diff --git a/Marlin/BlinkM.cpp b/Marlin/BlinkM.cpp index de604ecd35..b340f968c0 100644 --- a/Marlin/BlinkM.cpp +++ b/Marlin/BlinkM.cpp @@ -5,16 +5,9 @@ #include "Marlin.h" #ifdef BLINKM -#if (ARDUINO >= 100) - # include "Arduino.h" -#else - # include "WProgram.h" -#endif - #include "BlinkM.h" -void SendColors(byte red, byte grn, byte blu) -{ +void SendColors(byte red, byte grn, byte blu) { Wire.begin(); Wire.beginTransmission(0x09); Wire.write('o'); //to disable ongoing script, only needs to be used once diff --git a/Marlin/BlinkM.h b/Marlin/BlinkM.h index 5136828782..5b802b718b 100644 --- a/Marlin/BlinkM.h +++ b/Marlin/BlinkM.h @@ -2,13 +2,12 @@ BlinkM.h Library header file for BlinkM library */ -#if (ARDUINO >= 100) - # include "Arduino.h" +#if ARDUINO >= 100 + #include "Arduino.h" #else - # include "WProgram.h" + #include "WProgram.h" #endif #include "Wire.h" void SendColors(byte red, byte grn, byte blu); - diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 8c12b0f85d..076e75c538 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -428,9 +428,9 @@ const bool Z_MAX_ENDSTOP_INVERTING = true; // set to true to invert the logic of // these are the offsets to the probe relative to the extruder tip (Hotend - Probe) // X and Y offsets must be integers - #define X_PROBE_OFFSET_FROM_EXTRUDER -25 - #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 - #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 + #define X_PROBE_OFFSET_FROM_EXTRUDER -25 // -left +right + #define Y_PROBE_OFFSET_FROM_EXTRUDER -29 // -front +behind + #define Z_PROBE_OFFSET_FROM_EXTRUDER -12.35 // -below (always!) #define Z_RAISE_BEFORE_HOMING 4 // (in mm) Raise Z before homing (G28) for Probe Clearance. // Be sure you have this distance over your Z_MAX_POS in case diff --git a/Marlin/ConfigurationStore.h b/Marlin/ConfigurationStore.h index d117d37fb2..3dc4a92cfd 100644 --- a/Marlin/ConfigurationStore.h +++ b/Marlin/ConfigurationStore.h @@ -1,5 +1,5 @@ -#ifndef CONFIG_STORE_H -#define CONFIG_STORE_H +#ifndef CONFIGURATIONSTORE_H +#define CONFIGURATIONSTORE_H #include "Configuration.h" @@ -19,4 +19,4 @@ void Config_ResetDefault(); FORCE_INLINE void Config_RetrieveSettings() { Config_ResetDefault(); Config_PrintSettings(); } #endif -#endif // __CONFIG_STORE_H +#endif //CONFIGURATIONSTORE_H diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 25c77c4ee7..f335a338d7 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -180,8 +180,8 @@ void manage_inactivity(bool ignore_stepper_queue=false); #define disable_e3() /* nothing */ #endif -enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5}; - +enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5}; +//X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots. void FlushSerialRequestResend(); void ClearToSend(); diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp index 8390a5f840..2174eb8f39 100644 --- a/Marlin/Marlin_main.cpp +++ b/Marlin/Marlin_main.cpp @@ -154,6 +154,8 @@ // M302 - Allow cold extrudes, or set the minimum extrude S. // M303 - PID relay autotune S sets the target temperature. (default target temperature = 150C) // M304 - Set bed PID parameters P I and D +// M380 - Activate solenoid on active extruder +// M381 - Disable all solenoids // M400 - Finish all moves // M401 - Lower z-probe if present // M402 - Raise z-probe if present @@ -529,32 +531,28 @@ void setup_homepin(void) void setup_photpin() { #if defined(PHOTOGRAPH_PIN) && PHOTOGRAPH_PIN > -1 - SET_OUTPUT(PHOTOGRAPH_PIN); - WRITE(PHOTOGRAPH_PIN, LOW); + OUT_WRITE(PHOTOGRAPH_PIN, LOW); #endif } void setup_powerhold() { #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1 - SET_OUTPUT(SUICIDE_PIN); - WRITE(SUICIDE_PIN, HIGH); + OUT_WRITE(SUICIDE_PIN, HIGH); #endif #if defined(PS_ON_PIN) && PS_ON_PIN > -1 - SET_OUTPUT(PS_ON_PIN); - #if defined(PS_DEFAULT_OFF) - WRITE(PS_ON_PIN, PS_ON_ASLEEP); - #else - WRITE(PS_ON_PIN, PS_ON_AWAKE); - #endif + #if defined(PS_DEFAULT_OFF) + OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); + #else + OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); + #endif #endif } void suicide() { #if defined(SUICIDE_PIN) && SUICIDE_PIN > -1 - SET_OUTPUT(SUICIDE_PIN); - WRITE(SUICIDE_PIN, LOW); + OUT_WRITE(SUICIDE_PIN, LOW); #endif } @@ -1200,22 +1198,24 @@ static void retract_z_probe() { #endif } +enum ProbeAction { ProbeStay, ProbeEngage, ProbeRetract, ProbeEngageRetract }; + /// Probe bed height at position (x,y), returns the measured z value -static float probe_pt(float x, float y, float z_before, int retract_action=0) { +static float probe_pt(float x, float y, float z_before, ProbeAction retract_action=ProbeEngageRetract) { // move to right place do_blocking_move_to(current_position[X_AXIS], current_position[Y_AXIS], z_before); do_blocking_move_to(x - X_PROBE_OFFSET_FROM_EXTRUDER, y - Y_PROBE_OFFSET_FROM_EXTRUDER, current_position[Z_AXIS]); -#ifndef Z_PROBE_SLED - if ((retract_action==0) || (retract_action==1)) - engage_z_probe(); // Engage Z Servo endstop if available -#endif // Z_PROBE_SLED + #ifndef Z_PROBE_SLED + if (retract_action & ProbeEngage) engage_z_probe(); + #endif + run_z_probe(); float measured_z = current_position[Z_AXIS]; -#ifndef Z_PROBE_SLED - if ((retract_action==0) || (retract_action==3)) - retract_z_probe(); -#endif // Z_PROBE_SLED + + #ifndef Z_PROBE_SLED + if (retract_action & ProbeRetract) retract_z_probe(); + #endif SERIAL_PROTOCOLPGM(MSG_BED); SERIAL_PROTOCOLPGM(" x: "); @@ -1376,6 +1376,11 @@ void refresh_cmd_timeout(void) #endif //FWRETRACT #ifdef Z_PROBE_SLED + + #ifndef SLED_DOCKING_OFFSET + #define SLED_DOCKING_OFFSET 0 + #endif + // // Method to dock/undock a sled designed by Charles Bell. // @@ -1430,10 +1435,10 @@ void process_commands() if(autoretract_enabled) if( !(code_seen('X') || code_seen('Y') || code_seen('Z')) && code_seen('E')) { float echange=destination[E_AXIS]-current_position[E_AXIS]; - if((echange<-MIN_RETRACT && !retracted) || (echange>MIN_RETRACT && retracted)) { //move appears to be an attempt to retract or recover + if((echange<-MIN_RETRACT && !retracted[active_extruder]) || (echange>MIN_RETRACT && retracted[active_extruder])) { //move appears to be an attempt to retract or recover current_position[E_AXIS] = destination[E_AXIS]; //hide the slicer-generated retract/recover from calculations plan_set_e_position(current_position[E_AXIS]); //AND from the planner - retract(!retracted); + retract(!retracted[active_extruder]); return; } } @@ -1662,10 +1667,10 @@ void process_commands() // Let's see if X and Y are homed and probe is inside bed area. if(code_seen(axis_codes[Z_AXIS])) { if ( (axis_known_position[X_AXIS]) && (axis_known_position[Y_AXIS]) \ - && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER >= X_MIN_POS) \ - && (current_position[X_AXIS]+X_PROBE_OFFSET_FROM_EXTRUDER <= X_MAX_POS) \ - && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER >= Y_MIN_POS) \ - && (current_position[Y_AXIS]+Y_PROBE_OFFSET_FROM_EXTRUDER <= Y_MAX_POS)) { + && (current_position[X_AXIS] >= X_MIN_POS - X_PROBE_OFFSET_FROM_EXTRUDER) \ + && (current_position[X_AXIS] <= X_MAX_POS - X_PROBE_OFFSET_FROM_EXTRUDER) \ + && (current_position[Y_AXIS] >= Y_MIN_POS - Y_PROBE_OFFSET_FROM_EXTRUDER) \ + && (current_position[Y_AXIS] <= Y_MAX_POS - Y_PROBE_OFFSET_FROM_EXTRUDER)) { current_position[Z_AXIS] = 0; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); @@ -1719,193 +1724,327 @@ void process_commands() break; #ifdef ENABLE_AUTO_BED_LEVELING + + #if Z_MIN_PIN == -1 + #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling!!! Z_MIN_PIN must point to a valid hardware pin." + #endif + + /** + * Enhanced G29 Auto Bed Leveling Probe Routine + * + * Parameters With AUTO_BED_LEVELING_GRID: + * + * P Set the size of the grid that will be probed (P x P points). + * Example: "G29 P4" + * + * V Set the verbose level (0-4). Example: "G29 V3" + * + * T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report. + * This is useful for manual bed leveling and finding flaws in the bed (to + * assist with part placement). + * + * F Set the Front limit of the probing grid + * B Set the Back limit of the probing grid + * L Set the Left limit of the probing grid + * R Set the Right limit of the probing grid + * + * Global Parameters: + * + * E/e By default G29 engages / disengages the probe for each point. + * Include "E" to engage and disengage the probe just once. + * There's no extra effect if you have a fixed probe. + * Usage: "G29 E" or "G29 e" + * + */ + case 29: // G29 Detailed Z-Probe, probes the bed at 3 or more points. - // Override probing area by providing [F]ront [B]ack [L]eft [R]ight Grid[P]oints values - { - #if Z_MIN_PIN == -1 - #error "You must have a Z_MIN endstop in order to enable Auto Bed Leveling feature!!! Z_MIN_PIN must point to a valid hardware pin." - #endif + { + // Use one of these defines to specify the origin + // for a topographical map to be printed for your bed. + #define ORIGIN_BACK_LEFT 1 + #define ORIGIN_FRONT_RIGHT 2 + #define ORIGIN_BACK_RIGHT 3 + #define ORIGIN_FRONT_LEFT 4 + #define TOPO_ORIGIN ORIGIN_FRONT_LEFT - // Prevent user from running a G29 without first homing in X and Y - if (! (axis_known_position[X_AXIS] && axis_known_position[Y_AXIS]) ) - { - LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); - SERIAL_ECHO_START; - SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN); - break; // abort G29, since we don't know where we are - } + // Prevent user from running a G29 without first homing in X and Y + if (!