From e4af5e82f26fab59bb2bda540e1673317f48ce8a Mon Sep 17 00:00:00 2001 From: kliment Date: Mon, 4 Jul 2011 16:17:19 +0200 Subject: Rename to Sprinter --- Sprinter/BedThermistorTable_100k.h | 85 ++ Sprinter/BedThermistorTable_200k.h | 42 + Sprinter/FatStructs.h | 418 +++++++++ Sprinter/Makefile | 247 +++++ Sprinter/Sd2Card.cpp | 643 +++++++++++++ Sprinter/Sd2Card.h | 233 +++++ Sprinter/Sd2PinMap.h | 353 ++++++++ Sprinter/SdFat.h | 547 +++++++++++ Sprinter/SdFatUtil.h | 70 ++ Sprinter/SdFatmainpage.h | 202 +++++ Sprinter/SdFile.cpp | 1252 ++++++++++++++++++++++++++ Sprinter/SdInfo.h | 232 +++++ Sprinter/SdVolume.cpp | 295 ++++++ Sprinter/Sprinter.h | 36 + Sprinter/Sprinter.pde | 1548 ++++++++++++++++++++++++++++++++ Sprinter/ThermistorTable_100k.h | 85 ++ Sprinter/ThermistorTable_200k.h | 42 + Sprinter/ThermistorTable_mendelparts.h | 45 + Sprinter/configuration.h | 158 ++++ Sprinter/createTemperatureLookup.py | 127 +++ Sprinter/pins.h | 477 ++++++++++ 21 files changed, 7137 insertions(+) create mode 100644 Sprinter/BedThermistorTable_100k.h create mode 100644 Sprinter/BedThermistorTable_200k.h create mode 100644 Sprinter/FatStructs.h create mode 100644 Sprinter/Makefile create mode 100644 Sprinter/Sd2Card.cpp create mode 100644 Sprinter/Sd2Card.h create mode 100644 Sprinter/Sd2PinMap.h create mode 100644 Sprinter/SdFat.h create mode 100644 Sprinter/SdFatUtil.h create mode 100644 Sprinter/SdFatmainpage.h create mode 100644 Sprinter/SdFile.cpp create mode 100644 Sprinter/SdInfo.h create mode 100644 Sprinter/SdVolume.cpp create mode 100644 Sprinter/Sprinter.h create mode 100644 Sprinter/Sprinter.pde create mode 100644 Sprinter/ThermistorTable_100k.h create mode 100644 Sprinter/ThermistorTable_200k.h create mode 100644 Sprinter/ThermistorTable_mendelparts.h create mode 100644 Sprinter/configuration.h create mode 100644 Sprinter/createTemperatureLookup.py create mode 100644 Sprinter/pins.h (limited to 'Sprinter') diff --git a/Sprinter/BedThermistorTable_100k.h b/Sprinter/BedThermistorTable_100k.h new file mode 100644 index 0000000..84bc607 --- /dev/null +++ b/Sprinter/BedThermistorTable_100k.h @@ -0,0 +1,85 @@ +#ifndef THERMISTORTABLE_H_ +#define THERMISTORTABLE_H_ + +// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts) +// See this page: +// http://dev.www.reprap.org/bin/view/Main/Thermistor +// for details of what goes in this table. +// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py) +// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023 +// r0: 100000 +// t0: 25 +// r1: 0 +// r2: 4700 +// beta: 4066 +// max adc: 1023 + +#define BNUMTEMPS 61 +const short bedtemptable[BNUMTEMPS][2] = { +{ 23 , 300 }, +{ 25 , 295 }, +{ 27 , 290 }, +{ 28 , 285 }, +{ 31 , 280 }, +{ 33 , 275 }, +{ 35 , 270 }, +{ 38 , 265 }, +{ 41 , 260 }, +{ 44 , 255 }, +{ 48 , 250 }, +{ 52 , 245 }, +{ 56 , 240 }, +{ 61 , 235 }, +{ 66 , 230 }, +{ 71 , 225 }, +{ 78 , 220 }, +{ 84 , 215 }, +{ 92 , 210 }, +{ 100 , 205 }, +{ 109 , 200 }, +{ 120 , 195 }, +{ 131 , 190 }, +{ 143 , 185 }, +{ 156 , 180 }, +{ 171 , 175 }, +{ 187 , 170 }, +{ 205 , 165 }, +{ 224 , 160 }, +{ 245 , 155 }, +{ 268 , 150 }, +{ 293 , 145 }, +{ 320 , 140 }, +{ 348 , 135 }, +{ 379 , 130 }, +{ 411 , 125 }, +{ 445 , 120 }, +{ 480 , 115 }, +{ 516 , 110 }, +{ 553 , 105 }, +{ 591 , 100 }, +{ 628 , 95 }, +{ 665 , 90 }, +{ 702 , 85 }, +{ 737 , 80 }, +{ 770 , 75 }, +{ 801 , 70 }, +{ 830 , 65 }, +{ 857 , 60 }, +{ 881 , 55 }, +{ 903 , 50 }, +{ 922 , 45 }, +{ 939 , 40 }, +{ 954 , 35 }, +{ 966 , 30 }, +{ 977 , 25 }, +{ 985 , 20 }, +{ 993 , 15 }, +{ 999 , 10 }, +{ 1004 , 5 }, +{ 1008 , 0 }, + +}; + + +#endif + diff --git a/Sprinter/BedThermistorTable_200k.h b/Sprinter/BedThermistorTable_200k.h new file mode 100644 index 0000000..3d96aa3 --- /dev/null +++ b/Sprinter/BedThermistorTable_200k.h @@ -0,0 +1,42 @@ +#ifndef THERMISTORTABLE_H_ +#define THERMISTORTABLE_H_ + +// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts) +// See this page: +// http://dev.www.reprap.org/bin/view/Main/Thermistor +// for details of what goes in this table. +// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py) +// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023 +// r0: 100000 +// t0: 25 +// r1: 0 +// r2: 4700 +// beta: 4066 +// max adc: 1023 + +#define BNUMTEMPS 20 +const short bedtemptable[BNUMTEMPS][2] = { + {1, 848}, + {54, 275}, + {107, 228}, + {160, 202}, + {213, 185}, + {266, 171}, + {319, 160}, + {372, 150}, + {425, 141}, + {478, 133}, + {531, 125}, + {584, 118}, + {637, 110}, + {690, 103}, + {743, 95}, + {796, 86}, + {849, 77}, + {902, 65}, + {955, 49}, + {1008, 17} +}; + + +#endif diff --git a/Sprinter/FatStructs.h b/Sprinter/FatStructs.h new file mode 100644 index 0000000..f5bdaa5 --- /dev/null +++ b/Sprinter/FatStructs.h @@ -0,0 +1,418 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the Arduino SdFat Library. If not, see + * . + */ +#ifndef FatStructs_h +#define FatStructs_h +/** + * \file + * FAT file structures + */ +/* + * mostly from Microsoft document fatgen103.doc + * http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx + */ +//------------------------------------------------------------------------------ +/** Value for byte 510 of boot block or MBR */ +uint8_t const BOOTSIG0 = 0X55; +/** Value for byte 511 of boot block or MBR */ +uint8_t const BOOTSIG1 = 0XAA; +//------------------------------------------------------------------------------ +/** + * \struct partitionTable + * \brief MBR partition table entry + * + * A partition table entry for a MBR formatted storage device. + * The MBR partition table has four entries. + */ +struct partitionTable { + /** + * Boot Indicator . Indicates whether the volume is the active + * partition. Legal values include: 0X00. Do not use for booting. + * 0X80 Active partition. + */ + uint8_t boot; + /** + * 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. + */ + uint8_t beginHead; + /** + * 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. + */ + unsigned beginSector : 6; + /** High bits cylinder for first block in partition. */ + unsigned beginCylinderHigh : 2; + /** + * Combine beginCylinderLow with beginCylinderHigh. Legal values + * are 0-1023. Only used in old PC BIOS. + */ + uint8_t beginCylinderLow; + /** + * Partition type. See defines that begin with PART_TYPE_ for + * some Microsoft partition types. + */ + uint8_t type; + /** + * 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. + */ + uint8_t endHead; + /** + * 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. + */ + unsigned endSector : 6; + /** High bits of end cylinder */ + unsigned endCylinderHigh : 2; + /** + * Combine endCylinderLow with endCylinderHigh. Legal values + * are 0-1023. Only used in old PC BIOS. + */ + uint8_t endCylinderLow; + /** Logical block address of the first block in the partition. */ + uint32_t firstSector; + /** Length of the partition, in blocks. */ + uint32_t totalSectors; +}; +/** Type name for partitionTable */ +typedef struct partitionTable part_t; +//------------------------------------------------------------------------------ +/** + * \struct masterBootRecord + * + * \brief Master Boot Record + * + * The first block of a storage device that is formatted with a MBR. + */ +struct masterBootRecord { + /** Code Area for master boot program. */ + uint8_t codeArea[440]; + /** Optional WindowsNT disk signature. May contain more boot code. */ + uint32_t diskSignature; + /** Usually zero but may be more boot code. */ + uint16_t usuallyZero; + /** Partition tables. */ + part_t part[4]; + /** First MBR signature byte. Must be 0X55 */ + uint8_t mbrSig0; + /** Second MBR signature byte. Must be 0XAA */ + uint8_t mbrSig1; +}; +/** Type name for masterBootRecord */ +typedef struct masterBootRecord mbr_t; +//------------------------------------------------------------------------------ +/** + * \struct biosParmBlock + * + * \brief BIOS parameter block + * + * The BIOS parameter block describes the physical layout of a FAT volume. + */ +struct biosParmBlock { + /** + * Count of bytes per sector. This value may take on only the + * following values: 512, 1024, 2048 or 4096 + */ + uint16_t bytesPerSector; + /** + * Number of sectors per allocation unit. This value must be a + * power of 2 that is greater than 0. The legal values are + * 1, 2, 4, 8, 16, 32, 64, and 128. + */ + uint8_t sectorsPerCluster; + /** + * Number of sectors before the first FAT. + * This value must not be zero. + */ + uint16_t reservedSectorCount; + /** The count of FAT data structures on the volume. This field should + * always contain the value 2 for any FAT volume of any type. + */ + uint8_t fatCount; + /** + * For FAT12 and FAT16 volumes, this field contains the count of + * 32-byte directory entries in the root directory. For FAT32 volumes, + * this field must be set to 0. For FAT12 and FAT16 volumes, this + * value should always specify a count that when multiplied by 32 + * results in a multiple of bytesPerSector. FAT16 volumes should + * use the value 512. + */ + uint16_t rootDirEntryCount; + /** + * 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 + * 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 + * FAT12 and FAT16 volumes, this field contains the sector count, and + * totalSectors32 is 0 if the total sector count fits + * (is less than 0x10000). + */ + uint16_t totalSectors16; + /** + * 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 + * for fixed (non-removable) media. For removable media, 0xF0 is + * frequently used. Legal values are 0xF0 or 0xF8-0xFF. + */ + uint8_t mediaType; + /** + * Count of sectors occupied by one FAT on FAT12/FAT16 volumes. + * On FAT32 volumes this field must be 0, and sectorsPerFat32 + * contains the FAT size count. + */ + uint16_t sectorsPerFat16; + /** Sectors per track for interrupt 0x13. Not used otherwise. */ + uint16_t sectorsPerTrtack; + /** Number of heads for interrupt 0x13. Not used otherwise. */ + uint16_t headCount; + /** + * Count of hidden sectors preceding the partition that contains this + * FAT volume. This field is generally only relevant for media + * visible on interrupt 0x13. + */ + uint32_t hidddenSectors; + /** + * 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 + * of the volume. This field can be 0; if it is 0, then + * totalSectors16 must be non-zero. + */ + uint32_t totalSectors32; + /** + * Count of sectors occupied by one FAT on FAT32 volumes. + */ + uint32_t sectorsPerFat32; + /** + * This field is only defined for FAT32 media and does not exist on + * FAT12 and FAT16 media. + * Bits 0-3 -- Zero-based number of active FAT. + * Only valid if mirroring is disabled. + * Bits 4-6 -- Reserved. + * 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. + * Bits 8-15 -- Reserved. + */ + uint16_t fat32Flags; + /** + * FAT32 version. High byte is major revision number. + * Low byte is minor revision number. Only 0.0 define. + */ + uint16_t fat32Version; + /** + * Cluster number of the first cluster of the root directory for FAT32. + * This usually 2 but not required to be 2. + */ + uint32_t fat32RootCluster; + /** + * Sector number of FSINFO structure in the reserved area of the + * FAT32 volume. Usually 1. + */ + uint16_t fat32FSInfo; + /** + * If non-zero, indicates the sector number in the reserved area + * of the volume of a copy of the boot record. Usually 6. + * No value other than 6 is recommended. + */ + uint16_t fat32BackBootBlock; + /** + * Reserved for future expansion. Code that formats FAT32 volumes + * should always set all of the bytes of this field to 0. + */ + uint8_t fat32Reserved[12]; +}; +/** Type name for biosParmBlock */ +typedef struct biosParmBlock bpb_t; +//------------------------------------------------------------------------------ +/** + * \struct fat32BootSector + * + * \brief Boot sector for a FAT16 or FAT32 volume. + * + */ +struct fat32BootSector { + /** X86 jmp to boot program */ + uint8_t jmpToBootCode[3]; + /** informational only - don't depend on it */ + char oemName[8]; + /** BIOS Parameter Block */ + bpb_t bpb; + /** for int0x13 use value 0X80 for hard drive */ + uint8_t driveNumber; + /** used by Windows NT - should be zero for FAT */ + uint8_t reserved1; + /** 0X29 if next three fields are valid */ + uint8_t bootSignature; + /** usually generated by combining date and time */ + uint32_t volumeSerialNumber; + /** should match volume label in root dir */ + char volumeLabel[11]; + /** informational only - don't depend on it */ + char fileSystemType[8]; + /** X86 boot code */ + uint8_t bootCode[420]; + /** must be 0X55 */ + uint8_t bootSectorSig0; + /** must be 0XAA */ + uint8_t bootSectorSig1; +}; +//------------------------------------------------------------------------------ +// End Of Chain values for FAT entries +/** FAT16 end of chain value used by Microsoft. */ +uint16_t const FAT16EOC = 0XFFFF; +/** Minimum value for FAT16 EOC. Use to test for EOC. */ +uint16_t const FAT16EOC_MIN = 0XFFF8; +/** FAT32 end of chain value used by Microsoft. */ +uint32_t const FAT32EOC = 0X0FFFFFFF; +/** Minimum value for FAT32 EOC. Use to test for EOC. */ +uint32_t const FAT32EOC_MIN = 0X0FFFFFF8; +/** Mask a for FAT32 entry. Entries are 28 bits. */ +uint32_t const FAT32MASK = 0X0FFFFFFF; + +/** Type name for fat32BootSector */ +typedef struct fat32BootSector fbs_t; +//------------------------------------------------------------------------------ +/** + * \struct directoryEntry + * \brief FAT short directory entry + * + * 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 + * 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 + * 16-bit word): + * + * Bits 9-15: Count of years from 1980, valid value range 0-127 + * inclusive (1980-2107). + * + * 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. + * + * 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 + * 16-bit word, bit 15 is the MSB of the 16-bit word). + * + * Bits 11-15: Hours, valid value range 0-23 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). + * + * The valid time range is from Midnight 00:00:00 to 23:59:58. + */ +struct directoryEntry { + /** + * Short 8.3 name. + * The first eight bytes contain the file name with blank fill. + * The last three bytes contain the file extension with blank fill. + */ + uint8_t name[11]; + /** Entry attributes. + * + * 