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Merge branch 'duet' of https://github.com/reprappro/RepRapFirmware into duet

Browse source 
Conflicts:
	GCodes.h
This commit is contained in:
Adrian Bowyer 2014-04-15 16:17:15 +01:00
commit 4fa348306a
9 changed files with 304 additions and 111 deletions
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4
Configuration.h
View file

@ -24,8 +24,8 @@ Licence: GPL
#define CONFIGURATION_H
#define NAME "RepRapFirmware"
#define VERSION "0.64"
#define DATE "2014-04-11"
#define VERSION "0.65"
#define DATE "2014-04-15"
#define LAST_AUTHOR "reprappro"
// Other firmware that we might switch to be compatible with.

264
GCodes.cpp
View file

@ -75,16 +75,17 @@ void GCodes::Init()
offSetSet = false;
dwellWaiting = false;
stackPointer = 0;
selectedHead = -1;
selectedHead = 0; //default to zero so parameter setting gcodes (eg M906) work for tools prior to tools being selected
gFeedRate = platform->MaxFeedrate(Z_AXIS); // Typically the slowest
zProbesSet = false;
probeCount = 0;
cannedCycleMoveCount = 0;
cannedCycleMoveQueued = false;
limitAxes = true;
axisIsHomed[X_AXIS] = axisIsHomed[Y_AXIS] = axisIsHomed[Z_AXIS] = false;
active = true;
longWait = platform->Time();
dwellTime = longWait;
axisIsHomed[X_AXIS] = axisIsHomed[Y_AXIS] = axisIsHomed[Z_AXIS] = false;
}
void GCodes::DoFilePrint(GCodeBuffer* gb)
@ -341,24 +342,89 @@ void GCodes::LoadMoveBufferFromGCode(GCodeBuffer *gb, bool doingG92, bool applyL
}
} else
{
if(gb->Seen(gCodeLetters[i]))
/*Fixed to work with multiple concurrent extruder drives:
* Default or M160 S1 (set use only one extruder drive)
* "G1 En.n" adds the float n.n to the move buffer for the selected head
* There is no change in behaviour for one extruder drive setups, or multiple extruder
* setups where only one drive is used at any one time.
*
* M160 Sn (set to use "n" extruder drives) eg
* "M160 S3"
* "G1 En.n:m.m:o.o" adds the floats to the move buffer in the following way:
* moveBuffer[AXES+selectedHead) = n.n
* moveBuffer[AXES+selectedHead+1) = m.m
* moveBuffer[AXES+selectedHead+2) = o.o
* so if selectedHead=0 move buffer ends up looking like this for a 5 extruder drive setup:
* {x.x, y.y, z.z, n.n, m.m, o.o, 0.0,0.0, f.f}
* where x,y,z are the axes and f is the feedrate.
* If selected head > 0 then there is the possibility that more drives can be set than
* exist, in that case the last values are discarded e.g:
* "T3"
* "M160 S3"
* "G1 En.n:m.m:o.o"
* would leave the move buffer on a 4 extruder drive setup looking like this:
* {x.x, y.y, z.z, 0.0, 0.0, 0.0, n.n,m.m, f.f}
*/
if(gb->Seen('E')&& ((i-AXES) == selectedHead))
{
float moveArg = gb->GetFValue()*distanceScale;
if(drivesRelative || doingG92)
moveBuffer[i] = moveArg;
else
{
float absE = moveArg;
moveBuffer[i] = absE - lastPos[i - AXES];
lastPos[i - AXES] = absE;
}
//the number of mixing drives set (by M160)
int numDrives = platform->GetMixingDrives();
const char* extruderString = gb->GetString();
float eArg[numDrives];
uint8_t sp = 0; //string pointer
uint8_t fp = 0; //float pointer for the start of each floating point number in turn
uint8_t hp = 0; //index of the head currently referred to for eArg
while(extruderString[sp])
{
//first check to confirm we have not got to the feedrate setting part of the string
if(extruderString[sp] == 'F')
{
break;
}
if(extruderString[sp] == ':')
{
eArg[hp] = (atoff(&extruderString[fp]))*distanceScale;
hp++;
if(hp >= numDrives)
{
platform->Message(HOST_MESSAGE, "More mixing extruder drives required in G1 string than set with M160: ");
platform->Message(HOST_MESSAGE, gb->Buffer());
platform->Message(HOST_MESSAGE, "\n");
return;
}
sp++;
fp = sp;
}
else
sp++;
}
