5" x2="24.15" y2="37.065" width="0.3048" layer="1"/>
<wire x1="24.15" y1="37.065" x2="20.525" y2="40.69" width="0.3048" layer="1"/>
<wire x1="44.2793" y1="27.5793" x2="44.35" y2="27.75" width="0.3048" layer="16" curve="45.000615"/>
<wire x1="38.85" y1="22.15" x2="44.2793" y2="27.5793" width="0.3048" layer="16"/>
<wire x1="38.85" y1="13.6815" x2="38.85" y2="22.15" width="0.3048" layer="16"/>
<wire x1="38.757" y1="13.457" x2="38.85" y2="13.6815" width="0.3048" layer="16" curve="44.999323"/>
<wire x1="37.95" y1="12.65" x2="38.757" y2="13.457" width="0.3048" layer="16"/>
<wire x1="35.7815" y1="12.65" x2="37.95" y2="12.65" width="0.3048" layer="16"/>
<wire x1="35.557" y1="12.743" x2="35.7815" y2="12.65" width="0.3048" layer="16" curve="44.999323"/>
<wire x1="32.55" y1="15.75" x2="35.557" y2="12.743" width="0.3048" layer="16"/>
<wire x1="32.3315" y1="15.75" x2="32.55" y2="15.75" width="0.3048" layer="16"/>
<wire x1="32.107" y1="15.843" x2="32.3315" y2="15.75" width="0.3048" layer="16" curve="44.999323"/>
<wire x1="31.7" y1="16.25" x2="32.107" y2="15.843" width="0.3048" layer="16"/>
<wire x1="31.7" y1="16.25" x2="31.7" y2="16.5685" width="0.3048" layer="1"/>
<wire x1="31.7" y1="16.5685" x2="31.607" y2="16.793" width="0.3048" layer="1" curve="44.999323"/>
<wire x1="31.607" y1="16.793" x2="28.2" y2="20.2" width="0.3048" layer="1"/>
<wire x1="28.2" y1="20.2" x2="28.2" y2="23.2685" width="0.3048" layer="1"/>
<wire x1="28.2" y1="23.2685" x2="28.107" y2="23.493" width="0.3048" layer="1" curve="44.999323"/>
<wire x1="28.107" y1="23.493" x2="27.05" y2="24.55" width="0.3048" layer="1"/>
<wire x1="27.05" y1="24.55" x2="27.05" y2="27.9685" width="0.3048" layer="16"/>
<wire x1="27.05" y1="27.9685" x2="26.957" y2="28.193" width="0.3048" layer="16" curve="44.999323"/>
<wire x1="24.15" y1="31.1315" x2="24.15" y2="34.5" width="0.3048" layer="16"/>
<wire x1="24.243" y1="30.907" x2="24.15" y2="31.1315" width="0.3048" layer="16" curve="-44.999323"/>
<wire x1="26.957" y1="28.193" x2="24.243" y2="30.907" width="0.3048" layer="16"/>
<via x="44.35" y="27.75" extent="1-16" drill="0.3"/>
<via x="24.15" y="34.5" extent="1-16" drill="0.3"/>
<via x="31.7" y="16.25" extent="1-16" drill="0.3"/>
<via x="27.05" y="24.55" extent="1-16" drill="0.3"/>
</signal>
<signal name="A1">
<contactref element="IC1" pad="2"/>
<contactref element="IC1" pad="7"/>
<contactref element="JP1" pad="1"/>
<contactref element="U$10" pad="1"/>
<contactref element="A1" pad="1"/>
<wire x1="45.6053" y1="35.537" x2="45.6" y2="35.75" width="0.8128" layer="1"/>
<wire x1="41.5799" y1="35.537" x2="41.6" y2="35.75" width="0.8128" layer="1"/>
<wire x1="41.6" y1="35.75" x2="41.6" y2="37.55" width="1.4224" layer="1"/>
<wire x1="41.6" y1="37.55" x2="41.1" y2="38.05" width="1.016" layer="1"/>
<wire x1="45.6" y1="35.75" x2="45.6" y2="37.75" width="1.4224" layer="1"/>
<wire x1="45.6" y1="37.75" x2="45.15" y2="38.1" width="1.016" layer="1"/>
<wire x1="41.85" y1="38.1" x2="41.1" y2="38.1" width="1.016" layer="1"/>
<wire x1="41.1" y1="37.2" x2="41.85" y2="37.2" width="1.016" layer="1"/>
<wire x1="41.85" y1="37.2" x2="41.85" y2="38.1" width="1.016" layer="1"/>
<wire x1="41.1" y1="38.05" x2="41.1" y2="37.2" width="1.016" layer="1"/>
<wire x1="45.15" y1="38.1" x2="46.05" y2="38.1" width="1.016" layer="1"/>
<wire x1="46.05" y1="38.1" x2="46.05" y2="37.2" width="1.016" layer="1"/>
<wire x1="45.15" y1="38.1" x2="45.15" y2="37.2" width="1.016" layer="1"/>
<via x="41.1" y="37.2" extent="1-16" drill="0.5"/>
<via x="45.15" y="37.2" extent="1-16" drill="0.5"/>
<via x="41.85" y="37.2" extent="1-16" drill="0.5"/>
<via x="41.85" y="38.05" extent="1-16" drill="0.5"/>
<via x="41.1" y="38.05" extent="1-16" drill="0.5"/>
<via x="46.05" y="37.2" extent="1-16" drill="0.5"/>
<via x="46.05" y="38.1" extent="1-16" drill="0.5"/>
<via x="45.15" y="38.1" extent="1-16" drill="0.5"/>
<polygon width="0.254" layer="16">
<vertex x="70.5" y="42.875"/>
<vertex x="40.825" y="42.875"/>
<vertex x="40.825" y="34.625"/>
<vertex x="54.475" y="34.625"/>
<vertex x="54.425" y="23.75"/>
<vertex x="70.5" y="23.75"/>
</polygon>
</signal>
<signal name="A2">
<contactref element="IC1" pad="5"/>
<contactref element="IC1" pad="10"/>
<contactref element="JP1" pad="2"/>
<contactref element="U$10" pad="2"/>
<contactref element="A2" pad="1"/>
<wire x1="43.225" y1="35.675" x2="43.225" y2="39.375" width="1.4224" layer="1"/>
<wire x1="43.2053" y1="35.537" x2="43.225" y2="35.675" width="0.8128" layer="1"/>
<wire x1="39.175" y1="35.65" x2="39.175" y2="37.075" width="1.4224" layer="1"/>
<wire x1="39.2053" y1="35.537" x2="39.175" y2="35.65" width="0.8128" layer="1"/>
<wire x1="57.3" y1="25.1" x2="56.3" y2="24.7" width="0.6096" layer="1"/>
<wire x1="57.3" y1="25.1" x2="58.8" y2="25.1" width="0.6096" layer="1"/>
<polygon width="0.254" layer="1" spacing="0.3048" isolate="0.3048">
<vertex x="38.5" y="34.85"/>
<vertex x="48.15" y="35.05"/>
<vertex x="48.15" y="34.15"/>
<vertex x="54.45" y="34.15"/>
<vertex x="54.425" y="23.75"/>
<vertex x="69.125" y="23.75"/>
<vertex x="69.75" y="42.875" curve="2.13456"/>
<vertex x="38.5" y="42.875"/>
</polygon>
</signal>
<signal name="B1">
<contactref element="IC1" pad="26"/>
<contactref element="IC1" pad="31"/>
<contactref element="JP1" pad="3"/>
<contactref element="U$10" pad="3"/>
<contactref element="B1" pad="1"/>
<wire x1="41.7" y1="22.6" x2="41.625" y2="22.625" width="0.8128" layer="1"/>
<wire x1="41.625" y1="22.625" x2="41.575" y2="22.86" width="0.8128" layer="1"/>
<wire x1="41.575" y1="22.86" x2="41.58" y2="23.137" width="0.8128" layer="1"/>
<wire x1="57.4" y1="21.7" x2="56.6" y2="22.3" width="0.6096" layer="16"/>
<wire x1="57.4" y1="21.7" x2="58.8" y2="21.7" width="0.6096" layer="16"/>
<wire x1="41.7" y1="22.5" x2="41.7" y2="22.6" width="1.016" layer="1"/>
<wire x1="41.6" y1="22.8" x2="41.7" y2="22.5" width="1.016" layer="1"/>
<wire x1="41.6" y1="21.1" x2="41.6" y2="22.8" width="1.4224" layer="1"/>
<wire x1="41.85" y1="21.5" x2="41.6" y2="21.1" width="1.016" layer="1"/>
<wire x1="41.85" y1="21.5" x2="41.85" y2="20.6" width="1.016" layer="1"/>
<wire x1="41.85" y1="20.6" x2="41.05" y2="20.6" width="1.016" layer="1"/>
<wire x1="41.05" y1="20.6" x2="41.05" y2="21.5" width="1.016" layer="1"/>
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<wire x1="41.845" y1="21.4625" x2="41.8325" y2="21.35" width="0.3048" layer="1"/>
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<wire x1="45.1" y1="21.4625" x2="45.1" y2="20.6" width="1.016" layer="1"/>
<wire x1="45.1" y1="21.5" x2="46" y2="21.5" width="1.016" layer="1"/>
<wire x1="46" y1="21.5" x2="46" y2="20.6" width="1.016" layer="1"/>
<wire x1="45.1" y1="21.4625" x2="45.1" y2="21.5" width="1.016" layer="1"/>
<wire x1="56" y1="13.95" x2="56" y2="15.95" width="0.8128" layer="16"/>
<wire x1="56" y1="15.95" x2="55.95" y2="16" width="0.8128" layer="16"/>
<via x="45.1" y="21.4625" extent="1-16" drill="0.5"/>
<via x="41.045" y="20.6125" extent="1-16" drill="0.5"/>
<via x="41.045" y="21.4625" extent="1-16" drill="0.5"/>
<via x="41.845" y="21.4625" extent="1-16" drill="0.5"/>
<via x="41.845" y="20.6125" extent="1-16" drill="0.5"/>
<via x="46" y="21.4625" extent="1-16" drill="0.5"/>
<via x="46" y="20.6125" extent="1-16" drill="0.5"/>
<via x="45.1" y="20.6125" extent="1-16" drill="0.5"/>
<polygon width="0.254" layer="16">
<vertex x="40.45" y="15.5"/>
<vertex x="69.25" y="15.5"/>
<vertex x="69.25" y="23"/>
<vertex x="41.75" y="23"/>
<vertex x="40.4" y="21.925"/>
<vertex x="40.4" y="21.1"/>
</polygon>
</signal>
<signal name="B2">
<contactref element="IC1" pad="23"/>
<contactref element="IC1" pad="28"/>
<contactref element="JP1" pad="4"/>
<contactref element="U$10" pad="4"/>
<contactref element="B2" pad="1"/>
<wire x1="43.23" y1="22.01" x2="43.23" y2="20.47" width="1.4224" layer="1"/>
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<wire x1="39.225" y1="22.75" x2="39.2054" y2="23.137" width="0.8128" layer="1"/>
<wire x1="56.5" y1="19.69" x2="56.5" y2="19.625" width="0.8128" layer="1"/>
<wire x1="60" y1="14" x2="60" y2="16.05" width="0.8128" layer="1"/>
<polygon width="0.254" layer="1" spacing="0.3048" isolate="0.3048">
<vertex x="38.5" y="23.125"/>
<vertex x="46.4" y="22.9"/>
<vertex x="46.4" y="20.3"/>
<vertex x="54.6" y="20.3"/>
<vertex x="54.6" y="23"/>
<vertex x="69" y="23"/>
<vertex x="69.125" y="15.5"/>
<vertex x="38.5" y="15.5" curve="1"/>
</polygon>
</signal>
<signal name="N$28">
<contactref element="IC1" pad="9"/>
<contactref element="R3" pad="2"/>
<contactref element="R1" pad="2"/>
<contactref element="BRA" pad="1"/>
<wire x1="40.399" y1="34.15" x2="40.399" y2="35.537" width="0.4064" layer="1"/>
<wire x1="40.399" y1="34.15" x2="40.399" y2="34.099" width="0.4064" layer="1"/>
<wire x1="40.15" y1="33.95" x2="40.399" y2="34.15" width="0.6096" layer="1"/>
<wire x1="36.8" y1="35.65" x2="36.8" y2="35.1" width="0.6096" layer="1"/>
<wire x1="36.75" y1="35.65" x2="36.8" y2="35.65" width="0.6096" layer="1"/>
<wire x1="36.747" y1="35.645" x2="36.75" y2="35.65" width="0.6096" layer="1"/>
<wire x1="36.75" y1="35.95" x2="36.747" y2="35.645" width="0.6096" layer="1"/>
<wire x1="36.75" y1="37.9" x2="36.75" y2="35.95" width="0.6096" layer="1"/>
<wire x1="36.7" y1="37.95" x2="36.75" y2="37.9" width="0.6096" layer="1"/>
<wire x1="36.05" y1="37.95" x2="36.7" y2="37.95" width="0.6096" layer="1"/>
<wire x1="36.005" y1="37.972" x2="36.05" y2="37.95" width="0.6096" layer="1"/>
<wire x1="36.8" y1="35.1" x2="37.95" y2="33.95" width="0.6096" layer="1"/>
<wire x1="37.95" y1="33.95" x2="40.15" y2="33.95" width="0.6096" layer="1"/>
<wire x1="32.25" y1="38" x2="35.977" y2="38" width="0.8128" layer="1"/>
<wire x1="35.977" y1="38" x2="36.005" y2="37.972" width="0.8128" layer="1"/>
</signal>
<signal name="N$29">
<contactref element="IC1" pad="12"/>
<contactref element="R1" pad="1"/>
<wire x1="36.599" y1="33.337" x2="36.5" y2="33.375" width="0.4064" layer="1"/>
<wire x1="35.9" y1="33.4" x2="36.536" y2="33.4" width="0.4064" layer="1"/>
<wire x1="36.536" y1="33.4" x2="36.599" y2="33.337" width="0.4064" layer="1"/>
<wire x1="35.25" y1="35.65" x2="35.85" y2="35.05" width="0.4064" layer="1"/>
<wire x1="35.223" y1="35.645" x2="35.25" y2="35.65" width="0.4064" layer="1"/>
<wire x1="35.85" y1="35.05" x2="35.85" y2="33.6" width="0.4064" layer="1"/>
<wire x1="35.85" y1="33.6" x2="35.9" y2="33.4" width="0.4064" layer="1"/>
</signal>
<signal name="N$30">
<contactref element="IC1" pad="25"/>
<contactref element="R4" pad="2"/>
<contactref element="R2" pad="2"/>
<contactref element="BRB" pad="1"/>
<wire x1="40.399" y1="24.501" x2="40.399" y2="23.137" width="0.4064" layer="1"/>
<wire x1="39.95" y1="24.95" x2="40.399" y2="24.501" width="0.6096" layer="1"/>
<wire x1="38.6" y1="24.95" x2="39.95" y2="24.95" width="0.6096" layer="1"/>
<wire x1="37.287" y1="23.637" x2="38.6" y2="24.95" width="0.6096" layer="1"/>
<wire x1="37.287" y1="23.005" x2="37.287" y2="23.637" width="0.6096" layer="1"/>
<wire x1="37.25" y1="23.018" x2="37.287" y2="23.005" width="0.6096" layer="1"/>
<wire x1="37.25" y1="20.9" x2="37.25" y2="23.018" width="0.6096" layer="1"/>
<wire x1="36.403" y1="20.053" x2="37.25" y2="20.9" width="0.6096" layer="1"/>
<wire x1="35.995" y1="20.053" x2="36.403" y2="20.053" width="0.6096" layer="1"/>
<wire x1="32.25" y1="20" x2="35.942" y2="20" width="0.8128" layer="1"/>
<wire x1="35.942" y1="20" x2="35.995" y2="20.053" width="0.8128" layer="1"/>
</signal>
<signal name="N$31">
<contactref element="IC1" pad="22"/>
<contactref element="R2" pad="1"/>
<wire x1="35.763" y1="23.005" x2="35.813" y2="24.913" width="0.4064" layer="1"/>
<wire x1="35.813" y1="24.913" x2="35.8" y2="25.4" width="0.4064" layer="1"/>
<wire x1="35.8" y1="25.4" x2="36.536" y2="25.4" width="0.4064" layer="1"/>
<wire x1="36.536" y1="25.4" x2="36.599" y2="25.337" width="0.4064" layer="1"/>
</signal>
<signal name="5VOUT">
<contactref element="IC1" pad="13"/>
<contactref element="C10" pad="2"/>
<contactref element="IC1" pad="40"/>
<contactref element="C9" pad="2"/>
<contactref element="R18" pad="2"/>
<contactref element="PWR" pad="A"/>
<wire x1="48.999" y1="30.137" x2="49" y2="30.125" width="0.4064" layer="1"/>
<wire x1="36.599" y1="32.537" x2="36.75" y2="32.5" width="0.4064" layer="1"/>
<wire x1="48.875" y1="30.125" x2="48.999" y2="30.137" width="0.4064" layer="1"/>
<wire x1="30.1" y1="29.9" x2="33" y2="29.9" width="0.3048" layer="16"/>
<wire x1="33" y1="29.9" x2="34.7" y2="31.6" width="0.3048" layer="16"/>
<wire x1="34.7" y1="31.6" x2="34.7" y2="32.3" width="0.3048" layer="16"/>
<wire x1="34.7" y1="32.3" x2="34.7" y2="32.4" width="0.3048" layer="1"/>
<wire x1="34.7" y1="32.4" x2="33.7" y2="32.4" width="0.3048" layer="1"/>
<wire x1="33.7" y1="32.4" x2="33.695" y2="32.623" width="0.3048" layer="1"/>
<wire x1="34.8" y1="32.5" x2="36.4" y2="32.5" width="0.3048" layer="1"/>
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<wire x1="34.7" y1="32.3" x2="34.8" y2="32.5" width="0.3048" layer="1"/>
<wire x1="13.35" y1="27.3" x2="14.8" y2="27.3" width="0.3048" layer="1"/>
<wire x1="14.8" y1="27.3" x2="17.4" y2="29.9" width="0.3048" layer="1"/>
<wire x1="17.4" y1="29.9" x2="30.1" y2="29.9" width="0.3048" layer="1"/>
<wire x1="49.2" y1="30.1" x2="51.35" y2="30.1" width="0.4064" layer="1"/>
<wire x1="51.35" y1="30.1" x2="51.5" y2="30.2" width="0.4064" layer="1"/>
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<wire x1="46.5" y1="30" x2="46.9" y2="30" width="0.4064" layer="16"/>
<wire x1="41.55" y1="29.3" x2="42.5" y2="30.15" width="0.4064" layer="16"/>
<wire x1="39.6" y1="29.3" x2="41.55" y2="29.3" width="0.4064" layer="16"/>
<wire x1="38.85" y1="30" x2="39.6" y2="29.3" width="0.4064" layer="16"/>
<wire x1="38.65" y1="30" x2="38.85" y2="30" width="0.4064" layer="16"/>
<wire x1="38.65" y1="31.8" x2="38.65" y2="30" width="0.4064" layer="1"/>
<wire x1="37.9" y1="32.55" x2="38.65" y2="31.8" width="0.4064" layer="1"/>
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<wire x1="36.599" y1="32.537" x2="36.612" y2="32.55" width="0.4064" layer="1"/>
<via x="30.1" y="29.9" extent="1-16" drill="0.3"/>
<via x="34.7" y="32.3" extent="1-16" drill="0.3"/>
<via x="13.35" y="37.05" extent="1-16" drill="0.3"/>
<via x="11.85" y="38.55" extent="1-16" drill="0.3"/>
<via x="13.35" y="35.05" extent="1-16" drill="0.3"/>
<via x="13.35" y="33.55" extent="1-16" drill="0.3"/>
<via x="46.9" y="30" extent="1-16" drill="0.3"/>
<via x="38.65" y="30" extent="1-16" drill="0.3"/>
</signal>
<signal name="VHS">
<contactref element="IC1" pad="35"/>
<contactref element="C7" pad="1"/>
<wire x1="48.999" y1="26.137" x2="49" y2="26.125" width="0.4064" layer="1"/>
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<wire x1="51.247" y1="26.15" x2="51.24" y2="26.243" width="0.4064" layer="1"/>
</signal>
<signal name="VCC">
<contactref element="C7" pad="2"/>
<contactref element="IC1" pad="36"/>
<contactref element="IC1" pad="30"/>
<contactref element="IC1" pad="4"/>
<contactref element="J1" pad="PWR"/>
<contactref element="C1" pad="+"/>
<contactref element="C2" pad="+"/>
<contactref element="C3" pad="2"/>
<contactref element="SJ1" pad="2"/>
<contactref element="C5" pad="2"/>
<contactref element="C4" pad="2"/>
<contactref element="C6" pad="2"/>
<contactref element="VMOT" pad="2"/>
<contactref element="VMOT" pad="1"/>
<contactref element="C1'" pad="+"/>
<contactref element="C2'" pad="+"/>
<wire x1="48" y1="23.375" x2="48" y2="26.9" width="1.016" layer="16"/>
<wire x1="48" y1="26.9" x2="48" y2="31" width="1.016" layer="16"/>
<wire x1="44.975" y1="33.775" x2="44.375" y2="34.375" width="0.4064" layer="1"/>
<wire x1="44.375" y1="34.375" x2="44.375" y2="35.5" width="0.4064" layer="1"/>
<wire x1="48" y1="31" x2="44.975" y2="33.775" width="1.016" layer="16"/>
<wire x1="44.375" y1="35.5" x2="44.399" y2="35.537" width="0.4064" layer="1"/>
<wire x1="48.999" y1="26.937" x2="49" y2="26.875" width="0.4064" layer="1"/>
<wire x1="44.399" y1="23.137" x2="44.375" y2="23.125" width="0.4064" layer="1"/>
<wire x1="48" y1="23.375" x2="47.875" y2="23.25" width="0.4064" layer="16"/>
<wire x1="44.975" y1="33.775" x2="44.75" y2="33.75" width="0.3048" layer="16"/>
<wire x1="48.225" y1="22.9" x2="49.376" y2="21.9" width="0.8128" layer="1"/>
<wire x1="47.875" y1="23.25" x2="48.225" y2="22.9" width="0.8128" layer="1"/>
<wire x1="44.4" y1="23.2" x2="44.399" y2="23.137" width="0.4064" layer="1"/>
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<wire x1="47.5" y1="34.4" x2="48.1" y2="34.987" width="0.4064" layer="1"/>
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<wire x1="47.875" y1="23.25" x2="48.238" y2="23.25" width="0.4064" layer="1"/>
<wire x1="48.238" y1="23.25" x2="48.238" y2="24.6" width="0.4064" layer="1"/>
<wire x1="49.4" y1="24.25" x2="51.238" y2="24.25" width="0.4064" layer="1"/>
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<wire x1="48.238" y1="24.6" x2="48.9" y2="24.6" width="0.4064" layer="1"/>
<via x="44.975" y="33.775" extent="1-16" drill="0.3"/>
<via x="47.875" y="23.25" extent="1-16" drill="0.3"/>
<via x="46.9" y="26.9" extent="1-16" drill="0.3"/>
<via x="39.7" y="14.4" extent="1-16" drill="0.3"/>
<polygon width="0.4064" layer="1" spacing="0.4064" isolate="0.4064">
<vertex x="-0.85" y="21"/>
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<vertex x="69.65" y="14.7"/>
<vertex x="69.75" y="-0.875"/>
<vertex x="-0.75" y="-0.875"/>
</polygon>
</signal>
<signal name="5V">
<contactref element="U$1" pad="5V"/>
<contactref element="C8" pad="2"/>
<contactref element="STEP" pad="A"/>
<contactref element="Q1" pad="E"/>
<contactref element="SG" pad="A"/>
<contactref element="DIR" pad="A"/>
<wire x1="0.47" y1="25.1" x2="0.47" y2="29.6" width="0.4064" layer="16"/>
<wire x1="0.47" y1="29.6" x2="0.47" y2="34.4" width="0.4064" layer="16"/>
<wire x1="0.47" y1="34.4" x2="0.47" y2="40.3" width="0.4064" layer="16"/>
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<wire x1="2.4" y1="47.1" x2="4" y2="47.1" width="0.4064" layer="1"/>
<wire x1="0.47" y1="44.96" x2="1.4" y2="46.1" width="0.4064" layer="16"/>
<wire x1="4" y1="47.1" x2="4" y2="47.05" width="0.4064" layer="1"/>
<wire x1="4" y1="41.05" x2="4" y2="41.1" width="0.3048" layer="1"/>
<wire x1="4" y1="35.05" x2="4" y2="35.1" width="0.3048" layer="1"/>
<wire x1="0.47" y1="29.6" x2="6.7" y2="29.6" width="0.3048" layer="16"/>
<wire x1="6.7" y1="29.6" x2="6.7" y2="31.1" width="0.3048" layer="1"/>
<wire x1="6.7" y1="31.1" x2="6.65" y2="31.1" width="0.3048" layer="1"/>
<wire x1="3.15" y1="41.05" x2="4" y2="41.05" width="0.3048" layer="1"/>
<wire x1="2.6" y1="40.5" x2="3.15" y2="41.05" width="0.3048" layer="1"/>
<wire x1="0.67" y1="40.5" x2="2.6" y2="40.5" width="0.3048" layer="16"/>
<wire x1="0.47" y1="40.3" x2="0.67" y2="40.5" width="0.3048" layer="16"/>
<wire x1="1.87" y1="23.7" x2="5.4" y2="23.7" width="0.4064" layer="16"/>
<wire x1="0.47" y1="25.1" x2="1.87" y2="23.7" width="0.4064" layer="16"/>
<wire x1="5.838" y1="23.262" x2="5.838" y2="22.445" width="0.4064" layer="1"/>
<wire x1="5.4" y1="23.7" x2="5.838" y2="23.262" width="0.4064" layer="1"/>
<wire x1="0.57" y1="34.5" x2="2.6" y2="34.5" width="0.3048" layer="16"/>
<wire x1="0.47" y1="34.4" x2="0.57" y2="34.5" width="0.3048" layer="16"/>
<wire x1="3.15" y1="35.05" x2="4" y2="35.05" width="0.3048" layer="1"/>
<wire x1="2.6" y1="34.5" x2="3.15" y2="35.05" width="0.3048" layer="1"/>
<wire x1="33.7" y1="12.5" x2="33.7" y2="8.4" width="0.3048" layer="16"/>
<wire x1="33.7" y1="8.4" x2="38.1" y2="4" width="0.3048" layer="16"/>
<wire x1="38.1" y1="4" x2="38.1" y2="2.54" width="0.3048" layer="16"/>
<wire x1="6.026" y1="23.45" x2="9.2" y2="23.45" width="0.3048" layer="1"/>
<wire x1="5.838" y1="23.262" x2="6.026" y2="23.45" width="0.3048" layer="1"/>
<wire x1="33.7" y1="15.5685" x2="33.7" y2="12.5" width="0.3048" layer="1"/>
<wire x1="33.607" y1="15.793" x2="33.7" y2="15.5685" width="0.3048" layer="1" curve="-44.999323"/>
<wire x1="29" y1="20.4" x2="33.607" y2="15.793" width="0.3048" layer="1"/>
<wire x1="29" y1="23.7685" x2="29" y2="20.4" width="0.3048" layer="1"/>
<wire x1="28.907" y1="23.993" x2="29" y2="23.7685" width="0.3048" layer="1" curve="-44.999323"/>
<wire x1="26.95" y1="25.95" x2="28.907" y2="23.993" width="0.3048" layer="1"/>
<wire x1="11.8315" y1="25.95" x2="26.95" y2="25.95" width="0.3048" layer="1"/>
<wire x1="11.607" y1="25.857" x2="11.8315" y2="25.95" width="0.3048" layer="1" curve="-44.999323"/>
<wire x1="9.2" y1="23.45" x2="11.607" y2="25.857" width="0.3048" layer="1"/>
<via x="6.7" y="29.6" extent="1-16" drill="0.3"/>
<via x="2.4" y="47.1" extent="1-16" drill="0.3"/>
<via x="5.4" y="23.7" extent="1-16" drill="0.3"/>
<via x="2.6" y="34.5" extent="1-16" drill="0.3"/>
<via x="2.6" y="40.5" extent="1-16" drill="0.3"/>
<via x="33.7" y="12.5" extent="1-16" drill="0.3"/>
</signal>
<signal name="N$17">
<contactref element="RESET" pad="3"/>
<contactref element="U$1" pad="RESET"/>
<contactref element="RESET" pad="4"/>
<wire x1="19.43" y1="1.675" x2="21.9" y2="1.675" width="0.4064" layer="1"/>
<wire x1="21.9" y1="1.675" x2="24.51" y2="1.675" width="0.4064" layer="1"/>
<wire x1="21.9" y1="1.675" x2="21.9" y2="2.6" width="0.4064" layer="1"/>
<wire x1="21.9" y1="2.6" x2="32.96" y2="2.6" width="0.4064" layer="16"/>
<wire x1="32.96" y1="2.6" x2="33.02" y2="2.54" width="0.4064" layer="16"/>
<via x="21.9" y="2.6" extent="1-16" drill="0.3"/>
</signal>
<signal name="N$16">
<contactref element="R9" pad="2"/>
<contactref element="T2" pad="B"/>
<wire x1="6.9" y1="32.8" x2="6.9" y2="33.9" width="0.3048" layer="1"/>
<wire x1="7" y1="32.7" x2="6.9" y2="32.8" width="0.3048" layer="1"/>
<wire x1="7" y1="32.7" x2="8" y2="32.7" width="0.3048" layer="1"/>
<wire x1="8" y1="32.7" x2="8" y2="32.738" width="0.3048" layer="1"/>
<wire x1="6.9" y1="33.9" x2="5.4" y2="35.4" width="0.3048" layer="1"/>
<wire x1="5.4" y1="35.4" x2="5.4" y2="37.1" width="0.3048" layer="1"/>
<wire x1="5.4" y1="37.1" x2="5.35" y2="37.1" width="0.3048" layer="1"/>
</signal>
<signal name="N$19">
<contactref element="STEP" pad="C"/>
<contactref element="T2" pad="C"/>
<wire x1="5.5" y1="38.9" x2="6" y2="38.9" width="0.3048" layer="1"/>
<wire x1="5.4" y1="39" x2="5.5" y2="38.9" width="0.3048" layer="1"/>
<wire x1="4" y1="39" x2="5.4" y2="39" width="0.3048" layer="1"/>
<wire x1="4" y1="38.95" x2="4" y2="39" width="0.3048" layer="1"/>
</signal>
<signal name="N$20">
<contactref element="T2" pad="E"/>
<contactref element="R10" pad="2"/>
<wire x1="6.7" y1="36.2" x2="8" y2="36.2" width="0.3048" layer="1"/>
<wire x1="6.7" y1="37.1" x2="6.7" y2="36.2" width="0.3048" layer="1"/>
<wire x1="8" y1="36.2" x2="8" y2="36.238" width="0.3048" layer="1"/>
<wire x1="6.65" y1="37.1" x2="6.7" y2="37.1" width="0.3048" layer="1"/>
</signal>
<signal name="N$24">
<contactref element="R11" pad="2"/>
<contactref element="T3" pad="B"/>
<wire x1="6.8" y1="39.7" x2="5.4" y2="41.1" width="0.3048" layer="1"/>
<wire x1="6.8" y1="39.7" x2="8" y2="39.7" width="0.3048" layer="1"/>
<wire x1="8" y1="39.7" x2="8" y2="39.738" width="0.3048" layer="1"/>
<wire x1="5.4" y1="41.1" x2="5.4" y2="43.1" width="0.3048" layer="1"/>
<wire x1="5.4" y1="43.1" x2="5.35" y2="43.1" width="0.3048" layer="1"/>
</signal>
<signal name="N$25">
<contactref element="T3" pad="C"/>
<contactref element="DIR" pad="C"/>
<wire x1="5.5" y1="44.9" x2="6" y2="44.9" width="0.3048" layer="1"/>
<wire x1="5.4" y1="45" x2="5.5" y2="44.9" width="0.3048" layer="1"/>
<wire x1="4" y1="45" x2="5.4" y2="45" width="0.3048" layer="1"/>
<wire x1="4" y1="44.95" x2="4" y2="45" width="0.3048" layer="1"/>
</signal>
<signal name="N$26">
<contactref element="T3" pad="E"/>
<contactref element="R12" pad="2"/>
<wire x1="6.7" y1="43.2" x2="8" y2="43.2" width="0.3048" layer="1"/>
<wire x1="6.7" y1="43.1" x2="6.7" y2="43.2" width="0.3048" layer="1"/>
<wire x1="8" y1="43.2" x2="8" y2="43.238" width="0.3048" layer="1"/>
<wire x1="6.65" y1="43.1" x2="6.7" y2="43.1" width="0.3048" layer="1"/>
</signal>
<signal name="N$27">
<contactref element="Q1" pad="C"/>
<contactref element="EN" pad="A"/>
<wire x1="6" y1="30.5" x2="6" y2="32.9" width="0.3048" layer="1"/>
<wire x1="5.5" y1="30" x2="6" y2="30.5" width="0.3048" layer="1"/>
<wire x1="5.5" y1="29.3" x2="5.5" y2="30" width="0.3048" layer="1"/>
<wire x1="5.3" y1="29.1" x2="5.5" y2="29.3" width="0.3048" layer="1"/>
<wire x1="4.1" y1="29.1" x2="5.3" y2="29.1" width="0.3048" layer="1"/>
<wire x1="4.04" y1="29.08" x2="4.1" y2="29.1" width="0.3048" layer="1"/>
</signal>
<signal name="N$35">
<contactref element="EN" pad="C"/>
<contactref element="R8" pad="2"/>
<wire x1="7.2" y1="28.4" x2="7.2" y2="29.1" width="0.3048" layer="1"/>
<wire x1="7.2" y1="29.1" x2="7.3" y2="29.2" width="0.3048" layer="1"/>
<wire x1="7.3" y1="29.2" x2="8" y2="29.2" width="0.3048" layer="1"/>
<wire x1="8" y1="29.2" x2="8" y2="29.238" width="0.3048" layer="1"/>
<wire x1="7.2" y1="28.4" x2="7.2" y2="28.3" width="0.3048" layer="1"/>
<wire x1="7.9" y1="29.1" x2="7.2" y2="28.4" width="0.3048" layer="16"/>
<wire x1="7.9" y1="30.1" x2="7.9" y2="29.1" width="0.3048" layer="16"/>
<wire x1="7.2" y1="30.8" x2="7.9" y2="30.1" width="0.3048" layer="16"/>
<wire x1="4.4" y1="30.8" x2="7.2" y2="30.8" width="0.3048" layer="16"/>
<wire x1="4.4" y1="33" x2="4.4" y2="30.8" width="0.3048" layer="1"/>
<wire x1="4.1" y1="33" x2="4.4" y2="33" width="0.3048" layer="1"/>
<wire x1="4.04" y1="32.98" x2="4.1" y2="33" width="0.3048" layer="1"/>
<via x="7.2" y="28.4" extent="1-16" drill="0.3"/>
<via x="4.4" y="30.8" extent="1-16" drill="0.3"/>
</signal>
<signal name="N$36">
<contactref element="R7" pad="2"/>
<contactref element="Q1" pad="B"/>
<wire x1="7" y1="26" x2="7.3" y2="25.7" width="0.3048" layer="1"/>
<wire x1="7.3" y1="25.7" x2="8" y2="25.7" width="0.3048" layer="1"/>
<wire x1="8" y1="25.7" x2="8" y2="25.738" width="0.3048" layer="1"/>
<wire x1="7" y1="27.4" x2="7" y2="26" width="0.3048" layer="1"/>
<wire x1="7" y1="27.4" x2="7.2" y2="27.6" width="0.3048" layer="16"/>
<wire x1="7.2" y1="27.6" x2="7.4" y2="27.6" width="0.3048" layer="16"/>
<wire x1="7.4" y1="27.6" x2="8.4" y2="28.6" width="0.3048" layer="16"/>
<wire x1="8.4" y1="28.6" x2="8.4" y2="30.3" width="0.3048" layer="16"/>
<wire x1="8.4" y1="30.3" x2="5.4" y2="33.3" width="0.3048" layer="16"/>
<wire x1="5.4" y1="33.3" x2="5.4" y2="33.9" width="0.3048" layer="16"/>
<wire x1="5.4" y1="33.9" x2="5.4" y2="33.6" width="0.3048" layer="1"/>
<wire x1="5.4" y1="33.6" x2="5.3" y2="33.5" width="0.3048" layer="1"/>
<wire x1="5.3" y1="33.5" x2="5.3" y2="32.3" width="0.3048" layer="1"/>
<wire x1="5.3" y1="32.3" x2="5.4" y2="32.2" width="0.3048" layer="1"/>
<wire x1="5.4" y1="32.2" x2="5.4" y2="31.1" width="0.3048" layer="1"/>
<wire x1="5.4" y1="31.1" x2="5.35" y2="31.1" width="0.3048" layer="1"/>
<via x="7" y="27.4" extent="1-16" drill="0.3"/>
<via x="5.4" y="33.9" extent="1-16" drill="0.3"/>
</signal>
<signal name="N$38">
<contactref element="R13" pad="2"/>
<contactref element="T4" pad="B"/>
<wire x1="6.6" y1="46.7" x2="8" y2="46.7" width="0.3048" layer="1"/>
<wire x1="8" y1="46.7" x2="8" y2="46.738" width="0.3048" layer="1"/>
<wire x1="5.4" y1="47.9" x2="6.6" y2="46.7" width="0.3048" layer="1"/>
<wire x1="5.4" y1="47.9" x2="5.4" y2="49.1" width="0.3048" layer="1"/>
<wire x1="5.4" y1="49.1" x2="5.35" y2="49.1" width="0.3048" layer="1"/>
</signal>
<signal name="N$39">
<contactref element="T4" pad="C"/>
<contactref element="SG" pad="C"/>
<wire x1="5.5" y1="50.9" x2="6" y2="50.9" width="0.3048" layer="1"/>
<wire x1="5.4" y1="51" x2="5.5" y2="50.9" width="0.3048" layer="1"/>
<wire x1="4" y1="51" x2="5.4" y2="51" width="0.3048" layer="1"/>
<wire x1="4" y1="50.95" x2="4" y2="51" width="0.3048" layer="1"/>
</signal>
<signal name="N$40">
<contactref element="T4" pad="E"/>
<contactref element="R14" pad="2"/>
<wire x1="6.9" y1="50.2" x2="8" y2="50.2" width="0.3048" layer="1"/>
<wire x1="6.9" y1="49.9" x2="6.9" y2="50.2" width="0.3048" layer="1"/>
<wire x1="6.7" y1="49.7" x2="6.9" y2="49.9" width="0.3048" layer="1"/>
<wire x1="6.7" y1="49.1" x2="6.7" y2="49.7" width="0.3048" layer="1"/>
<wire x1="8" y1="50.2" x2="8" y2="50.238" width="0.3048" layer="1"/>
<wire x1="6.65" y1="49.1" x2="6.7" y2="49.1" width="0.3048" layer="1"/>
</signal>
<signal name="N$18">
<contactref element="U$1" pad="VIN"/>
<contactref element="SJ1" pad="1"/>
<wire x1="46.62" y1="1.53" x2="45.72" y2="2.54" width="0.6096" layer="1"/>
<wire x1="47.85" y1="1.5" x2="46.62" y2="1.53" width="0.6096" layer="1"/>
</signal>
<signal name="N$21">
<contactref element="R6" pad="2"/>
<contactref element="PWR" pad="C"/>
<wire x1="4.05" y1="26.95" x2="5" y2="26.95" width="0.3048" layer="1"/>
<wire x1="5" y1="26.95" x2="5.7" y2="26.25" width="0.3048" layer="1"/>
<wire x1="5.7" y1="26.25" x2="10" y2="26.25" width="0.3048" layer="16"/>
<wire x1="10" y1="26.25" x2="10" y2="29.2" width="0.3048" layer="1"/>
<wire x1="10" y1="29.2" x2="10.05" y2="29.25" width="0.3048" layer="1"/>
<wire x1="10.05" y1="29.25" x2="11" y2="29.25" width="0.3048" layer="1"/>
<wire x1="4.04" y1="26.97" x2="4.05" y2="26.95" width="0.3048" layer="1"/>
<wire x1="11" y1="29.25" x2="11" y2="29.238" width="0.3048" layer="1"/>
<via x="5.7" y="26.25" extent="1-16" drill="0.3"/>
<via x="10" y="26.25" extent="1-16" drill="0.3"/>
</signal>
</signals>
</board>
</drawing>
<compatibility>
<note version="6.3" minversion="6.2.2" severity="warning">
Since Version 6.2.2 text objects can contain more than one line,
which will not be processed correctly with this version.
</note>
</compatibility>
</eagle>

11079
ArduinoAddons/Arduino_1.x.x/libraries/TMC26XStepper/schematics/tmc-260-shield.sch Normal file
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1
Documentation/changelog.md Normal file
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@ -0,0 +1 @@

121
Marlin/Configuration.h
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@ -59,7 +59,7 @@ Here are some standard links for getting your machine calibrated:
// The following define selects which electronics board you have.
// Please choose the name from boards.h that matches your setup
#ifndef MOTHERBOARD
#define MOTHERBOARD BOARD_ULTIMAKER
#define MOTHERBOARD BOARD_RAMPS_13_EFB
#endif
// Define this to set a custom name for your generic Mendel,
@ -123,8 +123,8 @@ Here are some standard links for getting your machine calibrated:
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
#define TEMP_SENSOR_0 -1
#define TEMP_SENSOR_1 -1
#define TEMP_SENSOR_0 1
#define TEMP_SENSOR_1 0
#define TEMP_SENSOR_2 0
#define TEMP_SENSOR_3 0
#define TEMP_SENSOR_BED 0
@ -301,35 +301,21 @@ your extruder heater takes 2 minutes to hit the target on heating.
// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA
// coarse 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 endstop between the signal and ground pins.
#define ENDSTOPPULLUP_XMAX
#define ENDSTOPPULLUP_YMAX
#define ENDSTOPPULLUP_ZMAX
#define ENDSTOPPULLUP_XMIN
#define ENDSTOPPULLUP_YMIN
#define ENDSTOPPULLUP_ZMIN
#ifndef ENDSTOPPULLUPS
// fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
// #define ENDSTOPPULLUP_XMAX
// #define ENDSTOPPULLUP_YMAX
// #define ENDSTOPPULLUP_ZMAX
// #define ENDSTOPPULLUP_XMIN
// #define ENDSTOPPULLUP_YMIN
// #define ENDSTOPPULLUP_ZMIN
#endif
#ifdef ENDSTOPPULLUPS
#define ENDSTOPPULLUP_XMAX
#define ENDSTOPPULLUP_YMAX
#define ENDSTOPPULLUP_ZMAX
#define ENDSTOPPULLUP_XMIN
#define ENDSTOPPULLUP_YMIN
#define ENDSTOPPULLUP_ZMIN
#endif
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool X_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Y_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Z_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
// Mechanical endstop with COM to ground and NC to Signal uses "false" here (most common setup).
const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool X_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Y_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
//#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
@ -346,13 +332,14 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DISABLE_E false // For all extruders
#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E3_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
// If you motor turns to wrong direction, you can invert it here:
#define INVERT_X_DIR false
#define INVERT_Y_DIR false
#define INVERT_Z_DIR false
#define INVERT_E0_DIR false
#define INVERT_E1_DIR false
#define INVERT_E2_DIR false
#define INVERT_E3_DIR false
// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
@ -364,17 +351,26 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below.
// Travel limits after homing (units are in mm)
#define X_MAX_POS 205
#define X_MIN_POS 0
#define Y_MAX_POS 205
#define Y_MIN_POS 0
#define Z_MAX_POS 200
#define Z_MIN_POS 0
#define X_MAX_POS 200
#define Y_MAX_POS 200
#define Z_MAX_POS 200
#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
//===========================================================================
//============================= Filament Runout Sensor ======================
//===========================================================================
//#define FILAMENT_RUNOUT_SENSOR // Uncomment for defining a filament runout sensor such as a mechanical or opto endstop to check the existence of filament
// In RAMPS uses servo pin 2. Can be changed in pins file. For other boards pin definition should be made.
// It is assumed that when logic high = filament available
// when logic low = filament ran out
//const bool FIL_RUNOUT_INVERTING = true; // Should be uncommented and true or false should assigned
//#define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined.
//===========================================================================
//============================= Bed Auto Leveling ===========================
@ -402,11 +398,18 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef AUTO_BED_LEVELING_GRID
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
// The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
#define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
// Set the number of grid points per dimension
// You probably don't need more than 3 (squared=9)
@ -429,8 +432,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Offsets to the probe relative to the extruder tip (Hotend - Probe)
// X and Y offsets must be integers
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 // -left +right
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // -front +behind
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 // Probe on: -left +right
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // Probe on: -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 // -below (always!)
#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
@ -442,6 +445,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points
#define Z_RAISE_AFTER_PROBING 15 //How much the extruder will be raised after the last probing point.
// #define Z_PROBE_END_SCRIPT "G1 Z10 F12000\nG1 X15 Y330\nG1 Z0.5\nG1 Z10" //These commands will be executed in the end of G29 routine.
//Useful to retract a deployable probe.
//#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
//#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
@ -476,12 +482,14 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used
//#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0)
//Manual homing switch locations:
// Manual homing switch locations:
// For deltabots this means top and center of the Cartesian print volume.
#define MANUAL_X_HOME_POS 0
#define MANUAL_Y_HOME_POS 0
#define MANUAL_Z_HOME_POS 0
//#define MANUAL_Z_HOME_POS 402 // For delta: Distance between nozzle and print surface after homing.
#ifdef MANUAL_HOME_POSITIONS
#define MANUAL_X_HOME_POS 0
#define MANUAL_Y_HOME_POS 0
#define MANUAL_Z_HOME_POS 0
//#define MANUAL_Z_HOME_POS 402 // For delta: Distance between nozzle and print surface after homing.
#endif
//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
@ -489,12 +497,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// default settings
#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200.0*8/3,760*1.1} // default steps per unit for Ultimaker
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_AXIS_STEPS_PER_UNIT {80,80,4000,500} // default steps per unit for Ultimaker
#define DEFAULT_MAX_FEEDRATE {300, 300, 5, 25} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {3000,3000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration in mm/s^2 for retracts
#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
@ -535,11 +544,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// Preheat Constants
#define PLA_PREHEAT_HOTEND_TEMP 180
#define PLA_PREHEAT_HPB_TEMP 70
#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
#define PLA_PREHEAT_FAN_SPEED 0 // Insert Value between 0 and 255
#define ABS_PREHEAT_HOTEND_TEMP 240
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
#define ABS_PREHEAT_HPB_TEMP 110
#define ABS_PREHEAT_FAN_SPEED 0 // Insert Value between 0 and 255
//==============================LCD and SD support=============================

15
Marlin/ConfigurationStore.cpp
View file

@ -3,7 +3,7 @@
*
* Configuration and EEPROM storage
*
* V15 EEPROM Layout:
* V16 EEPROM Layout:
*
* ver
* axis_steps_per_unit (x4)
@ -11,6 +11,7 @@
* max_acceleration_units_per_sq_second (x4)
* acceleration
* retract_acceleration
* travel_aceeleration
* minimumfeedrate
* mintravelfeedrate
* minsegmenttime
@ -104,7 +105,7 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
// wrong data being written to the variables.
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
#define EEPROM_VERSION "V15"
#define EEPROM_VERSION "V16"
#ifdef EEPROM_SETTINGS
@ -118,6 +119,7 @@ void Config_StoreSettings() {
EEPROM_WRITE_VAR(i, max_acceleration_units_per_sq_second);
EEPROM_WRITE_VAR(i, acceleration);
EEPROM_WRITE_VAR(i, retract_acceleration);
EEPROM_WRITE_VAR(i, travel_acceleration);
EEPROM_WRITE_VAR(i, minimumfeedrate);
EEPROM_WRITE_VAR(i, mintravelfeedrate);
EEPROM_WRITE_VAR(i, minsegmenttime);
@ -253,6 +255,7 @@ void Config_RetrieveSettings() {
EEPROM_READ_VAR(i, acceleration);
EEPROM_READ_VAR(i, retract_acceleration);
EEPROM_READ_VAR(i, travel_acceleration);
EEPROM_READ_VAR(i, minimumfeedrate);
EEPROM_READ_VAR(i, mintravelfeedrate);
EEPROM_READ_VAR(i, minsegmenttime);
@ -380,6 +383,7 @@ void Config_ResetDefault() {
acceleration = DEFAULT_ACCELERATION;
retract_acceleration = DEFAULT_RETRACT_ACCELERATION;
travel_acceleration = DEFAULT_TRAVEL_ACCELERATION;
minimumfeedrate = DEFAULT_MINIMUMFEEDRATE;
minsegmenttime = DEFAULT_MINSEGMENTTIME;
mintravelfeedrate = DEFAULT_MINTRAVELFEEDRATE;
@ -516,11 +520,12 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_EOL;
SERIAL_ECHO_START;
if (!forReplay) {
SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
SERIAL_ECHOLNPGM("Accelerations: P=printing, R=retract and T=travel");
SERIAL_ECHO_START;
}
SERIAL_ECHOPAIR(" M204 S", acceleration );
SERIAL_ECHOPAIR(" T", retract_acceleration);
SERIAL_ECHOPAIR(" M204 P", acceleration );
SERIAL_ECHOPAIR(" R", retract_acceleration);
SERIAL_ECHOPAIR(" T", travel_acceleration);
SERIAL_EOL;
SERIAL_ECHO_START;

140
Marlin/Configuration_adv.h
View file

@ -214,6 +214,7 @@
#define X_HOME_RETRACT_MM 5
#define Y_HOME_RETRACT_MM 5
#define Z_HOME_RETRACT_MM 2
#define HOMING_BUMP_DIVISOR {10, 10, 20} // Re-Bump Speed Divisor (Divides the Homing Feedrate)
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
#define AXIS_RELATIVE_MODES {false, false, false, false}
@ -285,8 +286,8 @@
//===========================================================================
#define ENCODER_RATE_MULTIPLIER // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
#define ENCODER_10X_STEPS_PER_SEC 75 // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
#define ENCODER_100X_STEPS_PER_SEC 160 // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
#define ENCODER_10X_STEPS_PER_SEC 75 // If the encoder steps per sec exceeds this value, multiply steps moved x10 to quickly advance the value
#define ENCODER_100X_STEPS_PER_SEC 160 // If the encoder steps per sec exceeds this value, multiply steps moved x100 to really quickly advance the value
//#define ENCODER_RATE_MULTIPLIER_DEBUG // If defined, output the encoder steps per second value
//#define CHDK 4 //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
@ -461,6 +462,141 @@ const unsigned int dropsegments=5; //everything with less than this number of st
#endif
#endif
/******************************************************************************\
* enable this section if you have TMC26X motor drivers.
* you need to import the TMC26XStepper library into the arduino IDE for this
******************************************************************************/
//#define HAVE_TMCDRIVER
#ifdef HAVE_TMCDRIVER
// #define X_IS_TMC
#define X_MAX_CURRENT 1000 //in mA
#define X_SENSE_RESISTOR 91 //in mOhms
#define X_MICROSTEPS 16 //number of microsteps
// #define X2_IS_TMC
#define X2_MAX_CURRENT 1000 //in mA
#define X2_SENSE_RESISTOR 91 //in mOhms
#define X2_MICROSTEPS 16 //number of microsteps
// #define Y_IS_TMC
#define Y_MAX_CURRENT 1000 //in mA
#define Y_SENSE_RESISTOR 91 //in mOhms
#define Y_MICROSTEPS 16 //number of microsteps
// #define Y2_IS_TMC
#define Y2_MAX_CURRENT 1000 //in mA
#define Y2_SENSE_RESISTOR 91 //in mOhms
#define Y2_MICROSTEPS 16 //number of microsteps
// #define Z_IS_TMC
#define Z_MAX_CURRENT 1000 //in mA
#define Z_SENSE_RESISTOR 91 //in mOhms
#define Z_MICROSTEPS 16 //number of microsteps
// #define Z2_IS_TMC
#define Z2_MAX_CURRENT 1000 //in mA
#define Z2_SENSE_RESISTOR 91 //in mOhms
#define Z2_MICROSTEPS 16 //number of microsteps
// #define E0_IS_TMC
#define E0_MAX_CURRENT 1000 //in mA
#define E0_SENSE_RESISTOR 91 //in mOhms
#define E0_MICROSTEPS 16 //number of microsteps
// #define E1_IS_TMC
#define E1_MAX_CURRENT 1000 //in mA
#define E1_SENSE_RESISTOR 91 //in mOhms
#define E1_MICROSTEPS 16 //number of microsteps
// #define E2_IS_TMC
#define E2_MAX_CURRENT 1000 //in mA
#define E2_SENSE_RESISTOR 91 //in mOhms
#define E2_MICROSTEPS 16 //number of microsteps
// #define E3_IS_TMC
#define E3_MAX_CURRENT 1000 //in mA
#define E3_SENSE_RESISTOR 91 //in mOhms
#define E3_MICROSTEPS 16 //number of microsteps
#endif
/******************************************************************************\
* enable this section if you have L6470 motor drivers.
* you need to import the L6470 library into the arduino IDE for this
******************************************************************************/
//#define HAVE_L6470DRIVER
#ifdef HAVE_L6470DRIVER
// #define X_IS_L6470
#define X_MICROSTEPS 16 //number of microsteps
#define X_K_VAL 50 // 0 - 255, Higher values, are higher power. Be carefull not to go too high
#define X_OVERCURRENT 2000 //maxc current in mA. If the current goes over this value, the driver will switch off
#define X_STALLCURRENT 1500 //current in mA where the driver will detect a stall
// #define X2_IS_L6470
#define X2_MICROSTEPS 16 //number of microsteps
#define X2_K_VAL 50 // 0 - 255, Higher values, are higher power. Be carefull not to go too high
#define X2_OVERCURRENT 2000 //maxc current in mA. If the current goes over this value, the driver will switch off
#define X2_STALLCURRENT 1500 //current in mA where the driver will detect a stall
// #define Y_IS_L6470
#define Y_MICROSTEPS 16 //number of microsteps
#define Y_K_VAL 50 // 0 - 255, Higher values, are higher power. Be carefull not to go too high
#define Y_OVERCURRENT 2000 //maxc current in mA. If the current goes over this value, the driver will switch off
#define Y_STALLCURRENT 1500 //current in mA where the driver will detect a stall
// #define Y2_IS_L6470
#define Y2_MICROSTEPS 16 //number of microsteps
#define Y2_K_VAL 50 // 0 - 255, Higher values, are higher power. Be carefull not to go too high
#define Y2_OVERCURRENT 2000 //maxc current in mA. If the current goes over this value, the driver will switch off
#define Y2_STALLCURRENT 1500 //current in mA where the driver will detect a stall
// #define Z_IS_L6470
#define Z_MICROSTEPS 16 //number of microsteps
#define Z_K_VAL 50 // 0 - 255, Higher values, are higher power. Be carefull not to go too high
#define Z_OVERCURRENT 2000 //maxc current in mA. If the current goes over this value, the driver will switch off
#define Z_STALLCURRENT 1500 //current in mA where the driver will detect a stall
// #define Z2_IS_L6470
#define Z2_MICROSTEPS 16 //number of microsteps
#define Z2_K_VAL 50 // 0 - 255, Higher values, are higher power. Be carefull not to go too high
#define Z2_OVERCURRENT 2000 //maxc current in mA. If the current goes over this value, the driver will switch off
#define Z2_STALLCURRENT 1500 //current in mA where the driver will detect a stall
// #define E0_IS_L6470
#define E0_MICROSTEPS 16 //number of microsteps
#define E0_K_VAL 50 // 0 - 255, Higher values, are higher power. Be carefull not to go too high
#define E0_OVERCURRENT 2000 //maxc current in mA. If the current goes over this value, the driver will switch off
#define E0_STALLCURRENT 1500 //current in mA where the driver will detect a stall
// #define E1_IS_L6470
#define E1_MICROSTEPS 16 //number of microsteps
#define E1_MICROSTEPS 16 //number of microsteps
#define E1_K_VAL 50 // 0 - 255, Higher values, are higher power. Be carefull not to go too high
#define E1_OVERCURRENT 2000 //maxc current in mA. If the current goes over this value, the driver will switch off
#define E1_STALLCURRENT 1500 //current in mA where the driver will detect a stall
// #define E2_IS_L6470
#define E2_MICROSTEPS 16 //number of microsteps
#define E2_MICROSTEPS 16 //number of microsteps
#define E2_K_VAL 50 // 0 - 255, Higher values, are higher power. Be carefull not to go too high
#define E2_OVERCURRENT 2000 //maxc current in mA. If the current goes over this value, the driver will switch off
#define E2_STALLCURRENT 1500 //current in mA where the driver will detect a stall
// #define E3_IS_L6470
#define E3_MICROSTEPS 16 //number of microsteps
#define E3_MICROSTEPS 16 //number of microsteps
#define E3_K_VAL 50 // 0 - 255, Higher values, are higher power. Be carefull not to go too high
#define E3_OVERCURRENT 2000 //maxc current in mA. If the current goes over this value, the driver will switch off
#define E3_STALLCURRENT 1500 //current in mA where the driver will detect a stall
#endif
//===========================================================================
//============================= Define Defines ============================
//===========================================================================

47
Marlin/Marlin.h
View file

@ -32,6 +32,9 @@
#include "WProgram.h"
#endif
#define BIT(b) (1<<(b))
#define TEST(n,b) (((n)&BIT(b))!=0)
// Arduino < 1.0.0 does not define this, so we need to do it ourselves
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) ((p) + 0xA0)
@ -112,11 +115,11 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#if defined(DUAL_X_CARRIAGE) && defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1 \
&& defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
#define enable_x() do { WRITE(X_ENABLE_PIN, X_ENABLE_ON); WRITE(X2_ENABLE_PIN, X_ENABLE_ON); } while (0)
#define disable_x() do { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); WRITE(X2_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
#define enable_x() do { X_ENABLE_WRITE( X_ENABLE_ON); X2_ENABLE_WRITE( X_ENABLE_ON); } while (0)
#define disable_x() do { X_ENABLE_WRITE(!X_ENABLE_ON); X2_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; } while (0)
#elif defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
#define disable_x() { WRITE(X_ENABLE_PIN,!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
#define enable_x() X_ENABLE_WRITE( X_ENABLE_ON)
#define disable_x() { X_ENABLE_WRITE(!X_ENABLE_ON); axis_known_position[X_AXIS] = false; }
#else
#define enable_x() ;
#define disable_x() ;
@ -124,11 +127,11 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
#ifdef Y_DUAL_STEPPER_DRIVERS
#define enable_y() { WRITE(Y_ENABLE_PIN, Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, Y_ENABLE_ON); }
#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); WRITE(Y2_ENABLE_PIN, !Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
#define enable_y() { Y_ENABLE_WRITE( Y_ENABLE_ON); Y2_ENABLE_WRITE(Y_ENABLE_ON); }
#define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); Y2_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
#else
#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
#define disable_y() { WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
#define enable_y() Y_ENABLE_WRITE( Y_ENABLE_ON)
#define disable_y() { Y_ENABLE_WRITE(!Y_ENABLE_ON); axis_known_position[Y_AXIS] = false; }
#endif
#else
#define enable_y() ;
@ -137,11 +140,11 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
#ifdef Z_DUAL_STEPPER_DRIVERS
#define enable_z() { WRITE(Z_ENABLE_PIN, Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN, Z_ENABLE_ON); }
#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); WRITE(Z2_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
#define enable_z() { Z_ENABLE_WRITE( Z_ENABLE_ON); Z2_ENABLE_WRITE(Z_ENABLE_ON); }
#define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); Z2_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
#else
#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
#define disable_z() { WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
#define enable_z() Z_ENABLE_WRITE( Z_ENABLE_ON)
#define disable_z() { Z_ENABLE_WRITE(!Z_ENABLE_ON); axis_known_position[Z_AXIS] = false; }
#endif
#else
#define enable_z() ;
@ -149,32 +152,32 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#endif
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
#define enable_e0() WRITE(E0_ENABLE_PIN, E_ENABLE_ON)
#define disable_e0() WRITE(E0_ENABLE_PIN,!E_ENABLE_ON)
#define enable_e0() E0_ENABLE_WRITE(E_ENABLE_ON)
#define disable_e0() E0_ENABLE_WRITE(!E_ENABLE_ON)
#else
#define enable_e0() /* nothing */
#define disable_e0() /* nothing */
#endif
#if (EXTRUDERS > 1) && defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
#define enable_e1() WRITE(E1_ENABLE_PIN, E_ENABLE_ON)
#define disable_e1() WRITE(E1_ENABLE_PIN,!E_ENABLE_ON)
#define enable_e1() E1_ENABLE_WRITE(E_ENABLE_ON)
#define disable_e1() E1_ENABLE_WRITE(!E_ENABLE_ON)
#else
#define enable_e1() /* nothing */
#define disable_e1() /* nothing */
#endif
#if (EXTRUDERS > 2) && defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
#define enable_e2() WRITE(E2_ENABLE_PIN, E_ENABLE_ON)
#define disable_e2() WRITE(E2_ENABLE_PIN,!E_ENABLE_ON)
#define enable_e2() E2_ENABLE_WRITE(E_ENABLE_ON)
#define disable_e2() E2_ENABLE_WRITE(!E_ENABLE_ON)
#else
#define enable_e2() /* nothing */
#define disable_e2() /* nothing */
#endif
#if (EXTRUDERS > 3) && defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
#define enable_e3() WRITE(E3_ENABLE_PIN, E_ENABLE_ON)
#define disable_e3() WRITE(E3_ENABLE_PIN,!E_ENABLE_ON)
#define enable_e3() E3_ENABLE_WRITE(E_ENABLE_ON)
#define disable_e3() E3_ENABLE_WRITE(!E_ENABLE_ON)
#else
#define enable_e3() /* nothing */
#define disable_e3() /* nothing */
@ -205,6 +208,10 @@ void prepare_move();
void kill();
void Stop();
#ifdef FILAMENT_RUNOUT_SENSOR
void filrunout();
#endif
bool IsStopped();
bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full

