404 lines
8.4 KiB
C++
404 lines
8.4 KiB
C++
/****************************************************************************************************
|
|
|
|
RepRapFirmware - Platform: RepRapPro Mendel with Prototype Arduino Due controller
|
|
|
|
Platform contains all the code and definitons to deal with machine-dependent things such as control
|
|
pins, bed area, number of extruders, tolerable accelerations and speeds and so on.
|
|
|
|
-----------------------------------------------------------------------------------------------------
|
|
|
|
Version 0.1
|
|
|
|
18 November 2012
|
|
|
|
Adrian Bowyer
|
|
RepRap Professional Ltd
|
|
http://reprappro.com
|
|
|
|
Licence: GPL
|
|
|
|
****************************************************************************************************/
|
|
|
|
#include "RepRapFirmware.h"
|
|
|
|
// Arduino initialise and loop functions
|
|
// Put nothing in these other than calls to the RepRap equivalents
|
|
|
|
void setup()
|
|
{
|
|
reprap.init();
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
reprap.spin();
|
|
}
|
|
|
|
//*************************************************************************************************
|
|
|
|
Platform::Platform(RepRap* r)
|
|
{
|
|
reprap = r;
|
|
init();
|
|
}
|
|
|
|
RepRap* Platform::getRepRap()
|
|
{
|
|
return reprap;
|
|
}
|
|
|
|
void Platform::init()
|
|
{
|
|
byte i;
|
|
|
|
Serial.begin(BAUD_RATE);
|
|
Serial.println("\n\n\nPlatform constructor");
|
|
|
|
lastTime = time();
|
|
|
|
if(!loadFromStore())
|
|
{
|
|
// DRIVES
|
|
|
|
stepPins = STEP_PINS;
|
|
directionPins = DIRECTION_PINS;
|
|
enablePins = ENABLE_PINS;
|
|
disableDrives = DISABLE_DRIVES;
|
|
maxFeedrates = MAX_FEEDRATES;
|
|
maxAccelerations = MAX_ACCELERATIONS;
|
|
driveStepsPerUnit = DRIVE_STEPS_PER_UNIT;
|
|
jerks = JERKS;
|
|
driveRelativeModes = DRIVE_RELATIVE_MODES;
|
|
|
|
// AXES
|
|
|
|
lowStopPins = LOW_STOP_PINS;
|
|
highStopPins = HIGH_STOP_PINS;
|
|
axisLengths = AXIS_LENGTHS;
|
|
fastHomeFeedrates = FAST_HOME_FEEDRATES;
|
|
|
|
// 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;
|
|
pidILimits = PID_I_LIMITS;
|
|
}
|
|
|
|
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);
|
|
}
|
|
}
|
|
|
|
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
|
|
}
|
|
}
|
|
|
|
|
|
for(i = 0; i < HEATERS; i++)
|
|
{
|
|
if(heatOnPins[i] >= 0)
|
|
pinMode(heatOnPins[i], OUTPUT);
|
|
Serial.println(thermistorInfRs[i]);
|
|
thermistorInfRs[i] = ( thermistorInfRs[i]*exp(-thermistorBetas[i]/(25.0 - ABS_ZERO)) );
|
|
Serial.println(thermistorInfRs[i]);
|
|
}
|
|
|
|
// Files
|
|
|
|
files = new File[MAX_FILES];
|
|
inUse = new boolean[MAX_FILES];
|
|
for(i=0; i < MAX_FILES; i++)
|
|
inUse[i] = false;
|
|
inUse[EEPROM] = true;
|
|
|
|
// Network
|
|
|
|
mac = MAC;
|
|
server = new EthernetServer(HTTP_PORT);
|
|
|
|
// disable SD SPI while starting w5100
|
|
// or you will have trouble
|
|
pinMode(SD_SPI, OUTPUT);
|
|
digitalWrite(SD_SPI,HIGH);
|
|
|
|
Ethernet.begin(mac, *(new IPAddress(IP0, IP1, IP2, IP3)));
|
|
server->begin();
|
|
|
|
//Serial.print("server is at ");
|
|
//Serial.println(Ethernet.localIP());
|
|
|
|
// this corrects a bug in the Ethernet.begin() function
|
|
// even tho the call to Ethernet.localIP() does the same thing
|
|
digitalWrite(ETH_B_PIN, HIGH);
|
|
|
|
clientStatus = 0;
|
|
client = 0;
|
|
|
|
if (!SD.begin(SD_SPI))
|
|
Serial.println("SD initialization failed.");
|
|
// SD.begin() returns with the SPI disabled, so you need not disable it here
|
|
|
|
|
|
}
|
|
|
|
|
|
// Load settings from local storage; return true if successful, false otherwise
|
|
|
|
bool Platform::loadFromStore()
|
|
{
|
|
return false;
|
|
}
|
|
|
|
//===========================================================================
|
|
//=============================Thermal Settings ============================
|
|
//===========================================================================
|
|
|
|
// See http://en.wikipedia.org/wiki/Thermistor#B_or_.CE.B2_parameter_equation
|
|
|
|
// BETA is the B value
|
|
// RS is the value of the series resistor in ohms
|
|
// R_INF is R0.exp(-BETA/T0), where R0 is the thermistor resistance at T0 (T0 is in kelvin)
|
|
// Normally T0 is 298.15K (25 C). If you write that expression in brackets in the #define the compiler
|
|
// should compute it for you (i.e. it won't need to be calculated at run time).