//capture the last drive step amount in the string (or the only one in the case of only one extruder)
eArg[hp] = (atoff(&extruderString[fp]))*distanceScale;
//set the move buffer for each extruder drive
for(int j=0;j<numDrives;j++)
{
if(drivesRelative || doingG92)
{
moveBuffer[i+j] = eArg[j]; //Absolute
if(doingG92)
lastPos[i+j - AXES] = moveBuffer[i+j];
}
else
{
float absE = eArg[j];
moveBuffer[i+j] = absE - lastPos[i+j - AXES];
lastPos[i+j - AXES] = absE;
}
}
}
}
}
// Deal with feedrate
if(gb->Seen(gCodeLetters[DRIVES]))
if(gb->Seen(FEEDRATE_LETTER))
gFeedRate = gb->GetFValue()*distanceScale*0.016666667; // G Code feedrates are in mm/minute; we need mm/sec
moveBuffer[DRIVES] = gFeedRate; // We always set it, as Move may have modified the last one.
@ -376,20 +442,22 @@ bool GCodes::SetUpMove(GCodeBuffer *gb)
if(moveAvailable)
return false;
// Load the last position; If Move can't accept more, return false
// Load the last position into moveBuffer; If Move can't accept more, return false
if(!reprap.GetMove()->GetCurrentState(moveBuffer))
return false;
//check to see if the move is a 'homing' move that endstops are checked on.
checkEndStops = false;
if(gb->Seen('S'))
{
if(gb->GetIValue() == 1)
checkEndStops = true;
}
LoadMoveBufferFromGCode(gb, false, !checkEndStops);
//loads the movebuffer with either the absolute movement required or the
//relative movement required
LoadMoveBufferFromGCode(gb, false, !checkEndStops && limitAxes);
//There is a new move in the move buffer
moveAvailable = true;
return true;
}
@ -560,7 +628,7 @@ bool GCodes::OffsetAxes(GCodeBuffer* gb)
}
}
if(gb->Seen(gCodeLetters[DRIVES])) // Has the user specified a feedrate?
if(gb->Seen(FEEDRATE_LETTER)) // Has the user specified a feedrate?
{
moveToDo[DRIVES] = gb->GetFValue();
activeDrive[DRIVES] = true;
@ -588,7 +656,7 @@ bool GCodes::OffsetAxes(GCodeBuffer* gb)
// booleans homeX, homeY and homeZ.
// Returns true if completed, false if needs to be called again.
// 'reply' is only written if there is an error.
// 'error' is false on entry, gets changed to true iff there is an error.
// 'error' is false on entry, gets changed to true if there is an error.
bool GCodes::DoHome(char* reply, bool& error)
//pre(reply.upb == STRING_LENGTH)
{
@ -634,6 +702,7 @@ bool GCodes::DoHome(char* reply, bool& error)
if(homeZ)
{
//FIXME this check should be optional
if (!(axisIsHomed[X_AXIS] && axisIsHomed[Y_AXIS]))
{
// We can only home Z if X and Y have already been homed. Possibly this should only be if we are using an IR probe.
@ -881,14 +950,20 @@ bool GCodes::SetPrintZProbe(GCodeBuffer* gb, char* reply)
// are updated at the end of each movement, so this won't tell you
// where you are mid-movement.
// FIXME - needs to deal with multiple extruders
//Fixed to deal with multiple extruders
char* GCodes::GetCurrentCoordinates()
{
float liveCoordinates[DRIVES+1];
reprap.GetMove()->LiveCoordinates(liveCoordinates);
snprintf(scratchString, STRING_LENGTH, "X:%f Y:%f Z:%f E:%f", liveCoordinates[X_AXIS], liveCoordinates[Y_AXIS], liveCoordinates[Z_AXIS], liveCoordinates[AXES]);
snprintf(scratchString, STRING_LENGTH, "X:%f Y:%f Z:%f ", liveCoordinates[X_AXIS], liveCoordinates[Y_AXIS], liveCoordinates[Z_AXIS]);
char eString[STRING_LENGTH];
for(int i = AXES; i< DRIVES; i++)
{
snprintf(eString,STRING_LENGTH,"E%d:%f ",i-AXES,liveCoordinates[i]);
strncat(scratchString,eString,STRING_LENGTH);
}
return scratchString;
}
@ -1113,7 +1188,7 @@ bool GCodes::StandbyHeaters()
return false;
for(int8_t heater = 0; heater < HEATERS; heater++)
reprap.GetHeat()->Standby(heater);
selectedHead = -1;
selectedHead = -1; //FIXME check this does not mess up setters (eg M906) when they are used after this command is called
return true;