14
Marlin/Marlin.ino
View file

@ -47,10 +47,20 @@
#endif
#endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h>
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
#if defined(DIGIPOT_I2C)
#include <Wire.h>
#endif
#ifdef HAVE_TMCDRIVER
#include <SPI.h>
#include <TMC26XStepper.h>
#endif
#ifdef HAVE_L6470DRIVER
#include <SPI.h>
#include <L6470.h>
#endif

4
Marlin/Marlin.pde
View file

@ -47,8 +47,8 @@
#endif
#endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h>
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
#if defined(DIGIPOT_I2C)

2
Marlin/MarlinSerial.cpp
View file

@ -76,7 +76,7 @@ void MarlinSerial::begin(long baud) {
#endif
if (useU2X) {
M_UCSRxA = 1 << M_U2Xx;
M_UCSRxA = BIT(M_U2Xx);
baud_setting = (F_CPU / 4 / baud - 1) / 2;
} else {
M_UCSRxA = 0;

4
Marlin/MarlinSerial.h
View file

@ -97,14 +97,14 @@ class MarlinSerial { //: public Stream
}
FORCE_INLINE void write(uint8_t c) {
while (!((M_UCSRxA) & (1 << M_UDREx)))
while (!TEST(M_UCSRxA, M_UDREx))
;
M_UDRx = c;
}
FORCE_INLINE void checkRx(void) {
if ((M_UCSRxA & (1<<M_RXCx)) != 0) {
if (TEST(M_UCSRxA, M_RXCx)) {
unsigned char c = M_UDRx;
int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;

248
Marlin/Marlin_main.cpp
View file

@ -62,7 +62,7 @@
#include "Servo.h"
#endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
@ -201,6 +201,10 @@
#endif
float homing_feedrate[] = HOMING_FEEDRATE;
#ifdef ENABLE_AUTO_BED_LEVELING
int xy_travel_speed = XY_TRAVEL_SPEED;
#endif
int homing_bump_divisor[] = HOMING_BUMP_DIVISOR;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
int feedmultiply = 100; //100->1 200->2
int saved_feedmultiply;
@ -369,6 +373,10 @@ bool cancel_heatup = false;
int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
#endif
#ifdef FILAMENT_RUNOUT_SENSOR
static bool filrunoutEnqued = false;
#endif
const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:";
@ -528,6 +536,16 @@ void setup_killpin()
#endif
}
void setup_filrunoutpin()
{
#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
pinMode(FILRUNOUT_PIN,INPUT);
#if defined(ENDSTOPPULLUP_FIL_RUNOUT)
WRITE(FILLRUNOUT_PIN,HIGH);
#endif
#endif
}
// Set home pin
void setup_homepin(void)
{
@ -604,6 +622,7 @@ void servo_init()
void setup()
{
setup_killpin();
setup_filrunoutpin();
setup_powerhold();
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
@ -768,7 +787,7 @@ void get_command()
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if( (int)(strtod(strchr_pointer + 1, NULL)) != checksum) {
if(strtol(strchr_pointer + 1, NULL, 10) != checksum) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
SERIAL_ERRORLN(gcode_LastN);
@ -804,7 +823,7 @@ void get_command()
}
if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch((int)((strtod(strchr_pointer + 1, NULL)))){
switch(strtol(strchr_pointer + 1, NULL, 10)){
case 0:
case 1:
case 2:
@ -1158,7 +1177,18 @@ static void run_z_probe() {
st_synchronize();
// move back down slowly to find bed
feedrate = homing_feedrate[Z_AXIS]/4;
if (homing_bump_divisor[Z_AXIS] >= 1)
{
feedrate = homing_feedrate[Z_AXIS]/homing_bump_divisor[Z_AXIS];
}
else
{
feedrate = homing_feedrate[Z_AXIS]/10;
SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
}
zPosition -= home_retract_mm(Z_AXIS) * 2;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], zPosition, current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
@ -1191,7 +1221,7 @@ static void do_blocking_move_to(float x, float y, float z) {
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
feedrate = XY_TRAVEL_SPEED;
feedrate = xy_travel_speed;
current_position[X_AXIS] = x;
current_position[Y_AXIS] = y;
@ -1467,11 +1497,17 @@ static void homeaxis(int axis) {
st_synchronize();
destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
#ifdef DELTA
feedrate = homing_feedrate[axis]/10;
#else
feedrate = homing_feedrate[axis]/2 ;
#endif
if (homing_bump_divisor[axis] >= 1)
{
feedrate = homing_feedrate[axis]/homing_bump_divisor[axis];
}
else
{
feedrate = homing_feedrate[axis]/10;
SERIAL_ECHOLN("Warning: The Homing Bump Feedrate Divisor cannot be less then 1");
}
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
#ifdef DELTA
@ -1934,41 +1970,32 @@ inline void gcode_G28() {
#ifdef AUTO_BED_LEVELING_GRID
#define MIN_PROBE_EDGE 20 // The probe square sides can be no smaller than this
// Make sure probing points are reachable
#if LEFT_PROBE_BED_POSITION < MIN_PROBE_X
#error The given LEFT_PROBE_BED_POSITION can't be reached by the probe.
#error "The given LEFT_PROBE_BED_POSITION can't be reached by the probe."
#elif RIGHT_PROBE_BED_POSITION > MAX_PROBE_X
#error The given RIGHT_PROBE_BED_POSITION can't be reached by the probe.
#error "The given RIGHT_PROBE_BED_POSITION can't be reached by the probe."
#elif FRONT_PROBE_BED_POSITION < MIN_PROBE_Y
#error The given FRONT_PROBE_BED_POSITION can't be reached by the probe.
#error "The given FRONT_PROBE_BED_POSITION can't be reached by the probe."
#elif BACK_PROBE_BED_POSITION > MAX_PROBE_Y
#error The given BACK_PROBE_BED_POSITION can't be reached by the probe.
// Check if Probe_Offset * Grid Points is greater than Probing Range
#elif abs(X_PROBE_OFFSET_FROM_EXTRUDER) * (AUTO_BED_LEVELING_GRID_POINTS-1) >= RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#elif abs(Y_PROBE_OFFSET_FROM_EXTRUDER) * (AUTO_BED_LEVELING_GRID_POINTS-1) >= BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#error "The given BACK_PROBE_BED_POSITION can't be reached by the probe."
#endif
#else // !AUTO_BED_LEVELING_GRID
#if ABL_PROBE_PT_1_X < MIN_PROBE_X || ABL_PROBE_PT_1_X > MAX_PROBE_X
#error The given ABL_PROBE_PT_1_X can't be reached by the probe.
#error "The given ABL_PROBE_PT_1_X can't be reached by the probe."
#elif ABL_PROBE_PT_2_X < MIN_PROBE_X || ABL_PROBE_PT_2_X > MAX_PROBE_X
#error The given ABL_PROBE_PT_2_X can't be reached by the probe.
#error "The given ABL_PROBE_PT_2_X can't be reached by the probe."
#elif ABL_PROBE_PT_3_X < MIN_PROBE_X || ABL_PROBE_PT_3_X > MAX_PROBE_X
#error The given ABL_PROBE_PT_3_X can't be reached by the probe.
#error "The given ABL_PROBE_PT_3_X can't be reached by the probe."
#elif ABL_PROBE_PT_1_Y < MIN_PROBE_Y || ABL_PROBE_PT_1_Y > MAX_PROBE_Y
#error The given ABL_PROBE_PT_1_Y can't be reached by the probe.
#error "The given ABL_PROBE_PT_1_Y can't be reached by the probe."
#elif ABL_PROBE_PT_2_Y < MIN_PROBE_Y || ABL_PROBE_PT_2_Y > MAX_PROBE_Y
#error The given ABL_PROBE_PT_2_Y can't be reached by the probe.
#error "The given ABL_PROBE_PT_2_Y can't be reached by the probe."
#elif ABL_PROBE_PT_3_Y < MIN_PROBE_Y || ABL_PROBE_PT_3_Y > MAX_PROBE_Y
#error The given ABL_PROBE_PT_3_Y can't be reached by the probe.
#error "The given ABL_PROBE_PT_3_Y can't be reached by the probe."
#endif
#endif // !AUTO_BED_LEVELING_GRID
@ -1985,6 +2012,8 @@ inline void gcode_G28() {
* Not supported by non-linear delta printer bed leveling.
* Example: "G29 P4"
*
* S Set the XY travel speed between probe points (in mm/min)
*
* V Set the verbose level (0-4). Example: "G29 V3"
*
* T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
@ -2005,12 +2034,6 @@ inline void gcode_G28() {
* Usage: "G29 E" or "G29 e"
*
*/
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
inline void gcode_G29() {
// Prevent user from running a G29 without first homing in X and Y
@ -2046,12 +2069,14 @@ inline void gcode_G28() {
int auto_bed_leveling_grid_points = AUTO_BED_LEVELING_GRID_POINTS;
#ifndef DELTA
if (code_seen('P')) auto_bed_leveling_grid_points = code_value_long();
if (auto_bed_leveling_grid_points < 2 || auto_bed_leveling_grid_points > AUTO_BED_LEVELING_GRID_POINTS) {
if (auto_bed_leveling_grid_points < 2) {
SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n");
return;
}
#endif
xy_travel_speed = code_seen('S') ? code_value_long() : XY_TRAVEL_SPEED;
int left_probe_bed_position = code_seen('L') ? code_value_long() : LEFT_PROBE_BED_POSITION,
right_probe_bed_position = code_seen('R') ? code_value_long() : RIGHT_PROBE_BED_POSITION,
front_probe_bed_position = code_seen('F') ? code_value_long() : FRONT_PROBE_BED_POSITION,
@ -2228,14 +2253,15 @@ inline void gcode_G28() {
if (verbose_level) {
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0] + 0.0001);
SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL(plane_equation_coefficients[1] + 0.0001);
SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOLLN(plane_equation_coefficients[2] + 0.0001);
SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
SERIAL_EOL;
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mean of sampled points: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOL_F(mean, 8);
SERIAL_EOL;
}
}
@ -2246,15 +2272,20 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
#if TOPO_ORIGIN == OriginFrontLeft
SERIAL_PROTOCOLPGM("+-----------+\n");
SERIAL_PROTOCOLPGM("|...Back....|\n");
SERIAL_PROTOCOLPGM("|Left..Right|\n");
SERIAL_PROTOCOLPGM("|...Front...|\n");
SERIAL_PROTOCOLPGM("+-----------+\n");
for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--)
#else
for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
#endif
{
#if TOPO_ORIGIN == OriginBackRight
for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
#else
for (xx = 0; xx < auto_bed_leveling_grid_points; xx++)
#else
for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
#endif
{
int ind =
@ -2333,6 +2364,11 @@ inline void gcode_G28() {
#elif not defined(SERVO_ENDSTOPS)
retract_z_probe();
#endif
#ifdef Z_PROBE_END_SCRIPT
enquecommands_P(PSTR(Z_PROBE_END_SCRIPT));
st_synchronize();
#endif
}
#ifndef Z_PROBE_SLED
@ -3480,16 +3516,34 @@ inline void gcode_M203() {
}
/**
* M204: Set Default Acceleration and/or Default Filament Acceleration in mm/sec^2 (M204 S3000 T7000)
* M204: Set Accelerations in mm/sec^2 (M204 P1200 R3000 T3000)
*
* S = normal moves
* T = filament only moves
* P = Printing moves
* R = Retract only (no X, Y, Z) moves
* T = Travel (non printing) moves
*
* Also sets minimum segment time in ms (B20000) to prevent buffer under-runs and M20 minimum feedrate
*/
inline void gcode_M204() {
if (code_seen('S')) acceleration = code_value();
if (code_seen('T')) retract_acceleration = code_value();
if (code_seen('P'))
{
acceleration = code_value();
SERIAL_ECHOPAIR("Setting Printing Acceleration: ", acceleration );
SERIAL_EOL;
}
if (code_seen('R'))
{
retract_acceleration = code_value();
SERIAL_ECHOPAIR("Setting Retract Acceleration: ", retract_acceleration );
SERIAL_EOL;
}
if (code_seen('T'))
{
travel_acceleration = code_value();
SERIAL_ECHOPAIR("Setting Travel Acceleration: ", travel_acceleration );
SERIAL_EOL;
}
}
/**
@ -4099,11 +4153,11 @@ inline void gcode_M400() { st_synchronize(); }
#ifdef FILAMENT_SENSOR
/**
* M404: Display or set the nominal filament width (3mm, 1.75mm ) N<3.0>
* M404: Display or set the nominal filament width (3mm, 1.75mm ) W<3.0>
*/
inline void gcode_M404() {
#if FILWIDTH_PIN > -1
if (code_seen('N')) {
if (code_seen('W')) {
filament_width_nominal = code_value();
}
else {
@ -4329,6 +4383,11 @@ inline void gcode_M503() {
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#endif
#ifdef FILAMENT_RUNOUT_SENSOR
filrunoutEnqued = false;
#endif
}
#endif // FILAMENTCHANGEENABLE
@ -4383,7 +4442,7 @@ inline void gcode_M503() {
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
*/
inline void gcode_M907() {
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#if HAS_DIGIPOTSS
for (int i=0;i<NUM_AXIS;i++)
if (code_seen(axis_codes[i])) digipot_current(i, code_value());
if (code_seen('B')) digipot_current(4, code_value());
@ -4406,7 +4465,7 @@ inline void gcode_M907() {
#endif
}
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#if HAS_DIGIPOTSS
/**
* M908: Control digital trimpot directly (M908 P<pin> S<current>)
@ -4418,7 +4477,7 @@ inline void gcode_M907() {
);
}
#endif // DIGIPOTSS_PIN
#endif // HAS_DIGIPOTSS
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350() {
@ -4436,7 +4495,7 @@ inline void gcode_M350() {
*/
inline void gcode_M351() {
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
if (code_seen('S')) switch((int)code_value()) {
if (code_seen('S')) switch(code_value_long()) {
case 1:
for(int i=0;i<NUM_AXIS;i++) if (code_seen(axis_codes[i])) microstep_ms(i, code_value(), -1);
if (code_seen('B')) microstep_ms(4, code_value(), -1);
@ -4635,7 +4694,7 @@ void process_commands() {
}
else if (code_seen('M')) {
switch( (int)code_value() ) {
switch( code_value_long() ) {
#ifdef ULTIPANEL
case 0: // M0 - Unconditional stop - Wait for user button press on LCD
case 1: // M1 - Conditional stop - Wait for user button press on LCD
@ -5005,11 +5064,11 @@ void process_commands() {
gcode_M907();
break;
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#if HAS_DIGIPOTSS
case 908: // M908 Control digital trimpot directly.
gcode_M908();
break;
#endif // DIGIPOTSS_PIN
#endif // HAS_DIGIPOTSS
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
gcode_M350();
@ -5367,41 +5426,34 @@ void prepare_arc_move(char isclockwise) {
#endif
#endif
unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
unsigned long lastMotorCheck = 0;
unsigned long lastMotor = 0; // Last time a motor was turned on
unsigned long lastMotorCheck = 0; // Last time the state was checked
void controllerFan()
{
if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
{
lastMotorCheck = millis();
if((READ(X_ENABLE_PIN) == (X_ENABLE_ON)) || (READ(Y_ENABLE_PIN) == (Y_ENABLE_ON)) || (READ(Z_ENABLE_PIN) == (Z_ENABLE_ON)) || (soft_pwm_bed > 0)
#if EXTRUDERS > 2
|| (READ(E2_ENABLE_PIN) == (E_ENABLE_ON))
#endif
#if EXTRUDER > 1
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|| (READ(X2_ENABLE_PIN) == (X_ENABLE_ON))
void controllerFan() {
uint32_t ms = millis();
if (ms >= lastMotorCheck + 2500) { // Not a time critical function, so we only check every 2500ms
lastMotorCheck = ms;
if (X_ENABLE_READ == X_ENABLE_ON || Y_ENABLE_READ == Y_ENABLE_ON || Z_ENABLE_READ == Z_ENABLE_ON || soft_pwm_bed > 0
|| E0_ENABLE_READ == E_ENABLE_ON // If any of the drivers are enabled...
#if EXTRUDERS > 1
|| E1_ENABLE_READ == E_ENABLE_ON
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|| X2_ENABLE_READ == X_ENABLE_ON
#endif
#if EXTRUDERS > 2
|| E2_ENABLE_READ == E_ENABLE_ON
#if EXTRUDERS > 3
|| E3_ENABLE_READ == E_ENABLE_ON
#endif
#endif
#endif
|| (READ(E1_ENABLE_PIN) == (E_ENABLE_ON))
#endif
|| (READ(E0_ENABLE_PIN) == (E_ENABLE_ON))) //If any of the drivers are enabled...
{
lastMotor = millis(); //... set time to NOW so the fan will turn on
}
if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
{
digitalWrite(CONTROLLERFAN_PIN, 0);
analogWrite(CONTROLLERFAN_PIN, 0);
}
else
{
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED);
) {
lastMotor = ms; //... set time to NOW so the fan will turn on
}
uint8_t speed = (lastMotor == 0 || ms >= lastMotor + (CONTROLLERFAN_SECS * 1000UL)) ? 0 : CONTROLLERFAN_SPEED;
// allows digital or PWM fan output to be used (see M42 handling)
digitalWrite(CONTROLLERFAN_PIN, speed);
analogWrite(CONTROLLERFAN_PIN, speed);
}
}
#endif
@ -5525,6 +5577,12 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
const int KILL_DELAY = 10000;
#endif
#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
if(card.sdprinting) {
if(!(READ(FILRUNOUT_PIN))^FIL_RUNOUT_INVERTING)
filrunout(); }
#endif
#if defined(HOME_PIN) && HOME_PIN > -1
static int homeDebounceCount = 0; // poor man's debouncing count
const int HOME_DEBOUNCE_DELAY = 10000;
@ -5611,7 +5669,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
{
bool oldstatus=READ(E0_ENABLE_PIN);
bool oldstatus=E0_ENABLE_READ;
enable_e0();
float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS];
@ -5623,7 +5681,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
plan_set_e_position(oldepos);
previous_millis_cmd=millis();
st_synchronize();
WRITE(E0_ENABLE_PIN,oldstatus);
E0_ENABLE_WRITE(oldstatus);
}
#endif
#if defined(DUAL_X_CARRIAGE)
@ -5673,6 +5731,16 @@ void kill()
while(1) { /* Intentionally left empty */ } // Wait for reset
}
#ifdef FILAMENT_RUNOUT_SENSOR
void filrunout()
{
if filrunoutEnqued == false {
filrunoutEnqued = true;
enquecommand("M600");
}
}
#endif
void Stop()
{
disable_heater();

18
Marlin/Sd2Card.cpp
View file

@ -35,14 +35,14 @@
*/
static void spiInit(uint8_t spiRate) {
// See avr processor documentation
SPCR = (1 << SPE) | (1 << MSTR) | (spiRate >> 1);
SPSR = spiRate & 1 || spiRate == 6 ? 0 : 1 << SPI2X;
SPCR = BIT(SPE) | BIT(MSTR) | (spiRate >> 1);
SPSR = spiRate & 1 || spiRate == 6 ? 0 : BIT(SPI2X);
}
//------------------------------------------------------------------------------
/** SPI receive a byte */
static uint8_t spiRec() {
SPDR = 0XFF;
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
return SPDR;
}
//------------------------------------------------------------------------------
@ -52,18 +52,18 @@ void spiRead(uint8_t* buf, uint16_t nbyte) {
if (nbyte-- == 0) return;
SPDR = 0XFF;
for (uint16_t i = 0; i < nbyte; i++) {
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
buf[i] = SPDR;
SPDR = 0XFF;
}
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
buf[nbyte] = SPDR;
}
//------------------------------------------------------------------------------
/** SPI send a byte */
static void spiSend(uint8_t b) {
SPDR = b;
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
}
//------------------------------------------------------------------------------
/** SPI send block - only one call so force inline */
@ -71,12 +71,12 @@ static inline __attribute__((always_inline))
void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPDR = token;
for (uint16_t i = 0; i < 512; i += 2) {
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
SPDR = buf[i];
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
SPDR = buf[i + 1];
}
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
}
//------------------------------------------------------------------------------
#else // SOFTWARE_SPI

8
Marlin/Sd2PinMap.h
View file

@ -334,9 +334,9 @@ 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;
*digitalPinMap[pin].ddr |= BIT(digitalPinMap[pin].bit);
} else {
*digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit);
*digitalPinMap[pin].ddr &= ~BIT(digitalPinMap[pin].bit);
}
} else {
badPinNumber();
@ -354,9 +354,9 @@ 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;
*digitalPinMap[pin].port |= BIT(digitalPinMap[pin].bit);
} else {
*digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit);
*digitalPinMap[pin].port &= ~BIT(digitalPinMap[pin].bit);
}
} else {
badPinNumber();

4
Marlin/SdBaseFile.h
View file

@ -171,9 +171,9 @@ 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;
uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | BIT(5) | 1;
/** Default time for file timestamp is 1 am */
uint16_t const FAT_DEFAULT_TIME = (1 << 11);
uint16_t const FAT_DEFAULT_TIME = BIT(11);
//------------------------------------------------------------------------------
/**
* \class SdBaseFile

2
Marlin/SdVolume.cpp
View file

@ -360,7 +360,7 @@ bool SdVolume::init(Sd2Card* dev, uint8_t part) {
blocksPerCluster_ = fbs->sectorsPerCluster;
// determine shift that is same as multiply by blocksPerCluster_
clusterSizeShift_ = 0;
while (blocksPerCluster_ != (1 << clusterSizeShift_)) {
while (blocksPerCluster_ != BIT(clusterSizeShift_)) {
// error if not power of 2
if (clusterSizeShift_++ > 7) goto fail;
}

1
Marlin/boards.h
View file

@ -14,6 +14,7 @@
#define BOARD_RAMPS_13_EEB 34 // RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Bed)
#define BOARD_RAMPS_13_EFF 35 // RAMPS 1.3 / 1.4 (Power outputs: Extruder, Fan, Fan)
#define BOARD_RAMPS_13_EEF 36 // RAMPS 1.3 / 1.4 (Power outputs: Extruder0, Extruder1, Fan)
#define BOARD_FELIX2 37 // Felix 2.0+ Electronics Board (RAMPS like)
#define BOARD_DUEMILANOVE_328P 4 // Duemilanove w/ ATMega328P pin assignments
#define BOARD_GEN6 5 // Gen6
#define BOARD_GEN6_DELUXE 51 // Gen6 deluxe

903
Marlin/configurator/config/Configuration.h Normal file
View file

@ -0,0 +1,903 @@
#ifndef CONFIGURATION_H
#define CONFIGURATION_H
#include "boards.h"
//===========================================================================
//============================= Getting Started =============================
//===========================================================================
/*
Here are some standard links for getting your machine calibrated:
* http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
* http://www.thingiverse.com/thing:5573
* https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
* http://www.thingiverse.com/thing:298812
*/
// This configuration file contains the basic settings.
// Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
// For a Delta printer replace the configuration files with the files in the
// example_configurations/delta directory.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
// For a Delta printer replace the configuration files with the files in the
// example_configurations/SCARA directory.
//
// @section info
// User-specified version info of this build to display in [Pronterface, etc] terminal window during
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
// build by the user have been successfully uploaded into firmware.
#define STRING_VERSION "1.0.2"
#define STRING_URL "reprap.org"
#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
#define STRING_SPLASH_LINE1 "v" STRING_VERSION // will be shown during bootup in line 1
//#define STRING_SPLASH_LINE2 STRING_VERSION_CONFIG_H // will be shown during bootup in line2
// @section machine
// SERIAL_PORT selects which serial port should be used for communication with the host.
// This allows the connection of wireless adapters (for instance) to non-default port pins.
// Serial port 0 is still used by the Arduino bootloader regardless of this setting.
// :[0,1,2,3,4,5,6,7]
#define SERIAL_PORT 0
// This determines the communication speed of the printer
// :[2400,9600,19200,38400,57600,115200,250000]
#define BAUDRATE 250000
// This enables the serial port associated to the Bluetooth interface
//#define BTENABLED // Enable BT interface on AT90USB devices
// The following define selects which electronics board you have.
// Please choose the name from boards.h that matches your setup
#ifndef MOTHERBOARD
#define MOTHERBOARD BOARD_ULTIMAKER
#endif
// Define this to set a custom name for your generic Mendel,
// #define CUSTOM_MENDEL_NAME "This Mendel"
// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
// This defines the number of extruders
// :[1,2,3,4]
#define EXTRUDERS 1
//// The following define selects which power supply you have. Please choose the one that matches your setup
// 1 = ATX
// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
// :{1:'ATX',2:'X-Box 360'}
#define POWER_SUPPLY 1
// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
// #define PS_DEFAULT_OFF
// @section temperature
//===========================================================================
//============================= Thermal Settings ============================
//===========================================================================
//
//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
//
//// Temperature sensor settings:
// -2 is thermocouple with MAX6675 (only for sensor 0)
// -1 is thermocouple with AD595
// 0 is not used
// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
// 3 is Mendel-parts thermistor (4.7k pullup)
// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
// 10 is 100k RS thermistor 198-961 (4.7k pullup)
// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
// 13 is 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
// 20 is the PT100 circuit found in the Ultimainboard V2.x
// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
//
// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
// (but gives greater accuracy and more stable PID)
// 51 is 100k thermistor - EPCOS (1k pullup)
// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
//
// 1047 is Pt1000 with 4k7 pullup
// 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
// :{ 0: "Not used", 4: "10k !! do not use for a hotend. Bad resolution at high temp. !!", 1: "100k / 4.7k - EPCOS", 51: "100k / 1k - EPCOS", 6: "100k / 4.7k EPCOS - Not as accurate as Table 1", 5: "100K / 4.7k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)", 7: "100k / 4.7k Honeywell 135-104LAG-J01", 71: "100k / 4.7k Honeywell 135-104LAF-J01", 8: "100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT", 9: "100k / 4.7k GE Sensing AL03006-58.2K-97-G1", 10: "100k / 4.7k RS 198-961", 11: "100k / 4.7k beta 3950 1%", 12: "100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT (calibrated for Makibox hot bed)", 13: "100k Hisens 3950 1% up to 300°C for hotend 'Simple ONE ' & hotend 'All In ONE'", 60: "100k Maker's Tool Works Kapton Bed Thermistor beta=3950", 55: "100k / 1k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)", 2: "200k / 4.7k - ATC Semitec 204GT-2", 52: "200k / 1k - ATC Semitec 204GT-2", '-2': "Thermocouple + MAX6675 (only for sensor 0)", '-1': "Thermocouple + AD595", 3: "Mendel-parts / 4.7k", 1047: "Pt1000 / 4.7k", 1010: "Pt1000 / 1k (non standard)", 20: "PT100 (Ultimainboard V2.x)", 147: "Pt100 / 4.7k", 110: "Pt100 / 1k (non-standard)", 998: "Dummy 1", 999: "Dummy 2" }
#define TEMP_SENSOR_0 -1
#define TEMP_SENSOR_1 -1
#define TEMP_SENSOR_2 0
#define TEMP_SENSOR_3 0
#define TEMP_SENSOR_BED 0
// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
//#define TEMP_SENSOR_1_AS_REDUNDANT
#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
// Actual temperature must be close to target for this long before M109 returns success
#define TEMP_RESIDENCY_TIME 10 // (seconds)
#define TEMP_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one
#define TEMP_WINDOW 1 // (degC) Window around target to start the residency timer x degC early.
// The minimal temperature defines the temperature below which the heater will not be enabled It is used
// to check that the wiring to the thermistor is not broken.
// Otherwise this would lead to the heater being powered on all the time.
#define HEATER_0_MINTEMP 5
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define HEATER_3_MINTEMP 5
#define BED_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 HEATER_0_MAXTEMP 275
#define HEATER_1_MAXTEMP 275
#define HEATER_2_MAXTEMP 275
#define HEATER_3_MAXTEMP 275
#define BED_MAXTEMP 150
// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
// average current. The value should be an integer and the heat bed will be turned on for 1 interval of
// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4
// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS
//#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R
//#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R
//===========================================================================
//============================= PID Settings ================================
//===========================================================================
// PID Tuning Guide here: http://reprap.org/wiki/PID_Tuning
// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
//#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
// Set/get with gcode: M301 E[extruder number, 0-2]
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
// If you are using a pre-configured hotend then you can use one of the value sets by uncommenting it
// Ultimaker
#define DEFAULT_Kp 22.2
#define DEFAULT_Ki 1.08
#define DEFAULT_Kd 114
// MakerGear
// #define DEFAULT_Kp 7.0
// #define DEFAULT_Ki 0.1
// #define DEFAULT_Kd 12
// Mendel Parts V9 on 12V
// #define DEFAULT_Kp 63.0
// #define DEFAULT_Ki 2.25
// #define DEFAULT_Kd 440
#endif // PIDTEMP
//===========================================================================
//============================= PID > Bed Temperature Control ===============
//===========================================================================
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
//
// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
// If your configuration is significantly different than this and you don't understand the issues involved, you probably
// shouldn't use bed PID until someone else verifies your hardware works.
// If this is enabled, find your own PID constants below.
//#define PIDTEMPBED
//
//#define BED_LIMIT_SWITCHING
// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
// so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED)
#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
#ifdef PIDTEMPBED
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from FOPDT model - kp=.39 Tp=405 Tdead=66, Tc set to 79.2, aggressive factor of .15 (vs .1, 1, 10)
#define DEFAULT_bedKp 10.00
#define DEFAULT_bedKi .023
#define DEFAULT_bedKd 305.4
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from pidautotune
// #define DEFAULT_bedKp 97.1
// #define DEFAULT_bedKi 1.41
// #define DEFAULT_bedKd 1675.16
// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
#endif // PIDTEMPBED
// @section extruder
//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
//can be software-disabled for whatever purposes by
#define PREVENT_DANGEROUS_EXTRUDE
//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
#define PREVENT_LENGTHY_EXTRUDE
#define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//===========================================================================
//============================= Thermal Runaway Protection ==================
//===========================================================================
/*
This is a feature to protect your printer from burn up in flames if it has
a thermistor coming off place (this happened to a friend of mine recently and
motivated me writing this feature).
The issue: If a thermistor come off, it will read a lower temperature than actual.
The system will turn the heater on forever, burning up the filament and anything
else around.
After the temperature reaches the target for the first time, this feature will
start measuring for how long the current temperature stays below the target
minus _HYSTERESIS (set_temperature - THERMAL_RUNAWAY_PROTECTION_HYSTERESIS).
If it stays longer than _PERIOD, it means the thermistor temperature
cannot catch up with the target, so something *may be* wrong. Then, to be on the
safe side, the system will he halt.
Bear in mind the count down will just start AFTER the first time the
thermistor temperature is over the target, so you will have no problem if
your extruder heater takes 2 minutes to hit the target on heating.
*/
// If you want to enable this feature for all your extruder heaters,
// uncomment the 2 defines below:
// Parameters for all extruder heaters
//#define THERMAL_RUNAWAY_PROTECTION_PERIOD 40 //in seconds
//#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 4 // in degree Celsius
// If you want to enable this feature for your bed heater,
// uncomment the 2 defines below:
// Parameters for the bed heater
//#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 20 //in seconds
//#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 2 // in degree Celsius
//===========================================================================
//============================= Mechanical Settings =========================
//===========================================================================
// @section machine
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA
// @section homing
// coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
#ifndef ENDSTOPPULLUPS
// fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
// #define ENDSTOPPULLUP_XMAX
// #define ENDSTOPPULLUP_YMAX
// #define ENDSTOPPULLUP_ZMAX
// #define ENDSTOPPULLUP_XMIN
// #define ENDSTOPPULLUP_YMIN
// #define ENDSTOPPULLUP_ZMIN
#endif
#ifdef ENDSTOPPULLUPS
#define ENDSTOPPULLUP_XMAX
#define ENDSTOPPULLUP_YMAX
#define ENDSTOPPULLUP_ZMAX
#define ENDSTOPPULLUP_XMIN
#define ENDSTOPPULLUP_YMIN
#define ENDSTOPPULLUP_ZMIN
#endif
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool X_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Y_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Z_MIN_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
//#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
// @section machine
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
// :{0:'Low',1:'High'}
#define X_ENABLE_ON 0
#define Y_ENABLE_ON 0
#define Z_ENABLE_ON 0
#define E_ENABLE_ON 0 // For all extruders
// Disables axis when it's not being used.
#define DISABLE_X false
#define DISABLE_Y false
#define DISABLE_Z false
// @section extruder
#define DISABLE_E false // For all extruders
#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
// @section machine
// Invert the stepper direction. Change (or reverse the motor connector) if an axis goes the wrong way.
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
// @section extruder
// For direct drive extruder v9 set to true, for geared extruder set to false.
#define INVERT_E0_DIR false // Direct drive extruder v9: true. Geared extruder: false
#define INVERT_E1_DIR false // Direct drive extruder v9: true. Geared extruder: false
#define INVERT_E2_DIR false // Direct drive extruder v9: true. Geared extruder: false
#define INVERT_E3_DIR false // Direct drive extruder v9: true. Geared extruder: false
// @section homing
// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
// :[-1,1]
#define X_HOME_DIR -1
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1
#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below.
// @section machine
// Travel limits after homing (units are in mm)
#define X_MIN_POS 0
#define Y_MIN_POS 0
#define Z_MIN_POS 0
#define X_MAX_POS 205
#define Y_MAX_POS 205
#define Z_MAX_POS 200
// @section hidden
#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
//===========================================================================
//============================= Bed Auto Leveling ===========================
//===========================================================================
// @section bedlevel
//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
#define Z_PROBE_REPEATABILITY_TEST // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
#ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to specify probing locations
//
// - "grid" mode
// Probe several points in a rectangular grid.
// You specify the rectangle and the density of sample points.
// This mode is preferred because there are more measurements.
//
// - "3-point" mode
// Probe 3 arbitrary points on the bed (that aren't colinear)
// You specify the XY coordinates of all 3 points.
// Enable this to sample the bed in a grid (least squares solution)
// Note: this feature generates 10KB extra code size
#define AUTO_BED_LEVELING_GRID
#ifdef AUTO_BED_LEVELING_GRID
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
// The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
// Set the number of grid points per dimension
// You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2
#else // !AUTO_BED_LEVELING_GRID
// Arbitrary points to probe. A simple cross-product
// is used to estimate the plane of the bed.
#define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15
#define ABL_PROBE_PT_2_Y 20
#define ABL_PROBE_PT_3_X 170
#define ABL_PROBE_PT_3_Y 20
#endif // AUTO_BED_LEVELING_GRID
// Offsets to the probe relative to the extruder tip (Hotend - Probe)
// X and Y offsets must be integers
#define X_PROBE_OFFSET_FROM_EXTRUDER -25 // -left +right
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 // -below (always!)
#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case
#define XY_TRAVEL_SPEED 8000 // X and Y axis travel speed between probes, in mm/min
#define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point.
#define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points
//#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
//#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
//If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
//The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
// You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
// #define PROBE_SERVO_DEACTIVATION_DELAY 300
//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
#define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area.
// When defined, it will:
// - Allow Z homing only after X and Y homing AND stepper drivers still enabled
// - If stepper drivers timeout, it will need X and Y homing again before Z homing
// - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
// - Block Z homing only when the probe is outside bed area.
#ifdef Z_SAFE_HOMING
#define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2) // X point for Z homing when homing all axis (G28)
#define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2) // Y point for Z homing when homing all axis (G28)
#endif
#endif // ENABLE_AUTO_BED_LEVELING
// @section homing
// The position of the homing switches
//#define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used
//#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0)
// Manual homing switch locations:
// For deltabots this means top and center of the Cartesian print volume.
#ifdef MANUAL_HOME_POSITIONS
#define MANUAL_X_HOME_POS 0
#define MANUAL_Y_HOME_POS 0
#define MANUAL_Z_HOME_POS 0
//#define MANUAL_Z_HOME_POS 402 // For delta: Distance between nozzle and print surface after homing.
#endif
// @section movement
//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
// default settings
#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200.0*8/3,760*1.1} // default steps per unit for Ultimaker
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
// For the other hotends it is their distance from the extruder 0 hotend.
// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
#define DEFAULT_XYJERK 20.0 // (mm/sec)
#define DEFAULT_ZJERK 0.4 // (mm/sec)
#define DEFAULT_EJERK 5.0 // (mm/sec)
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// @section more
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
#define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
#define Z_PROBE_OFFSET_RANGE_MIN -15
#define Z_PROBE_OFFSET_RANGE_MAX -5
#endif
// @section extras
// EEPROM
// The microcontroller can store settings in the EEPROM, e.g. max velocity...
// M500 - stores parameters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
//define this to enable EEPROM support
//#define EEPROM_SETTINGS
//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
// please keep turned on if you can.
//#define EEPROM_CHITCHAT
// @section temperature
// Preheat Constants
#define PLA_PREHEAT_HOTEND_TEMP 180
#define PLA_PREHEAT_HPB_TEMP 70
#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
#define ABS_PREHEAT_HOTEND_TEMP 240
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//==============================LCD and SD support=============================
// @section lcd
// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
// Character based displays can have different extended charsets.
#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°"
//#define DISPLAY_CHARSET_HD44780_WESTERN // "ÄäÖöÜüß²³°" if you see a '~' instead of a 'arrow_right' at the right of submenuitems - this is the right one.
//#define ULTRA_LCD //general LCD support, also 16x2
//#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
//#define SDSUPPORT // Enable SD Card Support in Hardware Console
//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
//#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication
//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
//#define ULTIPANEL //the UltiPanel as on Thingiverse
//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
// PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
// http://reprap.org/wiki/PanelOne
//#define PANEL_ONE
// The MaKr3d Makr-Panel with graphic controller and SD support
// http://reprap.org/wiki/MaKr3d_MaKrPanel
//#define MAKRPANEL
// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
// http://panucatt.com
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
//#define VIKI2
//#define miniVIKI
// The RepRapDiscount Smart Controller (white PCB)
// http://reprap.org/wiki/RepRapDiscount_Smart_Controller
//#define REPRAP_DISCOUNT_SMART_CONTROLLER
// The GADGETS3D G3D LCD/SD Controller (blue PCB)
// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
//#define G3D_PANEL
// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)
// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
//
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
// The RepRapWorld REPRAPWORLD_KEYPAD v1.1
// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
//#define REPRAPWORLD_KEYPAD
//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click
// The Elefu RA Board Control Panel
// http://www.elefu.com/index.php?route=product/product&product_id=53
// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARDUINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
//#define RA_CONTROL_PANEL
// @section hidden
//automatic expansion
#if defined (MAKRPANEL)
#define DOGLCD
#define SDSUPPORT
#define ULTIPANEL
#define NEWPANEL
#define DEFAULT_LCD_CONTRAST 17
#endif
#if defined(miniVIKI) || defined(VIKI2)
#define ULTRA_LCD //general LCD support, also 16x2
#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
#ifdef miniVIKI
#define DEFAULT_LCD_CONTRAST 95
#else
#define DEFAULT_LCD_CONTRAST 40
#endif
#define ENCODER_PULSES_PER_STEP 4
#define ENCODER_STEPS_PER_MENU_ITEM 1
#endif
#if defined (PANEL_ONE)
#define SDSUPPORT
#define ULTIMAKERCONTROLLER
#endif
#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
#define DOGLCD
#define U8GLIB_ST7920
#define REPRAP_DISCOUNT_SMART_CONTROLLER
#endif
#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
#define ULTIPANEL
#define NEWPANEL
#endif
#if defined(REPRAPWORLD_KEYPAD)
#define NEWPANEL
#define ULTIPANEL
#endif
#if defined(RA_CONTROL_PANEL)
#define ULTIPANEL
#define NEWPANEL
#define LCD_I2C_TYPE_PCA8574
#define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander
#endif
//I2C PANELS
//#define LCD_I2C_SAINSMART_YWROBOT
#ifdef LCD_I2C_SAINSMART_YWROBOT
// This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
// Make sure it is placed in the Arduino libraries directory.
#define LCD_I2C_TYPE_PCF8575
#define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander
#define NEWPANEL
#define ULTIPANEL
#endif
// PANELOLU2 LCD with status LEDs, separate encoder and click inputs
//#define LCD_I2C_PANELOLU2
#ifdef LCD_I2C_PANELOLU2
// This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
// Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
// (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
// Note: The PANELOLU2 encoder click input can either be directly connected to a pin
// (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
#define LCD_I2C_TYPE_MCP23017
#define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
#define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
#define NEWPANEL
#define ULTIPANEL
#ifndef ENCODER_PULSES_PER_STEP
#define ENCODER_PULSES_PER_STEP 4
#endif
#ifndef ENCODER_STEPS_PER_MENU_ITEM
#define ENCODER_STEPS_PER_MENU_ITEM 1
#endif
#ifdef LCD_USE_I2C_BUZZER
#define LCD_FEEDBACK_FREQUENCY_HZ 1000
#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100
#endif
#endif
// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
//#define LCD_I2C_VIKI
#ifdef LCD_I2C_VIKI
// This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
// Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
// Note: The pause/stop/resume LCD button pin should be connected to the Arduino
// BTN_ENC pin (or set BTN_ENC to -1 if not used)
#define LCD_I2C_TYPE_MCP23017
#define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
#define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
#define NEWPANEL
#define ULTIPANEL
#endif
// Shift register panels
// ---------------------
// 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SAV_3DLCD
#ifdef SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif
#ifdef ULTIPANEL
// #define NEWPANEL //enable this if you have a click-encoder panel
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 20
#define LCD_HEIGHT 4
#endif
#else //no panel but just LCD
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 16
#define LCD_HEIGHT 2
#endif
#endif
#endif
// @section lcd
// default LCD contrast for dogm-like LCD displays
#ifdef DOGLCD
# ifndef DEFAULT_LCD_CONTRAST
# define DEFAULT_LCD_CONTRAST 32
# endif
#endif
// @section extras
// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
//#define FAST_PWM_FAN
// Temperature status LEDs that display the hotend and bet temperature.
// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
// Otherwise the RED led is on. There is 1C hysteresis.
//#define TEMP_STAT_LEDS
// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
// which is not ass annoying as with the hardware PWM. On the other hand, if this frequency
// is too low, you should also increment SOFT_PWM_SCALE.
//#define FAN_SOFT_PWM
// Incrementing this by 1 will double the software PWM frequency,
// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
// However, control resolution will be halved for each increment;
// at zero value, there are 128 effective control positions.
#define SOFT_PWM_SCALE 0
// M240 Triggers a camera by emulating a Canon RC-1 Remote
// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
// #define PHOTOGRAPH_PIN 23
// SF send wrong arc g-codes when using Arc Point as fillet procedure
//#define SF_ARC_FIX
// Support for the BariCUDA Paste Extruder.
//#define BARICUDA
//define BlinkM/CyzRgb Support
//#define BLINKM
/*********************************************************************\
* R/C SERVO support
* Sponsored by TrinityLabs, Reworked by codexmas
**********************************************************************/
// Number of servos
//
// If you select a configuration below, this will receive a default value and does not need to be set manually
// set it manually if you have more servos than extruders and wish to manually control some
// leaving it undefined or defining as 0 will disable the servo subsystem
// If unsure, leave commented / disabled
//
//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
// Servo Endstops
//
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
/**********************************************************************\
* Support for a filament diameter sensor
* Also allows adjustment of diameter at print time (vs at slicing)
* Single extruder only at this point (extruder 0)
*
* Motherboards
* 34 - RAMPS1.4 - uses Analog input 5 on the AUX2 connector
* 81 - Printrboard - Uses Analog input 2 on the Exp1 connector (version B,C,D,E)
* 301 - Rambo - uses Analog input 3
* Note may require analog pins to be defined for different motherboards
**********************************************************************/
// Uncomment below to enable
//#define FILAMENT_SENSOR
#define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2)
#define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel
#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation
#define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm
#define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm
#define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM)
//defines used in the code
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially
//When using an LCD, uncomment the line below to display the Filament sensor data on the last line instead of status. Status will appear for 5 sec.
//#define FILAMENT_LCD_DISPLAY
#include "Configuration_adv.h"
#include "thermistortables.h"
#endif //__CONFIGURATION_H

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#ifndef CONFIGURATION_ADV_H
#define CONFIGURATION_ADV_H
// @section temperature
//===========================================================================
//=============================Thermal Settings ============================
//===========================================================================
#ifdef BED_LIMIT_SWITCHING
#define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
#endif
#define BED_CHECK_INTERVAL 5000 //ms between checks in bang-bang control
//// Heating sanity check:
// This waits for the watch period 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. This check is also only triggered if the target temperature and the current temperature
// differ by at least 2x WATCH_TEMP_INCREASE
//#define WATCH_TEMP_PERIOD 40000 //40 seconds
//#define WATCH_TEMP_INCREASE 10 //Heat up at least 10 degree in 20 seconds
#ifdef PIDTEMP
// this adds an experimental additional term to the heating power, proportional to the extrusion speed.
// if Kc is chosen well, the additional required power due to increased melting should be compensated.
#define PID_ADD_EXTRUSION_RATE
#ifdef PID_ADD_EXTRUSION_RATE
#define DEFAULT_Kc (1) //heating power=Kc*(e_speed)
#endif
#endif
//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
//The maximum buffered steps/sec of the extruder motor are called "se".
//You enter the autotemp mode by a M109 S<mintemp> B<maxtemp> F<factor>
// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
// you exit the value by any M109 without F*
// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
// on an Ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
#define AUTOTEMP
#ifdef AUTOTEMP
#define AUTOTEMP_OLDWEIGHT 0.98
#endif
//Show Temperature ADC value
//The M105 command return, besides traditional information, the ADC value read from temperature sensors.
//#define SHOW_TEMP_ADC_VALUES
// @section extruder
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
//#define EXTRUDER_RUNOUT_PREVENT
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30.
#define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
#define EXTRUDER_RUNOUT_SPEED 1500. //extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
// @section temperature
//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
#define TEMP_SENSOR_AD595_OFFSET 0.0
#define TEMP_SENSOR_AD595_GAIN 1.0
//This is for controlling a fan to cool down the stepper drivers
//it will turn on when any driver is enabled
//and turn off after the set amount of seconds from last driver being disabled again
#define CONTROLLERFAN_PIN -1 //Pin used for the fan to cool controller (-1 to disable)
#define CONTROLLERFAN_SECS 60 //How many seconds, after all motors were disabled, the fan should run
#define CONTROLLERFAN_SPEED 255 // == full speed
// When first starting the main fan, run it at full speed for the
// given number of milliseconds. This gets the fan spinning reliably
// before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu)
//#define FAN_KICKSTART_TIME 100
// @section extruder
// Extruder cooling fans
// Configure fan pin outputs to automatically turn on/off when the associated
// extruder temperature is above/below EXTRUDER_AUTO_FAN_TEMPERATURE.
// Multiple extruders can be assigned to the same pin in which case
// the fan will turn on when any selected extruder is above the threshold.
#define EXTRUDER_0_AUTO_FAN_PIN -1
#define EXTRUDER_1_AUTO_FAN_PIN -1
#define EXTRUDER_2_AUTO_FAN_PIN -1
#define EXTRUDER_3_AUTO_FAN_PIN -1
#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
#define EXTRUDER_AUTO_FAN_SPEED 255 // == full speed
//===========================================================================
//=============================Mechanical Settings===========================
//===========================================================================
// @section homing
#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
// @section hidden
//// AUTOSET LOCATIONS OF LIMIT SWITCHES
//// Added by ZetaPhoenix 09-15-2012
#ifdef MANUAL_HOME_POSITIONS // Use manual limit switch locations
#define X_HOME_POS MANUAL_X_HOME_POS
#define Y_HOME_POS MANUAL_Y_HOME_POS
#define Z_HOME_POS MANUAL_Z_HOME_POS
#else //Set min/max homing switch positions based upon homing direction and min/max travel limits
//X axis
#if X_HOME_DIR == -1
#ifdef BED_CENTER_AT_0_0
#define X_HOME_POS X_MAX_LENGTH * -0.5
#else
#define X_HOME_POS X_MIN_POS
#endif //BED_CENTER_AT_0_0
#else
#ifdef BED_CENTER_AT_0_0
#define X_HOME_POS X_MAX_LENGTH * 0.5
#else
#define X_HOME_POS X_MAX_POS
#endif //BED_CENTER_AT_0_0
#endif //X_HOME_DIR == -1
//Y axis
#if Y_HOME_DIR == -1
#ifdef BED_CENTER_AT_0_0
#define Y_HOME_POS Y_MAX_LENGTH * -0.5
#else
#define Y_HOME_POS Y_MIN_POS
#endif //BED_CENTER_AT_0_0
#else
#ifdef BED_CENTER_AT_0_0
#define Y_HOME_POS Y_MAX_LENGTH * 0.5
#else
#define Y_HOME_POS Y_MAX_POS
#endif //BED_CENTER_AT_0_0
#endif //Y_HOME_DIR == -1
// Z axis
#if Z_HOME_DIR == -1 //BED_CENTER_AT_0_0 not used
#define Z_HOME_POS Z_MIN_POS
#else
#define Z_HOME_POS Z_MAX_POS
#endif //Z_HOME_DIR == -1
#endif //End auto min/max positions
//END AUTOSET LOCATIONS OF LIMIT SWITCHES -ZP
// @section extras
//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
// A single Z stepper driver is usually used to drive 2 stepper motors.
// Uncomment this define to utilize a separate stepper driver for each Z axis motor.
// Only a few motherboards support this, like RAMPS, which have dual extruder support (the 2nd, often unused, extruder driver is used
// to control the 2nd Z axis stepper motor). The pins are currently only defined for a RAMPS motherboards.
// On a RAMPS (or other 5 driver) motherboard, using this feature will limit you to using 1 extruder.
//#define Z_DUAL_STEPPER_DRIVERS
#ifdef Z_DUAL_STEPPER_DRIVERS
#undef EXTRUDERS
#define EXTRUDERS 1
#endif
// Same again but for Y Axis.
//#define Y_DUAL_STEPPER_DRIVERS
// Define if the two Y drives need to rotate in opposite directions
#define INVERT_Y2_VS_Y_DIR true
#ifdef Y_DUAL_STEPPER_DRIVERS
#undef EXTRUDERS
#define EXTRUDERS 1
#endif
#if defined (Z_DUAL_STEPPER_DRIVERS) && defined (Y_DUAL_STEPPER_DRIVERS)
#error "You cannot have dual drivers for both Y and Z"
#endif
// Enable this for dual x-carriage printers.
// A dual x-carriage design has the advantage that the inactive extruder can be parked which
// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
// allowing faster printing speeds.
//#define DUAL_X_CARRIAGE
#ifdef DUAL_X_CARRIAGE
// Configuration for second X-carriage
// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
// the second x-carriage always homes to the maximum endstop.
#define X2_MIN_POS 80 // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
#define X2_MAX_POS 353 // set maximum to the distance between toolheads when both heads are homed
#define X2_HOME_DIR 1 // the second X-carriage always homes to the maximum endstop position
#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position
// However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software
// override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
// without modifying the firmware (through the "M218 T1 X???" command).
// Remember: you should set the second extruder x-offset to 0 in your slicer.
// Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
#define X2_ENABLE_PIN 29
#define X2_STEP_PIN 25
#define X2_DIR_PIN 23
// There are a few selectable movement modes for dual x-carriages using M605 S<mode>
// Mode 0: Full control. The slicer has full control over both x-carriages and can achieve optimal travel results
// as long as it supports dual x-carriages. (M605 S0)
// Mode 1: Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so
// that additional slicer support is not required. (M605 S1)
// Mode 2: Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all
// actions of the first x-carriage. This allows the printer to print 2 arbitrary items at
// once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
// This is the default power-up mode which can be later using M605.
#define DEFAULT_DUAL_X_CARRIAGE_MODE 0
// Default settings in "Auto-park Mode"
#define TOOLCHANGE_PARK_ZLIFT 0.2 // the distance to raise Z axis when parking an extruder
#define TOOLCHANGE_UNPARK_ZLIFT 1 // the distance to raise Z axis when unparking an extruder
// Default x offset in duplication mode (typically set to half print bed width)
#define DEFAULT_DUPLICATION_X_OFFSET 100
#endif //DUAL_X_CARRIAGE
// @section homing
//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
#define X_HOME_RETRACT_MM 5
#define Y_HOME_RETRACT_MM 5
#define Z_HOME_RETRACT_MM 2
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
// @section machine
#define AXIS_RELATIVE_MODES {false, false, false, false}
// @section hidden
#ifdef CONFIG_STEPPERS_TOSHIBA
#define MAX_STEP_FREQUENCY 10000 // Max step frequency for Toshiba Stepper Controllers
#else
#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
#endif
// @section machine
//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
#define INVERT_X_STEP_PIN false
#define INVERT_Y_STEP_PIN false
#define INVERT_Z_STEP_PIN false
#define INVERT_E_STEP_PIN false
//default stepper release if idle. Set to 0 to deactivate.
#define DEFAULT_STEPPER_DEACTIVE_TIME 60
#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 0.0
// @section lcd
// Feedrates for manual moves along X, Y, Z, E from panel
#ifdef ULTIPANEL
#define MANUAL_FEEDRATE {50*60, 50*60, 4*60, 60} // set the speeds for manual moves (mm/min)
#endif
//Comment to disable setting feedrate multiplier via encoder
#ifdef ULTIPANEL
#define ULTIPANEL_FEEDMULTIPLY
#endif
// @section extras
// minimum time in microseconds that a movement needs to take if the buffer is emptied.
#define DEFAULT_MINSEGMENTTIME 20000
// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN
// Frequency limit
// See nophead's blog for more info
// Not working O
//#define XY_FREQUENCY_LIMIT 15
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define MINIMUM_PLANNER_SPEED 0.05// (mm/sec)
// MS1 MS2 Stepper Driver Microstepping mode table
#define MICROSTEP1 LOW,LOW
#define MICROSTEP2 HIGH,LOW
#define MICROSTEP4 LOW,HIGH
#define MICROSTEP8 HIGH,HIGH
#define MICROSTEP16 HIGH,HIGH
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16]
// Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
// uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
//#define DIGIPOT_I2C
// Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8
#define DIGIPOT_I2C_NUM_CHANNELS 8
// actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}
//===========================================================================
//=============================Additional Features===========================
//===========================================================================
#define ENCODER_RATE_MULTIPLIER // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
#define ENCODER_10X_STEPS_PER_SEC 75 // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
#define ENCODER_100X_STEPS_PER_SEC 160 // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
//#define ENCODER_RATE_MULTIPLIER_DEBUG // If defined, output the encoder steps per second value
//#define CHDK 4 //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
#define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
// @section lcd
#define SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers?
#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place.
#define SDCARD_RATHERRECENTFIRST //reverse file order of sd card menu display. Its sorted practically after the file system block order.
// if a file is deleted, it frees a block. hence, the order is not purely chronological. To still have auto0.g accessible, there is again the option to do that.
// using:
//#define MENU_ADDAUTOSTART
// Show a progress bar on HD44780 LCDs for SD printing
//#define LCD_PROGRESS_BAR
#ifdef LCD_PROGRESS_BAR
// Amount of time (ms) to show the bar
#define PROGRESS_BAR_BAR_TIME 2000
// Amount of time (ms) to show the status message
#define PROGRESS_BAR_MSG_TIME 3000
// Amount of time (ms) to retain the status message (0=forever)
#define PROGRESS_MSG_EXPIRE 0
// Enable this to show messages for MSG_TIME then hide them
//#define PROGRESS_MSG_ONCE
#ifdef DOGLCD
#warning LCD_PROGRESS_BAR does not apply to graphical displays at this time.
#endif
#ifdef FILAMENT_LCD_DISPLAY
#error LCD_PROGRESS_BAR and FILAMENT_LCD_DISPLAY are not fully compatible. Comment out this line to use both.
#endif
#endif
// @section more
// The hardware watchdog should reset the microcontroller disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation.
//#define USE_WATCHDOG
#ifdef USE_WATCHDOG
// If you have a watchdog reboot in an ArduinoMega2560 then the device will hang forever, as a watchdog reset will leave the watchdog on.
// The "WATCHDOG_RESET_MANUAL" goes around this by not using the hardware reset.
// However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
//#define WATCHDOG_RESET_MANUAL
#endif
// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
// Babystepping enables the user to control the axis in tiny amounts, independently from the normal printing process
// it can e.g. be used to change z-positions in the print startup phase in real-time
// does not respect endstops!
//#define BABYSTEPPING
#ifdef BABYSTEPPING
#define BABYSTEP_XY //not only z, but also XY in the menu. more clutter, more functions
#define BABYSTEP_INVERT_Z false //true for inverse movements in Z
#define BABYSTEP_Z_MULTIPLICATOR 2 //faster z movements
#ifdef COREXY
#error BABYSTEPPING not implemented for COREXY yet.
#endif
#ifdef DELTA
#ifdef BABYSTEP_XY
#error BABYSTEPPING only implemented for Z axis on deltabots.
#endif
#endif
#endif
// extruder advance constant (s2/mm3)
//
// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K * cubic mm per second ^ 2
//
// Hooke's law says: force = k * distance
// Bernoulli's principle 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
#define D_FILAMENT 2.85
#define STEPS_MM_E 836
#define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA)
#endif // ADVANCE
// Arc interpretation settings:
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
const unsigned int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// @section lcd
// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted
// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT
// in the pins.h file. When using a push button pulling the pin to ground this will need inverted. This setting should
// be commented out otherwise
#define SDCARDDETECTINVERTED
// @section hidden
#ifdef ULTIPANEL
#undef SDCARDDETECTINVERTED
#endif
// Power Signal Control Definitions
// By default use ATX definition
#ifndef POWER_SUPPLY
#define POWER_SUPPLY 1
#endif
// 1 = ATX
#if (POWER_SUPPLY == 1)
#define PS_ON_AWAKE LOW
#define PS_ON_ASLEEP HIGH
#endif
// 2 = X-Box 360 203W
#if (POWER_SUPPLY == 2)
#define PS_ON_AWAKE HIGH
#define PS_ON_ASLEEP LOW
#endif
// @section temperature
// Control heater 0 and heater 1 in parallel.
//#define HEATERS_PARALLEL
//===========================================================================
//=============================Buffers ============================
//===========================================================================
// @section hidden
// The number of linear motions that can be in the plan at any give time.
// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ring-buffering.
#if defined SDSUPPORT
#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
#else
#define BLOCK_BUFFER_SIZE 16 // maximize block buffer
#endif
// @section more
//The ASCII buffer for receiving from the serial:
#define MAX_CMD_SIZE 96
#define BUFSIZE 4
// @section extras
// Firmware based and LCD controlled retract
// M207 and M208 can be used to define parameters for the retraction.
// The retraction can be called by the slicer using G10 and G11
// until then, intended retractions can be detected by moves that only extrude and the direction.
// the moves are than replaced by the firmware controlled ones.
// #define FWRETRACT //ONLY PARTIALLY TESTED
#ifdef FWRETRACT
#define MIN_RETRACT 0.1 //minimum extruded mm to accept a automatic gcode retraction attempt
#define RETRACT_LENGTH 3 //default retract length (positive mm)
#define RETRACT_LENGTH_SWAP 13 //default swap retract length (positive mm), for extruder change
#define RETRACT_FEEDRATE 45 //default feedrate for retracting (mm/s)
#define RETRACT_ZLIFT 0 //default retract Z-lift
#define RETRACT_RECOVER_LENGTH 0 //default additional recover length (mm, added to retract length when recovering)
#define RETRACT_RECOVER_LENGTH_SWAP 0 //default additional swap recover length (mm, added to retract length when recovering from extruder change)
#define RETRACT_RECOVER_FEEDRATE 8 //default feedrate for recovering from retraction (mm/s)
#endif
//adds support for experimental filament exchange support M600; requires display
#ifdef ULTIPANEL
#define FILAMENTCHANGEENABLE
#ifdef FILAMENTCHANGEENABLE
#define FILAMENTCHANGE_XPOS 3
#define FILAMENTCHANGE_YPOS 3
#define FILAMENTCHANGE_ZADD 10
#define FILAMENTCHANGE_FIRSTRETRACT -2
#define FILAMENTCHANGE_FINALRETRACT -100
#endif
#endif
#ifdef FILAMENTCHANGEENABLE
#ifdef EXTRUDER_RUNOUT_PREVENT
#error EXTRUDER_RUNOUT_PREVENT currently incompatible with FILAMENTCHANGE
#endif
#endif
//===========================================================================
//============================= Define Defines ============================
//===========================================================================
// @section hidden
#if defined (ENABLE_AUTO_BED_LEVELING) && defined (DELTA)
#error "Bed Auto Leveling is still not compatible with Delta Kinematics."
#endif
#if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
#error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1"
#endif
#if EXTRUDERS > 1 && defined HEATERS_PARALLEL
#error "You cannot use HEATERS_PARALLEL if EXTRUDERS > 1"
#endif
#if TEMP_SENSOR_0 > 0
#define THERMISTORHEATER_0 TEMP_SENSOR_0
#define HEATER_0_USES_THERMISTOR
#endif
#if TEMP_SENSOR_1 > 0
#define THERMISTORHEATER_1 TEMP_SENSOR_1
#define HEATER_1_USES_THERMISTOR
#endif
#if TEMP_SENSOR_2 > 0
#define THERMISTORHEATER_2 TEMP_SENSOR_2
#define HEATER_2_USES_THERMISTOR
#endif
#if TEMP_SENSOR_3 > 0
#define THERMISTORHEATER_3 TEMP_SENSOR_3
#define HEATER_3_USES_THERMISTOR
#endif
#if TEMP_SENSOR_BED > 0
#define THERMISTORBED TEMP_SENSOR_BED
#define BED_USES_THERMISTOR
#endif
#if TEMP_SENSOR_0 == -1
#define HEATER_0_USES_AD595
#endif
#if TEMP_SENSOR_1 == -1
#define HEATER_1_USES_AD595
#endif
#if TEMP_SENSOR_2 == -1
#define HEATER_2_USES_AD595
#endif
#if TEMP_SENSOR_3 == -1
#define HEATER_3_USES_AD595
#endif
#if TEMP_SENSOR_BED == -1
#define BED_USES_AD595
#endif
#if TEMP_SENSOR_0 == -2
#define HEATER_0_USES_MAX6675
#endif
#if TEMP_SENSOR_0 == 0
#undef HEATER_0_MINTEMP
#undef HEATER_0_MAXTEMP
#endif
#if TEMP_SENSOR_1 == 0
#undef HEATER_1_MINTEMP
#undef HEATER_1_MAXTEMP
#endif
#if TEMP_SENSOR_2 == 0
#undef HEATER_2_MINTEMP
#undef HEATER_2_MAXTEMP
#endif
#if TEMP_SENSOR_3 == 0
#undef HEATER_3_MINTEMP
#undef HEATER_3_MAXTEMP
#endif
#if TEMP_SENSOR_BED == 0
#undef BED_MINTEMP
#undef BED_MAXTEMP
#endif
#endif //__CONFIGURATION_ADV_H

