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Merge remote-tracking branch 'upstream/MK3' into MK3

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merging new changes from upsream
This commit is contained in:
PavelSindler 2017-09-19 13:42:46 +02:00
commit f48bb1e83f
40 changed files with 3660 additions and 1843 deletions
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15
Firmware/Configuration.h
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@ -186,7 +186,6 @@
#undef PREVENT_LENGTHY_EXTRUDE #undef PREVENT_LENGTHY_EXTRUDE
#endif //DEBUG_DISABLE_PREVENT_EXTRUDER #endif //DEBUG_DISABLE_PREVENT_EXTRUDER
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. #define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
/*================== Thermal Runaway Protection ============================== /*================== Thermal Runaway Protection ==============================
@ -258,8 +257,8 @@ your extruder heater takes 2 minutes to hit the target on heating.
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins. // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool X_MAX_ENDSTOP_INVERTING = true; // 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 = true; // 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 = true; // set to true to invert the logic of the endstop. const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of the endstop.
//#define DISABLE_MAX_ENDSTOPS //#define DISABLE_MAX_ENDSTOPS
//#define DISABLE_MIN_ENDSTOPS //#define DISABLE_MIN_ENDSTOPS
@ -295,12 +294,12 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of
#define Y_HOME_DIR -1 #define Y_HOME_DIR -1
#define Z_HOME_DIR -1 #define Z_HOME_DIR -1
#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below.
#ifdef DEBUG_DISABLE_SWLIMITS #ifdef DEBUG_DISABLE_SWLIMITS
#define min_software_endstops false #define min_software_endstops false
#define max_software_endstops false #define max_software_endstops false
#else
#define min_software_endstops true // If true, axis won't move to coordinates less than HOME_POS.
#define max_software_endstops true // If true, axis won't move to coordinates greater than the defined lengths below.
#endif //DEBUG_DISABLE_SWLIMITS #endif //DEBUG_DISABLE_SWLIMITS
@ -745,4 +744,8 @@ enum CalibrationStatus
#include "Configuration_adv.h" #include "Configuration_adv.h"
#include "thermistortables.h" #include "thermistortables.h"
#define PINDA_THERMISTOR
#define AMBIENT_THERMISTOR
#endif //__CONFIGURATION_H #endif //__CONFIGURATION_H

7
Firmware/Configuration_adv.h
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@ -356,6 +356,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st
//The ASCII buffer for receiving from the serial: //The ASCII buffer for receiving from the serial:
#define MAX_CMD_SIZE 96 #define MAX_CMD_SIZE 96
#define BUFSIZE 4 #define BUFSIZE 4
#define CMDHDRSIZE 2
// Firmware based and LCD controlled retract // Firmware based and LCD controlled retract
@ -413,6 +414,12 @@ const unsigned int dropsegments=5; //everything with less than this number of st
#define THERMISTORBED TEMP_SENSOR_BED #define THERMISTORBED TEMP_SENSOR_BED
#define BED_USES_THERMISTOR #define BED_USES_THERMISTOR
#endif #endif
#if TEMP_SENSOR_PINDA > 0
#define THERMISTORPINDA TEMP_SENSOR_PINDA
#endif
#if TEMP_SENSOR_AMBIENT > 0
#define THERMISTORAMBIENT TEMP_SENSOR_AMBIENT
#endif
#if TEMP_SENSOR_0 == -1 #if TEMP_SENSOR_0 == -1
#define HEATER_0_USES_AD595 #define HEATER_0_USES_AD595
#endif #endif

485
Firmware/Configuration_prusa.h Normal file
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@ -0,0 +1,485 @@
#ifndef CONFIGURATION_PRUSA_H
#define CONFIGURATION_PRUSA_H
/*------------------------------------
GENERAL SETTINGS
*------------------------------------*/
// Printer revision
#define FILAMENT_SIZE "1_75mm_MK3"
#define NOZZLE_TYPE "E3Dv6full"
// Developer flag
#define DEVELOPER
// Printer name
#define CUSTOM_MENDEL_NAME "Prusa i3 MK3"
// Electronics
#define MOTHERBOARD BOARD_EINY_0_4a
// Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
//#define E3D_PT100_EXTRUDER_WITH_AMP
//#define E3D_PT100_EXTRUDER_NO_AMP
//#define E3D_PT100_BED_WITH_AMP
//#define E3D_PT100_BED_NO_AMP
/*------------------------------------
AXIS SETTINGS
*------------------------------------*/
// Steps per unit {X,Y,Z,E}
//#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,140}
#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,280}
// Endstop inverting
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.
// Home position
#define MANUAL_X_HOME_POS 0
#define MANUAL_Y_HOME_POS -2.2
#define MANUAL_Z_HOME_POS 0.2
// Travel limits after homing
#define X_MAX_POS 255
#define X_MIN_POS 0
#define Y_MAX_POS 210
#define Y_MIN_POS -12 //orig -4
#define Z_MAX_POS 210
#define Z_MIN_POS 0.15
// Canceled home position
#define X_CANCEL_POS 50
#define Y_CANCEL_POS 190
//Pause print position
#define X_PAUSE_POS 50
#define Y_PAUSE_POS 190
#define Z_PAUSE_LIFT 20
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {3000, 3000, 800, 0} // set the homing speeds (mm/min) // 3000 is also valid for stallGuard homing. Valid range: 2200 - 3000
//#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec)
#define DEFAULT_MAX_FEEDRATE {500, 500, 12, 120} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {1000, 1000, 200, 5000} // 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 1250 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min)
//#define MAX_SILENT_FEEDRATE 2700 //
#define Z_AXIS_ALWAYS_ON 1
//DEBUG
#define DEBUG_DCODES //D codes
#if 0
#define DEBUG_DISABLE_XMINLIMIT //x min limit ignored
#define DEBUG_DISABLE_XMAXLIMIT //x max limit ignored
#define DEBUG_DISABLE_YMINLIMIT //y min limit ignored
#define DEBUG_DISABLE_YMAXLIMIT //y max limit ignored
#define DEBUG_DISABLE_ZMINLIMIT //z min limit ignored
#define DEBUG_DISABLE_ZMAXLIMIT //z max limit ignored
#define DEBUG_DISABLE_STARTMSGS //no startup messages
#define DEBUG_DISABLE_MINTEMP //mintemp error ignored
#define DEBUG_DISABLE_SWLIMITS //sw limits ignored
#define DEBUG_DISABLE_LCD_STATUS_LINE //empty four lcd line
#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
#define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
//#define DEBUG_XSTEP_DUP_PIN 21 //duplicate x-step output to pin 21 (SCL on P3)
//#define DEBUG_YSTEP_DUP_PIN 21 //duplicate y-step output to pin 21 (SCL on P3)
//#define DEBUG_BLINK_ACTIVE
#endif
/*------------------------------------
TMC2130 default settings
*------------------------------------*/
#define TMC2130_FCLK 12000000 // fclk = 12MHz
#define TMC2130_USTEPS_XY 16 // microstep resolution for XY axes
#define TMC2130_USTEPS_Z 16 // microstep resolution for Z axis
#define TMC2130_USTEPS_E 32 // microstep resolution for E axis
#define TMC2130_INTPOL_XY 1 // extrapolate 256 for XY axes
#define TMC2130_INTPOL_Z 1 // extrapolate 256 for Z axis
#define TMC2130_INTPOL_E 1 // extrapolate 256 for E axis
#define TMC2130_PWM_GRAD_X 4 // PWMCONF
#define TMC2130_PWM_AMPL_X 200 // PWMCONF
#define TMC2130_PWM_AUTO_X 1 // PWMCONF
#define TMC2130_PWM_FREQ_X 2 // PWMCONF
#define TMC2130_PWM_GRAD_Y 4 // PWMCONF
#define TMC2130_PWM_AMPL_Y 210 // PWMCONF
#define TMC2130_PWM_AUTO_Y 1 // PWMCONF
#define TMC2130_PWM_FREQ_Y 2 // PWMCONF
/* //not used
#define TMC2130_PWM_GRAD_Z 4 // PWMCONF
#define TMC2130_PWM_AMPL_Z 200 // PWMCONF
#define TMC2130_PWM_AUTO_Z 1 // PWMCONF
#define TMC2130_PWM_FREQ_Z 2 // PWMCONF
#define TMC2130_PWM_GRAD_E 4 // PWMCONF
#define TMC2130_PWM_AMPL_E 200 // PWMCONF
#define TMC2130_PWM_AUTO_E 1 // PWMCONF
#define TMC2130_PWM_FREQ_E 2 // PWMCONF
*/
//#define TMC2130_PWM_DIV 683 // PWM frequency divider (1024, 683, 512, 410)
#define TMC2130_PWM_DIV 512 // PWM frequency divider (1024, 683, 512, 410)
#define TMC2130_PWM_CLK (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
#define TMC2130_TPWMTHRS 0 // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
#define TMC2130_THIGH 0 // THIGH - unused
#define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold
#define TMC2130_SG_HOMING 1 // stallguard homing
//#define TMC2130_SG_HOMING_SW_XY 1 // stallguard "software" homing for XY axes
#define TMC2130_SG_HOMING_SW_Z 1 // stallguard "software" homing for Z axis
#define TMC2130_SG_THRS_X 0 // stallguard sensitivity for X axis
#define TMC2130_SG_THRS_Y 0 // stallguard sensitivity for Y axis
#define TMC2130_SG_THRS_Z 2 // stallguard sensitivity for Z axis
#define TMC2130_SG_DELTA 128 // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
//new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
#define TMC2130_CURRENTS_H {3, 3, 5, 8} // default holding currents for all axes
#define TMC2130_CURRENTS_R {13, 13, 20, 20} // default running currents for all axes
//#define TMC2130_DEBUG
//#define TMC2130_DEBUG_WR
//#define TMC2130_DEBUG_RD
/*------------------------------------
EXTRUDER SETTINGS
*------------------------------------*/
// Mintemps
#define HEATER_0_MINTEMP 15
#define HEATER_1_MINTEMP 5
#define HEATER_2_MINTEMP 5
#define BED_MINTEMP 15
// Maxtemps
#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
#define HEATER_0_MAXTEMP 410
#else
#define HEATER_0_MAXTEMP 305
#endif
#define HEATER_1_MAXTEMP 305
#define HEATER_2_MAXTEMP 305
#define BED_MAXTEMP 150
#if defined(E3D_PT100_EXTRUDER_WITH_AMP) || defined(E3D_PT100_EXTRUDER_NO_AMP)
// Define PID constants for extruder with PT100
#define DEFAULT_Kp 21.70
#define DEFAULT_Ki 1.60
#define DEFAULT_Kd 73.76
#else
// Define PID constants for extruder
//#define DEFAULT_Kp 40.925
//#define DEFAULT_Ki 4.875
//#define DEFAULT_Kd 86.085
#define DEFAULT_Kp 16.13
#define DEFAULT_Ki 1.1625
#define DEFAULT_Kd 56.23
#endif
// Extrude mintemp
#define EXTRUDE_MINTEMP 130
// Extruder cooling fans
#define EXTRUDER_0_AUTO_FAN_PIN 8
#define EXTRUDER_1_AUTO_FAN_PIN -1
#define EXTRUDER_2_AUTO_FAN_PIN -1
#define EXTRUDER_AUTO_FAN_TEMPERATURE 50
#define EXTRUDER_AUTO_FAN_SPEED 255 // == full speed
/*------------------------------------
LOAD/UNLOAD FILAMENT SETTINGS
*------------------------------------*/
// Load filament commands
#define LOAD_FILAMENT_0 "M83"
#define LOAD_FILAMENT_1 "G1 E70 F400"
#define LOAD_FILAMENT_2 "G1 E40 F100"
// Unload filament commands
#define UNLOAD_FILAMENT_0 "M83"
#define UNLOAD_FILAMENT_1 "G1 E-80 F7000"
/*------------------------------------
CHANGE FILAMENT SETTINGS
*------------------------------------*/
// Filament change configuration
#define FILAMENTCHANGEENABLE
#ifdef FILAMENTCHANGEENABLE
#define FILAMENTCHANGE_XPOS 211
#define FILAMENTCHANGE_YPOS 0
#define FILAMENTCHANGE_ZADD 2
#define FILAMENTCHANGE_FIRSTRETRACT -2
#define FILAMENTCHANGE_FINALRETRACT -80
#define FILAMENTCHANGE_FIRSTFEED 70
#define FILAMENTCHANGE_FINALFEED 50
#define FILAMENTCHANGE_RECFEED 5
#define FILAMENTCHANGE_XYFEED 50
#define FILAMENTCHANGE_EFEED 20
#define FILAMENTCHANGE_RFEED 400
#define FILAMENTCHANGE_EXFEED 2
#define FILAMENTCHANGE_ZFEED 15
#endif
/*------------------------------------
ADDITIONAL FEATURES SETTINGS
*------------------------------------*/
// Define Prusa filament runout sensor
//#define FILAMENT_RUNOUT_SUPPORT
#ifdef FILAMENT_RUNOUT_SUPPORT
#define FILAMENT_RUNOUT_SENSOR 1
#endif
// temperature runaway
//#define TEMP_RUNAWAY_BED_HYSTERESIS 5
//#define TEMP_RUNAWAY_BED_TIMEOUT 360
#define TEMP_RUNAWAY_EXTRUDER_HYSTERESIS 15
#define TEMP_RUNAWAY_EXTRUDER_TIMEOUT 45
/*------------------------------------
MOTOR CURRENT SETTINGS
*------------------------------------*/
// Motor Current setting for BIG RAMBo
#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
#define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
// Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
#if MOTHERBOARD == 200 || MOTHERBOARD == 203 || MOTHERBOARD == 303 || MOTHERBOARD == 304 || MOTHERBOARD == 305
#define MOTOR_CURRENT_PWM_RANGE 2000
#define DEFAULT_PWM_MOTOR_CURRENT {400, 750, 750} // {XY,Z,E}
#define DEFAULT_PWM_MOTOR_CURRENT_LOUD {400, 750, 750} // {XY,Z,E}
#endif
/*------------------------------------
BED SETTINGS
*------------------------------------*/
// Define Mesh Bed Leveling system to enable it
#define MESH_BED_LEVELING
#ifdef MESH_BED_LEVELING
#define MBL_Z_STEP 0.01
// Mesh definitions
#define MESH_MIN_X 35
#define MESH_MAX_X 238
#define MESH_MIN_Y 6
#define MESH_MAX_Y 202
// Mesh upsample definition
#define MESH_NUM_X_POINTS 7
#define MESH_NUM_Y_POINTS 7
// Mesh measure definition
#define MESH_MEAS_NUM_X_POINTS 3
#define MESH_MEAS_NUM_Y_POINTS 3
#define MESH_HOME_Z_CALIB 0.2
#define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc.
#define X_PROBE_OFFSET_FROM_EXTRUDER 23 // Z probe to nozzle X offset: -left +right
#define Y_PROBE_OFFSET_FROM_EXTRUDER 9 // Z probe to nozzle Y offset: -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4 // Z probe to nozzle Z offset: -below (always!)
#endif
// Bed Temperature Control
// Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis
//
// Uncomment this to enable PID on the bed. It uses the same frequency PWM as the extruder.
// If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz,
// which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating.
// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater.
// If your configuration is significantly different than this and you don't understand the issues involved, you probably
// shouldn't use bed PID until someone else verifies your hardware works.
// If this is enabled, find your own PID constants below.
#define PIDTEMPBED
//
//#define BED_LIMIT_SWITCHING
// This sets the max power delivered to the bed, and replaces the HEATER_BED_DUTY_CYCLE_DIVIDER option.
// all forms of bed control obey this (PID, bang-bang, bang-bang with hysteresis)
// setting this to anything other than 255 enables a form of PWM to the bed just like HEATER_BED_DUTY_CYCLE_DIVIDER did,
// so you shouldn't use it unless you are OK with PWM on your bed. (see the comment on enabling PIDTEMPBED)
#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
// Bed temperature compensation settings
#define BED_OFFSET 10
#define BED_OFFSET_START 40
#define BED_OFFSET_CENTER 50
#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)
#if defined(E3D_PT100_BED_WITH_AMP) || defined(E3D_PT100_BED_NO_AMP)
// Define PID constants for extruder with PT100
#define DEFAULT_bedKp 21.70
#define DEFAULT_bedKi 1.60
#define DEFAULT_bedKd 73.76
#else
#define DEFAULT_bedKp 126.13
#define DEFAULT_bedKi 4.30
#define DEFAULT_bedKd 924.76
#endif
//120v 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
//from pidautotune
// #define DEFAULT_bedKp 97.1
// #define DEFAULT_bedKi 1.41
// #define DEFAULT_bedKd 1675.16
// FIND YOUR OWN: "M303 E-1 C8 S90" to run autotune on the bed at 90 degreesC for 8 cycles.
#endif // PIDTEMPBED
/*-----------------------------------
PREHEAT SETTINGS
*------------------------------------*/
#define PLA_PREHEAT_HOTEND_TEMP 215
#define PLA_PREHEAT_HPB_TEMP 55
#define PLA_PREHEAT_FAN_SPEED 0
#define ABS_PREHEAT_HOTEND_TEMP 255
#define ABS_PREHEAT_HPB_TEMP 100
#define ABS_PREHEAT_FAN_SPEED 0
#define HIPS_PREHEAT_HOTEND_TEMP 220
#define HIPS_PREHEAT_HPB_TEMP 100
#define HIPS_PREHEAT_FAN_SPEED 0
#define PP_PREHEAT_HOTEND_TEMP 254
#define PP_PREHEAT_HPB_TEMP 100
#define PP_PREHEAT_FAN_SPEED 0
#define PET_PREHEAT_HOTEND_TEMP 240
#define PET_PREHEAT_HPB_TEMP 90
#define PET_PREHEAT_FAN_SPEED 0
#define FLEX_PREHEAT_HOTEND_TEMP 230
#define FLEX_PREHEAT_HPB_TEMP 50
#define FLEX_PREHEAT_FAN_SPEED 0
/*------------------------------------
THERMISTORS SETTINGS
*------------------------------------*/
//
//--NORMAL IS 4.7kohm PULLUP!-- 1kohm pullup can be used on hotend sensor, using correct resistor and table
//
//// Temperature sensor settings:
// -2 is thermocouple with MAX6675 (only for sensor 0)
// -1 is thermocouple with AD595
// 0 is not used
// 1 is 100k thermistor - best choice for EPCOS 100k (4.7k pullup)
// 2 is 200k thermistor - ATC Semitec 204GT-2 (4.7k pullup)
// 3 is Mendel-parts thermistor (4.7k pullup)
// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !!
// 5 is 100K thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (4.7k pullup)
// 6 is 100k EPCOS - Not as accurate as table 1 (created using a fluke thermocouple) (4.7k pullup)
// 7 is 100k Honeywell thermistor 135-104LAG-J01 (4.7k pullup)
// 71 is 100k Honeywell thermistor 135-104LAF-J01 (4.7k pullup)
// 8 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup)
// 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup)
// 10 is 100k RS thermistor 198-961 (4.7k pullup)
// 11 is 100k beta 3950 1% thermistor (4.7k pullup)
// 12 is 100k 0603 SMD Vishay NTCS0603E3104FXT (4.7k pullup) (calibrated for Makibox hot bed)
// 13 is 100k Hisens 3950 1% up to 300°C for hotend "Simple ONE " & "Hotend "All In ONE"
// 20 is the PT100 circuit found in the Ultimainboard V2.x
// 60 is 100k Maker's Tool Works Kapton Bed Thermistor beta=3950
//
// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k
// (but gives greater accuracy and more stable PID)
// 51 is 100k thermistor - EPCOS (1k pullup)
// 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup)
// 55 is 100k thermistor - ATC Semitec 104GT-2 (Used in ParCan & J-Head) (1k pullup)
//
// 1047 is Pt1000 with 4k7 pullup
// 1010 is Pt1000 with 1k pullup (non standard)
// 147 is Pt100 with 4k7 pullup
// 148 is E3D Pt100 with 4k7 pullup and no PT100 Amplifier on a MiniRambo 1.3a
// 247 is Pt100 with 4k7 pullup and PT100 Amplifier
// 110 is Pt100 with 1k pullup (non standard)
#if defined(E3D_PT100_EXTRUDER_WITH_AMP)
#define TEMP_SENSOR_0 247
#elif defined(E3D_PT100_EXTRUDER_NO_AMP)
#define TEMP_SENSOR_0 148
#else
#define TEMP_SENSOR_0 5
#endif
#define TEMP_SENSOR_1 0
#define TEMP_SENSOR_2 0
#if defined(E3D_PT100_BED_WITH_AMP)
#define TEMP_SENSOR_BED 247
#elif defined(E3D_PT100_BED_NO_AMP)
#define TEMP_SENSOR_BED 148
#else
#define TEMP_SENSOR_BED 1
#endif
#define TEMP_SENSOR_PINDA 1
#define TEMP_SENSOR_AMBIENT 2000
#define STACK_GUARD_TEST_VALUE 0xA2A2
#define MAX_BED_TEMP_CALIBRATION 50
#define MAX_HOTEND_TEMP_CALIBRATION 50
#define MAX_E_STEPS_PER_UNIT 250
#define MIN_E_STEPS_PER_UNIT 100
#define Z_BABYSTEP_MIN -3999
#define Z_BABYSTEP_MAX 0
#define PINDA_PREHEAT_X 70
#define PINDA_PREHEAT_Y -3
#define PINDA_PREHEAT_Z 1
#define PINDA_HEAT_T 120 //time in s
#define PINDA_MIN_T 50
#define PINDA_STEP_T 10
#define PINDA_MAX_T 100
#define PING_TIME 60 //time in s
#define PING_TIME_LONG 600 //10 min; used when length of commands buffer > 0 to avoid false triggering when dealing with long gcodes
#define PING_ALLERT_PERIOD 60 //time in s
#define LONG_PRESS_TIME 1000 //time in ms for button long press
#define BUTTON_BLANKING_TIME 200 //time in ms for blanking after button release
#define DEFAULT_PID_TEMP 210
#define MIN_PRINT_FAN_SPEED 50
#ifdef SNMM
#define DEFAULT_RETRACTION 4 //used for PINDA temp calibration and pause print
#else
#define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
#endif
#define UVLO_Z_AXIS_SHIFT 2
#endif //__CONFIGURATION_PRUSA_H

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Firmware/Dcodes.cpp Normal file
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@ -0,0 +1,192 @@
#include "Dcodes.h"
#include "Marlin.h"
#include "cmdqueue.h"
inline void serial_print_hex_nibble(uint8_t val)
{
MYSERIAL.write((val > 9)?(val - 10 + 'a'):(val + '0'));
}
void serial_print_hex_byte(uint8_t val)
{
serial_print_hex_nibble(val >> 4);
serial_print_hex_nibble(val & 15);
}
void serial_print_hex_word(uint16_t val)
{
serial_print_hex_byte(val >> 8);
serial_print_hex_byte(val & 255);
}
int parse_hex(char* hex, uint8_t* data, int count)
{
int parsed = 0;
while (*hex)
{
if (count && (parsed >= count)) break;
char c = *(hex++);
if (c == ' ') continue;
if (c == '\n') break;
uint8_t val = 0x00;
if ((c >= '0') && (c <= '9')) val |= ((c - '0') << 4);
else if ((c >= 'a') && (c <= 'f')) val |= ((c - 'a' + 10) << 4);
else return -parsed;
c = *(hex++);
if ((c >= '0') && (c <= '9')) val |= (c - '0');
else if ((c >= 'a') && (c <= 'f')) val |= (c - 'a' + 10);
else return -parsed;
data[parsed] = val;
parsed++;
}
return parsed;
}
void dcode_0()
{
if (*(strchr_pointer + 1) == 0) return;
MYSERIAL.println("D0 - Reset");
if (code_seen('B')) //bootloader
asm volatile("jmp 0x1e000");
else //reset
asm volatile("jmp 0x00000");
/*
cli(); //disable interrupts
wdt_reset(); //reset watchdog
WDTCSR = (1<<WDCE) | (1<<WDE); //enable watchdog
WDTCSR = (1<<WDE) | (1<<WDP0); //30ms prescaler
while(1); //wait for reset
*/
}
void dcode_1()
{
MYSERIAL.println("D1 - Clear EEPROM");
cli();
for (int i = 0; i < 4096; i++)
eeprom_write_byte((unsigned char*)i, (unsigned char)0);
sei();
}
void dcode_2()
{
MYSERIAL.println("D2 - Read/Write RAM");
uint16_t address = 0x0000; //default 0x0000
uint16_t count = 0x2000; //default 0x2000 (entire ram)
if (code_seen('A')) // Address (0x0000-0x1fff)
address = (strchr_pointer[1] == 'x')?strtol(strchr_pointer + 2, 0, 16):(int)code_value();
if (code_seen('C')) // Count (0x0001-0x2000)
count = (int)code_value();
address &= 0x1fff;
if (count > 0x2000) count = 0x2000;
if ((address + count) > 0x2000) count = 0x2000 - address;
if (code_seen('X')) // Data
{
uint8_t data[16];
count = parse_hex(strchr_pointer + 1, data, 16);
if (count > 0)
{
for (int i = 0; i < count; i++)
*((uint8_t*)(address + i)) = data[i];
MYSERIAL.print(count, DEC);
MYSERIAL.println(" bytes written to RAM at addres ");
serial_print_hex_word(address);
MYSERIAL.write('\n');
}
else
count = 0;
}
while (count)
{
serial_print_hex_word(address);
MYSERIAL.write(' ');
uint8_t countperline = 16;
while (count && countperline)
{
uint8_t data = *((uint8_t*)address++);
MYSERIAL.write(' ');
serial_print_hex_byte(data);
countperline--;
count--;
}
MYSERIAL.write('\n');
}
}
void dcode_3()
{
MYSERIAL.println("D3 - Read/Write EEPROM");
uint16_t address = 0x0000; //default 0x0000
uint16_t count = 0x2000; //default 0x2000 (entire eeprom)
if (code_seen('A')) // Address (0x0000-0x1fff)
address = (strchr_pointer[1] == 'x')?strtol(strchr_pointer + 2, 0, 16):(int)code_value();
if (code_seen('C')) // Count (0x0001-0x2000)
count = (int)code_value();
address &= 0x1fff;
if (count > 0x2000) count = 0x2000;
if ((address + count) > 0x2000) count = 0x2000 - address;
if (code_seen('X')) // Data
{
uint8_t data[16];
count = parse_hex(strchr_pointer + 1, data, 16);
if (count > 0)
{
for (int i = 0; i < count; i++)
eeprom_write_byte((uint8_t*)(address + i), data[i]);
MYSERIAL.print(count, DEC);
MYSERIAL.println(" bytes written to EEPROM at addres ");
serial_print_hex_word(address);
MYSERIAL.write('\n');
}
else
count = 0;
}
while (count)
{
serial_print_hex_word(address);
MYSERIAL.write(' ');
uint8_t countperline = 16;
while (count && countperline)
{
uint8_t data = eeprom_read_byte((uint8_t*)address++);
MYSERIAL.write(' ');
serial_print_hex_byte(data);
countperline--;
count--;
}
MYSERIAL.write('\n');
}
}
void dcode_4()
{
MYSERIAL.println("D4 - Read/Write PIN");
if (code_seen('P')) // Pin (0-255)
{
int pin = (int)code_value();
if ((pin >= 0) && (pin <= 255))
{
if (code_seen('F')) // Function in/out (0/1)
{
int fnc = (int)code_value();
if (fnc == 0) pinMode(pin, INPUT);
else if (fnc == 1) pinMode(pin, OUTPUT);
}
if (code_seen('V')) // Value (0/1)
{
int val = (int)code_value();
if (val == 0) digitalWrite(pin, LOW);
else if (val == 1) digitalWrite(pin, HIGH);
}
else
{
int val = (digitalRead(pin) != LOW)?1:0;
MYSERIAL.print("PIN");
MYSERIAL.print(pin);
MYSERIAL.print("=");
MYSERIAL.println(val);
}
}
}
}