}
@ -1455,16 +1530,34 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
case 92: // Set/report steps/mm for some axes
seen = false;
for(int8_t drive = 0; drive < DRIVES; drive++)
if(gb->Seen(gCodeLetters[drive]))
{
platform->SetDriveStepsPerUnit(drive, gb->GetFValue());
seen = true;
}
{
//Do AXES first
if(gb->Seen(gCodeLetters[drive])&& drive<AXES)
{
platform->SetDriveStepsPerUnit(drive, gb->GetFValue());
seen = true;
}
//FIXME handle selectedHead=-1 case
//Just sets the currently selected head.
else if(gb->Seen('E')&& ((drive-AXES) == selectedHead))//then do active extruder
{
platform->SetDriveStepsPerUnit(AXES+selectedHead, gb->GetFValue());
seen=true;
}
}
reprap.GetMove()->SetStepHypotenuse();
if(!seen)
snprintf(reply, STRING_LENGTH, "Steps/mm: X: %d, Y: %d, Z: %d, E: %d",
if(!seen){
snprintf(reply, STRING_LENGTH, "Steps/mm: X: %d, Y: %d, Z: %d, E: ",
(int)platform->DriveStepsPerUnit(X_AXIS), (int)platform->DriveStepsPerUnit(Y_AXIS),
(int)platform->DriveStepsPerUnit(Z_AXIS), (int)platform->DriveStepsPerUnit(AXES)); // FIXME - needs to do multiple extruders
(int)platform->DriveStepsPerUnit(Z_AXIS));
// Fixed to do multiple extruders.
char * scratchString;
for(int8_t drive = AXES; drive < DRIVES; drive++)
{
strncat(reply, ftoa(0,platform->DriveStepsPerUnit(drive),2), STRING_LENGTH);
strncat(reply, ":", STRING_LENGTH);
}
}
break;
@ -1480,14 +1573,16 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
case 104: // Deprecated
if(gb->Seen('S'))
{
reprap.GetHeat()->SetActiveTemperature(1, gb->GetFValue()); // 0 is the bed
reprap.GetHeat()->Activate(1);
//only sets the selected head (As set by T#)
reprap.GetHeat()->SetActiveTemperature(selectedHead+1, gb->GetFValue()); // 0 is the bed
reprap.GetHeat()->Activate(selectedHead+1);
}
break;
case 105: // Deprecated...
strncpy(reply, "T:", STRING_LENGTH);
for(int8_t heater = HEATERS - 1; heater > 0; heater--)
//FIXME - why did this decrement rather than increment through the heaters (odd behaviour)
for(int8_t heater = 1; heater < HEATERS; heater++)
{
strncat(reply, ftoa(0, reprap.GetHeat()->GetTemperature(heater), 1), STRING_LENGTH);
strncat(reply, " ", STRING_LENGTH);
@ -1535,16 +1630,23 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
case 109: // Deprecated
if(gb->Seen('S'))
{
reprap.GetHeat()->SetActiveTemperature(1, gb->GetFValue()); // 0 is the bed
reprap.GetHeat()->Activate(1);
reprap.GetHeat()->SetActiveTemperature(selectedHead+1, gb->GetFValue()); // 0 is the bed
reprap.GetHeat()->Activate(selectedHead+1);
}
/* no break */
//check here rather than falling through to M116, we want to just wait for the extruder we specified (otherwise use M116 not M109)
result = reprap.GetHeat()->HeaterAtSetTemperature(selectedHead+1);
break;
case 116: // Wait for everything, especially set temperatures
if(!AllMovesAreFinishedAndMoveBufferIsLoaded())
return false;
result = reprap.GetHeat()->AllHeatersAtSetTemperatures();
break;
//TODO M119
case 119:
platform->Message(HOST_MESSAGE, "M119 - endstop status not yet implemented\n");
break;
case 120:
result = Push();
break;
@ -1580,28 +1682,54 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
platform->Message(HOST_MESSAGE, "M141 - heated chamber not yet implemented\n");
break;
case 160: //number of mixing filament drives
if(gb->Seen('S'))
{
int iValue=gb->GetIValue();
platform->SetMixingDrives(iValue);
}
break;
case 190: // Deprecated...
if(gb->Seen('S'))
{
float value=gb->GetFValue();
reprap.GetHeat()->SetActiveTemperature(0, value);
reprap.GetHeat()->SetStandbyTemperature(0, value); // FIXME have to set both?not sure as the bed should always be selected
reprap.GetHeat()->Activate(0);
}
result = reprap.GetHeat()->HeaterAtSetTemperature(0);
