312 lines
10 KiB
C++
312 lines
10 KiB
C++
/****************************************************************************************************
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RepRapFirmware - Platform: RepRapPro Mendel with Prototype Arduino Due controller
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Platform contains all the code and definitons to deal with machine-dependent things such as control
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pins, bed area, number of extruders, tolerable accelerations and speeds and so on.
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No definitions that are system-independent should go in here. Put them in Configuration.h. Note that
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the lengths of arrays such as DRIVES (see below) are defined here, so any array initialiser that depends on those
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lengths, for example:
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#define DRIVES 4
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.
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.
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.
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#define DRIVE_RELATIVE_MODES {false, false, false, true}
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also needs to go here.
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-----------------------------------------------------------------------------------------------------
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Version 0.1
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18 November 2012
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Adrian Bowyer
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RepRap Professional Ltd
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http://reprappro.com
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Licence: GPL
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****************************************************************************************************/
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#ifndef PLATFORM_H
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#define PLATFORM_H
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// Language-specific includes
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#include <stdio.h>
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#include <ctype.h>
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// Platform-specific includes
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#include <Arduino.h>
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/**************************************************************************************************/
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// The physical capabilities of the machine
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#define DRIVES 4 // The number of drives in the machine, including X, Y, and Z plus extruder drives
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#define AXES 3 // The number of movement axes in the machine, usually just X, Y and Z. <= DRIVES
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#define HEATERS 2 // The number of heaters in the machine, including the heated bed if any.
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// The numbers of entries in each array must correspond with the values of DRIVES,
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// AXES, or HEATERS. Set values to -1 to flag unavailability.
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// DRIVES
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#define STEP_PINS {54, 60, 46, 26}
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#define DIRECTION_PINS {55, 61, 48, 28}
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#define FORWARDS 1 // What to send to go...
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#define BACKWARDS 0 // ...in each direction
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#define ENABLE_PINS {38, -1, 62, -1}
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#define ENABLE 0 // What to send to enable...
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#define DISABLE 1 // ...and disable a drive
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#define DISABLE_DRIVES {false, false, true, false} // Set true to disable a drive when it becomes idle
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#define LOW_STOP_PINS {3, 14, 17, -1}
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#define HIGH_STOP_PINS {-1, -1, -1, -1}
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#define ENDSTOP_HIT 1 // when a stop == this it is hit
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#define MAX_FEEDRATES {300, 300, 3, 45} // mm/sec
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#define MAX_ACCELERATIONS {800, 800, 30, 250} // mm/sec^2?? Maximum start speed for accelerated moves.
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#define DRIVE_STEPS_PER_UNIT {91.4286, 91.4286, 4000, 929}
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#define JERKS {15.0, 15.0, 0.4, 15.0} // (mm/sec)
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#define DRIVE_RELATIVE_MODES {false, false, false, true} // false for default absolute movement, true for relative to last position
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#define GCODE_LETTERS {'X', 'Y', 'Z', 'E', 'F' }
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// AXES
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#define AXIS_LENGTHS {210, 210, 120} // mm
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#define FAST_HOME_FEEDRATES {50*60, 50*60, 1*60} // mm/min
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#define X_AXIS 0 // The index of the X axis
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#define Y_AXIS 1 // The index of the Y axis
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#define Z_AXIS 2 // The index of the Z axis
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// HEATERS - Bed is assumed to be the first
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#define TEMP_SENSE_PINS {10, 9} // Analogue pin numbers
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#define HEAT_ON_PINS {8, 9}
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#define THERMISTOR_BETAS {3480.0, 3960.0} // Bed thermistor: RS 484-0149; EPCOS B57550G103J; Extruder thermistor: RS 198-961
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#define THERMISTOR_SERIES_RS {4700, 4700} // Ohms in series with the thermistors
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#define THERMISTOR_25_RS {10000.0, 100000.0} // Thermistor ohms at 25 C = 298.15 K
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#define USE_PID {false, true} // PID or bang-bang for this heater?
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#define PID_KIS {-1, 100} // PID constants...
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#define PID_KDS {-1, 100}
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#define PID_KPS {-1, 100}
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#define PID_I_LIMITS {-1, 100} // ... to here
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#define TEMP_INTERVAL 0.5 // secs - check and control temperatures this often
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#define AD_RANGE 1023.0//16383 // The A->D converter that measures temperatures gives an int this big as its max value
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#define HOT_BED 0 // The index of the heated bed; set to -1 if there is no heated bed
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/****************************************************************************************************/
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// File handling
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#define MAX_FILES 7
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#define FILE_BUF_LEN 256
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#define SD_SPI 4 //Pin
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#define WEB_DIR "www/" // Place to find web files on the server
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#define GCODE_DIR "gcodes/" // Ditto - g-codes
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#define SYS_DIR "sys/" // Ditto - system files
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#define TEMP_DIR "tmp/" // Ditto - temporary files
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#define FILE_LIST_SEPARATOR ','
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#define FILE_LIST_BRACKET '"'
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#define FILE_LIST_LENGTH 1000 // Maximum lenght of file list
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/****************************************************************************************************/
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// Networking
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// Enter a MAC address and IP address for your controller below.