11
Firmware/Dcodes.h Normal file
View file

@ -0,0 +1,11 @@
#ifndef DCODES_H
#define DCODES_H
extern void dcode_0();
extern void dcode_1();
extern void dcode_2();
extern void dcode_3();
extern void dcode_4();
#endif //DCODES_H

10
Firmware/Marlin.h
View file

@ -269,6 +269,11 @@ extern void homeaxis(int axis);
extern unsigned char fanSpeedSoftPwm; extern unsigned char fanSpeedSoftPwm;
#endif #endif
#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
extern unsigned char lcdSoftPwm;
extern unsigned char lcdBlinkDelay;
#endif
#ifdef FILAMENT_SENSOR #ifdef FILAMENT_SENSOR
extern float filament_width_nominal; //holds the theoretical filament diameter ie., 3.00 or 1.75 extern float filament_width_nominal; //holds the theoretical filament diameter ie., 3.00 or 1.75
extern bool filament_sensor; //indicates that filament sensor readings should control extrusion extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
@ -356,6 +361,11 @@ void bed_analysis(float x_dimension, float y_dimension, int x_points_num, int y_
float temp_comp_interpolation(float temperature); float temp_comp_interpolation(float temperature);
void temp_compensation_apply(); void temp_compensation_apply();
void temp_compensation_start(); void temp_compensation_start();
#ifdef PINDA_THERMISTOR
float temp_compensation_pinda_thermistor_offset();
#endif //PINDA_THERMISTOR
void wait_for_heater(long codenum); void wait_for_heater(long codenum);
void serialecho_temperatures(); void serialecho_temperatures();

43
Firmware/MarlinSerial.cpp
View file

@ -23,6 +23,8 @@
#include "Marlin.h" #include "Marlin.h"
#include "MarlinSerial.h" #include "MarlinSerial.h"
int selectedSerialPort = 0;
#ifndef AT90USB #ifndef AT90USB
// this next line disables the entire HardwareSerial.cpp, // this next line disables the entire HardwareSerial.cpp,
// this is so I can support Attiny series and any other chip without a UART // this is so I can support Attiny series and any other chip without a UART
@ -64,6 +66,23 @@ FORCE_INLINE void store_char(unsigned char c)
store_char(c); store_char(c);
} }
} }
SIGNAL(USART2_RX_vect)
{
if (selectedSerialPort == 1) {
// Test for a framing error.
if (UCSR2A & (1<<FE2)) {
// Characters received with the framing errors will be ignored.
// The temporary variable "c" was made volatile, so the compiler does not optimize this out.
volatile unsigned char c = UDR2;
} else {
// Read the input register.
unsigned char c = UDR2;
store_char(c);
}
}
}
#endif #endif
// Constructors //////////////////////////////////////////////////////////////// // Constructors ////////////////////////////////////////////////////////////////
@ -88,7 +107,7 @@ void MarlinSerial::begin(long baud)
useU2X = false; useU2X = false;
} }
#endif #endif
// set up the first (original serial port)
if (useU2X) { if (useU2X) {
M_UCSRxA = 1 << M_U2Xx; M_UCSRxA = 1 << M_U2Xx;
baud_setting = (F_CPU / 4 / baud - 1) / 2; baud_setting = (F_CPU / 4 / baud - 1) / 2;
@ -104,6 +123,24 @@ void MarlinSerial::begin(long baud)
sbi(M_UCSRxB, M_RXENx); sbi(M_UCSRxB, M_RXENx);
sbi(M_UCSRxB, M_TXENx); sbi(M_UCSRxB, M_TXENx);
sbi(M_UCSRxB, M_RXCIEx); sbi(M_UCSRxB, M_RXCIEx);
// set up the second serial port
if (useU2X) {
UCSR2A = 1 << U2X2;
baud_setting = (F_CPU / 4 / baud - 1) / 2;
} else {
UCSR2A = 0;
baud_setting = (F_CPU / 8 / baud - 1) / 2;
}
// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
UBRR2H = baud_setting >> 8;
UBRR2L = baud_setting;
sbi(UCSR2B, RXEN2);
sbi(UCSR2B, TXEN2);
sbi(UCSR2B, RXCIE2);
} }
void MarlinSerial::end() void MarlinSerial::end()
@ -111,6 +148,10 @@ void MarlinSerial::end()
cbi(M_UCSRxB, M_RXENx); cbi(M_UCSRxB, M_RXENx);
cbi(M_UCSRxB, M_TXENx); cbi(M_UCSRxB, M_TXENx);
cbi(M_UCSRxB, M_RXCIEx); cbi(M_UCSRxB, M_RXCIEx);
cbi(UCSR2B, RXEN2);
cbi(UCSR2B, TXEN2);
cbi(UCSR2B, RXCIE2);
} }

59
Firmware/MarlinSerial.h
View file

@ -73,6 +73,7 @@
// is the index of the location from which to read. // is the index of the location from which to read.
#define RX_BUFFER_SIZE 128 #define RX_BUFFER_SIZE 128
extern int selectedSerialPort;
struct ring_buffer struct ring_buffer
{ {
@ -110,24 +111,48 @@ class MarlinSerial //: public Stream
} }
FORCE_INLINE void checkRx(void) void checkRx(void)
{ {
if((M_UCSRxA & (1<<M_RXCx)) != 0) { if (selectedSerialPort == 0) {
// Test for a framing error. if((M_UCSRxA & (1<<M_RXCx)) != 0) {
if (M_UCSRxA & (1<<M_FEx)) { // Test for a framing error.
// Characters received with the framing errors will be ignored. if (M_UCSRxA & (1<<M_FEx)) {
// The temporary variable "c" was made volatile, so the compiler does not optimize this out. // Characters received with the framing errors will be ignored.
volatile unsigned char c = M_UDRx; // The temporary variable "c" was made volatile, so the compiler does not optimize this out.
} else { volatile unsigned char c = M_UDRx;
unsigned char c = M_UDRx; } else {
int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE; unsigned char c = M_UDRx;
// if we should be storing the received character into the location int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
// just before the tail (meaning that the head would advance to the // if we should be storing the received character into the location
// current location of the tail), we're about to overflow the buffer // just before the tail (meaning that the head would advance to the
// and so we don't write the character or advance the head. // current location of the tail), we're about to overflow the buffer
if (i != rx_buffer.tail) { // and so we don't write the character or advance the head.
rx_buffer.buffer[rx_buffer.head] = c; if (i != rx_buffer.tail) {
rx_buffer.head = i; rx_buffer.buffer[rx_buffer.head] = c;
rx_buffer.head = i;
}
selectedSerialPort = 0;
}
}
} else if(selectedSerialPort == 1) {
if((UCSR2A & (1<<RXC2)) != 0) {
// Test for a framing error.
if (UCSR2A & (1<<FE2)) {
// Characters received with the framing errors will be ignored.
// The temporary variable "c" was made volatile, so the compiler does not optimize this out.
volatile unsigned char c = UDR2;
} else {
unsigned char c = UDR2;
int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
if (i != rx_buffer.tail) {
rx_buffer.buffer[rx_buffer.head] = c;
rx_buffer.head = i;
}
selectedSerialPort = 1;
} }
} }
} }

1160
Firmware/Marlin_main.cpp
View file

File diff suppressed because it is too large Load diff

13
Firmware/boards.h
View file

@ -3,15 +3,14 @@
#define BOARD_UNKNOWN -1 #define BOARD_UNKNOWN -1
#define BOARD_EINY_0_3a 300 // EINY 0.3a #define BOARD_RAMBO 100 // Rambo - 100 (orig 301)
#define BOARD_EINY_0_4a 299 // EINY 0.4a
#define BOARD_RAMBO 301 // Rambo #define BOARD_RAMBO_MINI_1_0 200 // Rambo-mini 1.0 - 200 (orig 102)
#define BOARD_RAMBO_MINI_1_3 302 // Rambo-mini 1.3 #define BOARD_RAMBO_MINI_1_3 203 // Rambo-mini 1.3 - 203 (orig 302)
#define BOARD_RAMBO_MINI_1_0 102 // Rambo-mini 1.0
#define BOARD_EINY_0_3a 303 // EINY 0.3a - 303 (orig 300)
#define BOARD_99 99 // This is in pins.h but...? #define BOARD_EINY_0_4a 304 // EINY 0.4a - 304 (orig 299)
#define BOARD_EINY_0_5a 305 // EINY 0.5a - 305 (orig 298)
#define MB(board) (MOTHERBOARD==BOARD_##board) #define MB(board) (MOTHERBOARD==BOARD_##board)
#define IS_RAMPS (MB(RAMPS_OLD) || MB(RAMPS_13_EFB) || MB(RAMPS_13_EEB) || MB(RAMPS_13_EFF) || MB(RAMPS_13_EEF)) #define IS_RAMPS (MB(RAMPS_OLD) || MB(RAMPS_13_EFB) || MB(RAMPS_13_EEB) || MB(RAMPS_13_EFF) || MB(RAMPS_13_EEF))

620
Firmware/cmdqueue.cpp Normal file
View file

@ -0,0 +1,620 @@
#include "cmdqueue.h"
#include "cardreader.h"
#include "ultralcd.h"
extern bool Stopped;
// Reserve BUFSIZE lines of length MAX_CMD_SIZE plus CMDBUFFER_RESERVE_FRONT.
char cmdbuffer[BUFSIZE * (MAX_CMD_SIZE + 1) + CMDBUFFER_RESERVE_FRONT];
// Head of the circular buffer, where to read.
int bufindr = 0;
// Tail of the buffer, where to write.
int bufindw = 0;
// Number of lines in cmdbuffer.
int buflen = 0;
// Flag for processing the current command inside the main Arduino loop().
// If a new command was pushed to the front of a command buffer while
// processing another command, this replaces the command on the top.
// Therefore don't remove the command from the queue in the loop() function.
bool cmdbuffer_front_already_processed = false;
int serial_count = 0; //index of character read from serial line
boolean comment_mode = false;
char *strchr_pointer; // just a pointer to find chars in the command string like X, Y, Z, E, etc
unsigned long TimeSent = millis();
unsigned long TimeNow = millis();
long gcode_N = 0;
long gcode_LastN = 0;
long Stopped_gcode_LastN = 0;
// Pop the currently processed command from the queue.
// It is expected, that there is at least one command in the queue.
bool cmdqueue_pop_front()
{
if (buflen > 0) {
#ifdef CMDBUFFER_DEBUG
SERIAL_ECHOPGM("Dequeing ");
SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("Old indices: buflen ");
SERIAL_ECHO(buflen);
SERIAL_ECHOPGM(", bufindr ");
SERIAL_ECHO(bufindr);
SERIAL_ECHOPGM(", bufindw ");
SERIAL_ECHO(bufindw);
SERIAL_ECHOPGM(", serial_count ");
SERIAL_ECHO(serial_count);
SERIAL_ECHOPGM(", bufsize ");
SERIAL_ECHO(sizeof(cmdbuffer));
SERIAL_ECHOLNPGM("");
#endif /* CMDBUFFER_DEBUG */
if (-- buflen == 0) {
// Empty buffer.
if (serial_count == 0)
// No serial communication is pending. Reset both pointers to zero.
bufindw = 0;
bufindr = bufindw;
} else {
// There is at least one ready line in the buffer.
// First skip the current command ID and iterate up to the end of the string.
// for (++ bufindr; cmdbuffer[bufindr] != 0; ++ bufindr) ;
for (bufindr += CMDHDRSIZE; cmdbuffer[bufindr] != 0; ++ bufindr) ;
// Second, skip the end of string null character and iterate until a nonzero command ID is found.
for (++ bufindr; bufindr < sizeof(cmdbuffer) && cmdbuffer[bufindr] == 0; ++ bufindr) ;
// If the end of the buffer was empty,
if (bufindr == sizeof(cmdbuffer)) {
// skip to the start and find the nonzero command.
for (bufindr = 0; cmdbuffer[bufindr] == 0; ++ bufindr) ;
}
#ifdef CMDBUFFER_DEBUG
SERIAL_ECHOPGM("New indices: buflen ");
SERIAL_ECHO(buflen);
SERIAL_ECHOPGM(", bufindr ");
SERIAL_ECHO(bufindr);
SERIAL_ECHOPGM(", bufindw ");
SERIAL_ECHO(bufindw);
SERIAL_ECHOPGM(", serial_count ");
SERIAL_ECHO(serial_count);
SERIAL_ECHOPGM(" new command on the top: ");
SERIAL_ECHO(cmdbuffer+bufindr+CMDHDRSIZE);
SERIAL_ECHOLNPGM("");
#endif /* CMDBUFFER_DEBUG */
}
return true;
}
return false;
}
void cmdqueue_reset()
{
while (cmdqueue_pop_front()) ;
}
// How long a string could be pushed to the front of the command queue?
// If yes, adjust bufindr to the new position, where the new command could be enqued.
// len_asked does not contain the zero terminator size.
bool cmdqueue_could_enqueue_front(int len_asked)
{
// MAX_CMD_SIZE has to accommodate the zero terminator.
if (len_asked >= MAX_CMD_SIZE)
return false;
// Remove the currently processed command from the queue.
if (! cmdbuffer_front_already_processed) {
cmdqueue_pop_front();
cmdbuffer_front_already_processed = true;
}
if (bufindr == bufindw && buflen > 0)
// Full buffer.
return false;
// Adjust the end of the write buffer based on whether a partial line is in the receive buffer.
int endw = (serial_count > 0) ? (bufindw + MAX_CMD_SIZE + 1) : bufindw;
if (bufindw < bufindr) {
int bufindr_new = bufindr - len_asked - (1 + CMDHDRSIZE);
// Simple case. There is a contiguous space between the write buffer and the read buffer.
if (endw <= bufindr_new) {
bufindr = bufindr_new;
return true;
}
} else {
// Otherwise the free space is split between the start and end.
if (len_asked + (1 + CMDHDRSIZE) <= bufindr) {
// Could fit at the start.
bufindr -= len_asked + (1 + CMDHDRSIZE);
return true;
}
int bufindr_new = sizeof(cmdbuffer) - len_asked - (1 + CMDHDRSIZE);
if (endw <= bufindr_new) {
memset(cmdbuffer, 0, bufindr);
bufindr = bufindr_new;
return true;
}
}
return false;
}
// Could one enqueue a command of lenthg len_asked into the buffer,
// while leaving CMDBUFFER_RESERVE_FRONT at the start?
// If yes, adjust bufindw to the new position, where the new command could be enqued.
// len_asked does not contain the zero terminator size.
bool cmdqueue_could_enqueue_back(int len_asked)
{
// MAX_CMD_SIZE has to accommodate the zero terminator.
if (len_asked >= MAX_CMD_SIZE)
return false;
if (bufindr == bufindw && buflen > 0)
// Full buffer.
return false;
if (serial_count > 0) {
// If there is some data stored starting at bufindw, len_asked is certainly smaller than
// the allocated data buffer. Try to reserve a new buffer and to move the already received
// serial data.
// How much memory to reserve for the commands pushed to the front?
// End of the queue, when pushing to the end.
int endw = bufindw + len_asked + (1 + CMDHDRSIZE);
if (bufindw < bufindr)
// Simple case. There is a contiguous space between the write buffer and the read buffer.
return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
// Otherwise the free space is split between the start and end.
if (// Could one fit to the end, including the reserve?
endw + CMDBUFFER_RESERVE_FRONT <= sizeof(cmdbuffer) ||
// Could one fit to the end, and the reserve to the start?
(endw <= sizeof(cmdbuffer) && CMDBUFFER_RESERVE_FRONT <= bufindr))
return true;
// Could one fit both to the start?
if (len_asked + (1 + CMDHDRSIZE) + CMDBUFFER_RESERVE_FRONT <= bufindr) {
// Mark the rest of the buffer as used.
memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
// and point to the start.
bufindw = 0;
return true;
}
} else {
// How much memory to reserve for the commands pushed to the front?
// End of the queue, when pushing to the end.
int endw = bufindw + len_asked + (1 + CMDHDRSIZE);
if (bufindw < bufindr)
// Simple case. There is a contiguous space between the write buffer and the read buffer.
return endw + CMDBUFFER_RESERVE_FRONT <= bufindr;
// Otherwise the free space is split between the start and end.
if (// Could one fit to the end, including the reserve?
endw + CMDBUFFER_RESERVE_FRONT <= sizeof(cmdbuffer) ||
// Could one fit to the end, and the reserve to the start?
(endw <= sizeof(cmdbuffer) && CMDBUFFER_RESERVE_FRONT <= bufindr))
return true;
// Could one fit both to the start?
if (len_asked + (1 + CMDHDRSIZE) + CMDBUFFER_RESERVE_FRONT <= bufindr) {
// Mark the rest of the buffer as used.
memset(cmdbuffer+bufindw, 0, sizeof(cmdbuffer)-bufindw);
// and point to the start.
bufindw = 0;
return true;
}
}
return false;
}
#ifdef CMDBUFFER_DEBUG
void cmdqueue_dump_to_serial_single_line(int nr, const char *p)
{
SERIAL_ECHOPGM("Entry nr: ");
SERIAL_ECHO(nr);
SERIAL_ECHOPGM(", type: ");
SERIAL_ECHO(int(*p));
SERIAL_ECHOPGM(", cmd: ");
SERIAL_ECHO(p+1);
SERIAL_ECHOLNPGM("");
}
void cmdqueue_dump_to_serial()
{
if (buflen == 0) {
SERIAL_ECHOLNPGM("The command buffer is empty.");
} else {
SERIAL_ECHOPGM("Content of the buffer: entries ");
SERIAL_ECHO(buflen);
SERIAL_ECHOPGM(", indr ");
SERIAL_ECHO(bufindr);
SERIAL_ECHOPGM(", indw ");
SERIAL_ECHO(bufindw);
SERIAL_ECHOLNPGM("");
int nr = 0;
if (bufindr < bufindw) {
for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + bufindw; ++ nr) {
cmdqueue_dump_to_serial_single_line(nr, p);
// Skip the command.
for (++p; *p != 0; ++ p);
// Skip the gaps.
for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
}
} else {
for (const char *p = cmdbuffer + bufindr; p < cmdbuffer + sizeof(cmdbuffer); ++ nr) {
cmdqueue_dump_to_serial_single_line(nr, p);
// Skip the command.
for (++p; *p != 0; ++ p);
// Skip the gaps.
for (++p; p < cmdbuffer + sizeof(cmdbuffer) && *p == 0; ++ p);
}
for (const char *p = cmdbuffer; p < cmdbuffer + bufindw; ++ nr) {
cmdqueue_dump_to_serial_single_line(nr, p);
// Skip the command.
for (++p; *p != 0; ++ p);
// Skip the gaps.
for (++p; p < cmdbuffer + bufindw && *p == 0; ++ p);
}
}
SERIAL_ECHOLNPGM("End of the buffer.");
}
}
#endif /* CMDBUFFER_DEBUG */
//adds an command to the main command buffer
//thats really done in a non-safe way.
//needs overworking someday
// Currently the maximum length of a command piped through this function is around 20 characters
void enquecommand(const char *cmd, bool from_progmem)
{
int len = from_progmem ? strlen_P(cmd) : strlen(cmd);
// Does cmd fit the queue while leaving sufficient space at the front for the chained commands?
// If it fits, it may move bufindw, so it points to a contiguous buffer, which fits cmd.
if (cmdqueue_could_enqueue_back(len)) {
// This is dangerous if a mixing of serial and this happens
// This may easily be tested: If serial_count > 0, we have a problem.
cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_UI;
if (from_progmem)
strcpy_P(cmdbuffer + bufindw + CMDHDRSIZE, cmd);
else
strcpy(cmdbuffer + bufindw + CMDHDRSIZE, cmd);
SERIAL_ECHO_START;
SERIAL_ECHORPGM(MSG_Enqueing);
SERIAL_ECHO(cmdbuffer + bufindw + CMDHDRSIZE);
SERIAL_ECHOLNPGM("\"");
bufindw += len + (CMDHDRSIZE + 1);
if (bufindw == sizeof(cmdbuffer))
bufindw = 0;
++ buflen;
#ifdef CMDBUFFER_DEBUG
cmdqueue_dump_to_serial();
#endif /* CMDBUFFER_DEBUG */
} else {
SERIAL_ERROR_START;
SERIAL_ECHORPGM(MSG_Enqueing);
if (from_progmem)
SERIAL_PROTOCOLRPGM(cmd);
else
SERIAL_ECHO(cmd);
SERIAL_ECHOLNPGM("\" failed: Buffer full!");
#ifdef CMDBUFFER_DEBUG
cmdqueue_dump_to_serial();
#endif /* CMDBUFFER_DEBUG */
}
}
void enquecommand_front(const char *cmd, bool from_progmem)
{
int len = from_progmem ? strlen_P(cmd) : strlen(cmd);
// Does cmd fit the queue? This call shall move bufindr, so the command may be copied.
if (cmdqueue_could_enqueue_front(len)) {
cmdbuffer[bufindr] = CMDBUFFER_CURRENT_TYPE_UI;
if (from_progmem)
strcpy_P(cmdbuffer + bufindr + CMDHDRSIZE, cmd);
else
strcpy(cmdbuffer + bufindr + CMDHDRSIZE, cmd);
++ buflen;
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Enqueing to the front: \"");
SERIAL_ECHO(cmdbuffer + bufindr + CMDHDRSIZE);
SERIAL_ECHOLNPGM("\"");
#ifdef CMDBUFFER_DEBUG
cmdqueue_dump_to_serial();
#endif /* CMDBUFFER_DEBUG */
} else {
SERIAL_ERROR_START;
SERIAL_ECHOPGM("Enqueing to the front: \"");
if (from_progmem)
SERIAL_PROTOCOLRPGM(cmd);
else
SERIAL_ECHO(cmd);
SERIAL_ECHOLNPGM("\" failed: Buffer full!");
#ifdef CMDBUFFER_DEBUG
cmdqueue_dump_to_serial();
#endif /* CMDBUFFER_DEBUG */
}
}
// Mark the command at the top of the command queue as new.
// Therefore it will not be removed from the queue.
void repeatcommand_front()
{
cmdbuffer_front_already_processed = true;
}
bool is_buffer_empty()
{
if (buflen == 0) return true;
else return false;
}
void get_command()
{
// Test and reserve space for the new command string.
if (!cmdqueue_could_enqueue_back(MAX_CMD_SIZE - 1))
return;
bool rx_buffer_full = false; //flag that serial rx buffer is full
while (MYSERIAL.available() > 0) {
if (MYSERIAL.available() == RX_BUFFER_SIZE - 1) { //compare number of chars buffered in rx buffer with rx buffer size
SERIAL_ECHOLNPGM("Full RX Buffer"); //if buffer was full, there is danger that reading of last gcode will not be completed
rx_buffer_full = true; //sets flag that buffer was full
}
char serial_char = MYSERIAL.read();
if (selectedSerialPort == 1)
{
selectedSerialPort = 0;
MYSERIAL.write(serial_char); // for debuging serial line 2 in farm_mode
selectedSerialPort = 1;
}
TimeSent = millis();
TimeNow = millis();
if (serial_char < 0)
// Ignore extended ASCII characters. These characters have no meaning in the G-code apart from the file names
// and Marlin does not support such file names anyway.
// Serial characters with a highest bit set to 1 are generated when the USB cable is unplugged, leading
// to a hang-up of the print process from an SD card.
continue;
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
return;
}
cmdbuffer[bufindw+serial_count+CMDHDRSIZE] = 0; //terminate string
if(!comment_mode){
comment_mode = false; //for new command
if ((strchr_pointer = strstr(cmdbuffer+bufindw+CMDHDRSIZE, "PRUSA")) == NULL && (strchr_pointer = strchr(cmdbuffer+bufindw+CMDHDRSIZE, 'N')) != NULL) {
if ((strchr_pointer = strchr(cmdbuffer+bufindw+CMDHDRSIZE, 'N')) != NULL)
{
// Line number met. When sending a G-code over a serial line, each line may be stamped with its index,
// and Marlin tests, whether the successive lines are stamped with an increasing line number ID.
gcode_N = (strtol(strchr_pointer+1, NULL, 10));
if(gcode_N != gcode_LastN+1 && (strstr_P(cmdbuffer+bufindw+CMDHDRSIZE, PSTR("M110")) == NULL) ) {
// M110 - set current line number.
// Line numbers not sent in succession.
SERIAL_ERROR_START;
SERIAL_ERRORRPGM(MSG_ERR_LINE_NO);
SERIAL_ERRORLN(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if((strchr_pointer = strchr(cmdbuffer+bufindw+CMDHDRSIZE, '*')) != NULL)
{
byte checksum = 0;
char *p = cmdbuffer+bufindw+CMDHDRSIZE;
while (p != strchr_pointer)
checksum = checksum^(*p++);
if (int(strtol(strchr_pointer+1, NULL, 10)) != int(checksum)) {
SERIAL_ERROR_START;
SERIAL_ERRORRPGM(MSG_ERR_CHECKSUM_MISMATCH);
SERIAL_ERRORLN(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
// If no errors, remove the checksum and continue parsing.
*strchr_pointer = 0;
}
else
{
SERIAL_ERROR_START;
SERIAL_ERRORRPGM(MSG_ERR_NO_CHECKSUM);
SERIAL_ERRORLN(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
gcode_LastN = gcode_N;
//if no errors, continue parsing
} // end of 'N' command
}
else // if we don't receive 'N' but still see '*'
{
if((strchr(cmdbuffer+bufindw+CMDHDRSIZE, '*') != NULL))
{
SERIAL_ERROR_START;
SERIAL_ERRORRPGM(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM);
SERIAL_ERRORLN(gcode_LastN);
serial_count = 0;
return;
}
} // end of '*' command
if ((strchr_pointer = strchr(cmdbuffer+bufindw+CMDHDRSIZE, 'G')) != NULL) {
if (! IS_SD_PRINTING) {
usb_printing_counter = 10;
is_usb_printing = true;
}
if (Stopped == true) {
int gcode = strtol(strchr_pointer+1, NULL, 10);
if (gcode >= 0 && gcode <= 3) {
SERIAL_ERRORLNRPGM(MSG_ERR_STOPPED);
LCD_MESSAGERPGM(MSG_STOPPED);
}
}
} // end of 'G' command
//If command was e-stop process now
if(strcmp(cmdbuffer+bufindw+CMDHDRSIZE, "M112") == 0)
kill("", 2);
// Store the current line into buffer, move to the next line.
cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_USB;
#ifdef CMDBUFFER_DEBUG
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Storing a command line to buffer: ");
SERIAL_ECHO(cmdbuffer+bufindw+CMDHDRSIZE);
SERIAL_ECHOLNPGM("");
#endif /* CMDBUFFER_DEBUG */
bufindw += strlen(cmdbuffer+bufindw+CMDHDRSIZE) + (1 + CMDHDRSIZE);
if (bufindw == sizeof(cmdbuffer))
bufindw = 0;
++ buflen;
#ifdef CMDBUFFER_DEBUG
SERIAL_ECHOPGM("Number of commands in the buffer: ");
SERIAL_ECHO(buflen);
SERIAL_ECHOLNPGM("");
#endif /* CMDBUFFER_DEBUG */
} // end of 'not comment mode'
serial_count = 0; //clear buffer
// Don't call cmdqueue_could_enqueue_back if there are no characters waiting
// in the queue, as this function will reserve the memory.
if (MYSERIAL.available() == 0 || ! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1))
return;
} // end of "end of line" processing
else {
// Not an "end of line" symbol. Store the new character into a buffer.
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw+CMDHDRSIZE+serial_count++] = serial_char;
}
} // end of serial line processing loop
if(farm_mode){
TimeNow = millis();
if ( ((TimeNow - TimeSent) > 800) && (serial_count > 0) ) {
cmdbuffer[bufindw+serial_count+CMDHDRSIZE] = 0;
bufindw += strlen(cmdbuffer+bufindw+CMDHDRSIZE) + (1 + CMDHDRSIZE);
if (bufindw == sizeof(cmdbuffer))
bufindw = 0;
++ buflen;
serial_count = 0;
SERIAL_ECHOPGM("TIMEOUT:");
//memset(cmdbuffer, 0 , sizeof(cmdbuffer));
return;
}
}
//add comment
if (rx_buffer_full == true && serial_count > 0) { //if rx buffer was full and string was not properly terminated
rx_buffer_full = false;
bufindw = bufindw - serial_count; //adjust tail of the buffer to prepare buffer for writing new command
serial_count = 0;
}
#ifdef SDSUPPORT
if(!card.sdprinting || serial_count!=0){
// If there is a half filled buffer from serial line, wait until return before
// continuing with the serial line.
return;
}
//'#' stops reading from SD to the buffer prematurely, so procedural macro calls are possible
// if it occurs, stop_buffering is triggered and the buffer is ran dry.
// this character _can_ occur in serial com, due to checksums. however, no checksums are used in SD printing
static bool stop_buffering=false;
if(buflen==0) stop_buffering=false;
unsigned char sd_count = 0;
// Reads whole lines from the SD card. Never leaves a half-filled line in the cmdbuffer.
while( !card.eof() && !stop_buffering) {
int16_t n=card.get();
sd_count++;
char serial_char = (char)n;
if(serial_char == '\n' ||
serial_char == '\r' ||
(serial_char == '#' && comment_mode == false) ||
(serial_char == ':' && comment_mode == false) ||
serial_count >= (MAX_CMD_SIZE - 1)||n==-1)
{
if(card.eof()){
SERIAL_PROTOCOLLNRPGM(MSG_FILE_PRINTED);
stoptime=millis();
char time[30];
unsigned long t=(stoptime-starttime-pause_time)/1000;
pause_time = 0;
int hours, minutes;
minutes=(t/60)%60;
hours=t/60/60;
save_statistics(total_filament_used, t);
sprintf_P(time, PSTR("%i hours %i minutes"),hours, minutes);
SERIAL_ECHO_START;
SERIAL_ECHOLN(time);
lcd_setstatus(time);
card.printingHasFinished();
card.checkautostart(true);
if (farm_mode)
{
prusa_statistics(6);
lcd_commands_type = LCD_COMMAND_FARM_MODE_CONFIRM;
}
}
if(serial_char=='#')
stop_buffering=true;
if(!serial_count)
{
comment_mode = false; //for new command
return; //if empty line
}
cmdbuffer[bufindw+serial_count+CMDHDRSIZE] = 0; //terminate string
cmdbuffer[bufindw] = CMDBUFFER_CURRENT_TYPE_SDCARD;
cmdbuffer[bufindw+1] = sd_count;
/* SERIAL_ECHOPGM("SD cmd(");
MYSERIAL.print(sd_count, DEC);
SERIAL_ECHOPGM(") ");
SERIAL_ECHOLN(cmdbuffer+bufindw+CMDHDRSIZE);*/
// SERIAL_ECHOPGM("cmdbuffer:");
// MYSERIAL.print(cmdbuffer);
++ buflen;
// SERIAL_ECHOPGM("buflen:");
// MYSERIAL.print(buflen);
bufindw += strlen(cmdbuffer+bufindw+CMDHDRSIZE) + (1 + CMDHDRSIZE);
if (bufindw == sizeof(cmdbuffer))
bufindw = 0;
comment_mode = false; //for new command
serial_count = 0; //clear buffer
// The following line will reserve buffer space if available.
if (! cmdqueue_could_enqueue_back(MAX_CMD_SIZE-1))
return;
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw+CMDHDRSIZE+serial_count++] = serial_char;
}
}
#endif //SDSUPPORT
}
uint16_t cmdqueue_calc_sd_length()
{
int _buflen = buflen;
int _bufindr = bufindr;
uint16_t sdlen = 0;
while (_buflen--)
{
if (cmdbuffer[_bufindr] == CMDBUFFER_CURRENT_TYPE_SDCARD)
sdlen += cmdbuffer[_bufindr + 1];
//skip header, skip command
for (_bufindr += CMDHDRSIZE; cmdbuffer[_bufindr] != 0; ++ _bufindr) ;
//skip zeros
for (++ _bufindr; _bufindr < sizeof(cmdbuffer) && cmdbuffer[_bufindr] == 0; ++ _bufindr) ;
}
return sdlen;
}