break;
case 201: // Set axis accelerations
for(int8_t drive = 0; drive < DRIVES; drive++)
{
float value;
if(gb->Seen(gCodeLetters[drive]))
{
value = gb->GetFValue();
}else{
value = -1;
}
platform->SetAcceleration(drive, value);
//Do AXES first
if(gb->Seen(gCodeLetters[drive])&& drive<AXES)
{
platform->SetAcceleration(drive, gb->GetFValue());
//then do active extruder
}else if(gb->Seen('E')&& ((drive-AXES) == selectedHead)){
platform->SetAcceleration(AXES+selectedHead, gb->GetFValue()); //Set the E acceleration for the currently selected tool
}else{
platform->SetAcceleration(drive, -1);
}
}
break;
case 203: // Set maximum feedrates
for(int8_t drive = 0; drive < DRIVES; drive++)
{
if(gb->Seen(gCodeLetters[drive]))
{
float value = gb->GetFValue()*distanceScale*0.016666667; // G Code feedrates are in mm/minute; we need mm/sec;
//Do AXES first
if(gb->Seen(gCodeLetters[drive])&& drive<AXES)
{
float value = gb->GetFValue()*distanceScale*0.016666667; // G Code feedrates are in mm/minute; we need mm/sec;
platform->SetMaxFeedrate(drive, value);
}
}
else if(gb->Seen('E')&& ((drive-AXES) == selectedHead))//then do active extruder
{
float value = gb->GetFValue()*distanceScale*0.016666667; // G Code feedrates are in mm/minute; we need mm/sec;
platform->SetMaxFeedrate(AXES+selectedHead, value); //Set the E Steps for the currently selected tool
}
}
break;
@ -1796,35 +1924,31 @@ bool GCodes::ActOnGcode(GCodeBuffer *gb)
}
break;
// case 876: // TEMPORARY - this will go away...
// if(gb->Seen('P'))
// {
// iValue = gb->GetIValue();
// if(iValue != 1)
// platform->SetHeatOn(0);
// else
// platform->SetHeatOn(1);
// }
// break;
case 563: // Define tool
case 900:
result = DoFileCannedCycles("homex.g");
break;
case 901:
result = DoFileCannedCycles("homey.g");
case 564: // Think outside the box?
if(gb->Seen('S'))
limitAxes = (gb->GetIValue() != 0);
break;
case 906: // Set Motor currents
for(uint8_t i = 0; i < DRIVES; i++)
{
if(gb->Seen(gCodeLetters[i]))
//Do AXES first
if(gb->Seen(gCodeLetters[i])&& i<AXES)
{
float value = gb->GetFValue(); // mA
platform->SetMotorCurrent(i, value);
}
else //do for selected extruder
{
if(gb->Seen(gCodeLetters[i])){
float value = gb->GetFValue(); // mA
platform->SetMotorCurrent(AXES+selectedHead, value);
}
}
}
break;
@ -2034,7 +2158,7 @@ float GCodeBuffer::GetFValue()
const void GCodeBuffer::GetFloatArray(float a[], int& length)
{
length = -1;
length = 0;
if(readPointer < 0)
{
platform->Message(HOST_MESSAGE, "GCodes: Attempt to read a GCode float array before a search.\n");
@ -2045,15 +2169,14 @@ const void GCodeBuffer::GetFloatArray(float a[], int& length)
bool inList = true;
while(inList)
{
length++;
a[length] = (float)strtod(&gcodeBuffer[readPointer + 1], 0);
length++;
readPointer++;
while(gcodeBuffer[readPointer] && (gcodeBuffer[readPointer] != ' ') && (gcodeBuffer[readPointer] != LIST_SEPARATOR))
readPointer++;
if(gcodeBuffer[readPointer] != LIST_SEPARATOR)
inList = false;
}
length++;
readPointer = -1;
}
@ -2061,7 +2184,7 @@ const void GCodeBuffer::GetFloatArray(float a[], int& length)
const void GCodeBuffer::GetLongArray(long l[], int& length)
{
length = -1;
length = 0;
if(readPointer < 0)
{
platform->Message(HOST_MESSAGE, "GCodes: Attempt to read a GCode long array before a search.\n");
@ -2072,15 +2195,14 @@ const void GCodeBuffer::GetLongArray(long l[], int& length)
bool inList = true;
while(inList)
{
length++;
l[length] = strtol(&gcodeBuffer[readPointer + 1], 0, 0);
length++;
readPointer++;
while(gcodeBuffer[readPointer] && (gcodeBuffer[readPointer] != ' ') && (gcodeBuffer[readPointer] != LIST_SEPARATOR))
readPointer++;
if(gcodeBuffer[readPointer] != LIST_SEPARATOR)
inList = false;
}
length++;
readPointer = -1;
}

