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Merge remote-tracking branch 'origin/Marlin_v1' into Marlin_v1

Browse Source 
Conflicts:
	Marlin/Configuration.h
	Marlin/EEPROMwrite.h
	Marlin/Marlin.h
	Marlin/Marlin.pde
	Marlin/temperature.cpp
	Marlin/temperature.h
	Marlin/thermistortables.h
master
Erik van der Zalm 13 years ago
parent d15f01e1b4 ea86a5e10f
commit 04d3b5537f
33 changed files with 11312 additions and 11112 deletions
Show Stats Download Patch File Download Diff File

63
Marlin/Configuration.h
Unescape View File

@ -54,9 +54,8 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
// Comment out (using // at the start of the line) to disable SD support: // Comment out (using // at the start of the line) to disable SD support:
// #define ULTRA_LCD //any lcd // #define ULTRA_LCD //any lcd
#define LCD_WIDTH 16
#define LCD_HEIGHT 2
#define ULTIPANEL
#define ULTIPANEL #define ULTIPANEL
#ifdef ULTIPANEL #ifdef ULTIPANEL
//#define NEWPANEL //enable this if you have a click-encoder panel //#define NEWPANEL //enable this if you have a click-encoder panel
@ -64,6 +63,11 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
#define ULTRA_LCD #define ULTRA_LCD
#define LCD_WIDTH 20 #define LCD_WIDTH 20
#define LCD_HEIGHT 4 #define LCD_HEIGHT 4
#else //no panel but just lcd
#ifdef ULTRA_LCD
#define LCD_WIDTH 16
#define LCD_HEIGHT 2
#endif
#endif #endif
@ -169,26 +173,47 @@ const int dropsegments=5; //everything with this number of steps will be ignore
//#define_HEATER_1_MAXTEMP 275 //#define_HEATER_1_MAXTEMP 275
//#define BED_MAXTEMP 150 //#define BED_MAXTEMP 150
/// PID settings:
// Uncomment the following line to enable PID support.
//#define SMOOTHING
//#define SMOOTHFACTOR 5.0
//float current_raw_average=0;
#define PIDTEMP #define PIDTEMP
#ifdef PIDTEMP #ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port. /// PID settings:
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in % // Uncomment the following line to enable PID support.
#define PID_MAX 255 // limits current to nozzle //#define SMOOTHING
#define PID_INTEGRAL_DRIVE_MAX 255 //#define SMOOTHFACTOR 5.0
#define PID_dT 0.10 // 100ms sample time //float current_raw_average=0;
#define DEFAULT_Kp 20.0 #define K1 0.95 //smoothing of the PID
#define DEFAULT_Ki 1.5*PID_dT //#define PID_DEBUG // Sends debug data to the serial port.
#define DEFAULT_Kd 80/PID_dT //#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
#define DEFAULT_Kc 0 #define PID_MAX 255 // limits current to nozzle
#define PID_INTEGRAL_DRIVE_MAX 255
#define PID_dT 0.1
//machine with red silicon: 1950:45 second ; with fan fully blowin 3000:47
#define PID_CRITIAL_GAIN 3000
#define PID_SWING_AT_CRITIAL 45 //seconds
#define PIDIADD 5
/*
//PID according to Ziegler-Nichols method
float Kp = 0.6*PID_CRITIAL_GAIN;
float Ki =PIDIADD+2*Kp/PID_SWING_AT_CRITIAL*PID_dT;
float Kd = Kp*PID_SWING_AT_CRITIAL/8./PID_dT;
*/
//PI according to Ziegler-Nichols method
#define DEFAULT_Kp (PID_CRITIAL_GAIN/2.2)
#define DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
#define DEFAULT_Kd (0)
#define PID_ADD_EXTRUSION_RATE
#ifdef PID_ADD_EXTRUSION_RATE
#define DEFAULT_Kc (5) //heatingpower=Kc*(e_speed)
#endif
#endif // PIDTEMP #endif // PIDTEMP
// extruder advance constant (s2/mm3) // extruder advance constant (s2/mm3)
// //
// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2 // advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
@ -208,6 +233,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore
#endif // ADVANCE #endif // ADVANCE
// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, e.g. 8,16,32
#if defined SDSUPPORT #if defined SDSUPPORT
// The number of linear motions that can be in the plan at any give time. // The number of linear motions that can be in the plan at any give time.
#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller #define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
@ -215,8 +241,5 @@ const int dropsegments=5; //everything with this number of steps will be ignore
#define BLOCK_BUFFER_SIZE 16 // maximize block buffer #define BLOCK_BUFFER_SIZE 16 // maximize block buffer
#endif #endif
#ifdef SIMPLE_LCD
#define BLOCK_BUFFER_SIZE 16 // A little less buffer for just a simple LCD
#endif
#endif #endif

12
Marlin/EEPROM.h → Marlin/EEPROMwrite.h
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@ -1,13 +1,17 @@
#ifndef __EEPROMH
#define __EEPROMH
#include "planner.h" #include "planner.h"
#include "temperature.h" #include "temperature.h"
#include <EEPROM.h>
#include "Marlin.h"
#include "streaming.h"
//====================================================================================== //======================================================================================
template <class T> int EEPROM_writeAnything(int &ee, const T& value) template <class T> int EEPROM_writeAnything(int &ee, const T& value)
{ {
const byte* p = (const byte*)(const void*)&value; const byte* p = (const byte*)(const void*)&value;
int i; int i;
for (i = 0; i < sizeof(value); i++) for (i = 0; i < (int)sizeof(value); i++)
EEPROM.write(ee++, *p++); EEPROM.write(ee++, *p++);
return i; return i;
} }
@ -16,7 +20,7 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
{ {
byte* p = (byte*)(void*)&value; byte* p = (byte*)(void*)&value;
int i; int i;
for (i = 0; i < sizeof(value); i++) for (i = 0; i < (int)sizeof(value); i++)
*p++ = EEPROM.read(ee++); *p++ = EEPROM.read(ee++);
return i; return i;
} }
@ -120,4 +124,6 @@ void RetrieveSettings(bool def=false){ // if def=true, the default values will
} }
#endif

836
Marlin/FatStructs.h
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@ -1,418 +1,418 @@
/* Arduino SdFat Library /* Arduino SdFat Library
* Copyright (C) 2009 by William Greiman * Copyright (C) 2009 by William Greiman
* *
* This file is part of the Arduino SdFat Library * This file is part of the Arduino SdFat Library
* *
* This Library is free software: you can redistribute it and/or modify * This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This Library is distributed in the hope that it will be useful, * This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see * along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>. * <http://www.gnu.org/licenses/>.
*/ */
#ifndef FatStructs_h #ifndef FatStructs_h
#define FatStructs_h #define FatStructs_h
/** /**
* \file * \file
* FAT file structures * FAT file structures
*/ */
/* /*
* mostly from Microsoft document fatgen103.doc * mostly from Microsoft document fatgen103.doc
* http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx * http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx
*/ */
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Value for byte 510 of boot block or MBR */ /** Value for byte 510 of boot block or MBR */
uint8_t const BOOTSIG0 = 0X55; uint8_t const BOOTSIG0 = 0X55;
/** Value for byte 511 of boot block or MBR */ /** Value for byte 511 of boot block or MBR */
uint8_t const BOOTSIG1 = 0XAA; uint8_t const BOOTSIG1 = 0XAA;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* \struct partitionTable * \struct partitionTable
* \brief MBR partition table entry * \brief MBR partition table entry
* *
* A partition table entry for a MBR formatted storage device. * A partition table entry for a MBR formatted storage device.
* The MBR partition table has four entries. * The MBR partition table has four entries.
*/ */
struct partitionTable { struct partitionTable {
/** /**
* Boot Indicator . Indicates whether the volume is the active * Boot Indicator . Indicates whether the volume is the active
* partition. Legal values include: 0X00. Do not use for booting. * partition. Legal values include: 0X00. Do not use for booting.
* 0X80 Active partition. * 0X80 Active partition.
*/ */
uint8_t boot; uint8_t boot;
/** /**
* Head part of Cylinder-head-sector address of the first block in * Head part of Cylinder-head-sector address of the first block in
* the partition. Legal values are 0-255. Only used in old PC BIOS. * the partition. Legal values are 0-255. Only used in old PC BIOS.
*/ */
uint8_t beginHead; uint8_t beginHead;
/** /**
* Sector part of Cylinder-head-sector address of the first block in * Sector part of Cylinder-head-sector address of the first block in
* the partition. Legal values are 1-63. Only used in old PC BIOS. * the partition. Legal values are 1-63. Only used in old PC BIOS.
*/ */
unsigned beginSector : 6; unsigned beginSector : 6;
/** High bits cylinder for first block in partition. */ /** High bits cylinder for first block in partition. */
unsigned beginCylinderHigh : 2; unsigned beginCylinderHigh : 2;
/** /**
* Combine beginCylinderLow with beginCylinderHigh. Legal values * Combine beginCylinderLow with beginCylinderHigh. Legal values
* are 0-1023. Only used in old PC BIOS. * are 0-1023. Only used in old PC BIOS.
*/ */
uint8_t beginCylinderLow; uint8_t beginCylinderLow;
/** /**
* Partition type. See defines that begin with PART_TYPE_ for * Partition type. See defines that begin with PART_TYPE_ for
* some Microsoft partition types. * some Microsoft partition types.
*/ */
uint8_t type; uint8_t type;
/** /**
* head part of cylinder-head-sector address of the last sector in the * head part of cylinder-head-sector address of the last sector in the
* partition. Legal values are 0-255. Only used in old PC BIOS. * partition. Legal values are 0-255. Only used in old PC BIOS.
*/ */
uint8_t endHead; uint8_t endHead;
/** /**
* Sector part of cylinder-head-sector address of the last sector in * Sector part of cylinder-head-sector address of the last sector in
* the partition. Legal values are 1-63. Only used in old PC BIOS. * the partition. Legal values are 1-63. Only used in old PC BIOS.
*/ */
unsigned endSector : 6; unsigned endSector : 6;
/** High bits of end cylinder */ /** High bits of end cylinder */
unsigned endCylinderHigh : 2; unsigned endCylinderHigh : 2;
/** /**
* Combine endCylinderLow with endCylinderHigh. Legal values * Combine endCylinderLow with endCylinderHigh. Legal values
* are 0-1023. Only used in old PC BIOS. * are 0-1023. Only used in old PC BIOS.
*/ */
uint8_t endCylinderLow; uint8_t endCylinderLow;
/** Logical block address of the first block in the partition. */ /** Logical block address of the first block in the partition. */
uint32_t firstSector; uint32_t firstSector;
/** Length of the partition, in blocks. */ /** Length of the partition, in blocks. */
uint32_t totalSectors; uint32_t totalSectors;
}; };
/** Type name for partitionTable */ /** Type name for partitionTable */
typedef struct partitionTable part_t; typedef struct partitionTable part_t;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* \struct masterBootRecord * \struct masterBootRecord
* *
* \brief Master Boot Record * \brief Master Boot Record
* *
* The first block of a storage device that is formatted with a MBR. * The first block of a storage device that is formatted with a MBR.
*/ */
struct masterBootRecord { struct masterBootRecord {
/** Code Area for master boot program. */ /** Code Area for master boot program. */
uint8_t codeArea[440]; uint8_t codeArea[440];
/** Optional WindowsNT disk signature. May contain more boot code. */ /** Optional WindowsNT disk signature. May contain more boot code. */
uint32_t diskSignature; uint32_t diskSignature;
/** Usually zero but may be more boot code. */ /** Usually zero but may be more boot code. */
uint16_t usuallyZero; uint16_t usuallyZero;
/** Partition tables. */ /** Partition tables. */
part_t part[4]; part_t part[4];
/** First MBR signature byte. Must be 0X55 */ /** First MBR signature byte. Must be 0X55 */
uint8_t mbrSig0; uint8_t mbrSig0;
/** Second MBR signature byte. Must be 0XAA */ /** Second MBR signature byte. Must be 0XAA */
uint8_t mbrSig1; uint8_t mbrSig1;
}; };
/** Type name for masterBootRecord */ /** Type name for masterBootRecord */
typedef struct masterBootRecord mbr_t; typedef struct masterBootRecord mbr_t;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* \struct biosParmBlock * \struct biosParmBlock
* *
* \brief BIOS parameter block * \brief BIOS parameter block
* *
* The BIOS parameter block describes the physical layout of a FAT volume. * The BIOS parameter block describes the physical layout of a FAT volume.
*/ */
struct biosParmBlock { struct biosParmBlock {
/** /**
* Count of bytes per sector. This value may take on only the * Count of bytes per sector. This value may take on only the
* following values: 512, 1024, 2048 or 4096 * following values: 512, 1024, 2048 or 4096
*/ */
uint16_t bytesPerSector; uint16_t bytesPerSector;
/** /**
* Number of sectors per allocation unit. This value must be a * Number of sectors per allocation unit. This value must be a
* power of 2 that is greater than 0. The legal values are * power of 2 that is greater than 0. The legal values are
* 1, 2, 4, 8, 16, 32, 64, and 128. * 1, 2, 4, 8, 16, 32, 64, and 128.
*/ */
uint8_t sectorsPerCluster; uint8_t sectorsPerCluster;
/** /**
* Number of sectors before the first FAT. * Number of sectors before the first FAT.
* This value must not be zero. * This value must not be zero.
*/ */
uint16_t reservedSectorCount; uint16_t reservedSectorCount;
/** The count of FAT data structures on the volume. This field should /** The count of FAT data structures on the volume. This field should
* always contain the value 2 for any FAT volume of any type. * always contain the value 2 for any FAT volume of any type.
*/ */
uint8_t fatCount; uint8_t fatCount;
/** /**
* For FAT12 and FAT16 volumes, this field contains the count of * For FAT12 and FAT16 volumes, this field contains the count of
* 32-byte directory entries in the root directory. For FAT32 volumes, * 32-byte directory entries in the root directory. For FAT32 volumes,
* this field must be set to 0. For FAT12 and FAT16 volumes, this * this field must be set to 0. For FAT12 and FAT16 volumes, this
* value should always specify a count that when multiplied by 32 * value should always specify a count that when multiplied by 32
* results in a multiple of bytesPerSector. FAT16 volumes should * results in a multiple of bytesPerSector. FAT16 volumes should
* use the value 512. * use the value 512.
*/ */
uint16_t rootDirEntryCount; uint16_t rootDirEntryCount;
/** /**
* This field is the old 16-bit total count of sectors on the volume. * This field is the old 16-bit total count of sectors on the volume.
* This count includes the count of all sectors in all four regions * This count includes the count of all sectors in all four regions
* of the volume. This field can be 0; if it is 0, then totalSectors32 * of the volume. This field can be 0; if it is 0, then totalSectors32
* must be non-zero. For FAT32 volumes, this field must be 0. For * must be non-zero. For FAT32 volumes, this field must be 0. For
* FAT12 and FAT16 volumes, this field contains the sector count, and * FAT12 and FAT16 volumes, this field contains the sector count, and
* totalSectors32 is 0 if the total sector count fits * totalSectors32 is 0 if the total sector count fits
* (is less than 0x10000). * (is less than 0x10000).
*/ */
uint16_t totalSectors16; uint16_t totalSectors16;
/** /**
* This dates back to the old MS-DOS 1.x media determination and is * This dates back to the old MS-DOS 1.x media determination and is
* no longer usually used for anything. 0xF8 is the standard value * no longer usually used for anything. 0xF8 is the standard value
* for fixed (non-removable) media. For removable media, 0xF0 is * for fixed (non-removable) media. For removable media, 0xF0 is
* frequently used. Legal values are 0xF0 or 0xF8-0xFF. * frequently used. Legal values are 0xF0 or 0xF8-0xFF.
*/ */
uint8_t mediaType; uint8_t mediaType;
/** /**
* Count of sectors occupied by one FAT on FAT12/FAT16 volumes. * Count of sectors occupied by one FAT on FAT12/FAT16 volumes.
* On FAT32 volumes this field must be 0, and sectorsPerFat32 * On FAT32 volumes this field must be 0, and sectorsPerFat32
* contains the FAT size count. * contains the FAT size count.
*/ */
uint16_t sectorsPerFat16; uint16_t sectorsPerFat16;
/** Sectors per track for interrupt 0x13. Not used otherwise. */ /** Sectors per track for interrupt 0x13. Not used otherwise. */
uint16_t sectorsPerTrtack; uint16_t sectorsPerTrtack;
/** Number of heads for interrupt 0x13. Not used otherwise. */ /** Number of heads for interrupt 0x13. Not used otherwise. */
uint16_t headCount; uint16_t headCount;
/** /**
* Count of hidden sectors preceding the partition that contains this * Count of hidden sectors preceding the partition that contains this
* FAT volume. This field is generally only relevant for media * FAT volume. This field is generally only relevant for media
* visible on interrupt 0x13. * visible on interrupt 0x13.
*/ */
uint32_t hidddenSectors; uint32_t hidddenSectors;
/** /**
* This field is the new 32-bit total count of sectors on the volume. * This field is the new 32-bit total count of sectors on the volume.
* This count includes the count of all sectors in all four regions * This count includes the count of all sectors in all four regions
* of the volume. This field can be 0; if it is 0, then * of the volume. This field can be 0; if it is 0, then
* totalSectors16 must be non-zero. * totalSectors16 must be non-zero.
*/ */
uint32_t totalSectors32; uint32_t totalSectors32;
/** /**
* Count of sectors occupied by one FAT on FAT32 volumes. * Count of sectors occupied by one FAT on FAT32 volumes.
*/ */
uint32_t sectorsPerFat32; uint32_t sectorsPerFat32;
/** /**
* This field is only defined for FAT32 media and does not exist on * This field is only defined for FAT32 media and does not exist on
* FAT12 and FAT16 media. * FAT12 and FAT16 media.
* Bits 0-3 -- Zero-based number of active FAT. * Bits 0-3 -- Zero-based number of active FAT.
* Only valid if mirroring is disabled. * Only valid if mirroring is disabled.
* Bits 4-6 -- Reserved. * Bits 4-6 -- Reserved.
* Bit 7 -- 0 means the FAT is mirrored at runtime into all FATs. * Bit 7 -- 0 means the FAT is mirrored at runtime into all FATs.
* -- 1 means only one FAT is active; it is the one referenced in bits 0-3. * -- 1 means only one FAT is active; it is the one referenced in bits 0-3.
* Bits 8-15 -- Reserved. * Bits 8-15 -- Reserved.
*/ */
uint16_t fat32Flags; uint16_t fat32Flags;
/** /**
* FAT32 version. High byte is major revision number. * FAT32 version. High byte is major revision number.
* Low byte is minor revision number. Only 0.0 define. * Low byte is minor revision number. Only 0.0 define.
*/ */
uint16_t fat32Version; uint16_t fat32Version;
/** /**
* Cluster number of the first cluster of the root directory for FAT32. * Cluster number of the first cluster of the root directory for FAT32.
* This usually 2 but not required to be 2. * This usually 2 but not required to be 2.
*/ */
uint32_t fat32RootCluster; uint32_t fat32RootCluster;
/** /**
* Sector number of FSINFO structure in the reserved area of the * Sector number of FSINFO structure in the reserved area of the
* FAT32 volume. Usually 1. * FAT32 volume. Usually 1.
*/ */
uint16_t fat32FSInfo; uint16_t fat32FSInfo;
/** /**
* If non-zero, indicates the sector number in the reserved area * If non-zero, indicates the sector number in the reserved area
* of the volume of a copy of the boot record. Usually 6. * of the volume of a copy of the boot record. Usually 6.
* No value other than 6 is recommended. * No value other than 6 is recommended.
*/ */
uint16_t fat32BackBootBlock; uint16_t fat32BackBootBlock;
/** /**
* Reserved for future expansion. Code that formats FAT32 volumes * Reserved for future expansion. Code that formats FAT32 volumes
* should always set all of the bytes of this field to 0. * should always set all of the bytes of this field to 0.
*/ */
uint8_t fat32Reserved[12]; uint8_t fat32Reserved[12];
}; };
/** Type name for biosParmBlock */ /** Type name for biosParmBlock */
typedef struct biosParmBlock bpb_t; typedef struct biosParmBlock bpb_t;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* \struct fat32BootSector * \struct fat32BootSector
* *
* \brief Boot sector for a FAT16 or FAT32 volume. * \brief Boot sector for a FAT16 or FAT32 volume.
* *
*/ */
struct fat32BootSector { struct fat32BootSector {
/** X86 jmp to boot program */ /** X86 jmp to boot program */
uint8_t jmpToBootCode[3]; uint8_t jmpToBootCode[3];
/** informational only - don't depend on it */ /** informational only - don't depend on it */
char oemName[8]; char oemName[8];
/** BIOS Parameter Block */ /** BIOS Parameter Block */
bpb_t bpb; bpb_t bpb;
/** for int0x13 use value 0X80 for hard drive */ /** for int0x13 use value 0X80 for hard drive */
uint8_t driveNumber; uint8_t driveNumber;
/** used by Windows NT - should be zero for FAT */ /** used by Windows NT - should be zero for FAT */
uint8_t reserved1; uint8_t reserved1;
/** 0X29 if next three fields are valid */ /** 0X29 if next three fields are valid */
uint8_t bootSignature; uint8_t bootSignature;
/** usually generated by combining date and time */ /** usually generated by combining date and time */
uint32_t volumeSerialNumber; uint32_t volumeSerialNumber;
/** should match volume label in root dir */ /** should match volume label in root dir */
char volumeLabel[11]; char volumeLabel[11];
/** informational only - don't depend on it */ /** informational only - don't depend on it */
char fileSystemType[8]; char fileSystemType[8];
/** X86 boot code */ /** X86 boot code */
uint8_t bootCode[420]; uint8_t bootCode[420];
/** must be 0X55 */ /** must be 0X55 */
uint8_t bootSectorSig0; uint8_t bootSectorSig0;
/** must be 0XAA */ /** must be 0XAA */
uint8_t bootSectorSig1; uint8_t bootSectorSig1;
}; };
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// End Of Chain values for FAT entries // End Of Chain values for FAT entries
/** FAT16 end of chain value used by Microsoft. */ /** FAT16 end of chain value used by Microsoft. */
uint16_t const FAT16EOC = 0XFFFF; uint16_t const FAT16EOC = 0XFFFF;
/** Minimum value for FAT16 EOC. Use to test for EOC. */ /** Minimum value for FAT16 EOC. Use to test for EOC. */
uint16_t const FAT16EOC_MIN = 0XFFF8; uint16_t const FAT16EOC_MIN = 0XFFF8;
/** FAT32 end of chain value used by Microsoft. */ /** FAT32 end of chain value used by Microsoft. */
uint32_t const FAT32EOC = 0X0FFFFFFF; uint32_t const FAT32EOC = 0X0FFFFFFF;
/** Minimum value for FAT32 EOC. Use to test for EOC. */ /** Minimum value for FAT32 EOC. Use to test for EOC. */
uint32_t const FAT32EOC_MIN = 0X0FFFFFF8; uint32_t const FAT32EOC_MIN = 0X0FFFFFF8;
/** Mask a for FAT32 entry. Entries are 28 bits. */ /** Mask a for FAT32 entry. Entries are 28 bits. */
uint32_t const FAT32MASK = 0X0FFFFFFF; uint32_t const FAT32MASK = 0X0FFFFFFF;
/** Type name for fat32BootSector */ /** Type name for fat32BootSector */
typedef struct fat32BootSector fbs_t; typedef struct fat32BootSector fbs_t;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* \struct directoryEntry * \struct directoryEntry
* \brief FAT short directory entry * \brief FAT short directory entry
* *
* Short means short 8.3 name, not the entry size. * Short means short 8.3 name, not the entry size.
* *
* Date Format. A FAT directory entry date stamp is a 16-bit field that is * Date Format. A FAT directory entry date stamp is a 16-bit field that is
* basically a date relative to the MS-DOS epoch of 01/01/1980. Here is the * basically a date relative to the MS-DOS epoch of 01/01/1980. Here is the
* format (bit 0 is the LSB of the 16-bit word, bit 15 is the MSB of the * format (bit 0 is the LSB of the 16-bit word, bit 15 is the MSB of the
* 16-bit word): * 16-bit word):
* *
* Bits 9-15: Count of years from 1980, valid value range 0-127 * Bits 9-15: Count of years from 1980, valid value range 0-127
* inclusive (1980-2107). * inclusive (1980-2107).
* *
* Bits 5-8: Month of year, 1 = January, valid value range 1-12 inclusive. * Bits 5-8: Month of year, 1 = January, valid value range 1-12 inclusive.
* *
* Bits 0-4: Day of month, valid value range 1-31 inclusive. * Bits 0-4: Day of month, valid value range 1-31 inclusive.
* *
* Time Format. A FAT directory entry time stamp is a 16-bit field that has * Time Format. A FAT directory entry time stamp is a 16-bit field that has
* a granularity of 2 seconds. Here is the format (bit 0 is the LSB of the * a granularity of 2 seconds. Here is the format (bit 0 is the LSB of the
* 16-bit word, bit 15 is the MSB of the 16-bit word). * 16-bit word, bit 15 is the MSB of the 16-bit word).
* *
* Bits 11-15: Hours, valid value range 0-23 inclusive. * Bits 11-15: Hours, valid value range 0-23 inclusive.
* *
* Bits 5-10: Minutes, valid value range 0-59 inclusive. * Bits 5-10: Minutes, valid value range 0-59 inclusive.
* *
* Bits 0-4: 2-second count, valid value range 0-29 inclusive (0 - 58 seconds). * Bits 0-4: 2-second count, valid value range 0-29 inclusive (0 - 58 seconds).
* *
* The valid time range is from Midnight 00:00:00 to 23:59:58. * The valid time range is from Midnight 00:00:00 to 23:59:58.
*/ */
struct directoryEntry { struct directoryEntry {
/** /**
* Short 8.3 name. * Short 8.3 name.
* The first eight bytes contain the file name with blank fill. * The first eight bytes contain the file name with blank fill.
* The last three bytes contain the file extension with blank fill. * The last three bytes contain the file extension with blank fill.
*/ */
uint8_t name[11]; uint8_t name[11];
/** Entry attributes. /** Entry attributes.
* *
* The upper two bits of the attribute byte are reserved and should * The upper two bits of the attribute byte are reserved and should
* always be set to 0 when a file is created and never modified or * always be set to 0 when a file is created and never modified or
* looked at after that. See defines that begin with DIR_ATT_. * looked at after that. See defines that begin with DIR_ATT_.
*/ */
uint8_t attributes; uint8_t attributes;
/** /**
* Reserved for use by Windows NT. Set value to 0 when a file is * Reserved for use by Windows NT. Set value to 0 when a file is
* created and never modify or look at it after that. * created and never modify or look at it after that.
*/ */
uint8_t reservedNT; uint8_t reservedNT;
/** /**
* The granularity of the seconds part of creationTime is 2 seconds * The granularity of the seconds part of creationTime is 2 seconds
* so this field is a count of tenths of a second and its valid * so this field is a count of tenths of a second and its valid
* value range is 0-199 inclusive. (WHG note - seems to be hundredths) * value range is 0-199 inclusive. (WHG note - seems to be hundredths)
*/ */
uint8_t creationTimeTenths; uint8_t creationTimeTenths;
/** Time file was created. */ /** Time file was created. */
uint16_t creationTime; uint16_t creationTime;
/** Date file was created. */ /** Date file was created. */
uint16_t creationDate; uint16_t creationDate;
/** /**
* Last access date. Note that there is no last access time, only * Last access date. Note that there is no last access time, only
* a date. This is the date of last read or write. In the case of * a date. This is the date of last read or write. In the case of
* a write, this should be set to the same date as lastWriteDate. * a write, this should be set to the same date as lastWriteDate.
*/ */
uint16_t lastAccessDate; uint16_t lastAccessDate;
/** /**
* High word of this entry's first cluster number (always 0 for a * High word of this entry's first cluster number (always 0 for a
* FAT12 or FAT16 volume). * FAT12 or FAT16 volume).
*/ */
uint16_t firstClusterHigh; uint16_t firstClusterHigh;
/** Time of last write. File creation is considered a write. */ /** Time of last write. File creation is considered a write. */
uint16_t lastWriteTime; uint16_t lastWriteTime;
/** Date of last write. File creation is considered a write. */ /** Date of last write. File creation is considered a write. */
uint16_t lastWriteDate; uint16_t lastWriteDate;
/** Low word of this entry's first cluster number. */ /** Low word of this entry's first cluster number. */
uint16_t firstClusterLow; uint16_t firstClusterLow;
/** 32-bit unsigned holding this file's size in bytes. */ /** 32-bit unsigned holding this file's size in bytes. */
uint32_t fileSize; uint32_t fileSize;
}; };
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// Definitions for directory entries // Definitions for directory entries
// //
/** Type name for directoryEntry */ /** Type name for directoryEntry */
typedef struct directoryEntry dir_t; typedef struct directoryEntry dir_t;
/** escape for name[0] = 0XE5 */ /** escape for name[0] = 0XE5 */
uint8_t const DIR_NAME_0XE5 = 0X05; uint8_t const DIR_NAME_0XE5 = 0X05;
/** name[0] value for entry that is free after being "deleted" */ /** name[0] value for entry that is free after being "deleted" */
uint8_t const DIR_NAME_DELETED = 0XE5; uint8_t const DIR_NAME_DELETED = 0XE5;
/** name[0] value for entry that is free and no allocated entries follow */ /** name[0] value for entry that is free and no allocated entries follow */
uint8_t const DIR_NAME_FREE = 0X00; uint8_t const DIR_NAME_FREE = 0X00;
/** file is read-only */ /** file is read-only */
uint8_t const DIR_ATT_READ_ONLY = 0X01; uint8_t const DIR_ATT_READ_ONLY = 0X01;
/** File should hidden in directory listings */ /** File should hidden in directory listings */
uint8_t const DIR_ATT_HIDDEN = 0X02; uint8_t const DIR_ATT_HIDDEN = 0X02;
/** Entry is for a system file */ /** Entry is for a system file */
uint8_t const DIR_ATT_SYSTEM = 0X04; uint8_t const DIR_ATT_SYSTEM = 0X04;
/** Directory entry contains the volume label */ /** Directory entry contains the volume label */
uint8_t const DIR_ATT_VOLUME_ID = 0X08; uint8_t const DIR_ATT_VOLUME_ID = 0X08;
/** Entry is for a directory */ /** Entry is for a directory */
uint8_t const DIR_ATT_DIRECTORY = 0X10; uint8_t const DIR_ATT_DIRECTORY = 0X10;
/** Old DOS archive bit for backup support */ /** Old DOS archive bit for backup support */
uint8_t const DIR_ATT_ARCHIVE = 0X20; uint8_t const DIR_ATT_ARCHIVE = 0X20;
/** Test value for long name entry. Test is /** Test value for long name entry. Test is
(d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */ (d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */
uint8_t const DIR_ATT_LONG_NAME = 0X0F; uint8_t const DIR_ATT_LONG_NAME = 0X0F;
/** Test mask for long name entry */ /** Test mask for long name entry */
uint8_t const DIR_ATT_LONG_NAME_MASK = 0X3F; uint8_t const DIR_ATT_LONG_NAME_MASK = 0X3F;
/** defined attribute bits */ /** defined attribute bits */
uint8_t const DIR_ATT_DEFINED_BITS = 0X3F; uint8_t const DIR_ATT_DEFINED_BITS = 0X3F;
/** Directory entry is part of a long name */ /** Directory entry is part of a long name */
static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) { static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) {
return (dir->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME; return (dir->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME;
} }
/** Mask for file/subdirectory tests */ /** Mask for file/subdirectory tests */
uint8_t const DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY); uint8_t const DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY);
/** Directory entry is for a file */ /** Directory entry is for a file */
static inline uint8_t DIR_IS_FILE(const dir_t* dir) { static inline uint8_t DIR_IS_FILE(const dir_t* dir) {
return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == 0; return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == 0;
} }
/** Directory entry is for a subdirectory */ /** Directory entry is for a subdirectory */
static inline uint8_t DIR_IS_SUBDIR(const dir_t* dir) { static inline uint8_t DIR_IS_SUBDIR(const dir_t* dir) {
return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == DIR_ATT_DIRECTORY; return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == DIR_ATT_DIRECTORY;
} }
/** Directory entry is for a file or subdirectory */ /** Directory entry is for a file or subdirectory */
static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) { static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) {
return (dir->attributes & DIR_ATT_VOLUME_ID) == 0; return (dir->attributes & DIR_ATT_VOLUME_ID) == 0;
} }
#endif // FatStructs_h #endif // FatStructs_h

582
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Unescape View File

@ -1,274 +1,320 @@
TARGET = $(notdir $(CURDIR))
# CHANGE BELOW:
#~ INSTALL_DIR = /Applications/Arduino.app/Contents/Resources/Java
INSTALL_DIR = /home/bkubicek/software/arduino-0022
#~ PORT = /dev/cu.usbserial*
PORT = /dev/ttyACM0
# Get these values from:
# $(INSTALL_DIR)/hardware/boards.txt
# (arduino-0022/hardware/arduino/boards.txt)
# The values below are for the "Arduino Duemilanove or Nano w/ ATmega328"
# now for "Arduino Mega 2560"
UPLOAD_SPEED = 115200
UPLOAD_PROTOCOL = stk500v2
BUILD_MCU = atmega2560
BUILD_F_CPU = 16000000L
# getting undefined reference to `__cxa_pure_virtual'
#~ [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1254180518 Arduino Forum - Makefile]
#~ http://www.arduino.cc/playground/OpenBSD/CLI
#~ [http://arduino.cc/forum/index.php?topic=52041.0 A "simple" makefile for Arduino]
#~ [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1275488191 Arduino Forum - Configuring avr-gcc options in arduino IDE]
# found in /usr/lib/gcc/avr/4.3.5/cc1plus; fixed with -Wl,--gc-section
############################################################################
# Below here nothing should be changed...
ARDUINO = $(INSTALL_DIR)/hardware/arduino/cores/arduino
# #
# Arduino 0022 Makefile #~ AVR_TOOLS_PATH = $(INSTALL_DIR)/hardware/tools/avr/bin
# Uno with DOGS102 Shield # in Ubuntu, avr-gcc is installed separate;
# only avrdude comes with the IDE
AVR_TOOLS_PATH = /usr/bin
AVR_DUDE_PATH = $(INSTALL_DIR)/hardware/tools
# #
# written by olikraus@gmail.com SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
# $(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
# Features: $(ARDUINO)/wiring_pulse.c \
# - boards.txt is used to derive parameters $(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
# - All intermediate files are put into a separate directory (TMPDIRNAME) # added applet/$(TARGET).cpp as in IDE 0022
# - Simple use: Copy Makefile into the same directory of the .pde file CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \
# $(ARDUINO)/Print.cpp \
# Limitations: $(ARDUINO)/main.cpp
# - requires UNIX environment # applet/$(TARGET).cpp # no need, having a rule now for applet/$(TARGET).cpp.o
# - TMPDIRNAME must be subdirectory of the current directory. # added main.cpp, as in 0022
# FORMAT = ihex
# Targets
# all build everything # Name of this Makefile (used for "make depend").
# upload build and upload to arduino MAKEFILE = Makefile
# clean remove all temporary files (includes final hex file)
# # Debugging format.
# History # Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
# 001 28 Apr 2010 first release # AVR (extended) COFF requires stabs, plus an avr-objcopy run.
# 002 05 Oct 2010 added 'uno' DEBUG = stabs
#
OPT = 2
#=== user configuration ===
# All ...PATH variables must have a '/' at the end # Place -D or -U options here
#~ CDEFS = -DBUILD_F_CPU=$(BUILD_F_CPU)
# Board (and prozessor) information: see $(ARDUINO_PATH)hardware/arduino/boards.txt #~ CXXDEFS = -DBUILD_F_CPU=$(BUILD_F_CPU)
# Some examples: # now called DF_CPU
# BOARD DESCRIPTION CDEFS = -DF_CPU=$(BUILD_F_CPU) -DARDUINO=22
# uno Arduino Uno CXXDEFS = -DF_CPU=$(BUILD_F_CPU) -DARDUINO=22
# atmega328 Arduino Duemilanove or Nano w/ ATmega328
# diecimila Arduino Diecimila, Duemilanove, or Nano w/ ATmega168 # Place -I options here
# mega Arduino Mega CINCS = -I$(ARDUINO) -I$(INSTALL_DIR)/libraries/LiquidCrystal/ -I$(INSTALL_DIR)/libraries/EEPROM/
# mini Arduino Mini CXXINCS = -I$(ARDUINO)
# lilypad328 LilyPad Arduino w/ ATmega328
BOARD:=mega # Compiler flag to set the C Standard level.
# c89 - "ANSI" C
# additional (comma separated) defines # gnu89 - c89 plus GCC extensions
# -DDOGM128_HW board is connected to DOGM128 display # c99 - ISO C99 standard (not yet fully implemented)
# -DDOGM132_HW board is connected to DOGM132 display # gnu99 - c99 plus GCC extensions
# -DDOGS102_HW board is connected to DOGS102 display CSTANDARD = -std=gnu99
# -DDOG_REVERSE 180 degree rotation CDEBUG = -g$(DEBUG)
# -DDOG_SPI_SW_ARDUINO force SW shiftOut # note that typically, IDE 0022 uses -w to suppress warnings (both in cpp and c)!
DEFS=-DDOGS102_HW -DDOG_DOUBLE_MEMORY -DDOG_SPI_SW_ARDUINO CWARN = -Wall
#~ CWARN = -w
# The location where the avr tools (e.g. avr-gcc) are located. Requires a '/' at the end. # "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++:
# Can be empty if all tools are accessable through the search path CCWARN = -Wstrict-prototypes
AVR_TOOLS_PATH:=/usr/bin/ CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
# Install path of the arduino software. Requires a '/' at the end.
ARDUINO_PATH:=/home/bkubicek/software/arduino-0022/ # to eliminate pins_ardiuno warnings:
# http://arduino.cc/pipermail/developers_arduino.cc/2010-December/004005.html
# Install path for avrdude. Requires a '/' at the end. Can be empty if avrdude is in the search path.
AVRDUDE_PATH:= # [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1254180518 Arduino Forum - Makefile]
#~ For building the objects files "-ffunction-sections -fdata-sections" was missing
# The unix device where we can reach the arduino board #~ and the final avr-gcc call needs "-Wl,--gc-section".
# Uno: /dev/ttyACM0 CXSECTF = -fno-exceptions -ffunction-sections -fdata-sections
# Duemilanove: /dev/ttyUSB0 CFINALF = -Wl,--gc-section
AVRDUDE_PORT:=/dev/ttyACM0
CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CCWARN) $(CSTANDARD) $(CEXTRA)
# List of all libaries which should be included. # added CWARN also to .cpp
#EXTRA_DIRS=$(ARDUINO_PATH)libraries/LiquidCrystal/ CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CXSECTF)
#EXTRA_DIRS+=$(ARDUINO_PATH)libraries/Dogm/ #ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
#EXTRA_DIRS+=/home/kraus/src/arduino/dogm128/hg/libraries/Dogm/ LDFLAGS = -lm
#=== fetch parameter from boards.txt processor parameter === # Programming support using avrdude. Settings and variables.
# the basic idea is to get most of the information from boards.txt AVRDUDE_PORT = $(PORT)
AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
BOARDS_TXT:=$(ARDUINO_PATH)hardware/arduino/boards.txt AVRDUDE_FLAGS = -V -F \
-p $(BUILD_MCU) -P $(AVRDUDE_PORT) -c $(UPLOAD_PROTOCOL) \
# get the MCU value from the $(BOARD).build.mcu variable. For the atmega328 board this is atmega328p -b $(UPLOAD_SPEED) -C $(INSTALL_DIR)/hardware/tools/avrdude.conf
MCU:=$(shell sed -n -e "s/$(BOARD).build.mcu=\(.*\)/\1/p" $(BOARDS_TXT)) # -b $(UPLOAD_SPEED) -C $(INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf
# get the F_CPU value from the $(BOARD).build.f_cpu variable. For the atmega328 board this is 16000000
F_CPU:=$(shell sed -n -e "s/$(BOARD).build.f_cpu=\(.*\)/\1/p" $(BOARDS_TXT)) # Program settings
CC = $(AVR_TOOLS_PATH)/avr-gcc
# avrdude CXX = $(AVR_TOOLS_PATH)/avr-g++
# get the AVRDUDE_UPLOAD_RATE value from the $(BOARD).upload.speed variable. For the atmega328 board this is 57600 OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy
AVRDUDE_UPLOAD_RATE:=$(shell sed -n -e "s/$(BOARD).upload.speed=\(.*\)/\1/p" $(BOARDS_TXT)) OBJDUMP = $(AVR_TOOLS_PATH)/avr-objdump
# get the AVRDUDE_PROGRAMMER value from the $(BOARD).upload.protocol variable. For the atmega328 board this is stk500 AR = $(AVR_TOOLS_PATH)/avr-ar
# AVRDUDE_PROGRAMMER:=$(shell sed -n -e "s/$(BOARD).upload.protocol=\(.*\)/\1/p" $(BOARDS_TXT)) SIZE = $(AVR_TOOLS_PATH)/avr-size
# use stk500v1, because stk500 will default to stk500v2 NM = $(AVR_TOOLS_PATH)/avr-nm
AVRDUDE_PROGRAMMER:=stk500v1 #~ AVRDUDE = $(AVR_TOOLS_PATH)/avrdude
AVRDUDE = $(AVR_DUDE_PATH)/avrdude
#=== identify user files === REMOVE = rm -f
PDESRC:=$(shell ls *.pde) MV = mv -f
TARGETNAME=$(basename $(PDESRC))
# Define all object files.
CDIRS:=$(EXTRA_DIRS) $(addsuffix utility/,$(EXTRA_DIRS)) # NOTE: obj files will be created in respective src directories (libraries or $(INSTALL_DIR));
CDIRS:=*.c utility/*.c $(addsuffix *.c,$(CDIRS)) $(ARDUINO_PATH)hardware/arduino/cores/arduino/*.c # make clean deletes them fine
CSRC:=$(shell ls $(CDIRS) 2>/dev/null) # note that srcs are in libraries or other directories;
# $(CXXSRC:.cpp=.o) will cause obj files to be in same loc as src files
CCSRC:=$(shell ls *.cc 2>/dev/null) #~ OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
# to change the output directory for object files;
CPPDIRS:=$(EXTRA_DIRS) $(addsuffix utility/,$(EXTRA_DIRS)) # must change the obj list here!
CPPDIRS:=*.cpp utility/*.cpp $(addsuffix *.cpp,$(CPPDIRS)) $(ARDUINO_PATH)hardware/arduino/cores/arduino/*.cpp # and then, match to corresponding rule somehow?
CPPSRC:=$(shell ls $(CPPDIRS) 2>/dev/null) # or leave this - and parse in rule (auth automatic variable $(@F))?
# "Suffix Replacement"
#=== build internal variables === OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
# the name of the subdirectory where everything is stored # added - OBJ list, transformed into applet/
TMPDIRNAME:=tmp OBJT = $(addprefix applet/,$(notdir $(OBJ)))
TMPDIRPATH:=$(TMPDIRNAME)/ ALLSRC = $(SRC) $(CXXSRC) $(ASRC)
AVRTOOLSPATH:=$(AVR_TOOLS_PATH) # Define all listing files.
LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
OBJCOPY:=$(AVRTOOLSPATH)avr-objcopy
OBJDUMP:=$(AVRTOOLSPATH)avr-objdump # Combine all necessary flags and optional flags.
SIZE:=$(AVRTOOLSPATH)avr-size # Add target processor to flags.
ALL_CFLAGS = -mmcu=$(BUILD_MCU) -I. $(CFLAGS)
CPPSRC:=$(addprefix $(TMPDIRPATH),$(PDESRC:.pde=.cpp)) $(CPPSRC) ALL_CXXFLAGS = -mmcu=$(BUILD_MCU) -I. $(CXXFLAGS)
ALL_ASFLAGS = -mmcu=$(BUILD_MCU) -I. -x assembler-with-cpp $(ASFLAGS)
COBJ:=$(CSRC:.c=.o)
CCOBJ:=$(CCSRC:.cc=.o) # depended libraries of .pde need to be added from
CPPOBJ:=$(CPPSRC:.cpp=.o) # $(INSTALL_DIR)/libraries (TODO: and/or ~/sketchbook/libraries)
# grep for 'include', test if exists, add...
OBJFILES:=$(COBJ) $(CCOBJ) $(CPPOBJ) # note: prefix "a real tab character" http://www.delorie.com/djgpp/doc/ug/larger/makefiles.html
DIRS:= $(dir $(OBJFILES)) # $$ to escape $ for shell;
# note: must NOT put comments # inside bash execution;
DEPFILES:=$(OBJFILES:.o=.d) # those would get removed by make; making shell see "EOF in backquote substitution"
# assembler files from avr-gcc -S # echo $$ix ; \
ASSFILES:=$(OBJFILES:.o=.s) # 'shell' twice - for each subprocess! Backtick doesn't get expanded?
# disassembled object files with avr-objdump -S GREPRES:=$(shell for ix in $(shell grep include $(TARGET).pde | sed 's/.*[<"]\(.*\).h[>"].*/\1/'); do \
DISFILES:=$(OBJFILES:.o=.dis) if [ -d $(INSTALL_DIR)/libraries/$$ix ] ; then \
LINCS="$$LINCS -I$(INSTALL_DIR)/libraries/$$ix" ;\
fi; \
LIBNAME:=$(TMPDIRPATH)$(TARGETNAME).a done; \
ELFNAME:=$(TMPDIRPATH)$(TARGETNAME).elf echo $$LINCS)
HEXNAME:=$(TMPDIRPATH)$(TARGETNAME).hex # append includes:
CINCS += $(GREPRES)
AVRDUDE_FLAGS = -V -F CXXINCS += $(GREPRES)
AVRDUDE_FLAGS += -C $(ARDUINO_PATH)/hardware/tools/avrdude.conf # append library source .cpp files too (CXXSRC)
AVRDUDE_FLAGS += -p $(MCU) GREPRESB:=$(shell for ix in $(shell grep include $(TARGET).pde | sed 's/.*[<"]\(.*\).h[>"].*/\1/'); do \
AVRDUDE_FLAGS += -P $(AVRDUDE_PORT) if [ -d $(INSTALL_DIR)/libraries/$$ix ] ; then \
AVRDUDE_FLAGS += -c $(AVRDUDE_PROGRAMMER) CPPSRCS="$$CPPSRCS $(INSTALL_DIR)/libraries/$$ix/*.cpp" ;\
AVRDUDE_FLAGS += -b $(AVRDUDE_UPLOAD_RATE) fi; \
AVRDUDE_FLAGS += -U flash:w:$(HEXNAME) done; \
echo $$CPPSRCS)
AVRDUDE = avrdude CXXSRC += $(GREPRESB)
# added - only CXX obj from libraries:
#=== predefined variable override === CXXLIBOBJ = $(GREPRESB:.cpp=.o)
# use "make -p -f/dev/null" to see the default rules and definitions
# Default target.
# Build C and C++ flags. Include path information must be placed here all: applet_files build sizeafter
COMMON_FLAGS = -DF_CPU=$(F_CPU) -mmcu=$(MCU) $(DEFS)
# COMMON_FLAGS += -gdwarf-2 build: elf hex
COMMON_FLAGS += -Os
COMMON_FLAGS += -Wall -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums applet_files: $(TARGET).pde
COMMON_FLAGS += -I. # Here is the "preprocessing".
COMMON_FLAGS += -I$(ARDUINO_PATH)hardware/arduino/cores/arduino # It creates a .cpp file based with the same name as the .pde file.
COMMON_FLAGS += $(addprefix -I,$(EXTRA_DIRS)) # On top of the new .cpp file comes the WProgram.h header.
COMMON_FLAGS += -ffunction-sections -fdata-sections -Wl,--gc-sections # At the end there is a generic main() function attached.
COMMON_FLAGS += -Wl,--relax # Then the .cpp file will be compiled. Errors during compile will
COMMON_FLAGS += -mcall-prologues # refer to this new, automatically generated, file.
# Not the original .pde file you actually edit...
CFLAGS = $(COMMON_FLAGS) -std=gnu99 -Wstrict-prototypes test -d applet || mkdir applet
CXXFLAGS = $(COMMON_FLAGS) # @ supresses printout of the cmdline itself; so only the out of echo is printed
@echo ALL OBJT: $(OBJT)
# Replace standard build tools by avr tools @echo ALL CXXLIBOBJ: $(CXXLIBOBJ)
CC = $(AVRTOOLSPATH)avr-gcc # echo '#include "WProgram.h"' > applet/$(TARGET).cpp
CXX = $(AVRTOOLSPATH)avr-g++ @echo "#include \"WProgram.h\"\nvoid setup();\nvoid loop();\n" > applet/$(TARGET).cpp
AR = @$(AVRTOOLSPATH)avr-ar cat $(TARGET).pde >> applet/$(TARGET).cpp
# no more need to cat main.cpp (v0022) - now it is compiled in
# cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp
# "rm" must be able to delete a directory tree
RM = rm -rf
elf: applet/$(TARGET).elf
#=== rules === hex: applet/$(TARGET).hex
eep: applet/$(TARGET).eep
# add rules for the C/C++ files where the .o file is placed in the TMPDIRPATH lss: applet/$(TARGET).lss
# reuse existing variables as far as possible sym: applet/$(TARGET).sym
$(TMPDIRPATH)%.o: %.c # Program the device.
@echo compile $< upload: applet/$(TARGET).hex
@$(COMPILE.c) $(OUTPUT_OPTION) $< $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
$(TMPDIRPATH)%.o: %.cc # Display size of file.
@echo compile $< HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex
@$(COMPILE.cc) $(OUTPUT_OPTION) $< ELFSIZE = $(SIZE) applet/$(TARGET).elf
sizebefore:
$(TMPDIRPATH)%.o: %.cpp @if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
@echo compile $<
@$(COMPILE.cpp) $(OUTPUT_OPTION) $< sizeafter:
@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(HEXSIZE); echo; fi
$(TMPDIRPATH)%.s: %.c
@$(COMPILE.c) $(OUTPUT_OPTION) -S $< # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
COFFCONVERT=$(OBJCOPY) --debugging \
$(TMPDIRPATH)%.s: %.cc --change-section-address .data-0x800000 \
@$(COMPILE.cc) $(OUTPUT_OPTION) -S $< --change-section-address .bss-0x800000 \
--change-section-address .noinit-0x800000 \
$(TMPDIRPATH)%.s: %.cpp --change-section-address .eeprom-0x810000
@$(COMPILE.cpp) $(OUTPUT_OPTION) -S $<
coff: applet/$(TARGET).elf
$(TMPDIRPATH)%.dis: $(TMPDIRPATH)%.o $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf $(TARGET).cof
@$(OBJDUMP) -S $< > $@
extcoff: $(TARGET).elf
.SUFFIXES: .elf .hex .pde $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf $(TARGET).cof
.SUFFIXES: .elf .hex .eep .lss .sym
.elf.hex: .elf.hex:
@$(OBJCOPY) -O ihex -R .eeprom $< $@ $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
$(TMPDIRPATH)%.cpp: %.pde .elf.eep:
@cat $(ARDUINO_PATH)hardware/arduino/cores/arduino/main.cpp > $@ -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
@cat $< >> $@ --change-section-lma .eeprom=0 -O $(FORMAT) $< $@
@echo >> $@
@echo 'extern "C" void __cxa_pure_virtual() { while (1); }' >> $@ # Create extended listing file from ELF output file.
.elf.lss:
$(OBJDUMP) -h -S $< > $@
.PHONY: all
all: tmpdir $(HEXNAME) assemblersource showsize # Create a symbol table from ELF output file.
ls -al $(HEXNAME) $(ELFNAME) .elf.sym:
$(NM) -n $< > $@
$(ELFNAME): $(LIBNAME)($(addprefix $(TMPDIRPATH),$(OBJFILES)))
$(LINK.o) $(COMMON_FLAGS) $(LIBNAME) $(LOADLIBES) $(LDLIBS) -o $@ # Link: create ELF output file from library.
# NOTE: applet/$(TARGET).cpp.o MUST BE BEFORE applet/core.a
$(LIBNAME)(): $(addprefix $(TMPDIRPATH),$(OBJFILES)) # in the dependency list, so its rule runs first!
applet/$(TARGET).elf: $(TARGET).pde applet/$(TARGET).cpp.o applet/core.a
#=== create temp directory === # $(CC) $(ALL_CFLAGS) -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
# not really required, because it will be also created during the dependency handling # changed as in IDE v0022: link cpp obj files
.PHONY: tmpdir @echo $$(tput bold)$$(tput setaf 2) $(CC) $$(tput sgr0) $(ALL_CFLAGS) $(CFINALF) -o $@ applet/$(TARGET).cpp.o $(CXXOBJ) -L. applet/core.a $(LDFLAGS)
tmpdir: @$(CC) $(ALL_CFLAGS) $(CFINALF) -o $@ applet/$(TARGET).cpp.o $(CXXOBJ) -L. applet/core.a $(LDFLAGS)
@test -d $(TMPDIRPATH) || mkdir $(TMPDIRPATH)
# added: cpp.o depends on cpp (and .pde which generates it)
#=== create assembler files for each C/C++ file === # $< "first item in the dependencies list"; $@ "left side of the :"; $^ "right side of the :"
.PHONY: assemblersource # http://www.cs.colby.edu/maxwell/courses/tutorials/maketutor/
assemblersource: $(addprefix $(TMPDIRPATH),$(ASSFILES)) $(addprefix $(TMPDIRPATH),$(DISFILES)) applet/$(TARGET).cpp.o: applet/$(TARGET).cpp
@echo $$(tput bold) $(CXX) $$(tput sgr0) -c $(ALL_CXXFLAGS) $< -o $@
@$(CXX) -c $(ALL_CXXFLAGS) $< -o $@
#=== show the section sizes of the ELF file ===
.PHONY: showsize #~ applet/core.a: $(OBJ)
showsize: $(ELFNAME) #~ @for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
$(SIZE) $<
applet/core.a: $(OBJT)
#=== clean up target === @for i in $(OBJT); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
# this is simple: the TMPDIRPATH is removed
.PHONY: clean # iterate through OBJ to find the original location; then build depending on source extension
# TODO: add handling of assembler files
applet/%.o:
@for iob in $(OBJ); do \
if [ "`basename $$iob`" = "`basename $@`" ]; then \
for ios in $(ALLSRC); do \
if [ "$${iob%%.*}" = "$${ios%%.*}" ]; then \
case $${ios##*.} in \
"cpp") \
echo "$$(tput bold)$$(tput setaf 1) $(CXX) $$(tput sgr0) -c $(ALL_CXXFLAGS) $$ios -o $@"; \
$(CXX) -c $(ALL_CXXFLAGS) $$ios -o $@;; \
"c") \
echo "$$(tput bold)$$(tput setaf 1) $(CC) $$(tput sgr0) -c $(ALL_CFLAGS) $$ios -o $@"; \
$(CC) -c $(ALL_CFLAGS) $$ios -o $@;; \
esac; \
fi; \
done; \
fi; \
done;
#~ # Compile: create object files from C++ source files.
#~ .cpp.o:
#~ $(CXX) -c $(ALL_CXXFLAGS) $< -o $@
#~ # Compile: create object files from C source files.
#~ .c.o:
#~ $(CC) -c $(ALL_CFLAGS) $< -o $@
#~ # Compile: create assembler files from C source files.
#~ .c.s:
#~ $(CC) -S $(ALL_CFLAGS) $< -o $@
#~ # Assemble: create object files from assembler source files.
#~ .S.o:
#~ $(CC) -c $(ALL_ASFLAGS) $< -o $@
#~ # Automatic dependencies
#~ %.d: %.c
#~ $(CC) -M $(ALL_CFLAGS) $< | sed "s;$(notdir $*).o:;$*.o $*.d:;" > $@
#~ %.d: %.cpp
#~ $(CXX) -M $(ALL_CXXFLAGS) $< | sed "s;$(notdir $*).o:;$*.o $*.d:;" > $@
# Target: clean project.
clean: clean:
$(RM) $(TMPDIRPATH) $(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/core.a \
# Program the device. $(OBJT) applet/$(TARGET).cpp.o \
# step 1: reset the arduino board with the stty command $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
# step 2: user avrdude to upload the software
.PHONY: upload
upload: $(HEXNAME)
stty -F $(AVRDUDE_PORT) hupcl
$(AVRDUDE) $(AVRDUDE_FLAGS)
# === dependency handling ===
# From the gnu make manual (section 4.14, Generating Prerequisites Automatically)
# Additionally (because this will be the first executed rule) TMPDIRPATH is created here.
# Instead of "sed" the "echo" command is used
# cd $(TMPDIRPATH); mkdir -p $(DIRS) 2> /dev/null; cd ..
DEPACTION=test -d $(TMPDIRPATH) || mkdir $(TMPDIRPATH);\
mkdir -p $(addprefix $(TMPDIRPATH),$(DIRS));\
set -e; echo -n $@ $(dir $@) > $@; $(CC) -MM $(COMMON_FLAGS) $< >> $@
$(TMPDIRPATH)%.d: %.c
@$(DEPACTION)
$(TMPDIRPATH)%.d: %.cc
@$(DEPACTION)
$(TMPDIRPATH)%.d: %.cpp
@$(DEPACTION)
# Include dependency files. If a .d file is missing, a warning is created and the .d file is created
# This warning is not a problem (gnu make manual, section 3.3 Including Other Makefiles)
-include $(addprefix $(TMPDIRPATH),$(DEPFILES))
.PHONY: all build elf hex eep lss sym program coff extcoff clean applet_files sizebefore sizeafter