86
Firmware/cmdqueue.h Normal file
View file

@ -0,0 +1,86 @@
#ifndef CMDQUEUE_H
#define CMDQUEUE_H
#include "Marlin.h"
#include "language_all.h"
// String circular buffer. Commands may be pushed to the buffer from both sides:
// Chained commands will be pushed to the front, interactive (from LCD menu)
// and printing commands (from serial line or from SD card) are pushed to the tail.
// First character of each entry indicates the type of the entry:
#define CMDBUFFER_CURRENT_TYPE_UNKNOWN 0
// Command in cmdbuffer was sent over USB.
#define CMDBUFFER_CURRENT_TYPE_USB 1
// Command in cmdbuffer was read from SDCARD.
#define CMDBUFFER_CURRENT_TYPE_SDCARD 2
// Command in cmdbuffer was generated by the UI.
#define CMDBUFFER_CURRENT_TYPE_UI 3
// Command in cmdbuffer was generated by another G-code.
#define CMDBUFFER_CURRENT_TYPE_CHAINED 4
// How much space to reserve for the chained commands
// of type CMDBUFFER_CURRENT_TYPE_CHAINED,
// which are pushed to the front of the queue?
// Maximum 5 commands of max length 20 + null terminator.
#define CMDBUFFER_RESERVE_FRONT (5*21)
extern char cmdbuffer[BUFSIZE * (MAX_CMD_SIZE + 1) + CMDBUFFER_RESERVE_FRONT];
extern int bufindr;
extern int bufindw;
extern int buflen;
extern bool cmdbuffer_front_already_processed;
// Type of a command, which is to be executed right now.
#define CMDBUFFER_CURRENT_TYPE (cmdbuffer[bufindr])
// String of a command, which is to be executed right now.
#define CMDBUFFER_CURRENT_STRING (cmdbuffer+bufindr+CMDHDRSIZE)
// Enable debugging of the command buffer.
// Debugging information will be sent to serial line.
//#define CMDBUFFER_DEBUG
extern int serial_count;
extern boolean comment_mode;
extern char *strchr_pointer;
extern unsigned long TimeSent;
extern unsigned long TimeNow;
extern long gcode_N;
extern long gcode_LastN;
extern long Stopped_gcode_LastN;
extern bool cmdqueue_pop_front();
extern void cmdqueue_reset();
extern bool cmdqueue_could_enqueue_front(int len_asked);
extern bool cmdqueue_could_enqueue_back(int len_asked);
extern void cmdqueue_dump_to_serial_single_line(int nr, const char *p);
extern void cmdqueue_dump_to_serial();
extern void enquecommand(const char *cmd, bool from_progmem);
extern void enquecommand_front(const char *cmd, bool from_progmem);
extern void repeatcommand_front();
extern bool is_buffer_empty();
extern void get_command();
extern uint16_t cmdqueue_calc_sd_length();
// Return True if a character was found
static inline bool code_seen(char code) { return (strchr_pointer = strchr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
static inline bool code_seen(const char *code) { return (strchr_pointer = strstr(CMDBUFFER_CURRENT_STRING, code)) != NULL; }
static inline float code_value() { return strtod(strchr_pointer+1, NULL);}
static inline long code_value_long() { return strtol(strchr_pointer+1, NULL, 10); }
static inline int16_t code_value_short() { return int16_t(strtol(strchr_pointer+1, NULL, 10)); };
static inline uint8_t code_value_uint8() { return uint8_t(strtol(strchr_pointer+1, NULL, 10)); };
static inline float code_value_float()
{
char* e = strchr(strchr_pointer, 'E');
if (!e) return strtod(strchr_pointer + 1, NULL);
*e = 0;
float ret = strtod(strchr_pointer + 1, NULL);
*e = 'E';
return ret;
}
#endif //CMDQUEUE_H

15
Firmware/language_all.cpp
View file

@ -1096,6 +1096,21 @@ const char * const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[LANG_NUM] P
MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_EN
}; };
const char MSG_CALIBRATE_Z_AUTO_EN[] PROGMEM = "Calibrating Z...";
const char MSG_CALIBRATE_Z_AUTO_CZ[] PROGMEM = "Calibrating Z...";
const char MSG_CALIBRATE_Z_AUTO_IT[] PROGMEM = "Calibrating Z...";
const char MSG_CALIBRATE_Z_AUTO_ES[] PROGMEM = "Calibrating Z...";
const char MSG_CALIBRATE_Z_AUTO_PL[] PROGMEM = "Calibrating Z...";
const char MSG_CALIBRATE_Z_AUTO_DE[] PROGMEM = "Calibrating Z...";
const char * const MSG_CALIBRATE_Z_AUTO_LANG_TABLE[LANG_NUM] PROGMEM = {
MSG_CALIBRATE_Z_AUTO_EN,
MSG_CALIBRATE_Z_AUTO_CZ,
MSG_CALIBRATE_Z_AUTO_IT,
MSG_CALIBRATE_Z_AUTO_ES,
MSG_CALIBRATE_Z_AUTO_PL,
MSG_CALIBRATE_Z_AUTO_DE
};
const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_EN[] PROGMEM = "Searching bed calibration point"; const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_EN[] PROGMEM = "Searching bed calibration point";
const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_CZ[] PROGMEM = "Hledam kalibracni bod podlozky"; const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_CZ[] PROGMEM = "Hledam kalibracni bod podlozky";
const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_IT[] PROGMEM = "Ricerca del letto punto di calibraz."; const char MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_IT[] PROGMEM = "Ricerca del letto punto di calibraz.";

2
Firmware/language_all.h
View file

@ -220,6 +220,8 @@ extern const char* const MSG_FIL_ADJUSTING_LANG_TABLE[LANG_NUM];
#define MSG_FIL_ADJUSTING LANG_TABLE_SELECT(MSG_FIL_ADJUSTING_LANG_TABLE) #define MSG_FIL_ADJUSTING LANG_TABLE_SELECT(MSG_FIL_ADJUSTING_LANG_TABLE)
extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[LANG_NUM]; extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE[LANG_NUM];
#define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE) #define MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_ITERATION_LANG_TABLE)
extern const char* const MSG_CALIBRATE_Z_AUTO_LANG_TABLE[LANG_NUM];
#define MSG_CALIBRATE_Z_AUTO LANG_TABLE_SELECT(MSG_CALIBRATE_Z_AUTO_LANG_TABLE)
extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE[LANG_NUM]; extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE[LANG_NUM];
#define MSG_FIND_BED_OFFSET_AND_SKEW_LINE1 LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE) #define MSG_FIND_BED_OFFSET_AND_SKEW_LINE1 LANG_TABLE_SELECT(MSG_FIND_BED_OFFSET_AND_SKEW_LINE1_LANG_TABLE)
extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE2_LANG_TABLE[LANG_NUM]; extern const char* const MSG_FIND_BED_OFFSET_AND_SKEW_LINE2_LANG_TABLE[LANG_NUM];

4
Firmware/mesh_bed_calibration.cpp
View file

@ -19,8 +19,8 @@ float world2machine_shift[2];
#define WEIGHT_FIRST_ROW_Y_HIGH (0.3f) #define WEIGHT_FIRST_ROW_Y_HIGH (0.3f)
#define WEIGHT_FIRST_ROW_Y_LOW (0.0f) #define WEIGHT_FIRST_ROW_Y_LOW (0.0f)
#define BED_ZERO_REF_X (- 22.f + X_PROBE_OFFSET_FROM_EXTRUDER) #define BED_ZERO_REF_X (- 22.f + X_PROBE_OFFSET_FROM_EXTRUDER) // -22 + 23 = 1
#define BED_ZERO_REF_Y (- 0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER) #define BED_ZERO_REF_Y (- 0.6f + Y_PROBE_OFFSET_FROM_EXTRUDER) // -0.6 + 9 = 8.4
// Scaling of the real machine axes against the programmed dimensions in the firmware. // Scaling of the real machine axes against the programmed dimensions in the firmware.
// The correction is tiny, here around 0.5mm on 250mm length. // The correction is tiny, here around 0.5mm on 250mm length.

60
Firmware/pat9125.cpp
View file

@ -1,29 +1,34 @@
#include "uni_avr_rpi.h"
#ifdef PAT9125
#include "pat9125.h" #include "pat9125.h"
#ifdef PAT9125_SWSPI
#include "swspi.h" #include "swspi.h"
#endif //PAT9125_SWSPI
#ifdef PAT9125_SWI2C
#include "swi2c.h"
#endif //PAT9125_SWI2C
#ifdef SWSPI_RPI unsigned char pat9125_PID1 = 0;
// #include <bcm2835.h> unsigned char pat9125_PID2 = 0;
#define DELAY(delay) usleep(delay)
#endif //SWSPI_RPI
#ifdef SWSPI_AVR
#include "Arduino.h"
#define DELAY(delay) delayMicroseconds(delay)
#endif //SWSPI_AVR
unsigned char ucPID1 = 0;
unsigned char ucPID2 = 0;
int pat9125_x = 0; int pat9125_x = 0;
int pat9125_y = 0; int pat9125_y = 0;
int pat9125_b = 0; int pat9125_b = 0;
int pat9125_init(unsigned char xres, unsigned char yres) int pat9125_init(unsigned char xres, unsigned char yres)
{ {
#ifdef PAT9125_SWSPI
swspi_init(); swspi_init();
ucPID1 = pat9125_rd_reg(PAT9125_PID1); #endif //PAT9125_SWSPI
ucPID2 = pat9125_rd_reg(PAT9125_PID2); #ifdef PAT9125_SWI2C
if ((ucPID1 != 0x31) || (ucPID2 != 0x91)) swi2c_init(PAT9125_SWI2C_SDA, PAT9125_SWI2C_SCL, PAT9125_SWI2C_CFG);
#endif //PAT9125_SWI2C
pat9125_PID1 = pat9125_rd_reg(PAT9125_PID1);
pat9125_PID2 = pat9125_rd_reg(PAT9125_PID2);
if ((pat9125_PID1 != 0x31) || (pat9125_PID2 != 0x91))
{ {
return 0; return 0;
} }
@ -34,7 +39,7 @@ int pat9125_init(unsigned char xres, unsigned char yres)
int pat9125_update() int pat9125_update()
{ {
if ((ucPID1 == 0x31) && (ucPID2 == 0x91)) if ((pat9125_PID1 == 0x31) && (pat9125_PID2 == 0x91))
{ {
unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION); unsigned char ucMotion = pat9125_rd_reg(PAT9125_MOTION);
pat9125_b = pat9125_rd_reg(PAT9125_FRAME); pat9125_b = pat9125_rd_reg(PAT9125_FRAME);
@ -47,7 +52,7 @@ int pat9125_update()
int iDY = ucYL | ((ucXYH << 8) & 0xf00); int iDY = ucYL | ((ucXYH << 8) & 0xf00);
if (iDX & 0x800) iDX -= 4096; if (iDX & 0x800) iDX -= 4096;
if (iDY & 0x800) iDY -= 4096; if (iDY & 0x800) iDY -= 4096;
// pat9125_x += iDX; pat9125_x += iDX;
pat9125_y += iDY; pat9125_y += iDY;
return 1; return 1;
} }
@ -57,23 +62,30 @@ int pat9125_update()
unsigned char pat9125_rd_reg(unsigned char addr) unsigned char pat9125_rd_reg(unsigned char addr)
{ {
unsigned char data = 0;
#ifdef PAT9125_SWSPI
swspi_start(); swspi_start();
DELAY(100);
swspi_tx(addr & 0x7f); swspi_tx(addr & 0x7f);
DELAY(100); data = swspi_rx();
unsigned char data = swspi_rx();
swspi_stop(); swspi_stop();
DELAY(100); #endif //PAT9125_SWSPI
#ifdef PAT9125_SWI2C
int iret = swi2c_readByte_A8(PAT9125_I2C_ADDR, addr, &data);
#endif //PAT9125_SWI2C
return data; return data;
} }
void pat9125_wr_reg(unsigned char addr, unsigned char data) void pat9125_wr_reg(unsigned char addr, unsigned char data)
{ {
#ifdef PAT9125_SWSPI
swspi_start(); swspi_start();
DELAY(100);
swspi_tx(addr | 0x80); swspi_tx(addr | 0x80);
DELAY(100);
swspi_tx(data); swspi_tx(data);
swspi_stop(); swspi_stop();
DELAY(100); #endif //PAT9125_SWSPI
#ifdef PAT9125_SWI2C
int iret = swi2c_writeByte_A8(PAT9125_I2C_ADDR, addr, &data);
#endif //PAT9125_SWI2C
} }
#endif //PAT9125

18
Firmware/pat9125.h
View file

@ -1,8 +1,10 @@
#ifndef PAT9125_H #ifndef PAT9125_H
#define PAT9125_H #define PAT9125_H
//#define PAT9125_RPI //PAT9125 I2C
#define PAT9125_AVR #define PAT9125_I2C_ADDR 0x75 //ID=LO
//#define PAT9125_I2C_ADDR 0x79 //ID=HI
//#define PAT9125_I2C_ADDR 0x73 //ID=NC
//PAT9125 registers //PAT9125 registers
#define PAT9125_PID1 0x00 #define PAT9125_PID1 0x00
@ -22,18 +24,18 @@
#define PAT9125_FRAME 0x17 #define PAT9125_FRAME 0x17
#define PAT9125_ORIENTATION 0x19 #define PAT9125_ORIENTATION 0x19
extern unsigned char ucPID1; extern unsigned char pat9125_PID1;
extern unsigned char ucPID2; extern unsigned char pat9125_PID2;
extern int pat9125_x; extern int pat9125_x;
extern int pat9125_y; extern int pat9125_y;
extern int pat9125_b; extern int pat9125_b;
int pat9125_init(unsigned char xres, unsigned char yres); extern int pat9125_init(unsigned char xres, unsigned char yres);
int pat9125_update(); extern int pat9125_update();
unsigned char pat9125_rd_reg(unsigned char addr); extern unsigned char pat9125_rd_reg(unsigned char addr);
void pat9125_wr_reg(unsigned char addr, unsigned char data); extern void pat9125_wr_reg(unsigned char addr, unsigned char data);
#endif //PAT9125_H #endif //PAT9125_H

