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chrono 2015-03-14 09:25:43 +00:00
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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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# replaced with the name of the entity): "The $name class" "The $name widget"
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# 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.
TEMPLATE_RELATIONS = NO
# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
# tags are set to YES then doxygen will generate a graph for each documented
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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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File diff suppressed because it is too large Load diff

22
Documentation/GCodes.md
View file

@ -101,3 +101,25 @@
* M908 - Control digital trimpot directly.
* M928 - Start SD logging (M928 filename.g) - ended by M29
* M999 - Restart after being stopped by error
# Comments
Comments start at a `;` (semicolon) and end with the end of the line:
N3 T0*57 ; This is a comment
N4 G92 E0*67
; So is this
N5 G28*22
(example taken from the [RepRap wiki](http://reprap.org/wiki/Gcode#Comments))
If you need to use a literal `;` somewhere (for example within `M117`), you can escape semicolons with a `\`
(backslash):
M117 Hello \;)
`\` can also be used to escape `\` itself, if you need a literal `\` in front of a `;`:
M117 backslash: \\;and a comment
Please note that hosts should strip any comments before sending GCODE to the printer in order to save bandwidth.

1
Documentation/changelog.md Normal file
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@ -0,0 +1 @@

165
Marlin/Configuration.h
View file

@ -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
@ -295,38 +295,27 @@ your extruder heater takes 2 minutes to hit the target on heating.
//============================= Mechanical Settings =========================
//===========================================================================
// Uncomment the following line to enable CoreXY kinematics
// Uncomment this option 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
// Enable this option for Toshiba steppers
// #define CONFIG_STEPPERS_TOSHIBA
#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
// 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
#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
@ -343,13 +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
@ -361,9 +351,9 @@ 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_MAX_POS 200
#define X_MIN_POS 0
#define Y_MAX_POS 205
#define Y_MAX_POS 200
#define Y_MIN_POS 0
#define Z_MAX_POS 200
#define Z_MIN_POS 0
@ -382,40 +372,40 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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
// 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
// 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
// set the rectangle in which to probe
// The edges of 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
#define BACK_PROBE_BED_POSITION 170
// 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 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
#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
#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
@ -426,11 +416,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
// 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 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.
// Be sure you have this distance over your Z_MAX_POS in case
@ -440,6 +430,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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_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.
@ -467,29 +460,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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
@ -510,12 +480,13 @@ 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).
@ -556,11 +527,11 @@ 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;

136
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}
@ -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 ============================
//===========================================================================

66
Marlin/Marlin.h
View file

@ -23,41 +23,41 @@
#include "pins.h"
#ifndef AT90USB
#define HardwareSerial_h // trick to disable the standard HWserial
#define HardwareSerial_h // trick to disable the standard HWserial
#endif
#if (ARDUINO >= 100)
# include "Arduino.h"
#include "Arduino.h"
#else
# include "WProgram.h"
#include "WProgram.h"
#endif
// Arduino < 1.0.0 does not define this, so we need to do it ourselves
#ifndef analogInputToDigitalPin
# define analogInputToDigitalPin(p) ((p) + 0xA0)
#define analogInputToDigitalPin(p) ((p) + 0xA0)
#endif
#ifdef AT90USB
#include "HardwareSerial.h"
#include "HardwareSerial.h"
#endif
#include "MarlinSerial.h"
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
#ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif
#include "WString.h"
#ifdef AT90USB
#ifdef BTENABLED
#define MYSERIAL bt
#else
#define MYSERIAL Serial
#endif // BTENABLED
#ifdef BTENABLED
#define MYSERIAL bt
#else
#define MYSERIAL Serial
#endif // BTENABLED
#else
#define MYSERIAL MSerial
#endif
@ -86,7 +86,7 @@ extern const char echomagic[] PROGMEM;
#define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
#define SERIAL_EOL SERIAL_ECHOLN("")
#define SERIAL_EOL MYSERIAL.write('\n')
void serial_echopair_P(const char *s_P, float v);
void serial_echopair_P(const char *s_P, double v);
@ -112,11 +112,11 @@ 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 +124,11 @@ 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 +137,11 @@ 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 +149,32 @@ 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 */