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Header set Access-Control-Allow-Origin "*"

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#ifndef BOARDS_H
#define BOARDS_H
#define BOARD_UNKNOWN -1
#define BOARD_GEN7_CUSTOM 10 // Gen7 custom (Alfons3 Version) "https://github.com/Alfons3/Generation_7_Electronics"
#define BOARD_GEN7_12 11 // Gen7 v1.1, v1.2
#define BOARD_GEN7_13 12 // Gen7 v1.3
#define BOARD_GEN7_14 13 // Gen7 v1.4
#define BOARD_CHEAPTRONIC 2 // Cheaptronic v1.0
#define BOARD_SETHI 20 // Sethi 3D_1
#define BOARD_RAMPS_OLD 3 // MEGA/RAMPS up to 1.2
#define BOARD_RAMPS_13_EFB 33 // RAMPS 1.3 / 1.4 (Extruder, Fan, Bed)
#define BOARD_RAMPS_13_EEB 34 // RAMPS 1.3 / 1.4 (Extruder0, Extruder1, Bed)
#define BOARD_RAMPS_13_EFF 35 // RAMPS 1.3 / 1.4 (Extruder, Fan, Fan)
#define BOARD_RAMPS_13_EEF 36 // RAMPS 1.3 / 1.4 (Extruder0, Extruder1, Fan)
#define BOARD_DUEMILANOVE_328P 4 // Duemilanove w/ ATMega328P pin assignments
#define BOARD_GEN6 5 // Gen6
#define BOARD_GEN6_DELUXE 51 // Gen6 deluxe
#define BOARD_SANGUINOLOLU_11 6 // Sanguinololu < 1.2
#define BOARD_SANGUINOLOLU_12 62 // Sanguinololu 1.2 and above
#define BOARD_MELZI 63 // Melzi
#define BOARD_STB_11 64 // STB V1.1
#define BOARD_AZTEEG_X1 65 // Azteeg X1
#define BOARD_MELZI_1284 66 // Melzi with ATmega1284 (MaKr3d version)
#define BOARD_AZTEEG_X3 67 // Azteeg X3
#define BOARD_AZTEEG_X3_PRO 68 // Azteeg X3 Pro
#define BOARD_ULTIMAKER 7 // Ultimaker
#define BOARD_ULTIMAKER_OLD 71 // Ultimaker (Older electronics. Pre 1.5.4. This is rare)
#define BOARD_ULTIMAIN_2 72 // Ultimainboard 2.x (Uses TEMP_SENSOR 20)
#define BOARD_3DRAG 77 // 3Drag
#define BOARD_K8200 78 // Vellemann K8200 (derived from 3Drag)
#define BOARD_TEENSYLU 8 // Teensylu
#define BOARD_RUMBA 80 // Rumba
#define BOARD_PRINTRBOARD 81 // Printrboard (AT90USB1286)
#define BOARD_BRAINWAVE 82 // Brainwave (AT90USB646)
#define BOARD_SAV_MKI 83 // SAV Mk-I (AT90USB1286)
#define BOARD_TEENSY2 84 // Teensy++2.0 (AT90USB1286) - CLI compile: DEFINES=AT90USBxx_TEENSYPP_ASSIGNMENTS HARDWARE_MOTHERBOARD=84 make
#define BOARD_GEN3_PLUS 9 // Gen3+
#define BOARD_GEN3_MONOLITHIC 22 // Gen3 Monolithic Electronics
#define BOARD_MEGATRONICS 70 // Megatronics
#define BOARD_MEGATRONICS_2 701 // Megatronics v2.0
#define BOARD_MEGATRONICS_1 702 // Minitronics v1.0
#define BOARD_MEGATRONICS_3 703 // Megatronics v3.0
#define BOARD_OMCA_A 90 // Alpha OMCA board
#define BOARD_OMCA 91 // Final OMCA board
#define BOARD_RAMBO 301 // Rambo
#define BOARD_ELEFU_3 21 // Elefu Ra Board (v3)
#define BOARD_5DPRINT 88 // 5DPrint D8 Driver Board
#define BOARD_LEAPFROG 999 // Leapfrog
#define BOARD_WITBOX 41 // bq WITBOX
#define BOARD_HEPHESTOS 42 // bq Prusa i3 Hephestos
#define BOARD_99 99 // This is in pins.h but...?
#define MB(board) (MOTHERBOARD==BOARD_##board)
#define IS_RAMPS (MB(RAMPS_OLD) || MB(RAMPS_13_EFB) || MB(RAMPS_13_EEB) || MB(RAMPS_13_EFF) || MB(RAMPS_13_EEF))
#endif //__BOARDS_H

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#ifndef LANGUAGE_H
#define LANGUAGE_H
#include "Configuration.h"
#define LANGUAGE_CONCAT(M) #M
#define GENERATE_LANGUAGE_INCLUDE(M) LANGUAGE_CONCAT(language_##M.h)
// NOTE: IF YOU CHANGE LANGUAGE FILES OR MERGE A FILE WITH CHANGES
//
// ==> ALWAYS TRY TO COMPILE MARLIN WITH/WITHOUT "ULTIPANEL" / "ULTRALCD" / "SDSUPPORT" #define IN "Configuration.h"
// ==> ALSO TRY ALL AVAILABLE LANGUAGE OPTIONS
// Languages
// en English
// pl Polish
// fr French
// de German
// es Spanish
// ru Russian
// it Italian
// pt Portuguese
// pt-br Portuguese (Brazil)
// fi Finnish
// an Aragonese
// nl Dutch
// ca Catalan
// eu Basque-Euskera
#ifndef LANGUAGE_INCLUDE
// pick your language from the list above
#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
#endif
#define PROTOCOL_VERSION "1.0"
#define FIRMWARE_URL "https://github.com/MarlinFirmware/Marlin"
#if MB(ULTIMAKER)|| MB(ULTIMAKER_OLD)|| MB(ULTIMAIN_2)
#define MACHINE_NAME "Ultimaker"
#define FIRMWARE_URL "http://firmware.ultimaker.com"
#elif MB(RUMBA)
#define MACHINE_NAME "Rumba"
#elif MB(3DRAG)
#define MACHINE_NAME "3Drag"
#define FIRMWARE_URL "http://3dprint.elettronicain.it/"
#elif MB(K8200)
#define MACHINE_NAME "K8200"
#elif MB(5DPRINT)
#define MACHINE_NAME "Makibox"
#elif MB(SAV_MKI)
#define MACHINE_NAME "SAV MkI"
#define FIRMWARE_URL "https://github.com/fmalpartida/Marlin/tree/SAV-MkI-config"
#elif MB(WITBOX)
#define MACHINE_NAME "WITBOX"
#define FIRMWARE_URL "http://www.bq.com/gb/downloads-witbox.html"
#elif MB(HEPHESTOS)
#define MACHINE_NAME "HEPHESTOS"
#define FIRMWARE_URL "http://www.bq.com/gb/downloads-prusa-i3-hephestos.html"
#else // Default firmware set to Mendel
#define MACHINE_NAME "Mendel"
#endif
#ifdef CUSTOM_MENDEL_NAME
#define MACHINE_NAME CUSTOM_MENDEL_NAME
#endif
#ifndef MACHINE_UUID
#define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
#endif
#define STRINGIFY_(n) #n
#define STRINGIFY(n) STRINGIFY_(n)
// Common LCD messages
/* nothing here yet */
// Common serial messages
#define MSG_MARLIN "Marlin"
// Serial Console Messages (do not translate those!)
#define MSG_Enqueing "enqueing \""
#define MSG_POWERUP "PowerUp"
#define MSG_EXTERNAL_RESET " External Reset"
#define MSG_BROWNOUT_RESET " Brown out Reset"
#define MSG_WATCHDOG_RESET " Watchdog Reset"
#define MSG_SOFTWARE_RESET " Software Reset"
#define MSG_AUTHOR " | Author: "
#define MSG_CONFIGURATION_VER " Last Updated: "
#define MSG_FREE_MEMORY " Free Memory: "
#define MSG_PLANNER_BUFFER_BYTES " PlannerBufferBytes: "
#define MSG_OK "ok"
#define MSG_FILE_SAVED "Done saving file."
#define MSG_ERR_LINE_NO "Line Number is not Last Line Number+1, Last Line: "
#define MSG_ERR_CHECKSUM_MISMATCH "checksum mismatch, Last Line: "
#define MSG_ERR_NO_CHECKSUM "No Checksum with line number, Last Line: "
#define MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM "No Line Number with checksum, Last Line: "
#define MSG_FILE_PRINTED "Done printing file"
#define MSG_BEGIN_FILE_LIST "Begin file list"
#define MSG_END_FILE_LIST "End file list"
#define MSG_M104_INVALID_EXTRUDER "M104 Invalid extruder "
#define MSG_M105_INVALID_EXTRUDER "M105 Invalid extruder "
#define MSG_M200_INVALID_EXTRUDER "M200 Invalid extruder "
#define MSG_M218_INVALID_EXTRUDER "M218 Invalid extruder "
#define MSG_M221_INVALID_EXTRUDER "M221 Invalid extruder "
#define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature"
#define MSG_M109_INVALID_EXTRUDER "M109 Invalid extruder "
#define MSG_HEATING "Heating..."
#define MSG_HEATING_COMPLETE "Heating done."
#define MSG_BED_HEATING "Bed Heating."
#define MSG_BED_DONE "Bed done."
#define MSG_M115_REPORT "FIRMWARE_NAME:Marlin V1; Sprinter/grbl mashup for gen6 FIRMWARE_URL:" FIRMWARE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID "\n"
#define MSG_COUNT_X " Count X: "
#define MSG_ERR_KILLED "Printer halted. kill() called!"
#define MSG_ERR_STOPPED "Printer stopped due to errors. Fix the error and use M999 to restart. (Temperature is reset. Set it after restarting)"
#define MSG_RESEND "Resend: "
#define MSG_UNKNOWN_COMMAND "Unknown command: \""
#define MSG_ACTIVE_EXTRUDER "Active Extruder: "
#define MSG_INVALID_EXTRUDER "Invalid extruder"
#define MSG_X_MIN "x_min: "
#define MSG_X_MAX "x_max: "
#define MSG_Y_MIN "y_min: "
#define MSG_Y_MAX "y_max: "
#define MSG_Z_MIN "z_min: "
#define MSG_Z_MAX "z_max: "
#define MSG_M119_REPORT "Reporting endstop status"
#define MSG_ENDSTOP_HIT "TRIGGERED"
#define MSG_ENDSTOP_OPEN "open"
#define MSG_HOTEND_OFFSET "Hotend offsets:"
#define MSG_SD_CANT_OPEN_SUBDIR "Cannot open subdir"
#define MSG_SD_INIT_FAIL "SD init fail"
#define MSG_SD_VOL_INIT_FAIL "volume.init failed"
#define MSG_SD_OPENROOT_FAIL "openRoot failed"
#define MSG_SD_CARD_OK "SD card ok"
#define MSG_SD_WORKDIR_FAIL "workDir open failed"
#define MSG_SD_OPEN_FILE_FAIL "open failed, File: "
#define MSG_SD_FILE_OPENED "File opened: "
#define MSG_SD_SIZE " Size: "
#define MSG_SD_FILE_SELECTED "File selected"
#define MSG_SD_WRITE_TO_FILE "Writing to file: "
#define MSG_SD_PRINTING_BYTE "SD printing byte "
#define MSG_SD_NOT_PRINTING "Not SD printing"
#define MSG_SD_ERR_WRITE_TO_FILE "error writing to file"
#define MSG_SD_CANT_ENTER_SUBDIR "Cannot enter subdir: "
#define MSG_STEPPER_TOO_HIGH "Steprate too high: "
#define MSG_ENDSTOPS_HIT "endstops hit: "
#define MSG_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented"
#define MSG_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented"
#define MSG_BABYSTEPPING_X "Babystepping X"
#define MSG_BABYSTEPPING_Y "Babystepping Y"
#define MSG_BABYSTEPPING_Z "Babystepping Z"
#define MSG_SERIAL_ERROR_MENU_STRUCTURE "Error in menu structure"
#define MSG_ERR_EEPROM_WRITE "Error writing to EEPROM!"
// LCD Menu Messages
// Add your own character. Reference: https://github.com/MarlinFirmware/Marlin/pull/1434 photos
// and https://www.sparkfun.com/datasheets/LCD/HD44780.pdf page 17-18
#ifdef DOGLCD
#define STR_Ae "\304" // 'Ä' U8glib
#define STR_ae "\344" // 'ä'
#define STR_Oe "\326" // 'Ö'
#define STR_oe STR_Oe // 'ö'
#define STR_Ue "\334" // 'Ü'
#define STR_ue STR_Ue // 'ü'
#define STR_sz "\337" // 'ß'
#define STR_h2 "\262" // '²'
#define STR_h3 "\263" // '³'
#define STR_Deg "\260" // '°'
#define STR_THERMOMETER "\377"
#else
#ifdef DISPLAY_CHARSET_HD44780_JAPAN // HD44780 ROM Code: A00 (Japan)
#define STR_ae "\xe1"
#define STR_Ae STR_ae
#define STR_oe "\357"
#define STR_Oe STR_oe
#define STR_ue "\365"
#define STR_Ue STR_ue
#define STR_sz "\342"
#define STR_h2 "2"
#define STR_h3 "3"
#define STR_Deg "\271"
#define STR_THERMOMETER "\002"
#endif
#ifdef DISPLAY_CHARSET_HD44780_WESTERN // HD44780 ROM Code: A02 (Western)
#define STR_Ae "\216"
#define STR_ae "\204"
#define STR_Oe "\211"
#define STR_oe "\204"
#define STR_Ue "\212"
#define STR_ue "\201"
#define STR_sz "\160"
#define STR_h2 "\262"
#define STR_h3 "\263"
#define STR_Deg "\337"
#define STR_THERMOMETER "\002"
#endif
#endif
/*
#define TESTSTRING000 "\000\001\002\003\004\005\006\007\010\011\012\013\014\015\016\017"
#define TESTSTRING020 "\020\021\022\023\024\025\026\027\030\031\032\033\034\035\036\037"
#define TESTSTRING040 "\040\041\042\043\044\045\046\047\050\051\052\053\054\055\056\057"
#define TESTSTRING060 "\060\061\062\063\064\065\066\067\070\071\072\073\074\075\076\077"
#define TESTSTRING100 "\100\101\102\103\104\105\106\107\110\111\112\113\114\115\116\117"
#define TESTSTRING120 "\120\121\122\123\124\125\126\127\130\131\132\133\134\135\136\137"
#define TESTSTRING140 "\140\141\142\143\144\145\146\147\150\151\152\153\154\155\156\157"
#define TESTSTRING160 "\160\161\162\163\164\165\166\167\170\171\172\173\174\175\176\177"
#define TESTSTRING200 "\200\201\202\203\204\205\206\207\210\211\212\213\214\215\216\217"
#define TESTSTRING220 "\220\221\222\223\224\225\226\227\230\231\232\233\234\235\236\237"
#define TESTSTRING240 "\240\241\242\243\244\245\246\247\250\251\252\253\254\255\256\257"
#define TESTSTRING260 "\260\261\262\263\264\265\266\267\270\271\272\273\274\275\276\277"
#define TESTSTRING300 "\300\301\302\303\304\305\306\307\310\311\312\313\314\315\316\317"
#define TESTSTRING320 "\320\321\322\323\324\325\326\327\330\331\332\333\334\335\336\337"
#define TESTSTRING340 "\340\341\342\343\344\345\346\347\350\351\352\353\354\355\356\357"
#define TESTSTRING360 "\360\361\362\363\364\365\366\367\370\371\372\373\374\375\376\377"
*/
#include LANGUAGE_INCLUDE
#include "language_en.h"
#endif //__LANGUAGE_H

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/* configurator.css */
/* Styles for Marlin Configurator */
.clear { clear: both; }
/* Prevent selection except PRE tags */
* {
-webkit-touch-callout: none;
-webkit-user-select: none;
-khtml-user-select: none;
-moz-user-select: none;
-ms-user-select: none;
user-select: none;
}
pre {
-webkit-touch-callout: text;
-webkit-user-select: text;
-khtml-user-select: text;
-moz-user-select: text;
-ms-user-select: text;
user-select: text;
}
body { margin: 0; padding: 0; background: #56A; color: #000; font-family: monospace; }
#main {
max-width: 1100px;
margin: 0 auto 10px;
padding: 0 2%; width: 96%;
}
h1, h2, h3, h4, h5, h6 { clear: both; }
h1, p.info { font-family: sans-serif; }
h1 {
height: 38px;
margin-bottom: -30px;
color: #FFF;
background: transparent url(logo.png) right top no-repeat;
}
p.info { padding: 0; color: #000; }
p.info span { color: #800; }
#message { text-align: center; }
#message { width: 80%; margin: 0 auto 0.25em; color: #FF0; }
#message p { padding: 2px 0; font-weight: bold; border-radius: 0.8em; }
#message p.message { color: #080; background: #CFC; }
#message p.error { color: #F00; background: #FF4; }
#message p.warning { color: #FF0; background: #BA4; }
#message p.message span,
#message p.error span,
#message p.warning span {
color: #A00;
background: rgba(255, 255, 255, 1);
border: 1px solid rgba(0,0,0,0.5);
border-radius: 1em;
float: right;
margin-right: 0.5em;
padding: 0 3px;
font-family: sans-serif;
font-size: small;
position: relative;
top: -1px;
}
#help strong { color: #0DD; }
img { display: none; }
/* Forms */
#config_form {
display: block;
background: #EEE;
padding: 6px 20px 20px;
color: #000;
position: relative;
border-radius: 1.5em;
border-top-left-radius: 0;
}
fieldset {
height: 16.1em;
overflow-y: scroll;
overflow-x: hidden;
margin-top: 10px;
}
label, input, select, textarea { display: block; float: left; margin: 1px 0; }
label.newline, textarea, fieldset { clear: both; }
label {
width: 120px; /* label area */
height: 1em;
padding: 10px 460px 10px 1em;
margin-right: -450px;
text-align: right;
}
label.blocked, label.added.blocked, label.added.blocked.sublabel { color: #AAA; }
label.added.sublabel {
width: auto;
margin: 11px -2.5em 0 1em;
padding: 0 3em 0 0;
font-style: italic;
color: #444;
}
label+label.added.sublabel {
margin-left: 0;
}
input[type="text"], select { margin: 0.75em 0 0; }
input[type="checkbox"], input[type="radio"], input[type="file"] { margin: 1em 0 0; }
input[type="checkbox"].enabler, input[type="radio"].enabler { margin-left: 1em; }
input:disabled { color: #BBB; }
#config_form input[type="text"].subitem { width: 4em; }
#config_form input[type="text"].subitem+.subitem { margin-left: 4px; }
input[type="text"].added { width: 20em; }
label.added {
width: 265px; /* label area */
height: 1em;
padding: 10px 370px 10px 1em;
margin-right: -360px;
text-align: right;
}
ul.tabs { padding: 0; list-style: none; }
ul.tabs li { display: inline; }
ul.tabs li a,
ul.tabs li a.active:hover,
ul.tabs li a.active:active {
display: block;
float: left;
background: #1E4059;
color: #CCC;
font-size: 110%;
border-radius: 0.25em 0.25em 0 0;
margin: 0 4px 0 0;
padding: 2px 8px;
text-decoration: none;
font-family: georgia,"times new roman",times;
}
ul.tabs li a.active:link,
ul.tabs li a.active:visited {
background: #DDD;
color: #06F;
cursor: default;
margin-top: -4px;
padding-bottom: 4px;
padding-top: 4px;
}
ul.tabs li a:hover,
ul.tabs li a:active {
background: #000;
color: #FFF;
}
fieldset { display: none; border: 1px solid #AAA; border-radius: 1em; }
fieldset legend { display: none; }
.hilightable span {
display: block;
float: left;
width: 100%;
height: 1.3em;
background: rgba(225,255,0,1);
margin: 0 -100% -1em 0;
}
#serial_stepper { padding-top: 0.75em; display: block; float: left; }
/*#SERIAL_PORT { display: none; }*/
/* Tooltips */
#tooltip {
display: none;
max-width: 30em;
padding: 8px;
border: 2px solid #73d699;
border-radius: 1em;
position: absolute;
z-index: 999;
font-family: sans-serif;
font-size: 85%;
color: #000;
line-height: 1.1;
background: #e2ff99; /* Old browsers */
background: -moz-linear-gradient(top, #e2ff99 0%, #73d699 100%); /* FF3.6+ */
background: -webkit-gradient(linear, left top, left bottom, color-stop(0%,#e2ff99), color-stop(100%,#73d699)); /* Chrome,Safari4+ */
background: -webkit-linear-gradient(top, #e2ff99 0%,#73d699 100%); /* Chrome10+,Safari5.1+ */
background: -o-linear-gradient(top, #e2ff99 0%,#73d699 100%); /* Opera 11.10+ */
background: -ms-linear-gradient(top, #e2ff99 0%,#73d699 100%); /* IE10+ */
background: linear-gradient(to bottom, #e2ff99 0%,#73d699 100%); /* W3C */
filter: progid:DXImageTransform.Microsoft.gradient( startColorstr='#e2ff99', endColorstr='#73d699',GradientType=0 ); /* IE6-9 */
-webkit-box-shadow: 0px 6px 25px -4px rgba(0,0,0,0.75);
-moz-box-shadow: 0px 6px 25px -4px rgba(0,0,0,0.75);
box-shadow: 0px 6px 25px -4px rgba(0,0,0,0.75);
}
#tooltip>span {
position: absolute;
content: "";
width: 0;
height: 0;
border-left: 8px solid transparent;
border-right: 8px solid transparent;
border-top: 8px solid #73d699;
z-index: 999;
bottom: -10px;
left: 20px;
}
#tooltip>strong { color: #00B; }
/* Tooltips Checkbox */
#tipson {
width: auto;
height: auto;
padding: 0;
margin-right: 0;
float: right;
font-weight: bold;
font-size: 100%;
font-family: helvetica;
text-align: left;
cursor: pointer;
}
#tipson input { float: none; display: inline; cursor: pointer; }
/* Config Text */
pre.config {
height: 25em;
padding: 10px;
border: 2px solid #888;
border-radius: 5px;
overflow: auto;
clear: both;
background-color: #FFF;
color: #000;
font-family: "Fira Mono", monospace;
font-size: small;
}
/* Pre Headers */
h2 {
width: 100%;
margin: 12px -300px 4px 0;
padding: 0;
float: left;
}
/* Disclosure Widget */
span.disclose, a.download, a.download-all {︎
display: block;
float: right;
margin-top: 12px;
}
span.disclose {
margin-right: -10px; /* total width */
margin-left: 14px;
width: 0;
height: 0;
position: relative;
left: 3px;
top: 3px;
cursor: pointer;
border-left: 8px solid transparent;
border-right: 8px solid transparent;
border-top: 10px solid #000;
}
span.disclose.closed {
margin-right: -8px; /* total width */
margin-left: 10px;
left: 0;
top: 0;
border-top: 8px solid transparent;
border-bottom: 8px solid transparent;
border-right: 10px solid #000;
}
span.disclose.almost {
-ms-transform: rotate(45deg); /* IE 9 */
-webkit-transform: rotate(45deg); /* Chrome, Safari, Opera */
transform: rotate(45deg);
}
span.disclose.closed.almost {
left: 1px;
top: 3px;
-ms-transform: rotate(315deg); /* IE 9 */
-webkit-transform: rotate(315deg); /* Chrome, Safari, Opera */
transform: rotate(315deg);
}
/* Download Button */
a.download, a.download-all {
visibility: hidden;
padding: 2px;
border: 1px solid #494;
border-radius: 4px;
margin: 12px 0 0;
background: #FFF;
color: #494;
font-family: sans-serif;
font-size: small;
font-weight: bold;
text-decoration: none;
}
a.download-all { margin: 9px 2em 0; color: #449; border-color: #449; }
input[type="text"].one_of_2 { max-width: 15%; }
input[type="text"].one_of_3 { max-width: 10%; }
input[type="text"].one_of_4 { max-width: 7%; }
select.one_of_2 { max-width: 15%; }
select.one_of_3 { max-width: 10%; }
select.one_of_4 { max-width: 14%; }
select.one_of_4+span.label+select.one_of_4+span.label { clear: both; margin-left: 265px; padding-left: 1.75em; }
select.one_of_4+span.label+select.one_of_4+span.label+select.one_of_4+span.label { clear: none; margin-left: 1em; padding-left: 0; }
@media all and (min-width: 1140px) {
#main { max-width: 10000px; }
fieldset { float: left; width: 50%; height: auto; }
#config_text, #config_adv_text { float: right; clear: right; width: 45%; }
pre.config { height: 20em; }
.disclose { display: none; }
input[type="text"].one_of_2 { max-width: 15%; }
input[type="text"].one_of_3 { max-width: 9%; }
input[type="text"].one_of_4 { max-width: 8%; }
select.one_of_2 { max-width: 15%; }
select.one_of_3 { max-width: 10%; }
select.one_of_4 { max-width: 16%; }
}
/*label.blocked, .blocked { display: none; }*/

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<!DOCTYPE html>
<html>
<head>
<meta charset="UTF-8">
<title>Marlin Firmware Configurator</title>
<link href='http://fonts.googleapis.com/css?family=Fira+Mono&amp;subset=latin,latin-ext' rel='stylesheet' type='text/css' />
<script src="js/jquery-2.1.3.min.js"></script>
<script src="js/binarystring.js"></script>
<script src="js/binaryfileuploader.js"></script>
<script src="js/FileSaver.min.js"></script>
<script src="js/jszip.min.js"></script>
<script src="js/jcanvas.js"></script>
<script src="js/jstepper.js"></script>
<script src="js/configurator.js"></script>
<link rel="stylesheet" href="css/configurator.css" type="text/css" media="all" />
</head>
<body>
<section id="main">
<h1>Marlin Configurator</h1>
<p class="info">Select presets (coming soon), modify, and download.</p>
<div id="message"></div>
<div id="tabs"></div>
<form id="config_form">
<div id="tooltip"></div>
<label>Drop Files:</label><input type="file" id="file-upload" />
<label id="tipson"><input type="checkbox" checked /> ?</label>
<a href="" class="download-all">Download Zip</a>
<fieldset id="machine">
<legend>Machine</legend>
<label class="newline">Serial Port:</label><select name="SERIAL_PORT"></select><div id="serial_stepper"></div>
<label>Baud Rate:</label><select name="BAUDRATE"></select>
<label>AT90USB BT IF:</label>
<input name="BTENABLED" type="checkbox" value="1" checked />
<label class="newline">Motherboard:</label><select name="MOTHERBOARD"></select>
<label class="newline">Custom Name:</label><input name="CUSTOM_MENDEL_NAME" type="text" size="14" maxlength="12" value="" />
<label class="newline">Machine UUID:</label><input name="MACHINE_UUID" type="text" size="38" maxlength="36" value="" />
<label class="newline">Extruders:</label><select name="EXTRUDERS"></select>
<label class="newline">Power Supply:</label><select name="POWER_SUPPLY"></select>
<label>PS Default Off:</label>
<input name="PS_DEFAULT_OFF" type="checkbox" value="1" checked />
</fieldset>
<fieldset id="homing">
<legend>Homing</legend>
</fieldset>
<fieldset id="temperature">
<legend>Temperature</legend>
<label class="newline">Temp Sensor 0:</label><select name="TEMP_SENSOR_0"></select>
<label class="newline">Temp Sensor 1:</label><select name="TEMP_SENSOR_1"></select>
<label class="newline">Temp Sensor 2:</label><select name="TEMP_SENSOR_2"></select>
<label class="newline">Bed Temp Sensor:</label><select name="TEMP_SENSOR_BED"></select>
<label>Max Diff:</label>
<input name="MAX_REDUNDANT_TEMP_SENSOR_DIFF" type="text" size="3" maxlength="2" />
<label>Temp Residency Time (s):</label>
<input name="TEMP_RESIDENCY_TIME" type="text" size="3" maxlength="2" />
</fieldset>
<fieldset id="extruder">
<legend>Extruder</legend>
</fieldset>
<fieldset id="lcd">
<legend>LCD / SD</legend>
</fieldset>
<fieldset id="bedlevel">
<legend>Bed Leveling</legend>
</fieldset>
<fieldset id="extras">
<legend>Extras</legend>
</fieldset>
<fieldset id="info">
<legend>Info</legend>
</fieldset>
<fieldset id="more">
<legend>More…</legend>
</fieldset>
<section id="config_text">
<h2>Configuration.h</h2>
<span class="disclose"></span>
<a href="" class="download">Download</a>
<pre class="hilightable config"></pre>
</section>
<section id="config_adv_text">
<h2>Configuration_adv.h</h2>
<span class="disclose"></span>
<a href="" class="download">Download</a>
<pre class="hilightable config"></pre>
</section>
<br class="clear" />
</form>
</section>
</body>
</html>

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/*! @source http://purl.eligrey.com/github/FileSaver.js/blob/master/FileSaver.js */
var saveAs=saveAs||typeof navigator!=="undefined"&&navigator.msSaveOrOpenBlob&&navigator.msSaveOrOpenBlob.bind(navigator)||function(view){"use strict";if(typeof navigator!=="undefined"&&/MSIE [1-9]\./.test(navigator.userAgent)){return}var doc=view.document,get_URL=function(){return view.URL||view.webkitURL||view},save_link=doc.createElementNS("http://www.w3.org/1999/xhtml","a"),can_use_save_link="download"in save_link,click=function(node){var event=doc.createEvent("MouseEvents");event.initMouseEvent("click",true,false,view,0,0,0,0,0,false,false,false,false,0,null);node.dispatchEvent(event)},webkit_req_fs=view.webkitRequestFileSystem,req_fs=view.requestFileSystem||webkit_req_fs||view.mozRequestFileSystem,throw_outside=function(ex){(view.setImmediate||view.setTimeout)(function(){throw ex},0)},force_saveable_type="application/octet-stream",fs_min_size=0,arbitrary_revoke_timeout=500,revoke=function(file){var revoker=function(){if(typeof file==="string"){get_URL().revokeObjectURL(file)}else{file.remove()}};if(view.chrome){revoker()}else{setTimeout(revoker,arbitrary_revoke_timeout)}},dispatch=function(filesaver,event_types,event){event_types=[].concat(event_types);var i=event_types.length;while(i--){var listener=filesaver["on"+event_types[i]];if(typeof listener==="function"){try{listener.call(filesaver,event||filesaver)}catch(ex){throw_outside(ex)}}}},FileSaver=function(blob,name){var filesaver=this,type=blob.type,blob_changed=false,object_url,target_view,dispatch_all=function(){dispatch(filesaver,"writestart progress write writeend".split(" "))},fs_error=function(){if(blob_changed||!object_url){object_url=get_URL().createObjectURL(blob)}if(target_view){target_view.location.href=object_url}else{var new_tab=view.open(object_url,"_blank");if(new_tab==undefined&&typeof safari!=="undefined"){view.location.href=object_url}}filesaver.readyState=filesaver.DONE;dispatch_all();revoke(object_url)},abortable=function(func){return function(){if(filesaver.readyState!==filesaver.DONE){return func.apply(this,arguments)}}},create_if_not_found={create:true,exclusive:false},slice;filesaver.readyState=filesaver.INIT;if(!name){name="download"}if(can_use_save_link){object_url=get_URL().createObjectURL(blob);save_link.href=object_url;save_link.download=name;click(save_link);filesaver.readyState=filesaver.DONE;dispatch_all();revoke(object_url);return}if(view.chrome&&type&&type!==force_saveable_type){slice=blob.slice||blob.webkitSlice;blob=slice.call(blob,0,blob.size,force_saveable_type);blob_changed=true}if(webkit_req_fs&&name!=="download"){name+=".download"}if(type===force_saveable_type||webkit_req_fs){target_view=view}if(!req_fs){fs_error();return}fs_min_size+=blob.size;req_fs(view.TEMPORARY,fs_min_size,abortable(function(fs){fs.root.getDirectory("saved",create_if_not_found,abortable(function(dir){var save=function(){dir.getFile(name,create_if_not_found,abortable(function(file){file.createWriter(abortable(function(writer){writer.onwriteend=function(event){target_view.location.href=file.toURL();filesaver.readyState=filesaver.DONE;dispatch(filesaver,"writeend",event);revoke(file)};writer.onerror=function(){var error=writer.error;if(error.code!==error.ABORT_ERR){fs_error()}};"writestart progress write abort".split(" ").forEach(function(event){writer["on"+event]=filesaver["on"+event]});writer.write(blob);filesaver.abort=function(){writer.abort();filesaver.readyState=filesaver.DONE};filesaver.readyState=filesaver.WRITING}),fs_error)}),fs_error)};dir.getFile(name,{create:false},abortable(function(file){file.remove();save()}),abortable(function(ex){if(ex.code===ex.NOT_FOUND_ERR){save()}else{fs_error()}}))}),fs_error)}),fs_error)},FS_proto=FileSaver.prototype,saveAs=function(blob,name){return new FileSaver(blob,name)};FS_proto.abort=function(){var filesaver=this;filesaver.readyState=filesaver.DONE;dispatch(filesaver,"abort")};FS_proto.readyState=FS_proto.INIT=0;FS_proto.WRITING=1;FS_proto.DONE=2;FS_proto.error=FS_proto.onwritestart=FS_proto.onprogress=FS_proto.onwrite=FS_proto.onabort=FS_proto.onerror=FS_proto.onwriteend=null;return saveAs}(typeof self!=="undefined"&&self||typeof window!=="undefined"&&window||this.content);if(typeof module!=="undefined"&&module.exports){module.exports.saveAs=saveAs}else if(typeof define!=="undefined"&&define!==null&&define.amd!=null){define([],function(){return saveAs})}

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function BinaryFileUploader(o) {
this.options = null;
this._defaultOptions = {
element: null, // HTML file element
onFileLoad: function(file) {
console.log(file.toString());
}
};
this._init = function(o) {
if (!this.hasFileUploaderSupport()) return;
this._verifyDependencies();
this.options = this._mergeObjects(this._defaultOptions, o);
this._verifyOptions();
this.addFileChangeListener();
}
this.hasFileUploaderSupport = function() {
return !!(window.File && window.FileReader && window.FileList && window.Blob);
}
this.addFileChangeListener = function() {
this.options.element.addEventListener(
'change',
this._bind(this, this.onFileChange)
);
}
this.onFileChange = function(e) {
// TODO accept multiple files
var file = e.target.files[0],
reader = new FileReader();
reader.onload = this._bind(this, this.onFileLoad);
reader.readAsBinaryString(file);
}
this.onFileLoad = function(e) {
var content = e.target.result,
string = new BinaryString(content);
this.options.onFileLoad(string);
}
this._mergeObjects = function(starting, override) {
var merged = starting;
for (key in override) merged[key] = override[key];
return merged;
}
this._verifyOptions = function() {
if (!(this.options.element && this.options.element.type && this.options.element.type === 'file')) {
throw 'Invalid element param in options. Must be a file upload DOM element';
}
if (typeof this.options.onFileLoad !== 'function') {
throw 'Invalid onFileLoad param in options. Must be a function';
}
}
this._verifyDependencies = function() {
if (!window.BinaryString) throw 'BinaryString is missing. Check that you\'ve correctly included it';
}
// helper function for binding methods to objects
this._bind = function(object, method) {
return function() {return method.apply(object, arguments);};
}
this._init(o);
}

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Marlin/configurator/js/binarystring.js Normal file
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function BinaryString(source) {
this._source = null;
this._bytes = [];
this._pos = 0;
this._length = 0;
this._init = function(source) {
this._source = source;
this._bytes = this._stringToBytes(this._source);
this._length = this._bytes.length;
}
this.current = function() {return this._pos;}
this.rewind = function() {return this.jump(0);}
this.end = function() {return this.jump(this.length() - 1);}
this.next = function() {return this.jump(this.current() + 1);}
this.prev = function() {return this.jump(this.current() - 1);}
this.jump = function(pos) {
if (pos < 0 || pos >= this.length()) return false;
this._pos = pos;
return true;
}
this.readByte = function(pos) {
pos = (typeof pos == 'number') ? pos : this.current();
return this.readBytes(1, pos)[0];
}
this.readBytes = function(length, pos) {
length = length || 1;
pos = (typeof pos == 'number') ? pos : this.current();
if (pos > this.length() ||
pos < 0 ||
length <= 0 ||
pos + length > this.length() ||
pos + length < 0
) {
return false;
}
var bytes = [];
for (var i = pos; i < pos + length; i++) {
bytes.push(this._bytes[i]);
}
return bytes;
}
this.length = function() {return this._length;}
this.toString = function() {
var string = '',
length = this.length();
for (var i = 0; i < length; i++) {
string += String.fromCharCode(this.readByte(i));
}
return string;
}
this.toUtf8 = function() {
var inc = 0,
string = '',
length = this.length();
// determine if first 3 characters are the BOM
// then skip them in output if so
if (length >= 3 &&
this.readByte(0) === 0xEF &&
this.readByte(1) === 0xBB &&
this.readByte(2) === 0xBF
) {
inc = 3;
}
for (; inc < length; inc++) {
var byte1 = this.readByte(inc),
byte2 = 0,
byte3 = 0,
byte4 = 0,
code1 = 0,
code2 = 0,
point = 0;
switch (true) {
// single byte character; same as ascii
case (byte1 < 0x80):
code1 = byte1;
break;
// 2 byte character
case (byte1 >= 0xC2 && byte1 < 0xE0):
byte2 = this.readByte(++inc);
code1 = ((byte1 & 0x1F) << 6) +
(byte2 & 0x3F);
break;
// 3 byte character
case (byte1 >= 0xE0 && byte1 < 0xF0):
byte2 = this.readByte(++inc);
byte3 = this.readByte(++inc);
code1 = ((byte1 & 0xFF) << 12) +
((byte2 & 0x3F) << 6) +
(byte3 & 0x3F);
break;
// 4 byte character
case (byte1 >= 0xF0 && byte1 < 0xF5):
byte2 = this.readByte(++inc);
byte3 = this.readByte(++inc);
byte4 = this.readByte(++inc);
point = ((byte1 & 0x07) << 18) +
((byte2 & 0x3F) << 12) +
((byte3 & 0x3F) << 6) +
(byte4 & 0x3F)
point -= 0x10000;
code1 = (point >> 10) + 0xD800;
code2 = (point & 0x3FF) + 0xDC00;
break;
default:
throw 'Invalid byte ' + this._byteToString(byte1) + ' whilst converting to UTF-8';
break;
}
string += (code2) ? String.fromCharCode(code1, code2)
: String.fromCharCode(code1);
}
return string;
}
this.toArray = function() {return this.readBytes(this.length() - 1, 0);}
this._stringToBytes = function(str) {
var bytes = [],
chr = 0;
for (var i = 0; i < str.length; i++) {
chr = str.charCodeAt(i);
bytes.push(chr & 0xFF);
}
return bytes;
}
this._byteToString = function(byte) {
var asString = byte.toString(16).toUpperCase();
while (asString.length < 2) {
asString = '0' + asString;
}
return '0x' + asString;
}
this._init(source);
}