9
GCodes.h
View file

@ -25,6 +25,8 @@ Licence: GPL
#define STACK 5
#define GCODE_LENGTH 100 // Maximum length of internally-generated G Code string
#define GCODE_LETTERS { 'X', 'Y', 'Z', 'E', 'F' } // The drives and feedrate in a GCode //FIXME when working with multiple extruders GCODE_LETTERS[DRIVES] is out of scope
#define FEEDRATE_LETTER 'F'//FIX to work with multiple extruders without having to re-define GCODE_LETTERS array
// Small class to hold an individual GCode and provide functions to allow it to be parsed
class GCodeBuffer
@ -79,6 +81,7 @@ class GCodes
char* GetCurrentCoordinates(); // Get where we are as a string
bool PrintingAFile() const; // Are we in the middle of printing a file?
void Diagnostics(); // Send helpful information out
int8_t GetSelectedHead(); // return which tool is selected
bool HaveIncomingData() const; // Is there something that we have to do?
bool GetAxisIsHomed(uint8_t axis) const { return axisIsHomed[axis]; } // Is the axis at 0?
@ -163,6 +166,7 @@ class GCodes
bool cannedCycleMoveQueued; // True if a canned cycle move has been set
bool zProbesSet; // True if all Z probing is done and we can set the bed equation
float longWait; // Timer for things that happen occasionally (seconds)
bool limitAxes; // Don't think outside the box.
bool axisIsHomed[3]; // These record which of the axes have been homed
};
@ -231,4 +235,9 @@ inline bool GCodes::RunConfigurationGCodes()
return !DoFileCannedCycles(platform->GetConfigFile());
}
inline int8_t GCodes::GetSelectedHead()
{
return selectedHead;
}
#endif

22
Heat.cpp
View file

@ -88,6 +88,28 @@ bool Heat::AllHeatersAtSetTemperatures()
}
return true;
}
//query an individual heater
bool Heat::HeaterAtSetTemperature(int8_t heater)
{
float dt;
dt = GetTemperature(heater);
if(pids[heater]->Active())
{
if(GetActiveTemperature(heater) < TEMPERATURE_LOW_SO_DONT_CARE)
dt = 0.0;
else
dt = fabs(dt - GetActiveTemperature(heater));
} else
{
if(GetStandbyTemperature(heater) < TEMPERATURE_LOW_SO_DONT_CARE)
dt = 0.0;
else
dt = fabs(dt - GetStandbyTemperature(heater));
}
if(dt > TEMPERATURE_CLOSE_ENOUGH)
return false;
return true;
}
//******************************************************************************************************

1
Heat.h
View file

@ -81,6 +81,7 @@ class Heat
float GetTemperature(int8_t heater); // Get the temperature of a heater
void ResetFault(int8_t heater); // Reset a heater fault - oly call this if you know what you are doing
bool AllHeatersAtSetTemperatures(); // Is everything at temperature within tolerance?
bool HeaterAtSetTemperature(int8_t heater); // Is a specific heater at temperature within tolerance?
void Diagnostics(); // Output useful information
private:

15
Move.cpp
View file

@ -196,7 +196,7 @@ void Move::Spin()
if(movementType & xyMove)
nextMove[DRIVES] = fmax(nextMove[DRIVES], platform->InstantDv(X_AXIS));
else if(movementType & eMove)
nextMove[DRIVES] = fmax(nextMove[DRIVES], platform->InstantDv(AXES));
nextMove[DRIVES] = fmax(nextMove[DRIVES], platform->InstantDv((AXES+gCodes->GetSelectedHead())));
else
nextMove[DRIVES] = fmax(nextMove[DRIVES], platform->InstantDv(Z_AXIS));
@ -205,7 +205,7 @@ void Move::Spin()
if(movementType & xyMove)
nextMove[DRIVES] = fmin(nextMove[DRIVES], platform->MaxFeedrate(X_AXIS)); // Assumes X and Y are equal. FIXME?
else if(movementType & eMove)
nextMove[DRIVES] = fmin(nextMove[DRIVES], platform->MaxFeedrate(AXES)); // Picks up the value for the first extruder. FIXME?
nextMove[DRIVES] = fmin(nextMove[DRIVES], platform->MaxFeedrate(AXES+gCodes->GetSelectedHead())); // Fixed
else // Must be z
nextMove[DRIVES] = fmin(nextMove[DRIVES], platform->MaxFeedrate(Z_AXIS));
@ -273,7 +273,8 @@ bool Move::GetCurrentState(float m[])
if(i < AXES)
m[i] = lastMove->MachineToEndPoint(i);
else
m[i] = 0.0;
m[i] = 0.0; //FIXME This resets extruders to 0.0, even the inactive ones (is this behaviour desired?)
//m[i] = lastMove->MachineToEndPoint(i); //FIXME TEST alternative that does not reset extruders to 0
}
if(currentFeedrate >= 0.0)
m[DRIVES] = currentFeedrate;
@ -366,7 +367,7 @@ void Move::SetStepHypotenuse()
// We don't want 0. If no axes/extruders are moving these should never be used.
// But try to be safe.
stepDistances[0] = 1.0/platform->DriveStepsPerUnit(AXES);
stepDistances[0] = 1.0/platform->DriveStepsPerUnit(AXES); //FIXME this is not multi extruder safe (but we should never get here)
extruderStepDistances[0] = stepDistances[0];
}
@ -518,7 +519,7 @@ void Move::DoLookAhead()
else if (mt & zMove)
c = platform->InstantDv(Z_AXIS);
else
c = platform->InstantDv(AXES); // value for first extruder FIXME??
c = platform->InstantDv((AXES+gCodes->GetSelectedHead())); // value for current extruder
}
n1->SetV(c);
n1->SetProcessed(vCosineSet);
@ -569,7 +570,7 @@ void Move::Interrupt()
dda = NULL;
}
// creates a new lookahead object adds it to the lookahead ring, returns false if its full
bool Move::LookAheadRingAdd(long ep[], float feedRate, float vv, bool ce, int8_t mt)
{
if(LookAheadRingFull())
@ -1205,11 +1206,13 @@ float LookAhead::Cosine()
return cosine;
}
//Returns units (mm) from steps for a particular drive
float LookAhead::MachineToEndPoint(int8_t drive, long coord)
{
return ((float)coord)/reprap.GetPlatform()->DriveStepsPerUnit(drive);
}
//Returns steps from units (mm) for a particular drive
long LookAhead::EndPointToMachine(int8_t drive, float coord)
{
return (long)roundf(coord*reprap.GetPlatform()->DriveStepsPerUnit(drive));

37
Platform.cpp
View file

@ -112,6 +112,7 @@ void Platform::Init()
potWipes = POT_WIPES;
senseResistor = SENSE_RESISTOR;
maxStepperDigipotVoltage = MAX_STEPPER_DIGIPOT_VOLTAGE;
numMixingDrives = NUM_MIXING_DRIVES;
// Z PROBE
@ -152,27 +153,31 @@ void Platform::Init()
webDir = WEB_DIR;
gcodeDir = GCODE_DIR;
tempDir = TEMP_DIR;
/*
FIXME Nasty having to specify individually if a pin is arduino or not.
requires a unified variant file. If implemented this would be much better
to allow for different hardware in the future
*/
for(i = 0; i < DRIVES; i++)
{
if(stepPins[i] >= 0)
{
if(i > Z_AXIS)
if(i == E0_DRIVE || i == E3_DRIVE) //STEP_PINS {14, 25, 5, X2, 41, 39, X4, 49}
pinModeNonDue(stepPins[i], OUTPUT);
else
pinMode(stepPins[i], OUTPUT);
}
if(directionPins[i] >= 0)
{
if(i > Z_AXIS)
if(i == E0_DRIVE) //DIRECTION_PINS {15, 26, 4, X3, 35, 53, 51, 48}
pinModeNonDue(directionPins[i], OUTPUT);
else
pinMode(directionPins[i], OUTPUT);
}
if(enablePins[i] >= 0)
{
if(i >= Z_AXIS)
if(i == Z_AXIS || i==E0_DRIVE || i==E2_DRIVE) //ENABLE_PINS {29, 27, X1, X0, 37, X8, 50, 47}
pinModeNonDue(enablePins[i], OUTPUT);
else
pinMode(enablePins[i], OUTPUT);
@ -180,8 +185,7 @@ void Platform::Init()
Disable(i);
driveEnabled[i] = false;
}
for(i = 0; i < AXES; i++)
for(i = 0; i < DRIVES; i++)
{
if(lowStopPins[i] >= 0)
{
@ -195,22 +199,21 @@ void Platform::Init()
}
}
if(heatOnPins[0] >= 0)
pinMode(heatOnPins[0], OUTPUT);
thermistorInfRs[0] = ( thermistorInfRs[0]*exp(-thermistorBetas[0]/(25.0 - ABS_ZERO)) );
for(i = 1; i < HEATERS; i++)
for(i = 0; i < HEATERS; i++)
{
if(heatOnPins[i] >= 0)
pinModeNonDue(heatOnPins[i], OUTPUT);
if(i == E0_HEATER || i==E1_HEATER) //HEAT_ON_PINS {6, X5, X7, 7, 8, 9}
pinModeNonDue(heatOnPins[i], OUTPUT);
else
pinMode(heatOnPins[i], OUTPUT);
thermistorInfRs[i] = ( thermistorInfRs[i]*exp(-thermistorBetas[i]/(25.0 - ABS_ZERO)) );
tempSum[i] = 0;
}
if(coolingFanPin >= 0)
{
pinMode(coolingFanPin, OUTPUT);
analogWrite(coolingFanPin, 0);
//pinModeNonDue(coolingFanPin, OUTPUT); //not required as analogwrite does this automatically
analogWriteNonDue(coolingFanPin, 255); //inverse logic for Duet v0.6 this turns it off
}
InitialiseInterrupts();
@ -386,10 +389,10 @@ void Platform::SetHeater(int8_t heater, const float& power)
byte p = (byte)(255.0*fmin(1.0, fmax(0.0, power)));
if(HEAT_ON == 0)
p = 255 - p;
if(heater == 0)
analogWrite(heatOnPins[heater], p);
if(heater == E0_HEATER || heater == E1_HEATER) //HEAT_ON_PINS {6, X5, X7, 7, 8, 9}
analogWriteNonDue(heatOnPins[heater], p);
else
analogWriteNonDue(heatOnPins[heater], p);
analogWrite(heatOnPins[heater], p);
}