10
Marlin/Marlin.ino
View file

@ -54,3 +54,13 @@
#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

6087
Marlin/Marlin_main.cpp
View file

@ -30,12 +30,17 @@
#include "Marlin.h"
#ifdef ENABLE_AUTO_BED_LEVELING
#include "vector_3.h"
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop to enable Auto Bed Leveling feature. Z_MIN_PIN must point to a valid hardware pin."
#endif
#include "vector_3.h"
#ifdef AUTO_BED_LEVELING_GRID
#include "qr_solve.h"
#endif
#endif // ENABLE_AUTO_BED_LEVELING
#define SERVO_LEVELING defined(ENABLE_AUTO_BED_LEVELING) && PROBE_SERVO_DEACTIVATION_DELAY > 0
#include "ultralcd.h"
#include "planner.h"
#include "stepper.h"
@ -124,6 +129,8 @@
// M115 - Capabilities string
// M117 - display message
// M119 - Output Endstop status to serial port
// M120 - Enable endstop detection
// M121 - Disable endstop detection
// M126 - Solenoid Air Valve Open (BariCUDA support by jmil)
// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil)
// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
@ -154,6 +161,8 @@
// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
// M304 - Set bed PID parameters P I and D
// M380 - Activate solenoid on active extruder
// M381 - Disable all solenoids
// M400 - Finish all moves
// M401 - Lower z-probe if present
// M402 - Raise z-probe if present
@ -192,6 +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;
@ -201,9 +214,9 @@ int extruder_multiply[EXTRUDERS] = { 100
, 100
#if EXTRUDERS > 2
, 100
#if EXTRUDERS > 3
, 100
#endif
#if EXTRUDERS > 3
, 100
#endif
#endif
#endif
};
@ -285,8 +298,8 @@ int fanSpeed = 0;
#if EXTRUDERS > 2
, false
#if EXTRUDERS > 3
, false
#endif
, false
#endif
#endif
#endif
};
@ -296,8 +309,8 @@ int fanSpeed = 0;
#if EXTRUDERS > 2
, false
#if EXTRUDERS > 3
, false
#endif
, false
#endif
#endif
#endif
};
@ -317,7 +330,7 @@ int fanSpeed = 0;
#ifdef PS_DEFAULT_OFF
false
#else
true
true
#endif
;
#endif
@ -529,32 +542,28 @@ void setup_homepin(void)
void setup_photpin()
{
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
SET_OUTPUT(PHOTOGRAPH_PIN);
WRITE(PHOTOGRAPH_PIN, LOW);
OUT_WRITE(PHOTOGRAPH_PIN, LOW);
#endif
}
void setup_powerhold()
{
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN);
#if defined(PS_DEFAULT_OFF)
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#if defined(PS_DEFAULT_OFF)
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#else
WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE);
#endif
#endif
}
void suicide()
{
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, LOW);
OUT_WRITE(SUICIDE_PIN, LOW);
#endif
}
@ -586,9 +595,9 @@ void servo_init()
}
#endif
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
}
@ -645,7 +654,7 @@ void setup()
lcd_init();
_delay_ms(1000); // wait 1sec to display the splash screen
_delay_ms(1000); // wait 1sec to display the splash screen
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
@ -727,103 +736,113 @@ void get_command()
serial_char = MYSERIAL.read();
if(serial_char == '\n' ||
serial_char == '\r' ||
(serial_char == ':' && comment_mode == false) ||
serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count) { //if empty line
comment_mode = false; //for new command
// end of line == end of comment
comment_mode = false;
if(!serial_count) {
// short cut for empty lines
return;
}
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
comment_mode = false; //for new command
fromsd[bufindw] = false;
if(strchr(cmdbuffer[bufindw], 'N') != NULL)
fromsd[bufindw] = false;
if(strchr(cmdbuffer[bufindw], 'N') != NULL)
{
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
gcode_N = (strtol(strchr_pointer + 1, NULL, 10));
if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if(strchr(cmdbuffer[bufindw], '*') != NULL)
{
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer[bufindw], PSTR("M110")) == NULL) ) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_LINE_NO);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
byte checksum = 0;
byte count = 0;
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if(strchr(cmdbuffer[bufindw], '*') != NULL)
{
byte checksum = 0;
byte count = 0;
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
SERIAL_ERRORLN(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
//if no errors, continue parsing
}
else
{
if(strtol(strchr_pointer + 1, NULL, 10) != checksum) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
SERIAL_ERRORPGM(MSG_ERR_CHECKSUM_MISMATCH);
SERIAL_ERRORLN(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
gcode_LastN = gcode_N;
//if no errors, continue parsing
}
else // if we don't receive 'N' but still see '*'
else
{
if((strchr(cmdbuffer[bufindw], '*') != NULL))
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
SERIAL_ERRORLN(gcode_LastN);
serial_count = 0;
return;
}
}
if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
case 0:
case 1:
case 2:
case 3:
if (Stopped == true) {
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
}
break;
default:
break;
}
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM);
SERIAL_ERRORLN(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
//If command was e-stop process now
if(strcmp(cmdbuffer[bufindw], "M112") == 0)
kill();
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
gcode_LastN = gcode_N;
//if no errors, continue parsing
}
else // if we don't receive 'N' but still see '*'
{
if((strchr(cmdbuffer[bufindw], '*') != NULL))
{
SERIAL_ERROR_START;
SERIAL_ERRORPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
SERIAL_ERRORLN(gcode_LastN);
serial_count = 0;
return;
}
}
if((strchr(cmdbuffer[bufindw], 'G') != NULL)){
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch(strtol(strchr_pointer + 1, NULL, 10)){
case 0:
case 1:
case 2:
case 3:
if (Stopped == true) {
SERIAL_ERRORLNPGM(MSG_ERR_STOPPED);
LCD_MESSAGEPGM(MSG_STOPPED);
}
break;
default:
break;
}
}
//If command was e-stop process now
if(strcmp(cmdbuffer[bufindw], "M112") == 0)
kill();
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
serial_count = 0; //clear buffer
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
else if(serial_char == '\\') { //Handle escapes
if(MYSERIAL.available() > 0 && buflen < BUFSIZE) {
// if we have one more character, copy it over
serial_char = MYSERIAL.read();
cmdbuffer[bufindw][serial_count++] = serial_char;
}
//otherwise do nothing
}
else { // its not a newline, carriage return or escape char
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
#ifdef SDSUPPORT
@ -894,12 +913,12 @@ void get_command()
float code_value()
{
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
return (strtod(strchr_pointer + 1, NULL));
}
long code_value_long()
{
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
return (strtol(strchr_pointer + 1, NULL, 10));
}
bool code_seen(char code)
@ -997,7 +1016,7 @@ static void axis_is_at_home(int axis) {
{
homeposition[i] = base_home_pos(i);
}
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
// SERIAL_ECHOPGM("homeposition[x]= "); SERIAL_ECHO(homeposition[0]);
// SERIAL_ECHOPGM("homeposition[y]= "); SERIAL_ECHOLN(homeposition[1]);
// Works out real Homeposition angles using inverse kinematics,
// and calculates homing offset using forward kinematics
@ -1012,7 +1031,7 @@ static void axis_is_at_home(int axis) {
}
// SERIAL_ECHOPGM("addhome X="); SERIAL_ECHO(add_homing[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
// SERIAL_ECHOPGM(" addhome Y="); SERIAL_ECHO(add_homing[Y_AXIS]);
// SERIAL_ECHOPGM(" addhome Theta="); SERIAL_ECHO(delta[X_AXIS]);
// SERIAL_ECHOPGM(" addhome Psi+Theta="); SERIAL_ECHOLN(delta[Y_AXIS]);
@ -1116,7 +1135,18 @@ 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();
@ -1135,7 +1165,7 @@ 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;
@ -1169,66 +1199,70 @@ static void clean_up_after_endstop_move() {
}
static void engage_z_probe() {
// Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
// Engage Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2]);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
#endif
}
#endif
#endif
}
static void retract_z_probe() {
// Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
// Retract Z Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (servo_endstops[Z_AXIS] > -1) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
servos[servo_endstops[Z_AXIS]].attach(0);
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#endif
servos[servo_endstops[Z_AXIS]].write(servo_endstop_angles[Z_AXIS * 2 + 1]);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_endstops[Z_AXIS]].detach();
#endif
#endif
}
#endif
#endif
}
enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract };
/// Probe bed height at position (x,y), returns the measured z value
static float probe_pt(float x, float y, float z_before, int retract_action=0) {
static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageRetract, int verbose_level=1) {
// move to right place
do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before);
do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]);
#ifndef Z_PROBE_SLED
if ((retract_action==0) || (retract_action==1))
engage_z_probe(); // Engage Z Servo endstop if available
#endif // Z_PROBE_SLED
#ifndef Z_PROBE_SLED
if (retract_action & ProbeEngage) engage_z_probe();
#endif
run_z_probe();
float measured_z = current_position[Z_AXIS];
#ifndef Z_PROBE_SLED
if ((retract_action==0) || (retract_action==3))
retract_z_probe();
#endif // Z_PROBE_SLED
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL(x);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(measured_z);
SERIAL_PROTOCOLPGM("\n");
#ifndef Z_PROBE_SLED
if (retract_action & ProbeRetract) retract_z_probe();
#endif
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(x + 0.0001);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(y + 0.0001);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(measured_z + 0.0001);
SERIAL_EOL;
}
return measured_z;
}
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
#endif // ENABLE_AUTO_BED_LEVELING
static void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \
@ -1251,11 +1285,11 @@ static void homeaxis(int axis) {
#ifndef Z_PROBE_SLED
// Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
if (axis==Z_AXIS) {
engage_z_probe();
}
else
else
#endif
if (servo_endstops[axis] > -1) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
@ -1274,11 +1308,17 @@ 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
@ -1302,7 +1342,7 @@ static void homeaxis(int axis) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
}
#endif
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
#if SERVO_LEVELING
#ifndef Z_PROBE_SLED
if (axis==Z_AXIS) retract_z_probe();
#endif
@ -1376,6 +1416,11 @@ void refresh_cmd_timeout(void)
#endif //FWRETRACT
#ifdef Z_PROBE_SLED
#ifndef SLED_DOCKING_OFFSET
#define SLED_DOCKING_OFFSET 0
#endif
//
// Method to dock/undock a sled designed by Charles Bell.
//
@ -1411,157 +1456,159 @@ static void dock_sled(bool dock, int offset=0) {
}
#endif
void process_commands()
{
unsigned long codenum; //throw away variable
char *starpos = NULL;
#ifdef ENABLE_AUTO_BED_LEVELING
float x_tmp, y_tmp, z_tmp, real_z;
#endif
if(code_seen('G'))
{
switch((int)code_value())
{
case 0: // G0 -> G1
case 1: // G1
if(Stopped == false) {
get_coordinates(); // For X Y Z E F
#ifdef FWRETRACT
if(autoretract_enabled)
if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
float echange=destination[E_AXIS]-current_position[E_AXIS];
if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover
current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations
plan_set_e_position(current_position[E_AXIS]); //AND from the planner
retract(!retracted);
return;
}
}
#endif //FWRETRACT
prepare_move();
//ClearToSend();
/**
*
* G-Code Handler functions
*
*/
/**
* G0, G1: Coordinated movement of X Y Z E axes
*/
inline void gcode_G0_G1() {
if (!Stopped) {
get_coordinates(); // For X Y Z E F
#ifdef FWRETRACT
if (autoretract_enabled)
if (!(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) {
float echange = destination[E_AXIS] - current_position[E_AXIS];
// Is this move an attempt to retract or recover?
if ((echange < -MIN_RETRACT && !retracted[active_extruder]) || (echange > MIN_RETRACT && retracted[active_extruder])) {
current_position[E_AXIS] = destination[E_AXIS]; // hide the slicer-generated retract/recover from calculations
plan_set_e_position(current_position[E_AXIS]); // AND from the planner
retract(!retracted[active_extruder]);
return;
}
}
break;
#ifndef SCARA //disable arc support
case 2: // G2 - CW ARC
if(Stopped == false) {
get_arc_coordinates();
prepare_arc_move(true);
#endif //FWRETRACT
prepare_move();
//ClearToSend();
}
}
/**
* G2: Clockwise Arc
* G3: Counterclockwise Arc
*/
inline void gcode_G2_G3(bool clockwise) {
if (!Stopped) {
get_arc_coordinates();
prepare_arc_move(clockwise);
}
}
/**
* G4: Dwell S<seconds> or P<milliseconds>
*/
inline void gcode_G4() {
unsigned long codenum;
LCD_MESSAGEPGM(MSG_DWELL);
if (code_seen('P')) codenum = code_value_long(); // milliseconds to wait
if (code_seen('S')) codenum = code_value_long() * 1000; // seconds to wait
st_synchronize();
previous_millis_cmd = millis();
codenum += previous_millis_cmd; // keep track of when we started waiting
while(millis() < codenum) {
manage_heater();
manage_inactivity();
lcd_update();
}
}
#ifdef FWRETRACT
/**
* G10 - Retract filament according to settings of M207
* G11 - Recover filament according to settings of M208
*/
inline void gcode_G10_G11(bool doRetract=false) {
#if EXTRUDERS > 1
if (doRetract) {
retracted_swap[active_extruder] = (code_seen('S') && code_value_long() == 1); // checks for swap retract argument
}
break;
case 3: // G3 - CCW ARC
if(Stopped == false) {
get_arc_coordinates();
prepare_arc_move(false);
}
break;
#endif
case 4: // G4 dwell
LCD_MESSAGEPGM(MSG_DWELL);
codenum = 0;
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
#endif
retract(doRetract
#if EXTRUDERS > 1
, retracted_swap[active_extruder]
#endif
);
}
st_synchronize();
codenum += millis(); // keep track of when we started waiting
previous_millis_cmd = millis();
while(millis() < codenum) {
manage_heater();
manage_inactivity();
lcd_update();
}
break;
#ifdef FWRETRACT
case 10: // G10 retract
#if EXTRUDERS > 1
retracted_swap[active_extruder]=(code_seen('S') && code_value_long() == 1); // checks for swap retract argument
retract(true,retracted_swap[active_extruder]);
#else
retract(true);
#endif
break;
case 11: // G11 retract_recover
#if EXTRUDERS > 1
retract(false,retracted_swap[active_extruder]);
#else
retract(false);
#endif
break;
#endif //FWRETRACT
case 28: //G28 Home all Axis one at a time
#ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif //ENABLE_AUTO_BED_LEVELING
#endif //FWRETRACT
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = millis();
/**
* G28: Home all axes, one at a time
*/
inline void gcode_G28() {
#ifdef ENABLE_AUTO_BED_LEVELING
plan_bed_level_matrix.set_to_identity(); //Reset the plane ("erase" all leveling data)
#endif
enable_endstops(true);
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
previous_millis_cmd = millis();
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i];
}
feedrate = 0.0;
enable_endstops(true);
#ifdef DELTA
// A delta can only safely home all axis at the same time
// all axis have to home at the same time
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = current_position[i];
// Move all carriages up together until the first endstop is hit.
current_position[X_AXIS] = 0;
current_position[Y_AXIS] = 0;
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
feedrate = 0.0;
destination[X_AXIS] = 3 * Z_MAX_LENGTH;
destination[Y_AXIS] = 3 * Z_MAX_LENGTH;
destination[Z_AXIS] = 3 * Z_MAX_LENGTH;
feedrate = 1.732 * homing_feedrate[X_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
endstops_hit_on_purpose();
#ifdef DELTA
// A delta can only safely home all axis at the same time
// all axis have to home at the same time
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
current_position[Z_AXIS] = destination[Z_AXIS];
// Move all carriages up together until the first endstop is hit.
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
// take care of back off and rehome now we are all at the top
HOMEAXIS(X);
HOMEAXIS(Y);
HOMEAXIS(Z);
for (int i = X_AXIS; i <= Z_AXIS; i++) destination[i] = 3 * Z_MAX_LENGTH;
feedrate = 1.732 * homing_feedrate[X_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
endstops_hit_on_purpose();
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
// Destination reached
for (int i = X_AXIS; i <= Z_AXIS; i++) current_position[i] = destination[i];
#else // NOT DELTA
// take care of back off and rehome now we are all at the top
HOMEAXIS(X);
HOMEAXIS(Y);
HOMEAXIS(Z);
home_all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS])));
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
#else // NOT DELTA
home_all_axis = !(code_seen(axis_codes[X_AXIS]) || code_seen(axis_codes[Y_AXIS]) || code_seen(axis_codes[Z_AXIS]));
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
HOMEAXIS(Z);
}
#endif
#endif
#ifdef QUICK_HOME
if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move
{
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
#ifdef QUICK_HOME
if (home_all_axis || code_seen(axis_codes[X_AXIS] && code_seen(axis_codes[Y_AXIS]))) { //first diagonal move
current_position[X_AXIS] = current_position[Y_AXIS] = 0;
#ifndef DUAL_X_CARRIAGE
int x_axis_home_dir = home_dir(X_AXIS);
#else
int x_axis_home_dir = x_home_dir(active_extruder);
extruder_duplication_enabled = false;
#endif
#ifndef DUAL_X_CARRIAGE
int x_axis_home_dir = home_dir(X_AXIS);
#else
int x_axis_home_dir = x_home_dir(active_extruder);
extruder_duplication_enabled = false;
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;
destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
feedrate = homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS]<feedrate)
feedrate = homing_feedrate[Y_AXIS];
if (homing_feedrate[Y_AXIS] < feedrate) feedrate = homing_feedrate[Y_AXIS];
if (max_length(X_AXIS) > max_length(Y_AXIS)) {
feedrate *= sqrt(pow(max_length(Y_AXIS) / max_length(X_AXIS), 2) + 1);
} else {
@ -1582,14 +1629,13 @@ void process_commands()
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
#ifndef SCARA
current_position[Z_AXIS] = destination[Z_AXIS];
#endif
#ifndef SCARA
current_position[Z_AXIS] = destination[Z_AXIS];
#endif
}
#endif
#endif //QUICK_HOME
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{
if ((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) {
#ifdef DUAL_X_CARRIAGE
int tmp_extruder = active_extruder;
extruder_duplication_enabled = false;
@ -1605,2410 +1651,3192 @@ void process_commands()
#else
HOMEAXIS(X);
#endif
}
}
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
HOMEAXIS(Y);
}
if (home_all_axis || code_seen(axis_codes[Y_AXIS])) HOMEAXIS(Y);
if(code_seen(axis_codes[X_AXIS]))
{
if(code_value_long() != 0) {
#ifdef SCARA
current_position[X_AXIS]=code_value();
#else
current_position[X_AXIS]=code_value()+add_homing[X_AXIS];
#endif
}
}
if(code_seen(axis_codes[Y_AXIS])) {
if(code_value_long() != 0) {
#ifdef SCARA
current_position[Y_AXIS]=code_value();
#else
current_position[Y_AXIS]=code_value()+add_homing[Y_AXIS];
#endif
}
}
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
#ifndef Z_SAFE_HOMING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
#if defined (Z_RAISE_BEFORE_HOMING) && (Z_RAISE_BEFORE_HOMING > 0)
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
if (code_seen(axis_codes[X_AXIS])) {
if (code_value_long() != 0) {
current_position[X_AXIS] = code_value()
#ifndef SCARA
+ add_homing[X_AXIS]
#endif
HOMEAXIS(Z);
}
#else // Z Safe mode activated.
if(home_all_axis) {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED/60;
current_position[Z_AXIS] = 0;
;
}
}
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
if (code_seen(axis_codes[Y_AXIS]) && code_value_long() != 0) {
current_position[Y_AXIS] = code_value()
#ifndef SCARA
+ add_homing[Y_AXIS]
#endif
;
}
#if Z_HOME_DIR < 0 // If homing towards BED do Z last
#ifndef Z_SAFE_HOMING
if (home_all_axis || code_seen(axis_codes[Z_AXIS])) {
#if defined(Z_RAISE_BEFORE_HOMING) && Z_RAISE_BEFORE_HOMING > 0
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
#endif
HOMEAXIS(Z);
}
HOMEAXIS(Z);
}
// Let's see if X and Y are homed and probe is inside bed area.
if(code_seen(axis_codes[Z_AXIS])) {
if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \
&& (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \
&& (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) {
#else // Z_SAFE_HOMING
if (home_all_axis) {
destination[X_AXIS] = round(Z_SAFE_HOMING_X_POINT - X_PROBE_OFFSET_FROM_EXTRUDER);
destination[Y_AXIS] = round(Z_SAFE_HOMING_Y_POINT - Y_PROBE_OFFSET_FROM_EXTRUDER);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = XY_TRAVEL_SPEED / 60;
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
HOMEAXIS(Z);
}
// Let's see if X and Y are homed and probe is inside bed area.
if (code_seen(axis_codes[Z_AXIS])) {
if (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) {
float cpx = current_position[X_AXIS], cpy = current_position[Y_AXIS];
if ( cpx >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER
&& cpx <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER
&& cpy >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER
&& cpy <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) {
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS) * (-1); // Set destination away from bed
plan_set_position(cpx, cpy, current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate, active_extruder);
st_synchronize();
HOMEAXIS(Z);
} else if (!((axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]))) {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
} else {
}
else {
LCD_MESSAGEPGM(MSG_ZPROBE_OUT);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_OUT);
}
}
#endif
#endif
if(code_seen(axis_codes[Z_AXIS])) {
if(code_value_long() != 0) {
current_position[Z_AXIS]=code_value()+add_homing[Z_AXIS];
else {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
}
}
}
#ifdef ENABLE_AUTO_BED_LEVELING
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
}
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif // else DELTA
#ifdef SCARA
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#endif // SCARA
#endif // Z_SAFE_HOMING
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
#endif // Z_HOME_DIR < 0
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
endstops_hit_on_purpose();
break;
if (code_seen(axis_codes[Z_AXIS]) && code_value_long() != 0)
current_position[Z_AXIS] = code_value() + add_homing[Z_AXIS];
#ifdef ENABLE_AUTO_BED_LEVELING
if (home_all_axis || code_seen(axis_codes[Z_AXIS]))
current_position[Z_AXIS] += zprobe_zoffset; //Add Z_Probe offset (the distance is negative)
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif // else DELTA
#ifdef SCARA
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#endif
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
endstops_hit_on_purpose();
}
#ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
// Override probing area by providing [F]ront [B]ack [L]eft [R]ight Grid[P]oints values
{
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin."
// Define the possible boundaries for probing based on set limits
#define MIN_PROBE_X (max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_X (min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER))
#define MIN_PROBE_Y (max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#define MAX_PROBE_Y (min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER))
#ifdef AUTO_BED_LEVELING_GRID
// 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."
#elif RIGHT_PROBE_BED_POSITION > MAX_PROBE_X
#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."
#elif BACK_PROBE_BED_POSITION > MAX_PROBE_Y
#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."
#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."
#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."
#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."
#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."
#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."
#endif
#endif // !AUTO_BED_LEVELING_GRID
/**
* G29: Detailed Z-Probe, probes the bed at 3 or more points.
* Will fail if the printer has not been homed with G28.
*
* Enhanced G29 Auto Bed Leveling Probe Routine
*
* Parameters With AUTO_BED_LEVELING_GRID:
*
* P Set the size of the grid that will be probed (P x P points).
* 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.
* This is useful for manual bed leveling and finding flaws in the bed (to
* assist with part placement).
*
* F Set the Front limit of the probing grid
* B Set the Back limit of the probing grid
* L Set the Left limit of the probing grid
* R Set the Right limit of the probing grid
*
* Global Parameters:
*
* E/e By default G29 engages / disengages the probe for each point.
* Include "E" to engage and disengage the probe just once.
* There's no extra effect if you have a fixed probe.
* 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
if (!axis_known_position[X_AXIS] || !axis_known_position[Y_AXIS]) {
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
return;
}
int verbose_level = 1;
float x_tmp, y_tmp, z_tmp, real_z;
if (code_seen('V') || code_seen('v')) {
verbose_level = code_value_long();
if (verbose_level < 0 || verbose_level > 4) {
SERIAL_PROTOCOLPGM("?(V)erbose Level is implausible (0-4).\n");
return;
}
}
bool enhanced_g29 = code_seen('E') || code_seen('e');
#ifdef AUTO_BED_LEVELING_GRID
bool topo_flag = verbose_level > 2 || code_seen('T') || code_seen('t');
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("G29 Auto Bed Leveling\n");
int auto_bed_leveling_grid_points = code_seen('P') ? code_value_long() : 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;
}
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,
back_probe_bed_position = code_seen('B') ? code_value_long() : BACK_PROBE_BED_POSITION;
bool left_out_l = left_probe_bed_position < MIN_PROBE_X,
left_out = left_out_l || left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE,
right_out_r = right_probe_bed_position > MAX_PROBE_X,
right_out = right_out_r || right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE,
front_out_f = front_probe_bed_position < MIN_PROBE_Y,
front_out = front_out_f || front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE,
back_out_b = back_probe_bed_position > MAX_PROBE_Y,
back_out = back_out_b || back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE;
if (left_out || right_out || front_out || back_out) {
if (left_out) {
SERIAL_PROTOCOLPGM("?Probe (L)eft position out of range.\n");
left_probe_bed_position = left_out_l ? MIN_PROBE_X : right_probe_bed_position - MIN_PROBE_EDGE;
}
if (right_out) {
SERIAL_PROTOCOLPGM("?Probe (R)ight position out of range.\n");
right_probe_bed_position = right_out_r ? MAX_PROBE_X : left_probe_bed_position + MIN_PROBE_EDGE;
}
if (front_out) {
SERIAL_PROTOCOLPGM("?Probe (F)ront position out of range.\n");
front_probe_bed_position = front_out_f ? MIN_PROBE_Y : back_probe_bed_position - MIN_PROBE_EDGE;
}
if (back_out) {
SERIAL_PROTOCOLPGM("?Probe (B)ack position out of range.\n");
back_probe_bed_position = back_out_b ? MAX_PROBE_Y : front_probe_bed_position + MIN_PROBE_EDGE;
}
return;
}
#endif // AUTO_BED_LEVELING_GRID
#ifdef Z_PROBE_SLED
dock_sled(false); // engage (un-dock) the probe
#endif
st_synchronize();
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position durring G29");
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
#ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1);
// solve the plane equation ax + by + d = z
// A is the matrix with rows [x y 1] for all the probed points
// B is the vector of the Z positions
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points;
double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations
eqnBVector[abl2], // "B" vector of Z points
mean = 0.0;
int probePointCounter = 0;
bool zig = true;
for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) {
int xProbe, xInc;
if (zig)
xProbe = left_probe_bed_position, xInc = xGridSpacing;
else
xProbe = right_probe_bed_position, xInc = -xGridSpacing;
// If topo_flag is set then don't zig-zag. Just scan in one direction.
// This gets the probe points in more readable order.
if (!topo_flag) zig = !zig;