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Marlin/configurator/js/configurator.js Normal file
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/**
* configurator.js
*
* Marlin Configuration Utility
* - Web form for entering configuration options
* - A reprap calculator to calculate movement values
* - Uses HTML5 to generate downloadables in Javascript
* - Reads and parses standard configuration files from local folders
*
* Supporting functions
* - Parser to read Marlin Configuration.h and Configuration_adv.h files
* - Utilities to replace values in configuration files
*/
"use strict";
$(function(){
/**
* Github API useful GET paths. (Start with "https://api.github.com/repos/:owner/:repo/")
*
* contributors Get a list of contributors
* tags Get a list of tags
* contents/[path]?ref=branch/tag/commit Get the contents of a file
*/
// GitHub
// Warning! Limited to 60 requests per hour!
var config = {
type: 'github',
host: 'https://api.github.com',
owner: 'thinkyhead',
repo: 'Marlin',
ref: 'marlin_configurator',
path: 'Marlin/configurator/config'
};
/**/
/* // Remote
var config = {
type: 'remote',
host: 'http://www.thinkyhead.com',
path: '_marlin/config'
};
/**/
/* // Local
var config = {
type: 'local',
path: 'config'
};
/**/
function github_command(conf, command, path) {
var req = conf.host+'/repos/'+conf.owner+'/'+conf.repo+'/'+command;
if (path) req += '/' + path;
return req;
}
function config_path(item) {
var path = '', ref = '';
switch(config.type) {
case 'github':
path = github_command(config, 'contents', config.path);
if (config.ref !== undefined) ref = '?ref=' + config.ref;
break;
case 'remote':
path = config.host + '/' + config.path + '/';
break;
case 'local':
path = config.path + '/';
break;
}
return path + '/' + item + ref;
}
// Extend builtins
String.prototype.lpad = function(len, chr) {
if (chr === undefined) { chr = '&nbsp;'; }
var s = this+'', need = len - s.length;
if (need > 0) { s = new Array(need+1).join(chr) + s; }
return s;
};
String.prototype.prePad = function(len, chr) { return len ? this.lpad(len, chr) : this; };
String.prototype.zeroPad = function(len) { return this.prePad(len, '0'); };
String.prototype.toHTML = function() { return jQuery('<div>').text(this).html(); };
String.prototype.regEsc = function() { return this.replace(/[.?*+^$[\]\\(){}|-]/g, "\\$&"); }
String.prototype.lineCount = function(ind) { var len = (ind === undefined ? this : this.substr(0,ind*1)).split(/\r?\n|\r/).length; return len > 0 ? len - 1 : 0; };
String.prototype.line = function(num) { var arr = this.split(/\r?\n|\r/); return num < arr.length ? arr[1*num] : ''; };
String.prototype.replaceLine = function(num,txt) { var arr = this.split(/\r?\n|\r/); if (num < arr.length) { arr[num] = txt; return arr.join('\n'); } else return this; }
String.prototype.toLabel = function() { return this.replace(/[\[\]]/g, '').replace(/_/g, ' ').toTitleCase(); }
String.prototype.toTitleCase = function() { return this.replace(/([A-Z])(\w+)/gi, function(m,p1,p2) { return p1.toUpperCase() + p2.toLowerCase(); }); }
Number.prototype.limit = function(m1, m2) {
if (m2 == null) return this > m1 ? m1 : this;
return this < m1 ? m1 : this > m2 ? m2 : this;
};
Date.prototype.fileStamp = function(filename) {
var fs = this.getFullYear()
+ ((this.getMonth()+1)+'').zeroPad(2)
+ (this.getDate()+'').zeroPad(2)
+ (this.getHours()+'').zeroPad(2)
+ (this.getMinutes()+'').zeroPad(2)
+ (this.getSeconds()+'').zeroPad(2);
if (filename !== undefined)
return filename.replace(/^(.+)(\.\w+)$/g, '$1-['+fs+']$2');
return fs;
}
/**
* selectField.addOptions takes an array or keyed object
*/
$.fn.extend({
addOptions: function(arrObj) {
return this.each(function() {
var sel = $(this);
var isArr = Object.prototype.toString.call(arrObj) == "[object Array]";
$.each(arrObj, function(k, v) {
sel.append( $('<option>',{value:isArr?v:k}).text(v) );
});
});
},
noSelect: function() {
return this
.attr('unselectable', 'on')
.css('user-select', 'none')
.on('selectstart', false);
},
unblock: function(on) {
on ? this.removeClass('blocked') : this.addClass('blocked');
return this;
}
});
// The app is a singleton
window.configuratorApp = (function(){
// private variables and functions go here
var self,
pi2 = Math.PI * 2,
has_boards = false, has_config = false, has_config_adv = false,
boards_file = 'boards.h',
config_file = 'Configuration.h',
config_adv_file = 'Configuration_adv.h',
$msgbox = $('#message'),
$form = $('#config_form'),
$tooltip = $('#tooltip'),
$cfg = $('#config_text'), $adv = $('#config_adv_text'),
$config = $cfg.find('pre'), $config_adv = $adv.find('pre'),
config_file_list = [ boards_file, config_file, config_adv_file ],
config_list = [ $config, $config_adv ],
define_info = {}, // info for all defines, by name
define_list = [[],[]], // arrays with all define names
define_occur = [{},{}], // lines where defines occur in each file
define_groups = [{},{}], // similarly-named defines that group in the form
define_section = {}, // the section of each define
dependent_groups = {},
boards_list = {},
therms_list = {},
total_config_lines,
total_config_adv_lines,
hover_timer,
pulse_offset = 0;
// Return this anonymous object as configuratorApp
return {
my_public_var: 4,
logging: 1,
init: function() {
self = this; // a 'this' for use when 'this' is something else
// Set up the form, creating fields and fieldsets as-needed
this.initConfigForm();
// Make tabs for all the fieldsets
this.makeTabsForFieldsets();
// No selection on errors
// $msgbox.noSelect();
// Make a droppable file uploader, if possible
var $uploader = $('#file-upload');
var fileUploader = new BinaryFileUploader({
element: $uploader[0],
onFileLoad: function(file) { self.handleFileLoad(file, $uploader); }
});
if (!fileUploader.hasFileUploaderSupport())
this.setMessage("Your browser doesn't support the file reading API.", 'error');
// Make the disclosure items work
$('.disclose').click(function(){
var $dis = $(this), $pre = $dis.nextAll('pre:first');
var didAnim = function() {$dis.toggleClass('closed almost');};
$dis.addClass('almost').hasClass('closed')
? $pre.slideDown(200, didAnim)
: $pre.slideUp(200, didAnim);
});
// Adjust the form layout for the window size
$(window).bind('scroll resize', this.adjustFormLayout).trigger('resize');
// Read boards.h, Configuration.h, Configuration_adv.h
var ajax_count = 0, success_count = 0;
var loaded_items = {};
var isGithub = config.type == 'github';
var rateLimit = 0;
$.each(config_file_list, function(i,fname){
var url = config_path(fname);
$.ajax({
url: url,
type: 'GET',
dataType: isGithub ? 'jsonp' : undefined,
async: true,
cache: false,
error: function(req, stat, err) {
self.log(req, 1);
if (req.status == 200) {
if (typeof req.responseText === 'string') {
var txt = req.responseText;
loaded_items[fname] = function(){ self.fileLoaded(fname, txt, true); };
success_count++;
// self.setMessage('The request for "'+fname+'" may be malformed.', 'error');
}
}
else {
self.setRequestError(req.status ? req.status : '(Access-Control-Allow-Origin?)', url);
}
},
success: function(txt) {
if (isGithub && typeof txt.meta.status !== undefined && txt.meta.status != 200) {
self.setRequestError(txt.meta.status, url);
}
else {
// self.log(txt, 1);
if (isGithub) {
rateLimit = {
quota: 1 * txt.meta['X-RateLimit-Remaining'],
timeLeft: Math.floor(txt.meta['X-RateLimit-Reset'] - Date.now()/1000),
};
}
loaded_items[fname] = function(){ self.fileLoaded(fname, isGithub ? decodeURIComponent(escape(atob(txt.data.content))) : txt, true); };
success_count++;
}
},
complete: function() {
ajax_count++;
if (ajax_count >= config_file_list.length) {
// If not all files loaded set an error
if (success_count < ajax_count)
self.setMessage('Unable to load configurations. Try the upload field.', 'error');
// Is the request near the rate limit? Set an error.
var r;
if (r = rateLimit) {
if (r.quota < 20) {
self.setMessage(
'Approaching request limit (' +
r.quota + ' remaining.' +
' Reset in ' + Math.floor(r.timeLeft/60) + ':' + (r.timeLeft%60+'').zeroPad(2) + ')',
'warning'
);
}
}
// Post-process all the loaded files
$.each(config_file_list, function(){ if (loaded_items[this]) loaded_items[this](); });
}
}
});
});
},
/**
* Make a download link visible and active
*/
activateDownloadLink: function(cindex) {
var filename = config_file_list[cindex+1];
var $c = config_list[cindex], txt = $c.text();
$c.prevAll('.download:first')
.unbind('mouseover click')
.mouseover(function() {
var d = new Date(), fn = d.fileStamp(filename);
$(this).attr({ download:fn, href:'download:'+fn, title:'download:'+fn });
})
.click(function(){
var $button = $(this);
$(this).attr({ href:'data:text/plain;charset=utf-8,' + encodeURIComponent($c.text()) });
setTimeout(function(){
$button.attr({ href:$button.attr('title') });
}, 100);
return true;
})
.css({visibility:'visible'});
},
/**
* Make the download-all link visible and active
*/
activateDownloadAllLink: function() {
$('.download-all')
.unbind('mouseover click')
.mouseover(function() {
var d = new Date(), fn = d.fileStamp('MarlinConfig.zip');
$(this).attr({ download:fn, href:'download:'+fn, title:'download:'+fn });
})
.click(function(){
var $button = $(this);
var zip = new JSZip();
for (var e in [0,1]) zip.file(config_file_list[e+1], config_list[e].text());
var zipped = zip.generate({type:'blob'});
saveAs(zipped, $button.attr('download'));
return false;
})
.css({visibility:'visible'});
},
/**
* Init the boards array from a boards.h file
*/
initBoardsFromText: function(txt) {
boards_list = {};
var r, findDef = new RegExp('[ \\t]*#define[ \\t]+(BOARD_[\\w_]+)[ \\t]+(\\d+)[ \\t]*(//[ \\t]*)?(.+)?', 'gm');
while((r = findDef.exec(txt)) !== null) {
boards_list[r[1]] = r[2].prePad(3, '  ') + " — " + r[4].replace(/\).*/, ')');
}
this.log("Loaded boards:\n" + Object.keys(boards_list).join('\n'), 3);
has_boards = true;
},
/**
* Init the thermistors array from the Configuration.h file
*/
initThermistorList: function(txt) {
// Get all the thermistors and save them into an object
var r, s, findDef = new RegExp('(//.*\n)+\\s+(#define[ \\t]+TEMP_SENSOR_0)', 'g');
r = findDef.exec(txt);
findDef = new RegExp('^//[ \\t]*([-\\d]+)[ \\t]+is[ \\t]+(.*)[ \\t]*$', 'gm');
while((s = findDef.exec(r[0])) !== null) {
therms_list[s[1]] = s[1].prePad(4, '  ') + " — " + s[2];
}
},
/**
* Get all the unique define names, building lists that will be used
* when gathering info about each define.
*
* define_list[c][j] : Define names in each config (in order of occurrence)
* define_section[name] : Section where define should appear in the form
* define_occur[c][name][i] : Lines in each config where the same define occurs
* .cindex Config file index
* .lineNum Line number of the occurrence
* .line The occurrence line
*/
initDefineList: function(cindex) {
var section = 'hidden',
leave_out_defines = ['CONFIGURATION_H', 'CONFIGURATION_ADV_H'],
define_sect = {},
occ_list = {},
txt = config_list[cindex].text(),
r, findDef = new RegExp('^.*(@section|#define)[ \\t]+(\\w+).*$', 'gm');
while((r = findDef.exec(txt)) !== null) {
var name = r[2];
if (r[1] == '@section') {
section = name;
}
else if ($.inArray(name, leave_out_defines) < 0) {
var lineNum = txt.lineCount(r.index),
inst = { cindex:cindex, lineNum:lineNum, line:r[0] },
in_sect = (name in define_sect);
if (!in_sect) {
occ_list[name] = [ inst ];
}
if (!(name in define_section) && !in_sect) {
define_sect[name] = section; // new first-time define
}
else {
occ_list[name].push(inst);
}
}
}
define_list[cindex] = Object.keys(define_sect);
define_occur[cindex] = occ_list;
$.extend(define_section, define_sect);
this.log(define_list[cindex], 2);
this.log(occ_list, 2);
this.log(define_sect, 2);
},
/**
* Find the defines in one of the configs that are just variants.
* Group them together for form-building and other uses.
*
* define_groups[c][name]
* .pattern regexp matching items in the group
* .title title substitution
* .count number of items in the group
*/
refreshDefineGroups: function(cindex) {
var findDef = /^(|.*_)(([XYZE](MAX|MIN))|(E[0-3]|[XYZE01234])|MAX|MIN|(bed)?K[pid]|HOTEND|HPB|JAPAN|WESTERN|LEFT|RIGHT|BACK|FRONT|[XYZ]_POINT)(_.*|)$/i;
var match_prev, patt, title, nameList, groups = {}, match_section;
$.each(define_list[cindex], function(i, name) {
if (match_prev) {
if (match_prev.exec(name) && define_section[name] == match_section) {
nameList.push(name);
}
else {
if (nameList.length > 1) {
$.each(nameList, function(i,n){
groups[n] = {
pattern: patt,
title: title,
count: nameList.length
};
});
}
match_prev = null;
}
}
if (!match_prev) {
var r = findDef.exec(name);
if (r != null) {
title = '';
switch(r[2].toUpperCase()) {
case '0':
patt = '([0123])';
title = 'N';
break;
case 'X':
patt = '([XYZE])';
title = 'AXIS';
break;
case 'E0':
patt = 'E([0-3])';
title = 'E';
break;
case 'BEDKP':
patt = 'bed(K[pid])';
title = 'BED_PID';
break;
case 'KP':
patt = '(K[pid])';
title = 'PID';
break;
case 'LEFT':
case 'RIGHT':
case 'BACK':
case 'FRONT':
patt = '([LRBF])(EFT|IGHT|ACK|RONT)';
break;
case 'MAX':
case 'MIN':
patt = '(MAX|MIN)';
break;
case 'HOTEND':
case 'HPB':
patt = '(HOTEND|HPB)';
break;
case 'JAPAN':
case 'WESTERN':
patt = '(JAPAN|WESTERN)';
break;
case 'XMIN':
case 'XMAX':
patt = '([XYZ])'+r[4];
title = 'XYZ_'+r[4];
break;
default:
patt = null;
break;
}
if (patt) {
patt = '^' + r[1] + patt + r[7] + '$';
title = r[1] + title + r[7];
match_prev = new RegExp(patt, 'i');
match_section = define_section[name];
nameList = [ name ];
}
}
}
});
define_groups[cindex] = groups;
this.log(define_groups[cindex], 2);
},
/**
* Get all conditional blocks and their line ranges
* and store them in the dependent_groups list.
*
* dependent_groups[condition][i]
*
* .cindex config file index
* .start starting line
* .end ending line
*
*/
initDependentGroups: function() {
var findBlock = /^[ \t]*#(ifn?def|if|else|endif)[ \t]*(.*)([ \t]*\/\/[^\n]+)?$/gm,
leave_out_defines = ['CONFIGURATION_H', 'CONFIGURATION_ADV_H'];
dependent_groups = {};
$.each(config_list, function(i, $v) {
var ifStack = [];
var r, txt = $v.text();
while((r = findBlock.exec(txt)) !== null) {
var lineNum = txt.lineCount(r.index);
var code = r[2].replace(/[ \t]*\/\/.*$/, '');
switch(r[1]) {
case 'if':
var code = code
.replace(/([A-Z][A-Z0-9_]+)/g, 'self.defineValue("$1")')
.replace(/defined[ \t]*\(?[ \t]*self.defineValue\(("[A-Z][A-Z0-9_]+")\)[ \t]*\)?/g, 'self.defineIsEnabled($1)');
ifStack.push(['('+code+')', lineNum]); // #if starts on next line
self.log("push if " + code, 4);
break;
case 'ifdef':
if ($.inArray(code, leave_out_defines) < 0) {
ifStack.push(['self.defineIsEnabled("' + code + '")', lineNum]);
self.log("push ifdef " + code, 4);
}
else {
ifStack.push(0);
}
break;
case 'ifndef':
if ($.inArray(code, leave_out_defines) < 0) {
ifStack.push(['!self.defineIsEnabled("' + code + '")', lineNum]);
self.log("push ifndef " + code, 4);
}
else {
ifStack.push(0);
}
break;
case 'else':
case 'endif':
var c = ifStack.pop();
if (c) {
var cond = c[0], line = c[1];
self.log("pop " + c[0], 4);
if (dependent_groups[cond] === undefined) dependent_groups[cond] = [];
dependent_groups[cond].push({cindex:i,start:line,end:lineNum});
if (r[1] == 'else') {
// Reverse the condition
cond = (cond.indexOf('!') === 0) ? cond.substr(1) : ('!'+cond);
ifStack.push([cond, lineNum]);
self.log("push " + cond, 4);
}
}
else {
if (r[1] == 'else') ifStack.push(0);
}
break;
}
}
}); // text blobs loop
},
/**
* Init all the defineInfo structures after reload
* The "enabled" field may need an update for newly-loaded dependencies
*/
initDefineInfo: function() {
$.each(define_list, function(e,def_list){
$.each(def_list, function(i, name) {
define_info[name] = self.getDefineInfo(name, e);
});
});
},
/**
* Create fields for defines in a config that have none
* Use define_groups data to group fields together
*/
createFieldsForDefines: function(cindex) {
// var n = 0;
var grouping = false, group = define_groups[cindex],
g_pattern, g_regex, g_subitem, g_section, g_class,
fail_list = [];
$.each(define_list[cindex], function(i, name) {
var section = define_section[name];
if (section != 'hidden' && !$('#'+name).length) {
var inf = define_info[name];
if (inf) {
var label_text = name, sublabel;
// Is this field in a sequence?
// Then see if it's the second or after
if (grouping) {
if (name in group && g_pattern == group[name].pattern && g_section == section) {
g_subitem = true;
sublabel = g_regex.exec(name)[1];
}
else
grouping = false;
}
// Start grouping?
if (!grouping && name in group) {
grouping = true;
g_subitem = false;
var grp = group[name];
g_section = section;
g_class = 'one_of_' + grp.count;
g_pattern = grp.pattern;
g_regex = new RegExp(g_pattern, 'i');
label_text = grp.title;
sublabel = g_regex.exec(name)[1];
}
var $ff = $('#'+section), $newfield,
avail = eval(inf.enabled);
if (!(grouping && g_subitem)) {
var $newlabel = $('<label>',{for:name,class:'added'}).text(label_text.toLabel());
$newlabel.unblock(avail);
// if (!(++n % 3))
$newlabel.addClass('newline');
$ff.append($newlabel);
}
// Multiple fields?
if (inf.type == 'list') {
for (var i=0; i<inf.size; i++) {
var fieldname = i > 0 ? name+'-'+i : name;
$newfield = $('<input>',{type:'text',size:6,maxlength:10,id:fieldname,name:fieldname,class:'subitem added',disabled:!avail}).unblock(avail);
if (grouping) $newfield.addClass(g_class);
$ff.append($newfield);
}
}
else {
// Items with options, either toggle or select
// TODO: Radio buttons for other values
if (inf.options !== undefined) {
if (inf.type == 'toggle') {
$newfield = $('<input>',{type:'checkbox'});
}
else {
// Otherwise selectable
$newfield = $('<select>');
}
// ...Options added when field initialized
}
else {
$newfield = inf.type == 'switch' ? $('<input>',{type:'checkbox'}) : $('<input>',{type:'text',size:10,maxlength:40});
}
$newfield.attr({id:name,name:name,class:'added',disabled:!avail}).unblock(avail);
if (grouping) {
$newfield.addClass(g_class);
if (sublabel) {
$ff.append($('<label>',{class:'added sublabel',for:name}).text(sublabel.toTitleCase()).unblock(avail));
}
}
// Add the new field to the form
$ff.append($newfield);
}
}
else
fail_list.push(name);
}
});
if (fail_list.length) this.log('Unable to parse:\n' + fail_list.join('\n'), 2);
},
/**
* Handle a file being dropped on the file field
*/
handleFileLoad: function(txt, $uploader) {
txt += '';
var filename = $uploader.val().replace(/.*[\/\\](.*)$/, '$1');
if ($.inArray(filename, config_file_list))
this.fileLoaded(filename, txt);
else
this.setMessage("Can't parse '"+filename+"'!");
},
/**
* Process a file after it's been successfully loaded
*/
fileLoaded: function(filename, txt, wait) {
this.log("fileLoaded:"+filename,4);
var err, cindex;
switch(filename) {
case boards_file:
this.initBoardsFromText(txt);
$('#MOTHERBOARD').html('').addOptions(boards_list);
if (has_config) this.initField('MOTHERBOARD');
break;
case config_file:
if (has_boards) {
$config.text(txt);
total_config_lines = txt.lineCount();
// this.initThermistorList(txt);
if (!wait) cindex = 0;
has_config = true;
if (has_config_adv) {
this.activateDownloadAllLink();
if (wait) cindex = 2;
}
}
else {
err = boards_file;
}
break;
case config_adv_file:
if (has_config) {
$config_adv.text(txt);
total_config_adv_lines = txt.lineCount();
if (!wait) cindex = 1;
has_config_adv = true;
if (has_config) {
this.activateDownloadAllLink();
if (wait) cindex = 2;
}
}
else {
err = config_file;
}
break;
}
// When a config file loads defines need update
if (cindex != null) this.prepareConfigData(cindex);
this.setMessage(err
? 'Please upload a "' + boards_file + '" file first!'
: '"' + filename + '" loaded successfully.', err ? 'error' : 'message'
);
},
prepareConfigData: function(cindex) {
var inds = (cindex == 2) ? [ 0, 1 ] : [ cindex ];
$.each(inds, function(i,e){
// Purge old fields from the form, clear the define list
self.purgeAddedFields(e);
// Build the define_list
self.initDefineList(e);
// TODO: Find sequential names and group them
// Allows related settings to occupy one line in the form
self.refreshDefineGroups(e);
});
// Build the dependent defines list
this.initDependentGroups(); // all config text
// Get define_info for all known defines
this.initDefineInfo(); // all config text
$.each(inds, function(i,e){
// Create new fields
self.createFieldsForDefines(e); // create new fields
// Init the fields, set values, etc
self.refreshConfigForm(e);
self.activateDownloadLink(e);
});
},
/**
* Add initial enhancements to the existing form
*/
initConfigForm: function() {
// Modify form fields and make the form responsive.
// As values change on the form, we could update the
// contents of text areas containing the configs, for
// example.
// while(!$config_adv.text() == null) {}
// while(!$config.text() == null) {}
// Go through all form items with names
$form.find('[name]').each(function() {
// Set its id to its name
var name = $(this).attr('name');
$(this).attr({id: name});
// Attach its label sibling
var $label = $(this).prev('label');
if ($label.length) $label.attr('for',name);
});
// Get all 'switchable' class items and add a checkbox
// $form.find('.switchable').each(function(){
// $(this).after(
// $('<input>',{type:'checkbox',value:'1',class:'enabler added'})
// .prop('checked',true)
// .attr('id',this.id + '-switch')
// .change(self.handleSwitch)
// );
// });
// Add options to the popup menus
// $('#SERIAL_PORT').addOptions([0,1,2,3,4,5,6,7]);
// $('#BAUDRATE').addOptions([2400,9600,19200,38400,57600,115200,250000]);
// $('#EXTRUDERS').addOptions([1,2,3,4]);
// $('#POWER_SUPPLY').addOptions({'1':'ATX','2':'Xbox 360'});
// Replace the Serial popup menu with a stepper control
/*
$('#serial_stepper').jstepper({
min: 0,
max: 3,
val: $('#SERIAL_PORT').val(),
arrowWidth: '18px',
arrowHeight: '15px',
color: '#FFF',
acolor: '#F70',
hcolor: '#FF0',
id: 'select-me',
textStyle: {width:'1.5em',fontSize:'120%',textAlign:'center'},
onChange: function(v) { $('#SERIAL_PORT').val(v).trigger('change'); }
});
*/
},
/**
* Make tabs to switch between fieldsets
*/
makeTabsForFieldsets: function() {
// Make tabs for the fieldsets
var $fset = $form.find('fieldset'),
$tabs = $('<ul>',{class:'tabs'}),
ind = 1;
$fset.each(function(){
var tabID = 'TAB'+ind;
$(this).addClass(tabID);
var $leg = $(this).find('legend');
var $link = $('<a>',{href:'#'+ind,id:tabID}).text($leg.text());
$tabs.append($('<li>').append($link));
$link.click(function(e){
e.preventDefault;
var ind = this.id;
$tabs.find('.active').removeClass('active');
$(this).addClass('active');
$fset.hide();
$fset.filter('.'+this.id).show();
return false;
});
ind++;
});
$('#tabs').html('').append($tabs);
$('<br>',{class:'clear'}).appendTo('#tabs');
$tabs.find('a:first').trigger('click');
},
/**
* Update all fields on the form after loading a configuration
*/
refreshConfigForm: function(cindex) {
/**
* Any manually-created form elements will remain
* where they are. Unknown defines (currently most)
* are added to tabs based on section
*
* Specific exceptions can be managed by applying
* classes to the associated form fields.
* Sorting and arrangement can come from an included
* Javascript file that describes the configuration
* in JSON, or using information added to the config
* files.
*
*/
// Refresh the motherboard menu with new options
$('#MOTHERBOARD').html('').addOptions(boards_list);
// Init all existing fields, getting define info for those that need it
// refreshing the options and updating their current values
$.each(define_list[cindex], function(i, name) {
if ($('#'+name).length) {
self.initField(name);
self.initFieldValue(name);
}
else
self.log(name + " is not on the page yet.", 2);
});
// Set enabled state based on dependencies
// this.enableForDependentConditions();
},
/**
* Enable / disable fields in dependent groups
* based on their dependencies.
*/
refreshDependentFields: function() {
$.each(define_list, function(e,def_list){
$.each(def_list, function(i, name) {
var inf = define_info[name];
if (inf && inf.enabled != 'true') {
var $elm = $('#'+name), ena = eval(inf.enabled);
var isEnabled = (inf.type == 'switch') || self.defineIsEnabled(name);
$('#'+name+'-switch').attr('disabled', !ena);
$elm.attr('disabled', !(ena && isEnabled)).unblock(ena);
$('label[for="'+name+'"]').unblock(ena);
}
});
});
},
/**
* Make a field responsive, tooltip its label(s), add enabler if needed
*/
initField: function(name) {
this.log("initField:"+name,4);
var $elm = $('#'+name), inf = define_info[name];
$elm[0].defineInfo = inf;
// Create a tooltip on the label if there is one
if (inf.tooltip) {
// label for the item
var $tipme = $('label[for="'+name+'"]');
if ($tipme.length) {
$tipme.unbind('mouseenter mouseleave');
$tipme.hover(
function() {
if ($('#tipson input').prop('checked')) {
var pos = $tipme.position(), px = $tipme.width()/2;
$tooltip.html(inf.tooltip)
.append('<span>')
.css({bottom:($tooltip.parent().outerHeight()-pos.top+10)+'px',left:(pos.left+px)+'px'})
.show();
if (hover_timer) {
clearTimeout(hover_timer);
hover_timer = null;
}
}
},
function() {
hover_timer = setTimeout(function(){
hover_timer = null;
$tooltip.fadeOut(400);
}, 400);
}
);
}
}
// Make the element(s) respond to events
if (inf.type == 'list') {
// Multiple fields need to respond
for (var i=0; i<inf.size; i++) {
if (i > 0) $elm = $('#'+name+'-'+i);
$elm.unbind('input');
$elm.on('input', this.handleChange);
}
}
else {
var elmtype = $elm.attr('type');
// Set options on single fields if there are any
if (inf.options !== undefined && elmtype === undefined)
$elm.html('').addOptions(inf.options);
$elm.unbind('input change');
$elm.on(elmtype == 'text' ? 'input' : 'change', this.handleChange);
}
// Add an enabler checkbox if it needs one
if (inf.switchable && $('#'+name+'-switch').length == 0) {
// $elm = the last element added
$elm.after(
$('<input>',{type:'checkbox',value:'1',class:'enabler added'})
.prop('checked',self.defineIsEnabled(name))
.attr({id: name+'-switch'})
.change(self.handleSwitch)
);
}
},
/**
* Handle any value field being changed
* this = the field
*/
handleChange: function() {
self.updateDefineFromField(this.id);
self.refreshDependentFields();
},
/**
* Handle a switch checkbox being changed
* this = the switch checkbox
*/
handleSwitch: function() {
var $elm = $(this),
name = $elm[0].id.replace(/-.+/,''),
inf = define_info[name],
on = $elm.prop('checked') || false;
self.setDefineEnabled(name, on);
if (inf.type == 'list') {
// Multiple fields?
for (var i=0; i<inf.size; i++) {
$('#'+name+(i?'-'+i:'')).attr('disabled', !on);
}
}
else {
$elm.prev().attr('disabled', !on);
}
},
/**
* Get the current value of a #define
*/
defineValue: function(name) {
this.log('defineValue:'+name,4);
var inf = define_info[name];
if (inf == null) return 'n/a';
var r = inf.regex.exec(inf.line), val = r[inf.val_i];
this.log(r,2);
return (inf.type == 'switch') ? (val === undefined || val.trim() != '//') : val;
},
/**
* Get the current enabled state of a #define
*/
defineIsEnabled: function(name) {
this.log('defineIsEnabled:'+name,4);
var inf = define_info[name];
if (inf == null) return false;
var r = inf.regex.exec(inf.line);
this.log(r,2);
var on = r[1] != null ? r[1].trim() != '//' : true;
this.log(name + ' = ' + on, 2);
return on;
},
/**
* Set a #define enabled or disabled by altering the config text
*/
setDefineEnabled: function(name, val) {
this.log('setDefineEnabled:'+name,4);
var inf = define_info[name];
if (inf) {
var slash = val ? '' : '//';
var newline = inf.line
.replace(/^([ \t]*)(\/\/)([ \t]*)/, '$1$3') // remove slashes
.replace(inf.pre+inf.define, inf.pre+slash+inf.define); // add them back
this.setDefineLine(name, newline);
}
},
/**
* Update a #define (from the form) by altering the config text
*/
updateDefineFromField: function(name) {
this.log('updateDefineFromField:'+name,4);
// Drop the suffix on sub-fields
name = name.replace(/-\d+$/, '');
var $elm = $('#'+name), inf = define_info[name];
if (inf == null) return;
var isCheck = $elm.attr('type') == 'checkbox',
val = isCheck ? $elm.prop('checked') : $elm.val().trim();
var newline;
switch(inf.type) {
case 'switch':
var slash = val ? '' : '//';
newline = inf.line.replace(inf.repl, '$1'+slash+'$3');
break;
case 'list':
case 'quoted':
case 'plain':
if (isCheck) this.setMessage(name + ' should not be a checkbox!', 'error');
case 'toggle':
if (isCheck) {
val = val ? inf.options[1] : inf.options[0];
}
else {
if (inf.type == 'list')
for (var i=1; i<inf.size; i++) val += ', ' + $('#'+name+'-'+i).val().trim();
}
newline = inf.line.replace(inf.repl, '$1'+(''+val).replace('$','\\$')+'$3');
break;
}
this.setDefineLine(name, newline);
},
/**
* Set the define's line in the text to a new line,
* then update, highlight, and scroll to the line
*/
setDefineLine: function(name, newline) {
this.log('setDefineLine:'+name+'\n'+newline,4);
var inf = define_info[name];
var $c = $(inf.field), txt = $c.text();
var hilite_token = '[HIGHLIGHTER-TOKEN]';
txt = txt.replaceLine(inf.lineNum, hilite_token + newline); // for override line and lineNum would be changed
inf.line = newline;
// Convert txt into HTML before storing
var html = txt.toHTML().replace(hilite_token, '<span></span>');
// Set the final text including the highlighter
$c.html(html);
// Scroll to reveal the define
if ($c.is(':visible')) this.scrollToDefine(name);
},
/**
* Scroll a pre box to reveal a #define
*/
scrollToDefine: function(name, always) {
this.log('scrollToDefine:'+name,4);
var inf = define_info[name], $c = $(inf.field);
// Scroll to the altered text if it isn't visible
var halfHeight = $c.height()/2, scrollHeight = $c.prop('scrollHeight'),
lineHeight = scrollHeight/[total_config_lines, total_config_adv_lines][inf.cindex],
textScrollY = (inf.lineNum * lineHeight - halfHeight).limit(0, scrollHeight - 1);
if (always || Math.abs($c.prop('scrollTop') - textScrollY) > halfHeight) {
$c.find('span').height(lineHeight);
$c.animate({ scrollTop: textScrollY });
}
},
/**
* Set a form field to the current #define value in the config text
*/
initFieldValue: function(name) {
var $elm = $('#'+name), inf = define_info[name],
val = this.defineValue(name);
this.log('initFieldValue:' + name + ' to ' + val, 2);
// If the item is switchable then set enabled state too
var $cb = $('#'+name+'-switch'), avail = eval(inf.enabled), on = true;
if ($cb.length) {
on = self.defineIsEnabled(name);
$cb.prop('checked', on);
}
if (inf.type == 'list') {
$.each(val.split(','),function(i,v){
var $e = i > 0 ? $('#'+name+'-'+i) : $elm;
$e.val(v.trim());
$e.attr('disabled', !(on && avail)).unblock(avail);
});
}
else {
if (inf.type == 'toggle') val = val == inf.options[1];
$elm.attr('type') == 'checkbox' ? $elm.prop('checked', val) : $elm.val(''+val);
$elm.attr('disabled', !(on && avail)).unblock(avail); // enable/disable the form field (could also dim it)
}
$('label[for="'+name+'"]').unblock(avail);
},
/**
* Purge added fields and all their define info
*/
purgeAddedFields: function(cindex) {
$.each(define_list[cindex], function(i, name){
$('#'+name + ",[id^='"+name+"-'],label[for='"+name+"']").filter('.added').remove();
});
define_list[cindex] = [];
},
/**
* Get information about a #define from configuration file text:
*
* - Pre-examine the #define for its prefix, value position, suffix, etc.
* - Construct RegExp's for the #define to find and replace values.
* - Store the existing #define line as a fast key to finding it later.
* - Determine the line number of the #define
* - Gather nearby comments to be used as tooltips.
* - Look for JSON in nearby comments for use as select options.
*
* define_info[name]
* .type type of define: switch, list, quoted, plain, or toggle
* .size the number of items in a "list" type
* .options select options, if any
* .cindex config index
* .field pre containing the config text (config_list[cindex][0])
* .line the full line from the config text
* .pre any text preceding #define
* .define the "#define NAME" text (may have leading spaces)
* .post the text following the "#define NAME val" part
* .regex regexp to get the value from the line
* .repl regexp to replace the value in the line
* .val_i the value's index in the .regex result
*/
getDefineInfo: function(name, cindex) {
if (cindex === undefined) cindex = 0;
this.log('getDefineInfo:'+name,4);
var $c = config_list[cindex], txt = $c.text(),
info = { type:0, cindex:cindex, field:$c[0], val_i:2 }, post;
// a switch line with no value
var find = new RegExp('^([ \\t]*//)?([ \\t]*#define[ \\t]+' + name + ')([ \\t]*(/[*/].*)?)$', 'm'),
r = find.exec(txt);
if (r !== null) {
post = r[3] == null ? '' : r[3];
$.extend(info, {
type: 'switch',
val_i: 1,
regex: new RegExp('([ \\t]*//)?([ \\t]*' + r[2].regEsc() + post.regEsc() + ')', 'm'),
repl: new RegExp('([ \\t]*)(\/\/)?([ \\t]*' + r[2].regEsc() + post.regEsc() + ')', 'm')
});
}
else {
// a define with curly braces
find = new RegExp('^(.*//)?(.*#define[ \\t]+' + name + '[ \\t]+)(\{[^\}]*\})([ \\t]*(/[*/].*)?)$', 'm');
r = find.exec(txt);
if (r !== null) {
post = r[4] == null ? '' : r[4];
$.extend(info, {
type: 'list',
size: r[3].split(',').length,
regex: new RegExp('([ \\t]*//)?[ \\t]*' + r[2].regEsc() + '\{([^\}]*)\}' + post.regEsc(), 'm'),
repl: new RegExp('(([ \\t]*//)?[ \\t]*' + r[2].regEsc() + '\{)[^\}]*(\}' + post.regEsc() + ')', 'm')
});
}
else {
// a define with quotes
find = new RegExp('^(.*//)?(.*#define[ \\t]+' + name + '[ \\t]+)("[^"]*")([ \\t]*(/[*/].*)?)$', 'm');
r = find.exec(txt);
if (r !== null) {
post = r[4] == null ? '' : r[4];
$.extend(info, {
type: 'quoted',
regex: new RegExp('([ \\t]*//)?[ \\t]*' + r[2].regEsc() + '"([^"]*)"' + post.regEsc(), 'm'),
repl: new RegExp('(([ \\t]*//)?[ \\t]*' + r[2].regEsc() + '")[^"]*("' + post.regEsc() + ')', 'm')
});
}
else {
// a define with no quotes
find = new RegExp('^([ \\t]*//)?([ \\t]*#define[ \\t]+' + name + '[ \\t]+)(\\S*)([ \\t]*(/[*/].*)?)$', 'm');
r = find.exec(txt);
if (r !== null) {
post = r[4] == null ? '' : r[4];
$.extend(info, {
type: 'plain',
regex: new RegExp('([ \\t]*//)?[ \\t]*' + r[2].regEsc() + '(\\S*)' + post.regEsc(), 'm'),
repl: new RegExp('(([ \\t]*//)?[ \\t]*' + r[2].regEsc() + ')\\S*(' + post.regEsc() + ')', 'm')
});
if (r[3].match(/false|true/)) {
info.type = 'toggle';
info.options = ['false','true'];
}
}
}
}
}
// Success?
if (info.type) {
$.extend(info, {
line: r[0],
pre: r[1] == null ? '' : r[1].replace('//',''),
define: r[2],
post: post
});
// Get the end-of-line comment, if there is one
var tooltip = '', eoltip = '';
find = new RegExp('.*#define[ \\t].*/[/*]+[ \\t]*(.*)');
if (info.line.search(find) >= 0)
eoltip = tooltip = info.line.replace(find, '$1');
// Get all the comments immediately before the item
var s;
find = new RegExp('(([ \\t]*(//|#)[^\n]+\n){1,4})' + info.line.regEsc(), 'g');
if (r = find.exec(txt)) {
// Get the text of the found comments
find = new RegExp('^[ \\t]*//+[ \\t]*(.*)[ \\t]*$', 'gm');
while((s = find.exec(r[1])) !== null) {
var tip = s[1].replace(/[ \\t]*(={5,}|(#define[ \\t]+.*|@section[ \\t]+\w+))[ \\t]*/g, '');
if (tip.length) {
if (tip.match(/^#define[ \\t]/) != null) tooltip = eoltip;
// JSON data? Save as select options
if (!info.options && tip.match(/:[\[{]/) != null) {
// TODO
// :[1-6] = value limits
var o; eval('o=' + tip.substr(1));
info.options = o;
if (Object.prototype.toString.call(o) == "[object Array]" && o.length == 2 && !eval(''+o[0]))
info.type = 'toggle';
}
else {
// Other lines added to the tooltip
tooltip += ' ' + tip + '\n';
}
}
}
}
// Add .tooltip and .lineNum properties to the info
find = new RegExp('^'+name); // Strip the name from the tooltip
var lineNum = this.getLineNumberOfText(info.line, txt);
// See if this define is enabled conditionally
var enable_cond = '';
$.each(dependent_groups, function(cond,dat){
$.each(dat, function(i,o){
if (o.cindex == cindex && lineNum > o.start && lineNum < o.end) {
if (enable_cond != '') enable_cond += ' && ';
enable_cond += '(' + cond + ')';
}
});
});
$.extend(info, {
tooltip: '<strong>'+name+'</strong> '+tooltip.trim().replace(find,'').toHTML(),
lineNum: lineNum,
switchable: (info.type != 'switch' && info.line.match(/^[ \t]*\/\//)) || false, // Disabled? Mark as "switchable"
enabled: enable_cond ? enable_cond : 'true'
});
}
else
info = null;
this.log(info, 2);
return info;
},
/**
* Count the number of lines before a match, return -1 on fail
*/
getLineNumberOfText: function(line, txt) {
var pos = txt.indexOf(line);
return (pos < 0) ? pos : txt.lineCount(pos);
},
/**
* Add a temporary message to the page
*/
setMessage: function(msg,type) {
if (msg) {
if (type === undefined) type = 'message';
var $err = $('<p class="'+type+'">'+msg+'<span>x</span></p>').appendTo($msgbox), err = $err[0];
var baseColor = $err.css('color').replace(/rgba?\(([^),]+,[^),]+,[^),]+).*/, 'rgba($1,');
err.pulse_offset = (pulse_offset += 200);
err.startTime = Date.now() + pulse_offset;
err.pulser = setInterval(function(){
var pulse_time = Date.now() + err.pulse_offset;
var opac = 0.5+Math.sin(pulse_time/200)*0.4;
$err.css({color:baseColor+(opac)+')'});
if (pulse_time - err.startTime > 2500 && opac > 0.899) {
clearInterval(err.pulser);
}
}, 50);
$err.click(function(e) {
$(this).remove();
self.adjustFormLayout();
return false;
}).css({cursor:'pointer'});
}
else {
$msgbox.find('p.error, p.warning').each(function() {
if (this.pulser !== undefined && this.pulser)
clearInterval(this.pulser);
$(this).remove();
});
}
self.adjustFormLayout();
},
adjustFormLayout: function() {
var wtop = $(window).scrollTop(),
ctop = $cfg.offset().top,
thresh = $form.offset().top+100;
if (ctop < thresh) {
var maxhi = $form.height(); // pad plus heights of config boxes can't be more than this
var pad = wtop > ctop ? wtop-ctop : 0; // pad the top box to stay in view
var innerpad = Math.ceil($cfg.height() - $cfg.find('pre').height());
// height to use for the inner boxes
var hi = ($(window).height() - ($cfg.offset().top - pad) + wtop - innerpad)/2;
if (hi < 200) hi = 200;
$cfg.css({ paddingTop: pad });
var $pre = $('pre.config');
$pre.css({ height: Math.floor(hi) - $pre.position().top });
}
else {
$cfg.css({ paddingTop: wtop > ctop ? wtop-ctop : 0, height: '' });
}
},
setRequestError: function(stat, path) {
self.setMessage('Error '+stat+' – ' + path.replace(/^(https:\/\/[^\/]+\/)?.+(\/[^\/]+)$/, '$1...$2'), 'error');
},
log: function(o,l) {
if (l === undefined) l = 0;
if (this.logging>=l*1) console.log(o);
},
logOnce: function(o) {
if (o.didLogThisObject === undefined) {
this.log(o);
o.didLogThisObject = true;
}
},
EOF: null
};
})();
// Typically the app would be in its own file, but this would be here
window.configuratorApp.init();
});

524
Marlin/configurator/js/jcanvas.js Normal file
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@ -0,0 +1,524 @@
/*!
jCanvas v2.2.1
Caleb Evans
2.2.1 revisions by Thinkyhead
*/
(function($, document, Math, Number, undefined) {
// jC global object
var jC = {};
jC.originals = {
width: 20,
height: 20,
cornerRadius: 0,
fillStyle: 'transparent',
strokeStyle: 'transparent',
strokeWidth: 5,
strokeCap: 'butt',
strokeJoin: 'miter',
shadowX: 0,
shadowY: 0,
shadowBlur: 10,
shadowColor: 'transparent',
x: 0, y: 0,
x1: 0, y1: 0,
radius: 10,
start: 0,
end: 360,
ccw: false,
inDegrees: true,
fromCenter: true,
closed: false,
sides: 3,
angle: 0,
text: '',
font: 'normal 12pt sans-serif',
align: 'center',
baseline: 'middle',
source: '',
repeat: 'repeat'
};
// Duplicate original defaults
jC.defaults = $.extend({}, jC.originals);
// Set global properties
function setGlobals(context, map) {
context.fillStyle = map.fillStyle;
context.strokeStyle = map.strokeStyle;
context.lineWidth = map.strokeWidth;
context.lineCap = map.strokeCap;
context.lineJoin = map.strokeJoin;
context.shadowOffsetX = map.shadowX;
context.shadowOffsetY = map.shadowY;
context.shadowBlur = map.shadowBlur;
context.shadowColor = map.shadowColor;
}
// Close path if chosen
function closePath(context, map) {
if (map.closed === true) {
context.closePath();
context.fill();
context.stroke();
} else {
context.fill();
context.stroke();
context.closePath();
}
}
// Measure angles in degrees if chosen
function checkUnits(map) {
if (map.inDegrees === true) {
return Math.PI / 180;
} else {
return 1;
}
}
// Set canvas defaults
$.fn.canvas = function(args) {
// Reset defaults if no value is passed
if (typeof args === 'undefined') {
jC.defaults = jC.originals;
} else {
jC.defaults = $.extend({}, jC.defaults, args);
}
return this;
};
// Load canvas
$.fn.loadCanvas = function(context) {
if (typeof context === 'undefined') {context = '2d';}
return this[0].getContext(context);
};
// Create gradient
$.fn.gradient = function(args) {
var ctx = this.loadCanvas(),
// Specify custom defaults
gDefaults = {
x1: 0, y1: 0,
x2: 0, y2: 0,
r1: 10, r2: 100
},
params = $.extend({}, gDefaults, args),
gradient, stops = 0, percent, i;
// Create radial gradient if chosen
if (typeof args.r1 === 'undefined' && typeof args.r2 === 'undefined') {
gradient = ctx.createLinearGradient(params.x1, params.y1, params.x2, params.y2);
} else {
gradient = ctx.createRadialGradient(params.x1, params.y1, params.r1, params.x2, params.y2, params.r2);
}
// Count number of color stops
for (i=1; i<=Number.MAX_VALUE; i+=1) {
if (params['c' + i]) {
stops += 1;
} else {
break;
}
}
// Calculate color stop percentages if absent
for (i=1; i<=stops; i+=1) {
percent = Math.round((100 / (stops-1)) * (i-1)) / 100;
if (typeof params['s' + i] === 'undefined') {
params['s' + i] = percent;
}
gradient.addColorStop(params['s' + i], params['c' + i]);
}
return gradient;
};
// Create pattern
$.fn.pattern = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args),
pattern,
img = document.createElement('img');
img.src = params.source;
// Create pattern
function create() {
if (img.complete === true) {
// Create pattern
pattern = ctx.createPattern(img, params.repeat);
} else {
throw "The pattern has not loaded yet";
}
}
try {
create();
} catch(error) {
img.onload = create;
}
return pattern;
};
// Clear canvas
$.fn.clearCanvas = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args);
// Draw from center if chosen
if (params.fromCenter === true) {
params.x -= params.width / 2;
params.y -= params.height / 2;
}
// Clear entire canvas if chosen
ctx.beginPath();
if (typeof args === 'undefined') {
ctx.clearRect(0, 0, this.width(), this.height());
} else {
ctx.clearRect(params.x, params.y, params.width, params.height);
}
ctx.closePath();
return this;
};
// Save canvas
$.fn.saveCanvas = function() {
var ctx = this.loadCanvas();
ctx.save();
return this;
};
// Restore canvas
$.fn.restoreCanvas = function() {
var ctx = this.loadCanvas();
ctx.restore();
return this;
};
// Scale canvas
$.fn.scaleCanvas = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args);
ctx.save();
ctx.translate(params.x, params.y);
ctx.scale(params.width, params.height);
ctx.translate(-params.x, -params.y)
return this;
};
// Translate canvas
$.fn.translateCanvas = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args);
ctx.save();
ctx.translate(params.x, params.y);
return this;
};
// Rotate canvas
$.fn.rotateCanvas = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args),
toRad = checkUnits(params);
ctx.save();
ctx.translate(params.x, params.y);
ctx.rotate(params.angle * toRad);
ctx.translate(-params.x, -params.y);
return this;
};
// Draw rectangle
$.fn.drawRect = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args),
toRad = checkUnits(params),
x1, y1, x2, y2, r;
setGlobals(ctx, params);
// Draw from center if chosen
if (params.fromCenter === true) {
params.x -= params.width / 2;
params.y -= params.height / 2;
}
// Draw rounded rectangle if chosen
if (params.cornerRadius > 0) {
x1 = params.x;
y1 = params.y;
x2 = params.x + params.width;
y2 = params.y + params.height;
r = params.cornerRadius;
if ((x2 - x1) - (2 * r) < 0) {
r = (x2 - x1) / 2;
}
if ((y2 - y1) - (2 * r) < 0) {
r = (y2 - y1) / 2;
}
ctx.beginPath();
ctx.moveTo(x1+r,y1);
ctx.lineTo(x2-r,y1);
ctx.arc(x2-r, y1+r, r, 270*toRad, 360*toRad, false);
ctx.lineTo(x2,y2-r);
ctx.arc(x2-r, y2-r, r, 0, 90*toRad, false);
ctx.lineTo(x1+r,y2);
ctx.arc(x1+r, y2-r, r, 90*toRad, 180*toRad, false);
ctx.lineTo(x1,y1+r);
ctx.arc(x1+r, y1+r, r, 180*toRad, 270*toRad, false);
ctx.fill();
ctx.stroke();
ctx.closePath();
} else {
ctx.fillRect(params.x, params.y, params.width, params.height);
ctx.strokeRect(params.x, params.y, params.width, params.height);
}
return this;
};
// Draw arc
$.fn.drawArc = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args),
toRad = checkUnits(params);
setGlobals(ctx, params);
// Draw from center if chosen
if (params.fromCenter === false) {
params.x += params.radius;
params.y += params.radius;
}
ctx.beginPath();
ctx.arc(params.x, params.y, params.radius, (params.start*toRad)-(Math.PI/2), (params.end*toRad)-(Math.PI/2), params.ccw);
// Close path if chosen
closePath(ctx, params);
return this;
};
// Draw ellipse
$.fn.drawEllipse = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args),
controlW = params.width * (4/3);
setGlobals(ctx, params);
// Draw from center if chosen
if (params.fromCenter === false) {
params.x += params.width / 2;
params.y += params.height / 2;
}
// Increment coordinates to prevent negative values
params.x += 1e-10;
params.y += 1e-10;
// Create ellipse
ctx.beginPath();
ctx.moveTo(params.x, params.y-params.height/2);
ctx.bezierCurveTo(params.x-controlW/2,params.y-params.height/2,
params.x-controlW/2,params.y+params.height/2,
params.x,params.y+params.height/2);
ctx.bezierCurveTo(params.x+controlW/2,params.y+params.height/2,
params.x+controlW/2,params.y-params.height/2,
params.x,params.y-params.height/2);
ctx.closePath();
ctx.fill();
ctx.stroke();
return this;
};
// Draw line
$.fn.drawLine = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args),
max = Number.MAX_VALUE, l,
lx, ly;
setGlobals(ctx, params);
// Draw each point
ctx.beginPath();
ctx.moveTo(params.x1, params.y1);
for (l=2; l<max; l+=1) {
lx = params['x' + l];
ly = params['y' + l];
// Stop loop when all points are drawn
if (typeof lx === 'undefined' || typeof ly === 'undefined') {
break;
}
ctx.lineTo(lx, ly);
}
// Close path if chosen
closePath(ctx, params);
return this;
};
// Draw quadratic curve
$.fn.drawQuad = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args),
max = Number.MAX_VALUE, l,
lx, ly, lcx, lcy;
setGlobals(ctx, params);
// Draw each point
ctx.beginPath();
ctx.moveTo(params.x1, params.y1);
for (l=2; l<max; l+=1) {
lx = params['x' + l];
if (typeof lx === 'undefined') break;
ly = params['y' + l];
if (typeof ly === 'undefined') break;
lcx = params['cx' + (l-1)];
if (typeof lcx === 'undefined') break;
lcy = params['cy' + (l-1)];
if (typeof lcy === 'undefined') break;
ctx.quadraticCurveTo(lcx, lcy, lx, ly);
}
// Close path if chosen
closePath(ctx, params);
return this;
};
// Draw Bezier curve
$.fn.drawBezier = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args),
max = Number.MAX_VALUE,
l=2, lc=1, lx, ly, lcx1, lcy1, lcx2, lcy2, i;
setGlobals(ctx, params);
// Draw each point
ctx.beginPath();
ctx.moveTo(params.x1, params.y1);
for (i=2; i<max; i+=1) {
lx = params['x' + l];
if (typeof lx === 'undefined') break;
ly = params['y' + l];
if (typeof ly === 'undefined') break;
lcx1 = params['cx' + lc];
if (typeof lcx1 === 'undefined') break;
lcy1 = params['cy' + lc];
if (typeof lcy1 === 'undefined') break;
lcx2 = params['cx' + (lc+1)];
if (typeof lcx2 === 'undefined') break;
lcy2 = params['cy' + (lc+1)];
if (typeof lcy2 === 'undefined') break;
ctx.bezierCurveTo(lcx1, lcy1, lcx2, lcy2, lx, ly);
l += 1;
lc += 2;
}
// Close path if chosen
closePath(ctx, params);
return this;
};
// Draw text
$.fn.drawText = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args);
setGlobals(ctx, params);
// Set text-specific properties
ctx.textBaseline = params.baseline;
ctx.textAlign = params.align;
ctx.font = params.font;
ctx.strokeText(params.text, params.x, params.y);
ctx.fillText(params.text, params.x, params.y);
return this;
};
// Draw image
$.fn.drawImage = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args),
// Define image source
img = document.createElement('img');
img.src = params.source;
setGlobals(ctx, params);
// Draw image function
function draw() {
if (img.complete) {
var scaleFac = img.width / img.height;
// If width/height are specified
if (typeof args.width !== 'undefined' && typeof args.height !== 'undefined') {
img.width = args.width;
img.height = args.height;
// If width is specified
} else if (typeof args.width !== 'undefined' && typeof args.height === 'undefined') {
img.width = args.width;
img.height = img.width / scaleFac;
// If height is specified
} else if (typeof args.width === 'undefined' && typeof args.height !== 'undefined') {
img.height = args.height;
img.width = img.height * scaleFac;
}
// Draw from center if chosen
if (params.fromCenter === true) {
params.x -= img.width / 2;
params.y -= img.height / 2;
}
// Draw image
ctx.drawImage(img, params.x, params.y, img.width, img.height);
} else {
throw "The image has not loaded yet.";
}
}
function dodraw() {
// console.log("dodraw...");
try {
// console.log("dodraw...try...");
draw();
}
catch(error) {
// console.log("dodraw...catch: " + error);
}
}
// Draw image if already loaded
// console.log("--------------------");
// console.log("drawImage " + img.src);
try {
// console.log("try...");
draw();
} catch(error) {
// console.log("catch: " + error);
img.onload = dodraw;
}
return this;
};
// Draw polygon
$.fn.drawPolygon = function(args) {
var ctx = this.loadCanvas(),
params = $.extend({}, jC.defaults, args),
theta, dtheta, x, y,
toRad = checkUnits(params), i;
setGlobals(ctx, params);
if (params.sides >= 3) {
// Calculate points and draw
theta = (Math.PI/2) + (Math.PI/params.sides) + (params.angle*toRad);
dtheta = (Math.PI*2) / params.sides;
for (i=0; i<params.sides; i+=1) {
x = params.x + (params.radius * Math.cos(theta)) + 1e-10;
y = params.y + (params.radius * Math.sin(theta)) + 1e-10;
if (params.fromCenter === false) {
x += params.radius;
y += params.radius;
}
ctx.lineTo(x, y);
theta += dtheta;
}
closePath(ctx, params);
}
return this;
};
return window.jCanvas = jC;
}(jQuery, document, Math, Number));

4
Marlin/configurator/js/jquery-2.1.3.min.js vendored Normal file
View file

@ -0,0 +1,4 @@
/*! jQuery v2.1.3 | (c) 2005, 2014 jQuery Foundation, Inc. | jquery.org/license */
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@ -0,0 +1,220 @@
/*!
* jQuery "stepper" Plugin
* version 0.0.1
* @requires jQuery v1.3.2 or later
* @requires jCanvas
*
* Authored 2011-06-11 Scott Lahteine (thinkyhead.com)
*
* A very simple numerical stepper.
* TODO: place arrows based on div size, make 50/50 width
*
* Usage example:
*
* $('#mydiv').jstepper({
* min: 1,
* max: 4,
* val: 1,
* arrowWidth: 15,
* arrowHeight: '22px',
* color: '#FFF',
* acolor: '#F70',
* hcolor: '#FF0',
* id: 'select-me',
* stepperClass: 'inner',
* textStyle: {width:'1.5em',fontSize:'20px',textAlign:'center'},
* onChange: function(v) { },
* });
*
*/
;(function($) {
var un = 'undefined';
$.jstepperArrows = [
{ name:'prev', poly:[[1.0,0],[0,0.5],[1.0,1.0]] },
{ name:'next', poly:[[0,0],[1.0,0.5],[0,1.0]] }
];
$.fn.jstepper = function(args) {
return this.each(function() {
var defaults = {
min: 1,
max: null,
val: null,
active: true,
placeholder: null,
arrowWidth: 0,
arrowHeight: 0,
color: '#FFF',
hcolor: '#FF0',
acolor: '#F80',
id: '',
stepperClass: '',
textStyle: '',
onChange: (function(v){ if (typeof console.log !== 'undefined') console.log("val="+v); })
};
args = $.extend(defaults, args || {});
var min = args.min * 1,
max = (args.max !== null) ? args.max * 1 : min,
span = max - min + 1,
val = (args.val !== null) ? args.val * 1 : min,
active = !args.disabled,
placeholder = args.placeholder,
arrowWidth = 1 * args.arrowWidth.toString().replace(/px/,''),
arrowHeight = 1 * args.arrowHeight.toString().replace(/px/,''),
color = args.color,
hcolor = args.hcolor,
acolor = args.acolor,
$prev = $('<a href="#prev" style="cursor:w-resize;"><canvas/></a>'),
$marq = $('<div class="number"/>').css({float:'left',textAlign:'center'}),
$next = $('<a href="#next" style="cursor:e-resize;"><canvas/></a>'),
arrow = [ $prev.find('canvas')[0], $next.find('canvas')[0] ],
$stepper = $('<span class="jstepper"/>').append($prev).append($marq).append($next).append('<div style="clear:both;"/>'),
onChange = args.onChange;
if (args.id) $stepper[0].id = args.id;
if (args.stepperClass) $stepper.addClass(args.stepperClass);
if (args.textStyle) $marq.css(args.textStyle);
// replace a span, but embed elsewhere
if (this.tagName == 'SPAN') {
var previd = this.id;
$(this).replaceWith($stepper);
if (previd) $stepper.attr('id',previd);
}
else {
$(this).append($stepper);
}
// hook to call functions on this object
$stepper[0].ui = {
refresh: function() {
this.updateNumber();
this._drawArrow(0, 1);
this._drawArrow(1, 1);
return this;
},
_drawArrow: function(i,state) {
var $elm = $(arrow[i]),
desc = $.jstepperArrows[i],
fillStyle = (state == 2) ? hcolor : (state == 3) ? acolor : color,
draw = { fillStyle: fillStyle },
w = $elm.width(), h = $elm.height();
if (w <= 0) w = $elm.attr('width');
if (h <= 0) h = $elm.attr('height');
$.each(desc.poly,function(i,v){
++i;
draw['x'+i] = v[0] * w;
draw['y'+i] = v[1] * h;
});
$elm.restoreCanvas().clearCanvas().drawLine(draw);
},
updateNumber: function() {
$marq.html((active || placeholder === null) ? val.toString() : placeholder);
return this;
},
_doclick: function(i) {
this.add(i ? 1 : -1);
this._drawArrow(i, 3);
var self = this;
setTimeout(function(){ self._drawArrow(i, 2); }, 50);
},
add: function(x) {
val = (((val - min) + x + span) % span) + min;
this.updateNumber();
this.didChange(val);
return this;
},
min: function(v) {
if (typeof v === un) return min;
this.setRange(v,max);
return this;
},
max: function(v) {
if (typeof v === un) return max;
this.setRange(min,v);
return this;
},
val: function(v) {
if (typeof v === un) return val;
val = (((v - min) + span) % span) + min;
this.updateNumber();
return this;
},
setRange: function(lo, hi, ini) {
if (lo > hi) hi = (lo += hi -= lo) - hi;
min = lo; max = hi; span = hi - lo + 1;
if (typeof ini !== un) val = ini;
if (val < min) val = min;
if (val > max) val = max;
this.updateNumber();
return this;
},
active: function(a) {
if (typeof a === un) return active;
(active = a) ? $marq.removeClass('inactive') : $marq.addClass('inactive');
this.updateNumber();
return this;
},
disable: function() { this.active(false); return this; },
enable: function() { this.active(true); return this; },
clearPlaceholder: function() {
this.setPlaceholder(null);
return this;
},
setPlaceholder: function(p) {
placeholder = p;
if (!active) this.updateNumber();
return this;
},
didChange: onChange
};
// set hover and click for each arrow
$.each($.jstepperArrows, function(i,desc) {
var $elm = $(arrow[i]),
w = arrowWidth ? arrowWidth : $elm.width() ? $elm.width() : 15,
h = arrowHeight ? arrowHeight : $elm.height() ? $elm.height() : 24;
$elm[0]._index = i;
$elm
.css({float:'left'})
.attr({width:w,height:h,'class':desc.name})
.hover(
function(e) { $stepper[0].ui._drawArrow(e.target._index, 2); },
function(e) { $stepper[0].ui._drawArrow(e.target._index, 1); }
)
.click(function(e){
$stepper[0].ui._doclick(e.target._index);
return false;
});
});
// init the visuals first time
$stepper[0].ui.refresh();
}); // this.each
}; // $.fn.jstepper
})( jQuery );