529
Firmware/pins.h
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@ -22,523 +22,30 @@
/***************************************************************** /*****************************************************************
* Rambo Pin Assignments 1.3 * Rambo Pin Assignments 1.3
******************************************************************/ ******************************************************************/
#if MOTHERBOARD == 302
#define MINI_RAMBO
#endif #if MOTHERBOARD == 100 //100 - orig 301
#if MOTHERBOARD == 301 || MOTHERBOARD == 302 #include "pins_Rambo.h"
#define KNOWN_BOARD #endif //MOTHERBOARD == 100
#ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
#endif
#if MOTHERBOARD == 200 //200 - orig 102
#include "pins_Rambo_1_0.h"
#endif //MOTHERBOARD == 200
#define FR_SENS 21 #if MOTHERBOARD == 203 //203 - orig 302
#include "pins_Rambo_1_3.h"
#endif //MOTHERBOARD == 203
#if MOTHERBOARD == 303 //303 - orig 300
#include "pins_Einy_0_3.h"
#endif //MOTHERBOARD == 303
#define X_STEP_PIN 37 #if MOTHERBOARD == 304 //304 - orig 299
#define X_DIR_PIN 48 #include "pins_Einy_0_4.h"
#define X_MIN_PIN 12 #endif //MOTHERBOARD == 304
#define X_MAX_PIN 30
#define X_ENABLE_PIN 29
#define X_MS1_PIN 40
#define X_MS2_PIN 41
#define Y_STEP_PIN 36
#define Y_DIR_PIN 49
#define Y_MIN_PIN 11
#define Y_MAX_PIN 24
#define Y_ENABLE_PIN 28
#define Y_MS1_PIN 69
#define Y_MS2_PIN 39
#define Z_STEP_PIN 35
#define Z_DIR_PIN 47
#define Z_MIN_PIN 10
#define Z_MAX_PIN 23
#define Z_ENABLE_PIN 27
#define Z_MS1_PIN 68
#define Z_MS2_PIN 67
#define TEMP_BED_PIN 2
#define TEMP_0_PIN 0
#define HEATER_1_PIN 7
#define TEMP_1_PIN 1
#define TEMP_2_PIN -1
#ifdef SNMM
#define E_MUX0_PIN 17
#define E_MUX1_PIN 16
#define E_MUX2_PIN 84
#endif
#ifdef DIS
#define D_REQUIRE 30
#define D_DATA 20
#define D_DATACLOCK 21
#endif
// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
#define SDSS 53
#ifndef SDSUPPORT
// these pins are defined in the SD library if building with SD support
#define SCK_PIN 52
#define MISO_PIN 50
#define MOSI_PIN 51
#endif
#define BEEPER 84
#define BTN_EN1 72
#define BTN_EN2 14
#define BTN_ENC 9
#define SDCARDDETECT 15
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 18
#define LCD_PINS_D4 19
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
#define E0_STEP_PIN 34
#define E0_DIR_PIN 43
#define E0_ENABLE_PIN 26
#define E0_MS1_PIN 65
#define E0_MS2_PIN 66
#define LED_PIN 13
#ifdef THREEMM_PRINTER
#define FAN_PIN 8
#else
#define FAN_PIN 6
#endif
#define KILL_PIN -1 //80 with Smart Controller LCD
#define SUICIDE_PIN -1 //PIN that has to be turned on right after start, to keep power flowing.
#define SDPOWER -1
#define HEATER_2_PIN -1
#ifdef MINI_RAMBO
#define ELECTRONICS "RAMBo13a"
#define HEATER_0_PIN 3
#define HEATER_BED_PIN 4
#define FAN_1_PIN -1 //6
#define PS_ON_PIN 71
#define MOTOR_CURRENT_PWM_XY_PIN 46
#define MOTOR_CURRENT_PWM_Z_PIN 45
#define MOTOR_CURRENT_PWM_E_PIN 44
#else //RAMBo
#define ELECTRONICS "RAMBoBig"
#define E1_STEP_PIN 33
#define E1_DIR_PIN 42
#define E1_ENABLE_PIN 25
#define E1_MS1_PIN 63
#define E1_MS2_PIN 64
#define DIGIPOTSS_PIN 38
#define DIGIPOT_CHANNELS {4,5,3,0,1} // X Y Z E0 E1 digipot channels to stepper driver mapping
#define HEATER_0_PIN 9
#define HEATER_BED_PIN 3
#define PS_ON_PIN 4
#define SDSS 53
#ifdef ULTRA_LCD
#define KILL_PIN 80
#ifdef NEWPANEL
//arduino pin which triggers an piezzo beeper
#define BEEPER 84 // Beeper on AUX-4
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 18
#define LCD_PINS_D4 19
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
//buttons are directly attached using AUX-2
#define BTN_EN1 76
#define BTN_EN2 77
#define BTN_ENC 78 //the click
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
#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 //old style panel with shift register
//arduino pin witch triggers an piezzo beeper
#define BEEPER 84 //No Beeper added
//buttons are attached to a shift register
// Not wired this yet
// #define SHIFT_CLK 38
// #define SHIFT_LD 42
// #define SHIFT_OUT 40
// #define SHIFT_EN 17
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 18
#define LCD_PINS_D4 19
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
//bits in the shift register that carry the buttons for:
// left up center down right red
#define BL_LE 7
#define BL_UP 6
#define BL_MI 5
#define BL_DW 4
#define BL_RI 3
#define BL_ST 2
#define BLEN_B 1
#define BLEN_A 0
#endif
#endif //ULTRA_LCD
#endif //RAMBo/MiniRambo option
#endif
/*****************************************************************
* Rambo mini Pin Assignments 1.0
******************************************************************/
#if MOTHERBOARD == 102
#define ELECTRONICS "RAMBo10a"
#define KNOWN_BOARD
#ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
#endif
#define FR_SENS 21
#ifdef SNMM
#define E_MUX0_PIN 17
#define E_MUX1_PIN 16
#define E_MUX2_PIN 84
#endif
#define LARGE_FLASH true
#define X_STEP_PIN 37
#define X_DIR_PIN 48
#define X_MIN_PIN 12
#define X_MAX_PIN 30
#define X_ENABLE_PIN 29
#define X_MS1_PIN 40
#define X_MS2_PIN 41
#define Y_STEP_PIN 36
#define Y_DIR_PIN 49
#define Y_MIN_PIN 11
#define Y_MAX_PIN 24
#define Y_ENABLE_PIN 28
#define Y_MS1_PIN 69
#define Y_MS2_PIN 39
#define Z_STEP_PIN 35
#define Z_DIR_PIN 47
#define Z_MIN_PIN 10
#define Z_MAX_PIN 23
#define Z_ENABLE_PIN 27
#define Z_MS1_PIN 68
#define Z_MS2_PIN 67
#define TEMP_BED_PIN 2
#define TEMP_0_PIN 0
#define HEATER_1_PIN 7
#define TEMP_1_PIN 1
#define TEMP_2_PIN -1
// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
#define SDSS 53
#ifndef SDSUPPORT
// these pins are defined in the SD library if building with SD support
#define SCK_PIN 52
#define MISO_PIN 50
#define MOSI_PIN 51
#endif
#define BEEPER 78
#define BTN_EN1 80
#define BTN_EN2 73
#define BTN_ENC 21
#define SDCARDDETECT 72
#define LCD_PINS_RS 38
#define LCD_PINS_ENABLE 5
#define LCD_PINS_D4 14
#define LCD_PINS_D5 15
#define LCD_PINS_D6 32
#define LCD_PINS_D7 31
#define E0_STEP_PIN 34
#define E0_DIR_PIN 43
#define E0_ENABLE_PIN 26
#define E0_MS1_PIN 65
#define E0_MS2_PIN 66
#define LED_PIN 13
#ifdef THREEMM_PRINTER
#define FAN_PIN 8
#else
#define FAN_PIN 6
#endif
#define KILL_PIN -1 //80 with Smart Controller LCD
#define SUICIDE_PIN -1 //PIN that has to be turned on right after start, to keep power flowing.
#define SDPOWER -1
#define HEATER_2_PIN -1
#define HEATER_0_PIN 3
#define HEATER_BED_PIN 4
#define FAN_1_PIN -1 //6
#define PS_ON_PIN 71
#define MOTOR_CURRENT_PWM_XY_PIN 46
#define MOTOR_CURRENT_PWM_Z_PIN 45
#define MOTOR_CURRENT_PWM_E_PIN 44
#endif
/*****************************************************************
* EINY Rambo Pin Assignments 0.3a
******************************************************************/
#if MOTHERBOARD == 300
#define ELECTRONICS "EINY_03a"
#define KNOWN_BOARD
#ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
#endif
#define LARGE_FLASH true
#define HAVE_TMC2130_DRIVERS
#define HAVE_PAT9125_SENSOR
#define X_STEP_PIN 37
#define X_DIR_PIN 49
#define X_MIN_PIN 12
#define X_MAX_PIN 30
//#define X_MIN_PIN 64 //TMC2130 SG homing
//#define X_MAX_PIN 64 //TMC2130 SG homing
#define X_ENABLE_PIN 29
#define X_MS1_PIN -1
#define X_MS2_PIN -1
#define X_TMC2130_CS 41
#define Y_STEP_PIN 36
#define Y_DIR_PIN 48
#define Y_MIN_PIN 11
#define Y_MAX_PIN 24
//#define Y_MIN_PIN 69 //TMC2130 SG homing
//#define Y_MAX_PIN 69 //TMC2130 SG homing
#define Y_ENABLE_PIN 28
#define Y_MS1_PIN -1
#define Y_MS2_PIN -1
#define Y_TMC2130_CS 39
#define Z_STEP_PIN 35
#define Z_DIR_PIN 47
#define Z_MIN_PIN 10
#define Z_MAX_PIN 23
#define Z_ENABLE_PIN 27
#define Z_MS1_PIN -1
#define Z_MS2_PIN -1
#define Z_TMC2130_CS 67
#define HEATER_BED_PIN 4
#define TEMP_BED_PIN 2
#define HEATER_0_PIN 3
#define TEMP_0_PIN 0
#define HEATER_1_PIN 7
#define TEMP_1_PIN 1
#ifdef BARICUDA
#define HEATER_2_PIN 6
#else
#define HEATER_2_PIN -1
#endif
#define TEMP_2_PIN -1
#define E0_STEP_PIN 34
#define E0_DIR_PIN 43
#define E0_ENABLE_PIN 26
#define E0_MS1_PIN -1
#define E0_MS2_PIN -1
#define E0_TMC2130_CS 66
#define MOTOR_CURRENT_PWM_XY_PIN 46
#define MOTOR_CURRENT_PWM_Z_PIN 45
#define MOTOR_CURRENT_PWM_E_PIN 44
#define SDPOWER -1
#define SDSS 53
#define LED_PIN 13
#define FAN_PIN 6
#define FAN_1_PIN -1
#define PS_ON_PIN -1
#define KILL_PIN -1 // 80 with Smart Controller LCD
#define SUICIDE_PIN -1 // PIN that has to be turned on right after start, to keep power flowing.
#ifdef ULTRA_LCD
#define KILL_PIN 32
#ifdef NEWPANEL
#define BEEPER 84 // Beeper on AUX-4
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 18
#define LCD_PINS_D4 19
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
//buttons are directly attached using AUX-2
#define BTN_EN1 72
#define BTN_EN2 14
#define BTN_ENC 9 // the click
#define SDCARDDETECT 15
#define TACH_0 81
#define TACH_1 80
#endif //NEWPANEL
#endif //ULTRA_LCD
#endif //MOTHERBOARD == 300
/*****************************************************************
* EINY Rambo Pin Assignments 0.4a
******************************************************************/
#if MOTHERBOARD == 299
#define ELECTRONICS "EINY_04a"
#define KNOWN_BOARD
#ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
#endif
#define LARGE_FLASH true
#define HAVE_TMC2130_DRIVERS
#define HAVE_PAT9125_SENSOR
#define X_STEP_PIN 37
#define X_DIR_PIN 49
#define X_MIN_PIN 12
#define X_MAX_PIN 30
//#define X_MIN_PIN 64 //TMC2130 SG homing
//#define X_MAX_PIN 64 //TMC2130 SG homing
#define X_ENABLE_PIN 29
#define X_MS1_PIN -1
#define X_MS2_PIN -1
#define X_TMC2130_CS 41
#define Y_STEP_PIN 36
#define Y_DIR_PIN 48
#define Y_MIN_PIN 11
#define Y_MAX_PIN 24
//#define Y_MIN_PIN 69 //TMC2130 SG homing
//#define Y_MAX_PIN 69 //TMC2130 SG homing
#define Y_ENABLE_PIN 28
#define Y_MS1_PIN -1
#define Y_MS2_PIN -1
#define Y_TMC2130_CS 39
#define Z_STEP_PIN 35
#define Z_DIR_PIN 47
#define Z_MIN_PIN 10
#define Z_MAX_PIN 23
#define Z_ENABLE_PIN 27
#define Z_MS1_PIN -1
#define Z_MS2_PIN -1
#define Z_TMC2130_CS 67
#define HEATER_BED_PIN 4
#define TEMP_BED_PIN 2
#define HEATER_0_PIN 3
#define TEMP_0_PIN 0
#define HEATER_1_PIN 7
#define TEMP_1_PIN 1
#ifdef BARICUDA
#define HEATER_2_PIN 6
#else
#define HEATER_2_PIN -1
#endif
#define TEMP_2_PIN -1
#define E0_STEP_PIN 34
#define E0_DIR_PIN 43
#define E0_ENABLE_PIN 26
#define E0_MS1_PIN -1
#define E0_MS2_PIN -1
#define E0_TMC2130_CS 66
#define MOTOR_CURRENT_PWM_XY_PIN 46
#define MOTOR_CURRENT_PWM_Z_PIN 45
#define MOTOR_CURRENT_PWM_E_PIN 44
#define SDPOWER -1
#define SDSS 77
#define LED_PIN 13
#define FAN_PIN 6
#define FAN_1_PIN -1
#define PS_ON_PIN -1
#define KILL_PIN -1 // 80 with Smart Controller LCD
#define SUICIDE_PIN -1 // PIN that has to be turned on right after start, to keep power flowing.
#ifdef ULTRA_LCD
//#define KILL_PIN 32
#ifdef NEWPANEL
#define BEEPER 84 // Beeper on AUX-4
#define LCD_PINS_RS 82
//#define LCD_PINS_ENABLE 18
//#define LCD_PINS_D4 19
#define LCD_PINS_ENABLE 61
#define LCD_PINS_D4 59
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
//buttons are directly attached using AUX-2
#define BTN_EN1 72
#define BTN_EN2 14
#define BTN_ENC 9 // the click
#define SDCARDDETECT 15
#define TACH_0 79
#define TACH_1 80
#endif //NEWPANEL
#endif //ULTRA_LCD
#endif //MOTHERBOARD == 300
#if MOTHERBOARD == 305 //305 - orig 298
#include "pins_Einy_0_4.h"
#endif //MOTHERBOARD == 305
#ifndef KNOWN_BOARD #ifndef KNOWN_BOARD
#error Unknown MOTHERBOARD value in configuration.h #error Unknown MOTHERBOARD value in configuration.h

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Firmware/pins_Einy_0_3.h Normal file
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@ -0,0 +1,129 @@
/*****************************************************************
* EINY Rambo 0.3a Pin Assignments
******************************************************************/
#define ELECTRONICS "EINY_03a"
#define KNOWN_BOARD
#ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
#endif
#define TMC2130
#define PAT9125
#define SWI2C // enable software i2c
#define SWI2C_A8 // 8bit address functions
#define PAT9125_SWI2C
#define PAT9125_SWI2C_SDA 20 //SDA on P3
#define PAT9125_SWI2C_SCL 21 //SCL on P3
#define PAT9125_SWI2C_CFG 0xb1 //2us clock delay, 2048 cycles timeout
//#define SWSPI_MISO 16 //RX2
//#define SWSPI_MOSI 16 //RX2
//#define SWSPI_SCK 17 //TX2
//#define SWSPI_CS 20 //SDA
////#define SWI2C_SDA 20 //SDA
////#define SWI2C_SCL 21 //SCL
//#define SWI2C_SDA 16 //RX2
//#define SWI2C_SCL 17 //TX2
#define X_TMC2130_CS 41
#define X_TMC2130_DIAG 40
#define X_STEP_PIN 37
#define X_DIR_PIN 49
//#define X_MIN_PIN 12
//#define X_MAX_PIN 30
#define X_MIN_PIN X_TMC2130_DIAG
#define X_MAX_PIN X_TMC2130_DIAG
#define X_ENABLE_PIN 29
#define X_MS1_PIN -1
#define X_MS2_PIN -1
#define Y_TMC2130_CS 39
#define Y_TMC2130_DIAG 69
#define Y_STEP_PIN 36
#define Y_DIR_PIN 48
//#define Y_MIN_PIN 11
//#define Y_MAX_PIN 24
#define Y_MIN_PIN Y_TMC2130_DIAG
#define Y_MAX_PIN Y_TMC2130_DIAG
#define Y_ENABLE_PIN 28
#define Y_MS1_PIN -1
#define Y_MS2_PIN -1
#define Z_TMC2130_CS 67
#define Z_TMC2130_DIAG 68
#define Z_STEP_PIN 35
#define Z_DIR_PIN 47
#define Z_MIN_PIN 10
#define Z_MAX_PIN 23
//#define Z_MAX_PIN Z_TMC2130_DIAG
#define Z_ENABLE_PIN 27
#define Z_MS1_PIN -1
#define Z_MS2_PIN -1
#define HEATER_BED_PIN 4 //PG5
#define TEMP_BED_PIN 2 //A2
#define HEATER_0_PIN 3 //PE5
#define TEMP_0_PIN 0 //A0
#define HEATER_1_PIN -1
#define TEMP_1_PIN 1 //A1
#define HEATER_2_PIN -1
#define TEMP_2_PIN -1
#define TEMP_AMBIENT_PIN 6 //A6
#define TEMP_PINDA_PIN 3 //A3
#define E0_TMC2130_CS 66
#define E0_TMC2130_DIAG 65
#define E0_STEP_PIN 34
#define E0_DIR_PIN 43
#define E0_ENABLE_PIN 26
#define E0_MS1_PIN -1
#define E0_MS2_PIN -1
#define MOTOR_CURRENT_PWM_XY_PIN 46
#define MOTOR_CURRENT_PWM_Z_PIN 45
#define MOTOR_CURRENT_PWM_E_PIN 44
#define SDPOWER -1
#define SDSS 53
#define LED_PIN 13
#define FAN_PIN 6
#define FAN_1_PIN -1
#define PS_ON_PIN -1
#define KILL_PIN -1 // 80 with Smart Controller LCD
#define SUICIDE_PIN -1 // PIN that has to be turned on right after start, to keep power flowing.
#ifdef ULTRA_LCD
//#define KILL_PIN 32
#ifdef NEWPANEL
#define BEEPER 84 // Beeper on AUX-4
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 18
#define LCD_PINS_D4 19
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
//buttons are directly attached using AUX-2
#define BTN_EN1 72
#define BTN_EN2 14
#define BTN_ENC 9 // the click
#define SDCARDDETECT 15
#define TACH_0 81
#define TACH_1 80
#endif //NEWPANEL
#endif //ULTRA_LCD

122
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/*****************************************************************
* EINY Rambo 0.4a Pin Assignments
******************************************************************/
#define ELECTRONICS "EINY_04a"
#define KNOWN_BOARD
#ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega 2560 or Rambo' selected from the 'Tools -> Boards' menu.
#endif
#define TMC2130
#define PAT9125
#define SWI2C // enable software i2c
#define SWI2C_A8 // 8bit address functions
#define PAT9125_SWI2C
#define PAT9125_SWI2C_SDA 20 //SDA on P3
#define PAT9125_SWI2C_SCL 21 //SCL on P3
#define PAT9125_SWI2C_CFG 0xb1 //2us clock delay, 2048 cycles timeout
#define X_TMC2130_CS 41
#define X_TMC2130_DIAG 64 // !!! changed from 40 (EINY03)
#define X_STEP_PIN 37
#define X_DIR_PIN 49
//#define X_MIN_PIN 12
//#define X_MAX_PIN 30
#define X_MIN_PIN X_TMC2130_DIAG
#define X_MAX_PIN X_TMC2130_DIAG
#define X_ENABLE_PIN 29
#define X_MS1_PIN -1
#define X_MS2_PIN -1
#define Y_TMC2130_CS 39
#define Y_TMC2130_DIAG 69
#define Y_STEP_PIN 36
#define Y_DIR_PIN 48
//#define Y_MIN_PIN 11
//#define Y_MAX_PIN 24
#define Y_MIN_PIN Y_TMC2130_DIAG
#define Y_MAX_PIN Y_TMC2130_DIAG
#define Y_ENABLE_PIN 28
#define Y_MS1_PIN -1
#define Y_MS2_PIN -1
#define Z_TMC2130_CS 67
#define Z_TMC2130_DIAG 68
#define Z_STEP_PIN 35
#define Z_DIR_PIN 47
#define Z_MIN_PIN 10
#define Z_MAX_PIN 23
//#define Z_MAX_PIN Z_TMC2130_DIAG
#define Z_ENABLE_PIN 27
#define Z_MS1_PIN -1
#define Z_MS2_PIN -1
#define HEATER_BED_PIN 4 //PG5
#define TEMP_BED_PIN 2 //A2
#define HEATER_0_PIN 3 //PE5
#define TEMP_0_PIN 0 //A0
#define HEATER_1_PIN -1
#define TEMP_1_PIN 1 //A1
#define HEATER_2_PIN -1
#define TEMP_2_PIN -1
#define TEMP_AMBIENT_PIN 6 //A6
#define TEMP_PINDA_PIN 3 //A3
#define E0_TMC2130_CS 66
#define E0_TMC2130_DIAG 65
#define E0_STEP_PIN 34
#define E0_DIR_PIN 43
#define E0_ENABLE_PIN 26
#define E0_MS1_PIN -1
#define E0_MS2_PIN -1
#define MOTOR_CURRENT_PWM_XY_PIN 46
#define MOTOR_CURRENT_PWM_Z_PIN 45
#define MOTOR_CURRENT_PWM_E_PIN 44
#define SDPOWER -1
#define SDSS 77
#define LED_PIN 13
#define FAN_PIN 6
#define FAN_1_PIN -1
#define PS_ON_PIN -1
#define KILL_PIN -1 // 80 with Smart Controller LCD
#define SUICIDE_PIN -1 // PIN that has to be turned on right after start, to keep power flowing.
#ifdef ULTRA_LCD
//#define KILL_PIN 32
#ifdef NEWPANEL
#define LCD_PWM_PIN 32 // lcd backlight brightnes pwm control pin
#define LCD_PWM_MAX 0x0f // lcd pwm maximum value (0x07=64Hz, 0x0f=32Hz, 0x1f=16Hz)
#define BEEPER 84 // Beeper on AUX-4
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 61 // !!! changed from 18 (EINY03)
#define LCD_PINS_D4 59 // !!! changed from 19 (EINY03)
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
//buttons are directly attached using AUX-2
#define BTN_EN1 72
#define BTN_EN2 14
#define BTN_ENC 9 // the click
#define SDCARDDETECT 15
#define TACH_0 79 // !!! changed from 81 (EINY03)
#define TACH_1 80
#endif //NEWPANEL
#endif //ULTRA_LCD

162
Firmware/pins_Rambo.h Normal file
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@ -0,0 +1,162 @@
/*****************************************************************
* Rambo Pin Assignments
******************************************************************/
#define ELECTRONICS "RAMBoBig"
#define KNOWN_BOARD
#ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
#endif
#define FR_SENS 21
#define X_STEP_PIN 37
#define X_DIR_PIN 48
#define X_MIN_PIN 12
#define X_MAX_PIN 30
#define X_ENABLE_PIN 29
#define X_MS1_PIN 40
#define X_MS2_PIN 41
#define Y_STEP_PIN 36
#define Y_DIR_PIN 49
#define Y_MIN_PIN 11
#define Y_MAX_PIN 24
#define Y_ENABLE_PIN 28
#define Y_MS1_PIN 69
#define Y_MS2_PIN 39
#define Z_STEP_PIN 35
#define Z_DIR_PIN 47
#define Z_MIN_PIN 10
#define Z_MAX_PIN 23
#define Z_ENABLE_PIN 27
#define Z_MS1_PIN 68
#define Z_MS2_PIN 67
#define TEMP_BED_PIN 2
#define TEMP_0_PIN 0
#define HEATER_1_PIN 7
#define TEMP_1_PIN 1
#define TEMP_2_PIN -1
#ifdef SNMM
#define E_MUX0_PIN 17
#define E_MUX1_PIN 16
#define E_MUX2_PIN 84
#endif
#ifdef DIS
#define D_REQUIRE 30
#define D_DATA 20
#define D_DATACLOCK 21
#endif
// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
#define SDSS 53
#ifndef SDSUPPORT
// these pins are defined in the SD library if building with SD support
#define SCK_PIN 52
#define MISO_PIN 50
#define MOSI_PIN 51
#endif
#define BEEPER 84
#define BTN_EN1 72
#define BTN_EN2 14
#define BTN_ENC 9
#define SDCARDDETECT 15
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 18
#define LCD_PINS_D4 19
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
#define E0_STEP_PIN 34
#define E0_DIR_PIN 43
#define E0_ENABLE_PIN 26
#define E0_MS1_PIN 65
#define E0_MS2_PIN 66
#define LED_PIN 13
#ifdef THREEMM_PRINTER
#define FAN_PIN 8
#else
#define FAN_PIN 6
#endif
#define KILL_PIN -1 //80 with Smart Controller LCD
#define SUICIDE_PIN -1 //PIN that has to be turned on right after start, to keep power flowing.
#define SDPOWER -1
#define HEATER_2_PIN -1
#define E1_STEP_PIN 33
#define E1_DIR_PIN 42
#define E1_ENABLE_PIN 25
#define E1_MS1_PIN 63
#define E1_MS2_PIN 64
#define DIGIPOTSS_PIN 38
#define DIGIPOT_CHANNELS {4,5,3,0,1} // X Y Z E0 E1 digipot channels to stepper driver mapping
#define HEATER_0_PIN 9
#define HEATER_BED_PIN 3
#define PS_ON_PIN 4
#define SDSS 53
#ifdef ULTRA_LCD
#define KILL_PIN 80
#ifdef NEWPANEL
//arduino pin which triggers an piezzo beeper
#define BEEPER 84 // Beeper on AUX-4
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 18
#define LCD_PINS_D4 19
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
//buttons are directly attached using AUX-2
#define BTN_EN1 76
#define BTN_EN2 77
#define BTN_ENC 78 //the click
#define BLEN_C 2
#define BLEN_B 1
#define BLEN_A 0
#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 //old style panel with shift register
//arduino pin witch triggers an piezzo beeper
#define BEEPER 84 //No Beeper added
//buttons are attached to a shift register
// Not wired this yet
// #define SHIFT_CLK 38
// #define SHIFT_LD 42
// #define SHIFT_OUT 40
// #define SHIFT_EN 17
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 18
#define LCD_PINS_D4 19
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
//encoder rotation values
#define encrot0 0
#define encrot1 2
#define encrot2 3
#define encrot3 1
//bits in the shift register that carry the buttons for:
// left up center down right red
#define BL_LE 7
#define BL_UP 6
#define BL_MI 5
#define BL_DW 4
#define BL_RI 3
#define BL_ST 2
#define BLEN_B 1
#define BLEN_A 0
#endif
#endif //ULTRA_LCD

94
Firmware/pins_Rambo_1_0.h Normal file
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@ -0,0 +1,94 @@
/*****************************************************************
* Rambo mini 1.0 Pin Assignments
******************************************************************/
#define ELECTRONICS "RAMBo10a"
#define KNOWN_BOARD
#ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
#endif
#define FR_SENS 21
#define X_STEP_PIN 37
#define X_DIR_PIN 48
#define X_MIN_PIN 12
#define X_MAX_PIN 30
#define X_ENABLE_PIN 29
#define X_MS1_PIN 40
#define X_MS2_PIN 41
#define Y_STEP_PIN 36
#define Y_DIR_PIN 49
#define Y_MIN_PIN 11
#define Y_MAX_PIN 24
#define Y_ENABLE_PIN 28
#define Y_MS1_PIN 69
#define Y_MS2_PIN 39
#define Z_STEP_PIN 35
#define Z_DIR_PIN 47
#define Z_MIN_PIN 10
#define Z_MAX_PIN 23
#define Z_ENABLE_PIN 27
#define Z_MS1_PIN 68
#define Z_MS2_PIN 67
#define TEMP_BED_PIN 2
#define TEMP_0_PIN 0
#define HEATER_1_PIN 7
#define TEMP_1_PIN 1
#define TEMP_2_PIN -1
#ifdef SNMM
#define E_MUX0_PIN 17
#define E_MUX1_PIN 16
#define E_MUX2_PIN 84
#endif
// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
#define SDSS 53
#ifndef SDSUPPORT
// these pins are defined in the SD library if building with SD support
#define SCK_PIN 52
#define MISO_PIN 50
#define MOSI_PIN 51
#endif
#define BEEPER 78
#define BTN_EN1 80
#define BTN_EN2 73
#define BTN_ENC 21
#define SDCARDDETECT 72
#define LCD_PINS_RS 38
#define LCD_PINS_ENABLE 5
#define LCD_PINS_D4 14
#define LCD_PINS_D5 15
#define LCD_PINS_D6 32
#define LCD_PINS_D7 31
#define E0_STEP_PIN 34
#define E0_DIR_PIN 43
#define E0_ENABLE_PIN 26
#define E0_MS1_PIN 65
#define E0_MS2_PIN 66
#define LED_PIN 13
#ifdef THREEMM_PRINTER
#define FAN_PIN 8
#else
#define FAN_PIN 6
#endif
#define KILL_PIN -1 //80 with Smart Controller LCD
#define SUICIDE_PIN -1 //PIN that has to be turned on right after start, to keep power flowing.
#define SDPOWER -1
#define HEATER_2_PIN -1
#define HEATER_0_PIN 3
#define HEATER_BED_PIN 4
#define FAN_1_PIN -1 //6
#define PS_ON_PIN 71
#define MOTOR_CURRENT_PWM_XY_PIN 46
#define MOTOR_CURRENT_PWM_Z_PIN 45
#define MOTOR_CURRENT_PWM_E_PIN 44