(axis_known_position[X_AXIS] && axis_known_position[Y_AXIS])) { + LCD_MESSAGEPGM(MSG_POSITION_UNKNOWN); + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_POSITION_UNKNOWN); + break; // abort G29, since we don't know where we are + } -#ifdef Z_PROBE_SLED - dock_sled(false); -#endif // Z_PROBE_SLED - st_synchronize(); - // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly - //vector_3 corrected_position = plan_get_position_mm(); - //corrected_position.debug("position before G29"); - plan_bed_level_matrix.set_to_identity(); - vector_3 uncorrected_position = plan_get_position(); - //uncorrected_position.debug("position durring G29"); - current_position[X_AXIS] = uncorrected_position.x; - current_position[Y_AXIS] = uncorrected_position.y; - current_position[Z_AXIS] = uncorrected_position.z; - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - setup_for_endstop_move(); + bool enhanced_g29 = code_seen('E') || code_seen('e'); - feedrate = homing_feedrate[Z_AXIS]; -#ifdef AUTO_BED_LEVELING_GRID - // probe at the points of a lattice grid - int left_probe_bed_position=LEFT_PROBE_BED_POSITION; - int right_probe_bed_position=RIGHT_PROBE_BED_POSITION; - int back_probe_bed_position=BACK_PROBE_BED_POSITION; - int front_probe_bed_position=FRONT_PROBE_BED_POSITION; - int auto_bed_leveling_grid_points=AUTO_BED_LEVELING_GRID_POINTS; - if (code_seen('L')) left_probe_bed_position=(int)code_value(); - if (code_seen('R')) right_probe_bed_position=(int)code_value(); - if (code_seen('B')) back_probe_bed_position=(int)code_value(); - if (code_seen('F')) front_probe_bed_position=(int)code_value(); - if (code_seen('P')) auto_bed_leveling_grid_points=(int)code_value(); + #ifdef AUTO_BED_LEVELING_GRID - int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points-1); - int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points-1); + // Example Syntax: G29 N4 V2 E T + int verbose_level = 1; + bool topo_flag = code_seen('T') || code_seen('t'); - // solve the plane equation ax + by + d = z - // A is the matrix with rows [x y 1] for all the probed points - // B is the vector of the Z positions - // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 - // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z - - // "A" matrix of the linear system of equations - double eqnAMatrix[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points*3]; - - // "B" vector of Z points - double eqnBVector[auto_bed_leveling_grid_points*auto_bed_leveling_grid_points]; - - - - int probePointCounter = 0; - bool zig = true; - - for (int yProbe=front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) - - { - int xProbe, xInc; - if (zig) - { - xProbe = left_probe_bed_position; - //xEnd = right_probe_bed_position; - xInc = xGridSpacing; - zig = false; - } else // zag - { - xProbe = right_probe_bed_position; - //xEnd = left_probe_bed_position; - xInc = -xGridSpacing; - zig = true; - } - - for (int xCount=0; xCount < auto_bed_leveling_grid_points; xCount++) - { - float z_before; - if (probePointCounter == 0) - { - // raise before probing - z_before = Z_RAISE_BEFORE_PROBING; - } else - { - // raise extruder - z_before = current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS; - } - - float measured_z; - //Enhanced G29 - Do not retract servo between probes - if (code_seen('E') || code_seen('e') ) - { - if ((yProbe==FRONT_PROBE_BED_POSITION) && (xCount==0)) - { - measured_z = probe_pt(xProbe, yProbe, z_before,1); - } else if ((yProbe==FRONT_PROBE_BED_POSITION + (yGridSpacing * (AUTO_BED_LEVELING_GRID_POINTS-1))) && (xCount == AUTO_BED_LEVELING_GRID_POINTS-1)) - { - measured_z = probe_pt(xProbe, yProbe, z_before,3); - } else { - measured_z = probe_pt(xProbe, yProbe, z_before,2); - } - } else { - measured_z = probe_pt(xProbe, yProbe, z_before); - } - - eqnBVector[probePointCounter] = measured_z; - - eqnAMatrix[probePointCounter + 0*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = xProbe; - eqnAMatrix[probePointCounter + 1*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = yProbe; - eqnAMatrix[probePointCounter + 2*auto_bed_leveling_grid_points*auto_bed_leveling_grid_points] = 1; - probePointCounter++; - xProbe += xInc; - } - } - clean_up_after_endstop_move(); - - // solve lsq problem - double *plane_equation_coefficients = qr_solve(auto_bed_leveling_grid_points*auto_bed_leveling_grid_points, 3, eqnAMatrix, eqnBVector); - - SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); - SERIAL_PROTOCOL(plane_equation_coefficients[0]); - SERIAL_PROTOCOLPGM(" b: "); - SERIAL_PROTOCOL(plane_equation_coefficients[1]); - SERIAL_PROTOCOLPGM(" d: "); - SERIAL_PROTOCOLLN(plane_equation_coefficients[2]); - - - set_bed_level_equation_lsq(plane_equation_coefficients); - - free(plane_equation_coefficients); - -#else // AUTO_BED_LEVELING_GRID not defined - - // Probe at 3 arbitrary points - // Enhanced G29 - - float z_at_pt_1, z_at_pt_2, z_at_pt_3; - - if (code_seen('E') || code_seen('e')) { - // probe 1 - z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING,1); - // probe 2 - z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,2); - // probe 3 - z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS,3); - } - else { - // probe 1 - z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING); - // probe 2 - z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); - // probe 3 - z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); - } - clean_up_after_endstop_move(); - set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3); - - -#endif // AUTO_BED_LEVELING_GRID - st_synchronize(); - - // The following code correct the Z height difference from z-probe position and hotend tip position. - // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend. - // When the bed is uneven, this height must be corrected. - real_z = float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane) - x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER; - y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER; - z_tmp = current_position[Z_AXIS]; - - apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset - current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. - plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); -#ifdef Z_PROBE_SLED - dock_sled(true, -SLED_DOCKING_OFFSET); // correct for over travel. -#endif // Z_PROBE_SLED + if (code_seen('V') || code_seen('v')) { + verbose_level = code_value(); + if (verbose_level < 0 || verbose_level > 4) { + SERIAL_PROTOCOLPGM("?(V)erbose Level is implausible (0-4).\n"); + break; + } + if (verbose_level > 0) { + SERIAL_PROTOCOLPGM("G29 Enhanced Auto Bed Leveling Code V1.25:\n"); + SERIAL_PROTOCOLPGM("Full support at: http://3dprintboard.com/forum.php\n"); + if (verbose_level > 2) topo_flag = true; + } } - break; + + int auto_bed_leveling_grid_points = code_seen('P') ? code_value_long() : AUTO_BED_LEVELING_GRID_POINTS; + if (auto_bed_leveling_grid_points < 2 || auto_bed_leveling_grid_points > AUTO_BED_LEVELING_GRID_POINTS) { + SERIAL_PROTOCOLPGM("?Number of probed (P)oints is implausible (2 minimum).\n"); + break; + } + + // Define the possible boundaries for probing based on the set limits. + // Code above (in G28) might have these limits wrong, or I am wrong here. + #define MIN_PROBE_EDGE 10 // Edges of the probe square can be no less + const int min_probe_x = max(X_MIN_POS, X_MIN_POS + X_PROBE_OFFSET_FROM_EXTRUDER), + max_probe_x = min(X_MAX_POS, X_MAX_POS + X_PROBE_OFFSET_FROM_EXTRUDER), + min_probe_y = max(Y_MIN_POS, Y_MIN_POS + Y_PROBE_OFFSET_FROM_EXTRUDER), + max_probe_y = min(Y_MAX_POS, Y_MAX_POS + Y_PROBE_OFFSET_FROM_EXTRUDER); + + int left_probe_bed_position = code_seen('L') ? code_value_long() : LEFT_PROBE_BED_POSITION, + right_probe_bed_position = code_seen('R') ? code_value_long() : RIGHT_PROBE_BED_POSITION, + front_probe_bed_position = code_seen('F') ? code_value_long() : FRONT_PROBE_BED_POSITION, + back_probe_bed_position = code_seen('B') ? code_value_long() : BACK_PROBE_BED_POSITION; + + bool left_out_l = left_probe_bed_position < min_probe_x, + left_out_r = left_probe_bed_position > right_probe_bed_position - MIN_PROBE_EDGE, + left_out = left_out_l || left_out_r, + right_out_r = right_probe_bed_position > max_probe_x, + right_out_l =right_probe_bed_position < left_probe_bed_position + MIN_PROBE_EDGE, + right_out = right_out_l || right_out_r, + front_out_f = front_probe_bed_position < min_probe_y, + front_out_b = front_probe_bed_position > back_probe_bed_position - MIN_PROBE_EDGE, + front_out = front_out_f || front_out_b, + back_out_b = back_probe_bed_position > max_probe_y, + back_out_f = back_probe_bed_position < front_probe_bed_position + MIN_PROBE_EDGE, + back_out = back_out_f || back_out_b; + + if (left_out || right_out || front_out || back_out) { + if (left_out) { + SERIAL_PROTOCOLPGM("?Probe (L)eft position out of range.