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 + * looked at after that. See defines that begin with DIR_ATT_. + */ + uint8_t attributes; + /** + * Reserved for use by Windows NT. Set value to 0 when a file is + * created and never modify or look at it after that. + */ + uint8_t reservedNT; + /** + * 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 + * value range is 0-199 inclusive. (WHG note - seems to be hundredths) + */ + uint8_t creationTimeTenths; + /** Time file was created. */ + uint16_t creationTime; + /** Date file was created. */ + uint16_t creationDate; + /** + * 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 write, this should be set to the same date as lastWriteDate. + */ + uint16_t lastAccessDate; + /** + * High word of this entry's first cluster number (always 0 for a + * FAT12 or FAT16 volume). + */ + uint16_t firstClusterHigh; + /** Time of last write. File creation is considered a write. */ + uint16_t lastWriteTime; + /** Date of last write. File creation is considered a write. */ + uint16_t lastWriteDate; + /** Low word of this entry's first cluster number. */ + uint16_t firstClusterLow; + /** 32-bit unsigned holding this file's size in bytes. */ + uint32_t fileSize; +}; +//------------------------------------------------------------------------------ +// Definitions for directory entries +// +/** Type name for directoryEntry */ +typedef struct directoryEntry dir_t; +/** escape for name[0] = 0XE5 */ +uint8_t const DIR_NAME_0XE5 = 0X05; +/** name[0] value for entry that is free after being "deleted" */ +uint8_t const DIR_NAME_DELETED = 0XE5; +/** name[0] value for entry that is free and no allocated entries follow */ +uint8_t const DIR_NAME_FREE = 0X00; +/** file is read-only */ +uint8_t const DIR_ATT_READ_ONLY = 0X01; +/** File should hidden in directory listings */ +uint8_t const DIR_ATT_HIDDEN = 0X02; +/** Entry is for a system file */ +uint8_t const DIR_ATT_SYSTEM = 0X04; +/** Directory entry contains the volume label */ +uint8_t const DIR_ATT_VOLUME_ID = 0X08; +/** Entry is for a directory */ +uint8_t const DIR_ATT_DIRECTORY = 0X10; +/** Old DOS archive bit for backup support */ +uint8_t const DIR_ATT_ARCHIVE = 0X20; +/** Test value for long name entry. Test is + (d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */ +uint8_t const DIR_ATT_LONG_NAME = 0X0F; +/** Test mask for long name entry */ +uint8_t const DIR_ATT_LONG_NAME_MASK = 0X3F; +/** defined attribute bits */ +uint8_t const DIR_ATT_DEFINED_BITS = 0X3F; +/** Directory entry is part of a long name */ +static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) { + return (dir->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME; +} +/** Mask for file/subdirectory tests */ +uint8_t const DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY); +/** Directory entry is for a file */ +static inline uint8_t DIR_IS_FILE(const dir_t* dir) { + return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == 0; +} +/** Directory entry is for a subdirectory */ +static inline uint8_t DIR_IS_SUBDIR(const dir_t* dir) { + return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == DIR_ATT_DIRECTORY; +} +/** Directory entry is for a file or subdirectory */ +static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) { + return (dir->attributes & DIR_ATT_VOLUME_ID) == 0; +} +#endif // FatStructs_h diff --git a/Sprinter/Makefile b/Sprinter/Makefile new file mode 100644 index 0000000..618b384 --- /dev/null +++ b/Sprinter/Makefile @@ -0,0 +1,247 @@ +# Sprinter Arduino Project Makefile +# +# Makefile Based on: +# Arduino 0011 Makefile +# Arduino adaptation by mellis, eighthave, oli.keller +# +# This has been tested with Arduino 0022. +# +# This makefile allows you to build sketches from the command line +# without the Arduino environment (or Java). +# +# Detailed instructions for using the makefile: +# +# 1. Modify the line containg "INSTALL_DIR" to point to the directory that +# contains the Arduino installation (for example, under Mac OS X, this +# might be /Applications/arduino-0012). +# +# 2. Modify the line containing "PORT" to refer to the filename +# representing the USB or serial connection to your Arduino board +# (e.g. PORT = /dev/tty.USB0). If the exact name of this file +# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.usb*). +# +# 3. Set the line containing "MCU" to match your board's processor. +# Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth +# or Diecimila have the atmega168. If you're using a LilyPad Arduino, +# change F_CPU to 8000000. +# +# 4. Type "make" and press enter to compile/verify your program. +# +# 5. Type "make upload", reset your Arduino board, and press enter to +# upload your program to the Arduino board. +# +# $Id$ + +TARGET = $(notdir $(CURDIR)) +INSTALL_DIR = /home/chris/arduino-0022 +UPLOAD_RATE = 38400 +AVRDUDE_PROGRAMMER = stk500v1 +PORT = /dev/ttyUSB0 +MCU = atmega2560 +#For "old" Arduino Mega +#MCU = atmega1280 +#For Sanguinololu +#MCU = atmega644p +F_CPU = 16000000 + + +############################################################################ +# Below here nothing should be changed... + +ARDUINO = $(INSTALL_DIR)/hardware/arduino/cores/arduino +AVR_TOOLS_PATH = /usr/bin +SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \ +$(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \ +$(ARDUINO)/wiring_pulse.c $(ARDUINO)/wiring_serial.c \ +$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c +CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \ +$(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp +FORMAT = ihex + + +# Name of this Makefile (used for "make depend"). +MAKEFILE = Makefile + +# Debugging format. +# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. +# AVR (extended) COFF requires stabs, plus an avr-objcopy run. +DEBUG = stabs + +OPT = s + +# Place -D or -U options here +CDEFS = -DF_CPU=$(F_CPU) +CXXDEFS = -DF_CPU=$(F_CPU) + +# Place -I options here +CINCS = -I$(ARDUINO) +CXXINCS = -I$(ARDUINO) + +# Compiler flag to set the C Standard level. +# c89 - "ANSI" C +# gnu89 - c89 plus GCC extensions +# c99 - ISO C99 standard (not yet fully implemented) +# gnu99 - c99 plus GCC extensions +CSTANDARD = -std=gnu99 +CDEBUG = -g$(DEBUG) +CWARN = -Wall -Wstrict-prototypes +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +#CEXTRA = -Wa,-adhlns=$(<:.c=.lst) + +CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) +CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) +#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs +LDFLAGS = -lm + + +# Programming support using avrdude. Settings and variables. +AVRDUDE_PORT = $(PORT) +AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex:i +AVRDUDE_FLAGS = -D -C $(INSTALL_DIR)/hardware/tools/avrdude.conf \ +-p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ +-b $(UPLOAD_RATE) + +# Program settings +CC = $(AVR_TOOLS_PATH)/avr-gcc +CXX = $(AVR_TOOLS_PATH)/avr-g++ +OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy +OBJDUMP = $(AVR_TOOLS_PATH)/avr-objdump +AR = $(AVR_TOOLS_PATH)/avr-ar +SIZE = $(AVR_TOOLS_PATH)/avr-size +NM = $(AVR_TOOLS_PATH)/avr-nm +AVRDUDE = $(INSTALL_DIR)/hardware/tools/avrdude +REMOVE = rm -f +MV = mv -f + +# Define all object files. +OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) + +# Define all listing files. +LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) + +# Combine all necessary flags and optional flags. +# Add target processor to flags. +ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) +ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) +ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) + + +# Default target. +all: applet_files build sizeafter + +build: elf hex + +applet_files: $(TARGET).pde + # Here is the "preprocessing". + # It creates a .cpp file based with the same name as the .pde file. + # On top of the new .cpp file comes the WProgram.h header. + # At the end there is a generic main() function attached. + # Then the .cpp file will be compiled. Errors during compile will + # refer to this new, automatically generated, file. + # Not the original .pde file you actually edit... + test -d applet || mkdir applet + echo '#include "WProgram.h"' > applet/$(TARGET).cpp + cat $(TARGET).pde >> applet/$(TARGET).cpp + cat $(ARDUINO)/main.cxx >> applet/$(TARGET).cpp + +elf: applet/$(TARGET).elf +hex: applet/$(TARGET).hex +eep: applet/$(TARGET).eep +lss: applet/$(TARGET).lss +sym: applet/$(TARGET).sym + +# Program the device. +upload: applet/$(TARGET).hex + $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) + + + # Display size of file. +HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex +ELFSIZE = $(SIZE) applet/$(TARGET).elf +sizebefore: + @if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi + +sizeafter: + @if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(HEXSIZE); echo; fi + + +# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB. +COFFCONVERT=$(OBJCOPY) --debugging \ +--change-section-address .data-0x800000 \ +--change-section-address .bss-0x800000 \ +--change-section-address .noinit-0x800000 \ +--change-section-address .eeprom-0x810000 + + +coff: applet/$(TARGET).elf + $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf $(TARGET).cof + + +extcoff: $(TARGET).elf + $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf $(TARGET).cof + + +.SUFFIXES: .elf .hex .eep .lss .sym + +.elf.hex: + $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ + +.elf.eep: + -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ + --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ + +# Create extended listing file from ELF output file. +.elf.lss: + $(OBJDUMP) -h -S $< > $@ + +# Create a symbol table from ELF output file. +.elf.sym: + $(NM) -n $< > $@ + + # Link: create ELF output file from library. +applet/$(TARGET).elf: $(TARGET).pde applet/core.a + $(CC) $(ALL_CFLAGS) -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS) + +applet/core.a: $(OBJ) + @for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; 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 $@ + + + +# Target: clean project. +clean: + $(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \ + applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/core.a \ + $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) + +depend: + if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \ + then \ + sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \ + $(MAKEFILE).$$$$ && \ + $(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \ + fi + echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \ + >> $(MAKEFILE); \ + $(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE) + +.PHONY: all build elf hex eep lss sym program coff extcoff clean depend applet_files sizebefore sizeafter diff --git a/Sprinter/Sd2Card.cpp b/Sprinter/Sd2Card.cpp new file mode 100644 index 0000000..8222cfd --- /dev/null +++ b/Sprinter/Sd2Card.cpp @@ -0,0 +1,643 @@ +/* Arduino Sd2Card Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino Sd2Card Library + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the Arduino Sd2Card Library. If not, see + * . + */ +#include +#include "Sd2Card.h" +//------------------------------------------------------------------------------ +#ifndef SOFTWARE_SPI +// functions for hardware SPI +/** Send a byte to the card */ +static void spiSend(uint8_t b) { + SPDR = b; + while (!(SPSR & (1 << SPIF))); +} +/** Receive a byte from the card */ +static uint8_t spiRec(void) { + spiSend(0XFF); + return SPDR; +} +#else // SOFTWARE_SPI +//------------------------------------------------------------------------------ +/** nop to tune soft SPI timing */ +#define nop asm volatile ("nop\n\t") +//------------------------------------------------------------------------------ +/** Soft SPI receive */ +uint8_t spiRec(void) { + uint8_t data = 0; + // no interrupts during byte receive - about 8 us + cli(); + // output pin high - like sending 0XFF + fastDigitalWrite(SPI_MOSI_PIN, HIGH); + + for (uint8_t i = 0; i < 8; i++) { + fastDigitalWrite(SPI_SCK_PIN, HIGH); + + // adjust so SCK is nice + nop; + nop; + + data <<= 1; + + if (fastDigitalRead(SPI_MISO_PIN)) data |= 1; + + fastDigitalWrite(SPI_SCK_PIN, LOW); + } + // enable interrupts + sei(); + return data; +} +//------------------------------------------------------------------------------ +/** Soft SPI send */ +void spiSend(uint8_t data) { + // no interrupts during byte send - about 8 us + cli(); + for (uint8_t i = 0; i < 8; i++) { + fastDigitalWrite(SPI_SCK_PIN, LOW); + + fastDigitalWrite(SPI_MOSI_PIN, data & 0X80); + + data <<= 1; + + fastDigitalWrite(SPI_SCK_PIN, HIGH); + } + // hold SCK high for a few ns + nop; + nop; + nop; + nop; + + fastDigitalWrite(SPI_SCK_PIN, LOW); + // enable interrupts + sei(); +} +#endif // SOFTWARE_SPI +//------------------------------------------------------------------------------ +// send command and return error code. Return zero for OK +uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) { + // end read if in partialBlockRead mode + readEnd(); + + // select card + chipSelectLow(); + + // wait up to 300 ms if busy + waitNotBusy(300); + + // send command + spiSend(cmd | 0x40); + + // send argument + for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s); + + // send CRC + uint8_t crc = 0XFF; + if (cmd == CMD0) crc = 0X95; // correct crc for CMD0 with arg 0 + if (cmd == CMD8) crc = 0X87; // correct crc for CMD8 with arg 0X1AA + spiSend(crc); + + // wait for response + for (uint8_t i = 0; ((status_ = spiRec()) & 0X80) && i != 0XFF; i++); + return status_; +} +//------------------------------------------------------------------------------ +/** + * Determine the size of an SD flash memory card. + * + * \return The number of 512 byte data blocks in the card + * or zero if an error occurs. + */ +uint32_t Sd2Card::cardSize(void) { + csd_t csd; + if (!readCSD(&csd)) return 0; + if (csd.v1.csd_ver == 0) { + uint8_t read_bl_len = csd.v1.read_bl_len; + uint16_t c_size = (csd.v1.c_size_high << 10) + | (csd.v1.c_size_mid << 2) | csd.v1.c_size_low; + uint8_t c_size_mult = (csd.v1.c_size_mult_high << 1) + | csd.v1.c_size_mult_low; + return (uint32_t)(c_size + 1) << (c_size_mult + read_bl_len - 7); + } else if (csd.v2.csd_ver == 1) { + uint32_t c_size = ((uint32_t)csd.v2.c_size_high << 16) + | (csd.v2.c_size_mid << 8) | csd.v2.c_size_low; + return (c_size + 1) << 10; + } else { + error(SD_CARD_ERROR_BAD_CSD); + return 0; + } +} +//------------------------------------------------------------------------------ +void Sd2Card::chipSelectHigh(void) { + digitalWrite(chipSelectPin_, HIGH); +} +//------------------------------------------------------------------------------ +void Sd2Card::chipSelectLow(void) { + digitalWrite(chipSelectPin_, LOW); +} +//------------------------------------------------------------------------------ +/** Erase a range of blocks. + * + * \param[in] firstBlock The address of the first 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 + * 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 + * single block erase. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t Sd2Card::erase(uint32_t firstBlock, uint32_t lastBlock) { + if (!eraseSingleBlockEnable()) { + error(SD_CARD_ERROR_ERASE_SINGLE_BLOCK); + goto fail; + } + if (type_ != SD_CARD_TYPE_SDHC) { + firstBlock <<= 9; + lastBlock <<= 9; + } + if (cardCommand(CMD32, firstBlock) + || cardCommand(CMD33, lastBlock) + || cardCommand(CMD38, 0)) { + error(SD_CARD_ERROR_ERASE); + goto fail; + } + if (!waitNotBusy(SD_ERASE_TIMEOUT)) { + error(SD_CARD_ERROR_ERASE_TIMEOUT); + goto fail; + } + chipSelectHigh(); + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** Determine if card supports single block erase. + * + * \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. + */ +uint8_t Sd2Card::eraseSingleBlockEnable(void) { + csd_t csd; + return readCSD(&csd) ? csd.v1.erase_blk_en : 0; +} +//------------------------------------------------------------------------------ +/** + * Initialize an SD flash memory card. + * + * \param[in] sckRateID SPI clock rate selector. See setSckRate(). + * \param[in] chipSelectPin SD chip select pin number. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. The reason for failure + * can be determined by calling errorCode() and errorData(). + */ +uint8_t Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) { + errorCode_ = inBlock_ = partialBlockRead_ = type_ = 0; + chipSelectPin_ = chipSelectPin; + // 16-bit init start time allows over a minute + uint16_t t0 = (uint16_t)millis(); + uint32_t arg; + + // set pin modes + pinMode(chipSelectPin_, OUTPUT); + chipSelectHigh(); + pinMode(SPI_MISO_PIN, INPUT); + pinMode(SPI_MOSI_PIN, OUTPUT); + pinMode(SPI_SCK_PIN, OUTPUT); + +#ifndef SOFTWARE_SPI + // SS must be in output mode even it is not chip select + pinMode(SS_PIN, OUTPUT); + // Enable SPI, Master, clock rate f_osc/128 + SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0); + // clear double speed + SPSR &= ~(1 << SPI2X); +#endif // SOFTWARE_SPI + + // must supply min of 74 clock cycles with CS high. + for (uint8_t i = 0; i < 10; i++) spiSend(0XFF); + + chipSelectLow(); + + // command to go idle in SPI mode + while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) { + if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { + error(SD_CARD_ERROR_CMD0); + goto fail; + } + } + // check SD version + if ((cardCommand(CMD8, 0x1AA) & R1_ILLEGAL_COMMAND)) { + type(SD_CARD_TYPE_SD1); + } else { + // only need last byte of r7 response + for (uint8_t i = 0; i < 4; i++) status_ = spiRec(); + if (status_ != 0XAA) { + error(SD_CARD_ERROR_CMD8); + goto fail; + } + type(SD_CARD_TYPE_SD2); + } + // initialize card and send host supports SDHC if SD2 + arg = type() == SD_CARD_TYPE_SD2 ? 0X40000000 : 0; + + while ((status_ = cardAcmd(ACMD41, arg)) != R1_READY_STATE) { + // check for timeout + if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) { + error(SD_CARD_ERROR_ACMD41); + goto fail; + } + } + // if SD2 read OCR register to check for SDHC card + if (type() == SD_CARD_TYPE_SD2) { + if (cardCommand(CMD58, 0)) { + error(SD_CARD_ERROR_CMD58); + goto fail; + } + if ((spiRec() & 0XC0) == 0XC0) type(SD_CARD_TYPE_SDHC); + // discard rest of ocr - contains allowed voltage range + for (uint8_t i = 0; i < 3; i++) spiRec(); + } + chipSelectHigh(); + +#ifndef SOFTWARE_SPI + return setSckRate(sckRateID); +#else // SOFTWARE_SPI + return true; +#endif // SOFTWARE_SPI + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** + * Enable or disable partial block reads. + * + * Enabling partial block reads improves performance by allowing a block + * 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. + * The SPI SS line will be held low until the entire block is read or + * readEnd() is called. + * + * Use this for applications like the Adafruit Wave Shield. + * + * \param[in] value The value TRUE (non-zero) or FALSE (zero).) + */ +void Sd2Card::partialBlockRead(uint8_t value) { + readEnd(); + partialBlockRead_ = value; +} +//------------------------------------------------------------------------------ +/** + * Read a 512 byte block from an SD card device. + * + * \param[in] block Logical block to be read. + * \param[out] dst Pointer to the location that will receive the data. + + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t Sd2Card::readBlock(uint32_t block, uint8_t* dst) { + return readData(block, 0, 512, dst); +} +//------------------------------------------------------------------------------ +/** + * Read part of a 512 byte block from an SD card. + * + * \param[in] block Logical block to be read. + * \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[in] count Number of bytes to read + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t Sd2Card::readData(uint32_t block, + uint16_t offset, uint16_t count, uint8_t* dst) { + uint16_t n; + if (count == 0) return true; + if ((count + offset) > 512) { + goto fail; + } + if (!inBlock_ || block != block_ || offset < offset_) { + block_ = block; + // use address if not SDHC card + if (type()!= SD_CARD_TYPE_SDHC) block <<= 9; + if (cardCommand(CMD17, block)) { + error(SD_CARD_ERROR_CMD17); + goto fail; + } + if (!waitStartBlock()) { + goto fail; + } + offset_ = 0; + inBlock_ = 1; + } + +#ifdef OPTIMIZE_HARDWARE_SPI + // start first spi transfer + SPDR = 0XFF; + + // skip data before offset + for (;offset_ < offset; offset_++) { + while (!(SPSR & (1 << SPIF))); + SPDR = 0XFF; + } + // transfer data + n = count - 1; + for (uint16_t i = 0; i < n; i++) { + while (!(SPSR & (1 << SPIF))); + dst[i] = SPDR; + SPDR = 0XFF; + } + // wait for last byte + while (!(SPSR & (1 << SPIF))); + dst[n] = SPDR; + +#else // OPTIMIZE_HARDWARE_SPI + + // skip data before offset + for (;offset_ < offset; offset_++) { + spiRec(); + } + // transfer data + for (uint16_t i = 0; i < count; i++) { + dst[i] = spiRec(); + } +#endif // OPTIMIZE_HARDWARE_SPI + + offset_ += count; + if (!partialBlockRead_ || offset_ >= 512) { + // read rest of data, checksum and set chip select high + readEnd(); + } + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** Skip remaining data in a block when in partial block read mode. */ +void Sd2Card::readEnd(void) { + if (inBlock_) { + // skip data and crc +#ifdef OPTIMIZE_HARDWARE_SPI + // optimize skip for hardware + SPDR = 0XFF; + while (offset_++ < 513) { + while (!(SPSR & (1 << SPIF))); + SPDR = 0XFF; + } + // wait for last crc byte + while (!(SPSR & (1 << SPIF))); +#else // OPTIMIZE_HARDWARE_SPI + while (offset_++ < 514) spiRec(); +#endif // OPTIMIZE_HARDWARE_SPI + chipSelectHigh(); + inBlock_ = 0; + } +} +//------------------------------------------------------------------------------ +/** read CID or CSR register */ +uint8_t Sd2Card::readRegister(uint8_t cmd, void* buf) { + uint8_t* dst = reinterpret_cast(buf); + if (cardCommand(cmd, 0)) { + error(SD_CARD_ERROR_READ_REG); + goto fail; + } + if (!waitStartBlock()) goto fail; + // transfer data + for (uint16_t i = 0; i < 16; i++) dst[i] = spiRec(); + spiRec(); // get first crc byte + spiRec(); // get second crc byte + chipSelectHigh(); + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** + * Set the SPI clock rate. + * + * \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 + * SPI rate is F_CPU/2 for \a sckRateID = 0 and the minimum rate is F_CPU/128 + * for \a scsRateID = 6. + * + * \return The value one, true, is returned for success and the value zero, + * false, is returned for an invalid value of \a sckRateID. + */ +uint8_t Sd2Card::setSckRate(uint8_t sckRateID) { + if (sckRateID > 6) { + error(SD_CARD_ERROR_SCK_RATE); + return false; + } + // see avr processor datasheet for SPI register bit definitions + if ((sckRateID & 1) || sckRateID == 6) { + SPSR &= ~(1 << SPI2X); + } else { + SPSR |= (1 << SPI2X); + } + SPCR &= ~((1 < SD_READ_TIMEOUT) { + error(SD_CARD_ERROR_READ_TIMEOUT); + goto fail; + } + } + if (status_ != DATA_START_BLOCK) { + error(SD_CARD_ERROR_READ); + goto fail; + } + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** + * Writes a 512 byte block to an SD card. + * + * \param[in] blockNumber Logical block 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 + * the value zero, false, is returned for failure. + */ +uint8_t Sd2Card::writeBlock(uint32_t blockNumber, const uint8_t* src) { +#if SD_PROTECT_BLOCK_ZERO + // don't allow write to first block + if (blockNumber == 0) { + error(SD_CARD_ERROR_WRITE_BLOCK_ZERO); + goto fail; + } +#endif // SD_PROTECT_BLOCK_ZERO + + // use address if not SDHC card + if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9; + if (cardCommand(CMD24, blockNumber)) { + error(SD_CARD_ERROR_CMD24); + goto fail; + } + if (!writeData(DATA_START_BLOCK, src)) goto fail; + + // wait for flash programming to complete + if (!waitNotBusy(SD_WRITE_TIMEOUT)) { + error(SD_CARD_ERROR_WRITE_TIMEOUT); + goto fail; + } + // response is r2 so get and check two bytes for nonzero + if (cardCommand(CMD13, 0) || spiRec()) { + error(SD_CARD_ERROR_WRITE_PROGRAMMING); + goto fail; + } + chipSelectHigh(); + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** Write one data block in a multiple block write sequence */ +uint8_t Sd2Card::writeData(const uint8_t* src) { + // wait for previous write to finish + if (!waitNotBusy(SD_WRITE_TIMEOUT)) { + error(SD_CARD_ERROR_WRITE_MULTIPLE); + chipSelectHigh(); + return false; + } + return writeData(WRITE_MULTIPLE_TOKEN, src); +} +//------------------------------------------------------------------------------ +// send one block of data for write block or write multiple blocks +uint8_t Sd2Card::writeData(uint8_t token, const uint8_t* src) { +#ifdef OPTIMIZE_HARDWARE_SPI + + // send data - optimized loop + SPDR = token; + + // send two byte per iteration + for (uint16_t i = 0; i < 512; i += 2) { + while (!(SPSR & (1 << SPIF))); + SPDR = src[i]; + while (!(SPSR & (1 << SPIF))); + SPDR = src[i+1]; + } + + // wait for last data byte + while (!(SPSR & (1 << SPIF))); + +#else // OPTIMIZE_HARDWARE_SPI + spiSend(token); + for (uint16_t i = 0; i < 512; i++) { + spiSend(src[i]); + } +#endif // OPTIMIZE_HARDWARE_SPI + spiSend(0xff); // dummy crc + spiSend(0xff); // dummy crc + + status_ = spiRec(); + if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) { + error(SD_CARD_ERROR_WRITE); + chipSelectHigh(); + return false; + } + return true; +} +//------------------------------------------------------------------------------ +/** Start a write multiple blocks sequence. + * + * \param[in] blockNumber Address of first block in sequence. + * \param[in] eraseCount The number of blocks to be pre-erased. + * + * \note This function is used with writeData() and writeStop() + * for optimized multiple block writes. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t Sd2Card::writeStart(uint32_t blockNumber, uint32_t eraseCount) { +#if SD_PROTECT_BLOCK_ZERO + // don't allow write to first block + if (blockNumber == 0) { + error(SD_CARD_ERROR_WRITE_BLOCK_ZERO); + goto fail; + } +#endif // SD_PROTECT_BLOCK_ZERO + // send pre-erase count + if (cardAcmd(ACMD23, eraseCount)) { + error(SD_CARD_ERROR_ACMD23); + goto fail; + } + // use address if not SDHC card + if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9; + if (cardCommand(CMD25, blockNumber)) { + error(SD_CARD_ERROR_CMD25); + goto fail; + } + return true; + + fail: + chipSelectHigh(); + return false; +} +//------------------------------------------------------------------------------ +/** End a write multiple blocks sequence. + * +* \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t Sd2Card::writeStop(void) { + if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail; + spiSend(STOP_TRAN_TOKEN); + if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail; + chipSelectHigh(); + return true; + + fail: + error(SD_CARD_ERROR_STOP_TRAN); + chipSelectHigh(); + return false; +} diff --git a/Sprinter/Sd2Card.h b/Sprinter/Sd2Card.h new file mode 100644 index 0000000..73b46fb --- /dev/null +++ b/Sprinter/Sd2Card.h @@ -0,0 +1,233 @@ +/* Arduino Sd2Card Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino Sd2Card Library + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the Arduino Sd2Card Library. If not, see + * . + */ +#ifndef Sd2Card_h +#define Sd2Card_h +/** + * \file + * Sd2Card class + */ +#include "Sd2PinMap.h" +#include "SdInfo.h" +/** Set SCK to max rate of F_CPU/2. See Sd2Card::setSckRate(). */ +uint8_t const SPI_FULL_SPEED = 0; +/** Set SCK rate to F_CPU/4. See Sd2Card::setSckRate(). */ +uint8_t const SPI_HALF_SPEED = 1; +/** Set SCK rate to F_CPU/8. Sd2Card::setSckRate(). */ +uint8_t const SPI_QUARTER_SPEED = 2; +/** + * 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. + * + * MEGA_SOFT_SPI allows an unmodified Adafruit GPS Shield to be used + * on Mega Arduinos. Software SPI works well with GPS Shield V1.1 + * but many SD cards will fail with GPS Shield V1.0. + */ +#define MEGA_SOFT_SPI 0 +//------------------------------------------------------------------------------ +#if MEGA_SOFT_SPI && (defined(__AVR_ATmega1280__)||defined(__AVR_ATmega2560__)) +#define SOFTWARE_SPI +#endif // MEGA_SOFT_SPI +//------------------------------------------------------------------------------ +// SPI pin definitions +// +#ifndef SOFTWARE_SPI +// hardware pin defs +/** + * SD Chip Select pin + * + * 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 + * master unless SS is set to output mode. + */ +/** The default chip select pin for the SD card is SS. */ +uint8_t const SD_CHIP_SELECT_PIN = SS_PIN; +// The following three pins must not be redefined for hardware SPI. +/** SPI