5
Marlin/Marlin.h
Unescape View File

@ -68,7 +68,7 @@ void kill();
//void st_wake_up(); //void st_wake_up();
//void st_synchronize(); //void st_synchronize();
void enquecommand(const char *cmd); void enquecommand(const char *cmd);
void wd_reset();
#ifndef CRITICAL_SECTION_START #ifndef CRITICAL_SECTION_START
#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli(); #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
@ -78,6 +78,5 @@ void wd_reset();
extern float homing_feedrate[]; extern float homing_feedrate[];
extern bool axis_relative_modes[]; extern bool axis_relative_modes[];
void manage_inactivity(byte debug); void wd_reset() ;
#endif #endif

76
Marlin/Marlin.pde
Unescape View File

@ -25,7 +25,7 @@
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/ */
#include <EEPROM.h> #include "EEPROMwrite.h"
#include "fastio.h" #include "fastio.h"
#include "Configuration.h" #include "Configuration.h"
#include "pins.h" #include "pins.h"
@ -171,7 +171,7 @@ bool sdmode = false;
bool sdactive = false; bool sdactive = false;
bool savetosd = false; bool savetosd = false;
int16_t n; int16_t n;
long autostart_atmillis=0; unsigned long autostart_atmillis=0;
void initsd(){ void initsd(){
sdactive = false; sdactive = false;
@ -290,24 +290,24 @@ void checkautostart(bool force)
if(!sdactive) //fail if(!sdactive) //fail
return; return;
} }
static int lastnr=0; static int lastnr=0;
char autoname[30]; char autoname[30];
sprintf(autoname,"auto%i.g",lastnr); sprintf(autoname,"auto%i.g",lastnr);
for(int i=0;i<strlen(autoname);i++) for(int i=0;i<(int)strlen(autoname);i++)
autoname[i]=tolower(autoname[i]); autoname[i]=tolower(autoname[i]);
dir_t p; dir_t p;
root.rewind(); root.rewind();
char filename[11]; //char filename[11];
int cnt=0; //int cnt=0;
bool found=false; bool found=false;
while (root.readDir(p) > 0) while (root.readDir(p) > 0)
{ {
for(int i=0;i<strlen((char*)p.name);i++) for(int i=0;i<(int)strlen((char*)p.name);i++)
p.name[i]=tolower(p.name[i]); p.name[i]=tolower(p.name[i]);
//Serial.print((char*)p.name); //Serial.print((char*)p.name);
//Serial.print(" "); //Serial.print(" ");
//Serial.println(autoname); //Serial.println(autoname);
if(p.name[9]!='~') //skip safety copies if(p.name[9]!='~') //skip safety copies
if(strncmp((char*)p.name,autoname,5)==0) if(strncmp((char*)p.name,autoname,5)==0)
@ -774,8 +774,8 @@ inline void process_commands()
sprintf(time,"%i min, %i sec",min,sec); sprintf(time,"%i min, %i sec",min,sec);
Serial.println(time); Serial.println(time);
LCD_MESSAGE(time); LCD_MESSAGE(time);
} }
break; break;
#endif //SDSUPPORT #endif //SDSUPPORT
case 42: //M42 -Change pin status via gcode case 42: //M42 -Change pin status via gcode
if (code_seen('S')) if (code_seen('S'))
@ -784,7 +784,7 @@ inline void process_commands()
if (code_seen('P') && pin_status >= 0 && pin_status <= 255) if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
{ {
int pin_number = code_value(); int pin_number = code_value();
for(int i = 0; i < sizeof(sensitive_pins); i++) for(int i = 0; i < (int)sizeof(sensitive_pins); i++)
{ {
if (sensitive_pins[i] == pin_number) if (sensitive_pins[i] == pin_number)
{ {
@ -803,28 +803,28 @@ inline void process_commands()
} }
break; break;
case 104: // M104 case 104: // M104
if (code_seen('S')) target_raw[0] = temp2analog(code_value()); if (code_seen('S')) target_raw[TEMPSENSOR_HOTEND] = temp2analog(code_value());
#ifdef PIDTEMP #ifdef PIDTEMP
pid_setpoint = code_value(); pid_setpoint = code_value();
#endif //PIDTEM #endif //PIDTEM
#ifdef WATCHPERIOD #ifdef WATCHPERIOD
if(target_raw[0] > current_raw[0]){ if(target_raw[TEMPSENSOR_HOTEND] > current_raw[TEMPSENSOR_HOTEND]){
watchmillis = max(1,millis()); watchmillis = max(1,millis());
watch_raw = current_raw[0]; watch_raw[TEMPSENSOR_HOTEND] = current_raw[TEMPSENSOR_HOTEND];
}else{ }else{
watchmillis = 0; watchmillis = 0;
} }
#endif #endif
break; break;
case 140: // M140 set bed temp case 140: // M140 set bed temp
if (code_seen('S')) target_raw[1] = temp2analogBed(code_value()); if (code_seen('S')) target_raw[TEMPSENSOR_BED] = temp2analogBed(code_value());
break; break;
case 105: // M105 case 105: // M105
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595) #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595)
tt = analog2temp(current_raw[0]); tt = analog2temp(current_raw[TEMPSENSOR_HOTEND]);
#endif #endif
#if TEMP_1_PIN > -1 #if TEMP_1_PIN > -1
bt = analog2tempBed(current_raw[1]); bt = analog2tempBed(current_raw[TEMPSENSOR_BED]);
#endif #endif
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595) #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595)
Serial.print("ok T:"); Serial.print("ok T:");
@ -852,14 +852,14 @@ inline void process_commands()
//break; //break;
case 109: {// M109 - Wait for extruder heater to reach target. case 109: {// M109 - Wait for extruder heater to reach target.
LCD_MESSAGE("Heating..."); LCD_MESSAGE("Heating...");
if (code_seen('S')) target_raw[0] = temp2analog(code_value()); if (code_seen('S')) target_raw[TEMPSENSOR_HOTEND] = temp2analog(code_value());
#ifdef PIDTEMP #ifdef PIDTEMP
pid_setpoint = code_value(); pid_setpoint = code_value();
#endif //PIDTEM #endif //PIDTEM
#ifdef WATCHPERIOD #ifdef WATCHPERIOD
if(target_raw[0]>current_raw[0]) { if(target_raw[TEMPSENSOR_HOTEND]>current_raw[TEMPSENSOR_HOTEND]){
watchmillis = max(1,millis()); watchmillis = max(1,millis());
watch_raw = current_raw[0]; watch_raw[TEMPSENSOR_HOTEND] = current_raw[TEMPSENSOR_HOTEND];
} else { } else {
watchmillis = 0; watchmillis = 0;
} }
@ -881,7 +881,7 @@ inline void process_commands()
#endif //TEMP_RESIDENCY_TIME #endif //TEMP_RESIDENCY_TIME
if( (millis() - codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up/cooling down if( (millis() - codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up/cooling down
Serial.print("T:"); Serial.print("T:");
Serial.println( analog2temp(current_raw[0]) ); Serial.println( analog2temp(current_raw[TEMPSENSOR_HOTEND]) );
codenum = millis(); codenum = millis();
} }
manage_heater(); manage_heater();
@ -895,25 +895,25 @@ inline void process_commands()
residencyStart = millis(); residencyStart = millis();
} }
#endif //TEMP_RESIDENCY_TIME #endif //TEMP_RESIDENCY_TIME
} }
LCD_MESSAGE("Marlin ready."); LCD_MESSAGE("Marlin ready.");
} }
break; break;
case 190: // M190 - Wait bed for heater to reach target. case 190: // M190 - Wait bed for heater to reach target.
#if TEMP_1_PIN > -1 #if TEMP_1_PIN > -1
if (code_seen('S')) target_raw[1] = temp2analog(code_value()); if (code_seen('S')) target_raw[TEMPSENSOR_BED] = temp2analog(code_value());
codenum = millis(); codenum = millis();
while(current_raw[1] < target_raw[1]) while(current_raw[TEMPSENSOR_BED] < target_raw[TEMPSENSOR_BED])
{ {
if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{ {
float tt=analog2temp(current_raw[0]); float tt=analog2temp(current_raw[TEMPSENSOR_HOTEND]);
Serial.print("T:"); Serial.print("T:");
Serial.println( tt ); Serial.println( tt );
Serial.print("ok T:"); Serial.print("ok T:");
Serial.print( tt ); Serial.print( tt );
Serial.print(" B:"); Serial.print(" B:");
Serial.println( analog2temp(current_raw[1]) ); Serial.println( analog2temp(current_raw[TEMPSENSOR_BED]) );
codenum = millis(); codenum = millis();
} }
manage_heater(); manage_heater();

1286
Marlin/Sd2Card.cpp
Unescape View File

@ -1,643 +1,643 @@
/* Arduino Sd2Card Library /* Arduino Sd2Card Library
* Copyright (C) 2009 by William Greiman * Copyright (C) 2009 by William Greiman
* *
* This file is part of the Arduino Sd2Card Library * This file is part of the Arduino Sd2Card Library
* *
* This Library is free software: you can redistribute it and/or modify * This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This Library is distributed in the hope that it will be useful, * This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with the Arduino Sd2Card Library. If not, see * along with the Arduino Sd2Card Library. If not, see
* <http://www.gnu.org/licenses/>. * <http://www.gnu.org/licenses/>.
*/ */
#include <WProgram.h> #include <WProgram.h>
#include "Sd2Card.h" #include "Sd2Card.h"
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#ifndef SOFTWARE_SPI #ifndef SOFTWARE_SPI
// functions for hardware SPI // functions for hardware SPI
/** Send a byte to the card */ /** Send a byte to the card */
static void spiSend(uint8_t b) { static void spiSend(uint8_t b) {
SPDR = b; SPDR = b;
while (!(SPSR & (1 << SPIF))); while (!(SPSR & (1 << SPIF)));
} }
/** Receive a byte from the card */ /** Receive a byte from the card */
static uint8_t spiRec(void) { static uint8_t spiRec(void) {
spiSend(0XFF); spiSend(0XFF);
return SPDR; return SPDR;
} }
#else // SOFTWARE_SPI #else // SOFTWARE_SPI
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** nop to tune soft SPI timing */ /** nop to tune soft SPI timing */
#define nop asm volatile ("nop\n\t") #define nop asm volatile ("nop\n\t")
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Soft SPI receive */ /** Soft SPI receive */
uint8_t spiRec(void) { uint8_t spiRec(void) {
uint8_t data = 0; uint8_t data = 0;
// no interrupts during byte receive - about 8 us // no interrupts during byte receive - about 8 us
cli(); cli();
// output pin high - like sending 0XFF // output pin high - like sending 0XFF
fastDigitalWrite(SPI_MOSI_PIN, HIGH); fastDigitalWrite(SPI_MOSI_PIN, HIGH);
for (uint8_t i = 0; i < 8; i++) { for (uint8_t i = 0; i < 8; i++) {
fastDigitalWrite(SPI_SCK_PIN, HIGH); fastDigitalWrite(SPI_SCK_PIN, HIGH);
// adjust so SCK is nice // adjust so SCK is nice
nop; nop;
nop; nop;
data <<= 1; data <<= 1;
if (fastDigitalRead(SPI_MISO_PIN)) data |= 1; if (fastDigitalRead(SPI_MISO_PIN)) data |= 1;
fastDigitalWrite(SPI_SCK_PIN, LOW); fastDigitalWrite(SPI_SCK_PIN, LOW);
} }
// enable interrupts // enable interrupts
sei(); sei();
return data; return data;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Soft SPI send */ /** Soft SPI send */
void spiSend(uint8_t data) { void spiSend(uint8_t data) {
// no interrupts during byte send - about 8 us // no interrupts during byte send - about 8 us
cli(); cli();
for (uint8_t i = 0; i < 8; i++) { for (uint8_t i = 0; i < 8; i++) {
fastDigitalWrite(SPI_SCK_PIN, LOW); fastDigitalWrite(SPI_SCK_PIN, LOW);
fastDigitalWrite(SPI_MOSI_PIN, data & 0X80); fastDigitalWrite(SPI_MOSI_PIN, data & 0X80);
data <<= 1; data <<= 1;
fastDigitalWrite(SPI_SCK_PIN, HIGH); fastDigitalWrite(SPI_SCK_PIN, HIGH);
} }
// hold SCK high for a few ns // hold SCK high for a few ns
nop; nop;
nop; nop;
nop; nop;
nop; nop;
fastDigitalWrite(SPI_SCK_PIN, LOW); fastDigitalWrite(SPI_SCK_PIN, LOW);
// enable interrupts // enable interrupts
sei(); sei();
} }
#endif // SOFTWARE_SPI #endif // SOFTWARE_SPI
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// send command and return error code. Return zero for OK // send command and return error code. Return zero for OK
uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) { uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) {
// end read if in partialBlockRead mode // end read if in partialBlockRead mode
readEnd(); readEnd();
// select card // select card
chipSelectLow(); chipSelectLow();
// wait up to 300 ms if busy // wait up to 300 ms if busy
waitNotBusy(300); waitNotBusy(300);
// send command // send command
spiSend(cmd | 0x40); spiSend(cmd | 0x40);
// send argument // send argument
for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s); for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s);
// send CRC // send CRC
uint8_t crc = 0XFF; uint8_t crc = 0XFF;
if (cmd == CMD0) crc = 0X95; // correct crc for CMD0 with arg 0 if (cmd == CMD0) crc = 0X95; // correct crc for CMD0 with arg 0
if (cmd == CMD8) crc = 0X87; // correct crc for CMD8 with arg 0X1AA if (cmd == CMD8) crc = 0X87; // correct crc for CMD8 with arg 0X1AA
spiSend(crc); spiSend(crc);
// wait for response // wait for response
for (uint8_t i = 0; ((status_ = spiRec()) & 0X80) && i != 0XFF; i++); for (uint8_t i = 0; ((status_ = spiRec()) & 0X80) && i != 0XFF; i++);
return status_; return status_;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* Determine the size of an SD flash memory card. * Determine the size of an SD flash memory card.
* *
* \return The number of 512 byte data blocks in the card * \return The number of 512 byte data blocks in the card
* or zero if an error occurs. * or zero if an error occurs.
*/ */
uint32_t Sd2Card::cardSize(void) { uint32_t Sd2Card::cardSize(void) {
csd_t csd; csd_t csd;
if (!readCSD(&csd)) return 0; if (!readCSD(&csd)) return 0;
if (csd.v1.csd_ver == 0) { if (csd.v1.csd_ver == 0) {
uint8_t read_bl_len = csd.v1.read_bl_len; uint8_t read_bl_len = csd.v1.read_bl_len;
uint16_t c_size = (csd.v1.c_size_high << 10) uint16_t c_size = (csd.v1.c_size_high << 10)
| (csd.v1.c_size_mid << 2) | csd.v1.c_size_low; | (csd.v1.c_size_mid << 2) | csd.v1.c_size_low;
uint8_t c_size_mult = (csd.v1.c_size_mult_high << 1) uint8_t c_size_mult = (csd.v1.c_size_mult_high << 1)
| csd.v1.c_size_mult_low; | csd.v1.c_size_mult_low;
return (uint32_t)(c_size + 1) << (c_size_mult + read_bl_len - 7); return (uint32_t)(c_size + 1) << (c_size_mult + read_bl_len - 7);
} else if (csd.v2.csd_ver == 1) { } else if (csd.v2.csd_ver == 1) {
uint32_t c_size = ((uint32_t)csd.v2.c_size_high << 16) uint32_t c_size = ((uint32_t)csd.v2.c_size_high << 16)
| (csd.v2.c_size_mid << 8) | csd.v2.c_size_low; | (csd.v2.c_size_mid << 8) | csd.v2.c_size_low;
return (c_size + 1) << 10; return (c_size + 1) << 10;
} else { } else {
error(SD_CARD_ERROR_BAD_CSD); error(SD_CARD_ERROR_BAD_CSD);
return 0; return 0;
} }
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
void Sd2Card::chipSelectHigh(void) { void Sd2Card::chipSelectHigh(void) {
digitalWrite(chipSelectPin_, HIGH); digitalWrite(chipSelectPin_, HIGH);
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
void Sd2Card::chipSelectLow(void) { void Sd2Card::chipSelectLow(void) {
digitalWrite(chipSelectPin_, LOW); digitalWrite(chipSelectPin_, LOW);
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Erase a range of blocks. /** Erase a range of blocks.
* *
* \param[in] firstBlock The address of the first block in the range. * \param[in] firstBlock The address of the first block in the range.
* \param[in] lastBlock The address of the last block in the range. * \param[in] lastBlock The address of the last block in the range.
* *
* \note This function requests the SD card to do a flash erase for a * \note This function requests the SD card to do a flash erase for a
* range of blocks. The data on the card after an erase operation is * range of blocks. The data on the card after an erase operation is
* either 0 or 1, depends on the card vendor. The card must support * either 0 or 1, depends on the card vendor. The card must support
* single block erase. * single block erase.
* *
* \return The value one, true, is returned for success and * \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. * the value zero, false, is returned for failure.
*/ */
uint8_t Sd2Card::erase(uint32_t firstBlock, uint32_t lastBlock) { uint8_t Sd2Card::erase(uint32_t firstBlock, uint32_t lastBlock) {
if (!eraseSingleBlockEnable()) { if (!eraseSingleBlockEnable()) {
error(SD_CARD_ERROR_ERASE_SINGLE_BLOCK); error(SD_CARD_ERROR_ERASE_SINGLE_BLOCK);
goto fail; goto fail;
} }
if (type_ != SD_CARD_TYPE_SDHC) { if (type_ != SD_CARD_TYPE_SDHC) {
firstBlock <<= 9; firstBlock <<= 9;
lastBlock <<= 9; lastBlock <<= 9;
} }
if (cardCommand(CMD32, firstBlock) if (cardCommand(CMD32, firstBlock)
|| cardCommand(CMD33, lastBlock) || cardCommand(CMD33, lastBlock)
|| cardCommand(CMD38, 0)) { || cardCommand(CMD38, 0)) {
error(SD_CARD_ERROR_ERASE); error(SD_CARD_ERROR_ERASE);
goto fail; goto fail;
} }
if (!waitNotBusy(SD_ERASE_TIMEOUT)) { if (!waitNotBusy(SD_ERASE_TIMEOUT)) {
error(SD_CARD_ERROR_ERASE_TIMEOUT); error(SD_CARD_ERROR_ERASE_TIMEOUT);
goto fail; goto fail;
} }
chipSelectHigh(); chipSelectHigh();
return true; return true;
fail: fail:
chipSelectHigh(); chipSelectHigh();
return false; return false;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Determine if card supports single block erase. /** Determine if card supports single block erase.
* *
* \return The value one, true, is returned if single block erase is supported. * \return The value one, true, is returned if single block erase is supported.
* The value zero, false, is returned if single block erase is not supported. * The value zero, false, is returned if single block erase is not supported.
*/ */
uint8_t Sd2Card::eraseSingleBlockEnable(void) { uint8_t Sd2Card::eraseSingleBlockEnable(void) {
csd_t csd; csd_t csd;
return readCSD(&csd) ? csd.v1.erase_blk_en : 0; return readCSD(&csd) ? csd.v1.erase_blk_en : 0;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* Initialize an SD flash memory card. * Initialize an SD flash memory card.
* *
* \param[in] sckRateID SPI clock rate selector. See setSckRate(). * \param[in] sckRateID SPI clock rate selector. See setSckRate().
* \param[in] chipSelectPin SD chip select pin number. * \param[in] chipSelectPin SD chip select pin number.
* *
* \return The value one, true, is returned for success and * \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. The reason for failure * the value zero, false, is returned for failure. The reason for failure
* can be determined by calling errorCode() and errorData(). * can be determined by calling errorCode() and errorData().
*/ */
uint8_t Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) { uint8_t Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) {
errorCode_ = inBlock_ = partialBlockRead_ = type_ = 0; errorCode_ = inBlock_ = partialBlockRead_ = type_ = 0;
chipSelectPin_ = chipSelectPin; chipSelectPin_ = chipSelectPin;
// 16-bit init start time allows over a minute // 16-bit init start time allows over a minute
uint16_t t0 = (uint16_t)millis(); uint16_t t0 = (uint16_t)millis();
uint32_t arg; uint32_t arg;
// set pin modes // set pin modes
pinMode(chipSelectPin_, OUTPUT); pinMode(chipSelectPin_, OUTPUT);
chipSelectHigh(); chipSelectHigh();
pinMode(SPI_MISO_PIN, INPUT); pinMode(SPI_MISO_PIN, INPUT);
pinMode(SPI_MOSI_PIN, OUTPUT); pinMode(SPI_MOSI_PIN, OUTPUT);
pinMode(SPI_SCK_PIN, OUTPUT); pinMode(SPI_SCK_PIN, OUTPUT);
#ifndef SOFTWARE_SPI #ifndef SOFTWARE_SPI
// SS must be in output mode even it is not chip select // SS must be in output mode even it is not chip select
pinMode(SS_PIN, OUTPUT); pinMode(SS_PIN, OUTPUT);
// Enable SPI, Master, clock rate f_osc/128 // Enable SPI, Master, clock rate f_osc/128
SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0); SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0);
// clear double speed // clear double speed
SPSR &= ~(1 << SPI2X); SPSR &= ~(1 << SPI2X);
#endif // SOFTWARE_SPI #endif // SOFTWARE_SPI
// must supply min of 74 clock cycles with CS high. // must supply min of 74 clock cycles with CS high.
for (uint8_t i = 0; i < 10; i++) spiSend(0XFF); for (uint8_t i = 0; i < 10; i++) spiSend(0XFF);
chipSelectLow(); chipSelectLow();
// command to go idle in SPI mode // command to go idle in SPI mode
while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) { while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
error(SD_CARD_ERROR_CMD0); error(SD_CARD_ERROR_CMD0);
goto fail; goto fail;
} }
} }
// check SD version // check SD version
if ((cardCommand(CMD8, 0x1AA) & R1_ILLEGAL_COMMAND)) { if ((cardCommand(CMD8, 0x1AA) & R1_ILLEGAL_COMMAND)) {
type(SD_CARD_TYPE_SD1); type(SD_CARD_TYPE_SD1);
} else { } else {
// only need last byte of r7 response // only need last byte of r7 response
for (uint8_t i = 0; i < 4; i++) status_ = spiRec(); for (uint8_t i = 0; i < 4; i++) status_ = spiRec();
if (status_ != 0XAA) { if (status_ != 0XAA) {
error(SD_CARD_ERROR_CMD8); error(SD_CARD_ERROR_CMD8);
goto fail; goto fail;
} }
type(SD_CARD_TYPE_SD2); type(SD_CARD_TYPE_SD2);
} }
// initialize card and send host supports SDHC if SD2 // initialize card and send host supports SDHC if SD2
arg = type() == SD_CARD_TYPE_SD2 ? 0X40000000 : 0; arg = type() == SD_CARD_TYPE_SD2 ? 0X40000000 : 0;
while ((status_ = cardAcmd(ACMD41, arg)) != R1_READY_STATE) { while ((status_ = cardAcmd(ACMD41, arg)) != R1_READY_STATE) {
// check for timeout // check for timeout
if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
error(SD_CARD_ERROR_ACMD41); error(SD_CARD_ERROR_ACMD41);
goto fail; goto fail;
} }
} }
// if SD2 read OCR register to check for SDHC card // if SD2 read OCR register to check for SDHC card
if (type() == SD_CARD_TYPE_SD2) { if (type() == SD_CARD_TYPE_SD2) {
if (cardCommand(CMD58, 0)) { if (cardCommand(CMD58, 0)) {
error(SD_CARD_ERROR_CMD58); error(SD_CARD_ERROR_CMD58);
goto fail; goto fail;
} }
if ((spiRec() & 0XC0) == 0XC0) type(SD_CARD_TYPE_SDHC); if ((spiRec() & 0XC0) == 0XC0) type(SD_CARD_TYPE_SDHC);
// discard rest of ocr - contains allowed voltage range // discard rest of ocr - contains allowed voltage range
for (uint8_t i = 0; i < 3; i++) spiRec(); for (uint8_t i = 0; i < 3; i++) spiRec();
} }
chipSelectHigh(); chipSelectHigh();
#ifndef SOFTWARE_SPI #ifndef SOFTWARE_SPI
return setSckRate(sckRateID); return setSckRate(sckRateID);
#else // SOFTWARE_SPI #else // SOFTWARE_SPI
return true; return true;
#endif // SOFTWARE_SPI #endif // SOFTWARE_SPI
fail: fail:
chipSelectHigh(); chipSelectHigh();
return false; return false;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* Enable or disable partial block reads. * Enable or disable partial block reads.
* *
* Enabling partial block reads improves performance by allowing a block * Enabling partial block reads improves performance by allowing a block
* to be read over the SPI bus as several sub-blocks. Errors may occur * to be read over the SPI bus as several sub-blocks. Errors may occur
* if the time between reads is too long since the SD card may timeout. * if the time between reads is too long since the SD card may timeout.
* The SPI SS line will be held low until the entire block is read or * The SPI SS line will be held low until the entire block is read or
* readEnd() is called. * readEnd() is called.
* *
* Use this for applications like the Adafruit Wave Shield. * Use this for applications like the Adafruit Wave Shield.
* *
* \param[in] value The value TRUE (non-zero) or FALSE (zero).) * \param[in] value The value TRUE (non-zero) or FALSE (zero).)
*/ */
void Sd2Card::partialBlockRead(uint8_t value) { void Sd2Card::partialBlockRead(uint8_t value) {
readEnd(); readEnd();
partialBlockRead_ = value; partialBlockRead_ = value;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* Read a 512 byte block from an SD card device. * Read a 512 byte block from an SD card device.
* *
* \param[in] block Logical block to be read. * \param[in] block Logical block to be read.
* \param[out] dst Pointer to the location that will receive the data. * \param[out] dst Pointer to the location that will receive the data.
* \return The value one, true, is returned for success and * \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. * the value zero, false, is returned for failure.
*/ */
uint8_t Sd2Card::readBlock(uint32_t block, uint8_t* dst) { uint8_t Sd2Card::readBlock(uint32_t block, uint8_t* dst) {
return readData(block, 0, 512, dst); return readData(block, 0, 512, dst);
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* Read part of a 512 byte block from an SD card. * Read part of a 512 byte block from an SD card.
* *
* \param[in] block Logical block to be read. * \param[in] block Logical block to be read.
* \param[in] offset Number of bytes to skip at start of block * \param[in] offset Number of bytes to skip at start of block
* \param[out] dst Pointer to the location that will receive the data. * \param[out] dst Pointer to the location that will receive the data.
* \param[in] count Number of bytes to read * \param[in] count Number of bytes to read
* \return The value one, true, is returned for success and * \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. * the value zero, false, is returned for failure.
*/ */
uint8_t Sd2Card::readData(uint32_t block, uint8_t Sd2Card::readData(uint32_t block,
uint16_t offset, uint16_t count, uint8_t* dst) { uint16_t offset, uint16_t count, uint8_t* dst) {
uint16_t n; uint16_t n;
if (count == 0) return true; if (count == 0) return true;
if ((count + offset) > 512) { if ((count + offset) > 512) {
goto fail; goto fail;
} }
if (!inBlock_ || block != block_ || offset < offset_) { if (!inBlock_ || block != block_ || offset < offset_) {
block_ = block; block_ = block;
// use address if not SDHC card // use address if not SDHC card
if (type()!= SD_CARD_TYPE_SDHC) block <<= 9; if (type()!= SD_CARD_TYPE_SDHC) block <<= 9;
if (cardCommand(CMD17, block)) { if (cardCommand(CMD17, block)) {
error(SD_CARD_ERROR_CMD17); error(SD_CARD_ERROR_CMD17);
goto fail; goto fail;
} }
if (!waitStartBlock()) { if (!waitStartBlock()) {
goto fail; goto fail;
} }
offset_ = 0; offset_ = 0;
inBlock_ = 1; inBlock_ = 1;
} }
#ifdef OPTIMIZE_HARDWARE_SPI #ifdef OPTIMIZE_HARDWARE_SPI
// start first spi transfer // start first spi transfer
SPDR = 0XFF; SPDR = 0XFF;
// skip data before offset // skip data before offset
for (;offset_ < offset; offset_++) { for (;offset_ < offset; offset_++) {
while (!(SPSR & (1 << SPIF))); while (!(SPSR & (1 << SPIF)));
SPDR = 0XFF; SPDR = 0XFF;
} }
// transfer data // transfer data
n = count - 1; n = count - 1;
for (uint16_t i = 0; i < n; i++) { for (uint16_t i = 0; i < n; i++) {
while (!(SPSR & (1 << SPIF))); while (!(SPSR & (1 << SPIF)));
dst[i] = SPDR; dst[i] = SPDR;
SPDR = 0XFF; SPDR = 0XFF;
} }
// wait for last byte // wait for last byte
while (!(SPSR & (1 << SPIF))); while (!(SPSR & (1 << SPIF)));
dst[n] = SPDR; dst[n] = SPDR;
#else // OPTIMIZE_HARDWARE_SPI #else // OPTIMIZE_HARDWARE_SPI
// skip data before offset // skip data before offset
for (;offset_ < offset; offset_++) { for (;offset_ < offset; offset_++) {
spiRec(); spiRec();
} }
// transfer data // transfer data
for (uint16_t i = 0; i < count; i++) { for (uint16_t i = 0; i < count; i++) {
dst[i] = spiRec(); dst[i] = spiRec();
} }
#endif // OPTIMIZE_HARDWARE_SPI #endif // OPTIMIZE_HARDWARE_SPI
offset_ += count; offset_ += count;
if (!partialBlockRead_ || offset_ >= 512) { if (!partialBlockRead_ || offset_ >= 512) {
// read rest of data, checksum and set chip select high // read rest of data, checksum and set chip select high
readEnd(); readEnd();
} }
return true; return true;
fail: fail:
chipSelectHigh(); chipSelectHigh();
return false; return false;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Skip remaining data in a block when in partial block read mode. */ /** Skip remaining data in a block when in partial block read mode. */
void Sd2Card::readEnd(void) { void Sd2Card::readEnd(void) {
if (inBlock_) { if (inBlock_) {
// skip data and crc // skip data and crc
#ifdef OPTIMIZE_HARDWARE_SPI #ifdef OPTIMIZE_HARDWARE_SPI
// optimize skip for hardware // optimize skip for hardware
SPDR = 0XFF; SPDR = 0XFF;
while (offset_++ < 513) { while (offset_++ < 513) {
while (!(SPSR & (1 << SPIF))); while (!(SPSR & (1 << SPIF)));
SPDR = 0XFF; SPDR = 0XFF;
} }
// wait for last crc byte // wait for last crc byte
while (!(SPSR & (1 << SPIF))); while (!(SPSR & (1 << SPIF)));
#else // OPTIMIZE_HARDWARE_SPI #else // OPTIMIZE_HARDWARE_SPI
while (offset_++ < 514) spiRec(); while (offset_++ < 514) spiRec();
#endif // OPTIMIZE_HARDWARE_SPI #endif // OPTIMIZE_HARDWARE_SPI
chipSelectHigh(); chipSelectHigh();
inBlock_ = 0; inBlock_ = 0;
} }
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** read CID or CSR register */ /** read CID or CSR register */
uint8_t Sd2Card::readRegister(uint8_t cmd, void* buf) { uint8_t Sd2Card::readRegister(uint8_t cmd, void* buf) {
uint8_t* dst = reinterpret_cast<uint8_t*>(buf); uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
if (cardCommand(cmd, 0)) { if (cardCommand(cmd, 0)) {
error(SD_CARD_ERROR_READ_REG); error(SD_CARD_ERROR_READ_REG);
goto fail; goto fail;
} }
if (!waitStartBlock()) goto fail; if (!waitStartBlock()) goto fail;
// transfer data // transfer data
for (uint16_t i = 0; i < 16; i++) dst[i] = spiRec(); for (uint16_t i = 0; i < 16; i++) dst[i] = spiRec();
spiRec(); // get first crc byte spiRec(); // get first crc byte
spiRec(); // get second crc byte spiRec(); // get second crc byte
chipSelectHigh(); chipSelectHigh();
return true; return true;
fail: fail:
chipSelectHigh(); chipSelectHigh();
return false; return false;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* Set the SPI clock rate. * Set the SPI clock rate.
* *
* \param[in] sckRateID A value in the range [0, 6]. * \param[in] sckRateID A value in the range [0, 6].
* *
* The SPI clock will be set to F_CPU/pow(2, 1 + sckRateID). The maximum * The SPI clock will be set to F_CPU/pow(2, 1 + sckRateID). The maximum
* SPI rate is F_CPU/2 for \a sckRateID = 0 and the minimum rate is F_CPU/128 * SPI rate is F_CPU/2 for \a sckRateID = 0 and the minimum rate is F_CPU/128
* for \a scsRateID = 6. * for \a scsRateID = 6.
* *
* \return The value one, true, is returned for success and the value zero, * \return The value one, true, is returned for success and the value zero,
* false, is returned for an invalid value of \a sckRateID. * false, is returned for an invalid value of \a sckRateID.
*/ */
uint8_t Sd2Card::setSckRate(uint8_t sckRateID) { uint8_t Sd2Card::setSckRate(uint8_t sckRateID) {
if (sckRateID > 6) { if (sckRateID > 6) {
error(SD_CARD_ERROR_SCK_RATE); error(SD_CARD_ERROR_SCK_RATE);
return false; return false;
} }
// see avr processor datasheet for SPI register bit definitions // see avr processor datasheet for SPI register bit definitions
if ((sckRateID & 1) || sckRateID == 6) { if ((sckRateID & 1) || sckRateID == 6) {
SPSR &= ~(1 << SPI2X); SPSR &= ~(1 << SPI2X);
} else { } else {
SPSR |= (1 << SPI2X); SPSR |= (1 << SPI2X);
} }
SPCR &= ~((1 <<SPR1) | (1 << SPR0)); SPCR &= ~((1 <<SPR1) | (1 << SPR0));
SPCR |= (sckRateID & 4 ? (1 << SPR1) : 0) SPCR |= (sckRateID & 4 ? (1 << SPR1) : 0)
| (sckRateID & 2 ? (1 << SPR0) : 0); | (sckRateID & 2 ? (1 << SPR0) : 0);
return true; return true;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// wait for card to go not busy // wait for card to go not busy
uint8_t Sd2Card::waitNotBusy(uint16_t timeoutMillis) { uint8_t Sd2Card::waitNotBusy(uint16_t timeoutMillis) {
uint16_t t0 = millis(); uint16_t t0 = millis();
do { do {
if (spiRec() == 0XFF) return true; if (spiRec() == 0XFF) return true;
} }
while (((uint16_t)millis() - t0) < timeoutMillis); while (((uint16_t)millis() - t0) < timeoutMillis);
return false; return false;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Wait for start block token */ /** Wait for start block token */
uint8_t Sd2Card::waitStartBlock(void) { uint8_t Sd2Card::waitStartBlock(void) {
uint16_t t0 = millis(); uint16_t t0 = millis();
while ((status_ = spiRec()) == 0XFF) { while ((status_ = spiRec()) == 0XFF) {
if (((uint16_t)millis() - t0) > SD_READ_TIMEOUT) { if (((uint16_t)millis() - t0) > SD_READ_TIMEOUT) {
error(SD_CARD_ERROR_READ_TIMEOUT); error(SD_CARD_ERROR_READ_TIMEOUT);
goto fail; goto fail;
} }
} }
if (status_ != DATA_START_BLOCK) { if (status_ != DATA_START_BLOCK) {
error(SD_CARD_ERROR_READ); error(SD_CARD_ERROR_READ);
goto fail; goto fail;
} }
return true; return true;
fail: fail:
chipSelectHigh(); chipSelectHigh();
return false; return false;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* Writes a 512 byte block to an SD card. * Writes a 512 byte block to an SD card.
* *
* \param[in] blockNumber Logical block to be written. * \param[in] blockNumber Logical block to be written.
* \param[in] src Pointer to the location of the data to be written. * \param[in] src Pointer to the location of the data to be written.
* \return The value one, true, is returned for success and * \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. * the value zero, false, is returned for failure.
*/ */
uint8_t Sd2Card::writeBlock(uint32_t blockNumber, const uint8_t* src) { uint8_t Sd2Card::writeBlock(uint32_t blockNumber, const uint8_t* src) {
#if SD_PROTECT_BLOCK_ZERO #if SD_PROTECT_BLOCK_ZERO
// don't allow write to first block // don't allow write to first block
if (blockNumber == 0) { if (blockNumber == 0) {
error(SD_CARD_ERROR_WRITE_BLOCK_ZERO); error(SD_CARD_ERROR_WRITE_BLOCK_ZERO);
goto fail; goto fail;
} }
#endif // SD_PROTECT_BLOCK_ZERO #endif // SD_PROTECT_BLOCK_ZERO
// use address if not SDHC card // use address if not SDHC card
if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9; if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;
if (cardCommand(CMD24, blockNumber)) { if (cardCommand(CMD24, blockNumber)) {
error(SD_CARD_ERROR_CMD24); error(SD_CARD_ERROR_CMD24);
goto fail; goto fail;
} }
if (!writeData(DATA_START_BLOCK, src)) goto fail; if (!writeData(DATA_START_BLOCK, src)) goto fail;
// wait for flash programming to complete // wait for flash programming to complete
if (!waitNotBusy(SD_WRITE_TIMEOUT)) { if (!waitNotBusy(SD_WRITE_TIMEOUT)) {
error(SD_CARD_ERROR_WRITE_TIMEOUT); error(SD_CARD_ERROR_WRITE_TIMEOUT);
goto fail; goto fail;
} }
// response is r2 so get and check two bytes for nonzero // response is r2 so get and check two bytes for nonzero
if (cardCommand(CMD13, 0) || spiRec()) { if (cardCommand(CMD13, 0) || spiRec()) {
error(SD_CARD_ERROR_WRITE_PROGRAMMING); error(SD_CARD_ERROR_WRITE_PROGRAMMING);
goto fail; goto fail;
} }
chipSelectHigh(); chipSelectHigh();
return true; return true;
fail: fail:
chipSelectHigh(); chipSelectHigh();
return false; return false;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Write one data block in a multiple block write sequence */ /** Write one data block in a multiple block write sequence */
uint8_t Sd2Card::writeData(const uint8_t* src) { uint8_t Sd2Card::writeData(const uint8_t* src) {
// wait for previous write to finish // wait for previous write to finish
if (!waitNotBusy(SD_WRITE_TIMEOUT)) { if (!waitNotBusy(SD_WRITE_TIMEOUT)) {
error(SD_CARD_ERROR_WRITE_MULTIPLE); error(SD_CARD_ERROR_WRITE_MULTIPLE);
chipSelectHigh(); chipSelectHigh();
return false; return false;
} }
return writeData(WRITE_MULTIPLE_TOKEN, src); return writeData(WRITE_MULTIPLE_TOKEN, src);
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// send one block of data for write block or write multiple blocks // send one block of data for write block or write multiple blocks
uint8_t Sd2Card::writeData(uint8_t token, const uint8_t* src) { uint8_t Sd2Card::writeData(uint8_t token, const uint8_t* src) {
#ifdef OPTIMIZE_HARDWARE_SPI #ifdef OPTIMIZE_HARDWARE_SPI
// send data - optimized loop // send data - optimized loop
SPDR = token; SPDR = token;
// send two byte per iteration // send two byte per iteration
for (uint16_t i = 0; i < 512; i += 2) { for (uint16_t i = 0; i < 512; i += 2) {
while (!(SPSR & (1 << SPIF))); while (!(SPSR & (1 << SPIF)));
SPDR = src[i]; SPDR = src[i];
while (!(SPSR & (1 << SPIF))); while (!(SPSR & (1 << SPIF)));
SPDR = src[i+1]; SPDR = src[i+1];
} }
// wait for last data byte // wait for last data byte
while (!(SPSR & (1 << SPIF))); while (!(SPSR & (1 << SPIF)));
#else // OPTIMIZE_HARDWARE_SPI #else // OPTIMIZE_HARDWARE_SPI
spiSend(token); spiSend(token);
for (uint16_t i = 0; i < 512; i++) { for (uint16_t i = 0; i < 512; i++) {
spiSend(src[i]); spiSend(src[i]);
} }
#endif // OPTIMIZE_HARDWARE_SPI #endif // OPTIMIZE_HARDWARE_SPI
spiSend(0xff); // dummy crc spiSend(0xff); // dummy crc
spiSend(0xff); // dummy crc spiSend(0xff); // dummy crc
status_ = spiRec(); status_ = spiRec();
if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) { if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) {
error(SD_CARD_ERROR_WRITE); error(SD_CARD_ERROR_WRITE);
chipSelectHigh(); chipSelectHigh();
return false; return false;
} }
return true; return true;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Start a write multiple blocks sequence. /** Start a write multiple blocks sequence.
* *
* \param[in] blockNumber Address of first block in sequence. * \param[in] blockNumber Address of first block in sequence.
* \param[in] eraseCount The number of blocks to be pre-erased. * \param[in] eraseCount The number of blocks to be pre-erased.
* *
* \note This function is used with writeData() and writeStop() * \note This function is used with writeData() and writeStop()
* for optimized multiple block writes. * for optimized multiple block writes.
* *
* \return The value one, true, is returned for success and * \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. * the value zero, false, is returned for failure.
*/ */
uint8_t Sd2Card::writeStart(uint32_t blockNumber, uint32_t eraseCount) { uint8_t Sd2Card::writeStart(uint32_t blockNumber, uint32_t eraseCount) {
#if SD_PROTECT_BLOCK_ZERO #if SD_PROTECT_BLOCK_ZERO
// don't allow write to first block // don't allow write to first block
if (blockNumber == 0) { if (blockNumber == 0) {
error(SD_CARD_ERROR_WRITE_BLOCK_ZERO); error(SD_CARD_ERROR_WRITE_BLOCK_ZERO);
goto fail; goto fail;
} }
#endif // SD_PROTECT_BLOCK_ZERO #endif // SD_PROTECT_BLOCK_ZERO
// send pre-erase count // send pre-erase count
if (cardAcmd(ACMD23, eraseCount)) { if (cardAcmd(ACMD23, eraseCount)) {
error(SD_CARD_ERROR_ACMD23); error(SD_CARD_ERROR_ACMD23);
goto fail; goto fail;
} }
// use address if not SDHC card // use address if not SDHC card
if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9; if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;
if (cardCommand(CMD25, blockNumber)) { if (cardCommand(CMD25, blockNumber)) {
error(SD_CARD_ERROR_CMD25); error(SD_CARD_ERROR_CMD25);
goto fail; goto fail;
} }
return true; return true;
fail: fail:
chipSelectHigh(); chipSelectHigh();
return false; return false;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** End a write multiple blocks sequence. /** End a write multiple blocks sequence.
* *
* \return The value one, true, is returned for success and * \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. * the value zero, false, is returned for failure.
*/ */
uint8_t Sd2Card::writeStop(void) { uint8_t Sd2Card::writeStop(void) {
if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail; if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
spiSend(STOP_TRAN_TOKEN); spiSend(STOP_TRAN_TOKEN);
if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail; if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
chipSelectHigh(); chipSelectHigh();
return true; return true;
fail: fail:
error(SD_CARD_ERROR_STOP_TRAN); error(SD_CARD_ERROR_STOP_TRAN);
chipSelectHigh(); chipSelectHigh();
return false; return false;
} }