102
Firmware/pins_Rambo_1_3.h Normal file
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@ -0,0 +1,102 @@
/*****************************************************************
* Rambo mini 1.3 Pin Assignments
******************************************************************/
#define ELECTRONICS "RAMBo13a"
#define KNOWN_BOARD
#ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
#endif
#define FR_SENS 21
#define X_STEP_PIN 37
#define X_DIR_PIN 48
#define X_MIN_PIN 12
#define X_MAX_PIN 30
#define X_ENABLE_PIN 29
#define X_MS1_PIN 40
#define X_MS2_PIN 41
#define Y_STEP_PIN 36
#define Y_DIR_PIN 49
#define Y_MIN_PIN 11
#define Y_MAX_PIN 24
#define Y_ENABLE_PIN 28
#define Y_MS1_PIN 69
#define Y_MS2_PIN 39
#define Z_STEP_PIN 35
#define Z_DIR_PIN 47
#define Z_MIN_PIN 10
#define Z_MAX_PIN 23
#define Z_ENABLE_PIN 27
#define Z_MS1_PIN 68
#define Z_MS2_PIN 67
#define TEMP_BED_PIN 2
#define TEMP_0_PIN 0
#define HEATER_1_PIN 7
#define TEMP_1_PIN 1
#define TEMP_2_PIN -1
#ifdef SNMM
#define E_MUX0_PIN 17
#define E_MUX1_PIN 16
#define E_MUX2_PIN 84
#endif
#ifdef DIS
#define D_REQUIRE 30
#define D_DATA 20
#define D_DATACLOCK 21
#endif
// The SDSS pin uses a different pin mapping from file Sd2PinMap.h
#define SDSS 53
#ifndef SDSUPPORT
// these pins are defined in the SD library if building with SD support
#define SCK_PIN 52
#define MISO_PIN 50
#define MOSI_PIN 51
#endif
#define BEEPER 84
#define BTN_EN1 72
#define BTN_EN2 14
#define BTN_ENC 9
#define SDCARDDETECT 15
#define LCD_PINS_RS 82
#define LCD_PINS_ENABLE 18
#define LCD_PINS_D4 19
#define LCD_PINS_D5 70
#define LCD_PINS_D6 85
#define LCD_PINS_D7 71
#define E0_STEP_PIN 34
#define E0_DIR_PIN 43
#define E0_ENABLE_PIN 26
#define E0_MS1_PIN 65
#define E0_MS2_PIN 66
#define LED_PIN 13
#ifdef THREEMM_PRINTER
#define FAN_PIN 8
#else
#define FAN_PIN 6
#endif
#define KILL_PIN -1 //80 with Smart Controller LCD
#define SUICIDE_PIN -1 //PIN that has to be turned on right after start, to keep power flowing.
#define SDPOWER -1
#define HEATER_2_PIN -1
#define HEATER_0_PIN 3
#define HEATER_BED_PIN 4
#define FAN_1_PIN -1 //6
#define PS_ON_PIN 71
#define MOTOR_CURRENT_PWM_XY_PIN 46
#define MOTOR_CURRENT_PWM_Z_PIN 45
#define MOTOR_CURRENT_PWM_E_PIN 44

18
Firmware/planner.cpp
View file

@ -593,7 +593,7 @@ float junction_deviation = 0.1;
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters. // calculation the caller must also provide the physical length of the line in millimeters.
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder) void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder, uint8_t sdlen)
{ {
// Calculate the buffer head after we push this byte // Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head); int next_buffer_head = next_block_index(block_buffer_head);
@ -723,6 +723,9 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
// Prepare to set up new block // Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head]; block_t *block = &block_buffer[block_buffer_head];
// Set sdlen for calculating sd position
block->sdlen = sdlen;
// Mark block as not busy (Not executed by the stepper interrupt, could be still tinkered with.) // Mark block as not busy (Not executed by the stepper interrupt, could be still tinkered with.)
block->busy = false; block->busy = false;
@ -1296,3 +1299,16 @@ void planner_queue_min_reset()
g_cntr_planner_queue_min = moves_planned(); g_cntr_planner_queue_min = moves_planned();
} }
#endif /* PLANNER_DIAGNOSTICS */ #endif /* PLANNER_DIAGNOSTICS */
uint16_t planner_calc_sd_length()
{
unsigned char _block_buffer_head = block_buffer_head;
unsigned char _block_buffer_tail = block_buffer_tail;
uint16_t sdlen = 0;
while (_block_buffer_head != _block_buffer_tail)
{
sdlen += block_buffer[_block_buffer_tail].sdlen;
_block_buffer_tail = (_block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
}
return sdlen;
}

8
Firmware/planner.h
View file

@ -93,6 +93,8 @@ typedef struct {
bool use_advance_lead; bool use_advance_lead;
unsigned long abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float unsigned long abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float
#endif #endif
uint8_t sdlen;
} block_t; } block_t;
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
@ -111,12 +113,12 @@ void plan_init();
// millimaters. Feed rate specifies the speed of the motion. // millimaters. Feed rate specifies the speed of the motion.
#ifdef ENABLE_AUTO_BED_LEVELING #ifdef ENABLE_AUTO_BED_LEVELING
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder); void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder, uint8_t sdlen = 0);
// Get the position applying the bed level matrix if enabled // Get the position applying the bed level matrix if enabled
vector_3 plan_get_position(); vector_3 plan_get_position();
#else #else
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder); void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder, uint8_t sdlen = 0);
//void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder); //void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
#endif // ENABLE_AUTO_BED_LEVELING #endif // ENABLE_AUTO_BED_LEVELING
@ -217,3 +219,5 @@ extern uint8_t planner_queue_min();
// Diagnostic function: Reset the minimum planner segments. // Diagnostic function: Reset the minimum planner segments.
extern void planner_queue_min_reset(); extern void planner_queue_min_reset();
#endif /* PLANNER_DIAGNOSTICS */ #endif /* PLANNER_DIAGNOSTICS */
extern uint16_t planner_calc_sd_length();

68
Firmware/stepper.cpp
View file

@ -32,9 +32,9 @@
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 #if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h> #include <SPI.h>
#endif #endif
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
#include "tmc2130.h" #include "tmc2130.h"
#endif //HAVE_TMC2130_DRIVERS #endif //TMC2130
//=========================================================================== //===========================================================================
@ -45,6 +45,8 @@ bool x_min_endstop = false;
bool x_max_endstop = false; bool x_max_endstop = false;
bool y_min_endstop = false; bool y_min_endstop = false;
bool y_max_endstop = false; bool y_max_endstop = false;
bool z_min_endstop = false;
bool z_max_endstop = false;
//=========================================================================== //===========================================================================
//=============================private variables ============================ //=============================private variables ============================
//=========================================================================== //===========================================================================
@ -85,11 +87,7 @@ static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false; static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false; static bool old_z_max_endstop=false;
#ifdef TMC2130_SG_HOMING_SW
static bool check_endstops = false;
#else
static bool check_endstops = true; static bool check_endstops = true;
#endif
static bool check_z_endstop = false; static bool check_z_endstop = false;
@ -431,12 +429,12 @@ void isr() {
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
{ {
#if defined(X_MIN_PIN) && X_MIN_PIN > -1 #if defined(X_MIN_PIN) && (X_MIN_PIN > -1) && !defined(DEBUG_DISABLE_XMINLIMIT)
#ifndef TMC2130_SG_HOMING_SW #ifndef TMC2130_SG_HOMING_SW_XY
x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING); x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW #else //TMC2130_SG_HOMING_SW_XY
x_min_endstop = tmc2130_axis_stalled[X_AXIS]; x_min_endstop = tmc2130_axis_stalled[X_AXIS];
#endif //TMC2130_SG_HOMING_SW #endif //TMC2130_SG_HOMING_SW_XY
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) { if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true; endstop_x_hit=true;
@ -451,12 +449,12 @@ void isr() {
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
{ {
#if defined(X_MAX_PIN) && X_MAX_PIN > -1 #if defined(X_MAX_PIN) && (X_MAX_PIN > -1) && !defined(DEBUG_DISABLE_XMAXLIMIT)
#ifndef TMC2130_SG_HOMING_SW #ifndef TMC2130_SG_HOMING_SW_XY
x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING); x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW #else //TMC2130_SG_HOMING_SW_XY
x_max_endstop = tmc2130_axis_stalled[X_AXIS]; x_max_endstop = tmc2130_axis_stalled[X_AXIS];
#endif //TMC2130_SG_HOMING_SW #endif //TMC2130_SG_HOMING_SW_XY
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){ if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true; endstop_x_hit=true;
@ -475,12 +473,12 @@ void isr() {
#endif #endif
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1 #if defined(Y_MIN_PIN) && (Y_MIN_PIN > -1) && !defined(DEBUG_DISABLE_YMINLIMIT)
#ifndef TMC2130_SG_HOMING_SW #ifndef TMC2130_SG_HOMING_SW_XY
y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING); y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW #else //TMC2130_SG_HOMING_SW_XY
y_min_endstop = tmc2130_axis_stalled[Y_AXIS]; y_min_endstop = tmc2130_axis_stalled[Y_AXIS];
#endif //TMC2130_SG_HOMING_SW #endif //TMC2130_SG_HOMING_SW_XY
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) { if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true; endstop_y_hit=true;
@ -493,12 +491,12 @@ void isr() {
else { // +direction else { // +direction
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1 #if defined(Y_MAX_PIN) && (Y_MAX_PIN > -1) && !defined(DEBUG_DISABLE_YMAXLIMIT)
#ifndef TMC2130_SG_HOMING_SW #ifndef TMC2130_SG_HOMING_SW_XY
y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING); y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW #else //TMC2130_SG_HOMING_SW_XY
y_max_endstop = tmc2130_axis_stalled[Y_AXIS]; y_max_endstop = tmc2130_axis_stalled[Y_AXIS];
#endif //TMC2130_SG_HOMING_SW #endif //TMC2130_SG_HOMING_SW_XY
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){ if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true; endstop_y_hit=true;
@ -519,8 +517,8 @@ void isr() {
count_direction[Z_AXIS]=-1; count_direction[Z_AXIS]=-1;
if(check_endstops && ! check_z_endstop) if(check_endstops && ! check_z_endstop)
{ {
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1 #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) { if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_hit=true;
@ -540,8 +538,12 @@ void isr() {
count_direction[Z_AXIS]=1; count_direction[Z_AXIS]=1;
CHECK_ENDSTOPS CHECK_ENDSTOPS
{ {
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1 #if defined(Z_MAX_PIN) && (Z_MAX_PIN > -1) && !defined(DEBUG_DISABLE_ZMAXLIMIT)
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING); #ifndef TMC2130_SG_HOMING_SW_Z
z_max_endstop = (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
#else //TMC2130_SG_HOMING_SW_Z
z_max_endstop = tmc2130_axis_stalled[Z_AXIS];
#endif //TMC2130_SG_HOMING_SW_Z
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) { if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_hit=true;
@ -553,11 +555,11 @@ void isr() {
} }
// Supporting stopping on a trigger of the Z-stop induction sensor, not only for the Z-minus movements. // Supporting stopping on a trigger of the Z-stop induction sensor, not only for the Z-minus movements.
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1 #if defined(Z_MIN_PIN) && (Z_MIN_PIN > -1) && !defined(DEBUG_DISABLE_ZMINLIMIT)
if(check_z_endstop) { if(check_z_endstop) {
// Check the Z min end-stop no matter what. // Check the Z min end-stop no matter what.
// Good for searching for the center of an induction target. // Good for searching for the center of an induction target.
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING); z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if(z_min_endstop && old_z_min_endstop) { if(z_min_endstop && old_z_min_endstop) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true; endstop_z_hit=true;
@ -829,9 +831,9 @@ void clear_current_adv_vars() {
void st_init() void st_init()
{ {
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_init(); tmc2130_init();
#endif //HAVE_TMC2130_DRIVERS #endif //TMC2130
digipot_init(); //Initialize Digipot Motor Current digipot_init(); //Initialize Digipot Motor Current
microstep_init(); //Initialize Microstepping Pins microstep_init(); //Initialize Microstepping Pins
@ -1042,7 +1044,7 @@ void st_synchronize()
{ {
while(blocks_queued()) while(blocks_queued())
{ {
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
manage_heater(); manage_heater();
// Vojtech: Don't disable motors inside the planner! // Vojtech: Don't disable motors inside the planner!
if (!tmc2130_update_sg()) if (!tmc2130_update_sg())
@ -1050,12 +1052,12 @@ void st_synchronize()
manage_inactivity(true); manage_inactivity(true);
lcd_update(); lcd_update();
} }
#else //HAVE_TMC2130_DRIVERS #else //TMC2130
manage_heater(); manage_heater();
// Vojtech: Don't disable motors inside the planner! // Vojtech: Don't disable motors inside the planner!
manage_inactivity(true); manage_inactivity(true);
lcd_update(); lcd_update();
#endif //HAVE_TMC2130_DRIVERS #endif //TMC2130
} }
} }

209
Firmware/swi2c.cpp Normal file
View file

@ -0,0 +1,209 @@
#include "uni_avr_rpi.h"
#ifdef SWI2C
#include "swi2c.h"
#ifdef __AVR
unsigned char swi2c_sda = 20; // SDA pin
unsigned char swi2c_scl = 21; // SCL pin
#endif //__AVR
#ifdef __RPI
unsigned char swi2c_sda = 2; // SDA pin
unsigned char swi2c_scl = 3; // SCL pin
#endif //__RPI
unsigned char swi2c_cfg = 0xb1; // config
// bit0..3 = clock delay factor = 1 << 1 = 2 [us]
// bit4..7 = ack timeout factor = 1 << 11 = 2048 [cycles]
#define SWI2C_SDA swi2c_sda
#define SWI2C_SCL swi2c_scl
#define SWI2C_RMSK 0x01 //read mask (bit0 = 1)
#define SWI2C_WMSK 0x00 //write mask (bit0 = 0)
#define SWI2C_ASHF 0x01 //address shift (<< 1)
#define SWI2C_DMSK 0x7f //device address mask
void swi2c_init(unsigned char sda, unsigned char scl, unsigned char cfg)
{
swi2c_sda = sda;
swi2c_scl = scl;
swi2c_cfg = cfg;
GPIO_OUT(SWI2C_SDA);
GPIO_OUT(SWI2C_SCL);
GPIO_SET(SWI2C_SDA);
GPIO_SET(SWI2C_SCL);
DELAY(1000);
}
void swi2c_start(int delay)
{
GPIO_CLR(SWI2C_SDA);
DELAY(delay);
GPIO_CLR(SWI2C_SCL);
DELAY(delay);
}
void swi2c_stop(int delay)
{
GPIO_SET(SWI2C_SCL);
DELAY(delay);
GPIO_SET(SWI2C_SDA);
DELAY(delay);
}
void swi2c_ack(int delay)
{
GPIO_CLR(SWI2C_SDA);
DELAY(delay);
GPIO_SET(SWI2C_SCL);
DELAY(delay);
GPIO_CLR(SWI2C_SCL);
DELAY(delay);
}
int swi2c_wait_ack(int delay, int ackto)
{
GPIO_INP(SWI2C_SDA);
DELAY(delay);
// GPIO_SET(SWI2C_SDA);
DELAY(delay);
GPIO_SET(SWI2C_SCL);
// DELAY(delay);
int ack = 0;
while (!(ack = !GPIO_GET(SWI2C_SDA)) && ackto--) DELAY(delay);
GPIO_CLR(SWI2C_SCL);
DELAY(delay);
GPIO_OUT(SWI2C_SDA);
DELAY(delay);
GPIO_CLR(SWI2C_SDA);
DELAY(delay);
return ack;
}
unsigned char swi2c_read(int delay)
{
GPIO_SET(SWI2C_SDA);
DELAY(delay);
GPIO_INP(SWI2C_SDA);
unsigned char data = 0;
int bit; for (bit = 7; bit >= 0; bit--)
{
GPIO_SET(SWI2C_SCL);
DELAY(delay);
data |= GPIO_GET(SWI2C_SDA) << bit;
GPIO_CLR(SWI2C_SCL);
DELAY(delay);
}
GPIO_OUT(SWI2C_SDA);
return data;
}
void swi2c_write(int delay, unsigned char data)
{
int bit; for (bit = 7; bit >= 0; bit--)
{
if (data & (1 << bit)) GPIO_SET(SWI2C_SDA);
else GPIO_CLR(SWI2C_SDA);
DELAY(delay);
GPIO_SET(SWI2C_SCL);
DELAY(delay);
GPIO_CLR(SWI2C_SCL);
DELAY(delay);
}
}
int swi2c_check(unsigned char dev_addr)
{
int delay = 1 << (swi2c_cfg & 0xf);
int tmout = 1 << (swi2c_cfg >> 4);
swi2c_start(delay);
swi2c_write(delay, (dev_addr & SWI2C_DMSK) << SWI2C_ASHF);
if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
swi2c_stop(delay);
return 1;
}
#ifdef SWI2C_A8 //8bit address
int swi2c_readByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte)
{
int delay = 1 << (swi2c_cfg & 0xf);
int tmout = 1 << (swi2c_cfg >> 4);
swi2c_start(delay);
swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
swi2c_write(delay, addr & 0xff);
if (!swi2c_wait_ack(delay, tmout)) return 0;
swi2c_stop(delay);
swi2c_start(delay);
swi2c_write(delay, SWI2C_RMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
if (!swi2c_wait_ack(delay, tmout)) return 0;
unsigned char byte = swi2c_read(delay);
swi2c_stop(delay);
if (pbyte) *pbyte = byte;
return 1;
}
int swi2c_writeByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte)
{
int delay = 1 << (swi2c_cfg & 0xf);
int tmout = 1 << (swi2c_cfg >> 4);
swi2c_start(delay);
swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
swi2c_write(delay, addr & 0xff);
if (!swi2c_wait_ack(delay, tmout)) return 0;
swi2c_write(delay, *pbyte);
if (!swi2c_wait_ack(delay, tmout)) return 0;
swi2c_stop(delay);
return 1;
}
#endif //SWI2C_A8
#ifdef SWI2C_A16 //16bit address
int swi2c_readByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte)
{
int delay = 1 << (swi2c_cfg & 0xf);
int tmout = 1 << (swi2c_cfg >> 4);
swi2c_start(delay);
swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
swi2c_write(delay, addr >> 8);
if (!swi2c_wait_ack(delay, tmout)) return 0;
swi2c_write(delay, addr & 0xff);
if (!swi2c_wait_ack(delay, tmout)) return 0;
swi2c_stop(delay);
swi2c_start(delay);
swi2c_write(delay, SWI2C_RMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
if (!swi2c_wait_ack(delay, tmout)) return 0;
unsigned char byte = swi2c_read(delay);
swi2c_stop(delay);
if (pbyte) *pbyte = byte;
return 1;
}
int swi2c_writeByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte)
{
int delay = 1 << (swi2c_cfg & 0xf);
int tmout = 1 << (swi2c_cfg >> 4);
swi2c_start(delay);
swi2c_write(delay, SWI2C_WMSK | ((dev_addr & SWI2C_DMSK) << SWI2C_ASHF));
if (!swi2c_wait_ack(delay, tmout)) { swi2c_stop(delay); return 0; }
swi2c_write(delay, addr >> 8);
if (!swi2c_wait_ack(delay, tmout)) return 0;
swi2c_write(delay, addr & 0xff);
if (!swi2c_wait_ack(delay, tmout)) return 0;
swi2c_write(delay, *pbyte);
if (!swi2c_wait_ack(delay, tmout)) return 0;
swi2c_stop(delay);
return 1;
}
#endif //SWI2C_A16
#endif //SWI2C

22
Firmware/swi2c.h Normal file
View file

@ -0,0 +1,22 @@
#ifndef SWI2C_H
#define SWI2C_H
//initialize
extern void swi2c_init(unsigned char sda, unsigned char scl, unsigned char cfg);
//check device address acknowledge
extern int swi2c_check(unsigned char dev_addr);
//read write functions - 8bit address (most i2c chips)
#ifdef SWI2C_A8
extern int swi2c_readByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte);
extern int swi2c_writeByte_A8(unsigned char dev_addr, unsigned char addr, unsigned char* pbyte);
#endif //SWI2C_A8
//read write functions - 16bit address (e.g. serial eeprom AT24C256)
#ifdef SWI2C_A16
extern int swi2c_readByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte);
extern int swi2c_writeByte_A16(unsigned char dev_addr, unsigned short addr, unsigned char* pbyte);
#endif //SWI2C_A16
#endif //SWI2C_H

114
Firmware/swspi.cpp
View file

@ -1,58 +1,54 @@
#include "uni_avr_rpi.h"
#ifdef __SWSPI
#include "swspi.h" #include "swspi.h"
#ifdef __RPI
#ifdef SWSPI_RPI //#define swspi_miso 9
#include <bcm2835.h> #define swspi_miso 10
#define GPIO_INP(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_INPT) #define swspi_mosi 10
#define GPIO_OUT(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_OUTP) #define swspi_sck 11
#define GPIO_SET(gpio) bcm2835_gpio_write(gpio, HIGH) #define SWSPI_CS 7
#define GPIO_CLR(gpio) bcm2835_gpio_write(gpio, LOW) #endif //__RPI
#define GPIO_GET(gpio) (bcm2835_gpio_lev(gpio) != LOW)
#define DELAY(delay) usleep(delay)
#endif //SWSPI_RPI
#ifdef SWSPI_AVR
#include "Arduino.h"
#define GPIO_INP(gpio) pinMode(gpio, INPUT)
#define GPIO_OUT(gpio) pinMode(gpio, OUTPUT)
#define GPIO_SET(gpio) digitalWrite(gpio, HIGH)
#define GPIO_CLR(gpio) digitalWrite(gpio, LOW)
#define GPIO_GET(gpio) (digitalRead(gpio) != LOW)
#define DELAY(delay) delayMicroseconds(delay)
#endif //SWSPI_AVR
#if (SWSPI_POL != 0)
#define SWSPI_SCK_UP GPIO_CLR(SWSPI_SCK)
#define SWSPI_SCK_DN GPIO_SET(SWSPI_SCK)
#else
#define SWSPI_SCK_UP GPIO_SET(SWSPI_SCK)
#define SWSPI_SCK_DN GPIO_CLR(SWSPI_SCK)
#endif
void swspi_init() #define SWSPI_DEL 0x0f //delay mask (0-3. bit, delay = 1 << DEL [us])
#define SWSPI_POL 0x10 //polarity mask (4. bit, 1=inverted)
#define SWSPI_PHA 0x20 //phase mask (5. bit)
#define SWSPI_DOR 0x40 //data order mask (6. bit, 0=MSB first, 1=LSB first)
#define SWSPI_SCK_UP if (swspi_cfg & SWSPI_POL) GPIO_CLR(swspi_sck); else GPIO_SET(swspi_sck);
#define SWSPI_SCK_DN if (swspi_cfg & SWSPI_POL) GPIO_SET(swspi_sck); else GPIO_CLR(swspi_sck);
unsigned char swspi_miso = 0;
unsigned char swspi_mosi = 0;
unsigned char swspi_sck = 0;
unsigned char swspi_cfg = 0;
void swspi_init(unsigned char miso, unsigned char mosi, unsigned char sck, unsigned char cfg)
{ {
GPIO_INP(SWSPI_MISO); swspi_miso = miso;
GPIO_OUT(SWSPI_MOSI); swspi_mosi = mosi;
GPIO_OUT(SWSPI_SCK); swspi_sck = sck;
GPIO_OUT(SWSPI_CS); swspi_cfg = cfg;
GPIO_CLR(SWSPI_MOSI); GPIO_INP(swspi_miso);
GPIO_OUT(swspi_mosi);
GPIO_OUT(swspi_sck);
GPIO_CLR(swspi_mosi);
SWSPI_SCK_DN; SWSPI_SCK_DN;
GPIO_SET(SWSPI_CS);
} }
#if (SWSPI_MOSI == SWSPI_MISO)
void swspi_tx(unsigned char tx) void swspi_tx(unsigned char tx)
{ {
GPIO_OUT(SWSPI_MOSI); int delay = 1 << (swspi_cfg & SWSPI_DEL));
if (swspi_miso == swspi_mosi) GPIO_OUT(swspi_mosi);
unsigned char i = 0; for (; i < 8; i++) unsigned char i = 0; for (; i < 8; i++)
{ {
if (tx & 0x80) GPIO_SET(SWSPI_MOSI); if (tx & 0x80) GPIO_SET(swspi_mosi);
else GPIO_CLR(SWSPI_MOSI); else GPIO_CLR(swspi_mosi);
DELAY(SWSPI_DEL); DELAY(delay);
SWSPI_SCK_UP; SWSPI_SCK_UP;
DELAY(SWSPI_DEL); DELAY(delay);
SWSPI_SCK_DN; SWSPI_SCK_DN;
tx <<= 1; tx <<= 1;
} }
@ -60,48 +56,38 @@ void swspi_tx(unsigned char tx)
unsigned char swspi_rx() unsigned char swspi_rx()
{ {
GPIO_INP(SWSPI_MISO); int delay = 1 << (swspi_cfg & SWSPI_DEL));
if (swspi_miso == swspi_mosi) GPIO_OUT(swspi_mosi);
unsigned char rx = 0; unsigned char rx = 0;
unsigned char i = 0; for (; i < 8; i++) unsigned char i = 0; for (; i < 8; i++)
{ {
rx <<= 1; rx <<= 1;
DELAY(SWSPI_DEL); DELAY(delay);
SWSPI_SCK_UP; SWSPI_SCK_UP;
DELAY(SWSPI_DEL); DELAY(delay);
rx |= GPIO_GET(SWSPI_MISO)?1:0; rx |= GPIO_GET(swspi_miso)?1:0;
SWSPI_SCK_DN; SWSPI_SCK_DN;
} }
return rx; return rx;
} }
#else //(SWSPI_MOSI == SWSPI_MISO)
unsigned char swspi_txrx(unsigned char tx) unsigned char swspi_txrx(unsigned char tx)
{ {
int delay = 1 << (swspi_cfg & SWSPI_DEL));
unsigned char rx = 0; unsigned char rx = 0;
unsigned char i = 0; for (; i < 8; i++) unsigned char i = 0; for (; i < 8; i++)
{ {
rx <<= 1; rx <<= 1;
if (tx & 0x80) GPIO_SET(SWSPI_MOSI); if (tx & 0x80) GPIO_SET(swspi_mosi);
else GPIO_CLR(SWSPI_MOSI); else GPIO_CLR(swspi_mosi);
DELAY(SWSPI_DEL); DELAY(delay);
SWSPI_SCK_UP; SWSPI_SCK_UP;
DELAY(SWSPI_DEL); DELAY(delay);
rx |= GPIO_GET(SWSPI_MISO)?1:0; rx |= GPIO_GET(swspi_miso)?1:0;
SWSPI_SCK_DN; SWSPI_SCK_DN;
tx <<= 1; tx <<= 1;
} }
return rx; return rx;
} }
#endif //(SWSPI_MOSI == SWSPI_MISO) #endif //__SWSPI
void swspi_start()
{
GPIO_CLR(SWSPI_CS);
}
void swspi_stop()
{
GPIO_SET(SWSPI_CS);
}