Master Out Slave In pin */ +uint8_t const SPI_MOSI_PIN = MOSI_PIN; +/** SPI Master In Slave Out pin */ +uint8_t const SPI_MISO_PIN = MISO_PIN; +/** SPI Clock pin */ +uint8_t const SPI_SCK_PIN = SCK_PIN; +/** optimize loops for hardware SPI */ +#define OPTIMIZE_HARDWARE_SPI + +#else // SOFTWARE_SPI +// define software SPI pins so Mega can use unmodified GPS Shield +/** SPI chip select pin */ +uint8_t const SD_CHIP_SELECT_PIN = 10; +/** SPI Master Out Slave In pin */ +uint8_t const SPI_MOSI_PIN = 11; +/** SPI Master In Slave Out pin */ +uint8_t const SPI_MISO_PIN = 12; +/** SPI Clock pin */ +uint8_t const SPI_SCK_PIN = 13; +#endif // SOFTWARE_SPI +//------------------------------------------------------------------------------ +/** Protect block zero from write if nonzero */ +#define SD_PROTECT_BLOCK_ZERO 1 +/** init timeout ms */ +uint16_t const SD_INIT_TIMEOUT = 2000; +/** erase timeout ms */ +uint16_t const SD_ERASE_TIMEOUT = 10000; +/** read timeout ms */ +uint16_t const SD_READ_TIMEOUT = 300; +/** write time out ms */ +uint16_t const SD_WRITE_TIMEOUT = 600; +//------------------------------------------------------------------------------ +// SD card errors +/** timeout error for command CMD0 */ +uint8_t const SD_CARD_ERROR_CMD0 = 0X1; +/** CMD8 was not accepted - not a valid SD card*/ +uint8_t const SD_CARD_ERROR_CMD8 = 0X2; +/** card returned an error response for CMD17 (read block) */ +uint8_t const SD_CARD_ERROR_CMD17 = 0X3; +/** card returned an error response for CMD24 (write block) */ +uint8_t const SD_CARD_ERROR_CMD24 = 0X4; +/** WRITE_MULTIPLE_BLOCKS command failed */ +uint8_t const SD_CARD_ERROR_CMD25 = 0X05; +/** card returned an error response for CMD58 (read OCR) */ +uint8_t const SD_CARD_ERROR_CMD58 = 0X06; +/** SET_WR_BLK_ERASE_COUNT failed */ +uint8_t const SD_CARD_ERROR_ACMD23 = 0X07; +/** card's ACMD41 initialization process timeout */ +uint8_t const SD_CARD_ERROR_ACMD41 = 0X08; +/** card returned a bad CSR version field */ +uint8_t const SD_CARD_ERROR_BAD_CSD = 0X09; +/** erase block group command failed */ +uint8_t const SD_CARD_ERROR_ERASE = 0X0A; +/** card not capable of single block erase */ +uint8_t const SD_CARD_ERROR_ERASE_SINGLE_BLOCK = 0X0B; +/** Erase sequence timed out */ +uint8_t const SD_CARD_ERROR_ERASE_TIMEOUT = 0X0C; +/** card returned an error token instead of read data */ +uint8_t const SD_CARD_ERROR_READ = 0X0D; +/** read CID or CSD failed */ +uint8_t const SD_CARD_ERROR_READ_REG = 0X0E; +/** timeout while waiting for start of read data */ +uint8_t const SD_CARD_ERROR_READ_TIMEOUT = 0X0F; +/** card did not accept STOP_TRAN_TOKEN */ +uint8_t const SD_CARD_ERROR_STOP_TRAN = 0X10; +/** card returned an error token as a response to a write operation */ +uint8_t const SD_CARD_ERROR_WRITE = 0X11; +/** attempt to write protected block zero */ +uint8_t const SD_CARD_ERROR_WRITE_BLOCK_ZERO = 0X12; +/** card did not go ready for a multiple block write */ +uint8_t const SD_CARD_ERROR_WRITE_MULTIPLE = 0X13; +/** card returned an error to a CMD13 status check after a write */ +uint8_t const SD_CARD_ERROR_WRITE_PROGRAMMING = 0X14; +/** timeout occurred during write programming */ +uint8_t const SD_CARD_ERROR_WRITE_TIMEOUT = 0X15; +/** incorrect rate selected */ +uint8_t const SD_CARD_ERROR_SCK_RATE = 0X16; +//------------------------------------------------------------------------------ +// card types +/** Standard capacity V1 SD card */ +uint8_t const SD_CARD_TYPE_SD1 = 1; +/** Standard capacity V2 SD card */ +uint8_t const SD_CARD_TYPE_SD2 = 2; +/** High Capacity SD card */ +uint8_t const SD_CARD_TYPE_SDHC = 3; +//------------------------------------------------------------------------------ +/** + * \class Sd2Card + * \brief Raw access to SD and SDHC flash memory cards. + */ +class Sd2Card { + public: + /** Construct an instance of Sd2Card. */ + Sd2Card(void) : errorCode_(0), inBlock_(0), partialBlockRead_(0), type_(0) {} + uint32_t cardSize(void); + uint8_t erase(uint32_t firstBlock, uint32_t lastBlock); + uint8_t eraseSingleBlockEnable(void); + /** + * \return error code for last error. See Sd2Card.h for a list of error codes. + */ + uint8_t errorCode(void) const {return errorCode_;} + /** \return error data for last error. */ + uint8_t errorData(void) const {return status_;} + /** + * Initialize an SD flash memory card with default clock rate and chip + * select pin. See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin). + */ + uint8_t init(void) { + return init(SPI_FULL_SPEED, SD_CHIP_SELECT_PIN); + } + /** + * Initialize an SD flash memory card with the selected SPI clock rate + * and the default SD chip select pin. + * See sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin). + */ + uint8_t init(uint8_t sckRateID) { + return init(sckRateID, SD_CHIP_SELECT_PIN); + } + uint8_t init(uint8_t sckRateID, uint8_t chipSelectPin); + void partialBlockRead(uint8_t value); + /** Returns the current value, true or false, for partial block read. */ + uint8_t partialBlockRead(void) const {return partialBlockRead_;} + uint8_t readBlock(uint32_t block, uint8_t* dst); + uint8_t readData(uint32_t block, + uint16_t offset, uint16_t count, uint8_t* dst); + /** + * Read a cards CID register. The CID contains card identification + * information such as Manufacturer ID, Product name, Product serial + * number and Manufacturing date. */ + uint8_t readCID(cid_t* cid) { + return readRegister(CMD10, cid); + } + /** + * Read a cards CSD register. The CSD contains Card-Specific Data that + * provides information regarding access to the card's contents. */ + uint8_t readCSD(csd_t* csd) { + return readRegister(CMD9, csd); + } + void readEnd(void); + uint8_t setSckRate(uint8_t sckRateID); + /** Return the card type: SD V1, SD V2 or SDHC */ + uint8_t type(void) const {return type_;} + uint8_t writeBlock(uint32_t blockNumber, const uint8_t* src); + uint8_t writeData(const uint8_t* src); + uint8_t writeStart(uint32_t blockNumber, uint32_t eraseCount); + uint8_t writeStop(void); + private: + uint32_t block_; + uint8_t chipSelectPin_; + uint8_t errorCode_; + uint8_t inBlock_; + uint16_t offset_; + uint8_t partialBlockRead_; + uint8_t status_; + uint8_t type_; + // private functions + uint8_t cardAcmd(uint8_t cmd, uint32_t arg) { + cardCommand(CMD55, 0); + return cardCommand(cmd, arg); + } + uint8_t cardCommand(uint8_t cmd, uint32_t arg); + void error(uint8_t code) {errorCode_ = code;} + uint8_t readRegister(uint8_t cmd, void* buf); + uint8_t sendWriteCommand(uint32_t blockNumber, uint32_t eraseCount); + void chipSelectHigh(void); + void chipSelectLow(void); + void type(uint8_t value) {type_ = value;} + uint8_t waitNotBusy(uint16_t timeoutMillis); + uint8_t writeData(uint8_t token, const uint8_t* src); + uint8_t waitStartBlock(void); +}; +#endif // Sd2Card_h diff --git a/Sprinter/Sd2PinMap.h b/Sprinter/Sd2PinMap.h new file mode 100644 index 0000000..4bd75a3 --- /dev/null +++ b/Sprinter/Sd2PinMap.h @@ -0,0 +1,353 @@ +/* Arduino SdFat Library + * Copyright (C) 2010 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the Arduino SdFat Library. If not, see + * . + */ +// Warning this file was generated by a program. +#ifndef Sd2PinMap_h +#define Sd2PinMap_h +#include + +//------------------------------------------------------------------------------ +/** struct for mapping digital pins */ +struct pin_map_t { + volatile uint8_t* ddr; + volatile uint8_t* pin; + volatile uint8_t* port; + uint8_t bit; +}; +//------------------------------------------------------------------------------ +#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +// Mega + +// Two Wire (aka I2C) ports +uint8_t const SDA_PIN = 20; +uint8_t const SCL_PIN = 21; + +// SPI port +uint8_t const SS_PIN = 53; +uint8_t const MOSI_PIN = 51; +uint8_t const MISO_PIN = 50; +uint8_t const SCK_PIN = 52; + +static const pin_map_t digitalPinMap[] = { + {&DDRE, &PINE, &PORTE, 0}, // E0 0 + {&DDRE, &PINE, &PORTE, 1}, // E1 1 + {&DDRE, &PINE, &PORTE, 4}, // E4 2 + {&DDRE, &PINE, &PORTE, 5}, // E5 3 + {&DDRG, &PING, &PORTG, 5}, // G5 4 + {&DDRE, &PINE, &PORTE, 3}, // E3 5 + {&DDRH, &PINH, &PORTH, 3}, // H3 6 + {&DDRH, &PINH, &PORTH, 4}, // H4 7 + {&DDRH, &PINH, &PORTH, 5}, // H5 8 + {&DDRH, &PINH, &PORTH, 6}, // H6 9 + {&DDRB, &PINB, &PORTB, 4}, // B4 10 + {&DDRB, &PINB, &PORTB, 5}, // B5 11 + {&DDRB, &PINB, &PORTB, 6}, // B6 12 + {&DDRB, &PINB, &PORTB, 7}, // B7 13 + {&DDRJ, &PINJ, &PORTJ, 1}, // J1 14 + {&DDRJ, &PINJ, &PORTJ, 0}, // J0 15 + {&DDRH, &PINH, &PORTH, 1}, // H1 16 + {&DDRH, &PINH, &PORTH, 0}, // H0 17 + {&DDRD, &PIND, &PORTD, 3}, // D3 18 + {&DDRD, &PIND, &PORTD, 2}, // D2 19 + {&DDRD, &PIND, &PORTD, 1}, // D1 20 + {&DDRD, &PIND, &PORTD, 0}, // D0 21 + {&DDRA, &PINA, &PORTA, 0}, // A0 22 + {&DDRA, &PINA, &PORTA, 1}, // A1 23 + {&DDRA, &PINA, &PORTA, 2}, // A2 24 + {&DDRA, &PINA, &PORTA, 3}, // A3 25 + {&DDRA, &PINA, &PORTA, 4}, // A4 26 + {&DDRA, &PINA, &PORTA, 5}, // A5 27 + {&DDRA, &PINA, &PORTA, 6}, // A6 28 + {&DDRA, &PINA, &PORTA, 7}, // A7 29 + {&DDRC, &PINC, &PORTC, 7}, // C7 30 + {&DDRC, &PINC, &PORTC, 6}, // C6 31 + {&DDRC, &PINC, &PORTC, 5}, // C5 32 + {&DDRC, &PINC, &PORTC, 4}, // C4 33 + {&DDRC, &PINC, &PORTC, 3}, // C3 34 + {&DDRC, &PINC, &PORTC, 2}, // C2 35 + {&DDRC, &PINC, &PORTC, 1}, // C1 36 + {&DDRC, &PINC, &PORTC, 0}, // C0 37 + {&DDRD, &PIND, &PORTD, 7}, // D7 38 + {&DDRG, &PING, &PORTG, 2}, // G2 39 + {&DDRG, &PING, &PORTG, 1}, // G1 40 + {&DDRG, &PING, &PORTG, 0}, // G0 41 + {&DDRL, &PINL, &PORTL, 7}, // L7 42 + {&DDRL, &PINL, &PORTL, 6}, // L6 43 + {&DDRL, &PINL, &PORTL, 5}, // L5 44 + {&DDRL, &PINL, &PORTL, 4}, // L4 45 + {&DDRL, &PINL, &PORTL, 3}, // L3 46 + {&DDRL, &PINL, &PORTL, 2}, // L2 47 + {&DDRL, &PINL, &PORTL, 1}, // L1 48 + {&DDRL, &PINL, &PORTL, 0}, // L0 49 + {&DDRB, &PINB, &PORTB, 3}, // B3 50 + {&DDRB, &PINB, &PORTB, 2}, // B2 51 + {&DDRB, &PINB, &PORTB, 1}, // B1 52 + {&DDRB, &PINB, &PORTB, 0}, // B0 53 + {&DDRF, &PINF, &PORTF, 0}, // F0 54 + {&DDRF, &PINF, &PORTF, 1}, // F1 55 + {&DDRF, &PINF, &PORTF, 2}, // F2 56 + {&DDRF, &PINF, &PORTF, 3}, // F3 57 + {&DDRF, &PINF, &PORTF, 4}, // F4 58 + {&DDRF, &PINF, &PORTF, 5}, // F5 59 + {&DDRF, &PINF, &PORTF, 6}, // F6 60 + {&DDRF, &PINF, &PORTF, 7}, // F7 61 + {&DDRK, &PINK, &PORTK, 0}, // K0 62 + {&DDRK, &PINK, &PORTK, 1}, // K1 63 + {&DDRK, &PINK, &PORTK, 2}, // K2 64 + {&DDRK, &PINK, &PORTK, 3}, // K3 65 + {&DDRK, &PINK, &PORTK, 4}, // K4 66 + {&DDRK, &PINK, &PORTK, 5}, // K5 67 + {&DDRK, &PINK, &PORTK, 6}, // K6 68 + {&DDRK, &PINK, &PORTK, 7} // K7 69 +}; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) +// Sanguino + +// Two Wire (aka I2C) ports +uint8_t const SDA_PIN = 17; +uint8_t const SCL_PIN = 18; + +// SPI port +uint8_t const SS_PIN = 4; +uint8_t const MOSI_PIN = 5; +uint8_t const MISO_PIN = 6; +uint8_t const SCK_PIN = 7; + +static const pin_map_t digitalPinMap[] = { + {&DDRB, &PINB, &PORTB, 0}, // B0 0 + {&DDRB, &PINB, &PORTB, 1}, // B1 1 + {&DDRB, &PINB, &PORTB, 2}, // B2 2 + {&DDRB, &PINB, &PORTB, 3}, // B3 3 + {&DDRB, &PINB, &PORTB, 4}, // B4 4 + {&DDRB, &PINB, &PORTB, 5}, // B5 5 + {&DDRB, &PINB, &PORTB, 6}, // B6 6 + {&DDRB, &PINB, &PORTB, 7}, // B7 7 + {&DDRD, &PIND, &PORTD, 0}, // D0 8 + {&DDRD, &PIND, &PORTD, 1}, // D1 9 + {&DDRD, &PIND, &PORTD, 2}, // D2 10 + {&DDRD, &PIND, &PORTD, 3}, // D3 11 + {&DDRD, &PIND, &PORTD, 4}, // D4 12 + {&DDRD, &PIND, &PORTD, 5}, // D5 13 + {&DDRD, &PIND, &PORTD, 6}, // D6 14 + {&DDRD, &PIND, &PORTD, 7}, // D7 15 + {&DDRC, &PINC, &PORTC, 0}, // C0 16 + {&DDRC, &PINC, &PORTC, 1}, // C1 17 + {&DDRC, &PINC, &PORTC, 2}, // C2 18 + {&DDRC, &PINC, &PORTC, 3}, // C3 19 + {&DDRC, &PINC, &PORTC, 4}, // C4 20 + {&DDRC, &PINC, &PORTC, 5}, // C5 21 + {&DDRC, &PINC, &PORTC, 6}, // C6 22 + {&DDRC, &PINC, &PORTC, 7}, // C7 23 + {&DDRA, &PINA, &PORTA, 7}, // A7 24 + {&DDRA, &PINA, &PORTA, 6}, // A6 25 + {&DDRA, &PINA, &PORTA, 5}, // A5 26 + {&DDRA, &PINA, &PORTA, 4}, // A4 27 + {&DDRA, &PINA, &PORTA, 3}, // A3 28 + {&DDRA, &PINA, &PORTA, 2}, // A2 29 + {&DDRA, &PINA, &PORTA, 1}, // A1 30 + {&DDRA, &PINA, &PORTA, 0} // A0 31 +}; +//------------------------------------------------------------------------------ +#elif defined(__AVR_ATmega32U4__) +// Teensy 2.0 + +// Two Wire (aka I2C) ports +uint8_t const SDA_PIN = 6; +uint8_t const SCL_PIN = 5; + +// SPI port +uint8_t const SS_PIN = 0; +uint8_t const MOSI_PIN = 2; +uint8_t const MISO_PIN = 3; +uint8_t const SCK_PIN = 1; + +static const pin_map_t digitalPinMap[] = { + {&DDRB, &PINB, &PORTB, 0}, // B0 0 + {&DDRB, &PINB, &PORTB, 1}, // B1 1 + {&DDRB, &PINB, &PORTB, 2}, // B2 2 + {&DDRB, &PINB, &PORTB, 3}, // B3 3 + {&DDRB, &PINB, &PORTB, 7}, // B7 4 + {&DDRD, &PIND, &PORTD, 0}, // D0 5 + {&DDRD, &PIND, &PORTD, 1}, // D1 6 + {&DDRD, &PIND, &PORTD, 2}, // D2 7 + {&DDRD, &PIND, &PORTD, 3}, // D3 8 + {&DDRC, &PINC, &PORTC, 6}, // C6 9 + {&DDRC, &PINC, &PORTC, 7}, // C7 10 + {&DDRD, &PIND, &PORTD, 6}, // D6 11 + {&DDRD, &PIND, &PORTD, 7}, // D7 12 + {&DDRB, &PINB, &PORTB, 4}, // B4 13 + {&DDRB, &PINB, &PORTB, 5}, // B5 14 + {&DDRB, &PINB, &PORTB, 6}, // B6 15 + {&DDRF, &PINF, &PORTF, 7}, // F7 16 + {&DDRF, &PINF, &PORTF, 6}, // F6 17 + {&DDRF, &PINF, &PORTF, 5}, // F5 18 + {&DDRF, &PINF, &PORTF, 4}, // F4 19 + {&DDRF, &PINF, &PORTF, 1}, // F1 20 + {&DDRF, &PINF, &PORTF, 0}, // F0 21 + {&DDRD, &PIND, &PORTD, 4}, // D4 22 + {&DDRD, &PIND, &PORTD, 5}, // D5 23 + {&DDRE, &PINE, &PORTE, 6} // E6 24 +}; +//------------------------------------------------------------------------------ +#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__) +// Teensy++ 1.0 & 2.0 + +// Two Wire (aka I2C) ports +uint8_t const SDA_PIN = 1; +uint8_t const SCL_PIN = 0; + +// SPI port +uint8_t const SS_PIN = 20; +uint8_t const MOSI_PIN = 22; +uint8_t const MISO_PIN = 23; +uint8_t const SCK_PIN = 21; + +static const pin_map_t digitalPinMap[] = { + {&DDRD, &PIND, &PORTD, 0}, // D0 0 + {&DDRD, &PIND, &PORTD, 1}, // D1 1 + {&DDRD, &PIND, &PORTD, 2}, // D2 2 + {&DDRD, &PIND, &PORTD, 3}, // D3 3 + {&DDRD, &PIND, &PORTD, 4}, // D4 4 + {&DDRD, &PIND, &PORTD, 5}, // D5 5 + {&DDRD, &PIND, &PORTD, 6}, // D6 6 + {&DDRD, &PIND, &PORTD, 7}, // D7 7 + {&DDRE, &PINE, &PORTE, 0}, // E0 8 + {&DDRE, &PINE, &PORTE, 1}, // E1 9 + {&DDRC, &PINC, &PORTC, 0}, // C0 10 + {&DDRC, &PINC, &PORTC, 1}, // C1 11 + {&DDRC, &PINC, &PORTC, 