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

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This commit is contained in:
Jean-Marc Giacalone 2013-09-09 22:26:05 +01:00
commit 6b5c21af23
9 changed files with 2496 additions and 2469 deletions
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12
GCodes.cpp
View file

@ -369,6 +369,18 @@ void GCodes::QueueFileToPrint(char* fileName)
platform->Message(HOST_MESSAGE, "GCode file not found\n");
}
void GCodes::RunConfigurationGCodes()
{
fileToPrint = platform->GetFileStore(platform->GetSysDir(), platform->GetConfigFile(), false);
if(fileToPrint == NULL)
{
platform->Message(HOST_MESSAGE, "Configuration file not found\n");
return;
}
fileBeingPrinted = fileToPrint;
fileToPrint = NULL;
}
// Function to handle dwell delays. Return true for
// Dwell finished, false otherwise.

1
GCodes.h
View file

@ -65,6 +65,7 @@ class GCodes
void Spin();
void Init();
void Exit();
void RunConfigurationGCodes();
bool ReadMove(float* m, bool& ce);
bool ReadHeat(float* h);
void QueueFileToPrint(char* fileName);

158
Platform.cpp
View file

@ -88,86 +88,98 @@ void Platform::Init()
sysDir = SYS_DIR;
configFile = CONFIG_FILE;
if(!LoadFromStore())
{
// DRIVES
stepPins = STEP_PINS;
directionPins = DIRECTION_PINS;
enablePins = ENABLE_PINS;
disableDrives = DISABLE_DRIVES;
lowStopPins = LOW_STOP_PINS;
highStopPins = HIGH_STOP_PINS;
maxFeedrates = MAX_FEEDRATES;
accelerations = ACCELERATIONS;
driveStepsPerUnit = DRIVE_STEPS_PER_UNIT;
instantDvs = INSTANT_DVS;
potWipes = POT_WIPES;
senseResistor = SENSE_RESISTOR;
maxAtoDVoltage = MAX_A_TO_D_VOLTAGE;
stepPins = STEP_PINS;
directionPins = DIRECTION_PINS;
enablePins = ENABLE_PINS;
disableDrives = DISABLE_DRIVES;
lowStopPins = LOW_STOP_PINS;
highStopPins = HIGH_STOP_PINS;
maxFeedrates = MAX_FEEDRATES;
accelerations = ACCELERATIONS;
driveStepsPerUnit = DRIVE_STEPS_PER_UNIT;
instantDvs = INSTANT_DVS;
potWipes = POT_WIPES;
senseResistor = SENSE_RESISTOR;
maxAtoDVoltage = MAX_A_TO_D_VOLTAGE;
// AXES
axisLengths = AXIS_LENGTHS;
homeFeedrates = HOME_FEEDRATES;
headOffsets = HEAD_OFFSETS;
axisLengths = AXIS_LENGTHS;
homeFeedrates = HOME_FEEDRATES;
headOffsets = HEAD_OFFSETS;
// HEATERS - Bed is assumed to be the first
tempSensePins = TEMP_SENSE_PINS;
heatOnPins = HEAT_ON_PINS;
thermistorBetas = THERMISTOR_BETAS;
thermistorSeriesRs = THERMISTOR_SERIES_RS;
thermistorInfRs = THERMISTOR_25_RS;
usePID = USE_PID;
pidKis = PID_KIS;
pidKds = PID_KDS;
pidKps = PID_KPS;
fullPidBand = FULL_PID_BAND;
pidMin = PID_MIN;
pidMax = PID_MAX;
dMix = D_MIX;
heatSampleTime = HEAT_SAMPLE_TIME;
standbyTemperatures = STANDBY_TEMPERATURES;
activeTemperatures = ACTIVE_TEMPERATURES;
webDir = WEB_DIR;
gcodeDir = GCODE_DIR;