for (int xCount = 0; xCount < auto_bed_leveling_grid_points; xCount++) {
// raise extruder
float measured_z,
z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
// Enhanced G29 - Do not retract servo between probes
ProbeAction act;
if (enhanced_g29) {
if (yProbe == front_probe_bed_position && xCount == 0)
act = ProbeEngage;
else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1)
act = ProbeRetract;
else
act = ProbeStay;
}
else
act = ProbeEngageRetract;
measured_z = probe_pt(xProbe, yProbe, z_before, act, verbose_level);
mean += measured_z;
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0 * abl2] = xProbe;
eqnAMatrix[probePointCounter + 1 * abl2] = yProbe;
eqnAMatrix[probePointCounter + 2 * abl2] = 1;
probePointCounter++;
xProbe += xInc;
} //xProbe
} //yProbe
clean_up_after_endstop_move();
// solve lsq problem
double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector);
mean /= abl2;
if (verbose_level) {
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
SERIAL_EOL;
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mean of sampled points: ");
SERIAL_PROTOCOL_F(mean, 8);
SERIAL_EOL;
}
}
if (topo_flag) {
int xx, yy;
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 = 0; xx < auto_bed_leveling_grid_points; xx++)
#else
for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
#endif
// Prevent user from running a G29 without first homing in X and Y
if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) )
{
LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN);
break; // abort G29, since we don't know where we are
}
#ifdef Z_PROBE_SLED
dock_sled(false);
#endif // Z_PROBE_SLED
st_synchronize();
// make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly
//vector_3 corrected_position = plan_get_position_mm();
//corrected_position.debug("position before G29");
plan_bed_level_matrix.set_to_identity();
vector_3 uncorrected_position = plan_get_position();
//uncorrected_position.debug("position durring G29");
current_position[X_AXIS] = uncorrected_position.x;
current_position[Y_AXIS] = uncorrected_position.y;
current_position[Z_AXIS] = uncorrected_position.z;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
#ifdef AUTO_BED_LEVELING_GRID
// probe at the points of a lattice grid
int left_probe_bed_position=LEFT_PROBE_BED_POSITION;
int right_probe_bed_position=RIGHT_PROBE_BED_POSITION;
int back_probe_bed_position=BACK_PROBE_BED_POSITION;
int front_probe_bed_position=FRONT_PROBE_BED_POSITION;
int auto_bed_leveling_grid_points=AUTO_BED_LEVELING_GRID_POINTS;
if (code_seen('L')) left_probe_bed_position=(int)code_value();
if (code_seen('R')) right_probe_bed_position=(int)code_value();
if (code_seen('B')) back_probe_bed_position=(int)code_value();
if (code_seen('F')) front_probe_bed_position=(int)code_value();
if (code_seen('P')) auto_bed_leveling_grid_points=(int)code_value();
int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1);
int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1);
// solve the plane equation ax + by + d = z
// A is the matrix with rows [x y 1] for all the probed points
// B is the vector of the Z positions
// the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
// so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
// "A" matrix of the linear system of equations
double eqnAMatrix[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points*3];
// "B" vector of Z points
double eqnBVector[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points];
int probePointCounter = 0;
bool zig = true;
for (int yProbe=front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing)
{
int xProbe, xInc;
if (zig)
{
xProbe = left_probe_bed_position;
//xEnd = right_probe_bed_position;
xInc = xGridSpacing;
zig = false;
} else // zag
{
xProbe = right_probe_bed_position;
//xEnd = left_probe_bed_position;
xInc = -xGridSpacing;
zig = true;
}
int ind =
#if TOPO_ORIGIN == OriginBackRight || TOPO_ORIGIN == OriginFrontLeft
yy * auto_bed_leveling_grid_points + xx
#elif TOPO_ORIGIN == OriginBackLeft
xx * auto_bed_leveling_grid_points + yy
#elif TOPO_ORIGIN == OriginFrontRight
abl2 - xx * auto_bed_leveling_grid_points - yy - 1
#endif
;
float diff = eqnBVector[ind] - mean;
if (diff >= 0.0)
SERIAL_PROTOCOLPGM(" +"); // Include + for column alignment
else
SERIAL_PROTOCOLPGM(" ");
SERIAL_PROTOCOL_F(diff, 5);
} // xx
SERIAL_EOL;
} // yy
SERIAL_EOL;
for (int xCount=0; xCount < auto_bed_leveling_grid_points; xCount++)
{
float z_before;
if (probePointCounter == 0)
{
// raise before probing
z_before = Z_RAISE_BEFORE_PROBING;
} else
{
// raise extruder
z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS;
}
float measured_z;
//Enhanced G29 - Do not retract servo between probes
if (code_seen('E') || code_seen('e') )
{
if ((yProbe==FRONT_PROBE_BED_POSITION) && (xCount==0))
{
measured_z = probe_pt(xProbe, yProbe, z_before,1);
} else if ((yProbe==FRONT_PROBE_BED_POSITION + (yGridSpacing * (AUTO_BED_LEVELING_GRID_POINTS-1))) && (xCount == AUTO_BED_LEVELING_GRID_POINTS-1))
{
measured_z = probe_pt(xProbe, yProbe, z_before,3);
} else {
measured_z = probe_pt(xProbe, yProbe, z_before,2);
}
} else {
measured_z = probe_pt(xProbe, yProbe, z_before);
}
eqnBVector[probePointCounter] = measured_z;
eqnAMatrix[probePointCounter + 0*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = xProbe;
eqnAMatrix[probePointCounter + 1*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = yProbe;
eqnAMatrix[probePointCounter + 2*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = 1;
probePointCounter++;
xProbe += xInc;
}
}
clean_up_after_endstop_move();
// solve lsq problem
double *plane_equation_coefficients = qr_solve(auto_bed_leveling_grid_points*auto_bed_leveling_grid_points, 3, eqnAMatrix, eqnBVector);
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0]);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL(plane_equation_coefficients[1]);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOLLN(plane_equation_coefficients[2]);
} //topo_flag
set_bed_level_equation_lsq(plane_equation_coefficients);
set_bed_level_equation_lsq(plane_equation_coefficients);
free(plane_equation_coefficients);
free(plane_equation_coefficients);
#else // !AUTO_BED_LEVELING_GRID
#else // AUTO_BED_LEVELING_GRID not defined
// Probe at 3 arbitrary points
float z_at_pt_1, z_at_pt_2, z_at_pt_3;
// Probe at 3 arbitrary points
// Enhanced G29
if (enhanced_g29) {
// Basic Enhanced G29
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage, verbose_level);
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay, verbose_level);
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract, verbose_level);
}
else {
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, verbose_level);
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, verbose_level);
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, verbose_level);
}
clean_up_after_endstop_move();
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
float z_at_pt_1, z_at_pt_2, z_at_pt_3;
#endif // !AUTO_BED_LEVELING_GRID
if (code_seen('E') || code_seen('e')) {
// probe 1
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING,1);
// probe 2
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,2);
// probe 3
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,3);
}
else {
// probe 1
z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING);
// probe 2
z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
// probe 3
z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS);
}
clean_up_after_endstop_move();
set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3);
st_synchronize();
if (verbose_level > 0)
plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:");
#endif // AUTO_BED_LEVELING_GRID
st_synchronize();
// Correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
z_tmp = current_position[Z_AXIS];
// The following code correct the Z height difference from z-probe position and hotend tip position.
// The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend.
// When the bed is uneven, this height must be corrected.
real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane)
x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER;
y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER;
z_tmp = current_position[Z_AXIS];
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset
current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner.
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef Z_PROBE_SLED
dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel.
#endif // Z_PROBE_SLED
}
#ifdef Z_PROBE_SLED
dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel
#endif
#ifdef Z_PROBE_END_SCRIPT
enquecommands_P(PSTR(Z_PROBE_END_SCRIPT));
st_synchronize();
#endif
}
#ifndef Z_PROBE_SLED
inline void gcode_G30() {
engage_z_probe(); // Engage Z Servo endstop if available
st_synchronize();
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
run_z_probe();
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(current_position[X_AXIS] + 0.0001);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(current_position[Y_AXIS] + 0.0001);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(current_position[Z_AXIS] + 0.0001);
SERIAL_EOL;
clean_up_after_endstop_move();
retract_z_probe(); // Retract Z Servo endstop if available
}
#endif //!Z_PROBE_SLED
#endif //ENABLE_AUTO_BED_LEVELING
/**
* G92: Set current position to given X Y Z E
*/
inline void gcode_G92() {
if (!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for (int i=0;i<NUM_AXIS;i++) {
if (code_seen(axis_codes[i])) {
if (i == E_AXIS) {
current_position[i] = code_value();
plan_set_e_position(current_position[E_AXIS]);
}
else {
current_position[i] = code_value() +
#ifdef SCARA
((i != X_AXIS && i != Y_AXIS) ? add_homing[i] : 0)
#else
add_homing[i]
#endif
;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
}
}
}
#ifdef ULTIPANEL
/**
* M0: // M0 - Unconditional stop - Wait for user button press on LCD
* M1: // M1 - Conditional stop - Wait for user button press on LCD
*/
inline void gcode_M0_M1() {
char *src = strchr_pointer + 2;
unsigned long codenum = 0;
bool hasP = false, hasS = false;
if (code_seen('P')) {
codenum = code_value(); // milliseconds to wait
hasP = codenum > 0;
}
if (code_seen('S')) {
codenum = code_value() * 1000; // seconds to wait
hasS = codenum > 0;
}
char* starpos = strchr(src, '*');
if (starpos != NULL) *(starpos) = '\0';
while (*src == ' ') ++src;
if (!hasP && !hasS && *src != '\0')
lcd_setstatus(src);
else
LCD_MESSAGEPGM(MSG_USERWAIT);
lcd_ignore_click();
st_synchronize();
previous_millis_cmd = millis();
if (codenum > 0) {
codenum += previous_millis_cmd; // keep track of when we started waiting
while(millis() < codenum && !lcd_clicked()) {
manage_heater();
manage_inactivity();
lcd_update();
}
lcd_ignore_click(false);
}
else {
if (!lcd_detected()) return;
while (!lcd_clicked()) {
manage_heater();
manage_inactivity();
lcd_update();
}
}
if (IS_SD_PRINTING)
LCD_MESSAGEPGM(MSG_RESUMING);
else
LCD_MESSAGEPGM(WELCOME_MSG);
}
#endif // ULTIPANEL
/**
* M17: Enable power on all stepper motors
*/
inline void gcode_M17() {
LCD_MESSAGEPGM(MSG_NO_MOVE);
enable_x();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
enable_e3();
}
#ifdef SDSUPPORT
/**
* M20: List SD card to serial output
*/
inline void gcode_M20() {
SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
card.ls();
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
}
/**
* M21: Init SD Card
*/
inline void gcode_M21() {
card.initsd();
}
/**
* M22: Release SD Card
*/
inline void gcode_M22() {
card.release();
}
/**
* M23: Select a file
*/
inline void gcode_M23() {
char* codepos = strchr_pointer + 4;
char* starpos = strchr(codepos, '*');
if (starpos) *starpos = '\0';
card.openFile(codepos, true);
}
/**
* M24: Start SD Print
*/
inline void gcode_M24() {
card.startFileprint();
starttime = millis();
}
/**
* M25: Pause SD Print
*/
inline void gcode_M25() {
card.pauseSDPrint();
}
/**
* M26: Set SD Card file index
*/
inline void gcode_M26() {
if (card.cardOK && code_seen('S'))
card.setIndex(code_value_long());
}
/**
* M27: Get SD Card status
*/
inline void gcode_M27() {
card.getStatus();
}
/**
* M28: Start SD Write
*/
inline void gcode_M28() {
char* codepos = strchr_pointer + 4;
char* starpos = strchr(strchr_pointer + 4, '*');
if (starpos) {
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos, ' ') + 1;
*(starpos) = '\0';
}
card.openFile(strchr_pointer + 4, false);
}
/**
* M29: Stop SD Write
* Processed in write to file routine above
*/
inline void gcode_M29() {
// card.saving = false;
}
/**
* M30 <filename>: Delete SD Card file
*/
inline void gcode_M30() {
if (card.cardOK) {
card.closefile();
char* starpos = strchr(strchr_pointer + 4, '*');
if (starpos) {
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos, ' ') + 1;
*(starpos) = '\0';
}
card.removeFile(strchr_pointer + 4);
}
}
#endif
/**
* M31: Get the time since the start of SD Print (or last M109)
*/
inline void gcode_M31() {
stoptime = millis();
unsigned long t = (stoptime - starttime) / 1000;
int min = t / 60, sec = t % 60;
char time[30];
sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
lcd_setstatus(time);
autotempShutdown();
}
#ifdef SDSUPPORT
/**
* M32: Select file and start SD Print
*/
inline void gcode_M32() {
if (card.sdprinting)
st_synchronize();
char* codepos = strchr_pointer + 4;
char* namestartpos = strchr(codepos, '!'); //find ! to indicate filename string start.
if (! namestartpos)
namestartpos = codepos; //default name position, 4 letters after the M
else
namestartpos++; //to skip the '!'
char* starpos = strchr(codepos, '*');
if (starpos) *(starpos) = '\0';
bool call_procedure = code_seen('P') && (strchr_pointer < namestartpos);
if (card.cardOK) {
card.openFile(namestartpos, true, !call_procedure);
if (code_seen('S') && strchr_pointer < namestartpos) // "S" (must occur _before_ the filename!)
card.setIndex(code_value_long());
card.startFileprint();
if (!call_procedure)
starttime = millis(); //procedure calls count as normal print time.
}
}
/**
* M928: Start SD Write
*/
inline void gcode_M928() {
char* starpos = strchr(strchr_pointer + 5, '*');
if (starpos) {
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos, ' ') + 1;
*(starpos) = '\0';
}
card.openLogFile(strchr_pointer + 5);
}
#endif // SDSUPPORT
/**
* M42: Change pin status via GCode
*/
inline void gcode_M42() {
if (code_seen('S')) {
int pin_status = code_value(),
pin_number = LED_PIN;
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
pin_number = code_value();
for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins) / sizeof(*sensitive_pins)); i++) {
if (sensitive_pins[i] == pin_number) {
pin_number = -1;
break;
#ifndef Z_PROBE_SLED
case 30: // G30 Single Z Probe
}
}
#if defined(FAN_PIN) && FAN_PIN > -1
if (pin_number == FAN_PIN) fanSpeed = pin_status;
#endif
if (pin_number > -1) {
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
}
} // code_seen('S')
}
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
#endif
/**
* M48: Z-Probe repeatability measurement function.
*
* Usage:
* M48 <n#> <X#> <Y#> <V#> <E> <L#>
* n = Number of samples (4-50, default 10)
* X = Sample X position
* Y = Sample Y position
* V = Verbose level (0-4, default=1)
* E = Engage probe for each reading
* L = Number of legs of movement before probe
*
* This function assumes the bed has been homed. Specificaly, that a G28 command
* as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
* Any information generated by a prior G29 Bed leveling command will be lost and need to be
* regenerated.
*
* The number of samples will default to 10 if not specified. You can use upper or lower case
* letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
* N for its communication protocol and will get horribly confused if you send it a capital N.
*/
inline void gcode_M48() {
double sum = 0.0, mean = 0.0, sigma = 0.0, sample_set[50];
int verbose_level = 1, n = 0, j, n_samples = 10, n_legs = 0, engage_probe_for_each_reading = 0;
double X_current, Y_current, Z_current;
double X_probe_location, Y_probe_location, Z_start_location, ext_position;
if (code_seen('V') || code_seen('v')) {
verbose_level = code_value();
if (verbose_level < 0 || verbose_level > 4 ) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausible (0-4).\n");
return;
}
}
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test\n");
if (code_seen('n')) {
n_samples = code_value();
if (n_samples < 4 || n_samples > 50) {
SERIAL_PROTOCOLPGM("?Specified sample size not plausible (4-50).\n");
return;
}
}
X_current = X_probe_location = st_get_position_mm(X_AXIS);
Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
ext_position = st_get_position_mm(E_AXIS);
if (code_seen('E') || code_seen('e'))
engage_probe_for_each_reading++;
if (code_seen('X') || code_seen('x')) {
X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
if (X_probe_location < X_MIN_POS || X_probe_location > X_MAX_POS) {
SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
return;
}
}
if (code_seen('Y') || code_seen('y')) {
Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
if (Y_probe_location < Y_MIN_POS || Y_probe_location > Y_MAX_POS) {
SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
return;
}
}
if (code_seen('L') || code_seen('l')) {
n_legs = code_value();
if (n_legs == 1) n_legs = 2;
if (n_legs < 0 || n_legs > 15) {
SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausible (0-15).\n");
return;
}
}
//
// Do all the preliminary setup work. First raise the probe.
//
st_synchronize();
plan_bed_level_matrix.set_to_identity();
plan_buffer_line(X_current, Y_current, Z_start_location,
ext_position,
homing_feedrate[Z_AXIS] / 60,
active_extruder);
st_synchronize();
//
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
//
if (verbose_level > 2)
SERIAL_PROTOCOL("Positioning probe for the test.\n");
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60,
active_extruder);
st_synchronize();
current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
//
// OK, do the inital probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
engage_z_probe();
setup_for_endstop_move();
run_z_probe();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60,
active_extruder);
st_synchronize();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
if (engage_probe_for_each_reading) retract_z_probe();
for (n=0; n < n_samples; n++) {
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
if (n_legs) {
double radius=0.0, theta=0.0, x_sweep, y_sweep;
int l;
int rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
radius = (unsigned long)millis() % (long)(X_MAX_LENGTH / 4); // limit how far out to go
theta = (float)((unsigned long)millis() % 360L) / (360. / (2 * 3.1415926)); // turn into radians
//SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR(" theta: ",theta);
//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
//SERIAL_PROTOCOLLNPGM("");
float dir = rotational_direction ? 1 : -1;
for (l = 0; l < n_legs - 1; l++) {
theta += dir * (float)((unsigned long)millis() % 20L) / (360.0/(2*3.1415926)); // turn into radians
radius += (float)(((long)((unsigned long) millis() % 10L)) - 5L);
if (radius < 0.0) radius = -radius;
X_current = X_probe_location + cos(theta) * radius;
Y_current = Y_probe_location + sin(theta) * radius;
// Make sure our X & Y are sane
X_current = constrain(X_current, X_MIN_POS, X_MAX_POS);
Y_current = constrain(Y_current, Y_MIN_POS, Y_MAX_POS);
if (verbose_level > 3) {
SERIAL_ECHOPAIR("x: ", X_current);
SERIAL_ECHOPAIR("y: ", Y_current);
SERIAL_PROTOCOLLNPGM("");
}
do_blocking_move_to( X_current, Y_current, Z_current );
}
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
}
if (engage_probe_for_each_reading) {
engage_z_probe();
delay(1000);
}
setup_for_endstop_move();
run_z_probe();
sample_set[n] = current_position[Z_AXIS];
//
// Get the current mean for the data points we have so far
//
sum = 0.0;
for (j=0; j<=n; j++) sum += sample_set[j];
mean = sum / (double (n+1));
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
sum = 0.0;
for (j=0; j<=n; j++) sum += (sample_set[j]-mean) * (sample_set[j]-mean);
sigma = sqrt( sum / (double (n+1)) );
if (verbose_level > 1) {
SERIAL_PROTOCOL(n+1);
SERIAL_PROTOCOL(" of ");
SERIAL_PROTOCOL(n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
}
if (verbose_level > 2) {
SERIAL_PROTOCOL(" mean: ");
SERIAL_PROTOCOL_F(mean,6);
SERIAL_PROTOCOL(" sigma: ");
SERIAL_PROTOCOL_F(sigma,6);
}
if (verbose_level > 0) SERIAL_EOL;
plan_buffer_line(X_probe_location, Y_probe_location, Z_start_location,
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
st_synchronize();
if (engage_probe_for_each_reading) {
retract_z_probe();
delay(1000);
}
}
retract_z_probe();
delay(1000);
clean_up_after_endstop_move();
// enable_endstops(true);
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_EOL;
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_EOL; SERIAL_EOL;
}
#endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
/**
* M104: Set hot end temperature
*/
inline void gcode_M104() {
if (setTargetedHotend(104)) return;
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
setWatch();
}
/**
* M105: Read hot end and bed temperature
*/
inline void gcode_M105() {
if (setTargetedHotend(105)) return;
#if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
SERIAL_PROTOCOLPGM("ok T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetBed(),1);
#endif //TEMP_BED_PIN
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
}
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
#endif
SERIAL_PROTOCOLPGM(" @:");
#ifdef EXTRUDER_WATTS
SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
SERIAL_PROTOCOLPGM("W");
#else
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
#endif
SERIAL_PROTOCOLPGM(" B@:");
#ifdef BED_WATTS
SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
SERIAL_PROTOCOLPGM("W");
#else
SERIAL_PROTOCOL(getHeaterPower(-1));
#endif
#ifdef SHOW_TEMP_ADC_VALUES
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" ADC B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM("C->");
SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0);
#endif
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM("C->");
SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
}
#endif
SERIAL_PROTOCOLLN("");
}
#if defined(FAN_PIN) && FAN_PIN > -1
/**
* M106: Set Fan Speed
*/
inline void gcode_M106() { fanSpeed = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
/**
* M107: Fan Off
*/
inline void gcode_M107() { fanSpeed = 0; }
#endif //FAN_PIN
/**
* M109: Wait for extruder(s) to reach temperature
*/
inline void gcode_M109() {
if (setTargetedHotend(109)) return;
LCD_MESSAGEPGM(MSG_HEATING);
CooldownNoWait = code_seen('S');
if (CooldownNoWait || code_seen('R')) {
setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
}
#ifdef AUTOTEMP
autotemp_enabled = code_seen('F');
if (autotemp_enabled) autotemp_factor = code_value();
if (code_seen('S')) autotemp_min = code_value();
if (code_seen('B')) autotemp_max = code_value();
#endif
setWatch();
unsigned long timetemp = millis();
/* See if we are heating up or cooling down */
target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
cancel_heatup = false;
#ifdef TEMP_RESIDENCY_TIME
long residencyStart = -1;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
while((!cancel_heatup)&&((residencyStart == -1) ||
(residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) )
#else
while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) )
#endif //TEMP_RESIDENCY_TIME
{ // while loop
if (millis() > timetemp + 1000UL) { //Print temp & remaining time every 1s while waiting
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)tmp_extruder);
#ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM(" W:");
if (residencyStart > -1) {
timetemp = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
SERIAL_PROTOCOLLN( timetemp );
}
else {
SERIAL_PROTOCOLLN( "?" );
}
#else
SERIAL_PROTOCOLLN("");
#endif
timetemp = millis();
}
manage_heater();
manage_inactivity();
lcd_update();
#ifdef TEMP_RESIDENCY_TIME
// start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
// or when current temp falls outside the hysteresis after target temp was reached
if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
(residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
{
engage_z_probe(); // Engage Z Servo endstop if available
st_synchronize();
// TODO: make sure the bed_level_rotation_matrix is identity or the planner will get set incorectly
setup_for_endstop_move();
feedrate = homing_feedrate[Z_AXIS];
run_z_probe();
SERIAL_PROTOCOLPGM(MSG_BED);
SERIAL_PROTOCOLPGM(" X: ");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y: ");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z: ");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM("\n");
clean_up_after_endstop_move();
retract_z_probe(); // Retract Z Servo endstop if available
residencyStart = millis();
}
#endif //TEMP_RESIDENCY_TIME
}
LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
starttime = previous_millis_cmd = millis();
}
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
/**
* M190: Sxxx Wait for bed current temp to reach target temp. Waits only when heating
* Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
*/
inline void gcode_M190() {
LCD_MESSAGEPGM(MSG_BED_HEATING);
CooldownNoWait = code_seen('S');
if (CooldownNoWait || code_seen('R'))
setTargetBed(code_value());
unsigned long timetemp = millis();
cancel_heatup = false;
target_direction = isHeatingBed(); // true if heating, false if cooling
while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) ) {
unsigned long ms = millis();
if (ms > timetemp + 1000UL) { //Print Temp Reading every 1 second while heating up.
timetemp = ms;
float tt = degHotend(active_extruder);
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(), 1);
SERIAL_PROTOCOLLN("");
}
manage_heater();
manage_inactivity();
lcd_update();
}
LCD_MESSAGEPGM(MSG_BED_DONE);
previous_millis_cmd = millis();
}
#endif // TEMP_BED_PIN > -1
/**
* M112: Emergency Stop
*/
inline void gcode_M112() {
kill();
}
#ifdef BARICUDA
#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
/**
* M126: Heater 1 valve open
*/
inline void gcode_M126() { ValvePressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
/**
* M127: Heater 1 valve close
*/
inline void gcode_M127() { ValvePressure = 0; }
#endif
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
/**
* M128: Heater 2 valve open
*/
inline void gcode_M128() { EtoPPressure = code_seen('S') ? constrain(code_value(), 0, 255) : 255; }
/**
* M129: Heater 2 valve close
*/
inline void gcode_M129() { EtoPPressure = 0; }
#endif
#endif //BARICUDA
/**
* M140: Set bed temperature
*/
inline void gcode_M140() {
if (code_seen('S')) setTargetBed(code_value());
}
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
/**
* M80: Turn on Power Supply
*/
inline void gcode_M80() {
OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); //GND
// If you have a switch on suicide pin, this is useful
// if you want to start another print with suicide feature after
// a print without suicide...
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
OUT_WRITE(SUICIDE_PIN, HIGH);
#endif
#ifdef ULTIPANEL
powersupply = true;
LCD_MESSAGEPGM(WELCOME_MSG);
lcd_update();
#endif
}
#endif // PS_ON_PIN
/**
* M81: Turn off Power Supply
*/
inline void gcode_M81() {
disable_heater();
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
finishAndDisableSteppers();
fanSpeed = 0;
delay(1000); // Wait 1 second before switching off
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize();
suicide();
#elif defined(PS_ON_PIN) && PS_ON_PIN > -1
OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
#ifdef ULTIPANEL
powersupply = false;
LCD_MESSAGEPGM(MACHINE_NAME " " MSG_OFF ".");
lcd_update();
#endif
}
/**
* M82: Set E codes absolute (default)
*/
inline void gcode_M82() { axis_relative_modes[E_AXIS] = false; }
/**
* M82: Set E codes relative while in Absolute Coordinates (G90) mode
*/
inline void gcode_M83() { axis_relative_modes[E_AXIS] = true; }
/**
* M18, M84: Disable all stepper motors
*/
inline void gcode_M18_M84() {
if (code_seen('S')) {
stepper_inactive_time = code_value() * 1000;
}
else {
bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
if (all_axis) {
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
finishAndDisableSteppers();
}
else {
st_synchronize();
if (code_seen('X')) disable_x();