2}, // C2 12 + {&DDRC, &PINC, &PORTC, 3}, // C3 13 + {&DDRC, &PINC, &PORTC, 4}, // C4 14 + {&DDRC, &PINC, &PORTC, 5}, // C5 15 + {&DDRC, &PINC, &PORTC, 6}, // C6 16 + {&DDRC, &PINC, &PORTC, 7}, // C7 17 + {&DDRE, &PINE, &PORTE, 6}, // E6 18 + {&DDRE, &PINE, &PORTE, 7}, // E7 19 + {&DDRB, &PINB, &PORTB, 0}, // B0 20 + {&DDRB, &PINB, &PORTB, 1}, // B1 21 + {&DDRB, &PINB, &PORTB, 2}, // B2 22 + {&DDRB, &PINB, &PORTB, 3}, // B3 23 + {&DDRB, &PINB, &PORTB, 4}, // B4 24 + {&DDRB, &PINB, &PORTB, 5}, // B5 25 + {&DDRB, &PINB, &PORTB, 6}, // B6 26 + {&DDRB, &PINB, &PORTB, 7}, // B7 27 + {&DDRA, &PINA, &PORTA, 0}, // A0 28 + {&DDRA, &PINA, &PORTA, 1}, // A1 29 + {&DDRA, &PINA, &PORTA, 2}, // A2 30 + {&DDRA, &PINA, &PORTA, 3}, // A3 31 + {&DDRA, &PINA, &PORTA, 4}, // A4 32 + {&DDRA, &PINA, &PORTA, 5}, // A5 33 + {&DDRA, &PINA, &PORTA, 6}, // A6 34 + {&DDRA, &PINA, &PORTA, 7}, // A7 35 + {&DDRE, &PINE, &PORTE, 4}, // E4 36 + {&DDRE, &PINE, &PORTE, 5}, // E5 37 + {&DDRF, &PINF, &PORTF, 0}, // F0 38 + {&DDRF, &PINF, &PORTF, 1}, // F1 39 + {&DDRF, &PINF, &PORTF, 2}, // F2 40 + {&DDRF, &PINF, &PORTF, 3}, // F3 41 + {&DDRF, &PINF, &PORTF, 4}, // F4 42 + {&DDRF, &PINF, &PORTF, 5}, // F5 43 + {&DDRF, &PINF, &PORTF, 6}, // F6 44 + {&DDRF, &PINF, &PORTF, 7} // F7 45 +}; +//------------------------------------------------------------------------------ +#else // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +// 168 and 328 Arduinos + +// Two Wire (aka I2C) ports +uint8_t const SDA_PIN = 18; +uint8_t const SCL_PIN = 19; + +// SPI port +uint8_t const SS_PIN = 10; +uint8_t const MOSI_PIN = 11; +uint8_t const MISO_PIN = 12; +uint8_t const SCK_PIN = 13; + +static const pin_map_t digitalPinMap[] = { + {&DDRD, &PIND, &PORTD, 0}, // D0 0 + {&DDRD, &PIND, &PORTD, 1}, // D1 1 + {&DDRD, &PIND, &PORTD, 2}, // D2 2 + {&DDRD, &PIND, &PORTD, 3}, // D3 3 + {&DDRD, &PIND, &PORTD, 4}, // D4 4 + {&DDRD, &PIND, &PORTD, 5}, // D5 5 + {&DDRD, &PIND, &PORTD, 6}, // D6 6 + {&DDRD, &PIND, &PORTD, 7}, // D7 7 + {&DDRB, &PINB, &PORTB, 0}, // B0 8 + {&DDRB, &PINB, &PORTB, 1}, // B1 9 + {&DDRB, &PINB, &PORTB, 2}, // B2 10 + {&DDRB, &PINB, &PORTB, 3}, // B3 11 + {&DDRB, &PINB, &PORTB, 4}, // B4 12 + {&DDRB, &PINB, &PORTB, 5}, // B5 13 + {&DDRC, &PINC, &PORTC, 0}, // C0 14 + {&DDRC, &PINC, &PORTC, 1}, // C1 15 + {&DDRC, &PINC, &PORTC, 2}, // C2 16 + {&DDRC, &PINC, &PORTC, 3}, // C3 17 + {&DDRC, &PINC, &PORTC, 4}, // C4 18 + {&DDRC, &PINC, &PORTC, 5} // C5 19 +}; +#endif // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) +//------------------------------------------------------------------------------ +static const uint8_t digitalPinCount = sizeof(digitalPinMap)/sizeof(pin_map_t); + +uint8_t badPinNumber(void) + __attribute__((error("Pin number is too large or not a constant"))); + +static inline __attribute__((always_inline)) + uint8_t getPinMode(uint8_t pin) { + if (__builtin_constant_p(pin) && pin < digitalPinCount) { + return (*digitalPinMap[pin].ddr >> digitalPinMap[pin].bit) & 1; + } else { + return badPinNumber(); + } +} +static inline __attribute__((always_inline)) + void setPinMode(uint8_t pin, uint8_t mode) { + if (__builtin_constant_p(pin) && pin < digitalPinCount) { + if (mode) { + *digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit; + } else { + *digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit); + } + } else { + badPinNumber(); + } +} +static inline __attribute__((always_inline)) + uint8_t fastDigitalRead(uint8_t pin) { + if (__builtin_constant_p(pin) && pin < digitalPinCount) { + return (*digitalPinMap[pin].pin >> digitalPinMap[pin].bit) & 1; + } else { + return badPinNumber(); + } +} +static inline __attribute__((always_inline)) + void fastDigitalWrite(uint8_t pin, uint8_t value) { + if (__builtin_constant_p(pin) && pin < digitalPinCount) { + if (value) { + *digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit; + } else { + *digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit); + } + } else { + badPinNumber(); + } +} +#endif // Sd2PinMap_h diff --git a/Sprinter/SdFat.h b/Sprinter/SdFat.h new file mode 100644 index 0000000..048fa71 --- /dev/null +++ b/Sprinter/SdFat.h @@ -0,0 +1,547 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the Arduino SdFat Library. If not, see + * . + */ +#ifndef SdFat_h +#define SdFat_h +/** + * \file + * SdFile and SdVolume classes + */ +#include +#include "Sd2Card.h" +#include "FatStructs.h" +#include "Print.h" +//------------------------------------------------------------------------------ +/** + * Allow use of deprecated functions if non-zero + */ +#define ALLOW_DEPRECATED_FUNCTIONS 1 +//------------------------------------------------------------------------------ +// forward declaration since SdVolume is used in SdFile +class SdVolume; +//============================================================================== +// SdFile class + +// flags for ls() +/** ls() flag to print modify date */ +uint8_t const LS_DATE = 1; +/** ls() flag to print file size */ +uint8_t const LS_SIZE = 2; +/** ls() flag for recursive list of subdirectories */ +uint8_t const LS_R = 4; + +// use the gnu style oflag in open() +/** open() oflag for reading */ +uint8_t const O_READ = 0X01; +/** open() oflag - same as O_READ */ +uint8_t const O_RDONLY = O_READ; +/** open() oflag for write */ +uint8_t const O_WRITE = 0X02; +/** open() oflag - same as O_WRITE */ +uint8_t const O_WRONLY = O_WRITE; +/** open() oflag for reading and writing */ +uint8_t const O_RDWR = (O_READ | O_WRITE); +/** open() oflag mask for access modes */ +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. */ +uint8_t const O_APPEND = 0X04; +/** synchronous writes - call sync() after each write */ +uint8_t const O_SYNC = 0X08; +/** create the file if nonexistent */ +uint8_t const O_CREAT = 0X10; +/** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */ +uint8_t const O_EXCL = 0X20; +/** truncate the file to zero length */ +uint8_t const O_TRUNC = 0X40; + +// flags for timestamp +/** set the file's last access date */ +uint8_t const T_ACCESS = 1; +/** set the file's creation date and time */ +uint8_t const T_CREATE = 2; +/** Set the file's write date and time */ +uint8_t const T_WRITE = 4; +// values for type_ +/** This SdFile has not been opened. */ +uint8_t const FAT_FILE_TYPE_CLOSED = 0; +/** SdFile for a file */ +uint8_t const FAT_FILE_TYPE_NORMAL = 1; +/** SdFile for a FAT16 root directory */ +uint8_t const FAT_FILE_TYPE_ROOT16 = 2; +/** SdFile for a FAT32 root directory */ +uint8_t const FAT_FILE_TYPE_ROOT32 = 3; +/** SdFile for a subdirectory */ +uint8_t const FAT_FILE_TYPE_SUBDIR = 4; +/** Test value for directory type */ +uint8_t const FAT_FILE_TYPE_MIN_DIR = FAT_FILE_TYPE_ROOT16; + +/** date field for FAT directory entry */ +static inline uint16_t FAT_DATE(uint16_t year, uint8_t month, uint8_t day) { + return (year - 1980) << 9 | month << 5 | day; +} +/** year part of FAT directory date field */ +static inline uint16_t FAT_YEAR(uint16_t fatDate) { + return 1980 + (fatDate >> 9); +} +/** month part of FAT directory date field */ +static inline uint8_t FAT_MONTH(uint16_t fatDate) { + return (fatDate >> 5) & 0XF; +} +/** day part of FAT directory date field */ +static inline uint8_t FAT_DAY(uint16_t fatDate) { + return fatDate & 0X1F; +} +/** time field for FAT directory entry */ +static inline uint16_t FAT_TIME(uint8_t hour, uint8_t minute, uint8_t second) { + return hour << 11 | minute << 5 | second >> 1; +} +/** hour part of FAT directory time field */ +static inline uint8_t FAT_HOUR(uint16_t fatTime) { + return fatTime >> 11; +} +/** minute part of FAT directory time field */ +static inline uint8_t FAT_MINUTE(uint16_t fatTime) { + return(fatTime >> 5) & 0X3F; +} +/** second part of FAT directory time field */ +static inline uint8_t FAT_SECOND(uint16_t fatTime) { + return 2*(fatTime & 0X1F); +} +/** Default date for file timestamps is 1 Jan 2000 */ +uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1; +/** Default time for file timestamp is 1 am */ +uint16_t const FAT_DEFAULT_TIME = (1 << 11); +//------------------------------------------------------------------------------ +/** + * \class SdFile + * \brief Access FAT16 and FAT32 files on SD and SDHC cards. + */ +class SdFile : public Print { + public: + /** Create an instance of SdFile. */ + SdFile(void) : type_(FAT_FILE_TYPE_CLOSED) {} + /** + * writeError is set to true if an error occurs during a write(). + * Set writeError to false before calling print() and/or write() and check + * for true after calls to print() and/or write(). + */ + bool writeError; + /** + * Cancel unbuffered reads for this file. + * See setUnbufferedRead() + */ + void clearUnbufferedRead(void) { + flags_ &= ~F_FILE_UNBUFFERED_READ; + } + uint8_t close(void); + uint8_t contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock); + uint8_t createContiguous(SdFile* dirFile, + const char* fileName, uint32_t size); + /** \return The current cluster number for a file or directory. */ + uint32_t curCluster(void) const {return curCluster_;} + /** \return The current position for a file or directory. */ + uint32_t curPosition(void) const {return curPosition_;} + /** + * Set the date/time callback function + * + * \param[in] dateTime The user's call back function. The callback + * function is of the form: + * + * \code + * void dateTime(uint16_t* date, uint16_t* time) { + * uint16_t year; + * uint8_t month, day, hour, minute, second; + * + * // User gets date and time from GPS or real-time clock here + * + * // return date using FAT_DATE macro to format fields + * *date = FAT_DATE(year, month, day); + * + * // return time using FAT_TIME macro to format fields + * *time = FAT_TIME(hour, minute, second); + * } + * \endcode + * + * Sets the function that is called when a file is created or when + * a file's directory entry is modified by sync(). All timestamps, + * access, creation, and modify, are set when a file is created. + * sync() maintains the last access date and last modify date/time. + * + * See the timestamp() function. + */ + static void dateTimeCallback( + void (*dateTime)(uint16_t* date, uint16_t* time)) { + dateTime_ = dateTime; + } + /** + * Cancel the date/time callback function. + */ + static void dateTimeCallbackCancel(void) { + // use explicit zero since NULL is not defined for Sanguino + dateTime_ = 0; + } + /** \return Address of the block that contains this file's directory. */ + uint32_t dirBlock(void) const {return dirBlock_;} + uint8_t dirEntry(dir_t* dir); + /** \return Index of this file's directory in the block dirBlock. */ + uint8_t dirIndex(void) const {return dirIndex_;} + static void dirName(const dir_t& dir, char* name); + /** \return The total number of bytes in a file or directory. */ + uint32_t fileSize(void) const {return fileSize_;} + /** \return The first cluster number for a file or directory. */ + uint32_t firstCluster(void) const {return firstCluster_;} + /** \return True if this is a SdFile for a directory else false. */ + uint8_t isDir(void) const {return type_ >= FAT_FILE_TYPE_MIN_DIR;} + /** \return True if this is a SdFile for a file else false. */ + 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. */ + uint8_t isOpen(void) const {return type_ != FAT_FILE_TYPE_CLOSED;} + /** \return True if this is a SdFile for a subdirectory else false. */ + uint8_t isSubDir(void) const {return type_ == FAT_FILE_TYPE_SUBDIR;} + /** \return True if this is a SdFile for the root directory. */ + uint8_t isRoot(void) const { + return type_ == FAT_FILE_TYPE_ROOT16 || type_ == FAT_FILE_TYPE_ROOT32; + } + void ls(uint8_t flags = 0, uint8_t indent = 0); + uint8_t makeDir(SdFile* dir, const char* dirName); + uint8_t open(SdFile* dirFile, uint16_t index, uint8_t oflag); + uint8_t open(SdFile* dirFile, const char* fileName, uint8_t oflag); + + uint8_t openRoot(SdVolume* vol); + static void printDirName(const dir_t& dir, uint8_t width); + static void printFatDate(uint16_t fatDate); + static void printFatTime(uint16_t fatTime); + static void printTwoDigits(uint8_t v); + /** + * Read the next byte from a file. + * + * \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. + */ + int16_t read(void) { + uint8_t b; + return read(&b, 1) == 1 ? b : -1; + } + int16_t read(void* buf, uint16_t nbyte); + int8_t readDir(dir_t* dir); + static uint8_t remove(SdFile* dirFile, const char* fileName); + uint8_t remove(void); + /** Set the file's current position to zero. */ + void rewind(void) { + curPosition_ = curCluster_ = 0; + } + uint8_t rmDir(void); + uint8_t rmRfStar(void); + /** Set the files position to current position + \a pos. See seekSet(). */ + uint8_t seekCur(uint32_t pos) { + return seekSet(curPosition_ + pos); + } + /** + * Set the files current position to end of file. Useful to position + * a file for append. See seekSet(). + */ + uint8_t seekEnd(void) {return seekSet(fileSize_);} + uint8_t seekSet(uint32_t pos); + /** + * Use unbuffered reads to access this file. Used with Wave + * Shield ISR. Used with Sd2Card::partialBlockRead() in WaveRP. + * + * Not recommended for normal applications. + */ + void setUnbufferedRead(void) { + if (isFile()) flags_ |= F_FILE_UNBUFFERED_READ; + } + 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 sync(void); + /** Type of this SdFile. You should use isFile() or isDir() instead of type() + * if possible. + * + * \return The file or directory type. + */ + uint8_t type(void) const {return type_;} + uint8_t truncate(uint32_t size); + /** \return Unbuffered read flag. */ + uint8_t unbufferedRead(void) const { + return flags_ & F_FILE_UNBUFFERED_READ; + } + /** \return SdVolume that contains this file. */ + SdVolume* volume(void) const {return vol_;} + void write(uint8_t b); + int16_t write(const void* buf, uint16_t nbyte); + void write(const char* str); + void write_P(PGM_P str); + void writeln_P(PGM_P str); +//------------------------------------------------------------------------------ +#if ALLOW_DEPRECATED_FUNCTIONS +// Deprecated functions - suppress cpplint warnings with NOLINT comment + /** \deprecated Use: + * uint8_t SdFile::contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock); + */ + uint8_t contiguousRange(uint32_t& bgnBlock, uint32_t& endBlock) { // NOLINT + return contiguousRange(&bgnBlock, &endBlock); + } + /** \deprecated