14
Marlin/configurator/js/jszip.min.js vendored Executable file
View file

@ -0,0 +1,14 @@
/*!
JSZip - A Javascript class for generating and reading zip files
<http://stuartk.com/jszip>
(c) 2009-2014 Stuart Knightley <stuart [at] stuartk.com>
Dual licenced under the MIT license or GPLv3. See https://raw.github.com/Stuk/jszip/master/LICENSE.markdown.
JSZip uses the library pako released under the MIT license :
https://github.com/nodeca/pako/blob/master/LICENSE
*/
!function(a){if("object"==typeof exports&&"undefined"!=typeof module)module.exports=a();else if("function"==typeof define&&define.amd)define([],a);else{var b;"undefined"!=typeof window?b=window:"undefined"!=typeof global?b=global:"undefined"!=typeof self&&(b=self),b.JSZip=a()}}(function(){return function a(b,c,d){function e(g,h){if(!c[g]){if(!b[g]){var i="function"==typeof require&&require;if(!h&&i)return i(g,!0);if(f)return f(g,!0);throw new Error("Cannot find module '"+g+"'")}var j=c[g]={exports:{}};b[g][0].call(j.exports,function(a){var c=b[g][1][a];return e(c?c:a)},j,j.exports,a,b,c,d)}return c[g].exports}for(var f="function"==typeof require&&require,g=0;g<d.length;g++)e(d[g]);return e}({1:[function(a,b,c){"use strict";var d="ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/=";c.encode=function(a){for(var b,c,e,f,g,h,i,j="",k=0;k<a.length;)b=a.charCodeAt(k++),c=a.charCodeAt(k++),e=a.charCodeAt(k++),f=b>>2,g=(3&b)<<4|c>>4,h=(15&c)<<2|e>>6,i=63&e,isNaN(c)?h=i=64:isNaN(e)&&(i=64),j=j+d.charAt(f)+d.charAt(g)+d.charAt(h)+d.charAt(i);return j},c.decode=function(a){var b,c,e,f,g,h,i,j="",k=0;for(a=a.replace(/[^A-Za-z0-9\+\/\=]/g,"");k<a.length;)f=d.indexOf(a.charAt(k++)),g=d.indexOf(a.charAt(k++)),h=d.indexOf(a.charAt(k++)),i=d.indexOf(a.charAt(k++)),b=f<<2|g>>4,c=(15&g)<<4|h>>2,e=(3&h)<<6|i,j+=String.fromCharCode(b),64!=h&&(j+=String.fromCharCode(c)),64!=i&&(j+=String.fromCharCode(e));return j}},{}],2:[function(a,b){"use strict";function c(){this.compressedSize=0,this.uncompressedSize=0,this.crc32=0,this.compressionMethod=null,this.compressedContent=null}c.prototype={getContent:function(){return null},getCompressedContent:function(){return null}},b.exports=c},{}],3:[function(a,b,c){"use strict";c.STORE={magic:"\x00\x00",compress:function(a){return a},uncompress:function(a){return a},compressInputType:null,uncompressInputType:null},c.DEFLATE=a("./flate")},{"./flate":8}],4:[function(a,b){"use strict";var c=a("./utils"),d=[0,1996959894,3993919788,2567524794,124634137,1886057615,3915621685,2657392035,249268274,2044508324,3772115230,2547177864,162941995,2125561021,3887607047,2428444049,498536548,1789927666,4089016648,2227061214,450548861,1843258603,4107580753,2211677639,325883990,1684777152,4251122042,2321926636,335633487,1661365465,4195302755,2366115317,997073096,1281953886,3579855332,2724688242,1006888145,1258607687,3524101629,2768942443,901097722,1119000684,3686517206,2898065728,853044451,1172266101,3705015759,2882616665,651767980,1373503546,3369554304,3218104598,565507253,1454621731,3485111705,3099436303,671266974,1594198024,3322730930,2970347812,795835527,1483230225,3244367275,3060149565,1994146192,31158534,2563907772,4023717930,1907459465,112637215,2680153253,3904427059,2013776290,251722036,2517215374,3775830040,2137656763,141376813,2439277719,3865271297,1802195444,476864866,2238001368,4066508878,1812370925,453092731,2181625025,4111451223,1706088902,314042704,2344532202,4240017532,1658658271,366619977,2362670323,4224994405,1303535960,984961486,2747007092,3569037538,1256170817,1037604311,2765210733,3554079995,1131014506,879679996,2909243462,3663771856,1141124467,855842277,2852801631,3708648649,1342533948,654459306,3188396048,3373015174,1466479909,544179635,3110523913,3462522015,1591671054,702138776,2966460450,3352799412,1504918807,783551873,3082640443,3233442989,3988292384,2596254646,62317068,1957810842,3939845945,2647816111,81470997,1943803523,3814918930,2489596804,225274430,2053790376,3826175755,2466906013,167816743,2097651377,4027552580,2265490386,503444072,1762050814,4150417245,2154129355,426522225,1852507879,4275313526,2312317920,282753626,1742555852,4189708143,2394877945,397917763,1622183637,3604390888,2714866558,953729732,1340076626,3518719985,2797360999,1068828381,1219638859,3624741850,2936675148,906185462,1090812512,3747672003,2825379669,829329135,1181335161,3412177804,3160834842,628085408,1382605366,3423369109,3138078467,570562233,1426400815,3317316542,2998733608,733239954,1555261956,3268935591,3050360625,752459403,1541320221,2607071920,3965973030,1969922972,40735498,2617837225,3943577151,1913087877,83908371,2512341634,3803740692,2075208622,213261112,2463272603,3855990285,2094854071,198958881,2262029012,4057260610,1759359992,534414190,2176718541,4139329115,1873836001,414664567,2282248934,4279200368,1711684554,285281116,2405801727,4167216745,1634467795,376229701,2685067896,3608007406,1308918612,956543938,2808555105,3495958263,1231636301,1047427035,2932959818,3654703836,1088359270,936918e3,2847714899,3736837829,1202900863,817233897,3183342108,3401237130,1404277552,615818150,3134207493,3453421203,1423857449,601450431,3009837614,3294710456,1567103746,711928724,3020668471,3272380065,1510334235,755167117];b.exports=function(a,b){if("undefined"==typeof 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b=d.transformTo("arraybuffer",a);return d.arrayBuffer2Blob(b)},c.arrayBuffer2Blob=function(a){return d.arrayBuffer2Blob(a)},c.transformTo=function(a,b){return d.transformTo(a,b)},c.getTypeOf=function(a){return d.getTypeOf(a)},c.checkSupport=function(a){return d.checkSupport(a)},c.MAX_VALUE_16BITS=d.MAX_VALUE_16BITS,c.MAX_VALUE_32BITS=d.MAX_VALUE_32BITS,c.pretty=function(a){return d.pretty(a)},c.findCompression=function(a){return d.findCompression(a)},c.isRegExp=function(a){return d.isRegExp(a)}},{"./utils":21}],8:[function(a,b,c){"use strict";var d="undefined"!=typeof Uint8Array&&"undefined"!=typeof Uint16Array&&"undefined"!=typeof Uint32Array,e=a("pako");c.uncompressInputType=d?"uint8array":"array",c.compressInputType=d?"uint8array":"array",c.magic="\b\x00",c.compress=function(a){return e.deflateRaw(a)},c.uncompress=function(a){return e.inflateRaw(a)}},{pako:24}],9:[function(a,b){"use strict";function c(a,b){return this instanceof c?(this.files={},this.comment=null,this.root="",a&&this.load(a,b),void(this.clone=function(){var a=new c;for(var b in this)"function"!=typeof this[b]&&(a[b]=this[b]);return a})):new c(a,b)}var d=a("./base64");c.prototype=a("./object"),c.prototype.load=a("./load"),c.support=a("./support"),c.defaults=a("./defaults"),c.utils=a("./deprecatedPublicUtils"),c.base64={encode:function(a){return d.encode(a)},decode:function(a){return d.decode(a)}},c.compressions=a("./compressions"),b.exports=c},{"./base64":1,"./compressions":3,"./defaults":6,"./deprecatedPublicUtils":7,"./load":10,"./object":13,"./support":17}],10:[function(a,b){"use strict";var c=a("./base64"),d=a("./zipEntries");b.exports=function(a,b){var e,f,g,h;for(b=b||{},b.base64&&(a=c.decode(a)),f=new d(a,b),e=f.files,g=0;g<e.length;g++)h=e[g],this.file(h.fileName,h.decompressed,{binary:!0,optimizedBinaryString:!0,date:h.date,dir:h.dir,comment:h.fileComment.length?h.fileComment:null,createFolders:b.createFolders});return 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h,i,j,k,m=(c.compressedContent,d.transformTo("string",l.utf8encode(b.name))),n=b.comment||"",o=d.transformTo("string",l.utf8encode(n)),p=m.length!==b.name.length,q=o.length!==n.length,r=b.options,t="",u="",v="";j=b._initialMetadata.dir!==b.dir?b.dir:r.dir,k=b._initialMetadata.date!==b.date?b.date:r.date,h=k.getHours(),h<<=6,h|=k.getMinutes(),h<<=5,h|=k.getSeconds()/2,i=k.getFullYear()-1980,i<<=4,i|=k.getMonth()+1,i<<=5,i|=k.getDate(),p&&(u=s(1,1)+s(e(m),4)+m,t+="up"+s(u.length,2)+u),q&&(v=s(1,1)+s(this.crc32(o),4)+o,t+="uc"+s(v.length,2)+v);var w="";w+="\n\x00",w+=p||q?"\x00\b":"\x00\x00",w+=c.compressionMethod,w+=s(h,2),w+=s(i,2),w+=s(c.crc32,4),w+=s(c.compressedSize,4),w+=s(c.uncompressedSize,4),w+=s(m.length,2),w+=s(t.length,2);var x=f.LOCAL_FILE_HEADER+w+m+t,y=f.CENTRAL_FILE_HEADER+"\x00"+w+s(o.length,2)+"\x00\x00\x00\x00"+(j===!0?"\x00\x00\x00":"\x00\x00\x00\x00")+s(g,4)+m+t+o;return{fileRecord:x,dirRecord:y,compressedObject:c}},A={load:function(){throw new Error("Load method is not defined. Is the file jszip-load.js included ?")},filter:function(a){var b,c,d,e,f=[];for(b in this.files)this.files.hasOwnProperty(b)&&(d=this.files[b],e=new r(d.name,d._data,t(d.options)),c=b.slice(this.root.length,b.length),b.slice(0,this.root.length)===this.root&&a(c,e)&&f.push(e));return f},file:function(a,b,c){if(1===arguments.length){if(d.isRegExp(a)){var e=a;return this.filter(function(a,b){return!b.dir&&e.test(a)})}return this.filter(function(b,c){return!c.dir&&b===a})[0]||null}return a=this.root+a,v.call(this,a,b,c),this},folder:function(a){if(!a)return this;if(d.isRegExp(a))return this.filter(function(b,c){return c.dir&&a.test(b)});var b=this.root+a,c=x.call(this,b),e=this.clone();return e.root=c.name,e},remove:function(a){a=this.root+a;var b=this.files[a];if(b||("/"!=a.slice(-1)&&(a+="/"),b=this.files[a]),b&&!b.dir)delete this.files[a];else for(var c=this.filter(function(b,c){return c.name.slice(0,a.length)===a}),d=0;d<c.length;d++)delete this.files[c[d].name];return this},generate:function(a){a=t(a||{},{base64:!0,compression:"STORE",type:"base64",comment:null}),d.checkSupport(a.type);var b,c,e=[],g=0,j=0,k=d.transformTo("string",this.utf8encode(a.comment||this.comment||""));for(var l in this.files)if(this.files.hasOwnProperty(l)){var o=this.files[l],p=o.options.compression||a.compression.toUpperCase(),q=i[p];if(!q)throw new Error(p+" is not a valid compression method !");var r=y.call(this,o,q),u=z.call(this,l,o,r,g);g+=u.fileRecord.length+r.compressedSize,j+=u.dirRecord.length,e.push(u)}var v="";v=f.CENTRAL_DIRECTORY_END+"\x00\x00\x00\x00"+s(e.length,2)+s(e.length,2)+s(j,4)+s(g,4)+s(k.length,2)+k;var w=a.type.toLowerCase();for(b="uint8array"===w||"arraybuffer"===w||"blob"===w||"nodebuffer"===w?new n(g+j+v.length):new m(g+j+v.length),c=0;c<e.length;c++)b.append(e[c].fileRecord),b.append(e[c].compressedObject.compressedContent);for(c=0;c<e.length;c++)b.append(e[c].dirRecord);b.append(v);var x=b.finalize();switch(a.type.toLowerCase()){case"uint8array":case"arraybuffer":case"nodebuffer":return d.transformTo(a.type.toLowerCase(),x);case"blob":return d.arrayBuffer2Blob(d.transformTo("arraybuffer",x));case"base64":return a.base64?h.encode(x):x;default:return x}},crc32:function(a,b){return e(a,b)},utf8encode:function(a){return d.transformTo("string",l.utf8encode(a))},utf8decode:function(a){return l.utf8decode(a)}};b.exports=A},{"./base64":1,"./compressedObject":2,"./compressions":3,"./crc32":4,"./defaults":6,"./nodeBuffer":11,"./signature":14,"./stringWriter":16,"./support":17,"./uint8ArrayWriter":19,"./utf8":20,"./utils":21}],14:[function(a,b,c){"use strict";c.LOCAL_FILE_HEADER="PK",c.CENTRAL_FILE_HEADER="PK",c.CENTRAL_DIRECTORY_END="PK",c.ZIP64_CENTRAL_DIRECTORY_LOCATOR="PK",c.ZIP64_CENTRAL_DIRECTORY_END="PK",c.DATA_DESCRIPTOR="PK\b"},{}],15:[function(a,b){"use strict";function c(a,b){this.data=a,b||(this.data=e.string2binary(this.data)),this.length=this.data.length,this.index=0}var d=a("./dataReader"),e=a("./utils");c.prototype=new d,c.prototype.byteAt=function(a){return this.data.charCodeAt(a)},c.prototype.lastIndexOfSignature=function(a){return this.data.lastIndexOf(a)},c.prototype.readData=function(a){this.checkOffset(a);var b=this.data.slice(this.index,this.index+a);return this.index+=a,b},b.exports=c},{"./dataReader":5,"./utils":21}],16:[function(a,b){"use strict";var c=a("./utils"),d=function(){this.data=[]};d.prototype={append:function(a){a=c.transformTo("string",a),this.data.push(a)},finalize:function(){return this.data.join("")}},b.exports=d},{"./utils":21}],17:[function(a,b,c){(function(a){"use strict";if(c.base64=!0,c.array=!0,c.string=!0,c.arraybuffer="undefined"!=typeof ArrayBuffer&&"undefined"!=typeof Uint8Array,c.nodebuffer="undefined"!=typeof a,c.uint8array="undefined"!=typeof Uint8Array,"undefined"==typeof ArrayBuffer)c.blob=!1;else{var b=new ArrayBuffer(0);try{c.blob=0===new Blob([b],{type:"application/zip"}).size}catch(d){try{var e=window.BlobBuilder||window.WebKitBlobBuilder||window.MozBlobBuilder||window.MSBlobBuilder,f=new e;f.append(b),c.blob=0===f.getBlob("application/zip").size}catch(d){c.blob=!1}}}}).call(this,"undefined"!=typeof Buffer?Buffer:void 0)},{}],18:[function(a,b){"use strict";function c(a){a&&(this.data=a,this.length=this.data.length,this.index=0)}var d=a("./dataReader");c.prototype=new d,c.prototype.byteAt=function(a){return this.data[a]},c.prototype.lastIndexOfSignature=function(a){for(var b=a.charCodeAt(0),c=a.charCodeAt(1),d=a.charCodeAt(2),e=a.charCodeAt(3),f=this.length-4;f>=0;--f)if(this.data[f]===b&&this.data[f+1]===c&&this.data[f+2]===d&&this.data[f+3]===e)return f;return-1},c.prototype.readData=function(a){if(this.checkOffset(a),0===a)return new Uint8Array(0);var b=this.data.subarray(this.index,this.index+a);return this.index+=a,b},b.exports=c},{"./dataReader":5}],19:[function(a,b){"use strict";var c=a("./utils"),d=function(a){this.data=new Uint8Array(a),this.index=0};d.prototype={append:function(a){0!==a.length&&(a=c.transformTo("uint8array",a),this.data.set(a,this.index),this.index+=a.length)},finalize:function(){return this.data}},b.exports=d},{"./utils":21}],20:[function(a,b,c){"use strict";for(var d=a("./utils"),e=a("./support"),f=a("./nodeBuffer"),g=new Array(256),h=0;256>h;h++)g[h]=h>=252?6:h>=248?5:h>=240?4:h>=224?3:h>=192?2:1;g[254]=g[254]=1;var i=function(a){var b,c,d,f,g,h=a.length,i=0;for(f=0;h>f;f++)c=a.charCodeAt(f),55296===(64512&c)&&h>f+1&&(d=a.charCodeAt(f+1),56320===(64512&d)&&(c=65536+(c-55296<<10)+(d-56320),f++)),i+=128>c?1:2048>c?2:65536>c?3:4;for(b=e.uint8array?new Uint8Array(i):new Array(i),g=0,f=0;i>g;f++)c=a.charCodeAt(f),55296===(64512&c)&&h>f+1&&(d=a.charCodeAt(f+1),56320===(64512&d)&&(c=65536+(c-55296<<10)+(d-56320),f++)),128>c?b[g++]=c:2048>c?(b[g++]=192|c>>>6,b[g++]=128|63&c):65536>c?(b[g++]=224|c>>>12,b[g++]=128|c>>>6&63,b[g++]=128|63&c):(b[g++]=240|c>>>18,b[g++]=128|c>>>12&63,b[g++]=128|c>>>6&63,b[g++]=128|63&c);return b},j=function(a,b){var c;for(b=b||a.length,b>a.length&&(b=a.length),c=b-1;c>=0&&128===(192&a[c]);)c--;return 0>c?b:0===c?b:c+g[a[c]]>b?c:b},k=function(a){var b,c,e,f,h=a.length,i=new Array(2*h);for(c=0,b=0;h>b;)if(e=a[b++],128>e)i[c++]=e;else if(f=g[e],f>4)i[c++]=65533,b+=f-1;else{for(e&=2===f?31:3===f?15:7;f>1&&h>b;)e=e<<6|63&a[b++],f--;f>1?i[c++]=65533:65536>e?i[c++]=e:(e-=65536,i[c++]=55296|e>>10&1023,i[c++]=56320|1023&e)}return i.length!==c&&(i.subarray?i=i.subarray(0,c):i.length=c),d.applyFromCharCode(i)};c.utf8encode=function(a){return e.nodebuffer?f(a,"utf-8"):i(a)},c.utf8decode=function(a){if(e.nodebuffer)return d.transformTo("nodebuffer",a).toString("utf-8");a=d.transformTo(e.uint8array?"uint8array":"array",a);for(var b=[],c=0,f=a.length,g=65536;f>c;){var h=j(a,Math.min(c+g,f));b.push(e.uint8array?k(a.subarray(c,h)):k(a.slice(c,h))),c=h}return b.join("")}},{"./nodeBuffer":11,"./support":17,"./utils":21}],21:[function(a,b,c){"use strict";function d(a){return a}function e(a,b){for(var c=0;c<a.length;++c)b[c]=255&a.charCodeAt(c);return b}function f(a){var b=65536,d=[],e=a.length,f=c.getTypeOf(a),g=0,h=!0;try{switch(f){case"uint8array":String.fromCharCode.apply(null,new Uint8Array(0));break;case"nodebuffer":String.fromCharCode.apply(null,j(0))}}catch(i){h=!1}if(!h){for(var k="",l=0;l<a.length;l++)k+=String.fromCharCode(a[l]);return k}for(;e>g&&b>1;)try{d.push("array"===f||"nodebuffer"===f?String.fromCharCode.apply(null,a.slice(g,Math.min(g+b,e))):String.fromCharCode.apply(null,a.subarray(g,Math.min(g+b,e)))),g+=b}catch(i){b=Math.floor(b/2)}return d.join("")}function g(a,b){for(var c=0;c<a.length;c++)b[c]=a[c];return b}var h=a("./support"),i=a("./compressions"),j=a("./nodeBuffer");c.string2binary=function(a){for(var b="",c=0;c<a.length;c++)b+=String.fromCharCode(255&a.charCodeAt(c));return b},c.arrayBuffer2Blob=function(a){c.checkSupport("blob");try{return new Blob([a],{type:"application/zip"})}catch(b){try{var d=window.BlobBuilder||window.WebKitBlobBuilder||window.MozBlobBuilder||window.MSBlobBuilder,e=new d;return e.append(a),e.getBlob("application/zip")}catch(b){throw new Error("Bug : can't construct the Blob.")}}},c.applyFromCharCode=f;var k={};k.string={string:d,array:function(a){return e(a,new Array(a.length))},arraybuffer:function(a){return k.string.uint8array(a).buffer},uint8array:function(a){return e(a,new Uint8Array(a.length))},nodebuffer:function(a){return e(a,j(a.length))}},k.array={string:f,array:d,arraybuffer:function(a){return new Uint8Array(a).buffer},uint8array:function(a){return new Uint8Array(a)},nodebuffer:function(a){return j(a)}},k.arraybuffer={string:function(a){return f(new Uint8Array(a))},array:function(a){return g(new Uint8Array(a),new Array(a.byteLength))},arraybuffer:d,uint8array:function(a){return new Uint8Array(a)},nodebuffer:function(a){return j(new Uint8Array(a))}},k.uint8array={string:f,array:function(a){return g(a,new Array(a.length))},arraybuffer:function(a){return a.buffer},uint8array:d,nodebuffer:function(a){return j(a)}},k.nodebuffer={string:f,array:function(a){return g(a,new Array(a.length))},arraybuffer:function(a){return k.nodebuffer.uint8array(a).buffer},uint8array:function(a){return g(a,new Uint8Array(a.length))},nodebuffer:d},c.transformTo=function(a,b){if(b||(b=""),!a)return b;c.checkSupport(a);var d=c.getTypeOf(b),e=k[d][a](b);return e},c.getTypeOf=function(a){return"string"==typeof a?"string":"[object Array]"===Object.prototype.toString.call(a)?"array":h.nodebuffer&&j.test(a)?"nodebuffer":h.uint8array&&a instanceof Uint8Array?"uint8array":h.arraybuffer&&a instanceof ArrayBuffer?"arraybuffer":void 0},c.checkSupport=function(a){var b=h[a.toLowerCase()];if(!b)throw new Error(a+" is not supported by this browser")},c.MAX_VALUE_16BITS=65535,c.MAX_VALUE_32BITS=-1,c.pretty=function(a){var b,c,d="";for(c=0;c<(a||"").length;c++)b=a.charCodeAt(c),d+="\\x"+(16>b?"0":"")+b.toString(16).toUpperCase();return d},c.findCompression=function(a){for(var b in i)if(i.hasOwnProperty(b)&&i[b].magic===a)return i[b];return null},c.isRegExp=function(a){return"[object RegExp]"===Object.prototype.toString.call(a)}},{"./compressions":3,"./nodeBuffer":11,"./support":17}],22:[function(a,b){"use strict";function c(a,b){this.files=[],this.loadOptions=b,a&&this.load(a)}var d=a("./stringReader"),e=a("./nodeBufferReader"),f=a("./uint8ArrayReader"),g=a("./utils"),h=a("./signature"),i=a("./zipEntry"),j=a("./support"),k=a("./object");c.prototype={checkSignature:function(a){var b=this.reader.readString(4);if(b!==a)throw new Error("Corrupted zip or bug : unexpected signature ("+g.pretty(b)+", expected "+g.pretty(a)+")")},readBlockEndOfCentral:function(){this.diskNumber=this.reader.readInt(2),this.diskWithCentralDirStart=this.reader.readInt(2),this.centralDirRecordsOnThisDisk=this.reader.readInt(2),this.centralDirRecords=this.reader.readInt(2),this.centralDirSize=this.reader.readInt(4),this.centralDirOffset=this.reader.readInt(4),this.zipCommentLength=this.reader.readInt(2),this.zipComment=this.reader.readString(this.zipCommentLength),this.zipComment=k.utf8decode(this.zipComment)},readBlockZip64EndOfCentral:function(){this.zip64EndOfCentralSize=this.reader.readInt(8),this.versionMadeBy=this.reader.readString(2),this.versionNeeded=this.reader.readInt(2),this.diskNumber=this.reader.readInt(4),this.diskWithCentralDirStart=this.reader.readInt(4),this.centralDirRecordsOnThisDisk=this.reader.readInt(8),this.centralDirRecords=this.reader.readInt(8),this.centralDirSize=this.reader.readInt(8),this.centralDirOffset=this.reader.readInt(8),this.zip64ExtensibleData={};for(var a,b,c,d=this.zip64EndOfCentralSize-44,e=0;d>e;)a=this.reader.readInt(2),b=this.reader.readInt(4),c=this.reader.readString(b),this.zip64ExtensibleData[a]={id:a,length:b,value:c}},readBlockZip64EndOfCentralLocator:function(){if(this.diskWithZip64CentralDirStart=this.reader.readInt(4),this.relativeOffsetEndOfZip64CentralDir=this.reader.readInt(8),this.disksCount=this.reader.readInt(4),this.disksCount>1)throw new Error("Multi-volumes zip are not supported")},readLocalFiles:function(){var a,b;for(a=0;a<this.files.length;a++)b=this.files[a],this.reader.setIndex(b.localHeaderOffset),this.checkSignature(h.LOCAL_FILE_HEADER),b.readLocalPart(this.reader),b.handleUTF8()},readCentralDir:function(){var a;for(this.reader.setIndex(this.centralDirOffset);this.reader.readString(4)===h.CENTRAL_FILE_HEADER;)a=new i({zip64:this.zip64},this.loadOptions),a.readCentralPart(this.reader),this.files.push(a)},readEndOfCentral:function(){var a=this.reader.lastIndexOfSignature(h.CENTRAL_DIRECTORY_END);if(-1===a)throw new Error("Corrupted zip : can't find end of central directory");if(this.reader.setIndex(a),this.checkSignature(h.CENTRAL_DIRECTORY_END),this.readBlockEndOfCentral(),this.diskNumber===g.MAX_VALUE_16BITS||this.diskWithCentralDirStart===g.MAX_VALUE_16BITS||this.centralDirRecordsOnThisDisk===g.MAX_VALUE_16BITS||this.centralDirRecords===g.MAX_VALUE_16BITS||this.centralDirSize===g.MAX_VALUE_32BITS||this.centralDirOffset===g.MAX_VALUE_32BITS){if(this.zip64=!0,a=this.reader.lastIndexOfSignature(h.ZIP64_CENTRAL_DIRECTORY_LOCATOR),-1===a)throw new Error("Corrupted zip : can't find the ZIP64 end of central directory locator");this.reader.setIndex(a),this.checkSignature(h.ZIP64_CENTRAL_DIRECTORY_LOCATOR),this.readBlockZip64EndOfCentralLocator(),this.reader.setIndex(this.relativeOffsetEndOfZip64CentralDir),this.checkSignature(h.ZIP64_CENTRAL_DIRECTORY_END),this.readBlockZip64EndOfCentral()}},prepareReader:function(a){var b=g.getTypeOf(a);this.reader="string"!==b||j.uint8array?"nodebuffer"===b?new e(a):new f(g.transformTo("uint8array",a)):new d(a,this.loadOptions.optimizedBinaryString)},load:function(a){this.prepareReader(a),this.readEndOfCentral(),this.readCentralDir(),this.readLocalFiles()}},b.exports=c},{"./nodeBufferReader":12,"./object":13,"./signature":14,"./stringReader":15,"./support":17,"./uint8ArrayReader":18,"./utils":21,"./zipEntry":23}],23:[function(a,b){"use strict";function c(a,b){this.options=a,this.loadOptions=b}var d=a("./stringReader"),e=a("./utils"),f=a("./compressedObject"),g=a("./object");c.prototype={isEncrypted:function(){return 1===(1&this.bitFlag)},useUTF8:function(){return 2048===(2048&this.bitFlag)},prepareCompressedContent:function(a,b,c){return function(){var d=a.index;a.setIndex(b);var e=a.readData(c);return a.setIndex(d),e}},prepareContent:function(a,b,c,d,f){return function(){var a=e.transformTo(d.uncompressInputType,this.getCompressedContent()),b=d.uncompress(a);if(b.length!==f)throw new Error("Bug : uncompressed data size mismatch");return b}},readLocalPart:function(a){var b,c;if(a.skip(22),this.fileNameLength=a.readInt(2),c=a.readInt(2),this.fileName=a.readString(this.fileNameLength),a.skip(c),-1==this.compressedSize||-1==this.uncompressedSize)throw new Error("Bug or corrupted zip : didn't get enough informations from the central directory (compressedSize == -1 || uncompressedSize == -1)");if(b=e.findCompression(this.compressionMethod),null===b)throw new Error("Corrupted zip : compression "+e.pretty(this.compressionMethod)+" unknown (inner file : "+this.fileName+")");if(this.decompressed=new f,this.decompressed.compressedSize=this.compressedSize,this.decompressed.uncompressedSize=this.uncompressedSize,this.decompressed.crc32=this.crc32,this.decompressed.compressionMethod=this.compressionMethod,this.decompressed.getCompressedContent=this.prepareCompressedContent(a,a.index,this.compressedSize,b),this.decompressed.getContent=this.prepareContent(a,a.index,this.compressedSize,b,this.uncompressedSize),this.loadOptions.checkCRC32&&(this.decompressed=e.transformTo("string",this.decompressed.getContent()),g.crc32(this.decompressed)!==this.crc32))throw new Error("Corrupted zip : CRC32 mismatch")},readCentralPart:function(a){if(this.versionMadeBy=a.readString(2),this.versionNeeded=a.readInt(2),this.bitFlag=a.readInt(2),this.compressionMethod=a.readString(2),this.date=a.readDate(),this.crc32=a.readInt(4),this.compressedSize=a.readInt(4),this.uncompressedSize=a.readInt(4),this.fileNameLength=a.readInt(2),this.extraFieldsLength=a.readInt(2),this.fileCommentLength=a.readInt(2),this.diskNumberStart=a.readInt(2),this.internalFileAttributes=a.readInt(2),this.externalFileAttributes=a.readInt(4),this.localHeaderOffset=a.readInt(4),this.isEncrypted())throw new Error("Encrypted zip are not supported");this.fileName=a.readString(this.fileNameLength),this.readExtraFields(a),this.parseZIP64ExtraField(a),this.fileComment=a.readString(this.fileCommentLength),this.dir=16&this.externalFileAttributes?!0:!1},parseZIP64ExtraField:function(){if(this.extraFields[1]){var a=new 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a.insert=0,b===K?(h(a,!0),0===a.strm.avail_out?ub:vb):a.last_lit&&(h(a,!1),0===a.strm.avail_out)?sb:tb}function s(a){a.window_size=2*a.w_size,f(a.head),a.max_lazy_match=B[a.level].max_lazy,a.good_match=B[a.level].good_length,a.nice_match=B[a.level].nice_length,a.max_chain_length=B[a.level].max_chain,a.strstart=0,a.block_start=0,a.lookahead=0,a.insert=0,a.match_length=a.prev_length=hb-1,a.match_available=0,a.ins_h=0}function t(){this.strm=null,this.status=0,this.pending_buf=null,this.pending_buf_size=0,this.pending_out=0,this.pending=0,this.wrap=0,this.gzhead=null,this.gzindex=0,this.method=Y,this.last_flush=-1,this.w_size=0,this.w_bits=0,this.w_mask=0,this.window=null,this.window_size=0,this.prev=null,this.head=null,this.ins_h=0,this.hash_size=0,this.hash_bits=0,this.hash_mask=0,this.hash_shift=0,this.block_start=0,this.match_length=0,this.prev_match=0,this.match_available=0,this.strstart=0,this.match_start=0,this.lookahead=0,this.prev_length=0,this.max_chain_length=0,this.max_lazy_match=0,this.level=0,this.strategy=0,this.good_match=0,this.nice_match=0,this.dyn_ltree=new C.Buf16(2*fb),this.dyn_dtree=new C.Buf16(2*(2*db+1)),this.bl_tree=new C.Buf16(2*(2*eb+1)),f(this.dyn_ltree),f(this.dyn_dtree),f(this.bl_tree),this.l_desc=null,this.d_desc=null,this.bl_desc=null,this.bl_count=new C.Buf16(gb+1),this.heap=new C.Buf16(2*cb+1),f(this.heap),this.heap_len=0,this.heap_max=0,this.depth=new C.Buf16(2*cb+1),f(this.depth),this.l_buf=0,this.lit_bufsize=0,this.last_lit=0,this.d_buf=0,this.opt_len=0,this.static_len=0,this.matches=0,this.insert=0,this.bi_buf=0,this.bi_valid=0}function u(a){var b;return a&&a.state?(a.total_in=a.total_out=0,a.data_type=X,b=a.state,b.pending=0,b.pending_out=0,b.wrap<0&&(b.wrap=-b.wrap),b.status=b.wrap?lb:qb,a.adler=2===b.wrap?0:1,b.last_flush=H,D._tr_init(b),M):d(a,O)}function v(a){var b=u(a);return b===M&&s(a.state),b}function w(a,b){return a&&a.state?2!==a.state.wrap?O:(a.state.gzhead=b,M):O}function x(a,b,c,e,f,g){if(!a)return O;var h=1;if(b===R&&(b=6),0>e?(h=0,e=-e):e>15&&(h=2,e-=16),1>f||f>Z||c!==Y||8>e||e>15||0>b||b>9||0>g||g>V)return d(a,O);8===e&&(e=9);var i=new t;return a.state=i,i.strm=a,i.wrap=h,i.gzhead=null,i.w_bits=e,i.w_size=1<<i.w_bits,i.w_mask=i.w_size-1,i.hash_bits=f+7,i.hash_size=1<<i.hash_bits,i.hash_mask=i.hash_size-1,i.hash_shift=~~((i.hash_bits+hb-1)/hb),i.window=new C.Buf8(2*i.w_size),i.head=new C.Buf16(i.hash_size),i.prev=new C.Buf16(i.w_size),i.lit_bufsize=1<<f+6,i.pending_buf_size=4*i.lit_bufsize,i.pending_buf=new C.Buf8(i.pending_buf_size),i.d_buf=i.lit_bufsize>>1,i.l_buf=3*i.lit_bufsize,i.level=b,i.strategy=g,i.method=c,v(a)}function y(a,b){return x(a,b,Y,$,_,W)}function z(a,b){var c,h,k,l;if(!a||!a.state||b>L||0>b)return a?d(a,O):O;if(h=a.state,!a.output||!a.input&&0!==a.avail_in||h.status===rb&&b!==K)return d(a,0===a.avail_out?Q:O);if(h.strm=a,c=h.last_flush,h.last_flush=b,h.status===lb)if(2===h.wrap)a.adler=0,i(h,31),i(h,139),i(h,8),h.gzhead?(i(h,(h.gzhead.text?1:0)+(h.gzhead.hcrc?2:0)+(h.gzhead.extra?4:0)+(h.gzhead.name?8:0)+(h.gzhead.comment?16:0)),i(h,255&h.gzhead.time),i(h,h.gzhead.time>>8&255),i(h,h.gzhead.time>>16&255),i(h,h.gzhead.time>>24&255),i(h,9===h.level?2:h.strategy>=T||h.level<2?4:0),i(h,255&h.gzhead.os),h.gzhead.extra&&h.gzhead.extra.length&&(i(h,255&h.gzhead.extra.length),i(h,h.gzhead.extra.length>>8&255)),h.gzhead.hcrc&&(a.adler=F(a.adler,h.pending_buf,h.pending,0)),h.gzindex=0,h.status=mb):(i(h,0),i(h,0),i(h,0),i(h,0),i(h,0),i(h,9===h.level?2:h.strategy>=T||h.level<2?4:0),i(h,wb),h.status=qb);else{var m=Y+(h.w_bits-8<<4)<<8,n=-1;n=h.strategy>=T||h.level<2?0:h.level<6?1:6===h.level?2:3,m|=n<<6,0!==h.strstart&&(m|=kb),m+=31-m%31,h.status=qb,j(h,m),0!==h.strstart&&(j(h,a.adler>>>16),j(h,65535&a.adler)),a.adler=1}if(h.status===mb)if(h.gzhead.extra){for(k=h.pending;h.gzindex<(65535&h.gzhead.extra.length)&&(h.pending!==h.pending_buf_size||(h.gzhead.hcrc&&h.pending>k&&(a.adler=F(a.adler,h.pending_buf,h.pending-k,k)),g(a),k=h.pending,h.pending!==h.pending_buf_size));)i(h,255&h.gzhead.extra[h.gzindex]),h.gzindex++;h.gzhead.hcrc&&h.pending>k&&(a.adler=F(a.adler,h.pending_buf,h.pending-k,k)),h.gzindex===h.gzhead.extra.length&&(h.gzindex=0,h.status=nb)}else h.status=nb;if(h.status===nb)if(h.gzhead.name){k=h.pending;do{if(h.pending===h.pending_buf_size&&(h.gzhead.hcrc&&h.pending>k&&(a.adler=F(a.adler,h.pending_buf,h.pending-k,k)),g(a),k=h.pending,h.pending===h.pending_buf_size)){l=1;break}l=h.gzindex<h.gzhead.name.length?255&h.gzhead.name.charCodeAt(h.gzindex++):0,i(h,l)}while(0!==l);h.gzhead.hcrc&&h.pending>k&&(a.adler=F(a.adler,h.pending_buf,h.pending-k,k)),0===l&&(h.gzindex=0,h.status=ob)}else h.status=ob;if(h.status===ob)if(h.gzhead.comment){k=h.pending;do{if(h.pending===h.pending_buf_size&&(h.gzhead.hcrc&&h.pending>k&&(a.adler=F(a.adler,h.pending_buf,h.pending-k,k)),g(a),k=h.pending,h.pending===h.pending_buf_size)){l=1;break}l=h.gzindex<h.gzhead.comment.length?255&h.gzhead.comment.charCodeAt(h.gzindex++):0,i(h,l)}while(0!==l);h.gzhead.hcrc&&h.pending>k&&(a.adler=F(a.adler,h.pending_buf,h.pending-k,k)),0===l&&(h.status=pb)}else h.status=pb;if(h.status===pb&&(h.gzhead.hcrc?(h.pending+2>h.pending_buf_size&&g(a),h.pending+2<=h.pending_buf_size&&(i(h,255&a.adler),i(h,a.adler>>8&255),a.adler=0,h.status=qb)):h.status=qb),0!==h.pending){if(g(a),0===a.avail_out)return h.last_flush=-1,M}else if(0===a.avail_in&&e(b)<=e(c)&&b!==K)return d(a,Q);if(h.status===rb&&0!==a.avail_in)return d(a,Q);if(0!==a.avail_in||0!==h.lookahead||b!==H&&h.status!==rb){var o=h.strategy===T?r(h,b):h.strategy===U?q(h,b):B[h.level].func(h,b);if((o===ub||o===vb)&&(h.status=rb),o===sb||o===ub)return 0===a.avail_out&&(h.last_flush=-1),M;if(o===tb&&(b===I?D._tr_align(h):b!==L&&(D._tr_stored_block(h,0,0,!1),b===J&&(f(h.head),0===h.lookahead&&(h.strstart=0,h.block_start=0,h.insert=0))),g(a),0===a.avail_out))return h.last_flush=-1,M}return b!==K?M:h.wrap<=0?N:(2===h.wrap?(i(h,255&a.adler),i(h,a.adler>>8&255),i(h,a.adler>>16&255),i(h,a.adler>>24&255),i(h,255&a.total_in),i(h,a.total_in>>8&255),i(h,a.total_in>>16&255),i(h,a.total_in>>24&255)):(j(h,a.adler>>>16),j(h,65535&a.adler)),g(a),h.wrap>0&&(h.wrap=-h.wrap),0!==h.pending?M:N)}function A(a){var b;return a&&a.state?(b=a.state.status,b!==lb&&b!==mb&&b!==nb&&b!==ob&&b!==pb&&b!==qb&&b!==rb?d(a,O):(a.state=null,b===qb?d(a,P):M)):O}var B,C=a("../utils/common"),D=a("./trees"),E=a("./adler32"),F=a("./crc32"),G=a("./messages"),H=0,I=1,J=3,K=4,L=5,M=0,N=1,O=-2,P=-3,Q=-5,R=-1,S=1,T=2,U=3,V=4,W=0,X=2,Y=8,Z=9,$=15,_=8,ab=29,bb=256,cb=bb+1+ab,db=30,eb=19,fb=2*cb+1,gb=15,hb=3,ib=258,jb=ib+hb+1,kb=32,lb=42,mb=69,nb=73,ob=91,pb=103,qb=113,rb=666,sb=1,tb=2,ub=3,vb=4,wb=3,xb=function(a,b,c,d,e){this.good_length=a,this.max_lazy=b,this.nice_length=c,this.max_chain=d,this.func=e};B=[new xb(0,0,0,0,n),new xb(4,4,8,4,o),new xb(4,5,16,8,o),new xb(4,6,32,32,o),new xb(4,4,16,16,p),new xb(8,16,32,32,p),new xb(8,16,128,128,p),new xb(8,32,128,256,p),new xb(32,128,258,1024,p),new xb(32,258,258,4096,p)],c.deflateInit=y,c.deflateInit2=x,c.deflateReset=v,c.deflateResetKeep=u,c.deflateSetHeader=w,c.deflate=z,c.deflateEnd=A,c.deflateInfo="pako deflate (from Nodeca project)"},{"../utils/common":27,"./adler32":29,"./crc32":31,"./messages":37,"./trees":38}],33:[function(a,b){"use strict";function c(){this.text=0,this.time=0,this.xflags=0,this.os=0,this.extra=null,this.extra_len=0,this.name="",this.comment="",this.hcrc=0,this.done=!1}b.exports=c},{}],34:[function(a,b){"use strict";var c=30,d=12;b.exports=function(a,b){var e,f,g,h,i,j,k,l,m,n,o,p,q,r,s,t,u,v,w,x,y,z,A,B,C;e=a.state,f=a.next_in,B=a.input,g=f+(a.avail_in-5),h=a.next_out,C=a.output,i=h-(b-a.avail_out),j=h+(a.avail_out-257),k=e.dmax,l=e.wsize,m=e.whave,n=e.wnext,o=e.window,p=e.hold,q=e.bits,r=e.lencode,s=e.distcode,t=(1<<e.lenbits)-1,u=(1<<e.distbits)-1;a:do{15>q&&(p+=B[f++]<<q,q+=8,p+=B[f++]<<q,q+=8),v=r[p&t];b:for(;;){if(w=v>>>24,p>>>=w,q-=w,w=v>>>16&255,0===w)C[h++]=65535&v;else{if(!(16&w)){if(0===(64&w)){v=r[(65535&v)+(p&(1<<w)-1)];continue b}if(32&w){e.mode=d;break a}a.msg="invalid literal/length code",e.mode=c;break a}x=65535&v,w&=15,w&&(w>q&&(p+=B[f++]<<q,q+=8),x+=p&(1<<w)-1,p>>>=w,q-=w),15>q&&(p+=B[f++]<<q,q+=8,p+=B[f++]<<q,q+=8),v=s[p&u];c:for(;;){if(w=v>>>24,p>>>=w,q-=w,w=v>>>16&255,!(16&w)){if(0===(64&w)){v=s[(65535&v)+(p&(1<<w)-1)];continue c}a.msg="invalid distance code",e.mode=c;break a}if(y=65535&v,w&=15,w>q&&(p+=B[f++]<<q,q+=8,w>q&&(p+=B[f++]<<q,q+=8)),y+=p&(1<<w)-1,y>k){a.msg="invalid distance too far back",e.mode=c;break a}if(p>>>=w,q-=w,w=h-i,y>w){if(w=y-w,w>m&&e.sane){a.msg="invalid distance too far back",e.mode=c;break a}if(z=0,A=o,0===n){if(z+=l-w,x>w){x-=w;do C[h++]=o[z++];while(--w);z=h-y,A=C}}else if(w>n){if(z+=l+n-w,w-=n,x>w){x-=w;do C[h++]=o[z++];while(--w);if(z=0,x>n){w=n,x-=w;do C[h++]=o[z++];while(--w);z=h-y,A=C}}}else if(z+=n-w,x>w){x-=w;do C[h++]=o[z++];while(--w);z=h-y,A=C}for(;x>2;)C[h++]=A[z++],C[h++]=A[z++],C[h++]=A[z++],x-=3;x&&(C[h++]=A[z++],x>1&&(C[h++]=A[z++]))}else{z=h-y;do C[h++]=C[z++],C[h++]=C[z++],C[h++]=C[z++],x-=3;while(x>2);x&&(C[h++]=C[z++],x>1&&(C[h++]=C[z++]))}break}}break}}while(g>f&&j>h);x=q>>3,f-=x,q-=x<<3,p&=(1<<q)-1,a.next_in=f,a.next_out=h,a.avail_in=g>f?5+(g-f):5-(f-g),a.avail_out=j>h?257+(j-h):257-(h-j),e.hold=p,e.bits=q}},{}],35:[function(a,b,c){"use strict";function d(a){return(a>>>24&255)+(a>>>8&65280)+((65280&a)<<8)+((255&a)<<24)}function e(){this.mode=0,this.last=!1,this.wrap=0,this.havedict=!1,this.flags=0,this.dmax=0,this.check=0,this.total=0,this.head=null,this.wbits=0,this.wsize=0,this.whave=0,this.wnext=0,this.window=null,this.hold=0,this.bits=0,this.length=0,this.offset=0,this.extra=0,this.lencode=null,this.distcode=null,this.lenbits=0,this.distbits=0,this.ncode=0,this.nlen=0,this.ndist=0,this.have=0,this.next=null,this.lens=new r.Buf16(320),this.work=new r.Buf16(288),this.lendyn=null,this.distdyn=null,this.sane=0,this.back=0,this.was=0}function f(a){var b;return a&&a.state?(b=a.state,a.total_in=a.total_out=b.total=0,a.msg="",b.wrap&&(a.adler=1&b.wrap),b.mode=K,b.last=0,b.havedict=0,b.dmax=32768,b.head=null,b.hold=0,b.bits=0,b.lencode=b.lendyn=new r.Buf32(ob),b.distcode=b.distdyn=new r.Buf32(pb),b.sane=1,b.back=-1,C):F}function g(a){var b;return a&&a.state?(b=a.state,b.wsize=0,b.whave=0,b.wnext=0,f(a)):F}function h(a,b){var c,d;return 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r.Buf8(f.wsize)),d>=f.wsize?(r.arraySet(f.window,b,c-f.wsize,f.wsize,0),f.wnext=0,f.whave=f.wsize):(e=f.wsize-f.wnext,e>d&&(e=d),r.arraySet(f.window,b,c-d,e,f.wnext),d-=e,d?(r.arraySet(f.window,b,c-d,d,0),f.wnext=d,f.whave=f.wsize):(f.wnext+=e,f.wnext===f.wsize&&(f.wnext=0),f.whave<f.wsize&&(f.whave+=e))),0}function m(a,b){var c,e,f,g,h,i,j,m,n,o,p,q,ob,pb,qb,rb,sb,tb,ub,vb,wb,xb,yb,zb,Ab=0,Bb=new r.Buf8(4),Cb=[16,17,18,0,8,7,9,6,10,5,11,4,12,3,13,2,14,1,15];if(!a||!a.state||!a.output||!a.input&&0!==a.avail_in)return F;c=a.state,c.mode===V&&(c.mode=W),h=a.next_out,f=a.output,j=a.avail_out,g=a.next_in,e=a.input,i=a.avail_in,m=c.hold,n=c.bits,o=i,p=j,xb=C;a:for(;;)switch(c.mode){case K:if(0===c.wrap){c.mode=W;break}for(;16>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}if(2&c.wrap&&35615===m){c.check=0,Bb[0]=255&m,Bb[1]=m>>>8&255,c.check=t(c.check,Bb,2,0),m=0,n=0,c.mode=L;break}if(c.flags=0,c.head&&(c.head.done=!1),!(1&c.wrap)||(((255&m)<<8)+(m>>8))%31){a.msg="incorrect header check",c.mode=lb;break}if((15&m)!==J){a.msg="unknown compression method",c.mode=lb;break}if(m>>>=4,n-=4,wb=(15&m)+8,0===c.wbits)c.wbits=wb;else if(wb>c.wbits){a.msg="invalid window size",c.mode=lb;break}c.dmax=1<<wb,a.adler=c.check=1,c.mode=512&m?T:V,m=0,n=0;break;case L:for(;16>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}if(c.flags=m,(255&c.flags)!==J){a.msg="unknown compression method",c.mode=lb;break}if(57344&c.flags){a.msg="unknown header flags set",c.mode=lb;break}c.head&&(c.head.text=m>>8&1),512&c.flags&&(Bb[0]=255&m,Bb[1]=m>>>8&255,c.check=t(c.check,Bb,2,0)),m=0,n=0,c.mode=M;case M:for(;32>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}c.head&&(c.head.time=m),512&c.flags&&(Bb[0]=255&m,Bb[1]=m>>>8&255,Bb[2]=m>>>16&255,Bb[3]=m>>>24&255,c.check=t(c.check,Bb,4,0)),m=0,n=0,c.mode=N;case N:for(;16>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}c.head&&(c.head.xflags=255&m,c.head.os=m>>8),512&c.flags&&(Bb[0]=255&m,Bb[1]=m>>>8&255,c.check=t(c.check,Bb,2,0)),m=0,n=0,c.mode=O;case O:if(1024&c.flags){for(;16>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}c.length=m,c.head&&(c.head.extra_len=m),512&c.flags&&(Bb[0]=255&m,Bb[1]=m>>>8&255,c.check=t(c.check,Bb,2,0)),m=0,n=0}else c.head&&(c.head.extra=null);c.mode=P;case P:if(1024&c.flags&&(q=c.length,q>i&&(q=i),q&&(c.head&&(wb=c.head.extra_len-c.length,c.head.extra||(c.head.extra=new Array(c.head.extra_len)),r.arraySet(c.head.extra,e,g,q,wb)),512&c.flags&&(c.check=t(c.check,e,q,g)),i-=q,g+=q,c.length-=q),c.length))break a;c.length=0,c.mode=Q;case Q:if(2048&c.flags){if(0===i)break a;q=0;do wb=e[g+q++],c.head&&wb&&c.length<65536&&(c.head.name+=String.fromCharCode(wb));while(wb&&i>q);if(512&c.flags&&(c.check=t(c.check,e,q,g)),i-=q,g+=q,wb)break a}else c.head&&(c.head.name=null);c.length=0,c.mode=R;case R:if(4096&c.flags){if(0===i)break a;q=0;do wb=e[g+q++],c.head&&wb&&c.length<65536&&(c.head.comment+=String.fromCharCode(wb));while(wb&&i>q);if(512&c.flags&&(c.check=t(c.check,e,q,g)),i-=q,g+=q,wb)break a}else c.head&&(c.head.comment=null);c.mode=S;case S:if(512&c.flags){for(;16>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}if(m!==(65535&c.check)){a.msg="header crc mismatch",c.mode=lb;break}m=0,n=0}c.head&&(c.head.hcrc=c.flags>>9&1,c.head.done=!0),a.adler=c.check=0,c.mode=V;break;case T:for(;32>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}a.adler=c.check=d(m),m=0,n=0,c.mode=U;case U:if(0===c.havedict)return a.next_out=h,a.avail_out=j,a.next_in=g,a.avail_in=i,c.hold=m,c.bits=n,E;a.adler=c.check=1,c.mode=V;case V:if(b===A||b===B)break a;case W:if(c.last){m>>>=7&n,n-=7&n,c.mode=ib;break}for(;3>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}switch(c.last=1&m,m>>>=1,n-=1,3&m){case 0:c.mode=X;break;case 1:if(k(c),c.mode=bb,b===B){m>>>=2,n-=2;break a}break;case 2:c.mode=$;break;case 3:a.msg="invalid block type",c.mode=lb}m>>>=2,n-=2;break;case X:for(m>>>=7&n,n-=7&n;32>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}if((65535&m)!==(m>>>16^65535)){a.msg="invalid stored block lengths",c.mode=lb;break}if(c.length=65535&m,m=0,n=0,c.mode=Y,b===B)break a;case Y:c.mode=Z;case Z:if(q=c.length){if(q>i&&(q=i),q>j&&(q=j),0===q)break a;r.arraySet(f,e,g,q,h),i-=q,g+=q,j-=q,h+=q,c.length-=q;break}c.mode=V;break;case $:for(;14>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}if(c.nlen=(31&m)+257,m>>>=5,n-=5,c.ndist=(31&m)+1,m>>>=5,n-=5,c.ncode=(15&m)+4,m>>>=4,n-=4,c.nlen>286||c.ndist>30){a.msg="too many length or distance symbols",c.mode=lb;break}c.have=0,c.mode=_;case _:for(;c.have<c.ncode;){for(;3>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}c.lens[Cb[c.have++]]=7&m,m>>>=3,n-=3}for(;c.have<19;)c.lens[Cb[c.have++]]=0;if(c.lencode=c.lendyn,c.lenbits=7,yb={bits:c.lenbits},xb=v(w,c.lens,0,19,c.lencode,0,c.work,yb),c.lenbits=yb.bits,xb){a.msg="invalid code lengths set",c.mode=lb;break}c.have=0,c.mode=ab;case ab:for(;c.have<c.nlen+c.ndist;){for(;Ab=c.lencode[m&(1<<c.lenbits)-1],qb=Ab>>>24,rb=Ab>>>16&255,sb=65535&Ab,!(n>=qb);){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}if(16>sb)m>>>=qb,n-=qb,c.lens[c.have++]=sb;else{if(16===sb){for(zb=qb+2;zb>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}if(m>>>=qb,n-=qb,0===c.have){a.msg="invalid bit length repeat",c.mode=lb;break}wb=c.lens[c.have-1],q=3+(3&m),m>>>=2,n-=2}else if(17===sb){for(zb=qb+3;zb>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}m>>>=qb,n-=qb,wb=0,q=3+(7&m),m>>>=3,n-=3}else{for(zb=qb+7;zb>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}m>>>=qb,n-=qb,wb=0,q=11+(127&m),m>>>=7,n-=7}if(c.have+q>c.nlen+c.ndist){a.msg="invalid bit length repeat",c.mode=lb;break}for(;q--;)c.lens[c.have++]=wb}}if(c.mode===lb)break;if(0===c.lens[256]){a.msg="invalid code -- missing end-of-block",c.mode=lb;break}if(c.lenbits=9,yb={bits:c.lenbits},xb=v(x,c.lens,0,c.nlen,c.lencode,0,c.work,yb),c.lenbits=yb.bits,xb){a.msg="invalid literal/lengths set",c.mode=lb;break}if(c.distbits=6,c.distcode=c.distdyn,yb={bits:c.distbits},xb=v(y,c.lens,c.nlen,c.ndist,c.distcode,0,c.work,yb),c.distbits=yb.bits,xb){a.msg="invalid distances set",c.mode=lb;break}if(c.mode=bb,b===B)break a;case bb:c.mode=cb;case cb:if(i>=6&&j>=258){a.next_out=h,a.avail_out=j,a.next_in=g,a.avail_in=i,c.hold=m,c.bits=n,u(a,p),h=a.next_out,f=a.output,j=a.avail_out,g=a.next_in,e=a.input,i=a.avail_in,m=c.hold,n=c.bits,c.mode===V&&(c.back=-1);break}for(c.back=0;Ab=c.lencode[m&(1<<c.lenbits)-1],qb=Ab>>>24,rb=Ab>>>16&255,sb=65535&Ab,!(n>=qb);){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}if(rb&&0===(240&rb)){for(tb=qb,ub=rb,vb=sb;Ab=c.lencode[vb+((m&(1<<tb+ub)-1)>>tb)],qb=Ab>>>24,rb=Ab>>>16&255,sb=65535&Ab,!(n>=tb+qb);){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}m>>>=tb,n-=tb,c.back+=tb}if(m>>>=qb,n-=qb,c.back+=qb,c.length=sb,0===rb){c.mode=hb;break}if(32&rb){c.back=-1,c.mode=V;break}if(64&rb){a.msg="invalid literal/length code",c.mode=lb;break}c.extra=15&rb,c.mode=db;case db:if(c.extra){for(zb=c.extra;zb>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}c.length+=m&(1<<c.extra)-1,m>>>=c.extra,n-=c.extra,c.back+=c.extra}c.was=c.length,c.mode=eb;case eb:for(;Ab=c.distcode[m&(1<<c.distbits)-1],qb=Ab>>>24,rb=Ab>>>16&255,sb=65535&Ab,!(n>=qb);){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}if(0===(240&rb)){for(tb=qb,ub=rb,vb=sb;Ab=c.distcode[vb+((m&(1<<tb+ub)-1)>>tb)],qb=Ab>>>24,rb=Ab>>>16&255,sb=65535&Ab,!(n>=tb+qb);){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}m>>>=tb,n-=tb,c.back+=tb}if(m>>>=qb,n-=qb,c.back+=qb,64&rb){a.msg="invalid distance code",c.mode=lb;break}c.offset=sb,c.extra=15&rb,c.mode=fb;case fb:if(c.extra){for(zb=c.extra;zb>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}c.offset+=m&(1<<c.extra)-1,m>>>=c.extra,n-=c.extra,c.back+=c.extra}if(c.offset>c.dmax){a.msg="invalid distance too far back",c.mode=lb;break}c.mode=gb;case gb:if(0===j)break a;
if(q=p-j,c.offset>q){if(q=c.offset-q,q>c.whave&&c.sane){a.msg="invalid distance too far back",c.mode=lb;break}q>c.wnext?(q-=c.wnext,ob=c.wsize-q):ob=c.wnext-q,q>c.length&&(q=c.length),pb=c.window}else pb=f,ob=h-c.offset,q=c.length;q>j&&(q=j),j-=q,c.length-=q;do f[h++]=pb[ob++];while(--q);0===c.length&&(c.mode=cb);break;case hb:if(0===j)break a;f[h++]=c.length,j--,c.mode=cb;break;case ib:if(c.wrap){for(;32>n;){if(0===i)break a;i--,m|=e[g++]<<n,n+=8}if(p-=j,a.total_out+=p,c.total+=p,p&&(a.adler=c.check=c.flags?t(c.check,f,p,h-p):s(c.check,f,p,h-p)),p=j,(c.flags?m:d(m))!==c.check){a.msg="incorrect data check",c.mode=lb;break}m=0,n=0}c.mode=jb;case jb:if(c.wrap&&c.flags){for(;32>n;){if(0===i)break a;i--,m+=e[g++]<<n,n+=8}if(m!==(4294967295&c.total)){a.msg="incorrect length check",c.mode=lb;break}m=0,n=0}c.mode=kb;case kb:xb=D;break a;case lb:xb=G;break a;case mb:return H;case nb:default:return F}return a.next_out=h,a.avail_out=j,a.next_in=g,a.avail_in=i,c.hold=m,c.bits=n,(c.wsize||p!==a.avail_out&&c.mode<lb&&(c.mode<ib||b!==z))&&l(a,a.output,a.next_out,p-a.avail_out)?(c.mode=mb,H):(o-=a.avail_in,p-=a.avail_out,a.total_in+=o,a.total_out+=p,c.total+=p,c.wrap&&p&&(a.adler=c.check=c.flags?t(c.check,f,p,a.next_out-p):s(c.check,f,p,a.next_out-p)),a.data_type=c.bits+(c.last?64:0)+(c.mode===V?128:0)+(c.mode===bb||c.mode===Y?256:0),(0===o&&0===p||b===z)&&xb===C&&(xb=I),xb)}function n(a){if(!a||!a.state)return F;var b=a.state;return b.window&&(b.window=null),a.state=null,C}function o(a,b){var c;return a&&a.state?(c=a.state,0===(2&c.wrap)?F:(c.head=b,b.done=!1,C)):F}var p,q,r=a("../utils/common"),s=a("./adler32"),t=a("./crc32"),u=a("./inffast"),v=a("./inftrees"),w=0,x=1,y=2,z=4,A=5,B=6,C=0,D=1,E=2,F=-2,G=-3,H=-4,I=-5,J=8,K=1,L=2,M=3,N=4,O=5,P=6,Q=7,R=8,S=9,T=10,U=11,V=12,W=13,X=14,Y=15,Z=16,$=17,_=18,ab=19,bb=20,cb=21,db=22,eb=23,fb=24,gb=25,hb=26,ib=27,jb=28,kb=29,lb=30,mb=31,nb=32,ob=852,pb=592,qb=15,rb=qb,sb=!0;c.inflateReset=g,c.inflateReset2=h,c.inflateResetKeep=f,c.inflateInit=j,c.inflateInit2=i,c.inflate=m,c.inflateEnd=n,c.inflateGetHeader=o,c.inflateInfo="pako inflate (from Nodeca project)"},{"../utils/common":27,"./adler32":29,"./crc32":31,"./inffast":34,"./inftrees":36}],36:[function(a,b){"use strict";var c=a("../utils/common"),d=15,e=852,f=592,g=0,h=1,i=2,j=[3,4,5,6,7,8,9,10,11,13,15,17,19,23,27,31,35,43,51,59,67,83,99,115,131,163,195,227,258,0,0],k=[16,16,16,16,16,16,16,16,17,17,17,17,18,18,18,18,19,19,19,19,20,20,20,20,21,21,21,21,16,72,78],l=[1,2,3,4,5,7,9,13,17,25,33,49,65,97,129,193,257,385,513,769,1025,1537,2049,3073,4097,6145,8193,12289,16385,24577,0,0],m=[16,16,16,16,17,17,18,18,19,19,20,20,21,21,22,22,23,23,24,24,25,25,26,26,27,27,28,28,29,29,64,64];b.exports=function(a,b,n,o,p,q,r,s){var t,u,v,w,x,y,z,A,B,C=s.bits,D=0,E=0,F=0,G=0,H=0,I=0,J=0,K=0,L=0,M=0,N=null,O=0,P=new c.Buf16(d+1),Q=new c.Buf16(d+1),R=null,S=0;for(D=0;d>=D;D++)P[D]=0;for(E=0;o>E;E++)P[b[n+E]]++;for(H=C,G=d;G>=1&&0===P[G];G--);if(H>G&&(H=G),0===G)return p[q++]=20971520,p[q++]=20971520,s.bits=1,0;for(F=1;G>F&&0===P[F];F++);for(F>H&&(H=F),K=1,D=1;d>=D;D++)if(K<<=1,K-=P[D],0>K)return-1;if(K>0&&(a===g||1!==G))return-1;for(Q[1]=0,D=1;d>D;D++)Q[D+1]=Q[D]+P[D];for(E=0;o>E;E++)0!==b[n+E]&&(r[Q[b[n+E]]++]=E);if(a===g?(N=R=r,y=19):a===h?(N=j,O-=257,R=k,S-=257,y=256):(N=l,R=m,y=-1),M=0,E=0,D=F,x=q,I=H,J=0,v=-1,L=1<<H,w=L-1,a===h&&L>e||a===i&&L>f)return 1;for(var T=0;;){T++,z=D-J,r[E]<y?(A=0,B=r[E]):r[E]>y?(A=R[S+r[E]],B=N[O+r[E]]):(A=96,B=0),t=1<<D-J,u=1<<I,F=u;do u-=t,p[x+(M>>J)+u]=z<<24|A<<16|B|0;while(0!==u);for(t=1<<D-1;M&t;)t>>=1;if(0!==t?(M&=t-1,M+=t):M=0,E++,0===--P[D]){if(D===G)break;D=b[n+r[E]]}if(D>H&&(M&w)!==v){for(0===J&&(J=H),x+=F,I=D-J,K=1<<I;G>I+J&&(K-=P[I+J],!(0>=K));)I++,K<<=1;if(L+=1<<I,a===h&&L>e||a===i&&L>f)return 1;v=M&w,p[v]=H<<24|I<<16|x-q|0}}return 0!==M&&(p[x+M]=D-J<<24|64<<16|0),s.bits=H,0}},{"../utils/common":27}],37:[function(a,b){"use strict";b.exports={2:"need dictionary",1:"stream end",0:"","-1":"file error","-2":"stream error","-3":"data error","-4":"insufficient memory","-5":"buffer error","-6":"incompatible version"}},{}],38:[function(a,b,c){"use strict";function d(a){for(var b=a.length;--b>=0;)a[b]=0}function e(a){return 256>a?gb[a]:gb[256+(a>>>7)]}function f(a,b){a.pending_buf[a.pending++]=255&b,a.pending_buf[a.pending++]=b>>>8&255}function g(a,b,c){a.bi_valid>V-c?(a.bi_buf|=b<<a.bi_valid&65535,f(a,a.bi_buf),a.bi_buf=b>>V-a.bi_valid,a.bi_valid+=c-V):(a.bi_buf|=b<<a.bi_valid&65535,a.bi_valid+=c)}function h(a,b,c){g(a,c[2*b],c[2*b+1])}function i(a,b){var c=0;do c|=1&a,a>>>=1,c<<=1;while(--b>0);return c>>>1}function j(a){16===a.bi_valid?(f(a,a.bi_buf),a.bi_buf=0,a.bi_valid=0):a.bi_valid>=8&&(a.pending_buf[a.pending++]=255&a.bi_buf,a.bi_buf>>=8,a.bi_valid-=8)}function k(a,b){var c,d,e,f,g,h,i=b.dyn_tree,j=b.max_code,k=b.stat_desc.static_tree,l=b.stat_desc.has_stree,m=b.stat_desc.extra_bits,n=b.stat_desc.extra_base,o=b.stat_desc.max_length,p=0;for(f=0;U>=f;f++)a.bl_count[f]=0;for(i[2*a.heap[a.heap_max]+1]=0,c=a.heap_max+1;T>c;c++)d=a.heap[c],f=i[2*i[2*d+1]+1]+1,f>o&&(f=o,p++),i[2*d+1]=f,d>j||(a.bl_count[f]++,g=0,d>=n&&(g=m[d-n]),h=i[2*d],a.opt_len+=h*(f+g),l&&(a.static_len+=h*(k[2*d+1]+g)));if(0!==p){do{for(f=o-1;0===a.bl_count[f];)f--;a.bl_count[f]--,a.bl_count[f+1]+=2,a.bl_count[o]--,p-=2}while(p>0);for(f=o;0!==f;f--)for(d=a.bl_count[f];0!==d;)e=a.heap[--c],e>j||(i[2*e+1]!==f&&(a.opt_len+=(f-i[2*e+1])*i[2*e],i[2*e+1]=f),d--)}}function l(a,b,c){var d,e,f=new Array(U+1),g=0;for(d=1;U>=d;d++)f[d]=g=g+c[d-1]<<1;for(e=0;b>=e;e++){var h=a[2*e+1];0!==h&&(a[2*e]=i(f[h]++,h))}}function m(){var a,b,c,d,e,f=new Array(U+1);for(c=0,d=0;O-1>d;d++)for(ib[d]=c,a=0;a<1<<_[d];a++)hb[c++]=d;for(hb[c-1]=d,e=0,d=0;16>d;d++)for(jb[d]=e,a=0;a<1<<ab[d];a++)gb[e++]=d;for(e>>=7;R>d;d++)for(jb[d]=e<<7,a=0;a<1<<ab[d]-7;a++)gb[256+e++]=d;for(b=0;U>=b;b++)f[b]=0;for(a=0;143>=a;)eb[2*a+1]=8,a++,f[8]++;for(;255>=a;)eb[2*a+1]=9,a++,f[9]++;for(;279>=a;)eb[2*a+1]=7,a++,f[7]++;for(;287>=a;)eb[2*a+1]=8,a++,f[8]++;for(l(eb,Q+1,f),a=0;R>a;a++)fb[2*a+1]=5,fb[2*a]=i(a,5);kb=new nb(eb,_,P+1,Q,U),lb=new nb(fb,ab,0,R,U),mb=new nb(new Array(0),bb,0,S,W)}function n(a){var b;for(b=0;Q>b;b++)a.dyn_ltree[2*b]=0;for(b=0;R>b;b++)a.dyn_dtree[2*b]=0;for(b=0;S>b;b++)a.bl_tree[2*b]=0;a.dyn_ltree[2*X]=1,a.opt_len=a.static_len=0,a.last_lit=a.matches=0}function o(a){a.bi_valid>8?f(a,a.bi_buf):a.bi_valid>0&&(a.pending_buf[a.pending++]=a.bi_buf),a.bi_buf=0,a.bi_valid=0}function p(a,b,c,d){o(a),d&&(f(a,c),f(a,~c)),E.arraySet(a.pending_buf,a.window,b,c,a.pending),a.pending+=c}function q(a,b,c,d){var e=2*b,f=2*c;return a[e]<a[f]||a[e]===a[f]&&d[b]<=d[c]}function r(a,b,c){for(var d=a.heap[c],e=c<<1;e<=a.heap_len&&(e<a.heap_len&&q(b,a.heap[e+1],a.heap[e],a.depth)&&e++,!q(b,d,a.heap[e],a.depth));)a.heap[c]=a.heap[e],c=e,e<<=1;a.heap[c]=d}function s(a,b,c){var d,f,i,j,k=0;if(0!==a.last_lit)do d=a.pending_buf[a.d_buf+2*k]<<8|a.pending_buf[a.d_buf+2*k+1],f=a.pending_buf[a.l_buf+k],k++,0===d?h(a,f,b):(i=hb[f],h(a,i+P+1,b),j=_[i],0!==j&&(f-=ib[i],g(a,f,j)),d--,i=e(d),h(a,i,c),j=ab[i],0!==j&&(d-=jb[i],g(a,d,j)));while(k<a.last_lit);h(a,X,b)}function t(a,b){var c,d,e,f=b.dyn_tree,g=b.stat_desc.static_tree,h=b.stat_desc.has_stree,i=b.stat_desc.elems,j=-1;for(a.heap_len=0,a.heap_max=T,c=0;i>c;c++)0!==f[2*c]?(a.heap[++a.heap_len]=j=c,a.depth[c]=0):f[2*c+1]=0;for(;a.heap_len<2;)e=a.heap[++a.heap_len]=2>j?++j:0,f[2*e]=1,a.depth[e]=0,a.opt_len--,h&&(a.static_len-=g[2*e+1]);for(b.max_code=j,c=a.heap_len>>1;c>=1;c--)r(a,f,c);e=i;do c=a.heap[1],a.heap[1]=a.heap[a.heap_len--],r(a,f,1),d=a.heap[1],a.heap[--a.heap_max]=c,a.heap[--a.heap_max]=d,f[2*e]=f[2*c]+f[2*d],a.depth[e]=(a.depth[c]>=a.depth[d]?a.depth[c]:a.depth[d])+1,f[2*c+1]=f[2*d+1]=e,a.heap[1]=e++,r(a,f,1);while(a.heap_len>=2);a.heap[--a.heap_max]=a.heap[1],k(a,b),l(f,j,a.bl_count)}function u(a,b,c){var d,e,f=-1,g=b[1],h=0,i=7,j=4;for(0===g&&(i=138,j=3),b[2*(c+1)+1]=65535,d=0;c>=d;d++)e=g,g=b[2*(d+1)+1],++h<i&&e===g||(j>h?a.bl_tree[2*e]+=h:0!==e?(e!==f&&a.bl_tree[2*e]++,a.bl_tree[2*Y]++):10>=h?a.bl_tree[2*Z]++:a.bl_tree[2*$]++,h=0,f=e,0===g?(i=138,j=3):e===g?(i=6,j=3):(i=7,j=4))}function v(a,b,c){var d,e,f=-1,i=b[1],j=0,k=7,l=4;for(0===i&&(k=138,l=3),d=0;c>=d;d++)if(e=i,i=b[2*(d+1)+1],!(++j<k&&e===i)){if(l>j){do h(a,e,a.bl_tree);while(0!==--j)}else 0!==e?(e!==f&&(h(a,e,a.bl_tree),j--),h(a,Y,a.bl_tree),g(a,j-3,2)):10>=j?(h(a,Z,a.bl_tree),g(a,j-3,3)):(h(a,$,a.bl_tree),g(a,j-11,7));j=0,f=e,0===i?(k=138,l=3):e===i?(k=6,l=3):(k=7,l=4)}}function w(a){var b;for(u(a,a.dyn_ltree,a.l_desc.max_code),u(a,a.dyn_dtree,a.d_desc.max_code),t(a,a.bl_desc),b=S-1;b>=3&&0===a.bl_tree[2*cb[b]+1];b--);return a.opt_len+=3*(b+1)+5+5+4,b}function x(a,b,c,d){var e;for(g(a,b-257,5),g(a,c-1,5),g(a,d-4,4),e=0;d>e;e++)g(a,a.bl_tree[2*cb[e]+1],3);v(a,a.dyn_ltree,b-1),v(a,a.dyn_dtree,c-1)}function y(a){var b,c=4093624447;for(b=0;31>=b;b++,c>>>=1)if(1&c&&0!==a.dyn_ltree[2*b])return G;if(0!==a.dyn_ltree[18]||0!==a.dyn_ltree[20]||0!==a.dyn_ltree[26])return H;for(b=32;P>b;b++)if(0!==a.dyn_ltree[2*b])return H;return G}function z(a){pb||(m(),pb=!0),a.l_desc=new ob(a.dyn_ltree,kb),a.d_desc=new ob(a.dyn_dtree,lb),a.bl_desc=new ob(a.bl_tree,mb),a.bi_buf=0,a.bi_valid=0,n(a)}function A(a,b,c,d){g(a,(J<<1)+(d?1:0),3),p(a,b,c,!0)}function B(a){g(a,K<<1,3),h(a,X,eb),j(a)}function C(a,b,c,d){var 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E=a("../utils/common"),F=4,G=0,H=1,I=2,J=0,K=1,L=2,M=3,N=258,O=29,P=256,Q=P+1+O,R=30,S=19,T=2*Q+1,U=15,V=16,W=7,X=256,Y=16,Z=17,$=18,_=[0,0,0,0,0,0,0,0,1,1,1,1,2,2,2,2,3,3,3,3,4,4,4,4,5,5,5,5,0],ab=[0,0,0,0,1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,11,11,12,12,13,13],bb=[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,3,7],cb=[16,17,18,0,8,7,9,6,10,5,11,4,12,3,13,2,14,1,15],db=512,eb=new Array(2*(Q+2));d(eb);var fb=new Array(2*R);d(fb);var gb=new Array(db);d(gb);var hb=new Array(N-M+1);d(hb);var ib=new Array(O);d(ib);var jb=new Array(R);d(jb);var kb,lb,mb,nb=function(a,b,c,d,e){this.static_tree=a,this.extra_bits=b,this.extra_base=c,this.elems=d,this.max_length=e,this.has_stree=a&&a.length},ob=function(a,b){this.dyn_tree=a,this.max_code=0,this.stat_desc=b},pb=!1;c._tr_init=z,c._tr_stored_block=A,c._tr_flush_block=C,c._tr_tally=D,c._tr_align=B},{"../utils/common":27}],39:[function(a,b){"use strict";function c(){this.input=null,this.next_in=0,this.avail_in=0,this.total_in=0,this.output=null,this.next_out=0,this.avail_out=0,this.total_out=0,this.msg="",this.state=null,this.data_type=2,this.adler=0}b.exports=c},{}]},{},[9])(9)});

6
Marlin/dogm_lcd_implementation.h
View file

@ -24,9 +24,9 @@
#define BLEN_A 0
#define BLEN_B 1
#define BLEN_C 2
#define EN_A (1<<BLEN_A)
#define EN_B (1<<BLEN_B)
#define EN_C (1<<BLEN_C)
#define EN_A BIT(BLEN_A)
#define EN_B BIT(BLEN_B)
#define EN_C BIT(BLEN_C)
#define LCD_CLICKED (buttons&EN_C)
#endif