60
Firmware/swspi.h
View file

@ -1,56 +1,14 @@
// Software SPI
#ifndef SWSPI_H #ifndef SWSPI_H
#define SWSPI_H #define SWSPI_H
//initialize gpio
//#define SWSPI_RPI extern void swspi_init(unsigned char miso, unsigned char mosi, unsigned char sck, unsigned char cfg);
#define SWSPI_AVR //transmit and receive (full duplex mode)
extern unsigned char swspi_txrx(unsigned char tx);
#ifdef SWSPI_RPI //transmit (half dublex mode, miso == mosi)
//#define SWSPI_MISO 9 extern void swspi_tx(unsigned char tx);
#define SWSPI_MISO 10 //receive (half dublex mode, miso == mosi)
#define SWSPI_MOSI 10 extern unsigned char swspi_rx();
#define SWSPI_SCK 11
#define SWSPI_CS 7
#endif //SWSPI_RPI
#ifdef SWSPI_AVR
#if (MOTHERBOARD == BOARD_EINY_0_3a)
#define SWSPI_MISO 16 //RX2
#define SWSPI_MOSI 16 //RX2
#define SWSPI_SCK 17 //TX2
#define SWSPI_CS 20 //SDA
#endif //(MOTHERBOARD == BOARD_EINY_0_3a)
#if (MOTHERBOARD == BOARD_EINY_0_4a)
#define SWSPI_MISO 21 //PK0
#define SWSPI_MOSI 21 //PK0
#define SWSPI_SCK 62 //SCL
#define SWSPI_CS 20 //SDA
#endif //(MOTHERBOARD == BOARD_EINY_0_4a)
#endif //SWSPI_AVR
#define SWSPI_POL 1 //polarity
#define SWSPI_PHA 0 //phase
#define SWSPI_DOR 0 //data order
#define SWSPI_DEL 2 //delay
void swspi_init();
#if (SWSPI_MOSI == SWSPI_MISO)
void swspi_tx(unsigned char tx);
unsigned char swspi_rx();
#else //(SWSPI_MOSI == SWSPI_MISO)
#define swspi_tx swspi_txrx
#define swspi_rx swspi_txrx
unsigned char swspi_txrx(unsigned char tx);
#endif //(SWSPI_MOSI == SWSPI_MISO)
void swspi_start();
void swspi_stop();
#endif //SWSPI_H #endif //SWSPI_H

157
Firmware/temperature.cpp
View file

@ -45,6 +45,17 @@ int target_temperature[EXTRUDERS] = { 0 };
int target_temperature_bed = 0; int target_temperature_bed = 0;
int current_temperature_raw[EXTRUDERS] = { 0 }; int current_temperature_raw[EXTRUDERS] = { 0 };
float current_temperature[EXTRUDERS] = { 0.0 }; float current_temperature[EXTRUDERS] = { 0.0 };
#ifdef PINDA_THERMISTOR
int current_temperature_raw_pinda = 0 ;
float current_temperature_pinda = 0.0;
#endif //PINDA_THERMISTOR
#ifdef AMBIENT_THERMISTOR
int current_temperature_raw_ambient = 0 ;
float current_temperature_ambient = 0.0;
#endif //AMBIENT_THERMISTOR
int current_temperature_bed_raw = 0; int current_temperature_bed_raw = 0;
float current_temperature_bed = 0.0; float current_temperature_bed = 0.0;
#ifdef TEMP_SENSOR_1_AS_REDUNDANT #ifdef TEMP_SENSOR_1_AS_REDUNDANT
@ -75,6 +86,11 @@ float current_temperature_bed = 0.0;
unsigned char fanSpeedSoftPwm; unsigned char fanSpeedSoftPwm;
#endif #endif
#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
unsigned char lcdSoftPwm = (LCD_PWM_MAX * 2 + 1); //set default value to maximum
unsigned char lcdBlinkDelay = 0; //lcd blinking delay (0 = no blink)
#endif
unsigned char soft_pwm_bed; unsigned char soft_pwm_bed;
#ifdef BABYSTEPPING #ifdef BABYSTEPPING
@ -129,6 +145,12 @@ static volatile bool temp_meas_ready = false;
static unsigned long extruder_autofan_last_check; static unsigned long extruder_autofan_last_check;
#endif #endif
#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
static unsigned char soft_pwm_lcd = 0;
static unsigned char lcd_blink_delay = 0;
static bool lcd_blink_on = false;
#endif
#if EXTRUDERS > 3 #if EXTRUDERS > 3
# error Unsupported number of extruders # error Unsupported number of extruders
#elif EXTRUDERS > 2 #elif EXTRUDERS > 2
@ -161,6 +183,7 @@ static int bed_maxttemp_raw = HEATER_BED_RAW_HI_TEMP;
static float analog2temp(int raw, uint8_t e); static float analog2temp(int raw, uint8_t e);
static float analog2tempBed(int raw); static float analog2tempBed(int raw);
static float analog2tempAmbient(int raw);
static void updateTemperaturesFromRawValues(); static void updateTemperaturesFromRawValues();
enum TempRunawayStates enum TempRunawayStates
@ -845,6 +868,27 @@ static float analog2tempBed(int raw) {
#endif #endif
} }
static float analog2tempAmbient(int raw)
{
float celsius = 0;
byte i;
for (i=1; i<AMBIENTTEMPTABLE_LEN; i++)
{
if (PGM_RD_W(AMBIENTTEMPTABLE[i][0]) > raw)
{
celsius = PGM_RD_W(AMBIENTTEMPTABLE[i-1][1]) +
(raw - PGM_RD_W(AMBIENTTEMPTABLE[i-1][0])) *
(float)(PGM_RD_W(AMBIENTTEMPTABLE[i][1]) - PGM_RD_W(AMBIENTTEMPTABLE[i-1][1])) /
(float)(PGM_RD_W(AMBIENTTEMPTABLE[i][0]) - PGM_RD_W(AMBIENTTEMPTABLE[i-1][0]));
break;
}
}
// Overflow: Set to last value in the table
if (i == AMBIENTTEMPTABLE_LEN) celsius = PGM_RD_W(AMBIENTTEMPTABLE[i-1][1]);
return celsius;
}
/* Called to get the raw values into the the actual temperatures. The raw values are created in interrupt context, /* Called to get the raw values into the the actual temperatures. The raw values are created in interrupt context,
and this function is called from normal context as it is too slow to run in interrupts and will block the stepper routine otherwise */ and this function is called from normal context as it is too slow to run in interrupts and will block the stepper routine otherwise */
static void updateTemperaturesFromRawValues() static void updateTemperaturesFromRawValues()
@ -854,6 +898,14 @@ static void updateTemperaturesFromRawValues()
current_temperature[e] = analog2temp(current_temperature_raw[e], e); current_temperature[e] = analog2temp(current_temperature_raw[e], e);
} }
#ifdef PINDA_THERMISTOR
current_temperature_pinda = analog2tempBed(current_temperature_raw_pinda); //thermistor for pinda is the same as for bed
#endif
#ifdef AMBIENT_THERMISTOR
current_temperature_ambient = analog2tempAmbient(current_temperature_raw_ambient); //thermistor for ambient is NTCG104LH104JT1 (2000)
#endif
current_temperature_bed = analog2tempBed(current_temperature_bed_raw); current_temperature_bed = analog2tempBed(current_temperature_bed_raw);
#ifdef TEMP_SENSOR_1_AS_REDUNDANT #ifdef TEMP_SENSOR_1_AS_REDUNDANT
@ -941,6 +993,11 @@ void tp_init()
#endif #endif
#ifdef FAN_SOFT_PWM #ifdef FAN_SOFT_PWM
soft_pwm_fan = fanSpeedSoftPwm / 2; soft_pwm_fan = fanSpeedSoftPwm / 2;
#endif
#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
soft_pwm_lcd = lcdSoftPwm / 2;
lcd_blink_delay = lcdBlinkDelay;
lcd_blink_on = true;
#endif #endif
#endif #endif
@ -1469,7 +1526,9 @@ ISR(TIMER0_COMPB_vect)
static unsigned long raw_temp_1_value = 0; static unsigned long raw_temp_1_value = 0;
static unsigned long raw_temp_2_value = 0; static unsigned long raw_temp_2_value = 0;
static unsigned long raw_temp_bed_value = 0; static unsigned long raw_temp_bed_value = 0;
static unsigned char temp_state = 10; static unsigned long raw_temp_pinda_value = 0;
static unsigned long raw_temp_ambient_value = 0;
static unsigned char temp_state = 14;
static unsigned char pwm_count = (1 << SOFT_PWM_SCALE); static unsigned char pwm_count = (1 << SOFT_PWM_SCALE);
static unsigned char soft_pwm_0; static unsigned char soft_pwm_0;
#ifdef SLOW_PWM_HEATERS #ifdef SLOW_PWM_HEATERS
@ -1507,15 +1566,16 @@ ISR(TIMER0_COMPB_vect)
/* /*
* standard PWM modulation * standard PWM modulation
*/ */
if(pwm_count == 0){ if (pwm_count == 0)
{
soft_pwm_0 = soft_pwm[0]; soft_pwm_0 = soft_pwm[0];
if(soft_pwm_0 > 0) { if(soft_pwm_0 > 0)
{
WRITE(HEATER_0_PIN,1); WRITE(HEATER_0_PIN,1);
#ifdef HEATERS_PARALLEL #ifdef HEATERS_PARALLEL
WRITE(HEATER_1_PIN,1); WRITE(HEATER_1_PIN,1);
#endif #endif
} else WRITE(HEATER_0_PIN,0); } else WRITE(HEATER_0_PIN,0);
#if EXTRUDERS > 1 #if EXTRUDERS > 1
soft_pwm_1 = soft_pwm[1]; soft_pwm_1 = soft_pwm[1];
if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1); else WRITE(HEATER_1_PIN,0); if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1); else WRITE(HEATER_1_PIN,0);
@ -1533,12 +1593,35 @@ ISR(TIMER0_COMPB_vect)
if(soft_pwm_fan > 0) WRITE(FAN_PIN,1); else WRITE(FAN_PIN,0); if(soft_pwm_fan > 0) WRITE(FAN_PIN,1); else WRITE(FAN_PIN,0);
#endif #endif
} }
if(soft_pwm_0 < pwm_count) { if(soft_pwm_0 < pwm_count)
{
WRITE(HEATER_0_PIN,0); WRITE(HEATER_0_PIN,0);
#ifdef HEATERS_PARALLEL #ifdef HEATERS_PARALLEL
WRITE(HEATER_1_PIN,0); WRITE(HEATER_1_PIN,0);
#endif #endif
} }
#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
if ((pwm_count & LCD_PWM_MAX) == 0)
{
if (lcd_blink_delay)
{
lcd_blink_delay--;
if (lcd_blink_delay == 0)
{
lcd_blink_delay = lcdBlinkDelay;
lcd_blink_on = !lcd_blink_on;
}
}
else
{
lcd_blink_delay = lcdBlinkDelay;
lcd_blink_on = true;
}
soft_pwm_lcd = (lcd_blink_on) ? (lcdSoftPwm / 2) : 0;
if (soft_pwm_lcd > 0) WRITE(LCD_PWM_PIN,1); else WRITE(LCD_PWM_PIN,0);
}
#endif
#if EXTRUDERS > 1 #if EXTRUDERS > 1
if(soft_pwm_1 < pwm_count) WRITE(HEATER_1_PIN,0); if(soft_pwm_1 < pwm_count) WRITE(HEATER_1_PIN,0);
#endif #endif
@ -1551,6 +1634,9 @@ ISR(TIMER0_COMPB_vect)
#ifdef FAN_SOFT_PWM #ifdef FAN_SOFT_PWM
if(soft_pwm_fan < pwm_count) WRITE(FAN_PIN,0); if(soft_pwm_fan < pwm_count) WRITE(FAN_PIN,0);
#endif #endif
#if defined(LCD_PWM_PIN) && (LCD_PWM_PIN > -1)
if (soft_pwm_lcd < (pwm_count & LCD_PWM_MAX)) WRITE(LCD_PWM_PIN,0);
#endif
pwm_count += (1 << SOFT_PWM_SCALE); pwm_count += (1 << SOFT_PWM_SCALE);
pwm_count &= 0x7f; pwm_count &= 0x7f;
@ -1881,13 +1967,52 @@ ISR(TIMER0_COMPB_vect)
raw_filwidth_value= raw_filwidth_value + ((unsigned long)ADC<<7); //add new ADC reading raw_filwidth_value= raw_filwidth_value + ((unsigned long)ADC<<7); //add new ADC reading
} }
#endif #endif
temp_state = 0; temp_state = 10;
break;
case 10: // Prepare TEMP_AMBIENT
#if defined(TEMP_AMBIENT_PIN) && (TEMP_AMBIENT_PIN > -1)
#if TEMP_AMBIENT_PIN > 7
ADCSRB = 1<<MUX5;
#else
ADCSRB = 0;
#endif
ADMUX = ((1 << REFS0) | (TEMP_AMBIENT_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
lcd_buttons_update();
temp_state = 11;
break;
case 11: // Measure TEMP_AMBIENT
#if defined(TEMP_AMBIENT_PIN) && (TEMP_AMBIENT_PIN > -1)
raw_temp_ambient_value += ADC;
#endif
temp_state = 12;
break;
case 12: // Prepare TEMP_PINDA
#if defined(TEMP_PINDA_PIN) && (TEMP_PINDA_PIN > -1)
#if TEMP_PINDA_PIN > 7
ADCSRB = 1<<MUX5;
#else
ADCSRB = 0;
#endif
ADMUX = ((1 << REFS0) | (TEMP_PINDA_PIN & 0x07));
ADCSRA |= 1<<ADSC; // Start conversion
#endif
lcd_buttons_update();
temp_state = 13;
break;
case 13: // Measure TEMP_PINDA
#if defined(TEMP_PINDA_PIN) && (TEMP_PINDA_PIN > -1)
raw_temp_pinda_value += ADC;
#endif
temp_state = 0;
temp_count++; temp_count++;
break; break;
case 10: //Startup, delay initial temp reading a tiny bit so the hardware can settle. case 14: //Startup, delay initial temp reading a tiny bit so the hardware can settle.
temp_state = 0; temp_state = 0;
break; break;
// default: // default:
@ -1900,17 +2025,23 @@ ISR(TIMER0_COMPB_vect)
{ {
if (!temp_meas_ready) //Only update the raw values if they have been read. Else we could be updating them during reading. if (!temp_meas_ready) //Only update the raw values if they have been read. Else we could be updating them during reading.
{ {
current_temperature_raw[0] = raw_temp_0_value; current_temperature_raw[0] = raw_temp_0_value;
#if EXTRUDERS > 1 #if EXTRUDERS > 1
current_temperature_raw[1] = raw_temp_1_value; current_temperature_raw[1] = raw_temp_1_value;
#endif #endif
#ifdef TEMP_SENSOR_1_AS_REDUNDANT #ifdef TEMP_SENSOR_1_AS_REDUNDANT
redundant_temperature_raw = raw_temp_1_value; redundant_temperature_raw = raw_temp_1_value;
#endif #endif
#if EXTRUDERS > 2 #if EXTRUDERS > 2
current_temperature_raw[2] = raw_temp_2_value; current_temperature_raw[2] = raw_temp_2_value;
#endif #endif
current_temperature_bed_raw = raw_temp_bed_value; #ifdef PINDA_THERMISTOR
current_temperature_raw_pinda = raw_temp_pinda_value;
#endif //PINDA_THERMISTOR
#ifdef AMBIENT_THERMISTOR
current_temperature_raw_ambient = raw_temp_ambient_value;
#endif //AMBIENT_THERMISTOR
current_temperature_bed_raw = raw_temp_bed_value;
} }
//Add similar code for Filament Sensor - can be read any time since IIR filtering is used //Add similar code for Filament Sensor - can be read any time since IIR filtering is used
@ -1925,6 +2056,8 @@ ISR(TIMER0_COMPB_vect)
raw_temp_1_value = 0; raw_temp_1_value = 0;
raw_temp_2_value = 0; raw_temp_2_value = 0;
raw_temp_bed_value = 0; raw_temp_bed_value = 0;
raw_temp_pinda_value = 0;
raw_temp_ambient_value = 0;
#if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP #if HEATER_0_RAW_LO_TEMP > HEATER_0_RAW_HI_TEMP
if(current_temperature_raw[0] <= maxttemp_raw[0]) { if(current_temperature_raw[0] <= maxttemp_raw[0]) {

11
Firmware/temperature.h
View file

@ -49,6 +49,17 @@ extern float current_temperature[EXTRUDERS];
#endif #endif
extern int target_temperature_bed; extern int target_temperature_bed;
extern float current_temperature_bed; extern float current_temperature_bed;
#ifdef PINDA_THERMISTOR
//extern int current_temperature_raw_pinda;
extern float current_temperature_pinda;
#endif
#ifdef AMBIENT_THERMISTOR
//extern int current_temperature_raw_ambient;
extern float current_temperature_ambient;
#endif
#ifdef TEMP_SENSOR_1_AS_REDUNDANT #ifdef TEMP_SENSOR_1_AS_REDUNDANT
extern float redundant_temperature; extern float redundant_temperature;
#endif #endif

46
Firmware/thermistortables.h
View file

@ -1211,6 +1211,47 @@ const short temptable_1047[][2] PROGMEM = {
}; };
#endif #endif
#if (THERMISTORAMBIENT == 2000) //100k thermistor NTCG104LH104JT1
const short temptable_2000[][2] PROGMEM = {
// Source: https://product.tdk.com/info/en/catalog/datasheets/503021/tpd_ntc-thermistor_ntcg_en.pdf
// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance
{305*OVERSAMPLENR, 125},
{338*OVERSAMPLENR, 120},
{374*OVERSAMPLENR, 115},
{412*OVERSAMPLENR, 110},
{452*OVERSAMPLENR, 105},
{494*OVERSAMPLENR, 100},
{536*OVERSAMPLENR, 95},
{580*OVERSAMPLENR, 90},
{623*OVERSAMPLENR, 85},
{665*OVERSAMPLENR, 80},
{706*OVERSAMPLENR, 75},
{744*OVERSAMPLENR, 70},
{780*OVERSAMPLENR, 65},
{813*OVERSAMPLENR, 60},
{843*OVERSAMPLENR, 55},
{869*OVERSAMPLENR, 50},
{892*OVERSAMPLENR, 45},
{912*OVERSAMPLENR, 40},
{929*OVERSAMPLENR, 35},
{943*OVERSAMPLENR, 30},
{955*OVERSAMPLENR, 25},
{965*OVERSAMPLENR, 20},
{973*OVERSAMPLENR, 15},
{979*OVERSAMPLENR, 10},
{984*OVERSAMPLENR, 5},
{988*OVERSAMPLENR, 0},
{991*OVERSAMPLENR, -5},
{993*OVERSAMPLENR, -10},
{995*OVERSAMPLENR, -15},
{996*OVERSAMPLENR, -20},
{997*OVERSAMPLENR, -25},
{998*OVERSAMPLENR, -30},
{999*OVERSAMPLENR, -35},
{999*OVERSAMPLENR, -40},
};
#endif
#define _TT_NAME(_N) temptable_ ## _N #define _TT_NAME(_N) temptable_ ## _N
#define TT_NAME(_N) _TT_NAME(_N) #define TT_NAME(_N) _TT_NAME(_N)
@ -1292,6 +1333,11 @@ const short temptable_1047[][2] PROGMEM = {
# endif // BED_USES_THERMISTOR # endif // BED_USES_THERMISTOR
#endif #endif
#ifdef THERMISTORAMBIENT
# define AMBIENTTEMPTABLE TT_NAME(THERMISTORAMBIENT)
# define AMBIENTTEMPTABLE_LEN (sizeof(AMBIENTTEMPTABLE)/sizeof(*AMBIENTTEMPTABLE))
#endif
//Set the high and low raw values for the heater, this indicates which raw value is a high or low temperature //Set the high and low raw values for the heater, this indicates which raw value is a high or low temperature
#ifndef HEATER_BED_RAW_HI_TEMP #ifndef HEATER_BED_RAW_HI_TEMP
# ifdef BED_USES_THERMISTOR //In case of a thermistor the highest temperature results in the lowest ADC value # ifdef BED_USES_THERMISTOR //In case of a thermistor the highest temperature results in the lowest ADC value