Use: + * uint8_t SdFile::createContiguous(SdFile* dirFile, + * const char* fileName, uint32_t size) + */ + uint8_t createContiguous(SdFile& dirFile, // NOLINT + const char* fileName, uint32_t size) { + return createContiguous(&dirFile, fileName, size); + } + + /** + * \deprecated Use: + * static void SdFile::dateTimeCallback( + * void (*dateTime)(uint16_t* date, uint16_t* time)); + */ + static void dateTimeCallback( + void (*dateTime)(uint16_t& date, uint16_t& time)) { // NOLINT + oldDateTime_ = dateTime; + dateTime_ = dateTime ? oldToNew : 0; + } + /** \deprecated Use: uint8_t SdFile::dirEntry(dir_t* dir); */ + uint8_t dirEntry(dir_t& dir) {return dirEntry(&dir);} // NOLINT + /** \deprecated Use: + * uint8_t SdFile::makeDir(SdFile* dir, const char* dirName); + */ + uint8_t makeDir(SdFile& dir, const char* dirName) { // NOLINT + return makeDir(&dir, dirName); + } + /** \deprecated Use: + * uint8_t SdFile::open(SdFile* dirFile, const char* fileName, uint8_t oflag); + */ + uint8_t open(SdFile& dirFile, // NOLINT + const char* fileName, uint8_t oflag) { + return open(&dirFile, fileName, oflag); + } + /** \deprecated Do not use in new apps */ + uint8_t open(SdFile& dirFile, const char* fileName) { // NOLINT + return open(dirFile, fileName, O_RDWR); + } + /** \deprecated Use: + * uint8_t SdFile::open(SdFile* dirFile, uint16_t index, uint8_t oflag); + */ + uint8_t open(SdFile& dirFile, uint16_t index, uint8_t oflag) { // NOLINT + return open(&dirFile, index, oflag); + } + /** \deprecated Use: uint8_t SdFile::openRoot(SdVolume* vol); */ + uint8_t openRoot(SdVolume& vol) {return openRoot(&vol);} // NOLINT + + /** \deprecated Use: int8_t SdFile::readDir(dir_t* dir); */ + int8_t readDir(dir_t& dir) {return readDir(&dir);} // NOLINT + /** \deprecated Use: + * static uint8_t SdFile::remove(SdFile* dirFile, const char* fileName); + */ + static uint8_t remove(SdFile& dirFile, const char* fileName) { // NOLINT + return remove(&dirFile, fileName); + } +//------------------------------------------------------------------------------ +// rest are private + private: + static void (*oldDateTime_)(uint16_t& date, uint16_t& time); // NOLINT + static void oldToNew(uint16_t* date, uint16_t* time) { + uint16_t d; + uint16_t t; + oldDateTime_(d, t); + *date = d; + *time = t; + } +#endif // ALLOW_DEPRECATED_FUNCTIONS + private: + // bits defined in flags_ + // should be 0XF + static uint8_t const F_OFLAG = (O_ACCMODE | O_APPEND | O_SYNC); + // available bits + static uint8_t const F_UNUSED = 0X30; + // use unbuffered SD read + static uint8_t const F_FILE_UNBUFFERED_READ = 0X40; + // sync of directory entry required + static uint8_t const F_FILE_DIR_DIRTY = 0X80; + +// make sure F_OFLAG is ok +#if ((F_UNUSED | F_FILE_UNBUFFERED_READ | F_FILE_DIR_DIRTY) & F_OFLAG) +#error flags_ bits conflict +#endif // flags_ bits + + // private data + uint8_t flags_; // See above for definition of flags_ bits + uint8_t type_; // type of file see above for values + uint32_t curCluster_; // cluster for current file position + uint32_t curPosition_; // current file position in bytes from beginning + uint32_t dirBlock_; // SD block that contains directory entry for file + uint8_t dirIndex_; // index of entry in dirBlock 0 <= dirIndex_ <= 0XF + uint32_t fileSize_; // file size in bytes + uint32_t firstCluster_; // first cluster of file + SdVolume* vol_; // volume where file is located + + // private functions + uint8_t addCluster(void); + uint8_t addDirCluster(void); + dir_t* cacheDirEntry(uint8_t action); + static void (*dateTime_)(uint16_t* date, uint16_t* time); + static uint8_t make83Name(const char* str, uint8_t* name); + uint8_t openCachedEntry(uint8_t cacheIndex, uint8_t oflags); + dir_t* readDirCache(void); +}; +//============================================================================== +// SdVolume class +/** + * \brief Cache for an SD data block + */ +union cache_t { + /** Used to access cached file data blocks. */ + uint8_t data[512]; + /** Used to access cached FAT16 entries. */ + uint16_t fat16[256]; + /** Used to access cached FAT32 entries. */ + uint32_t fat32[128]; + /** Used to access cached directory entries. */ + dir_t dir[16]; + /** Used to access a cached MasterBoot Record. */ + mbr_t mbr; + /** Used to access to a cached FAT boot sector. */ + fbs_t fbs; +}; +//------------------------------------------------------------------------------ +/** + * \class SdVolume + * \brief Access FAT16 and FAT32 volumes on SD and SDHC cards. + */ +class SdVolume { + public: + /** Create an instance of SdVolume */ + SdVolume(void) :allocSearchStart_(2), fatType_(0) {} + /** 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. + */ + static uint8_t* cacheClear(void) { + cacheFlush(); + cacheBlockNumber_ = 0XFFFFFFFF; + return cacheBuffer_.data; + } + /** + * Initialize a FAT volume. Try partition one first then try super + * floppy format. + * + * \param[in] dev The Sd2Card where the volume is located. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. Reasons for + * failure include not finding a valid partition, not finding a valid + * 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, uint8_t part); + + // inline functions that return volume info + /** \return The volume's cluster size in blocks. */ + uint8_t blocksPerCluster(void) const {return blocksPerCluster_;} + /** \return The number of blocks in one FAT. */ + uint32_t blocksPerFat(void) const {return blocksPerFat_;} + /** \return The total number of clusters in the volume. */ + uint32_t clusterCount(void) const {return clusterCount_;} + /** \return The shift count required to multiply by blocksPerCluster. */ + uint8_t clusterSizeShift(void) const {return clusterSizeShift_;} + /** \return The logical block number for the start of file data. */ + uint32_t dataStartBlock(void) const {return dataStartBlock_;} + /** \return The number of FAT structures on the volume. */ + uint8_t fatCount(void) const {return fatCount_;} + /** \return The logical block number for the start of the first FAT. */ + uint32_t fatStartBlock(void) const {return fatStartBlock_;} + /** \return The FAT type of the volume. Values are 12, 16 or 32. */ + uint8_t fatType(void) const {return fatType_;} + /** \return The number of entries in the root directory for FAT16 volumes. */ + uint32_t rootDirEntryCount(void) const {return rootDirEntryCount_;} + /** \return The logical block number for the start of the root directory + on FAT16 volumes or the first cluster number on FAT32 volumes. */ + uint32_t rootDirStart(void) const {return rootDirStart_;} + /** return a pointer to the Sd2Card object for this volume */ + static Sd2Card* sdCard(void) {return sdCard_;} +//------------------------------------------------------------------------------ +#if ALLOW_DEPRECATED_FUNCTIONS + // Deprecated functions - suppress cpplint warnings with NOLINT comment + /** \deprecated Use: uint8_t SdVolume::init(Sd2Card* dev); */ + uint8_t init(Sd2Card& dev) {return init(&dev);} // NOLINT + + /** \deprecated Use: uint8_t SdVolume::init(Sd2Card* dev, uint8_t vol); */ + uint8_t init(Sd2Card& dev, uint8_t part) { // NOLINT + return init(&dev, part); + } +#endif // ALLOW_DEPRECATED_FUNCTIONS +//------------------------------------------------------------------------------ + private: + // Allow SdFile access to SdVolume private data. + friend class SdFile; + + // value for action argument in cacheRawBlock to indicate read from cache + static uint8_t const CACHE_FOR_READ = 0; + // value for action argument in cacheRawBlock to indicate cache dirty + static uint8_t const CACHE_FOR_WRITE = 1; + + static cache_t cacheBuffer_; // 512 byte cache for device blocks + static uint32_t cacheBlockNumber_; // Logical number of block in the cache + static Sd2Card* sdCard_; // Sd2Card object for cache + static uint8_t cacheDirty_; // cacheFlush() will write block if true + static uint32_t cacheMirrorBlock_; // block number for mirror FAT +// + uint32_t allocSearchStart_; // start cluster for alloc search + uint8_t blocksPerCluster_; // cluster size in blocks + uint32_t blocksPerFat_; // FAT size in blocks + uint32_t clusterCount_; // clusters in one FAT + uint8_t clusterSizeShift_; // shift to convert cluster count to block count + uint32_t dataStartBlock_; // first data block number + uint8_t fatCount_; // number of FATs on volume + uint32_t fatStartBlock_; // start block for first FAT + uint8_t fatType_; // volume type (12, 16, OR 32) + uint16_t rootDirEntryCount_; // number of entries in FAT16 root dir + uint32_t rootDirStart_; // root start block for FAT16, cluster for FAT32 + //---------------------------------------------------------------------------- + uint8_t allocContiguous(uint32_t count, uint32_t* curCluster); + uint8_t blockOfCluster(uint32_t position) const { + return (position >> 9) & (blocksPerCluster_ - 1);} + uint32_t clusterStartBlock(uint32_t cluster) const { + return dataStartBlock_ + ((cluster - 2) << clusterSizeShift_);} + uint32_t blockNumber(uint32_t cluster, uint32_t position) const { + return clusterStartBlock(cluster) + blockOfCluster(position);} + static uint8_t cacheFlush(void); + static uint8_t cacheRawBlock(uint32_t blockNumber, uint8_t action); + static void cacheSetDirty(void) {cacheDirty_ |= CACHE_FOR_WRITE;} + static uint8_t cacheZeroBlock(uint32_t blockNumber); + uint8_t chainSize(uint32_t beginCluster, uint32_t* size) const; + uint8_t fatGet(uint32_t cluster, uint32_t* value) const; + uint8_t fatPut(uint32_t cluster, uint32_t value); + uint8_t fatPutEOC(uint32_t cluster) { + return fatPut(cluster, 0x0FFFFFFF); + } + uint8_t freeChain(uint32_t cluster); + uint8_t isEOC(uint32_t cluster) const { + return cluster >= (fatType_ == 16 ? FAT16EOC_MIN : FAT32EOC_MIN); + } + uint8_t readBlock(uint32_t block, uint8_t* dst) { + return sdCard_->readBlock(block, dst);} + uint8_t readData(uint32_t block, uint16_t offset, + uint16_t count, uint8_t* dst) { + return sdCard_->readData(block, offset, count, dst); + } + uint8_t writeBlock(uint32_t block, const uint8_t* dst) { + return sdCard_->writeBlock(block, dst); + } +}; +#endif // SdFat_h diff --git a/Sprinter/SdFatUtil.h b/Sprinter/SdFatUtil.h new file mode 100644 index 0000000..8bf9048 --- /dev/null +++ b/Sprinter/SdFatUtil.h @@ -0,0 +1,70 @@ +/* Arduino SdFat Library + * Copyright (C) 2008 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + + * You should have received a copy of the GNU General Public License + * along with the Arduino SdFat Library. If not, see + * . + */ +#ifndef SdFatUtil_h +#define SdFatUtil_h +/** + * \file + * Useful utility functions. + */ +#include +#include +/** Store and print a string in flash memory.*/ +#define PgmPrint(x) SerialPrint_P(PSTR(x)) +/** Store and print a string in flash memory followed by a CR/LF.*/ +#define PgmPrintln(x) SerialPrintln_P(PSTR(x)) +/** Defined so doxygen works for function definitions. */ +#define NOINLINE __attribute__((noinline)) +//------------------------------------------------------------------------------ +/** Return the number of bytes currently free in RAM. */ +static int FreeRam(void) { + extern int __bss_end; + extern int* __brkval; + int free_memory; + if (reinterpret_cast(__brkval) == 0) { + // if no heap use from end of bss section + free_memory = reinterpret_cast(&free_memory) + - reinterpret_cast(&__bss_end); + } else { + // use from top of stack to heap + free_memory = reinterpret_cast(&free_memory) + - reinterpret_cast(__brkval); + } + return free_memory; +} +//------------------------------------------------------------------------------ +/** + * %Print a string in flash memory to the serial port. + * + * \param[in] str Pointer to string stored in flash memory. + */ +static NOINLINE void SerialPrint_P(PGM_P str) { + for (uint8_t c; (c = pgm_read_byte(str)); str++) Serial.print(c); +} +//------------------------------------------------------------------------------ +/** + * %Print a string in flash memory followed by a CR/LF. + * + * \param[in] str Pointer to string stored in flash memory. + */ +static NOINLINE void SerialPrintln_P(PGM_P str) { + SerialPrint_P(str); + Serial.println(); +} +#endif // #define SdFatUtil_h diff --git a/Sprinter/SdFatmainpage.h b/Sprinter/SdFatmainpage.h new file mode 100644 index 0000000..73b3b63 --- /dev/null +++ b/Sprinter/SdFatmainpage.h @@ -0,0 +1,202 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the Arduino SdFat Library. If not, see + * . + */ + +/** +\mainpage Arduino SdFat Library +
Copyright © 2009 by William Greiman +