63
Platform.h
View file

@ -77,15 +77,15 @@ Licence: GPL
// DRIVES
#define STEP_PINS {14, 25, 5, X2}
#define DIRECTION_PINS {15, 26, 4, X3}
#define STEP_PINS {14, 25, 5, X2} // Full array for Duet + Duex4 is {14, 25, 5, X2, 41, 39, X4, 49}
#define DIRECTION_PINS {15, 26, 4, X3} // Full array for Duet + Duex4 is {15, 26, 4, X3, 35, 53, 51, 48}
#define FORWARDS true // What to send to go...
#define BACKWARDS false // ...in each direction
#define ENABLE_PINS {29, 27, X1, X0}
#define ENABLE false // What to send to enable...
#define ENABLE_PINS {29, 27, X1, X0} // Full array for Duet + Duex4 is {29, 27, X1, X0, 37, X8, 50, 47}
#define ENABLE false // What to send to enable...
#define DISABLE true // ...and disable a drive
#define DISABLE_DRIVES {false, false, true, false} // Set true to disable a drive when it becomes idle
#define LOW_STOP_PINS {11, -1, 60, 31}
#define LOW_STOP_PINS {11, -1, 60, 31} // Full array endstop pins for Duet + Duex4 is {11, 28, 60, 31, 24, 46, 45, 44}
#define HIGH_STOP_PINS {-1, 28, -1, -1}
#define ENDSTOP_HIT 1 // when a stop == this it is hit
// Indices for motor current digipots (if any)
@ -103,6 +103,7 @@ Licence: GPL
#define ACCELERATIONS {800.0, 800.0, 10.0, 250.0} // mm/sec^2
#define DRIVE_STEPS_PER_UNIT {87.4890, 87.4890, 4000.0, 420.0}
#define INSTANT_DVS {15.0, 15.0, 0.2, 2.0} // (mm/sec)
#define NUM_MIXING_DRIVES 1; //number of mixing drives
// AXES
@ -114,10 +115,16 @@ Licence: GPL
#define Y_AXIS 1 // The index of the Y axis
#define Z_AXIS 2 // The index of the Z axis
#define E0_DRIVE 3 //the index of the first Extruder drive
#define E1_DRIVE 4 //the index of the second Extruder drive
#define E2_DRIVE 5 //the index of the third Extruder drive
#define E3_DRIVE 6 //the index of the fourth Extruder drive
#define E4_DRIVE 7 //the index of the fifth Extruder drive
// HEATERS - The bed is assumed to be the at index 0
#define TEMP_SENSE_PINS {5, 4} // Analogue pin numbers
#define HEAT_ON_PINS {6, X5} // PWM pins
#define TEMP_SENSE_PINS {5, 4} // Analogue pin numbers (full array for Duet+Duex4 = {5, 4, 0, 7, 8, 9} )
#define HEAT_ON_PINS {6, X5} // PWM pins (full array for Duet+Duex4 = {6, X5, X7, 7, 8, 9} )
// Bed thermistor: http://uk.farnell.com/epcos/b57863s103f040/sensor-miniature-ntc-10k/dp/1299930?Ntt=129-9930
// Hot end thermistor: http://www.digikey.co.uk/product-search/en?x=20&y=11&KeyWords=480-3137-ND
@ -135,7 +142,7 @@ Licence: GPL
#define TEMP_INTERVAL 0.122 // secs - check and control temperatures this often
#define STANDBY_TEMPERATURES {ABS_ZERO, ABS_ZERO} // We specify one for the bed, though it's not needed
#define ACTIVE_TEMPERATURES {ABS_ZERO, ABS_ZERO}
#define COOLING_FAN_PIN 34
#define COOLING_FAN_PIN X6 //pin D34 is PWM capable but not an Arduino PWM pin - use X6 instead
#define HEAT_ON 0 // 0 for inverted heater (eg Duet v0.6) 1 for not (e.g. Duet v0.4)
#define AD_RANGE 1023.0 //16383 // The A->D converter that measures temperatures gives an int this big as its max value
@ -145,7 +152,12 @@ Licence: GPL
#define POLL_TIME 0.006 // Poll the A to D converters this often (seconds)