\n"); + left_probe_bed_position = left_out_l ? min_probe_x : right_probe_bed_position - MIN_PROBE_EDGE; + } + if (right_out) { + SERIAL_PROTOCOLPGM("?Probe (R)ight position out of range.\n"); + right_probe_bed_position = right_out_r ? max_probe_x : left_probe_bed_position + MIN_PROBE_EDGE; + } + if (front_out) { + SERIAL_PROTOCOLPGM("?Probe (F)ront position out of range.\n"); + front_probe_bed_position = front_out_f ? min_probe_y : back_probe_bed_position - MIN_PROBE_EDGE; + } + if (back_out) { + SERIAL_PROTOCOLPGM("?Probe (B)ack position out of range.\n"); + back_probe_bed_position = back_out_b ? max_probe_y : front_probe_bed_position + MIN_PROBE_EDGE; + } + break; + } + + #endif + + #ifdef Z_PROBE_SLED + dock_sled(false); // engage (un-dock) the probe + #endif + + st_synchronize(); + // make sure the bed_level_rotation_matrix is identity or the planner will get it incorectly + //vector_3 corrected_position = plan_get_position_mm(); + //corrected_position.debug("position before G29"); + plan_bed_level_matrix.set_to_identity(); + vector_3 uncorrected_position = plan_get_position(); + //uncorrected_position.debug("position durring G29"); + current_position[X_AXIS] = uncorrected_position.x; + current_position[Y_AXIS] = uncorrected_position.y; + current_position[Z_AXIS] = uncorrected_position.z; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + setup_for_endstop_move(); + + feedrate = homing_feedrate[Z_AXIS]; + + #ifdef AUTO_BED_LEVELING_GRID + // probe at the points of a lattice grid + + int xGridSpacing = (right_probe_bed_position - left_probe_bed_position) / (auto_bed_leveling_grid_points - 1); + int yGridSpacing = (back_probe_bed_position - front_probe_bed_position) / (auto_bed_leveling_grid_points - 1); + + // solve the plane equation ax + by + d = z + // A is the matrix with rows [x y 1] for all the probed points + // B is the vector of the Z positions + // the normal vector to the plane is formed by the coefficients of the plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0 + // so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z + + int abl2 = auto_bed_leveling_grid_points * auto_bed_leveling_grid_points; + + double eqnAMatrix[abl2 * 3], // "A" matrix of the linear system of equations + eqnBVector[abl2], // "B" vector of Z points + mean = 0.0; + + int probePointCounter = 0; + bool zig = true; + + for (int yProbe = front_probe_bed_position; yProbe <= back_probe_bed_position; yProbe += yGridSpacing) { + int xProbe, xInc; + + if (zig) + xProbe = left_probe_bed_position, xInc = xGridSpacing; + else + xProbe = right_probe_bed_position, xInc = -xGridSpacing; + + // If topo_flag is set then don't zig-zag. Just scan in one direction. + // This gets the probe points in more readable order. + if (!topo_flag) zig = !zig; + + for (int xCount = 0; xCount < auto_bed_leveling_grid_points; xCount++) { + // raise extruder + float z_before = probePointCounter == 0 ? Z_RAISE_BEFORE_PROBING : current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, + measured_z; + + // Enhanced G29 - Do not retract servo between probes + ProbeAction act; + if (enhanced_g29) { + if (yProbe == front_probe_bed_position && xCount == 0) + act = ProbeEngage; + else if (yProbe == front_probe_bed_position + (yGridSpacing * (auto_bed_leveling_grid_points - 1)) && xCount == auto_bed_leveling_grid_points - 1) + act = ProbeRetract; + else + act = ProbeStay; + } + else + act = ProbeEngageRetract; + + measured_z = probe_pt(xProbe, yProbe, z_before, act); + + mean += measured_z; + + eqnBVector[probePointCounter] = measured_z; + eqnAMatrix[probePointCounter + 0 * abl2] = xProbe; + eqnAMatrix[probePointCounter + 1 * abl2] = yProbe; + eqnAMatrix[probePointCounter + 2 * abl2] = 1; + + probePointCounter++; + xProbe += xInc; + + } //xProbe + + } //yProbe + + clean_up_after_endstop_move(); + + // solve lsq problem + double *plane_equation_coefficients = qr_solve(abl2, 3, eqnAMatrix, eqnBVector); + + mean /= abl2; + + if (verbose_level) { + SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); + SERIAL_PROTOCOL(plane_equation_coefficients[0]); + SERIAL_PROTOCOLPGM(" b: "); + SERIAL_PROTOCOL(plane_equation_coefficients[1]); + SERIAL_PROTOCOLPGM(" d: "); + SERIAL_PROTOCOLLN(plane_equation_coefficients[2]); + if (verbose_level > 2) { + SERIAL_PROTOCOLPGM("Mean of sampled points: "); + SERIAL_PROTOCOL_F(mean, 6); + SERIAL_PROTOCOLPGM(" \n"); + } + } + + if (topo_flag) { + + int xx, yy; + + SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n"); + #if TOPO_ORIGIN == ORIGIN_FRONT_LEFT + for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) + #else + for (yy = 0; yy < auto_bed_leveling_grid_points; yy++) + #endif + { + #if TOPO_ORIGIN == ORIGIN_BACK_RIGHT + for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--) + #else + for (xx = 0; xx < auto_bed_leveling_grid_points; xx++) + #endif + { + int ind = + #if TOPO_ORIGIN == ORIGIN_BACK_RIGHT || TOPO_ORIGIN == ORIGIN_FRONT_LEFT + yy * auto_bed_leveling_grid_points + xx + #elif TOPO_ORIGIN == ORIGIN_BACK_LEFT + xx * auto_bed_leveling_grid_points + yy + #elif TOPO_ORIGIN == ORIGIN_FRONT_RIGHT + abl2 - xx * auto_bed_leveling_grid_points - yy - 1 + #endif + ; + float diff = eqnBVector[ind] - mean; + if (diff >= 0.0) + SERIAL_PROTOCOLPGM(" +"); // Watch column alignment in Pronterface + else + SERIAL_PROTOCOLPGM(" -"); + SERIAL_PROTOCOL_F(diff, 5); + } // xx + SERIAL_PROTOCOLPGM("\n"); + } // yy + SERIAL_PROTOCOLPGM("\n"); + + } //topo_flag + + + set_bed_level_equation_lsq(plane_equation_coefficients); + free(plane_equation_coefficients); + + #else // !AUTO_BED_LEVELING_GRID + + // Probe at 3 arbitrary points + float z_at_pt_1, z_at_pt_2, z_at_pt_3; + + if (enhanced_g29) { + // Basic Enhanced G29 + z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING, ProbeEngage); + z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeStay); + z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS, ProbeRetract); + } + else { + z_at_pt_1 = probe_pt(ABL_PROBE_PT_1_X, ABL_PROBE_PT_1_Y, Z_RAISE_BEFORE_PROBING); + z_at_pt_2 = probe_pt(ABL_PROBE_PT_2_X, ABL_PROBE_PT_2_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); + z_at_pt_3 = probe_pt(ABL_PROBE_PT_3_X, ABL_PROBE_PT_3_Y, current_position[Z_AXIS] + Z_RAISE_BETWEEN_PROBINGS); + } + clean_up_after_endstop_move(); + set_bed_level_equation_3pts(z_at_pt_1, z_at_pt_2, z_at_pt_3); + + #endif // !AUTO_BED_LEVELING_GRID + + st_synchronize(); + + if (verbose_level > 0) + plan_bed_level_matrix.debug(" \n\nBed Level Correction Matrix:"); + + // The following code correct the Z height difference from z-probe position and hotend tip position. + // The Z height on homing is measured by Z-Probe, but the probe is quite far from the hotend. + // When the bed is uneven, this height must be corrected. + real_z = float(st_get_position(Z_AXIS)) / axis_steps_per_unit[Z_AXIS]; //get the real Z (since the auto bed leveling is already correcting the plane) + x_tmp = current_position[X_AXIS] + X_PROBE_OFFSET_FROM_EXTRUDER; + y_tmp = current_position[Y_AXIS] + Y_PROBE_OFFSET_FROM_EXTRUDER; + z_tmp = current_position[Z_AXIS]; + + apply_rotation_xyz(plan_bed_level_matrix, x_tmp, y_tmp, z_tmp); //Apply the correction sending the probe offset + current_position[Z_AXIS] = z_tmp - real_z + current_position[Z_AXIS]; //The difference is added to current position and sent to planner. + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + + #ifdef Z_PROBE_SLED + dock_sled(true, -SLED_DOCKING_OFFSET); // dock the probe, correcting for over-travel + #endif + } + break; + #ifndef Z_PROBE_SLED case 30: // G30 Single Z Probe { @@ -2038,6 +2177,7 @@ void process_commands() enable_e0(); enable_e1(); enable_e2(); + enable_e3(); break; #ifdef SDSUPPORT @@ -2723,15 +2863,13 @@ Sigma_Exit: #if defined(PS_ON_PIN) && PS_ON_PIN > -1 case 80: // M80 - Turn on Power Supply - SET_OUTPUT(PS_ON_PIN); //GND - WRITE(PS_ON_PIN, PS_ON_AWAKE); + OUT_WRITE(PS_ON_PIN, PS_ON_AWAKE); // GND // If you have a switch on suicide pin, this is useful // if you want to start another print with suicide feature after // a print without suicide... #if defined SUICIDE_PIN && SUICIDE_PIN > -1 - SET_OUTPUT(SUICIDE_PIN); - WRITE(SUICIDE_PIN, HIGH); + OUT_WRITE(SUICIDE_PIN, HIGH); #endif #ifdef ULTIPANEL @@ -2748,6 +2886,7 @@ Sigma_Exit: disable_e0(); disable_e1(); disable_e2(); + disable_e3(); finishAndDisableSteppers(); fanSpeed = 0; delay(1000); // Wait a little before to switch off @@ -2755,8 +2894,7 @@ Sigma_Exit: st_synchronize(); suicide(); #elif defined(PS_ON_PIN) && PS_ON_PIN > -1 - SET_OUTPUT(PS_ON_PIN); - WRITE(PS_ON_PIN, PS_ON_ASLEEP); + OUT_WRITE(PS_ON_PIN, PS_ON_ASLEEP); #endif #ifdef ULTIPANEL powersupply = false; @@ -2785,6 +2923,7 @@ Sigma_Exit: disable_e0(); disable_e1(); disable_e2(); + disable_e3(); finishAndDisableSteppers(); } else @@ -2798,6 +2937,7 @@ Sigma_Exit: disable_e0(); disable_e1(); disable_e2(); + disable_e3(); } #endif } @@ -3118,7 +3258,7 @@ Sigma_Exit: SERIAL_ECHO(extruder_offset[Z_AXIS][tmp_extruder]); #endif } - SERIAL_ECHOLN(""); + SERIAL_EOL; }break; #endif case 220: // M220 S- set speed factor override percentage @@ -3337,8 +3477,7 @@ Sigma_Exit: { #ifdef CHDK - SET_OUTPUT(CHDK); - WRITE(CHDK, HIGH); + OUT_WRITE(CHDK, HIGH); chdkHigh = millis(); chdkActive = true; @@ -3497,6 +3636,17 @@ Sigma_Exit: } break; #endif + +#ifdef EXT_SOLENOID + case 380: + enable_solenoid_on_active_extruder(); + break; + + case 381: + disable_all_solenoids(); + break; +#endif //EXT_SOLENOID + case 400: // M400 finish all moves { st_synchronize(); @@ -3726,6 +3876,7 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp disable_e0(); disable_e1(); disable_e2(); + disable_e3(); delay(100); LCD_ALERTMESSAGEPGM(MSG_FILAMENTCHANGE); uint8_t cnt=0; @@ -3737,9 +3888,7 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp if(cnt==0) { #if BEEPER > 0 - SET_OUTPUT(BEEPER); - - WRITE(BEEPER,HIGH); + OUT_WRITE(BEEPER,HIGH); delay(3); WRITE(BEEPER,LOW); delay(3); @@ -4000,6 +4149,13 @@ case 404: //M404 Enter the nominal filament width (3mm, 1.75mm ) N<3.0> or disp prepare_move(); } } + +#ifdef EXT_SOLENOID + st_synchronize(); + disable_all_solenoids(); + enable_solenoid_on_active_extruder(); +#endif //EXT_SOLENOID + #endif SERIAL_ECHO_START; SERIAL_ECHO(MSG_ACTIVE_EXTRUDER); @@ -4469,6 +4625,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s disable_e0(); disable_e1(); disable_e2(); + disable_e3(); } } } @@ -4574,6 +4731,7 @@ void kill() disable_e0(); disable_e1(); disable_e2(); + disable_e3(); #if defined(PS_ON_PIN) && PS_ON_PIN > -1 pinMode(PS_ON_PIN,INPUT); @@ -4707,7 +4865,6 @@ bool setTargetedHotend(int code){ return false; } - float calculate_volumetric_multiplier(float diameter) { if (!volumetric_enabled || diameter == 0) return 1.0; float d2 = diameter * 0.5; @@ -4718,3 +4875,43 @@ void calculate_volumetric_multipliers() { for (int i=0; i -1 + case 1: + OUT_WRITE(SOL1_PIN, HIGH); + break; + #endif + #if defined(SOL2_PIN) && SOL2_PIN > -1 + case 2: + OUT_WRITE(SOL2_PIN, HIGH); + break; + #endif + #if defined(SOL3_PIN) && SOL3_PIN > -1 + case 3: + OUT_WRITE(SOL3_PIN, HIGH); + break; + #endif + default: + SERIAL_ECHO_START; + SERIAL_ECHOLNPGM(MSG_INVALID_SOLENOID); + break; + } +} + +void enable_solenoid_on_active_extruder() { enable_solenoid(active_extruder); } + +void disable_all_solenoids() { + OUT_WRITE(SOL0_PIN, LOW); + OUT_WRITE(SOL1_PIN, LOW); + OUT_WRITE(SOL2_PIN, LOW); + OUT_WRITE(SOL3_PIN, LOW); +} + +#endif //EXT_SOLENOID diff --git a/Marlin/cardreader.cpp b/Marlin/cardreader.cpp index a2dd67831b..a51d77bf0f 100644 --- a/Marlin/cardreader.cpp +++ b/Marlin/cardreader.cpp @@ -7,476 +7,382 @@ #ifdef SDSUPPORT +CardReader::CardReader() { + filesize = 0; + sdpos = 0; + sdprinting = false; + cardOK = false; + saving = false; + logging = false; + workDirDepth = 0; + file_subcall_ctr = 0; + memset(workDirParents, 0, sizeof(workDirParents)); - -CardReader::CardReader() -{ - filesize = 0; - sdpos = 0; - sdprinting = false; - cardOK = false; - saving = false; - logging = false; - autostart_atmillis=0; - workDirDepth = 0; - file_subcall_ctr=0; - memset(workDirParents, 0, sizeof(workDirParents)); - - autostart_stilltocheck=true; //the SD start is delayed, because otherwise the serial cannot answer fast enough to make contact with the host software. - autostart_index=0; + autostart_stilltocheck = true; //the SD start is delayed, because otherwise the serial cannot answer fast enough to make contact with the host software. + autostart_index = 0; //power to SD reader #if SDPOWER > -1 - SET_OUTPUT(SDPOWER); - WRITE(SDPOWER,HIGH); + OUT_WRITE(SDPOWER, HIGH); #endif //SDPOWER - - autostart_atmillis=millis()+5000; + + autostart_atmillis = millis() + 5000; } -char *createFilename(char *buffer,const dir_t &p) //buffer>12characters -{ - char *pos=buffer; - for (uint8_t i = 0; i < 11; i++) - { - if (p.name[i] == ' ')continue; - if (i == 8) - { - *pos++='.'; - } - *pos++=p.name[i]; +char *createFilename(char *buffer, const dir_t &p) { //buffer > 12characters + char *pos = buffer; + for (uint8_t i = 0; i < 11; i++) { + if (p.name[i] == ' ') continue; + if (i == 8) *pos++ = '.'; + *pos++ = p.name[i]; } - *pos++=0; + *pos++ = 0; return buffer; } - -void CardReader::lsDive(const char *prepend, SdFile parent, const char * const match/*=NULL*/) -{ +void CardReader::lsDive(const char *prepend, SdFile parent, const char * const match/*=NULL*/) { dir_t p; - uint8_t cnt=0; - - while (parent.readDir(p, longFilename) > 0) - { - if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename) // hence LS_SerialPrint - { + uint8_t cnt = 0; + while (parent.readDir(p, longFilename) > 0) { + if (DIR_IS_SUBDIR(&p) && lsAction != LS_Count && lsAction != LS_GetFilename) { // hence LS_SerialPrint char path[FILENAME_LENGTH*2]; char lfilename[FILENAME_LENGTH]; - createFilename(lfilename,p); - - path[0]=0; - if(prepend[0]==0) //avoid leading / if already in prepend - { - strcat(path,"/"); - } - strcat(path,prepend); - strcat(path,lfilename); - strcat(path,"/"); - + createFilename(lfilename, p); + + path[0] = 0; + if (prepend[0] == 0) strcat(path, "/"); //avoid leading / if already in prepend + strcat(path, prepend); + strcat(path, lfilename); + strcat(path, "/"); + //Serial.print(path); - + SdFile dir; - if(!dir.open(parent,lfilename, O_READ)) - { - if(lsAction==LS_SerialPrint) - { + if (!dir.open(parent, lfilename, O_READ)) { + if (lsAction == LS_SerialPrint) { SERIAL_ECHO_START; SERIAL_ECHOLN(MSG_SD_CANT_OPEN_SUBDIR); SERIAL_ECHOLN(lfilename); } } - lsDive(path,dir); + lsDive(path, dir); //close done automatically by destructor of SdFile - - } - else - { + else { char pn0 = p.name[0]; if (pn0 == DIR_NAME_FREE) break; - if (pn0 == DIR_NAME_DELETED || pn0 == '.' || pn0 == '_') continue; + if (pn0 == DIR_NAME_DELETED || pn0 == '.') continue; char lf0 = longFilename[0]; - if (lf0 == '.' || lf0 == '_') continue; + if (lf0 == '.') continue; if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue; - filenameIsDir=DIR_IS_SUBDIR(&p); - - - if(!filenameIsDir) - { - if(p.name[8]!='G') continue; - if(p.name[9]=='~') continue; - } - //if(cnt++!=nr) continue; - createFilename(filename,p); - if(lsAction==LS_SerialPrint) - { + + filenameIsDir = DIR_IS_SUBDIR(&p); + + if (!filenameIsDir && (p.name[8] != 'G' || p.name[9] == '~')) continue; + + //if (cnt++ != nr) continue; + createFilename(filename, p); + if (lsAction == LS_SerialPrint) { SERIAL_PROTOCOL(prepend); SERIAL_PROTOCOLLN(filename); } - else if(lsAction==LS_Count) - { + else if (lsAction == LS_Count) { nrFiles++; - } - else if(lsAction==LS_GetFilename) - { + } + else if (lsAction == LS_GetFilename) { if (match != NULL) { if (strcasecmp(match, filename) == 0) return; } else if (cnt == nrFiles) return; cnt++; - } } } } -void CardReader::ls() -{ - lsAction=LS_SerialPrint; - if(lsAction==LS_Count) - nrFiles=0; - +void CardReader::ls() { + lsAction = LS_SerialPrint; root.rewind(); - lsDive("",root); + lsDive("", root); } - -void CardReader::initsd() -{ +void CardReader::initsd() { cardOK = false; - if(root.isOpen()) - root.close(); -#ifdef SDSLOW - if (!card.init(SPI_HALF_SPEED,SDSS) - #if defined(LCD_SDSS) && (LCD_SDSS != SDSS) - && !card.init(SPI_HALF_SPEED,LCD_SDSS) + if (root.isOpen()) root.close(); + + #ifdef SDSLOW + #define SPI_SPEED SPI_HALF_SPEED + #else + #define SPI_SPEED SPI_FULL_SPEED #endif - ) -#else - if (!card.init(SPI_FULL_SPEED,SDSS) - #if defined(LCD_SDSS) && (LCD_SDSS != SDSS) - && !card.init(SPI_FULL_SPEED,LCD_SDSS) - #endif - ) -#endif - { + + if (!card.init(SPI_SPEED,SDSS) + #if defined(LCD_SDSS) && (LCD_SDSS != SDSS) + && !card.init(SPI_SPEED, LCD_SDSS) + #endif + ) { //if (!card.init(SPI_HALF_SPEED,SDSS)) SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_SD_INIT_FAIL); } - else if (!volume.init(&card)) - { + else if (!volume.init(&card)) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_SD_VOL_INIT_FAIL); } - else if (!root.openRoot(&volume)) - { + else if (!root.openRoot(&volume)) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_SD_OPENROOT_FAIL); } - else - { + else { cardOK = true; SERIAL_ECHO_START; SERIAL_ECHOLNPGM(MSG_SD_CARD_OK); } - workDir=root; - curDir=&root; + workDir = root; + curDir = &root; /* - if(!workDir.openRoot(&volume)) - { + if (!workDir.openRoot(&volume)) { SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL); } */ - } -void CardReader::setroot() -{ - /*if(!workDir.openRoot(&volume)) - { +void CardReader::setroot() { + /*if (!workDir.openRoot(&volume)) { SERIAL_ECHOLNPGM(MSG_SD_WORKDIR_FAIL); }*/ - workDir=root; - - curDir=&workDir; + workDir = root; + curDir = &workDir; } -void CardReader::release() -{ + +void CardReader::release() { sdprinting = false; cardOK = false; } -void CardReader::startFileprint() -{ - if(cardOK) - { +void CardReader::startFileprint() { + if (cardOK) { sdprinting = true; } } -void CardReader::pauseSDPrint() -{ - if(sdprinting) - { - sdprinting = false; - } +void CardReader::pauseSDPrint() { + if (sdprinting) sdprinting = false; } - -void CardReader::openLogFile(char* name) -{ +void CardReader::openLogFile(char* name) { logging = true; openFile(name, false); } -void CardReader::getAbsFilename(char *t) -{ - uint8_t cnt=0; - *t='/';t++;cnt++; - for(uint8_t i=0;i(int)SD_PROCEDURE_DEPTH-1) - { +void CardReader::openFile(char* name, bool read, bool replace_current/*=true*/) { + if (!cardOK) return; + if (file.isOpen()) { //replacing current file by new file, or subfile call + if (!replace_current) { + if (file_subcall_ctr > SD_PROCEDURE_DEPTH - 1) { SERIAL_ERROR_START; SERIAL_ERRORPGM("trying to call sub-gcode files with too many levels. MAX level is:"); SERIAL_ERRORLN(SD_PROCEDURE_DEPTH); kill(); return; } - + SERIAL_ECHO_START; SERIAL_ECHOPGM("SUBROUTINE CALL target:\""); SERIAL_ECHO(name); SERIAL_ECHOPGM("\" parent:\""); - + //store current filename and position getAbsFilename(filenames[file_subcall_ctr]); - + SERIAL_ECHO(filenames[file_subcall_ctr]); SERIAL_ECHOPGM("\" pos"); SERIAL_ECHOLN(sdpos); - filespos[file_subcall_ctr]=sdpos; + filespos[file_subcall_ctr] = sdpos; file_subcall_ctr++; } - else - { + else { SERIAL_ECHO_START; SERIAL_ECHOPGM("Now doing file: "); SERIAL_ECHOLN(name); } file.close(); } - else //opening fresh file - { - file_subcall_ctr=0; //resetting procedure depth in case user cancels print while in procedure + else { //opening fresh file + file_subcall_ctr = 0; //resetting procedure depth in case user cancels print while in procedure SERIAL_ECHO_START; SERIAL_ECHOPGM("Now fresh file: "); SERIAL_ECHOLN(name); } sdprinting = false; - - + SdFile myDir; - curDir=&root; - char *fname=name; - - char *dirname_start,*dirname_end; - if(name[0]=='/') - { - dirname_start=strchr(name,'/')+1; - while(dirname_start>0) - { - dirname_end=strchr(dirname_start,'/'); - //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name)); - //SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end-name)); - if(dirname_end>0 && dirname_end>dirname_start) - { + curDir = &root; + char *fname = name; + + char *dirname_start, *dirname_end; + if (name[0] == '/') { + dirname_start = &name[1]; + while(dirname_start > 0) { + dirname_end = strchr(dirname_start, '/'); + //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name)); + //SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end - name)); + if (dirname_end > 0 && dirname_end > dirname_start) { char subdirname[FILENAME_LENGTH]; - strncpy(subdirname, dirname_start, dirname_end-dirname_start); - subdirname[dirname_end-dirname_start]=0; + strncpy(subdirname, dirname_start, dirname_end - dirname_start); + subdirname[dirname_end - dirname_start] = 0; SERIAL_ECHOLN(subdirname); - if(!myDir.open(curDir,subdirname,O_READ)) - { + if (!myDir.open(curDir, subdirname, O_READ)) { SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL); SERIAL_PROTOCOL(subdirname); SERIAL_PROTOCOLLNPGM("."); return; } - else - { + else { //SERIAL_ECHOLN("dive ok"); } - - curDir=&myDir; - dirname_start=dirname_end+1; + + curDir = &myDir; + dirname_start = dirname_end + 1; } - else // the reminder after all /fsa/fdsa/ is the filename - { - fname=dirname_start; - //SERIAL_ECHOLN("remaider"); + else { // the remainder after all /fsa/fdsa/ is the filename + fname = dirname_start; + //SERIAL_ECHOLN("remainder"); //SERIAL_ECHOLN(fname); break; } - } } - else //relative path - { - curDir=&workDir; + else { //relative path + curDir = &workDir; } - if(read) - { - if (file.open(curDir, fname, O_READ)) - { + + if (read) { + if (file.open(curDir, fname, O_READ)) { filesize = file.fileSize(); SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED); SERIAL_PROTOCOL(fname); SERIAL_PROTOCOLPGM(MSG_SD_SIZE); SERIAL_PROTOCOLLN(filesize); sdpos = 0; - + SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED); getfilename(0, fname); lcd_setstatus(longFilename[0] ? longFilename : fname); } - else - { + else { SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL); SERIAL_PROTOCOL(fname); SERIAL_PROTOCOLLNPGM("."); } } - else - { //write - if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) - { + else { //write + if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) { SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL); SERIAL_PROTOCOL(fname); SERIAL_PROTOCOLLNPGM("."); } - else - { + else { saving = true; SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE); SERIAL_PROTOCOLLN(name); lcd_setstatus(fname); } } - } -void CardReader::removeFile(char* name) -{ - if(!cardOK) - return; +void CardReader::removeFile(char* name) { + if (!cardOK) return; + file.close(); sdprinting = false; - - + SdFile myDir; - curDir=&root; - char *fname=name; - - char *dirname_start,*dirname_end; - if(name[0]=='/') - { - dirname_start=strchr(name,'/')+1; - while(dirname_start>0) - { - dirname_end=strchr(dirname_start,'/'); - //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name)); - //SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end-name)); - if(dirname_end>0 && dirname_end>dirname_start) - { + curDir = &root; + char *fname = name; + + char *dirname_start, *dirname_end; + if (name[0] == '/') { + dirname_start = strchr(name, '/') + 1; + while (dirname_start > 0) { + dirname_end = strchr(dirname_start, '/'); + //SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name)); + //SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end - name)); + if (dirname_end > 0 && dirname_end > dirname_start) { char subdirname[FILENAME_LENGTH]; - strncpy(subdirname, dirname_start, dirname_end-dirname_start); - subdirname[dirname_end-dirname_start]=0; + strncpy(subdirname, dirname_start, dirname_end - dirname_start); + subdirname[dirname_end - dirname_start] = 0; SERIAL_ECHOLN(subdirname); - if(!myDir.open(curDir,subdirname,O_READ)) - { + if (!myDir.open(curDir, subdirname, O_READ)) { SERIAL_PROTOCOLPGM("open failed, File: "); SERIAL_PROTOCOL(subdirname); SERIAL_PROTOCOLLNPGM("."); return; } - else - { + else { //SERIAL_ECHOLN("dive ok"); } - - curDir=&myDir; - dirname_start=dirname_end+1; + + curDir = &myDir; + dirname_start = dirname_end + 1; } - else // the reminder after all /fsa/fdsa/ is the filename - { - fname=dirname_start; - //SERIAL_ECHOLN("remaider"); + else { // the remainder after all /fsa/fdsa/ is the filename + fname = dirname_start; + //SERIAL_ECHOLN("remainder"); //SERIAL_ECHOLN(fname); break; } - } } - else //relative path - { - curDir=&workDir; + else { // relative path + curDir = &workDir; + } + + if (file.remove(curDir, fname)) { + SERIAL_PROTOCOLPGM("File deleted:"); + SERIAL_PROTOCOLLN(fname); + sdpos = 0; + } + else { + SERIAL_PROTOCOLPGM("Deletion failed, File: "); + SERIAL_PROTOCOL(fname); + SERIAL_PROTOCOLLNPGM("."); } - if (file.remove(curDir, fname)) - { - SERIAL_PROTOCOLPGM("File deleted:"); - SERIAL_PROTOCOLLN(fname); - sdpos = 0; - } - else - { - SERIAL_PROTOCOLPGM("Deletion failed, File: "); - SERIAL_PROTOCOL(fname); - SERIAL_PROTOCOLLNPGM("."); - } - } -void CardReader::getStatus() -{ - if(cardOK){ +void CardReader::getStatus() { + if (cardOK) { SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE); SERIAL_PROTOCOL(sdpos); SERIAL_PROTOCOLPGM("/"); SERIAL_PROTOCOLLN(filesize); } - else{ + else { SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING); } } -void CardReader::write_command(char *buf) -{ + +void CardReader::write_command(char *buf) { char* begin = buf; char* npos = 0; char* end = buf + strlen(buf) - 1; file.writeError = false; - if((npos = strchr(buf, 'N')) != NULL) - { + if ((npos = strchr(buf, 'N')) != NULL) { begin = strchr(npos, ' ') + 1; end = strchr(npos, '*') - 1; } @@ -484,162 +390,129 @@ void CardReader::write_command(char *buf) end[2] = '\n'; end[3] = '\0'; file.write(begin); - if (file.writeError) - { + if (file.writeError) { SERIAL_ERROR_START; SERIAL_ERRORLNPGM(MSG_SD_ERR_WRITE_TO_FILE); } } +void CardReader::checkautostart(bool force) { + if (!force && (!autostart_stilltocheck || autostart_atmillis < millis())) + return; -void CardReader::checkautostart(bool force) -{ - if(!force) - { - if(!autostart_stilltocheck) - return; - if(autostart_atmillis 0) - { - for(int8_t i=0;i<(int8_t)strlen((char*)p.name);i++) - p.name[i]=tolower(p.name[i]); - //Serial.print((char*)p.name); - //Serial.print(" "); - //Serial.println(autoname); - if(p.name[9]!