tschwery/reprapfirmware-dc42
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Version 0.78k

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Fixed combined xyz move bug (thanks zpl). Reversed default direction of
X motor. Added support for M569 command. Fixed bug in execution of M503
command via web interface.
This commit is contained in:
David Crocker 2014-08-20 08:36:28 +01:00
parent 46d78148b0
commit 13f2ab5bfd
7 changed files with 55 additions and 42 deletions
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4
Configuration.h
View file

@ -24,8 +24,8 @@ Licence: GPL
#define CONFIGURATION_H
#define NAME "RepRapFirmware"
#define VERSION "0.78j-dc42"
#define DATE "2014-08-17"
#define VERSION "0.78k-dc42"
#define DATE "2014-08-18"
#define AUTHORS "reprappro, dc42, zpl"
// Other firmware that we might switch to be compatible with.

16
GCodes.cpp
View file

@ -1877,7 +1877,6 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
}
break;
case 21: // Initialise SD - ignore
break;
@ -2849,6 +2848,21 @@ bool GCodes::HandleMcode(GCodeBuffer* gb)
}
break;
case 569: // Set/report axis direction
if(gb->Seen('P'))
{
int8_t drive = gb->GetIValue();
if(gb->Seen('S'))
{
platform->SetDirectionValue(drive, gb->GetIValue());
}
else
{
reply.printf("A %d sends drive %d forwards.", (int)platform->GetDirectionValue(drive), drive);
}
}
break;
case 906: // Set/report Motor currents
{
bool seen = false;

3
Move.cpp
View file

@ -1199,7 +1199,8 @@ void DDA::Step()
if(active)
{
timeStep = move->stepDistances[drivesMoving]/velocity;
timeStep = distance/(totalSteps * velocity); // dc42 use the average distance per step
//timeStep = move->stepDistances[drivesMoving]/velocity;
// Simple Euler integration to get velocities.
// Maybe one day do a Runge-Kutta?

56
Platform.cpp
View file

@ -182,6 +182,7 @@ void Platform::Init()
stepPins = STEP_PINS;
directionPins = DIRECTION_PINS;
directions = DIRECTIONS;
enablePins = ENABLE_PINS;
disableDrives = DISABLE_DRIVES;
lowStopPins = LOW_STOP_PINS;
@ -986,13 +987,15 @@ void Platform::SetDirection(byte drive, bool direction)
{
if(directionPins[drive] < 0)
return;
bool d = (direction == FORWARDS) ? directions[drive] : !directions[drive];
if(drive == E0_DRIVE) //DIRECTION_PINS {15, 26, 4, X3, 35, 53, 51, 48}
{
digitalWriteNonDue(directionPins[drive], direction);
digitalWriteNonDue(directionPins[drive], d);
}
else
{
digitalWrite(directionPins[drive], direction);
digitalWrite(directionPins[drive], d);
}
}
@ -1014,9 +1017,13 @@ void Platform::Step(byte drive)
if(!driveEnabled[drive] && enablePins[drive] >= 0)
{
if(drive == Z_AXIS || drive==E0_DRIVE || drive==E2_DRIVE) //ENABLE_PINS {29, 27, X1, X0, 37, X8, 50, 47}
{
digitalWriteNonDue(enablePins[drive], ENABLE);
}
else
{
digitalWrite(enablePins[drive], ENABLE);
}
driveEnabled[drive] = true;
}
if(drive == E0_DRIVE || drive == E3_DRIVE) //STEP_PINS {14, 25, 5, X2, 41, 39, X4, 49}
@ -1469,7 +1476,7 @@ bool MassStorage::FindNext(FileInfo &file_info)
file_info.year = (entry.fdate >> 9) + 1980;
if (file_info.fileName[0] == 0)
{
strncpy(file_info.fileName, entry.fname, ARRAY_UPB(file_info.fileName));
strncpy(file_info.fileName, entry.fname, ARRAY_SIZE(file_info.fileName));
}
return true;
@ -1571,44 +1578,21 @@ bool FileStore::Open(const char* directory, const char* fileName, bool write)
const char* location = (directory != NULL)
? platform->GetMassStorage()->CombineName(directory, fileName)
: fileName;
writing = write;
lastBufferEntry = FILE_BUF_LEN - 1;
FRESULT openReturn;
if (writing)
FRESULT openReturn = f_open(&file, location, (writing) ? FA_CREATE_ALWAYS | FA_WRITE : FA_OPEN_EXISTING | FA_READ);
if (openReturn != FR_OK)
{
openReturn = f_open(&file, location, FA_CREATE_ALWAYS | FA_WRITE);
if (openReturn != FR_OK)
{
char errString[10]; // don't use scratch_string for this because that may be holding the original filename
platform->Message(HOST_MESSAGE, "Can't open ");
platform->Message(HOST_MESSAGE, location);
platform->Message(HOST_MESSAGE, " to write to, error code ");
snprintf(errString, ARRAY_SIZE(errString), "%d", openReturn);
platform->Message(HOST_MESSAGE, errString);
platform->Message(HOST_MESSAGE, "\n");
return false;
}
bufferPointer = 0;
}
else
{
openReturn = f_open(&file, location, FA_OPEN_EXISTING | FA_READ);
if (openReturn != FR_OK)
{
char errString[10]; // don't use scratch_string for this because that may be holding the original filename
platform->Message(HOST_MESSAGE, "Can't open ");
platform->Message(HOST_MESSAGE, location);
platform->Message(HOST_MESSAGE, " to read from, error code ");
snprintf(errString, ARRAY_SIZE(errString), "%d", openReturn);
platform->Message(HOST_MESSAGE, errString);
platform->Message(HOST_MESSAGE, "\n");
return false;
}
bufferPointer = FILE_BUF_LEN;
char errString[12]; // don't use scratch_string for this because that may be holding the original filename
platform->Message(BOTH_MESSAGE, "Can't open ");
platform->AppendMessage(BOTH_MESSAGE, location);
platform->AppendMessage(BOTH_MESSAGE, (writing) ? " to write to, error code " : " to read from, error code ");
snprintf(errString, ARRAY_SIZE(errString), "%d\n", openReturn);
platform->AppendMessage(BOTH_MESSAGE, errString);
return false;
}
bufferPointer = (writing) ? 0 : FILE_BUF_LEN;
inUse = true;
openCount = 1;
return true;

