diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 83944ab032..ca72ae2b57 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -2,7 +2,7 @@ #define CONFIGURATION_H // This configurtion file contains the basic settings. -// Advanced settings can be found in Configuration_adv.h +// Advanced settings can be found in Configuration_adv.h // BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration //User specified version info of this build to display in [Pronterface, etc] terminal window during startup. @@ -51,6 +51,9 @@ #define MOTHERBOARD 7 #endif +// This defines the number of extruders +#define EXTRUDERS 1 + //// The following define selects which power supply you have. Please choose the one that matches your setup // 1 = ATX // 2 = X-Box 360 203Watts (the blue wire connected to PS_ON and the red wire to VCC) @@ -78,7 +81,7 @@ // 9 is 100k GE Sensing AL03006-58.2K-97-G1 (4.7k pullup) // 10 is 100k RS thermistor 198-961 (4.7k pullup) // -// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k +// 1k ohm pullup tables - This is not normal, you would have to have changed out your 4.7k for 1k // (but gives greater accuracy and more stable PID) // 51 is 100k thermistor - EPCOS (1k pullup) // 52 is 200k thermistor - ATC Semitec 204GT-2 (1k pullup) @@ -90,12 +93,12 @@ #define TEMP_SENSOR_BED 0 // Actual temperature must be close to target for this long before M109 returns success -#define TEMP_RESIDENCY_TIME 10 // (seconds) +#define TEMP_RESIDENCY_TIME 10 // (seconds) #define TEMP_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one #define TEMP_WINDOW 1 // (degC) Window around target to start the recidency timer x degC early. // The minimal temperature defines the temperature below which the heater will not be enabled It is used -// to check that the wiring to the thermistor is not broken. +// to check that the wiring to the thermistor is not broken. // Otherwise this would lead to the heater being powered on all the time. #define HEATER_0_MINTEMP 5 #define HEATER_1_MINTEMP 5 @@ -121,7 +124,7 @@ #define BANG_MAX 256 // limits current to nozzle while in bang-bang mode; 256=full current #define PID_MAX 256 // limits current to nozzle while PID is active (see PID_FUNCTIONAL_RANGE below); 256=full current #ifdef PIDTEMP - //#define PID_DEBUG // Sends debug data to the serial port. + //#define PID_DEBUG // Sends debug data to the serial port. //#define PID_OPENLOOP 1 // Puts PID in open loop. M104/M140 sets the output power from 0 to PID_MAX #define PID_FUNCTIONAL_RANGE 10 // If the temperature difference between the target temperature and the actual temperature // is more then PID_FUNCTIONAL_RANGE then the PID will be shut off and the heater will be set to min/max. @@ -132,15 +135,15 @@ // If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it // Ultimaker #define DEFAULT_Kp 22.2 - #define DEFAULT_Ki 1.08 - #define DEFAULT_Kd 114 + #define DEFAULT_Ki 1.08 + #define DEFAULT_Kd 114 // Makergear // #define DEFAULT_Kp 7.0 -// #define DEFAULT_Ki 0.1 -// #define DEFAULT_Kd 12 +// #define DEFAULT_Ki 0.1 +// #define DEFAULT_Kd 12 -// Mendel Parts V9 on 12V +// Mendel Parts V9 on 12V // #define DEFAULT_Kp 63.0 // #define DEFAULT_Ki 2.25 // #define DEFAULT_Kd 440 @@ -149,11 +152,11 @@ // Bed Temperature Control // Select PID or bang-bang with PIDTEMPBED. If bang-bang, BED_LIMIT_SWITCHING will enable hysteresis // -// uncomment this to enable PID on the bed. It uses the same ferquency PWM as the extruder. +// uncomment this to enable PID on the bed. It uses the same ferquency PWM as the extruder. // If your PID_dT above is the default, and correct for your hardware/configuration, that means 7.689Hz, // which is fine for driving a square wave into a resistive load and does not significantly impact you FET heating. -// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater. -// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly +// This also works fine on a Fotek SSR-10DA Solid State Relay into a 250W heater. +// If your configuration is significantly different than this and you don't understand the issues involved, you proabaly // shouldn't use bed PID until someone else verifies your hardware works. // If this is enabled, find your own PID constants below. //#define PIDTEMPBED @@ -223,9 +226,9 @@ #endif // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins. -const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. -const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. -const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. +const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. +const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. +const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. //#define DISABLE_MAX_ENDSTOPS // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 @@ -280,13 +283,13 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E #define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min) -// default settings +// default settings #define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200.0*8/3,760*1.1} // default steps per unit for ultimaker #define DEFAULT_MAX_FEEDRATE {500, 500, 5, 25} // (mm/sec) #define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. -#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves +#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves #define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts // Offset of the extruders (uncomment if using more than one and relying on firmware to position when changing). @@ -307,7 +310,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th // EEPROM // the microcontroller can store settings in the EEPROM, e.g. max velocity... // M500 - stores paramters in EEPROM -// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). +// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. //define this to enable eeprom support //#define EEPROM_SETTINGS @@ -315,9 +318,18 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th // please keep turned on if you can. //#define EEPROM_CHITCHAT +// Preheat Constants +#define PLA_PREHEAT_HOTEND_TEMP 180 +#define PLA_PREHEAT_HPB_TEMP 70 +#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 + +#define ABS_PREHEAT_HOTEND_TEMP 240 +#define ABS_PREHEAT_HPB_TEMP 100 +#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 + //LCD and SD support //#define ULTRA_LCD //general lcd support, also 16x2 -//#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family) +//#define DOGLCD // Support for SPI LCD 128x64 (Controller ST7565R graphic Display Family) //#define SDSUPPORT // Enable SD Card Support in Hardware Console //#define SDSLOW // Use slower SD transfer mode (not normally needed - uncomment if you're getting volume init error) @@ -353,43 +365,74 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th #if defined(ULTIMAKERCONTROLLER) || defined(REPRAP_DISCOUNT_SMART_CONTROLLER) || defined(G3D_PANEL) #define ULTIPANEL #define NEWPANEL -#endif +#endif #if defined(REPRAPWORLD_KEYPAD) #define NEWPANEL #define ULTIPANEL #endif -// Preheat Constants -#define PLA_PREHEAT_HOTEND_TEMP 180 -#define PLA_PREHEAT_HPB_TEMP 70 -#define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 +//I2C PANELS -#define ABS_PREHEAT_HOTEND_TEMP 240 -#define ABS_PREHEAT_HPB_TEMP 100 -#define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 +//#define LCD_I2C_SAINSMART_YWROBOT +#ifdef LCD_I2C_SAINSMART_YWROBOT + // This uses the LiquidCrystal_I2C library ( https://bitbucket.org/fmalpartida/new-liquidcrystal/wiki/Home ) + // Make sure it is placed in the Arduino libraries directory. + #define LCD_I2C_TYPE_PCF8575 + #define LCD_I2C_ADDRESS 0x27 // I2C Address of the port expander + #define NEWPANEL + #define ULTIPANEL +#endif +// PANELOLU2 LCD with status LEDs, separate encoder and click inputs +//#define LCD_I2C_PANELOLU2 +#ifdef LCD_I2C_PANELOLU2 + // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 ) + // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory. + // (v1.2.3 no longer requires you to define PANELOLU in the LiquidTWI2.h library header file) + // Note: The PANELOLU2 encoder click input can either be directly connected to a pin + // (if BTN_ENC defined to != -1) or read through I2C (when BTN_ENC == -1). + #define LCD_I2C_TYPE_MCP23017 + #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander + #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD + #define NEWPANEL + #define ULTIPANEL +#endif + +// Panucatt VIKI LCD with status LEDs, integrated click & L/R/U/P buttons, separate encoder inputs +//#define LCD_I2C_VIKI +#ifdef LCD_I2C_VIKI + // This uses the LiquidTWI2 library v1.2.3 or later ( https://github.com/lincomatic/LiquidTWI2 ) + // Make sure the LiquidTWI2 directory is placed in the Arduino or Sketchbook libraries subdirectory. + // Note: The pause/stop/resume LCD button pin should be connected to the Arduino + // BTN_ENC pin (or set BTN_ENC to -1 if not used) + #define LCD_I2C_TYPE_MCP23017 + #define LCD_I2C_ADDRESS 0x20 // I2C Address of the port expander + #define LCD_USE_I2C_BUZZER //comment out to disable buzzer on LCD (requires LiquidTWI2 v1.2.3 or later) + #define NEWPANEL + #define ULTIPANEL +#endif #ifdef ULTIPANEL // #define NEWPANEL //enable this if you have a click-encoder panel #define SDSUPPORT #define ULTRA_LCD - #ifdef DOGLCD // Change number of lines to match the DOG graphic display - #define LCD_WIDTH 20 - #define LCD_HEIGHT 5 - #else - #define LCD_WIDTH 20 - #define LCD_HEIGHT 4 - #endif -#else //no panel but just lcd + #ifdef DOGLCD // Change number of lines to match the DOG graphic display + #define LCD_WIDTH 20 + #define LCD_HEIGHT 5 + #else + #define LCD_WIDTH 20 + #define LCD_HEIGHT 4 + #endif +#else //no panel but just lcd #ifdef ULTRA_LCD - #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display - #define LCD_WIDTH 20 - #define LCD_HEIGHT 5 - #else - #define LCD_WIDTH 16 - #define LCD_HEIGHT 2 - #endif + #ifdef DOGLCD // Change number of lines to match the 128x64 graphics display + #define LCD_WIDTH 20 + #define LCD_HEIGHT 5 + #else + #define LCD_WIDTH 16 + #define LCD_HEIGHT 2 + #endif #endif #endif @@ -403,6 +446,26 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th // SF send wrong arc g-codes when using Arc Point as fillet procedure //#define SF_ARC_FIX +// Support for the BariCUDA Paste Extruder. +//#define BARICUDA + +/*********************************************************************\ +* +* R/C SERVO support +* +* Sponsored by TrinityLabs, Reworked by codexmas +* +**********************************************************************/ + +// Number of servos +// +// If you select a configuration below, this will receive a default value and does not need to be set manually +// set it manually if you have more servos than extruders and wish to manually control some +// leaving it undefined or defining as 0 will disable the servo subsystem +// If unsure, leave commented / disabled +// +// #define NUM_SERVOS 3 + #include "Configuration_adv.h" #include "thermistortables.h" diff --git a/Marlin/Configuration_adv.h b/Marlin/Configuration_adv.h index 7fc95b9979..afdd684415 100644 --- a/Marlin/Configuration_adv.h +++ b/Marlin/Configuration_adv.h @@ -63,21 +63,31 @@ //This is for controlling a fan to cool down the stepper drivers //it will turn on when any driver is enabled //and turn off after the set amount of seconds from last driver being disabled again -//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function -#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run +#define CONTROLLERFAN_PIN -1 //Pin used for the fan to cool controller (-1 to disable) +#define CONTROLLERFAN_SECS 60 //How many seconds, after all motors were disabled, the fan should run +#define CONTROLLERFAN_SPEED 255 // == full speed // When first starting the main fan, run it at full speed for the // given number of milliseconds. This gets the fan spinning reliably // before setting a PWM value. (Does not work with software PWM for fan on Sanguinololu) //#define FAN_KICKSTART_TIME 100 +// Extruder cooling fans +// Configure fan pin outputs to automatically turn on/off when the associated +// extruder temperature is above/below EXTRUDER_AUTO_FAN_TEMPERATURE. +// Multiple extruders can be assigned to the same pin in which case +// the fan will turn on when any selected extruder is above the threshold. +#define EXTRUDER_0_AUTO_FAN_PIN -1 +#define EXTRUDER_1_AUTO_FAN_PIN -1 +#define EXTRUDER_2_AUTO_FAN_PIN -1 +#define EXTRUDER_AUTO_FAN_TEMPERATURE 50 +#define EXTRUDER_AUTO_FAN_SPEED 255 // == full speed + + //=========================================================================== //=============================Mechanical Settings=========================== //=========================================================================== -// This defines the number of extruders -#define EXTRUDERS 1 - #define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing @@ -210,9 +220,9 @@ // However, THIS FEATURE IS UNSAFE!, as it will only work if interrupts are disabled. And the code could hang in an interrupt routine with interrupts disabled. //#define WATCHDOG_RESET_MANUAL #endif - -// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled. -//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED + +// Enable the option to stop SD printing when hitting and endstops, needs to be enabled from the LCD menu when this option is enabled. +//#define ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED // extruder advance constant (s2/mm3) // @@ -276,7 +286,7 @@ const unsigned int dropsegments=5; //everything with less than this number of st #else #define BLOCK_BUFFER_SIZE 16 // maximize block buffer #endif - + //The ASCII buffer for recieving from the serial: #define MAX_CMD_SIZE 96 diff --git a/Marlin/Makefile b/Marlin/Makefile index e09d15f067..c231735255 100644 --- a/Marlin/Makefile +++ b/Marlin/Makefile @@ -1,12 +1,12 @@ # Sprinter Arduino Project Makefile -# +# # Makefile Based on: # Arduino 0011 Makefile # Arduino adaptation by mellis, eighthave, oli.keller # Marlin adaption by Daid # # This has been tested with Arduino 0022. -# +# # This makefile allows you to build sketches from the command line # without the Arduino environment (or Java). # @@ -21,7 +21,7 @@ # (e.g. UPLOAD_PORT = /dev/tty.USB0). If the exact name of this file # changes, you can use * as a wildcard (e.g. UPLOAD_PORT = /dev/tty.usb*). # -# 3. Set the line containing "MCU" to match your board's processor. +# 3. Set the line containing "MCU" to match your board's processor. # Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth # or Diecimila have the atmega168. If you're using a LilyPad Arduino, # change F_CPU to 8000000. If you are using Gen7 electronics, you @@ -44,7 +44,7 @@ ARDUINO_INSTALL_DIR ?= ../../arduino-0022 ARDUINO_VERSION ?= 22 # You can optionally set a path to the avr-gcc tools. Requires a trailing slash. (ex: /usr/local/avr-gcc/bin) -AVR_TOOLS_PATH ?= +AVR_TOOLS_PATH ?= #Programmer configuration UPLOAD_RATE ?= 115200 @@ -213,7 +213,7 @@ CXXSRC = WMath.cpp WString.cpp Print.cpp Marlin_main.cpp \ SdFile.cpp SdVolume.cpp motion_control.cpp planner.cpp \ stepper.cpp temperature.cpp cardreader.cpp ConfigurationStore.cpp \ watchdog.cpp -CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp +CXXSRC += LiquidCrystal.cpp ultralcd.cpp SPI.cpp Servo.cpp #Check for Arduino 1.0.0 or higher and use the correct sourcefiles for that version ifeq ($(shell [ $(ARDUINO_VERSION) -ge 100 ] && echo true), true) @@ -317,19 +317,19 @@ endif # Default target. all: sizeafter -build: $(BUILD_DIR) elf hex +build: $(BUILD_DIR) elf hex # Creates the object directory -$(BUILD_DIR): +$(BUILD_DIR): $P mkdir -p $(BUILD_DIR) elf: $(BUILD_DIR)/$(TARGET).elf hex: $(BUILD_DIR)/$(TARGET).hex eep: $(BUILD_DIR)/$(TARGET).eep -lss: $(BUILD_DIR)/$(TARGET).lss +lss: $(BUILD_DIR)/$(TARGET).lss sym: $(BUILD_DIR)/$(TARGET).sym -# Program the device. +# Program the device. # Do not try to reset an arduino if it's not one upload: $(BUILD_DIR)/$(TARGET).hex ifeq (${AVRDUDE_PROGRAMMER}, arduino) @@ -356,7 +356,7 @@ COFFCONVERT=$(OBJCOPY) --debugging \ --change-section-address .data-0x800000 \ --change-section-address .bss-0x800000 \ --change-section-address .noinit-0x800000 \ - --change-section-address .eeprom-0x810000 + --change-section-address .eeprom-0x810000 coff: $(BUILD_DIR)/$(TARGET).elf diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 25c5aca636..551a553907 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -186,6 +186,10 @@ extern float add_homeing[3]; extern float min_pos[3]; extern float max_pos[3]; extern int fanSpeed; +#ifdef BARICUDA +extern int ValvePressure; +extern int EtoPPressure; +#endif #ifdef FWRETRACT extern bool autoretract_enabled; diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde index 4d7d0a2fd7..e02803ceb4 100644 --- a/Marlin/Marlin.pde +++ b/Marlin/Marlin.pde @@ -34,11 +34,17 @@ #include "pins.h" #ifdef ULTRA_LCD - #ifdef DOGLCD - #include // library for graphics LCD by Oli Kraus (https://code.google.com/p/u8glib/) - #else - #include // library for character LCD - #endif + #if defined(LCD_I2C_TYPE_PCF8575) + #include + #include + #elif defined(LCD_I2C_TYPE_MCP23017) || defined(LCD_I2C_TYPE_MCP23008) + #include + #include + #elif defined(DOGLCD) + #include // library for graphics LCD by Oli Kraus (https://code.google.com/p/u8glib/) + #else + #include // library for character LCD + #endif #endif #if DIGIPOTSS_PIN > -1 diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 9f2ba7be17..c59557c8e5 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -3,17 +3,17 @@ /* Reprap firmware based on Sprinter and grbl. Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm - + This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. - + This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. - + You should have received a copy of the GNU General Public License along with this program. If not, see . */ @@ -22,8 +22,8 @@ This firmware is a mashup between Sprinter and grbl. (https://github.com/kliment/Sprinter) (https://github.com/simen/grbl/tree) - - It has preliminary support for Matthew Roberts advance algorithm + + It has preliminary support for Matthew Roberts advance algorithm http://reprap.org/pipermail/reprap-dev/2011-May/003323.html */ @@ -40,7 +40,11 @@ #include "language.h" #include "pins_arduino.h" -#if DIGIPOTSS_PIN > -1 +#if NUM_SERVOS > 0 +#include "Servo.h" +#endif + +#if DIGIPOTSS_PIN > 0 #include #endif @@ -93,14 +97,18 @@ // M81 - Turn off Power Supply // M82 - Set E codes absolute (default) // M83 - Set E codes relative while in Absolute Coordinates (G90) mode -// M84 - Disable steppers until next move, +// M84 - Disable steppers until next move, // or use S to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout. // M85 - Set inactivity shutdown timer with parameter S. To disable set zero (default) // M92 - Set axis_steps_per_unit - same syntax as G92 -// M114 - Output current position to serial port -// M115 - Capabilities string +// M114 - Output current position to serial port +// M115 - Capabilities string // M117 - display message // M119 - Output Endstop status to serial port +// M126 - Solenoid Air Valve Open (BariCUDA support by jmil) +// M127 - Solenoid Air Valve Closed (BariCUDA vent to atmospheric pressure by jmil) +// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil) +// M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil) // M140 - Set bed target temp // M190 - Wait for bed current temp to reach target temp. // M200 - Set filament diameter @@ -117,6 +125,7 @@ // M220 S- set speed factor override percentage // M221 S- set extrude factor override percentage // M240 - Trigger a camera to take a photograph +// M280 - set servo position absolute. P: servo index, S: angle or microseconds // M300 - Play beepsound S P // M301 - Set PID parameters P I and D // M302 - Allow cold extrudes @@ -124,7 +133,7 @@ // M304 - Set bed PID parameters P I and D // M400 - Finish all moves // M500 - stores paramters in EEPROM -// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). +// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). // M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. // M503 - print the current settings (from memory not from eeprom) // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) @@ -160,14 +169,18 @@ float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }; float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS }; // Extruder offset, only in XY plane #if EXTRUDERS > 1 -float extruder_offset[2][EXTRUDERS] = { +float extruder_offset[2][EXTRUDERS] = { #if defined(EXTRUDER_OFFSET_X) && defined(EXTRUDER_OFFSET_Y) - EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y + EXTRUDER_OFFSET_X, EXTRUDER_OFFSET_Y #endif -}; +}; #endif uint8_t active_extruder = 0; int fanSpeed=0; +#ifdef BARICUDA +int ValvePressure=0; +int EtoPPressure=0; +#endif #ifdef FWRETRACT bool autoretract_enabled=true; @@ -217,6 +230,10 @@ static uint8_t tmp_extruder; bool Stopped=false; +#if NUM_SERVOS > 0 + Servo servos[NUM_SERVOS]; +#endif + //=========================================================================== //=============================ROUTINES============================= //=========================================================================== @@ -288,26 +305,26 @@ void setup_killpin() WRITE(KILL_PIN,HIGH); #endif } - + void setup_photpin() { #ifdef PHOTOGRAPH_PIN - #if (PHOTOGRAPH_PIN > -1) + #if (PHOTOGRAPH_PIN > 0) SET_OUTPUT(PHOTOGRAPH_PIN); WRITE(PHOTOGRAPH_PIN, LOW); #endif - #endif + #endif } void setup_powerhold() { #ifdef SUICIDE_PIN - #if (SUICIDE_PIN> -1) + #if (SUICIDE_PIN> 0) SET_OUTPUT(SUICIDE_PIN); WRITE(SUICIDE_PIN, HIGH); #endif #endif - #if (PS_ON_PIN > -1) + #if (PS_ON_PIN > 0) SET_OUTPUT(PS_ON_PIN); WRITE(PS_ON_PIN, PS_ON_AWAKE); #endif @@ -316,16 +333,35 @@ void setup_powerhold() void suicide() { #ifdef SUICIDE_PIN - #if (SUICIDE_PIN> -1) + #if (SUICIDE_PIN > 0) SET_OUTPUT(SUICIDE_PIN); WRITE(SUICIDE_PIN, LOW); #endif #endif } +void servo_init() +{ + #if (NUM_SERVOS >= 1) && (SERVO0_PIN > 0) + servos[0].attach(SERVO0_PIN); + #endif + #if (NUM_SERVOS >= 2) && (SERVO1_PIN > 0) + servos[1].attach(SERVO1_PIN); + #endif + #if (NUM_SERVOS >= 3) && (SERVO2_PIN > 0) + servos[2].attach(SERVO2_PIN); + #endif + #if (NUM_SERVOS >= 4) && (SERVO3_PIN > 0) + servos[3].attach(SERVO3_PIN); + #endif + #if (NUM_SERVOS >= 5) + #error "TODO: enter initalisation code for more servos" + #endif +} + void setup() { - setup_killpin(); + setup_killpin(); setup_powerhold(); MYSERIAL.begin(BAUDRATE); SERIAL_PROTOCOLLNPGM("start"); @@ -362,25 +398,22 @@ void setup() { fromsd[i] = false; } - - // loads data from EEPROM if available else uses defaults (and resets step acceleration rate) - Config_RetrieveSettings(); - tp_init(); // Initialize temperature loop + // loads data from EEPROM if available else uses defaults (and resets step acceleration rate) + Config_RetrieveSettings(); + + tp_init(); // Initialize temperature loop plan_init(); // Initialize planner; watchdog_init(); st_init(); // Initialize stepper, this enables interrupts! setup_photpin(); - + servo_init(); + lcd_init(); - #ifdef CONTROLLERFAN_PIN + #if CONTROLLERFAN_PIN > 0 SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan - #endif - - #ifdef EXTRUDERFAN_PIN - SET_OUTPUT(EXTRUDERFAN_PIN); //Set pin used for extruder cooling fan - #endif + #endif } @@ -396,9 +429,9 @@ void loop() #ifdef SDSUPPORT if(card.saving) { - if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL) - { - card.write_command(cmdbuffer[bufindr]); + if(strstr_P(cmdbuffer[bufindr], PSTR("M29")) == NULL) + { + card.write_command(cmdbuffer[bufindr]); if(card.logging) { process_commands(); @@ -407,16 +440,16 @@ void loop() { SERIAL_PROTOCOLLNPGM(MSG_OK); } - } - else - { - card.closefile(); - SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED); - } + } + else + { + card.closefile(); + SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED); + } } else { - process_commands(); + process_commands(); } #else process_commands(); @@ -431,14 +464,14 @@ void loop() lcd_update(); } -void get_command() -{ +void get_command() +{ while( MYSERIAL.available() > 0 && buflen < BUFSIZE) { serial_char = MYSERIAL.read(); - if(serial_char == '\n' || - serial_char == '\r' || - (serial_char == ':' && comment_mode == false) || - serial_count >= (MAX_CMD_SIZE - 1) ) + if(serial_char == '\n' || + serial_char == '\r' || + (serial_char == ':' && comment_mode == false) || + serial_count >= (MAX_CMD_SIZE - 1) ) { if(!serial_count) { //if empty line comment_mode = false; //for new command @@ -479,7 +512,7 @@ void get_command() } //if no errors, continue parsing } - else + else { SERIAL_ERROR_START; SERIAL_ERRORPGM(MSG_ERR_NO_CHECKSUM); @@ -511,11 +544,11 @@ void get_command() case 2: case 3: if(Stopped == false) { // If printer is stopped by an error the G[0-3] codes are ignored. - #ifdef SDSUPPORT + #ifdef SDSUPPORT if(card.saving) break; - #endif //SDSUPPORT - SERIAL_PROTOCOLLNPGM(MSG_OK); + #endif //SDSUPPORT + SERIAL_PROTOCOLLNPGM(MSG_OK); } else { SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); @@ -545,10 +578,10 @@ void get_command() while( !card.eof() && buflen < BUFSIZE) { int16_t n=card.get(); serial_char = (char)n; - if(serial_char == '\n' || - serial_char == '\r' || - (serial_char == ':' && comment_mode == false) || - serial_count >= (MAX_CMD_SIZE - 1)||n==-1) + if(serial_char == '\n' || + serial_char == '\r' || + (serial_char == ':' && comment_mode == false) || + serial_count >= (MAX_CMD_SIZE - 1)||n==-1) { if(card.eof()){ SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED); @@ -564,7 +597,7 @@ void get_command() lcd_setstatus(time); card.printingHasFinished(); card.checkautostart(true); - + } if(!serial_count) { @@ -576,7 +609,7 @@ void get_command() fromsd[bufindw] = true; buflen += 1; bufindw = (bufindw + 1)%BUFSIZE; -// } +// } comment_mode = false; //for new command serial_count = 0; //clear buffer } @@ -586,20 +619,20 @@ void get_command() if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; } } - + #endif //SDSUPPORT } -float code_value() -{ - return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); +float code_value() +{ + return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); } -long code_value_long() -{ - return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); +long code_value_long() +{ + return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); } bool code_seen(char code) @@ -608,17 +641,17 @@ bool code_seen(char code) return (strchr_pointer != NULL); //Return True if a character was found } -#define DEFINE_PGM_READ_ANY(type, reader) \ - static inline type pgm_read_any(const type *p) \ - { return pgm_read_##reader##_near(p); } +#define DEFINE_PGM_READ_ANY(type, reader) \ + static inline type pgm_read_any(const type *p) \ + { return pgm_read_##reader##_near(p); } DEFINE_PGM_READ_ANY(float, float); DEFINE_PGM_READ_ANY(signed char, byte); -#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \ -static const PROGMEM type array##_P[3] = \ - { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \ -static inline type array(int axis) \ +#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \ +static const PROGMEM type array##_P[3] = \ + { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \ +static inline type array(int axis) \ { return pgm_read_any(&array##_P[axis]); } XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS); @@ -636,7 +669,7 @@ static void axis_is_at_home(int axis) { static void homeaxis(int axis) { #define HOMEAXIS_DO(LETTER) \ - ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1)) + ((LETTER##_MIN_PIN > 0 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > 0 && LETTER##_HOME_DIR==1)) if (axis==X_AXIS ? HOMEAXIS_DO(X) : axis==Y_AXIS ? HOMEAXIS_DO(Y) : @@ -648,19 +681,19 @@ static void homeaxis(int axis) { feedrate = homing_feedrate[axis]; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); st_synchronize(); - + current_position[axis] = 0; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); destination[axis] = -home_retract_mm(axis) * home_dir(axis); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); st_synchronize(); - + destination[axis] = 2*home_retract_mm(axis) * home_dir(axis); - feedrate = homing_feedrate[axis]/2 ; + feedrate = homing_feedrate[axis]/2 ; plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); st_synchronize(); - - axis_is_at_home(axis); + + axis_is_at_home(axis); destination[axis] = current_position[axis]; feedrate = 0.0; endstops_hit_on_purpose(); @@ -703,7 +736,7 @@ void process_commands() codenum = 0; if(code_seen('P')) codenum = code_value(); // milliseconds to wait if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait - + st_synchronize(); codenum += millis(); // keep track of when we started waiting previous_millis_cmd = millis(); @@ -713,30 +746,30 @@ void process_commands() lcd_update(); } break; - #ifdef FWRETRACT + #ifdef FWRETRACT case 10: // G10 retract - if(!retracted) + if(!retracted) { destination[X_AXIS]=current_position[X_AXIS]; destination[Y_AXIS]=current_position[Y_AXIS]; - destination[Z_AXIS]=current_position[Z_AXIS]; + destination[Z_AXIS]=current_position[Z_AXIS]; current_position[Z_AXIS]+=-retract_zlift; - destination[E_AXIS]=current_position[E_AXIS]-retract_length; + destination[E_AXIS]=current_position[E_AXIS]-retract_length; feedrate=retract_feedrate; retracted=true; prepare_move(); } - + break; case 11: // G10 retract_recover - if(!retracted) + if(!retracted) { destination[X_AXIS]=current_position[X_AXIS]; destination[Y_AXIS]=current_position[Y_AXIS]; - destination[Z_AXIS]=current_position[Z_AXIS]; - + destination[Z_AXIS]=current_position[Z_AXIS]; + current_position[Z_AXIS]+=retract_zlift; - current_position[E_AXIS]+=-retract_recover_length; + current_position[E_AXIS]+=-retract_recover_length; feedrate=retract_recover_feedrate; retracted=false; prepare_move(); @@ -748,34 +781,34 @@ void process_commands() saved_feedmultiply = feedmultiply; feedmultiply = 100; previous_millis_cmd = millis(); - + enable_endstops(true); - + for(int8_t i=0; i < NUM_AXIS; i++) { destination[i] = current_position[i]; } feedrate = 0.0; home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); - + #if Z_HOME_DIR > 0 // If homing away from BED do Z first if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) { HOMEAXIS(Z); } #endif - + #ifdef QUICK_HOME if((home_all_axis)||( code_seen(axis_codes[X_AXIS]) && code_seen(axis_codes[Y_AXIS])) ) //first diagonal move { - current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0; + current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR; - feedrate = homing_feedrate[X_AXIS]; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR; + feedrate = homing_feedrate[X_AXIS]; if(homing_feedrate[Y_AXIS] 0){ codenum += millis(); // keep track of when we started waiting - while(millis() < codenum && !LCD_CLICKED){ + while(millis() < codenum && !lcd_clicked()){ manage_heater(); manage_inactivity(); lcd_update(); } }else{ - while(!LCD_CLICKED){ + while(!lcd_clicked()){ manage_heater(); manage_inactivity(); lcd_update(); @@ -892,12 +925,12 @@ void process_commands() #endif case 17: LCD_MESSAGEPGM(MSG_NO_MOVE); - enable_x(); - enable_y(); - enable_z(); - enable_e0(); - enable_e1(); - enable_e2(); + enable_x(); + enable_y(); + enable_z(); + enable_e0(); + enable_e1(); + enable_e2(); break; #ifdef SDSUPPORT @@ -907,9 +940,9 @@ void process_commands() SERIAL_PROTOCOLLNPGM(MSG_END_FILE_LIST); break; case 21: // M21 - init SD card - + card.initsd(); - + break; case 22: //M22 - release SD card card.release(); @@ -949,18 +982,18 @@ void process_commands() //processed in write to file routine above //card,saving = false; break; - case 30: //M30 Delete File - if (card.cardOK){ - card.closefile(); - starpos = (strchr(strchr_pointer + 4,'*')); - if(starpos != NULL){ - char* npos = strchr(cmdbuffer[bufindr], 'N'); - strchr_pointer = strchr(npos,' ') + 1; - *(starpos-1) = '\0'; - } - card.removeFile(strchr_pointer + 4); - } - break; + case 30: //M30 Delete File + if (card.cardOK){ + card.closefile(); + starpos = (strchr(strchr_pointer + 4,'*')); + if(starpos != NULL){ + char* npos = strchr(cmdbuffer[bufindr], 'N'); + strchr_pointer = strchr(npos,' ') + 1; + *(starpos-1) = '\0'; + } + card.removeFile(strchr_pointer + 4); + } + break; case 928: //M928 - Start SD write starpos = (strchr(strchr_pointer + 5,'*')); if(starpos != NULL){ @@ -970,7 +1003,7 @@ void process_commands() } card.openLogFile(strchr_pointer+5); break; - + #endif //SDSUPPORT case 31: //M31 take time since the start of the SD print or an M109 command @@ -1003,6 +1036,10 @@ void process_commands() break; } } + #if FAN_PIN > 0 + if (pin_number == FAN_PIN) + fanSpeed = pin_status; + #endif if (pin_number > -1) { pinMode(pin_number, OUTPUT); @@ -1025,13 +1062,13 @@ void process_commands() if(setTargetedHotend(105)){ break; } - #if (TEMP_0_PIN > -1) + #if (TEMP_0_PIN > 0) SERIAL_PROTOCOLPGM("ok T:"); - SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); + SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); SERIAL_PROTOCOLPGM(" /"); - SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1); - #if TEMP_BED_PIN > -1 - SERIAL_PROTOCOLPGM(" B:"); + SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder),1); + #if TEMP_BED_PIN > 0 + SERIAL_PROTOCOLPGM(" B:"); SERIAL_PROTOCOL_F(degBed(),1); SERIAL_PROTOCOLPGM(" /"); SERIAL_PROTOCOL_F(degTargetBed(),1); @@ -1042,20 +1079,20 @@ void process_commands() #endif SERIAL_PROTOCOLPGM(" @:"); - SERIAL_PROTOCOL(getHeaterPower(tmp_extruder)); + SERIAL_PROTOCOL(getHeaterPower(tmp_extruder)); SERIAL_PROTOCOLPGM(" B@:"); - SERIAL_PROTOCOL(getHeaterPower(-1)); + SERIAL_PROTOCOL(getHeaterPower(-1)); SERIAL_PROTOCOLLN(""); return; break; - case 109: + case 109: {// M109 - Wait for extruder heater to reach target. if(setTargetedHotend(109)){ break; } - LCD_MESSAGEPGM(MSG_HEATING); + LCD_MESSAGEPGM(MSG_HEATING); #ifdef AUTOTEMP autotemp_enabled=false; #endif @@ -1063,15 +1100,15 @@ void process_commands() #ifdef AUTOTEMP if (code_seen('S')) autotemp_min=code_value(); if (code_seen('B')) autotemp_max=code_value(); - if (code_seen('F')) + if (code_seen('F')) { autotemp_factor=code_value(); autotemp_enabled=true; } #endif - + setWatch(); - codenum = millis(); + codenum = millis(); /* See if we are heating up or cooling down */ bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling @@ -1079,7 +1116,7 @@ void process_commands() #ifdef TEMP_RESIDENCY_TIME long residencyStart; residencyStart = -1; - /* continue to loop until we have reached the target temp + /* continue to loop until we have reached the target temp _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */ while((residencyStart == -1) || (residencyStart >= 0 && (((unsigned int) (millis() - residencyStart)) < (TEMP_RESIDENCY_TIME * 1000UL))) ) { @@ -1089,9 +1126,9 @@ void process_commands() if( (millis() - codenum) > 1000UL ) { //Print Temp Reading and remaining time every 1 second while heating up/cooling down SERIAL_PROTOCOLPGM("T:"); - SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); + SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1); SERIAL_PROTOCOLPGM(" E:"); - SERIAL_PROTOCOL((int)tmp_extruder); + SERIAL_PROTOCOL((int)tmp_extruder); #ifdef TEMP_RESIDENCY_TIME SERIAL_PROTOCOLPGM(" W:"); if(residencyStart > -1) @@ -1099,7 +1136,7 @@ void process_commands() codenum = ((TEMP_RESIDENCY_TIME * 1000UL) - (millis() - residencyStart)) / 1000UL; SERIAL_PROTOCOLLN( codenum ); } - else + else { SERIAL_PROTOCOLLN( "?" ); } @@ -1116,7 +1153,7 @@ void process_commands() or when current temp falls outside the hysteresis after target temp was reached */ if ((residencyStart == -1 && target_direction && (degHotend(tmp_extruder) >= (degTargetHotend(tmp_extruder)-TEMP_WINDOW))) || (residencyStart == -1 && !target_direction && (degHotend(tmp_extruder) <= (degTargetHotend(tmp_extruder)+TEMP_WINDOW))) || - (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) ) + (residencyStart > -1 && labs(degHotend(tmp_extruder) - degTargetHotend(tmp_extruder)) > TEMP_HYSTERESIS) ) { residencyStart = millis(); } @@ -1128,11 +1165,11 @@ void process_commands() } break; case 190: // M190 - Wait for bed heater to reach target. - #if TEMP_BED_PIN > -1 + #if TEMP_BED_PIN > 0 LCD_MESSAGEPGM(MSG_BED_HEATING); if (code_seen('S')) setTargetBed(code_value()); - codenum = millis(); - while(isHeatingBed()) + codenum = millis(); + while(isHeatingBed()) { if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. { @@ -1140,11 +1177,11 @@ void process_commands() SERIAL_PROTOCOLPGM("T:"); SERIAL_PROTOCOL(tt); SERIAL_PROTOCOLPGM(" E:"); - SERIAL_PROTOCOL((int)active_extruder); + SERIAL_PROTOCOL((int)active_extruder); SERIAL_PROTOCOLPGM(" B:"); - SERIAL_PROTOCOL_F(degBed(),1); - SERIAL_PROTOCOLLN(""); - codenum = millis(); + SERIAL_PROTOCOL_F(degBed(),1); + SERIAL_PROTOCOLLN(""); + codenum = millis(); } manage_heater(); manage_inactivity(); @@ -1155,38 +1192,69 @@ void process_commands() #endif break; - #if FAN_PIN > -1 + #if FAN_PIN > 0 case 106: //M106 Fan On if (code_seen('S')){ fanSpeed=constrain(code_value(),0,255); } else { - fanSpeed=255; + fanSpeed=255; } break; case 107: //M107 Fan Off fanSpeed = 0; break; #endif //FAN_PIN + #ifdef BARICUDA + // PWM for HEATER_1_PIN + #if HEATER_1_PIN > 0 + case 126: //M126 valve open + if (code_seen('S')){ + ValvePressure=constrain(code_value(),0,255); + } + else { + ValvePressure=255; + } + break; + case 127: //M127 valve closed + ValvePressure = 0; + break; + #endif //HEATER_1_PIN - #if (PS_ON_PIN > -1) + // PWM for HEATER_2_PIN + #if HEATER_2_PIN > 0 + case 128: //M128 valve open + if (code_seen('S')){ + EtoPPressure=constrain(code_value(),0,255); + } + else { + EtoPPressure=255; + } + break; + case 129: //M129 valve closed + EtoPPressure = 0; + break; + #endif //HEATER_2_PIN + #endif + + #if (PS_ON_PIN > 0) case 80: // M80 - ATX Power On SET_OUTPUT(PS_ON_PIN); //GND WRITE(PS_ON_PIN, PS_ON_AWAKE); break; #endif - + case 81: // M81 - ATX Power Off - - #if defined SUICIDE_PIN && SUICIDE_PIN > -1 + + #if defined SUICIDE_PIN && SUICIDE_PIN > 0 st_synchronize(); suicide(); - #elif (PS_ON_PIN > -1) - SET_OUTPUT(PS_ON_PIN); + #elif (PS_ON_PIN > 0) + SET_OUTPUT(PS_ON_PIN); WRITE(PS_ON_PIN, PS_ON_ASLEEP); #endif - break; - + break; + case 82: axis_relative_modes[3] = false; break; @@ -1195,11 +1263,11 @@ void process_commands() break; case 18: //compatibility case 84: // M84 - if(code_seen('S')){ - stepper_inactive_time = code_value() * 1000; + if(code_seen('S')){ + stepper_inactive_time = code_value() * 1000; } else - { + { bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3]))); if(all_axis) { @@ -1221,18 +1289,18 @@ void process_commands() disable_e1(); disable_e2(); } - #endif + #endif } } break; case 85: // M85 code_seen('S'); - max_inactive_time = code_value() * 1000; + max_inactive_time = code_value() * 1000; break; case 92: // M92 - for(int8_t i=0; i < NUM_AXIS; i++) + for(int8_t i=0; i < NUM_AXIS; i++) { - if(code_seen(axis_codes[i])) + if(code_seen(axis_codes[i])) { if(i == 3) { // E float value = code_value(); @@ -1266,16 +1334,16 @@ void process_commands() SERIAL_PROTOCOL(current_position[Y_AXIS]); SERIAL_PROTOCOLPGM("Z:"); SERIAL_PROTOCOL(current_position[Z_AXIS]); - SERIAL_PROTOCOLPGM("E:"); + SERIAL_PROTOCOLPGM("E:"); SERIAL_PROTOCOL(current_position[E_AXIS]); - + SERIAL_PROTOCOLPGM(MSG_COUNT_X); SERIAL_PROTOCOL(float(st_get_position(X_AXIS))/axis_steps_per_unit[X_AXIS]); SERIAL_PROTOCOLPGM("Y:"); SERIAL_PROTOCOL(float(st_get_position(Y_AXIS))/axis_steps_per_unit[Y_AXIS]); SERIAL_PROTOCOLPGM("Z:"); SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]); - + SERIAL_PROTOCOLLN(""); break; case 120: // M120 @@ -1286,34 +1354,34 @@ void process_commands() break; case 119: // M119 SERIAL_PROTOCOLLN(MSG_M119_REPORT); - #if (X_MIN_PIN > -1) + #if (X_MIN_PIN > 0) SERIAL_PROTOCOLPGM(MSG_X_MIN); SERIAL_PROTOCOLLN(((READ(X_MIN_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif - #if (X_MAX_PIN > -1) + #if (X_MAX_PIN > 0) SERIAL_PROTOCOLPGM(MSG_X_MAX); SERIAL_PROTOCOLLN(((READ(X_MAX_PIN)^X_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif - #if (Y_MIN_PIN > -1) + #if (Y_MIN_PIN > 0) SERIAL_PROTOCOLPGM(MSG_Y_MIN); SERIAL_PROTOCOLLN(((READ(Y_MIN_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif - #if (Y_MAX_PIN > -1) + #if (Y_MAX_PIN > 0) SERIAL_PROTOCOLPGM(MSG_Y_MAX); SERIAL_PROTOCOLLN(((READ(Y_MAX_PIN)^Y_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif - #if (Z_MIN_PIN > -1) + #if (Z_MIN_PIN > 0) SERIAL_PROTOCOLPGM(MSG_Z_MIN); SERIAL_PROTOCOLLN(((READ(Z_MIN_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif - #if (Z_MAX_PIN > -1) + #if (Z_MAX_PIN > 0) SERIAL_PROTOCOLPGM(MSG_Z_MAX); SERIAL_PROTOCOLLN(((READ(Z_MAX_PIN)^Z_ENDSTOPS_INVERTING)?MSG_ENDSTOP_HIT:MSG_ENDSTOP_OPEN)); #endif break; //TODO: update for all axis, use for loop case 201: // M201 - for(int8_t i=0; i < NUM_AXIS; i++) + for(int8_t i=0; i < NUM_AXIS; i++) { if(code_seen(axis_codes[i])) { @@ -1321,7 +1389,7 @@ void process_commands() } } // steps per sq second need to be updated to agree with the units per sq second (as they are what is used in the planner) - reset_acceleration_rates(); + reset_acceleration_rates(); break; #if 0 // Not used for Sprinter/grbl gen6 case 202: // M202 @@ -1352,7 +1420,7 @@ void process_commands() } break; case 206: // M206 additional homeing offset - for(int8_t i=0; i < 3; i++) + for(int8_t i=0; i < 3; i++) { if(code_seen(axis_codes[i])) add_homeing[i] = code_value(); } @@ -1360,47 +1428,47 @@ void process_commands() #ifdef FWRETRACT case 207: //M207 - set retract length S[positive mm] F[feedrate mm/sec] Z[additional zlift/hop] { - if(code_seen('S')) + if(code_seen('S')) { retract_length = code_value() ; } - if(code_seen('F')) + if(code_seen('F')) { retract_feedrate = code_value() ; } - if(code_seen('Z')) + if(code_seen('Z')) { retract_zlift = code_value() ; } }break; case 208: // M208 - set retract recover length S[positive mm surplus to the M207 S*] F[feedrate mm/sec] { - if(code_seen('S')) + if(code_seen('S')) { retract_recover_length = code_value() ; } - if(code_seen('F')) + if(code_seen('F')) { retract_recover_feedrate = code_value() ; } }break; case 209: // M209 - S<1=true/0=false> enable automatic retract detect if the slicer did not support G10/11: every normal extrude-only move will be classified as retract depending on the direction. { - if(code_seen('S')) + if(code_seen('S')) { int t= code_value() ; switch(t) { case 0: autoretract_enabled=false;retracted=false;break; case 1: autoretract_enabled=true;retracted=false;break; - default: + default: SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_UNKNOWN_COMMAND); SERIAL_ECHO(cmdbuffer[bufindr]); SERIAL_ECHOLNPGM("\""); } } - + }break; #endif // FWRETRACT #if EXTRUDERS > 1 @@ -1409,7 +1477,7 @@ void process_commands() if(setTargetedHotend(218)){ break; } - if(code_seen('X')) + if(code_seen('X')) { extruder_offset[X_AXIS][tmp_extruder] = code_value(); } @@ -1419,7 +1487,7 @@ void process_commands() } SERIAL_ECHO_START; SERIAL_ECHOPGM(MSG_HOTEND_OFFSET); - for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) + for(tmp_extruder = 0; tmp_extruder < EXTRUDERS; tmp_extruder++) { SERIAL_ECHO(" "); SERIAL_ECHO(extruder_offset[X_AXIS][tmp_extruder]); @@ -1431,7 +1499,7 @@ void process_commands() #endif case 220: // M220 S- set speed factor override percentage { - if(code_seen('S')) + if(code_seen('S')) { feedmultiply = code_value() ; } @@ -1439,23 +1507,58 @@ void process_commands() break; case 221: // M221 S- set extrude factor override percentage { - if(code_seen('S')) + if(code_seen('S')) { extrudemultiply = code_value() ; } } break; - #if defined(LARGE_FLASH) && LARGE_FLASH == true && defined(BEEPER) && BEEPER > -1 + #if NUM_SERVOS > 0 + case 280: // M280 - set servo position absolute. P: servo index, S: angle or microseconds + { + int servo_index = -1; + int servo_position = 0; + if (code_seen('P')) + servo_index = code_value(); + if (code_seen('S')) { + servo_position = code_value(); + if ((servo_index >= 0) && (servo_index < NUM_SERVOS)) { + servos[servo_index].write(servo_position); + } + else { + SERIAL_ECHO_START; + SERIAL_ECHO("Servo "); + SERIAL_ECHO(servo_index); + SERIAL_ECHOLN(" out of range"); + } + } + else if (servo_index >= 0) { + SERIAL_PROTOCOL(MSG_OK); + SERIAL_PROTOCOL(" Servo "); + SERIAL_PROTOCOL(servo_index); + SERIAL_PROTOCOL(": "); + SERIAL_PROTOCOL(servos[servo_index].read()); + SERIAL_PROTOCOLLN(""); + } + } + break; + #endif // NUM_SERVOS > 0 + + #if LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) ) case 300: // M300 { - int beepS = 1; + int beepS = 400; int beepP = 1000; if(code_seen('S')) beepS = code_value(); if(code_seen('P')) beepP = code_value(); - tone(BEEPER, beepS); - delay(beepP); - noTone(BEEPER); + #if BEEPER > 0 + tone(BEEPER, beepS); + delay(beepP); + noTone(BEEPER); + #elif defined(ULTRALCD) + lcd_buzz(beepS, beepP); + #endif } break; #endif // M300 @@ -1470,10 +1573,10 @@ void process_commands() #ifdef PID_ADD_EXTRUSION_RATE if(code_seen('C')) Kc = code_value(); #endif - + updatePID(); SERIAL_PROTOCOL(MSG_OK); - SERIAL_PROTOCOL(" p:"); + SERIAL_PROTOCOL(" p:"); SERIAL_PROTOCOL(Kp); SERIAL_PROTOCOL(" i:"); SERIAL_PROTOCOL(unscalePID_i(Ki)); @@ -1497,7 +1600,7 @@ void process_commands() updatePID(); SERIAL_PROTOCOL(MSG_OK); - SERIAL_PROTOCOL(" p:"); + SERIAL_PROTOCOL(" p:"); SERIAL_PROTOCOL(bedKp); SERIAL_PROTOCOL(" i:"); SERIAL_PROTOCOL(unscalePID_i(bedKi)); @@ -1510,7 +1613,7 @@ void process_commands() case 240: // M240 Triggers a camera by emulating a Canon RC-1 : http://www.doc-diy.net/photo/rc-1_hacked/ { #ifdef PHOTOGRAPH_PIN - #if (PHOTOGRAPH_PIN > -1) + #if (PHOTOGRAPH_PIN > 0) const uint8_t NUM_PULSES=16; const float PULSE_LENGTH=0.01524; for(int i=0; i < NUM_PULSES; i++) { @@ -1530,7 +1633,7 @@ void process_commands() #endif } break; - + case 302: // allow cold extrudes { allow_cold_extrudes(true); @@ -1542,8 +1645,8 @@ void process_commands() int e=0; int c=5; if (code_seen('E')) e=code_value(); - if (e<0) - temp=70; + if (e<0) + temp=70; if (code_seen('S')) temp=code_value(); if (code_seen('C')) c=code_value(); PID_autotune(temp, e, c); @@ -1595,7 +1698,7 @@ void process_commands() lastpos[Z_AXIS]=current_position[Z_AXIS]; lastpos[E_AXIS]=current_position[E_AXIS]; //retract by E - if(code_seen('E')) + if(code_seen('E')) { target[E_AXIS]+= code_value(); } @@ -1606,9 +1709,9 @@ void process_commands() #endif } plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); - + //lift Z - if(code_seen('Z')) + if(code_seen('Z')) { target[Z_AXIS]+= code_value(); } @@ -1619,9 +1722,9 @@ void process_commands() #endif } plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); - + //move xy - if(code_seen('X')) + if(code_seen('X')) { target[X_AXIS]+= code_value(); } @@ -1631,7 +1734,7 @@ void process_commands() target[X_AXIS]= FILAMENTCHANGE_XPOS ; #endif } - if(code_seen('Y')) + if(code_seen('Y')) { target[Y_AXIS]= code_value(); } @@ -1641,9 +1744,9 @@ void process_commands() target[Y_AXIS]= FILAMENTCHANGE_YPOS ; #endif } - + plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); - + if(code_seen('L')) { target[E_AXIS]+= code_value(); @@ -1654,9 +1757,9 @@ void process_commands() target[E_AXIS]+= FILAMENTCHANGE_FINALRETRACT ; #endif } - + plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feedrate/60, active_extruder); - + //finish moves st_synchronize(); //disable extruder steppers so filament can be removed @@ -1666,27 +1769,28 @@ void process_commands() delay(100); LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE); uint8_t cnt=0; - while(!LCD_CLICKED){ + while(!lcd_clicked()){ cnt++; manage_heater(); manage_inactivity(); lcd_update(); - - #if BEEPER > -1 if(cnt==0) { + #if BEEPER > 0 SET_OUTPUT(BEEPER); - + WRITE(BEEPER,HIGH); delay(3); WRITE(BEEPER,LOW); delay(3); - } + #else + lcd_buzz(1000/6,100); #endif + } } - + //return to normal - if(code_seen('L')) + if(code_seen('L')) { target[E_AXIS]+= -code_value(); } @@ -1704,10 +1808,10 @@ void process_commands() plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], feedrate/60, active_extruder); //final untretract } break; - #endif //FILAMENTCHANGEENABLE + #endif //FILAMENTCHANGEENABLE case 907: // M907 Set digital trimpot motor current using axis codes. { - #if DIGIPOTSS_PIN > -1 + #if DIGIPOTSS_PIN > 0 for(int i=0;i -1 + #if DIGIPOTSS_PIN > 0 uint8_t channel,current; if(code_seen('P')) channel=code_value(); if(code_seen('S')) current=code_value(); @@ -1726,8 +1830,8 @@ void process_commands() break; case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. { - #if X_MS1_PIN > -1 - if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value()); + #if X_MS1_PIN > 0 + if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value()); for(int i=0;i -1 + #if X_MS1_PIN > 0 if(code_seen('S')) switch((int)code_value()) { case 1: @@ -1761,7 +1865,7 @@ void process_commands() } } - else if(code_seen('T')) + else if(code_seen('T')) { tmp_extruder = code_value(); if(tmp_extruder >= EXTRUDERS) { @@ -1786,7 +1890,7 @@ void process_commands() // Offset extruder (only by XY) int i; for(i = 0; i < 2; i++) { - current_position[i] = current_position[i] - + current_position[i] = current_position[i] - extruder_offset[i][active_extruder] + extruder_offset[i][tmp_extruder]; } @@ -1832,14 +1936,14 @@ void ClearToSend() if(fromsd[bufindr]) return; #endif //SDSUPPORT - SERIAL_PROTOCOLLNPGM(MSG_OK); + SERIAL_PROTOCOLLNPGM(MSG_OK); } void get_coordinates() { bool seen[4]={false,false,false,false}; for(int8_t i=0; i < NUM_AXIS; i++) { - if(code_seen(axis_codes[i])) + if(code_seen(axis_codes[i])) { destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i]; seen[i]=true; @@ -1857,23 +1961,23 @@ void get_coordinates() float echange=destination[E_AXIS]-current_position[E_AXIS]; if(echange<-MIN_RETRACT) //retract { - if(!retracted) + if(!retracted) { - + destination[Z_AXIS]+=retract_zlift; //not sure why chaninging current_position negatively does not work. //if slicer retracted by echange=-1mm and you want to retract 3mm, corrrectede=-2mm additionally float correctede=-echange-retract_length; //to generate the additional steps, not the destination is changed, but inversely the current position - current_position[E_AXIS]+=-correctede; + current_position[E_AXIS]+=-correctede; feedrate=retract_feedrate; retracted=true; } - + } - else + else if(echange>MIN_RETRACT) //retract_recover { - if(retracted) + if(retracted) { //current_position[Z_AXIS]+=-retract_zlift; //if slicer retracted_recovered by echange=+1mm and you want to retract_recover 3mm, corrrectede=2mm additionally @@ -1883,7 +1987,7 @@ void get_coordinates() retracted=false; } } - + } #endif //FWRETRACT } @@ -1901,7 +2005,7 @@ void get_arc_coordinates() if(code_seen('I')) { offset[0] = code_value(); - } + } else { offset[0] = 0.0; } @@ -1932,7 +2036,7 @@ void prepare_move() { clamp_to_software_endstops(destination); - previous_millis_cmd = millis(); + previous_millis_cmd = millis(); // Do not use feedmultiply for E or Z only moves if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) { plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); @@ -1950,7 +2054,7 @@ void prepare_arc_move(char isclockwise) { // Trace the arc mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder); - + // As far as the parser is concerned, the position is now == target. In reality the // motion control system might still be processing the action and the real tool position // in any intermediate location. @@ -1960,7 +2064,12 @@ void prepare_arc_move(char isclockwise) { previous_millis_cmd = millis(); } -#ifdef CONTROLLERFAN_PIN +#if CONTROLLERFAN_PIN > 0 + +#if CONTROLLERFAN_PIN == FAN_PIN + #error "You cannot set CONTROLLERFAN_PIN equal to FAN_PIN" +#endif + unsigned long lastMotor = 0; //Save the time for when a motor was turned on last unsigned long lastMotorCheck = 0; @@ -1969,7 +2078,7 @@ void controllerFan() if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms { lastMotorCheck = millis(); - + if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) #if EXTRUDERS > 2 || !READ(E2_ENABLE_PIN) @@ -1977,51 +2086,33 @@ void controllerFan() #if EXTRUDER > 1 || !READ(E1_ENABLE_PIN) #endif - || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled... + || !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled... { lastMotor = millis(); //... set time to NOW so the fan will turn on } - if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC... + if ((millis() - lastMotor) >= (CONTROLLERFAN_SECS*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC... { - WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off + digitalWrite(CONTROLLERFAN_PIN, 0); + analogWrite(CONTROLLERFAN_PIN, 0); } else { - WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on + // allows digital or PWM fan output to be used (see M42 handling) + digitalWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED); + analogWrite(CONTROLLERFAN_PIN, CONTROLLERFAN_SPEED); } } } #endif -#ifdef EXTRUDERFAN_PIN -unsigned long lastExtruderCheck = 0; - -void extruderFan() +void manage_inactivity() { - if ((millis() - lastExtruderCheck) >= 2500) //Not a time critical function, so we only check every 2500ms - { - lastExtruderCheck = millis(); - - if (degHotend(active_extruder) < EXTRUDERFAN_DEC) - { - WRITE(EXTRUDERFAN_PIN, LOW); //... turn the fan off - } - else - { - WRITE(EXTRUDERFAN_PIN, HIGH); //... turn the fan on - } - } -} -#endif - -void manage_inactivity() -{ - if( (millis() - previous_millis_cmd) > max_inactive_time ) - if(max_inactive_time) - kill(); + if( (millis() - previous_millis_cmd) > max_inactive_time ) + if(max_inactive_time) + kill(); if(stepper_inactive_time) { - if( (millis() - previous_millis_cmd) > stepper_inactive_time ) + if( (millis() - previous_millis_cmd) > stepper_inactive_time ) { if(blocks_queued() == false) { disable_x(); @@ -2033,23 +2124,23 @@ void manage_inactivity() } } } - #if( KILL_PIN>-1 ) + #if KILL_PIN > 0 if( 0 == READ(KILL_PIN) ) kill(); #endif - #ifdef CONTROLLERFAN_PIN + #if CONTROLLERFAN_PIN > 0 controllerFan(); //Check if fan should be turned on to cool stepper drivers down #endif #ifdef EXTRUDER_RUNOUT_PREVENT - if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 ) + if( (millis() - previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 ) if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP) { bool oldstatus=READ(E0_ENABLE_PIN); enable_e0(); float oldepos=current_position[E_AXIS]; float oldedes=destination[E_AXIS]; - plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], - current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], + plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], + current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder); current_position[E_AXIS]=oldepos; destination[E_AXIS]=oldedes; @@ -2073,8 +2164,8 @@ void kill() disable_e0(); disable_e1(); disable_e2(); - - if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); + + if(PS_ON_PIN > 0) pinMode(PS_ON_PIN,INPUT); SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_ERR_KILLED); LCD_ALERTMESSAGEPGM(MSG_KILLED); @@ -2102,7 +2193,7 @@ void setPwmFrequency(uint8_t pin, int val) val &= 0x07; switch(digitalPinToTimer(pin)) { - + #if defined(TCCR0A) case TIMER0A: case TIMER0B: @@ -2144,7 +2235,7 @@ void setPwmFrequency(uint8_t pin, int val) break; #endif - #if defined(TCCR4A) + #if defined(TCCR4A) case TIMER4A: case TIMER4B: case TIMER4C: @@ -2153,7 +2244,7 @@ void setPwmFrequency(uint8_t pin, int val) break; #endif - #if defined(TCCR5A) + #if defined(TCCR5A) case TIMER5A: case TIMER5B: case TIMER5C: diff --git a/Marlin/Servo.cpp b/Marlin/Servo.cpp new file mode 100644 index 0000000000..1b42ce0b04 --- /dev/null +++ b/Marlin/Servo.cpp @@ -0,0 +1,339 @@ +/* + Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2 + Copyright (c) 2009 Michael Margolis. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + */ + +/* + + A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method. + The servos are pulsed in the background using the value most recently written using the write() method + + Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached. + Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four. + + The methods are: + + Servo - Class for manipulating servo motors connected to Arduino pins. + + attach(pin ) - Attaches a servo motor to an i/o pin. + attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds + default min is 544, max is 2400 + + write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds) + writeMicroseconds() - Sets the servo pulse width in microseconds + read() - Gets the last written servo pulse width as an angle between 0 and 180. + readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release) + attached() - Returns true if there is a servo attached. + detach() - Stops an attached servos from pulsing its i/o pin. + +*/ +#ifdef NUM_SERVOS +#include +#include + +#include "Servo.h" + +#define usToTicks(_us) (( clockCyclesPerMicrosecond()* _us) / 8) // converts microseconds to tick (assumes prescale of 8) // 12 Aug 2009 +#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds + + +#define TRIM_DURATION 2 // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009 + +//#define NBR_TIMERS (MAX_SERVOS / SERVOS_PER_TIMER) + +static servo_t servos[MAX_SERVOS]; // static array of servo structures +static volatile int8_t Channel[_Nbr_16timers ]; // counter for the servo being pulsed for each timer (or -1 if refresh interval) + +uint8_t ServoCount = 0; // the total number of attached servos + + +// convenience macros +#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo +#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER) // returns the index of the servo on this timer +#define SERVO_INDEX(_timer,_channel) ((_timer*SERVOS_PER_TIMER) + _channel) // macro to access servo index by timer and channel +#define SERVO(_timer,_channel) (servos[SERVO_INDEX(_timer,_channel)]) // macro to access servo class by timer and channel + +#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4) // minimum value in uS for this servo +#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4) // maximum value in uS for this servo + +/************ static functions common to all instances ***********************/ + +static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA) +{ + if( Channel[timer] < 0 ) + *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer + else{ + if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true ) + digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated + } + + Channel[timer]++; // increment to the next channel + if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) { + *OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks; + if(SERVO(timer,Channel[timer]).Pin.isActive == true) // check if activated + digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high + } + else { + // finished all channels so wait for the refresh period to expire before starting over + if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) ) // allow a few ticks to ensure the next OCR1A not missed + *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL); + else + *OCRnA = *TCNTn + 4; // at least REFRESH_INTERVAL has elapsed + Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel + } +} + +#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform +// Interrupt handlers for Arduino +#if defined(_useTimer1) +SIGNAL (TIMER1_COMPA_vect) +{ + handle_interrupts(_timer1, &TCNT1, &OCR1A); +} +#endif + +#if defined(_useTimer3) +SIGNAL (TIMER3_COMPA_vect) +{ + handle_interrupts(_timer3, &TCNT3, &OCR3A); +} +#endif + +#if defined(_useTimer4) +SIGNAL (TIMER4_COMPA_vect) +{ + handle_interrupts(_timer4, &TCNT4, &OCR4A); +} +#endif + +#if defined(_useTimer5) +SIGNAL (TIMER5_COMPA_vect) +{ + handle_interrupts(_timer5, &TCNT5, &OCR5A); +} +#endif + +#elif defined WIRING +// Interrupt handlers for Wiring +#if defined(_useTimer1) +void