='~') //skip safety copies - if(strncmp((char*)p.name,autoname,5)==0) - { - char cmd[30]; + bool found = false; + while (root.readDir(p, NULL) > 0) { + for (int8_t i = 0; i < (int8_t)strlen((char*)p.name); i++) p.name[i] = tolower(p.name[i]); + if (p.name[9] != '~' && strncmp((char*)p.name, autoname, 5) == 0) { + char cmd[30]; sprintf_P(cmd, PSTR("M23 %s"), autoname); enquecommand(cmd); enquecommands_P(PSTR("M24")); - found=true; + found = true; } } - if(!found) - autostart_index=-1; + if (!found) + autostart_index = -1; else autostart_index++; } -void CardReader::closefile(bool store_location) -{ +void CardReader::closefile(bool store_location) { file.sync(); file.close(); - saving = false; - logging = false; - - if(store_location) - { + saving = logging = false; + + if (store_location) { //future: store printer state, filename and position for continuing a stopped print // so one can unplug the printer and continue printing the next day. - } - - } -void CardReader::getfilename(uint16_t nr, const char * const match/*=NULL*/) -{ - curDir=&workDir; - lsAction=LS_GetFilename; - nrFiles=nr; +/** + * Get the name of a file in the current directory by index + */ +void CardReader::getfilename(uint16_t nr, const char * const match/*=NULL*/) { + curDir = &workDir; + lsAction = LS_GetFilename; + nrFiles = nr; curDir->rewind(); - lsDive("",*curDir,match); - + lsDive("", *curDir, match); } -uint16_t CardReader::getnrfilenames() -{ - curDir=&workDir; - lsAction=LS_Count; - nrFiles=0; +uint16_t CardReader::getnrfilenames() { + curDir = &workDir; + lsAction = LS_Count; + nrFiles = 0; curDir->rewind(); - lsDive("",*curDir); + lsDive("", *curDir); //SERIAL_ECHOLN(nrFiles); return nrFiles; } -void CardReader::chdir(const char * relpath) -{ +void CardReader::chdir(const char * relpath) { SdFile newfile; - SdFile *parent=&root; - - if(workDir.isOpen()) - parent=&workDir; - - if(!newfile.open(*parent,relpath, O_READ)) - { - SERIAL_ECHO_START; - SERIAL_ECHOPGM(MSG_SD_CANT_ENTER_SUBDIR); - SERIAL_ECHOLN(relpath); + SdFile *parent = &root; + + if (workDir.isOpen()) parent = &workDir; + + if (!newfile.open(*parent, relpath, O_READ)) { + SERIAL_ECHO_START; + SERIAL_ECHOPGM(MSG_SD_CANT_ENTER_SUBDIR); + SERIAL_ECHOLN(relpath); } - else - { + else { if (workDirDepth < MAX_DIR_DEPTH) { - for (int d = ++workDirDepth; d--;) - workDirParents[d+1] = workDirParents[d]; - workDirParents[0]=*parent; + ++workDirDepth; + for (int d = workDirDepth; d--;) workDirParents[d + 1] = workDirParents[d]; + workDirParents[0] = *parent; } - workDir=newfile; + workDir = newfile; } } -void CardReader::updir() -{ - if(workDirDepth > 0) - { +void CardReader::updir() { + if (workDirDepth > 0) { --workDirDepth; workDir = workDirParents[0]; - int d; for (int d = 0; d < workDirDepth; d++) workDirParents[d] = workDirParents[d+1]; } } - -void CardReader::printingHasFinished() -{ - st_synchronize(); - if(file_subcall_ctr>0) //heading up to a parent file that called current as a procedure. - { - file.close(); - file_subcall_ctr--; - openFile(filenames[file_subcall_ctr],true,true); - setIndex(filespos[file_subcall_ctr]); - startFileprint(); - } - else - { - quickStop(); - file.close(); - sdprinting = false; - if(SD_FINISHED_STEPPERRELEASE) - { - //finishAndDisableSteppers(); - enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND)); - } - autotempShutdown(); +void CardReader::printingHasFinished() { + st_synchronize(); + if (file_subcall_ctr > 0) { // Heading up to a parent file that called current as a procedure. + file.close(); + file_subcall_ctr--; + openFile(filenames[file_subcall_ctr], true, true); + setIndex(filespos[file_subcall_ctr]); + startFileprint(); + } + else { + quickStop(); + file.close(); + sdprinting = false; + if (SD_FINISHED_STEPPERRELEASE) { + //finishAndDisableSteppers(); + enquecommands_P(PSTR(SD_FINISHED_RELEASECOMMAND)); } + autotempShutdown(); + } } + #endif //SDSUPPORT diff --git a/Marlin/cardreader.h b/Marlin/cardreader.h index a1da3d64a3..b55d09a65a 100644 --- a/Marlin/cardreader.h +++ b/Marlin/cardreader.h @@ -3,21 +3,21 @@ #ifdef SDSUPPORT -#define MAX_DIR_DEPTH 10 +#define MAX_DIR_DEPTH 10 // Maximum folder depth #include "SdFile.h" -enum LsAction {LS_SerialPrint,LS_Count,LS_GetFilename}; -class CardReader -{ +enum LsAction { LS_SerialPrint, LS_Count, LS_GetFilename }; + +class CardReader { public: CardReader(); - + void initsd(); void write_command(char *buf); //files auto[0-9].g on the sd card are performed in a row //this is to delay autostart and hence the initialisaiton of the sd card to some seconds after the normal init, so the device is available quick after a reset - void checkautostart(bool x); + void checkautostart(bool x); void openFile(char* name,bool read,bool replace_current=true); void openLogFile(char* name); void removeFile(char* name); @@ -30,9 +30,8 @@ public: void getfilename(uint16_t nr, const char* const match=NULL); uint16_t getnrfilenames(); - + void getAbsFilename(char *t); - void ls(); void chdir(const char * relpath); @@ -41,56 +40,52 @@ public: FORCE_INLINE bool isFileOpen() { return file.isOpen(); } - FORCE_INLINE bool eof() { return sdpos>=filesize ;}; - FORCE_INLINE int16_t get() { sdpos = file.curPosition();return (int16_t)file.read();}; - FORCE_INLINE void setIndex(long index) {sdpos = index;file.seekSet(index);}; - FORCE_INLINE uint8_t percentDone(){if(!isFileOpen()) return 0; if(filesize) return sdpos/((filesize+99)/100); else return 0;}; - FORCE_INLINE char* getWorkDirName(){workDir.getFilename(filename);return filename;}; + FORCE_INLINE bool eof() { return sdpos >= filesize; } + FORCE_INLINE int16_t get() { sdpos = file.curPosition(); return (int16_t)file.read(); } + FORCE_INLINE void setIndex(long index) { sdpos = index; file.seekSet(index); } + FORCE_INLINE uint8_t percentDone() { return (isFileOpen() && filesize) ? sdpos / ((filesize + 99) / 100) : 0; } + FORCE_INLINE char* getWorkDirName() { workDir.getFilename(filename); return filename; } public: - bool saving; - bool logging; - bool sdprinting; - bool cardOK; - char filename[FILENAME_LENGTH]; - char longFilename[LONG_FILENAME_LENGTH]; - bool filenameIsDir; + bool saving, logging, sdprinting, cardOK, filenameIsDir; + char filename[FILENAME_LENGTH], longFilename[LONG_FILENAME_LENGTH]; int autostart_index; private: - SdFile root,*curDir,workDir,workDirParents[MAX_DIR_DEPTH]; + SdFile root, *curDir, workDir, workDirParents[MAX_DIR_DEPTH]; uint16_t workDirDepth; Sd2Card card; SdVolume volume; SdFile file; #define SD_PROCEDURE_DEPTH 1 - #define MAXPATHNAMELENGTH (FILENAME_LENGTH*MAX_DIR_DEPTH+MAX_DIR_DEPTH+1) + #define MAXPATHNAMELENGTH (FILENAME_LENGTH*MAX_DIR_DEPTH + MAX_DIR_DEPTH + 1) uint8_t file_subcall_ctr; uint32_t filespos[SD_PROCEDURE_DEPTH]; char filenames[SD_PROCEDURE_DEPTH][MAXPATHNAMELENGTH]; uint32_t filesize; - //int16_t n; unsigned long autostart_atmillis; - uint32_t sdpos ; + uint32_t sdpos; bool autostart_stilltocheck; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware. - + LsAction lsAction; //stored for recursion. - int16_t nrFiles; //counter for the files in the current directory and recycled as position counter for getting the nrFiles'th name in the directory. + uint16_t nrFiles; //counter for the files in the current directory and recycled as position counter for getting the nrFiles'th name in the directory. char* diveDirName; void lsDive(const char *prepend, SdFile parent, const char * const match=NULL); }; + extern CardReader card; + #define IS_SD_PRINTING (card.sdprinting) #if (SDCARDDETECT > -1) -# ifdef SDCARDDETECTINVERTED -# define IS_SD_INSERTED (READ(SDCARDDETECT)!