if (code_seen('Y')) disable_y();
if (code_seen('Z')) disable_z();
#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if (code_seen('E')) {
disable_e0();
disable_e1();
disable_e2();
disable_e3();
}
#endif
}
}
}
/**
* M85: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
*/
inline void gcode_M85() {
if (code_seen('S')) max_inactive_time = code_value() * 1000;
}
/**
* M92: Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
*/
inline void gcode_M92() {
for(int8_t i=0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
if (i == E_AXIS) {
float value = code_value();
if (value < 20.0) {
float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
max_e_jerk *= factor;
max_feedrate[i] *= factor;
axis_steps_per_sqr_second[i] *= factor;
}
axis_steps_per_unit[i] = value;
}
else {
axis_steps_per_unit[i] = code_value();
}
}
}
}
/**
* M114: Output current position to serial port
*/
inline void gcode_M114() {
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOLLN("");
#ifdef SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLLN("");
#endif
}
/**
* M115: Capabilities string
*/
inline void gcode_M115() {
SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
}
/**
* M117: Set LCD Status Message
*/
inline void gcode_M117() {
char* codepos = strchr_pointer + 5;
char* starpos = strchr(codepos, '*');
if (starpos) *starpos = '\0';
lcd_setstatus(codepos);
}
/**
* M119: Output endstop states to serial output
*/
inline void gcode_M119() {
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MIN);
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MAX);
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
}
/**
* M120: Enable endstops
*/
inline void gcode_M120() { enable_endstops(false); }
/**
* M121: Disable endstops
*/
inline void gcode_M121() { enable_endstops(true); }
#ifdef BLINKM
/**
* M150: Set Status LED Color - Use R-U-B for R-G-B
*/
inline void gcode_M150() {
SendColors(
code_seen('R') ? (byte)code_value() : 0,
code_seen('U') ? (byte)code_value() : 0,
code_seen('B') ? (byte)code_value() : 0
);
}
#endif // BLINKM
/**
* M200: Set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
* T<extruder>
* D<millimeters>
*/
inline void gcode_M200() {
tmp_extruder = active_extruder;
if (code_seen('T')) {
tmp_extruder = code_value();
if (tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
return;
}
}
float area = .0;
if (code_seen('D')) {
float diameter = code_value();
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
volumetric_enabled = (diameter != 0.0);
if (volumetric_enabled) {
filament_size[tmp_extruder] = diameter;
// make sure all extruders have some sane value for the filament size
for (int i=0; i<EXTRUDERS; i++)
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
}
else {
//reserved for setting filament diameter via UFID or filament measuring device
return;
}
calculate_volumetric_multipliers();
}
/**
* M201: Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
*/
inline void gcode_M201() {
for (int8_t i=0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
max_acceleration_units_per_sq_second[i] = code_value();
}
}
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
reset_acceleration_rates();
}
#if 0 // Not used for Sprinter/grbl gen6
inline void gcode_M202() {
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
}
#endif
/**
* M203: Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
*/
inline void gcode_M203() {
for (int8_t i=0; i < NUM_AXIS; i++) {
if (code_seen(axis_codes[i])) {
max_feedrate[i] = code_value();
}
}
}
/**
* M204: Set Accelerations in mm/sec^2 (M204 P1200 R3000 T3000)
*
* 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('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;
}
}
/**
* M205: Set Advanced Settings
*
* S = Min Feed Rate (mm/s)
* T = Min Travel Feed Rate (mm/s)
* B = Min Segment Time (µs)
* X = Max XY Jerk (mm/s/s)
* Z = Max Z Jerk (mm/s/s)
* E = Max E Jerk (mm/s/s)
*/
inline void gcode_M205() {
if (code_seen('S')) minimumfeedrate = code_value();
if (code_seen('T')) mintravelfeedrate = code_value();
if (code_seen('B')) minsegmenttime = code_value();
if (code_seen('X')) max_xy_jerk = code_value();
if (code_seen('Z')) max_z_jerk = code_value();
if (code_seen('E')) max_e_jerk = code_value();
}
/**
* M206: Set Additional Homing Offset (X Y Z). SCARA aliases T=X, P=Y
*/
inline void gcode_M206() {
for (int8_t i=X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
add_homing[i] = code_value();
}
}
#ifdef SCARA
if (code_seen('T')) add_homing[X_AXIS] = code_value(); // Theta
if (code_seen('P')) add_homing[Y_AXIS] = code_value(); // Psi
#endif
}
#ifdef DELTA
/**
* M665: Set delta configurations
*
* L = diagonal rod
* R = delta radius
* S = segments per second
*/
inline void gcode_M665() {
if (code_seen('L')) delta_diagonal_rod = code_value();
if (code_seen('R')) delta_radius = code_value();
if (code_seen('S')) delta_segments_per_second = code_value();
recalc_delta_settings(delta_radius, delta_diagonal_rod);
}
/**
* M666: Set delta endstop adjustment
*/
inline void gcode_M666() {
for (int8_t i = 0; i < 3; i++) {
if (code_seen(axis_codes[i])) {
endstop_adj[i] = code_value();
}
}
}
#endif // DELTA
#ifdef FWRETRACT
/**
* M207: Set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
*/
inline void gcode_M207() {
if (code_seen('S')) retract_length = code_value();
if (code_seen('F')) retract_feedrate = code_value() / 60;
if (code_seen('Z')) retract_zlift = code_value();
}
/**
* M208: Set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
*/
inline void gcode_M208() {
if (code_seen('S')) retract_recover_length = code_value();
if (code_seen('F')) retract_recover_feedrate = code_value() / 60;
}
/**
* M209: Enable automatic retract (M209 S1)
* detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
*/
inline void gcode_M209() {
if (code_seen('S')) {
int t = code_value();
switch(t) {
case 0:
autoretract_enabled = false;
break;
case 1:
autoretract_enabled = true;
break;
default:
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(cmdbuffer[bufindr]);
SERIAL_ECHOLNPGM("\"");
return;
}
for (int i=0; i<EXTRUDERS; i++) retracted[i] = false;
}
}
#endif // FWRETRACT
#if EXTRUDERS > 1
/**
* M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
*/
inline void gcode_M218() {
if (setTargetedHotend(218)) return;
if (code_seen('X')) extruder_offset[X_AXIS][tmp_extruder] = code_value();
if (code_seen('Y')) extruder_offset[Y_AXIS][tmp_extruder] = code_value();
#ifdef DUAL_X_CARRIAGE
if (code_seen('Z')) extruder_offset[Z_AXIS][tmp_extruder] = code_value();
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
for (tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) {
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
#ifdef DUAL_X_CARRIAGE
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
#endif
}
SERIAL_EOL;
}
#endif // EXTRUDERS > 1
/**
* M220: Set speed percentage factor, aka "Feed Rate" (M220 S95)
*/
inline void gcode_M220() {
if (code_seen('S')) feedmultiply = code_value();
}
/**
* M221: Set extrusion percentage (M221 T0 S95)
*/
inline void gcode_M221() {
if (code_seen('S')) {
int sval = code_value();
if (code_seen('T')) {
if (setTargetedHotend(221)) return;
extruder_multiply[tmp_extruder] = sval;
}
else {
extrudemultiply = sval;
}
}
}
/**
* M226: Wait until the specified pin reaches the state required (M226 P<pin> S<state>)
*/
inline void gcode_M226() {
if (code_seen('P')) {
int pin_number = code_value();
int pin_state = code_seen('S') ? code_value() : -1; // required pin state - default is inverted
if (pin_state >= -1 && pin_state <= 1) {
for (int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(*sensitive_pins)); i++) {
if (sensitive_pins[i] == pin_number) {
pin_number = -1;
break;
}
}
if (pin_number > -1) {
int target = LOW;
st_synchronize();
pinMode(pin_number, INPUT);
switch(pin_state){
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
case -1:
target = !digitalRead(pin_number);
break;
}
while(digitalRead(pin_number) != target) {
manage_heater();
manage_inactivity();
lcd_update();
}
} // pin_number > -1
} // pin_state -1 0 1
} // code_seen('P')
}
#if NUM_SERVOS > 0
/**
* M280: Set servo position absolute. P: servo index, S: angle or microseconds
*/
inline void gcode_M280() {
int servo_index = code_seen('P') ? code_value() : -1;
int servo_position = 0;
if (code_seen('S')) {
servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
#if SERVO_LEVELING
servos[servo_index].attach(0);
#endif
servos[servo_index].write(servo_position);
#if SERVO_LEVELING
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_index].detach();
#endif
}
else {
SERIAL_ECHO_START;
SERIAL_ECHO("Servo ");
SERIAL_ECHO(servo_index);
SERIAL_ECHOLN(" out of range");
}
}
else if (servo_index >= 0) {
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" Servo ");
SERIAL_PROTOCOL(servo_index);
SERIAL_PROTOCOL(": ");
SERIAL_PROTOCOL(servos[servo_index].read());
SERIAL_PROTOCOLLN("");
}
}
#endif // NUM_SERVOS > 0
#if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))
/**
* M300: Play beep sound S<frequency Hz> P<duration ms>
*/
inline void gcode_M300() {
int beepS = code_seen('S') ? code_value() : 110;
int beepP = code_seen('P') ? code_value() : 1000;
if (beepS > 0) {
#if BEEPER > 0
tone(BEEPER, beepS);
delay(beepP);
noTone(BEEPER);
#elif defined(ULTRALCD)
lcd_buzz(beepS, beepP);
#elif defined(LCD_USE_I2C_BUZZER)
lcd_buzz(beepP, beepS);
#endif
}
else {
delay(beepP);
}
}
#endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
#ifdef PIDTEMP
/**
* M301: Set PID parameters P I D (and optionally C)
*/
inline void gcode_M301() {
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
// default behaviour (omitting E parameter) is to update for extruder 0 only
int e = code_seen('E') ? code_value() : 0; // extruder being updated
if (e < EXTRUDERS) { // catch bad input value
if (code_seen('P')) PID_PARAM(Kp, e) = code_value();
if (code_seen('I')) PID_PARAM(Ki, e) = scalePID_i(code_value());
if (code_seen('D')) PID_PARAM(Kd, e) = scalePID_d(code_value());
#ifdef PID_ADD_EXTRUSION_RATE
if (code_seen('C')) PID_PARAM(Kc, e) = code_value();
#endif
updatePID();
SERIAL_PROTOCOL(MSG_OK);
#ifdef PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL(" e:"); // specify extruder in serial output
SERIAL_PROTOCOL(e);
#endif // PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(PID_PARAM(Kp, e));
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(PID_PARAM(Ki, e)));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(PID_PARAM(Kd, e)));
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL(" c:");
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_PROTOCOL(PID_PARAM(Kc, e));
#endif
SERIAL_PROTOCOLLN("");
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
}
#endif // PIDTEMP
#ifdef PIDTEMPBED
inline void gcode_M304() {
if (code_seen('P')) bedKp = code_value();
if (code_seen('I')) bedKi = scalePID_i(code_value());
if (code_seen('D')) bedKd = scalePID_d(code_value());
updatePID();
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(bedKp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(bedKi));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(bedKd));
SERIAL_PROTOCOLLN("");
}
#endif // PIDTEMPBED
#if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
/**
* M240: Trigger a camera by emulating a Canon RC-1
* See http://www.doc-diy.net/photo/rc-1_hacked/
*/
inline void gcode_M240() {
#ifdef CHDK
OUT_WRITE(CHDK, HIGH);
chdkHigh = millis();
chdkActive = true;
#elif defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
const uint8_t NUM_PULSES = 16;
const float PULSE_LENGTH = 0.01524;
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
delay(7.33);
for (int i = 0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
#endif // !CHDK && PHOTOGRAPH_PIN > -1
}
#endif // CHDK || PHOTOGRAPH_PIN
#ifdef DOGLCD
/**
* M250: Read and optionally set the LCD contrast
*/
inline void gcode_M250() {
if (code_seen('C')) lcd_setcontrast(code_value_long() & 0x3F);
SERIAL_PROTOCOLPGM("lcd contrast value: ");
SERIAL_PROTOCOL(lcd_contrast);
SERIAL_PROTOCOLLN("");
}
#endif // DOGLCD
#ifdef PREVENT_DANGEROUS_EXTRUDE
/**
* M302: Allow cold extrudes, or set the minimum extrude S<temperature>.
*/
inline void gcode_M302() {
set_extrude_min_temp(code_seen('S') ? code_value() : 0);
}
#endif // PREVENT_DANGEROUS_EXTRUDE
/**
* M303: PID relay autotune
* S<temperature> sets the target temperature. (default target temperature = 150C)
* E<extruder> (-1 for the bed)
* C<cycles>
*/
inline void gcode_M303() {
int e = code_seen('E') ? code_value_long() : 0;
int c = code_seen('C') ? code_value_long() : 5;
float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
PID_autotune(temp, e, c);
}
#ifdef SCARA
/**
* M360: SCARA calibration: Move to cal-position ThetaA (0 deg calibration)
*/
inline bool gcode_M360() {
SERIAL_ECHOLN(" Cal: Theta 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 0;
delta[Y_AXIS] = 120;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
}
/**
* M361: SCARA calibration: Move to cal-position ThetaB (90 deg calibration - steps per degree)
*/
inline bool gcode_M361() {
SERIAL_ECHOLN(" Cal: Theta 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 90;
delta[Y_AXIS] = 130;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
}
/**
* M362: SCARA calibration: Move to cal-position PsiA (0 deg calibration)
*/
inline bool gcode_M362() {
SERIAL_ECHOLN(" Cal: Psi 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 60;
delta[Y_AXIS] = 180;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
}
/**
* M363: SCARA calibration: Move to cal-position PsiB (90 deg calibration - steps per degree)
*/
inline bool gcode_M363() {
SERIAL_ECHOLN(" Cal: Psi 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 50;
delta[Y_AXIS] = 90;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
}
/**
* M364: SCARA calibration: Move to cal-position PSIC (90 deg to Theta calibration position)
*/
inline bool gcode_M364() {
SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
// SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if (! Stopped) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 45;
delta[Y_AXIS] = 135;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS] / axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS] / axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return true;
}
return false;
}
/**
* M365: SCARA calibration: Scaling factor, X, Y, Z axis
*/
inline void gcode_M365() {
for (int8_t i = X_AXIS; i <= Z_AXIS; i++) {
if (code_seen(axis_codes[i])) {
axis_scaling[i] = code_value();
}
}
}
#endif // SCARA
#ifdef EXT_SOLENOID
void enable_solenoid(uint8_t num) {
switch(num) {
case 0:
OUT_WRITE(SOL0_PIN, HIGH);
break;
#else
case 31: // dock the sled
dock_sled(true);
#if defined(SOL1_PIN) && SOL1_PIN > -1
case 1:
OUT_WRITE(SOL1_PIN, HIGH);
break;
#endif
#if defined(SOL2_PIN) && SOL2_PIN > -1
case 2:
OUT_WRITE(SOL2_PIN, HIGH);
break;
#endif
#if defined(SOL3_PIN) && SOL3_PIN > -1
case 3:
OUT_WRITE(SOL3_PIN, HIGH);
break;
#endif
default:
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID);
break;
case 32: // undock the sled
dock_sled(false);
}
}
void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); }
void disable_all_solenoids() {
OUT_WRITE(SOL0_PIN, LOW);
OUT_WRITE(SOL1_PIN, LOW);
OUT_WRITE(SOL2_PIN, LOW);
OUT_WRITE(SOL3_PIN, LOW);
}
/**
* M380: Enable solenoid on the active extruder
*/
inline void gcode_M380() { enable_solenoid_on_active_extruder(); }
/**
* M381: Disable all solenoids
*/
inline void gcode_M381() { disable_all_solenoids(); }
#endif // EXT_SOLENOID
/**
* M400: Finish all moves
*/
inline void gcode_M400() { st_synchronize(); }
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
/**
* M401: Engage Z Servo endstop if available
*/
inline void gcode_M401() { engage_z_probe(); }
/**
* M402: Retract Z Servo endstop if enabled
*/
inline void gcode_M402() { retract_z_probe(); }
#endif
#ifdef FILAMENT_SENSOR
/**
* M404: Display or set the nominal filament width (3mm, 1.75mm ) N<3.0>
*/
inline void gcode_M404() {
#if FILWIDTH_PIN > -1
if (code_seen('N')) {
filament_width_nominal = code_value();
}
else {
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
SERIAL_PROTOCOLLN(filament_width_nominal);
}
#endif
}
/**
* M405: Turn on filament sensor for control
*/
inline void gcode_M405() {
if (code_seen('D')) meas_delay_cm = code_value();
if (meas_delay_cm > MAX_MEASUREMENT_DELAY) meas_delay_cm = MAX_MEASUREMENT_DELAY;
if (delay_index2 == -1) { //initialize the ring buffer if it has not been done since startup
int temp_ratio = widthFil_to_size_ratio();
for (delay_index1 = 0; delay_index1 < MAX_MEASUREMENT_DELAY + 1; ++delay_index1)
measurement_delay[delay_index1] = temp_ratio - 100; //subtract 100 to scale within a signed byte
delay_index1 = delay_index2 = 0;
}
filament_sensor = true;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(extrudemultiply);
}
/**
* M406: Turn off filament sensor for control
*/
inline void gcode_M406() { filament_sensor = false; }
/**
* M407: Get measured filament diameter on serial output
*/
inline void gcode_M407() {
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
SERIAL_PROTOCOLLN(filament_width_meas);
}
#endif // FILAMENT_SENSOR
/**
* M500: Store settings in EEPROM
*/
inline void gcode_M500() {
Config_StoreSettings();
}
/**
* M501: Read settings from EEPROM
*/
inline void gcode_M501() {
Config_RetrieveSettings();
}
/**
* M502: Revert to default settings
*/
inline void gcode_M502() {
Config_ResetDefault();
}
/**
* M503: print settings currently in memory
*/
inline void gcode_M503() {
Config_PrintSettings(code_seen('S') && code_value == 0);
}
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
/**
* M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
*/
inline void gcode_M540() {
if (code_seen('S')) abort_on_endstop_hit = (code_value() > 0);
}
#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
inline void gcode_SET_Z_PROBE_OFFSET() {
float value;
if (code_seen('Z')) {
value = code_value();
if (Z_PROBE_OFFSET_RANGE_MIN <= value && value <= Z_PROBE_OFFSET_RANGE_MAX) {
zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
SERIAL_PROTOCOLLN("");
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
SERIAL_ECHOPGM(MSG_Z_MIN);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_ECHOPGM(MSG_Z_MAX);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
SERIAL_PROTOCOLLN("");
}
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
SERIAL_ECHO(-zprobe_zoffset);
SERIAL_PROTOCOLLN("");
}
}
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
#ifdef FILAMENTCHANGEENABLE
/**
* M600: Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
*/
inline void gcode_M600() {
float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate / 60;
for (int i=0; i<NUM_AXIS; i++)
target[i] = lastpos[i] = current_position[i];
#define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
#ifdef DELTA
#define RUNPLAN calculate_delta(target); BASICPLAN
#else
#define RUNPLAN BASICPLAN
#endif
//retract by E
if (code_seen('E')) target[E_AXIS] += code_value();
#ifdef FILAMENTCHANGE_FIRSTRETRACT
else target[E_AXIS] += FILAMENTCHANGE_FIRSTRETRACT;
#endif
RUNPLAN;
//lift Z
if (code_seen('Z')) target[Z_AXIS] += code_value();
#ifdef FILAMENTCHANGE_ZADD
else target[Z_AXIS] += FILAMENTCHANGE_ZADD;
#endif
RUNPLAN;
//move xy
if (code_seen('X')) target[X_AXIS] = code_value();
#ifdef FILAMENTCHANGE_XPOS
else target[X_AXIS] = FILAMENTCHANGE_XPOS;
#endif
if (code_seen('Y')) target[Y_AXIS] = code_value();
#ifdef FILAMENTCHANGE_YPOS
else target[Y_AXIS] = FILAMENTCHANGE_YPOS;
#endif
RUNPLAN;
if (code_seen('L')) target[E_AXIS] += code_value();
#ifdef FILAMENTCHANGE_FINALRETRACT
else target[E_AXIS] += FILAMENTCHANGE_FINALRETRACT;
#endif
RUNPLAN;
//finish moves
st_synchronize();
//disable extruder steppers so filament can be removed
disable_e0();
disable_e1();
disable_e2();
disable_e3();
delay(100);
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
uint8_t cnt = 0;
while (!lcd_clicked()) {
cnt++;
manage_heater();
manage_inactivity(true);
lcd_update();
if (cnt == 0) {
#if BEEPER > 0
OUT_WRITE(BEEPER,HIGH);
delay(3);
WRITE(BEEPER,LOW);
delay(3);
#else
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz(1000/6, 100);
#else
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
#endif
#endif
}
} // while(!lcd_clicked)
//return to normal
if (code_seen('L')) target[E_AXIS] -= code_value();
#ifdef FILAMENTCHANGE_FINALRETRACT
else target[E_AXIS] -= FILAMENTCHANGE_FINALRETRACT;
#endif
current_position[E_AXIS] = target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
plan_set_e_position(current_position[E_AXIS]);
RUNPLAN; //should do nothing
lcd_reset_alert_level();
#ifdef DELTA
calculate_delta(lastpos);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xyz back
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#else
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xy back
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
}
#endif // FILAMENTCHANGEENABLE
#ifdef DUAL_X_CARRIAGE
/**
* M605: Set dual x-carriage movement mode
*
* M605 S0: Full control mode. The slicer has full control over x-carriage movement
* M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
* M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
* millimeters x-offset and an optional differential hotend temperature of
* mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
* the first with a spacing of 100mm in the x direction and 2 degrees hotter.
*
* Note: the X axis should be homed after changing dual x-carriage mode.
*/
inline void gcode_M605() {
st_synchronize();
if (code_seen('S')) dual_x_carriage_mode = code_value();
switch(dual_x_carriage_mode) {
case DXC_DUPLICATION_MODE:
if (code_seen('X')) duplicate_extruder_x_offset = max(code_value(), X2_MIN_POS - x_home_pos(0));
if (code_seen('R')) duplicate_extruder_temp_offset = code_value();
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][0]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
SERIAL_ECHO(" ");
SERIAL_ECHO(duplicate_extruder_x_offset);
SERIAL_ECHO(",");
SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
break;
#endif // Z_PROBE_SLED
#endif // ENABLE_AUTO_BED_LEVELING
case DXC_FULL_CONTROL_MODE:
case DXC_AUTO_PARK_MODE:
break;
default:
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
break;
}
active_extruder_parked = false;
extruder_duplication_enabled = false;
delayed_move_time = 0;
}
#endif // DUAL_X_CARRIAGE
/**
* 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
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());
if (code_seen('S')) for (int i=0; i<=4; i++) digipot_current(i, code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_XY_PIN
if (code_seen('X')) digipot_current(0, code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_Z_PIN
if (code_seen('Z')) digipot_current(1, code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_E_PIN
if (code_seen('E')) digipot_current(2, code_value());
#endif
#ifdef DIGIPOT_I2C
// this one uses actual amps in floating point
for (int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
for (int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
#endif
}
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
/**
* M908: Control digital trimpot directly (M908 P<pin> S<current>)
*/
inline void gcode_M908() {
digitalPotWrite(
code_seen('P') ? code_value() : 0,
code_seen('S') ? code_value() : 0
);
}
#endif // DIGIPOTSS_PIN
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350() {
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
if(code_seen('B')) microstep_mode(4,code_value());
microstep_readings();
#endif
}
/**
* M351: Toggle MS1 MS2 pins directly with axis codes X Y Z E B
* S# determines MS1 or MS2, X# sets the pin high/low.
*/
inline void gcode_M351() {
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
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);
break;
case 2:
for(int i=0;i<NUM_AXIS;i++) if (code_seen(axis_codes[i])) microstep_ms(i, -1, code_value());
if (code_seen('B')) microstep_ms(4, -1, code_value());
break;
}
microstep_readings();
#endif
}
/**
* M999: Restart after being stopped
*/
inline void gcode_M999() {
Stopped = false;
lcd_reset_alert_level();
gcode_LastN = Stopped_gcode_LastN;
FlushSerialRequestResend();
}
inline void gcode_T() {
tmp_extruder = code_value();
if (tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO("T");
SERIAL_ECHO(tmp_extruder);
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
else {
boolean make_move = false;
if (code_seen('F')) {
make_move = true;
next_feedrate = code_value();
if (next_feedrate > 0.0) feedrate = next_feedrate;
}
#if EXTRUDERS > 1
if (tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
memcpy(destination, current_position, sizeof(destination));
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
(delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder))) {
// Park old head: 1) raise 2) move to park position 3) lower
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
st_synchronize();
}
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position[Y_AXIS] = current_position[Y_AXIS] -
extruder_offset[Y_AXIS][active_extruder] +
extruder_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] = current_position[Z_AXIS] -
extruder_offset[Z_AXIS][active_extruder] +
extruder_offset[Z_AXIS][tmp_extruder];
active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below.
axis_is_at_home(X_AXIS);
if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE) {
current_position[X_AXIS] = inactive_extruder_x_pos;
inactive_extruder_x_pos = destination[X_AXIS];
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) {
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
if (active_extruder == 0 || active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
}
else {
// record raised toolhead position for use by unpark
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
active_extruder_parked = true;
delayed_move_time = 0;
}
#else // !DUAL_X_CARRIAGE
// Offset extruder (only by XY)
for (int i=X_AXIS; i<=Y_AXIS; i++)
current_position[i] += extruder_offset[i][tmp_extruder] - extruder_offset[i][active_extruder];
// Set the new active extruder and position
active_extruder = tmp_extruder;
#endif // !DUAL_X_CARRIAGE
#ifdef DELTA
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
//sent position to plan_set_position();
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
#else
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif
// Move to the old position if 'F' was in the parameters
if (make_move && !Stopped) prepare_move();
}
#ifdef EXT_SOLENOID
st_synchronize();
disable_all_solenoids();
enable_solenoid_on_active_extruder();
#endif // EXT_SOLENOID
#endif // EXTRUDERS > 1
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
SERIAL_PROTOCOLLN((int)active_extruder);
}
}
/**
* Process Commands and dispatch them to handlers
*/
void process_commands() {
if (code_seen('G')) {
int gCode = code_value_long();
switch(gCode) {
// G0, G1
case 0:
case 1:
gcode_G0_G1();
break;
// G2, G3
#ifndef SCARA
case 2: // G2 - CW ARC
case 3: // G3 - CCW ARC
gcode_G2_G3(gCode == 2);
break;
#endif
// G4 Dwell
case 4:
gcode_G4();
break;
#ifdef FWRETRACT
case 10: // G10: retract
case 11: // G11: retract_recover
gcode_G10_G11(gCode == 10);
break;
#endif //FWRETRACT
case 28: // G28: Home all axes, one at a time
gcode_G28();
break;
#ifdef ENABLE_AUTO_BED_LEVELING
case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points.
gcode_G29();
break;
#ifndef Z_PROBE_SLED
case 30: // G30 Single Z Probe
gcode_G30();
break;
#else // Z_PROBE_SLED
case 31: // G31: dock the sled
case 32: // G32: undock the sled
dock_sled(gCode == 31);
break;
#endif // Z_PROBE_SLED
#endif // ENABLE_AUTO_BED_LEVELING
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
if(!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) {
if(i == E_AXIS) {
current_position[i] = code_value();
plan_set_e_position(current_position[E_AXIS]);
}
else {
#ifdef SCARA
if (i == X_AXIS || i == Y_AXIS) {
current_position[i] = code_value();
}
else {
current_position[i] = code_value()+add_homing[i];
}
#else
current_position[i] = code_value()+add_homing[i];
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
}
}
}
gcode_G92();
break;
}
}
else if(code_seen('M'))
{
switch( (int)code_value() )
{
#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
{
char *src = strchr_pointer + 2;
else if (code_seen('M')) {