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/* Arduino Sd2Card Library /* Arduino Sd2Card Library
* Copyright (C) 2009 by William Greiman * Copyright (C) 2009 by William Greiman
* *
* This file is part of the Arduino Sd2Card Library * This file is part of the Arduino Sd2Card Library
* *
* This Library is free software: you can redistribute it and/or modify * This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This Library is distributed in the hope that it will be useful, * This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with the Arduino Sd2Card Library. If not, see * along with the Arduino Sd2Card Library. If not, see
* <http://www.gnu.org/licenses/>. * <http://www.gnu.org/licenses/>.
*/ */
#ifndef Sd2Card_h #ifndef Sd2Card_h
#define Sd2Card_h #define Sd2Card_h
/** /**
* \file * \file
* Sd2Card class * Sd2Card class
*/ */
#include "Sd2PinMap.h" #include "Sd2PinMap.h"
#include "SdInfo.h" #include "SdInfo.h"
/** Set SCK to max rate of F_CPU/2. See Sd2Card::setSckRate(). */ /** Set SCK to max rate of F_CPU/2. See Sd2Card::setSckRate(). */
uint8_t const SPI_FULL_SPEED = 0; uint8_t const SPI_FULL_SPEED = 0;
/** Set SCK rate to F_CPU/4. See Sd2Card::setSckRate(). */ /** Set SCK rate to F_CPU/4. See Sd2Card::setSckRate(). */
uint8_t const SPI_HALF_SPEED = 1; uint8_t const SPI_HALF_SPEED = 1;
/** Set SCK rate to F_CPU/8. Sd2Card::setSckRate(). */ /** Set SCK rate to F_CPU/8. Sd2Card::setSckRate(). */
uint8_t const SPI_QUARTER_SPEED = 2; uint8_t const SPI_QUARTER_SPEED = 2;
/** /**
* Define MEGA_SOFT_SPI non-zero to use software SPI on Mega Arduinos. * Define MEGA_SOFT_SPI non-zero to use software SPI on Mega Arduinos.
* Pins used are SS 10, MOSI 11, MISO 12, and SCK 13. * Pins used are SS 10, MOSI 11, MISO 12, and SCK 13.
* *
* MEGA_SOFT_SPI allows an unmodified Adafruit GPS Shield to be used * MEGA_SOFT_SPI allows an unmodified Adafruit GPS Shield to be used
* on Mega Arduinos. Software SPI works well with GPS Shield V1.1 * on Mega Arduinos. Software SPI works well with GPS Shield V1.1
* but many SD cards will fail with GPS Shield V1.0. * but many SD cards will fail with GPS Shield V1.0.
*/ */
#define MEGA_SOFT_SPI 0 #define MEGA_SOFT_SPI 0
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#if MEGA_SOFT_SPI && (defined(__AVR_ATmega1280__)||defined(__AVR_ATmega2560__)) #if MEGA_SOFT_SPI && (defined(__AVR_ATmega1280__)||defined(__AVR_ATmega2560__))
#define SOFTWARE_SPI #define SOFTWARE_SPI
#endif // MEGA_SOFT_SPI #endif // MEGA_SOFT_SPI
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// SPI pin definitions // SPI pin definitions
// //
#ifndef SOFTWARE_SPI #ifndef SOFTWARE_SPI
// hardware pin defs // hardware pin defs
/** /**
* SD Chip Select pin * SD Chip Select pin
* *
* Warning if this pin is redefined the hardware SS will pin will be enabled * Warning if this pin is redefined the hardware SS will pin will be enabled
* as an output by init(). An avr processor will not function as an SPI * as an output by init(). An avr processor will not function as an SPI
* master unless SS is set to output mode. * master unless SS is set to output mode.
*/ */
/** The default chip select pin for the SD card is SS. */ /** The default chip select pin for the SD card is SS. */
uint8_t const SD_CHIP_SELECT_PIN = SS_PIN; uint8_t const SD_CHIP_SELECT_PIN = SS_PIN;
// The following three pins must not be redefined for hardware SPI. // The following three pins must not be redefined for hardware SPI.
/** SPI Master Out Slave In pin */ /** SPI Master Out Slave In pin */
uint8_t const SPI_MOSI_PIN = MOSI_PIN; uint8_t const SPI_MOSI_PIN = MOSI_PIN;
/** SPI Master In Slave Out pin */ /** SPI Master In Slave Out pin */
uint8_t const SPI_MISO_PIN = MISO_PIN; uint8_t const SPI_MISO_PIN = MISO_PIN;
/** SPI Clock pin */ /** SPI Clock pin */
uint8_t const SPI_SCK_PIN = SCK_PIN; uint8_t const SPI_SCK_PIN = SCK_PIN;
/** optimize loops for hardware SPI */ /** optimize loops for hardware SPI */
#define OPTIMIZE_HARDWARE_SPI #define OPTIMIZE_HARDWARE_SPI
#else // SOFTWARE_SPI #else // SOFTWARE_SPI
// define software SPI pins so Mega can use unmodified GPS Shield // define software SPI pins so Mega can use unmodified GPS Shield
/** SPI chip select pin */ /** SPI chip select pin */
uint8_t const SD_CHIP_SELECT_PIN = 10; uint8_t const SD_CHIP_SELECT_PIN = 10;
/** SPI Master Out Slave In pin */ /** SPI Master Out Slave In pin */
uint8_t const SPI_MOSI_PIN = 11; uint8_t const SPI_MOSI_PIN = 11;
/** SPI Master In Slave Out pin */ /** SPI Master In Slave Out pin */
uint8_t const SPI_MISO_PIN = 12; uint8_t const SPI_MISO_PIN = 12;
/** SPI Clock pin */ /** SPI Clock pin */
uint8_t const SPI_SCK_PIN = 13; uint8_t const SPI_SCK_PIN = 13;
#endif // SOFTWARE_SPI #endif // SOFTWARE_SPI
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Protect block zero from write if nonzero */ /** Protect block zero from write if nonzero */
#define SD_PROTECT_BLOCK_ZERO 1 #define SD_PROTECT_BLOCK_ZERO 1
/** init timeout ms */ /** init timeout ms */
uint16_t const SD_INIT_TIMEOUT = 2000; uint16_t const SD_INIT_TIMEOUT = 2000;
/** erase timeout ms */ /** erase timeout ms */
uint16_t const SD_ERASE_TIMEOUT = 10000; uint16_t const SD_ERASE_TIMEOUT = 10000;
/** read timeout ms */ /** read timeout ms */
uint16_t const SD_READ_TIMEOUT = 300; uint16_t const SD_READ_TIMEOUT = 300;
/** write time out ms */ /** write time out ms */
uint16_t const SD_WRITE_TIMEOUT = 600; uint16_t const SD_WRITE_TIMEOUT = 600;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// SD card errors // SD card errors
/** timeout error for command CMD0 */ /** timeout error for command CMD0 */
uint8_t const SD_CARD_ERROR_CMD0 = 0X1; uint8_t const SD_CARD_ERROR_CMD0 = 0X1;
/** CMD8 was not accepted - not a valid SD card*/ /** CMD8 was not accepted - not a valid SD card*/
uint8_t const SD_CARD_ERROR_CMD8 = 0X2; uint8_t const SD_CARD_ERROR_CMD8 = 0X2;
/** card returned an error response for CMD17 (read block) */ /** card returned an error response for CMD17 (read block) */
uint8_t const SD_CARD_ERROR_CMD17 = 0X3; uint8_t const SD_CARD_ERROR_CMD17 = 0X3;
/** card returned an error response for CMD24 (write block) */ /** card returned an error response for CMD24 (write block) */
uint8_t const SD_CARD_ERROR_CMD24 = 0X4; uint8_t const SD_CARD_ERROR_CMD24 = 0X4;
/** WRITE_MULTIPLE_BLOCKS command failed */ /** WRITE_MULTIPLE_BLOCKS command failed */
uint8_t const SD_CARD_ERROR_CMD25 = 0X05; uint8_t const SD_CARD_ERROR_CMD25 = 0X05;
/** card returned an error response for CMD58 (read OCR) */ /** card returned an error response for CMD58 (read OCR) */
uint8_t const SD_CARD_ERROR_CMD58 = 0X06; uint8_t const SD_CARD_ERROR_CMD58 = 0X06;
/** SET_WR_BLK_ERASE_COUNT failed */ /** SET_WR_BLK_ERASE_COUNT failed */
uint8_t const SD_CARD_ERROR_ACMD23 = 0X07; uint8_t const SD_CARD_ERROR_ACMD23 = 0X07;
/** card's ACMD41 initialization process timeout */ /** card's ACMD41 initialization process timeout */
uint8_t const SD_CARD_ERROR_ACMD41 = 0X08; uint8_t const SD_CARD_ERROR_ACMD41 = 0X08;
/** card returned a bad CSR version field */ /** card returned a bad CSR version field */
uint8_t const SD_CARD_ERROR_BAD_CSD = 0X09; uint8_t const SD_CARD_ERROR_BAD_CSD = 0X09;
/** erase block group command failed */ /** erase block group command failed */
uint8_t const SD_CARD_ERROR_ERASE = 0X0A; uint8_t const SD_CARD_ERROR_ERASE = 0X0A;
/** card not capable of single block erase */ /** card not capable of single block erase */
uint8_t const SD_CARD_ERROR_ERASE_SINGLE_BLOCK = 0X0B; uint8_t const SD_CARD_ERROR_ERASE_SINGLE_BLOCK = 0X0B;
/** Erase sequence timed out */ /** Erase sequence timed out */
uint8_t const SD_CARD_ERROR_ERASE_TIMEOUT = 0X0C; uint8_t const SD_CARD_ERROR_ERASE_TIMEOUT = 0X0C;
/** card returned an error token instead of read data */ /** card returned an error token instead of read data */
uint8_t const SD_CARD_ERROR_READ = 0X0D; uint8_t const SD_CARD_ERROR_READ = 0X0D;
/** read CID or CSD failed */ /** read CID or CSD failed */
uint8_t const SD_CARD_ERROR_READ_REG = 0X0E; uint8_t const SD_CARD_ERROR_READ_REG = 0X0E;
/** timeout while waiting for start of read data */ /** timeout while waiting for start of read data */
uint8_t const SD_CARD_ERROR_READ_TIMEOUT = 0X0F; uint8_t const SD_CARD_ERROR_READ_TIMEOUT = 0X0F;
/** card did not accept STOP_TRAN_TOKEN */ /** card did not accept STOP_TRAN_TOKEN */
uint8_t const SD_CARD_ERROR_STOP_TRAN = 0X10; uint8_t const SD_CARD_ERROR_STOP_TRAN = 0X10;
/** card returned an error token as a response to a write operation */ /** card returned an error token as a response to a write operation */
uint8_t const SD_CARD_ERROR_WRITE = 0X11; uint8_t const SD_CARD_ERROR_WRITE = 0X11;
/** attempt to write protected block zero */ /** attempt to write protected block zero */
uint8_t const SD_CARD_ERROR_WRITE_BLOCK_ZERO = 0X12; uint8_t const SD_CARD_ERROR_WRITE_BLOCK_ZERO = 0X12;
/** card did not go ready for a multiple block write */ /** card did not go ready for a multiple block write */
uint8_t const SD_CARD_ERROR_WRITE_MULTIPLE = 0X13; uint8_t const SD_CARD_ERROR_WRITE_MULTIPLE = 0X13;
/** card returned an error to a CMD13 status check after a write */ /** card returned an error to a CMD13 status check after a write */
uint8_t const SD_CARD_ERROR_WRITE_PROGRAMMING = 0X14; uint8_t const SD_CARD_ERROR_WRITE_PROGRAMMING = 0X14;
/** timeout occurred during write programming */ /** timeout occurred during write programming */
uint8_t const SD_CARD_ERROR_WRITE_TIMEOUT = 0X15; uint8_t const SD_CARD_ERROR_WRITE_TIMEOUT = 0X15;
/** incorrect rate selected */ /** incorrect rate selected */
uint8_t const SD_CARD_ERROR_SCK_RATE = 0X16; uint8_t const SD_CARD_ERROR_SCK_RATE = 0X16;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// card types // card types
/** Standard capacity V1 SD card */ /** Standard capacity V1 SD card */
uint8_t const SD_CARD_TYPE_SD1 = 1; uint8_t const SD_CARD_TYPE_SD1 = 1;
/** Standard capacity V2 SD card */ /** Standard capacity V2 SD card */
uint8_t const SD_CARD_TYPE_SD2 = 2; uint8_t const SD_CARD_TYPE_SD2 = 2;
/** High Capacity SD card */ /** High Capacity SD card */
uint8_t const SD_CARD_TYPE_SDHC = 3; uint8_t const SD_CARD_TYPE_SDHC = 3;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* \class Sd2Card * \class Sd2Card
* \brief Raw access to SD and SDHC flash memory cards. * \brief Raw access to SD and SDHC flash memory cards.
*/ */
class Sd2Card { class Sd2Card {
public: public:
/** Construct an instance of Sd2Card. */ /** Construct an instance of Sd2Card. */
Sd2Card(void) : errorCode_(0), inBlock_(0), partialBlockRead_(0), type_(0) {} Sd2Card(void) : errorCode_(0), inBlock_(0), partialBlockRead_(0), type_(0) {}
uint32_t cardSize(void); uint32_t cardSize(void);
uint8_t erase(uint32_t firstBlock, uint32_t lastBlock); uint8_t erase(uint32_t firstBlock, uint32_t lastBlock);
uint8_t eraseSingleBlockEnable(void); uint8_t eraseSingleBlockEnable(void);
/** /**
* \return error code for last error. See Sd2Card.h for a list of error codes. * \return error code for last error. See Sd2Card.h for a list of error codes.
*/ */
uint8_t errorCode(void) const {return errorCode_;} uint8_t errorCode(void) const {return errorCode_;}
/** \return error data for last error. */ /** \return error data for last error. */
uint8_t errorData(void) const {return status_;} uint8_t errorData(void) const {return status_;}
/** /**
* Initialize an SD flash memory card with default clock rate and chip * Initialize an SD flash memory card with default clock rate and chip
* select pin. See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin). * select pin. See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin).
*/ */
uint8_t init(void) { uint8_t init(void) {
return init(SPI_FULL_SPEED, SD_CHIP_SELECT_PIN); return init(SPI_FULL_SPEED, SD_CHIP_SELECT_PIN);
} }
/** /**
* Initialize an SD flash memory card with the selected SPI clock rate * Initialize an SD flash memory card with the selected SPI clock rate
* and the default SD chip select pin. * and the default SD chip select pin.
* See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin). * See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin).
*/ */
uint8_t init(uint8_t sckRateID) { uint8_t init(uint8_t sckRateID) {
return init(sckRateID, SD_CHIP_SELECT_PIN); return init(sckRateID, SD_CHIP_SELECT_PIN);
} }
uint8_t init(uint8_t sckRateID, uint8_t chipSelectPin); uint8_t init(uint8_t sckRateID, uint8_t chipSelectPin);
void partialBlockRead(uint8_t value); void partialBlockRead(uint8_t value);
/** Returns the current value, true or false, for partial block read. */ /** Returns the current value, true or false, for partial block read. */
uint8_t partialBlockRead(void) const {return partialBlockRead_;} uint8_t partialBlockRead(void) const {return partialBlockRead_;}
uint8_t readBlock(uint32_t block, uint8_t* dst); uint8_t readBlock(uint32_t block, uint8_t* dst);
uint8_t readData(uint32_t block, uint8_t readData(uint32_t block,
uint16_t offset, uint16_t count, uint8_t* dst); uint16_t offset, uint16_t count, uint8_t* dst);
/** /**
* Read a cards CID register. The CID contains card identification * Read a cards CID register. The CID contains card identification
* information such as Manufacturer ID, Product name, Product serial * information such as Manufacturer ID, Product name, Product serial
* number and Manufacturing date. */ * number and Manufacturing date. */
uint8_t readCID(cid_t* cid) { uint8_t readCID(cid_t* cid) {
return readRegister(CMD10, cid); return readRegister(CMD10, cid);
} }
/** /**
* Read a cards CSD register. The CSD contains Card-Specific Data that * Read a cards CSD register. The CSD contains Card-Specific Data that
* provides information regarding access to the card's contents. */ * provides information regarding access to the card's contents. */
uint8_t readCSD(csd_t* csd) { uint8_t readCSD(csd_t* csd) {
return readRegister(CMD9, csd); return readRegister(CMD9, csd);
} }
void readEnd(void); void readEnd(void);
uint8_t setSckRate(uint8_t sckRateID); uint8_t setSckRate(uint8_t sckRateID);
/** Return the card type: SD V1, SD V2 or SDHC */ /** Return the card type: SD V1, SD V2 or SDHC */
uint8_t type(void) const {return type_;} uint8_t type(void) const {return type_;}
uint8_t writeBlock(uint32_t blockNumber, const uint8_t* src); uint8_t writeBlock(uint32_t blockNumber, const uint8_t* src);
uint8_t writeData(const uint8_t* src); uint8_t writeData(const uint8_t* src);
uint8_t writeStart(uint32_t blockNumber, uint32_t eraseCount); uint8_t writeStart(uint32_t blockNumber, uint32_t eraseCount);
uint8_t writeStop(void); uint8_t writeStop(void);
private: private:
uint32_t block_; uint32_t block_;
uint8_t chipSelectPin_; uint8_t chipSelectPin_;
uint8_t errorCode_; uint8_t errorCode_;
uint8_t inBlock_; uint8_t inBlock_;
uint16_t offset_; uint16_t offset_;
uint8_t partialBlockRead_; uint8_t partialBlockRead_;
uint8_t status_; uint8_t status_;
uint8_t type_; uint8_t type_;
// private functions // private functions
uint8_t cardAcmd(uint8_t cmd, uint32_t arg) { uint8_t cardAcmd(uint8_t cmd, uint32_t arg) {
cardCommand(CMD55, 0); cardCommand(CMD55, 0);
return cardCommand(cmd, arg); return cardCommand(cmd, arg);
} }
uint8_t cardCommand(uint8_t cmd, uint32_t arg); uint8_t cardCommand(uint8_t cmd, uint32_t arg);
void error(uint8_t code) {errorCode_ = code;} void error(uint8_t code) {errorCode_ = code;}
uint8_t readRegister(uint8_t cmd, void* buf); uint8_t readRegister(uint8_t cmd, void* buf);
uint8_t sendWriteCommand(uint32_t blockNumber, uint32_t eraseCount); uint8_t sendWriteCommand(uint32_t blockNumber, uint32_t eraseCount);
void chipSelectHigh(void); void chipSelectHigh(void);
void chipSelectLow(void); void chipSelectLow(void);
void type(uint8_t value) {type_ = value;} void type(uint8_t value) {type_ = value;}
uint8_t waitNotBusy(uint16_t timeoutMillis); uint8_t waitNotBusy(uint16_t timeoutMillis);
uint8_t writeData(uint8_t token, const uint8_t* src); uint8_t writeData(uint8_t token, const uint8_t* src);
uint8_t waitStartBlock(void); uint8_t waitStartBlock(void);
}; };
#endif // Sd2Card_h #endif // Sd2Card_h

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/* Arduino SdFat Library /* Arduino SdFat Library
* Copyright (C) 2010 by William Greiman * Copyright (C) 2010 by William Greiman
* *
* This file is part of the Arduino SdFat Library * This file is part of the Arduino SdFat Library
* *
* This Library is free software: you can redistribute it and/or modify * This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This Library is distributed in the hope that it will be useful, * This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see * along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>. * <http://www.gnu.org/licenses/>.
*/ */
// Warning this file was generated by a program. // Warning this file was generated by a program.
#ifndef Sd2PinMap_h #ifndef Sd2PinMap_h
#define Sd2PinMap_h #define Sd2PinMap_h
#include <avr/io.h> #include <avr/io.h>
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** struct for mapping digital pins */ /** struct for mapping digital pins */
struct pin_map_t { struct pin_map_t {
volatile uint8_t* ddr; volatile uint8_t* ddr;
volatile uint8_t* pin; volatile uint8_t* pin;
volatile uint8_t* port; volatile uint8_t* port;
uint8_t bit; uint8_t bit;
}; };
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// Mega // Mega
// Two Wire (aka I2C) ports // Two Wire (aka I2C) ports
uint8_t const SDA_PIN = 20; uint8_t const SDA_PIN = 20;
uint8_t const SCL_PIN = 21; uint8_t const SCL_PIN = 21;
// SPI port // SPI port
uint8_t const SS_PIN = 53; uint8_t const SS_PIN = 53;
uint8_t const MOSI_PIN = 51; uint8_t const MOSI_PIN = 51;
uint8_t const MISO_PIN = 50; uint8_t const MISO_PIN = 50;
uint8_t const SCK_PIN = 52; uint8_t const SCK_PIN = 52;
static const pin_map_t digitalPinMap[] = { static const pin_map_t digitalPinMap[] = {
{&DDRE, &PINE, &PORTE, 0}, // E0 0 {&DDRE, &PINE, &PORTE, 0}, // E0 0
{&DDRE, &PINE, &PORTE, 1}, // E1 1 {&DDRE, &PINE, &PORTE, 1}, // E1 1
{&DDRE, &PINE, &PORTE, 4}, // E4 2 {&DDRE, &PINE, &PORTE, 4}, // E4 2
{&DDRE, &PINE, &PORTE, 5}, // E5 3 {&DDRE, &PINE, &PORTE, 5}, // E5 3
{&DDRG, &PING, &PORTG, 5}, // G5 4 {&DDRG, &PING, &PORTG, 5}, // G5 4
{&DDRE, &PINE, &PORTE, 3}, // E3 5 {&DDRE, &PINE, &PORTE, 3}, // E3 5
{&DDRH, &PINH, &PORTH, 3}, // H3 6 {&DDRH, &PINH, &PORTH, 3}, // H3 6
{&DDRH, &PINH, &PORTH, 4}, // H4 7 {&DDRH, &PINH, &PORTH, 4}, // H4 7
{&DDRH, &PINH, &PORTH, 5}, // H5 8 {&DDRH, &PINH, &PORTH, 5}, // H5 8
{&DDRH, &PINH, &PORTH, 6}, // H6 9 {&DDRH, &PINH, &PORTH, 6}, // H6 9
{&DDRB, &PINB, &PORTB, 4}, // B4 10 {&DDRB, &PINB, &PORTB, 4}, // B4 10
{&DDRB, &PINB, &PORTB, 5}, // B5 11 {&DDRB, &PINB, &PORTB, 5}, // B5 11
{&DDRB, &PINB, &PORTB, 6}, // B6 12 {&DDRB, &PINB, &PORTB, 6}, // B6 12
{&DDRB, &PINB, &PORTB, 7}, // B7 13 {&DDRB, &PINB, &PORTB, 7}, // B7 13
{&DDRJ, &PINJ, &PORTJ, 1}, // J1 14 {&DDRJ, &PINJ, &PORTJ, 1}, // J1 14
{&DDRJ, &PINJ, &PORTJ, 0}, // J0 15 {&DDRJ, &PINJ, &PORTJ, 0}, // J0 15
{&DDRH, &PINH, &PORTH, 1}, // H1 16 {&DDRH, &PINH, &PORTH, 1}, // H1 16
{&DDRH, &PINH, &PORTH, 0}, // H0 17 {&DDRH, &PINH, &PORTH, 0}, // H0 17
{&DDRD, &PIND, &PORTD, 3}, // D3 18 {&DDRD, &PIND, &PORTD, 3}, // D3 18
{&DDRD, &PIND, &PORTD, 2}, // D2 19 {&DDRD, &PIND, &PORTD, 2}, // D2 19
{&DDRD, &PIND, &PORTD, 1}, // D1 20 {&DDRD, &PIND, &PORTD, 1}, // D1 20
{&DDRD, &PIND, &PORTD, 0}, // D0 21 {&DDRD, &PIND, &PORTD, 0}, // D0 21
{&DDRA, &PINA, &PORTA, 0}, // A0 22 {&DDRA, &PINA, &PORTA, 0}, // A0 22
{&DDRA, &PINA, &PORTA, 1}, // A1 23 {&DDRA, &PINA, &PORTA, 1}, // A1 23
{&DDRA, &PINA, &PORTA, 2}, // A2 24 {&DDRA, &PINA, &PORTA, 2}, // A2 24
{&DDRA, &PINA, &PORTA, 3}, // A3 25 {&DDRA, &PINA, &PORTA, 3}, // A3 25
{&DDRA, &PINA, &PORTA, 4}, // A4 26 {&DDRA, &PINA, &PORTA, 4}, // A4 26
{&DDRA, &PINA, &PORTA, 5}, // A5 27 {&DDRA, &PINA, &PORTA, 5}, // A5 27
{&DDRA, &PINA, &PORTA, 6}, // A6 28 {&DDRA, &PINA, &PORTA, 6}, // A6 28
{&DDRA, &PINA, &PORTA, 7}, // A7 29 {&DDRA, &PINA, &PORTA, 7}, // A7 29
{&DDRC, &PINC, &PORTC, 7}, // C7 30 {&DDRC, &PINC, &PORTC, 7}, // C7 30
{&DDRC, &PINC, &PORTC, 6}, // C6 31 {&DDRC, &PINC, &PORTC, 6}, // C6 31
{&DDRC, &PINC, &PORTC, 5}, // C5 32 {&DDRC, &PINC, &PORTC, 5}, // C5 32
{&DDRC, &PINC, &PORTC, 4}, // C4 33 {&DDRC, &PINC, &PORTC, 4}, // C4 33
{&DDRC, &PINC, &PORTC, 3}, // C3 34 {&DDRC, &PINC, &PORTC, 3}, // C3 34
{&DDRC, &PINC, &PORTC, 2}, // C2 35 {&DDRC, &PINC, &PORTC, 2}, // C2 35
{&DDRC, &PINC, &PORTC, 1}, // C1 36 {&DDRC, &PINC, &PORTC, 1}, // C1 36
{&DDRC, &PINC, &PORTC, 0}, // C0 37 {&DDRC, &PINC, &PORTC, 0}, // C0 37
{&DDRD, &PIND, &PORTD, 7}, // D7 38 {&DDRD, &PIND, &PORTD, 7}, // D7 38
{&DDRG, &PING, &PORTG, 2}, // G2 39 {&DDRG, &PING, &PORTG, 2}, // G2 39
{&DDRG, &PING, &PORTG, 1}, // G1 40 {&DDRG, &PING, &PORTG, 1}, // G1 40
{&DDRG, &PING, &PORTG, 0}, // G0 41 {&DDRG, &PING, &PORTG, 0}, // G0 41
{&DDRL, &PINL, &PORTL, 7}, // L7 42 {&DDRL, &PINL, &PORTL, 7}, // L7 42
{&DDRL, &PINL, &PORTL, 6}, // L6 43 {&DDRL, &PINL, &PORTL, 6}, // L6 43
{&DDRL, &PINL, &PORTL, 5}, // L5 44 {&DDRL, &PINL, &PORTL, 5}, // L5 44
{&DDRL, &PINL, &PORTL, 4}, // L4 45 {&DDRL, &PINL, &PORTL, 4}, // L4 45
{&DDRL, &PINL, &PORTL, 3}, // L3 46 {&DDRL, &PINL, &PORTL, 3}, // L3 46
{&DDRL, &PINL, &PORTL, 2}, // L2 47 {&DDRL, &PINL, &PORTL, 2}, // L2 47
{&DDRL, &PINL, &PORTL, 1}, // L1 48 {&DDRL, &PINL, &PORTL, 1}, // L1 48
{&DDRL, &PINL, &PORTL, 0}, // L0 49 {&DDRL, &PINL, &PORTL, 0}, // L0 49
{&DDRB, &PINB, &PORTB, 3}, // B3 50 {&DDRB, &PINB, &PORTB, 3}, // B3 50
{&DDRB, &PINB, &PORTB, 2}, // B2 51 {&DDRB, &PINB, &PORTB, 2}, // B2 51
{&DDRB, &PINB, &PORTB, 1}, // B1 52 {&DDRB, &PINB, &PORTB, 1}, // B1 52
{&DDRB, &PINB, &PORTB, 0}, // B0 53 {&DDRB, &PINB, &PORTB, 0}, // B0 53
{&DDRF, &PINF, &PORTF, 0}, // F0 54 {&DDRF, &PINF, &PORTF, 0}, // F0 54
{&DDRF, &PINF, &PORTF, 1}, // F1 55 {&DDRF, &PINF, &PORTF, 1}, // F1 55
{&DDRF, &PINF, &PORTF, 2}, // F2 56 {&DDRF, &PINF, &PORTF, 2}, // F2 56
{&DDRF, &PINF, &PORTF, 3}, // F3 57 {&DDRF, &PINF, &PORTF, 3}, // F3 57
{&DDRF, &PINF, &PORTF, 4}, // F4 58 {&DDRF, &PINF, &PORTF, 4}, // F4 58
{&DDRF, &PINF, &PORTF, 5}, // F5 59 {&DDRF, &PINF, &PORTF, 5}, // F5 59
{&DDRF, &PINF, &PORTF, 6}, // F6 60 {&DDRF, &PINF, &PORTF, 6}, // F6 60
{&DDRF, &PINF, &PORTF, 7}, // F7 61 {&DDRF, &PINF, &PORTF, 7}, // F7 61
{&DDRK, &PINK, &PORTK, 0}, // K0 62 {&DDRK, &PINK, &PORTK, 0}, // K0 62
{&DDRK, &PINK, &PORTK, 1}, // K1 63 {&DDRK, &PINK, &PORTK, 1}, // K1 63
{&DDRK, &PINK, &PORTK, 2}, // K2 64 {&DDRK, &PINK, &PORTK, 2}, // K2 64
{&DDRK, &PINK, &PORTK, 3}, // K3 65 {&DDRK, &PINK, &PORTK, 3}, // K3 65
{&DDRK, &PINK, &PORTK, 4}, // K4 66 {&DDRK, &PINK, &PORTK, 4}, // K4 66
{&DDRK, &PINK, &PORTK, 5}, // K5 67 {&DDRK, &PINK, &PORTK, 5}, // K5 67
{&DDRK, &PINK, &PORTK, 6}, // K6 68 {&DDRK, &PINK, &PORTK, 6}, // K6 68
{&DDRK, &PINK, &PORTK, 7} // K7 69 {&DDRK, &PINK, &PORTK, 7} // K7 69
}; };
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
// Sanguino // Sanguino
// Two Wire (aka I2C) ports // Two Wire (aka I2C) ports
uint8_t const SDA_PIN = 17; uint8_t const SDA_PIN = 17;
uint8_t const SCL_PIN = 18; uint8_t const SCL_PIN = 18;
// SPI port // SPI port
uint8_t const SS_PIN = 4; uint8_t const SS_PIN = 4;
uint8_t const MOSI_PIN = 5; uint8_t const MOSI_PIN = 5;
uint8_t const MISO_PIN = 6; uint8_t const MISO_PIN = 6;
uint8_t const SCK_PIN = 7; uint8_t const SCK_PIN = 7;
static const pin_map_t digitalPinMap[] = { static const pin_map_t digitalPinMap[] = {
{&DDRB, &PINB, &PORTB, 0}, // B0 0 {&DDRB, &PINB, &PORTB, 0}, // B0 0
{&DDRB, &PINB, &PORTB, 1}, // B1 1 {&DDRB, &PINB, &PORTB, 1}, // B1 1
{&DDRB, &PINB, &PORTB, 2}, // B2 2 {&DDRB, &PINB, &PORTB, 2}, // B2 2
{&DDRB, &PINB, &PORTB, 3}, // B3 3 {&DDRB, &PINB, &PORTB, 3}, // B3 3
{&DDRB, &PINB, &PORTB, 4}, // B4 4 {&DDRB, &PINB, &PORTB, 4}, // B4 4
{&DDRB, &PINB, &PORTB, 5}, // B5 5 {&DDRB, &PINB, &PORTB, 5}, // B5 5
{&DDRB, &PINB, &PORTB, 6}, // B6 6 {&DDRB, &PINB, &PORTB, 6}, // B6 6
{&DDRB, &PINB, &PORTB, 7}, // B7 7 {&DDRB, &PINB, &PORTB, 7}, // B7 7
{&DDRD, &PIND, &PORTD, 0}, // D0 8 {&DDRD, &PIND, &PORTD, 0}, // D0 8
{&DDRD, &PIND, &PORTD, 1}, // D1 9 {&DDRD, &PIND, &PORTD, 1}, // D1 9
{&DDRD, &PIND, &PORTD, 2}, // D2 10 {&DDRD, &PIND, &PORTD, 2}, // D2 10
{&DDRD, &PIND, &PORTD, 3}, // D3 11 {&DDRD, &PIND, &PORTD, 3}, // D3 11
{&DDRD, &PIND, &PORTD, 4}, // D4 12 {&DDRD, &PIND, &PORTD, 4}, // D4 12
{&DDRD, &PIND, &PORTD, 5}, // D5 13 {&DDRD, &PIND, &PORTD, 5}, // D5 13
{&DDRD, &PIND, &PORTD, 6}, // D6 14 {&DDRD, &PIND, &PORTD, 6}, // D6 14
{&DDRD, &PIND, &PORTD, 7}, // D7 15 {&DDRD, &PIND, &PORTD, 7}, // D7 15
{&DDRC, &PINC, &PORTC, 0}, // C0 16 {&DDRC, &PINC, &PORTC, 0}, // C0 16
{&DDRC, &PINC, &PORTC, 1}, // C1 17 {&DDRC, &PINC, &PORTC, 1}, // C1 17
{&DDRC, &PINC, &PORTC, 2}, // C2 18 {&DDRC, &PINC, &PORTC, 2}, // C2 18
{&DDRC, &PINC, &PORTC, 3}, // C3 19 {&DDRC, &PINC, &PORTC, 3}, // C3 19
{&DDRC, &PINC, &PORTC, 4}, // C4 20 {&DDRC, &PINC, &PORTC, 4}, // C4 20
{&DDRC, &PINC, &PORTC, 5}, // C5 21 {&DDRC, &PINC, &PORTC, 5}, // C5 21
{&DDRC, &PINC, &PORTC, 6}, // C6 22 {&DDRC, &PINC, &PORTC, 6}, // C6 22
{&DDRC, &PINC, &PORTC, 7}, // C7 23 {&DDRC, &PINC, &PORTC, 7}, // C7 23
{&DDRA, &PINA, &PORTA, 7}, // A7 24 {&DDRA, &PINA, &PORTA, 7}, // A7 24
{&DDRA, &PINA, &PORTA, 6}, // A6 25 {&DDRA, &PINA, &PORTA, 6}, // A6 25
{&DDRA, &PINA, &PORTA, 5}, // A5 26 {&DDRA, &PINA, &PORTA, 5}, // A5 26
{&DDRA, &PINA, &PORTA, 4}, // A4 27 {&DDRA, &PINA, &PORTA, 4}, // A4 27
{&DDRA, &PINA, &PORTA, 3}, // A3 28 {&DDRA, &PINA, &PORTA, 3}, // A3 28
{&DDRA, &PINA, &PORTA, 2}, // A2 29 {&DDRA, &PINA, &PORTA, 2}, // A2 29
{&DDRA, &PINA, &PORTA, 1}, // A1 30 {&DDRA, &PINA, &PORTA, 1}, // A1 30
{&DDRA, &PINA, &PORTA, 0} // A0 31 {&DDRA, &PINA, &PORTA, 0} // A0 31
}; };
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#elif defined(__AVR_ATmega32U4__) #elif defined(__AVR_ATmega32U4__)
// Teensy 2.0 // Teensy 2.0
// Two Wire (aka I2C) ports // Two Wire (aka I2C) ports
uint8_t const SDA_PIN = 6; uint8_t const SDA_PIN = 6;
uint8_t const SCL_PIN = 5; uint8_t const SCL_PIN = 5;
// SPI port // SPI port
uint8_t const SS_PIN = 0; uint8_t const SS_PIN = 0;
uint8_t const MOSI_PIN = 2; uint8_t const MOSI_PIN = 2;
uint8_t const MISO_PIN = 3; uint8_t const MISO_PIN = 3;
uint8_t const SCK_PIN = 1; uint8_t const SCK_PIN = 1;
static const pin_map_t digitalPinMap[] = { static const pin_map_t digitalPinMap[] = {
{&DDRB, &PINB, &PORTB, 0}, // B0 0 {&DDRB, &PINB, &PORTB, 0}, // B0 0
{&DDRB, &PINB, &PORTB, 1}, // B1 1 {&DDRB, &PINB, &PORTB, 1}, // B1 1
{&DDRB, &PINB, &PORTB, 2}, // B2 2 {&DDRB, &PINB, &PORTB, 2}, // B2 2
{&DDRB, &PINB, &PORTB, 3}, // B3 3 {&DDRB, &PINB, &PORTB, 3}, // B3 3
{&DDRB, &PINB, &PORTB, 7}, // B7 4 {&DDRB, &PINB, &PORTB, 7}, // B7 4
{&DDRD, &PIND, &PORTD, 0}, // D0 5 {&DDRD, &PIND, &PORTD, 0}, // D0 5
{&DDRD, &PIND, &PORTD, 1}, // D1 6 {&DDRD, &PIND, &PORTD, 1}, // D1 6
{&DDRD, &PIND, &PORTD, 2}, // D2 7 {&DDRD, &PIND, &PORTD, 2}, // D2 7
{&DDRD, &PIND, &PORTD, 3}, // D3 8 {&DDRD, &PIND, &PORTD, 3}, // D3 8
{&DDRC, &PINC, &PORTC, 6}, // C6 9 {&DDRC, &PINC, &PORTC, 6}, // C6 9
{&DDRC, &PINC, &PORTC, 7}, // C7 10 {&DDRC, &PINC, &PORTC, 7}, // C7 10
{&DDRD, &PIND, &PORTD, 6}, // D6 11 {&DDRD, &PIND, &PORTD, 6}, // D6 11
{&DDRD, &PIND, &PORTD, 7}, // D7 12 {&DDRD, &PIND, &PORTD, 7}, // D7 12
{&DDRB, &PINB, &PORTB, 4}, // B4 13 {&DDRB, &PINB, &PORTB, 4}, // B4 13
{&DDRB, &PINB, &PORTB, 5}, // B5 14 {&DDRB, &PINB, &PORTB, 5}, // B5 14
{&DDRB, &PINB, &PORTB, 6}, // B6 15 {&DDRB, &PINB, &PORTB, 6}, // B6 15
{&DDRF, &PINF, &PORTF, 7}, // F7 16 {&DDRF, &PINF, &PORTF, 7}, // F7 16
{&DDRF, &PINF, &PORTF, 6}, // F6 17 {&DDRF, &PINF, &PORTF, 6}, // F6 17
{&DDRF, &PINF, &PORTF, 5}, // F5 18 {&DDRF, &PINF, &PORTF, 5}, // F5 18
{&DDRF, &PINF, &PORTF, 4}, // F4 19 {&DDRF, &PINF, &PORTF, 4}, // F4 19
{&DDRF, &PINF, &PORTF, 1}, // F1 20 {&DDRF, &PINF, &PORTF, 1}, // F1 20
{&DDRF, &PINF, &PORTF, 0}, // F0 21 {&DDRF, &PINF, &PORTF, 0}, // F0 21
{&DDRD, &PIND, &PORTD, 4}, // D4 22 {&DDRD, &PIND, &PORTD, 4}, // D4 22
{&DDRD, &PIND, &PORTD, 5}, // D5 23 {&DDRD, &PIND, &PORTD, 5}, // D5 23
{&DDRE, &PINE, &PORTE, 6} // E6 24 {&DDRE, &PINE, &PORTE, 6} // E6 24
}; };
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) #elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
// Teensy++ 1.0 & 2.0 // Teensy++ 1.0 & 2.0
// Two Wire (aka I2C) ports // Two Wire (aka I2C) ports
uint8_t const SDA_PIN = 1; uint8_t const SDA_PIN = 1;
uint8_t const SCL_PIN = 0; uint8_t const SCL_PIN = 0;
// SPI port // SPI port
uint8_t const SS_PIN = 20; uint8_t const SS_PIN = 20;
uint8_t const MOSI_PIN = 22; uint8_t const MOSI_PIN = 22;
uint8_t const MISO_PIN = 23; uint8_t const MISO_PIN = 23;
uint8_t const SCK_PIN = 21; uint8_t const SCK_PIN = 21;
static const pin_map_t digitalPinMap[] = { static const pin_map_t digitalPinMap[] = {
{&DDRD, &PIND, &PORTD, 0}, // D0 0 {&DDRD, &PIND, &PORTD, 0}, // D0 0
{&DDRD, &PIND, &PORTD, 1}, // D1 1 {&DDRD, &PIND, &PORTD, 1}, // D1 1
{&DDRD, &PIND, &PORTD, 2}, // D2 2 {&DDRD, &PIND, &PORTD, 2}, // D2 2
{&DDRD, &PIND, &PORTD, 3}, // D3 3 {&DDRD, &PIND, &PORTD, 3}, // D3 3
{&DDRD, &PIND, &PORTD, 4}, // D4 4 {&DDRD, &PIND, &PORTD, 4}, // D4 4
{&DDRD, &PIND, &PORTD, 5}, // D5 5 {&DDRD, &PIND, &PORTD, 5}, // D5 5
{&DDRD, &PIND, &PORTD, 6}, // D6 6 {&DDRD, &PIND, &PORTD, 6}, // D6 6
{&DDRD, &PIND, &PORTD, 7}, // D7 7 {&DDRD, &PIND, &PORTD, 7}, // D7 7
{&DDRE, &PINE, &PORTE, 0}, // E0 8 {&DDRE, &PINE, &PORTE, 0}, // E0 8
{&DDRE, &PINE, &PORTE, 1}, // E1 9 {&DDRE, &PINE, &PORTE, 1}, // E1 9
{&DDRC, &PINC, &PORTC, 0}, // C0 10 {&DDRC, &PINC, &PORTC, 0}, // C0 10
{&DDRC, &PINC, &PORTC, 1}, // C1 11 {&DDRC, &PINC, &PORTC, 1}, // C1 11
{&DDRC, &PINC, &PORTC, 2}, // C2 12 {&DDRC, &PINC, &PORTC, 2}, // C2 12
{&DDRC, &PINC, &PORTC, 3}, // C3 13 {&DDRC, &PINC, &PORTC, 3}, // C3 13
{&DDRC, &PINC, &PORTC, 4}, // C4 14 {&DDRC, &PINC, &PORTC, 4}, // C4 14
{&DDRC, &PINC, &PORTC, 5}, // C5 15 {&DDRC, &PINC, &PORTC, 5}, // C5 15
{&DDRC, &PINC, &PORTC, 6}, // C6 16 {&DDRC, &PINC, &PORTC, 6}, // C6 16
{&DDRC, &PINC, &PORTC, 7}, // C7 17 {&DDRC, &PINC, &PORTC, 7}, // C7 17
{&DDRE, &PINE, &PORTE, 6}, // E6 18 {&DDRE, &PINE, &PORTE, 6}, // E6 18
{&DDRE, &PINE, &PORTE, 7}, // E7 19 {&DDRE, &PINE, &PORTE, 7}, // E7 19
{&DDRB, &PINB, &PORTB, 0}, // B0 20 {&DDRB, &PINB, &PORTB, 0}, // B0 20
{&DDRB, &PINB, &PORTB, 1}, // B1 21 {&DDRB, &PINB, &PORTB, 1}, // B1 21
{&DDRB, &PINB, &PORTB, 2}, // B2 22 {&DDRB, &PINB, &PORTB, 2}, // B2 22
{&DDRB, &PINB, &PORTB, 3}, // B3 23 {&DDRB, &PINB, &PORTB, 3}, // B3 23
{&DDRB, &PINB, &PORTB, 4}, // B4 24 {&DDRB, &PINB, &PORTB, 4}, // B4 24
{&DDRB, &PINB, &PORTB, 5}, // B5 25 {&DDRB, &PINB, &PORTB, 5}, // B5 25
{&DDRB, &PINB, &PORTB, 6}, // B6 26 {&DDRB, &PINB, &PORTB, 6}, // B6 26
{&DDRB, &PINB, &PORTB, 7}, // B7 27 {&DDRB, &PINB, &PORTB, 7}, // B7 27
{&DDRA, &PINA, &PORTA, 0}, // A0 28 {&DDRA, &PINA, &PORTA, 0}, // A0 28
{&DDRA, &PINA, &PORTA, 1}, // A1 29 {&DDRA, &PINA, &PORTA, 1}, // A1 29
{&DDRA, &PINA, &PORTA, 2}, // A2 30 {&DDRA, &PINA, &PORTA, 2}, // A2 30
{&DDRA, &PINA, &PORTA, 3}, // A3 31 {&DDRA, &PINA, &PORTA, 3}, // A3 31
{&DDRA, &PINA, &PORTA, 4}, // A4 32 {&DDRA, &PINA, &PORTA, 4}, // A4 32
{&DDRA, &PINA, &PORTA, 5}, // A5 33 {&DDRA, &PINA, &PORTA, 5}, // A5 33
{&DDRA, &PINA, &PORTA, 6}, // A6 34 {&DDRA, &PINA, &PORTA, 6}, // A6 34
{&DDRA, &PINA, &PORTA, 7}, // A7 35 {&DDRA, &PINA, &PORTA, 7}, // A7 35
{&DDRE, &PINE, &PORTE, 4}, // E4 36 {&DDRE, &PINE, &PORTE, 4}, // E4 36
{&DDRE, &PINE, &PORTE, 5}, // E5 37 {&DDRE, &PINE, &PORTE, 5}, // E5 37
{&DDRF, &PINF, &PORTF, 0}, // F0 38 {&DDRF, &PINF, &PORTF, 0}, // F0 38
{&DDRF, &PINF, &PORTF, 1}, // F1 39 {&DDRF, &PINF, &PORTF, 1}, // F1 39
{&DDRF, &PINF, &PORTF, 2}, // F2 40 {&DDRF, &PINF, &PORTF, 2}, // F2 40
{&DDRF, &PINF, &PORTF, 3}, // F3 41 {&DDRF, &PINF, &PORTF, 3}, // F3 41
{&DDRF, &PINF, &PORTF, 4}, // F4 42 {&DDRF, &PINF, &PORTF, 4}, // F4 42
{&DDRF, &PINF, &PORTF, 5}, // F5 43 {&DDRF, &PINF, &PORTF, 5}, // F5 43
{&DDRF, &PINF, &PORTF, 6}, // F6 44 {&DDRF, &PINF, &PORTF, 6}, // F6 44
{&DDRF, &PINF, &PORTF, 7} // F7 45 {&DDRF, &PINF, &PORTF, 7} // F7 45
}; };
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#else // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) #else // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// 168 and 328 Arduinos // 168 and 328 Arduinos
// Two Wire (aka I2C) ports // Two Wire (aka I2C) ports
uint8_t const SDA_PIN = 18; uint8_t const SDA_PIN = 18;
uint8_t const SCL_PIN = 19; uint8_t const SCL_PIN = 19;
// SPI port // SPI port
uint8_t const SS_PIN = 10; uint8_t const SS_PIN = 10;
uint8_t const MOSI_PIN = 11; uint8_t const MOSI_PIN = 11;
uint8_t const MISO_PIN = 12; uint8_t const MISO_PIN = 12;
uint8_t const SCK_PIN = 13; uint8_t const SCK_PIN = 13;
static const pin_map_t digitalPinMap[] = { static const pin_map_t digitalPinMap[] = {
{&DDRD, &PIND, &PORTD, 0}, // D0 0 {&DDRD, &PIND, &PORTD, 0}, // D0 0
{&DDRD, &PIND, &PORTD, 1}, // D1 1 {&DDRD, &PIND, &PORTD, 1}, // D1 1
{&DDRD, &PIND, &PORTD, 2}, // D2 2 {&DDRD, &PIND, &PORTD, 2}, // D2 2
{&DDRD, &PIND, &PORTD, 3}, // D3 3 {&DDRD, &PIND, &PORTD, 3}, // D3 3
{&DDRD, &PIND, &PORTD, 4}, // D4 4 {&DDRD, &PIND, &PORTD, 4}, // D4 4
{&DDRD, &PIND, &PORTD, 5}, // D5 5 {&DDRD, &PIND, &PORTD, 5}, // D5 5
{&DDRD, &PIND, &PORTD, 6}, // D6 6 {&DDRD, &PIND, &PORTD, 6}, // D6 6
{&DDRD, &PIND, &PORTD, 7}, // D7 7 {&DDRD, &PIND, &PORTD, 7}, // D7 7
{&DDRB, &PINB, &PORTB, 0}, // B0 8 {&DDRB, &PINB, &PORTB, 0}, // B0 8
{&DDRB, &PINB, &PORTB, 1}, // B1 9 {&DDRB, &PINB, &PORTB, 1}, // B1 9
{&DDRB, &PINB, &PORTB, 2}, // B2 10 {&DDRB, &PINB, &PORTB, 2}, // B2 10
{&DDRB, &PINB, &PORTB, 3}, // B3 11 {&DDRB, &PINB, &PORTB, 3}, // B3 11
{&DDRB, &PINB, &PORTB, 4}, // B4 12 {&DDRB, &PINB, &PORTB, 4}, // B4 12
{&DDRB, &PINB, &PORTB, 5}, // B5 13 {&DDRB, &PINB, &PORTB, 5}, // B5 13
{&DDRC, &PINC, &PORTC, 0}, // C0 14 {&DDRC, &PINC, &PORTC, 0}, // C0 14
{&DDRC, &PINC, &PORTC, 1}, // C1 15 {&DDRC, &PINC, &PORTC, 1}, // C1 15
{&DDRC, &PINC, &PORTC, 2}, // C2 16 {&DDRC, &PINC, &PORTC, 2}, // C2 16
{&DDRC, &PINC, &PORTC, 3}, // C3 17 {&DDRC, &PINC, &PORTC, 3}, // C3 17
{&DDRC, &PINC, &PORTC, 4}, // C4 18 {&DDRC, &PINC, &PORTC, 4}, // C4 18
{&DDRC, &PINC, &PORTC, 5} // C5 19 {&DDRC, &PINC, &PORTC, 5} // C5 19
}; };
#endif // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) #endif // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
static const uint8_t digitalPinCount = sizeof(digitalPinMap)/sizeof(pin_map_t); static const uint8_t digitalPinCount = sizeof(digitalPinMap)/sizeof(pin_map_t);
uint8_t badPinNumber(void) uint8_t badPinNumber(void)
__attribute__((error("Pin number is too large or not a constant"))); __attribute__((error("Pin number is too large or not a constant")));
static inline __attribute__((always_inline)) static inline __attribute__((always_inline))
uint8_t getPinMode(uint8_t pin) { uint8_t getPinMode(uint8_t pin) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) { if (__builtin_constant_p(pin) && pin < digitalPinCount) {
return (*digitalPinMap[pin].ddr >> digitalPinMap[pin].bit) & 1; return (*digitalPinMap[pin].ddr >> digitalPinMap[pin].bit) & 1;
} else { } else {
return badPinNumber(); return badPinNumber();
} }
} }
static inline __attribute__((always_inline)) static inline __attribute__((always_inline))
void setPinMode(uint8_t pin, uint8_t mode) { void setPinMode(uint8_t pin, uint8_t mode) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) { if (__builtin_constant_p(pin) && pin < digitalPinCount) {
if (mode) { if (mode) {
*digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit; *digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit;
} else { } else {
*digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit); *digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit);
} }
} else { } else {
badPinNumber(); badPinNumber();
} }
} }
static inline __attribute__((always_inline)) static inline __attribute__((always_inline))
uint8_t fastDigitalRead(uint8_t pin) { uint8_t fastDigitalRead(uint8_t pin) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) { if (__builtin_constant_p(pin) && pin < digitalPinCount) {
return (*digitalPinMap[pin].pin >> digitalPinMap[pin].bit) & 1; return (*digitalPinMap[pin].pin >> digitalPinMap[pin].bit) & 1;
} else { } else {
return badPinNumber(); return badPinNumber();
} }
} }
static inline __attribute__((always_inline)) static inline __attribute__((always_inline))
void fastDigitalWrite(uint8_t pin, uint8_t value) { void fastDigitalWrite(uint8_t pin, uint8_t value) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) { if (__builtin_constant_p(pin) && pin < digitalPinCount) {
if (value) { if (value) {
*digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit; *digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit;
} else { } else {
*digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit); *digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit);
} }
} else { } else {
badPinNumber(); badPinNumber();
} }
} }
#endif // Sd2PinMap_h #endif // Sd2PinMap_h