=0) -# else -# define IS_SD_INSERTED (READ(SDCARDDETECT)==0) -# endif //SDCARDTETECTINVERTED + #ifdef SDCARDDETECTINVERTED + #define IS_SD_INSERTED (READ(SDCARDDETECT) != 0) + #else + #define IS_SD_INSERTED (READ(SDCARDDETECT) == 0) + #endif #else -//If we don't have a card detect line, aways asume the card is inserted -# define IS_SD_INSERTED true + //No card detect line? Assume the card is inserted. + #define IS_SD_INSERTED true #endif #else @@ -98,4 +93,5 @@ extern CardReader card; #define IS_SD_PRINTING (false) #endif //SDSUPPORT -#endif + +#endif //__CARDREADER_H diff --git a/Marlin/digipot_mcp4451.cpp b/Marlin/digipot_mcp4451.cpp index 0ced287aa0..22d2700253 100644 --- a/Marlin/digipot_mcp4451.cpp +++ b/Marlin/digipot_mcp4451.cpp @@ -1,59 +1,58 @@ #include "Configuration.h" #ifdef DIGIPOT_I2C + #include "Stream.h" #include "utility/twi.h" #include "Wire.h" // Settings for the I2C based DIGIPOT (MCP4451) on Azteeg X3 Pro #if MB(5DPRINT) -#define DIGIPOT_I2C_FACTOR 117.96 -#define DIGIPOT_I2C_MAX_CURRENT 1.736 + #define DIGIPOT_I2C_FACTOR 117.96 + #define DIGIPOT_I2C_MAX_CURRENT 1.736 #else -#define DIGIPOT_I2C_FACTOR 106.7 -#define DIGIPOT_I2C_MAX_CURRENT 2.5 + #define DIGIPOT_I2C_FACTOR 106.7 + #define DIGIPOT_I2C_MAX_CURRENT 2.5 #endif -static byte current_to_wiper( float current ){ - return byte(ceil(float((DIGIPOT_I2C_FACTOR*current)))); +static byte current_to_wiper(float current) { + return byte(ceil(float((DIGIPOT_I2C_FACTOR*current)))); } -static void i2c_send(byte addr, byte a, byte b) -{ - Wire.beginTransmission(addr); - Wire.write(a); - Wire.write(b); - Wire.endTransmission(); +static void i2c_send(byte addr, byte a, byte b) { + Wire.beginTransmission(addr); + Wire.write(a); + Wire.write(b); + Wire.endTransmission(); } // This is for the MCP4451 I2C based digipot -void digipot_i2c_set_current( int channel, float current ) -{ - current = min( (float) max( current, 0.0f ), DIGIPOT_I2C_MAX_CURRENT); - // these addresses are specific to Azteeg X3 Pro, can be set to others, - // In this case first digipot is at address A0=0, A1= 0, second one is at A0=0, A1= 1 - byte addr= 0x2C; // channel 0-3 - if(channel >= 4) { - addr= 0x2E; // channel 4-7 - channel-= 4; - } +void digipot_i2c_set_current(int channel, float current) { + current = min( (float) max( current, 0.0f ), DIGIPOT_I2C_MAX_CURRENT); + // these addresses are specific to Azteeg X3 Pro, can be set to others, + // In this case first digipot is at address A0=0, A1= 0, second one is at A0=0, A1= 1 + byte addr = 0x2C; // channel 0-3 + if (channel >= 4) { + addr = 0x2E; // channel 4-7 + channel -= 4; + } - // Initial setup - i2c_send( addr, 0x40, 0xff ); - i2c_send( addr, 0xA0, 0xff ); + // Initial setup + i2c_send(addr, 0x40, 0xff); + i2c_send(addr, 0xA0, 0xff); - // Set actual wiper value - byte addresses[4] = { 0x00, 0x10, 0x60, 0x70 }; - i2c_send( addr, addresses[channel], current_to_wiper(current) ); + // Set actual wiper value + byte addresses[4] = { 0x00, 0x10, 0x60, 0x70 }; + i2c_send(addr, addresses[channel], current_to_wiper(current)); } -void digipot_i2c_init() -{ - const float digipot_motor_current[] = DIGIPOT_I2C_MOTOR_CURRENTS; - Wire.begin(); - // setup initial currents as defined in Configuration_adv.h - for(int i=0;i<=sizeof(digipot_motor_current)/sizeof(float);i++) { - digipot_i2c_set_current(i, digipot_motor_current[i]); - } +void digipot_i2c_init() { + const float digipot_motor_current[] = DIGIPOT_I2C_MOTOR_CURRENTS; + Wire.begin(); + // setup initial currents as defined in Configuration_adv.h + for(int i = 0; i <= sizeof(digipot_motor_current) / sizeof(float); i++) { + digipot_i2c_set_current(i, digipot_motor_current[i]); + } } -#endif + +#endif //DIGIPOT_I2C diff --git a/Marlin/dogm_lcd_implementation.h b/Marlin/dogm_lcd_implementation.h index c7df306b32..4e2a567fff 100644 --- a/Marlin/dogm_lcd_implementation.h +++ b/Marlin/dogm_lcd_implementation.h @@ -21,17 +21,13 @@ **/ #ifdef ULTIPANEL -#define BLEN_A 0 -#define BLEN_B 1 -#define BLEN_C 2 -#define EN_A (1< diff --git a/Marlin/fastio.h b/Marlin/fastio.h index 53f8221dff..d7198f3ff7 100644 --- a/Marlin/fastio.h +++ b/Marlin/fastio.h @@ -83,6 +83,9 @@ /// check if pin is an timer wrapper #define GET_TIMER(IO) _GET_TIMER(IO) +// Shorthand +#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); } + /* ports and functions diff --git a/Marlin/language.h b/Marlin/language.h index f554c6ae1b..dc32bea763 100644 --- a/Marlin/language.h +++ b/Marlin/language.h @@ -121,6 +121,7 @@ #define MSG_UNKNOWN_COMMAND "Unknown command: \"" #define MSG_ACTIVE_EXTRUDER "Active Extruder: " #define MSG_INVALID_EXTRUDER "Invalid extruder" +#define MSG_INVALID_SOLENOID "Invalid solenoid" #define MSG_X_MIN "x_min: " #define MSG_X_MAX "x_max: " #define MSG_Y_MIN "y_min: " diff --git a/Marlin/pins_CHEAPTRONIC.h b/Marlin/pins_CHEAPTRONIC.h index 83d67e5f9b..dbf53a7e2e 100644 --- a/Marlin/pins_CHEAPTRONIC.h +++ b/Marlin/pins_CHEAPTRONIC.h @@ -87,9 +87,3 @@ // Cheaptronic v1.0 does not use this port #define SDCARDDETECT -1 - -// Encoder rotation values -#define encrot0 0 -#define encrot1 2 -#define encrot2 3 -#define encrot3 1 diff --git a/Marlin/pins_ELEFU_3.h b/Marlin/pins_ELEFU_3.h index 4c9663a352..e0e0a50969 100644 --- a/Marlin/pins_ELEFU_3.h +++ b/Marlin/pins_ELEFU_3.h @@ -74,12 +74,6 @@ #define BLEN_B 1 #define BLEN_A 0 - //encoder rotation values - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 - #endif // RA_CONTROL_PANEL #ifdef RA_DISCO diff --git a/Marlin/pins_MEGATRONICS.h b/Marlin/pins_MEGATRONICS.h index 2bd0e33eb6..413906eef5 100644 --- a/Marlin/pins_MEGATRONICS.h +++ b/Marlin/pins_MEGATRONICS.h @@ -83,10 +83,4 @@ #define SDCARDDETECT -1 // Ramps does not use this port - //encoder rotation values - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 - #endif // ULTRA_LCD && NEWPANEL diff --git a/Marlin/pins_MEGATRONICS_1.h b/Marlin/pins_MEGATRONICS_1.h index f321941f87..1592dfe42d 100644 --- a/Marlin/pins_MEGATRONICS_1.h +++ b/Marlin/pins_MEGATRONICS_1.h @@ -80,9 +80,3 @@ #define BLEN_A 0 #define SDCARDDETECT -1 // Megatronics does not use this port - -// Encoder rotation values -#define encrot0 0 -#define encrot1 2 -#define encrot2 3 -#define encrot3 1 diff --git a/Marlin/pins_MEGATRONICS_2.h b/Marlin/pins_MEGATRONICS_2.h index 064431be29..b05eaaa7ab 100644 --- a/Marlin/pins_MEGATRONICS_2.h +++ b/Marlin/pins_MEGATRONICS_2.h @@ -95,9 +95,3 @@ #define BLEN_A 0 #define SDCARDDETECT -1 // Megatronics does not use this port - -// Encoder rotation values -#define encrot0 0 -#define encrot1 2 -#define encrot2 3 -#define encrot3 1 diff --git a/Marlin/pins_MEGATRONICS_3.h b/Marlin/pins_MEGATRONICS_3.h index 3c53bca28c..04a730670d 100644 --- a/Marlin/pins_MEGATRONICS_3.h +++ b/Marlin/pins_MEGATRONICS_3.h @@ -95,9 +95,3 @@ #define BLEN_A 0 #define SDCARDDETECT -1 // Megatronics does not use this port - -// Encoder rotation values -#define encrot0 0 -#define encrot1 2 -#define encrot2 3 -#define encrot3 1 diff --git a/Marlin/pins_RAMBO.h b/Marlin/pins_RAMBO.h index b2ccdc4339..3849e29489 100644 --- a/Marlin/pins_RAMBO.h +++ b/Marlin/pins_RAMBO.h @@ -116,11 +116,6 @@ #define SDCARDDETECT 81 // Ramps does not use this port - //encoder rotation values - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 #else //!NEWPANEL - old style panel with shift register //arduino pin witch triggers an piezzo beeper #define BEEPER 33 No Beeper added @@ -138,12 +133,6 @@ #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 diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index 8e49d2b3be..375a86f82a 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -187,7 +187,7 @@ 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_EOL; endstop_x_hit=false; endstop_y_hit=false; endstop_z_hit=false; @@ -399,89 +399,84 @@ ISR(TIMER1_COMPA_vect) count_direction[Y_AXIS]=1; } - // Set direction en check limit switches - #ifndef COREXY - if ((out_bits & (1<active_extruder == 0 && X_HOME_DIR == -1) - || (current_block->active_extruder != 0 && X2_HOME_DIR == -1)) - #endif - { - #if defined(X_MIN_PIN) && X_MIN_PIN > -1 - bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING); - if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) { - endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; - endstop_x_hit=true; - step_events_completed = current_block->step_event_count; + #ifndef COREXY + if ((out_bits & (1<steps_x == current_block->steps_y) && ((out_bits & (1<>X_AXIS != (out_bits & (1<>Y_AXIS))) // AlexBorro: If DeltaX == -DeltaY, the movement is only in Y axis + if ((out_bits & (1<active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1)) + #endif + { + #if defined(X_MIN_PIN) && X_MIN_PIN > -1 + bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING); + if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) + { + endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; + endstop_x_hit=true; + step_events_completed = current_block->step_event_count; + } + old_x_min_endstop = x_min_endstop; + #endif } - old_x_min_endstop = x_min_endstop; - #endif } - } - } - else - { // +direction - CHECK_ENDSTOPS - { - #ifdef DUAL_X_CARRIAGE - // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder - if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) - || (current_block->active_extruder != 0 && X2_HOME_DIR == 1)) - #endif - { - #if defined(X_MAX_PIN) && X_MAX_PIN > -1 - bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING); - if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){ - endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; - endstop_x_hit=true; - step_events_completed = current_block->step_event_count; + else + { // +direction + #ifdef DUAL_X_CARRIAGE + // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder + if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1)) + #endif + { + #if defined(X_MAX_PIN) && X_MAX_PIN > -1 + bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING); + if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)) + { + endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; + endstop_x_hit=true; + step_events_completed = current_block->step_event_count; + } + old_x_max_endstop = x_max_endstop; + #endif } - old_x_max_endstop = x_max_endstop; - #endif } - } - } - #ifndef COREXY - if ((out_bits & (1< -1 - bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING); - if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) { - endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; - endstop_y_hit=true; - step_events_completed = current_block->step_event_count; - } - old_y_min_endstop = y_min_endstop; + #ifndef COREXY + if ((out_bits & (1<steps_x == current_block->steps_y) && ((out_bits & (1<>X_AXIS == (out_bits & (1<>Y_AXIS))) // AlexBorro: If DeltaX == DeltaY, the movement is only in X axis + if ((out_bits & (1< -1 - bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING); - if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){ - endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; - endstop_y_hit=true; - step_events_completed = current_block->step_event_count; - } - old_y_max_endstop = y_max_endstop; - #endif - } + { // -direction + #if defined(Y_MIN_PIN) && Y_MIN_PIN > -1 + bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING); + if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) + { + endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; + endstop_y_hit=true; + step_events_completed = current_block->step_event_count; + } + old_y_min_endstop = y_min_endstop; + #endif + } + else + { // +direction + #if defined(Y_MAX_PIN) && Y_MAX_PIN > -1 + bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING); + if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)) + { + endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; + endstop_y_hit=true; + step_events_completed = current_block->step_event_count; + } + old_y_max_endstop = y_max_endstop; + #endif + + } } if ((out_bits & (1< -1) - SET_OUTPUT(X_STEP_PIN); - WRITE(X_STEP_PIN,INVERT_X_STEP_PIN); + OUT_WRITE(X_STEP_PIN,INVERT_X_STEP_PIN); disable_x(); #endif #if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1) - SET_OUTPUT(X2_STEP_PIN); - WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN); + OUT_WRITE(X2_STEP_PIN,INVERT_X_STEP_PIN); disable_x(); #endif #if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1) - SET_OUTPUT(Y_STEP_PIN); - WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN); + OUT_WRITE(Y_STEP_PIN,INVERT_Y_STEP_PIN); #if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1) - SET_OUTPUT(Y2_STEP_PIN); - WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN); + OUT_WRITE(Y2_STEP_PIN,INVERT_Y_STEP_PIN); #endif disable_y(); #endif #if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1) - SET_OUTPUT(Z_STEP_PIN); - WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN); + OUT_WRITE(Z_STEP_PIN,INVERT_Z_STEP_PIN); #if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1) - SET_OUTPUT(Z2_STEP_PIN); - WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN); + OUT_WRITE(Z2_STEP_PIN,INVERT_Z_STEP_PIN); #endif disable_z(); #endif #if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1) - SET_OUTPUT(E0_STEP_PIN); - WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN); + OUT_WRITE(E0_STEP_PIN,INVERT_E_STEP_PIN); disable_e0(); #endif #if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1) - SET_OUTPUT(E1_STEP_PIN); - WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN); + OUT_WRITE(E1_STEP_PIN,INVERT_E_STEP_PIN); disable_e1(); #endif #if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1) - SET_OUTPUT(E2_STEP_PIN); - WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN); + OUT_WRITE(E2_STEP_PIN,INVERT_E_STEP_PIN); disable_e2(); #endif #if defined(E3_STEP_PIN) && (E3_STEP_PIN > -1) - SET_OUTPUT(E3_STEP_PIN); - WRITE(E3_STEP_PIN,INVERT_E_STEP_PIN); + OUT_WRITE(E3_STEP_PIN,INVERT_E_STEP_PIN); disable_e3(); #endif diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp index c2f536bcf0..ae9e5f411f 100644 --- a/Marlin/temperature.cpp +++ b/Marlin/temperature.cpp @@ -901,21 +901,15 @@ void tp_init() #ifdef HEATER_0_USES_MAX6675 #ifndef SDSUPPORT - SET_OUTPUT(SCK_PIN); - WRITE(SCK_PIN,0); - - SET_OUTPUT(MOSI_PIN); - WRITE(MOSI_PIN,1); - - SET_INPUT(MISO_PIN); - WRITE(MISO_PIN,1); + OUT_WRITE(SCK_PIN, LOW); + OUT_WRITE(MOSI_PIN, HIGH); + OUT_WRITE(MISO_PIN, HIGH); #else pinMode(SS_PIN, OUTPUT); digitalWrite(SS_PIN, HIGH); #endif - SET_OUTPUT(MAX6675_SS); - WRITE(MAX6675_SS,1); + OUT_WRITE(MAX6675_SS,HIGH); #endif //HEATER_0_USES_MAX6675 diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp index 2726547034..2f83afe2d1 100644 --- a/Marlin/ultralcd.cpp +++ b/Marlin/ultralcd.cpp @@ -1394,6 +1394,17 @@ void lcd_reset_alert_level() { lcd_status_message_level = 0; } #ifdef ULTIPANEL +//////////////////////// +// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement) +// These values are independent of which pins are used for EN_A and EN_B indications +// The rotary encoder part is also independent to the chipset used for the LCD +#if defined(EN_A) && defined(EN_B) + #define encrot0 0 + #define encrot1 2 + #define encrot2 3 + #define encrot3 1 +#endif + /* Warning: This function is called from interrupt context */ void lcd_buttons_update() { #ifdef NEWPANEL diff --git a/Marlin/ultralcd_implementation_hitachi_HD44780.h b/Marlin/ultralcd_implementation_hitachi_HD44780.h index 1628bf8f4e..2081414cc2 100644 --- a/Marlin/ultralcd_implementation_hitachi_HD44780.h +++ b/Marlin/ultralcd_implementation_hitachi_HD44780.h @@ -123,17 +123,6 @@ #define LCD_CLICKED (buttons&(B_MI|B_ST)) #endif -//////////////////////// -// Setup Rotary Encoder Bit Values (for two pin encoders to indicate movement) -// These values are independent of which pins are used for EN_A and EN_B indications -// The rotary encoder part is also independent to the chipset used for the LCD -#if defined(EN_A) && defined(EN_B) - #define encrot0 0 - #define encrot1 2 - #define encrot2 3 - #define encrot3 1 -#endif - #endif //ULTIPANEL //////////////////////////////////// @@ -832,32 +821,28 @@ static void lcd_implementation_drawmenu_sddirectory(uint8_t row, const char* pst static void lcd_implementation_quick_feedback() { -#ifdef LCD_USE_I2C_BUZZER - #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) - lcd_buzz(1000/6,100); - #else - lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS,LCD_FEEDBACK_FREQUENCY_HZ); - #endif -#elif defined(BEEPER) && BEEPER > -1 - SET_OUTPUT(BEEPER); - #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) - for(int8_t i=0;i<10;i++) - { - WRITE(BEEPER,HIGH); - delayMicroseconds(100); - WRITE(BEEPER,LOW); - delayMicroseconds(100); - } + #ifdef LCD_USE_I2C_BUZZER + #if defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) && defined(LCD_FEEDBACK_FREQUENCY_HZ) + lcd_buzz(LCD_FEEDBACK_FREQUENCY_DURATION_MS, LCD_FEEDBACK_FREQUENCY_HZ); #else - for(int8_t i=0;i<(LCD_FEEDBACK_FREQUENCY_DURATION_MS / (1000 / LCD_FEEDBACK_FREQUENCY_HZ));i++) - { - WRITE(BEEPER,HIGH); - delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2); - WRITE(BEEPER,LOW); - delayMicroseconds(1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2); - } + lcd_buzz(1000/6, 100); #endif -#endif + #elif defined(BEEPER) && BEEPER > -1 + SET_OUTPUT(BEEPER); + #if !defined(LCD_FEEDBACK_FREQUENCY_HZ) || !defined(LCD_FEEDBACK_FREQUENCY_DURATION_MS) + const unsigned int delay = 100; + uint8_t i = 10; + #else + const unsigned int delay = 1000000 / LCD_FEEDBACK_FREQUENCY_HZ / 2; + int8_t i = LCD_FEEDBACK_FREQUENCY_DURATION_MS * LCD_FEEDBACK_FREQUENCY_HZ / 1000; + #endif + while (i--) { + WRITE(BEEPER,HIGH); + delayMicroseconds(delay); + WRITE(BEEPER,LOW); + delayMicroseconds(delay); + } + #endif } #ifdef LCD_HAS_STATUS_INDICATORS diff --git a/Marlin/ultralcd_st7920_u8glib_rrd.h b/Marlin/ultralcd_st7920_u8glib_rrd.h index 15e9e9d342..f95431a258 100644 --- a/Marlin/ultralcd_st7920_u8glib_rrd.h +++ b/Marlin/ultralcd_st7920_u8glib_rrd.h @@ -47,12 +47,9 @@ uint8_t u8g_dev_rrd_st7920_128x64_fn(u8g_t *u8g, u8g_dev_t *dev, uint8_t msg, vo { case U8G_DEV_MSG_INIT: { - SET_OUTPUT(ST7920_CS_PIN); - WRITE(ST7920_CS_PIN,0); - SET_OUTPUT(ST7920_DAT_PIN); - WRITE(ST7920_DAT_PIN,0); - SET_OUTPUT(ST7920_CLK_PIN); - WRITE(ST7920_CLK_PIN,1); + OUT_WRITE(ST7920_CS_PIN,LOW); + OUT_WRITE(ST7920_DAT_PIN,LOW); + OUT_WRITE(ST7920_CLK_PIN,HIGH); ST7920_CS(); u8g_Delay(120); //initial delay for boot up