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
gcode_M0_M1();
break;
#endif // ULTIPANEL
codenum = 0;
case 17:
gcode_M17();
break;
bool hasP = false, hasS = false;
if (code_seen('P')) {
codenum = code_value(); // milliseconds to wait
hasP = codenum > 0;
}
if (code_seen('S')) {
codenum = code_value() * 1000; // seconds to wait
hasS = codenum > 0;
}
starpos = strchr(src, '*');
if (starpos != NULL) *(starpos) = '\0';
while (*src == ' ') ++src;
if (!hasP && !hasS && *src != '\0') {
lcd_setstatus(src);
} else {
LCD_MESSAGEPGM(MSG_USERWAIT);
}
#ifdef SDSUPPORT
lcd_ignore_click();
st_synchronize();
previous_millis_cmd = millis();
if (codenum > 0){
codenum += millis(); // keep track of when we started waiting
while(millis() < codenum && !lcd_clicked()){
manage_heater();
manage_inactivity();
lcd_update();
}
lcd_ignore_click(false);
}else{
if (!lcd_detected())
break;
while(!lcd_clicked()){
manage_heater();
manage_inactivity();
lcd_update();
}
}
if (IS_SD_PRINTING)
LCD_MESSAGEPGM(MSG_RESUMING);
else
LCD_MESSAGEPGM(WELCOME_MSG);
}
break;
#endif
case 17:
LCD_MESSAGEPGM(MSG_NO_MOVE);
enable_x();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
break;
case 20: // M20 - list SD card
gcode_M20(); break;
case 21: // M21 - init SD card
gcode_M21(); break;
case 22: //M22 - release SD card
gcode_M22(); break;
case 23: //M23 - Select file
gcode_M23(); break;
case 24: //M24 - Start SD print
gcode_M24(); break;
case 25: //M25 - Pause SD print
gcode_M25(); break;
case 26: //M26 - Set SD index
gcode_M26(); break;
case 27: //M27 - Get SD status
gcode_M27(); break;
case 28: //M28 - Start SD write
gcode_M28(); break;
case 29: //M29 - Stop SD write
gcode_M29(); break;
case 30: //M30 <filename> Delete File
gcode_M30(); break;
case 32: //M32 - Select file and start SD print
gcode_M32(); break;
case 928: //M928 - Start SD write
gcode_M928(); break;
#ifdef SDSUPPORT
case 20: // M20 - list SD card
SERIAL_PROTOCOLLNPGM(MSG_BEGIN_FILE_LIST);
card.ls();
SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST);
break;
case 21: // M21 - init SD card
#endif //SDSUPPORT
card.initsd();
case 31: //M31 take time since the start of the SD print or an M109 command
gcode_M31();
break;
break;
case 22: //M22 - release SD card
card.release();
case 42: //M42 -Change pin status via gcode
gcode_M42();
break;
break;
case 23: //M23 - Select file
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos!=NULL)
*(starpos)='\0';
card.openFile(strchr_pointer + 4,true);
break;
case 24: //M24 - Start SD print
card.startFileprint();
starttime=millis();
break;
case 25: //M25 - Pause SD print
card.pauseSDPrint();
break;
case 26: //M26 - Set SD index
if(card.cardOK && code_seen('S')) {
card.setIndex(code_value_long());
}
break;
case 27: //M27 - Get SD status
card.getStatus();
break;
case 28: //M28 - Start SD write
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos != NULL){
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos) = '\0';
}
card.openFile(strchr_pointer+4,false);
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//card,saving = false;
break;
case 30: //M30 <filename> Delete File
if (card.cardOK){
card.closefile();
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos != NULL){
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos) = '\0';
}
card.removeFile(strchr_pointer + 4);
}
break;
case 32: //M32 - Select file and start SD print
{
if(card.sdprinting) {
st_synchronize();
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(Z_PROBE_REPEATABILITY_TEST)
case 48: // M48 Z-Probe repeatability
gcode_M48();
break;
#endif // ENABLE_AUTO_BED_LEVELING && Z_PROBE_REPEATABILITY_TEST
}
starpos = (strchr(strchr_pointer + 4,'*'));
case 104: // M104
gcode_M104();
break;
char* namestartpos = (strchr(strchr_pointer + 4,'!')); //find ! to indicate filename string start.
if(namestartpos==NULL)
{
namestartpos=strchr_pointer + 4; //default name position, 4 letters after the M
}
else
namestartpos++; //to skip the '!'
case 112: // M112 Emergency Stop
gcode_M112();
break;
if(starpos!=NULL)
*(starpos)='\0';
case 140: // M140 Set bed temp
gcode_M140();
break;
bool call_procedure=(code_seen('P'));
case 105: // M105 Read current temperature
gcode_M105();
return;
break;
if(strchr_pointer>namestartpos)
call_procedure=false; //false alert, 'P' found within filename
case 109: // M109 Wait for temperature
gcode_M109();
break;
if( card.cardOK )
{
card.openFile(namestartpos,true,!call_procedure);
if(code_seen('S'))
if(strchr_pointer<namestartpos) //only if "S" is occuring _before_ the filename
card.setIndex(code_value_long());
card.startFileprint();
if(!call_procedure)
starttime=millis(); //procedure calls count as normal print time.
}
} break;
case 928: //M928 - Start SD write
starpos = (strchr(strchr_pointer + 5,'*'));
if(starpos != NULL){
char* npos = strchr(cmdbuffer[bufindr], 'N');
strchr_pointer = strchr(npos,' ') + 1;
*(starpos) = '\0';
}
card.openLogFile(strchr_pointer+5);
break;
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
case 190: // M190 - Wait for bed heater to reach target.
gcode_M190();
break;
#endif //TEMP_BED_PIN
#endif //SDSUPPORT
case 31: //M31 take time since the start of the SD print or an M109 command
{
stoptime=millis();
char time[30];
unsigned long t=(stoptime-starttime)/1000;
int sec,min;
min=t/60;
sec=t%60;
sprintf_P(time, PSTR("%i min, %i sec"), min, sec);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
lcd_setstatus(time);
autotempShutdown();
}
break;
case 42: //M42 -Change pin status via gcode
if (code_seen('S'))
{
int pin_status = code_value();
int pin_number = LED_PIN;
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
pin_number = code_value();
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
{
if (sensitive_pins[i] == pin_number)
{
pin_number = -1;
break;
}
}
#if defined(FAN_PIN) && FAN_PIN > -1
if (pin_number == FAN_PIN)
fanSpeed = pin_status;
#endif
if (pin_number > -1)
{
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
}
}
break;
// M48 Z-Probe repeatability measurement function.
//
// Usage: M48 <n #_samples> <X X_position_for_samples> <Y Y_position_for_samples> <V Verbose_Level> <Engage_probe_for_each_reading> <L legs_of_movement_prior_to_doing_probe>
//
// This function assumes the bed has been homed. Specificaly, that a G28 command
// as been issued prior to invoking the M48 Z-Probe repeatability measurement function.
// Any information generated by a prior G29 Bed leveling command will be lost and need to be
// regenerated.
//
// The number of samples will default to 10 if not specified. You can use upper or lower case
// letters for any of the options EXCEPT n. n must be in lower case because Marlin uses a capital
// N for its communication protocol and will get horribly confused if you send it a capital N.
//
#ifdef ENABLE_AUTO_BED_LEVELING
#ifdef Z_PROBE_REPEATABILITY_TEST
case 48: // M48 Z-Probe repeatability
{
#if Z_MIN_PIN == -1
#error "You must have a Z_MIN endstop in order to enable calculation of Z-Probe repeatability."
#endif
double sum=0.0;
double mean=0.0;
double sigma=0.0;
double sample_set[50];
int verbose_level=1, n=0, j, n_samples = 10, n_legs=0, engage_probe_for_each_reading=0 ;
double X_current, Y_current, Z_current;
double X_probe_location, Y_probe_location, Z_start_location, ext_position;
if (code_seen('V') || code_seen('v')) {
verbose_level = code_value();
if (verbose_level<0 || verbose_level>4 ) {
SERIAL_PROTOCOLPGM("?Verbose Level not plausable.\n");
goto Sigma_Exit;
}
}
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("M48 Z-Probe Repeatability test. Version 2.00\n");
SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n");
}
if (code_seen('n')) {
n_samples = code_value();
if (n_samples<4 || n_samples>50 ) {
SERIAL_PROTOCOLPGM("?Specified sample size not plausable.\n");
goto Sigma_Exit;
}
}
X_current = X_probe_location = st_get_position_mm(X_AXIS);
Y_current = Y_probe_location = st_get_position_mm(Y_AXIS);
Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
ext_position = st_get_position_mm(E_AXIS);
if (code_seen('E') || code_seen('e') )
engage_probe_for_each_reading++;
if (code_seen('X') || code_seen('x') ) {
X_probe_location = code_value() - X_PROBE_OFFSET_FROM_EXTRUDER;
if (X_probe_location<X_MIN_POS || X_probe_location>X_MAX_POS ) {
SERIAL_PROTOCOLPGM("?Specified X position out of range.\n");
goto Sigma_Exit;
}
}
if (code_seen('Y') || code_seen('y') ) {
Y_probe_location = code_value() - Y_PROBE_OFFSET_FROM_EXTRUDER;
if (Y_probe_location<Y_MIN_POS || Y_probe_location>Y_MAX_POS ) {
SERIAL_PROTOCOLPGM("?Specified Y position out of range.\n");
goto Sigma_Exit;
}
}
if (code_seen('L') || code_seen('l') ) {
n_legs = code_value();
if ( n_legs==1 )
n_legs = 2;
if ( n_legs<0 || n_legs>15 ) {
SERIAL_PROTOCOLPGM("?Specified number of legs in movement not plausable.\n");
goto Sigma_Exit;
}
}
//
// Do all the preliminary setup work. First raise the probe.
//
st_synchronize();
plan_bed_level_matrix.set_to_identity();
plan_buffer_line( X_current, Y_current, Z_start_location,
ext_position,
homing_feedrate[Z_AXIS]/60,
active_extruder);
st_synchronize();
//
// Now get everything to the specified probe point So we can safely do a probe to
// get us close to the bed. If the Z-Axis is far from the bed, we don't want to
// use that as a starting point for each probe.
//
if (verbose_level > 2)
SERIAL_PROTOCOL("Positioning probe for the test.\n");
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60,
active_extruder);
st_synchronize();
current_position[X_AXIS] = X_current = st_get_position_mm(X_AXIS);
current_position[Y_AXIS] = Y_current = st_get_position_mm(Y_AXIS);
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
current_position[E_AXIS] = ext_position = st_get_position_mm(E_AXIS);
//
// OK, do the inital probe to get us close to the bed.
// Then retrace the right amount and use that in subsequent probes
//
engage_z_probe();
setup_for_endstop_move();
run_z_probe();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
Z_start_location = st_get_position_mm(Z_AXIS) + Z_RAISE_BEFORE_PROBING;
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
ext_position,
homing_feedrate[X_AXIS]/60,
active_extruder);
st_synchronize();
current_position[Z_AXIS] = Z_current = st_get_position_mm(Z_AXIS);
if (engage_probe_for_each_reading)
retract_z_probe();
for( n=0; n<n_samples; n++) {
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Make sure we are at the probe location
if ( n_legs) {
double radius=0.0, theta=0.0, x_sweep, y_sweep;
int rotational_direction, l;
rotational_direction = (unsigned long) millis() & 0x0001; // clockwise or counter clockwise
radius = (unsigned long) millis() % (long) (X_MAX_LENGTH/4); // limit how far out to go
theta = (float) ((unsigned long) millis() % (long) 360) / (360./(2*3.1415926)); // turn into radians
//SERIAL_ECHOPAIR("starting radius: ",radius);
//SERIAL_ECHOPAIR(" theta: ",theta);
//SERIAL_ECHOPAIR(" direction: ",rotational_direction);
//SERIAL_PROTOCOLLNPGM("");
for( l=0; l<n_legs-1; l++) {
if (rotational_direction==1)
theta += (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
else
theta -= (float) ((unsigned long) millis() % (long) 20) / (360.0/(2*3.1415926)); // turn into radians
radius += (float) ( ((long) ((unsigned long) millis() % (long) 10)) - 5);
if ( radius<0.0 )
radius = -radius;
X_current = X_probe_location + cos(theta) * radius;
Y_current = Y_probe_location + sin(theta) * radius;
if ( X_current<X_MIN_POS) // Make sure our X & Y are sane
X_current = X_MIN_POS;
if ( X_current>X_MAX_POS)
X_current = X_MAX_POS;
if ( Y_current<Y_MIN_POS) // Make sure our X & Y are sane
Y_current = Y_MIN_POS;
if ( Y_current>Y_MAX_POS)
Y_current = Y_MAX_POS;
if (verbose_level>3 ) {
SERIAL_ECHOPAIR("x: ", X_current);
SERIAL_ECHOPAIR("y: ", Y_current);
SERIAL_PROTOCOLLNPGM("");
}
do_blocking_move_to( X_current, Y_current, Z_current );
}
do_blocking_move_to( X_probe_location, Y_probe_location, Z_start_location); // Go back to the probe location
}
if (engage_probe_for_each_reading) {
engage_z_probe();
delay(1000);
}
setup_for_endstop_move();
run_z_probe();
sample_set[n] = current_position[Z_AXIS];
//
// Get the current mean for the data points we have so far
//
sum=0.0;
for( j=0; j<=n; j++) {
sum = sum + sample_set[j];
}
mean = sum / (double (n+1));
//
// Now, use that mean to calculate the standard deviation for the
// data points we have so far
//
sum=0.0;
for( j=0; j<=n; j++) {
sum = sum + (sample_set[j]-mean) * (sample_set[j]-mean);
}
sigma = sqrt( sum / (double (n+1)) );
if (verbose_level > 1) {
SERIAL_PROTOCOL(n+1);
SERIAL_PROTOCOL(" of ");
SERIAL_PROTOCOL(n_samples);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(current_position[Z_AXIS], 6);
}
if (verbose_level > 2) {
SERIAL_PROTOCOL(" mean: ");
SERIAL_PROTOCOL_F(mean,6);
SERIAL_PROTOCOL(" sigma: ");
SERIAL_PROTOCOL_F(sigma,6);
}
if (verbose_level > 0)
SERIAL_PROTOCOLPGM("\n");
plan_buffer_line( X_probe_location, Y_probe_location, Z_start_location,
current_position[E_AXIS], homing_feedrate[Z_AXIS]/60, active_extruder);
st_synchronize();
if (engage_probe_for_each_reading) {
retract_z_probe();
delay(1000);
}
}
retract_z_probe();
delay(1000);
clean_up_after_endstop_move();
// enable_endstops(true);
if (verbose_level > 0) {
SERIAL_PROTOCOLPGM("Mean: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOLPGM("\n");
}
SERIAL_PROTOCOLPGM("Standard Deviation: ");
SERIAL_PROTOCOL_F(sigma, 6);
SERIAL_PROTOCOLPGM("\n\n");
Sigma_Exit:
break;
}
#endif // Z_PROBE_REPEATABILITY_TEST
#endif // ENABLE_AUTO_BED_LEVELING
case 104: // M104
if(setTargetedHotend(104)){
break;
}
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
setWatch();
break;
case 112: // M112 -Emergency Stop
kill();
break;
case 140: // M140 set bed temp
if (code_seen('S')) setTargetBed(code_value());
break;
case 105 : // M105
if(setTargetedHotend(105)){
break;
}
#if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
SERIAL_PROTOCOLPGM("ok T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1);
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetBed(),1);
#endif //TEMP_BED_PIN
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1);
}
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
#endif
SERIAL_PROTOCOLPGM(" @:");
#ifdef EXTRUDER_WATTS
SERIAL_PROTOCOL((EXTRUDER_WATTS * getHeaterPower(tmp_extruder))/127);
SERIAL_PROTOCOLPGM("W");
#else
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
#endif
SERIAL_PROTOCOLPGM(" B@:");
#ifdef BED_WATTS
SERIAL_PROTOCOL((BED_WATTS * getHeaterPower(-1))/127);
SERIAL_PROTOCOLPGM("W");
#else
SERIAL_PROTOCOL(getHeaterPower(-1));
#endif
#ifdef SHOW_TEMP_ADC_VALUES
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
SERIAL_PROTOCOLPGM(" ADC B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLPGM("C->");
SERIAL_PROTOCOL_F(rawBedTemp()/OVERSAMPLENR,0);
#endif
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) {
SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder);
SERIAL_PROTOCOLPGM(":");
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1);
SERIAL_PROTOCOLPGM("C->");
SERIAL_PROTOCOL_F(rawHotendTemp(cur_extruder)/OVERSAMPLENR,0);
}
#endif
SERIAL_PROTOCOLLN("");
return;
break;
case 109:
{// M109 - Wait for extruder heater to reach target.
if(setTargetedHotend(109)){
break;
}
LCD_MESSAGEPGM(MSG_HEATING);
#ifdef AUTOTEMP
autotemp_enabled=false;
#endif
if (code_seen('S')) {
setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
CooldownNoWait = true;
} else if (code_seen('R')) {
setTargetHotend(code_value(), tmp_extruder);
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && tmp_extruder == 0)
setTargetHotend1(code_value() == 0.0 ? 0.0 : code_value() + duplicate_extruder_temp_offset);
#endif
CooldownNoWait = false;
}
#ifdef AUTOTEMP
if (code_seen('S')) autotemp_min=code_value();
if (code_seen('B')) autotemp_max=code_value();
if (code_seen('F'))
{
autotemp_factor=code_value();
autotemp_enabled=true;
}
#endif
setWatch();
codenum = millis();
/* See if we are heating up or cooling down */
target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
cancel_heatup = false;
#ifdef TEMP_RESIDENCY_TIME
long residencyStart;
residencyStart = -1;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
while((!cancel_heatup)&&((residencyStart == -1) ||
(residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL)))) ) {
#else
while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
#endif //TEMP_RESIDENCY_TIME
if( (millis() - codenum) > 1000UL )
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)tmp_extruder);
#ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM(" W:");
if(residencyStart > -1)
{
codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL;
SERIAL_PROTOCOLLN( codenum );
}
else
{
SERIAL_PROTOCOLLN( "?" );
}
#else
SERIAL_PROTOCOLLN("");
#endif
codenum = millis();
}
manage_heater();
manage_inactivity();
lcd_update();
#ifdef TEMP_RESIDENCY_TIME
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
or when current temp falls outside the hysteresis after target temp was reached */
if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) ||
(residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) ||
(residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) )
{
residencyStart = millis();
}
#endif //TEMP_RESIDENCY_TIME
}
LCD_MESSAGEPGM(MSG_HEATING_COMPLETE);
starttime=millis();
previous_millis_cmd = millis();
}
break;
case 190: // M190 - Wait for bed heater to reach target.
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
LCD_MESSAGEPGM(MSG_BED_HEATING);
if (code_seen('S')) {
setTargetBed(code_value());
CooldownNoWait = true;
} else if (code_seen('R')) {
setTargetBed(code_value());
CooldownNoWait = false;
}
codenum = millis();
cancel_heatup = false;
target_direction = isHeatingBed(); // true if heating, false if cooling
while ( (target_direction)&&(!cancel_heatup) ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
{
if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
float tt=degHotend(active_extruder);
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1);
SERIAL_PROTOCOLLN("");
codenum = millis();
}
manage_heater();
manage_inactivity();
lcd_update();
}
LCD_MESSAGEPGM(MSG_BED_DONE);
previous_millis_cmd = millis();
#endif
break;
#if defined(FAN_PIN) && FAN_PIN > -1
case 106: //M106 Fan On
if (code_seen('S')){
fanSpeed=constrain(code_value(),0,255);
}
else {
fanSpeed=255;
}
break;
case 107: //M107 Fan Off
fanSpeed = 0;
break;
#endif //FAN_PIN
#ifdef BARICUDA
// PWM for HEATER_1_PIN
#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
case 126: //M126 valve open
if (code_seen('S')){
ValvePressure=constrain(code_value(),0,255);
}
else {
ValvePressure=255;
}
case 106: //M106 Fan On
gcode_M106();
break;
case 127: //M127 valve closed
ValvePressure = 0;
case 107: //M107 Fan Off
gcode_M107();
break;
#endif //HEATER_1_PIN
#endif //FAN_PIN
// PWM for HEATER_2_PIN
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
case 128: //M128 valve open
if (code_seen('S')){
EtoPPressure=constrain(code_value(),0,255);
}
else {
EtoPPressure=255;
}
#ifdef BARICUDA
// PWM for HEATER_1_PIN
#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
case 126: // M126 valve open
gcode_M126();
break;
case 127: // M127 valve closed
gcode_M127();
break;
#endif //HEATER_1_PIN
// PWM for HEATER_2_PIN
#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
case 128: // M128 valve open
gcode_M128();
break;
case 129: // M129 valve closed
gcode_M129();
break;
#endif //HEATER_2_PIN
#endif //BARICUDA
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
case 80: // M80 - Turn on Power Supply
gcode_M80();
break;
case 129: //M129 valve closed
EtoPPressure = 0;
break;
#endif //HEATER_2_PIN
#endif
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
case 80: // M80 - Turn on Power Supply
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, PS_ON_AWAKE);
// If you have a switch on suicide pin, this is useful
// if you want to start another print with suicide feature after
// a print without suicide...
#if defined SUICIDE_PIN && SUICIDE_PIN > -1
SET_OUTPUT(SUICIDE_PIN);
WRITE(SUICIDE_PIN, HIGH);
#endif
#ifdef ULTIPANEL
powersupply = true;
LCD_MESSAGEPGM(WELCOME_MSG);
lcd_update();
#endif
break;
#endif
#endif // PS_ON_PIN
case 81: // M81 - Turn off Power Supply
disable_heater();
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
finishAndDisableSteppers();
fanSpeed = 0;
delay(1000); // Wait a little before to switch off
#if defined(SUICIDE_PIN) && SUICIDE_PIN > -1
st_synchronize();
suicide();
#elif defined(PS_ON_PIN) && PS_ON_PIN > -1
SET_OUTPUT(PS_ON_PIN);
WRITE(PS_ON_PIN, PS_ON_ASLEEP);
#endif
#ifdef ULTIPANEL
powersupply = false;
LCD_MESSAGEPGM(MACHINE_NAME" "MSG_OFF".");
lcd_update();
#endif
break;
case 82:
axis_relative_modes[3] = false;
break;
case 83:
axis_relative_modes[3] = true;
break;
case 18: //compatibility
case 84: // M84
if(code_seen('S')){
stepper_inactive_time = code_value() * 1000;
}
else
{
bool all_axis = !((code_seen(axis_codes[X_AXIS])) || (code_seen(axis_codes[Y_AXIS])) || (code_seen(axis_codes[Z_AXIS]))|| (code_seen(axis_codes[E_AXIS])));
if(all_axis)
{
st_synchronize();
disable_e0();
disable_e1();
disable_e2();
finishAndDisableSteppers();
}
else
{
st_synchronize();
if(code_seen('X')) disable_x();
if(code_seen('Y')) disable_y();
if(code_seen('Z')) disable_z();
#if ((E0_ENABLE_PIN != X_ENABLE_PIN) && (E1_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if(code_seen('E')) {
disable_e0();
disable_e1();
disable_e2();
}
#endif
}
}
break;
case 85: // M85
if(code_seen('S')) {
max_inactive_time = code_value() * 1000;
}
break;
case 92: // M92
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i]))
{
if(i == 3) { // E
float value = code_value();
if(value < 20.0) {
float factor = axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
max_e_jerk *= factor;
max_feedrate[i] *= factor;
axis_steps_per_sqr_second[i] *= factor;
}
axis_steps_per_unit[i] = value;
}
else {
axis_steps_per_unit[i] = code_value();
}
}
}
break;
case 115: // M115
SERIAL_PROTOCOLPGM(MSG_M115_REPORT);
break;
case 117: // M117 display message
starpos = (strchr(strchr_pointer + 5,'*'));
if(starpos!=NULL)
*(starpos)='\0';
lcd_setstatus(strchr_pointer + 5);
break;
case 114: // M114
SERIAL_PROTOCOLPGM("X:");
SERIAL_PROTOCOL(current_position[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(current_position[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(current_position[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOL(current_position[E_AXIS]);
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y:");
SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOLLN("");
#ifdef SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]+add_homing[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+add_homing[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLLN("");
SERIAL_PROTOCOLLN("");
#endif
break;
case 120: // M120
enable_endstops(false) ;
break;
case 121: // M121
enable_endstops(true) ;
break;
case 119: // M119
SERIAL_PROTOCOLLN(MSG_M119_REPORT);
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MIN);
SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_X_MAX);
SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MIN);
SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Y_MAX);
SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MIN);
SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_MIN_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
SERIAL_PROTOCOLPGM(MSG_Z_MAX);
SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_MAX_ENDSTOP_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN));
#endif
break;
//TODO: update for all axis, use for loop
#ifdef BLINKM
case 150: // M150
{
byte red;
byte grn;
byte blu;
if(code_seen('R')) red = code_value();
if(code_seen('U')) grn = code_value();
if(code_seen('B')) blu = code_value();
SendColors(red,grn,blu);
}
break;
#endif //BLINKM
case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
{
tmp_extruder = active_extruder;
if(code_seen('T')) {
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_M200_INVALID_EXTRUDER);
break;
}
}
float area = .0;
if(code_seen('D')) {
float diameter = code_value();
// setting any extruder filament size disables volumetric on the assumption that
// slicers either generate in extruder values as cubic mm or as as filament feeds
// for all extruders
volumetric_enabled = (diameter != 0.0);
if (volumetric_enabled) {
filament_size[tmp_extruder] = diameter;
// make sure all extruders have some sane value for the filament size
for (int i=0; i<EXTRUDERS; i++)
if (! filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
}
} else {
//reserved for setting filament diameter via UFID or filament measuring device
break;
}
calculate_volumetric_multipliers();
}
break;
case 201: // M201
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i]))
{
max_acceleration_units_per_sq_second[i] = code_value();
}
}
// steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner)
reset_acceleration_rates();
break;
#if 0 // Not used for Sprinter/grbl gen6
case 202: // M202
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
#endif
case 203: // M203 max feedrate mm/sec
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) max_feedrate[i] = code_value();
}
break;
case 204: // M204 acclereration S normal moves T filmanent only moves
{
if(code_seen('S')) acceleration = code_value() ;
if(code_seen('T')) retract_acceleration = code_value() ;
}
break;
case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
{
if(code_seen('S')) minimumfeedrate = code_value();
if(code_seen('T')) mintravelfeedrate = code_value();
if(code_seen('B')) minsegmenttime = code_value() ;
if(code_seen('X')) max_xy_jerk = code_value() ;
if(code_seen('Z')) max_z_jerk = code_value() ;
if(code_seen('E')) max_e_jerk = code_value() ;
}
break;
case 206: // M206 additional homing offset
for(int8_t i=0; i < 3; i++)
{
if(code_seen(axis_codes[i])) add_homing[i] = code_value();
}
#ifdef SCARA
if(code_seen('T')) // Theta
{
add_homing[X_AXIS] = code_value() ;
}
if(code_seen('P')) // Psi
{
add_homing[Y_AXIS] = code_value() ;
}
#endif
break;
#ifdef DELTA
case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
if(code_seen('L')) {
delta_diagonal_rod= code_value();
}
if(code_seen('R')) {
delta_radius= code_value();
}
if(code_seen('S')) {
delta_segments_per_second= code_value();
}
recalc_delta_settings(delta_radius, delta_diagonal_rod);
break;
case 666: // M666 set delta endstop adjustemnt
for(int8_t i=0; i < 3; i++)
{
if(code_seen(axis_codes[i])) endstop_adj[i] = code_value();
}
break;
#endif
#ifdef FWRETRACT
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
{
if(code_seen('S'))
{
retract_length = code_value() ;
}
if(code_seen('F'))
{
retract_feedrate = code_value()/60 ;
}
if(code_seen('Z'))
{
retract_zlift = code_value() ;
}
}break;
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
{
if(code_seen('S'))
{
retract_recover_length = code_value() ;
}
if(code_seen('F'))
{
retract_recover_feedrate = code_value()/60 ;
}
}break;
case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
{
if(code_seen('S'))
{
int t= code_value() ;
switch(t)
{
case 0:
case 1:
{
autoretract_enabled = (t == 1);
for (int i=0; i<EXTRUDERS; i++) retracted[i] = false;
}break;
default:
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(cmdbuffer[bufindr]);
SERIAL_ECHOLNPGM("\"");
}
}
}break;
#endif // FWRETRACT
#if EXTRUDERS > 1
case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
{
if(setTargetedHotend(218)){
gcode_M81();
break;
}
if(code_seen('X'))
{
extruder_offset[X_AXIS][tmp_extruder] = code_value();
}
if(code_seen('Y'))
{
extruder_offset[Y_AXIS][tmp_extruder] = code_value();
}
#ifdef DUAL_X_CARRIAGE
if(code_seen('Z'))
{
extruder_offset[Z_AXIS][tmp_extruder] = code_value();
}
#endif
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++)
{
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][tmp_extruder]);
#ifdef DUAL_X_CARRIAGE
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]);
#endif
}
SERIAL_ECHOLN("");
}break;
#endif
case 220: // M220 S<factor in percent>- set speed factor override percentage
{
if(code_seen('S'))
{
feedmultiply = code_value() ;
}
}
break;
case 221: // M221 S<factor in percent>- set extrude factor override percentage
{
if(code_seen('S'))
{
int tmp_code = code_value();
if (code_seen('T'))
{
if(setTargetedHotend(221)){
break;
}
extruder_multiply[tmp_extruder] = tmp_code;
}
else
{
extrudemultiply = tmp_code ;
}
}
}
break;