#define HOT_BED 0 // The index of the heated bed; set to -1 if there is no heated bed
#define HOT_BED 0 // The index of the heated bed; set to -1 if there is no heated bed
#define E0_HEATER 1 //the index of the first extruder heater
#define E1_HEATER 2 //the index of the first extruder heater
#define E2_HEATER 3 //the index of the first extruder heater
#define E3_HEATER 4 //the index of the first extruder heater
#define E4_HEATER 5 //the index of the first extruder heater
/****************************************************************************************************/
@ -493,6 +505,9 @@ class Platform
void SetZProbe(int iZ);
void SetZProbeType(int iZ);
int GetZProbeType() const;
//Mixing support
void SetMixingDrives(int);
int GetMixingDrives();
// Heat and temperature
@ -558,6 +573,7 @@ class Platform
int zProbeADValue;
float zProbeStopHeight;
bool zProbeEnable;
int8_t numMixingDrives;
// AXES
@ -731,7 +747,7 @@ inline void Platform::SetDirection(byte drive, bool direction)
{
if(directionPins[drive] < 0)
return;
if(drive == AXES)
if(drive == E0_DRIVE) //DIRECTION_PINS {15, 26, 4, X3, 35, 53, 51, 48}
digitalWriteNonDue(directionPins[drive], direction);
else
digitalWrite(directionPins[drive], direction);
@ -741,7 +757,7 @@ inline void Platform::Disable(byte drive)
{
if(enablePins[drive] < 0)
return;
if(drive >= Z_AXIS)
if(drive == Z_AXIS || drive==E0_DRIVE || drive==E2_DRIVE) //ENABLE_PINS {29, 27, X1, X0, 37, X8, 50, 47}
digitalWriteNonDue(enablePins[drive], DISABLE);
else
digitalWrite(enablePins[drive], DISABLE);
@ -754,13 +770,13 @@ inline void Platform::Step(byte drive)
return;
if(!driveEnabled[drive] && enablePins[drive] >= 0)
{
if(drive >= Z_AXIS)
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 == AXES)
if(drive == E0_DRIVE || drive == E3_DRIVE) //STEP_PINS {14, 25, 5, X2, 41, 39, X4, 49}
{
digitalWriteNonDue(stepPins[drive], 0);
digitalWriteNonDue(stepPins[drive], 1);
@ -891,8 +907,20 @@ inline int Platform::GetZProbeType() const
return zProbeType;
}
inline void Platform::SetMixingDrives(int num_drives)
{
if(num_drives>(DRIVES-AXES))
{
Message(HOST_MESSAGE, "More mixing extruder drives set with M160 than exist in firmware configuration\n");
return;
}
numMixingDrives = num_drives;
}
inline int Platform::GetMixingDrives()
{
return numMixingDrives;
}
//********************************************************************************************************
@ -959,11 +987,16 @@ inline float Platform::DMix(int8_t heater) const
return dMix[heater];
}
//Changed to be compatible with existing gcode norms
// M106 S0 = fully off M106 S255 = fully on
inline void Platform::CoolingFan(float speed)
{
//byte p = (byte)(255.0*fmin(1.0, fmax(0.0, speed))); //this reverts to 0= off, 1 = on if uncommented
byte p = (byte)speed;
p = 255 - p; //duet v0.6
if(coolingFanPin < 0)
return;
analogWrite(coolingFanPin, (uint8_t)(speed*255.0));
analogWriteNonDue(coolingFanPin, p);
}
//inline void Platform::SetHeatOn(int8_t ho)

BIN
Release/RepRapFirmware-064-11-04-2014.bin → Release/RepRapFirmware-065-15-04-2014.bin
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