852
Marlin/example_configurations/Felix/Configuration.h Normal file
View file

@ -0,0 +1,852 @@
#ifndef CONFIGURATION_H
#define CONFIGURATION_H
#include "boards.h"
//===========================================================================
//============================= Getting Started =============================
//===========================================================================
/*
Here are some standard links for getting your machine calibrated:
* http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
* http://www.thingiverse.com/thing:5573
* https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
* http://www.thingiverse.com/thing:298812
*/
// This configuration file contains the basic settings.
// Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
// For a Delta printer replace the configuration files with the files in the
// example_configurations/delta directory.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
// For a Delta printer replace the configuration files with the files in the
// example_configurations/SCARA directory.
//
// User-specified version info of this build to display in [Pronterface, etc] terminal window during
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
// build by the user have been successfully uploaded into firmware.
#define STRING_VERSION "1.0.2"
#define STRING_URL "reprap.org"
#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
#define STRING_SPLASH_LINE1 "v" STRING_VERSION // will be shown during bootup in line 1
//#define STRING_SPLASH_LINE2 STRING_VERSION_CONFIG_H // will be shown during bootup in line2
// SERIAL_PORT selects which serial port should be used for communication with the host.
// This allows the connection of wireless adapters (for instance) to non-default port pins.
// Serial port 0 is still used by the Arduino bootloader regardless of this setting.
#define SERIAL_PORT 0
// This determines the communication speed of the printer
#define BAUDRATE 250000
// This enables the serial port associated to the Bluetooth interface
//#define BTENABLED // Enable BT interface on AT90USB devices
// The following define selects which electronics board you have.
// Please choose the name from boards.h that matches your setup
#ifndef MOTHERBOARD
#define MOTHERBOARD BOARD_FELIX2
#endif
// Define this to set a custom name for your generic Mendel,
// #define CUSTOM_MENDEL_NAME "This Mendel"
// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
// This defines the number of extruders
#define EXTRUDERS 1
//// The following define selects which power supply you have. Please choose the one that matches your setup
// 1 = ATX
// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
#define POWER_SUPPLY 1
// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
#define PS_DEFAULT_OFF
//===========================================================================
//============================= Thermal Settings ============================
//===========================================================================
//
//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
//
//// Temperature sensor settings:
// -2 is thermocouple with MAX6675 (only for sensor 0)
// -1 is thermocouple with AD595
// 0 is not used
// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
// 3 is Mendel-parts thermistor (4.7k pullup)
// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
// 10 is 100k RS thermistor 198-961 (4.7k pullup)
// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
// 13 is 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
// 20 is the PT100 circuit found in the Ultimainboard V2.x
// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
//
// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
// (but gives greater accuracy and more stable PID)
// 51 is 100k thermistor - EPCOS (1k pullup)
// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
//
// 1047 is Pt1000 with 4k7 pullup
// 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
#define TEMP_SENSOR_0 1
#define TEMP_SENSOR_1 0
#define TEMP_SENSOR_2 0
#define TEMP_SENSOR_3 0
#define TEMP_SENSOR_BED 1
// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
//#define TEMP_SENSOR_1_AS_REDUNDANT
#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
// Actual temperature must be close to target for this long before M109 returns success
#define TEMP_RESIDENCY_TIME 15 // (seconds)
#define TEMP_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one
#define TEMP_WINDOW 1 // (degC) Window around target to start the residency timer x degC early.
// The minimal temperature defines the temperature below which the heater will not be enabled It is used
// to check that the wiring to the thermistor is not broken.
// Otherwise this would lead to the heater being powered on all the time.
#define HEATER_0_MINTEMP 5
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define HEATER_3_MINTEMP 5
#define BED_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 HEATER_0_MAXTEMP 275
#define HEATER_1_MAXTEMP 275
#define HEATER_2_MAXTEMP 275
#define HEATER_3_MAXTEMP 275
#define BED_MAXTEMP 150
// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
// average current. The value should be an integer and the heat bed will be turned on for 1 interval of
// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4
// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS
//#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R
//#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R
//===========================================================================
//============================= PID Settings ================================
//===========================================================================
// PID Tuning Guide here: http://reprap.org/wiki/PID_Tuning
// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
//#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
// Set/get with gcode: M301 E[extruder number, 0-2]
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
// Felix 2.0+ electronics with v4 Hotend
#define DEFAULT_Kp 12
#define DEFAULT_Ki 0.84
#define DEFAULT_Kd 85
#endif // PIDTEMP
//===========================================================================
//============================= PID > Bed Temperature Control ===============
//===========================================================================
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
//
// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
// If your configuration is significantly different than this and you don't understand the issues involved, you probably
// shouldn't use bed PID until someone else verifies your hardware works.
// If this is enabled, find your own PID constants below.
#define PIDTEMPBED
//
//#define BED_LIMIT_SWITCHING
// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
// so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED)
#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
#ifdef PIDTEMPBED
// Felix Foil Heater
#define DEFAULT_bedKp 103.37
#define DEFAULT_bedKi 2.79
#define DEFAULT_bedKd 956.94
// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
#endif // PIDTEMPBED
//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
//can be software-disabled for whatever purposes by
#define PREVENT_DANGEROUS_EXTRUDE
//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
#define PREVENT_LENGTHY_EXTRUDE
#define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//===========================================================================
//============================= Thermal Runaway Protection ==================
//===========================================================================
/*
This is a feature to protect your printer from burn up in flames if it has
a thermistor coming off place (this happened to a friend of mine recently and
motivated me writing this feature).
The issue: If a thermistor come off, it will read a lower temperature than actual.
The system will turn the heater on forever, burning up the filament and anything
else around.
After the temperature reaches the target for the first time, this feature will
start measuring for how long the current temperature stays below the target
minus _HYSTERESIS (set_temperature - THERMAL_RUNAWAY_PROTECTION_HYSTERESIS).
If it stays longer than _PERIOD, it means the thermistor temperature
cannot catch up with the target, so something *may be* wrong. Then, to be on the
safe side, the system will he halt.
Bear in mind the count down will just start AFTER the first time the
thermistor temperature is over the target, so you will have no problem if
your extruder heater takes 2 minutes to hit the target on heating.
*/
// If you want to enable this feature for all your extruder heaters,
// uncomment the 2 defines below:
// Parameters for all extruder heaters
//#define THERMAL_RUNAWAY_PROTECTION_PERIOD 60 //in seconds
//#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 5 // in degree Celsius
// If you want to enable this feature for your bed heater,
// uncomment the 2 defines below:
// Parameters for the bed heater
//#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 30 //in seconds
//#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 5// in degree Celsius
//===========================================================================
//============================= Mechanical Settings =========================
//===========================================================================
// Uncomment the following line to enable CoreXY kinematics
// #define COREXY
// coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
#ifndef ENDSTOPPULLUPS
// fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
// #define ENDSTOPPULLUP_XMAX
// #define ENDSTOPPULLUP_YMAX
// #define ENDSTOPPULLUP_ZMAX
// #define ENDSTOPPULLUP_XMIN
// #define ENDSTOPPULLUP_YMIN
// #define ENDSTOPPULLUP_ZMIN
#endif
#ifdef ENDSTOPPULLUPS
#define ENDSTOPPULLUP_XMAX
#define ENDSTOPPULLUP_YMAX
#define ENDSTOPPULLUP_ZMAX
#define ENDSTOPPULLUP_XMIN
#define ENDSTOPPULLUP_YMIN
#define ENDSTOPPULLUP_ZMIN
#endif
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
#define Y_ENABLE_ON 0
#define Z_ENABLE_ON 0
#define E_ENABLE_ON 0 // For all extruders
// Disables axis when it's not being used.
#define DISABLE_X false
#define DISABLE_Y false
#define DISABLE_Z false
#define DISABLE_E false // For all extruders
#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E3_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
#define X_HOME_DIR -1
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1
#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below.
// Travel limits after homing (units are in mm)
#define X_MAX_POS 255
#define X_MIN_POS 0
#define Y_MAX_POS 205
#define Y_MIN_POS 0
#define Z_MAX_POS 235
#define Z_MIN_POS 0
#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
//===========================================================================
//============================= Bed Auto Leveling ===========================
//===========================================================================
//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
//#define Z_PROBE_REPEATABILITY_TEST // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
#ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe:
// - "grid" mode
// Probe every point in a rectangular grid
// You must specify the rectangle, and the density of sample points
// This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
// - "3-point" mode
// Probe 3 arbitrary points on the bed (that aren't colinear)
// You must specify the X & Y coordinates of all 3 points
#define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
// set the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20
// set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed)
#define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
#define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15
#define ABL_PROBE_PT_2_Y 20
#define ABL_PROBE_PT_3_X 170
#define ABL_PROBE_PT_3_Y 20
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
// X and Y offsets must be integers
#define X_PROBE_OFFSET_FROM_EXTRUDER -25
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case
#define XY_TRAVEL_SPEED 8000 // X and Y axis travel speed between probes, in mm/min
#define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point.
#define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points
//#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
//#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
//If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
//The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
// You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
// #define PROBE_SERVO_DEACTIVATION_DELAY 300
//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
#define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area.
// When defined, it will:
// - Allow Z homing only after X and Y homing AND stepper drivers still enabled
// - If stepper drivers timeout, it will need X and Y homing again before Z homing
// - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
// - Block Z homing only when the probe is outside bed area.
#ifdef Z_SAFE_HOMING
#define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2) // X point for Z homing when homing all axis (G28)
#define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2) // Y point for Z homing when homing all axis (G28)
#endif
#ifdef AUTO_BED_LEVELING_GRID // Check if Probe_Offset * Grid Points is greater than Probing Range
#if X_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#endif
#endif // ENABLE_AUTO_BED_LEVELING
// The position of the homing switches
//#define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used
//#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0)
//Manual homing switch locations:
// For deltabots this means top and center of the Cartesian print volume.
#define MANUAL_X_HOME_POS 0
#define MANUAL_Y_HOME_POS 0
#define MANUAL_Z_HOME_POS 0
//#define MANUAL_Z_HOME_POS 402 // For delta: Distance between nozzle and print surface after homing.
//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
// default settings
// default steps per unit for Felix 2.0/3.0: 0.00249mm x/y rounding error with 3mm pitch HTD belt and 14 tooth pulleys. 0 z error.
#define DEFAULT_AXIS_STEPS_PER_UNIT {76.190476, 76.190476, 1600, 164}
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {5000,5000,100,80000} // 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.
#define DEFAULT_ACCELERATION 1750 //1500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 5000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
// For the other hotends it is their distance from the extruder 0 hotend.
// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
#define DEFAULT_XYJERK 10 // (mm/sec)
#define DEFAULT_ZJERK 0.3 //0.4 // (mm/sec)
#define DEFAULT_EJERK 5.0 // (mm/sec)
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
#define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
#define Z_PROBE_OFFSET_RANGE_MIN -15
#define Z_PROBE_OFFSET_RANGE_MAX -5
#endif
// EEPROM
// The microcontroller can store settings in the EEPROM, e.g. max velocity...
// M500 - stores parameters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
//define this to enable EEPROM support
//#define EEPROM_SETTINGS
//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
// please keep turned on if you can.
//#define EEPROM_CHITCHAT
// Preheat Constants
#define PLA_PREHEAT_HOTEND_TEMP 180
#define PLA_PREHEAT_HPB_TEMP 70
#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
#define ABS_PREHEAT_HOTEND_TEMP 240
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//==============================LCD and SD support=============================
// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
// Character based displays can have different extended charsets.
//#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°"
//#define DISPLAY_CHARSET_HD44780_WESTERN // "ÄäÖöÜüß²³°" if you see a '~' instead of a 'arrow_right' at the right of submenuitems - this is the right one.
//#define ULTRA_LCD //general LCD support, also 16x2
//#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
//#define SDSUPPORT // Enable SD Card Support in Hardware Console
//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
//#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication
//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
//#define ULTIPANEL //the UltiPanel as on Thingiverse
//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
// PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
// http://reprap.org/wiki/PanelOne
//#define PANEL_ONE
// The MaKr3d Makr-Panel with graphic controller and SD support
// http://reprap.org/wiki/MaKr3d_MaKrPanel
//#define MAKRPANEL
// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
// http://panucatt.com
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
//#define VIKI2
//#define miniVIKI
// The RepRapDiscount Smart Controller (white PCB)
// http://reprap.org/wiki/RepRapDiscount_Smart_Controller
//#define REPRAP_DISCOUNT_SMART_CONTROLLER
// The GADGETS3D G3D LCD/SD Controller (blue PCB)
// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
//#define G3D_PANEL
// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)
// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
//
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
// The RepRapWorld REPRAPWORLD_KEYPAD v1.1
// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
//#define REPRAPWORLD_KEYPAD
//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click
// The Elefu RA Board Control Panel
// http://www.elefu.com/index.php?route=product/product&product_id=53
// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARDUINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
//#define RA_CONTROL_PANEL
//automatic expansion
#if defined (MAKRPANEL)
#define DOGLCD
#define SDSUPPORT
#define ULTIPANEL
#define NEWPANEL
#define DEFAULT_LCD_CONTRAST 17
#endif
#if defined(miniVIKI) || defined(VIKI2)
#define ULTRA_LCD //general LCD support, also 16x2
#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
#ifdef miniVIKI
#define DEFAULT_LCD_CONTRAST 95
#else
#define DEFAULT_LCD_CONTRAST 40
#endif
#define ENCODER_PULSES_PER_STEP 4
#define ENCODER_STEPS_PER_MENU_ITEM 1
#endif
#if defined (PANEL_ONE)
#define SDSUPPORT
#define ULTIMAKERCONTROLLER
#endif
#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
#define DOGLCD
#define U8GLIB_ST7920
#define REPRAP_DISCOUNT_SMART_CONTROLLER
#endif
#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
#define ULTIPANEL
#define NEWPANEL
#endif
#if defined(REPRAPWORLD_KEYPAD)
#define NEWPANEL
#define ULTIPANEL
#endif
#if defined(RA_CONTROL_PANEL)
#define ULTIPANEL
#define NEWPANEL
#define LCD_I2C_TYPE_PCA8574
#define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander
#endif
//I2C PANELS
//#define LCD_I2C_SAINSMART_YWROBOT
#ifdef LCD_I2C_SAINSMART_YWROBOT
// This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
// Make sure it is placed in the Arduino libraries directory.
#define LCD_I2C_TYPE_PCF8575
#define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander
#define NEWPANEL
#define ULTIPANEL
#endif
// PANELOLU2 LCD with status LEDs, separate encoder and click inputs
//#define LCD_I2C_PANELOLU2
#ifdef LCD_I2C_PANELOLU2
// This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
// Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
// (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
// Note: The PANELOLU2 encoder click input can either be directly connected to a pin
// (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
#define LCD_I2C_TYPE_MCP23017
#define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
#define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
#define NEWPANEL
#define ULTIPANEL
#ifndef ENCODER_PULSES_PER_STEP
#define ENCODER_PULSES_PER_STEP 4
#endif
#ifndef ENCODER_STEPS_PER_MENU_ITEM
#define ENCODER_STEPS_PER_MENU_ITEM 1
#endif
#ifdef LCD_USE_I2C_BUZZER
#define LCD_FEEDBACK_FREQUENCY_HZ 1000
#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100
#endif
#endif
// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
//#define LCD_I2C_VIKI
#ifdef LCD_I2C_VIKI
// This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
// Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
// Note: The pause/stop/resume LCD button pin should be connected to the Arduino
// BTN_ENC pin (or set BTN_ENC to -1 if not used)
#define LCD_I2C_TYPE_MCP23017
#define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
#define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
#define NEWPANEL
#define ULTIPANEL
#endif
// Shift register panels
// ---------------------
// 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SAV_3DLCD
#ifdef SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif
#ifdef ULTIPANEL
#define NEWPANEL //enable this if you have a click-encoder panel
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 20
#define LCD_HEIGHT 4
#endif
#else //no panel but just LCD
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 16
#define LCD_HEIGHT 2
#endif
#endif
#endif
// default LCD contrast for dogm-like LCD displays
#ifdef DOGLCD
# ifndef DEFAULT_LCD_CONTRAST
# define DEFAULT_LCD_CONTRAST 32
# endif
#endif
// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
#define FAST_PWM_FAN
// Temperature status LEDs that display the hotend and bet temperature.
// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
// Otherwise the RED led is on. There is 1C hysteresis.
//#define TEMP_STAT_LEDS
// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
// which is not as annoying as with the hardware PWM. On the other hand, if this frequency
// is too low, you should also increment SOFT_PWM_SCALE.
//#define FAN_SOFT_PWM
// Incrementing this by 1 will double the software PWM frequency,
// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
// However, control resolution will be halved for each increment;
// at zero value, there are 128 effective control positions.
#define SOFT_PWM_SCALE 0
// M240 Triggers a camera by emulating a Canon RC-1 Remote
// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
// #define PHOTOGRAPH_PIN 23
// SF send wrong arc g-codes when using Arc Point as fillet procedure
//#define SF_ARC_FIX
// Support for the BariCUDA Paste Extruder.
//#define BARICUDA
//define BlinkM/CyzRgb Support
//#define BLINKM
/*********************************************************************\
* R/C SERVO support
* Sponsored by TrinityLabs, Reworked by codexmas
**********************************************************************/
// Number of servos
//
// If you select a configuration below, this will receive a default value and does not need to be set manually
// set it manually if you have more servos than extruders and wish to manually control some
// leaving it undefined or defining as 0 will disable the servo subsystem
// If unsure, leave commented / disabled
//
//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
// Servo Endstops
//
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
/**********************************************************************\
* Support for a filament diameter sensor
* Also allows adjustment of diameter at print time (vs at slicing)
* Single extruder only at this point (extruder 0)
*
* Motherboards
* 34 - RAMPS1.4 - uses Analog input 5 on the AUX2 connector
* 81 - Printrboard - Uses Analog input 2 on the Exp1 connector (version B,C,D,E)
* 301 - Rambo - uses Analog input 3
* Note may require analog pins to be defined for different motherboards
**********************************************************************/
// Uncomment below to enable
//#define FILAMENT_SENSOR
#define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2)
#define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel
#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation
#define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm
#define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm
#define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM)
//defines used in the code
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially
//When using an LCD, uncomment the line below to display the Filament sensor data on the last line instead of status. Status will appear for 5 sec.
//#define FILAMENT_LCD_DISPLAY
#include "Configuration_adv.h"
#include "thermistortables.h"
#endif //__CONFIGURATION_H

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#ifndef CONFIGURATION_H
#define CONFIGURATION_H
#include "boards.h"
//===========================================================================
//============================= Getting Started =============================
//===========================================================================
/*
Here are some standard links for getting your machine calibrated:
* http://reprap.org/wiki/Calibration
* http://youtu.be/wAL9d7FgInk
* http://calculator.josefprusa.cz
* http://reprap.org/wiki/Triffid_Hunter%27s_Calibration_Guide
* http://www.thingiverse.com/thing:5573
* https://sites.google.com/site/repraplogphase/calibration-of-your-reprap
* http://www.thingiverse.com/thing:298812
*/
// This configuration file contains the basic settings.
// Advanced settings can be found in Configuration_adv.h
// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration
//===========================================================================
//============================= DELTA Printer ===============================
//===========================================================================
// For a Delta printer replace the configuration files with the files in the
// example_configurations/delta directory.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
// For a Delta printer replace the configuration files with the files in the
// example_configurations/SCARA directory.
//
// User-specified version info of this build to display in [Pronterface, etc] terminal window during
// startup. Implementation of an idea by Prof Braino to inform user that any changes made to this
// build by the user have been successfully uploaded into firmware.
#define STRING_VERSION "1.0.2"
#define STRING_URL "reprap.org"
#define STRING_VERSION_CONFIG_H __DATE__ " " __TIME__ // build date and time
#define STRING_CONFIG_H_AUTHOR "(none, default config)" // Who made the changes.
#define STRING_SPLASH_LINE1 "v" STRING_VERSION // will be shown during bootup in line 1
//#define STRING_SPLASH_LINE2 STRING_VERSION_CONFIG_H // will be shown during bootup in line2
// SERIAL_PORT selects which serial port should be used for communication with the host.
// This allows the connection of wireless adapters (for instance) to non-default port pins.
// Serial port 0 is still used by the Arduino bootloader regardless of this setting.
#define SERIAL_PORT 0
// This determines the communication speed of the printer
#define BAUDRATE 250000
// This enables the serial port associated to the Bluetooth interface
//#define BTENABLED // Enable BT interface on AT90USB devices
// The following define selects which electronics board you have.
// Please choose the name from boards.h that matches your setup
#ifndef MOTHERBOARD
#define MOTHERBOARD BOARD_FELIX2
#endif
// Define this to set a custom name for your generic Mendel,
// #define CUSTOM_MENDEL_NAME "This Mendel"
// Define this to set a unique identifier for this printer, (Used by some programs to differentiate between machines)
// You can use an online service to generate a random UUID. (eg http://www.uuidgenerator.net/version4)
// #define MACHINE_UUID "00000000-0000-0000-0000-000000000000"
// This defines the number of extruders
#define EXTRUDERS 2
//// The following define selects which power supply you have. Please choose the one that matches your setup
// 1 = ATX
// 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC)
#define POWER_SUPPLY 1
// Define this to have the electronics keep the power supply off on startup. If you don't know what this is leave it.
#define PS_DEFAULT_OFF
//===========================================================================
//============================= Thermal Settings ============================
//===========================================================================
//
//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
//
//// Temperature sensor settings:
// -2 is thermocouple with MAX6675 (only for sensor 0)
// -1 is thermocouple with AD595
// 0 is not used
// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
// 3 is Mendel-parts thermistor (4.7k pullup)
// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
// 10 is 100k RS thermistor 198-961 (4.7k pullup)
// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
// 13 is 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
// 20 is the PT100 circuit found in the Ultimainboard V2.x
// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
//
// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
// (but gives greater accuracy and more stable PID)
// 51 is 100k thermistor - EPCOS (1k pullup)
// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
//
// 1047 is Pt1000 with 4k7 pullup
// 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup
// 110 is Pt100 with 1k pullup (non standard)
// 998 and 999 are Dummy Tables. They will ALWAYS read 25°C or the temperature defined below.
// Use it for Testing or Development purposes. NEVER for production machine.
// #define DUMMY_THERMISTOR_998_VALUE 25
// #define DUMMY_THERMISTOR_999_VALUE 100
#define TEMP_SENSOR_0 1
#define TEMP_SENSOR_1 1
#define TEMP_SENSOR_2 0
#define TEMP_SENSOR_3 0
#define TEMP_SENSOR_BED 1
// This makes temp sensor 1 a redundant sensor for sensor 0. If the temperatures difference between these sensors is to high the print will be aborted.
//#define TEMP_SENSOR_1_AS_REDUNDANT
#define MAX_REDUNDANT_TEMP_SENSOR_DIFF 10
// Actual temperature must be close to target for this long before M109 returns success
#define TEMP_RESIDENCY_TIME 15 // (seconds)
#define TEMP_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one
#define TEMP_WINDOW 1 // (degC) Window around target to start the residency timer x degC early.
// The minimal temperature defines the temperature below which the heater will not be enabled It is used
// to check that the wiring to the thermistor is not broken.
// Otherwise this would lead to the heater being powered on all the time.
#define HEATER_0_MINTEMP 5
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define HEATER_3_MINTEMP 5
#define BED_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 HEATER_0_MAXTEMP 275
#define HEATER_1_MAXTEMP 275
#define HEATER_2_MAXTEMP 275
#define HEATER_3_MAXTEMP 275
#define BED_MAXTEMP 150
// If your bed has low resistance e.g. .6 ohm and throws the fuse you can duty cycle it to reduce the
// average current. The value should be an integer and the heat bed will be turned on for 1 interval of
// HEATER_BED_DUTY_CYCLE_DIVIDER intervals.
//#define HEATER_BED_DUTY_CYCLE_DIVIDER 4
// If you want the M105 heater power reported in watts, define the BED_WATTS, and (shared for all extruders) EXTRUDER_WATTS
//#define EXTRUDER_WATTS (12.0*12.0/6.7) // P=I^2/R
//#define BED_WATTS (12.0*12.0/1.1) // P=I^2/R
//===========================================================================
//============================= PID Settings ================================
//===========================================================================
// PID Tuning Guide here: http://reprap.org/wiki/PID_Tuning
// Comment the following line to disable PID and enable bang-bang.
#define PIDTEMP
#define BANG_MAX 255 // limits current to nozzle while in bang-bang mode; 255=full current
#define PID_MAX BANG_MAX // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 255=full current
#ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX
//#define SLOW_PWM_HEATERS // PWM with very low frequency (roughly 0.125Hz=8s) and minimum state time of approximately 1s useful for heaters driven by a relay
//#define PID_PARAMS_PER_EXTRUDER // Uses separate PID parameters for each extruder (useful for mismatched extruders)
// Set/get with gcode: M301 E[extruder number, 0-2]
#define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature
// is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max.
#define PID_INTEGRAL_DRIVE_MAX PID_MAX //limit for the integral term
#define K1 0.95 //smoothing factor within the PID
#define PID_dT ((OVERSAMPLENR * 10.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
// Felix 2.0+ electronics with v4 Hotend
#define DEFAULT_Kp 12
#define DEFAULT_Ki 0.84
#define DEFAULT_Kd 85
#endif // PIDTEMP
//===========================================================================
//============================= PID > Bed Temperature Control ===============
//===========================================================================
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
//
// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
// If your configuration is significantly different than this and you don't understand the issues involved, you probably
// shouldn't use bed PID until someone else verifies your hardware works.
// If this is enabled, find your own PID constants below.
#define PIDTEMPBED
//
//#define BED_LIMIT_SWITCHING
// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
// so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED)
#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
#ifdef PIDTEMPBED
// Felix Foil Heater
#define DEFAULT_bedKp 103.37
#define DEFAULT_bedKi 2.79
#define DEFAULT_bedKd 956.94
// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
#endif // PIDTEMPBED
//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
//can be software-disabled for whatever purposes by
#define PREVENT_DANGEROUS_EXTRUDE
//if PREVENT_DANGEROUS_EXTRUDE is on, you can still disable (uncomment) very long bits of extrusion separately.
#define PREVENT_LENGTHY_EXTRUDE
#define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//===========================================================================
//============================= Thermal Runaway Protection ==================
//===========================================================================
/*
This is a feature to protect your printer from burn up in flames if it has
a thermistor coming off place (this happened to a friend of mine recently and
motivated me writing this feature).
The issue: If a thermistor come off, it will read a lower temperature than actual.
The system will turn the heater on forever, burning up the filament and anything
else around.
After the temperature reaches the target for the first time, this feature will
start measuring for how long the current temperature stays below the target
minus _HYSTERESIS (set_temperature - THERMAL_RUNAWAY_PROTECTION_HYSTERESIS).
If it stays longer than _PERIOD, it means the thermistor temperature
cannot catch up with the target, so something *may be* wrong. Then, to be on the
safe side, the system will he halt.
Bear in mind the count down will just start AFTER the first time the
thermistor temperature is over the target, so you will have no problem if
your extruder heater takes 2 minutes to hit the target on heating.
*/
// If you want to enable this feature for all your extruder heaters,
// uncomment the 2 defines below:
// Parameters for all extruder heaters
//#define THERMAL_RUNAWAY_PROTECTION_PERIOD 60 //in seconds
//#define THERMAL_RUNAWAY_PROTECTION_HYSTERESIS 5 // in degree Celsius
// If you want to enable this feature for your bed heater,
// uncomment the 2 defines below:
// Parameters for the bed heater
//#define THERMAL_RUNAWAY_PROTECTION_BED_PERIOD 30 //in seconds
//#define THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS 5// in degree Celsius
//===========================================================================
//============================= Mechanical Settings =========================
//===========================================================================
// Uncomment the following line to enable CoreXY kinematics
// #define COREXY
// coarse Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
#ifndef ENDSTOPPULLUPS
// fine endstop settings: Individual pullups. will be ignored if ENDSTOPPULLUPS is defined
// #define ENDSTOPPULLUP_XMAX
// #define ENDSTOPPULLUP_YMAX
// #define ENDSTOPPULLUP_ZMAX
// #define ENDSTOPPULLUP_XMIN
// #define ENDSTOPPULLUP_YMIN
// #define ENDSTOPPULLUP_ZMIN
#endif
#ifdef ENDSTOPPULLUPS
#define ENDSTOPPULLUP_XMAX
#define ENDSTOPPULLUP_YMAX
#define ENDSTOPPULLUP_ZMAX
#define ENDSTOPPULLUP_XMIN
#define ENDSTOPPULLUP_YMIN
#define ENDSTOPPULLUP_ZMIN
#endif
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Y_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
const bool X_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Y_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
#define Y_ENABLE_ON 0
#define Z_ENABLE_ON 0
#define E_ENABLE_ON 0 // For all extruders
// Disables axis when it's not being used.
#define DISABLE_X false
#define DISABLE_Y false
#define DISABLE_Z false
#define DISABLE_E false // For all extruders
#define DISABLE_INACTIVE_EXTRUDER true //disable only inactive extruders and keep active extruder enabled
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E1_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E3_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
#define X_HOME_DIR -1
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1
#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below.
// Travel limits after homing (units are in mm)
#define X_MAX_POS 255
#define X_MIN_POS 0
#define Y_MAX_POS 205
#define Y_MIN_POS 0
#define Z_MAX_POS 235
#define Z_MIN_POS 0
#define X_MAX_LENGTH (X_MAX_POS - X_MIN_POS)
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
//===========================================================================
//============================= Bed Auto Leveling ===========================
//===========================================================================
//#define ENABLE_AUTO_BED_LEVELING // Delete the comment to enable (remove // at the start of the line)
//#define Z_PROBE_REPEATABILITY_TEST // If not commented out, Z-Probe Repeatability test will be included if Auto Bed Leveling is Enabled.
#ifdef ENABLE_AUTO_BED_LEVELING
// There are 2 different ways to pick the X and Y locations to probe:
// - "grid" mode
// Probe every point in a rectangular grid
// You must specify the rectangle, and the density of sample points
// This mode is preferred because there are more measurements.
// It used to be called ACCURATE_BED_LEVELING but "grid" is more descriptive
// - "3-point" mode
// Probe 3 arbitrary points on the bed (that aren't colinear)
// You must specify the X & Y coordinates of all 3 points
#define AUTO_BED_LEVELING_GRID
// with AUTO_BED_LEVELING_GRID, the bed is sampled in a
// AUTO_BED_LEVELING_GRID_POINTSxAUTO_BED_LEVELING_GRID_POINTS grid
// and least squares solution is calculated
// Note: this feature occupies 10'206 byte
#ifdef AUTO_BED_LEVELING_GRID
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
// set the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define BACK_PROBE_BED_POSITION 180
#define FRONT_PROBE_BED_POSITION 20
// set the number of grid points per dimension
// I wouldn't see a reason to go above 3 (=9 probing points on the bed)
#define AUTO_BED_LEVELING_GRID_POINTS 2
#else // not AUTO_BED_LEVELING_GRID
// with no grid, just probe 3 arbitrary points. A simple cross-product
// is used to esimate the plane of the print bed
#define ABL_PROBE_PT_1_X 15
#define ABL_PROBE_PT_1_Y 180
#define ABL_PROBE_PT_2_X 15
#define ABL_PROBE_PT_2_Y 20
#define ABL_PROBE_PT_3_X 170
#define ABL_PROBE_PT_3_Y 20
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
// X and Y offsets must be integers
#define X_PROBE_OFFSET_FROM_EXTRUDER -25
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
#define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance.
// Be sure you have this distance over your Z_MAX_POS in case
#define XY_TRAVEL_SPEED 8000 // X and Y axis travel speed between probes, in mm/min
#define Z_RAISE_BEFORE_PROBING 15 //How much the extruder will be raised before traveling to the first probing point.
#define Z_RAISE_BETWEEN_PROBINGS 5 //How much the extruder will be raised when traveling from between next probing points
//#define Z_PROBE_SLED // turn on if you have a z-probe mounted on a sled like those designed by Charles Bell
//#define SLED_DOCKING_OFFSET 5 // the extra distance the X axis must travel to pickup the sled. 0 should be fine but you can push it further if you'd like.
//If defined, the Probe servo will be turned on only during movement and then turned off to avoid jerk
//The value is the delay to turn the servo off after powered on - depends on the servo speed; 300ms is good value, but you can try lower it.
// You MUST HAVE the SERVO_ENDSTOPS defined to use here a value higher than zero otherwise your code will not compile.
// #define PROBE_SERVO_DEACTIVATION_DELAY 300
//If you have enabled the Bed Auto Leveling and are using the same Z Probe for Z Homing,
//it is highly recommended you let this Z_SAFE_HOMING enabled!!!
#define Z_SAFE_HOMING // This feature is meant to avoid Z homing with probe outside the bed area.
// When defined, it will:
// - Allow Z homing only after X and Y homing AND stepper drivers still enabled
// - If stepper drivers timeout, it will need X and Y homing again before Z homing
// - Position the probe in a defined XY point before Z Homing when homing all axis (G28)
// - Block Z homing only when the probe is outside bed area.
#ifdef Z_SAFE_HOMING
#define Z_SAFE_HOMING_X_POINT (X_MAX_LENGTH/2) // X point for Z homing when homing all axis (G28)
#define Z_SAFE_HOMING_Y_POINT (Y_MAX_LENGTH/2) // Y point for Z homing when homing all axis (G28)
#endif
#ifdef AUTO_BED_LEVELING_GRID // Check if Probe_Offset * Grid Points is greater than Probing Range
#if X_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((X_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (RIGHT_PROBE_BED_POSITION - LEFT_PROBE_BED_POSITION))
#error "The X axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#if Y_PROBE_OFFSET_FROM_EXTRUDER < 0
#if (-(Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#else
#if ((Y_PROBE_OFFSET_FROM_EXTRUDER * (AUTO_BED_LEVELING_GRID_POINTS-1)) >= (BACK_PROBE_BED_POSITION - FRONT_PROBE_BED_POSITION))
#error "The Y axis probing range is not enough to fit all the points defined in AUTO_BED_LEVELING_GRID_POINTS"
#endif
#endif
#endif
#endif // ENABLE_AUTO_BED_LEVELING
// The position of the homing switches
//#define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used
//#define BED_CENTER_AT_0_0 // If defined, the center of the bed is at (X=0, Y=0)
//Manual homing switch locations:
// For deltabots this means top and center of the Cartesian print volume.
#define MANUAL_X_HOME_POS 0
#define MANUAL_Y_HOME_POS 0
#define MANUAL_Z_HOME_POS 0
//#define MANUAL_Z_HOME_POS 402 // For delta: Distance between nozzle and print surface after homing.
//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
// default settings
// default steps per unit for Felix 2.0/3.0: 0.00249mm x/y rounding error with 3mm pitch HTD belt and 14 tooth pulleys. 0 z error.
#define DEFAULT_AXIS_STEPS_PER_UNIT {76.190476, 76.190476, 1600, 164}
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {5000,5000,100,80000} // 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.
#define DEFAULT_ACCELERATION 1750 //1500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 5000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).
// For the other hotends it is their distance from the extruder 0 hotend.
// #define EXTRUDER_OFFSET_X {0.0, 20.00} // (in mm) for each extruder, offset of the hotend on the X axis
// #define EXTRUDER_OFFSET_Y {0.0, 5.00} // (in mm) for each extruder, offset of the hotend on the Y axis
// The speed change that does not require acceleration (i.e. the software might assume it can be done instantaneously)
#define DEFAULT_XYJERK 10 // (mm/sec)
#define DEFAULT_ZJERK 0.3 //0.4 // (mm/sec)
#define DEFAULT_EJERK 5.0 // (mm/sec)
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// Custom M code points
#define CUSTOM_M_CODES
#ifdef CUSTOM_M_CODES
#define CUSTOM_M_CODE_SET_Z_PROBE_OFFSET 851
#define Z_PROBE_OFFSET_RANGE_MIN -15
#define Z_PROBE_OFFSET_RANGE_MAX -5
#endif
// EEPROM
// The microcontroller can store settings in the EEPROM, e.g. max velocity...
// M500 - stores parameters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
//define this to enable EEPROM support
//#define EEPROM_SETTINGS
//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out:
// please keep turned on if you can.
//#define EEPROM_CHITCHAT
// Preheat Constants
#define PLA_PREHEAT_HOTEND_TEMP 180
#define PLA_PREHEAT_HPB_TEMP 70
#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
#define ABS_PREHEAT_HOTEND_TEMP 240
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//==============================LCD and SD support=============================
// Define your display language below. Replace (en) with your language code and uncomment.
// en, pl, fr, de, es, ru, it, pt, pt-br, fi, an, nl, ca, eu
// See also language.h
//#define LANGUAGE_INCLUDE GENERATE_LANGUAGE_INCLUDE(en)
// Character based displays can have different extended charsets.
//#define DISPLAY_CHARSET_HD44780_JAPAN // "ääööüüß23°"
//#define DISPLAY_CHARSET_HD44780_WESTERN // "ÄäÖöÜüß²³°" if you see a '~' instead of a 'arrow_right' at the right of submenuitems - this is the right one.
//#define ULTRA_LCD //general LCD support, also 16x2
//#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
//#define SDSUPPORT // Enable SD Card Support in Hardware Console
//#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error)
//#define SD_CHECK_AND_RETRY // Use CRC checks and retries on the SD communication
//#define ENCODER_PULSES_PER_STEP 1 // Increase if you have a high resolution encoder
//#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
//#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
//#define ULTIPANEL //the UltiPanel as on Thingiverse
//#define LCD_FEEDBACK_FREQUENCY_HZ 1000 // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
//#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
// PanelOne from T3P3 (via RAMPS 1.4 AUX2/AUX3)
// http://reprap.org/wiki/PanelOne
//#define PANEL_ONE
// The MaKr3d Makr-Panel with graphic controller and SD support
// http://reprap.org/wiki/MaKr3d_MaKrPanel
//#define MAKRPANEL
// The Panucatt Devices Viki 2.0 and mini Viki with Graphic LCD
// http://panucatt.com
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
//#define VIKI2
//#define miniVIKI
// The RepRapDiscount Smart Controller (white PCB)
// http://reprap.org/wiki/RepRapDiscount_Smart_Controller
//#define REPRAP_DISCOUNT_SMART_CONTROLLER
// The GADGETS3D G3D LCD/SD Controller (blue PCB)
// http://reprap.org/wiki/RAMPS_1.3/1.4_GADGETS3D_Shield_with_Panel
//#define G3D_PANEL
// The RepRapDiscount FULL GRAPHIC Smart Controller (quadratic white PCB)
// http://reprap.org/wiki/RepRapDiscount_Full_Graphic_Smart_Controller
//
// ==> REMEMBER TO INSTALL U8glib to your ARDUINO library folder: http://code.google.com/p/u8glib/wiki/u8glib
//#define REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER
// The RepRapWorld REPRAPWORLD_KEYPAD v1.1
// http://reprapworld.com/?products_details&products_id=202&cPath=1591_1626
//#define REPRAPWORLD_KEYPAD
//#define REPRAPWORLD_KEYPAD_MOVE_STEP 10.0 // how much should be moved when a key is pressed, eg 10.0 means 10mm per click
// The Elefu RA Board Control Panel
// http://www.elefu.com/index.php?route=product/product&product_id=53
// REMEMBER TO INSTALL LiquidCrystal_I2C.h in your ARDUINO library folder: https://github.com/kiyoshigawa/LiquidCrystal_I2C
//#define RA_CONTROL_PANEL
//automatic expansion
#if defined (MAKRPANEL)
#define DOGLCD
#define SDSUPPORT
#define ULTIPANEL
#define NEWPANEL
#define DEFAULT_LCD_CONTRAST 17
#endif
#if defined(miniVIKI) || defined(VIKI2)
#define ULTRA_LCD //general LCD support, also 16x2
#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family)
#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
#ifdef miniVIKI
#define DEFAULT_LCD_CONTRAST 95
#else
#define DEFAULT_LCD_CONTRAST 40
#endif
#define ENCODER_PULSES_PER_STEP 4
#define ENCODER_STEPS_PER_MENU_ITEM 1
#endif
#if defined (PANEL_ONE)
#define SDSUPPORT
#define ULTIMAKERCONTROLLER
#endif
#if defined (REPRAP_DISCOUNT_FULL_GRAPHIC_SMART_CONTROLLER)
#define DOGLCD
#define U8GLIB_ST7920
#define REPRAP_DISCOUNT_SMART_CONTROLLER
#endif
#if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL)
#define ULTIPANEL
#define NEWPANEL
#endif
#if defined(REPRAPWORLD_KEYPAD)
#define NEWPANEL
#define ULTIPANEL
#endif
#if defined(RA_CONTROL_PANEL)
#define ULTIPANEL
#define NEWPANEL
#define LCD_I2C_TYPE_PCA8574
#define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander
#endif
//I2C PANELS
//#define LCD_I2C_SAINSMART_YWROBOT
#ifdef LCD_I2C_SAINSMART_YWROBOT
// This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home )
// Make sure it is placed in the Arduino libraries directory.
#define LCD_I2C_TYPE_PCF8575
#define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander
#define NEWPANEL
#define ULTIPANEL
#endif
// PANELOLU2 LCD with status LEDs, separate encoder and click inputs
//#define LCD_I2C_PANELOLU2
#ifdef LCD_I2C_PANELOLU2
// This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
// Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
// (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file)
// Note: The PANELOLU2 encoder click input can either be directly connected to a pin
// (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1).
#define LCD_I2C_TYPE_MCP23017
#define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
#define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD
#define NEWPANEL
#define ULTIPANEL
#ifndef ENCODER_PULSES_PER_STEP
#define ENCODER_PULSES_PER_STEP 4
#endif
#ifndef ENCODER_STEPS_PER_MENU_ITEM
#define ENCODER_STEPS_PER_MENU_ITEM 1
#endif
#ifdef LCD_USE_I2C_BUZZER
#define LCD_FEEDBACK_FREQUENCY_HZ 1000
#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100
#endif
#endif
// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs
//#define LCD_I2C_VIKI
#ifdef LCD_I2C_VIKI
// This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 )
// Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory.
// Note: The pause/stop/resume LCD button pin should be connected to the Arduino
// BTN_ENC pin (or set BTN_ENC to -1 if not used)
#define LCD_I2C_TYPE_MCP23017
#define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander
#define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later)
#define NEWPANEL
#define ULTIPANEL
#endif
// Shift register panels
// ---------------------
// 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SAV_3DLCD
#ifdef SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif
#ifdef ULTIPANEL
#define NEWPANEL //enable this if you have a click-encoder panel
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 20
#define LCD_HEIGHT 4
#endif
#else //no panel but just LCD
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 16
#define LCD_HEIGHT 2
#endif
#endif
#endif
// default LCD contrast for dogm-like LCD displays
#ifdef DOGLCD
# ifndef DEFAULT_LCD_CONTRAST
# define DEFAULT_LCD_CONTRAST 32
# endif
#endif
// Increase the FAN pwm frequency. Removes the PWM noise but increases heating in the FET/Arduino
#define FAST_PWM_FAN
// Temperature status LEDs that display the hotend and bet temperature.
// If all hotends and bed temperature and temperature setpoint are < 54C then the BLUE led is on.
// Otherwise the RED led is on. There is 1C hysteresis.
//#define TEMP_STAT_LEDS
// Use software PWM to drive the fan, as for the heaters. This uses a very low frequency
// which is not as annoying as with the hardware PWM. On the other hand, if this frequency
// is too low, you should also increment SOFT_PWM_SCALE.
//#define FAN_SOFT_PWM
// Incrementing this by 1 will double the software PWM frequency,
// affecting heaters, and the fan if FAN_SOFT_PWM is enabled.
// However, control resolution will be halved for each increment;
// at zero value, there are 128 effective control positions.
#define SOFT_PWM_SCALE 0
// M240 Triggers a camera by emulating a Canon RC-1 Remote
// Data from: http://www.doc-diy.net/photo/rc-1_hacked/
// #define PHOTOGRAPH_PIN 23
// SF send wrong arc g-codes when using Arc Point as fillet procedure
//#define SF_ARC_FIX
// Support for the BariCUDA Paste Extruder.
//#define BARICUDA
//define BlinkM/CyzRgb Support
//#define BLINKM
/*********************************************************************\
* R/C SERVO support
* Sponsored by TrinityLabs, Reworked by codexmas
**********************************************************************/
// Number of servos
//
// If you select a configuration below, this will receive a default value and does not need to be set manually
// set it manually if you have more servos than extruders and wish to manually control some
// leaving it undefined or defining as 0 will disable the servo subsystem
// If unsure, leave commented / disabled
//
//#define NUM_SERVOS 3 // Servo index starts with 0 for M280 command
// Servo Endstops
//
// This allows for servo actuated endstops, primary usage is for the Z Axis to eliminate calibration or bed height changes.
// Use M206 command to correct for switch height offset to actual nozzle height. Store that setting with M500.
//
//#define SERVO_ENDSTOPS {-1, -1, 0} // Servo index for X, Y, Z. Disable with -1
//#define SERVO_ENDSTOP_ANGLES {0,0, 0,0, 70,0} // X,Y,Z Axis Extend and Retract angles
/**********************************************************************\
* Support for a filament diameter sensor
* Also allows adjustment of diameter at print time (vs at slicing)
* Single extruder only at this point (extruder 0)
*
* Motherboards
* 34 - RAMPS1.4 - uses Analog input 5 on the AUX2 connector
* 81 - Printrboard - Uses Analog input 2 on the Exp1 connector (version B,C,D,E)
* 301 - Rambo - uses Analog input 3
* Note may require analog pins to be defined for different motherboards
**********************************************************************/
// Uncomment below to enable
//#define FILAMENT_SENSOR
#define FILAMENT_SENSOR_EXTRUDER_NUM 0 //The number of the extruder that has the filament sensor (0,1,2)
#define MEASUREMENT_DELAY_CM 14 //measurement delay in cm. This is the distance from filament sensor to middle of barrel
#define DEFAULT_NOMINAL_FILAMENT_DIA 3.0 //Enter the diameter (in mm) of the filament generally used (3.0 mm or 1.75 mm) - this is then used in the slicer software. Used for sensor reading validation
#define MEASURED_UPPER_LIMIT 3.30 //upper limit factor used for sensor reading validation in mm
#define MEASURED_LOWER_LIMIT 1.90 //lower limit factor for sensor reading validation in mm
#define MAX_MEASUREMENT_DELAY 20 //delay buffer size in bytes (1 byte = 1cm)- limits maximum measurement delay allowable (must be larger than MEASUREMENT_DELAY_CM and lower number saves RAM)
//defines used in the code
#define DEFAULT_MEASURED_FILAMENT_DIA DEFAULT_NOMINAL_FILAMENT_DIA //set measured to nominal initially
//When using an LCD, uncomment the line below to display the Filament sensor data on the last line instead of status. Status will appear for 5 sec.
//#define FILAMENT_LCD_DISPLAY
#include "Configuration_adv.h"
#include "thermistortables.h"
#endif //__CONFIGURATION_H

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#ifndef CONFIGURATION_ADV_H
#define CONFIGURATION_ADV_H
//===========================================================================
//=============================Thermal Settings ============================
//===========================================================================
#ifdef BED_LIMIT_SWITCHING
#define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS
#endif
#define BED_CHECK_INTERVAL 5000 //ms between checks in bang-bang control
//// Heating sanity check:
// This waits for the watch period 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. This check is also only triggered if the target temperature and the current temperature
// differ by at least 2x WATCH_TEMP_INCREASE
//#define WATCH_TEMP_PERIOD 40000 //40 seconds
//#define WATCH_TEMP_INCREASE 10 //Heat up at least 10 degree in 20 seconds
#ifdef PIDTEMP
// this adds an experimental additional term to the heating power, proportional to the extrusion speed.
// if Kc is chosen well, the additional required power due to increased melting should be compensated.
#define PID_ADD_EXTRUSION_RATE
#ifdef PID_ADD_EXTRUSION_RATE
#define DEFAULT_Kc (1) //heating power=Kc*(e_speed)
#endif
#endif
//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode.
//The maximum buffered steps/sec of the extruder motor are called "se".
//You enter the autotemp mode by a M109 S<mintemp> B<maxtemp> F<factor>
// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp
// you exit the value by any M109 without F*
// Also, if the temperature is set to a value <mintemp, it is not changed by autotemp.
// on an Ultimaker, some initial testing worked with M109 S215 B260 F1 in the start.gcode
#define AUTOTEMP
#ifdef AUTOTEMP
#define AUTOTEMP_OLDWEIGHT 0.98
#endif
//Show Temperature ADC value
//The M105 command return, besides traditional information, the ADC value read from temperature sensors.
//#define SHOW_TEMP_ADC_VALUES
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
//#define EXTRUDER_RUNOUT_PREVENT
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30.
#define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
#define EXTRUDER_RUNOUT_SPEED 1500. //extrusion speed
#define EXTRUDER_RUNOUT_EXTRUDE 100
//These defines help to calibrate the AD595 sensor in case you get wrong temperature measurements.
//The measured temperature is defined as "actualTemp = (measuredTemp * TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET"
#define TEMP_SENSOR_AD595_OFFSET 0.0
#define TEMP_SENSOR_AD595_GAIN 1.0
//This is for controlling a fan to cool down the stepper drivers
//it will turn on when any driver is enabled
//and turn off after the set amount of seconds from last driver being disabled again
#define CONTROLLERFAN_PIN -1 //Pin used for the fan to cool controller (-1 to disable)
#define CONTROLLERFAN_SECS 60 //How many seconds, after all motors were disabled, the fan should run
#define CONTROLLERFAN_SPEED 255 // == full speed
// When first starting the main fan, run it at full speed for the
// given number of milliseconds. This gets the fan spinning reliably
// before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu)
//#define FAN_KICKSTART_TIME 100
// Extruder cooling fans
// Configure fan pin outputs to automatically turn on/off when the associated
// extruder temperature is above/below EXTRUDER_AUTO_FAN_TEMPERATURE.
// Multiple extruders can be assigned to the same pin in which case
// the fan will turn on when any selected extruder is above the threshold.
#define EXTRUDER_0_AUTO_FAN_PIN -1
#define EXTRUDER_1_AUTO_FAN_PIN -1
#define EXTRUDER_2_AUTO_FAN_PIN -1
#define EXTRUDER_3_AUTO_FAN_PIN -1
#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
#define EXTRUDER_AUTO_FAN_SPEED 255 // == full speed
//===========================================================================
//=============================Mechanical Settings===========================
//===========================================================================
#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
//// AUTOSET LOCATIONS OF LIMIT SWITCHES
//// Added by ZetaPhoenix 09-15-2012
#ifdef MANUAL_HOME_POSITIONS // Use manual limit switch locations
#define X_HOME_POS MANUAL_X_HOME_POS
#define Y_HOME_POS MANUAL_Y_HOME_POS
#define Z_HOME_POS MANUAL_Z_HOME_POS
#else //Set min/max homing switch positions based upon homing direction and min/max travel limits
//X axis
#if X_HOME_DIR == -1
#ifdef BED_CENTER_AT_0_0
#define X_HOME_POS X_MAX_LENGTH * -0.5
#else
#define X_HOME_POS X_MIN_POS
#endif //BED_CENTER_AT_0_0
#else
#ifdef BED_CENTER_AT_0_0
#define X_HOME_POS X_MAX_LENGTH * 0.5
#else
#define X_HOME_POS X_MAX_POS
#endif //BED_CENTER_AT_0_0
#endif //X_HOME_DIR == -1
//Y axis
#if Y_HOME_DIR == -1
#ifdef BED_CENTER_AT_0_0
#define Y_HOME_POS Y_MAX_LENGTH * -0.5
#else
#define Y_HOME_POS Y_MIN_POS
#endif //BED_CENTER_AT_0_0
#else
#ifdef BED_CENTER_AT_0_0
#define Y_HOME_POS Y_MAX_LENGTH * 0.5
#else
#define Y_HOME_POS Y_MAX_POS
#endif //BED_CENTER_AT_0_0
#endif //Y_HOME_DIR == -1
// Z axis
#if Z_HOME_DIR == -1 //BED_CENTER_AT_0_0 not used
#define Z_HOME_POS Z_MIN_POS
#else
#define Z_HOME_POS Z_MAX_POS
#endif //Z_HOME_DIR == -1
#endif //End auto min/max positions
//END AUTOSET LOCATIONS OF LIMIT SWITCHES -ZP
//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
// A single Z stepper driver is usually used to drive 2 stepper motors.
// Uncomment this define to utilize a separate stepper driver for each Z axis motor.
// Only a few motherboards support this, like RAMPS, which have dual extruder support (the 2nd, often unused, extruder driver is used
// to control the 2nd Z axis stepper motor). The pins are currently only defined for a RAMPS motherboards.
// On a RAMPS (or other 5 driver) motherboard, using this feature will limit you to using 1 extruder.
//#define Z_DUAL_STEPPER_DRIVERS
#ifdef Z_DUAL_STEPPER_DRIVERS
#undef EXTRUDERS
#define EXTRUDERS 1
#endif
// Same again but for Y Axis.
//#define Y_DUAL_STEPPER_DRIVERS
// Define if the two Y drives need to rotate in opposite directions
#define INVERT_Y2_VS_Y_DIR true
#ifdef Y_DUAL_STEPPER_DRIVERS
#undef EXTRUDERS
#define EXTRUDERS 1
#endif
#if defined (Z_DUAL_STEPPER_DRIVERS) && defined (Y_DUAL_STEPPER_DRIVERS)
#error "You cannot have dual drivers for both Y and Z"
#endif
// Enable this for dual x-carriage printers.
// A dual x-carriage design has the advantage that the inactive extruder can be parked which
// prevents hot-end ooze contaminating the print. It also reduces the weight of each x-carriage
// allowing faster printing speeds.
//#define DUAL_X_CARRIAGE
#ifdef DUAL_X_CARRIAGE
// Configuration for second X-carriage
// Note: the first x-carriage is defined as the x-carriage which homes to the minimum endstop;
// the second x-carriage always homes to the maximum endstop.
#define X2_MIN_POS 80 // set minimum to ensure second x-carriage doesn't hit the parked first X-carriage
#define X2_MAX_POS 353 // set maximum to the distance between toolheads when both heads are homed
#define X2_HOME_DIR 1 // the second X-carriage always homes to the maximum endstop position
#define X2_HOME_POS X2_MAX_POS // default home position is the maximum carriage position
// However: In this mode the EXTRUDER_OFFSET_X value for the second extruder provides a software
// override for X2_HOME_POS. This also allow recalibration of the distance between the two endstops
// without modifying the firmware (through the "M218 T1 X???" command).
// Remember: you should set the second extruder x-offset to 0 in your slicer.
// Pins for second x-carriage stepper driver (defined here to avoid further complicating pins.h)
#define X2_ENABLE_PIN 29
#define X2_STEP_PIN 25
#define X2_DIR_PIN 23
// There are a few selectable movement modes for dual x-carriages using M605 S<mode>
// Mode 0: Full control. The slicer has full control over both x-carriages and can achieve optimal travel results
// as long as it supports dual x-carriages. (M605 S0)
// Mode 1: Auto-park mode. The firmware will automatically park and unpark the x-carriages on tool changes so
// that additional slicer support is not required. (M605 S1)
// Mode 2: Duplication mode. The firmware will transparently make the second x-carriage and extruder copy all
// actions of the first x-carriage. This allows the printer to print 2 arbitrary items at
// once. (2nd extruder x offset and temp offset are set using: M605 S2 [Xnnn] [Rmmm])
// This is the default power-up mode which can be later using M605.
#define DEFAULT_DUAL_X_CARRIAGE_MODE 0
// Default settings in "Auto-park Mode"
#define TOOLCHANGE_PARK_ZLIFT 0.2 // the distance to raise Z axis when parking an extruder
#define TOOLCHANGE_UNPARK_ZLIFT 1 // the distance to raise Z axis when unparking an extruder
// Default x offset in duplication mode (typically set to half print bed width)
#define DEFAULT_DUPLICATION_X_OFFSET 100
#endif //DUAL_X_CARRIAGE
//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
#define X_HOME_RETRACT_MM 5
#define Y_HOME_RETRACT_MM 5
#define Z_HOME_RETRACT_MM 3
#define HOMING_BUMP_DIVISOR {10, 10, 20} // Re-Bump Speed Divisor (Divides the Homing Feedrate)
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
#define AXIS_RELATIVE_MODES {false, false, false, false}
#ifdef CONFIG_STEPPERS_TOSHIBA
#define MAX_STEP_FREQUENCY 10000 // Max step frequency for Toshiba Stepper Controllers
#else
#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
#endif
//By default pololu step drivers require an active high signal. However, some high power drivers require an active low signal as step.
#define INVERT_X_STEP_PIN false
#define INVERT_Y_STEP_PIN false
#define INVERT_Z_STEP_PIN false
#define INVERT_E_STEP_PIN false
//default stepper release if idle. Set to 0 to deactivate.
#define DEFAULT_STEPPER_DEACTIVE_TIME 60
#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 0.0
// Feedrates for manual moves along X, Y, Z, E from panel
#ifdef ULTIPANEL
#define MANUAL_FEEDRATE {50*60, 50*60, 4*60, 60} // set the speeds for manual moves (mm/min)
#endif
//Comment to disable setting feedrate multiplier via encoder
#ifdef ULTIPANEL
#define ULTIPANEL_FEEDMULTIPLY
#endif
// minimum time in microseconds that a movement needs to take if the buffer is emptied.
#define DEFAULT_MINSEGMENTTIME 20000
// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN
// Frequency limit
// See nophead's blog for more info
// Not working O
//#define XY_FREQUENCY_LIMIT 15
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define MINIMUM_PLANNER_SPEED 0.05// (mm/sec)
// MS1 MS2 Stepper Driver Microstepping mode table
#define MICROSTEP1 LOW,LOW
#define MICROSTEP2 HIGH,LOW
#define MICROSTEP4 LOW,HIGH
#define MICROSTEP8 HIGH,HIGH
#define MICROSTEP16 HIGH,HIGH
// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16]
// Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
// uncomment to enable an I2C based DIGIPOT like on the Azteeg X3 Pro
//#define DIGIPOT_I2C
// Number of channels available for I2C digipot, For Azteeg X3 Pro we have 8
#define DIGIPOT_I2C_NUM_CHANNELS 8
// actual motor currents in Amps, need as many here as DIGIPOT_I2C_NUM_CHANNELS
#define DIGIPOT_I2C_MOTOR_CURRENTS {1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0}
//===========================================================================
//=============================Additional Features===========================
//===========================================================================
#define ENCODER_RATE_MULTIPLIER // If defined, certain menu edit operations automatically multiply the steps when the encoder is moved quickly
#define ENCODER_10X_STEPS_PER_SEC 75 // If the encoder steps per sec exceed this value, multiple the steps moved by ten to quickly advance the value
#define ENCODER_100X_STEPS_PER_SEC 160 // If the encoder steps per sec exceed this value, multiple the steps moved by 100 to really quickly advance the value
//#define ENCODER_RATE_MULTIPLIER_DEBUG // If defined, output the encoder steps per second value
//#define CHDK 4 //Pin for triggering CHDK to take a picture see how to use it here http://captain-slow.dk/2014/03/09/3d-printing-timelapses/
#define CHDK_DELAY 50 //How long in ms the pin should stay HIGH before going LOW again
#define SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers?
#define SD_FINISHED_RELEASECOMMAND "M84 X Y Z E" // You might want to keep the z enabled so your bed stays in place.
#define SDCARD_RATHERRECENTFIRST //reverse file order of sd card menu display. Its sorted practically after the file system block order.
// if a file is deleted, it frees a block. hence, the order is not purely chronological. To still have auto0.g accessible, there is again the option to do that.
// using:
//#define MENU_ADDAUTOSTART
// Show a progress bar on HD44780 LCDs for SD printing
//#define LCD_PROGRESS_BAR
#ifdef LCD_PROGRESS_BAR
// Amount of time (ms) to show the bar
#define PROGRESS_BAR_BAR_TIME 2000
// Amount of time (ms) to show the status message
#define PROGRESS_BAR_MSG_TIME 3000
// Amount of time (ms) to retain the status message (0=forever)
#define PROGRESS_MSG_EXPIRE 0
// Enable this to show messages for MSG_TIME then hide them
//#define PROGRESS_MSG_ONCE
#ifdef DOGLCD
#warning LCD_PROGRESS_BAR does not apply to graphical displays at this time.
#endif
#ifdef FILAMENT_LCD_DISPLAY
#error LCD_PROGRESS_BAR and FILAMENT_LCD_DISPLAY are not fully compatible. Comment out this line to use both.
#endif
#endif
// The hardware watchdog should reset the microcontroller disabling all outputs, in case the firmware gets stuck and doesn't do temperature regulation.
//#define USE_WATCHDOG
#ifdef USE_WATCHDOG
// If you have a watchdog reboot in an ArduinoMega2560 then the device will hang forever, as a watchdog reset will leave the watchdog on.
// The "WATCHDOG_RESET_MANUAL" goes around this by not using the hardware reset.
// However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled.
//#define WATCHDOG_RESET_MANUAL
#endif
// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled.
//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
// Babystepping enables the user to control the axis in tiny amounts, independently from the normal printing process
// it can e.g. be used to change z-positions in the print startup phase in real-time
// does not respect endstops!
//#define BABYSTEPPING
#ifdef BABYSTEPPING
#define BABYSTEP_XY //not only z, but also XY in the menu. more clutter, more functions
#define BABYSTEP_INVERT_Z false //true for inverse movements in Z
#define BABYSTEP_Z_MULTIPLICATOR 2 //faster z movements
#ifdef COREXY
#error BABYSTEPPING not implemented for COREXY yet.
#endif
#ifdef DELTA
#ifdef BABYSTEP_XY
#error BABYSTEPPING only implemented for Z axis on deltabots.
#endif
#endif
#endif
// extruder advance constant (s2/mm3)
//
// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K * cubic mm per second ^ 2
//
// Hooke's law says: force = k * distance
// Bernoulli's principle 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
#define D_FILAMENT 2.85
#define STEPS_MM_E 836
#define EXTRUSION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUSION_AREA)
#endif // ADVANCE
// Arc interpretation settings:
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
const unsigned int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
// If you are using a RAMPS board or cheap E-bay purchased boards that do not detect when an SD card is inserted
// You can get round this by connecting a push button or single throw switch to the pin defined as SDCARDCARDDETECT
// in the pins.h file. When using a push button pulling the pin to ground this will need inverted. This setting should
// be commented out otherwise
#define SDCARDDETECTINVERTED
//#ifdef ULTIPANEL
// #undef SDCARDDETECTINVERTED
//#endif
// Power Signal Control Definitions
// By default use ATX definition
#ifndef POWER_SUPPLY
#define POWER_SUPPLY 1
#endif
// 1 = ATX
#if (POWER_SUPPLY == 1)
#define PS_ON_AWAKE LOW
#define PS_ON_ASLEEP HIGH
#endif
// 2 = X-Box 360 203W
#if (POWER_SUPPLY == 2)
#define PS_ON_AWAKE HIGH
#define PS_ON_ASLEEP LOW
#endif
// Control heater 0 and heater 1 in parallel.
//#define HEATERS_PARALLEL
//===========================================================================
//=============================Buffers ============================
//===========================================================================
// The number of linear motions that can be in the plan at any give time.
// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ring-buffering.
#if defined SDSUPPORT
#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
#else
#define BLOCK_BUFFER_SIZE 16 // maximize block buffer
#endif
//The ASCII buffer for receiving from the serial:
#define MAX_CMD_SIZE 96
#define BUFSIZE 4
// Firmware based and LCD controlled retract
// M207 and M208 can be used to define parameters for the retraction.
// The retraction can be called by the slicer using G10 and G11
// until then, intended retractions can be detected by moves that only extrude and the direction.
// the moves are than replaced by the firmware controlled ones.
// #define FWRETRACT //ONLY PARTIALLY TESTED
#ifdef FWRETRACT
#define MIN_RETRACT 0.1 //minimum extruded mm to accept a automatic gcode retraction attempt
#define RETRACT_LENGTH 3 //default retract length (positive mm)
#define RETRACT_LENGTH_SWAP 13 //default swap retract length (positive mm), for extruder change
#define RETRACT_FEEDRATE 45 //default feedrate for retracting (mm/s)
#define RETRACT_ZLIFT 0 //default retract Z-lift
#define RETRACT_RECOVER_LENGTH 0 //default additional recover length (mm, added to retract length when recovering)
#define RETRACT_RECOVER_LENGTH_SWAP 0 //default additional swap recover length (mm, added to retract length when recovering from extruder change)
#define RETRACT_RECOVER_FEEDRATE 8 //default feedrate for recovering from retraction (mm/s)
#endif
//adds support for experimental filament exchange support M600; requires display
#ifdef ULTIPANEL
#define FILAMENTCHANGEENABLE
#ifdef FILAMENTCHANGEENABLE
#define FILAMENTCHANGE_XPOS 3
#define FILAMENTCHANGE_YPOS 3
#define FILAMENTCHANGE_ZADD 10
#define FILAMENTCHANGE_FIRSTRETRACT -2
#define FILAMENTCHANGE_FINALRETRACT -100
#endif
#endif
#ifdef FILAMENTCHANGEENABLE
#ifdef EXTRUDER_RUNOUT_PREVENT
#error EXTRUDER_RUNOUT_PREVENT currently incompatible with FILAMENTCHANGE
#endif
#endif
//===========================================================================
//============================= Define Defines ============================
//===========================================================================
#if defined (ENABLE_AUTO_BED_LEVELING) && defined (DELTA)
#error "Bed Auto Leveling is still not compatible with Delta Kinematics."
#endif
#if EXTRUDERS > 1 && defined TEMP_SENSOR_1_AS_REDUNDANT
#error "You cannot use TEMP_SENSOR_1_AS_REDUNDANT if EXTRUDERS > 1"
#endif
#if EXTRUDERS > 1 && defined HEATERS_PARALLEL
#error "You cannot use HEATERS_PARALLEL if EXTRUDERS > 1"
#endif
#if TEMP_SENSOR_0 > 0
#define THERMISTORHEATER_0 TEMP_SENSOR_0
#define HEATER_0_USES_THERMISTOR
#endif
#if TEMP_SENSOR_1 > 0
#define THERMISTORHEATER_1 TEMP_SENSOR_1
#define HEATER_1_USES_THERMISTOR
#endif
#if TEMP_SENSOR_2 > 0
#define THERMISTORHEATER_2 TEMP_SENSOR_2
#define HEATER_2_USES_THERMISTOR
#endif
#if TEMP_SENSOR_3 > 0
#define THERMISTORHEATER_3 TEMP_SENSOR_3
#define HEATER_3_USES_THERMISTOR
#endif
#if TEMP_SENSOR_BED > 0
#define THERMISTORBED TEMP_SENSOR_BED
#define BED_USES_THERMISTOR
#endif
#if TEMP_SENSOR_0 == -1
#define HEATER_0_USES_AD595
#endif
#if TEMP_SENSOR_1 == -1
#define HEATER_1_USES_AD595
#endif
#if TEMP_SENSOR_2 == -1
#define HEATER_2_USES_AD595
#endif
#if TEMP_SENSOR_3 == -1
#define HEATER_3_USES_AD595
#endif
#if TEMP_SENSOR_BED == -1
#define BED_USES_AD595
#endif
#if TEMP_SENSOR_0 == -2
#define HEATER_0_USES_MAX6675
#endif
#if TEMP_SENSOR_0 == 0
#undef HEATER_0_MINTEMP
#undef HEATER_0_MAXTEMP
#endif
#if TEMP_SENSOR_1 == 0
#undef HEATER_1_MINTEMP
#undef HEATER_1_MAXTEMP
#endif
#if TEMP_SENSOR_2 == 0
#undef HEATER_2_MINTEMP
#undef HEATER_2_MAXTEMP
#endif
#if TEMP_SENSOR_3 == 0
#undef HEATER_3_MINTEMP
#undef HEATER_3_MAXTEMP
#endif
#if TEMP_SENSOR_BED == 0
#undef BED_MINTEMP
#undef BED_MAXTEMP
#endif
#endif //__CONFIGURATION_ADV_H