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Marlin/SdFat.h
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@ -1,547 +1,547 @@
/* Arduino SdFat Library /* Arduino SdFat Library
* Copyright (C) 2009 by William Greiman * Copyright (C) 2009 by William Greiman
* *
* This file is part of the Arduino SdFat Library * This file is part of the Arduino SdFat Library
* *
* This Library is free software: you can redistribute it and/or modify * This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This Library is distributed in the hope that it will be useful, * This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see * along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>. * <http://www.gnu.org/licenses/>.
*/ */
#ifndef SdFat_h #ifndef SdFat_h
#define SdFat_h #define SdFat_h
/** /**
* \file * \file
* SdFile and SdVolume classes * SdFile and SdVolume classes
*/ */
#include <avr/pgmspace.h> #include <avr/pgmspace.h>
#include "Sd2Card.h" #include "Sd2Card.h"
#include "FatStructs.h" #include "FatStructs.h"
#include "Print.h" #include "Print.h"
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* Allow use of deprecated functions if non-zero * Allow use of deprecated functions if non-zero
*/ */
#define ALLOW_DEPRECATED_FUNCTIONS 1 #define ALLOW_DEPRECATED_FUNCTIONS 1
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// forward declaration since SdVolume is used in SdFile // forward declaration since SdVolume is used in SdFile
class SdVolume; class SdVolume;
//============================================================================== //==============================================================================
// SdFile class // SdFile class
// flags for ls() // flags for ls()
/** ls() flag to print modify date */ /** ls() flag to print modify date */
uint8_t const LS_DATE = 1; uint8_t const LS_DATE = 1;
/** ls() flag to print file size */ /** ls() flag to print file size */
uint8_t const LS_SIZE = 2; uint8_t const LS_SIZE = 2;
/** ls() flag for recursive list of subdirectories */ /** ls() flag for recursive list of subdirectories */
uint8_t const LS_R = 4; uint8_t const LS_R = 4;
// use the gnu style oflag in open() // use the gnu style oflag in open()
/** open() oflag for reading */ /** open() oflag for reading */
uint8_t const O_READ = 0X01; uint8_t const O_READ = 0X01;
/** open() oflag - same as O_READ */ /** open() oflag - same as O_READ */
uint8_t const O_RDONLY = O_READ; uint8_t const O_RDONLY = O_READ;
/** open() oflag for write */ /** open() oflag for write */
uint8_t const O_WRITE = 0X02; uint8_t const O_WRITE = 0X02;
/** open() oflag - same as O_WRITE */ /** open() oflag - same as O_WRITE */
uint8_t const O_WRONLY = O_WRITE; uint8_t const O_WRONLY = O_WRITE;
/** open() oflag for reading and writing */ /** open() oflag for reading and writing */
uint8_t const O_RDWR = (O_READ | O_WRITE); uint8_t const O_RDWR = (O_READ | O_WRITE);
/** open() oflag mask for access modes */ /** open() oflag mask for access modes */
uint8_t const O_ACCMODE = (O_READ | O_WRITE); uint8_t const O_ACCMODE = (O_READ | O_WRITE);
/** The file offset shall be set to the end of the file prior to each write. */ /** The file offset shall be set to the end of the file prior to each write. */
uint8_t const O_APPEND = 0X04; uint8_t const O_APPEND = 0X04;
/** synchronous writes - call sync() after each write */ /** synchronous writes - call sync() after each write */
uint8_t const O_SYNC = 0X08; uint8_t const O_SYNC = 0X08;
/** create the file if nonexistent */ /** create the file if nonexistent */
uint8_t const O_CREAT = 0X10; uint8_t const O_CREAT = 0X10;
/** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */ /** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */
uint8_t const O_EXCL = 0X20; uint8_t const O_EXCL = 0X20;
/** truncate the file to zero length */ /** truncate the file to zero length */
uint8_t const O_TRUNC = 0X40; uint8_t const O_TRUNC = 0X40;
// flags for timestamp // flags for timestamp
/** set the file's last access date */ /** set the file's last access date */
uint8_t const T_ACCESS = 1; uint8_t const T_ACCESS = 1;
/** set the file's creation date and time */ /** set the file's creation date and time */
uint8_t const T_CREATE = 2; uint8_t const T_CREATE = 2;
/** Set the file's write date and time */ /** Set the file's write date and time */
uint8_t const T_WRITE = 4; uint8_t const T_WRITE = 4;
// values for type_ // values for type_
/** This SdFile has not been opened. */ /** This SdFile has not been opened. */
uint8_t const FAT_FILE_TYPE_CLOSED = 0; uint8_t const FAT_FILE_TYPE_CLOSED = 0;
/** SdFile for a file */ /** SdFile for a file */
uint8_t const FAT_FILE_TYPE_NORMAL = 1; uint8_t const FAT_FILE_TYPE_NORMAL = 1;
/** SdFile for a FAT16 root directory */ /** SdFile for a FAT16 root directory */
uint8_t const FAT_FILE_TYPE_ROOT16 = 2; uint8_t const FAT_FILE_TYPE_ROOT16 = 2;
/** SdFile for a FAT32 root directory */ /** SdFile for a FAT32 root directory */
uint8_t const FAT_FILE_TYPE_ROOT32 = 3; uint8_t const FAT_FILE_TYPE_ROOT32 = 3;
/** SdFile for a subdirectory */ /** SdFile for a subdirectory */
uint8_t const FAT_FILE_TYPE_SUBDIR = 4; uint8_t const FAT_FILE_TYPE_SUBDIR = 4;
/** Test value for directory type */ /** Test value for directory type */
uint8_t const FAT_FILE_TYPE_MIN_DIR = FAT_FILE_TYPE_ROOT16; uint8_t const FAT_FILE_TYPE_MIN_DIR = FAT_FILE_TYPE_ROOT16;
/** date field for FAT directory entry */ /** date field for FAT directory entry */
static inline uint16_t FAT_DATE(uint16_t year, uint8_t month, uint8_t day) { static inline uint16_t FAT_DATE(uint16_t year, uint8_t month, uint8_t day) {
return (year - 1980) << 9 | month << 5 | day; return (year - 1980) << 9 | month << 5 | day;
} }
/** year part of FAT directory date field */ /** year part of FAT directory date field */
static inline uint16_t FAT_YEAR(uint16_t fatDate) { static inline uint16_t FAT_YEAR(uint16_t fatDate) {
return 1980 + (fatDate >> 9); return 1980 + (fatDate >> 9);
} }
/** month part of FAT directory date field */ /** month part of FAT directory date field */
static inline uint8_t FAT_MONTH(uint16_t fatDate) { static inline uint8_t FAT_MONTH(uint16_t fatDate) {
return (fatDate >> 5) & 0XF; return (fatDate >> 5) & 0XF;
} }
/** day part of FAT directory date field */ /** day part of FAT directory date field */
static inline uint8_t FAT_DAY(uint16_t fatDate) { static inline uint8_t FAT_DAY(uint16_t fatDate) {
return fatDate & 0X1F; return fatDate & 0X1F;
} }
/** time field for FAT directory entry */ /** time field for FAT directory entry */
static inline uint16_t FAT_TIME(uint8_t hour, uint8_t minute, uint8_t second) { static inline uint16_t FAT_TIME(uint8_t hour, uint8_t minute, uint8_t second) {
return hour << 11 | minute << 5 | second >> 1; return hour << 11 | minute << 5 | second >> 1;
} }
/** hour part of FAT directory time field */ /** hour part of FAT directory time field */
static inline uint8_t FAT_HOUR(uint16_t fatTime) { static inline uint8_t FAT_HOUR(uint16_t fatTime) {
return fatTime >> 11; return fatTime >> 11;
} }
/** minute part of FAT directory time field */ /** minute part of FAT directory time field */
static inline uint8_t FAT_MINUTE(uint16_t fatTime) { static inline uint8_t FAT_MINUTE(uint16_t fatTime) {
return(fatTime >> 5) & 0X3F; return(fatTime >> 5) & 0X3F;
} }
/** second part of FAT directory time field */ /** second part of FAT directory time field */
static inline uint8_t FAT_SECOND(uint16_t fatTime) { static inline uint8_t FAT_SECOND(uint16_t fatTime) {
return 2*(fatTime & 0X1F); return 2*(fatTime & 0X1F);
} }
/** Default date for file timestamps is 1 Jan 2000 */ /** Default date for file timestamps is 1 Jan 2000 */
uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1; uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1;
/** Default time for file timestamp is 1 am */ /** Default time for file timestamp is 1 am */
uint16_t const FAT_DEFAULT_TIME = (1 << 11); uint16_t const FAT_DEFAULT_TIME = (1 << 11);
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* \class SdFile * \class SdFile
* \brief Access FAT16 and FAT32 files on SD and SDHC cards. * \brief Access FAT16 and FAT32 files on SD and SDHC cards.
*/ */
class SdFile : public Print { class SdFile : public Print {
public: public:
/** Create an instance of SdFile. */ /** Create an instance of SdFile. */
SdFile(void) : type_(FAT_FILE_TYPE_CLOSED) {} SdFile(void) : type_(FAT_FILE_TYPE_CLOSED) {}
/** /**
* writeError is set to true if an error occurs during a write(). * writeError is set to true if an error occurs during a write().
* Set writeError to false before calling print() and/or write() and check * Set writeError to false before calling print() and/or write() and check
* for true after calls to print() and/or write(). * for true after calls to print() and/or write().
*/ */
bool writeError; bool writeError;
/** /**
* Cancel unbuffered reads for this file. * Cancel unbuffered reads for this file.
* See setUnbufferedRead() * See setUnbufferedRead()
*/ */
void clearUnbufferedRead(void) { void clearUnbufferedRead(void) {
flags_ &= ~F_FILE_UNBUFFERED_READ; flags_ &= ~F_FILE_UNBUFFERED_READ;
} }
uint8_t close(void); uint8_t close(void);
uint8_t contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock); uint8_t contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock);
uint8_t createContiguous(SdFile* dirFile, uint8_t createContiguous(SdFile* dirFile,
const char* fileName, uint32_t size); const char* fileName, uint32_t size);
/** \return The current cluster number for a file or directory. */ /** \return The current cluster number for a file or directory. */
uint32_t curCluster(void) const {return curCluster_;} uint32_t curCluster(void) const {return curCluster_;}
/** \return The current position for a file or directory. */ /** \return The current position for a file or directory. */
uint32_t curPosition(void) const {return curPosition_;} uint32_t curPosition(void) const {return curPosition_;}
/** /**
* Set the date/time callback function * Set the date/time callback function
* *
* \param[in] dateTime The user's call back function. The callback * \param[in] dateTime The user's call back function. The callback
* function is of the form: * function is of the form:
* *
* \code * \code
* void dateTime(uint16_t* date, uint16_t* time) { * void dateTime(uint16_t* date, uint16_t* time) {
* uint16_t year; * uint16_t year;
* uint8_t month, day, hour, minute, second; * uint8_t month, day, hour, minute, second;
* *
* // User gets date and time from GPS or real-time clock here * // User gets date and time from GPS or real-time clock here
* *
* // return date using FAT_DATE macro to format fields * // return date using FAT_DATE macro to format fields
* *date = FAT_DATE(year, month, day); * *date = FAT_DATE(year, month, day);
* *
* // return time using FAT_TIME macro to format fields * // return time using FAT_TIME macro to format fields
* *time = FAT_TIME(hour, minute, second); * *time = FAT_TIME(hour, minute, second);
* } * }
* \endcode * \endcode
* *
* Sets the function that is called when a file is created or when * Sets the function that is called when a file is created or when
* a file's directory entry is modified by sync(). All timestamps, * a file's directory entry is modified by sync(). All timestamps,
* access, creation, and modify, are set when a file is created. * access, creation, and modify, are set when a file is created.
* sync() maintains the last access date and last modify date/time. * sync() maintains the last access date and last modify date/time.
* *
* See the timestamp() function. * See the timestamp() function.
*/ */
static void dateTimeCallback( static void dateTimeCallback(
void (*dateTime)(uint16_t* date, uint16_t* time)) { void (*dateTime)(uint16_t* date, uint16_t* time)) {
dateTime_ = dateTime; dateTime_ = dateTime;
} }
/** /**
* Cancel the date/time callback function. * Cancel the date/time callback function.
*/ */
static void dateTimeCallbackCancel(void) { static void dateTimeCallbackCancel(void) {
// use explicit zero since NULL is not defined for Sanguino // use explicit zero since NULL is not defined for Sanguino
dateTime_ = 0; dateTime_ = 0;
} }
/** \return Address of the block that contains this file's directory. */ /** \return Address of the block that contains this file's directory. */
uint32_t dirBlock(void) const {return dirBlock_;} uint32_t dirBlock(void) const {return dirBlock_;}
uint8_t dirEntry(dir_t* dir); uint8_t dirEntry(dir_t* dir);
/** \return Index of this file's directory in the block dirBlock. */ /** \return Index of this file's directory in the block dirBlock. */
uint8_t dirIndex(void) const {return dirIndex_;} uint8_t dirIndex(void) const {return dirIndex_;}
static void dirName(const dir_t& dir, char* name); static void dirName(const dir_t& dir, char* name);
/** \return The total number of bytes in a file or directory. */ /** \return The total number of bytes in a file or directory. */
uint32_t fileSize(void) const {return fileSize_;} uint32_t fileSize(void) const {return fileSize_;}
/** \return The first cluster number for a file or directory. */ /** \return The first cluster number for a file or directory. */
uint32_t firstCluster(void) const {return firstCluster_;} uint32_t firstCluster(void) const {return firstCluster_;}
/** \return True if this is a SdFile for a directory else false. */ /** \return True if this is a SdFile for a directory else false. */
uint8_t isDir(void) const {return type_ >= FAT_FILE_TYPE_MIN_DIR;} uint8_t isDir(void) const {return type_ >= FAT_FILE_TYPE_MIN_DIR;}
/** \return True if this is a SdFile for a file else false. */ /** \return True if this is a SdFile for a file else false. */
uint8_t isFile(void) const {return type_ == FAT_FILE_TYPE_NORMAL;} uint8_t isFile(void) const {return type_ == FAT_FILE_TYPE_NORMAL;}
/** \return True if this is a SdFile for an open file/directory else false. */ /** \return True if this is a SdFile for an open file/directory else false. */
uint8_t isOpen(void) const {return type_ != FAT_FILE_TYPE_CLOSED;} uint8_t isOpen(void) const {return type_ != FAT_FILE_TYPE_CLOSED;}
/** \return True if this is a SdFile for a subdirectory else false. */ /** \return True if this is a SdFile for a subdirectory else false. */
uint8_t isSubDir(void) const {return type_ == FAT_FILE_TYPE_SUBDIR;} uint8_t isSubDir(void) const {return type_ == FAT_FILE_TYPE_SUBDIR;}
/** \return True if this is a SdFile for the root directory. */ /** \return True if this is a SdFile for the root directory. */
uint8_t isRoot(void) const { uint8_t isRoot(void) const {
return type_ == FAT_FILE_TYPE_ROOT16 || type_ == FAT_FILE_TYPE_ROOT32; return type_ == FAT_FILE_TYPE_ROOT16 || type_ == FAT_FILE_TYPE_ROOT32;
} }
void ls(uint8_t flags = 0, uint8_t indent = 0); void ls(uint8_t flags = 0, uint8_t indent = 0);
uint8_t makeDir(SdFile* dir, const char* dirName); uint8_t makeDir(SdFile* dir, const char* dirName);
uint8_t open(SdFile* dirFile, uint16_t index, uint8_t oflag); uint8_t open(SdFile* dirFile, uint16_t index, uint8_t oflag);
uint8_t open(SdFile* dirFile, const char* fileName, uint8_t oflag); uint8_t open(SdFile* dirFile, const char* fileName, uint8_t oflag);
uint8_t openRoot(SdVolume* vol); uint8_t openRoot(SdVolume* vol);
static void printDirName(const dir_t& dir, uint8_t width); static void printDirName(const dir_t& dir, uint8_t width);
static void printFatDate(uint16_t fatDate); static void printFatDate(uint16_t fatDate);
static void printFatTime(uint16_t fatTime); static void printFatTime(uint16_t fatTime);
static void printTwoDigits(uint8_t v); static void printTwoDigits(uint8_t v);
/** /**
* Read the next byte from a file. * Read the next byte from a file.
* *
* \return For success read returns the next byte in the file as an int. * \return For success read returns the next byte in the file as an int.
* If an error occurs or end of file is reached -1 is returned. * If an error occurs or end of file is reached -1 is returned.
*/ */
int16_t read(void) { int16_t read(void) {
uint8_t b; uint8_t b;
return read(&b, 1) == 1 ? b : -1; return read(&b, 1) == 1 ? b : -1;
} }
int16_t read(void* buf, uint16_t nbyte); int16_t read(void* buf, uint16_t nbyte);
int8_t readDir(dir_t* dir); int8_t readDir(dir_t* dir);
static uint8_t remove(SdFile* dirFile, const char* fileName); static uint8_t remove(SdFile* dirFile, const char* fileName);
uint8_t remove(void); uint8_t remove(void);
/** Set the file's current position to zero. */ /** Set the file's current position to zero. */
void rewind(void) { void rewind(void) {
curPosition_ = curCluster_ = 0; curPosition_ = curCluster_ = 0;
} }
uint8_t rmDir(void); uint8_t rmDir(void);
uint8_t rmRfStar(void); uint8_t rmRfStar(void);
/** Set the files position to current position + \a pos. See seekSet(). */ /** Set the files position to current position + \a pos. See seekSet(). */
uint8_t seekCur(uint32_t pos) { uint8_t seekCur(uint32_t pos) {
return seekSet(curPosition_ + pos); return seekSet(curPosition_ + pos);
} }
/** /**
* Set the files current position to end of file. Useful to position * Set the files current position to end of file. Useful to position
* a file for append. See seekSet(). * a file for append. See seekSet().
*/ */
uint8_t seekEnd(void) {return seekSet(fileSize_);} uint8_t seekEnd(void) {return seekSet(fileSize_);}
uint8_t seekSet(uint32_t pos); uint8_t seekSet(uint32_t pos);
/** /**
* Use unbuffered reads to access this file. Used with Wave * Use unbuffered reads to access this file. Used with Wave
* Shield ISR. Used with Sd2Card::partialBlockRead() in WaveRP. * Shield ISR. Used with Sd2Card::partialBlockRead() in WaveRP.
* *
* Not recommended for normal applications. * Not recommended for normal applications.
*/ */
void setUnbufferedRead(void) { void setUnbufferedRead(void) {
if (isFile()) flags_ |= F_FILE_UNBUFFERED_READ; if (isFile()) flags_ |= F_FILE_UNBUFFERED_READ;
} }
uint8_t timestamp(uint8_t flag, uint16_t year, uint8_t month, uint8_t day, uint8_t timestamp(uint8_t flag, uint16_t year, uint8_t month, uint8_t day,
uint8_t hour, uint8_t minute, uint8_t second); uint8_t hour, uint8_t minute, uint8_t second);
uint8_t sync(void); uint8_t sync(void);
/** Type of this SdFile. You should use isFile() or isDir() instead of type() /** Type of this SdFile. You should use isFile() or isDir() instead of type()
* if possible. * if possible.
* *
* \return The file or directory type. * \return The file or directory type.
*/ */
uint8_t type(void) const {return type_;} uint8_t type(void) const {return type_;}
uint8_t truncate(uint32_t size); uint8_t truncate(uint32_t size);
/** \return Unbuffered read flag. */ /** \return Unbuffered read flag. */
uint8_t unbufferedRead(void) const { uint8_t unbufferedRead(void) const {
return flags_ & F_FILE_UNBUFFERED_READ; return flags_ & F_FILE_UNBUFFERED_READ;
} }
/** \return SdVolume that contains this file. */ /** \return SdVolume that contains this file. */
SdVolume* volume(void) const {return vol_;} SdVolume* volume(void) const {return vol_;}
void write(uint8_t b); void write(uint8_t b);
int16_t write(const void* buf, uint16_t nbyte); int16_t write(const void* buf, uint16_t nbyte);
void write(const char* str); void write(const char* str);
void write_P(PGM_P str); void write_P(PGM_P str);
void writeln_P(PGM_P str); void writeln_P(PGM_P str);
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#if ALLOW_DEPRECATED_FUNCTIONS #if ALLOW_DEPRECATED_FUNCTIONS
// Deprecated functions - suppress cpplint warnings with NOLINT comment // Deprecated functions - suppress cpplint warnings with NOLINT comment
/** \deprecated Use: /** \deprecated Use:
* uint8_t SdFile::contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock); * uint8_t SdFile::contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock);
*/ */
uint8_t contiguousRange(uint32_t& bgnBlock, uint32_t& endBlock) { // NOLINT uint8_t contiguousRange(uint32_t& bgnBlock, uint32_t& endBlock) { // NOLINT
return contiguousRange(&bgnBlock, &endBlock); return contiguousRange(&bgnBlock, &endBlock);
} }
/** \deprecated Use: /** \deprecated Use:
* uint8_t SdFile::createContiguous(SdFile* dirFile, * uint8_t SdFile::createContiguous(SdFile* dirFile,
* const char* fileName, uint32_t size) * const char* fileName, uint32_t size)
*/ */
uint8_t createContiguous(SdFile& dirFile, // NOLINT uint8_t createContiguous(SdFile& dirFile, // NOLINT
const char* fileName, uint32_t size) { const char* fileName, uint32_t size) {
return createContiguous(&dirFile, fileName, size); return createContiguous(&dirFile, fileName, size);
} }
/** /**
* \deprecated Use: * \deprecated Use:
* static void SdFile::dateTimeCallback( * static void SdFile::dateTimeCallback(
* void (*dateTime)(uint16_t* date, uint16_t* time)); * void (*dateTime)(uint16_t* date, uint16_t* time));
*/ */
static void dateTimeCallback( static void dateTimeCallback(
void (*dateTime)(uint16_t& date, uint16_t& time)) { // NOLINT void (*dateTime)(uint16_t& date, uint16_t& time)) { // NOLINT
oldDateTime_ = dateTime; oldDateTime_ = dateTime;
dateTime_ = dateTime ? oldToNew : 0; dateTime_ = dateTime ? oldToNew : 0;
} }
/** \deprecated Use: uint8_t SdFile::dirEntry(dir_t* dir); */ /** \deprecated Use: uint8_t SdFile::dirEntry(dir_t* dir); */
uint8_t dirEntry(dir_t& dir) {return dirEntry(&dir);} // NOLINT uint8_t dirEntry(dir_t& dir) {return dirEntry(&dir);} // NOLINT
/** \deprecated Use: /** \deprecated Use:
* uint8_t SdFile::makeDir(SdFile* dir, const char* dirName); * uint8_t SdFile::makeDir(SdFile* dir, const char* dirName);
*/ */
uint8_t makeDir(SdFile& dir, const char* dirName) { // NOLINT uint8_t makeDir(SdFile& dir, const char* dirName) { // NOLINT
return makeDir(&dir, dirName); return makeDir(&dir, dirName);
} }
/** \deprecated Use: /** \deprecated Use:
* uint8_t SdFile::open(SdFile* dirFile, const char* fileName, uint8_t oflag); * uint8_t SdFile::open(SdFile* dirFile, const char* fileName, uint8_t oflag);
*/ */
uint8_t open(SdFile& dirFile, // NOLINT uint8_t open(SdFile& dirFile, // NOLINT
const char* fileName, uint8_t oflag) { const char* fileName, uint8_t oflag) {
return open(&dirFile, fileName, oflag); return open(&dirFile, fileName, oflag);
} }
/** \deprecated Do not use in new apps */ /** \deprecated Do not use in new apps */
uint8_t open(SdFile& dirFile, const char* fileName) { // NOLINT uint8_t open(SdFile& dirFile, const char* fileName) { // NOLINT
return open(dirFile, fileName, O_RDWR); return open(dirFile, fileName, O_RDWR);
} }
/** \deprecated Use: /** \deprecated Use:
* uint8_t SdFile::open(SdFile* dirFile, uint16_t index, uint8_t oflag); * uint8_t SdFile::open(SdFile* dirFile, uint16_t index, uint8_t oflag);
*/ */
uint8_t open(SdFile& dirFile, uint16_t index, uint8_t oflag) { // NOLINT uint8_t open(SdFile& dirFile, uint16_t index, uint8_t oflag) { // NOLINT
return open(&dirFile, index, oflag); return open(&dirFile, index, oflag);
} }
/** \deprecated Use: uint8_t SdFile::openRoot(SdVolume* vol); */ /** \deprecated Use: uint8_t SdFile::openRoot(SdVolume* vol); */
uint8_t openRoot(SdVolume& vol) {return openRoot(&vol);} // NOLINT uint8_t openRoot(SdVolume& vol) {return openRoot(&vol);} // NOLINT
/** \deprecated Use: int8_t SdFile::readDir(dir_t* dir); */ /** \deprecated Use: int8_t SdFile::readDir(dir_t* dir); */
int8_t readDir(dir_t& dir) {return readDir(&dir);} // NOLINT int8_t readDir(dir_t& dir) {return readDir(&dir);} // NOLINT
/** \deprecated Use: /** \deprecated Use:
* static uint8_t SdFile::remove(SdFile* dirFile, const char* fileName); * static uint8_t SdFile::remove(SdFile* dirFile, const char* fileName);
*/ */
static uint8_t remove(SdFile& dirFile, const char* fileName) { // NOLINT static uint8_t remove(SdFile& dirFile, const char* fileName) { // NOLINT
return remove(&dirFile, fileName); return remove(&dirFile, fileName);
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// rest are private // rest are private
private: private:
static void (*oldDateTime_)(uint16_t& date, uint16_t& time); // NOLINT static void (*oldDateTime_)(uint16_t& date, uint16_t& time); // NOLINT
static void oldToNew(uint16_t* date, uint16_t* time) { static void oldToNew(uint16_t* date, uint16_t* time) {
uint16_t d; uint16_t d;
uint16_t t; uint16_t t;
oldDateTime_(d, t); oldDateTime_(d, t);
*date = d; *date = d;
*time = t; *time = t;
} }
#endif // ALLOW_DEPRECATED_FUNCTIONS #endif // ALLOW_DEPRECATED_FUNCTIONS
private: private:
// bits defined in flags_ // bits defined in flags_
// should be 0XF // should be 0XF
static uint8_t const F_OFLAG = (O_ACCMODE | O_APPEND | O_SYNC); static uint8_t const F_OFLAG = (O_ACCMODE | O_APPEND | O_SYNC);
// available bits // available bits
static uint8_t const F_UNUSED = 0X30; static uint8_t const F_UNUSED = 0X30;
// use unbuffered SD read // use unbuffered SD read
static uint8_t const F_FILE_UNBUFFERED_READ = 0X40; static uint8_t const F_FILE_UNBUFFERED_READ = 0X40;
// sync of directory entry required // sync of directory entry required
static uint8_t const F_FILE_DIR_DIRTY = 0X80; static uint8_t const F_FILE_DIR_DIRTY = 0X80;
// make sure F_OFLAG is ok // make sure F_OFLAG is ok
#if ((F_UNUSED | F_FILE_UNBUFFERED_READ | F_FILE_DIR_DIRTY) & F_OFLAG) #if ((F_UNUSED | F_FILE_UNBUFFERED_READ | F_FILE_DIR_DIRTY) & F_OFLAG)
#error flags_ bits conflict #error flags_ bits conflict
#endif // flags_ bits #endif // flags_ bits
// private data // private data
uint8_t flags_; // See above for definition of flags_ bits uint8_t flags_; // See above for definition of flags_ bits
uint8_t type_; // type of file see above for values uint8_t type_; // type of file see above for values
uint32_t curCluster_; // cluster for current file position uint32_t curCluster_; // cluster for current file position
uint32_t curPosition_; // current file position in bytes from beginning uint32_t curPosition_; // current file position in bytes from beginning
uint32_t dirBlock_; // SD block that contains directory entry for file uint32_t dirBlock_; // SD block that contains directory entry for file
uint8_t dirIndex_; // index of entry in dirBlock 0 <= dirIndex_ <= 0XF uint8_t dirIndex_; // index of entry in dirBlock 0 <= dirIndex_ <= 0XF
uint32_t fileSize_; // file size in bytes uint32_t fileSize_; // file size in bytes
uint32_t firstCluster_; // first cluster of file uint32_t firstCluster_; // first cluster of file
SdVolume* vol_; // volume where file is located SdVolume* vol_; // volume where file is located
// private functions // private functions
uint8_t addCluster(void); uint8_t addCluster(void);
uint8_t addDirCluster(void); uint8_t addDirCluster(void);
dir_t* cacheDirEntry(uint8_t action); dir_t* cacheDirEntry(uint8_t action);
static void (*dateTime_)(uint16_t* date, uint16_t* time); static void (*dateTime_)(uint16_t* date, uint16_t* time);
static uint8_t make83Name(const char* str, uint8_t* name); static uint8_t make83Name(const char* str, uint8_t* name);
uint8_t openCachedEntry(uint8_t cacheIndex, uint8_t oflags); uint8_t openCachedEntry(uint8_t cacheIndex, uint8_t oflags);
dir_t* readDirCache(void); dir_t* readDirCache(void);
}; };
//============================================================================== //==============================================================================
// SdVolume class // SdVolume class
/** /**
* \brief Cache for an SD data block * \brief Cache for an SD data block
*/ */
union cache_t { union cache_t {
/** Used to access cached file data blocks. */ /** Used to access cached file data blocks. */
uint8_t data[512]; uint8_t data[512];
/** Used to access cached FAT16 entries. */ /** Used to access cached FAT16 entries. */
uint16_t fat16[256]; uint16_t fat16[256];
/** Used to access cached FAT32 entries. */ /** Used to access cached FAT32 entries. */
uint32_t fat32[128]; uint32_t fat32[128];
/** Used to access cached directory entries. */ /** Used to access cached directory entries. */
dir_t dir[16]; dir_t dir[16];
/** Used to access a cached MasterBoot Record. */ /** Used to access a cached MasterBoot Record. */
mbr_t mbr; mbr_t mbr;
/** Used to access to a cached FAT boot sector. */ /** Used to access to a cached FAT boot sector. */
fbs_t fbs; fbs_t fbs;
}; };
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* \class SdVolume * \class SdVolume
* \brief Access FAT16 and FAT32 volumes on SD and SDHC cards. * \brief Access FAT16 and FAT32 volumes on SD and SDHC cards.
*/ */
class SdVolume { class SdVolume {
public: public:
/** Create an instance of SdVolume */ /** Create an instance of SdVolume */
SdVolume(void) :allocSearchStart_(2), fatType_(0) {} SdVolume(void) :allocSearchStart_(2), fatType_(0) {}
/** Clear the cache and returns a pointer to the cache. Used by the WaveRP /** Clear the cache and returns a pointer to the cache. Used by the WaveRP
* recorder to do raw write to the SD card. Not for normal apps. * recorder to do raw write to the SD card. Not for normal apps.
*/ */
static uint8_t* cacheClear(void) { static uint8_t* cacheClear(void) {
cacheFlush(); cacheFlush();
cacheBlockNumber_ = 0XFFFFFFFF; cacheBlockNumber_ = 0XFFFFFFFF;
return cacheBuffer_.data; return cacheBuffer_.data;
} }
/** /**
* Initialize a FAT volume. Try partition one first then try super * Initialize a FAT volume. Try partition one first then try super
* floppy format. * floppy format.
* *
* \param[in] dev The Sd2Card where the volume is located. * \param[in] dev The Sd2Card where the volume is located.
* *
* \return The value one, true, is returned for success and * \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. Reasons for * the value zero, false, is returned for failure. Reasons for
* failure include not finding a valid partition, not finding a valid * failure include not finding a valid partition, not finding a valid
* FAT file system or an I/O error. * FAT file system or an I/O error.
*/ */
uint8_t init(Sd2Card* dev) { return init(dev, 1) ? true : init(dev, 0);} uint8_t init(Sd2Card* dev) { return init(dev, 1) ? true : init(dev, 0);}
uint8_t init(Sd2Card* dev, uint8_t part); uint8_t init(Sd2Card* dev, uint8_t part);
// inline functions that return volume info // inline functions that return volume info
/** \return The volume's cluster size in blocks. */ /** \return The volume's cluster size in blocks. */
uint8_t blocksPerCluster(void) const {return blocksPerCluster_;} uint8_t blocksPerCluster(void) const {return blocksPerCluster_;}
/** \return The number of blocks in one FAT. */ /** \return The number of blocks in one FAT. */
uint32_t blocksPerFat(void) const {return blocksPerFat_;} uint32_t blocksPerFat(void) const {return blocksPerFat_;}
/** \return The total number of clusters in the volume. */ /** \return The total number of clusters in the volume. */
uint32_t clusterCount(void) const {return clusterCount_;} uint32_t clusterCount(void) const {return clusterCount_;}
/** \return The shift count required to multiply by blocksPerCluster. */ /** \return The shift count required to multiply by blocksPerCluster. */
uint8_t clusterSizeShift(void) const {return clusterSizeShift_;} uint8_t clusterSizeShift(void) const {return clusterSizeShift_;}
/** \return The logical block number for the start of file data. */ /** \return The logical block number for the start of file data. */
uint32_t dataStartBlock(void) const {return dataStartBlock_;} uint32_t dataStartBlock(void) const {return dataStartBlock_;}
/** \return The number of FAT structures on the volume. */ /** \return The number of FAT structures on the volume. */
uint8_t fatCount(void) const {return fatCount_;} uint8_t fatCount(void) const {return fatCount_;}
/** \return The logical block number for the start of the first FAT. */ /** \return The logical block number for the start of the first FAT. */
uint32_t fatStartBlock(void) const {return fatStartBlock_;} uint32_t fatStartBlock(void) const {return fatStartBlock_;}
/** \return The FAT type of the volume. Values are 12, 16 or 32. */ /** \return The FAT type of the volume. Values are 12, 16 or 32. */
uint8_t fatType(void) const {return fatType_;} uint8_t fatType(void) const {return fatType_;}
/** \return The number of entries in the root directory for FAT16 volumes. */ /** \return The number of entries in the root directory for FAT16 volumes. */
uint32_t rootDirEntryCount(void) const {return rootDirEntryCount_;} uint32_t rootDirEntryCount(void) const {return rootDirEntryCount_;}
/** \return The logical block number for the start of the root directory /** \return The logical block number for the start of the root directory
on FAT16 volumes or the first cluster number on FAT32 volumes. */ on FAT16 volumes or the first cluster number on FAT32 volumes. */
uint32_t rootDirStart(void) const {return rootDirStart_;} uint32_t rootDirStart(void) const {return rootDirStart_;}
/** return a pointer to the Sd2Card object for this volume */ /** return a pointer to the Sd2Card object for this volume */
static Sd2Card* sdCard(void) {return sdCard_;} static Sd2Card* sdCard(void) {return sdCard_;}
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#if ALLOW_DEPRECATED_FUNCTIONS #if ALLOW_DEPRECATED_FUNCTIONS
// Deprecated functions - suppress cpplint warnings with NOLINT comment // Deprecated functions - suppress cpplint warnings with NOLINT comment
/** \deprecated Use: uint8_t SdVolume::init(Sd2Card* dev); */ /** \deprecated Use: uint8_t SdVolume::init(Sd2Card* dev); */
uint8_t init(Sd2Card& dev) {return init(&dev);} // NOLINT uint8_t init(Sd2Card& dev) {return init(&dev);} // NOLINT
/** \deprecated Use: uint8_t SdVolume::init(Sd2Card* dev, uint8_t vol); */ /** \deprecated Use: uint8_t SdVolume::init(Sd2Card* dev, uint8_t vol); */
uint8_t init(Sd2Card& dev, uint8_t part) { // NOLINT uint8_t init(Sd2Card& dev, uint8_t part) { // NOLINT
return init(&dev, part); return init(&dev, part);
} }
#endif // ALLOW_DEPRECATED_FUNCTIONS #endif // ALLOW_DEPRECATED_FUNCTIONS
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
private: private:
// Allow SdFile access to SdVolume private data. // Allow SdFile access to SdVolume private data.
friend class SdFile; friend class SdFile;
// value for action argument in cacheRawBlock to indicate read from cache // value for action argument in cacheRawBlock to indicate read from cache
static uint8_t const CACHE_FOR_READ = 0; static uint8_t const CACHE_FOR_READ = 0;
// value for action argument in cacheRawBlock to indicate cache dirty // value for action argument in cacheRawBlock to indicate cache dirty
static uint8_t const CACHE_FOR_WRITE = 1; static uint8_t const CACHE_FOR_WRITE = 1;
static cache_t cacheBuffer_; // 512 byte cache for device blocks static cache_t cacheBuffer_; // 512 byte cache for device blocks
static uint32_t cacheBlockNumber_; // Logical number of block in the cache static uint32_t cacheBlockNumber_; // Logical number of block in the cache
static Sd2Card* sdCard_; // Sd2Card object for cache static Sd2Card* sdCard_; // Sd2Card object for cache
static uint8_t cacheDirty_; // cacheFlush() will write block if true static uint8_t cacheDirty_; // cacheFlush() will write block if true
static uint32_t cacheMirrorBlock_; // block number for mirror FAT static uint32_t cacheMirrorBlock_; // block number for mirror FAT
// //
uint32_t allocSearchStart_; // start cluster for alloc search uint32_t allocSearchStart_; // start cluster for alloc search
uint8_t blocksPerCluster_; // cluster size in blocks uint8_t blocksPerCluster_; // cluster size in blocks
uint32_t blocksPerFat_; // FAT size in blocks uint32_t blocksPerFat_; // FAT size in blocks
uint32_t clusterCount_; // clusters in one FAT uint32_t clusterCount_; // clusters in one FAT
uint8_t clusterSizeShift_; // shift to convert cluster count to block count uint8_t clusterSizeShift_; // shift to convert cluster count to block count
uint32_t dataStartBlock_; // first data block number uint32_t dataStartBlock_; // first data block number
uint8_t fatCount_; // number of FATs on volume uint8_t fatCount_; // number of FATs on volume
uint32_t fatStartBlock_; // start block for first FAT uint32_t fatStartBlock_; // start block for first FAT
uint8_t fatType_; // volume type (12, 16, OR 32) uint8_t fatType_; // volume type (12, 16, OR 32)
uint16_t rootDirEntryCount_; // number of entries in FAT16 root dir uint16_t rootDirEntryCount_; // number of entries in FAT16 root dir
uint32_t rootDirStart_; // root start block for FAT16, cluster for FAT32 uint32_t rootDirStart_; // root start block for FAT16, cluster for FAT32
//---------------------------------------------------------------------------- //----------------------------------------------------------------------------
uint8_t allocContiguous(uint32_t count, uint32_t* curCluster); uint8_t allocContiguous(uint32_t count, uint32_t* curCluster);
uint8_t blockOfCluster(uint32_t position) const { uint8_t blockOfCluster(uint32_t position) const {
return (position >> 9) & (blocksPerCluster_ - 1);} return (position >> 9) & (blocksPerCluster_ - 1);}
uint32_t clusterStartBlock(uint32_t cluster) const { uint32_t clusterStartBlock(uint32_t cluster) const {
return dataStartBlock_ + ((cluster - 2) << clusterSizeShift_);} return dataStartBlock_ + ((cluster - 2) << clusterSizeShift_);}
uint32_t blockNumber(uint32_t cluster, uint32_t position) const { uint32_t blockNumber(uint32_t cluster, uint32_t position) const {
return clusterStartBlock(cluster) + blockOfCluster(position);} return clusterStartBlock(cluster) + blockOfCluster(position);}
static uint8_t cacheFlush(void); static uint8_t cacheFlush(void);
static uint8_t cacheRawBlock(uint32_t blockNumber, uint8_t action); static uint8_t cacheRawBlock(uint32_t blockNumber, uint8_t action);
static void cacheSetDirty(void) {cacheDirty_ |= CACHE_FOR_WRITE;} static void cacheSetDirty(void) {cacheDirty_ |= CACHE_FOR_WRITE;}
static uint8_t cacheZeroBlock(uint32_t blockNumber); static uint8_t cacheZeroBlock(uint32_t blockNumber);
uint8_t chainSize(uint32_t beginCluster, uint32_t* size) const; uint8_t chainSize(uint32_t beginCluster, uint32_t* size) const;
uint8_t fatGet(uint32_t cluster, uint32_t* value) const; uint8_t fatGet(uint32_t cluster, uint32_t* value) const;
uint8_t fatPut(uint32_t cluster, uint32_t value); uint8_t fatPut(uint32_t cluster, uint32_t value);
uint8_t fatPutEOC(uint32_t cluster) { uint8_t fatPutEOC(uint32_t cluster) {
return fatPut(cluster, 0x0FFFFFFF); return fatPut(cluster, 0x0FFFFFFF);
} }
uint8_t freeChain(uint32_t cluster); uint8_t freeChain(uint32_t cluster);
uint8_t isEOC(uint32_t cluster) const { uint8_t isEOC(uint32_t cluster) const {
return cluster >= (fatType_ == 16 ? FAT16EOC_MIN : FAT32EOC_MIN); return cluster >= (fatType_ == 16 ? FAT16EOC_MIN : FAT32EOC_MIN);
} }
uint8_t readBlock(uint32_t block, uint8_t* dst) { uint8_t readBlock(uint32_t block, uint8_t* dst) {
return sdCard_->readBlock(block, dst);} return sdCard_->readBlock(block, dst);}
uint8_t readData(uint32_t block, uint16_t offset, uint8_t readData(uint32_t block, uint16_t offset,
uint16_t count, uint8_t* dst) { uint16_t count, uint8_t* dst) {
return sdCard_->readData(block, offset, count, dst); return sdCard_->readData(block, offset, count, dst);
} }
uint8_t writeBlock(uint32_t block, const uint8_t* dst) { uint8_t writeBlock(uint32_t block, const uint8_t* dst) {
return sdCard_->writeBlock(block, dst); return sdCard_->writeBlock(block, dst);
} }
}; };
#endif // SdFat_h #endif // SdFat_h