|
|
|
|
// If the A->D converter has a range of 0..1023 and the measured voltage is V (between 0 and 1023)
|
|
// then the thermistor resistance, R = V.RS/(1023 - V)
|
|
// and the temperature, T = BETA/ln(R/R_INF)
|
|
// To get degrees celsius (instead of kelvin) add -273.15 to T
|
|
//#define THERMISTOR_R_INFS ( THERMISTOR_25_RS*exp(-THERMISTOR_BETAS/298.15) ) // Compute in Platform constructor
|
|
|
|
// Result is in degrees celsius
|
|
|
|
float Platform::getTemperature(byte heater)
|
|
{
|
|
float r = (float)getRawTemperature(heater);
|
|
//Serial.println(r);
|
|
return ABS_ZERO + thermistorBetas[heater]/log( (r*thermistorSeriesRs[heater]/(AD_RANGE - r))/thermistorInfRs[heater] );
|
|
}
|
|
|
|
|
|
// power is a fraction in [0,1]
|
|
|
|
void Platform::setHeater(byte heater, const float& power)
|
|
{
|
|
if(power <= 0)
|
|
{
|
|
digitalWrite(heatOnPins[heater], 0);
|
|
return;
|
|
}
|
|
|
|
if(power >= 1.0)
|
|
{
|
|
digitalWrite(heatOnPins[heater], 1);
|
|
return;
|
|
}
|
|
|
|
byte p = (byte)(255.0*power);
|
|
analogWrite(heatOnPins[heater], p);
|
|
}
|
|
|
|
|
|
/*********************************************************************************
|
|
|
|
Files & Communication
|
|
|
|
*/
|
|
|
|
// Open a local file (for example on an SD card).
|
|
|
|
int Platform::OpenFile(char* fileName, boolean write)
|
|
{
|
|
int result = -1;
|
|
for(int i=0; i < MAX_FILES; i++)
|
|
if(!inUse[i])
|
|
{
|
|
result = i;
|
|
break;
|
|
}
|
|
if(result < 0)
|
|
{
|
|
Message(HOST_MESSAGE, "Max open file count exceeded.");
|
|
return -1;
|
|
}
|
|
|
|
if(!SD.exists(fileName))
|
|
{
|
|
if(!write)
|
|
{
|
|
Message(HOST_MESSAGE, "File not found for reading");
|
|
return -1;
|
|
}
|
|
files[result] = SD.open(fileName, FILE_WRITE);
|
|
} else
|
|
{
|
|
if(write)
|
|
files[result] = SD.open(fileName, FILE_WRITE);
|
|
else
|
|
files[result] = SD.open(fileName, FILE_READ);
|
|
}
|
|
|
|
inUse[result] = true;
|
|
return result;
|
|
}
|
|
|
|
void Platform::Close(int file)
|
|
{
|
|
if(file == EEPROM)
|
|
{
|
|
// ? inUse[file] = false;
|
|
return;
|
|
}
|
|
|
|
files[file].close();
|
|
inUse[file] = false;
|
|
}
|
|
|
|
|
|
|
|
boolean Platform::EepromRead(unsigned char& b)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
boolean Platform::Read(int file, unsigned char& b)
|
|
{
|
|
if(!inUse[file])
|
|
{
|
|
Message(HOST_MESSAGE, "Attempt to read from a non-open file.");
|
|
return false;
|
|
}
|
|
|
|
if(file == EEPROM)
|
|
return EepromRead(b);
|
|
|
|
if(!files[file].available())
|
|
return false;
|
|
b = (unsigned char) files[file].read();
|
|
return true;
|
|
}
|
|
|
|
void Platform::Write(int file, char b)
|
|
{
|
|
if(!inUse[file])
|
|
{
|
|
Message(HOST_MESSAGE, "Attempt to write byte to a non-open file.");
|
|
return;
|
|
}
|
|
|
|
if(file == EEPROM)
|
|
{
|
|
// Do something here
|
|
return;
|
|
}
|
|
|
|
files[file].write(b);
|
|
}
|
|
|
|
void Platform::WriteString(int file, char* b)
|
|
{
|
|
if(!inUse[file])
|
|
{
|
|
Message(HOST_MESSAGE, "Attempt to write string to a non-open file.");
|
|
return;
|
|
}
|
|
|
|
if(file == EEPROM)
|
|
{
|
|
// Do something here
|
|
return;
|
|
}
|
|
|
|
files[file].print(b);
|
|
}
|
|
|
|
|
|
void Platform::Message(char type, char* message)
|
|
{
|
|
switch(type)
|
|
{
|
|
case FLASH_LED:
|
|
// Message that is to flash an LED; the next two bytes define
|
|
// the frequency and M/S ratio.
|
|
|
|
break;
|
|
|
|
case DISPLAY_MESSAGE:
|
|
// Message that is to appear on a local display; \f and \n should be supported.
|
|
case HOST_MESSAGE:
|
|
default:
|
|
|
|
Serial.println(message);
|
|
|
|
}
|
|
}
|
|
|
|
// Send something to the network client
|
|
|
|
void Platform::SendToClient(char* message)
|
|
{
|
|
if(client)
|
|
{
|
|
client.print(message);
|
|
//Serial.print("Sent: ");
|
|
//Serial.print(message);
|
|
} else
|
|
Message(HOST_MESSAGE, "Attempt to send string to disconnected client.");
|
|
}
|
|
|
|
//***************************************************************************************************
|
|
|
|
|
|
|
|
|
|
void Platform::spin()
|
|
{
|
|
ClientMonitor();
|
|
if(time() - lastTime < 2000000)
|
|
return;
|
|
lastTime = time();
|
|
//Serial.print("Client status: ");
|
|
//Serial.println(clientStatus);
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|