case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
{
if(code_seen('P')){
int pin_number = code_value(); // pin number
int pin_state = -1; // required pin state - default is inverted
if(code_seen('S')) pin_state = code_value(); // required pin state
if(pin_state >= -1 && pin_state <= 1){
for(int8_t i = 0; i < (int8_t)(sizeof(sensitive_pins)/sizeof(int)); i++)
{
if (sensitive_pins[i] == pin_number)
{
pin_number = -1;
break;
}
}
if (pin_number > -1)
{
int target = LOW;
st_synchronize();
pinMode(pin_number, INPUT);
switch(pin_state){
case 1:
target = HIGH;
break;
case 0:
target = LOW;
break;
case -1:
target = !digitalRead(pin_number);
break;
}
while(digitalRead(pin_number) != target){
manage_heater();
manage_inactivity();
lcd_update();
}
}
}
}
}
break;
#if NUM_SERVOS > 0
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
{
int servo_index = -1;
int servo_position = 0;
if (code_seen('P'))
servo_index = code_value();
if (code_seen('S')) {
servo_position = code_value();
if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) {
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
servos[servo_index].attach(0);
#endif
servos[servo_index].write(servo_position);
#if defined (ENABLE_AUTO_BED_LEVELING) && (PROBE_SERVO_DEACTIVATION_DELAY > 0)
delay(PROBE_SERVO_DEACTIVATION_DELAY);
servos[servo_index].detach();
#endif
}
else {
SERIAL_ECHO_START;
SERIAL_ECHO("Servo ");
SERIAL_ECHO(servo_index);
SERIAL_ECHOLN(" out of range");
}
}
else if (servo_index >= 0) {
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" Servo ");
SERIAL_PROTOCOL(servo_index);
SERIAL_PROTOCOL(": ");
SERIAL_PROTOCOL(servos[servo_index].read());
SERIAL_PROTOCOLLN("");
}
}
break;
#endif // NUM_SERVOS > 0
#if (LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER)))
case 300: // M300
{
int beepS = code_seen('S') ? code_value() : 110;
int beepP = code_seen('P') ? code_value() : 1000;
if (beepS > 0)
{
#if BEEPER > 0
tone(BEEPER, beepS);
delay(beepP);
noTone(BEEPER);
#elif defined(ULTRALCD)
lcd_buzz(beepS, beepP);
#elif defined(LCD_USE_I2C_BUZZER)
lcd_buzz(beepP, beepS);
#endif
}
else
{
delay(beepP);
}
}
break;
#endif // M300
#ifdef PIDTEMP
case 301: // M301
{
// multi-extruder PID patch: M301 updates or prints a single extruder's PID values
// default behaviour (omitting E parameter) is to update for extruder 0 only
int e = 0; // extruder being updated
if (code_seen('E'))
{
e = (int)code_value();
}
if (e < EXTRUDERS) // catch bad input value
{
if (code_seen('P')) PID_PARAM(Kp,e) = code_value();
if (code_seen('I')) PID_PARAM(Ki,e) = scalePID_i(code_value());
if (code_seen('D')) PID_PARAM(Kd,e) = scalePID_d(code_value());
#ifdef PID_ADD_EXTRUSION_RATE
if (code_seen('C')) PID_PARAM(Kc,e) = code_value();
#endif
updatePID();
SERIAL_PROTOCOL(MSG_OK);
#ifdef PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL(" e:"); // specify extruder in serial output
SERIAL_PROTOCOL(e);
#endif // PID_PARAMS_PER_EXTRUDER
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(PID_PARAM(Kp,e));
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(PID_PARAM(Ki,e)));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(PID_PARAM(Kd,e)));
#ifdef PID_ADD_EXTRUSION_RATE
SERIAL_PROTOCOL(" c:");
//Kc does not have scaling applied above, or in resetting defaults
SERIAL_PROTOCOL(PID_PARAM(Kc,e));
#endif
SERIAL_PROTOCOLLN("");
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
}
break;
#endif //PIDTEMP
#ifdef PIDTEMPBED
case 304: // M304
{
if(code_seen('P')) bedKp = code_value();
if(code_seen('I')) bedKi = scalePID_i(code_value());
if(code_seen('D')) bedKd = scalePID_d(code_value());
updatePID();
SERIAL_PROTOCOL(MSG_OK);
SERIAL_PROTOCOL(" p:");
SERIAL_PROTOCOL(bedKp);
SERIAL_PROTOCOL(" i:");
SERIAL_PROTOCOL(unscalePID_i(bedKi));
SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(bedKd));
SERIAL_PROTOCOLLN("");
}
break;
#endif //PIDTEMP
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
{
#ifdef CHDK
SET_OUTPUT(CHDK);
WRITE(CHDK, HIGH);
chdkHigh = millis();
chdkActive = true;
#else
#if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1
const uint8_t NUM_PULSES=16;
const float PULSE_LENGTH=0.01524;
for(int i=0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
delay(7.33);
for(int i=0; i < NUM_PULSES; i++) {
WRITE(PHOTOGRAPH_PIN, HIGH);
_delay_ms(PULSE_LENGTH);
WRITE(PHOTOGRAPH_PIN, LOW);
_delay_ms(PULSE_LENGTH);
}
#endif
#endif //chdk end if
}
break;
#ifdef DOGLCD
case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
{
if (code_seen('C')) {
lcd_setcontrast( ((int)code_value())&63 );
}
SERIAL_PROTOCOLPGM("lcd contrast value: ");
SERIAL_PROTOCOL(lcd_contrast);
SERIAL_PROTOCOLLN("");
}
break;
#endif
#ifdef PREVENT_DANGEROUS_EXTRUDE
case 302: // allow cold extrudes, or set the minimum extrude temperature
{
float temp = .0;
if (code_seen('S')) temp=code_value();
set_extrude_min_temp(temp);
}
break;
#endif
case 303: // M303 PID autotune
{
float temp = 150.0;
int e=0;
int c=5;
if (code_seen('E')) e=code_value();
if (e<0)
temp=70;
if (code_seen('S')) temp=code_value();
if (code_seen('C')) c=code_value();
PID_autotune(temp, e, c);
}
break;
#ifdef SCARA
case 360: // M360 SCARA Theta pos1
SERIAL_ECHOLN(" Cal: Theta 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 0;
delta[Y_AXIS] = 120;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return;
}
break;
case 361: // SCARA Theta pos2
SERIAL_ECHOLN(" Cal: Theta 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 90;
delta[Y_AXIS] = 130;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return;
}
break;
case 362: // SCARA Psi pos1
SERIAL_ECHOLN(" Cal: Psi 0 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 60;
delta[Y_AXIS] = 180;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return;
}
break;
case 363: // SCARA Psi pos2
SERIAL_ECHOLN(" Cal: Psi 90 ");
//SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 50;
delta[Y_AXIS] = 90;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return;
}
break;
case 364: // SCARA Psi pos3 (90 deg to Theta)
SERIAL_ECHOLN(" Cal: Theta-Psi 90 ");
// SoftEndsEnabled = false; // Ignore soft endstops during calibration
//SERIAL_ECHOLN(" Soft endstops disabled ");
if(Stopped == false) {
//get_coordinates(); // For X Y Z E F
delta[X_AXIS] = 45;
delta[Y_AXIS] = 135;
calculate_SCARA_forward_Transform(delta);
destination[X_AXIS] = delta[X_AXIS]/axis_scaling[X_AXIS];
destination[Y_AXIS] = delta[Y_AXIS]/axis_scaling[Y_AXIS];
prepare_move();
//ClearToSend();
return;
}
break;
case 365: // M364 Set SCARA scaling for X Y Z
for(int8_t i=0; i < 3; i++)
{
if(code_seen(axis_codes[i]))
{
axis_scaling[i] = code_value();
}
}
break;
#endif
case 400: // M400 finish all moves
{
st_synchronize();
}
break;
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
case 401:
{
engage_z_probe(); // Engage Z Servo endstop if available
}
break;
case 402:
{
retract_z_probe(); // Retract Z Servo endstop if enabled
}
break;
#endif
#ifdef FILAMENT_SENSOR
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
{
#if (FILWIDTH_PIN > -1)
if(code_seen('N')) filament_width_nominal=code_value();
else{
SERIAL_PROTOCOLPGM("Filament dia (nominal mm):");
SERIAL_PROTOCOLLN(filament_width_nominal);
}
#endif
}
break;
case 405: //M405 Turn on filament sensor for control
{
if(code_seen('D')) meas_delay_cm=code_value();
if(meas_delay_cm> MAX_MEASUREMENT_DELAY)
meas_delay_cm = MAX_MEASUREMENT_DELAY;
if(delay_index2 == -1) //initialize the ring buffer if it has not been done since startup
{
int temp_ratio = widthFil_to_size_ratio();
for (delay_index1=0; delay_index1<(MAX_MEASUREMENT_DELAY+1); ++delay_index1 ){
measurement_delay[delay_index1]=temp_ratio-100; //subtract 100 to scale within a signed byte
}
delay_index1=0;
delay_index2=0;
}
filament_sensor = true ;
//SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
//SERIAL_PROTOCOL(filament_width_meas);
//SERIAL_PROTOCOLPGM("Extrusion ratio(%):");
//SERIAL_PROTOCOL(extrudemultiply);
}
break;
case 406: //M406 Turn off filament sensor for control
{
filament_sensor = false ;
}
break;
case 407: //M407 Display measured filament diameter
{
SERIAL_PROTOCOLPGM("Filament dia (measured mm):");
SERIAL_PROTOCOLLN(filament_width_meas);
}
break;
#endif
case 500: // M500 Store settings in EEPROM
{
Config_StoreSettings();
}
break;
case 501: // M501 Read settings from EEPROM
{
Config_RetrieveSettings();
}
break;
case 502: // M502 Revert to default settings
{
Config_ResetDefault();
}
break;
case 503: // M503 print settings currently in memory
{
Config_PrintSettings(code_seen('S') && code_value == 0);
}
break;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540:
{
if(code_seen('S')) abort_on_endstop_hit = code_value() > 0;
}
break;
#endif
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
{
float value;
if (code_seen('Z'))
{
value = code_value();
if ((Z_PROBE_OFFSET_RANGE_MIN <= value) && (value <= Z_PROBE_OFFSET_RANGE_MAX))
{
zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
SERIAL_PROTOCOLLN("");
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ZPROBE_ZOFFSET);
SERIAL_ECHOPGM(MSG_Z_MIN);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_ECHOPGM(MSG_Z_MAX);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
SERIAL_PROTOCOLLN("");
}
}
else
{
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
SERIAL_ECHO(-zprobe_zoffset);
SERIAL_PROTOCOLLN("");
}
break;
}
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
#ifdef FILAMENTCHANGEENABLE
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
{
float target[NUM_AXIS], lastpos[NUM_AXIS], fr60 = feedrate/60;
for (int i=0; i<NUM_AXIS; i++)
target[i] = lastpos[i] = current_position[i];
#define BASICPLAN plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder);
#ifdef DELTA
#define RUNPLAN calculate_delta(target); BASICPLAN
#else
#define RUNPLAN BASICPLAN
#endif
//retract by E
if(code_seen('E'))
{
target[E_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_FIRSTRETRACT
target[E_AXIS]+= FILAMENTCHANGE_FIRSTRETRACT ;
#endif
}
RUNPLAN;
//lift Z
if(code_seen('Z'))
{
target[Z_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_ZADD
target[Z_AXIS]+= FILAMENTCHANGE_ZADD ;
#endif
}
RUNPLAN;
//move xy
if(code_seen('X'))
{
target[X_AXIS]= code_value();
}
else
{
#ifdef FILAMENTCHANGE_XPOS
target[X_AXIS]= FILAMENTCHANGE_XPOS ;
#endif
}
if(code_seen('Y'))
{
target[Y_AXIS]= code_value();
}
else
{
#ifdef FILAMENTCHANGE_YPOS
target[Y_AXIS]= FILAMENTCHANGE_YPOS ;
#endif
}
RUNPLAN;
if(code_seen('L'))
{
target[E_AXIS]+= code_value();
}
else
{
#ifdef FILAMENTCHANGE_FINALRETRACT
target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ;
#endif
}
RUNPLAN;
//finish moves
st_synchronize();
//disable extruder steppers so filament can be removed
disable_e0();
disable_e1();
disable_e2();
delay(100);
LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE);
uint8_t cnt=0;
while(!lcd_clicked()){
cnt++;
manage_heater();
manage_inactivity(true);
lcd_update();
if(cnt==0)
{
#if BEEPER > 0
SET_OUTPUT(BEEPER);
WRITE(BEEPER,HIGH);
delay(3);
WRITE(BEEPER,LOW);
delay(3);
#else
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz(1000/6,100);
#else
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
#endif
#endif
}
}
//return to normal
if(code_seen('L'))
{
target[E_AXIS]+= -code_value();
}
else
{
#ifdef FILAMENTCHANGE_FINALRETRACT
target[E_AXIS]+=(-1)*FILAMENTCHANGE_FINALRETRACT ;
#endif
}
current_position[E_AXIS]=target[E_AXIS]; //the long retract of L is compensated by manual filament feeding
plan_set_e_position(current_position[E_AXIS]);
RUNPLAN; //should do nothing
//reset LCD alert message
lcd_reset_alert_level();
#ifdef DELTA
calculate_delta(lastpos);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xyz back
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#else
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], target[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move xy back
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
}
break;
#endif //FILAMENTCHANGEENABLE
#ifdef DUAL_X_CARRIAGE
case 605: // Set dual x-carriage movement mode:
// M605 S0: Full control mode. The slicer has full control over x-carriage movement
// M605 S1: Auto-park mode. The inactive head will auto park/unpark without slicer involvement
// M605 S2 [Xnnn] [Rmmm]: Duplication mode. The second extruder will duplicate the first with nnn
// millimeters x-offset and an optional differential hotend temperature of
// mmm degrees. E.g., with "M605 S2 X100 R2" the second extruder will duplicate
// the first with a spacing of 100mm in the x direction and 2 degrees hotter.
//
// Note: the X axis should be homed after changing dual x-carriage mode.
{
st_synchronize();
if (code_seen('S'))
dual_x_carriage_mode = code_value();
if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
{
if (code_seen('X'))
duplicate_extruder_x_offset = max(code_value(),X2_MIN_POS - x_home_pos(0));
if (code_seen('R'))
duplicate_extruder_temp_offset = code_value();
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_HOTEND_OFFSET);
SERIAL_ECHO(" ");
SERIAL_ECHO(extruder_offset[X_AXIS][0]);
SERIAL_ECHO(",");
SERIAL_ECHO(extruder_offset[Y_AXIS][0]);
SERIAL_ECHO(" ");
SERIAL_ECHO(duplicate_extruder_x_offset);
SERIAL_ECHO(",");
SERIAL_ECHOLN(extruder_offset[Y_AXIS][1]);
}
else if (dual_x_carriage_mode != DXC_FULL_CONTROL_MODE && dual_x_carriage_mode != DXC_AUTO_PARK_MODE)
{
dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE;
}
active_extruder_parked = false;
extruder_duplication_enabled = false;
delayed_move_time = 0;
}
break;
#endif //DUAL_X_CARRIAGE
case 907: // M907 Set digital trimpot motor current using axis codes.
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
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());
if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_XY_PIN
if(code_seen('X')) digipot_current(0, code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_Z_PIN
if(code_seen('Z')) digipot_current(1, code_value());
#endif
#ifdef MOTOR_CURRENT_PWM_E_PIN
if(code_seen('E')) digipot_current(2, code_value());
#endif
#ifdef DIGIPOT_I2C
// this one uses actual amps in floating point
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_i2c_set_current(i, code_value());
// for each additional extruder (named B,C,D,E..., channels 4,5,6,7...)
for(int i=NUM_AXIS;i<DIGIPOT_I2C_NUM_CHANNELS;i++) if(code_seen('B'+i-NUM_AXIS)) digipot_i2c_set_current(i, code_value());
#endif
}
break;
case 908: // M908 Control digital trimpot directly.
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
uint8_t channel,current;
if(code_seen('P')) channel=code_value();
if(code_seen('S')) current=code_value();
digitalPotWrite(channel, current);
#endif
}
break;
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
{
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value());
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
if(code_seen('B')) microstep_mode(4,code_value());
microstep_readings();
#endif
}
break;
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
{
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
if(code_seen('S')) switch((int)code_value())
{
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);
case 82:
gcode_M82();
break;
case 83:
gcode_M83();
break;
case 18: //compatibility
case 84: // M84
gcode_M18_M84();
break;
case 85: // M85
gcode_M85();
break;
case 92: // M92
gcode_M92();
break;
case 115: // M115
gcode_M115();
break;
case 117: // M117 display message
gcode_M117();
break;
case 114: // M114
gcode_M114();
break;
case 120: // M120
gcode_M120();
break;
case 121: // M121
gcode_M121();
break;
case 119: // M119
gcode_M119();
break;
//TODO: update for all axis, use for loop
#ifdef BLINKM
case 150: // M150
gcode_M150();
break;
case 2:
for(int i=0;i<NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
if(code_seen('B')) microstep_ms(4,-1,code_value());
break;
}
microstep_readings();
#endif
}
break;
case 999: // M999: Restart after being stopped
Stopped = false;
lcd_reset_alert_level();
gcode_LastN = Stopped_gcode_LastN;
FlushSerialRequestResend();
break;
}
}
else if(code_seen('T'))
{
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
SERIAL_ECHO_START;
SERIAL_ECHO("T");
SERIAL_ECHO(tmp_extruder);
SERIAL_ECHOLN(MSG_INVALID_EXTRUDER);
}
else {
boolean make_move = false;
if(code_seen('F')) {
make_move = true;
next_feedrate = code_value();
if(next_feedrate > 0.0) {
feedrate = next_feedrate;
}
}
#endif //BLINKM
case 200: // M200 D<millimeters> set filament diameter and set E axis units to cubic millimeters (use S0 to set back to millimeters).
gcode_M200();
break;
case 201: // M201
gcode_M201();
break;
#if 0 // Not used for Sprinter/grbl gen6
case 202: // M202
gcode_M202();
break;
#endif
case 203: // M203 max feedrate mm/sec
gcode_M203();
break;
case 204: // M204 acclereration S normal moves T filmanent only moves
gcode_M204();
break;
case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
gcode_M205();
break;
case 206: // M206 additional homing offset
gcode_M206();
break;
#ifdef DELTA
case 665: // M665 set delta configurations L<diagonal_rod> R<delta_radius> S<segments_per_sec>
gcode_M665();
break;
case 666: // M666 set delta endstop adjustment
gcode_M666();
break;
#endif // DELTA
#ifdef FWRETRACT
case 207: //M207 - set retract length S[positive mm] F[feedrate mm/min] Z[additional zlift/hop]
gcode_M207();
break;
case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/min]
gcode_M208();
break;
case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction.
gcode_M209();
break;
#endif // FWRETRACT
#if EXTRUDERS > 1
if(tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
memcpy(destination, current_position, sizeof(destination));
#ifdef DUAL_X_CARRIAGE
if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE && Stopped == false &&
(delayed_move_time != 0 || current_position[X_AXIS] != x_home_pos(active_extruder)))
{
// Park old head: 1) raise 2) move to park position 3) lower
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS] + TOOLCHANGE_PARK_ZLIFT,
current_position[E_AXIS], max_feedrate[X_AXIS], active_extruder);
plan_buffer_line(x_home_pos(active_extruder), current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS], max_feedrate[Z_AXIS], active_extruder);
st_synchronize();
}
// apply Y & Z extruder offset (x offset is already used in determining home pos)
current_position[Y_AXIS] = current_position[Y_AXIS] -
extruder_offset[Y_AXIS][active_extruder] +
extruder_offset[Y_AXIS][tmp_extruder];
current_position[Z_AXIS] = current_position[Z_AXIS] -
extruder_offset[Z_AXIS][active_extruder] +
extruder_offset[Z_AXIS][tmp_extruder];
active_extruder = tmp_extruder;
// This function resets the max/min values - the current position may be overwritten below.
axis_is_at_home(X_AXIS);
if (dual_x_carriage_mode == DXC_FULL_CONTROL_MODE)
{
current_position[X_AXIS] = inactive_extruder_x_pos;
inactive_extruder_x_pos = destination[X_AXIS];
}
else if (dual_x_carriage_mode == DXC_DUPLICATION_MODE)
{
active_extruder_parked = (active_extruder == 0); // this triggers the second extruder to move into the duplication position
if (active_extruder == 0 || active_extruder_parked)
current_position[X_AXIS] = inactive_extruder_x_pos;
else
current_position[X_AXIS] = destination[X_AXIS] + duplicate_extruder_x_offset;
inactive_extruder_x_pos = destination[X_AXIS];
extruder_duplication_enabled = false;
}
else
{
// record raised toolhead position for use by unpark
memcpy(raised_parked_position, current_position, sizeof(raised_parked_position));
raised_parked_position[Z_AXIS] += TOOLCHANGE_UNPARK_ZLIFT;
active_extruder_parked = true;
delayed_move_time = 0;
}
#else
// Offset extruder (only by XY)
int i;
for(i = 0; i < 2; i++) {
current_position[i] = current_position[i] -
extruder_offset[i][active_extruder] +
extruder_offset[i][tmp_extruder];
}
// Set the new active extruder and position
active_extruder = tmp_extruder;
#endif //else DUAL_X_CARRIAGE
#ifdef DELTA
calculate_delta(current_position); // change cartesian kinematic to delta kinematic;
//sent position to plan_set_position();
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],current_position[E_AXIS]);
#else
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif
// Move to the old position if 'F' was in the parameters
if(make_move && Stopped == false) {
prepare_move();
}
}
case 218: // M218 - set hotend offset (in mm), T<extruder_number> X<offset_on_X> Y<offset_on_Y>
gcode_M218();
break;
#endif
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_ACTIVE_EXTRUDER);
SERIAL_PROTOCOLLN((int)active_extruder);
case 220: // M220 S<factor in percent>- set speed factor override percentage
gcode_M220();
break;
case 221: // M221 S<factor in percent>- set extrude factor override percentage
gcode_M221();
break;
case 226: // M226 P<pin number> S<pin state>- Wait until the specified pin reaches the state required
gcode_M226();
break;
#if NUM_SERVOS > 0
case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds
gcode_M280();
break;
#endif // NUM_SERVOS > 0
#if defined(LARGE_FLASH) && (BEEPER > 0 || defined(ULTRALCD) || defined(LCD_USE_I2C_BUZZER))
case 300: // M300 - Play beep tone
gcode_M300();
break;
#endif // LARGE_FLASH && (BEEPER>0 || ULTRALCD || LCD_USE_I2C_BUZZER)
#ifdef PIDTEMP
case 301: // M301
gcode_M301();
break;
#endif // PIDTEMP
#ifdef PIDTEMPBED
case 304: // M304
gcode_M304();
break;
#endif // PIDTEMPBED
#if defined(CHDK) || (defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1)
case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/
gcode_M240();
break;
#endif // CHDK || PHOTOGRAPH_PIN
#ifdef DOGLCD
case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
gcode_M250();
break;
#endif // DOGLCD
#ifdef PREVENT_DANGEROUS_EXTRUDE
case 302: // allow cold extrudes, or set the minimum extrude temperature
gcode_M302();
break;
#endif // PREVENT_DANGEROUS_EXTRUDE
case 303: // M303 PID autotune
gcode_M303();
break;
#ifdef SCARA
case 360: // M360 SCARA Theta pos1
if (gcode_M360()) return;
break;
case 361: // M361 SCARA Theta pos2
if (gcode_M361()) return;
break;
case 362: // M362 SCARA Psi pos1
if (gcode_M362()) return;
break;
case 363: // M363 SCARA Psi pos2
if (gcode_M363()) return;
break;
case 364: // M364 SCARA Psi pos3 (90 deg to Theta)
if (gcode_M364()) return;
break;
case 365: // M365 Set SCARA scaling for X Y Z
gcode_M365();
break;
#endif // SCARA
case 400: // M400 finish all moves
gcode_M400();
break;
#if defined(ENABLE_AUTO_BED_LEVELING) && defined(SERVO_ENDSTOPS) && not defined(Z_PROBE_SLED)
case 401:
gcode_M401();
break;
case 402:
gcode_M402();
break;
#endif
#ifdef FILAMENT_SENSOR
case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or display nominal filament width
gcode_M404();
break;
case 405: //M405 Turn on filament sensor for control
gcode_M405();
break;
case 406: //M406 Turn off filament sensor for control
gcode_M406();
break;
case 407: //M407 Display measured filament diameter
gcode_M407();
break;
#endif // FILAMENT_SENSOR
case 500: // M500 Store settings in EEPROM
gcode_M500();
break;
case 501: // M501 Read settings from EEPROM
gcode_M501();
break;
case 502: // M502 Revert to default settings
gcode_M502();
break;
case 503: // M503 print settings currently in memory
gcode_M503();
break;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
case 540:
gcode_M540();
break;
#endif
#ifdef CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
case CUSTOM_M_CODE_SET_Z_PROBE_OFFSET:
gcode_SET_Z_PROBE_OFFSET();
break;
#endif // CUSTOM_M_CODE_SET_Z_PROBE_OFFSET
#ifdef FILAMENTCHANGEENABLE
case 600: //Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
gcode_M600();
break;
#endif // FILAMENTCHANGEENABLE
#ifdef DUAL_X_CARRIAGE
case 605:
gcode_M605();
break;
#endif // DUAL_X_CARRIAGE
case 907: // M907 Set digital trimpot motor current using axis codes.
gcode_M907();
break;
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
case 908: // M908 Control digital trimpot directly.
gcode_M908();
break;
#endif // DIGIPOTSS_PIN
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
gcode_M350();
break;
case 351: // M351 Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
gcode_M351();
break;
case 999: // M999: Restart after being Stopped
gcode_M999();
break;
}
}
else
{
else if (code_seen('T')) {
gcode_T();
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND);
SERIAL_ECHO(cmdbuffer[bufindr]);
@ -4104,13 +4932,13 @@ void clamp_to_software_endstops(float target[3])
#ifdef DELTA
void recalc_delta_settings(float radius, float diagonal_rod)
{
delta_tower1_x= -SIN_60*radius; // front left tower
delta_tower1_y= -COS_60*radius;
delta_tower2_x= SIN_60*radius; // front right tower
delta_tower2_y= -COS_60*radius;
delta_tower3_x= 0.0; // back middle tower
delta_tower3_y= radius;
delta_diagonal_rod_2= sq(diagonal_rod);
delta_tower1_x= -SIN_60*radius; // front left tower
delta_tower1_y= -COS_60*radius;
delta_tower2_x= SIN_60*radius; // front right tower
delta_tower2_y= -COS_60*radius;
delta_tower3_x= 0.0; // back middle tower
delta_tower3_y= radius;
delta_diagonal_rod_2= sq(diagonal_rod);
}
void calculate_delta(float cartesian[3])
@ -4148,12 +4976,12 @@ void prepare_move()
float difference[NUM_AXIS];
for (int8_t i=0; i < NUM_AXIS; i++) {
difference[i] = destination[i] - current_position[i];
difference[i] = destination[i] - current_position[i];
}
float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
sq(difference[Y_AXIS]) +
sq(difference[Z_AXIS]));
float cartesian_mm = sqrt( sq(difference[X_AXIS]) +
sq(difference[Y_AXIS]) +
sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
if (cartesian_mm < 0.000001) { return; }
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
@ -4162,13 +4990,13 @@ int steps = max(1, int(scara_segments_per_second * seconds));
//SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
//SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for (int s = 1; s <= steps; s++) {
float fraction = float(s) / float(steps);
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i] + difference[i] * fraction;
}
float fraction = float(s) / float(steps);
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i] + difference[i] * fraction;
}
calculate_delta(destination);
calculate_delta(destination);
//SERIAL_ECHOPGM("destination[X_AXIS]="); SERIAL_ECHOLN(destination[X_AXIS]);
//SERIAL_ECHOPGM("destination[Y_AXIS]="); SERIAL_ECHOLN(destination[Y_AXIS]);
//SERIAL_ECHOPGM("destination[Z_AXIS]="); SERIAL_ECHOLN(destination[Z_AXIS]);
@ -4176,9 +5004,9 @@ for (int s = 1; s <= steps; s++) {
//SERIAL_ECHOPGM("delta[Y_AXIS]="); SERIAL_ECHOLN(delta[Y_AXIS]);
//SERIAL_ECHOPGM("delta[Z_AXIS]="); SERIAL_ECHOLN(delta[Z_AXIS]);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
active_extruder);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
active_extruder);
}
#endif // SCARA
@ -4298,17 +5126,17 @@ void controllerFan()
{
lastMotorCheck = millis();
if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || (soft_pwm_bed > 0)
if((X_ENABLE_READ) == (X_ENABLE_ON)) || (Y_ENABLE_READ) == (Y_ENABLE_ON)) || (Z_ENABLE_READ) == (Z_ENABLE_ON)) || (soft_pwm_bed > 0)
#if EXTRUDERS > 2
|| !READ(E2_ENABLE_PIN)
|| (E2_ENABLE_READ) == (E_ENABLE_ON))
#endif
#if EXTRUDER > 1
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|| !READ(X2_ENABLE_PIN)
|| (X2_ENABLE_READ) == (X_ENABLE_ON))
#endif
|| !READ(E1_ENABLE_PIN)
|| (E1_ENABLE_READ) == (E_ENABLE_ON))
#endif
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
|| (E0_ENABLE_READ) == (E_ENABLE_ON))) //If any of the drivers are enabled...
{
lastMotor = millis(); //... set time to NOW so the fan will turn on
}
@ -4443,7 +5271,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
{
#if defined(KILL_PIN) && KILL_PIN > -1
static int killCount = 0; // make the inactivity button a bit less responsive
static int killCount = 0; // make the inactivity button a bit less responsive
const int KILL_DELAY = 10000;
#endif
@ -4469,6 +5297,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
disable_e0();
disable_e1();
disable_e2();
disable_e3();
}
}
}
@ -4532,7 +5361,7 @@ 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];
@ -4544,7 +5373,7 @@ 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)
@ -4574,6 +5403,7 @@ void kill()
disable_e0();
disable_e1();
disable_e2();
disable_e3();
#if defined(PS_ON_PIN) && PS_ON_PIN > -1
pinMode(PS_ON_PIN,INPUT);
@ -4707,7 +5537,6 @@ bool setTargetedHotend(int code){
return false;
}
float calculate_volumetric_multiplier(float diameter) {
if (!volumetric_enabled || diameter == 0) return 1.0;
float d2 = diameter * 0.5;