Timer1Service() +{ + handle_interrupts(_timer1, &TCNT1, &OCR1A); +} +#endif +#if defined(_useTimer3) +void Timer3Service() +{ + handle_interrupts(_timer3, &TCNT3, &OCR3A); +} +#endif +#endif + + +static void initISR(timer16_Sequence_t timer) +{ +#if defined (_useTimer1) + if(timer == _timer1) { + TCCR1A = 0; // normal counting mode + TCCR1B = _BV(CS11); // set prescaler of 8 + TCNT1 = 0; // clear the timer count +#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__) + TIFR |= _BV(OCF1A); // clear any pending interrupts; + TIMSK |= _BV(OCIE1A) ; // enable the output compare interrupt +#else + // here if not ATmega8 or ATmega128 + TIFR1 |= _BV(OCF1A); // clear any pending interrupts; + TIMSK1 |= _BV(OCIE1A) ; // enable the output compare interrupt +#endif +#if defined(WIRING) + timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service); +#endif + } +#endif + +#if defined (_useTimer3) + if(timer == _timer3) { + TCCR3A = 0; // normal counting mode + TCCR3B = _BV(CS31); // set prescaler of 8 + TCNT3 = 0; // clear the timer count +#if defined(__AVR_ATmega128__) + TIFR |= _BV(OCF3A); // clear any pending interrupts; + ETIMSK |= _BV(OCIE3A); // enable the output compare interrupt +#else + TIFR3 = _BV(OCF3A); // clear any pending interrupts; + TIMSK3 = _BV(OCIE3A) ; // enable the output compare interrupt +#endif +#if defined(WIRING) + timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service); // for Wiring platform only +#endif + } +#endif + +#if defined (_useTimer4) + if(timer == _timer4) { + TCCR4A = 0; // normal counting mode + TCCR4B = _BV(CS41); // set prescaler of 8 + TCNT4 = 0; // clear the timer count + TIFR4 = _BV(OCF4A); // clear any pending interrupts; + TIMSK4 = _BV(OCIE4A) ; // enable the output compare interrupt + } +#endif + +#if defined (_useTimer5) + if(timer == _timer5) { + TCCR5A = 0; // normal counting mode + TCCR5B = _BV(CS51); // set prescaler of 8 + TCNT5 = 0; // clear the timer count + TIFR5 = _BV(OCF5A); // clear any pending interrupts; + TIMSK5 = _BV(OCIE5A) ; // enable the output compare interrupt + } +#endif +} + +static void finISR(timer16_Sequence_t timer) +{ + //disable use of the given timer +#if defined WIRING // Wiring + if(timer == _timer1) { + #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__) + TIMSK1 &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt + #else + TIMSK &= ~_BV(OCIE1A) ; // disable timer 1 output compare interrupt + #endif + timerDetach(TIMER1OUTCOMPAREA_INT); + } + else if(timer == _timer3) { + #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__) + TIMSK3 &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt + #else + ETIMSK &= ~_BV(OCIE3A); // disable the timer3 output compare A interrupt + #endif + timerDetach(TIMER3OUTCOMPAREA_INT); + } +#else + //For arduino - in future: call here to a currently undefined function to reset the timer +#endif +} + +static boolean isTimerActive(timer16_Sequence_t timer) +{ + // returns true if any servo is active on this timer + for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) { + if(SERVO(timer,channel).Pin.isActive == true) + return true; + } + return false; +} + + +/****************** end of static functions ******************************/ + +Servo::Servo() +{ + if( ServoCount < MAX_SERVOS) { + this->servoIndex = ServoCount++; // assign a servo index to this instance + servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH); // store default values - 12 Aug 2009 + } + else + this->servoIndex = INVALID_SERVO ; // too many servos +} + +uint8_t Servo::attach(int pin) +{ + return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH); +} + +uint8_t Servo::attach(int pin, int min, int max) +{ + if(this->servoIndex < MAX_SERVOS ) { + pinMode( pin, OUTPUT) ; // set servo pin to output + servos[this->servoIndex].Pin.nbr = pin; + // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128 + this->min = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS + this->max = (MAX_PULSE_WIDTH - max)/4; + // initialize the timer if it has not already been initialized + timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); + if(isTimerActive(timer) == false) + initISR(timer); + servos[this->servoIndex].Pin.isActive = true; // this must be set after the check for isTimerActive + } + return this->servoIndex ; +} + +void Servo::detach() +{ + servos[this->servoIndex].Pin.isActive = false; + timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex); + if(isTimerActive(timer) == false) { + finISR(timer); + } +} + +void Servo::write(int value) +{ + if(value < MIN_PULSE_WIDTH) + { // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds) + if(value < 0) value = 0; + if(value > 180) value = 180; + value = map(value, 0, 180, SERVO_MIN(), SERVO_MAX()); + } + this->writeMicroseconds(value); +} + +void Servo::writeMicroseconds(int value) +{ + // calculate and store the values for the given channel + byte channel = this->servoIndex; + if( (channel < MAX_SERVOS) ) // ensure channel is valid + { + if( value < SERVO_MIN() ) // ensure pulse width is valid + value = SERVO_MIN(); + else if( value > SERVO_MAX() ) + value = SERVO_MAX(); + + value = value - TRIM_DURATION; + value = usToTicks(value); // convert to ticks after compensating for interrupt overhead - 12 Aug 2009 + + uint8_t oldSREG = SREG; + cli(); + servos[channel].ticks = value; + SREG = oldSREG; + } +} + +int Servo::read() // return the value as degrees +{ + return map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180); +} + +int Servo::readMicroseconds() +{ + unsigned int pulsewidth; + if( this->servoIndex != INVALID_SERVO ) + pulsewidth = ticksToUs(servos[this->servoIndex].ticks) + TRIM_DURATION ; // 12 aug 2009 + else + pulsewidth = 0; + + return pulsewidth; +} + +bool Servo::attached() +{ + return servos[this->servoIndex].Pin.isActive ; +} + +#endif diff --git a/Marlin/Servo.h b/Marlin/Servo.h new file mode 100644 index 0000000000..17c99f7974 --- /dev/null +++ b/Marlin/Servo.h @@ -0,0 +1,132 @@ +/* + Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2 + Copyright (c) 2009 Michael Margolis. All right reserved. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +/* + + A servo is activated by creating an instance of the Servo class passing the desired pin to the attach() method. + The servos are pulsed in the background using the value most recently written using the write() method + + Note that analogWrite of PWM on pins associated with the timer are disabled when the first servo is attached. + Timers are seized as needed in groups of 12 servos - 24 servos use two timers, 48 servos will use four. + The sequence used to sieze timers is defined in timers.h + + The methods are: + + Servo - Class for manipulating servo motors connected to Arduino pins. + + attach(pin ) - Attaches a servo motor to an i/o pin. + attach(pin, min, max ) - Attaches to a pin setting min and max values in microseconds + default min is 544, max is 2400 + + write() - Sets the servo angle in degrees. (invalid angle that is valid as pulse in microseconds is treated as microseconds) + writeMicroseconds() - Sets the servo pulse width in microseconds + read() - Gets the last written servo pulse width as an angle between 0 and 180. + readMicroseconds() - Gets the last written servo pulse width in microseconds. (was read_us() in first release) + attached() - Returns true if there is a servo attached. + detach() - Stops an attached servos from pulsing its i/o pin. + */ + +#ifndef Servo_h +#define Servo_h + +#include + +/* + * Defines for 16 bit timers used with Servo library + * + * If _useTimerX is defined then TimerX is a 16 bit timer on the curent board + * timer16_Sequence_t enumerates the sequence that the timers should be allocated + * _Nbr_16timers indicates how many 16 bit timers are available. + * + */ + +// Say which 16 bit timers can be used and in what order +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +#define _useTimer5 +//#define _useTimer1 +#define _useTimer3 +#define _useTimer4 +//typedef enum { _timer5, _timer1, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ; +typedef enum { _timer5, _timer3, _timer4, _Nbr_16timers } timer16_Sequence_t ; + +#elif defined(__AVR_ATmega32U4__) +//#define _useTimer1 +#define _useTimer3 +//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ; +typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ; + +#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) +#define _useTimer3 +//#define _useTimer1 +//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ; +typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ; + +#elif defined(__AVR_ATmega128__) ||defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__) +#define _useTimer3 +//#define _useTimer1 +//typedef enum { _timer3, _timer1, _Nbr_16timers } timer16_Sequence_t ; +typedef enum { _timer3, _Nbr_16timers } timer16_Sequence_t ; + +#else // everything else +//#define _useTimer1 +//typedef enum { _timer1, _Nbr_16timers } timer16_Sequence_t ; +typedef enum { _Nbr_16timers } timer16_Sequence_t ; +#endif + +#define Servo_VERSION 2 // software version of this library + +#define MIN_PULSE_WIDTH 544 // the shortest pulse sent to a servo +#define MAX_PULSE_WIDTH 2400 // the longest pulse sent to a servo +#define DEFAULT_PULSE_WIDTH 1500 // default pulse width when servo is attached +#define REFRESH_INTERVAL 20000 // minumim time to refresh servos in microseconds + +#define SERVOS_PER_TIMER 12 // the maximum number of servos controlled by one timer +#define MAX_SERVOS (_Nbr_16timers * SERVOS_PER_TIMER) + +#define INVALID_SERVO 255 // flag indicating an invalid servo index + +typedef struct { + uint8_t nbr :6 ; // a pin number from 0 to 63 + uint8_t isActive :1 ; // true if this channel is enabled, pin not pulsed if false +} ServoPin_t ; + +typedef struct { + ServoPin_t Pin; + unsigned int ticks; +} servo_t; + +class Servo +{ +public: + Servo(); + uint8_t attach(int pin); // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure + uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. + void detach(); + void write(int value); // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds + void writeMicroseconds(int value); // Write pulse width in microseconds + int read(); // returns current pulse width as an angle between 0 and 180 degrees + int readMicroseconds(); // returns current pulse width in microseconds for this servo (was read_us() in first release) + bool attached(); // return true if this servo is attached, otherwise false +private: + uint8_t servoIndex; // index into the channel data for this servo + int8_t min; // minimum is this value times 4 added to MIN_PULSE_WIDTH + int8_t max; // maximum is this value times 4 added to MAX_PULSE_WIDTH +}; + +#endif diff --git a/Marlin/pins.h b/Marlin/pins.h index 952fa7a9a3..c8275e4773 100644 --- a/Marlin/pins.h +++ b/Marlin/pins.h @@ -14,7 +14,7 @@ #define DIGIPOTSS_PIN -1 #if MOTHERBOARD == 99 -#define KNOWN_BOARD 1 +#define KNOWN_BOARD 1 #define X_STEP_PIN 2 #define X_DIR_PIN 3 @@ -228,7 +228,7 @@ //x axis pins #define X_STEP_PIN 21 //different from stanard GEN7 - #define X_DIR_PIN 20 //different from stanard GEN7 + #define X_DIR_PIN 20 //different from stanard GEN7 #define X_ENABLE_PIN 24 #define X_STOP_PIN 0 @@ -248,14 +248,14 @@ #define E0_STEP_PIN 28 #define E0_DIR_PIN 27 #define E0_ENABLE_PIN 24 - + #define TEMP_0_PIN 2 #define TEMP_1_PIN -1 #define TEMP_2_PIN -1 #define TEMP_BED_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed) - + #define HEATER_0_PIN 4 - #define HEATER_1_PIN -1 + #define HEATER_1_PIN -1 #define HEATER_2_PIN -1 #define HEATER_BED_PIN 3 // (bed) @@ -272,33 +272,25 @@ //our RS485 pins //#define TX_ENABLE_PIN 12 //#define RX_ENABLE_PIN 13 - - #define BEEPER -1 - #define SDCARDDETECT -1 - #define SUICIDE_PIN -1 //has to be defined; otherwise Power_off doesn't work - + + #define BEEPER -1 + #define SDCARDDETECT -1 + #define SUICIDE_PIN -1 //has to be defined; otherwise Power_off doesn't work + #define KILL_PIN -1 - //Pins for 4bit LCD Support - #define LCD_PINS_RS 18 + //Pins for 4bit LCD Support + #define LCD_PINS_RS 18 #define LCD_PINS_ENABLE 17 #define LCD_PINS_D4 16 - #define LCD_PINS_D5 15 + #define LCD_PINS_D5 15 #define LCD_PINS_D6 13 #define LCD_PINS_D7 14 - + //buttons are directly attached #define BTN_EN1 11 #define BTN_EN2 10 #define BTN_ENC 12 //the click - - #define BLEN_C 2 - #define BLEN_B 1 - #define BLEN_A 0 - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 #endif /**************************************************************************************** @@ -376,33 +368,28 @@ #else #define HEATER_1_PIN 9 // EXTRUDER 2 (FAN On Sprinter) #endif -#define HEATER_2_PIN -1 +#define HEATER_2_PIN -1 #define TEMP_0_PIN 13 // ANALOG NUMBERING #define TEMP_1_PIN 15 // ANALOG NUMBERING #define TEMP_2_PIN -1 // ANALOG NUMBERING #define HEATER_BED_PIN 8 // BED #define TEMP_BED_PIN 14 // ANALOG NUMBERING +#define SERVO0_PIN 11 +#define SERVO1_PIN 6 +#define SERVO2_PIN 5 +#define SERVO3_PIN 4 + #ifdef ULTRA_LCD #ifdef NEWPANEL - //encoder rotation values - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 - - #define BLEN_A 0 - #define BLEN_B 1 - #define BLEN_C 2 - #define LCD_PINS_RS 16 #define LCD_PINS_ENABLE 17 #define LCD_PINS_D4 23 - #define LCD_PINS_D5 25 + #define LCD_PINS_D5 25 #define LCD_PINS_D6 27 #define LCD_PINS_D7 29 - + #ifdef REPRAP_DISCOUNT_SMART_CONTROLLER #define BEEPER 37 @@ -413,7 +400,7 @@ #define SDCARDDETECT 49 #else //arduino pin which triggers an piezzo beeper - #define BEEPER 33 // Beeper on AUX-4 + #define BEEPER 33 // Beeper on AUX-4 //buttons are directly attached using AUX-2 #ifdef REPRAPWORLD_KEYPAD @@ -423,16 +410,7 @@ #define SHIFT_OUT 40 // shift register #define SHIFT_CLK 44 // shift register #define SHIFT_LD 42 // shift register - // define register bit values, don't change it - #define BLEN_REPRAPWORLD_KEYPAD_F3 0 - #define BLEN_REPRAPWORLD_KEYPAD_F2 1 - #define BLEN_REPRAPWORLD_KEYPAD_F1 2 - #define BLEN_REPRAPWORLD_KEYPAD_UP 3 - #define BLEN_REPRAPWORLD_KEYPAD_RIGHT 4 - #define BLEN_REPRAPWORLD_KEYPAD_MIDDLE 5 - #define BLEN_REPRAPWORLD_KEYPAD_DOWN 6 - #define BLEN_REPRAPWORLD_KEYPAD_LEFT 7 - #else + #else #define BTN_EN1 37 #define BTN_EN2 35 #define BTN_ENC 31 //the click @@ -447,40 +425,21 @@ #else //old style panel with shift register //arduino pin witch triggers an piezzo beeper - #define BEEPER 33 No Beeper added + #define BEEPER 33 // No Beeper added //buttons are attached to a shift register - // Not wired this yet + // Not wired this yet //#define SHIFT_CLK 38 //#define SHIFT_LD 42 //#define SHIFT_OUT 40 //#define SHIFT_EN 17 - - #define LCD_PINS_RS 16 + + #define LCD_PINS_RS 16 #define LCD_PINS_ENABLE 17 #define LCD_PINS_D4 23 - #define LCD_PINS_D5 25 + #define LCD_PINS_D5 25 #define LCD_PINS_D6 27 #define LCD_PINS_D7 29 - - //encoder rotation values - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 - - - //bits in the shift register that carry the buttons for: - // left up center down right red - #define BL_LE 7 - #define BL_UP 6 - #define BL_MI 5 - #define BL_DW 4 - #define BL_RI 3 - #define BL_ST 2 - - #define BLEN_B 1 - #define BLEN_A 0 #endif #endif //ULTRA_LCD @@ -526,15 +485,15 @@ #define HEATER_1_PIN -1 #define HEATER_2_PIN -1 #define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! -#define TEMP_1_PIN -1 -#define TEMP_2_PIN -1 +#define TEMP_1_PIN -1 +#define TEMP_2_PIN -1 #define TEMP_BED_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! #endif// MOTHERBOARD == 33 || MOTHERBOARD == 34 -// SPI for Max6675 Thermocouple +// SPI for Max6675 Thermocouple #ifndef SDSUPPORT -// these pins are defined in the SD library if building with SD support +// these pins are defined in the SD library if building with SD support #define MAX_SCK_PIN 52 #define MAX_MISO_PIN 50 #define MAX_MOSI_PIN 51 @@ -586,8 +545,8 @@ #define HEATER_1_PIN -1 #define HEATER_2_PIN -1 #define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! -#define TEMP_1_PIN -1 -#define TEMP_2_PIN -1 +#define TEMP_1_PIN -1 +#define TEMP_2_PIN -1 #define HEATER_BED_PIN -1 #define TEMP_BED_PIN -1 @@ -650,14 +609,14 @@ #define PS_ON_PIN -1 //changed @ rkoeppl 20110410 #define KILL_PIN -1 //changed @ drakelive 20120830 //our pin for debugging. - - #define DEBUG_PIN 0 - - //our RS485 pins - #define TX_ENABLE_PIN 12 - #define RX_ENABLE_PIN 13 - + #define DEBUG_PIN 0 + + //our RS485 pins + #define TX_ENABLE_PIN 12 + #define RX_ENABLE_PIN 13 + + #endif /**************************************************************************************** @@ -673,7 +632,7 @@ #if MOTHERBOARD == 62 || MOTHERBOARD == 63 || MOTHERBOARD == 64 #undef MOTHERBOARD #define MOTHERBOARD 6 -#define SANGUINOLOLU_V_1_2 +#define SANGUINOLOLU_V_1_2 #endif #if MOTHERBOARD == 6 #define KNOWN_BOARD 1 @@ -700,7 +659,7 @@ #define LED_PIN -1 -#define FAN_PIN -1 +#define FAN_PIN -1 #if FAN_PIN == 12 || FAN_PIN ==13 #define FAN_SOFT_PWM #endif @@ -754,46 +713,35 @@ //we have no buzzer installed #define BEEPER -1 //LCD Pins - #ifdef DOGLCD - // Pins for DOGM SPI LCD Support - #define DOGLCD_A0 30 - #define DOGLCD_CS 29 - // GLCD features - #define LCD_CONTRAST 1 - // Uncomment screen orientation - // #define LCD_SCREEN_ROT_0 - // #define LCD_SCREEN_ROT_90 - #define LCD_SCREEN_ROT_180 - // #define LCD_SCREEN_ROT_270 - #else // standard Hitachi LCD controller - #define LCD_PINS_RS 4 - #define LCD_PINS_ENABLE 17 - #define LCD_PINS_D4 30 - #define LCD_PINS_D5 29 - #define LCD_PINS_D6 28 - #define LCD_PINS_D7 27 - #endif + #ifdef DOGLCD + // Pins for DOGM SPI LCD Support + #define DOGLCD_A0 30 + #define DOGLCD_CS 29 + // GLCD features + #define LCD_CONTRAST 1 + // Uncomment screen orientation + // #define LCD_SCREEN_ROT_0 + // #define LCD_SCREEN_ROT_90 + #define LCD_SCREEN_ROT_180 + // #define LCD_SCREEN_ROT_270 + #else // standard Hitachi LCD controller + #define LCD_PINS_RS 4 + #define LCD_PINS_ENABLE 17 + #define LCD_PINS_D4 30 + #define LCD_PINS_D5 29 + #define LCD_PINS_D6 28 + #define LCD_PINS_D7 27 + #endif //The encoder and click button - #define BTN_EN1 11 //must be a hardware interrupt pin - #define BTN_EN2 10 //must be hardware interrupt pin + #define BTN_EN1 11 + #define BTN_EN2 10 #define BTN_ENC 16 //the switch //not connected to a pin - #define SDCARDDETECT -1 - - //from the same bit in the RAMPS Newpanel define - //encoder rotation values - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 - - #define BLEN_C 2 - #define BLEN_B 1 - #define BLEN_A 0 - + #define SDCARDDETECT -1 + #endif //Newpanel #endif //Ultipanel - + #endif @@ -823,17 +771,17 @@ #define Y_MAX_PIN 28 #define Y_ENABLE_PIN 29 -#define Z_STEP_PIN 37 +#define Z_STEP_PIN 37 #define Z_DIR_PIN 39 #define Z_MIN_PIN 30 #define Z_MAX_PIN 32 #define Z_ENABLE_PIN 35 -#define HEATER_BED_PIN 4 -#define TEMP_BED_PIN 10 +#define HEATER_BED_PIN 4 +#define TEMP_BED_PIN 10 #define HEATER_0_PIN 2 -#define TEMP_0_PIN 8 +#define TEMP_0_PIN 8 #define HEATER_1_PIN 3 #define TEMP_1_PIN 9 @@ -863,29 +811,20 @@ //arduino pin witch triggers an piezzo beeper #define BEEPER 18 - #define LCD_PINS_RS 20 + #define LCD_PINS_RS 20 #define LCD_PINS_ENABLE 17 #define LCD_PINS_D4 16 - #define LCD_PINS_D5 21 + #define LCD_PINS_D5 21 #define LCD_PINS_D6 5 #define LCD_PINS_D7 6 - + //buttons are directly attached #define BTN_EN1 40 #define BTN_EN2 42 #define BTN_ENC 19 //the click - #define BLEN_C 2 - #define BLEN_B 1 - #define BLEN_A 0 - #define SDCARDDETECT 38 - //encoder rotation values - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 #else //old style panel with shift register //arduino pin witch triggers an piezzo beeper #define BEEPER 18 @@ -895,40 +834,15 @@ #define SHIFT_LD 42 #define SHIFT_OUT 40 #define SHIFT_EN 17 - - #define LCD_PINS_RS 16 + + #define LCD_PINS_RS 16 #define LCD_PINS_ENABLE 5 #define LCD_PINS_D4 6 - #define LCD_PINS_D5 21 + #define LCD_PINS_D5 21 #define LCD_PINS_D6 20 #define LCD_PINS_D7 19 - - //encoder rotation values - #ifndef ULTIMAKERCONTROLLER - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 - #else - #define encrot0 0 - #define encrot1 1 - #define encrot2 3 - #define encrot3 2 - - #endif - + #define SDCARDDETECT -1 - //bits in the shift register that carry the buttons for: - // left up center down right red - #define BL_LE 7 - #define BL_UP 6 - #define BL_MI 5 - #define BL_DW 4 - #define BL_RI 3 - #define BL_ST 2 - - #define BLEN_B 1 - #define BLEN_A 0 #endif #endif //ULTRA_LCD @@ -960,17 +874,17 @@ #define Y_MAX_PIN 16 #define Y_ENABLE_PIN 29 -#define Z_STEP_PIN 37 +#define Z_STEP_PIN 37 #define Z_DIR_PIN 39 #define Z_MIN_PIN 19 #define Z_MAX_PIN 18 #define Z_ENABLE_PIN 35 -#define HEATER_BED_PIN -1 -#define TEMP_BED_PIN -1 +#define HEATER_BED_PIN -1 +#define TEMP_BED_PIN -1 #define HEATER_0_PIN 2 -#define TEMP_0_PIN 8 +#define TEMP_0_PIN 8 #define HEATER_1_PIN 1 #define TEMP_1_PIN 1 @@ -994,10 +908,10 @@ #define KILL_PIN -1 #define SUICIDE_PIN -1 //PIN that has to be turned on right after start, to keep power flowing. -#define LCD_PINS_RS 24 +#define LCD_PINS_RS 24 #define LCD_PINS_ENABLE 22 #define LCD_PINS_D4 36 -#define LCD_PINS_D5 34 +#define LCD_PINS_D5 34 #define LCD_PINS_D6 32 #define LCD_PINS_D7 30 @@ -1019,17 +933,17 @@ #define X_DIR_PIN 16 #define X_ENABLE_PIN 48 #define X_MIN_PIN 37 -#define X_MAX_PIN 36 +#define X_MAX_PIN 36 #define Y_STEP_PIN 54 -#define Y_DIR_PIN 47 +#define Y_DIR_PIN 47 #define Y_ENABLE_PIN 55 #define Y_MIN_PIN 35 -#define Y_MAX_PIN 34 +#define Y_MAX_PIN 34 -#define Z_STEP_PIN 57 +#define Z_STEP_PIN 57 #define Z_DIR_PIN 56 -#define Z_ENABLE_PIN 62 +#define Z_ENABLE_PIN 62 #define Z_MIN_PIN 33 #define Z_MAX_PIN 32 @@ -1047,45 +961,76 @@ #define LED_PIN 13 -#define FAN_PIN 7 +#define FAN_PIN 7 //additional FAN1 PIN (e.g. useful for electronics fan or light on/off) on PIN 8 #define PS_ON_PIN 45 #define KILL_PIN 46 -#define HEATER_0_PIN 2 // EXTRUDER 1 -#define HEATER_1_PIN 3 // EXTRUDER 2 -#define HEATER_2_PIN 6 // EXTRUDER 3 -//optional FAN1 can be used as 4th heater output: #define HEATER_3_PIN 8 // EXTRUDER 4 -#define HEATER_BED_PIN 9 // BED +#if (TEMP_SENSOR_0==0) + #define TEMP_0_PIN -1 + #define HEATER_0_PIN -1 +#else + #define HEATER_0_PIN 2 // EXTRUDER 1 + #if (TEMP_SENSOR_0==-1) + #define TEMP_0_PIN 6 // ANALOG NUMBERING - connector *K1* on RUMBA thermocouple ADD ON is used + #else + #define TEMP_0_PIN 15 // ANALOG NUMBERING - default connector for thermistor *T0* on rumba board is used + #endif +#endif -#define TEMP_0_PIN 15 // ANALOG NUMBERING -#define TEMP_1_PIN 14 // ANALOG NUMBERING -#define TEMP_2_PIN 13 // ANALOG NUMBERING -//optional for extruder 4 or chamber: #define TEMP_2_PIN 12 // ANALOG NUMBERING -#define TEMP_BED_PIN 11 // ANALOG NUMBERING +#if (TEMP_SENSOR_1==0) + #define TEMP_1_PIN -1 + #define HEATER_1_PIN -1 +#else + #define HEATER_1_PIN 3 // EXTRUDER 2 + #if (TEMP_SENSOR_1==-1) + #define TEMP_1_PIN 5 // ANALOG NUMBERING - connector *K2* on RUMBA thermocouple ADD ON is used + #else + #define TEMP_1_PIN 14 // ANALOG NUMBERING - default connector for thermistor *T1* on rumba board is used + #endif +#endif + +#if (TEMP_SENSOR_2==0) + #define TEMP_2_PIN -1 + #define HEATER_2_PIN -1 +#else + #define HEATER_2_PIN 6 // EXTRUDER 3 + #if (TEMP_SENSOR_2==-1) + #define TEMP_2_PIN 7 // ANALOG NUMBERING - connector *K3* on RUMBA thermocouple ADD ON is used <-- this can not be used when TEMP_SENSOR_BED is defined as thermocouple + #else + #define TEMP_2_PIN 13 // ANALOG NUMBERING - default connector for thermistor *T2* on rumba board is used + #endif +#endif + +//optional for extruder 4 or chamber: #define TEMP_X_PIN 12 // ANALOG NUMBERING - default connector for thermistor *T3* on rumba board is used +//optional FAN1 can be used as 4th heater output: #define HEATER_3_PIN 8 // EXTRUDER 4 + +#if (TEMP_SENSOR_BED==0) + #define TEMP_BED_PIN -1 + #define HEATER_BED_PIN -1 +#else + #define HEATER_BED_PIN 9 // BED + #if (TEMP_SENSOR_BED==-1) + #define TEMP_BED_PIN 7 // ANALOG NUMBERING - connector *K3* on RUMBA thermocouple ADD ON is used <-- this can not be used when TEMP_SENSOR_2 is defined as thermocouple + #else + #define TEMP_BED_PIN 11 // ANALOG NUMBERING - default connector for thermistor *THB* on rumba board is used + #endif +#endif #define SDPOWER -1 #define SDSS 53 #define SDCARDDETECT 49 #define BEEPER 44 -#define LCD_PINS_RS 19 +#define LCD_PINS_RS 19 #define LCD_PINS_ENABLE 42 #define LCD_PINS_D4 18 -#define LCD_PINS_D5 38 +#define LCD_PINS_D5 38 #define LCD_PINS_D6 41 #define LCD_PINS_D7 40 #define BTN_EN1 11 #define BTN_EN2 12 #define BTN_ENC 43 -//encoder rotation values -#define BLEN_C 2 -#define BLEN_B 1 -#define BLEN_A 0 -#define encrot0 0 -#define encrot1 2 -#define encrot2 3 -#define encrot3 1 #endif //MOTHERBOARD==80 @@ -1256,7 +1201,7 @@ #define LED_PIN -1 -#define FAN_PIN -1 +#define FAN_PIN -1 #define PS_ON_PIN 14 #define KILL_PIN -1 @@ -1295,7 +1240,7 @@ * MISO (D 6) PB6 7| |34 PA6 (AI 6 / D25) * SCK (D 7) PB7 8| |33 PA7 (AI 7 / D24) * RST 9| |32 AREF -* VCC 10| |31 GND +* VCC 10| |31 GND * GND 11| |30 AVCC * XTAL2 12| |29 PC7 (D 23) * XTAL1 13| |28 PC6 (D 22) @@ -1352,7 +1297,7 @@ #define KILL_PIN -1 #define HEATER_0_PIN 4 -#define HEATER_1_PIN -1 // 12 +#define HEATER_1_PIN -1 // 12 #define HEATER_2_PIN -1 // 13 #define TEMP_0_PIN 0 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! #define TEMP_1_PIN -1 // 1 @@ -1390,12 +1335,12 @@ #define E0_ENABLE_PIN 10 /* future proofing */ -#define __FS 20 -#define __FD 19 -#define __GS 18 -#define __GD 13 +#define __FS 20 +#define __FD 19 +#define __GS 18 +#define __GD 13 -#define UNUSED_PWM 14 /* PWM on LEFT connector */ +#define UNUSED_PWM 14 /* PWM on LEFT connector */ #define E1_STEP_PIN -1 // 21 #define E1_DIR_PIN -1 // 20 @@ -1414,18 +1359,18 @@ #define KILL_PIN -1 #define HEATER_0_PIN 3 /*DONE PWM on RIGHT connector */ -#define HEATER_1_PIN -1 +#define HEATER_1_PIN -1 #define HEATER_2_PIN -1 -#define HEATER_1_PIN -1 +#define HEATER_1_PIN -1 #define HEATER_2_PIN -1 -#define TEMP_0_PIN 0 // ANALOG INPUT NUMBERING +#define TEMP_0_PIN 0 // ANALOG INPUT NUMBERING #define TEMP_1_PIN 1 // ANALOG #define TEMP_2_PIN -1 // 2 #define HEATER_BED_PIN 4 #define TEMP_BED_PIN 2 // 1,2 or I2C -#define I2C_SCL 16 -#define I2C_SDA 17 +#define I2C_SCL 16 +#define I2C_SDA 17 #endif @@ -1466,7 +1411,7 @@ #define Z_MS2_PIN 67 #define HEATER_BED_PIN 3 -#define TEMP_BED_PIN 2 +#define TEMP_BED_PIN 2 #define HEATER_0_PIN 9 #define TEMP_0_PIN 0 @@ -1474,7 +1419,11 @@ #define HEATER_1_PIN 7 #define TEMP_1_PIN 1 +#ifdef BARICUDA +#define HEATER_2_PIN 6 +#else #define HEATER_2_PIN -1 +#endif #define TEMP_2_PIN -1 #define E0_STEP_PIN 34 @@ -1555,9 +1504,9 @@ #define HEATER_0_PIN 9 // EXTRUDER 1 #define HEATER_1_PIN 8 // EXTRUDER 2 (FAN On Sprinter) -#define HEATER_2_PIN -1 +#define HEATER_2_PIN -1 -#if TEMP_SENSOR_0 == -1 +#if TEMP_SENSOR_0 == -1 #define TEMP_0_PIN 8 // ANALOG NUMBERING #else #define TEMP_0_PIN 13 // ANALOG NUMBERING @@ -1569,37 +1518,27 @@ #define HEATER_BED_PIN 10 // BED #define TEMP_BED_PIN 14 // ANALOG NUMBERING -#define BEEPER 33 // Beeper on AUX-4 +#define BEEPER 33 // Beeper on AUX-4 #ifdef ULTRA_LCD #ifdef NEWPANEL //arduino pin which triggers an piezzo beeper - - #define LCD_PINS_RS 16 + + #define LCD_PINS_RS 16 #define LCD_PINS_ENABLE 17 #define LCD_PINS_D4 23 - #define LCD_PINS_D5 25 + #define LCD_PINS_D5 25 #define LCD_PINS_D6 27 #define LCD_PINS_D7 29 - + //buttons are directly attached using AUX-2 #define BTN_EN1 59 #define BTN_EN2 64 #define BTN_ENC 43 //the click - #define BLEN_C 2 - #define BLEN_B 1 - #define BLEN_A 0 - - #define SDCARDDETECT -1 // Ramps does not use this port - - //encoder rotation values - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 + #define SDCARDDETECT -1 // Ramps does not use this port #endif #endif //ULTRA_LCD @@ -1610,7 +1549,7 @@ #endif //List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those! -#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN, +#define _E0_PINS E0_STEP_PIN, E0_DIR_PIN, E0_ENABLE_PIN, HEATER_0_PIN, #if EXTRUDERS > 1 #define _E1_PINS E1_STEP_PIN, E1_DIR_PIN, E1_ENABLE_PIN, HEATER_1_PIN, #else diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 854fd19eec..35bda428f7 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -439,12 +439,20 @@ void check_axes_activity() unsigned char z_active = 0; unsigned char e_active = 0; unsigned char tail_fan_speed = fanSpeed; + #ifdef BARICUDA + unsigned char tail_valve_pressure = ValvePressure; + unsigned char tail_e_to_p_pressure = EtoPPressure; + #endif block_t *block; if(block_buffer_tail != block_buffer_head) { uint8_t block_index = block_buffer_tail; tail_fan_speed = block_buffer[block_index].fan_speed; + #ifdef BARICUDA + tail_valve_pressure = block_buffer[block_index].valve_pressure; + tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure; + #endif while(block_index != block_buffer_head) { block = &block_buffer[block_index]; @@ -486,6 +494,16 @@ void check_axes_activity() #ifdef AUTOTEMP getHighESpeed(); #endif + +#ifdef BARICUDA + #if HEATER_1_PIN > -1 + analogWrite(HEATER_1_PIN,tail_valve_pressure); + #endif + + #if HEATER_2_PIN > -1 + analogWrite(HEATER_2_PIN,tail_e_to_p_pressure); + #endif +#endif } @@ -559,6 +577,10 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa } block->fan_speed = fanSpeed; + #ifdef BARICUDA + block->valve_pressure = ValvePressure; + block->e_to_p_pressure = EtoPPressure; + #endif // Compute direction bits for this block block->direction_bits = 0; diff --git a/Marlin/planner.h b/Marlin/planner.h index 9a904e5776..703646eb13 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -60,6 +60,10 @@ typedef struct { unsigned long final_rate; // The minimal rate at exit unsigned long acceleration_st; // acceleration steps/sec^2 unsigned long fan_speed; + #ifdef BARICUDA + unsigned long valve_pressure; + unsigned long e_to_p_pressure; + #endif volatile char busy; } block_t; diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index 3bc5e9c892..f8d0af9e7c 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -69,9 +69,9 @@ volatile long endstops_stepsTotal,endstops_stepsDone; static volatile bool endstop_x_hit=false; static volatile bool endstop_y_hit=false; static volatile bool endstop_z_hit=false; -#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED -bool abort_on_endstop_hit = false; -#endif +#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED +bool abort_on_endstop_hit = false; +#endif static bool old_x_min_endstop=false; static bool old_x_max_endstop=false; @@ -184,20 +184,20 @@ void checkHitEndstops() SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]); LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z"); } - SERIAL_ECHOLN(""); + SERIAL_ECHOLN(""); endstop_x_hit=false; endstop_y_hit=false; - endstop_z_hit=false; -#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED - if (abort_on_endstop_hit) - { + endstop_z_hit=false; +#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED + if (abort_on_endstop_hit) + { card.sdprinting = false; card.closefile(); - quickStop(); + quickStop(); setTargetHotend0(0); setTargetHotend1(0); setTargetHotend2(0); - } + } #endif } } @@ -879,10 +879,6 @@ void st_init() disable_e2(); #endif - #ifdef CONTROLLERFAN_PIN - SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan - #endif - // waveform generation = 0100 = CTC TCCR1B &= ~(1< 0 || EXTRUDER_1_AUTO_FAN_PIN > 0 || EXTRUDER_2_AUTO_FAN_PIN > 0 + static unsigned long extruder_autofan_last_check; +#endif #if EXTRUDERS > 3 # error Unsupported number of extruders @@ -306,6 +307,76 @@ int getHeaterPower(int heater) { return soft_pwm[heater]; } +#if EXTRUDER_0_AUTO_FAN_PIN > 0 || EXTRUDER_1_AUTO_FAN_PIN > 0 || EXTRUDER_2_AUTO_FAN_PIN > 0 + + #if FAN_PIN > 0 + #if EXTRUDER_0_AUTO_FAN_PIN == FAN_PIN + #error "You cannot set EXTRUDER_0_AUTO_FAN_PIN equal to FAN_PIN" + #endif + #if EXTRUDER_1_AUTO_FAN_PIN == FAN_PIN + #error "You cannot set EXTRUDER_1_AUTO_FAN_PIN equal to FAN_PIN" + #endif + #if EXTRUDER_2_AUTO_FAN_PIN == FAN_PIN + #error "You cannot set EXTRUDER_2_AUTO_FAN_PIN equal to FAN_PIN" + #endif + #endif + +void setExtruderAutoFanState(int pin, bool state) +{ + unsigned char newFanSpeed = (state != 0) ? EXTRUDER_AUTO_FAN_SPEED : 0; + // this idiom allows both digital and PWM fan outputs (see M42 handling). + pinMode(pin, OUTPUT); + digitalWrite(pin, newFanSpeed); + analogWrite(pin, newFanSpeed); +} + +void checkExtruderAutoFans() +{ + uint8_t fanState = 0; + + // which fan pins need to be turned on? + #if EXTRUDER_0_AUTO_FAN_PIN > 0 + if (current_temperature[0] > EXTRUDER_AUTO_FAN_TEMPERATURE) + fanState |= 1; + #endif + #if EXTRUDER_1_AUTO_FAN_PIN > 0 + if (current_temperature[1] > EXTRUDER_AUTO_FAN_TEMPERATURE) + { + if (EXTRUDER_1_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) + fanState |= 1; + else + fanState |= 2; + } + #endif + #if EXTRUDER_2_AUTO_FAN_PIN > 0 + if (current_temperature[2] > EXTRUDER_AUTO_FAN_TEMPERATURE) + { + if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_0_AUTO_FAN_PIN) + fanState |= 1; + else if (EXTRUDER_2_AUTO_FAN_PIN == EXTRUDER_1_AUTO_FAN_PIN) + fanState |= 2; + else + fanState |= 4; + } + #endif + + // update extruder auto fan states + #if EXTRUDER_0_AUTO_FAN_PIN > 0 + setExtruderAutoFanState(EXTRUDER_0_AUTO_FAN_PIN, (fanState & 1) != 0); + #endif + #if EXTRUDER_1_AUTO_FAN_PIN > 0 + if (EXTRUDER_1_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN) + setExtruderAutoFanState(EXTRUDER_1_AUTO_FAN_PIN, (fanState & 2) != 0); + #endif + #if EXTRUDER_2_AUTO_FAN_PIN > 0 + if (EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_0_AUTO_FAN_PIN + && EXTRUDER_2_AUTO_FAN_PIN != EXTRUDER_1_AUTO_FAN_PIN) + setExtruderAutoFanState(EXTRUDER_2_AUTO_FAN_PIN, (fanState & 4) != 0); + #endif +} + +#endif // any extruder auto fan pins set + void manage_heater() { float pid_input; @@ -398,8 +469,15 @@ void manage_heater() #endif } // End extruder for loop - + #if EXTRUDER_0_AUTO_FAN_PIN > 0 || EXTRUDER_1_AUTO_FAN_PIN > 0 || EXTRUDER_2_AUTO_FAN_PIN > 0 + if(millis() - extruder_autofan_last_check > 2500) // only need to check fan state very infrequently + { + checkExtruderAutoFans(); + extruder_autofan_last_check = millis(); + } + #endif + #ifndef PIDTEMPBED if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) return; @@ -571,6 +649,12 @@ static void updateTemperaturesFromRawValues() void tp_init() { +#if (MOTHERBOARD == 80) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1)) + //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector + MCUCR=(1< -1) @@ -689,7 +773,7 @@ void tp_init() #if (EXTRUDERS > 1) && defined(HEATER_1_MINTEMP) minttemp[1] = HEATER_1_MINTEMP; - while(analog2temp(minttemp_raw[1], 1) > HEATER_1_MINTEMP) { + while(analog2temp(minttemp_raw[1], 1) < HEATER_1_MINTEMP) { #if HEATER_1_RAW_LO_TEMP < HEATER_1_RAW_HI_TEMP minttemp_raw[1] += OVERSAMPLENR; #else @@ -710,7 +794,7 @@ void tp_init() #if (EXTRUDERS > 2) && defined(HEATER_2_MINTEMP) minttemp[2] = HEATER_2_MINTEMP; - while(analog2temp(minttemp_raw[2], 2) > HEATER_2_MINTEMP) { + while(analog2temp(minttemp_raw[2], 2) < HEATER_2_MINTEMP) { #if HEATER_2_RAW_LO_TEMP < HEATER_2_RAW_HI_TEMP minttemp_raw[2] += OVERSAMPLENR; #else diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index 13f2116237..95ad59d24b 100644 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -79,6 +79,13 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l #define ENCODER_STEPS_PER_MENU_ITEM 5 #define ENCODER_FEEDRATE_DEADZONE 10 +#if !defined(LCD_I2C_VIKI) + #define ENCODER_STEPS_PER_MENU_ITEM 5 +#else + #define ENCODER_STEPS_PER_MENU_ITEM 2 // VIKI LCD rotary encoder uses a different number of steps per rotation +#endif + + /* Helper macros for menus */ #define START_MENU() do { \ if (encoderPosition > 0x8000) encoderPosition = 0; \ @@ -113,15 +120,18 @@ static void menu_action_setting_edit_callback_long5(const char* pstr, unsigned l } } while(0) /** Used variables to keep track of the menu */ +#ifndef REPRAPWORLD_KEYPAD volatile uint8_t buttons;//Contains the bits of the currently pressed buttons. -volatile uint8_t buttons_reprapworld_keypad; // to store the reprapworld_keypad shiftregister values +#else +volatile uint16_t buttons;//Contains the bits of the currently pressed buttons (extended). +#endif uint8_t currentMenuViewOffset; /* scroll offset in the current menu */ uint32_t blocking_enc; uint8_t lastEncoderBits; int8_t encoderDiff; /* encoderDiff is updated from interrupt context and added to encoderPosition every LCD update */ uint32_t encoderPosition; -#if (SDCARDDETECT > -1) +#if (SDCARDDETECT > 0) bool lcd_oldcardstatus; #endif #endif//ULTIPANEL @@ -163,28 +173,28 @@ static void lcd_status_screen() lcd_quick_feedback(); } - // Dead zone at 100% feedrate - if (feedmultiply < 100 && (feedmultiply + int(encoderPosition)) > 100 || - feedmultiply > 100 && (feedmultiply + int(encoderPosition)) < 100) - { - encoderPosition = 0; - feedmultiply = 100; - } - - if (feedmultiply == 100 && int(encoderPosition) > ENCODER_FEEDRATE_DEADZONE) - { - feedmultiply += int(encoderPosition) - ENCODER_FEEDRATE_DEADZONE; - encoderPosition = 0; - } - else if (feedmultiply == 100 && int(encoderPosition) < -ENCODER_FEEDRATE_DEADZONE) - { - feedmultiply += int(encoderPosition) + ENCODER_FEEDRATE_DEADZONE; - encoderPosition = 0; - } - else if (feedmultiply != 100) - { - feedmultiply += int(encoderPosition); - encoderPosition = 0; + // Dead zone at 100% feedrate + if (feedmultiply < 100 && (feedmultiply + int(encoderPosition)) > 100 || + feedmultiply > 100 && (feedmultiply + int(encoderPosition)) < 100) + { + encoderPosition = 0; + feedmultiply = 100; + } + + if (feedmultiply == 100 && int(encoderPosition) > ENCODER_FEEDRATE_DEADZONE) + { + feedmultiply += int(encoderPosition) - ENCODER_FEEDRATE_DEADZONE; + encoderPosition = 0; + } + else if (feedmultiply == 100 && int(encoderPosition) < -ENCODER_FEEDRATE_DEADZONE) + { + feedmultiply += int(encoderPosition) + ENCODER_FEEDRATE_DEADZONE; + encoderPosition = 0; + } + else if (feedmultiply != 100) + { + feedmultiply += int(encoderPosition); + encoderPosition = 0; } if (feedmultiply < 10) @@ -247,14 +257,14 @@ static void lcd_main_menu() }else{ MENU_ITEM(submenu, MSG_CARD_MENU, lcd_sdcard_menu); #if SDCARDDETECT < 1 - MENU_ITEM(gcode, MSG_CNG_SDCARD, PSTR("M21")); // SD-card changed by user -#endif + MENU_ITEM(gcode, MSG_CNG_SDCARD, PSTR("M21")); // SD-card changed by user +#endif } }else{ MENU_ITEM(submenu, MSG_NO_CARD, lcd_sdcard_menu); -#if SDCARDDETECT < 1 - MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21")); // Manually initialize the SD-card via user interface -#endif +#if SDCARDDETECT < 1 + MENU_ITEM(gcode, MSG_INIT_SDCARD, PSTR("M21")); // Manually initialize the SD-card via user interface +#endif } #endif END_MENU(); @@ -277,7 +287,7 @@ void lcd_preheat_pla() setTargetBed(plaPreheatHPBTemp); fanSpeed = plaPreheatFanSpeed; lcd_return_to_status(); - setWatch(); // heater sanity check timer + setWatch(); // heater sanity check timer } void lcd_preheat_abs() @@ -288,16 +298,16 @@ void lcd_preheat_abs() setTargetBed(absPreheatHPBTemp); fanSpeed = absPreheatFanSpeed; lcd_return_to_status(); - setWatch(); // heater sanity check timer + setWatch(); // heater sanity check timer } static void lcd_cooldown() { - setTargetHotend0(0); - setTargetHotend1(0); - setTargetHotend2(0); - setTargetBed(0); - lcd_return_to_status(); + setTargetHotend0(0); + setTargetHotend1(0); + setTargetHotend2(0); + setTargetBed(0); + lcd_return_to_status(); } static void lcd_tune_menu() @@ -496,10 +506,10 @@ static void lcd_control_menu() static void lcd_control_temperature_menu() { - // set up temp variables - undo the default scaling - raw_Ki = unscalePID_i(Ki); - raw_Kd = unscalePID_d(Kd); - + // set up temp variables - undo the default scaling + raw_Ki = unscalePID_i(Ki); + raw_Kd = unscalePID_d(Kd); + START_MENU(); MENU_ITEM(back, MSG_CONTROL, lcd_control_menu); MENU_ITEM_EDIT(int3, MSG_NOZZLE, &target_temperature[0], 0, HEATER_0_MAXTEMP - 15); @@ -521,7 +531,7 @@ static void lcd_control_temperature_menu() #endif #ifdef PIDTEMP