16
Platform.h
View file

@ -78,7 +78,8 @@ Licence: GPL
#define STEP_PINS {14, 25, 5, X2, 41, 39, X4, 49}
#define DIRECTION_PINS {15, 26, 4, X3, 35, 53, 51, 48}
#define FORWARDS true // What to send to go...
#define BACKWARDS false // ...in each direction
#define BACKWARDS (!FORWARDS) // ...in each direction
#define DIRECTIONS {false, true, true, true, true, true, true, true}
#define ENABLE_PINS {29, 27, X1, X0, 37, X8, 50, 47}
#define ENABLE false // What to send to enable...
#define DISABLE true // ...and disable a drive
@ -592,6 +593,8 @@ public:
void EmergencyStop();
void SetDirection(byte drive, bool direction);
void SetDirectionValue(byte drive, bool dVal);
bool GetDirectionValue(byte drive) const;
void Step(byte drive);
void Disable(byte drive); // There is no drive enable; drives get enabled automatically the first time they are used.
void SetMotorCurrent(byte drive, float current);
@ -704,6 +707,7 @@ private:
int8_t enablePins[DRIVES];
bool disableDrives[DRIVES];
bool driveEnabled[DRIVES];
bool directions[DRIVES];
int8_t lowStopPins[DRIVES];
int8_t highStopPins[DRIVES];
float maxFeedrates[DRIVES];
@ -972,6 +976,16 @@ inline bool Platform::HighStopButNotLow(int8_t axis) const
}
#endif
inline void Platform::SetDirectionValue(byte drive, bool dVal)
{
directions[drive] = dVal;
}
inline bool Platform::GetDirectionValue(byte drive) const
{
return directions[drive];
}
inline float Platform::HomeFeedRate(int8_t axis) const
{
return homeFeedrates[axis];

BIN
Release/RepRapFirmware-078i-dc42.bin → Release/RepRapFirmware-078k-dc42.bin
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Binary file not shown.

2
Webserver.cpp
View file

@ -343,7 +343,7 @@ void Webserver::ProcessGcode(const char* gc)
char c;
size_t i = 0;
bool reading_whitespace = false;
while (i < ARRAY_UPB(gcodeReply) && configFile->Read(c))
while (i < gcodeReply.Length() - 1 && configFile->Read(c))
{
if (!reading_whitespace || (c != ' ' && c != '\t'))
{