3
Marlin/cardreader.cpp
View file

@ -22,8 +22,7 @@ CardReader::CardReader() {
autostart_index = 0;
//power to SD reader
#if SDPOWER > -1
SET_OUTPUT(SDPOWER);
WRITE(SDPOWER, HIGH);
OUT_WRITE(SDPOWER, HIGH);
#endif //SDPOWER
autostart_atmillis = millis() + 5000;

18
Marlin/dogm_lcd_implementation.h
View file

@ -21,17 +21,13 @@
**/
#ifdef ULTIPANEL
#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 encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#define LCD_CLICKED (buttons&EN_C)
#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 LCD_CLICKED (buttons&EN_C)
#endif
#include <U8glib.h>

117
Marlin/example_configurations/Hephestos/Configuration.h
View file

@ -82,7 +82,7 @@ Here are some standard links for getting your machine calibrated:
// #define PS_DEFAULT_OFF
//===========================================================================
//============================= Thermal Settings ============================
//============================= Thermal Settings ============================
//===========================================================================
//
//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
@ -118,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
// 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
@ -297,9 +301,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
//============================= Mechanical Settings =========================
//===========================================================================
// Uncomment the following line to enable CoreXY kinematics
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// 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
@ -332,11 +339,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// 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
@ -389,40 +391,40 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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
// 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
// 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
// set the rectangle in which to probe
// The edges of 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
#define BACK_PROBE_BED_POSITION 170
// 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 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
#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
#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
@ -433,11 +435,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
// 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 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
@ -474,29 +476,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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
@ -521,8 +500,11 @@ 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).
@ -536,9 +518,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 5.0 // (mm/sec)
//===========================================================================
//============================= Additional Features =========================
//===========================================================================
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// Custom M code points
#define CUSTOM_M_CODES
@ -569,7 +551,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support
//==============================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°"
@ -583,7 +570,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#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 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
@ -750,7 +737,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 20
@ -759,7 +746,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 16

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}

117
Marlin/example_configurations/K8200/Configuration.h
View file

@ -3,7 +3,6 @@
#include "boards.h"
//===========================================================================
//============================= Getting Started =============================
//===========================================================================
@ -39,7 +38,7 @@ Here are some standard links for getting your machine calibrated:
// 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 "v1.0.2"
#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 "(K8200, CONSULitAS)" // Who made the changes.
@ -82,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
// 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 ============================
//===========================================================================
@ -120,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
// 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 5
#define TEMP_SENSOR_1 0
@ -260,7 +262,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//===========================================================================
//============================= Thermal Runaway Protection ==================
//===========================================================================
@ -305,9 +306,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
//============================= Mechanical Settings =========================
//===========================================================================
// Uncomment the following line to enable CoreXY kinematics
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// 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
@ -340,11 +344,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// 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
@ -397,40 +396,40 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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
// 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
// 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
// set the rectangle in which to probe
// The edges of 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
#define BACK_PROBE_BED_POSITION 170
// 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 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
#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
#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
@ -441,11 +440,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
// 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 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
@ -482,29 +481,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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
@ -529,8 +505,10 @@ 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).
@ -544,9 +522,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 5.0 // (mm/sec)
//===========================================================================
//============================= Additional Features =========================
//===========================================================================
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// Custom M code points
#define CUSTOM_M_CODES
@ -577,9 +555,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 60
#define ABS_PREHEAT_FAN_SPEED 0 // Insert Value between 0 and 255
//LCD and SD support
//==============================LCD and SD support=============================
// VM8201 (LCD Option for K8200) uses "DISPLAY_CHARSET_HD44870_JAPAN" and "ULTIMAKERCONTROLLER"
// 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°"
@ -760,7 +741,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 20
@ -769,7 +750,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 16

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}

172
Marlin/example_configurations/SCARA/Configuration.h
View file

@ -3,7 +3,6 @@
#include "boards.h"
//===========================================================================
//============================= Getting Started =============================
//===========================================================================
@ -18,7 +17,6 @@ Here are some standard links for getting your machine calibrated:
* 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
@ -52,7 +50,7 @@ Here are some standard links for getting your machine calibrated:
#define L2_2 sq(Linkage_2) // do not change
//===========================================================================
//========================= SCARA Settings end ==================================
//========================= SCARA Settings end ==============================
//===========================================================================
// User-specified version info of this build to display in [Pronterface, etc] terminal window during
@ -70,7 +68,6 @@ Here are some standard links for getting your machine calibrated:
// 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
// This determines the communication speed of the printer
#define BAUDRATE 250000
@ -125,6 +122,7 @@ Here are some standard links for getting your machine calibrated:
// 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
//
@ -138,6 +136,10 @@ Here are some standard links for getting your machine calibrated:
// 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
@ -189,31 +191,24 @@ Here are some standard links for getting your machine calibrated:
// 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 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 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 20 // 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 255 //limit for the integral term
#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 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
#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
// Jhead MK5: From Autotune
// #define DEFAULT_Kp 20.92
// #define DEFAULT_Ki 1.51
// #define DEFAULT_Kd 72.34
//Merlin Hotend: From Autotune
#define DEFAULT_Kp 24.5
#define DEFAULT_Ki 1.72
#define DEFAULT_Kd 87.73
// #define DEFAULT_Kp 22.2
// #define DEFAULT_Ki 1.08
// #define DEFAULT_Kd 114
// MakerGear
// #define DEFAULT_Kp 7.0
@ -221,9 +216,20 @@ Here are some standard links for getting your machine calibrated:
// #define DEFAULT_Kd 12
// Mendel Parts V9 on 12V
// #define DEFAULT_Kp 63.0
// #define DEFAULT_Ki 2.25
// #define DEFAULT_Kd 440
// #define DEFAULT_Kp 63.0
// #define DEFAULT_Ki 2.25
// #define DEFAULT_Kd 440
// Jhead MK5: From Autotune
// #define DEFAULT_Kp 20.92
// #define DEFAULT_Ki 1.51
// #define DEFAULT_Kd 72.34
// Merlin Hotend: From Autotune
#define DEFAULT_Kp 24.5
#define DEFAULT_Ki 1.72
#define DEFAULT_Kd 87.73
#endif // PIDTEMP
//===========================================================================
@ -251,9 +257,9 @@ Here are some standard links for getting your machine calibrated:
#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
// #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
@ -271,7 +277,6 @@ Here are some standard links for getting your machine calibrated:
#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
@ -281,7 +286,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 150
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//===========================================================================
//============================= Thermal Runaway Protection ==================
//===========================================================================
@ -323,12 +327,15 @@ your extruder heater takes 2 minutes to hit the target on heating.
//===========================================================================
//============================ Mechanical Settings ==========================
//============================= Mechanical Settings =========================
//===========================================================================
// Uncomment the following line to enable CoreXY kinematics
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// 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
@ -361,11 +368,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// 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
@ -388,7 +390,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define INVERT_E3_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
// ENDSTOP SETTINGS:
// Sets direction of endstop s when homing; 1=MAX, -1=MIN
// 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
@ -414,43 +416,44 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//===========================================================================
//#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
// 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
// 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
// set the rectangle in which to probe
// The edges of 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
#define BACK_PROBE_BED_POSITION 170
// 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 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
#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
#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
@ -461,10 +464,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
#define X_PROBE_OFFSET_FROM_EXTRUDER -25
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
// 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
@ -474,6 +478,8 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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.
@ -524,11 +530,14 @@ 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 extruder 0 hotend (default extruder).
// 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
@ -539,9 +548,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 3 // (mm/sec)
//===========================================================================
//============================= Additional Features =========================
//===========================================================================
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// Custom M code points
//#define CUSTOM_M_CODES
@ -572,7 +581,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support
//==============================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°"
@ -739,10 +753,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// ---------------------
// 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SR_LCD
#ifdef SR_LCD
#define SR_LCD_2W_NL // Non latching 2 wire shift register
//#define NEWPANEL
//#define SAV_3DLCD
#ifdef SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif
@ -751,7 +767,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 20
@ -760,7 +776,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 16
@ -844,13 +860,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// 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 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)
#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

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

120
Marlin/example_configurations/WITBOX/Configuration.h
View file

@ -3,7 +3,6 @@
#include "boards.h"
//===========================================================================
//============================= Getting Started =============================
//===========================================================================
@ -18,7 +17,6 @@ Here are some standard links for getting your machine calibrated:
* 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
@ -83,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
// 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 ============================
//===========================================================================
@ -121,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
// 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
@ -164,7 +165,6 @@ Here are some standard links for getting your machine calibrated:
//#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 ================================
//===========================================================================
@ -184,7 +184,7 @@ Here are some standard links for getting your machine calibrated:
// 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 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the temperature routine
#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
@ -256,7 +256,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//===========================================================================
//============================= Thermal Runaway Protection ==================
//===========================================================================
@ -301,9 +300,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
//============================= Mechanical Settings =========================
//===========================================================================
// Uncomment the following line to enable CoreXY kinematics
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// 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
@ -336,11 +338,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// 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
@ -393,40 +390,40 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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
// 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
// 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
// set the rectangle in which to probe
// The edges of 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
#define BACK_PROBE_BED_POSITION 170
// 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 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
#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
#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
@ -437,11 +434,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
// 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 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
@ -478,29 +475,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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
@ -525,8 +499,9 @@ 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).
@ -540,9 +515,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 5.0 // (mm/sec)
//===========================================================================
//============================ Additional Features ==========================
//===========================================================================
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// Custom M code points
#define CUSTOM_M_CODES
@ -573,7 +548,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support
//==============================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°"
@ -587,7 +567,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#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 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
@ -754,7 +734,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 20
@ -763,7 +743,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 16

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}

81
Marlin/example_configurations/delta/Configuration.h
View file

@ -1,9 +1,8 @@
#ifndef CONFIGURATION_H
#ifndef CONFIGURATION_H
#define CONFIGURATION_H
#include "boards.h"
//===========================================================================
//============================= Getting Started =============================
//===========================================================================
@ -22,7 +21,6 @@ Here are some standard links for getting your machine calibrated:
// 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 ===============================
//===========================================================================
@ -30,6 +28,13 @@ Here are some standard links for getting your machine calibrated:
// 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.
@ -143,6 +148,10 @@ Here are some standard links for getting your machine calibrated:
// 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
@ -186,7 +195,6 @@ Here are some standard links for getting your machine calibrated:
//#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 ================================
//===========================================================================
@ -195,13 +203,16 @@ Here are some standard links for getting your machine calibrated:
// 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 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 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 255 //limit for the integral term
#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
@ -222,7 +233,6 @@ Here are some standard links for getting your machine calibrated:
// #define DEFAULT_Kd 440
#endif // PIDTEMP
//===========================================================================
//============================= PID > Bed Temperature Control ===============
//===========================================================================
@ -271,7 +281,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//===========================================================================
//============================= Thermal Runaway Protection ==================
//===========================================================================
@ -316,6 +325,12 @@ your extruder heater takes 2 minutes to hit the target on heating.
//============================= Mechanical Settings =========================
//===========================================================================
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// 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
@ -348,10 +363,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS
// Deltas never have min endstops
#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
@ -397,6 +408,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
//===========================================================================
//============================= Bed Auto Leveling ===========================
//===========================================================================
@ -407,12 +419,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// The position of the homing switches
//#define MANUAL_HOME_POSITIONS // If defined, MANUAL_*_HOME_POS below will be used
#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:
#define MANUAL_HOME_POSITIONS // MANUAL_*_HOME_POS below will be used
// For deltabots this means top and center of the Cartesian print volume.
#define MANUAL_X_HOME_POS 0
#define MANUAL_Y_HOME_POS 0
@ -430,8 +440,10 @@ 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).
@ -444,9 +456,10 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_ZJERK 20.0 // (mm/sec) Must be same as XY for delta
#define DEFAULT_EJERK 5.0 // (mm/sec)
//===========================================================================
//============================= Additional Features =========================
//===========================================================================
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// Custom M code points
#define CUSTOM_M_CODES
@ -477,7 +490,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support
//==============================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°"
@ -651,10 +669,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// ---------------------
// 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SR_LCD
#ifdef SR_LCD
#define SR_LCD_2W_NL // Non latching 2 wire shift register
//#define NEWPANEL
//#define SAV_3DLCD
#ifdef SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif
@ -663,7 +683,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 20
@ -672,7 +692,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 16
@ -756,13 +776,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// 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 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)
#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
@ -775,7 +795,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#include "Configuration_adv.h"
#include "thermistortables.h"

1
Marlin/example_configurations/delta/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.

116
Marlin/example_configurations/makibox/Configuration.h
View file

@ -3,7 +3,6 @@
#include "boards.h"
//===========================================================================
//============================= Getting Started =============================
//===========================================================================
@ -18,12 +17,10 @@ Here are some standard links for getting your machine calibrated:
* 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 ===============================
//===========================================================================
@ -31,7 +28,6 @@ Here are some standard links for getting your machine calibrated:
// example_configurations/delta directory.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
@ -85,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
// 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 ============================
//===========================================================================
@ -123,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
// 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
@ -166,7 +165,6 @@ Here are some standard links for getting your machine calibrated:
//#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 ================================
//===========================================================================
@ -175,13 +173,16 @@ Here are some standard links for getting your machine calibrated:
// 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 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 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 255 //limit for the integral term
#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
@ -202,7 +203,6 @@ Here are some standard links for getting your machine calibrated:
// #define DEFAULT_Kd 440
#endif // PIDTEMP
//===========================================================================
//============================= PID > Bed Temperature Control ===============
//===========================================================================
@ -254,7 +254,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//===========================================================================
//============================= Thermal Runaway Protection ==================
//===========================================================================
@ -296,12 +295,15 @@ your extruder heater takes 2 minutes to hit the target on heating.
//===========================================================================
//============================ Mechanical Settings ==========================
//============================= Mechanical Settings =========================
//===========================================================================
// Uncomment the following line to enable CoreXY kinematics
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// 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
@ -334,11 +336,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// 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
@ -391,40 +388,40 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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
// 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
// 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
// set the rectangle in which to probe
// The edges of 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
#define BACK_PROBE_BED_POSITION 170
// 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 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
#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
#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
@ -435,10 +432,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
#define X_PROBE_OFFSET_FROM_EXTRUDER -25
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
// 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
@ -499,8 +497,9 @@ 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).
@ -514,9 +513,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 5.0 // (mm/sec)
//===========================================================================
//============================ Additional Features ==========================
//===========================================================================
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// Custom M code points
#define CUSTOM_M_CODES
@ -547,7 +546,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support
//==============================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°"
@ -714,10 +718,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// ---------------------
// 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SR_LCD
#ifdef SR_LCD
#define SR_LCD_2W_NL // Non latching 2 wire shift register
//#define NEWPANEL
//#define SAV_3DLCD
#ifdef SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif
@ -726,7 +732,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 20
@ -735,7 +741,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 16

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}

132
Marlin/example_configurations/tvrrug/Round2/Configuration.h
View file

@ -17,12 +17,10 @@ Here are some standard links for getting your machine calibrated:
* 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 ===============================
//===========================================================================
@ -30,7 +28,6 @@ Here are some standard links for getting your machine calibrated:
// example_configurations/delta directory.
//
//===========================================================================
//============================= SCARA Printer ===============================
//===========================================================================
@ -84,7 +81,6 @@ Here are some standard links for getting your machine calibrated:
// 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 ============================
//===========================================================================
@ -122,6 +118,10 @@ Here are some standard links for getting your machine calibrated:
// 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 5
#define TEMP_SENSOR_1 0
@ -156,8 +156,6 @@ Here are some standard links for getting your machine calibrated:
#define HEATER_3_MAXTEMP 275
#define BED_MAXTEMP 150
#define CONFIG_STEPPERS_TOSHIBA 1
// 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.
@ -167,7 +165,6 @@ Here are some standard links for getting your machine calibrated:
//#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 ================================
//===========================================================================
@ -176,13 +173,16 @@ Here are some standard links for getting your machine calibrated:
// 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 255 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 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 255 //limit for the integral term
#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
@ -208,7 +208,6 @@ Here are some standard links for getting your machine calibrated:
// #define DEFAULT_Kd 440
#endif // PIDTEMP
//===========================================================================
//============================= PID > Bed Temperature Control ===============
//===========================================================================
@ -257,7 +256,6 @@ Here are some standard links for getting your machine calibrated:
#define EXTRUDE_MINTEMP 170
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
//===========================================================================
//============================= Thermal Runaway Protection ==================
//===========================================================================
@ -299,12 +297,15 @@ your extruder heater takes 2 minutes to hit the target on heating.
//===========================================================================
//============================ Mechanical Settings ==========================
//============================= Mechanical Settings =========================
//===========================================================================
// Uncomment the following line to enable CoreXY kinematics
// Uncomment this option to enable CoreXY kinematics
// #define COREXY
// 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
@ -337,11 +338,6 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
//#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS
// Disable max endstops for compatibility with endstop checking routine
#if defined(COREXY) && !defined(DISABLE_MAX_ENDSTOPS)
#define DISABLE_MAX_ENDSTOPS
#endif
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 1
#define Y_ENABLE_ON 1
@ -394,40 +390,40 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#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
// 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
// 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
// set the rectangle in which to probe
// The edges of 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
#define BACK_PROBE_BED_POSITION 170
// 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 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
#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
#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
@ -438,10 +434,11 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#endif // AUTO_BED_LEVELING_GRID
// these are the offsets to the probe relative to the extruder tip (Hotend - Probe)
#define X_PROBE_OFFSET_FROM_EXTRUDER -25
#define Y_PROBE_OFFSET_FROM_EXTRUDER -29
#define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35
// 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
@ -498,22 +495,18 @@ 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_AXIS_STEPS_PER_UNIT {79.87, 79.87, 2566, 563,78} // Al's TVRR
//#define DEFAULT_AXIS_STEPS_PER_UNIT {79.87, 79.87, 2566, 563,78} // Al's TVRR
//#define DEFAULT_AXIS_STEPS_PER_UNIT {81.26, 80.01, 2561, 599.14} // Michel TVRR old
//#define DEFAULT_AXIS_STEPS_PER_UNIT {71.1, 71.1, 2560, 739.65} // Michel TVRR
#define DEFAULT_AXIS_STEPS_PER_UNIT {71.1, 71.1, 2560, 600} // David TVRR
//#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec) default
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 45} // (mm/sec) David TVRR
#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_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 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).
@ -527,9 +520,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define DEFAULT_EJERK 5.0 // (mm/sec)
//===========================================================================
//============================ Additional Features ==========================
//===========================================================================
//=============================================================================
//============================= Additional Features ===========================
//=============================================================================
// Custom M code points
#define CUSTOM_M_CODES
@ -560,7 +553,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255
//LCD and SD support
//==============================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°"
@ -727,10 +725,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// ---------------------
// 2 wire Non-latching LCD SR from:
// https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/schematics#!shiftregister-connection
//#define SR_LCD
#ifdef SR_LCD
#define SR_LCD_2W_NL // Non latching 2 wire shift register
//#define NEWPANEL
//#define SAV_3DLCD
#ifdef SAV_3DLCD
#define SR_LCD_2W_NL // Non latching 2 wire shiftregister
#define NEWPANEL
#define ULTIPANEL
#endif
@ -739,7 +739,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define SDSUPPORT
#define ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the DOG graphic display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 20
@ -748,7 +748,7 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#else //no panel but just LCD
#ifdef ULTRA_LCD
#ifdef DOGLCD // Change number of lines to match the 128x64 graphics display
#define LCD_WIDTH 20
#define LCD_WIDTH 22
#define LCD_HEIGHT 5
#else
#define LCD_WIDTH 16
@ -832,13 +832,13 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
// 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 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)
#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

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

@ -83,6 +83,9 @@
/// check if pin is an timer wrapper
#define GET_TIMER(IO) _GET_TIMER(IO)
// Shorthand
#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
/*
ports and functions

10
Marlin/language.h
View file

@ -121,6 +121,7 @@
#define MSG_UNKNOWN_COMMAND "Unknown command: \""
#define MSG_ACTIVE_EXTRUDER "Active Extruder: "
#define MSG_INVALID_EXTRUDER "Invalid extruder"
#define MSG_INVALID_SOLENOID "Invalid solenoid"
#define MSG_X_MIN "x_min: "
#define MSG_X_MAX "x_max: "
#define MSG_Y_MIN "y_min: "
@ -168,8 +169,8 @@
#define MSG_PID_TIMEOUT MSG_PID_AUTOTUNE_FAILED " timeout"
#define MSG_BIAS " bias: "
#define MSG_D " d: "
#define MSG_MIN " min: "
#define MSG_MAX " max: "
#define MSG_T_MIN " min: "
#define MSG_T_MAX " max: "
#define MSG_KU " Ku: "
#define MSG_TU " Tu: "
#define MSG_CLASSIC_PID " Classic PID "
@ -225,8 +226,7 @@
#define STR_h3 "3"
#define STR_Deg "\271"
#define STR_THERMOMETER "\002"
#endif
#ifdef DISPLAY_CHARSET_HD44780_WESTERN // HD44780 ROM Code: A02 (Western)
#elif defined(DISPLAY_CHARSET_HD44780_WESTERN) // HD44780 ROM Code: A02 (Western)
#define STR_Ae "\216"
#define STR_ae "\204"
#define STR_Oe "\211"
@ -238,6 +238,8 @@
#define STR_h3 "\263"
#define STR_Deg "\337"
#define STR_THERMOMETER "\002"
#elif defined(ULTRA_LCD)
#error You must enable either DISPLAY_CHARSET_HD44780_JAPAN or DISPLAY_CHARSET_HD44780_WESTERN for your LCD controller.
#endif
#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