MENU_ITEM_EDIT(float52, MSG_PID_P, &Kp, 1, 9990); - // i is typically a small value so allows values below 1 + // i is typically a small value so allows values below 1 MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I, &raw_Ki, 0.01, 9990, copy_and_scalePID_i); MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D, &raw_Kd, 1, 9990, copy_and_scalePID_d); # ifdef PID_ADD_EXTRUSION_RATE @@ -725,21 +735,21 @@ menu_edit_type(float, float52, ftostr52, 100) menu_edit_type(unsigned long, long5, ftostr5, 0.01) #ifdef REPRAPWORLD_KEYPAD - static void reprapworld_keypad_move_y_down() { + static void reprapworld_keypad_move_y_down() { encoderPosition = 1; move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP; - lcd_move_y(); - } - static void reprapworld_keypad_move_y_up() { - encoderPosition = -1; - move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP; - lcd_move_y(); - } - static void reprapworld_keypad_move_home() { - //enquecommand_P((PSTR("G28"))); // move all axis home - // TODO gregor: move all axis home, i have currently only one axis on my prusa i3 - enquecommand_P((PSTR("G28 Y"))); - } + lcd_move_y(); + } + static void reprapworld_keypad_move_y_up() { + encoderPosition = -1; + move_menu_scale = REPRAPWORLD_KEYPAD_MOVE_STEP; + lcd_move_y(); + } + static void reprapworld_keypad_move_home() { + //enquecommand_P((PSTR("G28"))); // move all axis home + // TODO gregor: move all axis home, i have currently only one axis on my prusa i3 + enquecommand_P((PSTR("G28 Y"))); + } #endif /** End of menus **/ @@ -800,18 +810,20 @@ void lcd_init() #ifdef NEWPANEL pinMode(BTN_EN1,INPUT); pinMode(BTN_EN2,INPUT); - pinMode(BTN_ENC,INPUT); pinMode(SDCARDDETECT,INPUT); WRITE(BTN_EN1,HIGH); WRITE(BTN_EN2,HIGH); + #if BTN_ENC > 0 + pinMode(BTN_ENC,INPUT); WRITE(BTN_ENC,HIGH); - #ifdef REPRAPWORLD_KEYPAD - pinMode(SHIFT_CLK,OUTPUT); - pinMode(SHIFT_LD,OUTPUT); - pinMode(SHIFT_OUT,INPUT); - WRITE(SHIFT_OUT,HIGH); - WRITE(SHIFT_LD,HIGH); - #endif + #endif + #ifdef REPRAPWORLD_KEYPAD + pinMode(SHIFT_CLK,OUTPUT); + pinMode(SHIFT_LD,OUTPUT); + pinMode(SHIFT_OUT,INPUT); + WRITE(SHIFT_OUT,HIGH); + WRITE(SHIFT_LD,HIGH); + #endif #else pinMode(SHIFT_CLK,OUTPUT); pinMode(SHIFT_LD,OUTPUT); @@ -821,12 +833,14 @@ void lcd_init() WRITE(SHIFT_LD,HIGH); WRITE(SHIFT_EN,LOW); #endif//!NEWPANEL -#if (SDCARDDETECT > -1) +#if (SDCARDDETECT > 0) WRITE(SDCARDDETECT, HIGH); lcd_oldcardstatus = IS_SD_INSERTED; -#endif//(SDCARDDETECT > -1) +#endif//(SDCARDDETECT > 0) lcd_buttons_update(); +#ifdef ULTIPANEL encoderDiff = 0; +#endif } void lcd_update() @@ -835,7 +849,11 @@ void lcd_update() lcd_buttons_update(); - #if (SDCARDDETECT > -1) + #ifdef LCD_HAS_SLOW_BUTTONS + buttons |= lcd_implementation_read_slow_buttons(); // buttons which take too long to read in interrupt context + #endif + + #if (SDCARDDETECT > 0) if((IS_SD_INSERTED != lcd_oldcardstatus)) { lcdDrawUpdate = 2; @@ -858,17 +876,17 @@ void lcd_update() if (lcd_next_update_millis < millis()) { #ifdef ULTIPANEL - #ifdef REPRAPWORLD_KEYPAD - if (REPRAPWORLD_KEYPAD_MOVE_Y_DOWN) { - reprapworld_keypad_move_y_down(); - } - if (REPRAPWORLD_KEYPAD_MOVE_Y_UP) { - reprapworld_keypad_move_y_up(); - } - if (REPRAPWORLD_KEYPAD_MOVE_HOME) { - reprapworld_keypad_move_home(); - } - #endif + #ifdef REPRAPWORLD_KEYPAD + if (REPRAPWORLD_KEYPAD_MOVE_Y_DOWN) { + reprapworld_keypad_move_y_down(); + } + if (REPRAPWORLD_KEYPAD_MOVE_Y_UP) { + reprapworld_keypad_move_y_up(); + } + if (REPRAPWORLD_KEYPAD_MOVE_HOME) { + reprapworld_keypad_move_home(); + } + #endif if (encoderDiff) { lcdDrawUpdate = 1; @@ -881,21 +899,26 @@ void lcd_update() #endif//ULTIPANEL #ifdef DOGLCD // Changes due to different driver architecture of the DOGM display - blink++; // Variable for fan animation and alive dot - u8g.firstPage(); - do { - u8g.setFont(u8g_font_6x10_marlin); - u8g.setPrintPos(125,0); - if (blink % 2) u8g.setColorIndex(1); else u8g.setColorIndex(0); // Set color for the alive dot - u8g.drawPixel(127,63); // draw alive dot - u8g.setColorIndex(1); // black on white - (*currentMenu)(); - if (!lcdDrawUpdate) break; // Terminate display update, when nothing new to draw. This must be done before the last dogm.next() - } while( u8g.nextPage() ); + blink++; // Variable for fan animation and alive dot + u8g.firstPage(); + do + { + u8g.setFont(u8g_font_6x10_marlin); + u8g.setPrintPos(125,0); + if (blink % 2) u8g.setColorIndex(1); else u8g.setColorIndex(0); // Set color for the alive dot + u8g.drawPixel(127,63); // draw alive dot + u8g.setColorIndex(1); // black on white + (*currentMenu)(); + if (!lcdDrawUpdate) break; // Terminate display update, when nothing new to draw. This must be done before the last dogm.next() + } while( u8g.nextPage() ); #else (*currentMenu)(); #endif +#ifdef LCD_HAS_STATUS_INDICATORS + lcd_implementation_update_indicators(); +#endif + #ifdef ULTIPANEL if(timeoutToStatus < millis() && currentMenu != lcd_status_screen) { @@ -946,23 +969,25 @@ void lcd_buttons_update() uint8_t newbutton=0; if(READ(BTN_EN1)==0) newbutton|=EN_A; if(READ(BTN_EN2)==0) newbutton|=EN_B; + #if BTN_ENC > 0 if((blocking_enc>1; + if(READ(SHIFT_OUT)) + newbutton_reprapworld_keypad|=(1<<7); + WRITE(SHIFT_CLK,HIGH); + WRITE(SHIFT_CLK,LOW); + } + newbutton |= ((~newbutton_reprapworld_keypad) << REPRAPWORLD_BTN_OFFSET); //invert it, because a pressed switch produces a logical 0 + #endif buttons = newbutton; - #ifdef REPRAPWORLD_KEYPAD - // for the reprapworld_keypad - uint8_t newbutton_reprapworld_keypad=0; - WRITE(SHIFT_LD,LOW); - WRITE(SHIFT_LD,HIGH); - for(int8_t i=0;i<8;i++) { - newbutton_reprapworld_keypad = newbutton_reprapworld_keypad>>1; - if(READ(SHIFT_OUT)) - newbutton_reprapworld_keypad|=(1<<7); - WRITE(SHIFT_CLK,HIGH); - WRITE(SHIFT_CLK,LOW); - } - buttons_reprapworld_keypad=~newbutton_reprapworld_keypad; //invert it, because a pressed switch produces a logical 0 - #endif #else //read it from the shift register uint8_t newbutton=0; WRITE(SHIFT_LD,LOW); @@ -1017,6 +1042,18 @@ void lcd_buttons_update() } lastEncoderBits = enc; } + +void lcd_buzz(long duration, uint16_t freq) +{ +#ifdef LCD_USE_I2C_BUZZER + lcd.buzz(duration,freq); +#endif +} + +bool lcd_clicked() +{ + return LCD_CLICKED; +} #endif//ULTIPANEL /********************************/ @@ -1218,7 +1255,7 @@ void copy_and_scalePID_i() { Ki = scalePID_i(raw_Ki); updatePID(); -} +} // Callback for after editing PID d value // grab the pid d value out of the temp variable; scale it; then update the PID driver @@ -1226,6 +1263,6 @@ void copy_and_scalePID_d() { Kd = scalePID_d(raw_Kd); updatePID(); -} - +} + #endif //ULTRA_LCD diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h index 03f2fe1862..5d3c3c0bee 100644 --- a/Marlin/ultralcd.h +++ b/Marlin/ultralcd.h @@ -22,10 +22,6 @@ #ifdef ULTIPANEL void lcd_buttons_update(); - extern volatile uint8_t buttons; //the last checked buttons in a bit array. - #ifdef REPRAPWORLD_KEYPAD - extern volatile uint8_t buttons_reprapworld_keypad; // to store the keypad shiftregister values - #endif #else FORCE_INLINE void lcd_buttons_update() {} #endif @@ -38,40 +34,8 @@ extern int absPreheatHPBTemp; extern int absPreheatFanSpeed; - #ifdef NEWPANEL - #define EN_C (1< -#define LCD_CLASS LiquidCrystal -#endif - -/* Custom characters defined in the first 8 characters of the LCD */ -#define LCD_STR_BEDTEMP "\x00" -#define LCD_STR_DEGREE "\x01" -#define LCD_STR_THERMOMETER "\x02" -#define LCD_STR_UPLEVEL "\x03" -#define LCD_STR_REFRESH "\x04" -#define LCD_STR_FOLDER "\x05" -#define LCD_STR_FEEDRATE "\x06" -#define LCD_STR_CLOCK "\x07" -#define LCD_STR_ARROW_RIGHT "\x7E" /* from the default character set */ - -LCD_CLASS lcd(LCD_PINS_RS, LCD_PINS_ENABLE, LCD_PINS_D4, LCD_PINS_D5,LCD_PINS_D6,LCD_PINS_D7); //RS,Enable,D4,D5,D6,D7 -static void lcd_implementation_init() -{ - byte bedTemp[8] = - { - B00000, - B11111, - B10101, - B10001, - B10101, - B11111, - B00000, - B00000 - }; //thanks Sonny Mounicou - byte degree[8] = - { - B01100, - B10010, - B10010, - B01100, - B00000, - B00000, - B00000, - B00000 - }; - byte thermometer[8] = - { - B00100, - B01010, - B01010, - B01010, - B01010, - B10001, - B10001, - B01110 - }; - byte uplevel[8]={ - B00100, - B01110, - B11111, - B00100, - B11100, - B00000, - B00000, - B00000 - }; //thanks joris - byte refresh[8]={ - B00000, - B00110, - B11001, - B11000, - B00011, - B10011, - B01100, - B00000, - }; //thanks joris - byte folder [8]={ - B00000, - B11100, - B11111, - B10001, - B10001, - B11111, - B00000, - B00000 - }; //thanks joris - byte feedrate [8]={ - B11100, - B10000, - B11000, - B10111, - B00101, - B00110, - B00101, - B00000 - }; //thanks Sonny Mounicou - byte clock [8]={ - B00000, - B01110, - B10011, - B10101, - B10001, - B01110, - B00000, - B00000 - }; //thanks Sonny Mounicou - lcd.begin(LCD_WIDTH, LCD_HEIGHT); - lcd.createChar(LCD_STR_BEDTEMP[0], bedTemp); - lcd.createChar(LCD_STR_DEGREE[0], degree); - lcd.createChar(LCD_STR_THERMOMETER[0], thermometer); - lcd.createChar(LCD_STR_UPLEVEL[0], uplevel); - lcd.createChar(LCD_STR_REFRESH[0], refresh); - lcd.createChar(LCD_STR_FOLDER[0], folder); - lcd.createChar(LCD_STR_FEEDRATE[0], feedrate); - lcd.createChar(LCD_STR_CLOCK[0], clock); - lcd.clear(); -} -static void lcd_implementation_clear() -{ - lcd.clear(); -} -/* Arduino < 1.0.0 is missing a function to print PROGMEM strings, so we need to implement our own */ -static void lcd_printPGM(const char* str) -{ - char c; - while((c = pgm_read_byte(str++)) != '\0') - { - lcd.write(c); - } -} -/* -Possible status screens: -16x2 |0123456789012345| - |000/000 B000/000| - |Status line.....| - -16x4 |0123456789012345| - |000/000 B000/000| - |SD100% Z000.0| - |F100% T--:--| - |Status line.....| - -20x2 |01234567890123456789| - |T000/000D B000/000D | - |Status line.........| - -20x4 |01234567890123456789| - |T000/000D B000/000D | - |X+000.0 Y+000.0 Z+000.0| - |F100% SD100% T--:--| - |Status line.........| - -20x4 |01234567890123456789| - |T000/000D B000/000D | - |T000/000D Z000.0| - |F100% SD100% T--:--| - |Status line.........| -*/ -static void lcd_implementation_status_screen() -{ - int tHotend=int(degHotend(0) + 0.5); - int tTarget=int(degTargetHotend(0) + 0.5); - -#if LCD_WIDTH < 20 - lcd.setCursor(0, 0); - lcd.print(itostr3(tHotend)); - lcd.print('/'); - lcd.print(itostr3left(tTarget)); - -# if EXTRUDERS > 1 || TEMP_SENSOR_BED != 0 - //If we have an 2nd extruder or heated bed, show that in the top right corner - lcd.setCursor(8, 0); -# if EXTRUDERS > 1 - tHotend = int(degHotend(1) + 0.5); - tTarget = int(degTargetHotend(1) + 0.5); - lcd.print(LCD_STR_THERMOMETER[0]); -# else//Heated bed - tHotend=int(degBed() + 0.5); - tTarget=int(degTargetBed() + 0.5); - lcd.print(LCD_STR_BEDTEMP[0]); -# endif - lcd.print(itostr3(tHotend)); - lcd.print('/'); - lcd.print(itostr3left(tTarget)); -# endif//EXTRUDERS > 1 || TEMP_SENSOR_BED != 0 - -#else//LCD_WIDTH > 19 - lcd.setCursor(0, 0); - lcd.print(LCD_STR_THERMOMETER[0]); - lcd.print(itostr3(tHotend)); - lcd.print('/'); - lcd.print(itostr3left(tTarget)); - lcd_printPGM(PSTR(LCD_STR_DEGREE " ")); - if (tTarget < 10) - lcd.print(' '); - -# if EXTRUDERS > 1 || TEMP_SENSOR_BED != 0 - //If we have an 2nd extruder or heated bed, show that in the top right corner - lcd.setCursor(10, 0); -# if EXTRUDERS > 1 - tHotend = int(degHotend(1) + 0.5); - tTarget = int(degTargetHotend(1) + 0.5); - lcd.print(LCD_STR_THERMOMETER[0]); -# else//Heated bed - tHotend=int(degBed() + 0.5); - tTarget=int(degTargetBed() + 0.5); - lcd.print(LCD_STR_BEDTEMP[0]); -# endif - lcd.print(itostr3(tHotend)); - lcd.print('/'); - lcd.print(itostr3left(tTarget)); - lcd_printPGM(PSTR(LCD_STR_DEGREE " ")); - if (tTarget < 10) - lcd.print(' '); -# endif//EXTRUDERS > 1 || TEMP_SENSOR_BED != 0 -#endif//LCD_WIDTH > 19 - -#if LCD_HEIGHT > 2 -//Lines 2 for 4 line LCD -# if LCD_WIDTH < 20 -# ifdef SDSUPPORT - lcd.setCursor(0, 2); - lcd_printPGM(PSTR("SD")); - if (IS_SD_PRINTING) - lcd.print(itostr3(card.percentDone())); - else - lcd_printPGM(PSTR("---")); - lcd.print('%'); -# endif//SDSUPPORT -# else//LCD_WIDTH > 19 -# if EXTRUDERS > 1 && TEMP_SENSOR_BED != 0 - //If we both have a 2nd extruder and a heated bed, show the heated bed temp on the 2nd line on the left, as the first line is filled with extruder temps - tHotend=int(degBed() + 0.5); - tTarget=int(degTargetBed() + 0.5); - - lcd.setCursor(0, 1); - lcd.print(LCD_STR_BEDTEMP[0]); - lcd.print(itostr3(tHotend)); - lcd.print('/'); - lcd.print(itostr3left(tTarget)); - lcd_printPGM(PSTR(LCD_STR_DEGREE " ")); - if (tTarget < 10) - lcd.print(' '); -# else - lcd.setCursor(0,1); - lcd.print('X'); - lcd.print(ftostr3(current_position[X_AXIS])); - lcd_printPGM(PSTR(" Y")); - lcd.print(ftostr3(current_position[Y_AXIS])); -# endif//EXTRUDERS > 1 || TEMP_SENSOR_BED != 0 -# endif//LCD_WIDTH > 19 - lcd.setCursor(LCD_WIDTH - 8, 1); - lcd.print('Z'); - lcd.print(ftostr32(current_position[Z_AXIS])); -#endif//LCD_HEIGHT > 2 - -#if LCD_HEIGHT > 3 - lcd.setCursor(0, 2); - lcd.print(LCD_STR_FEEDRATE[0]); - lcd.print(itostr3(feedmultiply)); - lcd.print('%'); -# if LCD_WIDTH > 19 -# ifdef SDSUPPORT - lcd.setCursor(7, 2); - lcd_printPGM(PSTR("SD")); - if (IS_SD_PRINTING) - lcd.print(itostr3(card.percentDone())); - else - lcd_printPGM(PSTR("---")); - lcd.print('%'); -# endif//SDSUPPORT -# endif//LCD_WIDTH > 19 - lcd.setCursor(LCD_WIDTH - 6, 2); - lcd.print(LCD_STR_CLOCK[0]); - if(starttime != 0) - { - uint16_t time = millis()/60000 - starttime/60000; - lcd.print(itostr2(time/60)); - lcd.print(':'); - lcd.print(itostr2(time%60)); - }else{ - lcd_printPGM(PSTR("--:--")); - } -#endif - - //Status message line on the last line - lcd.setCursor(0, LCD_HEIGHT - 1); - lcd.print(lcd_status_message); -} -static void lcd_implementation_drawmenu_generic(uint8_t row, const char* pstr, char pre_char, char post_char) -{ - char c; - //Use all characters in narrow LCDs - #if LCD_WIDTH < 20 - uint8_t n = LCD_WIDTH - 1 - 1; - #else - uint8_t n = LCD_WIDTH - 1 - 2; - #endif - lcd.setCursor(0, row); - lcd.print(pre_char); - while((c = pgm_read_byte(pstr)) != '\0') - { - lcd.print(c); - pstr++; - n--; - } - while(n--) - lcd.print(' '); - lcd.print(post_char); - lcd.print(' '); -} -static void lcd_implementation_drawmenu_setting_edit_generic(uint8_t row, const char* pstr, char pre_char, char* data) -{ - char c; - //Use all characters in narrow LCDs - #if LCD_WIDTH < 20 - uint8_t n = LCD_WIDTH - 1 - 1 - strlen(data); - #else - uint8_t n = LCD_WIDTH - 1 - 2 - strlen(data); - #endif - lcd.setCursor(0, row); - lcd.print(pre_char); - while((c = pgm_read_byte(pstr)) != '\0') - { - lcd.print(c); - pstr++; - n--; - } - lcd.print(':'); - while(n--) - lcd.print(' '); - lcd.print(data); -} -static void lcd_implementation_drawmenu_setting_edit_generic_P(uint8_t row, const char* pstr, char pre_char, const char* data) -{ - char c; - //Use all characters in narrow LCDs - #if LCD_WIDTH < 20 - uint8_t n = LCD_WIDTH - 1 - 1 - strlen_P(data); - #else - uint8_t n = LCD_WIDTH - 1 - 2 - strlen_P(data); - #endif - lcd.setCursor(0, row); - lcd.print(pre_char); - while((c = pgm_read_byte(pstr)) != '\0') - { - lcd.print(c); - pstr++; - n--; - } - lcd.print(':'); - while(n--) - lcd.print(' '); - lcd_printPGM(data); -} -#define lcd_implementation_drawmenu_setting_edit_int3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data))) -#define lcd_implementation_drawmenu_setting_edit_int3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data))) -#define lcd_implementation_drawmenu_setting_edit_float3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data))) -#define lcd_implementation_drawmenu_setting_edit_float3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr3(*(data))) -#define lcd_implementation_drawmenu_setting_edit_float32_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr32(*(data))) -#define lcd_implementation_drawmenu_setting_edit_float32(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr32(*(data))) -#define lcd_implementation_drawmenu_setting_edit_float5_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data))) -#define lcd_implementation_drawmenu_setting_edit_float5(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data))) -#define lcd_implementation_drawmenu_setting_edit_float52_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr52(*(data))) -#define lcd_implementation_drawmenu_setting_edit_float52(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr52(*(data))) -#define lcd_implementation_drawmenu_setting_edit_float51_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr51(*(data))) -#define lcd_implementation_drawmenu_setting_edit_float51(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr51(*(data))) -#define lcd_implementation_drawmenu_setting_edit_long5_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data))) -#define lcd_implementation_drawmenu_setting_edit_long5(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data))) -#define lcd_implementation_drawmenu_setting_edit_bool_selected(row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF)) -#define lcd_implementation_drawmenu_setting_edit_bool(row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, ' ', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF)) - -//Add version for callback functions -#define lcd_implementation_drawmenu_setting_edit_callback_int3_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_int3(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_float3_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_float3(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr3(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_float32_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr32(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_float32(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr32(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_float5_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_float5(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_float52_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr52(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_float52(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr52(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_float51_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr51(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_float51(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr51(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_long5_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_long5(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data))) -#define lcd_implementation_drawmenu_setting_edit_callback_bool_selected(row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF)) -#define lcd_implementation_drawmenu_setting_edit_callback_bool(row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, ' ', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF)) - - -void lcd_implementation_drawedit(const char* pstr, char* value) -{ - lcd.setCursor(1, 1); - lcd_printPGM(pstr); - lcd.print(':'); - #if LCD_WIDTH < 20 - lcd.setCursor(LCD_WIDTH - strlen(value), 1); - #else - lcd.setCursor(LCD_WIDTH -1 - strlen(value), 1); - #endif - lcd.print(value); -} -static void lcd_implementation_drawmenu_sdfile_selected(uint8_t row, const char* pstr, const char* filename, char* longFilename) -{ - char c; - uint8_t n = LCD_WIDTH - 1; - lcd.setCursor(0, row); - lcd.print('>'); - if (longFilename[0] != '\0') - { - filename = longFilename; - longFilename[LCD_WIDTH-1] = '\0'; - } - while((c = *filename) != '\0') - { - lcd.print(c); - filename++; - n--; - } - while(n--) - lcd.print(' '); -} -static void lcd_implementation_drawmenu_sdfile(uint8_t row, const char* pstr, const char* filename, char* longFilename) -{ - char c; - uint8_t n = LCD_WIDTH - 1; - lcd.setCursor(0, row); - lcd.print(' '); - if (longFilename[0] != '\0') - { - filename = longFilename; - longFilename[LCD_WIDTH-1] = '\0'; - } - while((c = *filename) != '\0') - { - lcd.print(c); - filename++; - n--; - } - while(n--) - lcd.print(' '); -} -static void