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Marlin/SdFatUtil.h
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/* Arduino SdFat Library /* Arduino SdFat Library
* Copyright (C) 2008 by William Greiman * Copyright (C) 2008 by William Greiman
* *
* This file is part of the Arduino SdFat Library * This file is part of the Arduino SdFat Library
* *
* This Library is free software: you can redistribute it and/or modify * This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This Library is distributed in the hope that it will be useful, * This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see * along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>. * <http://www.gnu.org/licenses/>.
*/ */
#ifndef SdFatUtil_h #ifndef SdFatUtil_h
#define SdFatUtil_h #define SdFatUtil_h
/** /**
* \file * \file
* Useful utility functions. * Useful utility functions.
*/ */
#include <WProgram.h> #include <WProgram.h>
#include <avr/pgmspace.h> #include <avr/pgmspace.h>
/** Store and print a string in flash memory.*/ /** Store and print a string in flash memory.*/
#define PgmPrint(x) SerialPrint_P(PSTR(x)) #define PgmPrint(x) SerialPrint_P(PSTR(x))
/** Store and print a string in flash memory followed by a CR/LF.*/ /** Store and print a string in flash memory followed by a CR/LF.*/
#define PgmPrintln(x) SerialPrintln_P(PSTR(x)) #define PgmPrintln(x) SerialPrintln_P(PSTR(x))
/** Defined so doxygen works for function definitions. */ /** Defined so doxygen works for function definitions. */
#define NOINLINE __attribute__((noinline)) #define NOINLINE __attribute__((noinline))
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** Return the number of bytes currently free in RAM. */ /** Return the number of bytes currently free in RAM. */
static int FreeRam(void) { static int FreeRam(void) {
extern int __bss_end; extern int __bss_end;
extern int* __brkval; extern int* __brkval;
int free_memory; int free_memory;
if (reinterpret_cast<int>(__brkval) == 0) { if (reinterpret_cast<int>(__brkval) == 0) {
// if no heap use from end of bss section // if no heap use from end of bss section
free_memory = reinterpret_cast<int>(&free_memory) free_memory = reinterpret_cast<int>(&free_memory)
- reinterpret_cast<int>(&__bss_end); - reinterpret_cast<int>(&__bss_end);
} else { } else {
// use from top of stack to heap // use from top of stack to heap
free_memory = reinterpret_cast<int>(&free_memory) free_memory = reinterpret_cast<int>(&free_memory)
- reinterpret_cast<int>(__brkval); - reinterpret_cast<int>(__brkval);
} }
return free_memory; return free_memory;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* %Print a string in flash memory to the serial port. * %Print a string in flash memory to the serial port.
* *
* \param[in] str Pointer to string stored in flash memory. * \param[in] str Pointer to string stored in flash memory.
*/ */
static NOINLINE void SerialPrint_P(PGM_P str) { static NOINLINE void SerialPrint_P(PGM_P str) {
for (uint8_t c; (c = pgm_read_byte(str)); str++) Serial.print(c); for (uint8_t c; (c = pgm_read_byte(str)); str++) Serial.print(c);
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* %Print a string in flash memory followed by a CR/LF. * %Print a string in flash memory followed by a CR/LF.
* *
* \param[in] str Pointer to string stored in flash memory. * \param[in] str Pointer to string stored in flash memory.
*/ */
static NOINLINE void SerialPrintln_P(PGM_P str) { static NOINLINE void SerialPrintln_P(PGM_P str) {
SerialPrint_P(str); SerialPrint_P(str);
Serial.println(); Serial.println();
} }
#endif // #define SdFatUtil_h #endif // #define SdFatUtil_h

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Marlin/SdFatmainpage.h
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/* Arduino SdFat Library /* Arduino SdFat Library
* Copyright (C) 2009 by William Greiman * Copyright (C) 2009 by William Greiman
* *
* This file is part of the Arduino SdFat Library * This file is part of the Arduino SdFat Library
* *
* This Library is free software: you can redistribute it and/or modify * This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This Library is distributed in the hope that it will be useful, * This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see * along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>. * <http://www.gnu.org/licenses/>.
*/ */
/** /**
\mainpage Arduino SdFat Library \mainpage Arduino SdFat Library
<CENTER>Copyright &copy; 2009 by William Greiman <CENTER>Copyright &copy; 2009 by William Greiman
</CENTER> </CENTER>
\section Intro Introduction \section Intro Introduction
The Arduino SdFat Library is a minimal implementation of FAT16 and FAT32 The Arduino SdFat Library is a minimal implementation of FAT16 and FAT32
file systems on SD flash memory cards. Standard SD and high capacity file systems on SD flash memory cards. Standard SD and high capacity
SDHC cards are supported. SDHC cards are supported.
The SdFat only supports short 8.3 names. The SdFat only supports short 8.3 names.
The main classes in SdFat are Sd2Card, SdVolume, and SdFile. The main classes in SdFat are Sd2Card, SdVolume, and SdFile.
The Sd2Card class supports access to standard SD cards and SDHC cards. Most The Sd2Card class supports access to standard SD cards and SDHC cards. Most
applications will only need to call the Sd2Card::init() member function. applications will only need to call the Sd2Card::init() member function.
The SdVolume class supports FAT16 and FAT32 partitions. Most applications The SdVolume class supports FAT16 and FAT32 partitions. Most applications
will only need to call the SdVolume::init() member function. will only need to call the SdVolume::init() member function.
The SdFile class provides file access functions such as open(), read(), The SdFile class provides file access functions such as open(), read(),
remove(), write(), close() and sync(). This class supports access to the root remove(), write(), close() and sync(). This class supports access to the root
directory and subdirectories. directory and subdirectories.
A number of example are provided in the SdFat/examples folder. These were A number of example are provided in the SdFat/examples folder. These were
developed to test SdFat and illustrate its use. developed to test SdFat and illustrate its use.
SdFat was developed for high speed data recording. SdFat was used to implement SdFat was developed for high speed data recording. SdFat was used to implement
an audio record/play class, WaveRP, for the Adafruit Wave Shield. This an audio record/play class, WaveRP, for the Adafruit Wave Shield. This
application uses special Sd2Card calls to write to contiguous files in raw mode. application uses special Sd2Card calls to write to contiguous files in raw mode.
These functions reduce write latency so that audio can be recorded with the These functions reduce write latency so that audio can be recorded with the
small amount of RAM in the Arduino. small amount of RAM in the Arduino.
\section SDcard SD\SDHC Cards \section SDcard SD\SDHC Cards
Arduinos access SD cards using the cards SPI protocol. PCs, Macs, and Arduinos access SD cards using the cards SPI protocol. PCs, Macs, and
most consumer devices use the 4-bit parallel SD protocol. A card that most consumer devices use the 4-bit parallel SD protocol. A card that
functions well on A PC or Mac may not work well on the Arduino. functions well on A PC or Mac may not work well on the Arduino.
Most cards have good SPI read performance but cards vary widely in SPI Most cards have good SPI read performance but cards vary widely in SPI
write performance. Write performance is limited by how efficiently the write performance. Write performance is limited by how efficiently the
card manages internal erase/remapping operations. The Arduino cannot card manages internal erase/remapping operations. The Arduino cannot
optimize writes to reduce erase operations because of its limit RAM. optimize writes to reduce erase operations because of its limit RAM.
SanDisk cards generally have good write performance. They seem to have SanDisk cards generally have good write performance. They seem to have
more internal RAM buffering than other cards and therefore can limit more internal RAM buffering than other cards and therefore can limit
the number of flash erase operations that the Arduino forces due to its the number of flash erase operations that the Arduino forces due to its
limited RAM. limited RAM.
\section Hardware Hardware Configuration \section Hardware Hardware Configuration
SdFat was developed using an SdFat was developed using an
<A HREF = "http://www.adafruit.com/"> Adafruit Industries</A> <A HREF = "http://www.adafruit.com/"> Adafruit Industries</A>
<A HREF = "http://www.ladyada.net/make/waveshield/"> Wave Shield</A>. <A HREF = "http://www.ladyada.net/make/waveshield/"> Wave Shield</A>.
The hardware interface to the SD card should not use a resistor based level The hardware interface to the SD card should not use a resistor based level
shifter. SdFat sets the SPI bus frequency to 8 MHz which results in signal shifter. SdFat sets the SPI bus frequency to 8 MHz which results in signal
rise times that are too slow for the edge detectors in many newer SD card rise times that are too slow for the edge detectors in many newer SD card
controllers when resistor voltage dividers are used. controllers when resistor voltage dividers are used.
The 5 to 3.3 V level shifter for 5 V Arduinos should be IC based like the The 5 to 3.3 V level shifter for 5 V Arduinos should be IC based like the
74HC4050N based circuit shown in the file SdLevel.png. The Adafruit Wave Shield 74HC4050N based circuit shown in the file SdLevel.png. The Adafruit Wave Shield
uses a 74AHC125N. Gravitech sells SD and MicroSD Card Adapters based on the uses a 74AHC125N. Gravitech sells SD and MicroSD Card Adapters based on the
74LCX245. 74LCX245.
If you are using a resistor based level shifter and are having problems try If you are using a resistor based level shifter and are having problems try
setting the SPI bus frequency to 4 MHz. This can be done by using setting the SPI bus frequency to 4 MHz. This can be done by using
card.init(SPI_HALF_SPEED) to initialize the SD card. card.init(SPI_HALF_SPEED) to initialize the SD card.
\section comment Bugs and Comments \section comment Bugs and Comments
If you wish to report bugs or have comments, send email to fat16lib@sbcglobal.net. If you wish to report bugs or have comments, send email to fat16lib@sbcglobal.net.
\section SdFatClass SdFat Usage \section SdFatClass SdFat Usage
SdFat uses a slightly restricted form of short names. SdFat uses a slightly restricted form of short names.
Only printable ASCII characters are supported. No characters with code point Only printable ASCII characters are supported. No characters with code point
values greater than 127 are allowed. Space is not allowed even though space values greater than 127 are allowed. Space is not allowed even though space
was allowed in the API of early versions of DOS. was allowed in the API of early versions of DOS.
Short names are limited to 8 characters followed by an optional period (.) Short names are limited to 8 characters followed by an optional period (.)
and extension of up to 3 characters. The characters may be any combination and extension of up to 3 characters. The characters may be any combination
of letters and digits. The following special characters are also allowed: of letters and digits. The following special characters are also allowed:
$ % ' - _ @ ~ ` ! ( ) { } ^ # & $ % ' - _ @ ~ ` ! ( ) { } ^ # &
Short names are always converted to upper case and their original case Short names are always converted to upper case and their original case
value is lost. value is lost.
\note \note
The Arduino Print class uses character The Arduino Print class uses character
at a time writes so it was necessary to use a \link SdFile::sync() sync() \endlink at a time writes so it was necessary to use a \link SdFile::sync() sync() \endlink
function to control when data is written to the SD card. function to control when data is written to the SD card.
\par \par
An application which writes to a file using \link Print::print() print()\endlink, An application which writes to a file using \link Print::print() print()\endlink,
\link Print::println() println() \endlink \link Print::println() println() \endlink
or \link SdFile::write write() \endlink must call \link SdFile::sync() sync() \endlink or \link SdFile::write write() \endlink must call \link SdFile::sync() sync() \endlink
at the appropriate time to force data and directory information to be written at the appropriate time to force data and directory information to be written
to the SD Card. Data and directory information are also written to the SD card to the SD Card. Data and directory information are also written to the SD card
when \link SdFile::close() close() \endlink is called. when \link SdFile::close() close() \endlink is called.
\par \par
Applications must use care calling \link SdFile::sync() sync() \endlink Applications must use care calling \link SdFile::sync() sync() \endlink
since 2048 bytes of I/O is required to update file and since 2048 bytes of I/O is required to update file and
directory information. This includes writing the current data block, reading directory information. This includes writing the current data block, reading
the block that contains the directory entry for update, writing the directory the block that contains the directory entry for update, writing the directory
block back and reading back the current data block. block back and reading back the current data block.
It is possible to open a file with two or more instances of SdFile. A file may It is possible to open a file with two or more instances of SdFile. A file may
be corrupted if data is written to the file by more than one instance of SdFile. be corrupted if data is written to the file by more than one instance of SdFile.
\section HowTo How to format SD Cards as FAT Volumes \section HowTo How to format SD Cards as FAT Volumes
You should use a freshly formatted SD card for best performance. FAT You should use a freshly formatted SD card for best performance. FAT
file systems become slower if many files have been created and deleted. file systems become slower if many files have been created and deleted.
This is because the directory entry for a deleted file is marked as deleted, This is because the directory entry for a deleted file is marked as deleted,
but is not deleted. When a new file is created, these entries must be scanned but is not deleted. When a new file is created, these entries must be scanned
before creating the file, a flaw in the FAT design. Also files can become before creating the file, a flaw in the FAT design. Also files can become
fragmented which causes reads and writes to be slower. fragmented which causes reads and writes to be slower.
Microsoft operating systems support removable media formatted with a Microsoft operating systems support removable media formatted with a
Master Boot Record, MBR, or formatted as a super floppy with a FAT Boot Sector Master Boot Record, MBR, or formatted as a super floppy with a FAT Boot Sector
in block zero. in block zero.
Microsoft operating systems expect MBR formatted removable media Microsoft operating systems expect MBR formatted removable media
to have only one partition. The first partition should be used. to have only one partition. The first partition should be used.
Microsoft operating systems do not support partitioning SD flash cards. Microsoft operating systems do not support partitioning SD flash cards.
If you erase an SD card with a program like KillDisk, Most versions of If you erase an SD card with a program like KillDisk, Most versions of
Windows will format the card as a super floppy. Windows will format the card as a super floppy.
The best way to restore an SD card's format is to use SDFormatter The best way to restore an SD card's format is to use SDFormatter
which can be downloaded from: which can be downloaded from:
http://www.sdcard.org/consumers/formatter/ http://www.sdcard.org/consumers/formatter/
SDFormatter aligns flash erase boundaries with file SDFormatter aligns flash erase boundaries with file
system structures which reduces write latency and file system overhead. system structures which reduces write latency and file system overhead.
SDFormatter does not have an option for FAT type so it may format SDFormatter does not have an option for FAT type so it may format
small cards as FAT12. small cards as FAT12.
After the MBR is restored by SDFormatter you may need to reformat small After the MBR is restored by SDFormatter you may need to reformat small
cards that have been formatted FAT12 to force the volume type to be FAT16. cards that have been formatted FAT12 to force the volume type to be FAT16.
If you reformat the SD card with an OS utility, choose a cluster size that If you reformat the SD card with an OS utility, choose a cluster size that
will result in: will result in:
4084 < CountOfClusters && CountOfClusters < 65525 4084 < CountOfClusters && CountOfClusters < 65525
The volume will then be FAT16. The volume will then be FAT16.
If you are formatting an SD card on OS X or Linux, be sure to use the first If you are formatting an SD card on OS X or Linux, be sure to use the first
partition. Format this partition with a cluster count in above range. partition. Format this partition with a cluster count in above range.
\section References References \section References References
Adafruit Industries: Adafruit Industries:
http://www.adafruit.com/ http://www.adafruit.com/
http://www.ladyada.net/make/waveshield/ http://www.ladyada.net/make/waveshield/
The Arduino site: The Arduino site:
http://www.arduino.cc/ http://www.arduino.cc/
For more information about FAT file systems see: For more information about FAT file systems see:
http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx
For information about using SD cards as SPI devices see: For information about using SD cards as SPI devices see:
http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
The ATmega328 datasheet: The ATmega328 datasheet:
http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdf http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdf
*/ */

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/* Arduino Sd2Card Library /* Arduino Sd2Card Library
* Copyright (C) 2009 by William Greiman * Copyright (C) 2009 by William Greiman
* *
* This file is part of the Arduino Sd2Card Library * This file is part of the Arduino Sd2Card Library
* *
* This Library is free software: you can redistribute it and/or modify * This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This Library is distributed in the hope that it will be useful, * This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with the Arduino Sd2Card Library. If not, see * along with the Arduino Sd2Card Library. If not, see
* <http://www.gnu.org/licenses/>. * <http://www.gnu.org/licenses/>.
*/ */
#ifndef SdInfo_h #ifndef SdInfo_h
#define SdInfo_h #define SdInfo_h
#include <stdint.h> #include <stdint.h>
// Based on the document: // Based on the document:
// //
// SD Specifications // SD Specifications
// Part 1 // Part 1
// Physical Layer // Physical Layer
// Simplified Specification // Simplified Specification
// Version 2.00 // Version 2.00
// September 25, 2006 // September 25, 2006
// //
// www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf // www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// SD card commands // SD card commands
/** GO_IDLE_STATE - init card in spi mode if CS low */ /** GO_IDLE_STATE - init card in spi mode if CS low */
uint8_t const CMD0 = 0X00; uint8_t const CMD0 = 0X00;
/** SEND_IF_COND - verify SD Memory Card interface operating condition.*/ /** SEND_IF_COND - verify SD Memory Card interface operating condition.*/
uint8_t const CMD8 = 0X08; uint8_t const CMD8 = 0X08;
/** SEND_CSD - read the Card Specific Data (CSD register) */ /** SEND_CSD - read the Card Specific Data (CSD register) */
uint8_t const CMD9 = 0X09; uint8_t const CMD9 = 0X09;
/** SEND_CID - read the card identification information (CID register) */ /** SEND_CID - read the card identification information (CID register) */
uint8_t const CMD10 = 0X0A; uint8_t const CMD10 = 0X0A;
/** SEND_STATUS - read the card status register */ /** SEND_STATUS - read the card status register */
uint8_t const CMD13 = 0X0D; uint8_t const CMD13 = 0X0D;
/** READ_BLOCK - read a single data block from the card */ /** READ_BLOCK - read a single data block from the card */
uint8_t const CMD17 = 0X11; uint8_t const CMD17 = 0X11;
/** WRITE_BLOCK - write a single data block to the card */ /** WRITE_BLOCK - write a single data block to the card */
uint8_t const CMD24 = 0X18; uint8_t const CMD24 = 0X18;
/** WRITE_MULTIPLE_BLOCK - write blocks of data until a STOP_TRANSMISSION */ /** WRITE_MULTIPLE_BLOCK - write blocks of data until a STOP_TRANSMISSION */
uint8_t const CMD25 = 0X19; uint8_t const CMD25 = 0X19;
/** ERASE_WR_BLK_START - sets the address of the first block to be erased */ /** ERASE_WR_BLK_START - sets the address of the first block to be erased */
uint8_t const CMD32 = 0X20; uint8_t const CMD32 = 0X20;
/** ERASE_WR_BLK_END - sets the address of the last block of the continuous /** ERASE_WR_BLK_END - sets the address of the last block of the continuous
range to be erased*/ range to be erased*/
uint8_t const CMD33 = 0X21; uint8_t const CMD33 = 0X21;
/** ERASE - erase all previously selected blocks */ /** ERASE - erase all previously selected blocks */
uint8_t const CMD38 = 0X26; uint8_t const CMD38 = 0X26;
/** APP_CMD - escape for application specific command */ /** APP_CMD - escape for application specific command */
uint8_t const CMD55 = 0X37; uint8_t const CMD55 = 0X37;
/** READ_OCR - read the OCR register of a card */ /** READ_OCR - read the OCR register of a card */
uint8_t const CMD58 = 0X3A; uint8_t const CMD58 = 0X3A;
/** SET_WR_BLK_ERASE_COUNT - Set the number of write blocks to be /** SET_WR_BLK_ERASE_COUNT - Set the number of write blocks to be
pre-erased before writing */ pre-erased before writing */
uint8_t const ACMD23 = 0X17; uint8_t const ACMD23 = 0X17;
/** SD_SEND_OP_COMD - Sends host capacity support information and /** SD_SEND_OP_COMD - Sends host capacity support information and
activates the card's initialization process */ activates the card's initialization process */
uint8_t const ACMD41 = 0X29; uint8_t const ACMD41 = 0X29;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** status for card in the ready state */ /** status for card in the ready state */
uint8_t const R1_READY_STATE = 0X00; uint8_t const R1_READY_STATE = 0X00;
/** status for card in the idle state */ /** status for card in the idle state */
uint8_t const R1_IDLE_STATE = 0X01; uint8_t const R1_IDLE_STATE = 0X01;
/** status bit for illegal command */ /** status bit for illegal command */
uint8_t const R1_ILLEGAL_COMMAND = 0X04; uint8_t const R1_ILLEGAL_COMMAND = 0X04;
/** start data token for read or write single block*/ /** start data token for read or write single block*/
uint8_t const DATA_START_BLOCK = 0XFE; uint8_t const DATA_START_BLOCK = 0XFE;
/** stop token for write multiple blocks*/ /** stop token for write multiple blocks*/
uint8_t const STOP_TRAN_TOKEN = 0XFD; uint8_t const STOP_TRAN_TOKEN = 0XFD;
/** start data token for write multiple blocks*/ /** start data token for write multiple blocks*/
uint8_t const WRITE_MULTIPLE_TOKEN = 0XFC; uint8_t const WRITE_MULTIPLE_TOKEN = 0XFC;
/** mask for data response tokens after a write block operation */ /** mask for data response tokens after a write block operation */
uint8_t const DATA_RES_MASK = 0X1F; uint8_t const DATA_RES_MASK = 0X1F;
/** write data accepted token */ /** write data accepted token */
uint8_t const DATA_RES_ACCEPTED = 0X05; uint8_t const DATA_RES_ACCEPTED = 0X05;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
typedef struct CID { typedef struct CID {
// byte 0 // byte 0
uint8_t mid; // Manufacturer ID uint8_t mid; // Manufacturer ID
// byte 1-2 // byte 1-2
char oid[2]; // OEM/Application ID char oid[2]; // OEM/Application ID
// byte 3-7 // byte 3-7
char pnm[5]; // Product name char pnm[5]; // Product name
// byte 8 // byte 8
unsigned prv_m : 4; // Product revision n.m unsigned prv_m : 4; // Product revision n.m
unsigned prv_n : 4; unsigned prv_n : 4;
// byte 9-12 // byte 9-12
uint32_t psn; // Product serial number uint32_t psn; // Product serial number
// byte 13 // byte 13
unsigned mdt_year_high : 4; // Manufacturing date unsigned mdt_year_high : 4; // Manufacturing date
unsigned reserved : 4; unsigned reserved : 4;
// byte 14 // byte 14
unsigned mdt_month : 4; unsigned mdt_month : 4;
unsigned mdt_year_low :4; unsigned mdt_year_low :4;
// byte 15 // byte 15
unsigned always1 : 1; unsigned always1 : 1;
unsigned crc : 7; unsigned crc : 7;
}cid_t; }cid_t;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// CSD for version 1.00 cards // CSD for version 1.00 cards
typedef struct CSDV1 { typedef struct CSDV1 {
// byte 0 // byte 0
unsigned reserved1 : 6; unsigned reserved1 : 6;
unsigned csd_ver : 2; unsigned csd_ver : 2;
// byte 1 // byte 1
uint8_t taac; uint8_t taac;
// byte 2 // byte 2
uint8_t nsac; uint8_t nsac;
// byte 3 // byte 3
uint8_t tran_speed; uint8_t tran_speed;
// byte 4 // byte 4
uint8_t ccc_high; uint8_t ccc_high;
// byte 5 // byte 5
unsigned read_bl_len : 4; unsigned read_bl_len : 4;
unsigned ccc_low : 4; unsigned ccc_low : 4;
// byte 6 // byte 6
unsigned c_size_high : 2; unsigned c_size_high : 2;
unsigned reserved2 : 2; unsigned reserved2 : 2;
unsigned dsr_imp : 1; unsigned dsr_imp : 1;
unsigned read_blk_misalign :1; unsigned read_blk_misalign :1;
unsigned write_blk_misalign : 1; unsigned write_blk_misalign : 1;
unsigned read_bl_partial : 1; unsigned read_bl_partial : 1;
// byte 7 // byte 7
uint8_t c_size_mid; uint8_t c_size_mid;
// byte 8 // byte 8
unsigned vdd_r_curr_max : 3; unsigned vdd_r_curr_max : 3;
unsigned vdd_r_curr_min : 3; unsigned vdd_r_curr_min : 3;
unsigned c_size_low :2; unsigned c_size_low :2;
// byte 9 // byte 9
unsigned c_size_mult_high : 2; unsigned c_size_mult_high : 2;
unsigned vdd_w_cur_max : 3; unsigned vdd_w_cur_max : 3;
unsigned vdd_w_curr_min : 3; unsigned vdd_w_curr_min : 3;
// byte 10 // byte 10
unsigned sector_size_high : 6; unsigned sector_size_high : 6;
unsigned erase_blk_en : 1; unsigned erase_blk_en : 1;
unsigned c_size_mult_low : 1; unsigned c_size_mult_low : 1;
// byte 11 // byte 11
unsigned wp_grp_size : 7; unsigned wp_grp_size : 7;
unsigned sector_size_low : 1; unsigned sector_size_low : 1;
// byte 12 // byte 12
unsigned write_bl_len_high : 2; unsigned write_bl_len_high : 2;
unsigned r2w_factor : 3; unsigned r2w_factor : 3;
unsigned reserved3 : 2; unsigned reserved3 : 2;
unsigned wp_grp_enable : 1; unsigned wp_grp_enable : 1;
// byte 13 // byte 13
unsigned reserved4 : 5; unsigned reserved4 : 5;
unsigned write_partial : 1; unsigned write_partial : 1;
unsigned write_bl_len_low : 2; unsigned write_bl_len_low : 2;
// byte 14 // byte 14
unsigned reserved5: 2; unsigned reserved5: 2;
unsigned file_format : 2; unsigned file_format : 2;
unsigned tmp_write_protect : 1; unsigned tmp_write_protect : 1;
unsigned perm_write_protect : 1; unsigned perm_write_protect : 1;
unsigned copy : 1; unsigned copy : 1;
unsigned file_format_grp : 1; unsigned file_format_grp : 1;
// byte 15 // byte 15
unsigned always1 : 1; unsigned always1 : 1;
unsigned crc : 7; unsigned crc : 7;
}csd1_t; }csd1_t;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// CSD for version 2.00 cards // CSD for version 2.00 cards
typedef struct CSDV2 { typedef struct CSDV2 {
// byte 0 // byte 0
unsigned reserved1 : 6; unsigned reserved1 : 6;
unsigned csd_ver : 2; unsigned csd_ver : 2;
// byte 1 // byte 1
uint8_t taac; uint8_t taac;
// byte 2 // byte 2
uint8_t nsac; uint8_t nsac;
// byte 3 // byte 3
uint8_t tran_speed; uint8_t tran_speed;
// byte 4 // byte 4
uint8_t ccc_high; uint8_t ccc_high;
// byte 5 // byte 5
unsigned read_bl_len : 4; unsigned read_bl_len : 4;
unsigned ccc_low : 4; unsigned ccc_low : 4;
// byte 6 // byte 6
unsigned reserved2 : 4; unsigned reserved2 : 4;
unsigned dsr_imp : 1; unsigned dsr_imp : 1;
unsigned read_blk_misalign :1; unsigned read_blk_misalign :1;
unsigned write_blk_misalign : 1; unsigned write_blk_misalign : 1;
unsigned read_bl_partial : 1; unsigned read_bl_partial : 1;
// byte 7 // byte 7
unsigned reserved3 : 2; unsigned reserved3 : 2;
unsigned c_size_high : 6; unsigned c_size_high : 6;
// byte 8 // byte 8
uint8_t c_size_mid; uint8_t c_size_mid;
// byte 9 // byte 9
uint8_t c_size_low; uint8_t c_size_low;
// byte 10 // byte 10
unsigned sector_size_high : 6; unsigned sector_size_high : 6;
unsigned erase_blk_en : 1; unsigned erase_blk_en : 1;
unsigned reserved4 : 1; unsigned reserved4 : 1;
// byte 11 // byte 11
unsigned wp_grp_size : 7; unsigned wp_grp_size : 7;
unsigned sector_size_low : 1; unsigned sector_size_low : 1;
// byte 12 // byte 12
unsigned write_bl_len_high : 2; unsigned write_bl_len_high : 2;
unsigned r2w_factor : 3; unsigned r2w_factor : 3;
unsigned reserved5 : 2; unsigned reserved5 : 2;
unsigned wp_grp_enable : 1; unsigned wp_grp_enable : 1;
// byte 13 // byte 13
unsigned reserved6 : 5; unsigned reserved6 : 5;
unsigned write_partial : 1; unsigned write_partial : 1;
unsigned write_bl_len_low : 2; unsigned write_bl_len_low : 2;
// byte 14 // byte 14
unsigned reserved7: 2; unsigned reserved7: 2;
unsigned file_format : 2; unsigned file_format : 2;
unsigned tmp_write_protect : 1; unsigned tmp_write_protect : 1;
unsigned perm_write_protect : 1; unsigned perm_write_protect : 1;
unsigned copy : 1; unsigned copy : 1;
unsigned file_format_grp : 1; unsigned file_format_grp : 1;
// byte 15 // byte 15
unsigned always1 : 1; unsigned always1 : 1;
unsigned crc : 7; unsigned crc : 7;
}csd2_t; }csd2_t;
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// union of old and new style CSD register // union of old and new style CSD register
union csd_t { union csd_t {
csd1_t v1; csd1_t v1;
csd2_t v2; csd2_t v2;
}; };
#endif // SdInfo_h #endif // SdInfo_h

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Marlin/SdVolume.cpp
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/* Arduino SdFat Library /* Arduino SdFat Library
* Copyright (C) 2009 by William Greiman * Copyright (C) 2009 by William Greiman
* *
* This file is part of the Arduino SdFat Library * This file is part of the Arduino SdFat Library
* *
* This Library is free software: you can redistribute it and/or modify * This Library is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This Library is distributed in the hope that it will be useful, * This Library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with the Arduino SdFat Library. If not, see * along with the Arduino SdFat Library. If not, see
* <http://www.gnu.org/licenses/>. * <http://www.gnu.org/licenses/>.
*/ */
#include "SdFat.h" #include "SdFat.h"
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// raw block cache // raw block cache
// init cacheBlockNumber_to invalid SD block number // init cacheBlockNumber_to invalid SD block number
uint32_t SdVolume::cacheBlockNumber_ = 0XFFFFFFFF; uint32_t SdVolume::cacheBlockNumber_ = 0XFFFFFFFF;
cache_t SdVolume::cacheBuffer_; // 512 byte cache for Sd2Card cache_t SdVolume::cacheBuffer_; // 512 byte cache for Sd2Card
Sd2Card* SdVolume::sdCard_; // pointer to SD card object Sd2Card* SdVolume::sdCard_; // pointer to SD card object
uint8_t SdVolume::cacheDirty_ = 0; // cacheFlush() will write block if true uint8_t SdVolume::cacheDirty_ = 0; // cacheFlush() will write block if true
uint32_t SdVolume::cacheMirrorBlock_ = 0; // mirror block for second FAT uint32_t SdVolume::cacheMirrorBlock_ = 0; // mirror block for second FAT
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// find a contiguous group of clusters // find a contiguous group of clusters
uint8_t SdVolume::allocContiguous(uint32_t count, uint32_t* curCluster) { uint8_t SdVolume::allocContiguous(uint32_t count, uint32_t* curCluster) {
// start of group // start of group
uint32_t bgnCluster; uint32_t bgnCluster;
// flag to save place to start next search // flag to save place to start next search
uint8_t setStart; uint8_t setStart;
// set search start cluster // set search start cluster
if (*curCluster) { if (*curCluster) {
// try to make file contiguous // try to make file contiguous
bgnCluster = *curCluster + 1; bgnCluster = *curCluster + 1;
// don't save new start location // don't save new start location
setStart = false; setStart = false;
} else { } else {
// start at likely place for free cluster // start at likely place for free cluster
bgnCluster = allocSearchStart_; bgnCluster = allocSearchStart_;
// save next search start if one cluster // save next search start if one cluster
setStart = 1 == count; setStart = 1 == count;
} }
// end of group // end of group
uint32_t endCluster = bgnCluster; uint32_t endCluster = bgnCluster;
// last cluster of FAT // last cluster of FAT
uint32_t fatEnd = clusterCount_ + 1; uint32_t fatEnd = clusterCount_ + 1;
// search the FAT for free clusters // search the FAT for free clusters
for (uint32_t n = 0;; n++, endCluster++) { for (uint32_t n = 0;; n++, endCluster++) {
// can't find space checked all clusters // can't find space checked all clusters
if (n >= clusterCount_) return false; if (n >= clusterCount_) return false;
// past end - start from beginning of FAT // past end - start from beginning of FAT
if (endCluster > fatEnd) { if (endCluster > fatEnd) {
bgnCluster = endCluster = 2; bgnCluster = endCluster = 2;
} }
uint32_t f; uint32_t f;
if (!fatGet(endCluster, &f)) return false; if (!fatGet(endCluster, &f)) return false;
if (f != 0) { if (f != 0) {
// cluster in use try next cluster as bgnCluster // cluster in use try next cluster as bgnCluster
bgnCluster = endCluster + 1; bgnCluster = endCluster + 1;
} else if ((endCluster - bgnCluster + 1) == count) { } else if ((endCluster - bgnCluster + 1) == count) {
// done - found space // done - found space
break; break;
} }
} }
// mark end of chain // mark end of chain
if (!fatPutEOC(endCluster)) return false; if (!fatPutEOC(endCluster)) return false;
// link clusters // link clusters
while (endCluster > bgnCluster) { while (endCluster > bgnCluster) {
if (!fatPut(endCluster - 1, endCluster)) return false; if (!fatPut(endCluster - 1, endCluster)) return false;
endCluster--; endCluster--;
} }
if (*curCluster != 0) { if (*curCluster != 0) {
// connect chains // connect chains
if (!fatPut(*curCluster, bgnCluster)) return false; if (!fatPut(*curCluster, bgnCluster)) return false;
} }
// return first cluster number to caller // return first cluster number to caller
*curCluster = bgnCluster; *curCluster = bgnCluster;
// remember possible next free cluster // remember possible next free cluster
if (setStart) allocSearchStart_ = bgnCluster + 1; if (setStart) allocSearchStart_ = bgnCluster + 1;
return true; return true;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
uint8_t SdVolume::cacheFlush(void) { uint8_t SdVolume::cacheFlush(void) {
if (cacheDirty_) { if (cacheDirty_) {
if (!sdCard_->writeBlock(cacheBlockNumber_, cacheBuffer_.data)) { if (!sdCard_->writeBlock(cacheBlockNumber_, cacheBuffer_.data)) {
return false; return false;
} }
// mirror FAT tables // mirror FAT tables
if (cacheMirrorBlock_) { if (cacheMirrorBlock_) {
if (!sdCard_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data)) { if (!sdCard_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data)) {
return false; return false;
} }
cacheMirrorBlock_ = 0; cacheMirrorBlock_ = 0;
} }
cacheDirty_ = 0; cacheDirty_ = 0;
} }
return true; return true;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
uint8_t SdVolume::cacheRawBlock(uint32_t blockNumber, uint8_t action) { uint8_t SdVolume::cacheRawBlock(uint32_t blockNumber, uint8_t action) {
if (cacheBlockNumber_ != blockNumber) { if (cacheBlockNumber_ != blockNumber) {
if (!cacheFlush()) return false; if (!cacheFlush()) return false;
if (!sdCard_->readBlock(blockNumber, cacheBuffer_.data)) return false; if (!sdCard_->readBlock(blockNumber, cacheBuffer_.data)) return false;
cacheBlockNumber_ = blockNumber; cacheBlockNumber_ = blockNumber;
} }
cacheDirty_ |= action; cacheDirty_ |= action;
return true; return true;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// cache a zero block for blockNumber // cache a zero block for blockNumber
uint8_t SdVolume::cacheZeroBlock(uint32_t blockNumber) { uint8_t SdVolume::cacheZeroBlock(uint32_t blockNumber) {
if (!cacheFlush()) return false; if (!cacheFlush()) return false;
// loop take less flash than memset(cacheBuffer_.data, 0, 512); // loop take less flash than memset(cacheBuffer_.data, 0, 512);
for (uint16_t i = 0; i < 512; i++) { for (uint16_t i = 0; i < 512; i++) {
cacheBuffer_.data[i] = 0; cacheBuffer_.data[i] = 0;
} }
cacheBlockNumber_ = blockNumber; cacheBlockNumber_ = blockNumber;
cacheSetDirty(); cacheSetDirty();
return true; return true;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// return the size in bytes of a cluster chain // return the size in bytes of a cluster chain
uint8_t SdVolume::chainSize(uint32_t cluster, uint32_t* size) const { uint8_t SdVolume::chainSize(uint32_t cluster, uint32_t* size) const {
uint32_t s = 0; uint32_t s = 0;
do { do {
if (!fatGet(cluster, &cluster)) return false; if (!fatGet(cluster, &cluster)) return false;
s += 512UL << clusterSizeShift_; s += 512UL << clusterSizeShift_;
} while (!isEOC(cluster)); } while (!isEOC(cluster));
*size = s; *size = s;
return true; return true;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// Fetch a FAT entry // Fetch a FAT entry
uint8_t SdVolume::fatGet(uint32_t cluster, uint32_t* value) const { uint8_t SdVolume::fatGet(uint32_t cluster, uint32_t* value) const {
if (cluster > (clusterCount_ + 1)) return false; if (cluster > (clusterCount_ + 1)) return false;
uint32_t lba = fatStartBlock_; uint32_t lba = fatStartBlock_;
lba += fatType_ == 16 ? cluster >> 8 : cluster >> 7; lba += fatType_ == 16 ? cluster >> 8 : cluster >> 7;
if (lba != cacheBlockNumber_) { if (lba != cacheBlockNumber_) {
if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false; if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false;
} }
if (fatType_ == 16) { if (fatType_ == 16) {
*value = cacheBuffer_.fat16[cluster & 0XFF]; *value = cacheBuffer_.fat16[cluster & 0XFF];
} else { } else {
*value = cacheBuffer_.fat32[cluster & 0X7F] & FAT32MASK; *value = cacheBuffer_.fat32[cluster & 0X7F] & FAT32MASK;
} }
return true; return true;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// Store a FAT entry // Store a FAT entry
uint8_t SdVolume::fatPut(uint32_t cluster, uint32_t value) { uint8_t SdVolume::fatPut(uint32_t cluster, uint32_t value) {
// error if reserved cluster // error if reserved cluster
if (cluster < 2) return false; if (cluster < 2) return false;
// error if not in FAT // error if not in FAT
if (cluster > (clusterCount_ + 1)) return false; if (cluster > (clusterCount_ + 1)) return false;
// calculate block address for entry // calculate block address for entry
uint32_t lba = fatStartBlock_; uint32_t lba = fatStartBlock_;
lba += fatType_ == 16 ? cluster >> 8 : cluster >> 7; lba += fatType_ == 16 ? cluster >> 8 : cluster >> 7;
if (lba != cacheBlockNumber_) { if (lba != cacheBlockNumber_) {
if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false; if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false;
} }
// store entry // store entry
if (fatType_ == 16) { if (fatType_ == 16) {
cacheBuffer_.fat16[cluster & 0XFF] = value; cacheBuffer_.fat16[cluster & 0XFF] = value;
} else { } else {
cacheBuffer_.fat32[cluster & 0X7F] = value; cacheBuffer_.fat32[cluster & 0X7F] = value;
} }
cacheSetDirty(); cacheSetDirty();
// mirror second FAT // mirror second FAT
if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_; if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_;
return true; return true;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
// free a cluster chain // free a cluster chain
uint8_t SdVolume::freeChain(uint32_t cluster) { uint8_t SdVolume::freeChain(uint32_t cluster) {
// clear free cluster location // clear free cluster location
allocSearchStart_ = 2; allocSearchStart_ = 2;
do { do {
uint32_t next; uint32_t next;
if (!fatGet(cluster, &next)) return false; if (!fatGet(cluster, &next)) return false;
// free cluster // free cluster
if (!fatPut(cluster, 0)) return false; if (!fatPut(cluster, 0)) return false;
cluster = next; cluster = next;
} while (!isEOC(cluster)); } while (!isEOC(cluster));
return true; return true;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* Initialize a FAT volume. * Initialize a FAT volume.
* *
* \param[in] dev The SD card where the volume is located. * \param[in] dev The SD card where the volume is located.
* *
* \param[in] part The partition to be used. Legal values for \a part are * \param[in] part The partition to be used. Legal values for \a part are
* 1-4 to use the corresponding partition on a device formatted with * 1-4 to use the corresponding partition on a device formatted with
* a MBR, Master Boot Record, or zero if the device is formatted as * a MBR, Master Boot Record, or zero if the device is formatted as
* a super floppy with the FAT boot sector in block zero. * a super floppy with the FAT boot sector in block zero.
* *
* \return The value one, true, is returned for success and * \return The value one, true, is returned for success and
* the value zero, false, is returned for failure. Reasons for * the value zero, false, is returned for failure. Reasons for
* failure include not finding a valid partition, not finding a valid * failure include not finding a valid partition, not finding a valid
* FAT file system in the specified partition or an I/O error. * FAT file system in the specified partition or an I/O error.
*/ */
uint8_t SdVolume::init(Sd2Card* dev, uint8_t part) { uint8_t SdVolume::init(Sd2Card* dev, uint8_t part) {
uint32_t volumeStartBlock = 0; uint32_t volumeStartBlock = 0;
sdCard_ = dev; sdCard_ = dev;
// if part == 0 assume super floppy with FAT boot sector in block zero // if part == 0 assume super floppy with FAT boot sector in block zero
// if part > 0 assume mbr volume with partition table // if part > 0 assume mbr volume with partition table
if (part) { if (part) {
if (part > 4)return false; if (part > 4)return false;
if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false; if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false;
part_t* p = &cacheBuffer_.mbr.part[part-1]; part_t* p = &cacheBuffer_.mbr.part[part-1];
if ((p->boot & 0X7F) !=0 || if ((p->boot & 0X7F) !=0 ||
p->totalSectors < 100 || p->totalSectors < 100 ||
p->firstSector == 0) { p->firstSector == 0) {
// not a valid partition // not a valid partition
return false; return false;
} }
volumeStartBlock = p->firstSector; volumeStartBlock = p->firstSector;
} }
if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false; if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false;
bpb_t* bpb = &cacheBuffer_.fbs.bpb; bpb_t* bpb = &cacheBuffer_.fbs.bpb;
if (bpb->bytesPerSector != 512 || if (bpb->bytesPerSector != 512 ||
bpb->fatCount == 0 || bpb->fatCount == 0 ||
bpb->reservedSectorCount == 0 || bpb->reservedSectorCount == 0 ||
bpb->sectorsPerCluster == 0) { bpb->sectorsPerCluster == 0) {
// not valid FAT volume // not valid FAT volume
return false; return false;
} }
fatCount_ = bpb->fatCount; fatCount_ = bpb->fatCount;
blocksPerCluster_ = bpb->sectorsPerCluster; blocksPerCluster_ = bpb->sectorsPerCluster;
// determine shift that is same as multiply by blocksPerCluster_ // determine shift that is same as multiply by blocksPerCluster_
clusterSizeShift_ = 0; clusterSizeShift_ = 0;
while (blocksPerCluster_ != (1 << clusterSizeShift_)) { while (blocksPerCluster_ != (1 << clusterSizeShift_)) {
// error if not power of 2 // error if not power of 2
if (clusterSizeShift_++ > 7) return false; if (clusterSizeShift_++ > 7) return false;
} }
blocksPerFat_ = bpb->sectorsPerFat16 ? blocksPerFat_ = bpb->sectorsPerFat16 ?
bpb->sectorsPerFat16 : bpb->sectorsPerFat32; bpb->sectorsPerFat16 : bpb->sectorsPerFat32;
fatStartBlock_ = volumeStartBlock + bpb->reservedSectorCount; fatStartBlock_ = volumeStartBlock + bpb->reservedSectorCount;
// count for FAT16 zero for FAT32 // count for FAT16 zero for FAT32
rootDirEntryCount_ = bpb->rootDirEntryCount; rootDirEntryCount_ = bpb->rootDirEntryCount;
// directory start for FAT16 dataStart for FAT32 // directory start for FAT16 dataStart for FAT32
rootDirStart_ = fatStartBlock_ + bpb->fatCount * blocksPerFat_; rootDirStart_ = fatStartBlock_ + bpb->fatCount * blocksPerFat_;
// data start for FAT16 and FAT32 // data start for FAT16 and FAT32
dataStartBlock_ = rootDirStart_ + ((32 * bpb->rootDirEntryCount + 511)/512); dataStartBlock_ = rootDirStart_ + ((32 * bpb->rootDirEntryCount + 511)/512);
// total blocks for FAT16 or FAT32 // total blocks for FAT16 or FAT32
uint32_t totalBlocks = bpb->totalSectors16 ? uint32_t totalBlocks = bpb->totalSectors16 ?
bpb->totalSectors16 : bpb->totalSectors32; bpb->totalSectors16 : bpb->totalSectors32;
// total data blocks // total data blocks
clusterCount_ = totalBlocks - (dataStartBlock_ - volumeStartBlock); clusterCount_ = totalBlocks - (dataStartBlock_ - volumeStartBlock);
// divide by cluster size to get cluster count // divide by cluster size to get cluster count
clusterCount_ >>= clusterSizeShift_; clusterCount_ >>= clusterSizeShift_;
// FAT type is determined by cluster count // FAT type is determined by cluster count
if (clusterCount_ < 4085) { if (clusterCount_ < 4085) {
fatType_ = 12; fatType_ = 12;
} else if (clusterCount_ < 65525) { } else if (clusterCount_ < 65525) {
fatType_ = 16; fatType_ = 16;
} else { } else {
rootDirStart_ = bpb->fat32RootCluster; rootDirStart_ = bpb->fat32RootCluster;
fatType_ = 32; fatType_ = 32;
} }
return true; return true;
} }

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Marlin/fastio.h
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Marlin/lcd.h
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#ifndef __LCDH
#define __LCDH
#endif