203
Firmware/tmc2130.cpp
View file

@ -1,16 +1,23 @@
#include "Marlin.h" #include "Marlin.h"
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
#include "tmc2130.h" #include "tmc2130.h"
#include <SPI.h> #include <SPI.h>
#define TMC2130_GCONF_NORMAL 0x00000000 // spreadCycle
#define TMC2130_GCONF_SGSENS 0x00003180 // spreadCycle with stallguard (stall activates DIAG0 and DIAG1 [pushpull])
#define TMC2130_GCONF_SILENT 0x00000004 // stealthChop
//externals for debuging //externals for debuging
extern float current_position[4]; extern float current_position[4];
extern void st_get_position_xy(long &x, long &y); extern void st_get_position_xy(long &x, long &y);
extern long st_get_position(uint8_t axis);
//chipselect pins //chipselect pins
uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS }; uint8_t tmc2130_cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
//diag pins
uint8_t tmc2130_diag[4] = { X_TMC2130_DIAG, Y_TMC2130_DIAG, Z_TMC2130_DIAG, E0_TMC2130_DIAG };
//mode //mode
uint8_t tmc2130_mode = TMC2130_MODE_NORMAL; uint8_t tmc2130_mode = TMC2130_MODE_NORMAL;
//holding currents //holding currents
@ -18,24 +25,23 @@ uint8_t tmc2130_current_h[4] = TMC2130_CURRENTS_H;
//running currents //running currents
uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R; uint8_t tmc2130_current_r[4] = TMC2130_CURRENTS_R;
//axis stalled flags //axis stalled flags
uint8_t tmc2130_axis_stalled[2] = {0, 0}; uint8_t tmc2130_axis_stalled[3] = {0, 0, 0};
//last homing stalled
uint8_t tmc2130_LastHomingStalled = 0;
//pwm_ampl //pwm_ampl
uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_XY, TMC2130_PWM_AMPL_XY}; uint8_t tmc2130_pwm_ampl[2] = {TMC2130_PWM_AMPL_X, TMC2130_PWM_AMPL_Y};
//pwm_grad //pwm_grad
uint8_t tmc2130_pwm_grad[2] = {TMC2130_PWM_GRAD_XY, TMC2130_PWM_GRAD_XY}; uint8_t tmc2130_pwm_grad[2] = {TMC2130_PWM_GRAD_X, TMC2130_PWM_GRAD_Y};
//pwm_auto //pwm_auto
uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_XY, TMC2130_PWM_AUTO_XY}; uint8_t tmc2130_pwm_auto[2] = {TMC2130_PWM_AUTO_X, TMC2130_PWM_AUTO_Y};
//pwm_freq //pwm_freq
uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_XY, TMC2130_PWM_FREQ_XY}; uint8_t tmc2130_pwm_freq[2] = {TMC2130_PWM_FREQ_X, TMC2130_PWM_FREQ_Y};
uint8_t tmc2131_axis_sg_thr[3] = {TMC2130_SG_THRS_X, TMC2130_SG_THRS_Y, TMC2130_SG_THRS_Z};
uint32_t tmc2131_axis_sg_pos[3] = {0, 0, 0};
uint8_t sg_homing_axes_mask = 0x00; uint8_t sg_homing_axes_mask = 0x00;
uint8_t sg_homing_delay = 0;
uint8_t sg_thrs_x = TMC2130_SG_THRS_X;
uint8_t sg_thrs_y = TMC2130_SG_THRS_Y;
bool skip_debug_msg = false; bool skip_debug_msg = false;
@ -74,7 +80,8 @@ bool skip_debug_msg = false;
uint16_t tmc2130_rd_TSTEP(uint8_t cs); uint16_t tmc2130_rd_TSTEP(uint8_t cs);
uint16_t tmc2130_rd_DRV_STATUS(uint8_t chipselect); uint16_t tmc2130_rd_MSCNT(uint8_t cs);
uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs);
void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0); void tmc2130_wr_CHOPCONF(uint8_t cs, uint8_t toff = 3, uint8_t hstrt = 4, uint8_t hend = 1, uint8_t fd3 = 0, uint8_t disfdcc = 0, uint8_t rndtf = 0, uint8_t chm = 0, uint8_t tbl = 2, uint8_t vsense = 0, uint8_t vhighfs = 0, uint8_t vhighchm = 0, uint8_t sync = 0, uint8_t mres = 0b0100, uint8_t intpol = 1, uint8_t dedge = 0, uint8_t diss2g = 0);
void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel); void tmc2130_wr_PWMCONF(uint8_t cs, uint8_t pwm_ampl, uint8_t pwm_grad, uint8_t pwm_freq, uint8_t pwm_auto, uint8_t pwm_symm, uint8_t freewheel);
@ -102,6 +109,10 @@ void tmc2130_init()
SET_OUTPUT(Y_TMC2130_CS); SET_OUTPUT(Y_TMC2130_CS);
SET_OUTPUT(Z_TMC2130_CS); SET_OUTPUT(Z_TMC2130_CS);
SET_OUTPUT(E0_TMC2130_CS); SET_OUTPUT(E0_TMC2130_CS);
SET_INPUT(X_TMC2130_DIAG);
SET_INPUT(Y_TMC2130_DIAG);
SET_INPUT(Z_TMC2130_DIAG);
SET_INPUT(E0_TMC2130_DIAG);
SPI.begin(); SPI.begin();
for (int i = 0; i < 2; i++) // X Y axes for (int i = 0; i < 2; i++) // X Y axes
{ {
@ -109,7 +120,8 @@ void tmc2130_init()
tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0); tmc2130_wr_CHOPCONF(tmc2130_cs[i], 3, 5, 1, 0, 0, 0, 0, 2, 1, 0, 0, 0, mres, TMC2130_INTPOL_XY, 0, 0);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f)); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[i] & 0x1f) << 8) | (tmc2130_current_h[i] & 0x1f));
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?0x00000004:0x00000000); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, (tmc2130_mode == TMC2130_MODE_SILENT)?TMC2130_GCONF_SILENT:TMC2130_GCONF_SGSENS);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TCOOLTHRS, (tmc2130_mode == TMC2130_MODE_SILENT)?0:TMC2130_TCOOLTHRS);
tmc2130_wr_PWMCONF(tmc2130_cs[i], tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0); tmc2130_wr_PWMCONF(tmc2130_cs[i], tmc2130_pwm_ampl[i], tmc2130_pwm_grad[i], tmc2130_pwm_freq[i], tmc2130_pwm_auto[i], 0, 0);
tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS); tmc2130_wr_TPWMTHRS(tmc2130_cs[i], TMC2130_TPWMTHRS);
//tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH); //tmc2130_wr_THIGH(tmc2130_cs[i], TMC2130_THIGH);
@ -128,7 +140,7 @@ void tmc2130_init()
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f)); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | (((tmc2130_current_r[i] >> 1) & 0x1f) << 8) | ((tmc2130_current_h[i] >> 1) & 0x1f));
} }
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_TPOWERDOWN, 0x00000000);
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, 0x00000000); tmc2130_wr(tmc2130_cs[i], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
} }
for (int i = 3; i < 4; i++) // E axis for (int i = 3; i < 4; i++) // E axis
{ {
@ -140,13 +152,43 @@ void tmc2130_init()
} }
} }
void tmc2130_update_sg_axis(uint8_t axis)
{
if (!tmc2130_axis_stalled[axis])
{
uint8_t cs = tmc2130_cs[axis];
uint16_t tstep = tmc2130_rd_TSTEP(cs);
if (tstep < TMC2130_TCOOLTHRS)
{
long pos = st_get_position(axis);
if (abs(pos - tmc2131_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
{
uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
if (sg == 0)
tmc2130_axis_stalled[axis] = true;
}
}
}
}
bool tmc2130_update_sg() bool tmc2130_update_sg()
{ {
#if (defined(TMC2130_SG_HOMING) && defined(TMC2130_SG_HOMING_SW)) #ifdef TMC2130_SG_HOMING_SW_XY
if (sg_homing_axes_mask & X_AXIS_MASK) tmc2130_update_sg_axis(X_AXIS);
if (sg_homing_axes_mask & Y_AXIS_MASK) tmc2130_update_sg_axis(Y_AXIS);
#endif //TMC2130_SG_HOMING_SW_XY
#ifdef TMC2130_SG_HOMING_SW_Z
if (sg_homing_axes_mask & Z_AXIS_MASK) tmc2130_update_sg_axis(Z_AXIS);
#endif //TMC2130_SG_HOMING_SW_Z
#if (defined(TMC2130_SG_HOMING) && defined(TMC2130_SG_HOMING_SW_XY))
if (sg_homing_axes_mask == 0) return false; if (sg_homing_axes_mask == 0) return false;
#ifdef TMC2130_DEBUG #ifdef TMC2130_DEBUG
MYSERIAL.print("tmc2130_update_sg mask=0x"); MYSERIAL.print("tmc2130_update_sg mask=0x");
MYSERIAL.println((int)sg_homing_axes_mask, 16); MYSERIAL.print((int)sg_homing_axes_mask, 16);
MYSERIAL.print(" stalledX=");
MYSERIAL.print((int)tmc2130_axis_stalled[0]);
MYSERIAL.print(" stalledY=");
MYSERIAL.println((int)tmc2130_axis_stalled[1]);
#endif //TMC2130_DEBUG #endif //TMC2130_DEBUG
for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes
{ {
@ -159,64 +201,26 @@ bool tmc2130_update_sg()
uint16_t tstep = tmc2130_rd_TSTEP(cs); uint16_t tstep = tmc2130_rd_TSTEP(cs);
if (tstep < TMC2130_TCOOLTHRS) if (tstep < TMC2130_TCOOLTHRS)
{ {
if(sg_homing_delay < TMC2130_SG_DELAY) // wait for a few tens microsteps until stallGuard is used //todo: read out microsteps directly, instead of delay counter long pos = st_get_position(axis);
sg_homing_delay++; if (abs(pos - tmc2131_axis_sg_pos[axis]) > TMC2130_SG_DELTA)
else
{ {
uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff; uint16_t sg = tmc2130_rd_DRV_STATUS(cs) & 0x3ff;
if (sg==0) if (sg == 0)
{ {
tmc2130_axis_stalled[axis] = true; tmc2130_axis_stalled[axis] = true;
tmc2130_LastHomingStalled = true; #ifdef TMC2130_DEBUG
MYSERIAL.print("tmc2130_update_sg AXIS STALLED ");
MYSERIAL.println((int)axis);
#endif //TMC2130_DEBUG
} }
// else
// tmc2130_axis_stalled[axis] = false;
} }
} }
// else
// tmc2130_axis_stalled[axis] = false;
} }
} }
} }
return true; return true;
// else
// {
// tmc2130_axis_stalled[X_AXIS] = false;
// tmc2130_axis_stalled[Y_AXIS] = false;
// }
#endif #endif
} return false;
void tmc2130_check_overtemp()
{
const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
uint8_t cs[4] = { X_TMC2130_CS, Y_TMC2130_CS, Z_TMC2130_CS, E0_TMC2130_CS };
static uint32_t checktime = 0;
//drivers_disabled[0] = 1; //TEST
if( millis() - checktime > 1000 )
{
//SERIAL_ECHOLNPGM("drv_status:");
for(int i=0;i<4;i++)
{
uint32_t drv_status = 0;
skip_debug_msg = true;
tmc2130_rd(cs[i], TMC2130_REG_DRV_STATUS, &drv_status);
//MYSERIAL.print(drv_status);
//SERIAL_ECHOPGM(" ");
if (drv_status & ((uint32_t)1<<26))
{ // BIT 26 - over temp prewarning ~120C (+-20C)
SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
SERIAL_ECHOLN(i);
for(int i=0; i < 4; i++)
tmc2130_wr(tmc2130_cs[i], TMC2130_REG_CHOPCONF, 0x00010000);
kill(TMC_OVERTEMP_MSG);
}
}
//SERIAL_ECHOLNPGM("");
checktime = millis();
}
} }
void tmc2130_home_enter(uint8_t axes_mask) void tmc2130_home_enter(uint8_t axes_mask)
@ -226,22 +230,23 @@ void tmc2130_home_enter(uint8_t axes_mask)
MYSERIAL.println((int)axes_mask, 16); MYSERIAL.println((int)axes_mask, 16);
#endif //TMC2130_DEBUG #endif //TMC2130_DEBUG
#ifdef TMC2130_SG_HOMING #ifdef TMC2130_SG_HOMING
for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
{ {
uint8_t mask = (X_AXIS_MASK << axis); uint8_t mask = (X_AXIS_MASK << axis);
uint8_t cs = tmc2130_cs[axis];
if (axes_mask & mask) if (axes_mask & mask)
{ {
uint8_t cs = tmc2130_cs[axis];
sg_homing_axes_mask |= mask; sg_homing_axes_mask |= mask;
sg_homing_delay = 0; tmc2131_axis_sg_pos[axis] = st_get_position(axis);
tmc2130_axis_stalled[axis] = false; tmc2130_axis_stalled[axis] = false;
//Configuration to spreadCycle //Configuration to spreadCycle
tmc2130_wr(cs, TMC2130_REG_GCONF, 0x00000000); tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
tmc2130_wr(cs, TMC2130_REG_COOLCONF, ((axis == X_AXIS)?sg_thrs_x:sg_thrs_y) << 16); tmc2130_wr(cs, TMC2130_REG_COOLCONF, ((unsigned long)tmc2131_axis_sg_thr[axis]) << 16);
tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS); tmc2130_wr(cs, TMC2130_REG_TCOOLTHRS, TMC2130_TCOOLTHRS);
#ifndef TMC2130_SG_HOMING_SW #ifndef TMC2130_SG_HOMING_SW_XY
tmc2130_wr(cs, TMC2130_REG_GCONF, 0x00000080); //stallguard output to DIAG0 if (mask & (X_AXIS_MASK | Y_AXIS_MASK))
#endif //TMC2130_SG_HOMING_SW tmc2130_wr(cs, TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS); //stallguard output DIAG1, DIAG1 = pushpull
#endif //TMC2130_SG_HOMING_SW_XY
} }
} }
#endif //TMC2130_SG_HOMING #endif //TMC2130_SG_HOMING
@ -256,27 +261,55 @@ void tmc2130_home_exit()
#ifdef TMC2130_SG_HOMING #ifdef TMC2130_SG_HOMING
if (sg_homing_axes_mask) if (sg_homing_axes_mask)
{ {
for (uint8_t axis = X_AXIS; axis <= Y_AXIS; axis++) //only X and Y axes for (uint8_t axis = X_AXIS; axis <= Z_AXIS; axis++) //X Y and Z axes
{ {
uint8_t mask = (X_AXIS_MASK << axis); uint8_t mask = (X_AXIS_MASK << axis);
if (sg_homing_axes_mask & mask) if (sg_homing_axes_mask & mask & (X_AXIS_MASK | Y_AXIS_MASK))
{ {
if (tmc2130_mode == TMC2130_MODE_SILENT) if (tmc2130_mode == TMC2130_MODE_SILENT)
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, 0x00000004); // Configuration back to stealthChop tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SILENT); // Configuration back to stealthChop
else else
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, 0x00000000); #ifdef TMC2130_SG_HOMING_SW_XY
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_NORMAL);
#else //TMC2130_SG_HOMING_SW_XY
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_GCONF, TMC2130_GCONF_SGSENS);
#endif //TMC2130_SG_HOMING_SW_XY
} }
tmc2130_axis_stalled[axis] = false;
} }
sg_homing_axes_mask = 0x00; sg_homing_axes_mask = 0x00;
} }
#endif #endif
} }
uint8_t tmc2130_didLastHomingStall() void tmc2130_home_restart(uint8_t axis)
{ {
uint8_t ret = tmc2130_LastHomingStalled; tmc2131_axis_sg_pos[axis] = st_get_position(axis);
tmc2130_LastHomingStalled = false; tmc2130_axis_stalled[axis] = false;
return ret; }
void tmc2130_check_overtemp()
{
const static char TMC_OVERTEMP_MSG[] PROGMEM = "TMC DRIVER OVERTEMP ";
static uint32_t checktime = 0;
if (millis() - checktime > 1000 )
{
for (int i = 0; i < 4; i++)
{
uint32_t drv_status = 0;
skip_debug_msg = true;
tmc2130_rd(tmc2130_cs[i], TMC2130_REG_DRV_STATUS, &drv_status);
if (drv_status & ((uint32_t)1 << 26))
{ // BIT 26 - over temp prewarning ~120C (+-20C)
SERIAL_ERRORRPGM(TMC_OVERTEMP_MSG);
SERIAL_ECHOLN(i);
for (int j = 0; j < 4; j++)
tmc2130_wr(tmc2130_cs[j], TMC2130_REG_CHOPCONF, 0x00010000);
kill(TMC_OVERTEMP_MSG);
}
}
checktime = millis();
}
} }
void tmc2130_set_current_h(uint8_t axis, uint8_t current) void tmc2130_set_current_h(uint8_t axis, uint8_t current)
@ -285,7 +318,6 @@ void tmc2130_set_current_h(uint8_t axis, uint8_t current)
MYSERIAL.print((int)axis); MYSERIAL.print((int)axis);
MYSERIAL.print(" "); MYSERIAL.print(" ");
MYSERIAL.println((int)current); MYSERIAL.println((int)current);
// if (current > 15) current = 15; //current>15 is unsafe
tmc2130_current_h[axis] = current; tmc2130_current_h[axis] = current;
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f)); tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
} }
@ -296,7 +328,6 @@ void tmc2130_set_current_r(uint8_t axis, uint8_t current)
MYSERIAL.print((int)axis); MYSERIAL.print((int)axis);
MYSERIAL.print(" "); MYSERIAL.print(" ");
MYSERIAL.println((int)current); MYSERIAL.println((int)current);
// if (current > 15) current = 15; //current>15 is unsafe
tmc2130_current_r[axis] = current; tmc2130_current_r[axis] = current;
tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f)); tmc2130_wr(tmc2130_cs[axis], TMC2130_REG_IHOLD_IRUN, 0x000f0000 | ((tmc2130_current_r[axis] & 0x1f) << 8) | (tmc2130_current_h[axis] & 0x1f));
} }
@ -353,6 +384,13 @@ uint16_t tmc2130_rd_TSTEP(uint8_t cs)
return val32 & 0xffff; return val32 & 0xffff;
} }
uint16_t tmc2130_rd_MSCNT(uint8_t cs)
{
uint32_t val32 = 0;
tmc2130_rd(cs, TMC2130_REG_MSCNT, &val32);
return val32 & 0x3ff;
}
uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs) uint16_t tmc2130_rd_DRV_STATUS(uint8_t cs)
{ {
uint32_t val32 = 0; uint32_t val32 = 0;
@ -406,7 +444,7 @@ void tmc2130_wr_THIGH(uint8_t cs, uint32_t val32)
tmc2130_wr(cs, TMC2130_REG_THIGH, val32); tmc2130_wr(cs, TMC2130_REG_THIGH, val32);
} }
#if defined(TMC2130_DEBUG_RD) || defined(TMC2130_DEBUG_WR)
uint8_t tmc2130_axis_by_cs(uint8_t cs) uint8_t tmc2130_axis_by_cs(uint8_t cs)
{ {
switch (cs) switch (cs)
@ -418,6 +456,7 @@ uint8_t tmc2130_axis_by_cs(uint8_t cs)
} }
return -1; return -1;
} }
#endif //TMC2130_DEBUG
uint8_t tmc2130_mres(uint16_t microstep_resolution) uint8_t tmc2130_mres(uint16_t microstep_resolution)
{ {
@ -498,4 +537,4 @@ uint8_t tmc2130_txrx(uint8_t cs, uint8_t addr, uint32_t wval, uint32_t* rval)
return stat; return stat;
} }
#endif //HAVE_TMC2130_DRIVERS #endif //TMC2130

18
Firmware/tmc2130.h
View file

@ -1,18 +1,17 @@
#ifndef TMC2130_H #ifndef TMC2130_H
#define TMC2130_H #define TMC2130_H
extern uint8_t tmc2130_cs[4];
//mode //mode
extern uint8_t tmc2130_mode; extern uint8_t tmc2130_mode;
//holding and running currents //holding and running currents
extern uint8_t tmc2130_current_h[4]; extern uint8_t tmc2130_current_h[4];
extern uint8_t tmc2130_current_r[4]; extern uint8_t tmc2130_current_r[4];
//flags for axis stall detection //flags for axis stall detection
extern uint8_t tmc2130_axis_stalled[2]; extern uint8_t tmc2130_axis_stalled[3];
extern uint8_t sg_thrs_x; extern uint8_t tmc2131_axis_sg_thr[3];
extern uint8_t sg_thrs_y;
extern uint8_t sg_homing_delay;
#define TMC2130_MODE_NORMAL 0 #define TMC2130_MODE_NORMAL 0
#define TMC2130_MODE_SILENT 1 #define TMC2130_MODE_SILENT 1
@ -24,11 +23,11 @@ extern bool tmc2130_update_sg();
//temperature watching (called from ) //temperature watching (called from )
extern void tmc2130_check_overtemp(); extern void tmc2130_check_overtemp();
//enter homing (called from homeaxis before homing starts) //enter homing (called from homeaxis before homing starts)
extern void tmc2130_home_enter(uint8_t axis); extern void tmc2130_home_enter(uint8_t axes_mask);
//exit homing (called from homeaxis after homing ends) //exit homing (called from homeaxis after homing ends)
extern void tmc2130_home_exit(); extern void tmc2130_home_exit();
// //restart homing (called from homeaxis befor move)
extern uint8_t tmc2130_didLastHomingStall(); extern void tmc2130_home_restart(uint8_t axis);
//set holding current for any axis (M911) //set holding current for any axis (M911)
extern void tmc2130_set_current_h(uint8_t axis, uint8_t current); extern void tmc2130_set_current_h(uint8_t axis, uint8_t current);
@ -43,4 +42,7 @@ extern void tmc2130_set_pwm_ampl(uint8_t axis, uint8_t pwm_ampl);
extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl); extern void tmc2130_set_pwm_grad(uint8_t axis, uint8_t pwm_ampl);
extern uint16_t tmc2130_rd_MSCNT(uint8_t cs);
#endif //TMC2130_H #endif //TMC2130_H

72
Firmware/ultralcd.cpp
View file

@ -14,11 +14,14 @@
//#include "Configuration.h" //#include "Configuration.h"
#include "SdFatUtil.h" #include "SdFatUtil.h"
#include "pat9125.h"
#ifdef HAVE_TMC2130_DRIVERS #ifdef PAT9125
#include "pat9125.h"
#endif //PAT9125
#ifdef TMC2130
#include "tmc2130.h" #include "tmc2130.h"
#endif //HAVE_TMC2130_DRIVERS #endif //TMC2130
#define _STRINGIFY(s) #s #define _STRINGIFY(s) #s
@ -949,6 +952,24 @@ static void lcd_menu_extruder_info()
} }
} }
static void lcd_menu_temperatures()
{
lcd.setCursor(1, 1);
lcd.print("Ambient: ");
lcd.setCursor(12, 1);
lcd.print(ftostr31ns(current_temperature_ambient));
lcd.print(LCD_STR_DEGREE);
lcd.setCursor(1, 2);
lcd.print("PINDA: ");
lcd.setCursor(12, 2);
lcd.print(ftostr31ns(current_temperature_pinda));
lcd.print(LCD_STR_DEGREE);
if (lcd_clicked())
{
lcd_quick_feedback();
lcd_return_to_status();
}
}
static void lcd_preheat_menu() static void lcd_preheat_menu()
{ {
@ -1023,6 +1044,7 @@ static void lcd_support_menu()
MENU_ITEM(function, PSTR("XYZ cal. details"), lcd_service_mode_show_result); MENU_ITEM(function, PSTR("XYZ cal. details"), lcd_service_mode_show_result);
} }
MENU_ITEM(submenu, MSG_INFO_EXTRUDER, lcd_menu_extruder_info); MENU_ITEM(submenu, MSG_INFO_EXTRUDER, lcd_menu_extruder_info);
MENU_ITEM(submenu, PSTR("Temperatures"), lcd_menu_temperatures);
#endif //MK1BP #endif //MK1BP
END_MENU(); END_MENU();
} }
@ -2487,10 +2509,10 @@ static void lcd_fsensor_state_set()
static void lcd_silent_mode_set() { static void lcd_silent_mode_set() {
SilentModeMenu = !SilentModeMenu; SilentModeMenu = !SilentModeMenu;
eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu); eeprom_update_byte((unsigned char *)EEPROM_SILENT, SilentModeMenu);
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL; tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
tmc2130_init(); tmc2130_init();
#endif //HAVE_TMC2130_DRIVERS #endif //TMC2130
digipot_init(); digipot_init();
lcd_goto_menu(lcd_settings_menu, 7); lcd_goto_menu(lcd_settings_menu, 7);
} }
@ -3944,10 +3966,10 @@ static void lcd_autostart_sd()
static void lcd_silent_mode_set_tune() { static void lcd_silent_mode_set_tune() {
SilentModeMenu = !SilentModeMenu; SilentModeMenu = !SilentModeMenu;
eeprom_update_byte((unsigned char*)EEPROM_SILENT, SilentModeMenu); eeprom_update_byte((unsigned char*)EEPROM_SILENT, SilentModeMenu);
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL; tmc2130_mode = SilentModeMenu?TMC2130_MODE_SILENT:TMC2130_MODE_NORMAL;
tmc2130_init(); tmc2130_init();
#endif //HAVE_TMC2130_DRIVERS #endif //TMC2130
digipot_init(); digipot_init();
lcd_goto_menu(lcd_tune_menu, 9); lcd_goto_menu(lcd_tune_menu, 9);
} }
@ -4373,9 +4395,8 @@ static void lcd_selftest()
if (_result) if (_result)
{ {
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_home_exit(); tmc2130_home_exit();
sg_homing_delay = 0;
enable_endstops(false); enable_endstops(false);
#endif #endif
current_position[X_AXIS] = current_position[X_AXIS] + 14; current_position[X_AXIS] = current_position[X_AXIS] + 14;
@ -4437,10 +4458,8 @@ static bool lcd_selfcheck_axis_sg(char axis) {
current_position[axis] = 0; current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_home_exit(); tmc2130_home_exit();
sg_homing_delay = 0;
tmc2130_axis_stalled[axis] = false;
enable_endstops(true); enable_endstops(true);
#endif #endif
@ -4450,7 +4469,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
SERIAL_ECHOPGM("Current position 2:"); SERIAL_ECHOPGM("Current position 2:");
MYSERIAL.println(current_position[axis]);*/ MYSERIAL.println(current_position[axis]);*/
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_home_enter(X_AXIS_MASK << axis); tmc2130_home_enter(X_AXIS_MASK << axis);
#endif #endif
@ -4460,8 +4479,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
st_synchronize(); st_synchronize();
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
sg_homing_delay = 0;
tmc2130_home_exit(); tmc2130_home_exit();
#endif #endif
//current_position[axis] = st_get_position_mm(axis); //current_position[axis] = st_get_position_mm(axis);
@ -4475,12 +4493,11 @@ static bool lcd_selfcheck_axis_sg(char axis) {
st_synchronize(); st_synchronize();
current_position[axis] += axis_length; current_position[axis] += axis_length;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_home_enter(X_AXIS_MASK << axis); tmc2130_home_enter(X_AXIS_MASK << axis);
#endif #endif
st_synchronize(); st_synchronize();
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
sg_homing_delay = 0;
tmc2130_home_exit(); tmc2130_home_exit();
#endif #endif
//current_position[axis] = st_get_position_mm(axis); //current_position[axis] = st_get_position_mm(axis);
@ -4495,8 +4512,7 @@ static bool lcd_selfcheck_axis_sg(char axis) {
if (abs(measured_axis_length[i] - axis_length) > max_error_mm) { if (abs(measured_axis_length[i] - axis_length) > max_error_mm) {
//axis length //axis length
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
sg_homing_delay = 0;
tmc2130_home_exit(); tmc2130_home_exit();
enable_endstops(false); enable_endstops(false);
#endif #endif
@ -4576,7 +4592,7 @@ static bool lcd_selfcheck_axis(int _axis, int _travel)
} }
_stepdone = true; _stepdone = true;
} }
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_home_exit(); tmc2130_home_exit();
#endif #endif
@ -4658,8 +4674,8 @@ static bool lcd_selfcheck_pulleys(int axis)
//if (SilentModeMenu == 1) digipot_current(0, tmp_motor[0]); //set back to normal operation currents //if (SilentModeMenu == 1) digipot_current(0, tmp_motor[0]); //set back to normal operation currents
//else digipot_current(0, tmp_motor_loud[0]); //set motor current back //else digipot_current(0, tmp_motor_loud[0]); //set motor current back
current_position[axis] = current_position[axis] - move; current_position[axis] = current_position[axis] - move;
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_home_enter(axis); tmc2130_home_enter(X_AXIS_MASK << axis);
#endif #endif
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 50, active_extruder); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], 50, active_extruder);
@ -4668,7 +4684,7 @@ static bool lcd_selfcheck_pulleys(int axis)
lcd_selftest_error(8, (axis == 0) ? "X" : "Y", ""); lcd_selftest_error(8, (axis == 0) ? "X" : "Y", "");
return(false); return(false);
} }
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_home_exit(); tmc2130_home_exit();
#endif #endif
} }
@ -4677,7 +4693,7 @@ static bool lcd_selfcheck_pulleys(int axis)
manage_inactivity(true); manage_inactivity(true);
while (!endstop_triggered) { while (!endstop_triggered) {
if ((x_min_endstop) || (y_min_endstop)) { if ((x_min_endstop) || (y_min_endstop)) {
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_home_exit(); tmc2130_home_exit();
#endif #endif
endstop_triggered = true; endstop_triggered = true;
@ -4701,15 +4717,15 @@ static bool lcd_selfcheck_pulleys(int axis)
} }
} }
else { else {
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_home_exit(); tmc2130_home_exit();
#endif #endif
//current_position[axis] -= 1; //current_position[axis] -= 1;
current_position[axis] += 50; current_position[axis] += 50;
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
current_position[axis] -= 100; current_position[axis] -= 100;
#ifdef HAVE_TMC2130_DRIVERS #ifdef TMC2130
tmc2130_home_enter(axis); tmc2130_home_enter(X_AXIS_MASK << axis);
#endif #endif
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder); plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[3], manual_feedrate[0] / 60, active_extruder);
st_synchronize(); st_synchronize();