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// The IP address will be dependent on your local network:
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#define MAC { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
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#define MAC_BYTES 6
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#define IP0 192
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#define IP1 168
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#define IP2 1
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#define IP3 14
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#define ETH_B_PIN 10
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// port 80 is default for HTTP
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#define HTTP_PORT 80
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// Connection statuses - ORed
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#define CLIENT 1
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#define CONNECTED 2
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#define AVAILABLE 4
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/****************************************************************************************************/
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// Miscellaneous...
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#define LED_PIN 13 // Indicator LED
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#define BAUD_RATE 115200 // Communication speed of the USB if needed.
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#define GCODE_LENGTH 100 // Maximum lenght of internally-generated G Code string
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/****************************************************************************************************/
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class RepRap;
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class Platform
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{
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public:
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friend class Move;
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Platform(RepRap* r);
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RepRap* GetRepRap();
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//-------------------------------------------------------------------------------------------------------------
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// These are the functions that form the interface between Platform and the rest of the firmware.
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void Init(); // Set the machine up after a restart. If called subsequently this should set the machine up as if
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// it has just been restarted; it can do this by executing an actual restart if you like, but beware the
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// loop of death...
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void Spin(); // This gets called in the main loop and should do any housekeeping needed
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void Exit(); // Shut down tidily. Calling Init after calling this should reset to the beginning
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// Timing
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unsigned long Time(); // Returns elapsed microseconds since some arbitrary time
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void SetInterrupt(long t); // Set a regular interrupt going every t microseconds; if t is -ve turn interrupt off
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void Interrupt(); // The function that the interrupt calls
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// Communications and data storage; opening something unsupported returns -1.
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char* FileList(char* directory); // Returns a ;-separated list of all the files in the named directory (for example on an SD card).
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int OpenFile(char* fileName, boolean write); // Open a local file (for example on an SD card).
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void GoToEnd(int file); // Position the file at the end (so you can write on the end).
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boolean Read(int file, unsigned char& b); // Read a single byte from a file into b,
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// returned value is false for EoF, true otherwise
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void WriteString(int file, char* s); // Write the string to a file.
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void Write(int file, char b); // Write the byte b to a file.
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unsigned long Length(int file); // File size in bytes
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char* GetWebDir(); // Where the php/htm etc files are
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char* GetGcodeDir(); // Where the gcodes are
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char* GetSysDir(); // Where the system files are
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char* GetTempDir(); // Where temporary files are
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void Close(int file); // Close a file or device, writing any unwritten buffer contents first.
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boolean DeleteFile(char* fileName); // Delete a file
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char* PrependRoot(char* root, char* fileName);
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unsigned char ClientRead(); // Read a byte from the client
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void SendToClient(char* message); // Send string to the host
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void SendToClient(unsigned char b); // Send byte to the host
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int ClientStatus(); // Check client's status
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void DisconnectClient(); //Disconnect the client
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void Message(char type, char* message); // Send a message. Messages may simply flash an LED, or,
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// say, display the messages on an LCD. This may also transmit the messages to the host.
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// Movement
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void SetDirection(byte drive, bool direction);
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void Step(byte drive);
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void Disable(byte drive); // There is no drive enable; drives get enabled automatically the first time they are used.
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void Home(byte axis);
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float ZProbe(); // Return the height above the bed. Returned value is negative if probing isn't implemented
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void ZProbe(float h); // Move to height h above the bed using the probe (if there is one). h should be non-negative.
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// Heat and temperature
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float GetTemperature(byte heater); // Result is in degrees celsius
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void SetHeater(byte heater, const float& power); // power is a fraction in [0,1]
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//-------------------------------------------------------------------------------------------------------
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private:
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unsigned long lastTime;
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boolean active;
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// Load settings from local storage
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bool LoadFromStore();
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int GetRawTemperature(byte heater);
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RepRap* reprap;
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// DRIVES
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char stepPins[DRIVES];
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char directionPins[DRIVES];
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char enablePins[DRIVES];
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boolean disableDrives[DRIVES];
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char lowStopPins[DRIVES];
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char highStopPins[DRIVES];
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float maxFeedrates[DRIVES];
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float maxAccelerations[DRIVES];
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float driveStepsPerUnit[DRIVES];
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float jerks[DRIVES];
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boolean driveRelativeModes[DRIVES];
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// AXES
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float axisLengths[AXES];
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float fastHomeFeedrates[AXES];
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// HEATERS - Bed is assumed to be the first
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char tempSensePins[HEATERS];
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char heatOnPins[HEATERS];
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float thermistorBetas[HEATERS];
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float thermistorSeriesRs[HEATERS];
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float thermistorInfRs[HEATERS];
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boolean usePid[HEATERS];
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float pidKis[HEATERS];
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float pidKds[HEATERS];
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float pidKps[HEATERS];
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float pidILimits[HEATERS];
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// Files
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File* files;
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boolean* inUse;
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char* webDir;
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char* gcodeDir;
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char* sysDir;
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char* tempDir;
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byte* buf[MAX_FILES];
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int bPointer[MAX_FILES];
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char fileList[FILE_LIST_LENGTH];
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char scratchString[STRING_LENGTH];
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// Network connection
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void ClientMonitor();
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byte mac[MAC_BYTES];
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EthernetServer* server;
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EthernetClient client;
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int clientStatus;
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};
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inline unsigned long Platform::Time()
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{
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return micros();
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}
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#endif
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