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Marlin/lcd.pde
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Marlin/pins.h
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#ifndef PINS_H #ifndef PINS_H
#define PINS_H #define PINS_H
/**************************************************************************************** /****************************************************************************************
* Arduino pin assignment * Arduino pin assignment
* *
* ATMega168 * ATMega168
* +-\/-+ * +-\/-+
* PC6 1| |28 PC5 (AI 5 / D19) * PC6 1| |28 PC5 (AI 5 / D19)
* (D 0) PD0 2| |27 PC4 (AI 4 / D18) * (D 0) PD0 2| |27 PC4 (AI 4 / D18)
* (D 1) PD1 3| |26 PC3 (AI 3 / D17) * (D 1) PD1 3| |26 PC3 (AI 3 / D17)
* (D 2) PD2 4| |25 PC2 (AI 2 / D16) * (D 2) PD2 4| |25 PC2 (AI 2 / D16)
* PWM+ (D 3) PD3 5| |24 PC1 (AI 1 / D15) * PWM+ (D 3) PD3 5| |24 PC1 (AI 1 / D15)
* (D 4) PD4 6| |23 PC0 (AI 0 / D14) * (D 4) PD4 6| |23 PC0 (AI 0 / D14)
* VCC 7| |22 GND * VCC 7| |22 GND
* GND 8| |21 AREF * GND 8| |21 AREF
* PB6 9| |20 AVCC * PB6 9| |20 AVCC
* PB7 10| |19 PB5 (D 13) * PB7 10| |19 PB5 (D 13)
* PWM+ (D 5) PD5 11| |18 PB4 (D 12) * PWM+ (D 5) PD5 11| |18 PB4 (D 12)
* PWM+ (D 6) PD6 12| |17 PB3 (D 11) PWM * PWM+ (D 6) PD6 12| |17 PB3 (D 11) PWM
* (D 7) PD7 13| |16 PB2 (D 10) PWM * (D 7) PD7 13| |16 PB2 (D 10) PWM
* (D 8) PB0 14| |15 PB1 (D 9) PWM * (D 8) PB0 14| |15 PB1 (D 9) PWM
* +----+ * +----+
****************************************************************************************/ ****************************************************************************************/
#if MOTHERBOARD == 0 #if MOTHERBOARD == 0
#define KNOWN_BOARD 1 #define KNOWN_BOARD 1
#ifndef __AVR_ATmega168__ #ifndef __AVR_ATmega168__
#error Oops! Make sure you have 'Arduino Diecimila' selected from the boards menu. #error Oops! Make sure you have 'Arduino Diecimila' selected from the boards menu.
#endif #endif
#define X_STEP_PIN 2 #define X_STEP_PIN 2
#define X_DIR_PIN 3 #define X_DIR_PIN 3
#define X_ENABLE_PIN -1 #define X_ENABLE_PIN -1
#define X_MIN_PIN 4 #define X_MIN_PIN 4
#define X_MAX_PIN 9 #define X_MAX_PIN 9
#define Y_STEP_PIN 10 #define Y_STEP_PIN 10
#define Y_DIR_PIN 7 #define Y_DIR_PIN 7
#define Y_ENABLE_PIN -1 #define Y_ENABLE_PIN -1
#define Y_MIN_PIN 8 #define Y_MIN_PIN 8
#define Y_MAX_PIN 13 #define Y_MAX_PIN 13
#define Z_STEP_PIN 19 #define Z_STEP_PIN 19
#define Z_DIR_PIN 18 #define Z_DIR_PIN 18
#define Z_ENABLE_PIN 5 #define Z_ENABLE_PIN 5
#define Z_MIN_PIN 17 #define Z_MIN_PIN 17
#define Z_MAX_PIN 16 #define Z_MAX_PIN 16
#define E_STEP_PIN 11 #define E_STEP_PIN 11
#define E_DIR_PIN 12 #define E_DIR_PIN 12
#define E_ENABLE_PIN -1 #define E_ENABLE_PIN -1
#define SDPOWER -1 #define SDPOWER -1
#define SDSS -1 #define SDSS -1
#define LED_PIN -1 #define LED_PIN -1
#define FAN_PIN -1 #define FAN_PIN -1
#define PS_ON_PIN 15 #define PS_ON_PIN 15
#define KILL_PIN -1 #define KILL_PIN -1
#define HEATER_0_PIN 6 #define HEATER_0_PIN 6
#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! #define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define HEATER_1_PIN -1 #define HEATER_1_PIN -1
#define HEATER_2_PIN -1 #define HEATER_2_PIN -1
#endif #endif
/**************************************************************************************** /****************************************************************************************
* Sanguino/RepRap Motherboard with direct-drive extruders * Sanguino/RepRap Motherboard with direct-drive extruders
* *
* ATMega644P * ATMega644P
* *
* +---\/---+ * +---\/---+
* (D 0) PB0 1| |40 PA0 (AI 0 / D31) * (D 0) PB0 1| |40 PA0 (AI 0 / D31)
* (D 1) PB1 2| |39 PA1 (AI 1 / D30) * (D 1) PB1 2| |39 PA1 (AI 1 / D30)
* INT2 (D 2) PB2 3| |38 PA2 (AI 2 / D29) * INT2 (D 2) PB2 3| |38 PA2 (AI 2 / D29)
* PWM (D 3) PB3 4| |37 PA3 (AI 3 / D28) * PWM (D 3) PB3 4| |37 PA3 (AI 3 / D28)
* PWM (D 4) PB4 5| |36 PA4 (AI 4 / D27) * PWM (D 4) PB4 5| |36 PA4 (AI 4 / D27)
* MOSI (D 5) PB5 6| |35 PA5 (AI 5 / D26) * MOSI (D 5) PB5 6| |35 PA5 (AI 5 / D26)
* MISO (D 6) PB6 7| |34 PA6 (AI 6 / D25) * MISO (D 6) PB6 7| |34 PA6 (AI 6 / D25)
* SCK (D 7) PB7 8| |33 PA7 (AI 7 / D24) * SCK (D 7) PB7 8| |33 PA7 (AI 7 / D24)
* RST 9| |32 AREF * RST 9| |32 AREF
* VCC 10| |31 GND * VCC 10| |31 GND
* GND 11| |30 AVCC * GND 11| |30 AVCC
* XTAL2 12| |29 PC7 (D 23) * XTAL2 12| |29 PC7 (D 23)
* XTAL1 13| |28 PC6 (D 22) * XTAL1 13| |28 PC6 (D 22)
* RX0 (D 8) PD0 14| |27 PC5 (D 21) TDI * RX0 (D 8) PD0 14| |27 PC5 (D 21) TDI
* TX0 (D 9) PD1 15| |26 PC4 (D 20) TDO * TX0 (D 9) PD1 15| |26 PC4 (D 20) TDO
* INT0 RX1 (D 10) PD2 16| |25 PC3 (D 19) TMS * INT0 RX1 (D 10) PD2 16| |25 PC3 (D 19) TMS
* INT1 TX1 (D 11) PD3 17| |24 PC2 (D 18) TCK * INT1 TX1 (D 11) PD3 17| |24 PC2 (D 18) TCK
* PWM (D 12) PD4 18| |23 PC1 (D 17) SDA * PWM (D 12) PD4 18| |23 PC1 (D 17) SDA
* PWM (D 13) PD5 19| |22 PC0 (D 16) SCL * PWM (D 13) PD5 19| |22 PC0 (D 16) SCL
* PWM (D 14) PD6 20| |21 PD7 (D 15) PWM * PWM (D 14) PD6 20| |21 PD7 (D 15) PWM
* +--------+ * +--------+
* *
****************************************************************************************/ ****************************************************************************************/
#if MOTHERBOARD == 1 #if MOTHERBOARD == 1
#define KNOWN_BOARD 1 #define KNOWN_BOARD 1
#ifndef __AVR_ATmega644P__ #ifndef __AVR_ATmega644P__
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif #endif
#define X_STEP_PIN 15 #define X_STEP_PIN 15
#define X_DIR_PIN 18 #define X_DIR_PIN 18
#define X_ENABLE_PIN 19 #define X_ENABLE_PIN 19
#define X_MIN_PIN 20 #define X_MIN_PIN 20
#define X_MAX_PIN 21 #define X_MAX_PIN 21
#define Y_STEP_PIN 23 #define Y_STEP_PIN 23
#define Y_DIR_PIN 22 #define Y_DIR_PIN 22
#define Y_ENABLE_PIN 19 #define Y_ENABLE_PIN 19
#define Y_MIN_PIN 25 #define Y_MIN_PIN 25
#define Y_MAX_PIN 26 #define Y_MAX_PIN 26
#define Z_STEP_PIN 29 #define Z_STEP_PIN 29
#define Z_DIR_PIN 30 #define Z_DIR_PIN 30
#define Z_ENABLE_PIN 31 #define Z_ENABLE_PIN 31
#define Z_MIN_PIN 2 #define Z_MIN_PIN 2
#define Z_MAX_PIN 1 #define Z_MAX_PIN 1
#define E_STEP_PIN 12 #define E_STEP_PIN 12
#define E_DIR_PIN 16 #define E_DIR_PIN 16
#define E_ENABLE_PIN 3 #define E_ENABLE_PIN 3
#define SDPOWER -1 #define SDPOWER -1
#define SDSS -1 #define SDSS -1
#define LED_PIN 0 #define LED_PIN 0
#define FAN_PIN -1 #define FAN_PIN -1
#define PS_ON_PIN -1 #define PS_ON_PIN -1
#define KILL_PIN -1 #define KILL_PIN -1
#define HEATER_0_PIN 14 #define HEATER_0_PIN 14
#define TEMP_0_PIN 4 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! #define TEMP_0_PIN 4 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define HEATER_1_PIN -1 #define HEATER_1_PIN -1
#define HEATER_2_PIN -1 #define HEATER_2_PIN -1
/* Unused (1) (2) (3) 4 5 6 7 8 9 10 11 12 13 (14) (15) (16) 17 (18) (19) (20) (21) (22) (23) 24 (25) (26) (27) 28 (29) (30) (31) */ /* Unused (1) (2) (3) 4 5 6 7 8 9 10 11 12 13 (14) (15) (16) 17 (18) (19) (20) (21) (22) (23) 24 (25) (26) (27) 28 (29) (30) (31) */
#endif #endif
/**************************************************************************************** /****************************************************************************************
* RepRap Motherboard ****---NOOOOOO RS485/EXTRUDER CONTROLLER!!!!!!!!!!!!!!!!!---******* * RepRap Motherboard ****---NOOOOOO RS485/EXTRUDER CONTROLLER!!!!!!!!!!!!!!!!!---*******
* *
****************************************************************************************/ ****************************************************************************************/
#if MOTHERBOARD == 2 #if MOTHERBOARD == 2
#define KNOWN_BOARD 1 #define KNOWN_BOARD 1
#ifndef __AVR_ATmega644P__ #ifndef __AVR_ATmega644P__
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif #endif
#define X_STEP_PIN 15 #define X_STEP_PIN 15
#define X_DIR_PIN 18 #define X_DIR_PIN 18
#define X_ENABLE_PIN 19 #define X_ENABLE_PIN 19
#define X_MIN_PIN 20 #define X_MIN_PIN 20
#define X_MAX_PIN 21 #define X_MAX_PIN 21
#define Y_STEP_PIN 23 #define Y_STEP_PIN 23
#define Y_DIR_PIN 22 #define Y_DIR_PIN 22
#define Y_ENABLE_PIN 24 #define Y_ENABLE_PIN 24
#define Y_MIN_PIN 25 #define Y_MIN_PIN 25
#define Y_MAX_PIN 26 #define Y_MAX_PIN 26
#define Z_STEP_PINN 27 #define Z_STEP_PINN 27
#define Z_DIR_PINN 28 #define Z_DIR_PINN 28
#define Z_ENABLE_PIN 29 #define Z_ENABLE_PIN 29
#define Z_MIN_PIN 30 #define Z_MIN_PIN 30
#define Z_MAX_PIN 31 #define Z_MAX_PIN 31
#define E_STEP_PIN 17 #define E_STEP_PIN 17
#define E_DIR_PIN 16 #define E_DIR_PIN 16
#define E_ENABLE_PIN -1 #define E_ENABLE_PIN -1
#define SDPOWER -1 #define SDPOWER -1
#define SDSS 4 #define SDSS 4
#define LED_PIN 0 #define LED_PIN 0
#define SD_CARD_WRITE 2 #define SD_CARD_WRITE 2
#define SD_CARD_DETECT 3 #define SD_CARD_DETECT 3
#define SD_CARD_SELECT 4 #define SD_CARD_SELECT 4
//our RS485 pins //our RS485 pins
#define TX_ENABLE_PIN 12 #define TX_ENABLE_PIN 12
#define RX_ENABLE_PIN 13 #define RX_ENABLE_PIN 13
//pin for controlling the PSU. //pin for controlling the PSU.
#define PS_ON_PIN 14 #define PS_ON_PIN 14
#define FAN_PIN -1 #define FAN_PIN -1
#define KILL_PIN -1 #define KILL_PIN -1
#define HEATER_0_PIN -1 #define HEATER_0_PIN -1
#define TEMP_0_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! #define TEMP_0_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define HEATER_1_PIN -1 #define HEATER_1_PIN -1
#define HEATER_2_PIN -1 #define HEATER_2_PIN -1
#endif #endif
/**************************************************************************************** /****************************************************************************************
* Arduino Mega pin assignment * Arduino Mega pin assignment
* *
****************************************************************************************/ ****************************************************************************************/
#if MOTHERBOARD == 33 #if MOTHERBOARD == 33
#define MOTHERBOARD 3 #define MOTHERBOARD 3
#define RAMPS_V_1_3 #define RAMPS_V_1_3
#endif #endif
#if MOTHERBOARD == 3 #if MOTHERBOARD == 3
#define KNOWN_BOARD 1 #define KNOWN_BOARD 1
//////////////////FIX THIS////////////// //////////////////FIX THIS//////////////
#ifndef __AVR_ATmega1280__ #ifndef __AVR_ATmega1280__
#ifndef __AVR_ATmega2560__ #ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu. #error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu.
#endif #endif
#endif #endif
// uncomment one of the following lines for RAMPS v1.3 or v1.0, comment both for v1.2 or 1.1 // uncomment one of the following lines for RAMPS v1.3 or v1.0, comment both for v1.2 or 1.1
// #define RAMPS_V_1_3 // #define RAMPS_V_1_3
// #define RAMPS_V_1_0 // #define RAMPS_V_1_0
#ifdef RAMPS_V_1_3 #ifdef RAMPS_V_1_3
#define X_STEP_PIN 54 #define X_STEP_PIN 54
#define X_DIR_PIN 55 #define X_DIR_PIN 55
#define X_ENABLE_PIN 38 #define X_ENABLE_PIN 38
#define X_MIN_PIN 3 #define X_MIN_PIN 3
#define X_MAX_PIN -1 //2 //Max endstops default to disabled "-1", set to commented value to enable. #define X_MAX_PIN -1 //2 //Max endstops default to disabled "-1", set to commented value to enable.
#define Y_STEP_PIN 60 #define Y_STEP_PIN 60
#define Y_DIR_PIN 61 #define Y_DIR_PIN 61
#define Y_ENABLE_PIN 56 #define Y_ENABLE_PIN 56
#define Y_MIN_PIN 14 #define Y_MIN_PIN 14
#define Y_MAX_PIN -1 //15 #define Y_MAX_PIN -1 //15
#define Z_STEP_PIN 46 #define Z_STEP_PIN 46
#define Z_DIR_PIN 48 #define Z_DIR_PIN 48
#define Z_ENABLE_PIN 62 #define Z_ENABLE_PIN 62
#define Z_MIN_PIN 18 #define Z_MIN_PIN 18
#define Z_MAX_PIN -1 //19 #define Z_MAX_PIN -1 //19
#define E_STEP_PIN 26 #define E_STEP_PIN 26
#define E_DIR_PIN 28 #define E_DIR_PIN 28
#define E_ENABLE_PIN 24 #define E_ENABLE_PIN 24
#define SDPOWER -1 #define SDPOWER -1
#define SDSS 53 #define SDSS 53
#define LED_PIN 13 #define LED_PIN 13
#define FAN_PIN 9 #define FAN_PIN 9
#define PS_ON_PIN 12 #define PS_ON_PIN 12
#define KILL_PIN -1 #define KILL_PIN -1
#define HEATER_0_PIN 10 #define HEATER_0_PIN 10
#define HEATER_1_PIN 8 #define HEATER_1_PIN 8
#define HEATER_2_PIN -1 #define HEATER_2_PIN -1
#define TEMP_0_PIN 13 // ANALOG NUMBERING #define TEMP_0_PIN 13 // ANALOG NUMBERING
#define TEMP_1_PIN 14 // ANALOG NUMBERING #define TEMP_1_PIN 14 // ANALOG NUMBERING
#define TEMP_2_PIN -1 // ANALOG NUMBERING #define TEMP_2_PIN -1 // ANALOG NUMBERING
#else // RAMPS_V_1_1 or RAMPS_V_1_2 as default #else // RAMPS_V_1_1 or RAMPS_V_1_2 as default
#define X_STEP_PIN 26 #define X_STEP_PIN 26
#define X_DIR_PIN 28 #define X_DIR_PIN 28
#define X_ENABLE_PIN 24 #define X_ENABLE_PIN 24
#define X_MIN_PIN 3 #define X_MIN_PIN 3
#define X_MAX_PIN -1 //2 #define X_MAX_PIN -1 //2
#define Y_STEP_PIN 38 #define Y_STEP_PIN 38
#define Y_DIR_PIN 40 #define Y_DIR_PIN 40
#define Y_ENABLE_PIN 36 #define Y_ENABLE_PIN 36
#define Y_MIN_PIN 16 #define Y_MIN_PIN 16
#define Y_MAX_PIN -1 //17 #define Y_MAX_PIN -1 //17
#define Z_STEP_PIN 44 #define Z_STEP_PIN 44
#define Z_DIR_PIN 46 #define Z_DIR_PIN 46
#define Z_ENABLE_PIN 42 #define Z_ENABLE_PIN 42
#define Z_MIN_PIN 18 #define Z_MIN_PIN 18
#define Z_MAX_PIN -1 //19 #define Z_MAX_PIN -1 //19
#define E_STEP_PIN 32 #define E_STEP_PIN 32
#define E_DIR_PIN 34 #define E_DIR_PIN 34
#define E_ENABLE_PIN 30 #define E_ENABLE_PIN 30
#define SDPOWER 48 #define SDPOWER 48
#define SDSS 53 #define SDSS 53
#define LED_PIN 13 #define LED_PIN 13
#define PS_ON_PIN -1 #define PS_ON_PIN -1
#define KILL_PIN -1 #define KILL_PIN -1
#ifdef RAMPS_V_1_0 // RAMPS_V_1_0 #ifdef RAMPS_V_1_0 // RAMPS_V_1_0
#define HEATER_0_PIN 12 // RAMPS 1.0 #define HEATER_0_PIN 12 // RAMPS 1.0
#define HEATER_1_PIN -1 // RAMPS 1.0 #define HEATER_1_PIN -1 // RAMPS 1.0
#define FAN_PIN 11 // RAMPS 1.0 #define FAN_PIN 11 // RAMPS 1.0
#else // RAMPS_V_1_1 or RAMPS_V_1_2 #else // RAMPS_V_1_1 or RAMPS_V_1_2
#define HEATER_0_PIN 10 // RAMPS 1.1 #define HEATER_0_PIN 10 // RAMPS 1.1
#define HEATER_1_PIN 8 // RAMPS 1.1 #define HEATER_1_PIN 8 // RAMPS 1.1
#define FAN_PIN 9 // RAMPS 1.1 #define FAN_PIN 9 // RAMPS 1.1
#endif #endif
#define HEATER_2_PIN -1 #define HEATER_2_PIN -1
#define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! #define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define TEMP_1_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! #define TEMP_1_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define TEMP_2_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! #define TEMP_2_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#endif #endif
// SPI for Max6675 Thermocouple // SPI for Max6675 Thermocouple
#ifndef SDSUPPORT #ifndef SDSUPPORT
// these pins are defined in the SD library if building with SD support #define SCK_PIN 52 // these pins are defined in the SD library if building with SD support #define SCK_PIN 52
#define MISO_PIN 50 #define MISO_PIN 50
#define MOSI_PIN 51 #define MOSI_PIN 51
#define MAX6675_SS 53 #define MAX6675_SS 53
#else #else
#define MAX6675_SS 49 #define MAX6675_SS 49
#endif #endif
#endif #endif
/**************************************************************************************** /****************************************************************************************
* Duemilanove w/ ATMega328P pin assignment * Duemilanove w/ ATMega328P pin assignment
* *
****************************************************************************************/ ****************************************************************************************/
#if MOTHERBOARD == 4 #if MOTHERBOARD == 4
#define KNOWN_BOARD 1 #define KNOWN_BOARD 1
#ifndef __AVR_ATmega328P__ #ifndef __AVR_ATmega328P__
#error Oops! Make sure you have 'Arduino Duemilanove w/ ATMega328' selected from the 'Tools -> Boards' menu. #error Oops! Make sure you have 'Arduino Duemilanove w/ ATMega328' selected from the 'Tools -> Boards' menu.
#endif #endif
#define X_STEP_PIN 19 #define X_STEP_PIN 19
#define X_DIR_PIN 18 #define X_DIR_PIN 18
#define X_ENABLE_PIN -1 #define X_ENABLE_PIN -1
#define X_MIN_PIN 17 #define X_MIN_PIN 17
#define X_MAX_PIN -1 #define X_MAX_PIN -1
#define Y_STEP_PIN 10 #define Y_STEP_PIN 10
#define Y_DIR_PIN 7 #define Y_DIR_PIN 7
#define Y_ENABLE_PIN -1 #define Y_ENABLE_PIN -1
#define Y_MIN_PIN 8 #define Y_MIN_PIN 8
#define Y_MAX_PIN -1 #define Y_MAX_PIN -1
#define Z_STEP_PIN 13 #define Z_STEP_PIN 13
#define Z_DIR_PIN 3 #define Z_DIR_PIN 3
#define Z_ENABLE_PIN 2 #define Z_ENABLE_PIN 2
#define Z_MIN_PIN 4 #define Z_MIN_PIN 4
#define Z_MAX_PIN -1 #define Z_MAX_PIN -1
#define E_STEP_PIN 11 #define E_STEP_PIN 11
#define E_DIR_PIN 12 #define E_DIR_PIN 12
#define E_ENABLE_PIN -1 #define E_ENABLE_PIN -1
#define SDPOWER -1 #define SDPOWER -1
#define SDSS -1 #define SDSS -1
#define LED_PIN -1 #define LED_PIN -1
#define FAN_PIN 5 #define FAN_PIN 5
#define PS_ON_PIN -1 #define PS_ON_PIN -1
#define KILL_PIN -1 #define KILL_PIN -1
#define HEATER_0_PIN 6 #define HEATER_0_PIN 6
#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! #define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define HEATER_1_PIN -1 #define HEATER_1_PIN -1
#define HEATER_2_PIN -1 #define HEATER_2_PIN -1
#endif #endif
/**************************************************************************************** /****************************************************************************************
* Gen6 pin assignment * Gen6 pin assignment
* *
****************************************************************************************/ ****************************************************************************************/
#if MOTHERBOARD == 5 #if MOTHERBOARD == 5
#define KNOWN_BOARD 1 #define KNOWN_BOARD 1
#ifndef __AVR_ATmega644P__ #ifndef __AVR_ATmega644P__
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif #endif
//x axis pins //x axis pins
#define X_STEP_PIN 15 #define X_STEP_PIN 15
#define X_DIR_PIN 18 #define X_DIR_PIN 18
#define X_ENABLE_PIN 19 #define X_ENABLE_PIN 19
#define X_MIN_PIN 20 #define X_MIN_PIN 20
#define X_MAX_PIN -1 #define X_MAX_PIN -1
//y axis pins //y axis pins
#define Y_STEP_PIN 23 #define Y_STEP_PIN 23
#define Y_DIR_PIN 22 #define Y_DIR_PIN 22
#define Y_ENABLE_PIN 24 #define Y_ENABLE_PIN 24
#define Y_MIN_PIN 25 #define Y_MIN_PIN 25
#define Y_MAX_PIN -1 #define Y_MAX_PIN -1
//z axis pins //z axis pins
#define Z_STEP_PIN 27 #define Z_STEP_PIN 27
#define Z_DIR_PIN 28 #define Z_DIR_PIN 28
#define Z_ENABLE_PIN 29 #define Z_ENABLE_PIN 29
#define Z_MIN_PIN 30 #define Z_MIN_PIN 30
#define Z_MAX_PIN -1 #define Z_MAX_PIN -1
//extruder pins //extruder pins
#define E_STEP_PIN 4 //Edited @ EJE Electronics 20100715 #define E_STEP_PIN 4 //Edited @ EJE Electronics 20100715
#define E_DIR_PIN 2 //Edited @ EJE Electronics 20100715 #define E_DIR_PIN 2 //Edited @ EJE Electronics 20100715
#define E_ENABLE_PIN 3 //Added @ EJE Electronics 20100715 #define E_ENABLE_PIN 3 //Added @ EJE Electronics 20100715
#define TEMP_0_PIN 5 //changed @ rkoeppl 20110410 #define TEMP_0_PIN 5 //changed @ rkoeppl 20110410
#define HEATER_0_PIN 14 //changed @ rkoeppl 20110410 #define HEATER_0_PIN 14 //changed @ rkoeppl 20110410
#define HEATER_1_PIN -1 //changed @ rkoeppl 20110410 #define HEATER_1_PIN -1 //changed @ rkoeppl 20110410
#define HEATER_2_PIN -1 #define HEATER_2_PIN -1
#define SDPOWER -1 #define SDPOWER -1
#define SDSS 17 #define SDSS 17
#define LED_PIN -1 //changed @ rkoeppl 20110410 #define LED_PIN -1 //changed @ rkoeppl 20110410
#define TEMP_1_PIN -1 //changed @ rkoeppl 20110410 #define TEMP_1_PIN -1 //changed @ rkoeppl 20110410
#define TEMP_2_PIN -1 #define TEMP_2_PIN -1
#define FAN_PIN -1 //changed @ rkoeppl 20110410 #define FAN_PIN -1 //changed @ rkoeppl 20110410
#define PS_ON_PIN -1 //changed @ rkoeppl 20110410 #define PS_ON_PIN -1 //changed @ rkoeppl 20110410
//our pin for debugging. //our pin for debugging.
#define DEBUG_PIN 0 #define DEBUG_PIN 0
//our RS485 pins //our RS485 pins
#define TX_ENABLE_PIN 12 #define TX_ENABLE_PIN 12
#define RX_ENABLE_PIN 13 #define RX_ENABLE_PIN 13
#endif #endif
/**************************************************************************************** /****************************************************************************************
* Sanguinololu pin assignment * Sanguinololu pin assignment
* *
****************************************************************************************/ ****************************************************************************************/
#if MOTHERBOARD == 62 #if MOTHERBOARD == 62
#define MOTHERBOARD 6 #define MOTHERBOARD 6
#define SANGUINOLOLU_V_1_2 #define SANGUINOLOLU_V_1_2
#endif #endif
#if MOTHERBOARD == 6 #if MOTHERBOARD == 6
#define KNOWN_BOARD 1 #define KNOWN_BOARD 1
#ifndef __AVR_ATmega644P__ #ifndef __AVR_ATmega644P__
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif #endif
#define X_STEP_PIN 15 #define X_STEP_PIN 15
#define X_DIR_PIN 21 #define X_DIR_PIN 21
#define X_MIN_PIN 18 #define X_MIN_PIN 18
#define X_MAX_PIN -2 #define X_MAX_PIN -2
#define Y_STEP_PIN 22 #define Y_STEP_PIN 22
#define Y_DIR_PIN 23 #define Y_DIR_PIN 23
#define Y_MIN_PIN 19 #define Y_MIN_PIN 19
#define Y_MAX_PIN -1 #define Y_MAX_PIN -1
#define Z_STEP_PIN 3 #define Z_STEP_PIN 3
#define Z_DIR_PIN 2 #define Z_DIR_PIN 2
#define Z_MIN_PIN 20 #define Z_MIN_PIN 20
#define Z_MAX_PIN -1 #define Z_MAX_PIN -1
#define E_STEP_PIN 1 #define E_STEP_PIN 1
#define E_DIR_PIN 0 #define E_DIR_PIN 0
#define LED_PIN -1 #define LED_PIN -1
#define FAN_PIN -1 #define FAN_PIN -1
#define PS_ON_PIN -1 #define PS_ON_PIN -1
#define KILL_PIN -1 #define KILL_PIN -1
#define HEATER_0_PIN 13 // (extruder) #define HEATER_0_PIN 13 // (extruder)
#ifdef SANGUINOLOLU_V_1_2 #ifdef SANGUINOLOLU_V_1_2
#define HEATER_1_PIN 12 // (bed) #define HEATER_1_PIN 12 // (bed)
#define X_ENABLE_PIN 14 #define X_ENABLE_PIN 14
#define Y_ENABLE_PIN 14 #define Y_ENABLE_PIN 14
#define Z_ENABLE_PIN 26 #define Z_ENABLE_PIN 26
#define E_ENABLE_PIN 14 #define E_ENABLE_PIN 14
#else #else
#define HEATER_1_PIN 14 // (bed) #define HEATER_1_PIN 14 // (bed)
#define X_ENABLE_PIN -1 #define X_ENABLE_PIN -1
#define Y_ENABLE_PIN -1 #define Y_ENABLE_PIN -1
#define Z_ENABLE_PIN -1 #define Z_ENABLE_PIN -1
#define E_ENABLE_PIN -1 #define E_ENABLE_PIN -1
#endif #endif
#define TEMP_0_PIN 7 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder) #define TEMP_0_PIN 7 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder)
#define TEMP_1_PIN 6 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed) #define TEMP_1_PIN 6 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
#define TEMP_2_PIN -1 #define TEMP_2_PIN -1
#define SDPOWER -1 #define SDPOWER -1
#define SDSS 31 #define SDSS 31
#define HEATER_2_PIN -1 #define HEATER_2_PIN -1
#endif #endif
#if MOTHERBOARD == 7 #if MOTHERBOARD == 7
#define KNOWN_BOARD #define KNOWN_BOARD
/***************************************************************** /*****************************************************************
* Ultimaker pin assignment * Ultimaker pin assignment
******************************************************************/ ******************************************************************/
#ifndef __AVR_ATmega1280__ #ifndef __AVR_ATmega1280__
#ifndef __AVR_ATmega2560__ #ifndef __AVR_ATmega2560__
#error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu. #error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu.
#endif #endif
#endif #endif
#define X_STEP_PIN 25 #define X_STEP_PIN 25
#define X_DIR_PIN 23 #define X_DIR_PIN 23
#define X_MIN_PIN 22 #define X_MIN_PIN 22
#define X_MAX_PIN 24 #define X_MAX_PIN 24
#define X_ENABLE_PIN 27 #define X_ENABLE_PIN 27
#define Y_STEP_PIN 31 #define Y_STEP_PIN 31
#define Y_DIR_PIN 33 #define Y_DIR_PIN 33
#define Y_MIN_PIN 26 #define Y_MIN_PIN 26
#define Y_MAX_PIN 28 #define Y_MAX_PIN 28
#define Y_ENABLE_PIN 29 #define Y_ENABLE_PIN 29
#define Z_STEP_PIN 37 #define Z_STEP_PIN 37
#define Z_DIR_PIN 39 #define Z_DIR_PIN 39
#define Z_MIN_PIN 30 #define Z_MIN_PIN 30
#define Z_MAX_PIN 32 #define Z_MAX_PIN 32
#define Z_ENABLE_PIN 35 #define Z_ENABLE_PIN 35
#define HEATER_1_PIN 4 #define HEATER_1_PIN 4
#define TEMP_1_PIN 11 #define TEMP_1_PIN 11
#define EXTRUDER_0_STEP_PIN 43 #define EXTRUDER_0_STEP_PIN 43
#define EXTRUDER_0_DIR_PIN 45 #define EXTRUDER_0_DIR_PIN 45
#define EXTRUDER_0_ENABLE_PIN 41 #define EXTRUDER_0_ENABLE_PIN 41
#define HEATER_0_PIN 2 #define HEATER_0_PIN 2
#define TEMP_0_PIN 8 #define TEMP_0_PIN 8
#define EXTRUDER_1_STEP_PIN 49 #define EXTRUDER_1_STEP_PIN 49
#define EXTRUDER_1_DIR_PIN 47 #define EXTRUDER_1_DIR_PIN 47
#define EXTRUDER_1_ENABLE_PIN 51 #define EXTRUDER_1_ENABLE_PIN 51
#define EXTRUDER_1_HEATER_PIN 3 #define EXTRUDER_1_HEATER_PIN 3
#define EXTRUDER_1_TEMPERATURE_PIN 10 #define EXTRUDER_1_TEMPERATURE_PIN 10
#define HEATER_2_PIN 51 #define HEATER_2_PIN 51
#define TEMP_2_PIN 3 #define TEMP_2_PIN 3
#define E_STEP_PIN EXTRUDER_0_STEP_PIN #define E_STEP_PIN EXTRUDER_0_STEP_PIN
#define E_DIR_PIN EXTRUDER_0_DIR_PIN #define E_DIR_PIN EXTRUDER_0_DIR_PIN
#define E_ENABLE_PIN EXTRUDER_0_ENABLE_PIN #define E_ENABLE_PIN EXTRUDER_0_ENABLE_PIN
#define SDPOWER -1 #define SDPOWER -1
#define SDSS 53 #define SDSS 53
#define LED_PIN 13 #define LED_PIN 13
#define FAN_PIN 7 #define FAN_PIN 7
#define PS_ON_PIN 12 #define PS_ON_PIN 12
#define KILL_PIN -1 #define KILL_PIN -1
#endif #endif
#ifndef KNOWN_BOARD #ifndef KNOWN_BOARD
#error Unknown MOTHERBOARD value in configuration.h #error Unknown MOTHERBOARD value in configuration.h
#endif #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! //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 SENSITIVE_PINS {0, 1, X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, E_STEP_PIN, E_DIR_PIN, E_ENABLE_PIN, LED_PIN, PS_ON_PIN, HEATER_0_PIN, HEATER_1_PIN, HEATER_2_PIN, FAN_PIN, TEMP_0_PIN, TEMP_1_PIN, TEMP_2_PIN} #define SENSITIVE_PINS {0, 1, X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, E_STEP_PIN, E_DIR_PIN, E_ENABLE_PIN, LED_PIN, PS_ON_PIN, HEATER_0_PIN, HEATER_1_PIN, HEATER_2_PIN, FAN_PIN, TEMP_0_PIN, TEMP_1_PIN, TEMP_2_PIN}
#endif #endif

1170
Marlin/planner.cpp
Unescape View File

@ -1,584 +1,586 @@
/* /*
planner.c - buffers movement commands and manages the acceleration profile plan planner.c - buffers movement commands and manages the acceleration profile plan
Part of Grbl Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. (at your option) any later version.
Grbl is distributed in the hope that it will be useful, Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/ */
/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */ /* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
/* /*
Reasoning behind the mathematics in this module (in the key of 'Mathematica'): Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
s == speed, a == acceleration, t == time, d == distance s == speed, a == acceleration, t == time, d == distance
Basic definitions: Basic definitions:
Speed[s_, a_, t_] := s + (a*t) Speed[s_, a_, t_] := s + (a*t)
Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t] Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
Distance to reach a specific speed with a constant acceleration: Distance to reach a specific speed with a constant acceleration:
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t] Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance() d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
Speed after a given distance of travel with constant acceleration: Speed after a given distance of travel with constant acceleration:
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t] Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
m -> Sqrt[2 a d + s^2] m -> Sqrt[2 a d + s^2]
DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2] DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
When to start braking (di) to reach a specified destionation speed (s2) after accelerating When to start braking (di) to reach a specified destionation speed (s2) after accelerating
from initial speed s1 without ever stopping at a plateau: from initial speed s1 without ever stopping at a plateau:
Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di] Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance() di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a) IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
*/ */
//#include <inttypes.h> //#include <inttypes.h>
//#include <math.h> //#include <math.h>
//#include <stdlib.h> //#include <stdlib.h>
#include "Marlin.h" #include "Marlin.h"
#include "Configuration.h" #include "Configuration.h"
#include "pins.h" #include "pins.h"
#include "fastio.h" #include "fastio.h"
#include "planner.h" #include "planner.h"
#include "stepper.h" #include "stepper.h"
#include "temperature.h" #include "temperature.h"
#include "ultralcd.h" #include "ultralcd.h"
unsigned long minsegmenttime; unsigned long minsegmenttime;
float max_feedrate[4]; // set the max speeds float max_feedrate[4]; // set the max speeds
float axis_steps_per_unit[4]; float axis_steps_per_unit[4];
long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
float minimumfeedrate; float minimumfeedrate;
float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
float max_xy_jerk; //speed than can be stopped at once, if i understand correctly. float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
float max_z_jerk; float max_z_jerk;
float mintravelfeedrate; float mintravelfeedrate;
unsigned long axis_steps_per_sqr_second[NUM_AXIS]; unsigned long axis_steps_per_sqr_second[NUM_AXIS];
// Manage heater variables. // Manage heater variables.
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
static volatile unsigned char block_buffer_head; // Index of the next block to be pushed static volatile unsigned char block_buffer_head; // Index of the next block to be pushed
static volatile unsigned char block_buffer_tail; // Index of the block to process now static volatile unsigned char block_buffer_tail; // Index of the block to process now
// The current position of the tool in absolute steps // The current position of the tool in absolute steps
long position[4]; long position[4];
#define ONE_MINUTE_OF_MICROSECONDS 60000000.0 #define ONE_MINUTE_OF_MICROSECONDS 60000000.0
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration: // given acceleration:
inline float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) { inline float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
if (acceleration!=0) { if (acceleration!=0) {
return((target_rate*target_rate-initial_rate*initial_rate)/ return((target_rate*target_rate-initial_rate*initial_rate)/
(2.0*acceleration)); (2.0*acceleration));
} }
else { else {
return 0.0; // acceleration was 0, set acceleration distance to 0 return 0.0; // acceleration was 0, set acceleration distance to 0
} }
} }
// This function gives you the point at which you must start braking (at the rate of -acceleration) if // This function gives you the point at which you must start braking (at the rate of -acceleration) if
// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
// a total travel of distance. This can be used to compute the intersection point between acceleration and // a total travel of distance. This can be used to compute the intersection point between acceleration and
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
inline float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) { inline float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
if (acceleration!=0) { if (acceleration!=0) {
return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/ return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
(4.0*acceleration) ); (4.0*acceleration) );
} }
else { else {
return 0.0; // acceleration was 0, set intersection distance to 0 return 0.0; // acceleration was 0, set intersection distance to 0
} }
} }
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed) { void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed) {
if(block->busy == true) return; // If block is busy then bail out. if(block->busy == true) return; // If block is busy then bail out.
float entry_factor = entry_speed / block->nominal_speed; float entry_factor = entry_speed / block->nominal_speed;
float exit_factor = exit_speed / block->nominal_speed; float exit_factor = exit_speed / block->nominal_speed;
long initial_rate = ceil(block->nominal_rate*entry_factor); long initial_rate = ceil(block->nominal_rate*entry_factor);
long final_rate = ceil(block->nominal_rate*exit_factor); long final_rate = ceil(block->nominal_rate*exit_factor);
#ifdef ADVANCE #ifdef ADVANCE
long initial_advance = block->advance*entry_factor*entry_factor; long initial_advance = block->advance*entry_factor*entry_factor;
long final_advance = block->advance*exit_factor*exit_factor; long final_advance = block->advance*exit_factor*exit_factor;
#endif // ADVANCE #endif // ADVANCE
// Limit minimal step rate (Otherwise the timer will overflow.) // Limit minimal step rate (Otherwise the timer will overflow.)
if(initial_rate <120) initial_rate=120; if(initial_rate <120) initial_rate=120;
if(final_rate < 120) final_rate=120; if(final_rate < 120) final_rate=120;
// Calculate the acceleration steps // Calculate the acceleration steps
long acceleration = block->acceleration_st; long acceleration = block->acceleration_st;
long accelerate_steps = estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration); long accelerate_steps = estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration);
long decelerate_steps = estimate_acceleration_distance(final_rate, block->nominal_rate, acceleration); long decelerate_steps = estimate_acceleration_distance(final_rate, block->nominal_rate, acceleration);
// Calculate the size of Plateau of Nominal Rate. // Calculate the size of Plateau of Nominal Rate.
long plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps; long plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking // have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block. // in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) { if (plateau_steps < 0) {
accelerate_steps = intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count); accelerate_steps = intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count);
plateau_steps = 0; plateau_steps = 0;
} }
long decelerate_after = accelerate_steps+plateau_steps; long decelerate_after = accelerate_steps+plateau_steps;
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if(block->busy == false) { // Don't update variables if block is busy. if(block->busy == false) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps; block->accelerate_until = accelerate_steps;
block->decelerate_after = decelerate_after; block->decelerate_after = decelerate_after;
block->initial_rate = initial_rate; block->initial_rate = initial_rate;
block->final_rate = final_rate; block->final_rate = final_rate;
#ifdef ADVANCE #ifdef ADVANCE
block->initial_advance = initial_advance; block->initial_advance = initial_advance;
block->final_advance = final_advance; block->final_advance = final_advance;
#endif //ADVANCE #endif //ADVANCE
} }
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
} }
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance. // acceleration within the allotted distance.
inline float max_allowable_speed(float acceleration, float target_velocity, float distance) { inline float max_allowable_speed(float acceleration, float target_velocity, float distance) {
return( return(
sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance) sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance)
); );
} }
// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks. // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
// This method will calculate the junction jerk as the euclidean distance between the nominal // This method will calculate the junction jerk as the euclidean distance between the nominal
// velocities of the respective blocks. // velocities of the respective blocks.
inline float junction_jerk(block_t *before, block_t *after) { inline float junction_jerk(block_t *before, block_t *after) {
return(sqrt( return(sqrt(
pow((before->speed_x-after->speed_x), 2)+ pow((before->speed_x-after->speed_x), 2)+
pow((before->speed_y-after->speed_y), 2))); pow((before->speed_y-after->speed_y), 2)));
} }
// Return the safe speed which is max_jerk/2, e.g. the // Return the safe speed which is max_jerk/2, e.g. the
// speed under which you cannot exceed max_jerk no matter what you do. // speed under which you cannot exceed max_jerk no matter what you do.
float safe_speed(block_t *block) { float safe_speed(block_t *block) {
float safe_speed; float safe_speed;
safe_speed = max_xy_jerk/2; safe_speed = max_xy_jerk/2;
if(abs(block->speed_z) > max_z_jerk/2) safe_speed = max_z_jerk/2; if(abs(block->speed_z) > max_z_jerk/2) safe_speed = max_z_jerk/2;
if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed; if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed;
return safe_speed; return safe_speed;
} }
// The kernel called by planner_recalculate() when scanning the plan from last to first entry. // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) { void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) { if(!current) {
return; return;
} }
float entry_speed = current->nominal_speed; float entry_speed = current->nominal_speed;
float exit_factor; float exit_factor;
float exit_speed; float exit_speed;
if (next) { if (next) {
exit_speed = next->entry_speed; exit_speed = next->entry_speed;
} }
else { else {
exit_speed = safe_speed(current); exit_speed = safe_speed(current);
} }
// Calculate the entry_factor for the current block. // Calculate the entry_factor for the current block.
if (previous) { if (previous) {
// Reduce speed so that junction_jerk is within the maximum allowed // Reduce speed so that junction_jerk is within the maximum allowed
float jerk = junction_jerk(previous, current); float jerk = junction_jerk(previous, current);
if((previous->steps_x == 0) && (previous->steps_y == 0)) { if((previous->steps_x == 0) && (previous->steps_y == 0)) {
entry_speed = safe_speed(current); entry_speed = safe_speed(current);
} }
else if (jerk > max_xy_jerk) { else if (jerk > max_xy_jerk) {
entry_speed = (max_xy_jerk/jerk) * entry_speed; entry_speed = (max_xy_jerk/jerk) * entry_speed;
} }
if(abs(previous->speed_z - current->speed_z) > max_z_jerk) { if(abs(previous->speed_z - current->speed_z) > max_z_jerk) {
entry_speed = (max_z_jerk/abs(previous->speed_z - current->speed_z)) * entry_speed; entry_speed = (max_z_jerk/abs(previous->speed_z - current->speed_z)) * entry_speed;
} }
// If the required deceleration across the block is too rapid, reduce the entry_factor accordingly. // If the required deceleration across the block is too rapid, reduce the entry_factor accordingly.
if (entry_speed > exit_speed) { if (entry_speed > exit_speed) {
float max_entry_speed = max_allowable_speed(-current->acceleration,exit_speed, current->millimeters); float max_entry_speed = max_allowable_speed(-current->acceleration,exit_speed, current->millimeters);
if (max_entry_speed < entry_speed) { if (max_entry_speed < entry_speed) {
entry_speed = max_entry_speed; entry_speed = max_entry_speed;
} }
} }
} }
else { else {
entry_speed = safe_speed(current); entry_speed = safe_speed(current);
} }
// Store result // Store result
current->entry_speed = entry_speed; current->entry_speed = entry_speed;
} }
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the reverse pass. // implements the reverse pass.
void planner_reverse_pass() { void planner_reverse_pass() {
char block_index = block_buffer_head; char block_index = block_buffer_head;
if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) { if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1); block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
block_t *block[5] = { block_t *block[5] = {
NULL, NULL, NULL, NULL, NULL }; NULL, NULL, NULL, NULL, NULL };
while(block_index != block_buffer_tail) { while(block_index != block_buffer_tail) {
block_index = (block_index-1) & (BLOCK_BUFFER_SIZE -1); block_index = (block_index-1) & (BLOCK_BUFFER_SIZE -1);
block[2]= block[1]; block[2]= block[1];
block[1]= block[0]; block[1]= block[0];
block[0] = &block_buffer[block_index]; block[0] = &block_buffer[block_index];
planner_reverse_pass_kernel(block[0], block[1], block[2]); planner_reverse_pass_kernel(block[0], block[1], block[2]);
} }
planner_reverse_pass_kernel(NULL, block[0], block[1]); planner_reverse_pass_kernel(NULL, block[0], block[1]);
} }
} }
// The kernel called by planner_recalculate() when scanning the plan from first to last entry. // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) { void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) { if(!current) {
return; return;
} }
if(previous) { if(previous) {
// If the previous block is an acceleration block, but it is not long enough to // If the previous block is an acceleration block, but it is not long enough to
// complete the full speed change within the block, we need to adjust out entry // complete the full speed change within the block, we need to adjust out entry
// speed accordingly. Remember current->entry_factor equals the exit factor of // speed accordingly. Remember current->entry_factor equals the exit factor of
// the previous block. // the previous block.
if(previous->entry_speed < current->entry_speed) { if(previous->entry_speed < current->entry_speed) {
float max_entry_speed = max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters); float max_entry_speed = max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters);
if (max_entry_speed < current->entry_speed) { if (max_entry_speed < current->entry_speed) {
current->entry_speed = max_entry_speed; current->entry_speed = max_entry_speed;
} }
} }
} }
} }
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the forward pass. // implements the forward pass.
void planner_forward_pass() { void planner_forward_pass() {
char block_index = block_buffer_tail; char block_index = block_buffer_tail;
block_t *block[3] = { block_t *block[3] = {
NULL, NULL, NULL }; NULL, NULL, NULL };
while(block_index != block_buffer_head) { while(block_index != block_buffer_head) {
block[0] = block[1]; block[0] = block[1];
block[1] = block[2]; block[1] = block[2];
block[2] = &block_buffer[block_index]; block[2] = &block_buffer[block_index];
planner_forward_pass_kernel(block[0],block[1],block[2]); planner_forward_pass_kernel(block[0],block[1],block[2]);
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
} }
planner_forward_pass_kernel(block[1], block[2], NULL); planner_forward_pass_kernel(block[1], block[2], NULL);
} }
// Recalculates the trapezoid speed profiles for all blocks in the plan according to the // Recalculates the trapezoid speed profiles for all blocks in the plan according to the
// entry_factor for each junction. Must be called by planner_recalculate() after // entry_factor for each junction. Must be called by planner_recalculate() after
// updating the blocks. // updating the blocks.
void planner_recalculate_trapezoids() { void planner_recalculate_trapezoids() {
char block_index = block_buffer_tail; char block_index = block_buffer_tail;
block_t *current; block_t *current;
block_t *next = NULL; block_t *next = NULL;
while(block_index != block_buffer_head) { while(block_index != block_buffer_head) {
current = next; current = next;
next = &block_buffer[block_index]; next = &block_buffer[block_index];
if (current) { if (current) {
calculate_trapezoid_for_block(current, current->entry_speed, next->entry_speed); calculate_trapezoid_for_block(current, current->entry_speed, next->entry_speed);
} }
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
} }
calculate_trapezoid_for_block(next, next->entry_speed, safe_speed(next)); calculate_trapezoid_for_block(next, next->entry_speed, safe_speed(next));
} }
// Recalculates the motion plan according to the following algorithm: // Recalculates the motion plan according to the following algorithm:
// //
// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor) // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
// so that: // so that:
// a. The junction jerk is within the set limit // a. The junction jerk is within the set limit
// b. No speed reduction within one block requires faster deceleration than the one, true constant // b. No speed reduction within one block requires faster deceleration than the one, true constant
// acceleration. // acceleration.
// 2. Go over every block in chronological order and dial down junction speed reduction values if // 2. Go over every block in chronological order and dial down junction speed reduction values if
// a. The speed increase within one block would require faster accelleration than the one, true // a. The speed increase within one block would require faster accelleration than the one, true
// constant acceleration. // constant acceleration.
// //
// When these stages are complete all blocks have an entry_factor that will allow all speed changes to // When these stages are complete all blocks have an entry_factor that will allow all speed changes to
// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
// the set limit. Finally it will: // the set limit. Finally it will:
// //
// 3. Recalculate trapezoids for all blocks. // 3. Recalculate trapezoids for all blocks.
void planner_recalculate() { void planner_recalculate() {
planner_reverse_pass(); planner_reverse_pass();
planner_forward_pass(); planner_forward_pass();
planner_recalculate_trapezoids(); planner_recalculate_trapezoids();
} }
void plan_init() { void plan_init() {
block_buffer_head = 0; block_buffer_head = 0;
block_buffer_tail = 0; block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position memset(position, 0, sizeof(position)); // clear position
} }
void plan_discard_current_block() { void plan_discard_current_block() {
if (block_buffer_head != block_buffer_tail) { if (block_buffer_head != block_buffer_tail) {
block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1); block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
} }
} }
block_t *plan_get_current_block() { block_t *plan_get_current_block() {
if (block_buffer_head == block_buffer_tail) { if (block_buffer_head == block_buffer_tail) {
return(NULL); return(NULL);
} }
block_t *block = &block_buffer[block_buffer_tail]; block_t *block = &block_buffer[block_buffer_tail];
block->busy = true; block->busy = true;
return(block); return(block);
} }
void check_axes_activity() { void check_axes_activity() {
unsigned char x_active = 0; unsigned char x_active = 0;
unsigned char y_active = 0; unsigned char y_active = 0;
unsigned char z_active = 0; unsigned char z_active = 0;
unsigned char e_active = 0; unsigned char e_active = 0;
block_t *block; block_t *block;
if(block_buffer_tail != block_buffer_head) { if(block_buffer_tail != block_buffer_head) {
char block_index = block_buffer_tail; char block_index = block_buffer_tail;
while(block_index != block_buffer_head) { while(block_index != block_buffer_head) {
block = &block_buffer[block_index]; block = &block_buffer[block_index];
if(block->steps_x != 0) x_active++; if(block->steps_x != 0) x_active++;
if(block->steps_y != 0) y_active++; if(block->steps_y != 0) y_active++;
if(block->steps_z != 0) z_active++; if(block->steps_z != 0) z_active++;
if(block->steps_e != 0) e_active++; if(block->steps_e != 0) e_active++;
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
} }
} }
if((DISABLE_X) && (x_active == 0)) disable_x(); if((DISABLE_X) && (x_active == 0)) disable_x();
if((DISABLE_Y) && (y_active == 0)) disable_y(); if((DISABLE_Y) && (y_active == 0)) disable_y();
if((DISABLE_Z) && (z_active == 0)) disable_z(); if((DISABLE_Z) && (z_active == 0)) disable_z();
if((DISABLE_E) && (e_active == 0)) disable_e(); if((DISABLE_E) && (e_active == 0)) disable_e();
} }
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters. // calculation the caller must also provide the physical length of the line in millimeters.
void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
// The target position of the tool in absolute steps
// Calculate target position in absolute steps // Calculate the buffer head after we push this byte
long target[4]; int next_buffer_head = (block_buffer_head + 1) & (BLOCK_BUFFER_SIZE - 1);
target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); // If the buffer is full: good! That means we are well ahead of the robot.
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); // Rest here until there is room in the buffer.
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); while(block_buffer_tail == next_buffer_head) {
manage_heater();
// Calculate the buffer head after we push this byte manage_inactivity(1);
int next_buffer_head = (block_buffer_head + 1) & (BLOCK_BUFFER_SIZE - 1); LCD_STATUS;
}
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer. // The target position of the tool in absolute steps
while(block_buffer_tail == next_buffer_head) { // Calculate target position in absolute steps
manage_heater(); //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
manage_inactivity(1); long target[4];
LCD_STATUS; target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
} target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
// Prepare to set up new block target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
block_t *block = &block_buffer[block_buffer_head];
// Prepare to set up new block
// Mark block as not busy (Not executed by the stepper interrupt) block_t *block = &block_buffer[block_buffer_head];
block->busy = false;
// Mark block as not busy (Not executed by the stepper interrupt)
// Number of steps for each axis block->busy = false;
block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]); // Number of steps for each axis
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]); block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e))); block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
// Bail if this is a zero-length block block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
if (block->step_event_count <=dropsegments) {
return; // Bail if this is a zero-length block
}; if (block->step_event_count <=dropsegments) {
return;
//enable active axes };
if(block->steps_x != 0) enable_x();
if(block->steps_y != 0) enable_y(); //enable active axes
if(block->steps_z != 0) enable_z(); if(block->steps_x != 0) enable_x();
if(block->steps_e != 0) enable_e(); if(block->steps_y != 0) enable_y();
if(block->steps_z != 0) enable_z();
float delta_x_mm = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS]; if(block->steps_e != 0) enable_e();
float delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
float delta_z_mm = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; float delta_x_mm = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
float delta_e_mm = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS]; float delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
block->millimeters = sqrt(square(delta_x_mm) + square(delta_y_mm) + square(delta_z_mm) + square(delta_e_mm)); float delta_z_mm = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
float delta_e_mm = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
unsigned long microseconds; block->millimeters = sqrt(square(delta_x_mm) + square(delta_y_mm) + square(delta_z_mm) + square(delta_e_mm));
if (block->steps_e == 0) { unsigned long microseconds;
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
} if (block->steps_e == 0) {
else { if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate; }
} else {
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
microseconds = lround((block->millimeters/feed_rate)*1000000); }
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill microseconds = lround((block->millimeters/feed_rate)*1000000);
// reduces/removes corner blobs as the machine won't come to a full stop.
int blockcount=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
// reduces/removes corner blobs as the machine won't come to a full stop.
if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) { int blockcount=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
if (microseconds<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
microseconds=microseconds+lround(2*(minsegmenttime-microseconds)/blockcount); if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
} if (microseconds<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
} microseconds=microseconds+lround(2*(minsegmenttime-microseconds)/blockcount);
else { }
if (microseconds<minsegmenttime) microseconds=minsegmenttime; }
} else {
// END OF SLOW DOWN SECTION if (microseconds<minsegmenttime) microseconds=minsegmenttime;
}
// END OF SLOW DOWN SECTION
// Calculate speed in mm/minute for each axis
float multiplier = 60.0*1000000.0/microseconds;
block->speed_z = delta_z_mm * multiplier; // Calculate speed in mm/minute for each axis
block->speed_x = delta_x_mm * multiplier; float multiplier = 60.0*1000000.0/microseconds;
block->speed_y = delta_y_mm * multiplier; block->speed_z = delta_z_mm * multiplier;
block->speed_e = delta_e_mm * multiplier; block->speed_x = delta_x_mm * multiplier;
block->speed_y = delta_y_mm * multiplier;
block->speed_e = delta_e_mm * multiplier;
// Limit speed per axis
float speed_factor = 1; //factor <=1 do decrease speed
if(abs(block->speed_x) > max_feedrate[X_AXIS]) { // Limit speed per axis
//// [ErikDeBruijn] IS THIS THE BUG WE'RE LOOING FOR???? float speed_factor = 1; //factor <=1 do decrease speed
//// [bernhard] No its not, according to Zalm. if(abs(block->speed_x) > max_feedrate[X_AXIS]) {
//// the if would always be true, since tmp_speedfactor <=0 due the inial if, so its safe to set. the next lines actually compare. //// [ErikDeBruijn] IS THIS THE BUG WE'RE LOOING FOR????
speed_factor = max_feedrate[X_AXIS] / abs(block->speed_x); //// [bernhard] No its not, according to Zalm.
//if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; //// the if would always be true, since tmp_speedfactor <=0 due the inial if, so its safe to set. the next lines actually compare.
} speed_factor = max_feedrate[X_AXIS] / abs(block->speed_x);
if(abs(block->speed_y) > max_feedrate[Y_AXIS]){ //if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
float tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y); }
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; if(abs(block->speed_y) > max_feedrate[Y_AXIS]){
} float tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y);
if(abs(block->speed_z) > max_feedrate[Z_AXIS]){ if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
float tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z); }
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; if(abs(block->speed_z) > max_feedrate[Z_AXIS]){
} float tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z);
if(abs(block->speed_e) > max_feedrate[E_AXIS]){ if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
float tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e); }
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; if(abs(block->speed_e) > max_feedrate[E_AXIS]){
} float tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e);
multiplier = multiplier * speed_factor; if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
block->speed_z = delta_z_mm * multiplier; }
block->speed_x = delta_x_mm * multiplier; multiplier = multiplier * speed_factor;
block->speed_y = delta_y_mm * multiplier; block->speed_z = delta_z_mm * multiplier;
block->speed_e = delta_e_mm * multiplier; block->speed_x = delta_x_mm * multiplier;
block->nominal_speed = block->millimeters * multiplier; block->speed_y = delta_y_mm * multiplier;
block->nominal_rate = ceil(block->step_event_count * multiplier / 60); block->speed_e = delta_e_mm * multiplier;
block->nominal_speed = block->millimeters * multiplier;
if(block->nominal_rate < 120) block->nominal_rate = 120; block->nominal_rate = ceil(block->step_event_count * multiplier / 60);
block->entry_speed = safe_speed(block);
if(block->nominal_rate < 120) block->nominal_rate = 120;
// Compute the acceleration rate for the trapezoid generator. block->entry_speed = safe_speed(block);
float travel_per_step = block->millimeters/block->step_event_count;
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) { // Compute the acceleration rate for the trapezoid generator.
block->acceleration_st = ceil( (retract_acceleration)/travel_per_step); // convert to: acceleration steps/sec^2 float travel_per_step = block->millimeters/block->step_event_count;
} if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) {
else { block->acceleration_st = ceil( (retract_acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
block->acceleration_st = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2 }
float tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count; else {
// Limit acceleration per axis block->acceleration_st = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
if((tmp_acceleration * block->steps_x) > axis_steps_per_sqr_second[X_AXIS]) { float tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count;
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; // Limit acceleration per axis
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count; if((tmp_acceleration * block->steps_x) > axis_steps_per_sqr_second[X_AXIS]) {
} block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if((tmp_acceleration * block->steps_y) > axis_steps_per_sqr_second[Y_AXIS]) { tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count;
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; }
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count; if((tmp_acceleration * block->steps_y) > axis_steps_per_sqr_second[Y_AXIS]) {
} block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
if((tmp_acceleration * block->steps_e) > axis_steps_per_sqr_second[E_AXIS]) { tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count;
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; }
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count; if((tmp_acceleration * block->steps_e) > axis_steps_per_sqr_second[E_AXIS]) {
} block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
if((tmp_acceleration * block->steps_z) > axis_steps_per_sqr_second[Z_AXIS]) { tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count;
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; }
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count; if((tmp_acceleration * block->steps_z) > axis_steps_per_sqr_second[Z_AXIS]) {
} block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
} tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count;
block->acceleration = block->acceleration_st * travel_per_step; }
block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608); }
block->acceleration = block->acceleration_st * travel_per_step;
#ifdef ADVANCE block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
// Calculate advance rate
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) { #ifdef ADVANCE
block->advance_rate = 0; // Calculate advance rate
block->advance = 0; if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
} block->advance_rate = 0;
else { block->advance = 0;
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st); }
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * else {
(block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536; long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
block->advance = advance; float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
if(acc_dist == 0) { (block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
block->advance_rate = 0; block->advance = advance;
} if(acc_dist == 0) {
else { block->advance_rate = 0;
block->advance_rate = advance / (float)acc_dist; }
} else {
} block->advance_rate = advance / (float)acc_dist;
#endif // ADVANCE }
}
// compute a preliminary conservative acceleration trapezoid #endif // ADVANCE
float safespeed = safe_speed(block);
calculate_trapezoid_for_block(block, safespeed, safespeed); // compute a preliminary conservative acceleration trapezoid
float safespeed = safe_speed(block);
// Compute direction bits for this block calculate_trapezoid_for_block(block, safespeed, safespeed);
block->direction_bits = 0;
if (target[X_AXIS] < position[X_AXIS]) { // Compute direction bits for this block
block->direction_bits |= (1<<X_AXIS); block->direction_bits = 0;
} if (target[X_AXIS] < position[X_AXIS]) {
if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<X_AXIS);
block->direction_bits |= (1<<Y_AXIS); }
} if (target[Y_AXIS] < position[Y_AXIS]) {
if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Y_AXIS);
block->direction_bits |= (1<<Z_AXIS); }
} if (target[Z_AXIS] < position[Z_AXIS]) {
if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<Z_AXIS);
block->direction_bits |= (1<<E_AXIS); }
} if (target[E_AXIS] < position[E_AXIS]) {
block->direction_bits |= (1<<E_AXIS);
// Move buffer head }
block_buffer_head = next_buffer_head;
// Move buffer head
// Update position block_buffer_head = next_buffer_head;
memcpy(position, target, sizeof(target)); // position[] = target[]
// Update position
planner_recalculate(); memcpy(position, target, sizeof(target)); // position[] = target[]
st_wake_up();
} planner_recalculate();
st_wake_up();
void plan_set_position(float x, float y, float z, float e) }
{
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); void plan_set_position(float x, float y, float z, float e)
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); {
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
} position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
}