6
Marlin/pins_CHEAPTRONIC.h
View file

@ -87,9 +87,3 @@
// Cheaptronic v1.0 does not use this port
#define SDCARDDETECT -1
// Encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1

6
Marlin/pins_ELEFU_3.h
View file

@ -74,12 +74,6 @@
#define BLEN_B 1
#define BLEN_A 0
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#endif // RA_CONTROL_PANEL
#ifdef RA_DISCO

6
Marlin/pins_MEGATRONICS.h
View file

@ -83,10 +83,4 @@
#define SDCARDDETECT -1 // Ramps does not use this port
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#endif // ULTRA_LCD && NEWPANEL

6
Marlin/pins_MEGATRONICS_1.h
View file

@ -80,9 +80,3 @@
#define BLEN_A 0
#define SDCARDDETECT -1 // Megatronics does not use this port
// Encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1

6
Marlin/pins_MEGATRONICS_2.h
View file

@ -95,9 +95,3 @@
#define BLEN_A 0
#define SDCARDDETECT -1 // Megatronics does not use this port
// Encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1

6
Marlin/pins_MEGATRONICS_3.h
View file

@ -95,9 +95,3 @@
#define BLEN_A 0
#define SDCARDDETECT -1 // Megatronics does not use this port
// Encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1

11
Marlin/pins_RAMBO.h
View file

@ -116,11 +116,6 @@
#define SDCARDDETECT 81 // Ramps does not use this port
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#else //!NEWPANEL - old style panel with shift register
//arduino pin witch triggers an piezzo beeper
#define BEEPER 33 No Beeper added
@ -138,12 +133,6 @@
#define LCD_PINS_D6 27
#define LCD_PINS_D7 29
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
//bits in the shift register that carry the buttons for:
// left up center down right red
#define BL_LE 7

26
Marlin/planner.cpp
View file

@ -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;
@ -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

@ -112,6 +112,7 @@ 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;

360
Marlin/stepper.cpp
View file

@ -33,7 +33,6 @@
#include <SPI.h>
#endif
//===========================================================================
//=============================public variables ============================
//===========================================================================
@ -88,6 +87,7 @@ 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};
//===========================================================================
//=============================functions ============================
//===========================================================================
@ -187,7 +187,7 @@ void checkHitEndstops()
SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
}
SERIAL_ECHOLN("");
SERIAL_EOL;
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
@ -349,51 +349,51 @@ ISR(TIMER1_COMPA_vect)
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);
X_DIR_WRITE(INVERT_X_DIR);
X2_DIR_WRITE(INVERT_X_DIR);
}
else{
if (current_block->active_extruder != 0)
WRITE(X2_DIR_PIN, INVERT_X_DIR);
X2_DIR_WRITE(INVERT_X_DIR);
else
WRITE(X_DIR_PIN, INVERT_X_DIR);
X_DIR_WRITE(INVERT_X_DIR);
}
#else
WRITE(X_DIR_PIN, INVERT_X_DIR);
X_DIR_WRITE(INVERT_X_DIR);
#endif
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);
X_DIR_WRITE(!INVERT_X_DIR);
X2_DIR_WRITE( !INVERT_X_DIR);
}
else{
if (current_block->active_extruder != 0)
WRITE(X2_DIR_PIN, !INVERT_X_DIR);
X2_DIR_WRITE(!INVERT_X_DIR);
else
WRITE(X_DIR_PIN, !INVERT_X_DIR);
X_DIR_WRITE(!INVERT_X_DIR);
}
#else
WRITE(X_DIR_PIN, !INVERT_X_DIR);
X_DIR_WRITE(!INVERT_X_DIR);
#endif
count_direction[X_AXIS]=1;
}
if((out_bits & (1<<Y_AXIS))!=0){
WRITE(Y_DIR_PIN, INVERT_Y_DIR);
Y_DIR_WRITE(INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, !(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
Y2_DIR_WRITE(!(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif
count_direction[Y_AXIS]=-1;
}
else{
WRITE(Y_DIR_PIN, !INVERT_Y_DIR);
Y_DIR_WRITE(!INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_DIR_PIN, (INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
Y2_DIR_WRITE((INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif
count_direction[Y_AXIS]=1;
@ -480,10 +480,10 @@ ISR(TIMER1_COMPA_vect)
}
if ((out_bits & (1<<Z_AXIS)) != 0) { // -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;
@ -501,10 +501,10 @@ ISR(TIMER1_COMPA_vect)
}
}
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;
@ -554,54 +554,48 @@ ISR(TIMER1_COMPA_vect)
#endif //ADVANCE
counter_x += current_block->steps_x;
#ifdef CONFIG_STEPPERS_TOSHIBA
/* The toshiba stepper controller require much longer pulses
* tjerfore 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);
}
/* 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) X_STEP_WRITE(HIGH);
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, HIGH);
}
if (counter_y > 0) Y_STEP_WRITE(HIGH);
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, HIGH);
}
if (counter_z > 0) Z_STEP_WRITE(HIGH);
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
WRITE_E_STEP(HIGH);
}
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);
count_position[X_AXIS] += count_direction[X_AXIS];
X_STEP_WRITE(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);
count_position[Y_AXIS] += count_direction[Y_AXIS];
Y_STEP_WRITE( 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);
count_position[Z_AXIS] += count_direction[Z_AXIS];
Z_STEP_WRITE(LOW);
}
#ifndef ADVANCE
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
count_position[E_AXIS]+=count_direction[E_AXIS];
count_position[E_AXIS] += count_direction[E_AXIS];
WRITE_E_STEP(LOW);
}
#endif //!ADVANCE
@ -609,67 +603,66 @@ ISR(TIMER1_COMPA_vect)
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);
X_STEP_WRITE(!INVERT_X_STEP_PIN);
X2_STEP_WRITE( !INVERT_X_STEP_PIN);
}
else {
if (current_block->active_extruder != 0)
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
X2_STEP_WRITE( !INVERT_X_STEP_PIN);
else
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
X_STEP_WRITE(!INVERT_X_STEP_PIN);
}
#else
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
X_STEP_WRITE(!INVERT_X_STEP_PIN);
#endif
counter_x -= current_block->step_event_count;
count_position[X_AXIS]+=count_direction[X_AXIS];
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);
X_STEP_WRITE(INVERT_X_STEP_PIN);
X2_STEP_WRITE(INVERT_X_STEP_PIN);
}
else {
if (current_block->active_extruder != 0)
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
X2_STEP_WRITE(INVERT_X_STEP_PIN);
else
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
X_STEP_WRITE(INVERT_X_STEP_PIN);
}
#else
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
X_STEP_WRITE(INVERT_X_STEP_PIN);
#endif
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
Y2_STEP_WRITE( !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);
count_position[Y_AXIS] += count_direction[Y_AXIS];
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
Y2_STEP_WRITE( INVERT_Y_STEP_PIN);
#endif
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
Z_STEP_WRITE( !INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
Z2_STEP_WRITE(!INVERT_Z_STEP_PIN);
#endif
counter_z -= current_block->step_event_count;
count_position[Z_AXIS]+=count_direction[Z_AXIS];
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
count_position[Z_AXIS] += count_direction[Z_AXIS];
Z_STEP_WRITE( INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
}
@ -678,7 +671,7 @@ ISR(TIMER1_COMPA_vect)
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];
count_position[E_AXIS] += count_direction[E_AXIS];
WRITE_E_STEP(INVERT_E_STEP_PIN);
}
#endif //!ADVANCE
@ -766,60 +759,60 @@ 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
@ -833,83 +826,93 @@ void st_init()
digipot_init(); //Initialize Digipot Motor Current
microstep_init(); //Initialize Microstepping Pins
// initialise TMC Steppers
#ifdef HAVE_TMCDRIVER
tmc_init();
#endif
// initialise L6470 Steppers
#ifdef HAVE_L6470DRIVER
L6470_init();
#endif
//Initialize Dir Pins
#if defined(X_DIR_PIN) && X_DIR_PIN > -1
SET_OUTPUT(X_DIR_PIN);
X_DIR_INIT;
#endif
#if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
SET_OUTPUT(X2_DIR_PIN);
X2_DIR_INIT;
#endif
#if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
SET_OUTPUT(Y_DIR_PIN);
Y_DIR_INIT;
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1)
SET_OUTPUT(Y2_DIR_PIN);
Y2_DIR_INIT;
#endif
#endif
#if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
SET_OUTPUT(Z_DIR_PIN);
Z_DIR_INIT;
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
SET_OUTPUT(Z2_DIR_PIN);
Z2_DIR_INIT;
#endif
#endif
#if defined(E0_DIR_PIN) && E0_DIR_PIN > -1
SET_OUTPUT(E0_DIR_PIN);
E0_DIR_INIT;
#endif
#if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
SET_OUTPUT(E1_DIR_PIN);
E1_DIR_INIT;
#endif
#if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1)
SET_OUTPUT(E2_DIR_PIN);
E2_DIR_INIT;
#endif
#if defined(E3_DIR_PIN) && (E3_DIR_PIN > -1)
SET_OUTPUT(E3_DIR_PIN);
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);
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);
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);
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);
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);
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);
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);
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);
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);
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);
E3_ENABLE_INIT;
if(!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
#endif
//endstops and pullups
@ -959,51 +962,51 @@ void st_init()
//Initialize Step Pins
#if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
SET_OUTPUT(X_STEP_PIN);
WRITE(X_STEP_PIN,INVERT_X_STEP_PIN);
X_STEP_INIT;
X_STEP_WRITE(INVERT_X_STEP_PIN);
disable_x();
#endif
#if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
SET_OUTPUT(X2_STEP_PIN);
WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN);
X2_STEP_INIT;
X2_STEP_WRITE(INVERT_X_STEP_PIN);
disable_x();
#endif
#if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
SET_OUTPUT(Y_STEP_PIN);
WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN);
Y_STEP_INIT;
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1)
SET_OUTPUT(Y2_STEP_PIN);
WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN);
Y2_STEP_INIT;
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif
disable_y();
#endif
#if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)
SET_OUTPUT(Z_STEP_PIN);
WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN);
Z_STEP_INIT;
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
SET_OUTPUT(Z2_STEP_PIN);
WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN);
Z2_STEP_INIT;
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
disable_z();
#endif
#if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
SET_OUTPUT(E0_STEP_PIN);
WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN);
E0_STEP_INIT;
E0_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e0();
#endif
#if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
SET_OUTPUT(E1_STEP_PIN);
WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN);
E1_STEP_INIT;
E1_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e1();
#endif
#if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
SET_OUTPUT(E2_STEP_PIN);
WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN);
E2_STEP_INIT;
E2_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e2();
#endif
#if defined(E3_STEP_PIN) && (E3_STEP_PIN > -1)
SET_OUTPUT(E3_STEP_PIN);
WRITE(E3_STEP_PIN,INVERT_E_STEP_PIN);
E3_STEP_INIT;
E3_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e3();
#endif
@ -1122,31 +1125,31 @@ void babystep(const uint8_t axis,const bool direction)
case X_AXIS:
{
enable_x();
uint8_t old_x_dir_pin= READ(X_DIR_PIN); //if dualzstepper, both point to same direction.
uint8_t old_x_dir_pin= X_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step
WRITE(X_DIR_PIN,(INVERT_X_DIR)^direction);
X_DIR_WRITE((INVERT_X_DIR)^direction);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_DIR_PIN,(INVERT_X_DIR)^direction);
X2_DIR_WRITE((INVERT_X_DIR)^direction);
#endif
//perform step
WRITE(X_STEP_PIN, !INVERT_X_STEP_PIN);
X_STEP_WRITE(!INVERT_X_STEP_PIN);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_STEP_PIN, !INVERT_X_STEP_PIN);
X2_STEP_WRITE(!INVERT_X_STEP_PIN);
#endif
_delay_us(1U); // wait 1 microsecond
WRITE(X_STEP_PIN, INVERT_X_STEP_PIN);
X_STEP_WRITE(INVERT_X_STEP_PIN);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_STEP_PIN, INVERT_X_STEP_PIN);
X2_STEP_WRITE(INVERT_X_STEP_PIN);
#endif
//get old pin state back.
WRITE(X_DIR_PIN,old_x_dir_pin);
X_DIR_WRITE(old_x_dir_pin);
#ifdef DUAL_X_CARRIAGE
WRITE(X2_DIR_PIN,old_x_dir_pin);
X2_DIR_WRITE(old_x_dir_pin);
#endif
}
@ -1154,31 +1157,31 @@ void babystep(const uint8_t axis,const bool direction)
case Y_AXIS:
{
enable_y();
uint8_t old_y_dir_pin= READ(Y_DIR_PIN); //if dualzstepper, both point to same direction.
uint8_t old_y_dir_pin= Y_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step
WRITE(Y_DIR_PIN,(INVERT_Y_DIR)^direction);
Y_DIR_WRITE((INVERT_Y_DIR)^direction);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_DIR_PIN,(INVERT_Y_DIR)^direction);
Y2_DIR_WRITE((INVERT_Y_DIR)^direction);
#endif
//perform step
WRITE(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
Y2_STEP_WRITE( !INVERT_Y_STEP_PIN);
#endif
_delay_us(1U); // wait 1 microsecond
WRITE(Y_STEP_PIN, INVERT_Y_STEP_PIN);
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_STEP_PIN, INVERT_Y_STEP_PIN);
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif
//get old pin state back.
WRITE(Y_DIR_PIN,old_y_dir_pin);
Y_DIR_WRITE(old_y_dir_pin);
#ifdef DUAL_Y_CARRIAGE
WRITE(Y2_DIR_PIN,old_y_dir_pin);
Y2_DIR_WRITE(old_y_dir_pin);
#endif
}
@ -1188,29 +1191,29 @@ void babystep(const uint8_t axis,const bool direction)
case Z_AXIS:
{
enable_z();
uint8_t old_z_dir_pin= READ(Z_DIR_PIN); //if dualzstepper, both point to same direction.
uint8_t old_z_dir_pin= Z_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step
WRITE(Z_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
Z_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,(INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
Z2_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#endif
//perform step
WRITE(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
Z2_STEP_WRITE( !INVERT_Z_STEP_PIN);
#endif
_delay_us(1U); // wait 1 microsecond
WRITE(Z_STEP_PIN, INVERT_Z_STEP_PIN);
Z_STEP_WRITE( INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_STEP_PIN, INVERT_Z_STEP_PIN);
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
//get old pin state back.
WRITE(Z_DIR_PIN,old_z_dir_pin);
Z_DIR_WRITE(old_z_dir_pin);
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE(Z2_DIR_PIN,old_z_dir_pin);
Z2_DIR_WRITE(old_z_dir_pin);
#endif
}
@ -1221,29 +1224,29 @@ void babystep(const uint8_t axis,const bool direction)
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);
uint8_t old_x_dir_pin= X_DIR_READ;
uint8_t old_y_dir_pin= Y_DIR_READ;
uint8_t old_z_dir_pin= Z_DIR_READ;
//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);
X_DIR_WRITE((INVERT_X_DIR)^direction^BABYSTEP_INVERT_Z);
Y_DIR_WRITE((INVERT_Y_DIR)^direction^BABYSTEP_INVERT_Z);
Z_DIR_WRITE((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);
X_STEP_WRITE( !INVERT_X_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
Z_STEP_WRITE(!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);
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.
WRITE(X_DIR_PIN,old_x_dir_pin);
WRITE(Y_DIR_PIN,old_y_dir_pin);
WRITE(Z_DIR_PIN,old_z_dir_pin);
X_DIR_WRITE(old_x_dir_pin);
Y_DIR_WRITE(old_y_dir_pin);
Z_DIR_WRITE(old_z_dir_pin);
}
break;
@ -1380,4 +1383,3 @@ void microstep_readings()
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 WRITE_E_STEP(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 WRITE_E_STEP(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 WRITE_E_STEP(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 WRITE_E_STEP(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 WRITE_E_STEP(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

492
Marlin/stepper_indirection.h Normal file
View file

@ -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

97
Marlin/temperature.cpp
View file

@ -296,8 +296,8 @@ void PID_autotune(float temp, int extruder, int ncycles)
SERIAL_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias);
SERIAL_PROTOCOLPGM(MSG_D); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(MSG_MIN); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(MSG_MAX); SERIAL_PROTOCOLLN(max);
SERIAL_PROTOCOLPGM(MSG_T_MIN); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(MSG_T_MAX); SERIAL_PROTOCOLLN(max);
if (cycles > 2) {
Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
Tu = ((float)(t_low + t_high) / 1000.0);
@ -516,6 +516,36 @@ 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, MSG_MAXTEMP_EXTRUDER_OFF, MSG_ERR_MAXTEMP);
}
void min_temp_error(uint8_t e) {
disable_heater();
_temp_error(e, MSG_MINTEMP_EXTRUDER_OFF, MSG_ERR_MINTEMP);
}
void bed_max_temp_error(void) {
#if HAS_HEATER_BED
WRITE_HEATER_BED(0);
#endif
_temp_error(-1, MSG_MAXTEMP_BED_OFF, MSG_ERR_MAXTEMP_BED);
}
void manage_heater() {
if (!temp_meas_ready) return;
@ -623,14 +653,7 @@ 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
@ -901,21 +924,15 @@ void tp_init()
#ifdef HEATER_0_USES_MAX6675
#ifndef SDSUPPORT
SET_OUTPUT(SCK_PIN);
WRITE(SCK_PIN,0);
SET_OUTPUT(MOSI_PIN);
WRITE(MOSI_PIN,1);
SET_INPUT(MISO_PIN);
WRITE(MISO_PIN,1);
OUT_WRITE(SCK_PIN, LOW);
OUT_WRITE(MOSI_PIN, HIGH);
OUT_WRITE(MISO_PIN, HIGH);
#else
pinMode(SS_PIN, OUTPUT);
digitalWrite(SS_PIN, HIGH);
#endif
SET_OUTPUT(MAX6675_SS);
WRITE(MAX6675_SS,1);
OUT_WRITE(MAX6675_SS,HIGH);
#endif //HEATER_0_USES_MAX6675
@ -1142,46 +1159,6 @@ 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;

12
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);
@ -1394,6 +1395,17 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; }
#ifdef ULTIPANEL
////////////////////////
// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement)
// These values are independent of which pins are used for EN_A and EN_B indications
// The rotary encoder part is also independent to the chipset used for the LCD
#if defined(EN_A) && defined(EN_B)
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#endif
/* Warning: This function is called from interrupt context */
void lcd_buttons_update() {
#ifdef NEWPANEL

55
Marlin/ultralcd_implementation_hitachi_HD44780.h
View file

@ -123,17 +123,6 @@
#define LCD_CLICKED (buttons&(B_MI|B_ST))
#endif
////////////////////////
// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement)
// These values are independent of which pins are used for EN_A and EN_B indications
// The rotary encoder part is also independent to the chipset used for the LCD
#if defined(EN_A) && defined(EN_B)
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
#endif
#endif //ULTIPANEL
////////////////////////////////////
@ -832,32 +821,28 @@ static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pst
static void lcd_implementation_quick_feedback()
{
#ifdef LCD_USE_I2C_BUZZER
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
lcd_buzz(1000/6,100);
#else
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ);
#endif
#elif defined(BEEPER) && BEEPER > -1
SET_OUTPUT(BEEPER);
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
for(int8_t i=0;i<10;i++)
{
WRITE(BEEPER,HIGH);
delayMicroseconds(100);
WRITE(BEEPER,LOW);
delayMicroseconds(100);
}
#ifdef LCD_USE_I2C_BUZZER
#if defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) && defined(LCD_FEEDBACK_FREQUENCY_HZ)
lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ);
#else
for(int8_t i=0;i<(LCD_FEEDBACK_FREQUENCY_DURATION_MS / (1000 / LCD_FEEDBACK_FREQUENCY_HZ));i++)
{
WRITE(BEEPER,HIGH);
delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
WRITE(BEEPER,LOW);
delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2);
}
lcd_buzz(1000/6, 100);
#endif
#endif
#elif defined(BEEPER) && BEEPER > -1
SET_OUTPUT(BEEPER);
#if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS)
const unsigned int delay = 100;
uint8_t i = 10;
#else
const unsigned int delay = 1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2;
int8_t i = LCD_FEEDBACK_FREQUENCY_DURATION_MS * LCD_FEEDBACK_FREQUENCY_HZ / 1000;
#endif
while (i--) {
WRITE(BEEPER,HIGH);
delayMicroseconds(delay);
WRITE(BEEPER,LOW);
delayMicroseconds(delay);
}
#endif
}
#ifdef LCD_HAS_STATUS_INDICATORS

9
Marlin/ultralcd_st7920_u8glib_rrd.h
View file

@ -47,12 +47,9 @@ uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, vo
{
case U8G_DEV_MSG_INIT:
{
SET_OUTPUT(ST7920_CS_PIN);
WRITE(ST7920_CS_PIN,0);
SET_OUTPUT(ST7920_DAT_PIN);
WRITE(ST7920_DAT_PIN,0);
SET_OUTPUT(ST7920_CLK_PIN);
WRITE(ST7920_CLK_PIN,1);
OUT_WRITE(ST7920_CS_PIN,LOW);
OUT_WRITE(ST7920_DAT_PIN,LOW);
OUT_WRITE(ST7920_CLK_PIN,HIGH);
ST7920_CS();
u8g_Delay(120); //initial delay for boot up

35
Marlin/vector_3.cpp
View file

@ -79,12 +79,12 @@ 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_PROTOCOLPGM("\n");
SERIAL_PROTOCOL_F(z, 6);
SERIAL_EOL;
}
void apply_rotation_xyz(matrix_3x3 matrix, float &x, float& y, float& z)
@ -145,22 +145,17 @@ matrix_3x3 matrix_3x3::transpose(matrix_3x3 original)
return new_matrix;
}
void matrix_3x3::debug(char* title)
{
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOL("\n");
int count = 0;
for(int i=0; i<3; i++)
{
for(int j=0; j<3; j++)
{
SERIAL_PROTOCOL(matrix[count]);
SERIAL_PROTOCOLPGM(" ");
count++;
}
SERIAL_PROTOCOLPGM("\n");
}
void matrix_3x3::debug(char* title) {
SERIAL_PROTOCOLLN(title);
int count = 0;
for(int i=0; i<3; i++) {
for(int j=0; j<3; j++) {
SERIAL_PROTOCOL_F(matrix[count], 6);
SERIAL_PROTOCOLPGM(" ");
count++;
}
SERIAL_EOL;
}
}
#endif // #ifdef ENABLE_AUTO_BED_LEVELING

8
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/))
@ -52,9 +52,9 @@ More features have been added by:
- Bradley Feldman,
- and others...
## Licence
## License
Marlin is published unde the [GPL license](/Documentation/COPYING.md) because I believe in open development.
Marlin is published under the [GPL license](/Documentation/COPYING.md) because I believe in open development.
Please do not use this code in products (3D printers, CNC etc) that are closed source or are crippled by a patent.
[![Flattr this git repo](http://api.flattr.com/button/flattr-badge-large.png)](https://flattr.com/submit/auto?user_id=ErikZalm&url=https://github.com/MarlinFirmware/Marlin&title=Marlin&language=&tags=github&category=software)