tempDir = TEMP_DIR;
}
tempSensePins = TEMP_SENSE_PINS;
heatOnPins = HEAT_ON_PINS;
thermistorBetas = THERMISTOR_BETAS;
thermistorSeriesRs = THERMISTOR_SERIES_RS;
thermistorInfRs = THERMISTOR_25_RS;
usePID = USE_PID;
pidKis = PID_KIS;
pidKds = PID_KDS;
pidKps = PID_KPS;
fullPidBand = FULL_PID_BAND;
pidMin = PID_MIN;
pidMax = PID_MAX;
dMix = D_MIX;
heatSampleTime = HEAT_SAMPLE_TIME;
standbyTemperatures = STANDBY_TEMPERATURES;
activeTemperatures = ACTIVE_TEMPERATURES;
webDir = WEB_DIR;
gcodeDir = GCODE_DIR;
tempDir = TEMP_DIR;
for(i = 0; i < DRIVES; i++)
{
if(stepPins[i] >= 0)
pinMode(stepPins[i], OUTPUT);
if(directionPins[i] >= 0)
pinMode(directionPins[i], OUTPUT);
if(enablePins[i] >= 0)
{
pinMode(enablePins[i], OUTPUT);
digitalWrite(enablePins[i], ENABLE);
}
if(stepPins[i] >= 0)
{
if(i > Z_AXIS)
pinModeNonDue(stepPins[i], OUTPUT);
else
pinMode(stepPins[i], OUTPUT);
}
if(directionPins[i] >= 0)
{
if(i > Z_AXIS)
pinModeNonDue(directionPins[i], OUTPUT);
else
pinMode(directionPins[i], OUTPUT);
}
if(enablePins[i] >= 0)
{
if(i >= Z_AXIS)
pinModeNonDue(enablePins[i], OUTPUT);
else
pinMode(enablePins[i], OUTPUT);
}
Disable(i);
driveEnabled[i] = false;
}
for(i = 0; i < AXES; i++)
{
if(lowStopPins[i] >= 0)
{
pinMode(lowStopPins[i], INPUT);
digitalWrite(lowStopPins[i], HIGH); // Turn on pullup
}
if(highStopPins[i] >= 0)
{
pinMode(highStopPins[i], INPUT);
digitalWrite(highStopPins[i], HIGH); // Turn on pullup
}
if(lowStopPins[i] >= 0)
{
pinMode(lowStopPins[i], INPUT);
digitalWrite(lowStopPins[i], HIGH); // Turn on pullup
}
if(highStopPins[i] >= 0)
{
pinMode(highStopPins[i], INPUT);
digitalWrite(highStopPins[i], HIGH); // Turn on pullup
}
}
for(i = 0; i < HEATERS; i++)
{
if(heatOnPins[i] >= 0)
pinMode(heatOnPins[i], OUTPUT);
pinModeNonDue(heatOnPins[i], OUTPUT);
thermistorInfRs[i] = ( thermistorInfRs[i]*exp(-thermistorBetas[i]/(25.0 - ABS_ZERO)) );
}
@ -183,12 +195,6 @@ void Platform::Diagnostics()
Message(HOST_MESSAGE, "Platform Diagnostics:\n");
}
// Load settings from local storage; return true if successful, false otherwise
bool Platform::LoadFromStore()
{
return false;
}
//===========================================================================
//=============================Thermal Settings ============================
@ -224,20 +230,20 @@ void Platform::SetHeater(int8_t heater, const float& power)
if(heatOnPins[heater] < 0)
return;
if(power <= 0.00)
if(power <= 0.0)
{
analogWrite(heatOnPins[heater], 0);
analogWriteNonDue(heatOnPins[heater], 0);
return;
}
if(power >= 1.0)
{
analogWrite(heatOnPins[heater], 255);
analogWriteNonDue(heatOnPins[heater], 255);
return;
}
byte p = (byte)(255.0*power);
analogWrite(heatOnPins[heater], p);
analogWriteNonDue(heatOnPins[heater], p);
}