60
Marlin/example_configurations/Felix/README.md Normal file
View file

@ -0,0 +1,60 @@
# Felix 2.0/3.0 Configuration for Marlin Firmware
Bringing silky smooth prints to Felix.
## Build HOWTO
- Install the latest non-beta Arduino software IDE/toolset: http://www.arduino.cc/en/Main/Software
- Download the Marlin firmware
- [Latest developement version](https://github.com/MarlinFirmware/Marlin/tree/Development)
- [Stable version](https://github.com/MarlinFirmware/Marlin/tree/Development)
- In both cases use the "Download Zip" button on the right.
```
cd Marlin/Marlin
cp example_configurations/Felix/Configuration_adv.h .
```
The next step depends on your setup:
### Single Extruder Configuration
cp example_configurations/Felix/Configuration.h .
### Dual Extruder Configuration
cp example_configurations/Felix/Configuration_DUAL.h Configuration.h
### Compile Firmware
- Start the Arduino IDE.
- Select Tools -> Board -> Arduino Mega 2560
- Select the correct serial port in Tools -> Serial Port (usually /dev/ttyUSB0)
- Open Marlin.pde or .ino
- Click the Verify/Compile button
### Flash Firmware
#### Connected directly via USB
- Click the Upload button. If all goes well the firmware is uploading
#### Remote update
Find the latest Arduino build:
ls -altr /tmp/
drwxr-xr-x 5 chrono users 12288 Mar 3 21:41 build6072035599686630843.tmp
Copy the firmware to your printer host:
scp /tmp/build6072035599686630843.tmp/Marlin.cpp.hex a.b.c.d:/tmp/
Connect to your printer host via ssh, stop Octoprint or any other service that may block your USB device and make sure you have avrdude installed, then run:
avrdude -C/etc/avrdude.conf -v -v -v -patmega2560 -cwiring -P/dev/ttyUSB0 \
-b115200 -D -Uflash:w:/tmp/Marlin.cpp.hex:i
## Acknowledgements
Mashed together and tested on https://apollo.open-resource.org/mission:resources:picoprint based on collaborative teamwork of @andrewsil1 and @thinkyhead.

14
Marlin/example_configurations/Hephestos/Configuration.h
View file

@ -408,11 +408,18 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef AUTO_BED_LEVELING_GRID
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
// The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
#define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
// Set the number of grid points per dimension
// You probably don't need more than 3 (squared=9)
@ -499,8 +506,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_MAX_FEEDRATE {250, 250, 3.3, 25} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {3000,3000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_ACCELERATION 1000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 1000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_ACCELERATION 1000 // X, Y, Z and E acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 1000 // E acceleration in mm/s^2 for retracts
#define DEFAULT_TRAVEL_ACCELERATION 1000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

1
Marlin/example_configurations/Hephestos/Configuration_adv.h
View file

@ -214,6 +214,7 @@
#define X_HOME_RETRACT_MM 5
#define Y_HOME_RETRACT_MM 5
#define Z_HOME_RETRACT_MM 2
#define HOMING_BUMP_DIVISOR {10, 10, 20} // Re-Bump Speed Divisor (Divides the Homing Feedrate)
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
#define AXIS_RELATIVE_MODES {false, false, false, false}

13
Marlin/example_configurations/K8200/Configuration.h
View file

@ -413,12 +413,19 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef AUTO_BED_LEVELING_GRID
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
// The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
#define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
// Set the number of grid points per dimension
// You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2
@ -504,8 +511,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 500} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_ACCELERATION 1000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 1000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_ACCELERATION 1000 // X, Y, Z and E acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 1000 // E acceleration in mm/s^2 for retracts
#define DEFAULT_TRAVEL_ACCELERATION 1000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

1
Marlin/example_configurations/K8200/Configuration_adv.h
View file

@ -214,6 +214,7 @@
#define X_HOME_RETRACT_MM 5
#define Y_HOME_RETRACT_MM 5
#define Z_HOME_RETRACT_MM 3
#define HOMING_BUMP_DIVISOR {10, 10, 20} // Re-Bump Speed Divisor (Divides the Homing Feedrate)
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
#define AXIS_RELATIVE_MODES {false, false, false, false}

14
Marlin/example_configurations/SCARA/Configuration.h
View file

@ -437,12 +437,19 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef AUTO_BED_LEVELING_GRID
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
// The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
#define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
// Set the number of grid points per dimension
// You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2
@ -529,8 +536,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_MAX_FEEDRATE {300, 300, 30, 25} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {300,300,20,1000} // 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.
#define DEFAULT_ACCELERATION 400 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 2000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_ACCELERATION 400 // X, Y, Z and E acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 2000 // E acceleration in mm/s^2 for retracts
#define DEFAULT_TRAVEL_ACCELERATION 400 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

1
Marlin/example_configurations/SCARA/Configuration_adv.h
View file

@ -214,6 +214,7 @@
#define X_HOME_RETRACT_MM 3
#define Y_HOME_RETRACT_MM 3
#define Z_HOME_RETRACT_MM 3
#define HOMING_BUMP_DIVISOR {10, 10, 20} // Re-Bump Speed Divisor (Divides the Homing Feedrate)
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
#ifdef SCARA
#define QUICK_HOME //SCARA needs Quickhome

12
Marlin/example_configurations/WITBOX/Configuration.h
View file

@ -407,12 +407,19 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef AUTO_BED_LEVELING_GRID
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
// The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
#define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
// Set the number of grid points per dimension
// You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2
@ -498,8 +505,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_MAX_FEEDRATE {350, 350, 7.2, 80} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {1000,1000,10,1000} // 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.
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration in mm/s^2 for retracts
#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

1
Marlin/example_configurations/WITBOX/Configuration_adv.h
View file

@ -214,6 +214,7 @@
#define X_HOME_RETRACT_MM 5
#define Y_HOME_RETRACT_MM 5
#define Z_HOME_RETRACT_MM 2
#define HOMING_BUMP_DIVISOR {10, 10, 20} // Re-Bump Speed Divisor (Divides the Homing Feedrate)
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
#define AXIS_RELATIVE_MODES {false, false, false, false}

6
Marlin/example_configurations/delta/generic/Configuration.h
View file

@ -514,8 +514,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_MAX_FEEDRATE {500, 500, 500, 25} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {9000,9000,9000,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration in mm/s^2 for retracts
#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

1
Marlin/example_configurations/delta/generic/Configuration_adv.h
View file

@ -214,6 +214,7 @@
#define X_HOME_RETRACT_MM 5
#define Y_HOME_RETRACT_MM 5
#define Z_HOME_RETRACT_MM 5 // deltas need the same for all three axis
#define HOMING_BUMP_DIVISOR {10, 10, 20} // Re-Bump Speed Divisor (Divides the Homing Feedrate)
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.

12
Marlin/example_configurations/makibox/Configuration.h
View file

@ -405,12 +405,19 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef AUTO_BED_LEVELING_GRID
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
// The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
#define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
// Set the number of grid points per dimension
// You probably don't need more than 3 (squared=9)
#define AUTO_BED_LEVELING_GRID_POINTS 2
@ -496,8 +503,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_MAX_FEEDRATE {60, 60, 20, 45} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {2000,2000,30,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration in mm/s^2 for retracts
#define DEFAULT_TRAVEL_ACCELERATION 3000 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

1
Marlin/example_configurations/makibox/Configuration_adv.h
View file

@ -214,6 +214,7 @@
#define X_HOME_RETRACT_MM 5
#define Y_HOME_RETRACT_MM 5
#define Z_HOME_RETRACT_MM 2
#define HOMING_BUMP_DIVISOR {10, 10, 20} // Re-Bump Speed Divisor (Divides the Homing Feedrate)
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
#define AXIS_RELATIVE_MODES {false, false, false, false}

13
Marlin/example_configurations/tvrrug/Round2/Configuration.h
View file

@ -407,11 +407,18 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#ifdef AUTO_BED_LEVELING_GRID
// Use one of these defines to specify the origin
// for a topographical map to be printed for your bed.
enum { OriginBackLeft, OriginFrontLeft, OriginBackRight, OriginFrontRight };
#define TOPO_ORIGIN OriginFrontLeft
// The edges of the rectangle in which to probe
#define LEFT_PROBE_BED_POSITION 15
#define RIGHT_PROBE_BED_POSITION 170
#define FRONT_PROBE_BED_POSITION 20
#define BACK_PROBE_BED_POSITION 170
#define MIN_PROBE_EDGE 10 // The probe square sides can be no smaller than this
// Set the number of grid points per dimension
// You probably don't need more than 3 (squared=9)
@ -502,8 +509,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for Skeinforge 40+, for older versions raise them a lot.
/* MICHEL: This has an impact on the "ripples" in print walls */
#define DEFAULT_ACCELERATION 500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_ACCELERATION 500 // X, Y, Z and E acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 3000 // E acceleration in mm/s^2 for retracts
#define DEFAULT_TRAVEL_ACCELERATION 500 // X, Y, Z acceleration in mm/s^2 for travel (non printing) moves
// Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing).
// The offset has to be X=0, Y=0 for the extruder 0 hotend (default extruder).

1
Marlin/example_configurations/tvrrug/Round2/Configuration_adv.h
View file

@ -214,6 +214,7 @@
#define X_HOME_RETRACT_MM 5
#define Y_HOME_RETRACT_MM 5
#define Z_HOME_RETRACT_MM 1
#define HOMING_BUMP_DIVISOR {10, 10, 20} // Re-Bump Speed Divisor (Divides the Homing Feedrate)
//#define QUICK_HOME //if this is defined, if both x and y are to be homed, a diagonal move will be performed initially.
#define AXIS_RELATIVE_MODES {false, false, false, false}

3
Marlin/fastio.h
View file

@ -13,8 +13,7 @@
*/
#ifndef MASK
/// MASKING- returns \f$2^PIN\f$
#define MASK(PIN) (1 << PIN)
#define MASK(PIN) (1 << PIN)
#endif
/*

3
Marlin/language_en.h
View file

@ -233,6 +233,9 @@
#ifndef MSG_A_RETRACT
#define MSG_A_RETRACT "A-retract"
#endif
#ifndef MSG_A_TRAVEL
#define MSG_A_TRAVEL "A-travel"
#endif
#ifndef MSG_XSTEPS
#define MSG_XSTEPS "Xsteps/mm"
#endif

5
Marlin/pins.h
View file

@ -114,6 +114,8 @@
#include "pins_RAMPS_13.h"
#elif MB(BAM_DICE_DUE)
#include "pins_BAM_DICE_DUE.h"
#elif MB(FELIX2)
#include "pins_FELIX2.h"
#elif MB(99)
#include "pins_99.h"
#else
@ -184,4 +186,7 @@
analogInputToDigitalPin(TEMP_BED_PIN) \
}
#define HAS_DIGIPOTSS (DIGIPOTSS_PIN >= 0)
#endif //__PINS_H

36
Marlin/pins_FELIX2.h Normal file
View file

@ -0,0 +1,36 @@
/**
* FELIXprinters v2.0/3.0 (RAMPS v1.3) pin assignments
*/
#include "pins_RAMPS_13.h"
#define X_MAX_PIN -1
#define Y_MAX_PIN -1
#define Z_MAX_PIN -1
#define Y2_STEP_PIN -1
#define Y2_DIR_PIN -1
#define Y2_ENABLE_PIN -1
#define Z2_STEP_PIN -1
#define Z2_DIR_PIN -1
#define Z2_ENABLE_PIN -1
#define E1_STEP_PIN 36 // FELIX E1 uses RAMPS Y2/Z2 pins
#define E1_DIR_PIN 34
#define E1_ENABLE_PIN 30
#define SDPOWER 1
#define FAN_PIN 9 // (Sprinter config)
#define PS_ON_PIN 12
#define HEATER_1_PIN 7 // EXTRUDER 2
#if defined(ULTRA_LCD) && defined(NEWPANEL)
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
#define SDCARDDETECT 6
#endif // NEWPANEL && ULTRA_LCD

5
Marlin/pins_RAMPS_13.h
View file

@ -61,6 +61,11 @@
#define FILWIDTH_PIN 5
#endif
#if defined(FILAMENT_RUNOUT_SENSOR)
// define digital pin 4 for the filament runout sensor. Use the RAMPS 1.4 digital input 4 on the servos connector
#define FILRUNOUT_PIN 4
#endif
#if MB(RAMPS_13_EFB) || MB(RAMPS_13_EFF)
#define FAN_PIN 9 // (Sprinter config)
#if MB(RAMPS_13_EFF)

48
Marlin/planner.cpp
View file

@ -59,7 +59,7 @@
#include "language.h"
//===========================================================================
//=============================public variables ============================
//============================= public variables ============================
//===========================================================================
unsigned long minsegmenttime;
@ -67,8 +67,9 @@ float max_feedrate[NUM_AXIS]; // set the max speeds
float axis_steps_per_unit[NUM_AXIS];
unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
float minimumfeedrate;
float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all printing moves. M204 SXXXX
float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
float travel_acceleration; // Travel acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
float max_z_jerk;
float max_e_jerk;
@ -622,37 +623,37 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
#ifndef COREXY
if (target[X_AXIS] < position[X_AXIS])
{
block->direction_bits |= (1<<X_AXIS);
block->direction_bits |= BIT(X_AXIS);
}
if (target[Y_AXIS] < position[Y_AXIS])
{
block->direction_bits |= (1<<Y_AXIS);
block->direction_bits |= BIT(Y_AXIS);
}
#else
if (target[X_AXIS] < position[X_AXIS])
{
block->direction_bits |= (1<<X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
block->direction_bits |= BIT(X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
}
if (target[Y_AXIS] < position[Y_AXIS])
{
block->direction_bits |= (1<<Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
block->direction_bits |= BIT(Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
}
if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
{
block->direction_bits |= (1<<X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
block->direction_bits |= BIT(X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
}
if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
{
block->direction_bits |= (1<<Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
block->direction_bits |= BIT(Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
}
#endif
if (target[Z_AXIS] < position[Z_AXIS])
{
block->direction_bits |= (1<<Z_AXIS);
block->direction_bits |= BIT(Z_AXIS);
}
if (target[E_AXIS] < position[E_AXIS])
{
block->direction_bits |= (1<<E_AXIS);
block->direction_bits |= BIT(E_AXIS);
}
block->active_extruder = extruder;
@ -863,7 +864,7 @@ Having the real displacement of the head, we can calculate the total movement le
old_direction_bits = block->direction_bits;
segment_time = lround((float)segment_time / speed_factor);
if((direction_change & (1<<X_AXIS)) == 0)
if((direction_change & BIT(X_AXIS)) == 0)
{
x_segment_time[0] += segment_time;
}
@ -873,7 +874,7 @@ Having the real displacement of the head, we can calculate the total movement le
x_segment_time[1] = x_segment_time[0];
x_segment_time[0] = segment_time;
}
if((direction_change & (1<<Y_AXIS)) == 0)
if((direction_change & BIT(Y_AXIS)) == 0)
{
y_segment_time[0] += segment_time;
}
@ -907,19 +908,24 @@ Having the real displacement of the head, we can calculate the total movement le
{
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else if(block->steps_e == 0)
{
block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else
{
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
// Limit acceleration per axis
if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
}
// Limit acceleration per axis
if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
block->acceleration = block->acceleration_st / steps_per_mm;
block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));

1
Marlin/planner.h
View file

@ -114,6 +114,7 @@ extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201
extern float minimumfeedrate;
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
extern float travel_acceleration; // Travel acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
extern float max_z_jerk;
extern float max_e_jerk;

1369
Marlin/stepper.cpp
View file

@ -29,34 +29,34 @@
#include "language.h"
#include "cardreader.h"
#include "speed_lookuptable.h"
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h>
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
//===========================================================================
//=============================public variables ============================
//============================= public variables ============================
//===========================================================================
block_t *current_block; // A pointer to the block currently being traced
//===========================================================================
//=============================private variables ============================
//============================= private variables ===========================
//===========================================================================
//static makes it impossible to be called from outside of this file by extern.!
// Variables used by The Stepper Driver Interrupt
static unsigned char out_bits; // The next stepping-bits to be output
static long counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z,
counter_e;
// Counter variables for the bresenham line tracer
static long counter_x, counter_y, counter_z, counter_e;
volatile static unsigned long step_events_completed; // The number of step events executed in the current block
#ifdef ADVANCE
static long advance_rate, advance, final_advance = 0;
static long old_advance = 0;
static long e_steps[4];
#endif
static long acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deccelaration start point
@ -64,160 +64,198 @@ static char step_loops;
static unsigned short OCR1A_nominal;
static unsigned short step_loops_nominal;
volatile long endstops_trigsteps[3]={0,0,0};
volatile long endstops_stepsTotal,endstops_stepsDone;
static volatile bool endstop_x_hit=false;
static volatile bool endstop_y_hit=false;
static volatile bool endstop_z_hit=false;
volatile long endstops_trigsteps[3] = { 0 };
volatile long endstops_stepsTotal, endstops_stepsDone;
static volatile bool endstop_x_hit = false;
static volatile bool endstop_y_hit = false;
static volatile bool endstop_z_hit = false;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
bool abort_on_endstop_hit = false;
bool abort_on_endstop_hit = false;
#endif
#ifdef MOTOR_CURRENT_PWM_XY_PIN
int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
#endif
static bool old_x_min_endstop=false;
static bool old_x_max_endstop=false;
static bool old_y_min_endstop=false;
static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false;
static bool old_x_min_endstop = false,
old_x_max_endstop = false,
old_y_min_endstop = false,
old_y_max_endstop = false,
old_z_min_endstop = false,
old_z_max_endstop = false;
static bool check_endstops = true;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
volatile long count_position[NUM_AXIS] = { 0 };
volatile signed char count_direction[NUM_AXIS] = { 1 };
//===========================================================================
//=============================functions ============================
//================================ functions ================================
//===========================================================================
#define CHECK_ENDSTOPS if(check_endstops)
#ifdef DUAL_X_CARRIAGE
#define X_APPLY_DIR(v,ALWAYS) \
if (extruder_duplication_enabled || ALWAYS) { \
X_DIR_WRITE(v); \
X2_DIR_WRITE(v); \
} \
else{ \
if (current_block->active_extruder) \
X2_DIR_WRITE(v); \
else \
X_DIR_WRITE(v); \
}
#define X_APPLY_STEP(v,ALWAYS) \
if (extruder_duplication_enabled || ALWAYS) { \
X_STEP_WRITE(v); \
X2_STEP_WRITE(v); \
} \
else { \
if (current_block->active_extruder != 0) \
X2_STEP_WRITE(v); \
else \
X_STEP_WRITE(v); \
}
#else
#define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
#define X_APPLY_STEP(v,Q) X_STEP_WRITE(v)
#endif
#ifdef Y_DUAL_STEPPER_DRIVERS
#define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v), Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR)
#define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v), Y2_STEP_WRITE(v)
#else
#define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
#define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
#endif
#ifdef Z_DUAL_STEPPER_DRIVERS
#define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v), Z2_DIR_WRITE(v)
#define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v), Z2_STEP_WRITE(v)
#else
#define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
#define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
#endif
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
// 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" \
)
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %A1, %A2 \n\t" \
"add %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r0 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (charIn1), \
"d" (intIn2) \
: \
"r26" \
)
// intRes = longIn1 * longIn2 >> 24
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 48bit result
#define MultiU24X24toH16(intRes, longIn1, longIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"mov r27, r1 \n\t" \
"mul %B1, %C2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %C1, %C2 \n\t" \
"add %B0, r0 \n\t" \
"mul %C1, %B2 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %A1, %C2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %B2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %C1, %A2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %A2 \n\t" \
"add r27, r1 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r27 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (longIn1), \
"d" (longIn2) \
: \
"r26" , "r27" \
)
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)
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= BIT(OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~BIT(OCIE1A)
void checkHitEndstops()
{
if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if(endstop_x_hit) {
SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
}
if(endstop_y_hit) {
SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
}
if(endstop_z_hit) {
SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
}
SERIAL_EOL;
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit)
{
card.sdprinting = false;
card.closefile();
quickStop();
setTargetHotend0(0);
setTargetHotend1(0);
setTargetHotend2(0);
setTargetHotend3(0);
setTargetBed(0);
}
#endif
}
void endstops_hit_on_purpose() {
endstop_x_hit = endstop_y_hit = endstop_z_hit = false;
}
void endstops_hit_on_purpose()
{
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
void checkHitEndstops() {
if (endstop_x_hit || endstop_y_hit || endstop_z_hit) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if (endstop_x_hit) {
SERIAL_ECHOPAIR(" X:", (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
}
if (endstop_y_hit) {
SERIAL_ECHOPAIR(" Y:", (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
}
if (endstop_z_hit) {
SERIAL_ECHOPAIR(" Z:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
}
SERIAL_EOL;
endstops_hit_on_purpose();
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit) {
card.sdprinting = false;
card.closefile();
quickStop();
setTargetHotend0(0);
setTargetHotend1(0);
setTargetHotend2(0);
setTargetHotend3(0);
setTargetBed(0);
}
#endif
}
}
void enable_endstops(bool check)
{
check_endstops = check;
}
void enable_endstops(bool check) { check_endstops = check; }
// __________________________
// /| |\ _________________ ^
@ -242,23 +280,23 @@ void st_wake_up() {
FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer;
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
if (step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
step_rate = (step_rate >> 2)&0x3fff;
if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
step_rate = (step_rate >> 2) & 0x3fff;
step_loops = 4;
}
else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times
step_rate = (step_rate >> 1)&0x7fff;
else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
step_rate = (step_rate >> 1) & 0x7fff;
step_loops = 2;
}
else {
step_loops = 1;
}
if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000);
step_rate -= (F_CPU/500000); // Correct for minimal speed
if(step_rate >= (8*256)){ // higher step rate
if (step_rate < (F_CPU / 500000)) step_rate = (F_CPU / 500000);
step_rate -= (F_CPU / 500000); // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00ff);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
@ -271,7 +309,7 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
}
if(timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
return timer;
}
@ -294,49 +332,45 @@ FORCE_INLINE void trapezoid_generator_reset() {
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
// SERIAL_ECHO_START;
// SERIAL_ECHOPGM("advance :");
// SERIAL_ECHO(current_block->advance/256.0);
// SERIAL_ECHOPGM("advance rate :");
// SERIAL_ECHO(current_block->advance_rate/256.0);
// SERIAL_ECHOPGM("initial advance :");
// SERIAL_ECHO(current_block->initial_advance/256.0);
// SERIAL_ECHOPGM("final advance :");
// SERIAL_ECHOLN(current_block->final_advance/256.0);
// SERIAL_ECHO_START;
// SERIAL_ECHOPGM("advance :");
// SERIAL_ECHO(current_block->advance/256.0);
// SERIAL_ECHOPGM("advance rate :");
// SERIAL_ECHO(current_block->advance_rate/256.0);
// SERIAL_ECHOPGM("initial advance :");
// SERIAL_ECHO(current_block->initial_advance/256.0);
// SERIAL_ECHOPGM("final advance :");
// SERIAL_ECHOLN(current_block->final_advance/256.0);
}
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect)
{
ISR(TIMER1_COMPA_vect) {
// If there is no current block, attempt to pop one from the buffer
if (current_block == NULL) {
if (!current_block) {
// Anything in the buffer?
current_block = plan_get_current_block();
if (current_block != NULL) {
if (current_block) {
current_block->busy = true;
trapezoid_generator_reset();
counter_x = -(current_block->step_event_count >> 1);
counter_y = counter_x;
counter_z = counter_x;
counter_e = counter_x;
counter_y = counter_z = counter_e = counter_x;
step_events_completed = 0;
#ifdef Z_LATE_ENABLE
if(current_block->steps_z > 0) {
if (current_block->steps_z > 0) {
enable_z();
OCR1A = 2000; //1ms wait
return;
}
#endif
// #ifdef ADVANCE
// e_steps[current_block->active_extruder] = 0;
// #endif
// #ifdef ADVANCE
// e_steps[current_block->active_extruder] = 0;
// #endif
}
else {
OCR1A=2000; // 1kHz.
OCR1A = 2000; // 1kHz.
}
}
@ -344,186 +378,114 @@ ISR(TIMER1_COMPA_vect)
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits;
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
if((out_bits & (1<<X_AXIS))!=0){
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
WRITE(X_DIR_PIN, INVERT_X_DIR);
WRITE(X2_DIR_PIN, INVERT_X_DIR);
}
else{
if (current_block->active_extruder != 0)
WRITE(X2_DIR_PIN, INVERT_X_DIR);
else
WRITE(X_DIR_PIN, INVERT_X_DIR);
}
#else
WRITE(X_DIR_PIN, INVERT_X_DIR);
#endif
count_direction[X_AXIS]=-1;
if (TEST(out_bits, X_AXIS)) {
X_APPLY_DIR(INVERT_X_DIR,0);
count_direction[X_AXIS] = -1;
}
else{
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
WRITE(X_DIR_PIN, !INVERT_X_DIR);
WRITE(X2_DIR_PIN, !INVERT_X_DIR);
}
else{
if (current_block->active_extruder != 0)
WRITE(X2_DIR_PIN, !INVERT_X_DIR);
else
WRITE(X_DIR_PIN, !INVERT_X_DIR);
}
#else
WRITE(X_DIR_PIN, !INVERT_X_DIR);
#endif
count_direction[X_AXIS]=1;
}
if((out_bits & (1<<Y_AXIS))!=0){
WRITE(Y_DIR_PIN, INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif
count_direction[Y_AXIS]=-1;
}
else{
WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif
count_direction[Y_AXIS]=1;
else {
X_APPLY_DIR(!INVERT_X_DIR,0);
count_direction[X_AXIS] = 1;
}
if(check_endstops) // check X and Y Endstops
{
#ifndef COREXY
if ((out_bits & (1<<X_AXIS)) != 0) // stepping along -X axis (regular cartesians bot)
#else
if (!((current_block->steps_x == current_block->steps_y) && ((out_bits & (1<<X_AXIS))>>X_AXIS != (out_bits & (1<<Y_AXIS))>>Y_AXIS))) // AlexBorro: If DeltaX == -DeltaY, the movement is only in Y axis
if ((out_bits & (1<<X_HEAD)) != 0) //AlexBorro: Head direction in -X axis for CoreXY bots.
#endif
if (TEST(out_bits, Y_AXIS)) {
Y_APPLY_DIR(INVERT_Y_DIR,0);
count_direction[Y_AXIS] = -1;
}
else {
Y_APPLY_DIR(!INVERT_Y_DIR,0);
count_direction[Y_AXIS] = 1;
}
#define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
bool axis ##_## minmax ##_endstop = (READ(AXIS ##_## MINMAX ##_PIN) != AXIS ##_## MINMAX ##_ENDSTOP_INVERTING); \
if (axis ##_## minmax ##_endstop && old_## axis ##_## minmax ##_endstop && (current_block->steps_## axis > 0)) { \
endstops_trigsteps[AXIS ##_AXIS] = count_position[AXIS ##_AXIS]; \
endstop_## axis ##_hit = true; \
step_events_completed = current_block->step_event_count; \
} \
old_## axis ##_## minmax ##_endstop = axis ##_## minmax ##_endstop;
// Check X and Y endstops
if (check_endstops) {
#ifndef COREXY
if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular cartesians bot)
#else
// Head direction in -X axis for CoreXY bots.
// If DeltaX == -DeltaY, the movement is only in Y axis
if (TEST(out_bits, X_HEAD) && (current_block->steps_x != current_block->steps_y || (TEST(out_bits, X_AXIS) == TEST(out_bits, Y_AXIS))))
#endif
{ // -direction
#ifdef DUAL_X_CARRIAGE
#ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
#endif
#endif
{
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0))
{
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
old_x_min_endstop = x_min_endstop;
#endif
#if defined(X_MIN_PIN) && X_MIN_PIN >= 0
UPDATE_ENDSTOP(x, X, min, MIN);
#endif
}
}
else
{ // +direction
#ifdef DUAL_X_CARRIAGE
else { // +direction
#ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
#endif
#endif
{
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0))
{
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
old_x_max_endstop = x_max_endstop;
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN >= 0
UPDATE_ENDSTOP(x, X, max, MAX);
#endif
}
}
#ifndef COREXY
if ((out_bits & (1<<Y_AXIS)) != 0) // -direction
if (TEST(out_bits, Y_AXIS)) // -direction
#else
if (!((current_block->steps_x == current_block->steps_y) && ((out_bits & (1<<X_AXIS))>>X_AXIS == (out_bits & (1<<Y_AXIS))>>Y_AXIS))) // AlexBorro: If DeltaX == DeltaY, the movement is only in X axis
if ((out_bits & (1<<Y_HEAD)) != 0) //AlexBorro: Head direction in -Y axis for CoreXY bots.
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
if (TEST(out_bits, Y_HEAD) && (current_block->steps_x != current_block->steps_y || (TEST(out_bits, X_AXIS) != TEST(out_bits, Y_AXIS))))
#endif
{ // -direction
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0))
{
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
old_y_min_endstop = y_min_endstop;
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
UPDATE_ENDSTOP(y, Y, min, MIN);
#endif
}
else
{ // +direction
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0))
{
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
old_y_max_endstop = y_max_endstop;
#endif
else { // +direction
#if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
UPDATE_ENDSTOP(y, Y, max, MAX);
#endif
}
}
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
if (TEST(out_bits, Z_AXIS)) { // -direction
Z_DIR_WRITE(INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,INVERT_Z_DIR);
Z2_DIR_WRITE(INVERT_Z_DIR);
#endif
count_direction[Z_AXIS]=-1;
CHECK_ENDSTOPS
{
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
old_z_min_endstop = z_min_endstop;
count_direction[Z_AXIS] = -1;
if (check_endstops) {
#if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0
UPDATE_ENDSTOP(z, Z, min, MIN);
#endif
}
}
else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
Z_DIR_WRITE(!INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,!INVERT_Z_DIR);
Z2_DIR_WRITE(!INVERT_Z_DIR);
#endif
count_direction[Z_AXIS]=1;
CHECK_ENDSTOPS
{
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
old_z_max_endstop = z_max_endstop;
count_direction[Z_AXIS] = 1;
if (check_endstops) {
#if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
UPDATE_ENDSTOP(z, Z, max, MAX);
#endif
}
}
#ifndef ADVANCE
if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
if (TEST(out_bits, E_AXIS)) { // -direction
REV_E_DIR();
count_direction[E_AXIS]=-1;
}
@ -533,151 +495,73 @@ ISR(TIMER1_COMPA_vect)
}
#endif //!ADVANCE
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
// Take multiple steps per interrupt (For high speed moves)
for (int8_t i=0; i < step_loops; i++) {
#ifndef AT90USB
MSerial.checkRx(); // Check for serial chars.
MSerial.checkRx(); // Check for serial chars.
#endif
#ifdef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
e_steps[current_block->active_extruder]--;
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
e_steps[current_block->active_extruder] += TEST(out_bits, E_AXIS) ? -1 : 1;
}
else {
e_steps[current_block->active_extruder]++;
}
}
#endif //ADVANCE
counter_x += current_block->steps_x;
#ifdef CONFIG_STEPPERS_TOSHIBA
/* The Toshiba stepper controller require much longer pulses.
* So we 'stage' decompose the pulses between high and low
* instead of doing each in turn. The extra tests add enough
* lag to allow it work with without needing NOPs
*/
if (counter_x > 0) WRITE(X_STEP_PIN, HIGH);
counter_y += current_block->steps_y;
if (counter_y > 0) WRITE(Y_STEP_PIN, HIGH);
counter_z += current_block->steps_z;
if (counter_z > 0) WRITE(Z_STEP_PIN, HIGH);
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) WRITE_E_STEP(HIGH);
#endif //!ADVANCE
if (counter_x > 0) {
counter_x -= current_block->step_event_count;
count_position[X_AXIS] += count_direction[X_AXIS];
WRITE(X_STEP_PIN, LOW);
}
if (counter_y > 0) {
counter_y -= current_block->step_event_count;
count_position[Y_AXIS] += count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, LOW);
}
if (counter_z > 0) {
counter_z -= current_block->step_event_count;
count_position[Z_AXIS] += count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, LOW);
}
#ifndef ADVANCE
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
count_position[E_AXIS] += count_direction[E_AXIS];
WRITE_E_STEP(LOW);
}
#endif //!ADVANCE
#else
if (counter_x > 0) {
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
}
else {
if (current_block->active_extruder != 0)
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
else
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
}
#else
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
#endif
counter_x -= current_block->step_event_count;
count_position[X_AXIS] += count_direction[X_AXIS];
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
}
else {
if (current_block->active_extruder != 0)
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
else
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
}
#else
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
#endif
}
#ifdef CONFIG_STEPPERS_TOSHIBA
/**
* The Toshiba stepper controller require much longer pulses.
* So we 'stage' decompose the pulses between high and low
* instead of doing each in turn. The extra tests add enough
* lag to allow it work with without needing NOPs
*/
counter_x += current_block->steps_x;
if (counter_x > 0) X_STEP_WRITE(HIGH);
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
#endif
counter_y -= current_block->step_event_count;
count_position[Y_AXIS] += count_direction[Y_AXIS];
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
#endif
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
if (counter_y > 0) Y_STEP_WRITE(HIGH);
counter_z += current_block->steps_z;
if (counter_z > 0) Z_STEP_WRITE(HIGH);
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) E_STEP_WRITE(HIGH);
#endif
counter_z -= current_block->step_event_count;
count_position[Z_AXIS] += count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
#define STEP_IF_COUNTER(axis, AXIS) \
if (counter_## axis > 0) {
counter_## axis -= current_block->step_event_count; \
count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
AXIS ##_STEP_WRITE(LOW);
}
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
STEP_IF_COUNTER(x, X);
STEP_IF_COUNTER(y, Y);
STEP_IF_COUNTER(z, Z);
#ifndef ADVANCE
STEP_IF_COUNTER(e, E);
#endif
}
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
WRITE_E_STEP(!INVERT_E_STEP_PIN);
counter_e -= current_block->step_event_count;
count_position[E_AXIS] += count_direction[E_AXIS];
WRITE_E_STEP(INVERT_E_STEP_PIN);
}
#endif //!ADVANCE
#endif // CONFIG_STEPPERS_TOSHIBA
step_events_completed += 1;
if(step_events_completed >= current_block->step_event_count) break;
#else // !CONFIG_STEPPERS_TOSHIBA
#define APPLY_MOVEMENT(axis, AXIS) \
counter_## axis += current_block->steps_## axis; \
if (counter_## axis > 0) { \
AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN,0); \
counter_## axis -= current_block->step_event_count; \
count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN,0); \
}
APPLY_MOVEMENT(x, X);
APPLY_MOVEMENT(y, Y);
APPLY_MOVEMENT(z, Z);
#ifndef ADVANCE
APPLY_MOVEMENT(e, E);
#endif
#endif // CONFIG_STEPPERS_TOSHIBA
step_events_completed++;
if (step_events_completed >= current_block->step_event_count) break;
}
// Calculare new timer value
unsigned short timer;
@ -688,7 +572,7 @@ ISR(TIMER1_COMPA_vect)
acc_step_rate += current_block->initial_rate;
// upper limit
if(acc_step_rate > current_block->nominal_rate)
if (acc_step_rate > current_block->nominal_rate)
acc_step_rate = current_block->nominal_rate;
// step_rate to timer interval
@ -699,7 +583,7 @@ ISR(TIMER1_COMPA_vect)
for(int8_t i=0; i < step_loops; i++) {
advance += advance_rate;
}
//if(advance > current_block->advance) advance = current_block->advance;
//if (advance > current_block->advance) advance = current_block->advance;
// Do E steps + advance steps
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
@ -709,7 +593,7 @@ ISR(TIMER1_COMPA_vect)
else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if(step_rate > acc_step_rate) { // Check step_rate stays positive
if (step_rate > acc_step_rate) { // Check step_rate stays positive
step_rate = current_block->final_rate;
}
else {
@ -717,7 +601,7 @@ ISR(TIMER1_COMPA_vect)
}
// lower limit
if(step_rate < current_block->final_rate)
if (step_rate < current_block->final_rate)
step_rate = current_block->final_rate;
// step_rate to timer interval
@ -728,7 +612,7 @@ ISR(TIMER1_COMPA_vect)
for(int8_t i=0; i < step_loops; i++) {
advance -= advance_rate;
}
if(advance < final_advance) advance = final_advance;
if (advance < final_advance) advance = final_advance;
// Do E steps + advance steps
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
@ -759,60 +643,60 @@ ISR(TIMER1_COMPA_vect)
// Set E direction (Depends on E direction + advance)
for(unsigned char i=0; i<4;i++) {
if (e_steps[0] != 0) {
WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
E0_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[0] < 0) {
WRITE(E0_DIR_PIN, INVERT_E0_DIR);
E0_DIR_WRITE(INVERT_E0_DIR);
e_steps[0]++;
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
E0_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[0] > 0) {
WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
E0_DIR_WRITE(!INVERT_E0_DIR);
e_steps[0]--;
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
E0_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#if EXTRUDERS > 1
if (e_steps[1] != 0) {
WRITE(E1_STEP_PIN, INVERT_E_STEP_PIN);
E1_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[1] < 0) {
WRITE(E1_DIR_PIN, INVERT_E1_DIR);
E1_DIR_WRITE(INVERT_E1_DIR);
e_steps[1]++;
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
E1_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[1] > 0) {
WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
E1_DIR_WRITE(!INVERT_E1_DIR);
e_steps[1]--;
WRITE(E1_STEP_PIN, !INVERT_E_STEP_PIN);
E1_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
#if EXTRUDERS > 2
if (e_steps[2] != 0) {
WRITE(E2_STEP_PIN, INVERT_E_STEP_PIN);
E2_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[2] < 0) {
WRITE(E2_DIR_PIN, INVERT_E2_DIR);
E2_DIR_WRITE(INVERT_E2_DIR);
e_steps[2]++;
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
E2_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[2] > 0) {
WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
E2_DIR_WRITE(!INVERT_E2_DIR);
e_steps[2]--;
WRITE(E2_STEP_PIN, !INVERT_E_STEP_PIN);
E2_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
#if EXTRUDERS > 3
if (e_steps[3] != 0) {
WRITE(E3_STEP_PIN, INVERT_E_STEP_PIN);
E3_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[3] < 0) {
WRITE(E3_DIR_PIN, INVERT_E3_DIR);
E3_DIR_WRITE(INVERT_E3_DIR);
e_steps[3]++;
WRITE(E3_STEP_PIN, !INVERT_E_STEP_PIN);
E3_STEP_WRITE(!INVERT_E_STEP_PIN);
}
else if (e_steps[3] > 0) {
WRITE(E3_DIR_PIN, !INVERT_E3_DIR);
E3_DIR_WRITE(!INVERT_E3_DIR);
e_steps[3]--;
WRITE(E3_STEP_PIN, !INVERT_E_STEP_PIN);
E3_STEP_WRITE(!INVERT_E_STEP_PIN);
}
}
#endif
@ -821,180 +705,186 @@ ISR(TIMER1_COMPA_vect)
}
#endif // ADVANCE
void st_init()
{
void st_init() {
digipot_init(); //Initialize Digipot Motor Current
microstep_init(); //Initialize Microstepping Pins
//Initialize Dir Pins
#if defined(X_DIR_PIN) && X_DIR_PIN > -1
SET_OUTPUT(X_DIR_PIN);
// initialise TMC Steppers
#ifdef HAVE_TMCDRIVER
tmc_init();
#endif
#if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
SET_OUTPUT(X2_DIR_PIN);
// initialise L6470 Steppers
#ifdef HAVE_L6470DRIVER
L6470_init();
#endif
#if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
SET_OUTPUT(Y_DIR_PIN);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1)
SET_OUTPUT(Y2_DIR_PIN);
#endif
// Initialize Dir Pins
#if defined(X_DIR_PIN) && X_DIR_PIN >= 0
X_DIR_INIT;
#endif
#if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
SET_OUTPUT(Z_DIR_PIN);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
SET_OUTPUT(Z2_DIR_PIN);
#if defined(X2_DIR_PIN) && X2_DIR_PIN >= 0
X2_DIR_INIT;
#endif
#if defined(Y_DIR_PIN) && Y_DIR_PIN >= 0
Y_DIR_INIT;
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && Y2_DIR_PIN >= 0
Y2_DIR_INIT;
#endif
#endif
#if defined(E0_DIR_PIN) && E0_DIR_PIN > -1
SET_OUTPUT(E0_DIR_PIN);
#if defined(Z_DIR_PIN) && Z_DIR_PIN >= 0
Z_DIR_INIT;
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && Z2_DIR_PIN >= 0
Z2_DIR_INIT;
#endif
#endif
#if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
SET_OUTPUT(E1_DIR_PIN);
#if defined(E0_DIR_PIN) && E0_DIR_PIN >= 0
E0_DIR_INIT;
#endif
#if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1)
SET_OUTPUT(E2_DIR_PIN);
#if defined(E1_DIR_PIN) && E1_DIR_PIN >= 0
E1_DIR_INIT;
#endif
#if defined(E3_DIR_PIN) && (E3_DIR_PIN > -1)
SET_OUTPUT(E3_DIR_PIN);
#if defined(E2_DIR_PIN) && E2_DIR_PIN >= 0
E2_DIR_INIT;
#endif
#if defined(E3_DIR_PIN) && E3_DIR_PIN >= 0
E3_DIR_INIT;
#endif
//Initialize Enable Pins - steppers default to disabled.
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
SET_OUTPUT(X_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN >= 0
X_ENABLE_INIT;
if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
#endif
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
SET_OUTPUT(X2_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH);
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN >= 0
X2_ENABLE_INIT;
if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
#endif
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
SET_OUTPUT(Y_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN >= 0
Y_ENABLE_INIT;
if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && (Y2_ENABLE_PIN > -1)
SET_OUTPUT(Y2_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y2_ENABLE_PIN,HIGH);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && Y2_ENABLE_PIN >= 0
Y2_ENABLE_INIT;
if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
#endif
#endif
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
SET_OUTPUT(Z_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN >= 0
Z_ENABLE_INIT;
if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && (Z2_ENABLE_PIN > -1)
SET_OUTPUT(Z2_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && Z2_ENABLE_PIN >= 0
Z2_ENABLE_INIT;
if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
#endif
#endif
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
SET_OUTPUT(E0_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E0_ENABLE_PIN,HIGH);
#if defined(E0_ENABLE_PIN) && E0_ENABLE_PIN >= 0
E0_ENABLE_INIT;
if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
#endif
#if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
SET_OUTPUT(E1_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E1_ENABLE_PIN,HIGH);
#if defined(E1_ENABLE_PIN) && E1_ENABLE_PIN >= 0
E1_ENABLE_INIT;
if (!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
#endif
#if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
SET_OUTPUT(E2_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E2_ENABLE_PIN,HIGH);
#if defined(E2_ENABLE_PIN) && E2_ENABLE_PIN >= 0
E2_ENABLE_INIT;
if (!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
#endif
#if defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
SET_OUTPUT(E3_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E3_ENABLE_PIN,HIGH);
#if defined(E3_ENABLE_PIN) && E3_ENABLE_PIN >= 0
E3_ENABLE_INIT;
if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
#endif
//endstops and pullups
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
#if defined(X_MIN_PIN) && X_MIN_PIN >= 0
SET_INPUT(X_MIN_PIN);
#ifdef ENDSTOPPULLUP_XMIN
WRITE(X_MIN_PIN,HIGH);
#endif
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
#if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
SET_INPUT(Y_MIN_PIN);
#ifdef ENDSTOPPULLUP_YMIN
WRITE(Y_MIN_PIN,HIGH);
#endif
#endif
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
#if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0
SET_INPUT(Z_MIN_PIN);
#ifdef ENDSTOPPULLUP_ZMIN
WRITE(Z_MIN_PIN,HIGH);
#endif
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
#if defined(X_MAX_PIN) && X_MAX_PIN >= 0
SET_INPUT(X_MAX_PIN);
#ifdef ENDSTOPPULLUP_XMAX
WRITE(X_MAX_PIN,HIGH);
#endif
#endif
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
#if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
SET_INPUT(Y_MAX_PIN);
#ifdef ENDSTOPPULLUP_YMAX
WRITE(Y_MAX_PIN,HIGH);
#endif
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
#if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
SET_INPUT(Z_MAX_PIN);
#ifdef ENDSTOPPULLUP_ZMAX
WRITE(Z_MAX_PIN,HIGH);
#endif
#endif
#define AXIS_INIT(axis, AXIS, PIN) \
AXIS ##_STEP_INIT; \
AXIS ##_STEP_WRITE(INVERT_## PIN ##_STEP_PIN); \
disable_## axis()
//Initialize Step Pins
#if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
OUT_WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
disable_x();
#define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
// Initialize Step Pins
#if defined(X_STEP_PIN) && X_STEP_PIN >= 0
AXIS_INIT(x, X, X);
#endif
#if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
OUT_WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
disable_x();
#if defined(X2_STEP_PIN) && X2_STEP_PIN >= 0
AXIS_INIT(x, X2, X);
#endif
#if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
OUT_WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1)
OUT_WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN);
#if defined(Y_STEP_PIN) && Y_STEP_PIN >= 0
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && Y2_STEP_PIN >= 0
Y2_STEP_INIT;
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif
disable_y();
AXIS_INIT(y, Y, Y);
#endif
#if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)
OUT_WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
OUT_WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
#if defined(Z_STEP_PIN) && Z_STEP_PIN >= 0
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && Z2_STEP_PIN >= 0
Z2_STEP_INIT;
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
disable_z();
AXIS_INIT(z, Z, Z);
#endif
#if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
OUT_WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
disable_e0();
#if defined(E0_STEP_PIN) && E0_STEP_PIN >= 0
E_AXIS_INIT(0);
#endif
#if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
OUT_WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
disable_e1();
#if defined(E1_STEP_PIN) && E1_STEP_PIN >= 0
E_AXIS_INIT(1);
#endif
#if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
OUT_WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
disable_e2();
#if defined(E2_STEP_PIN) && E2_STEP_PIN >= 0
E_AXIS_INIT(2);
#endif
#if defined(E3_STEP_PIN) && (E3_STEP_PIN > -1)
OUT_WRITE(E3_STEP_PIN,INVERT_E_STEP_PIN);
disable_e3();
#if defined(E3_STEP_PIN) && E3_STEP_PIN >= 0
E_AXIS_INIT(3);
#endif
// waveform generation = 0100 = CTC
TCCR1B &= ~(1<<WGM13);
TCCR1B |= (1<<WGM12);
TCCR1A &= ~(1<<WGM11);
TCCR1A &= ~(1<<WGM10);
TCCR1B &= ~BIT(WGM13);
TCCR1B |= BIT(WGM12);
TCCR1A &= ~BIT(WGM11);
TCCR1A &= ~BIT(WGM10);
// output mode = 00 (disconnected)
TCCR1A &= ~(3<<COM1A0);
@ -1012,15 +902,15 @@ void st_init()
ENABLE_STEPPER_DRIVER_INTERRUPT();
#ifdef ADVANCE
#if defined(TCCR0A) && defined(WGM01)
TCCR0A &= ~(1<<WGM01);
TCCR0A &= ~(1<<WGM00);
#endif
#if defined(TCCR0A) && defined(WGM01)
TCCR0A &= ~BIT(WGM01);
TCCR0A &= ~BIT(WGM00);
#endif
e_steps[0] = 0;
e_steps[1] = 0;
e_steps[2] = 0;
e_steps[3] = 0;
TIMSK0 |= (1<<OCIE0A);
TIMSK0 |= BIT(OCIE0A);
#endif //ADVANCE
enable_endstops(true); // Start with endstops active. After homing they can be disabled
@ -1029,17 +919,15 @@ void st_init()
// Block until all buffered steps are executed
void st_synchronize()
{
while( blocks_queued()) {
void st_synchronize() {
while (blocks_queued()) {
manage_heater();
manage_inactivity();
lcd_update();
}
}
void st_set_position(const long &x, const long &y, const long &z, const long &e)
{
void st_set_position(const long &x, const long &y, const long &z, const long &e) {
CRITICAL_SECTION_START;
count_position[X_AXIS] = x;
count_position[Y_AXIS] = y;
@ -1048,15 +936,13 @@ void st_set_position(const long &x, const long &y, const long &z, const long &e)
CRITICAL_SECTION_END;
}
void st_set_e_position(const long &e)
{
void st_set_e_position(const long &e) {
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
long st_get_position(uint8_t axis)
{
long st_get_position(uint8_t axis) {
long count_pos;
CRITICAL_SECTION_START;
count_pos = count_position[axis];
@ -1065,15 +951,15 @@ long st_get_position(uint8_t axis)
}
#ifdef ENABLE_AUTO_BED_LEVELING
float st_get_position_mm(uint8_t axis)
{
float steper_position_in_steps = st_get_position(axis);
return steper_position_in_steps / axis_steps_per_unit[axis];
}
float st_get_position_mm(uint8_t axis) {
float steper_position_in_steps = st_get_position(axis);
return steper_position_in_steps / axis_steps_per_unit[axis];
}
#endif // ENABLE_AUTO_BED_LEVELING
void finishAndDisableSteppers()
{
void finishAndDisableSteppers() {
st_synchronize();
disable_x();
disable_y();
@ -1084,162 +970,85 @@ void finishAndDisableSteppers()
disable_e3();
}
void quickStop()
{
void quickStop() {
DISABLE_STEPPER_DRIVER_INTERRUPT();
while(blocks_queued())
plan_discard_current_block();
while (blocks_queued()) plan_discard_current_block();
current_block = NULL;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
#ifdef BABYSTEPPING
// MUST ONLY BE CALLED BY AN ISR,
// No other ISR should ever interrupt this!
void babystep(const uint8_t axis, const bool direction) {
void babystep(const uint8_t axis,const bool direction)
{
//MUST ONLY BE CALLED BY A ISR, it depends on that no other ISR interrupts this
//store initial pin states
switch(axis)
{
case X_AXIS:
{
enable_x();
uint8_t old_x_dir_pin= READ(X_DIR_PIN); //if dualzstepper, both point to same direction.
//setup new step
WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_DIR_PIN,(INVERT_X_DIR)^direction);
#endif
//perform step
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
#endif
#define BABYSTEP_AXIS(axis, AXIS, INVERT) { \
enable_## axis(); \
uint8_t old_pin = AXIS ##_DIR_READ; \
AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR^direction^INVERT, true); \
AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN, true); \
_delay_us(1U); \
AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN, true); \
AXIS ##_APPLY_DIR(old_pin, true); \
}
_delay_us(1U); // wait 1 microsecond
switch(axis) {
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
#endif
case X_AXIS:
BABYSTEP_AXIS(x, X, false);
break;
//get old pin state back.
WRITE(X_DIR_PIN,old_x_dir_pin);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_DIR_PIN,old_x_dir_pin);
#endif
case Y_AXIS:
BABYSTEP_AXIS(y, Y, false);
break;
case Z_AXIS: {
#ifndef DELTA
BABYSTEP_AXIS(z, Z, BABYSTEP_INVERT_Z);
#else // DELTA
bool z_direction = direction ^ BABYSTEP_INVERT_Z;
enable_x();
enable_y();
enable_z();
uint8_t old_x_dir_pin = X_DIR_READ,
old_y_dir_pin = Y_DIR_READ,
old_z_dir_pin = Z_DIR_READ;
//setup new step
X_DIR_WRITE(INVERT_X_DIR^z_direction);
Y_DIR_WRITE(INVERT_Y_DIR^z_direction);
Z_DIR_WRITE(INVERT_Z_DIR^z_direction);
//perform step
X_STEP_WRITE(!INVERT_X_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
_delay_us(1U);
X_STEP_WRITE(INVERT_X_STEP_PIN);
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
//get old pin state back.
X_DIR_WRITE(old_x_dir_pin);
Y_DIR_WRITE(old_y_dir_pin);
Z_DIR_WRITE(old_z_dir_pin);
#endif
} break;
default: break;
}
}
break;
case Y_AXIS:
{
enable_y();
uint8_t old_y_dir_pin= READ(Y_DIR_PIN); //if dualzstepper, both point to same direction.
//setup new step
WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_DIR_PIN,(INVERT_Y_DIR)^direction);
#endif
//perform step
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
#endif
_delay_us(1U); // wait 1 microsecond
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
#endif
//get old pin state back.
WRITE(Y_DIR_PIN,old_y_dir_pin);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_DIR_PIN,old_y_dir_pin);
#endif
}
break;
#ifndef DELTA
case Z_AXIS:
{
enable_z();
uint8_t old_z_dir_pin= READ(Z_DIR_PIN); //if dualzstepper, both point to same direction.
//setup new step
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#endif
//perform step
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
#endif
_delay_us(1U); // wait 1 microsecond
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
#endif
//get old pin state back.
WRITE(Z_DIR_PIN,old_z_dir_pin);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,old_z_dir_pin);
#endif
}
break;
#else //DELTA
case Z_AXIS:
{
enable_x();
enable_y();
enable_z();
uint8_t old_x_dir_pin= READ(X_DIR_PIN);
uint8_t old_y_dir_pin= READ(Y_DIR_PIN);
uint8_t old_z_dir_pin= READ(Z_DIR_PIN);
//setup new step
WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction^BABYSTEP_INVERT_Z);
WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction^BABYSTEP_INVERT_Z);
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
//perform step
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
_delay_us(1U); // wait 1 microsecond
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
//get old pin state back.
WRITE(X_DIR_PIN,old_x_dir_pin);
WRITE(Y_DIR_PIN,old_y_dir_pin);
WRITE(Z_DIR_PIN,old_z_dir_pin);
}
break;
#endif
default: break;
}
}
#endif //BABYSTEPPING
void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl example
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
// From Arduino DigitalPotControl example
void digitalPotWrite(int address, int value) {
#if HAS_DIGIPOTSS
digitalWrite(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
SPI.transfer(address); // send in the address and value via SPI:
SPI.transfer(value);
@ -1248,16 +1057,17 @@ void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl e
#endif
}
void digipot_init() //Initialize Digipot Motor Current
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
// Initialize Digipot Motor Current
void digipot_init() {
#if HAS_DIGIPOTSS
const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
SPI.begin();
pinMode(DIGIPOTSS_PIN, OUTPUT);
for(int i=0;i<=4;i++)
for (int i = 0; i <= 4; i++) {
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
digipot_current(i,digipot_motor_current[i]);
}
#endif
#ifdef MOTOR_CURRENT_PWM_XY_PIN
pinMode(MOTOR_CURRENT_PWM_XY_PIN, OUTPUT);
@ -1271,69 +1081,64 @@ void digipot_init() //Initialize Digipot Motor Current
#endif
}
void digipot_current(uint8_t driver, int current)
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
void digipot_current(uint8_t driver, int current) {
#if HAS_DIGIPOTSS
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
digitalPotWrite(digipot_ch[driver], current);
#endif
#ifdef MOTOR_CURRENT_PWM_XY_PIN
if (driver == 0) analogWrite(MOTOR_CURRENT_PWM_XY_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE);
if (driver == 1) analogWrite(MOTOR_CURRENT_PWM_Z_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE);
if (driver == 2) analogWrite(MOTOR_CURRENT_PWM_E_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE);
switch(driver) {
case 0: analogWrite(MOTOR_CURRENT_PWM_XY_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
case 1: analogWrite(MOTOR_CURRENT_PWM_Z_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
case 2: analogWrite(MOTOR_CURRENT_PWM_E_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
}
#endif
}
void microstep_init()
{
void microstep_init() {
const uint8_t microstep_modes[] = MICROSTEP_MODES;
#if defined(E1_MS1_PIN) && E1_MS1_PIN > -1
pinMode(E1_MS1_PIN,OUTPUT);
pinMode(E1_MS2_PIN,OUTPUT);
#if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0
pinMode(E1_MS1_PIN,OUTPUT);
pinMode(E1_MS2_PIN,OUTPUT);
#endif
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
pinMode(X_MS1_PIN,OUTPUT);
pinMode(X_MS2_PIN,OUTPUT);
pinMode(Y_MS1_PIN,OUTPUT);
pinMode(Y_MS2_PIN,OUTPUT);
pinMode(Z_MS1_PIN,OUTPUT);
pinMode(Z_MS2_PIN,OUTPUT);
pinMode(E0_MS1_PIN,OUTPUT);
pinMode(E0_MS2_PIN,OUTPUT);
for(int i=0;i<=4;i++) microstep_mode(i,microstep_modes[i]);
#if defined(X_MS1_PIN) && X_MS1_PIN >= 0
pinMode(X_MS1_PIN,OUTPUT);
pinMode(X_MS2_PIN,OUTPUT);
pinMode(Y_MS1_PIN,OUTPUT);
pinMode(Y_MS2_PIN,OUTPUT);
pinMode(Z_MS1_PIN,OUTPUT);
pinMode(Z_MS2_PIN,OUTPUT);
pinMode(E0_MS1_PIN,OUTPUT);
pinMode(E0_MS2_PIN,OUTPUT);
for (int i = 0; i <= 4; i++) microstep_mode(i, microstep_modes[i]);
#endif
}
void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2)
{
if(ms1 > -1) switch(driver)
{
case 0: digitalWrite( X_MS1_PIN,ms1); break;
case 1: digitalWrite( Y_MS1_PIN,ms1); break;
case 2: digitalWrite( Z_MS1_PIN,ms1); break;
case 3: digitalWrite(E0_MS1_PIN,ms1); break;
#if defined(E1_MS1_PIN) && E1_MS1_PIN > -1
case 4: digitalWrite(E1_MS1_PIN,ms1); break;
void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
if (ms1 >= 0) switch(driver) {
case 0: digitalWrite(X_MS1_PIN, ms1); break;
case 1: digitalWrite(Y_MS1_PIN, ms1); break;
case 2: digitalWrite(Z_MS1_PIN, ms1); break;
case 3: digitalWrite(E0_MS1_PIN, ms1); break;
#if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0
case 4: digitalWrite(E1_MS1_PIN, ms1); break;
#endif
}
if(ms2 > -1) switch(driver)
{
case 0: digitalWrite( X_MS2_PIN,ms2); break;
case 1: digitalWrite( Y_MS2_PIN,ms2); break;
case 2: digitalWrite( Z_MS2_PIN,ms2); break;
case 3: digitalWrite(E0_MS2_PIN,ms2); break;
#if defined(E1_MS2_PIN) && E1_MS2_PIN > -1
case 4: digitalWrite(E1_MS2_PIN,ms2); break;
if (ms2 >= 0) switch(driver) {
case 0: digitalWrite(X_MS2_PIN, ms2); break;
case 1: digitalWrite(Y_MS2_PIN, ms2); break;
case 2: digitalWrite(Z_MS2_PIN, ms2); break;
case 3: digitalWrite(E0_MS2_PIN, ms2); break;
#if defined(E1_MS2_PIN) && E1_MS2_PIN >= 0
case 4: digitalWrite(E1_MS2_PIN, ms2); break;
#endif
}
}
void microstep_mode(uint8_t driver, uint8_t stepping_mode)
{
switch(stepping_mode)
{
void microstep_mode(uint8_t driver, uint8_t stepping_mode) {
switch(stepping_mode) {
case 1: microstep_ms(driver,MICROSTEP1); break;
case 2: microstep_ms(driver,MICROSTEP2); break;
case 4: microstep_ms(driver,MICROSTEP4); break;
@ -1342,25 +1147,23 @@ void microstep_mode(uint8_t driver, uint8_t stepping_mode)
}
}
void microstep_readings()
{
SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n");
SERIAL_PROTOCOLPGM("X: ");
SERIAL_PROTOCOL( digitalRead(X_MS1_PIN));
SERIAL_PROTOCOLLN( digitalRead(X_MS2_PIN));
SERIAL_PROTOCOLPGM("Y: ");
SERIAL_PROTOCOL( digitalRead(Y_MS1_PIN));
SERIAL_PROTOCOLLN( digitalRead(Y_MS2_PIN));
SERIAL_PROTOCOLPGM("Z: ");
SERIAL_PROTOCOL( digitalRead(Z_MS1_PIN));
SERIAL_PROTOCOLLN( digitalRead(Z_MS2_PIN));
SERIAL_PROTOCOLPGM("E0: ");
SERIAL_PROTOCOL( digitalRead(E0_MS1_PIN));
SERIAL_PROTOCOLLN( digitalRead(E0_MS2_PIN));
#if defined(E1_MS1_PIN) && E1_MS1_PIN > -1
SERIAL_PROTOCOLPGM("E1: ");
SERIAL_PROTOCOL( digitalRead(E1_MS1_PIN));
SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN));
#endif
void microstep_readings() {
SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n");
SERIAL_PROTOCOLPGM("X: ");
SERIAL_PROTOCOL(digitalRead(X_MS1_PIN));
SERIAL_PROTOCOLLN(digitalRead(X_MS2_PIN));
SERIAL_PROTOCOLPGM("Y: ");
SERIAL_PROTOCOL(digitalRead(Y_MS1_PIN));
SERIAL_PROTOCOLLN(digitalRead(Y_MS2_PIN));
SERIAL_PROTOCOLPGM("Z: ");
SERIAL_PROTOCOL(digitalRead(Z_MS1_PIN));
SERIAL_PROTOCOLLN(digitalRead(Z_MS2_PIN));
SERIAL_PROTOCOLPGM("E0: ");
SERIAL_PROTOCOL(digitalRead(E0_MS1_PIN));
SERIAL_PROTOCOLLN(digitalRead(E0_MS2_PIN));
#if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0
SERIAL_PROTOCOLPGM("E1: ");
SERIAL_PROTOCOL(digitalRead(E1_MS1_PIN));
SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
#endif
}