lcd_implementation_drawmenu_sddirectory_selected(uint8_t row, const char* pstr, const char* filename, char* longFilename) -{ - char c; - uint8_t n = LCD_WIDTH - 2; - lcd.setCursor(0, row); - lcd.print('>'); - lcd.print(LCD_STR_FOLDER[0]); - if (longFilename[0] != '\0') - { - filename = longFilename; - longFilename[LCD_WIDTH-2] = '\0'; - } - while((c = *filename) != '\0') - { - lcd.print(c); - filename++; - n--; - } - while(n--) - lcd.print(' '); -} -static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pstr, const char* filename, char* longFilename) -{ - char c; - uint8_t n = LCD_WIDTH - 2; - lcd.setCursor(0, row); - lcd.print(' '); - lcd.print(LCD_STR_FOLDER[0]); - if (longFilename[0] != '\0') - { - filename = longFilename; - longFilename[LCD_WIDTH-2] = '\0'; - } - while((c = *filename) != '\0') - { - lcd.print(c); - filename++; - n--; - } - while(n--) - lcd.print(' '); -} -#define lcd_implementation_drawmenu_back_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, LCD_STR_UPLEVEL[0], LCD_STR_UPLEVEL[0]) -#define lcd_implementation_drawmenu_back(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', LCD_STR_UPLEVEL[0]) -#define lcd_implementation_drawmenu_submenu_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, '>', LCD_STR_ARROW_RIGHT[0]) -#define lcd_implementation_drawmenu_submenu(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', LCD_STR_ARROW_RIGHT[0]) -#define lcd_implementation_drawmenu_gcode_selected(row, pstr, gcode) lcd_implementation_drawmenu_generic(row, pstr, '>', ' ') -#define lcd_implementation_drawmenu_gcode(row, pstr, gcode) lcd_implementation_drawmenu_generic(row, pstr, ' ', ' ') -#define lcd_implementation_drawmenu_function_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, '>', ' ') -#define lcd_implementation_drawmenu_function(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', ' ') - -static void lcd_implementation_quick_feedback() -{ -#if BEEPER > -1 - SET_OUTPUT(BEEPER); - for(int8_t i=0;i<10;i++) - { - WRITE(BEEPER,HIGH); - delay(3); - WRITE(BEEPER,LOW); - delay(3); - } -#endif -} -#endif//ULTRA_LCD_IMPLEMENTATION_HITACHI_HD44780_H +#ifndef ULTRA_LCD_IMPLEMENTATION_HITACHI_HD44780_H +#define ULTRA_LCD_IMPLEMENTATION_HITACHI_HD44780_H + +/** +* Implementation of the LCD display routines for a hitachi HD44780 display. These are common LCD character displays. +* When selecting the rusian language, a slightly different LCD implementation is used to handle UTF8 characters. +**/ + +#ifndef REPRAPWORLD_KEYPAD +extern volatile uint8_t buttons; //the last checked buttons in a bit array. +#else +extern volatile uint16_t buttons; //an extended version of the last checked buttons in a bit array. +#endif + +//////////////////////////////////// +// Setup button and encode mappings for each panel (into 'buttons' variable) +// +// This is just to map common functions (across different panels) onto the same +// macro name. The mapping is independent of whether the button is directly connected or +// via a shift/i2c register. + +#ifdef ULTIPANEL +// All Ultipanels might have an encoder - so this is always be mapped onto first two bits +#define BLEN_B 1 +#define BLEN_A 0 + +#define EN_B (1< -1 + // encoder click is directly connected + #define BLEN_C 2 + #define EN_C (1< -1 + // the pause/stop/restart button is connected to BTN_ENC when used + #define B_ST (EN_C) // Map the pause/stop/resume button into its normalized functional name + #define LCD_CLICKED (buttons&(B_MI|B_RI|B_ST)) // pause/stop button also acts as click until we implement proper pause/stop. + #else + #define LCD_CLICKED (buttons&(B_MI|B_RI)) + #endif + + // I2C buttons take too long to read inside an interrupt context and so we read them during lcd_update + #define LCD_HAS_SLOW_BUTTONS + +#elif defined(LCD_I2C_PANELOLU2) + // encoder click can be read through I2C if not directly connected + #if BTN_ENC <= 0 + #define B_I2C_BTN_OFFSET 3 // (the first three bit positions reserved for EN_A, EN_B, EN_C) + + #define B_MI (PANELOLU2_ENCODER_C< + #include + #include + #define LCD_CLASS LiquidCrystal_I2C + LCD_CLASS lcd(LCD_I2C_ADDRESS,LCD_I2C_PIN_EN,LCD_I2C_PIN_RW,LCD_I2C_PIN_RS,LCD_I2C_PIN_D4,LCD_I2C_PIN_D5,LCD_I2C_PIN_D6,LCD_I2C_PIN_D7); + +#elif defined(LCD_I2C_TYPE_MCP23017) + //for the LED indicators (which maybe mapped to different things in lcd_implementation_update_indicators()) + #define LED_A 0x04 //100 + #define LED_B 0x02 //010 + #define LED_C 0x01 //001 + + #define LCD_HAS_STATUS_INDICATORS + + #include + #include + #define LCD_CLASS LiquidTWI2 + LCD_CLASS lcd(LCD_I2C_ADDRESS); + +#elif defined(LCD_I2C_TYPE_MCP23008) + #include + #include + #define LCD_CLASS LiquidTWI2 + LCD_CLASS lcd(LCD_I2C_ADDRESS); + +#else + // Standard directly connected LCD implementations + #if LANGUAGE_CHOICE == 6 + #include "LiquidCrystalRus.h" + #define LCD_CLASS LiquidCrystalRus + #else + #include + #define LCD_CLASS LiquidCrystal + #endif + LCD_CLASS lcd(LCD_PINS_RS, LCD_PINS_ENABLE, LCD_PINS_D4, LCD_PINS_D5,LCD_PINS_D6,LCD_PINS_D7); //RS,Enable,D4,D5,D6,D7 +#endif + +/* Custom characters defined in the first 8 characters of the LCD */ +#define LCD_STR_BEDTEMP "\x00" +#define LCD_STR_DEGREE "\x01" +#define LCD_STR_THERMOMETER "\x02" +#define LCD_STR_UPLEVEL "\x03" +#define LCD_STR_REFRESH "\x04" +#define LCD_STR_FOLDER "\x05" +#define LCD_STR_FEEDRATE "\x06" +#define LCD_STR_CLOCK "\x07" +#define LCD_STR_ARROW_RIGHT "\x7E" /* from the default character set */ + +static void lcd_implementation_init() +{ + byte bedTemp[8] = + { + B00000, + B11111, + B10101, + B10001, + B10101, + B11111, + B00000, + B00000 + }; //thanks Sonny Mounicou + byte degree[8] = + { + B01100, + B10010, + B10010, + B01100, + B00000, + B00000, + B00000, + B00000 + }; + byte thermometer[8] = + { + B00100, + B01010, + B01010, + B01010, + B01010, + B10001, + B10001, + B01110 + }; + byte uplevel[8]={ + B00100, + B01110, + B11111, + B00100, + B11100, + B00000, + B00000, + B00000 + }; //thanks joris + byte refresh[8]={ + B00000, + B00110, + B11001, + B11000, + B00011, + B10011, + B01100, + B00000, + }; //thanks joris + byte folder [8]={ + B00000, + B11100, + B11111, + B10001, + B10001, + B11111, + B00000, + B00000 + }; //thanks joris + byte feedrate [8]={ + B11100, + B10000, + B11000, + B10111, + B00101, + B00110, + B00101, + B00000 + }; //thanks Sonny Mounicou + byte clock [8]={ + B00000, + B01110, + B10011, + B10101, + B10001, + B01110, + B00000, + B00000 + }; //thanks Sonny Mounicou + +#if defined(LCDI2C_TYPE_PCF8575) + lcd.begin(LCD_WIDTH, LCD_HEIGHT); + #ifdef LCD_I2C_PIN_BL + lcd.setBacklightPin(LCD_I2C_PIN_BL,POSITIVE); + lcd.setBacklight(HIGH); + #endif + +#elif defined(LCD_I2C_TYPE_MCP23017) + lcd.setMCPType(LTI_TYPE_MCP23017); + lcd.begin(LCD_WIDTH, LCD_HEIGHT); + lcd.setBacklight(0); //set all the LEDs off to begin with + +#elif defined(LCD_I2C_TYPE_MCP23008) + lcd.setMCPType(LTI_TYPE_MCP23008); + lcd.begin(LCD_WIDTH, LCD_HEIGHT); + +#else + lcd.begin(LCD_WIDTH, LCD_HEIGHT); +#endif + + lcd.createChar(LCD_STR_BEDTEMP[0], bedTemp); + lcd.createChar(LCD_STR_DEGREE[0], degree); + lcd.createChar(LCD_STR_THERMOMETER[0], thermometer); + lcd.createChar(LCD_STR_UPLEVEL[0], uplevel); + lcd.createChar(LCD_STR_REFRESH[0], refresh); + lcd.createChar(LCD_STR_FOLDER[0], folder); + lcd.createChar(LCD_STR_FEEDRATE[0], feedrate); + lcd.createChar(LCD_STR_CLOCK[0], clock); + lcd.clear(); +} +static void lcd_implementation_clear() +{ + lcd.clear(); +} +/* Arduino < 1.0.0 is missing a function to print PROGMEM strings, so we need to implement our own */ +static void lcd_printPGM(const char* str) +{ + char c; + while((c = pgm_read_byte(str++)) != '\0') + { + lcd.write(c); + } +} +/* +Possible status screens: +16x2 |0123456789012345| + |000/000 B000/000| + |Status line.....| + +16x4 |0123456789012345| + |000/000 B000/000| + |SD100% Z000.0| + |F100% T--:--| + |Status line.....| + +20x2 |01234567890123456789| + |T000/000D B000/000D | + |Status line.........| + +20x4 |01234567890123456789| + |T000/000D B000/000D | + |X+000.0 Y+000.0 Z+000.0| + |F100% SD100% T--:--| + |Status line.........| + +20x4 |01234567890123456789| + |T000/000D B000/000D | + |T000/000D Z000.0| + |F100% SD100% T--:--| + |Status line.........| +*/ +static void lcd_implementation_status_screen() +{ + int tHotend=int(degHotend(0) + 0.5); + int tTarget=int(degTargetHotend(0) + 0.5); + +#if LCD_WIDTH < 20 + lcd.setCursor(0, 0); + lcd.print(itostr3(tHotend)); + lcd.print('/'); + lcd.print(itostr3left(tTarget)); + +# if EXTRUDERS > 1 || TEMP_SENSOR_BED != 0 + //If we have an 2nd extruder or heated bed, show that in the top right corner + lcd.setCursor(8, 0); +# if EXTRUDERS > 1 + tHotend = int(degHotend(1) + 0.5); + tTarget = int(degTargetHotend(1) + 0.5); + lcd.print(LCD_STR_THERMOMETER[0]); +# else//Heated bed + tHotend=int(degBed() + 0.5); + tTarget=int(degTargetBed() + 0.5); + lcd.print(LCD_STR_BEDTEMP[0]); +# endif + lcd.print(itostr3(tHotend)); + lcd.print('/'); + lcd.print(itostr3left(tTarget)); +# endif//EXTRUDERS > 1 || TEMP_SENSOR_BED != 0 + +#else//LCD_WIDTH > 19 + lcd.setCursor(0, 0); + lcd.print(LCD_STR_THERMOMETER[0]); + lcd.print(itostr3(tHotend)); + lcd.print('/'); + lcd.print(itostr3left(tTarget)); + lcd_printPGM(PSTR(LCD_STR_DEGREE " ")); + if (tTarget < 10) + lcd.print(' '); + +# if EXTRUDERS > 1 || TEMP_SENSOR_BED != 0 + //If we have an 2nd extruder or heated bed, show that in the top right corner + lcd.setCursor(10, 0); +# if EXTRUDERS > 1 + tHotend = int(degHotend(1) + 0.5); + tTarget = int(degTargetHotend(1) + 0.5); + lcd.print(LCD_STR_THERMOMETER[0]); +# else//Heated bed + tHotend=int(degBed() + 0.5); + tTarget=int(degTargetBed() + 0.5); + lcd.print(LCD_STR_BEDTEMP[0]); +# endif + lcd.print(itostr3(tHotend)); + lcd.print('/'); + lcd.print(itostr3left(tTarget)); + lcd_printPGM(PSTR(LCD_STR_DEGREE " ")); + if (tTarget < 10) + lcd.print(' '); +# endif//EXTRUDERS > 1 || TEMP_SENSOR_BED != 0 +#endif//LCD_WIDTH > 19 + +#if LCD_HEIGHT > 2 +//Lines 2 for 4 line LCD +# if LCD_WIDTH < 20 +# ifdef SDSUPPORT + lcd.setCursor(0, 2); + lcd_printPGM(PSTR("SD")); + if (IS_SD_PRINTING) + lcd.print(itostr3(card.percentDone())); + else + lcd_printPGM(PSTR("---")); + lcd.print('%'); +# endif//SDSUPPORT +# else//LCD_WIDTH > 19 +# if EXTRUDERS > 1 && TEMP_SENSOR_BED != 0 + //If we both have a 2nd extruder and a heated bed, show the heated bed temp on the 2nd line on the left, as the first line is filled with extruder temps + tHotend=int(degBed() + 0.5); + tTarget=int(degTargetBed() + 0.5); + + lcd.setCursor(0, 1); + lcd.print(LCD_STR_BEDTEMP[0]); + lcd.print(itostr3(tHotend)); + lcd.print('/'); + lcd.print(itostr3left(tTarget)); + lcd_printPGM(PSTR(LCD_STR_DEGREE " ")); + if (tTarget < 10) + lcd.print(' '); +# else + lcd.setCursor(0,1); + lcd.print('X'); + lcd.print(ftostr3(current_position[X_AXIS])); + lcd_printPGM(PSTR(" Y")); + lcd.print(ftostr3(current_position[Y_AXIS])); +# endif//EXTRUDERS > 1 || TEMP_SENSOR_BED != 0 +# endif//LCD_WIDTH > 19 + lcd.setCursor(LCD_WIDTH - 8, 1); + lcd.print('Z'); + lcd.print(ftostr32(current_position[Z_AXIS])); +#endif//LCD_HEIGHT > 2 + +#if LCD_HEIGHT > 3 + lcd.setCursor(0, 2); + lcd.print(LCD_STR_FEEDRATE[0]); + lcd.print(itostr3(feedmultiply)); + lcd.print('%'); +# if LCD_WIDTH > 19 +# ifdef SDSUPPORT + lcd.setCursor(7, 2); + lcd_printPGM(PSTR("SD")); + if (IS_SD_PRINTING) + lcd.print(itostr3(card.percentDone())); + else + lcd_printPGM(PSTR("---")); + lcd.print('%'); +# endif//SDSUPPORT +# endif//LCD_WIDTH > 19 + lcd.setCursor(LCD_WIDTH - 6, 2); + lcd.print(LCD_STR_CLOCK[0]); + if(starttime != 0) + { + uint16_t time = millis()/60000 - starttime/60000; + lcd.print(itostr2(time/60)); + lcd.print(':'); + lcd.print(itostr2(time%60)); + }else{ + lcd_printPGM(PSTR("--:--")); + } +#endif + + //Status message line on the last line + lcd.setCursor(0, LCD_HEIGHT - 1); + lcd.print(lcd_status_message); +} +static void lcd_implementation_drawmenu_generic(uint8_t row, const char* pstr, char pre_char, char post_char) +{ + char c; + //Use all characters in narrow LCDs + #if LCD_WIDTH < 20 + uint8_t n = LCD_WIDTH - 1 - 1; + #else + uint8_t n = LCD_WIDTH - 1 - 2; + #endif + lcd.setCursor(0, row); + lcd.print(pre_char); + while((c = pgm_read_byte(pstr)) != '\0') + { + lcd.print(c); + pstr++; + n--; + } + while(n--) + lcd.print(' '); + lcd.print(post_char); + lcd.print(' '); +} +static void lcd_implementation_drawmenu_setting_edit_generic(uint8_t row, const char* pstr, char pre_char, char* data) +{ + char c; + //Use all characters in narrow LCDs + #if LCD_WIDTH < 20 + uint8_t n = LCD_WIDTH - 1 - 1 - strlen(data); + #else + uint8_t n = LCD_WIDTH - 1 - 2 - strlen(data); + #endif + lcd.setCursor(0, row); + lcd.print(pre_char); + while((c = pgm_read_byte(pstr)) != '\0') + { + lcd.print(c); + pstr++; + n--; + } + lcd.print(':'); + while(n--) + lcd.print(' '); + lcd.print(data); +} +static void lcd_implementation_drawmenu_setting_edit_generic_P(uint8_t row, const char* pstr, char pre_char, const char* data) +{ + char c; + //Use all characters in narrow LCDs + #if LCD_WIDTH < 20 + uint8_t n = LCD_WIDTH - 1 - 1 - strlen_P(data); + #else + uint8_t n = LCD_WIDTH - 1 - 2 - strlen_P(data); + #endif + lcd.setCursor(0, row); + lcd.print(pre_char); + while((c = pgm_read_byte(pstr)) != '\0') + { + lcd.print(c); + pstr++; + n--; + } + lcd.print(':'); + while(n--) + lcd.print(' '); + lcd_printPGM(data); +} +#define lcd_implementation_drawmenu_setting_edit_int3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data))) +#define lcd_implementation_drawmenu_setting_edit_int3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data))) +#define lcd_implementation_drawmenu_setting_edit_float3_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data))) +#define lcd_implementation_drawmenu_setting_edit_float3(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr3(*(data))) +#define lcd_implementation_drawmenu_setting_edit_float32_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr32(*(data))) +#define lcd_implementation_drawmenu_setting_edit_float32(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr32(*(data))) +#define lcd_implementation_drawmenu_setting_edit_float5_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data))) +#define lcd_implementation_drawmenu_setting_edit_float5(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data))) +#define lcd_implementation_drawmenu_setting_edit_float52_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr52(*(data))) +#define lcd_implementation_drawmenu_setting_edit_float52(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr52(*(data))) +#define lcd_implementation_drawmenu_setting_edit_float51_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr51(*(data))) +#define lcd_implementation_drawmenu_setting_edit_float51(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr51(*(data))) +#define lcd_implementation_drawmenu_setting_edit_long5_selected(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data))) +#define lcd_implementation_drawmenu_setting_edit_long5(row, pstr, pstr2, data, minValue, maxValue) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data))) +#define lcd_implementation_drawmenu_setting_edit_bool_selected(row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF)) +#define lcd_implementation_drawmenu_setting_edit_bool(row, pstr, pstr2, data) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, ' ', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF)) + +//Add version for callback functions +#define lcd_implementation_drawmenu_setting_edit_callback_int3_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', itostr3(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_int3(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', itostr3(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_float3_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr3(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_float3(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr3(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_float32_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr32(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_float32(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr32(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_float5_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_float5(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_float52_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr52(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_float52(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr52(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_float51_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr51(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_float51(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr51(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_long5_selected(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, '>', ftostr5(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_long5(row, pstr, pstr2, data, minValue, maxValue, callback) lcd_implementation_drawmenu_setting_edit_generic(row, pstr, ' ', ftostr5(*(data))) +#define lcd_implementation_drawmenu_setting_edit_callback_bool_selected(row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, '>', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF)) +#define lcd_implementation_drawmenu_setting_edit_callback_bool(row, pstr, pstr2, data, callback) lcd_implementation_drawmenu_setting_edit_generic_P(row, pstr, ' ', (*(data))?PSTR(MSG_ON):PSTR(MSG_OFF)) + + +void lcd_implementation_drawedit(const char* pstr, char* value) +{ + lcd.setCursor(1, 1); + lcd_printPGM(pstr); + lcd.print(':'); + #if LCD_WIDTH < 20 + lcd.setCursor(LCD_WIDTH - strlen(value), 1); + #else + lcd.setCursor(LCD_WIDTH -1 - strlen(value), 1); + #endif + lcd.print(value); +} +static void lcd_implementation_drawmenu_sdfile_selected(uint8_t row, const char* pstr, const char* filename, char* longFilename) +{ + char c; + uint8_t n = LCD_WIDTH - 1; + lcd.setCursor(0, row); + lcd.print('>'); + if (longFilename[0] != '\0') + { + filename = longFilename; + longFilename[LCD_WIDTH-1] = '\0'; + } + while((c = *filename) != '\0') + { + lcd.print(c); + filename++; + n--; + } + while(n--) + lcd.print(' '); +} +static void lcd_implementation_drawmenu_sdfile(uint8_t row, const char* pstr, const char* filename, char* longFilename) +{ + char c; + uint8_t n = LCD_WIDTH - 1; + lcd.setCursor(0, row); + lcd.print(' '); + if (longFilename[0] != '\0') + { + filename = longFilename; + longFilename[LCD_WIDTH-1] = '\0'; + } + while((c = *filename) != '\0') + { + lcd.print(c); + filename++; + n--; + } + while(n--) + lcd.print(' '); +} +static void lcd_implementation_drawmenu_sddirectory_selected(uint8_t row, const char* pstr, const char* filename, char* longFilename) +{ + char c; + uint8_t n = LCD_WIDTH - 2; + lcd.setCursor(0, row); + lcd.print('>'); + lcd.print(LCD_STR_FOLDER[0]); + if (longFilename[0] != '\0') + { + filename = longFilename; + longFilename[LCD_WIDTH-2] = '\0'; + } + while((c = *filename) != '\0') + { + lcd.print(c); + filename++; + n--; + } + while(n--) + lcd.print(' '); +} +static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pstr, const char* filename, char* longFilename) +{ + char c; + uint8_t n = LCD_WIDTH - 2; + lcd.setCursor(0, row); + lcd.print(' '); + lcd.print(LCD_STR_FOLDER[0]); + if (longFilename[0] != '\0') + { + filename = longFilename; + longFilename[LCD_WIDTH-2] = '\0'; + } + while((c = *filename) != '\0') + { + lcd.print(c); + filename++; + n--; + } + while(n--) + lcd.print(' '); +} +#define lcd_implementation_drawmenu_back_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, LCD_STR_UPLEVEL[0], LCD_STR_UPLEVEL[0]) +#define lcd_implementation_drawmenu_back(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', LCD_STR_UPLEVEL[0]) +#define lcd_implementation_drawmenu_submenu_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, '>', LCD_STR_ARROW_RIGHT[0]) +#define