112
Platform.h
View file

@ -68,11 +68,11 @@ Licence: GPL
// DRIVES
#define STEP_PINS {14, 25, 5, 68}
#define DIRECTION_PINS {15, 26, 4, 69}
#define STEP_PINS {14, 25, 5, X2}
#define DIRECTION_PINS {15, 26, 4, X3}
#define FORWARDS true // What to send to go...
#define BACKWARDS false // ...in each direction
#define ENABLE_PINS {29, 27, 138, 25}
#define ENABLE_PINS {29, 27, X1, X0}
#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
@ -99,12 +99,12 @@ Licence: GPL
#define X_AXIS 0 // The index of the X axis
#define Y_AXIS 1 // The index of the Y axis
#define Z_AXIS 2 // The index of the Z axis
#define E_AXIS 3 // The index of the extruder
// HEATERS - The bed is assumed to be the first
#define TEMP_SENSE_PINS {5, 4} // Analogue pin numbers
#define HEAT_ON_PINS {53, 40}
#define HEAT_ON_PINS {X7, X5}
#define THERMISTOR_BETAS {3480.0, 3960.0} // Bed thermistor: RS 484-0149; EPCOS B57550G103J; Extruder thermistor: RS 198-961
#define THERMISTOR_SERIES_RS {1000, 1000} // Ohms in series with the thermistors
#define THERMISTOR_25_RS {10000.0, 100000.0} // Thermistor ohms at 25 C = 298.15 K
@ -355,22 +355,11 @@ class Platform
MassStorage* GetMassStorage();
FileStore* GetFileStore(char* directory, char* fileName, bool write);
// char* FileList(char* directory); // Returns a ,-separated list of all the files in the named directory (for example on an SD card).
// int OpenFile(char* directory, char* fileName, bool write); // Open a local file (for example on an SD card).
// void GoToEnd(int file); // Position the file at the end (so you can write on the end).
// bool Read(int file, char& b); // Read a single byte from a file into b,
// returned value is false for EoF, true otherwise
// void Write(int file, char* s); // Write the string to a file.
// void Write(int file, char b); // Write the byte b to a file.
// unsigned long Length(int file); // File size in bytes
char* GetWebDir(); // Where the htm etc files are
char* GetGCodeDir(); // Where the gcodes are
char* GetSysDir(); // Where the system files are
char* GetTempDir(); // Where temporary files are
char* GetConfigFile(); // Where the configuration is stored (in the system dir).
// void Close(int file); // Close a file or device, writing any unwritten buffer contents first.
// bool DeleteFile(char* directory, char* fileName); // Delete a file
void Message(char type, char* message); // Send a message. Messages may simply flash an LED, or,
// say, display the messages on an LCD. This may also transmit the messages to the host.
@ -421,10 +410,6 @@ class Platform
bool active;
// Load settings from local storage
bool LoadFromStore();
void InitialiseInterrupts();
char* CombineName(char* result, char* directory, char* fileName);
@ -437,6 +422,7 @@ class Platform
int8_t directionPins[DRIVES];
int8_t enablePins[DRIVES];
bool disableDrives[DRIVES];
bool driveEnabled[DRIVES];
int8_t lowStopPins[DRIVES];
int8_t highStopPins[DRIVES];
float maxFeedrates[DRIVES];
@ -625,35 +611,6 @@ inline void Network::Spin()
}
// Serial input
// Byte available from (for example) USB?
//inline bool Platform::SerialAvailable()
//{
// return Serial.available() > 0;
//}
// Read a serial byte into b; result is true unless no byte is available
//inline bool Platform::SerialRead(char& b)
//{
// int incomingByte = Serial.read();
// if(incomingByte < 0)
// return false;
// b = (char)incomingByte;
// return true;
//}
//*****************************************************************************************************************
// Drive the RepRap machine - Movement
@ -675,17 +632,46 @@ inline float Platform::InstantDv(int8_t drive)
inline void Platform::SetDirection(byte drive, bool direction)
{
if(directionPins[drive] >= 0)
digitalWrite(directionPins[drive], direction);
if(directionPins[drive] < 0)
return;
if(drive == AXES)
digitalWriteNonDue(directionPins[drive], direction);
else
digitalWrite(directionPins[drive], direction);
}
inline void Platform::Disable(byte drive)
{
if(enablePins[drive] < 0)
return;
if(drive >= Z_AXIS)
digitalWriteNonDue(enablePins[drive], DISABLE);
else
digitalWrite(enablePins[drive], DISABLE);
driveEnabled[drive] = false;
}
inline void Platform::Step(byte drive)
{
if(stepPins[drive] >= 0)
{
digitalWrite(stepPins[drive], 0);
digitalWrite(stepPins[drive], 1);
}
if(stepPins[drive] < 0)
return;
if(!driveEnabled[drive] && enablePins[drive] >= 0)
{
if(drive >= Z_AXIS)
digitalWriteNonDue(enablePins[drive], ENABLE);
else
digitalWrite(enablePins[drive], ENABLE);
driveEnabled[drive] = true;
}
if(drive == AXES)
{
digitalWriteNonDue(stepPins[drive], 0);
digitalWriteNonDue(stepPins[drive], 1);
} else
{
digitalWrite(stepPins[drive], 0);
digitalWrite(stepPins[drive], 1);
}
}
// current is in mA
@ -694,12 +680,24 @@ inline void Platform::SetMotorCurrent(byte drive, float current)
{
if(potWipes[drive] < 0)
return;
unsigned short pot = (unsigned short)(0.256*current*8.0*senseResistor/maxAtoDVoltage);
if(drive<2)
{
mcp.setNonVolatileWiper(potWipes[drive], 0x55);
mcp.setVolatileWiper(potWipes[drive], 0x55);
} else
{
mcp.setNonVolatileWiper(potWipes[drive], 0xAA);
mcp.setVolatileWiper(potWipes[drive], 0xAA);
}
/* unsigned short pot = (unsigned short)(0.256*current*8.0*senseResistor/maxAtoDVoltage);
//if(drive < Z_AXIS)
// pot = 256 - pot;
Message(HOST_MESSAGE, "Set pot to: ");
sprintf(scratchString, "%d", pot);
Message(HOST_MESSAGE, scratchString);
Message(HOST_MESSAGE, "\n");
mcp.setNonVolatileWiper(potWipes[drive], pot);
mcp.setVolatileWiper(potWipes[drive], pot);*/
}
inline float Platform::HomeFeedRate(int8_t drive)

BIN
Release/RepRapFirmware.bin
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4668
Release/RepRapFirmware.map
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File diff suppressed because it is too large Load diff

3
RepRapFirmware.cpp
View file

@ -175,8 +175,9 @@ void RepRap::Init()
webserver->Init();
move->Init();
heat->Init();
platform->Message(HOST_MESSAGE, "RepRapPro RepRap Firmware (Re)Started\n");
active = true;
gCodes->RunConfigurationGCodes();
platform->Message(HOST_MESSAGE, "RepRapPro RepRap Firmware (Re)Started\n");
}
void RepRap::Exit()

11
SD-image/sys/config.g Normal file
View file

@ -0,0 +1,11 @@
; RepRapPro Ormerod
; Standard configuration G Codes
M111 S1; Debug on
G21 ; mm
G90 ; Absolute positioning
M83 ; Extrusion relative
M107; Fan off
M906 X250 Y250 Z250 E250 ; Motor currents (mA)
T0 ; Extruder 0

0
SD-image/sys/props.txt
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