182
Marlin/planner.h
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/* /*
planner.h - buffers movement commands and manages the acceleration profile plan planner.h - buffers movement commands and manages the acceleration profile plan
Part of Grbl Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. (at your option) any later version.
Grbl is distributed in the hope that it will be useful, Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/ */
// This module is to be considered a sub-module of stepper.c. Please don't include // This module is to be considered a sub-module of stepper.c. Please don't include
// this file from any other module. // this file from any other module.
#ifndef planner_h #ifndef planner_h
#define planner_h #define planner_h
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in #include "Configuration.h"
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct { // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// Fields used by the bresenham algorithm for tracing the line // the source g-code and may never actually be reached if acceleration management is active.
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis typedef struct {
long step_event_count; // The number of step events required to complete this block // Fields used by the bresenham algorithm for tracing the line
volatile long accelerate_until; // The index of the step event on which to stop acceleration long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
volatile long decelerate_after; // The index of the step event on which to start decelerating long step_event_count; // The number of step events required to complete this block
volatile long acceleration_rate; // The acceleration rate used for acceleration calculation volatile long accelerate_until; // The index of the step event on which to stop acceleration
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) volatile long decelerate_after; // The index of the step event on which to start decelerating
#ifdef ADVANCE volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
long advance_rate; unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
volatile long initial_advance; #ifdef ADVANCE
volatile long final_advance; long advance_rate;
float advance; volatile long initial_advance;
#endif volatile long final_advance;
float advance;
// Fields used by the motion planner to manage acceleration #endif
float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
float nominal_speed; // The nominal speed for this block in mm/min // Fields used by the motion planner to manage acceleration
float millimeters; // The total travel of this block in mm float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
float entry_speed; float nominal_speed; // The nominal speed for this block in mm/min
float acceleration; // acceleration mm/sec^2 float millimeters; // The total travel of this block in mm
float entry_speed;
// Settings for the trapezoid generator float acceleration; // acceleration mm/sec^2
long nominal_rate; // The nominal step rate for this block in step_events/sec
volatile long initial_rate; // The jerk-adjusted step rate at start of block // Settings for the trapezoid generator
volatile long final_rate; // The minimal rate at exit long nominal_rate; // The nominal step rate for this block in step_events/sec
long acceleration_st; // acceleration steps/sec^2 volatile long initial_rate; // The jerk-adjusted step rate at start of block
volatile char busy; volatile long final_rate; // The minimal rate at exit
} block_t; long acceleration_st; // acceleration steps/sec^2
volatile char busy;
// Initialize the motion plan subsystem } block_t;
void plan_init();
// Initialize the motion plan subsystem
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in void plan_init();
// millimaters. Feed rate specifies the speed of the motion.
void plan_buffer_line(float x, float y, float z, float e, float feed_rate); // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
// millimaters. Feed rate specifies the speed of the motion.
// Set position. Used for G92 instructions. void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
void plan_set_position(float x, float y, float z, float e);
// Set position. Used for G92 instructions.
// Called when the current block is no longer needed. Discards the block and makes the memory void plan_set_position(float x, float y, float z, float e);
// availible for new blocks.
void plan_discard_current_block(); // Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks.
// Gets the current block. Returns NULL if buffer empty void plan_discard_current_block();
block_t *plan_get_current_block();
// Gets the current block. Returns NULL if buffer empty
void check_axes_activity(); block_t *plan_get_current_block();
extern unsigned long minsegmenttime; void check_axes_activity();
extern float max_feedrate[4]; // set the max speeds
extern float axis_steps_per_unit[4]; extern unsigned long minsegmenttime;
extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software extern float max_feedrate[4]; // set the max speeds
extern float minimumfeedrate; extern float axis_steps_per_unit[4];
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX extern float minimumfeedrate;
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly. extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
extern float max_z_jerk; extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
extern float mintravelfeedrate; extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; extern float max_z_jerk;
extern float mintravelfeedrate;
#endif extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
#endif

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Marlin/speed_lookuptable.h
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#ifndef SPEED_LOOKUPTABLE_H #ifndef SPEED_LOOKUPTABLE_H
#define SPEED_LOOKUPTABLE_H #define SPEED_LOOKUPTABLE_H
#include <avr/pgmspace.h> #include <avr/pgmspace.h>
uint16_t speed_lookuptable_fast[256][2] PROGMEM = {\ uint16_t speed_lookuptable_fast[256][2] PROGMEM = {\
{ 62500, 55556}, { 6944, 3268}, { 3676, 1176}, { 2500, 607}, { 1893, 369}, { 1524, 249}, { 1275, 179}, { 1096, 135}, { 62500, 55556}, { 6944, 3268}, { 3676, 1176}, { 2500, 607}, { 1893, 369}, { 1524, 249}, { 1275, 179}, { 1096, 135},
{ 961, 105}, { 856, 85}, { 771, 69}, { 702, 58}, { 644, 49}, { 595, 42}, { 553, 37}, { 516, 32}, { 961, 105}, { 856, 85}, { 771, 69}, { 702, 58}, { 644, 49}, { 595, 42}, { 553, 37}, { 516, 32},
{ 484, 28}, { 456, 25}, { 431, 23}, { 408, 20}, { 388, 19}, { 369, 16}, { 353, 16}, { 337, 14}, { 484, 28}, { 456, 25}, { 431, 23}, { 408, 20}, { 388, 19}, { 369, 16}, { 353, 16}, { 337, 14},
{ 323, 13}, { 310, 11}, { 299, 11}, { 288, 11}, { 277, 9}, { 268, 9}, { 259, 8}, { 251, 8}, { 323, 13}, { 310, 11}, { 299, 11}, { 288, 11}, { 277, 9}, { 268, 9}, { 259, 8}, { 251, 8},
{ 243, 8}, { 235, 7}, { 228, 6}, { 222, 6}, { 216, 6}, { 210, 6}, { 204, 5}, { 199, 5}, { 243, 8}, { 235, 7}, { 228, 6}, { 222, 6}, { 216, 6}, { 210, 6}, { 204, 5}, { 199, 5},
{ 194, 5}, { 189, 4}, { 185, 4}, { 181, 4}, { 177, 4}, { 173, 4}, { 169, 4}, { 165, 3}, { 194, 5}, { 189, 4}, { 185, 4}, { 181, 4}, { 177, 4}, { 173, 4}, { 169, 4}, { 165, 3},
{ 162, 3}, { 159, 4}, { 155, 3}, { 152, 3}, { 149, 2}, { 147, 3}, { 144, 3}, { 141, 2}, { 162, 3}, { 159, 4}, { 155, 3}, { 152, 3}, { 149, 2}, { 147, 3}, { 144, 3}, { 141, 2},
{ 139, 3}, { 136, 2}, { 134, 2}, { 132, 3}, { 129, 2}, { 127, 2}, { 125, 2}, { 123, 2}, { 139, 3}, { 136, 2}, { 134, 2}, { 132, 3}, { 129, 2}, { 127, 2}, { 125, 2}, { 123, 2},
{ 121, 2}, { 119, 1}, { 118, 2}, { 116, 2}, { 114, 1}, { 113, 2}, { 111, 2}, { 109, 1}, { 121, 2}, { 119, 1}, { 118, 2}, { 116, 2}, { 114, 1}, { 113, 2}, { 111, 2}, { 109, 1},
{ 108, 2}, { 106, 1}, { 105, 2}, { 103, 1}, { 102, 1}, { 101, 1}, { 100, 2}, { 98, 1}, { 108, 2}, { 106, 1}, { 105, 2}, { 103, 1}, { 102, 1}, { 101, 1}, { 100, 2}, { 98, 1},
{ 97, 1}, { 96, 1}, { 95, 2}, { 93, 1}, { 92, 1}, { 91, 1}, { 90, 1}, { 89, 1}, { 97, 1}, { 96, 1}, { 95, 2}, { 93, 1}, { 92, 1}, { 91, 1}, { 90, 1}, { 89, 1},
{ 88, 1}, { 87, 1}, { 86, 1}, { 85, 1}, { 84, 1}, { 83, 0}, { 83, 1}, { 82, 1}, { 88, 1}, { 87, 1}, { 86, 1}, { 85, 1}, { 84, 1}, { 83, 0}, { 83, 1}, { 82, 1},
{ 81, 1}, { 80, 1}, { 79, 1}, { 78, 0}, { 78, 1}, { 77, 1}, { 76, 1}, { 75, 0}, { 81, 1}, { 80, 1}, { 79, 1}, { 78, 0}, { 78, 1}, { 77, 1}, { 76, 1}, { 75, 0},
{ 75, 1}, { 74, 1}, { 73, 1}, { 72, 0}, { 72, 1}, { 71, 1}, { 70, 0}, { 70, 1}, { 75, 1}, { 74, 1}, { 73, 1}, { 72, 0}, { 72, 1}, { 71, 1}, { 70, 0}, { 70, 1},
{ 69, 0}, { 69, 1}, { 68, 1}, { 67, 0}, { 67, 1}, { 66, 0}, { 66, 1}, { 65, 0}, { 69, 0}, { 69, 1}, { 68, 1}, { 67, 0}, { 67, 1}, { 66, 0}, { 66, 1}, { 65, 0},
{ 65, 1}, { 64, 1}, { 63, 0}, { 63, 1}, { 62, 0}, { 62, 1}, { 61, 0}, { 61, 1}, { 65, 1}, { 64, 1}, { 63, 0}, { 63, 1}, { 62, 0}, { 62, 1}, { 61, 0}, { 61, 1},
{ 60, 0}, { 60, 0}, { 60, 1}, { 59, 0}, { 59, 1}, { 58, 0}, { 58, 1}, { 57, 0}, { 60, 0}, { 60, 0}, { 60, 1}, { 59, 0}, { 59, 1}, { 58, 0}, { 58, 1}, { 57, 0},
{ 57, 1}, { 56, 0}, { 56, 0}, { 56, 1}, { 55, 0}, { 55, 1}, { 54, 0}, { 54, 0}, { 57, 1}, { 56, 0}, { 56, 0}, { 56, 1}, { 55, 0}, { 55, 1}, { 54, 0}, { 54, 0},
{ 54, 1}, { 53, 0}, { 53, 0}, { 53, 1}, { 52, 0}, { 52, 0}, { 52, 1}, { 51, 0}, { 54, 1}, { 53, 0}, { 53, 0}, { 53, 1}, { 52, 0}, { 52, 0}, { 52, 1}, { 51, 0},
{ 51, 0}, { 51, 1}, { 50, 0}, { 50, 0}, { 50, 1}, { 49, 0}, { 49, 0}, { 49, 1}, { 51, 0}, { 51, 1}, { 50, 0}, { 50, 0}, { 50, 1}, { 49, 0}, { 49, 0}, { 49, 1},
{ 48, 0}, { 48, 0}, { 48, 1}, { 47, 0}, { 47, 0}, { 47, 0}, { 47, 1}, { 46, 0}, { 48, 0}, { 48, 0}, { 48, 1}, { 47, 0}, { 47, 0}, { 47, 0}, { 47, 1}, { 46, 0},
{ 46, 0}, { 46, 1}, { 45, 0}, { 45, 0}, { 45, 0}, { 45, 1}, { 44, 0}, { 44, 0}, { 46, 0}, { 46, 1}, { 45, 0}, { 45, 0}, { 45, 0}, { 45, 1}, { 44, 0}, { 44, 0},
{ 44, 0}, { 44, 1}, { 43, 0}, { 43, 0}, { 43, 0}, { 43, 1}, { 42, 0}, { 42, 0}, { 44, 0}, { 44, 1}, { 43, 0}, { 43, 0}, { 43, 0}, { 43, 1}, { 42, 0}, { 42, 0},
{ 42, 0}, { 42, 1}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 1}, { 40, 0}, { 42, 0}, { 42, 1}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 1}, { 40, 0},
{ 40, 0}, { 40, 0}, { 40, 0}, { 40, 1}, { 39, 0}, { 39, 0}, { 39, 0}, { 39, 0}, { 40, 0}, { 40, 0}, { 40, 0}, { 40, 1}, { 39, 0}, { 39, 0}, { 39, 0}, { 39, 0},
{ 39, 1}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 1}, { 37, 0}, { 37, 0}, { 39, 1}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 1}, { 37, 0}, { 37, 0},
{ 37, 0}, { 37, 0}, { 37, 0}, { 37, 1}, { 36, 0}, { 36, 0}, { 36, 0}, { 36, 0}, { 37, 0}, { 37, 0}, { 37, 0}, { 37, 1}, { 36, 0}, { 36, 0}, { 36, 0}, { 36, 0},
{ 36, 1}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 1}, { 36, 1}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 1},
{ 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 1}, { 33, 0}, { 33, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 1}, { 33, 0}, { 33, 0},
{ 33, 0}, { 33, 0}, { 33, 0}, { 33, 0}, { 33, 1}, { 32, 0}, { 32, 0}, { 32, 0}, { 33, 0}, { 33, 0}, { 33, 0}, { 33, 0}, { 33, 1}, { 32, 0}, { 32, 0}, { 32, 0},
{ 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0},
{ 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0} { 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0}
}; };
uint16_t speed_lookuptable_slow[256][2] PROGMEM = {\ uint16_t speed_lookuptable_slow[256][2] PROGMEM = {\
{ 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894}, { 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894},
{ 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657}, { 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657},
{ 12500, 596}, { 11904, 541}, { 11363, 494}, { 10869, 453}, { 10416, 416}, { 10000, 385}, { 9615, 356}, { 9259, 331}, { 12500, 596}, { 11904, 541}, { 11363, 494}, { 10869, 453}, { 10416, 416}, { 10000, 385}, { 9615, 356}, { 9259, 331},
{ 8928, 308}, { 8620, 287}, { 8333, 269}, { 8064, 252}, { 7812, 237}, { 7575, 223}, { 7352, 210}, { 7142, 198}, { 8928, 308}, { 8620, 287}, { 8333, 269}, { 8064, 252}, { 7812, 237}, { 7575, 223}, { 7352, 210}, { 7142, 198},
{ 6944, 188}, { 6756, 178}, { 6578, 168}, { 6410, 160}, { 6250, 153}, { 6097, 145}, { 5952, 139}, { 5813, 132}, { 6944, 188}, { 6756, 178}, { 6578, 168}, { 6410, 160}, { 6250, 153}, { 6097, 145}, { 5952, 139}, { 5813, 132},
{ 5681, 126}, { 5555, 121}, { 5434, 115}, { 5319, 111}, { 5208, 106}, { 5102, 102}, { 5000, 99}, { 4901, 94}, { 5681, 126}, { 5555, 121}, { 5434, 115}, { 5319, 111}, { 5208, 106}, { 5102, 102}, { 5000, 99}, { 4901, 94},
{ 4807, 91}, { 4716, 87}, { 4629, 84}, { 4545, 81}, { 4464, 79}, { 4385, 75}, { 4310, 73}, { 4237, 71}, { 4807, 91}, { 4716, 87}, { 4629, 84}, { 4545, 81}, { 4464, 79}, { 4385, 75}, { 4310, 73}, { 4237, 71},
{ 4166, 68}, { 4098, 66}, { 4032, 64}, { 3968, 62}, { 3906, 60}, { 3846, 59}, { 3787, 56}, { 3731, 55}, { 4166, 68}, { 4098, 66}, { 4032, 64}, { 3968, 62}, { 3906, 60}, { 3846, 59}, { 3787, 56}, { 3731, 55},
{ 3676, 53}, { 3623, 52}, { 3571, 50}, { 3521, 49}, { 3472, 48}, { 3424, 46}, { 3378, 45}, { 3333, 44}, { 3676, 53}, { 3623, 52}, { 3571, 50}, { 3521, 49}, { 3472, 48}, { 3424, 46}, { 3378, 45}, { 3333, 44},
{ 3289, 43}, { 3246, 41}, { 3205, 41}, { 3164, 39}, { 3125, 39}, { 3086, 38}, { 3048, 36}, { 3012, 36}, { 3289, 43}, { 3246, 41}, { 3205, 41}, { 3164, 39}, { 3125, 39}, { 3086, 38}, { 3048, 36}, { 3012, 36},
{ 2976, 35}, { 2941, 35}, { 2906, 33}, { 2873, 33}, { 2840, 32}, { 2808, 31}, { 2777, 30}, { 2747, 30}, { 2976, 35}, { 2941, 35}, { 2906, 33}, { 2873, 33}, { 2840, 32}, { 2808, 31}, { 2777, 30}, { 2747, 30},
{ 2717, 29}, { 2688, 29}, { 2659, 28}, { 2631, 27}, { 2604, 27}, { 2577, 26}, { 2551, 26}, { 2525, 25}, { 2717, 29}, { 2688, 29}, { 2659, 28}, { 2631, 27}, { 2604, 27}, { 2577, 26}, { 2551, 26}, { 2525, 25},
{ 2500, 25}, { 2475, 25}, { 2450, 23}, { 2427, 24}, { 2403, 23}, { 2380, 22}, { 2358, 22}, { 2336, 22}, { 2500, 25}, { 2475, 25}, { 2450, 23}, { 2427, 24}, { 2403, 23}, { 2380, 22}, { 2358, 22}, { 2336, 22},
{ 2314, 21}, { 2293, 21}, { 2272, 20}, { 2252, 20}, { 2232, 20}, { 2212, 20}, { 2192, 19}, { 2173, 18}, { 2314, 21}, { 2293, 21}, { 2272, 20}, { 2252, 20}, { 2232, 20}, { 2212, 20}, { 2192, 19}, { 2173, 18},
{ 2155, 19}, { 2136, 18}, { 2118, 18}, { 2100, 17}, { 2083, 17}, { 2066, 17}, { 2049, 17}, { 2032, 16}, { 2155, 19}, { 2136, 18}, { 2118, 18}, { 2100, 17}, { 2083, 17}, { 2066, 17}, { 2049, 17}, { 2032, 16},
{ 2016, 16}, { 2000, 16}, { 1984, 16}, { 1968, 15}, { 1953, 16}, { 1937, 14}, { 1923, 15}, { 1908, 15}, { 2016, 16}, { 2000, 16}, { 1984, 16}, { 1968, 15}, { 1953, 16}, { 1937, 14}, { 1923, 15}, { 1908, 15},
{ 1893, 14}, { 1879, 14}, { 1865, 14}, { 1851, 13}, { 1838, 14}, { 1824, 13}, { 1811, 13}, { 1798, 13}, { 1893, 14}, { 1879, 14}, { 1865, 14}, { 1851, 13}, { 1838, 14}, { 1824, 13}, { 1811, 13}, { 1798, 13},
{ 1785, 12}, { 1773, 13}, { 1760, 12}, { 1748, 12}, { 1736, 12}, { 1724, 12}, { 1712, 12}, { 1700, 11}, { 1785, 12}, { 1773, 13}, { 1760, 12}, { 1748, 12}, { 1736, 12}, { 1724, 12}, { 1712, 12}, { 1700, 11},
{ 1689, 12}, { 1677, 11}, { 1666, 11}, { 1655, 11}, { 1644, 11}, { 1633, 10}, { 1623, 11}, { 1612, 10}, { 1689, 12}, { 1677, 11}, { 1666, 11}, { 1655, 11}, { 1644, 11}, { 1633, 10}, { 1623, 11}, { 1612, 10},
{ 1602, 10}, { 1592, 10}, { 1582, 10}, { 1572, 10}, { 1562, 10}, { 1552, 9}, { 1543, 10}, { 1533, 9}, { 1602, 10}, { 1592, 10}, { 1582, 10}, { 1572, 10}, { 1562, 10}, { 1552, 9}, { 1543, 10}, { 1533, 9},
{ 1524, 9}, { 1515, 9}, { 1506, 9}, { 1497, 9}, { 1488, 9}, { 1479, 9}, { 1470, 9}, { 1461, 8}, { 1524, 9}, { 1515, 9}, { 1506, 9}, { 1497, 9}, { 1488, 9}, { 1479, 9}, { 1470, 9}, { 1461, 8},
{ 1453, 8}, { 1445, 9}, { 1436, 8}, { 1428, 8}, { 1420, 8}, { 1412, 8}, { 1404, 8}, { 1396, 8}, { 1453, 8}, { 1445, 9}, { 1436, 8}, { 1428, 8}, { 1420, 8}, { 1412, 8}, { 1404, 8}, { 1396, 8},
{ 1388, 7}, { 1381, 8}, { 1373, 7}, { 1366, 8}, { 1358, 7}, { 1351, 7}, { 1344, 8}, { 1336, 7}, { 1388, 7}, { 1381, 8}, { 1373, 7}, { 1366, 8}, { 1358, 7}, { 1351, 7}, { 1344, 8}, { 1336, 7},
{ 1329, 7}, { 1322, 7}, { 1315, 7}, { 1308, 6}, { 1302, 7}, { 1295, 7}, { 1288, 6}, { 1282, 7}, { 1329, 7}, { 1322, 7}, { 1315, 7}, { 1308, 6}, { 1302, 7}, { 1295, 7}, { 1288, 6}, { 1282, 7},
{ 1275, 6}, { 1269, 7}, { 1262, 6}, { 1256, 6}, { 1250, 7}, { 1243, 6}, { 1237, 6}, { 1231, 6}, { 1275, 6}, { 1269, 7}, { 1262, 6}, { 1256, 6}, { 1250, 7}, { 1243, 6}, { 1237, 6}, { 1231, 6},
{ 1225, 6}, { 1219, 6}, { 1213, 6}, { 1207, 6}, { 1201, 5}, { 1196, 6}, { 1190, 6}, { 1184, 5}, { 1225, 6}, { 1219, 6}, { 1213, 6}, { 1207, 6}, { 1201, 5}, { 1196, 6}, { 1190, 6}, { 1184, 5},
{ 1179, 6}, { 1173, 5}, { 1168, 6}, { 1162, 5}, { 1157, 5}, { 1152, 6}, { 1146, 5}, { 1141, 5}, { 1179, 6}, { 1173, 5}, { 1168, 6}, { 1162, 5}, { 1157, 5}, { 1152, 6}, { 1146, 5}, { 1141, 5},
{ 1136, 5}, { 1131, 5}, { 1126, 5}, { 1121, 5}, { 1116, 5}, { 1111, 5}, { 1106, 5}, { 1101, 5}, { 1136, 5}, { 1131, 5}, { 1126, 5}, { 1121, 5}, { 1116, 5}, { 1111, 5}, { 1106, 5}, { 1101, 5},
{ 1096, 5}, { 1091, 5}, { 1086, 4}, { 1082, 5}, { 1077, 5}, { 1072, 4}, { 1068, 5}, { 1063, 4}, { 1096, 5}, { 1091, 5}, { 1086, 4}, { 1082, 5}, { 1077, 5}, { 1072, 4}, { 1068, 5}, { 1063, 4},
{ 1059, 5}, { 1054, 4}, { 1050, 4}, { 1046, 5}, { 1041, 4}, { 1037, 4}, { 1033, 5}, { 1028, 4}, { 1059, 5}, { 1054, 4}, { 1050, 4}, { 1046, 5}, { 1041, 4}, { 1037, 4}, { 1033, 5}, { 1028, 4},
{ 1024, 4}, { 1020, 4}, { 1016, 4}, { 1012, 4}, { 1008, 4}, { 1004, 4}, { 1000, 4}, { 996, 4}, { 1024, 4}, { 1020, 4}, { 1016, 4}, { 1012, 4}, { 1008, 4}, { 1004, 4}, { 1000, 4}, { 996, 4},
{ 992, 4}, { 988, 4}, { 984, 4}, { 980, 4}, { 976, 4}, { 972, 4}, { 968, 3}, { 965, 3} { 992, 4}, { 988, 4}, { 984, 4}, { 980, 4}, { 976, 4}, { 972, 4}, { 968, 3}, { 965, 3}
}; };
#endif #endif

1184
Marlin/stepper.cpp
Unescape View File

@ -1,592 +1,592 @@
/* /*
stepper.c - stepper motor driver: executes motion plans using stepper motors stepper.c - stepper motor driver: executes motion plans using stepper motors
Part of Grbl Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. (at your option) any later version.
Grbl is distributed in the hope that it will be useful, Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/ */
/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith /* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
and Philipp Tiefenbacher. */ and Philipp Tiefenbacher. */
#include "stepper.h" #include "stepper.h"
#include "Configuration.h" #include "Configuration.h"
#include "Marlin.h" #include "Marlin.h"
#include "planner.h" #include "planner.h"
#include "pins.h" #include "pins.h"
#include "fastio.h" #include "fastio.h"
#include "temperature.h" #include "temperature.h"
#include "ultralcd.h" #include "ultralcd.h"
#include "speed_lookuptable.h" #include "speed_lookuptable.h"
// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer. // if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
// for debugging purposes only, should be disabled by default // for debugging purposes only, should be disabled by default
#ifdef DEBUG_STEPS #ifdef DEBUG_STEPS
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1}; volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1};
#endif #endif
// intRes = intIn1 * intIn2 >> 16 // intRes = intIn1 * intIn2 >> 16
// uses: // uses:
// r26 to store 0 // r26 to store 0
// r27 to store the byte 1 of the 24 bit result // r27 to store the byte 1 of the 24 bit result
#define MultiU16X8toH16(intRes, charIn1, intIn2) \ #define MultiU16X8toH16(intRes, charIn1, intIn2) \
asm volatile ( \ asm volatile ( \
"clr r26 \n\t" \ "clr r26 \n\t" \
"mul %A1, %B2 \n\t" \ "mul %A1, %B2 \n\t" \
"movw %A0, r0 \n\t" \ "movw %A0, r0 \n\t" \
"mul %A1, %A2 \n\t" \ "mul %A1, %A2 \n\t" \
"add %A0, r1 \n\t" \ "add %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \ "adc %B0, r26 \n\t" \
"lsr r0 \n\t" \ "lsr r0 \n\t" \
"adc %A0, r26 \n\t" \ "adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \ "adc %B0, r26 \n\t" \
"clr r1 \n\t" \ "clr r1 \n\t" \
: \ : \
"=&r" (intRes) \ "=&r" (intRes) \
: \ : \
"d" (charIn1), \ "d" (charIn1), \
"d" (intIn2) \ "d" (intIn2) \
: \ : \
"r26" \ "r26" \
) )
// intRes = longIn1 * longIn2 >> 24 // intRes = longIn1 * longIn2 >> 24
// uses: // uses:
// r26 to store 0 // r26 to store 0
// r27 to store the byte 1 of the 48bit result // r27 to store the byte 1 of the 48bit result
#define MultiU24X24toH16(intRes, longIn1, longIn2) \ #define MultiU24X24toH16(intRes, longIn1, longIn2) \
asm volatile ( \ asm volatile ( \
"clr r26 \n\t" \ "clr r26 \n\t" \
"mul %A1, %B2 \n\t" \ "mul %A1, %B2 \n\t" \
"mov r27, r1 \n\t" \ "mov r27, r1 \n\t" \
"mul %B1, %C2 \n\t" \ "mul %B1, %C2 \n\t" \
"movw %A0, r0 \n\t" \ "movw %A0, r0 \n\t" \
"mul %C1, %C2 \n\t" \ "mul %C1, %C2 \n\t" \
"add %B0, r0 \n\t" \ "add %B0, r0 \n\t" \
"mul %C1, %B2 \n\t" \ "mul %C1, %B2 \n\t" \
"add %A0, r0 \n\t" \ "add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \ "adc %B0, r1 \n\t" \
"mul %A1, %C2 \n\t" \ "mul %A1, %C2 \n\t" \
"add r27, r0 \n\t" \ "add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \ "adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \ "adc %B0, r26 \n\t" \
"mul %B1, %B2 \n\t" \ "mul %B1, %B2 \n\t" \
"add r27, r0 \n\t" \ "add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \ "adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \ "adc %B0, r26 \n\t" \
"mul %C1, %A2 \n\t" \ "mul %C1, %A2 \n\t" \
"add r27, r0 \n\t" \ "add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \ "adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \ "adc %B0, r26 \n\t" \
"mul %B1, %A2 \n\t" \ "mul %B1, %A2 \n\t" \
"add r27, r1 \n\t" \ "add r27, r1 \n\t" \
"adc %A0, r26 \n\t" \ "adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \ "adc %B0, r26 \n\t" \
"lsr r27 \n\t" \ "lsr r27 \n\t" \
"adc %A0, r26 \n\t" \ "adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \ "adc %B0, r26 \n\t" \
"clr r1 \n\t" \ "clr r1 \n\t" \
: \ : \
"=&r" (intRes) \ "=&r" (intRes) \
: \ : \
"d" (longIn1), \ "d" (longIn1), \
"d" (longIn2) \ "d" (longIn2) \
: \ : \
"r26" , "r27" \ "r26" , "r27" \
) )
// Some useful constants // Some useful constants
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A) #define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A) #define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
static block_t *current_block; // A pointer to the block currently being traced block_t *current_block; // A pointer to the block currently being traced
// Variables used by The Stepper Driver Interrupt // Variables used by The Stepper Driver Interrupt
static unsigned char out_bits; // The next stepping-bits to be output static unsigned char out_bits; // The next stepping-bits to be output
static long counter_x, // Counter variables for the bresenham line tracer static long counter_x, // Counter variables for the bresenham line tracer
counter_y, counter_y,
counter_z, counter_z,
counter_e; counter_e;
static unsigned long step_events_completed; // The number of step events executed in the current block static unsigned long step_events_completed; // The number of step events executed in the current block
#ifdef ADVANCE #ifdef ADVANCE
static long advance_rate, advance, final_advance = 0; static long advance_rate, advance, final_advance = 0;
static short old_advance = 0; static short old_advance = 0;
static short e_steps; static short e_steps;
#endif #endif
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler. static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
static long acceleration_time, deceleration_time; static long acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate; //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deccelaration start point static unsigned short acc_step_rate; // needed for deccelaration start point
static char step_loops; static char step_loops;
// __________________________ // __________________________
// /| |\ _________________ ^ // /| |\ _________________ ^
// / | | \ /| |\ | // / | | \ /| |\ |
// / | | \ / | | \ s // / | | \ / | | \ s
// / | | | | | \ p // / | | | | | \ p
// / | | | | | \ e // / | | | | | \ e
// +-----+------------------------+---+--+---------------+----+ e // +-----+------------------------+---+--+---------------+----+ e
// | BLOCK 1 | BLOCK 2 | d // | BLOCK 1 | BLOCK 2 | d
// //
// time -----> // time ----->
// //
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates // The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
// first block->accelerate_until step_events_completed, then keeps going at constant speed until // first block->accelerate_until step_events_completed, then keeps going at constant speed until
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset. // step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
// The slope of acceleration is calculated with the leib ramp alghorithm. // The slope of acceleration is calculated with the leib ramp alghorithm.
void st_wake_up() { void st_wake_up() {
// TCNT1 = 0; // TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT();
} }
inline unsigned short calc_timer(unsigned short step_rate) { inline unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer; unsigned short timer;
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY; if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
step_rate = step_rate >> 2; step_rate = step_rate >> 2;
step_loops = 4; step_loops = 4;
} }
else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times
step_rate = step_rate >> 1; step_rate = step_rate >> 1;
step_loops = 2; step_loops = 2;
} }
else { else {
step_loops = 1; step_loops = 1;
} }
if(step_rate < 32) step_rate = 32; if(step_rate < 32) step_rate = 32;
step_rate -= 32; // Correct for minimal speed step_rate -= 32; // Correct for minimal speed
if(step_rate >= (8*256)){ // higher step rate if(step_rate >= (8*256)){ // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0]; unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00ff); unsigned char tmp_step_rate = (step_rate & 0x00ff);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2); unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
MultiU16X8toH16(timer, tmp_step_rate, gain); MultiU16X8toH16(timer, tmp_step_rate, gain);
timer = (unsigned short)pgm_read_word_near(table_address) - timer; timer = (unsigned short)pgm_read_word_near(table_address) - timer;
} }
else { // lower step rates else { // lower step rates
unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0]; unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
table_address += ((step_rate)>>1) & 0xfffc; table_address += ((step_rate)>>1) & 0xfffc;
timer = (unsigned short)pgm_read_word_near(table_address); timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3); timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
} }
if(timer < 100) timer = 100; if(timer < 100) timer = 100;
return timer; return timer;
} }
// Initializes the trapezoid generator from the current block. Called whenever a new // Initializes the trapezoid generator from the current block. Called whenever a new
// block begins. // block begins.
inline void trapezoid_generator_reset() { inline void trapezoid_generator_reset() {
#ifdef ADVANCE #ifdef ADVANCE
advance = current_block->initial_advance; advance = current_block->initial_advance;
final_advance = current_block->final_advance; final_advance = current_block->final_advance;
#endif #endif
deceleration_time = 0; deceleration_time = 0;
// advance_rate = current_block->advance_rate; // advance_rate = current_block->advance_rate;
// step_rate to timer interval // step_rate to timer interval
acc_step_rate = current_block->initial_rate; acc_step_rate = current_block->initial_rate;
acceleration_time = calc_timer(acc_step_rate); acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time; OCR1A = acceleration_time;
} }
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse. // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect) ISR(TIMER1_COMPA_vect)
{ {
if(busy){ Serial.print(*(unsigned short *)OCR1A); Serial.println(" BUSY"); if(busy){ Serial.print(*(unsigned short *)OCR1A); Serial.println(" BUSY");
return; return;
} // The busy-flag is used to avoid reentering this interrupt } // The busy-flag is used to avoid reentering this interrupt
busy = true; busy = true;
sei(); // Re enable interrupts (normally disabled while inside an interrupt handler) sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
// If there is no current block, attempt to pop one from the buffer // If there is no current block, attempt to pop one from the buffer
if (current_block == NULL) { if (current_block == NULL) {
// Anything in the buffer? // Anything in the buffer?
current_block = plan_get_current_block(); current_block = plan_get_current_block();
if (current_block != NULL) { if (current_block != NULL) {
trapezoid_generator_reset(); trapezoid_generator_reset();
counter_x = -(current_block->step_event_count >> 1); counter_x = -(current_block->step_event_count >> 1);
counter_y = counter_x; counter_y = counter_x;
counter_z = counter_x; counter_z = counter_x;
counter_e = counter_x; counter_e = counter_x;
step_events_completed = 0; step_events_completed = 0;
#ifdef ADVANCE #ifdef ADVANCE
e_steps = 0; e_steps = 0;
#endif #endif
} }
else { else {
// DISABLE_STEPPER_DRIVER_INTERRUPT(); // DISABLE_STEPPER_DRIVER_INTERRUPT();
} }
} }
if (current_block != NULL) { if (current_block != NULL) {
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits; out_bits = current_block->direction_bits;
#ifdef ADVANCE #ifdef ADVANCE
// Calculate E early. // Calculate E early.
counter_e += current_block->steps_e; counter_e += current_block->steps_e;
if (counter_e > 0) { if (counter_e > 0) {
counter_e -= current_block->step_event_count; counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
e_steps--; e_steps--;
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
} }
else { else {
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
e_steps++; e_steps++;
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
} }
} }
// Do E steps + advance steps // Do E steps + advance steps
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
e_steps += ((advance >> 16) - old_advance); e_steps += ((advance >> 16) - old_advance);
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
old_advance = advance >> 16; old_advance = advance >> 16;
#endif //ADVANCE #endif //ADVANCE
// Set direction en check limit switches // Set direction en check limit switches
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
WRITE(X_DIR_PIN, INVERT_X_DIR); WRITE(X_DIR_PIN, INVERT_X_DIR);
#ifdef DEBUG_STEPS #ifdef DEBUG_STEPS
count_direction[X_AXIS]=-1; count_direction[X_AXIS]=-1;
#endif #endif
#if X_MIN_PIN > -1 #if X_MIN_PIN > -1
if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) { if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif
} }
else { // +direction else { // +direction
WRITE(X_DIR_PIN,!INVERT_X_DIR); WRITE(X_DIR_PIN,!INVERT_X_DIR);
#ifdef DEBUG_STEPS #ifdef DEBUG_STEPS
count_direction[X_AXIS]=1; count_direction[X_AXIS]=1;
#endif #endif
#if X_MAX_PIN > -1 #if X_MAX_PIN > -1
if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){ if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif
} }
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
WRITE(Y_DIR_PIN,INVERT_Y_DIR); WRITE(Y_DIR_PIN,INVERT_Y_DIR);
#ifdef DEBUG_STEPS #ifdef DEBUG_STEPS
count_direction[Y_AXIS]=-1; count_direction[Y_AXIS]=-1;
#endif #endif
#if Y_MIN_PIN > -1 #if Y_MIN_PIN > -1
if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) { if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif
} }
else { // +direction else { // +direction
WRITE(Y_DIR_PIN,!INVERT_Y_DIR); WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
#ifdef DEBUG_STEPS #ifdef DEBUG_STEPS
count_direction[Y_AXIS]=1; count_direction[Y_AXIS]=1;
#endif #endif
#if Y_MAX_PIN > -1 #if Y_MAX_PIN > -1
if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){ if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif
} }
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR); WRITE(Z_DIR_PIN,INVERT_Z_DIR);
#ifdef DEBUG_STEPS #ifdef DEBUG_STEPS
count_direction[Z_AXIS]=-1; count_direction[Z_AXIS]=-1;
#endif #endif
#if Z_MIN_PIN > -1 #if Z_MIN_PIN > -1
if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) { if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif
} }
else { // +direction else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR); WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
#ifdef DEBUG_STEPS #ifdef DEBUG_STEPS
count_direction[Z_AXIS]=1; count_direction[Z_AXIS]=1;
#endif #endif
#if Z_MAX_PIN > -1 #if Z_MAX_PIN > -1
if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){ if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){
step_events_completed = current_block->step_event_count; step_events_completed = current_block->step_event_count;
} }
#endif #endif
} }
#ifndef ADVANCE #ifndef ADVANCE
if ((out_bits & (1<<E_AXIS)) != 0) // -direction if ((out_bits & (1<<E_AXIS)) != 0) // -direction
WRITE(E_DIR_PIN,INVERT_E_DIR); WRITE(E_DIR_PIN,INVERT_E_DIR);
else // +direction else // +direction
WRITE(E_DIR_PIN,!INVERT_E_DIR); WRITE(E_DIR_PIN,!INVERT_E_DIR);
#endif //!ADVANCE #endif //!ADVANCE
for(char i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) for(char i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
counter_x += current_block->steps_x; counter_x += current_block->steps_x;
if (counter_x > 0) { if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH); WRITE(X_STEP_PIN, HIGH);
counter_x -= current_block->step_event_count; counter_x -= current_block->step_event_count;
WRITE(X_STEP_PIN, LOW); WRITE(X_STEP_PIN, LOW);
#ifdef DEBUG_STEPS #ifdef DEBUG_STEPS
count_position[X_AXIS]+=count_direction[X_AXIS]; count_position[X_AXIS]+=count_direction[X_AXIS];
#endif #endif
} }
counter_y += current_block->steps_y; counter_y += current_block->steps_y;
if (counter_y > 0) { if (counter_y > 0) {
WRITE(Y_STEP_PIN, HIGH); WRITE(Y_STEP_PIN, HIGH);
counter_y -= current_block->step_event_count; counter_y -= current_block->step_event_count;
WRITE(Y_STEP_PIN, LOW); WRITE(Y_STEP_PIN, LOW);
#ifdef DEBUG_STEPS #ifdef DEBUG_STEPS
count_position[Y_AXIS]+=count_direction[Y_AXIS]; count_position[Y_AXIS]+=count_direction[Y_AXIS];
#endif #endif
} }
counter_z += current_block->steps_z; counter_z += current_block->steps_z;
if (counter_z > 0) { if (counter_z > 0) {
WRITE(Z_STEP_PIN, HIGH); WRITE(Z_STEP_PIN, HIGH);
counter_z -= current_block->step_event_count; counter_z -= current_block->step_event_count;
WRITE(Z_STEP_PIN, LOW); WRITE(Z_STEP_PIN, LOW);
#ifdef DEBUG_STEPS #ifdef DEBUG_STEPS
count_position[Z_AXIS]+=count_direction[Z_AXIS]; count_position[Z_AXIS]+=count_direction[Z_AXIS];
#endif #endif
} }
#ifndef ADVANCE #ifndef ADVANCE
counter_e += current_block->steps_e; counter_e += current_block->steps_e;
if (counter_e > 0) { if (counter_e > 0) {
WRITE(E_STEP_PIN, HIGH); WRITE(E_STEP_PIN, HIGH);
counter_e -= current_block->step_event_count; counter_e -= current_block->step_event_count;
WRITE(E_STEP_PIN, LOW); WRITE(E_STEP_PIN, LOW);
} }
#endif //!ADVANCE #endif //!ADVANCE
step_events_completed += 1; step_events_completed += 1;
if(step_events_completed >= current_block->step_event_count) break; if(step_events_completed >= current_block->step_event_count) break;
} }
// Calculare new timer value // Calculare new timer value
unsigned short timer; unsigned short timer;
unsigned short step_rate; unsigned short step_rate;
if (step_events_completed <= current_block->accelerate_until) { if (step_events_completed <= current_block->accelerate_until) {
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate); MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate += current_block->initial_rate; acc_step_rate += current_block->initial_rate;
// upper limit // upper limit
if(acc_step_rate > current_block->nominal_rate) if(acc_step_rate > current_block->nominal_rate)
acc_step_rate = current_block->nominal_rate; acc_step_rate = current_block->nominal_rate;
// step_rate to timer interval // step_rate to timer interval
timer = calc_timer(acc_step_rate); timer = calc_timer(acc_step_rate);
#ifdef ADVANCE #ifdef ADVANCE
advance += advance_rate; advance += advance_rate;
#endif #endif
acceleration_time += timer; acceleration_time += timer;
OCR1A = timer; OCR1A = timer;
} }
else if (step_events_completed > current_block->decelerate_after) { else if (step_events_completed > current_block->decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate); MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if(step_rate > acc_step_rate) { // Check step_rate stays positive if(step_rate > acc_step_rate) { // Check step_rate stays positive
step_rate = current_block->final_rate; step_rate = current_block->final_rate;
} }
else { else {
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point. step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
} }
// lower limit // lower limit
if(step_rate < current_block->final_rate) if(step_rate < current_block->final_rate)
step_rate = current_block->final_rate; step_rate = current_block->final_rate;
// step_rate to timer interval // step_rate to timer interval
timer = calc_timer(step_rate); timer = calc_timer(step_rate);
#ifdef ADVANCE #ifdef ADVANCE
advance -= advance_rate; advance -= advance_rate;
if(advance < final_advance) if(advance < final_advance)
advance = final_advance; advance = final_advance;
#endif //ADVANCE #endif //ADVANCE
deceleration_time += timer; deceleration_time += timer;
OCR1A = timer; OCR1A = timer;
} }
// If current block is finished, reset pointer // If current block is finished, reset pointer
if (step_events_completed >= current_block->step_event_count) { if (step_events_completed >= current_block->step_event_count) {
current_block = NULL; current_block = NULL;
plan_discard_current_block(); plan_discard_current_block();
} }
} }
cli(); // disable interrupts cli(); // disable interrupts
busy=false; busy=false;
} }
#ifdef ADVANCE #ifdef ADVANCE
unsigned char old_OCR0A; unsigned char old_OCR0A;
// Timer interrupt for E. e_steps is set in the main routine; // Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies // Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect) ISR(TIMER0_COMPA_vect)
{ {
// Critical section needed because Timer 1 interrupt has higher priority. // Critical section needed because Timer 1 interrupt has higher priority.
// The pin set functions are placed on trategic position to comply with the stepper driver timing. // The pin set functions are placed on trategic position to comply with the stepper driver timing.
WRITE(E_STEP_PIN, LOW); WRITE(E_STEP_PIN, LOW);
// Set E direction (Depends on E direction + advance) // Set E direction (Depends on E direction + advance)
if (e_steps < 0) { if (e_steps < 0) {
WRITE(E_DIR_PIN,INVERT_E_DIR); WRITE(E_DIR_PIN,INVERT_E_DIR);
e_steps++; e_steps++;
WRITE(E_STEP_PIN, HIGH); WRITE(E_STEP_PIN, HIGH);
} }
if (e_steps > 0) { if (e_steps > 0) {
WRITE(E_DIR_PIN,!INVERT_E_DIR); WRITE(E_DIR_PIN,!INVERT_E_DIR);
e_steps--; e_steps--;
WRITE(E_STEP_PIN, HIGH); WRITE(E_STEP_PIN, HIGH);
} }
old_OCR0A += 25; // 10kHz interrupt old_OCR0A += 25; // 10kHz interrupt
OCR0A = old_OCR0A; OCR0A = old_OCR0A;
} }
#endif // ADVANCE #endif // ADVANCE
void st_init() void st_init()
{ {
//Initialize Dir Pins //Initialize Dir Pins
#if X_DIR_PIN > -1 #if X_DIR_PIN > -1
SET_OUTPUT(X_DIR_PIN); SET_OUTPUT(X_DIR_PIN);
#endif #endif
#if Y_DIR_PIN > -1 #if Y_DIR_PIN > -1
SET_OUTPUT(Y_DIR_PIN); SET_OUTPUT(Y_DIR_PIN);
#endif #endif
#if Z_DIR_PIN > -1 #if Z_DIR_PIN > -1
SET_OUTPUT(Z_DIR_PIN); SET_OUTPUT(Z_DIR_PIN);
#endif #endif
#if E_DIR_PIN > -1 #if E_DIR_PIN > -1
SET_OUTPUT(E_DIR_PIN); SET_OUTPUT(E_DIR_PIN);
#endif #endif
//Initialize Enable Pins - steppers default to disabled. //Initialize Enable Pins - steppers default to disabled.
#if (X_ENABLE_PIN > -1) #if (X_ENABLE_PIN > -1)
SET_OUTPUT(X_ENABLE_PIN); SET_OUTPUT(X_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
#endif #endif
#if (Y_ENABLE_PIN > -1) #if (Y_ENABLE_PIN > -1)
SET_OUTPUT(Y_ENABLE_PIN); SET_OUTPUT(Y_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
#endif #endif
#if (Z_ENABLE_PIN > -1) #if (Z_ENABLE_PIN > -1)
SET_OUTPUT(Z_ENABLE_PIN); SET_OUTPUT(Z_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
#endif #endif
#if (E_ENABLE_PIN > -1) #if (E_ENABLE_PIN > -1)
SET_OUTPUT(E_ENABLE_PIN); SET_OUTPUT(E_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH); if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
#endif #endif
//endstops and pullups //endstops and pullups
#ifdef ENDSTOPPULLUPS #ifdef ENDSTOPPULLUPS
#if X_MIN_PIN > -1 #if X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN); SET_INPUT(X_MIN_PIN);
WRITE(X_MIN_PIN,HIGH); WRITE(X_MIN_PIN,HIGH);
#endif #endif
#if X_MAX_PIN > -1 #if X_MAX_PIN > -1
SET_INPUT(X_MAX_PIN); SET_INPUT(X_MAX_PIN);
WRITE(X_MAX_PIN,HIGH); WRITE(X_MAX_PIN,HIGH);
#endif #endif
#if Y_MIN_PIN > -1 #if Y_MIN_PIN > -1
SET_INPUT(Y_MIN_PIN); SET_INPUT(Y_MIN_PIN);
WRITE(Y_MIN_PIN,HIGH); WRITE(Y_MIN_PIN,HIGH);
#endif #endif
#if Y_MAX_PIN > -1 #if Y_MAX_PIN > -1
SET_INPUT(Y_MAX_PIN); SET_INPUT(Y_MAX_PIN);
WRITE(Y_MAX_PIN,HIGH); WRITE(Y_MAX_PIN,HIGH);
#endif #endif
#if Z_MIN_PIN > -1 #if Z_MIN_PIN > -1
SET_INPUT(Z_MIN_PIN); SET_INPUT(Z_MIN_PIN);
WRITE(Z_MIN_PIN,HIGH); WRITE(Z_MIN_PIN,HIGH);
#endif #endif
#if Z_MAX_PIN > -1 #if Z_MAX_PIN > -1
SET_INPUT(Z_MAX_PIN); SET_INPUT(Z_MAX_PIN);
WRITE(Z_MAX_PIN,HIGH); WRITE(Z_MAX_PIN,HIGH);
#endif #endif
#else //ENDSTOPPULLUPS #else //ENDSTOPPULLUPS
#if X_MIN_PIN > -1 #if X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN); SET_INPUT(X_MIN_PIN);
#endif #endif
#if X_MAX_PIN > -1 #if X_MAX_PIN > -1
SET_INPUT(X_MAX_PIN); SET_INPUT(X_MAX_PIN);
#endif #endif
#if Y_MIN_PIN > -1 #if Y_MIN_PIN > -1
SET_INPUT(Y_MIN_PIN); SET_INPUT(Y_MIN_PIN);
#endif #endif
#if Y_MAX_PIN > -1 #if Y_MAX_PIN > -1
SET_INPUT(Y_MAX_PIN); SET_INPUT(Y_MAX_PIN);
#endif #endif
#if Z_MIN_PIN > -1 #if Z_MIN_PIN > -1
SET_INPUT(Z_MIN_PIN); SET_INPUT(Z_MIN_PIN);
#endif #endif
#if Z_MAX_PIN > -1 #if Z_MAX_PIN > -1
SET_INPUT(Z_MAX_PIN); SET_INPUT(Z_MAX_PIN);
#endif #endif
#endif //ENDSTOPPULLUPS #endif //ENDSTOPPULLUPS
//Initialize Step Pins //Initialize Step Pins
#if (X_STEP_PIN > -1) #if (X_STEP_PIN > -1)
SET_OUTPUT(X_STEP_PIN); SET_OUTPUT(X_STEP_PIN);
#endif #endif
#if (Y_STEP_PIN > -1) #if (Y_STEP_PIN > -1)
SET_OUTPUT(Y_STEP_PIN); SET_OUTPUT(Y_STEP_PIN);
#endif #endif
#if (Z_STEP_PIN > -1) #if (Z_STEP_PIN > -1)
SET_OUTPUT(Z_STEP_PIN); SET_OUTPUT(Z_STEP_PIN);
#endif #endif
#if (E_STEP_PIN > -1) #if (E_STEP_PIN > -1)
SET_OUTPUT(E_STEP_PIN); SET_OUTPUT(E_STEP_PIN);
#endif #endif
// waveform generation = 0100 = CTC // waveform generation = 0100 = CTC
TCCR1B &= ~(1<<WGM13); TCCR1B &= ~(1<<WGM13);
TCCR1B |= (1<<WGM12); TCCR1B |= (1<<WGM12);
TCCR1A &= ~(1<<WGM11); TCCR1A &= ~(1<<WGM11);
TCCR1A &= ~(1<<WGM10); TCCR1A &= ~(1<<WGM10);
// output mode = 00 (disconnected) // output mode = 00 (disconnected)
TCCR1A &= ~(3<<COM1A0); TCCR1A &= ~(3<<COM1A0);
TCCR1A &= ~(3<<COM1B0); TCCR1A &= ~(3<<COM1B0);
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
OCR1A = 0x4000; OCR1A = 0x4000;
DISABLE_STEPPER_DRIVER_INTERRUPT(); DISABLE_STEPPER_DRIVER_INTERRUPT();
#ifdef ADVANCE #ifdef ADVANCE
e_steps = 0; e_steps = 0;
TIMSK0 |= (1<<OCIE0A); TIMSK0 |= (1<<OCIE0A);
#endif //ADVANCE #endif //ADVANCE
sei(); sei();
} }
// Block until all buffered steps are executed // Block until all buffered steps are executed
void st_synchronize() void st_synchronize()
{ {
while(plan_get_current_block()) { while(plan_get_current_block()) {
manage_heater(); manage_heater();
manage_inactivity(1); manage_inactivity(1);
LCD_STATUS; LCD_STATUS;
} }
} }