lcd_implementation_drawmenu_submenu(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', LCD_STR_ARROW_RIGHT[0]) +#define lcd_implementation_drawmenu_gcode_selected(row, pstr, gcode) lcd_implementation_drawmenu_generic(row, pstr, '>', ' ') +#define lcd_implementation_drawmenu_gcode(row, pstr, gcode) lcd_implementation_drawmenu_generic(row, pstr, ' ', ' ') +#define lcd_implementation_drawmenu_function_selected(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, '>', ' ') +#define lcd_implementation_drawmenu_function(row, pstr, data) lcd_implementation_drawmenu_generic(row, pstr, ' ', ' ') + +static void lcd_implementation_quick_feedback() +{ +#ifdef LCD_USE_I2C_BUZZER + lcd.buzz(60,1000/6); +#elif defined(BEEPER) && BEEPER > -1 + SET_OUTPUT(BEEPER); + for(int8_t i=0;i<10;i++) + { + WRITE(BEEPER,HIGH); + delay(3); + WRITE(BEEPER,LOW); + delay(3); + } +#endif +} + +#ifdef LCD_HAS_STATUS_INDICATORS +static void lcd_implementation_update_indicators() +{ + #if defined(LCD_I2C_PANELOLU2) || defined(LCD_I2C_VIKI) + //set the LEDS - referred to as backlights by the LiquidTWI2 library + static uint8_t ledsprev = 0; + uint8_t leds = 0; + if (target_temperature_bed > 0) leds |= LED_A; + if (target_temperature[0] > 0) leds |= LED_B; + if (fanSpeed) leds |= LED_C; + #if EXTRUDERS > 1 + if (target_temperature[1] > 0) leds |= LED_C; + #endif + if (leds != ledsprev) { + lcd.setBacklight(leds); + ledsprev = leds; + } + #endif +} +#endif + +#ifdef LCD_HAS_SLOW_BUTTONS +static uint8_t lcd_implementation_read_slow_buttons() +{ + #ifdef LCD_I2C_TYPE_MCP23017 + // Reading these buttons this is likely to be too slow to call inside interrupt context + // so they are called during normal lcd_update + return lcd.readButtons() << B_I2C_BTN_OFFSET; + #endif +} +#endif + +#endif//ULTRA_LCD_IMPLEMENTATION_HITACHI_HD44780_H diff --git a/README.md b/README.md index 309fdd1d1d..ada4e83820 100644 --- a/README.md +++ b/README.md @@ -1,223 +1,227 @@ -WARNING: --------- -THIS IS RELEASE CANDIDATE 2 FOR MARLIN 1.0.0 - -The configuration is now split in two files -Configuration.h for the normal settings -Configuration_adv.h for the advanced settings - -Gen7T is not supported. - -Quick Information -=================== -This RepRap firmware is a mashup between Sprinter, grbl and many original parts. - -Derived from Sprinter and Grbl by Erik van der Zalm. -Sprinters lead developers are Kliment and caru. -Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl -A fork by bkubicek for the Ultimaker was merged, and further development was aided by him. -Some features have been added by: -Lampmaker, Bradley Feldman, and others... - - -Features: - -* Interrupt based movement with real linear acceleration -* High steprate -* Look ahead (Keep the speed high when possible. High cornering speed) -* Interrupt based temperature protection -* preliminary support for Matthew Roberts advance algorithm - For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html -* Full endstop support -* SD Card support -* SD Card folders (works in pronterface) -* SD Card autostart support -* LCD support (ideally 20x4) -* LCD menu system for autonomous SD card printing, controlled by an click-encoder. -* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables -* many small but handy things originating from bkubicek's fork. -* Arc support -* Temperature oversampling -* Dynamic Temperature setpointing aka "AutoTemp" -* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin -* Endstop trigger reporting to the host software. -* Updated sdcardlib -* Heater power reporting. Useful for PID monitoring. -* PID tuning -* CoreXY kinematics (www.corexy.com/theory.html) -* Configurable serial port to support connection of wireless adaptors. - -The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments. - - -Differences and additions to the already good Sprinter firmware: -================================================================ - -*Look-ahead:* - -Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, -lookahead will only decelerate and accelerate to a velocity, -so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity. -This is only possible, if some future moves are already processed, hence the name. -It leads to less over-deposition at corners, especially at flat angles. - -*Arc support:* - -Slic3r can find curves that, although broken into segments, were ment to describe an arc. -Marlin is able to print those arcs. The advantage is the firmware can choose the resolution, -and can perform the arc with nearly constant velocity, resulting in a nice finish. -Also, less serial communication is needed. - -*Temperature Oversampling:* - -To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged. - -*AutoTemp:* - -If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly. -Usually, higher speed requires higher temperature. -This can now be performed by the AutoTemp function -By calling M109 S T F you enter the autotemp mode. - -You can leave it by calling M109 without any F. -If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec]. -The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax. -If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change. -Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode. - -*EEPROM:* - -If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM. -After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says. - -*LCD Menu:* - -If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures, -accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff. -One working hardware is documented here: http://www.thingiverse.com/thing:12663 -Also, with just a 20x4 or 16x2 display, useful data is shown. - -*SD card folders:* - -If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g". -You can write to file in a subfolder by specifying a similar text using small letters in the path. -Also, backup copies of various operating systems are hidden, as well as files not ending with ".g". - -*SD card folders:* - -If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu. -First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction. - -*Endstop trigger reporting:* - -If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port. -This is useful, because the user gets a warning message. -However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration. - -*Coding paradigm:* - -Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables. -This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization. -We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future. -A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory. -In the serial communication, a #define based level of abstraction was enforced, so that it is clear that -some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol, -necessary for backwards compatibility. - -*Interrupt based temperature measurements:* - -An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures. -This leads to less blocking in the heater management routine. - - -Non-standard M-Codes, different to an old version of sprinter: -============================================================== -Movement: - -* G2 - CW ARC -* G3 - CCW ARC - -General: - -* M17 - Enable/Power all stepper motors. Compatibility to ReplicatorG. -* M18 - Disable all stepper motors; same as M84.Compatibility to ReplicatorG. -* M30 - Print time since last M109 or SD card start to serial -* M42 - Change pin status via gcode -* M80 - Turn on Power Supply -* M81 - Turn off Power Supply -* M114 - Output current position to serial port -* M119 - Output Endstop status to serial port - -Movement variables: - -* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!! -* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec -* M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate -* M206 - set home offsets. This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware) -* M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise. -* M221 - set the extrude multiplying S:factor in percent -* M400 - Finish all buffered moves. - -Temperature variables: -* M301 - Set PID parameters P I and D -* M302 - Allow cold extrudes -* M303 - PID relay autotune S sets the target temperature. (default target temperature = 150C) - -Advance: - -* M200 - Set filament diameter for advance -* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk - -EEPROM: - -* M500 - stores paramters in EEPROM. This parameters are stored: axis_steps_per_unit, max_feedrate, max_acceleration ,acceleration,retract_acceleration, - minimumfeedrate,mintravelfeedrate,minsegmenttime, jerk velocities, PID -* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). -* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. -* M503 - print the current settings (from memory not from eeprom) - -MISC: - -* M240 - Trigger a camera to take a photograph -* M999 - Restart after being stopped by error - -Configuring and compilation: -============================ - -Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x) - http://www.arduino.cc/en/Main/Software - -For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment. - copy ArduinoAddons\Arduino_x.x.x\sanguino \hardware\Sanguino - -Install Ultimaker's RepG 25 build - http://software.ultimaker.com -For SD handling and as better substitute (apart from stl manipulation) download -the very nice Kliment's printrun/pronterface https://github.com/kliment/Printrun - -Copy the Ultimaker Marlin firmware - https://github.com/ErikZalm/Marlin/tree/Marlin_v1 - (Use the download button) - -Start the arduino IDE. -Select Tools -> Board -> Arduino Mega 2560 or your microcontroller -Select the correct serial port in Tools ->Serial Port -Open Marlin.pde - -Click the Verify/Compile button - -Click the Upload button -If all goes well the firmware is uploading - -Start Ultimaker's Custom RepG 25 -Make sure Show Experimental Profiles is enabled in Preferences -Select Sprinter as the Driver - -Press the Connect button. - -KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z - -That's ok. Enjoy Silky Smooth Printing. - - - +========================== +Marlin 3D Printer Firmware +========================== + +Notes: +----- + +The configuration is now split in two files: + Configuration.h for the normal settings + Configuration_adv.h for the advanced settings + +Gen7T is not supported. + +Quick Information +=================== +This RepRap firmware is a mashup between Sprinter, grbl and many original parts. + +Derived from Sprinter and Grbl by Erik van der Zalm. +Sprinters lead developers are Kliment and caru. +Grbls lead developer is Simen Svale Skogsrud. Sonney Jeon (Chamnit) improved some parts of grbl +A fork by bkubicek for the Ultimaker was merged, and further development was aided by him. +Some features have been added by: +Lampmaker, Bradley Feldman, and others... + + +Features: + +* Interrupt based movement with real linear acceleration +* High steprate +* Look ahead (Keep the speed high when possible. High cornering speed) +* Interrupt based temperature protection +* preliminary support for Matthew Roberts advance algorithm + For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html +* Full endstop support +* SD Card support +* SD Card folders (works in pronterface) +* SD Card autostart support +* LCD support (ideally 20x4) +* LCD menu system for autonomous SD card printing, controlled by an click-encoder. +* EEPROM storage of e.g. max-velocity, max-acceleration, and similar variables +* many small but handy things originating from bkubicek's fork. +* Arc support +* Temperature oversampling +* Dynamic Temperature setpointing aka "AutoTemp" +* Support for QTMarlin, a very beta GUI for PID-tuning and velocity-acceleration testing. https://github.com/bkubicek/QTMarlin +* Endstop trigger reporting to the host software. +* Updated sdcardlib +* Heater power reporting. Useful for PID monitoring. +* PID tuning +* CoreXY kinematics (www.corexy.com/theory.html) +* Configurable serial port to support connection of wireless adaptors. +* Automatic operation of extruder/cold-end cooling fans based on nozzle temperature + +The default baudrate is 250000. This baudrate has less jitter and hence errors than the usual 115200 baud, but is less supported by drivers and host-environments. + + +Differences and additions to the already good Sprinter firmware: +================================================================ + +*Look-ahead:* + +Marlin has look-ahead. While sprinter has to break and re-accelerate at each corner, +lookahead will only decelerate and accelerate to a velocity, +so that the change in vectorial velocity magnitude is less than the xy_jerk_velocity. +This is only possible, if some future moves are already processed, hence the name. +It leads to less over-deposition at corners, especially at flat angles. + +*Arc support:* + +Slic3r can find curves that, although broken into segments, were ment to describe an arc. +Marlin is able to print those arcs. The advantage is the firmware can choose the resolution, +and can perform the arc with nearly constant velocity, resulting in a nice finish. +Also, less serial communication is needed. + +*Temperature Oversampling:* + +To reduce noise and make the PID-differential term more useful, 16 ADC conversion results are averaged. + +*AutoTemp:* + +If your gcode contains a wide spread of extruder velocities, or you realtime change the building speed, the temperature should be changed accordingly. +Usually, higher speed requires higher temperature. +This can now be performed by the AutoTemp function +By calling M109 S T F you enter the autotemp mode. + +You can leave it by calling M109 without any F. +If active, the maximal extruder stepper rate of all buffered moves will be calculated, and named "maxerate" [steps/sec]. +The wanted temperature then will be set to t=tempmin+factor*maxerate, while being limited between tempmin and tempmax. +If the target temperature is set manually or by gcode to a value less then tempmin, it will be kept without change. +Ideally, your gcode can be completely free of temperature controls, apart from a M109 S T F in the start.gcode, and a M109 S0 in the end.gcode. + +*EEPROM:* + +If you know your PID values, the acceleration and max-velocities of your unique machine, you can set them, and finally store them in the EEPROM. +After each reboot, it will magically load them from EEPROM, independent what your Configuration.h says. + +*LCD Menu:* + +If your hardware supports it, you can build yourself a LCD-CardReader+Click+encoder combination. It will enable you to realtime tune temperatures, +accelerations, velocities, flow rates, select and print files from the SD card, preheat, disable the steppers, and do other fancy stuff. +One working hardware is documented here: http://www.thingiverse.com/thing:12663 +Also, with just a 20x4 or 16x2 display, useful data is shown. + +*SD card folders:* + +If you have an SD card reader attached to your controller, also folders work now. Listing the files in pronterface will show "/path/subpath/file.g". +You can write to file in a subfolder by specifying a similar text using small letters in the path. +Also, backup copies of various operating systems are hidden, as well as files not ending with ".g". + +*SD card folders:* + +If you place a file auto[0-9].g into the root of the sd card, it will be automatically executed if you boot the printer. The same file will be executed by selecting "Autostart" from the menu. +First *0 will be performed, than *1 and so on. That way, you can heat up or even print automatically without user interaction. + +*Endstop trigger reporting:* + +If an endstop is hit while moving towards the endstop, the location at which the firmware thinks that the endstop was triggered is outputed on the serial port. +This is useful, because the user gets a warning message. +However, also tools like QTMarlin can use this for finding acceptable combinations of velocity+acceleration. + +*Coding paradigm:* + +Not relevant from a user side, but Marlin was split into thematic junks, and has tried to partially enforced private variables. +This is intended to make it clearer, what interacts which what, and leads to a higher level of modularization. +We think that this is a useful prestep for porting this firmware to e.g. an ARM platform in the future. +A lot of RAM (with enabled LCD ~2200 bytes) was saved by storing char []="some message" in Program memory. +In the serial communication, a #define based level of abstraction was enforced, so that it is clear that +some transfer is information (usually beginning with "echo:"), an error "error:", or just normal protocol, +necessary for backwards compatibility. + +*Interrupt based temperature measurements:* + +An interrupt is used to manage ADC conversions, and enforce checking for critical temperatures. +This leads to less blocking in the heater management routine. + + +Non-standard M-Codes, different to an old version of sprinter: +============================================================== +Movement: + +* G2 - CW ARC +* G3 - CCW ARC + +General: + +* M17 - Enable/Power all stepper motors. Compatibility to ReplicatorG. +* M18 - Disable all stepper motors; same as M84.Compatibility to ReplicatorG. +* M30 - Print time since last M109 or SD card start to serial +* M42 - Change pin status via gcode +* M80 - Turn on Power Supply +* M81 - Turn off Power Supply +* M114 - Output current position to serial port +* M119 - Output Endstop status to serial port + +Movement variables: + +* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!! +* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec +* M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate +* M206 - set home offsets. This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware) +* M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise. +* M221 - set the extrude multiplying S:factor in percent +* M400 - Finish all buffered moves. + +Temperature variables: +* M301 - Set PID parameters P I and D +* M302 - Allow cold extrudes +* M303 - PID relay autotune S sets the target temperature. (default target temperature = 150C) + +Advance: + +* M200 - Set filament diameter for advance +* M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk + +EEPROM: + +* M500 - stores paramters in EEPROM. This parameters are stored: axis_steps_per_unit, max_feedrate, max_acceleration ,acceleration,retract_acceleration, + minimumfeedrate,mintravelfeedrate,minsegmenttime, jerk velocities, PID +* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). +* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. +* M503 - print the current settings (from memory not from eeprom) + +MISC: + +* M240 - Trigger a camera to take a photograph +* M999 - Restart after being stopped by error + +Configuring and compilation: +============================ + +Install the arduino software IDE/toolset v23 (Some configurations also work with 1.x.x) + http://www.arduino.cc/en/Main/Software + +For gen6/gen7 and sanguinololu the Sanguino directory in the Marlin dir needs to be copied to the arduino environment. + copy ArduinoAddons\Arduino_x.x.x\sanguino \hardware\Sanguino + +Install Ultimaker's RepG 25 build + http://software.ultimaker.com +For SD handling and as better substitute (apart from stl manipulation) download +the very nice Kliment's printrun/pronterface https://github.com/kliment/Printrun + +Copy the Ultimaker Marlin firmware + https://github.com/ErikZalm/Marlin/tree/Marlin_v1 + (Use the download button) + +Start the arduino IDE. +Select Tools -> Board -> Arduino Mega 2560 or your microcontroller +Select the correct serial port in Tools ->Serial Port +Open Marlin.pde + +Click the Verify/Compile button + +Click the Upload button +If all goes well the firmware is uploading + +Start Ultimaker's Custom RepG 25 +Make sure Show Experimental Profiles is enabled in Preferences +Select Sprinter as the Driver + +Press the Connect button. + +KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z + +That's ok. Enjoy Silky Smooth Printing. + + +