17
Firmware/ultralcd_implementation_hitachi_HD44780.h
View file

@ -734,7 +734,23 @@ static void lcd_implementation_status_screen()
planner_queue_min_reset(); planner_queue_min_reset();
} }
#endif #endif
bool print_sd_status = true;
#ifdef PINDA_THERMISTOR
// if (farm_mode && (custom_message_type == 4))
if (false)
{
lcd.setCursor(0, 2);
lcd_printPGM(PSTR("P"));
lcd.print(ftostr3(current_temperature_pinda));
lcd_printPGM(PSTR(LCD_STR_DEGREE " "));
print_sd_status = false;
}
#endif //PINDA_THERMISTOR
if (print_sd_status)
{
//Print SD status //Print SD status
lcd.setCursor(0, 2); lcd.setCursor(0, 2);
if (is_usb_printing) if (is_usb_printing)
@ -762,6 +778,7 @@ static void lcd_implementation_status_screen()
lcd.print('%'); lcd.print('%');
} }
} }
}
// Farm number display // Farm number display
if (farm_mode) if (farm_mode)

31
Firmware/uni_avr_rpi.h Normal file
View file

@ -0,0 +1,31 @@
// unification for AVR and RPI
#define __AVR
#ifdef __AVR
//#include "Arduino.h"
#include "Marlin.h"
#define GPIO_INP(gpio) pinMode(gpio, INPUT)
#define GPIO_OUT(gpio) pinMode(gpio, OUTPUT)
#define GPIO_SET(gpio) digitalWrite(gpio, HIGH)
#define GPIO_CLR(gpio) digitalWrite(gpio, LOW)
#define GPIO_GET(gpio) (digitalRead(gpio) != LOW)
#define DELAY(delay) delayMicroseconds(delay)
#define PRINT MYSERIAL.print
#endif //RC522_AVR
#ifdef __RPI
#include <bcm2835.h>
#define GPIO_INP(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_INPT)
#define GPIO_OUT(gpio) bcm2835_gpio_fsel(gpio, BCM2835_GPIO_FSEL_OUTP)
#define GPIO_SET(gpio) bcm2835_gpio_write(gpio, HIGH)
#define GPIO_CLR(gpio) bcm2835_gpio_write(gpio, LOW)
#define GPIO_GET(gpio) (bcm2835_gpio_lev(gpio) != LOW)
#include <unistd.h>
#define DELAY(delay) usleep(delay)
#define PRINT(p) print(p)
#define DEC 10
#define HEX 16
void print(const char* pc) { printf("%s", pc); }
void print(int v) { printf("%d", v); }
void print(float v) { printf("%f", v); }
#endif //RC522_RPI

72
Firmware/variants/1_75mm_MK3-EINY03-E3Dv6full.h
View file

@ -16,7 +16,6 @@
#define CUSTOM_MENDEL_NAME "Prusa i3 MK3" #define CUSTOM_MENDEL_NAME "Prusa i3 MK3"
// Electronics // Electronics
//#define MOTHERBOARD BOARD_EINY_0_4a
#define MOTHERBOARD BOARD_EINY_0_3a #define MOTHERBOARD BOARD_EINY_0_3a
@ -33,7 +32,7 @@
// Steps per unit {X,Y,Z,E} // Steps per unit {X,Y,Z,E}
//#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,140} //#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,140}
#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,280} #define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,280} //Extruder motor changed back to 200step type
// Endstop inverting // Endstop inverting
const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
@ -49,7 +48,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define X_MAX_POS 255 #define X_MAX_POS 255
#define X_MIN_POS 0 #define X_MIN_POS 0
#define Y_MAX_POS 210 #define Y_MAX_POS 210
#define Y_MIN_POS -4 #define Y_MIN_POS -12 //orig -4
#define Z_MAX_POS 210 #define Z_MAX_POS 210
#define Z_MIN_POS 0.15 #define Z_MIN_POS 0.15
@ -67,11 +66,10 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
//#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec) //#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec)
#define DEFAULT_MAX_FEEDRATE {500, 500, 12, 120} // (mm/sec) #define DEFAULT_MAX_FEEDRATE {500, 500, 12, 120} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {2000, 2000, 250, 5000} // 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_MAX_ACCELERATION {1000, 1000, 200, 5000} // 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 1500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 1500 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min) #define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min)
//#define MAX_SILENT_FEEDRATE 2700 // //#define MAX_SILENT_FEEDRATE 2700 //
@ -80,11 +78,20 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
//DEBUG //DEBUG
#if 0 #if 0
#define DEBUG_DCODES //D codes
#define DEBUG_DISABLE_XMINLIMIT //x min limit ignored
#define DEBUG_DISABLE_XMAXLIMIT //x max limit ignored
#define DEBUG_DISABLE_YMINLIMIT //y min limit ignored
#define DEBUG_DISABLE_YMAXLIMIT //y max limit ignored
#define DEBUG_DISABLE_ZMINLIMIT //z min limit ignored
#define DEBUG_DISABLE_ZMAXLIMIT //z max limit ignored
#define DEBUG_DISABLE_STARTMSGS //no startup messages #define DEBUG_DISABLE_STARTMSGS //no startup messages
#define DEBUG_DISABLE_MINTEMP //mintemp error ignored #define DEBUG_DISABLE_MINTEMP //mintemp error ignored
#define DEBUG_DISABLE_SWLIMITS //sw limits ignored #define DEBUG_DISABLE_SWLIMITS //sw limits ignored
#define DEBUG_DISABLE_LCD_STATUS_LINE //empty four lcd line
#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed #define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
#define DEBUG_XSTEP_DUP_PIN 21 //duplicate x-step output to pin 21 (SCL on P3) #define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
//#define DEBUG_XSTEP_DUP_PIN 21 //duplicate x-step output to pin 21 (SCL on P3)
//#define DEBUG_YSTEP_DUP_PIN 21 //duplicate y-step output to pin 21 (SCL on P3) //#define DEBUG_YSTEP_DUP_PIN 21 //duplicate y-step output to pin 21 (SCL on P3)
//#define DEBUG_BLINK_ACTIVE //#define DEBUG_BLINK_ACTIVE
#endif #endif
@ -97,15 +104,20 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_USTEPS_XY 16 // microstep resolution for XY axes #define TMC2130_USTEPS_XY 16 // microstep resolution for XY axes
#define TMC2130_USTEPS_Z 16 // microstep resolution for Z axis #define TMC2130_USTEPS_Z 16 // microstep resolution for Z axis
#define TMC2130_USTEPS_E 16 // microstep resolution for E axis #define TMC2130_USTEPS_E 32 // microstep resolution for E axis (increased from 16 to 32)
#define TMC2130_INTPOL_XY 1 // extrapolate 256 for XY axes #define TMC2130_INTPOL_XY 1 // extrapolate 256 for XY axes
#define TMC2130_INTPOL_Z 1 // extrapolate 256 for Z axis #define TMC2130_INTPOL_Z 1 // extrapolate 256 for Z axis
#define TMC2130_INTPOL_E 1 // extrapolate 256 for E axis #define TMC2130_INTPOL_E 1 // extrapolate 256 for E axis
#define TMC2130_PWM_GRAD_XY 15 // PWMCONF #define TMC2130_PWM_GRAD_X 4 // PWMCONF
#define TMC2130_PWM_AMPL_XY 200 // PWMCONF #define TMC2130_PWM_AMPL_X 200 // PWMCONF
#define TMC2130_PWM_AUTO_XY 1 // PWMCONF #define TMC2130_PWM_AUTO_X 1 // PWMCONF
#define TMC2130_PWM_FREQ_XY 2 // PWMCONF #define TMC2130_PWM_FREQ_X 2 // PWMCONF
#define TMC2130_PWM_GRAD_Y 4 // PWMCONF
#define TMC2130_PWM_AMPL_Y 210 // PWMCONF
#define TMC2130_PWM_AUTO_Y 1 // PWMCONF
#define TMC2130_PWM_FREQ_Y 2 // PWMCONF
/* //not used /* //not used
#define TMC2130_PWM_GRAD_Z 4 // PWMCONF #define TMC2130_PWM_GRAD_Z 4 // PWMCONF
@ -118,26 +130,28 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_PWM_FREQ_E 2 // PWMCONF #define TMC2130_PWM_FREQ_E 2 // PWMCONF
*/ */
//#define TMC2130_PWM_DIV 683 // PWM frequency divider (1024, 683, 512, 410) //#define TMC2130_PWM_DIV 683 // PWM frequency divider (1024, 683, 512, 410)
#define TMC2130_PWM_DIV 512 // PWM frequency divider (1024, 683, 512, 410) #define TMC2130_PWM_DIV 512 // PWM frequency divider (1024, 683, 512, 410)
#define TMC2130_PWM_CLK (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk) #define TMC2130_PWM_CLK (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
#define TMC2130_TPWMTHRS 0 // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode #define TMC2130_TPWMTHRS 0 // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
#define TMC2130_THIGH 0 // THIGH - unused #define TMC2130_THIGH 0 // THIGH - unused
#define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold #define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold
#define TMC2130_SG_HOMING 1 // stallguard homing #define TMC2130_SG_HOMING 1 // stallguard homing
#define TMC2130_SG_HOMING_SW 1 // stallguard "software" homing //#define TMC2130_SG_HOMING_SW_XY 1 // stallguard "software" homing for XY axes
#define TMC2130_SG_THRS_X 30 // stallguard sensitivity for X axis #define TMC2130_SG_HOMING_SW_Z 1 // stallguard "software" homing for Z axis
#define TMC2130_SG_THRS_Y 30 // stallguard sensitivity for Y axis #define TMC2130_SG_THRS_X 0 // stallguard sensitivity for X axis
#define TMC2130_SG_DELAY 10 // stallguard delay (temporary solution) #define TMC2130_SG_THRS_Y 0 // stallguard sensitivity for Y axis
#define TMC2130_SG_THRS_Z 2 // stallguard sensitivity for Z axis
#define TMC2130_SG_DELTA 128 // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
//new settings is possible for vsense = 1 //new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
#define TMC2130_CURRENTS_H {3, 3, 5, 8} // default holding currents for all axes #define TMC2130_CURRENTS_H {3, 3, 5, 8} // default holding currents for all axes
#define TMC2130_CURRENTS_R {13, 13, 20, 20} // default running currents for all axes #define TMC2130_CURRENTS_R {13, 18, 20, 22} // default running currents for all axes
#define TMC2130_DEBUG //#define TMC2130_DEBUG
//#define TMC2130_DEBUG_WR //#define TMC2130_DEBUG_WR
//#define TMC2130_DEBUG_RD //#define TMC2130_DEBUG_RD
@ -254,7 +268,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135} #define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
// Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range // Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
#if MOTHERBOARD == 102 || MOTHERBOARD == 302 || MOTHERBOARD == 300 || MOTHERBOARD == 299 #if MOTHERBOARD == 200 || MOTHERBOARD == 203 || MOTHERBOARD == 303 || MOTHERBOARD == 304 || MOTHERBOARD == 305
#define MOTOR_CURRENT_PWM_RANGE 2000 #define MOTOR_CURRENT_PWM_RANGE 2000
#define DEFAULT_PWM_MOTOR_CURRENT {400, 750, 750} // {XY,Z,E} #define DEFAULT_PWM_MOTOR_CURRENT {400, 750, 750} // {XY,Z,E}
#define DEFAULT_PWM_MOTOR_CURRENT_LOUD {400, 750, 750} // {XY,Z,E} #define DEFAULT_PWM_MOTOR_CURRENT_LOUD {400, 750, 750} // {XY,Z,E}
@ -426,6 +440,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#else #else
#define TEMP_SENSOR_BED 1 #define TEMP_SENSOR_BED 1
#endif #endif
#define TEMP_SENSOR_PINDA 1
#define TEMP_SENSOR_AMBIENT 2000
#define STACK_GUARD_TEST_VALUE 0xA2A2 #define STACK_GUARD_TEST_VALUE 0xA2A2
@ -464,4 +480,6 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
#endif #endif
#define UVLO_Z_AXIS_SHIFT 2
#endif //__CONFIGURATION_PRUSA_H #endif //__CONFIGURATION_PRUSA_H

79
Firmware/variants/1_75mm_MK3-EINY04-E3Dv6full.h
View file

@ -17,7 +17,6 @@
// Electronics // Electronics
#define MOTHERBOARD BOARD_EINY_0_4a #define MOTHERBOARD BOARD_EINY_0_4a
//#define MOTHERBOARD BOARD_EINY_0_3a
// Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier) // Uncomment the below for the E3D PT100 temperature sensor (with or without PT100 Amplifier)
@ -33,7 +32,7 @@
// Steps per unit {X,Y,Z,E} // Steps per unit {X,Y,Z,E}
//#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,140} //#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,140}
#define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,280*4} #define DEFAULT_AXIS_STEPS_PER_UNIT {100,100,3200/8,280} //Extruder motor changed back to 200step type
// Endstop inverting // Endstop inverting
const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop. const bool X_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic of the endstop.
@ -42,14 +41,14 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
// Home position // Home position
#define MANUAL_X_HOME_POS 0 #define MANUAL_X_HOME_POS 0
#define MANUAL_Y_HOME_POS -13 #define MANUAL_Y_HOME_POS -2.2
#define MANUAL_Z_HOME_POS 0.2 #define MANUAL_Z_HOME_POS 0.2
// Travel limits after homing // Travel limits after homing
#define X_MAX_POS 255 #define X_MAX_POS 255
#define X_MIN_POS 0 #define X_MIN_POS 0
#define Y_MAX_POS 210 #define Y_MAX_POS 210
#define Y_MIN_POS -13 #define Y_MIN_POS -12 //orig -4
#define Z_MAX_POS 210 #define Z_MAX_POS 210
#define Z_MIN_POS 0.15 #define Z_MIN_POS 0.15
@ -67,11 +66,10 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
//#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec) //#define DEFAULT_MAX_FEEDRATE {400, 400, 12, 120} // (mm/sec)
#define DEFAULT_MAX_FEEDRATE {500, 500, 12, 120} // (mm/sec) #define DEFAULT_MAX_FEEDRATE {500, 500, 12, 120} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {2000, 2000, 250, 5000} // 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_MAX_ACCELERATION {1000, 1000, 200, 5000} // 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 1500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 1500 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define DEFAULT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 1250 // X, Y, Z and E max acceleration in mm/s^2 for retracts
#define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min) #define MANUAL_FEEDRATE {2700, 2700, 1000, 100} // set the speeds for manual moves (mm/min)
//#define MAX_SILENT_FEEDRATE 2700 // //#define MAX_SILENT_FEEDRATE 2700 //
@ -80,11 +78,20 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
//DEBUG //DEBUG
#if 0 #if 0
#define DEBUG_DCODES //D codes
#define DEBUG_DISABLE_XMINLIMIT //x min limit ignored
#define DEBUG_DISABLE_XMAXLIMIT //x max limit ignored
#define DEBUG_DISABLE_YMINLIMIT //y min limit ignored
#define DEBUG_DISABLE_YMAXLIMIT //y max limit ignored
#define DEBUG_DISABLE_ZMINLIMIT //z min limit ignored
#define DEBUG_DISABLE_ZMAXLIMIT //z max limit ignored
#define DEBUG_DISABLE_STARTMSGS //no startup messages #define DEBUG_DISABLE_STARTMSGS //no startup messages
#define DEBUG_DISABLE_MINTEMP //mintemp error ignored #define DEBUG_DISABLE_MINTEMP //mintemp error ignored
#define DEBUG_DISABLE_SWLIMITS //sw limits ignored #define DEBUG_DISABLE_SWLIMITS //sw limits ignored
#define DEBUG_DISABLE_LCD_STATUS_LINE //empty four lcd line
#define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed #define DEBUG_DISABLE_PREVENT_EXTRUDER //cold extrusion and long extrusion allowed
#define DEBUG_XSTEP_DUP_PIN 21 //duplicate x-step output to pin 21 (SCL on P3) #define DEBUG_DISABLE_PRUSA_STATISTICS //disable prusa_statistics() mesages
//#define DEBUG_XSTEP_DUP_PIN 21 //duplicate x-step output to pin 21 (SCL on P3)
//#define DEBUG_YSTEP_DUP_PIN 21 //duplicate y-step output to pin 21 (SCL on P3) //#define DEBUG_YSTEP_DUP_PIN 21 //duplicate y-step output to pin 21 (SCL on P3)
//#define DEBUG_BLINK_ACTIVE //#define DEBUG_BLINK_ACTIVE
#endif #endif
@ -97,15 +104,20 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_USTEPS_XY 16 // microstep resolution for XY axes #define TMC2130_USTEPS_XY 16 // microstep resolution for XY axes
#define TMC2130_USTEPS_Z 16 // microstep resolution for Z axis #define TMC2130_USTEPS_Z 16 // microstep resolution for Z axis
#define TMC2130_USTEPS_E 64 // microstep resolution for E axis #define TMC2130_USTEPS_E 32 // microstep resolution for E axis (increased from 16 to 32)
#define TMC2130_INTPOL_XY 1 // extrapolate 256 for XY axes #define TMC2130_INTPOL_XY 1 // extrapolate 256 for XY axes
#define TMC2130_INTPOL_Z 1 // extrapolate 256 for Z axis #define TMC2130_INTPOL_Z 1 // extrapolate 256 for Z axis
#define TMC2130_INTPOL_E 1 // extrapolate 256 for E axis #define TMC2130_INTPOL_E 1 // extrapolate 256 for E axis
#define TMC2130_PWM_GRAD_XY 15 // PWMCONF #define TMC2130_PWM_GRAD_X 4 // PWMCONF
#define TMC2130_PWM_AMPL_XY 200 // PWMCONF #define TMC2130_PWM_AMPL_X 200 // PWMCONF
#define TMC2130_PWM_AUTO_XY 1 // PWMCONF #define TMC2130_PWM_AUTO_X 1 // PWMCONF
#define TMC2130_PWM_FREQ_XY 2 // PWMCONF #define TMC2130_PWM_FREQ_X 2 // PWMCONF
#define TMC2130_PWM_GRAD_Y 4 // PWMCONF
#define TMC2130_PWM_AMPL_Y 210 // PWMCONF
#define TMC2130_PWM_AUTO_Y 1 // PWMCONF
#define TMC2130_PWM_FREQ_Y 2 // PWMCONF
/* //not used /* //not used
#define TMC2130_PWM_GRAD_Z 4 // PWMCONF #define TMC2130_PWM_GRAD_Z 4 // PWMCONF
@ -118,28 +130,30 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define TMC2130_PWM_FREQ_E 2 // PWMCONF #define TMC2130_PWM_FREQ_E 2 // PWMCONF
*/ */
//#define TMC2130_PWM_DIV 683 // PWM frequency divider (1024, 683, 512, 410) //#define TMC2130_PWM_DIV 683 // PWM frequency divider (1024, 683, 512, 410)
#define TMC2130_PWM_DIV 512 // PWM frequency divider (1024, 683, 512, 410) #define TMC2130_PWM_DIV 512 // PWM frequency divider (1024, 683, 512, 410)
#define TMC2130_PWM_CLK (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk) #define TMC2130_PWM_CLK (2 * TMC2130_FCLK / TMC2130_PWM_DIV) // PWM frequency (23.4kHz, 35.1kHz, 46.9kHz, 58.5kHz for 12MHz fclk)
#define TMC2130_TPWMTHRS 0 // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode #define TMC2130_TPWMTHRS 0 // TPWMTHRS - Sets the switching speed threshold based on TSTEP from stealthChop to spreadCycle mode
#define TMC2130_THIGH 0 // THIGH - unused #define TMC2130_THIGH 0 // THIGH - unused
#define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold #define TMC2130_TCOOLTHRS 239 // TCOOLTHRS - coolstep treshold
#define TMC2130_SG_HOMING 1 // stallguard homing #define TMC2130_SG_HOMING 1 // stallguard homing
#define TMC2130_SG_HOMING_SW 1 // stallguard "software" homing //#define TMC2130_SG_HOMING_SW_XY 1 // stallguard "software" homing for XY axes
#define TMC2130_SG_THRS_X 40 // stallguard sensitivity for X axis #define TMC2130_SG_HOMING_SW_Z 1 // stallguard "software" homing for Z axis
#define TMC2130_SG_THRS_Y 40 // stallguard sensitivity for Y axis #define TMC2130_SG_THRS_X 0 // stallguard sensitivity for X axis
#define TMC2130_SG_DELAY 10 // stallguard delay (temporary solution) #define TMC2130_SG_THRS_Y 0 // stallguard sensitivity for Y axis
#define TMC2130_SG_THRS_Z 2 // stallguard sensitivity for Z axis
#define TMC2130_SG_DELTA 128 // stallguard delta [usteps] (minimum usteps before stallguard readed - SW homing)
//new settings is possible for vsense = 1 //new settings is possible for vsense = 1, running current value > 31 set vsense to zero and shift both currents by 1 bit right (Z axis only)
#define TMC2130_CURRENTS_H {15, 15, 20, 28} // default holding currents for all axes #define TMC2130_CURRENTS_H {3, 3, 5, 8} // default holding currents for all axes
#define TMC2130_CURRENTS_R {15, 15, 40, 28} // default running currents for all axes #define TMC2130_CURRENTS_R {13, 18, 20, 22} // default running currents for all axes
//#define TMC2130_DEBUG //#define TMC2130_DEBUG
//#define TMC2130_DEBUG_WR //#define TMC2130_DEBUG_WR
#define TMC2130_DEBUG_RD //#define TMC2130_DEBUG_RD
/*------------------------------------ /*------------------------------------
@ -254,7 +268,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135} #define DIGIPOT_MOTOR_CURRENT_LOUD {135,135,135,135,135}
// Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range // Motor Current settings for RAMBo mini PWM value = MotorCurrentSetting * 255 / range
#if MOTHERBOARD == 102 || MOTHERBOARD == 302 || MOTHERBOARD == 300 || MOTHERBOARD == 299 #if MOTHERBOARD == 200 || MOTHERBOARD == 203 || MOTHERBOARD == 303 || MOTHERBOARD == 304 || MOTHERBOARD == 305
#define MOTOR_CURRENT_PWM_RANGE 2000 #define MOTOR_CURRENT_PWM_RANGE 2000
#define DEFAULT_PWM_MOTOR_CURRENT {400, 750, 750} // {XY,Z,E} #define DEFAULT_PWM_MOTOR_CURRENT {400, 750, 750} // {XY,Z,E}
#define DEFAULT_PWM_MOTOR_CURRENT_LOUD {400, 750, 750} // {XY,Z,E} #define DEFAULT_PWM_MOTOR_CURRENT_LOUD {400, 750, 750} // {XY,Z,E}
@ -273,7 +287,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
// Mesh definitions // Mesh definitions
#define MESH_MIN_X 35 #define MESH_MIN_X 35
#define MESH_MAX_X 238 #define MESH_MAX_X 238
#define MESH_MIN_Y 8 #define MESH_MIN_Y 6
#define MESH_MAX_Y 202 #define MESH_MAX_Y 202
// Mesh upsample definition // Mesh upsample definition
@ -287,7 +301,7 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc. #define MESH_HOME_Z_SEARCH 5 //Z lift for homing, mesh bed leveling etc.
#define X_PROBE_OFFSET_FROM_EXTRUDER 23 // Z probe to nozzle X offset: -left +right #define X_PROBE_OFFSET_FROM_EXTRUDER 23 // Z probe to nozzle X offset: -left +right
#define Y_PROBE_OFFSET_FROM_EXTRUDER 8 // Z probe to nozzle Y offset: -front +behind #define Y_PROBE_OFFSET_FROM_EXTRUDER 9 // Z probe to nozzle Y offset: -front +behind
#define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4 // Z probe to nozzle Z offset: -below (always!) #define Z_PROBE_OFFSET_FROM_EXTRUDER -0.4 // Z probe to nozzle Z offset: -below (always!)
#endif #endif
@ -426,6 +440,8 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#else #else
#define TEMP_SENSOR_BED 1 #define TEMP_SENSOR_BED 1
#endif #endif
#define TEMP_SENSOR_PINDA 1
#define TEMP_SENSOR_AMBIENT 2000
#define STACK_GUARD_TEST_VALUE 0xA2A2 #define STACK_GUARD_TEST_VALUE 0xA2A2
@ -464,7 +480,6 @@ const bool Z_MIN_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print #define DEFAULT_RETRACTION 1 //used for PINDA temp calibration and pause print
#endif #endif
#define UVLO_Z_AXIS_SHIFT 2 #define UVLO_Z_AXIS_SHIFT 2
#endif //__CONFIGURATION_PRUSA_H #endif //__CONFIGURATION_PRUSA_H