84
Marlin/stepper.h
Unescape View File

@ -1,40 +1,44 @@
/* /*
stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
Part of Grbl Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. (at your option) any later version.
Grbl is distributed in the hope that it will be useful, Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/ */
#ifndef stepper_h #ifndef stepper_h
#define stepper_h #define stepper_h
// Initialize and start the stepper motor subsystem
void st_init(); #include "planner.h"
// Block until all buffered steps are executed // Initialize and start the stepper motor subsystem
void st_synchronize(); void st_init();
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this // Block until all buffered steps are executed
// to notify the subsystem that it is time to go to work. void st_synchronize();
void st_wake_up();
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer. // to notify the subsystem that it is time to go to work.
// for debugging purposes only, should be disabled by default void st_wake_up();
#ifdef DEBUG_STEPS
extern volatile long count_position[NUM_AXIS]; // if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
extern volatile int count_direction[NUM_AXIS]; // for debugging purposes only, should be disabled by default
#endif #ifdef DEBUG_STEPS
extern volatile long count_position[NUM_AXIS];
#endif extern volatile int count_direction[NUM_AXIS];
#endif
extern block_t *current_block; // A pointer to the block currently being traced
#endif

168
Marlin/streaming.h
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@ -1,84 +1,84 @@
/* /*
Streaming.h - Arduino library for supporting the << streaming operator Streaming.h - Arduino library for supporting the << streaming operator
Copyright (c) 2010 Mikal Hart. All rights reserved. Copyright (c) 2010 Mikal Hart. All rights reserved.
This library is free software; you can redistribute it and/or This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. 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, This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details. Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/ */
#ifndef ARDUINO_STREAMING #ifndef ARDUINO_STREAMING
#define ARDUINO_STREAMING #define ARDUINO_STREAMING
//#include <WProgram.h> //#include <WProgram.h>
#define STREAMING_LIBRARY_VERSION 4 #define STREAMING_LIBRARY_VERSION 4
// Generic template // Generic template
template<class T> template<class T>
inline Print &operator <<(Print &stream, T arg) inline Print &operator <<(Print &stream, T arg)
{ stream.print(arg); return stream; } { stream.print(arg); return stream; }
struct _BASED struct _BASED
{ {
long val; long val;
int base; int base;
_BASED(long v, int b): val(v), base(b) _BASED(long v, int b): val(v), base(b)
{} {}
}; };
#define _HEX(a) _BASED(a, HEX) #define _HEX(a) _BASED(a, HEX)
#define _DEC(a) _BASED(a, DEC) #define _DEC(a) _BASED(a, DEC)
#define _OCT(a) _BASED(a, OCT) #define _OCT(a) _BASED(a, OCT)
#define _BIN(a) _BASED(a, BIN) #define _BIN(a) _BASED(a, BIN)
#define _BYTE(a) _BASED(a, BYTE) #define _BYTE(a) _BASED(a, BYTE)
// Specialization for class _BASED // Specialization for class _BASED
// Thanks to Arduino forum user Ben Combee who suggested this // Thanks to Arduino forum user Ben Combee who suggested this
// clever technique to allow for expressions like // clever technique to allow for expressions like
// Serial << _HEX(a); // Serial << _HEX(a);
inline Print &operator <<(Print &obj, const _BASED &arg) inline Print &operator <<(Print &obj, const _BASED &arg)
{ obj.print(arg.val, arg.base); return obj; } { obj.print(arg.val, arg.base); return obj; }
#if ARDUINO >= 18 #if ARDUINO >= 18
// Specialization for class _FLOAT // Specialization for class _FLOAT
// Thanks to Michael Margolis for suggesting a way // Thanks to Michael Margolis for suggesting a way
// to accommodate Arduino 0018's floating point precision // to accommodate Arduino 0018's floating point precision
// feature like this: // feature like this:
// Serial << _FLOAT(gps_latitude, 6); // 6 digits of precision // Serial << _FLOAT(gps_latitude, 6); // 6 digits of precision
struct _FLOAT struct _FLOAT
{ {
float val; float val;
int digits; int digits;
_FLOAT(double v, int d): val(v), digits(d) _FLOAT(double v, int d): val(v), digits(d)
{} {}
}; };
inline Print &operator <<(Print &obj, const _FLOAT &arg) inline Print &operator <<(Print &obj, const _FLOAT &arg)
{ obj.print(arg.val, arg.digits); return obj; } { obj.print(arg.val, arg.digits); return obj; }
#endif #endif
// Specialization for enum _EndLineCode // Specialization for enum _EndLineCode
// Thanks to Arduino forum user Paul V. who suggested this // Thanks to Arduino forum user Paul V. who suggested this
// clever technique to allow for expressions like // clever technique to allow for expressions like
// Serial << "Hello!" << endl; // Serial << "Hello!" << endl;
enum _EndLineCode { endl }; enum _EndLineCode { endl };
inline Print &operator <<(Print &obj, _EndLineCode arg) inline Print &operator <<(Print &obj, _EndLineCode arg)
{ obj.println(); return obj; } { obj.println(); return obj; }
#endif #endif

43
Marlin/temperature.cpp
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@ -97,14 +97,15 @@ void manage_heater()
float pid_input; float pid_input;
float pid_output; float pid_output;
if(temp_meas_ready == true) { if(temp_meas_ready != true) //better readability
return;
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
temp_meas_ready = false; temp_meas_ready = false;
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
#ifdef PIDTEMP #ifdef PIDTEMP
pid_input = analog2temp(current_raw[0]); pid_input = analog2temp(current_raw[TEMPSENSOR_HOTEND]);
#ifndef PID_OPENLOOP #ifndef PID_OPENLOOP
pid_error = pid_setpoint - pid_input; pid_error = pid_setpoint - pid_input;
@ -125,10 +126,13 @@ CRITICAL_SECTION_END;
temp_iState += pid_error; temp_iState += pid_error;
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
iTerm = Ki * temp_iState; iTerm = Ki * temp_iState;
#define K1 0.95 //K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1) #define K2 (1.0-K1)
dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm); dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
temp_dState = pid_input; temp_dState = pid_input;
#ifdef PID_ADD_EXTRUSION_RATE
pTerm+=Kc*current_block->speed_e; //additional heating if extrusion speed is high
#endif
pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX); pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
} }
#endif //PID_OPENLOOP #endif //PID_OPENLOOP
@ -164,7 +168,7 @@ CRITICAL_SECTION_END;
previous_millis_bed_heater = millis(); previous_millis_bed_heater = millis();
#if TEMP_1_PIN > -1 #if TEMP_1_PIN > -1
if(current_raw[1] >= target_raw[1]) if(current_raw[TEMPSENSOR_BED] >= target_raw[TEMPSENSOR_BED])
{ {
WRITE(HEATER_1_PIN,LOW); WRITE(HEATER_1_PIN,LOW);
} }
@ -174,7 +178,6 @@ CRITICAL_SECTION_END;
} }
#endif #endif
} }
}
// Takes hot end temperature value as input and returns corresponding raw value. // Takes hot end temperature value as input and returns corresponding raw value.
// For a thermistor, it uses the RepRap thermistor temp table. // For a thermistor, it uses the RepRap thermistor temp table.
@ -325,15 +328,18 @@ void tp_init()
TIMSK0 |= (1<<OCIE0B); TIMSK0 |= (1<<OCIE0B);
} }
static unsigned char temp_count = 0;
static unsigned long raw_temp_0_value = 0;
static unsigned long raw_temp_1_value = 0;
static unsigned long raw_temp_2_value = 0;
static unsigned char temp_state = 0;
// Timer 0 is shared with millies // Timer 0 is shared with millies
ISR(TIMER0_COMPB_vect) ISR(TIMER0_COMPB_vect)
{ {
//these variables are only accesible from the ISR, but static, so they don't loose their value
static unsigned char temp_count = 0;
static unsigned long raw_temp_0_value = 0;
static unsigned long raw_temp_1_value = 0;
static unsigned long raw_temp_2_value = 0;
static unsigned char temp_state = 0;
switch(temp_state) { switch(temp_state) {
case 0: // Prepare TEMP_0 case 0: // Prepare TEMP_0
#if (TEMP_0_PIN > -1) #if (TEMP_0_PIN > -1)
@ -434,18 +440,17 @@ ISR(TIMER0_COMPB_vect)
raw_temp_2_value = 0; raw_temp_2_value = 0;
#ifdef HEATER_0_MAXTEMP #ifdef HEATER_0_MAXTEMP
#if (HEATER_0_PIN > -1) #if (HEATER_0_PIN > -1)
if(current_raw[0] >= maxttemp_0) { if(current_raw[TEMPSENSOR_HOTEND] >= maxttemp) {
target_raw[0] = 0; target_raw[TEMPSENSOR_HOTEND] = 0;
analogWrite(HEATER_0_PIN, 0); analogWrite(HEATER_0_PIN, 0);
Serial.println("!! Temperature extruder 0 switched off. MAXTEMP triggered !!"); Serial.println("!! Temperature extruder 0 switched off. MAXTEMP triggered !!");
kill(); kill();
} }
#endif #endif
#endif #endif
#ifdef HEATER_1_MAXTEMP if(current_raw[TEMPSENSOR_AUX] >= maxttemp) {
#if (HEATER_1_PIN > -1) target_raw[TEMPSENSOR_AUX] = 0;
if(current_raw[2] >= maxttemp_1) { if(current_raw[2] >= maxttemp_1) {
target_raw[2] = 0;
analogWrite(HEATER_2_PIN, 0); analogWrite(HEATER_2_PIN, 0);
Serial.println("!! Temperature extruder 1 switched off. MAXTEMP triggered !!"); Serial.println("!! Temperature extruder 1 switched off. MAXTEMP triggered !!");
kill() kill()
@ -454,8 +459,8 @@ ISR(TIMER0_COMPB_vect)
#endif //MAXTEMP #endif //MAXTEMP
#ifdef HEATER_0_MINTEMP #ifdef HEATER_0_MINTEMP
#if (HEATER_0_PIN > -1) #if (HEATER_0_PIN > -1)
if(current_raw[0] <= minttemp_0) { if(current_raw[TEMPSENSOR_HOTEND] <= minttemp) {
target_raw[0] = 0; target_raw[TEMPSENSOR_HOTEND] = 0;
analogWrite(HEATER_0_PIN, 0); analogWrite(HEATER_0_PIN, 0);
Serial.println("!! Temperature extruder 0 switched off. MINTEMP triggered !!"); Serial.println("!! Temperature extruder 0 switched off. MINTEMP triggered !!");
kill(); kill();
@ -464,8 +469,8 @@ ISR(TIMER0_COMPB_vect)
#endif #endif
#ifdef HEATER_1_MINTEMP #ifdef HEATER_1_MINTEMP
#if (HEATER_2_PIN > -1) #if (HEATER_2_PIN > -1)
if(current_raw[2] <= minttemp_1) { if(current_raw[TEMPSENSOR_AUX] <= minttemp) {
target_raw[2] = 0; target_raw[TEMPSENSOR_AUX] = 0;
analogWrite(HEATER_2_PIN, 0); analogWrite(HEATER_2_PIN, 0);
Serial.println("!! Temperature extruder 1 switched off. MINTEMP triggered !!"); Serial.println("!! Temperature extruder 1 switched off. MINTEMP triggered !!");
kill(); kill();

7
Marlin/temperature.h
Unescape View File

@ -21,8 +21,10 @@
#ifndef temperature_h #ifndef temperature_h
#define temperature_h #define temperature_h
void manage_inactivity(byte debug); #include "Marlin.h"
#ifdef PID_ADD_EXTRUSION_RATE
#include "stepper.h"
#endif
void tp_init(); void tp_init();
void manage_heater(); void manage_heater();
//int temp2analogu(int celsius, const short table[][2], int numtemps); //int temp2analogu(int celsius, const short table[][2], int numtemps);
@ -48,6 +50,7 @@ extern float Ki;
extern float Kd; extern float Kd;
extern float Kc; extern float Kc;
enum {TEMPSENSOR_HOTEND=0,TEMPSENSOR_BED=1, TEMPSENSOR_AUX=2};
extern int target_raw[3]; extern int target_raw[3];
extern int current_raw[3]; extern int current_raw[3];
extern double pid_setpoint; extern double pid_setpoint;

180
Marlin/thermistortables.h
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@ -7,67 +7,67 @@
#define NUMTEMPS_1 61 #define NUMTEMPS_1 61
const short temptable_1[NUMTEMPS_1][2] = { const short temptable_1[NUMTEMPS_1][2] = {
{ 23*OVERSAMPLENR , 300 }, { 23*OVERSAMPLENR , 300 },
{ 25*OVERSAMPLENR , 295 }, { 25*OVERSAMPLENR , 295 },
{ 27*OVERSAMPLENR , 290 }, { 27*OVERSAMPLENR , 290 },
{ 28*OVERSAMPLENR , 285 }, { 28*OVERSAMPLENR , 285 },
{ 31*OVERSAMPLENR , 280 }, { 31*OVERSAMPLENR , 280 },
{ 33*OVERSAMPLENR , 275 }, { 33*OVERSAMPLENR , 275 },
{ 35*OVERSAMPLENR , 270 }, { 35*OVERSAMPLENR , 270 },
{ 38*OVERSAMPLENR , 265 }, { 38*OVERSAMPLENR , 265 },
{ 41*OVERSAMPLENR , 260 }, { 41*OVERSAMPLENR , 260 },
{ 44*OVERSAMPLENR , 255 }, { 44*OVERSAMPLENR , 255 },
{ 48*OVERSAMPLENR , 250 }, { 48*OVERSAMPLENR , 250 },
{ 52*OVERSAMPLENR , 245 }, { 52*OVERSAMPLENR , 245 },
{ 56*OVERSAMPLENR , 240 }, { 56*OVERSAMPLENR , 240 },
{ 61*OVERSAMPLENR , 235 }, { 61*OVERSAMPLENR , 235 },
{ 66*OVERSAMPLENR , 230 }, { 66*OVERSAMPLENR , 230 },
{ 71*OVERSAMPLENR , 225 }, { 71*OVERSAMPLENR , 225 },
{ 78*OVERSAMPLENR , 220 }, { 78*OVERSAMPLENR , 220 },
{ 84*OVERSAMPLENR , 215 }, { 84*OVERSAMPLENR , 215 },
{ 92*OVERSAMPLENR , 210 }, { 92*OVERSAMPLENR , 210 },
{ 100*OVERSAMPLENR , 205 }, { 100*OVERSAMPLENR , 205 },
{ 109*OVERSAMPLENR , 200 }, { 109*OVERSAMPLENR , 200 },
{ 120*OVERSAMPLENR , 195 }, { 120*OVERSAMPLENR , 195 },
{ 131*OVERSAMPLENR , 190 }, { 131*OVERSAMPLENR , 190 },
{ 143*OVERSAMPLENR , 185 }, { 143*OVERSAMPLENR , 185 },
{ 156*OVERSAMPLENR , 180 }, { 156*OVERSAMPLENR , 180 },
{ 171*OVERSAMPLENR , 175 }, { 171*OVERSAMPLENR , 175 },
{ 187*OVERSAMPLENR , 170 }, { 187*OVERSAMPLENR , 170 },
{ 205*OVERSAMPLENR , 165 }, { 205*OVERSAMPLENR , 165 },
{ 224*OVERSAMPLENR , 160 }, { 224*OVERSAMPLENR , 160 },
{ 245*OVERSAMPLENR , 155 }, { 245*OVERSAMPLENR , 155 },
{ 268*OVERSAMPLENR , 150 }, { 268*OVERSAMPLENR , 150 },
{ 293*OVERSAMPLENR , 145 }, { 293*OVERSAMPLENR , 145 },
{ 320*OVERSAMPLENR , 140 }, { 320*OVERSAMPLENR , 140 },
{ 348*OVERSAMPLENR , 135 }, { 348*OVERSAMPLENR , 135 },
{ 379*OVERSAMPLENR , 130 }, { 379*OVERSAMPLENR , 130 },
{ 411*OVERSAMPLENR , 125 }, { 411*OVERSAMPLENR , 125 },
{ 445*OVERSAMPLENR , 120 }, { 445*OVERSAMPLENR , 120 },
{ 480*OVERSAMPLENR , 115 }, { 480*OVERSAMPLENR , 115 },
{ 516*OVERSAMPLENR , 110 }, { 516*OVERSAMPLENR , 110 },
{ 553*OVERSAMPLENR , 105 }, { 553*OVERSAMPLENR , 105 },
{ 591*OVERSAMPLENR , 100 }, { 591*OVERSAMPLENR , 100 },
{ 628*OVERSAMPLENR , 95 }, { 628*OVERSAMPLENR , 95 },
{ 665*OVERSAMPLENR , 90 }, { 665*OVERSAMPLENR , 90 },
{ 702*OVERSAMPLENR , 85 }, { 702*OVERSAMPLENR , 85 },
{ 737*OVERSAMPLENR , 80 }, { 737*OVERSAMPLENR , 80 },
{ 770*OVERSAMPLENR , 75 }, { 770*OVERSAMPLENR , 75 },
{ 801*OVERSAMPLENR , 70 }, { 801*OVERSAMPLENR , 70 },
{ 830*OVERSAMPLENR , 65 }, { 830*OVERSAMPLENR , 65 },
{ 857*OVERSAMPLENR , 60 }, { 857*OVERSAMPLENR , 60 },
{ 881*OVERSAMPLENR , 55 }, { 881*OVERSAMPLENR , 55 },
{ 903*OVERSAMPLENR , 50 }, { 903*OVERSAMPLENR , 50 },
{ 922*OVERSAMPLENR , 45 }, { 922*OVERSAMPLENR , 45 },
{ 939*OVERSAMPLENR , 40 }, { 939*OVERSAMPLENR , 40 },
{ 954*OVERSAMPLENR , 35 }, { 954*OVERSAMPLENR , 35 },
{ 966*OVERSAMPLENR , 30 }, { 966*OVERSAMPLENR , 30 },
{ 977*OVERSAMPLENR , 25 }, { 977*OVERSAMPLENR , 25 },
{ 985*OVERSAMPLENR , 20 }, { 985*OVERSAMPLENR , 20 },
{ 993*OVERSAMPLENR , 15 }, { 993*OVERSAMPLENR , 15 },
{ 999*OVERSAMPLENR , 10 }, { 999*OVERSAMPLENR , 10 },
{ 1004*OVERSAMPLENR , 5 }, { 1004*OVERSAMPLENR , 5 },
{ 1008*OVERSAMPLENR , 0 } //safety { 1008*OVERSAMPLENR , 0 } //safety
}; };
#endif #endif
#if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORBED == 2) //200k bed thermistor #if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORBED == 2) //200k bed thermistor
@ -100,35 +100,35 @@ const short temptable_2[NUMTEMPS_2][2] = {
#if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORBED == 3) //mendel-parts #if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORBED == 3) //mendel-parts
#define NUMTEMPS_3 28 #define NUMTEMPS_3 28
const short temptable_3[NUMTEMPS_3][2] = { const short temptable_3[NUMTEMPS_3][2] = {
{1*OVERSAMPLENR,864}, {1*OVERSAMPLENR,864},
{21*OVERSAMPLENR,300}, {21*OVERSAMPLENR,300},
{25*OVERSAMPLENR,290}, {25*OVERSAMPLENR,290},
{29*OVERSAMPLENR,280}, {29*OVERSAMPLENR,280},
{33*OVERSAMPLENR,270}, {33*OVERSAMPLENR,270},
{39*OVERSAMPLENR,260}, {39*OVERSAMPLENR,260},
{46*OVERSAMPLENR,250}, {46*OVERSAMPLENR,250},
{54*OVERSAMPLENR,240}, {54*OVERSAMPLENR,240},
{64*OVERSAMPLENR,230}, {64*OVERSAMPLENR,230},
{75*OVERSAMPLENR,220}, {75*OVERSAMPLENR,220},
{90*OVERSAMPLENR,210}, {90*OVERSAMPLENR,210},
{107*OVERSAMPLENR,200}, {107*OVERSAMPLENR,200},
{128*OVERSAMPLENR,190}, {128*OVERSAMPLENR,190},
{154*OVERSAMPLENR,180}, {154*OVERSAMPLENR,180},
{184*OVERSAMPLENR,170}, {184*OVERSAMPLENR,170},
{221*OVERSAMPLENR,160}, {221*OVERSAMPLENR,160},
{265*OVERSAMPLENR,150}, {265*OVERSAMPLENR,150},
{316*OVERSAMPLENR,140}, {316*OVERSAMPLENR,140},
{375*OVERSAMPLENR,130}, {375*OVERSAMPLENR,130},
{441*OVERSAMPLENR,120}, {441*OVERSAMPLENR,120},
{513*OVERSAMPLENR,110}, {513*OVERSAMPLENR,110},
{588*OVERSAMPLENR,100}, {588*OVERSAMPLENR,100},
{734*OVERSAMPLENR,80}, {734*OVERSAMPLENR,80},
{856*OVERSAMPLENR,60}, {856*OVERSAMPLENR,60},
{938*OVERSAMPLENR,40}, {938*OVERSAMPLENR,40},
{986*OVERSAMPLENR,20}, {986*OVERSAMPLENR,20},
{1008*OVERSAMPLENR,0}, {1008*OVERSAMPLENR,0},
{1018*OVERSAMPLENR,-20} {1018*OVERSAMPLENR,-20}
}; };
#endif #endif
#if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORBED == 4) //10k thermistor #if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORBED == 4) //10k thermistor

312
Marlin/ultralcd.h
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#ifndef __ULTRALCDH #ifndef __ULTRALCDH
#define __ULTRALCDH #define __ULTRALCDH
#include "Configuration.h" #include "Configuration.h"
#ifdef ULTRA_LCD #ifdef ULTRA_LCD
void lcd_status(); void lcd_status();
void lcd_init(); void lcd_init();
void lcd_status(const char* message); void lcd_status(const char* message);
void beep(); void beep();
void buttons_check(); void buttons_check();
#define LCDSTATUSRIGHT #define LCDSTATUSRIGHT
#define LCD_UPDATE_INTERVAL 100 #define LCD_UPDATE_INTERVAL 100
#define STATUSTIMEOUT 15000 #define STATUSTIMEOUT 15000
#include "Configuration.h" #include "Configuration.h"
#include <LiquidCrystal.h> #include <LiquidCrystal.h>
extern LiquidCrystal lcd; extern LiquidCrystal lcd;
//lcd display size //lcd display size
#ifdef NEWPANEL #ifdef NEWPANEL
//arduino pin witch triggers an piezzo beeper //arduino pin witch triggers an piezzo beeper
#define BEEPER 18 #define BEEPER 18
#define LCD_PINS_RS 20 #define LCD_PINS_RS 20
#define LCD_PINS_ENABLE 17 #define LCD_PINS_ENABLE 17
#define LCD_PINS_D4 16 #define LCD_PINS_D4 16
#define LCD_PINS_D5 21 #define LCD_PINS_D5 21
#define LCD_PINS_D6 5 #define LCD_PINS_D6 5
#define LCD_PINS_D7 6 #define LCD_PINS_D7 6
//buttons are directly attached //buttons are directly attached
#define BTN_EN1 40 #define BTN_EN1 40
#define BTN_EN2 42 #define BTN_EN2 42
#define BTN_ENC 19 //the click #define BTN_ENC 19 //the click
#define BLEN_C 2 #define BLEN_C 2
#define BLEN_B 1 #define BLEN_B 1
#define BLEN_A 0 #define BLEN_A 0
#define SDCARDDETECT 38 #define SDCARDDETECT 38
#define EN_C (1<<BLEN_C) #define EN_C (1<<BLEN_C)
#define EN_B (1<<BLEN_B) #define EN_B (1<<BLEN_B)
#define EN_A (1<<BLEN_A) #define EN_A (1<<BLEN_A)
//encoder rotation values //encoder rotation values
#define encrot0 0 #define encrot0 0
#define encrot1 2 #define encrot1 2
#define encrot2 3 #define encrot2 3
#define encrot3 1 #define encrot3 1
#define CLICKED (buttons&EN_C) #define CLICKED (buttons&EN_C)
#define BLOCK {blocking=millis()+blocktime;} #define BLOCK {blocking=millis()+blocktime;}
#define CARDINSERTED (READ(SDCARDDETECT)==0) #define CARDINSERTED (READ(SDCARDDETECT)==0)
#else #else
//arduino pin witch triggers an piezzo beeper //arduino pin witch triggers an piezzo beeper
#define BEEPER 18 #define BEEPER 18
//buttons are attached to a shift register //buttons are attached to a shift register
#define SHIFT_CLK 38 #define SHIFT_CLK 38
#define SHIFT_LD 42 #define SHIFT_LD 42
#define SHIFT_OUT 40 #define SHIFT_OUT 40
#define SHIFT_EN 17 #define SHIFT_EN 17
#define LCD_PINS_RS 16 #define LCD_PINS_RS 16
#define LCD_PINS_ENABLE 5 #define LCD_PINS_ENABLE 5
#define LCD_PINS_D4 6 #define LCD_PINS_D4 6
#define LCD_PINS_D5 21 #define LCD_PINS_D5 21
#define LCD_PINS_D6 20 #define LCD_PINS_D6 20
#define LCD_PINS_D7 19 #define LCD_PINS_D7 19
//bits in the shift register that carry the buttons for: //bits in the shift register that carry the buttons for:
// left up center down right red // left up center down right red
#define BL_LE 7 #define BL_LE 7
#define BL_UP 6 #define BL_UP 6
#define BL_MI 5 #define BL_MI 5
#define BL_DW 4 #define BL_DW 4
#define BL_RI 3 #define BL_RI 3
#define BL_ST 2 #define BL_ST 2
#define BLEN_B 1 #define BLEN_B 1
#define BLEN_A 0 #define BLEN_A 0
//encoder rotation values //encoder rotation values
#define encrot0 0 #define encrot0 0
#define encrot1 2 #define encrot1 2
#define encrot2 3 #define encrot2 3
#define encrot3 1 #define encrot3 1
//atomatic, do not change //atomatic, do not change
#define B_LE (1<<BL_LE) #define B_LE (1<<BL_LE)
#define B_UP (1<<BL_UP) #define B_UP (1<<BL_UP)
#define B_MI (1<<BL_MI) #define B_MI (1<<BL_MI)
#define B_DW (1<<BL_DW) #define B_DW (1<<BL_DW)
#define B_RI (1<<BL_RI) #define B_RI (1<<BL_RI)
#define B_ST (1<<BL_ST) #define B_ST (1<<BL_ST)
#define EN_B (1<<BLEN_B) #define EN_B (1<<BLEN_B)
#define EN_A (1<<BLEN_A) #define EN_A (1<<BLEN_A)
#define CLICKED ((buttons&B_MI)||(buttons&B_ST)) #define CLICKED ((buttons&B_MI)||(buttons&B_ST))
#define BLOCK {blocking[BL_MI]=millis()+blocktime;blocking[BL_ST]=millis()+blocktime;} #define BLOCK {blocking[BL_MI]=millis()+blocktime;blocking[BL_ST]=millis()+blocktime;}
#endif #endif
// blocking time for recognizing a new keypress of one key, ms // blocking time for recognizing a new keypress of one key, ms
#define blocktime 500 #define blocktime 500
#define lcdslow 5 #define lcdslow 5
enum MainStatus{Main_Status, Main_Menu, Main_Prepare, Main_Control, Main_SD}; enum MainStatus{Main_Status, Main_Menu, Main_Prepare, Main_Control, Main_SD};
class MainMenu{ class MainMenu{
public: public:
MainMenu(); MainMenu();
void update(); void update();
void getfilename(const uint8_t nr); void getfilename(const uint8_t nr);
uint8_t activeline; uint8_t activeline;
MainStatus status; MainStatus status;
uint8_t displayStartingRow; uint8_t displayStartingRow;
void showStatus(); void showStatus();
void showMainMenu(); void showMainMenu();
void showPrepare(); void showPrepare();
void showControl(); void showControl();
void showSD(); void showSD();
bool force_lcd_update; bool force_lcd_update;
int lastencoderpos; int lastencoderpos;
int8_t lineoffset; int8_t lineoffset;
int8_t lastlineoffset; int8_t lastlineoffset;
char filename[11]; char filename[11];
bool linechanging; bool linechanging;
}; };
char *fillto(int8_t n,char *c); char *fillto(int8_t n,char *c);
char *ftostr51(const float &x); char *ftostr51(const float &x);
char *ftostr31(const float &x); char *ftostr31(const float &x);
char *ftostr3(const float &x); char *ftostr3(const float &x);
#define LCD_MESSAGE(x) lcd_status(x); #define LCD_MESSAGE(x) lcd_status(x);
#define LCD_STATUS lcd_status() #define LCD_STATUS lcd_status()
#else //no lcd #else //no lcd
#define LCD_STATUS #define LCD_STATUS
#define LCD_MESSAGE(x) #define LCD_MESSAGE(x)
#endif #endif
#ifndef ULTIPANEL #ifndef ULTIPANEL
#define CLICKED false #define CLICKED false
#define BLOCK ; #define BLOCK ;
#endif #endif
#endif //ULTRALCD #endif //ULTRALCD

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134
README
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This firmware is a mashup between Sprinter, grbl and many original parts. This RepRap firmware is a mashup between Sprinter, grbl and many original parts.
(https://github.com/kliment/Sprinter) (https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree) (https://github.com/simen/grbl/tree)
Features: Derived from Sprinter and Grbl by Erik van der Zalm.
- Interrupt based movement with real linear acceleration Sprinters lead developers are Kliment and caru.
- High steprate Grbls lead developer is Simen Svale Skogsrud.
- Look ahead (Keep the speed high when possible. High cornering speed) It has been adapted to the Ultimaker Printer by:
- Interrupt based temperature protection Bernhard Kubicek, Matthijs Keuper, Bradley Feldman, and others...
- preliminary support for Matthew Roberts advance algorithm
For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
Features:
This firmware is optimized for gen6 electronics. - Interrupt based movement with real linear acceleration
- High steprate
The default baudrate is 250000. - Look ahead (Keep the speed high when possible. High cornering speed)
This gives less communication errors then regular baudrates. - 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
Configuring and compilation - Simple LCD support (16x2)
- SD Card support
- Provisions for Bernhard Kubicek's new hardware control console and 20x4 lcd
Install the arduino software version 0018
http://www.arduino.cc/en/Main/Software This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560).
Install the sanguino software, version 0018 The default baudrate is 115200.
http://sanguino.cc/useit
Install pronterface ========================================================================================
https://github.com/kliment/Printrun
Configuring and compilation
Copy the Marlin firmware
https:/github.com/ErikZalm/Marlin
(Use the download button) Install the latest arduino software IDE/toolset (currently 0022)
http://www.arduino.cc/en/Main/Software
Start the arduino IDE.
Select Tools -> Board -> Sanguino Install Ultimaker's RepG 25 build
Select the correct serial port in Tools ->Serial Port http://software.ultimaker.com
Open Marlin.pde (or alternatively install Kliment's printrun/pronterface https://github.com/kliment/Printrun_)
Change the printer specific setting in Configuration.h to the correct values. Copy the Ultimaker Marlin firmware
https:/github.com/bkubicek/Marlin
The following values are the most important: (Use the download button)
- float axis_steps_per_unit[].... // Set the correct steps / mm in the corresponding field
- const bool ENDSTOPS_INVERTING = false; // Change if only positive moves are executed Start the arduino IDE.
- #define INVERT_x_DIR true // Change if the motor direction is wrong Select Tools -> Board -> Arduino Mega 2560
Select the correct serial port in Tools ->Serial Port
Click the Upload button Open Marlin.pde
If all goes well the firmware is uploading
Click the Verify/Compile button
Start pronterface
Click the Upload button
Select the correct Serial Port. Type 250000 in the baudrate field. If all goes well the firmware is uploading
Press the Connect button
Start Ultimaker's Custom RepG 25
=============================================================================================== Make sure Show Experimental Profiles is enabled in Preferences
Known issues Select Sprinter as the Driver
On some systems we get compilation errors. Press the Connect button.
This is caused by the "wiring_serial.c" and "wiring.c". KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z
The simple fix is to delete these files but this may have a performance impact.
That's ok. Enjoy Silky Smooth Printing.
The best workaround is to move these files to sanguino directory.
(".../arduino-0018/hardware/Sanguino/cores/arduino/" on windows systems)

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README.md
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WARNING: THIS IN A PROCESS OF HEAVY OVERWORKING.
DO NOT USE THIS ON YOUR MACHINE UNTIL FURTHER NOTICE!!!
===========================================
This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> 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.
Some features have been added by and configuration has been added by:
Bernhard Kubicek, Matthijs Keuper, 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
- Simple LCD support (16x2)
- SD Card support
- Provisions for Bernhard Kubicek's new hardware control console and 20x4 lcd
This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560).
The default baudrate is 115200.
========================================================================================
Configuring and compilation
Install the latest arduino software IDE/toolset (currently 0022)
http://www.arduino.cc/en/Main/Software
Install Ultimaker's RepG 25 build
http://software.ultimaker.com
(or alternatively install Kliment's printrun/pronterface https://github.com/kliment/Printrun_)
Copy the Ultimaker Marlin firmware
https:/github.com/bkubicek/Marlin
(Use the download button)
Start the arduino IDE.
Select Tools -> Board -> Arduino Mega 2560
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.

58
merging still needs.txt
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files to compare manually:
planner.cpp
stepper.cpp
temperature.cpp
---
things that changed:
* planner.cpp
estimate_acc_distance now works with floats.
in calculate_trapezoid:for_block
long acceleration_rate=(long)((float)acceleration*8.388608) is gone
so is block_>acceleration_rate
void planner_reverse_pass:
some stuff I don't understand right now changed
in planner_forward_pass:
done: BLOCK_BUFFER_SIZE is now necessarily power of 2 (aka 8 16, 32). Inportant to document this somewhere.
no more inline in void plan_discard_current_block()
no more inline in plan_get_current_block()
in plan_buffer_line(...)
the long target[4]; and calculations of thoose should go after the while(block_buffer_tail==..). if the axis_steps_per_unit are changed from the gcode (M92) the calculation for the currently planned buffer move will be corrupt, because Target is calculated with one value, and the stuff afterwards with another. At least this solved the problem I had with the M92 E* changes in the code. Very sure about this, I took me 20min to find this as the solution for the bug I was hunting.
around if(feed_rate<minimumfeedrate) this only should be done if it is not a pure extrusion. I think there is a bug right now.
~line 447 blockcount=
not sure if this also works if the difference is negative, as it would happen if the ringbuffer runs over the end and start at 0.
~line 507 tmp_aceleration. not sure whats going on, but a lot changed.
* stepper.cpp
~214: if (busy) should be a echoln, maybe
~331: great, The Z_M_PIN checks are in :)
*temperature.cpp
done: enum for heater, bed,
manage_heater() is seriously different.
done: if tem_meas_ready ==true->!true+return?
done #define K1 0.95 maybe in the configuration.h?
semi-done: PID-C checking needed. Untested but added.
----
still needed to finish the merge, before testin!
manage_heater
ISR
movement planner
TODO:
remove traveling at maxpseed
remove Simplelcd
remove DEBUG_STEPS?
block_t
pid_dt ->0.1 whats the changes to the PID, checking needed
----
second merge saturday morning:
done: PID_dt->0.1
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