33
Marlin/stepper.h
View file

@ -22,30 +22,31 @@
#define stepper_h
#include "planner.h"
#include "stepper_indirection.h"
#if EXTRUDERS > 3
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { WRITE(E3_STEP_PIN, v); } else { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}}
#define NORM_E_DIR() { if(current_block->active_extruder == 3) { WRITE(E3_DIR_PIN, !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}}
#define REV_E_DIR() { if(current_block->active_extruder == 3) { WRITE(E3_DIR_PIN, INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}}
#define E_STEP_WRITE(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
#define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
#define REV_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE(INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}}
#elif EXTRUDERS > 2
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
#define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
#define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
#define E_STEP_WRITE(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
#define NORM_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}
#define REV_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}
#elif EXTRUDERS > 1
#ifndef DUAL_X_CARRIAGE
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
#define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
#define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
#define E_STEP_WRITE(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define NORM_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
#define REV_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
#else
extern bool extruder_duplication_enabled;
#define WRITE_E_STEP(v) { if(extruder_duplication_enabled) { WRITE(E0_STEP_PIN, v); WRITE(E1_STEP_PIN, v); } else if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
#define NORM_E_DIR() { if(extruder_duplication_enabled) { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
#define REV_E_DIR() { if(extruder_duplication_enabled) { WRITE(E0_DIR_PIN, INVERT_E0_DIR); WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
#define E_STEP_WRITE(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define NORM_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
#define REV_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(INVERT_E0_DIR); E1_DIR_WRITE(INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
#endif
#else
#define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
#define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
#define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
#define E_STEP_WRITE(v) E0_STEP_WRITE(v)
#define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR)
#endif
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
@ -100,6 +101,4 @@ void microstep_readings();
void babystep(const uint8_t axis,const bool direction); // perform a short step with a single stepper motor, outside of any convention
#endif
#endif

224
Marlin/stepper_indirection.cpp Normal file
View file

@ -0,0 +1,224 @@
/*
stepper_indirection.c - stepper motor driver indirection
to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
Part of Marlin
Copyright (c) 2015 Dominik Wenger
Marlin 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.
Marlin 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 Marlin. If not, see <http://www.gnu.org/licenses/>.
*/
#include "stepper_indirection.h"
#include "Configuration.h"
#ifdef HAVE_TMCDRIVER
#include <SPI.h>
#include <TMC26XStepper.h>
#endif
// Stepper objects of TMC steppers used
#ifdef X_IS_TMC
TMC26XStepper stepperX(200,X_ENABLE_PIN,X_STEP_PIN,X_DIR_PIN,X_MAX_CURRENT,X_SENSE_RESISTOR);
#endif
#ifdef X2_IS_TMC
TMC26XStepper stepperX2(200,X2_ENABLE_PIN,X2_STEP_PIN,X2_DIR_PIN,X2_MAX_CURRENT,X2_SENSE_RESISTOR);
#endif
#ifdef Y_IS_TMC
TMC26XStepper stepperY(200,Y_ENABLE_PIN,Y_STEP_PIN,Y_DIR_PIN,Y_MAX_CURRENT,Y_SENSE_RESISTOR);
#endif
#ifdef Y2_IS_TMC
TMC26XStepper stepperY2(200,Y2_ENABLE_PIN,Y2_STEP_PIN,Y2_DIR_PIN,Y2_MAX_CURRENT,Y2_SENSE_RESISTOR);
#endif
#ifdef Z_IS_TMC
TMC26XStepper stepperZ(200,Z_ENABLE_PIN,Z_STEP_PIN,Z_DIR_PIN,Z_MAX_CURRENT,Z_SENSE_RESISTOR);
#endif
#ifdef Z2_IS_TMC
TMC26XStepper stepperZ2(200,Z2_ENABLE_PIN,Z2_STEP_PIN,Z2_DIR_PIN,Z2_MAX_CURRENT,Z2_SENSE_RESISTOR);
#endif
#ifdef E0_IS_TMC
TMC26XStepper stepperE0(200,E0_ENABLE_PIN,E0_STEP_PIN,E0_DIR_PIN,E0_MAX_CURRENT,E0_SENSE_RESISTOR);
#endif
#ifdef E1_IS_TMC
TMC26XStepper stepperE1(200,E1_ENABLE_PIN,E1_STEP_PIN,E1_DIR_PIN,E1_MAX_CURRENT,E1_SENSE_RESISTOR);
#endif
#ifdef E2_IS_TMC
TMC26XStepper stepperE2(200,E2_ENABLE_PIN,E2_STEP_PIN,E2_DIR_PIN,E2_MAX_CURRENT,E2_SENSE_RESISTOR);
#endif
#ifdef E3_IS_TMC
TMC26XStepper stepperE3(200,E3_ENABLE_PIN,E3_STEP_PIN,E3_DIR_PIN,E3_MAX_CURRENT,E3_SENSE_RESISTOR);
#endif
#ifdef HAVE_TMCDRIVER
void tmc_init()
{
#ifdef X_IS_TMC
stepperX.setMicrosteps(X_MICROSTEPS);
stepperX.start();
#endif
#ifdef X2_IS_TMC
stepperX2.setMicrosteps(X2_MICROSTEPS);
stepperX2.start();
#endif
#ifdef Y_IS_TMC
stepperY.setMicrosteps(Y_MICROSTEPS);
stepperY.start();
#endif
#ifdef Y2_IS_TMC
stepperY2.setMicrosteps(Y2_MICROSTEPS);
stepperY2.start();
#endif
#ifdef Z_IS_TMC
stepperZ.setMicrosteps(Z_MICROSTEPS);
stepperZ.start();
#endif
#ifdef Z2_IS_TMC
stepperZ2.setMicrosteps(Z2_MICROSTEPS);
stepperZ2.start();
#endif
#ifdef E0_IS_TMC
stepperE0.setMicrosteps(E0_MICROSTEPS);
stepperE0.start();
#endif
#ifdef E1_IS_TMC
stepperE1.setMicrosteps(E1_MICROSTEPS);
stepperE1.start();
#endif
#ifdef E2_IS_TMC
stepperE2.setMicrosteps(E2_MICROSTEPS);
stepperE2.start();
#endif
#ifdef E3_IS_TMC
stepperE3.setMicrosteps(E3_MICROSTEPS);
stepperE3.start();
#endif
}
#endif
// L6470 Driver objects and inits
#ifdef HAVE_L6470DRIVER
#include <SPI.h>
#include <L6470.h>
#endif
// L6470 Stepper objects
#ifdef X_IS_L6470
L6470 stepperX(X_ENABLE_PIN);
#endif
#ifdef X2_IS_L6470
L6470 stepperX2(X2_ENABLE_PIN);
#endif
#ifdef Y_IS_L6470
L6470 stepperY(Y_ENABLE_PIN);
#endif
#ifdef Y2_IS_L6470
L6470 stepperY2(Y2_ENABLE_PIN);
#endif
#ifdef Z_IS_L6470
L6470 stepperZ(Z_ENABLE_PIN);
#endif
#ifdef Z2_IS_L6470
L6470 stepperZ2(Z2_ENABLE_PIN);
#endif
#ifdef E0_IS_L6470
L6470 stepperE0(E0_ENABLE_PIN);
#endif
#ifdef E1_IS_L6470
L6470 stepperE1(E1_ENABLE_PIN);
#endif
#ifdef E2_IS_L6470
L6470 stepperE2(E2_ENABLE_PIN);
#endif
#ifdef E3_IS_L6470
L6470 stepperE3(E3_ENABLE_PIN);
#endif
// init routine
#ifdef HAVE_L6470DRIVER
void L6470_init()
{
#ifdef X_IS_L6470
stepperX.init(X_K_VAL);
stepperX.softFree();
stepperX.setMicroSteps(X_MICROSTEPS);
stepperX.setOverCurrent(X_OVERCURRENT); //set overcurrent protection
stepperX.setStallCurrent(X_STALLCURRENT);
#endif
#ifdef X2_IS_L6470
stepperX2.init(X2_K_VAL);
stepperX2.softFree();
stepperX2.setMicroSteps(X2_MICROSTEPS);
stepperX2.setOverCurrent(X2_OVERCURRENT); //set overcurrent protection
stepperX2.setStallCurrent(X2_STALLCURRENT);
#endif
#ifdef Y_IS_L6470
stepperY.init(Y_K_VAL);
stepperY.softFree();
stepperY.setMicroSteps(Y_MICROSTEPS);
stepperY.setOverCurrent(Y_OVERCURRENT); //set overcurrent protection
stepperY.setStallCurrent(Y_STALLCURRENT);
#endif
#ifdef Y2_IS_L6470
stepperY2.init(Y2_K_VAL);
stepperY2.softFree();
stepperY2.setMicroSteps(Y2_MICROSTEPS);
stepperY2.setOverCurrent(Y2_OVERCURRENT); //set overcurrent protection
stepperY2.setStallCurrent(Y2_STALLCURRENT);
#endif
#ifdef Z_IS_L6470
stepperZ.init(Z_K_VAL);
stepperZ.softFree();
stepperZ.setMicroSteps(Z_MICROSTEPS);
stepperZ.setOverCurrent(Z_OVERCURRENT); //set overcurrent protection
stepperZ.setStallCurrent(Z_STALLCURRENT);
#endif
#ifdef Z2_IS_L6470
stepperZ2.init(Z2_K_VAL);
stepperZ2.softFree();
stepperZ2.setMicroSteps(Z2_MICROSTEPS);
stepperZ2.setOverCurrent(Z2_OVERCURRENT); //set overcurrent protection
stepperZ2.setStallCurrent(Z2_STALLCURRENT);
#endif
#ifdef E0_IS_L6470
stepperE0.init(E0_K_VAL);
stepperE0.softFree();
stepperE0.setMicroSteps(E0_MICROSTEPS);
stepperE0.setOverCurrent(E0_OVERCURRENT); //set overcurrent protection
stepperE0.setStallCurrent(E0_STALLCURRENT);
#endif
#ifdef E1_IS_L6470
stepperE1.init(E1_K_VAL);
stepperE1.softFree();
stepperE1.setMicroSteps(E1_MICROSTEPS);
stepperE1.setOverCurrent(E1_OVERCURRENT); //set overcurrent protection
stepperE1.setStallCurrent(E1_STALLCURRENT);
#endif
#ifdef E2_IS_L6470
stepperE2.init(E2_K_VAL);
stepperE2.softFree();
stepperE2.setMicroSteps(E2_MICROSTEPS);
stepperE2.setOverCurrent(E2_OVERCURRENT); //set overcurrent protection
stepperE2.setStallCurrent(E2_STALLCURRENT);
#endif
#ifdef E3_IS_L6470
stepperE3.init(E3_K_VAL);
stepperE3.softFree();
stepperE3.setMicroSteps(E3_MICROSTEPS);
stepperE3.setOverCurrent(E3_OVERCURRENT); //set overcurrent protection
stepperE3.setStallCurrent(E3_STALLCURRENT);
#endif
}
#endif

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@ -0,0 +1,492 @@
/*
stepper_indirection.h - stepper motor driver indirection macros
to allow some stepper functions to be done via SPI/I2c instead of direct pin manipulation
Part of Marlin
Copyright (c) 2015 Dominik Wenger
Marlin 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.
Marlin 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 Marlin. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef STEPPER_INDIRECTION_H
#define STEPPER_INDIRECTION_H
// X motor
#define X_STEP_INIT SET_OUTPUT(X_STEP_PIN)
#define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE)
#define X_STEP_READ READ(X_STEP_PIN)
#define X_DIR_INIT SET_OUTPUT(X_DIR_PIN)
#define X_DIR_WRITE(STATE) WRITE(X_DIR_PIN,STATE)
#define X_DIR_READ READ(X_DIR_PIN)
#define X_ENABLE_INIT SET_OUTPUT(X_ENABLE_PIN)
#define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE)
#define X_ENABLE_READ READ(X_ENABLE_PIN)
// X2 motor
#define X2_STEP_INIT SET_OUTPUT(X2_STEP_PIN)
#define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE)
#define X2_STEP_READ READ(X2_STEP_PIN)
#define X2_DIR_INIT SET_OUTPUT(X2_DIR_PIN)
#define X2_DIR_WRITE(STATE) WRITE(X2_DIR_PIN,STATE)
#define X2_DIR_READ READ(X_DIR_PIN)
#define X2_ENABLE_INIT SET_OUTPUT(X2_ENABLE_PIN)
#define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE)
#define X2_ENABLE_READ READ(X_ENABLE_PIN)
// Y motor
#define Y_STEP_INIT SET_OUTPUT(Y_STEP_PIN)
#define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE)
#define Y_STEP_READ READ(Y_STEP_PIN)
#define Y_DIR_INIT SET_OUTPUT(Y_DIR_PIN)
#define Y_DIR_WRITE(STATE) WRITE(Y_DIR_PIN,STATE)
#define Y_DIR_READ READ(Y_DIR_PIN)
#define Y_ENABLE_INIT SET_OUTPUT(Y_ENABLE_PIN)
#define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE)
#define Y_ENABLE_READ READ(Y_ENABLE_PIN)
// Y2 motor
#define Y2_STEP_INIT SET_OUTPUT(Y2_STEP_PIN)
#define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE)
#define Y2_STEP_READ READ(Y2_STEP_PIN)
#define Y2_DIR_INIT SET_OUTPUT(Y2_DIR_PIN)
#define Y2_DIR_WRITE(STATE) WRITE(Y2_DIR_PIN,STATE)
#define Y2_DIR_READ READ(Y2_DIR_PIN)
#define Y2_ENABLE_INIT SET_OUTPUT(Y2_ENABLE_PIN)
#define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE)
#define Y2_ENABLE_READ READ(Y2_ENABLE_PIN)
// Z motor
#define Z_STEP_INIT SET_OUTPUT(Z_STEP_PIN)
#define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE)
#define Z_STEP_READ READ(Z_STEP_PIN)
#define Z_DIR_INIT SET_OUTPUT(Z_DIR_PIN)
#define Z_DIR_WRITE(STATE) WRITE(Z_DIR_PIN,STATE)
#define Z_DIR_READ READ(Z_DIR_PIN)
#define Z_ENABLE_INIT SET_OUTPUT(Z_ENABLE_PIN)
#define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE)
#define Z_ENABLE_READ READ(Z_ENABLE_PIN)
// Z2 motor
#define Z2_STEP_INIT SET_OUTPUT(Z2_STEP_PIN)
#define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE)
#define Z2_STEP_READ READ(Z2_STEP_PIN)
#define Z2_DIR_INIT SET_OUTPUT(Z2_DIR_PIN)
#define Z2_DIR_WRITE(STATE) WRITE(Z2_DIR_PIN,STATE)
#define Z2_DIR_READ READ(Z2_DIR_PIN)
#define Z2_ENABLE_INIT SET_OUTPUT(Z2_ENABLE_PIN)
#define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE)
#define Z2_ENABLE_READ READ(Z2_ENABLE_PIN)
// E0 motor
#define E0_STEP_INIT SET_OUTPUT(E0_STEP_PIN)
#define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE)
#define E0_STEP_READ READ(E0_STEP_PIN)
#define E0_DIR_INIT SET_OUTPUT(E0_DIR_PIN)
#define E0_DIR_WRITE(STATE) WRITE(E0_DIR_PIN,STATE)
#define E0_DIR_READ READ(E0_DIR_PIN)
#define E0_ENABLE_INIT SET_OUTPUT(E0_ENABLE_PIN)
#define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE)
#define E0_ENABLE_READ READ(E0_ENABLE_PIN)
// E1 motor
#define E1_STEP_INIT SET_OUTPUT(E1_STEP_PIN)
#define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE)
#define E1_STEP_READ READ(E1_STEP_PIN)
#define E1_DIR_INIT SET_OUTPUT(E1_DIR_PIN)
#define E1_DIR_WRITE(STATE) WRITE(E1_DIR_PIN,STATE)
#define E1_DIR_READ READ(E1_DIR_PIN)
#define E1_ENABLE_INIT SET_OUTPUT(E1_ENABLE_PIN)
#define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE)
#define E1_ENABLE_READ READ(E1_ENABLE_PIN)
// E2 motor
#define E2_STEP_INIT SET_OUTPUT(E2_STEP_PIN)
#define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE)
#define E2_STEP_READ READ(E2_STEP_PIN)
#define E2_DIR_INIT SET_OUTPUT(E2_DIR_PIN)
#define E2_DIR_WRITE(STATE) WRITE(E2_DIR_PIN,STATE)
#define E2_DIR_READ READ(E2_DIR_PIN)
#define E2_ENABLE_INIT SET_OUTPUT(E2_ENABLE_PIN)
#define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE)
#define E2_ENABLE_READ READ(E2_ENABLE_PIN)
// E3 motor
#define E3_STEP_INIT SET_OUTPUT(E3_STEP_PIN)
#define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE)
#define E3_STEP_READ READ(E3_STEP_PIN)
#define E3_DIR_INIT SET_OUTPUT(E3_DIR_PIN)
#define E3_DIR_WRITE(STATE) WRITE(E3_DIR_PIN,STATE)
#define E3_DIR_READ READ(E3_DIR_PIN)
#define E3_ENABLE_INIT SET_OUTPUT(E3_ENABLE_PIN)
#define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE)
#define E3_ENABLE_READ READ(E3_ENABLE_PIN)
//////////////////////////////////
// Pin redefines for TMC drivers.
// TMC26X drivers have step and dir on normal pins, but everything else via SPI
//////////////////////////////////
#ifdef HAVE_TMCDRIVER
#include <SPI.h>
#include <TMC26XStepper.h>
void tmc_init();
#ifdef X_IS_TMC
extern TMC26XStepper stepperX;
#undef X_ENABLE_INIT
#define X_ENABLE_INIT ((void)0)
#undef X_ENABLE_WRITE
#define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE)
#undef X_ENABLE_READ
#define X_ENABLE_READ stepperX.isEnabled()
#endif
#ifdef X2_IS_TMC
extern TMC26XStepper stepperX2;
#undef X2_ENABLE_INIT
#define X2_ENABLE_INIT ((void)0)
#undef X2_ENABLE_WRITE
#define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE)
#undef X2_ENABLE_READ
#define X2_ENABLE_READ stepperX2.isEnabled()
#endif
#ifdef Y_IS_TMC
extern TMC26XStepper stepperY;
#undef Y_ENABLE_INIT
#define Y_ENABLE_INIT ((void)0)
#undef Y_ENABLE_WRITE
#define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE)
#undef Y_ENABLE_READ
#define Y_ENABLE_READ stepperY.isEnabled()
#endif
#ifdef Y2_IS_TMC
extern TMC26XStepper stepperY2;
#undef Y2_ENABLE_INIT
#define Y2_ENABLE_INIT ((void)0)
#undef Y2_ENABLE_WRITE
#define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE)
#undef Y2_ENABLE_READ
#define Y2_ENABLE_READ stepperY2.isEnabled()
#endif
#ifdef Z_IS_TMC
extern TMC26XStepper stepperZ;
#undef Z_ENABLE_INIT
#define Z_ENABLE_INIT ((void)0)
#undef Z_ENABLE_WRITE
#define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE)
#undef Z_ENABLE_READ
#define Z_ENABLE_READ stepperZ.isEnabled()
#endif
#ifdef Z2_IS_TMC
extern TMC26XStepper stepperZ2;
#undef Z2_ENABLE_INIT
#define Z2_ENABLE_INIT ((void)0)
#undef Z2_ENABLE_WRITE
#define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE)
#undef Z2_ENABLE_READ
#define Z2_ENABLE_READ stepperZ2.isEnabled()
#endif
#ifdef E0_IS_TMC
extern TMC26XStepper stepperE0;
#undef E0_ENABLE_INIT
#define E0_ENABLE_INIT ((void)0)
#undef E0_ENABLE_WRITE
#define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE)
#undef E0_ENABLE_READ
#define E0_ENABLE_READ stepperE0.isEnabled()
#endif
#ifdef E1_IS_TMC
extern TMC26XStepper stepperE1;
#undef E1_ENABLE_INIT
#define E1_ENABLE_INIT ((void)0)
#undef E1_ENABLE_WRITE
#define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE)
#undef E1_ENABLE_READ
#define E1_ENABLE_READ stepperE1.isEnabled()
#endif
#ifdef E2_IS_TMC
extern TMC26XStepper stepperE2;
#undef E2_ENABLE_INIT
#define E2_ENABLE_INIT ((void)0)
#undef E2_ENABLE_WRITE
#define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE)
#undef E2_ENABLE_READ
#define E2_ENABLE_READ stepperE2.isEnabled()
#endif
#ifdef E3_IS_TMC
extern TMC26XStepper stepperE3;
#undef E3_ENABLE_INIT
#define E3_ENABLE_INIT ((void)0)
#undef E3_ENABLE_WRITE
#define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE)
#undef E3_ENABLE_READ
#define E3_ENABLE_READ stepperE3.isEnabled()
#endif
#endif // HAVE_TMCDRIVER
//////////////////////////////////
// Pin redefines for L6470 drivers.
// L640 drivers have step on normal pins, but dir and everything else via SPI
//////////////////////////////////
#ifdef HAVE_L6470DRIVER
#include <SPI.h>
#include <L6470.h>
void L6470_init();
#ifdef X_IS_L6470
extern L6470 stepperX;
#undef X_ENABLE_INIT
#define X_ENABLE_INIT ((void)0)
#undef X_ENABLE_WRITE
#define X_ENABLE_WRITE(STATE) {if(STATE) stepperX.Step_Clock(stepperX.getStatus() & STATUS_HIZ); else stepperX.softFree();}
#undef X_ENABLE_READ
#define X_ENABLE_READ (stepperX.getStatus() & STATUS_HIZ)
#undef X_DIR_INIT
#define X_DIR_INIT ((void)0)
#undef X_DIR_WRITE
#define X_DIR_WRITE(STATE) stepperX.Step_Clock(STATE)
#undef X_DIR_READ
#define X_DIR_READ (stepperX.getStatus() & STATUS_DIR)
#endif
#ifdef X2_IS_L6470
extern L6470 stepperX2;
#undef X2_ENABLE_INIT
#define X2_ENABLE_INIT ((void)0)
#undef X2_ENABLE_WRITE
#define X2_ENABLE_WRITE(STATE) (if(STATE) stepperX2.Step_Clock(stepperX2.getStatus() & STATUS_HIZ); else stepperX2.softFree();)
#undef X2_ENABLE_READ
#define X2_ENABLE_READ (stepperX2.getStatus() & STATUS_HIZ)
#undef X2_DIR_INIT
#define X2_DIR_INIT ((void)0)
#undef X2_DIR_WRITE
#define X2_DIR_WRITE(STATE) stepperX2.Step_Clock(STATE)
#undef X2_DIR_READ
#define X2_DIR_READ (stepperX2.getStatus() & STATUS_DIR)
#endif
#ifdef Y_IS_L6470
extern L6470 stepperY;
#undef Y_ENABLE_INIT
#define Y_ENABLE_INIT ((void)0)
#undef Y_ENABLE_WRITE
#define Y_ENABLE_WRITE(STATE) (if(STATE) stepperY.Step_Clock(stepperY.getStatus() & STATUS_HIZ); else stepperY.softFree();)
#undef Y_ENABLE_READ
#define Y_ENABLE_READ (stepperY.getStatus() & STATUS_HIZ)
#undef Y_DIR_INIT
#define Y_DIR_INIT ((void)0)
#undef Y_DIR_WRITE
#define Y_DIR_WRITE(STATE) stepperY.Step_Clock(STATE)
#undef Y_DIR_READ
#define Y_DIR_READ (stepperY.getStatus() & STATUS_DIR)
#endif
#ifdef Y2_IS_L6470
extern L6470 stepperY2;
#undef Y2_ENABLE_INIT
#define Y2_ENABLE_INIT ((void)0)
#undef Y2_ENABLE_WRITE
#define Y2_ENABLE_WRITE(STATE) (if(STATE) stepperY2.Step_Clock(stepperY2.getStatus() & STATUS_HIZ); else stepperY2.softFree();)
#undef Y2_ENABLE_READ
#define Y2_ENABLE_READ (stepperY2.getStatus() & STATUS_HIZ)
#undef Y2_DIR_INIT
#define Y2_DIR_INIT ((void)0)
#undef Y2_DIR_WRITE
#define Y2_DIR_WRITE(STATE) stepperY2.Step_Clock(STATE)
#undef Y2_DIR_READ
#define Y2_DIR_READ (stepperY2.getStatus() & STATUS_DIR)
#endif
#ifdef Z_IS_L6470
extern L6470 stepperZ;
#undef Z_ENABLE_INIT
#define Z_ENABLE_INIT ((void)0)
#undef Z_ENABLE_WRITE
#define Z_ENABLE_WRITE(STATE) (if(STATE) stepperZ.Step_Clock(stepperZ.getStatus() & STATUS_HIZ); else stepperZ.softFree();)
#undef Z_ENABLE_READ
#define Z_ENABLE_READ (stepperZ.getStatus() & STATUS_HIZ)
#undef Z_DIR_INIT
#define Z_DIR_INIT ((void)0)
#undef Z_DIR_WRITE
#define Z_DIR_WRITE(STATE) stepperZ.Step_Clock(STATE)
#undef Y_DIR_READ
#define Y_DIR_READ (stepperZ.getStatus() & STATUS_DIR)
#endif
#ifdef Z2_IS_L6470
extern L6470 stepperZ2;
#undef Z2_ENABLE_INIT
#define Z2_ENABLE_INIT ((void)0)
#undef Z2_ENABLE_WRITE
#define Z2_ENABLE_WRITE(STATE) (if(STATE) stepperZ2.Step_Clock(stepperZ2.getStatus() & STATUS_HIZ); else stepperZ2.softFree();)
#undef Z2_ENABLE_READ
#define Z2_ENABLE_READ (stepperZ2.getStatus() & STATUS_HIZ)
#undef Z2_DIR_INIT
#define Z2_DIR_INIT ((void)0)
#undef Z2_DIR_WRITE
#define Z2_DIR_WRITE(STATE) stepperZ2.Step_Clock(STATE)
#undef Y2_DIR_READ
#define Y2_DIR_READ (stepperZ2.getStatus() & STATUS_DIR)
#endif
#ifdef E0_IS_L6470
extern L6470 stepperE0;
#undef E0_ENABLE_INIT
#define E0_ENABLE_INIT ((void)0)
#undef E0_ENABLE_WRITE
#define E0_ENABLE_WRITE(STATE) (if(STATE) stepperE0.Step_Clock(stepperE0.getStatus() & STATUS_HIZ); else stepperE0.softFree();)
#undef E0_ENABLE_READ
#define E0_ENABLE_READ (stepperE0.getStatus() & STATUS_HIZ)
#undef E0_DIR_INIT
#define E0_DIR_INIT ((void)0)
#undef E0_DIR_WRITE
#define E0_DIR_WRITE(STATE) stepperE0.Step_Clock(STATE)
#undef E0_DIR_READ
#define E0_DIR_READ (stepperE0.getStatus() & STATUS_DIR)
#endif
#ifdef E1_IS_L6470
extern L6470 stepperE1;
#undef E1_ENABLE_INIT
#define E1_ENABLE_INIT ((void)0)
#undef E1_ENABLE_WRITE
#define E1_ENABLE_WRITE(STATE) (if(STATE) stepperE1.Step_Clock(stepperE1.getStatus() & STATUS_HIZ); else stepperE1.softFree();)
#undef E1_ENABLE_READ
#define E1_ENABLE_READ (stepperE1.getStatus() & STATUS_HIZ)
#undef E1_DIR_INIT
#define E1_DIR_INIT ((void)0)
#undef E1_DIR_WRITE
#define E1_DIR_WRITE(STATE) stepperE1.Step_Clock(STATE)
#undef E1_DIR_READ
#define E1_DIR_READ (stepperE1.getStatus() & STATUS_DIR)
#endif
#ifdef E2_IS_L6470
extern L6470 stepperE2;
#undef E2_ENABLE_INIT
#define E2_ENABLE_INIT ((void)0)
#undef E2_ENABLE_WRITE
#define E2_ENABLE_WRITE(STATE) (if(STATE) stepperE2.Step_Clock(stepperE2.getStatus() & STATUS_HIZ); else stepperE2.softFree();)
#undef E2_ENABLE_READ
#define E2_ENABLE_READ (stepperE2.getStatus() & STATUS_HIZ)
#undef E2_DIR_INIT
#define E2_DIR_INIT ((void)0)
#undef E2_DIR_WRITE
#define E2_DIR_WRITE(STATE) stepperE2.Step_Clock(STATE)
#undef E2_DIR_READ
#define E2_DIR_READ (stepperE2.getStatus() & STATUS_DIR)
#endif
#ifdef E3_IS_L6470
extern L6470 stepperE3;
#undef E3_ENABLE_INIT
#define E3_ENABLE_INIT ((void)0)
#undef E3_ENABLE_WRITE
#define E3_ENABLE_WRITE(STATE) (if(STATE) stepperE3.Step_Clock(stepperE3.getStatus() & STATUS_HIZ); else stepperE3.softFree();)
#undef E3_ENABLE_READ
#define E3_ENABLE_READ (stepperE3.getStatus() & STATUS_HIZ)
#undef E3_DIR_INIT
#define E3_DIR_INIT ((void)0)
#undef E3_DIR_WRITE
#define E3_DIR_WRITE(STATE) stepperE3.Step_Clock(STATE)
#undef E3_DIR_READ
#define E3_DIR_READ (stepperE3.getStatus() & STATUS_DIR)
#endif
#endif //HAVE_L6470DRIVER
#endif // STEPPER_INDIRECTION_H

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//============================= public variables ============================
//===========================================================================
#ifdef K1 // Defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
#endif
// Sampling period of the temperature routine
#ifdef PID_dT
#undef PID_dT
@ -127,8 +131,6 @@ static volatile bool temp_meas_ready = false;
static float pid_error[EXTRUDERS];
static float temp_iState_min[EXTRUDERS];
static float temp_iState_max[EXTRUDERS];
// static float pid_input[EXTRUDERS];
// static float pid_output[EXTRUDERS];
static bool pid_reset[EXTRUDERS];
#endif //PIDTEMP
#ifdef PIDTEMPBED
@ -516,12 +518,132 @@ void checkExtruderAutoFans()
#define WRITE_FAN(v) WRITE(FAN_PIN, v)
#endif
inline void _temp_error(int e, const char *msg1, const char *msg2) {
if (!IsStopped()) {
SERIAL_ERROR_START;
if (e >= 0) SERIAL_ERRORLN((int)e);
serialprintPGM(msg1);
MYSERIAL.write('\n');
#ifdef ULTRA_LCD
lcd_setalertstatuspgm(msg2);
#endif
}
#ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
Stop();
#endif
}
void max_temp_error(uint8_t e) {
disable_heater();
_temp_error(e, PSTR(MSG_MAXTEMP_EXTRUDER_OFF), PSTR(MSG_ERR_MAXTEMP));
}
void min_temp_error(uint8_t e) {
disable_heater();
_temp_error(e, PSTR(MSG_MINTEMP_EXTRUDER_OFF), PSTR(MSG_ERR_MINTEMP));
}
void bed_max_temp_error(void) {
#if HAS_HEATER_BED
WRITE_HEATER_BED(0);
#endif
_temp_error(-1, PSTR(MSG_MAXTEMP_BED_OFF), PSTR(MSG_ERR_MAXTEMP_BED));
}
float get_pid_output(int e) {
float pid_output;
#ifdef PIDTEMP
#ifndef PID_OPENLOOP
pid_error[e] = target_temperature[e] - current_temperature[e];
if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX;
pid_reset[e] = true;
}
else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
pid_output = 0;
pid_reset[e] = true;
}
else {
if (pid_reset[e]) {
temp_iState[e] = 0.0;
pid_reset[e] = false;
}
pTerm[e] = PID_PARAM(Kp,e) * pid_error[e];
temp_iState[e] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
dTerm[e] = K2 * PID_PARAM(Kd,e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e];
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
if (pid_output > PID_MAX) {
if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
pid_output = PID_MAX;
}
else if (pid_output < 0) {
if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
pid_output = 0;
}
}
temp_dState[e] = current_temperature[e];
#else
pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP
#ifdef PID_DEBUG
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_PID_DEBUG);
SERIAL_ECHO(e);
SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
SERIAL_ECHO(current_temperature[e]);
SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
SERIAL_ECHO(pid_output);
SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
SERIAL_ECHO(pTerm[e]);
SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
SERIAL_ECHO(iTerm[e]);
SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
SERIAL_ECHOLN(dTerm[e]);
#endif //PID_DEBUG
#else /* PID off */
pid_output = (current_temperature[e] < target_temperature[e]) ? PID_MAX : 0;
#endif
return pid_output;
}
#ifdef PIDTEMPBED
float get_pid_output_bed() {
float pid_output;
#ifndef PID_OPENLOOP
pid_error_bed = target_temperature_bed - current_temperature_bed;
pTerm_bed = bedKp * pid_error_bed;
temp_iState_bed += pid_error_bed;
temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
iTerm_bed = bedKi * temp_iState_bed;
dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed;
temp_dState_bed = current_temperature_bed;
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
if (pid_output > MAX_BED_POWER) {
if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = MAX_BED_POWER;
}
else if (pid_output < 0) {
if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = 0;
}
#else
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
#endif // PID_OPENLOOP
return pid_output;
}
#endif
void manage_heater() {
if (!temp_meas_ready) return;
float pid_input, pid_output;
updateTemperaturesFromRawValues();
#ifdef HEATER_0_USES_MAX6675
@ -539,69 +661,7 @@ void manage_heater() {
thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS);
#endif
#ifdef PIDTEMP
pid_input = current_temperature[e];
#ifndef PID_OPENLOOP
pid_error[e] = target_temperature[e] - pid_input;
if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX;
pid_reset[e] = true;
}
else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
pid_output = 0;
pid_reset[e] = true;
}
else {
if (pid_reset[e] == true) {
temp_iState[e] = 0.0;
pid_reset[e] = false;
}
pTerm[e] = PID_PARAM(Kp,e) * pid_error[e];
temp_iState[e] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e])) * K2 + (K1 * dTerm[e]);
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
if (pid_output > PID_MAX) {
if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
pid_output = PID_MAX;
}
else if (pid_output < 0) {
if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
pid_output = 0;
}
}
temp_dState[e] = pid_input;
#else
pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP
#ifdef PID_DEBUG
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_PID_DEBUG);
SERIAL_ECHO(e);
SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
SERIAL_ECHO(pid_input);
SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
SERIAL_ECHO(pid_output);
SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
SERIAL_ECHO(pTerm[e]);
SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
SERIAL_ECHO(iTerm[e]);
SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
SERIAL_ECHOLN(dTerm[e]);
#endif //PID_DEBUG
#else /* PID off */
pid_output = 0;
if (current_temperature[e] < target_temperature[e]) pid_output = PID_MAX;
#endif
float pid_output = get_pid_output(e);
// Check if temperature is within the correct range
soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0;
@ -623,14 +683,7 @@ void manage_heater() {
#ifdef TEMP_SENSOR_1_AS_REDUNDANT
if (fabs(current_temperature[0] - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) {
disable_heater();
if (IsStopped() == false) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_EXTRUDER_SWITCHED_OFF);
LCD_ALERTMESSAGEPGM(MSG_ERR_REDUNDANT_TEMP); // translatable
}
#ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
Stop();
#endif
_temp_error(-1, MSG_EXTRUDER_SWITCHED_OFF, MSG_ERR_REDUNDANT_TEMP);
}
#endif //TEMP_SENSOR_1_AS_REDUNDANT
@ -655,33 +708,7 @@ void manage_heater() {
#endif
#ifdef PIDTEMPBED
pid_input = current_temperature_bed;
#ifndef PID_OPENLOOP
pid_error_bed = target_temperature_bed - pid_input;
pTerm_bed = bedKp * pid_error_bed;
temp_iState_bed += pid_error_bed;
temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
iTerm_bed = bedKi * temp_iState_bed;
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm_bed = (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
temp_dState_bed = pid_input;
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
if (pid_output > MAX_BED_POWER) {
if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = MAX_BED_POWER;
}
else if (pid_output < 0) {
if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = 0;
}
#else
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
#endif //PID_OPENLOOP
float pid_output = get_pid_output_bed();
soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0;
@ -855,8 +882,8 @@ void tp_init()
{
#if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
//disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
MCUCR=(1<<JTD);
MCUCR=(1<<JTD);
MCUCR=BIT(JTD);
MCUCR=BIT(JTD);
#endif
// Finish init of mult extruder arrays
@ -914,13 +941,13 @@ void tp_init()
#endif //HEATER_0_USES_MAX6675
#ifdef DIDR2
#define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= 1 << pin; else DIDR2 |= 1 << (pin - 8); }while(0)
#define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= BIT(pin); else DIDR2 |= BIT(pin - 8); }while(0)
#else
#define ANALOG_SELECT(pin) do{ DIDR0 |= 1 << pin; }while(0)
#define ANALOG_SELECT(pin) do{ DIDR0 |= BIT(pin); }while(0)
#endif
// Set analog inputs
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07;
ADCSRA = BIT(ADEN) | BIT(ADSC) | BIT(ADIF) | 0x07;
DIDR0 = 0;
#ifdef DIDR2
DIDR2 = 0;
@ -947,7 +974,7 @@ void tp_init()
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
TIMSK0 |= (1<<OCIE0B);
TIMSK0 |= BIT(OCIE0B);
// Wait for temperature measurement to settle
delay(250);
@ -1136,46 +1163,6 @@ void disable_heater() {
#endif
}
void max_temp_error(uint8_t e) {
disable_heater();
if(IsStopped() == false) {
SERIAL_ERROR_START;
SERIAL_ERRORLN((int)e);
SERIAL_ERRORLNPGM(MSG_MAXTEMP_EXTRUDER_OFF);
LCD_ALERTMESSAGEPGM(MSG_ERR_MAXTEMP); // translatable
}
#ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
Stop();
#endif
}
void min_temp_error(uint8_t e) {
disable_heater();
if(IsStopped() == false) {
SERIAL_ERROR_START;
SERIAL_ERRORLN((int)e);
SERIAL_ERRORLNPGM(MSG_MINTEMP_EXTRUDER_OFF);
LCD_ALERTMESSAGEPGM(MSG_ERR_MINTEMP); // translatable
}
#ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
Stop();
#endif
}
void bed_max_temp_error(void) {
#if HAS_HEATER_BED
WRITE_HEATER_BED(0);
#endif
if (IsStopped() == false) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_MAXTEMP_BED_OFF);
LCD_ALERTMESSAGEPGM(MSG_ERR_MAXTEMP_BED); // translatable
}
#ifndef BOGUS_TEMPERATURE_FAILSAFE_OVERRIDE
Stop();
#endif
}
#ifdef HEATER_0_USES_MAX6675
#define MAX6675_HEAT_INTERVAL 250
long max6675_previous_millis = MAX6675_HEAT_INTERVAL;
@ -1191,12 +1178,12 @@ void bed_max_temp_error(void) {
max6675_temp = 0;
#ifdef PRR
PRR &= ~(1<<PRSPI);
PRR &= ~BIT(PRSPI);
#elif defined(PRR0)
PRR0 &= ~(1<<PRSPI);
PRR0 &= ~BIT(PRSPI);
#endif
SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0);
SPCR = BIT(MSTR) | BIT(SPE) | BIT(SPR0);
// enable TT_MAX6675
WRITE(MAX6675_SS, 0);
@ -1207,13 +1194,13 @@ void bed_max_temp_error(void) {
// read MSB
SPDR = 0;
for (;(SPSR & (1<<SPIF)) == 0;);
for (;(SPSR & BIT(SPIF)) == 0;);
max6675_temp = SPDR;
max6675_temp <<= 8;
// read LSB
SPDR = 0;
for (;(SPSR & (1<<SPIF)) == 0;);
for (;(SPSR & BIT(SPIF)) == 0;);
max6675_temp |= SPDR;
// disable TT_MAX6675
@ -1263,7 +1250,7 @@ ISR(TIMER0_COMPB_vect) {
static unsigned long raw_temp_3_value = 0;
static unsigned long raw_temp_bed_value = 0;
static TempState temp_state = StartupDelay;
static unsigned char pwm_count = (1 << SOFT_PWM_SCALE);
static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);
// Static members for each heater
#ifdef SLOW_PWM_HEATERS
@ -1348,7 +1335,7 @@ ISR(TIMER0_COMPB_vect) {
if (soft_pwm_fan < pwm_count) WRITE_FAN(0);
#endif
pwm_count += (1 << SOFT_PWM_SCALE);
pwm_count += BIT(SOFT_PWM_SCALE);
pwm_count &= 0x7f;
#else // SLOW_PWM_HEATERS
@ -1429,7 +1416,7 @@ ISR(TIMER0_COMPB_vect) {
if (soft_pwm_fan < pwm_count) WRITE_FAN(0);
#endif //FAN_SOFT_PWM
pwm_count += (1 << SOFT_PWM_SCALE);
pwm_count += BIT(SOFT_PWM_SCALE);
pwm_count &= 0x7f;
// increment slow_pwm_count only every 64 pwm_count circa 65.5ms
@ -1455,9 +1442,9 @@ ISR(TIMER0_COMPB_vect) {
#endif // SLOW_PWM_HEATERS
#define SET_ADMUX_ADCSRA(pin) ADMUX = (1 << REFS0) | (pin & 0x07); ADCSRA |= 1<<ADSC
#define SET_ADMUX_ADCSRA(pin) ADMUX = BIT(REFS0) | (pin & 0x07); ADCSRA |= BIT(ADSC)
#ifdef MUX5
#define START_ADC(pin) if (pin > 7) ADCSRB = 1 << MUX5; else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#define START_ADC(pin) if (pin > 7) ADCSRB = BIT(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#else
#define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#endif

5
Marlin/ultralcd.cpp
View file

@ -903,6 +903,7 @@ static void lcd_control_motion_menu() {
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_Z, &max_acceleration_units_per_sq_second[Z_AXIS], 100, 99000, reset_acceleration_rates);
MENU_ITEM_EDIT_CALLBACK(long5, MSG_AMAX MSG_E, &max_acceleration_units_per_sq_second[E_AXIS], 100, 99000, reset_acceleration_rates);
MENU_ITEM_EDIT(float5, MSG_A_RETRACT, &retract_acceleration, 100, 99000);
MENU_ITEM_EDIT(float5, MSG_A_TRAVEL, &travel_acceleration, 100, 99000);
MENU_ITEM_EDIT(float52, MSG_XSTEPS, &axis_steps_per_unit[X_AXIS], 5, 9999);
MENU_ITEM_EDIT(float52, MSG_YSTEPS, &axis_steps_per_unit[Y_AXIS], 5, 9999);
MENU_ITEM_EDIT(float51, MSG_ZSTEPS, &axis_steps_per_unit[Z_AXIS], 5, 9999);
@ -1425,7 +1426,7 @@ void lcd_buttons_update() {
WRITE(SHIFT_LD, HIGH);
for(int8_t i = 0; i < 8; i++) {
newbutton_reprapworld_keypad >>= 1;
if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= (1 << 7);
if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= BIT(7);
WRITE(SHIFT_CLK, HIGH);
WRITE(SHIFT_CLK, LOW);
}
@ -1438,7 +1439,7 @@ void lcd_buttons_update() {
unsigned char tmp_buttons = 0;
for(int8_t i=0; i<8; i++) {
newbutton >>= 1;
if (READ(SHIFT_OUT)) newbutton |= (1 << 7);
if (READ(SHIFT_OUT)) newbutton |= BIT(7);
WRITE(SHIFT_CLK, HIGH);
WRITE(SHIFT_CLK, LOW);
}

38
Marlin/ultralcd.h
View file

@ -57,20 +57,20 @@
void lcd_ignore_click(bool b=true);
#ifdef NEWPANEL
#define EN_C (1<<BLEN_C)
#define EN_B (1<<BLEN_B)
#define EN_A (1<<BLEN_A)
#define EN_C BIT(BLEN_C)
#define EN_B BIT(BLEN_B)
#define EN_A BIT(BLEN_A)
#define LCD_CLICKED (buttons&EN_C)
#ifdef REPRAPWORLD_KEYPAD
#define EN_REPRAPWORLD_KEYPAD_F3 (1<<BLEN_REPRAPWORLD_KEYPAD_F3)
#define EN_REPRAPWORLD_KEYPAD_F2 (1<<BLEN_REPRAPWORLD_KEYPAD_F2)
#define EN_REPRAPWORLD_KEYPAD_F1 (1<<BLEN_REPRAPWORLD_KEYPAD_F1)
#define EN_REPRAPWORLD_KEYPAD_UP (1<<BLEN_REPRAPWORLD_KEYPAD_UP)
#define EN_REPRAPWORLD_KEYPAD_RIGHT (1<<BLEN_REPRAPWORLD_KEYPAD_RIGHT)
#define EN_REPRAPWORLD_KEYPAD_MIDDLE (1<<BLEN_REPRAPWORLD_KEYPAD_MIDDLE)
#define EN_REPRAPWORLD_KEYPAD_DOWN (1<<BLEN_REPRAPWORLD_KEYPAD_DOWN)
#define EN_REPRAPWORLD_KEYPAD_LEFT (1<<BLEN_REPRAPWORLD_KEYPAD_LEFT)
#define EN_REPRAPWORLD_KEYPAD_F3 BIT(BLEN_REPRAPWORLD_KEYPAD_F3)
#define EN_REPRAPWORLD_KEYPAD_F2 BIT(BLEN_REPRAPWORLD_KEYPAD_F2)
#define EN_REPRAPWORLD_KEYPAD_F1 BIT(BLEN_REPRAPWORLD_KEYPAD_F1)
#define EN_REPRAPWORLD_KEYPAD_UP BIT(BLEN_REPRAPWORLD_KEYPAD_UP)
#define EN_REPRAPWORLD_KEYPAD_RIGHT BIT(BLEN_REPRAPWORLD_KEYPAD_RIGHT)
#define EN_REPRAPWORLD_KEYPAD_MIDDLE BIT(BLEN_REPRAPWORLD_KEYPAD_MIDDLE)
#define EN_REPRAPWORLD_KEYPAD_DOWN BIT(BLEN_REPRAPWORLD_KEYPAD_DOWN)
#define EN_REPRAPWORLD_KEYPAD_LEFT BIT(BLEN_REPRAPWORLD_KEYPAD_LEFT)
#define LCD_CLICKED ((buttons&EN_C) || (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F1))
#define REPRAPWORLD_KEYPAD_MOVE_Z_UP (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F2)
@ -83,14 +83,14 @@
#endif //REPRAPWORLD_KEYPAD
#else
//atomic, do not change
#define B_LE (1<<BL_LE)
#define B_UP (1<<BL_UP)
#define B_MI (1<<BL_MI)
#define B_DW (1<<BL_DW)
#define B_RI (1<<BL_RI)
#define B_ST (1<<BL_ST)
#define EN_B (1<<BLEN_B)
#define EN_A (1<<BLEN_A)
#define B_LE BIT(BL_LE)
#define B_UP BIT(BL_UP)
#define B_MI BIT(BL_MI)
#define B_DW BIT(BL_DW)
#define B_RI BIT(BL_RI)
#define B_ST BIT(BL_ST)
#define EN_B BIT(BLEN_B)
#define EN_A BIT(BLEN_A)
#define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST))
#endif//NEWPANEL

34
Marlin/ultralcd_implementation_hitachi_HD44780.h
View file

@ -24,13 +24,13 @@
#define BLEN_B 1
#define BLEN_A 0
#define EN_B (1<<BLEN_B) // The two encoder pins are connected through BTN_EN1 and BTN_EN2
#define EN_A (1<<BLEN_A)
#define EN_B BIT(BLEN_B) // The two encoder pins are connected through BTN_EN1 and BTN_EN2
#define EN_A BIT(BLEN_A)
#if defined(BTN_ENC) && BTN_ENC > -1
// encoder click is directly connected
#define BLEN_C 2
#define EN_C (1<<BLEN_C)
#define EN_C BIT(BLEN_C)
#endif
//
@ -85,14 +85,14 @@
#define REPRAPWORLD_BTN_OFFSET 3 // bit offset into buttons for shift register values
#define EN_REPRAPWORLD_KEYPAD_F3 (1<<(BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F2 (1<<(BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F1 (1<<(BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_UP (1<<(BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_RIGHT (1<<(BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_MIDDLE (1<<(BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_DOWN (1<<(BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_LEFT (1<<(BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F3 BIT((BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F2 BIT((BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F1 BIT((BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_UP BIT((BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_RIGHT BIT((BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_MIDDLE BIT((BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_DOWN BIT((BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_LEFT BIT((BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET))
#define LCD_CLICKED ((buttons&EN_C) || (buttons&EN_REPRAPWORLD_KEYPAD_F1))
#define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN (buttons&EN_REPRAPWORLD_KEYPAD_DOWN)
@ -113,12 +113,12 @@
#define BL_ST 2
//automatic, do not change
#define B_LE (1<<BL_LE)
#define B_UP (1<<BL_UP)
#define B_MI (1<<BL_MI)
#define B_DW (1<<BL_DW)
#define B_RI (1<<BL_RI)
#define B_ST (1<<BL_ST)
#define B_LE BIT(BL_LE)
#define B_UP BIT(BL_UP)
#define B_MI BIT(BL_MI)
#define B_DW BIT(BL_DW)
#define B_RI BIT(BL_RI)
#define B_ST BIT(BL_ST)
#define LCD_CLICKED (buttons&(B_MI|B_ST))
#endif

6
Marlin/ultralcd_st7920_u8glib_rrd.h
View file

@ -27,9 +27,15 @@ static void ST7920_SWSPI_SND_8BIT(uint8_t val)
for( i=0; i<8; i++ )
{
WRITE(ST7920_CLK_PIN,0);
#if F_CPU == 20000000
__asm__("nop\n\t");
#endif
WRITE(ST7920_DAT_PIN,val&0x80);
val<<=1;
WRITE(ST7920_CLK_PIN,1);
#if F_CPU == 20000000
__asm__("nop\n\t""nop\n\t");
#endif
}
}

8
Marlin/vector_3.cpp
View file

@ -79,11 +79,11 @@ void vector_3::debug(char* title)
{
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL(x);
SERIAL_PROTOCOL_F(x, 6);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y);
SERIAL_PROTOCOL_F(y, 6);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(z);
SERIAL_PROTOCOL_F(z, 6);
SERIAL_EOL;
}
@ -150,7 +150,7 @@ void matrix_3x3::debug(char* title) {
int count = 0;
for(int i=0; i<3; i++) {
for(int j=0; j<3; j++) {
SERIAL_PROTOCOL(matrix[count] + 0.0001);
SERIAL_PROTOCOL_F(matrix[count], 6);
SERIAL_PROTOCOLPGM(" ");
count++;
}

4
README.md
View file

@ -27,11 +27,11 @@ We are actively looking for testers. So please try the current development versi
[![Coverity Scan Build Status](https://scan.coverity.com/projects/2224/badge.svg)](https://scan.coverity.com/projects/2224)
[![Travis Build Status](https://travis-ci.org/MarlinFirmware/Marlin.svg)](https://travis-ci.org/MarlinFirmware/Marlin)
What bugs are we working on: [Bug Fixing Round 2](https://github.com/MarlinFirmware/Marlin/milestones/Bug%20Fixing%20Round%202)
What bugs are we working on: [Bug Fixing Round 3](https://github.com/MarlinFirmware/Marlin/milestones/Bug%20Fixing%20Round%203)
## Contact
__IRC:__ #marlin-firmware @freenode ([WebChat Client](https://webchat.freenode.net/?channels=marlin-firmware), [Archive](http://energymonitor-dk.dns4e.net/marlin-firmware-log/))
__IRC:__ #marlin-firmware @freenode ([WebChat Client](https://webchat.freenode.net/?channels=marlin-firmware)
__Mailing List:__ marlin@lists.0l.de ([Subscribe](http://lists.0l.de/mailman/listinfo/marlin), [Archive](http://lists.0l.de/pipermail/marlin/))