+ +\section Intro Introduction +The Arduino SdFat Library is a minimal implementation of FAT16 and FAT32 +file systems on SD flash memory cards. Standard SD and high capacity +SDHC cards are supported. + +The SdFat only supports short 8.3 names. + +The main classes in SdFat are Sd2Card, SdVolume, and SdFile. + +The Sd2Card class supports access to standard SD cards and SDHC cards. Most +applications will only need to call the Sd2Card::init() member function. + +The SdVolume class supports FAT16 and FAT32 partitions. Most applications +will only need to call the SdVolume::init() member function. + +The SdFile class provides file access functions such as open(), read(), +remove(), write(), close() and sync(). This class supports access to the root +directory and subdirectories. + +A number of example are provided in the SdFat/examples folder. These were +developed to test SdFat and illustrate its use. + +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 +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 +small amount of RAM in the Arduino. + +\section SDcard SD\SDHC Cards + +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 +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 +write performance. Write performance is limited by how efficiently the +card manages internal erase/remapping operations. The Arduino cannot +optimize writes to reduce erase operations because of its limit RAM. + +SanDisk cards generally have good write performance. They seem to have +more internal RAM buffering than other cards and therefore can limit +the number of flash erase operations that the Arduino forces due to its +limited RAM. + +\section Hardware Hardware Configuration + +SdFat was developed using an + Adafruit Industries + Wave Shield. + +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 +rise times that are too slow for the edge detectors in many newer SD card +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 +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 +74LCX245. + +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 +card.init(SPI_HALF_SPEED) to initialize the SD card. + +\section comment Bugs and Comments + +If you wish to report bugs or have comments, send email to fat16lib@sbcglobal.net. + +\section SdFatClass SdFat Usage + +SdFat uses a slightly restricted form of short names. +Only printable ASCII characters are supported. No characters with code point +values greater than 127 are allowed. Space is not allowed even though space +was allowed in the API of early versions of DOS. + +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 +of letters and digits. The following special characters are also allowed: + +$ % ' - _ @ ~ ` ! ( ) { } ^ # & + +Short names are always converted to upper case and their original case +value is lost. + +\note + The Arduino Print class uses character +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. + +\par +An application which writes to a file using \link Print::print() print()\endlink, +\link Print::println() println() \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 +to the SD Card. Data and directory information are also written to the SD card +when \link SdFile::close() close() \endlink is called. + +\par +Applications must use care calling \link SdFile::sync() sync() \endlink +since 2048 bytes of I/O is required to update file and +directory information. This includes writing the current data block, reading +the block that contains the directory entry for update, writing the directory +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 +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 + +You should use a freshly formatted SD card for best performance. FAT +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, +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 +fragmented which causes reads and writes to be slower. + +Microsoft operating systems support removable media formatted with a +Master Boot Record, MBR, or formatted as a super floppy with a FAT Boot Sector +in block zero. + +Microsoft operating systems expect MBR formatted removable media +to have only one partition. The first partition should be used. + +Microsoft operating systems do not support partitioning SD flash cards. +If you erase an SD card with a program like KillDisk, Most versions of +Windows will format the card as a super floppy. + +The best way to restore an SD card's format is to use SDFormatter +which can be downloaded from: + +http://www.sdcard.org/consumers/formatter/ + +SDFormatter aligns flash erase boundaries with file +system structures which reduces write latency and file system overhead. + +SDFormatter does not have an option for FAT type so it may format +small cards as FAT12. + +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. + +If you reformat the SD card with an OS utility, choose a cluster size that +will result in: + +4084 < CountOfClusters && CountOfClusters < 65525 + +The volume will then be FAT16. + +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. + +\section References References + +Adafruit Industries: + +http://www.adafruit.com/ + +http://www.ladyada.net/make/waveshield/ + +The Arduino site: + +http://www.arduino.cc/ + +For more information about FAT file systems see: + +http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx + +For information about using SD cards as SPI devices see: + +http://www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf + +The ATmega328 datasheet: + +http://www.atmel.com/dyn/resources/prod_documents/doc8161.pdf + + + */ diff --git a/Sprinter/SdFile.cpp b/Sprinter/SdFile.cpp new file mode 100644 index 0000000..0a27159 --- /dev/null +++ b/Sprinter/SdFile.cpp @@ -0,0 +1,1252 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the Arduino SdFat Library. If not, see + * . + */ +#include "SdFat.h" +#include +#include +//------------------------------------------------------------------------------ +// callback function for date/time +void (*SdFile::dateTime_)(uint16_t* date, uint16_t* time) = NULL; + +#if ALLOW_DEPRECATED_FUNCTIONS +// suppress cpplint warnings with NOLINT comment +void (*SdFile::oldDateTime_)(uint16_t& date, uint16_t& time) = NULL; // NOLINT +#endif // ALLOW_DEPRECATED_FUNCTIONS +//------------------------------------------------------------------------------ +// add a cluster to a file +uint8_t SdFile::addCluster() { + if (!vol_->allocContiguous(1, &curCluster_)) return false; + + // if first cluster of file link to directory entry + if (firstCluster_ == 0) { + firstCluster_ = curCluster_; + flags_ |= F_FILE_DIR_DIRTY; + } + return true; +} +//------------------------------------------------------------------------------ +// Add a cluster to a directory file and zero the cluster. +// return with first block of cluster in the cache +uint8_t SdFile::addDirCluster(void) { + if (!addCluster()) return false; + + // zero data in cluster insure first cluster is in cache + uint32_t block = vol_->clusterStartBlock(curCluster_); + for (uint8_t i = vol_->blocksPerCluster_; i != 0; i--) { + if (!SdVolume::cacheZeroBlock(block + i - 1)) return false; + } + // Increase directory file size by cluster size + fileSize_ += 512UL << vol_->clusterSizeShift_; + return true; +} +//------------------------------------------------------------------------------ +// cache a file's directory entry +// return pointer to cached entry or null for failure +dir_t* SdFile::cacheDirEntry(uint8_t action) { + if (!SdVolume::cacheRawBlock(dirBlock_, action)) return NULL; + return SdVolume::cacheBuffer_.dir + dirIndex_; +} +//------------------------------------------------------------------------------ +/** + * Close a file and force cached data and directory information + * to be written to the storage device. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include no file is open or an I/O error. + */ +uint8_t SdFile::close(void) { + if (!sync())return false; + type_ = FAT_FILE_TYPE_CLOSED; + return true; +} +//------------------------------------------------------------------------------ +/** + * Check for contiguous file and return its raw block range. + * + * \param[out] bgnBlock the first block address for the file. + * \param[out] endBlock the last block address for the file. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include file is not contiguous, file has zero length + * or an I/O error occurred. + */ +uint8_t SdFile::contiguousRange(uint32_t* bgnBlock, uint32_t* endBlock) { + // error if no blocks + if (firstCluster_ == 0) return false; + + for (uint32_t c = firstCluster_; ; c++) { + uint32_t next; + if (!vol_->fatGet(c, &next)) return false; + + // check for contiguous + if (next != (c + 1)) { + // error if not end of chain + if (!vol_->isEOC(next)) return false; + *bgnBlock = vol_->clusterStartBlock(firstCluster_); + *endBlock = vol_->clusterStartBlock(c) + + vol_->blocksPerCluster_ - 1; + return true; + } + } +} +//------------------------------------------------------------------------------ +/** + * Create and open a new contiguous file of a specified size. + * + * \note This function only supports short DOS 8.3 names. + * See open() for more information. + * + * \param[in] dirFile The directory where the file will be created. + * \param[in] fileName A valid DOS 8.3 file name. + * \param[in] size The desired file size. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include \a fileName contains + * an invalid DOS 8.3 file name, the FAT volume has not been initialized, + * a file is already open, the file already exists, the root + * directory is full or an I/O error. + * + */ +uint8_t SdFile::createContiguous(SdFile* dirFile, + const char* fileName, uint32_t size) { + // don't allow zero length file + if (size == 0) return false; + if (!open(dirFile, fileName, O_CREAT | O_EXCL | O_RDWR)) return false; + + // calculate number of clusters needed + uint32_t count = ((size - 1) >> (vol_->clusterSizeShift_ + 9)) + 1; + + // allocate clusters + if (!vol_->allocContiguous(count, &firstCluster_)) { + remove(); + return false; + } + fileSize_ = size; + + // insure sync() will update dir entry + flags_ |= F_FILE_DIR_DIRTY; + return sync(); +} +//------------------------------------------------------------------------------ +/** + * Return a files directory entry + * + * \param[out] dir Location for return of the files directory entry. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t SdFile::dirEntry(dir_t* dir) { + // make sure fields on SD are correct + if (!sync()) return false; + + // read entry + dir_t* p = cacheDirEntry(SdVolume::CACHE_FOR_READ); + if (!p) return false; + + // copy to caller's struct + memcpy(dir, p, sizeof(dir_t)); + return true; +} +//------------------------------------------------------------------------------ +/** + * Format the name field of \a dir into the 13 byte array + * \a name in standard 8.3 short name format. + * + * \param[in] dir The directory structure containing the name. + * \param[out] name A 13 byte char array for the formatted name. + */ +void SdFile::dirName(const dir_t& dir, char* name) { + uint8_t j = 0; + for (uint8_t i = 0; i < 11; i++) { + if (dir.name[i] == ' ')continue; + if (i == 8) name[j++] = '.'; + name[j++] = dir.name[i]; + } + name[j] = 0; +} +//------------------------------------------------------------------------------ +/** List directory contents to Serial. + * + * \param[in] flags The inclusive OR of + * + * LS_DATE - %Print file modification date + * + * LS_SIZE - %Print file size. + * + * LS_R - Recursive list of subdirectories. + * + * \param[in] indent Amount of space before file name. Used for recursive + * list to indicate subdirectory level. + */ +void SdFile::ls(uint8_t flags, uint8_t indent) { + dir_t* p; + + rewind(); + while ((p = readDirCache())) { + // done if past last used entry + if (p->name[0] == DIR_NAME_FREE) break; + + // skip deleted entry and entries for . and .. + if (p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') continue; + + // only list subdirectories and files + if (!DIR_IS_FILE_OR_SUBDIR(p)) continue; + + // print any indent spaces + for (int8_t i = 0; i < indent; i++) Serial.print(' '); + + // print file name with possible blank fill + printDirName(*p, flags & (LS_DATE | LS_SIZE) ? 14 : 0); + + // print modify date/time if requested + if (flags & LS_DATE) { + printFatDate(p->lastWriteDate); + Serial.print(' '); + printFatTime(p->lastWriteTime); + } + // print size if requested + if (!DIR_IS_SUBDIR(p) && (flags & LS_SIZE)) { + Serial.print(' '); + Serial.print(p->fileSize); + } + Serial.println(); + + // list subdirectory content if requested + if ((flags & LS_R) && DIR_IS_SUBDIR(p)) { + uint16_t index = curPosition()/32 - 1; + SdFile s; + if (s.open(this, index, O_READ)) s.ls(flags, indent + 2); + seekSet(32 * (index + 1)); + } + } +} +//------------------------------------------------------------------------------ +// format directory name field from a 8.3 name string +uint8_t SdFile::make83Name(const char* str, uint8_t* name) { + uint8_t c; + uint8_t n = 7; // max index for part before dot + uint8_t i = 0; + // blank fill name and extension + while (i < 11) name[i++] = ' '; + i = 0; + while ((c = *str++) != '\0') { + if (c == '.') { + if (n == 10) return false; // only one dot allowed + n = 10; // max index for full 8.3 name + i = 8; // place for extension + } else { + // illegal FAT characters + PGM_P p = PSTR("|<>^+=?/[];,*\"\\"); + uint8_t b; + while ((b = pgm_read_byte(p++))) if (b == c) return false; + // check size and only allow ASCII printable characters + if (i > n || c < 0X21 || c > 0X7E)return false; + // only upper case allowed in 8.3 names - convert lower to upper + name[i++] = c < 'a' || c > 'z' ? c : c + ('A' - 'a'); + } + } + // must have a file name, extension is optional + return name[0] != ' '; +} +//------------------------------------------------------------------------------ +/** Make a new directory. + * + * \param[in] dir An open SdFat instance for the directory that will containing + * the new directory. + * + * \param[in] dirName A valid 8.3 DOS name for the new directory. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include this SdFile is already open, \a dir is not a + * directory, \a dirName is invalid or already exists in \a dir. + */ +uint8_t SdFile::makeDir(SdFile* dir, const char* dirName) { + dir_t d; + + // create a normal file + if (!open(dir, dirName, O_CREAT | O_EXCL | O_RDWR)) return false; + + // convert SdFile to directory + flags_ = O_READ; + type_ = FAT_FILE_TYPE_SUBDIR; + + // allocate and zero first cluster + if (!addDirCluster())return false; + + // force entry to SD + if (!sync()) return false; + + // cache entry - should already be in cache due to sync() call + dir_t* p = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!p) return false; + + // change directory entry attribute + p->attributes = DIR_ATT_DIRECTORY; + + // make entry for '.' + memcpy(&d, p, sizeof(d)); + for (uint8_t i = 1; i < 11; i++) d.name[i] = ' '; + d.name[0] = '.'; + + // cache block for '.' and '..' + uint32_t block = vol_->clusterStartBlock(firstCluster_); + if (!SdVolume::cacheRawBlock(block, SdVolume::CACHE_FOR_WRITE)) return false; + + // copy '.' to block + memcpy(&SdVolume::cacheBuffer_.dir[0], &d, sizeof(d)); + + // make entry for '..' + d.name[1] = '.'; + if (dir->isRoot()) { + d.firstClusterLow = 0; + d.firstClusterHigh = 0; + } else { + d.firstClusterLow = dir->firstCluster_ & 0XFFFF; + d.firstClusterHigh = dir->firstCluster_ >> 16; + } + // copy '..' to block + memcpy(&SdVolume::cacheBuffer_.dir[1], &d, sizeof(d)); + + // set position after '..' + curPosition_ = 2 * sizeof(d); + + // write first block + return SdVolume::cacheFlush(); +} +//------------------------------------------------------------------------------ +/** + * Open a file or directory by name. + * + * \param[in] dirFile An open SdFat instance for the directory containing the + * file to be opened. + * + * \param[in] fileName A valid 8.3 DOS name for a file to be opened. + * + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of flags from the following list + * + * O_READ - Open for reading. + * + * O_RDONLY - Same as O_READ. + * + * O_WRITE - Open for writing. + * + * O_WRONLY - Same as O_WRITE. + * + * O_RDWR - Open for reading and writing. + * + * O_APPEND - If set, the file offset shall be set to the end of the + * file prior to each write. + * + * O_CREAT - If the file exists, this flag has no effect except as noted + * under O_EXCL below. Otherwise, the file shall be created + * + * O_EXCL - If O_CREAT and O_EXCL are set, open() shall fail if the file exists. + * + * O_SYNC - Call sync() after each write. This flag should not be used with + * write(uint8_t), write_P(PGM_P), writeln_P(PGM_P), or the Arduino Print class. + * These functions do character at a time writes so sync() will be called + * after each byte. + * + * O_TRUNC - If the file exists and is a regular file, and the file is + * successfully opened and is not read only, its length shall be truncated to 0. + * + * \note Directory files must be opened read only. Write and truncation is + * not allowed for directory files. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include this SdFile is already open, \a difFile is not + * a directory, \a fileName is invalid, the file does not exist + * or can't be opened in the access mode specified by oflag. + */ +uint8_t SdFile::open(SdFile* dirFile, const char* fileName, uint8_t oflag) { + uint8_t dname[11]; + dir_t* p; + + // error if already open + if (isOpen())return false; + + if (!make83Name(fileName, dname)) return false; + vol_ = dirFile->vol_; + dirFile->rewind(); + + // bool for empty entry found + uint8_t emptyFound = false; + + // search for file + while (dirFile->curPosition_ < dirFile->fileSize_) { + uint8_t index = 0XF & (dirFile->curPosition_ >> 5); + p = dirFile->readDirCache(); + if (p == NULL) return false; + + if (p->name[0] == DIR_NAME_FREE || p->name[0] == DIR_NAME_DELETED) { + // remember first empty slot + if (!emptyFound) { + emptyFound = true; + dirIndex_ = index; + dirBlock_ = SdVolume::cacheBlockNumber_; + } + // done if no entries follow + if (p->name[0] == DIR_NAME_FREE) break; + } else if (!memcmp(dname, p->name, 11)) { + // don't open existing file if O_CREAT and O_EXCL + if ((oflag & (O_CREAT | O_EXCL)) == (O_CREAT | O_EXCL)) return false; + + // open found file + return openCachedEntry(0XF & index, oflag); + } + } + // only create file if O_CREAT and O_WRITE + if ((oflag & (O_CREAT | O_WRITE)) != (O_CREAT | O_WRITE)) return false; + + // cache found slot or add cluster if end of file + if (emptyFound) { + p = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!p) return false; + } else { + if (dirFile->type_ == FAT_FILE_TYPE_ROOT16) return false; + + // add and zero cluster for dirFile - first cluster is in cache for write + if (!dirFile->addDirCluster()) return false; + + // use first entry in cluster + dirIndex_ = 0; + p = SdVolume::cacheBuffer_.dir; + } + // initialize as empty file + memset(p, 0, sizeof(dir_t)); + memcpy(p->name, dname, 11); + + // set timestamps + if (dateTime_) { + // call user function + dateTime_(&p->creationDate, &p->creationTime); + } else { + // use default date/time + p->creationDate = FAT_DEFAULT_DATE; + p->creationTime = FAT_DEFAULT_TIME; + } + p->lastAccessDate = p->creationDate; + p->lastWriteDate = p->creationDate; + p->lastWriteTime = p->creationTime; + + // force write of entry to SD + if (!SdVolume::cacheFlush()) return false; + + // open entry in cache + return openCachedEntry(dirIndex_, oflag); +} +//------------------------------------------------------------------------------ +/** + * Open a file by index. + * + * \param[in] dirFile An open SdFat instance for the directory. + * + * \param[in] index The \a index of the directory entry for the file to be + * opened. The value for \a index is (directory file position)/32. + * + * \param[in] oflag Values for \a oflag are constructed by a bitwise-inclusive + * OR of flags O_READ, O_WRITE, O_TRUNC, and O_SYNC. + * + * See open() by fileName for definition of flags and return values. + * + */ +uint8_t SdFile::open(SdFile* dirFile, uint16_t index, uint8_t oflag) { + // error if already open + if (isOpen())return false; + + // don't open existing file if O_CREAT and O_EXCL - user call error + if ((oflag & (O_CREAT | O_EXCL)) == (O_CREAT | O_EXCL)) return false; + + vol_ = dirFile->vol_; + + // seek to location of entry + if (!dirFile->seekSet(32 * index)) return false; + + // read entry into cache + dir_t* p = dirFile->readDirCache(); + if (p == NULL) return false; + + // error if empty slot or '.' or '..' + if (p->name[0] == DIR_NAME_FREE || + p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') { + return false; + } + // open cached entry + return openCachedEntry(index & 0XF, oflag); +} +//------------------------------------------------------------------------------ +// open a cached directory entry. Assumes vol_ is initializes +uint8_t SdFile::openCachedEntry(uint8_t dirIndex, uint8_t oflag) { + // location of entry in cache + dir_t* p = SdVolume::cacheBuffer_.dir + dirIndex; + + // write or truncate is an error for a directory or read-only file + if (p->attributes & (DIR_ATT_READ_ONLY | DIR_ATT_DIRECTORY)) { + if (oflag & (O_WRITE | O_TRUNC)) return false; + } + // remember location of directory entry on SD + dirIndex_ = dirIndex; + dirBlock_ = SdVolume::cacheBlockNumber_; + + // copy first cluster number for directory fields + firstCluster_ = (uint32_t)p->firstClusterHigh << 16; + firstCluster_ |= p->firstClusterLow; + + // make sure it is a normal file or subdirectory + if (DIR_IS_FILE(p)) { + fileSize_ = p->fileSize; + type_ = FAT_FILE_TYPE_NORMAL; + } else if (DIR_IS_SUBDIR(p)) { + if (!vol_->chainSize(firstCluster_, &fileSize_)) return false; + type_ = FAT_FILE_TYPE_SUBDIR; + } else { + return false; + } + // save open flags for read/write + flags_ = oflag & (O_ACCMODE | O_SYNC | O_APPEND); + + // set to start of file + curCluster_ = 0; + curPosition_ = 0; + + // truncate file to zero length if requested + if (oflag & O_TRUNC) return truncate(0); + return true; +} +//------------------------------------------------------------------------------ +/** + * Open a volume's root directory. + * + * \param[in] vol The FAT volume containing the root directory to be opened. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the FAT volume has not been initialized + * or it a FAT12 volume. + */ +uint8_t SdFile::openRoot(SdVolume* vol) { + // error if file is already open + if (isOpen()) return false; + + if (vol->fatType() == 16) { + type_ = FAT_FILE_TYPE_ROOT16; + firstCluster_ = 0; + fileSize_ = 32 * vol->rootDirEntryCount(); + } else if (vol->fatType() == 32) { + type_ = FAT_FILE_TYPE_ROOT32; + firstCluster_ = vol->rootDirStart(); + if (!vol->chainSize(firstCluster_, &fileSize_)) return false; + } else { + // volume is not initialized or FAT12 + return false; + } + vol_ = vol; + // read only + flags_ = O_READ; + + // set to start of file + curCluster_ = 0; + curPosition_ = 0; + + // root has no directory entry + dirBlock_ = 0; + dirIndex_ = 0; + return true; +} +//------------------------------------------------------------------------------ +/** %Print the name field of a directory entry in 8.3 format to Serial. + * + * \param[in] dir The directory structure containing the name. + * \param[in] width Blank fill name if length is less than \a width. + */ +void SdFile::printDirName(const dir_t& dir, uint8_t width) { + uint8_t w = 0; + for (uint8_t i = 0; i < 11; i++) { + if (dir.name[i] == ' ')continue; + if (i == 8) { + Serial.print('.'); + w++; + } + Serial.print(dir.name[i]); + w++; + } + if (DIR_IS_SUBDIR(&dir)) { + Serial.print('/'); + w++; + } + while (w < width) { + Serial.print(' '); + w++; + } +} +//------------------------------------------------------------------------------ +/** %Print a directory date field to Serial. + * + * Format is yyyy-mm-dd. + * + * \param[in] fatDate The date field from a directory entry. + */ +void SdFile::printFatDate(uint16_t fatDate) { + Serial.print(FAT_YEAR(fatDate)); + Serial.print('-'); + printTwoDigits(FAT_MONTH(fatDate)); + Serial.print('-'); + printTwoDigits(FAT_DAY(fatDate)); +} +//------------------------------------------------------------------------------ +/** %Print a directory time field to Serial. + * + * Format is hh:mm:ss. + * + * \param[in] fatTime The time field from a directory entry. + */ +void SdFile::printFatTime(uint16_t fatTime) { + printTwoDigits(FAT_HOUR(fatTime)); + Serial.print(':'); + printTwoDigits(FAT_MINUTE(fatTime)); + Serial.print(':'); + printTwoDigits(FAT_SECOND(fatTime)); +} +//------------------------------------------------------------------------------ +/** %Print a value as two digits to Serial. + * + * \param[in] v Value to be printed, 0 <= \a v <= 99 + */ +void SdFile::printTwoDigits(uint8_t v) { + char str[3]; + str[0] = '0' + v/10; + str[1] = '0' + v % 10; + str[2] = 0; + Serial.print(str); +} +//------------------------------------------------------------------------------ +/** + * Read data from a file starting at the current position. + * + * \param[out] buf Pointer to the location that will receive the data. + * + * \param[in] nbyte Maximum number of bytes to read. + * + * \return For success read() returns the number of bytes read. + * A value less than \a nbyte, including zero, will be returned + * if end of file is reached. + * If an error occurs, read() returns -1. Possible errors include + * read() called before a file has been opened, corrupt file system + * or an I/O error occurred. + */ +int16_t SdFile::read(void* buf, uint16_t nbyte) { + uint8_t* dst = reinterpret_cast(buf); + + // error if not open or write only + if (!isOpen() || !(flags_ & O_READ)) return -1; + + // max bytes left in file + if (nbyte > (fileSize_ - curPosition_)) nbyte = fileSize_ - curPosition_; + + // amount left to read + uint16_t toRead = nbyte; + while (toRead > 0) { + uint32_t block; // raw device block number + uint16_t offset = curPosition_ & 0X1FF; // offset in block + if (type_ == FAT_FILE_TYPE_ROOT16) { + block = vol_->rootDirStart() + (curPosition_ >> 9); + } else { + uint8_t blockOfCluster = vol_->blockOfCluster(curPosition_); + if (offset == 0 && blockOfCluster == 0) { + // start of new cluster + if (curPosition_ == 0) { + // use first cluster in file + curCluster_ = firstCluster_; + } else { + // get next cluster from FAT + if (!vol_->fatGet(curCluster_, &curCluster_)) return -1; + } + } + block = vol_->clusterStartBlock(curCluster_) + blockOfCluster; + } + uint16_t n = toRead; + + // amount to be read from current block + if (n > (512 - offset)) n = 512 - offset; + + // no buffering needed if n == 512 or user requests no buffering + if ((unbufferedRead() || n == 512) && + block != SdVolume::cacheBlockNumber_) { + if (!vol_->readData(block, offset, n, dst)) return -1; + dst += n; + } else { + // read block to cache and copy data to caller + if (!SdVolume::cacheRawBlock(block, SdVolume::CACHE_FOR_READ)) return -1; + uint8_t* src = SdVolume::cacheBuffer_.data + offset; + uint8_t* end = src + n; + while (src != end) *dst++ = *src++; + } + curPosition_ += n; + toRead -= n; + } + return nbyte; +} +//------------------------------------------------------------------------------ +/** + * Read the next directory entry from a directory file. + * + * \param[out] dir The dir_t struct that will receive the data. + * + * \return For success readDir() returns the number of bytes read. + * A value of zero will be returned if end of file is reached. + * If an error occurs, readDir() returns -1. Possible errors include + * readDir() called before a directory has been opened, this is not + * a directory file or an I/O error occurred. + */ +int8_t SdFile::readDir(dir_t* dir) { + int8_t n; + // if not a directory file or miss-positioned return an error + if (!isDir() || (0X1F & curPosition_)) return -1; + + while ((n = read(dir, sizeof(dir_t))) == sizeof(dir_t)) { + // last entry if DIR_NAME_FREE + if (dir->name[0] == DIR_NAME_FREE) break; + // skip empty entries and entry for . and .. + if (dir->name[0] == DIR_NAME_DELETED || dir->name[0] == '.') continue; + // return if normal file or subdirectory + if (DIR_IS_FILE_OR_SUBDIR(dir)) return n; + } + // error, end of file, or past last entry + return n < 0 ? -1 : 0; +} +//------------------------------------------------------------------------------ +// Read next directory entry into the cache +// Assumes file is correctly positioned +dir_t* SdFile::readDirCache(void) { + // error if not directory + if (!isDir()) return NULL; + + // index of entry in cache + uint8_t i = (curPosition_ >> 5) & 0XF; + + // use read to locate and cache block + if (read() < 0) return NULL; + + // advance to next entry + curPosition_ += 31; + + // return pointer to entry + return (SdVolume::cacheBuffer_.dir + i); +} +//------------------------------------------------------------------------------ +/** + * Remove a file. + * + * The directory entry and all data for the file are deleted. + * + * \note This function should not be used to delete the 8.3 version of a + * file that has a long name. For example if a file has the long name + * "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT". + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the file read-only, is a directory, + * or an I/O error occurred. + */ +uint8_t SdFile::remove(void) { + // free any clusters - will fail if read-only or directory + if (!truncate(0)) return false; + + // cache directory entry + dir_t* d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!d) return false; + + // mark entry deleted + d->name[0] = DIR_NAME_DELETED; + + // set this SdFile closed + type_ = FAT_FILE_TYPE_CLOSED; + + // write entry to SD + return SdVolume::cacheFlush(); +} +//------------------------------------------------------------------------------ +/** + * Remove a file. + * + * The directory entry and all data for the file are deleted. + * + * \param[in] dirFile The directory that contains the file. + * \param[in] fileName The name of the file to be removed. + * + * \note This function should not be used to delete the 8.3 version of a + * file that has a long name. For example if a file has the long name + * "New Text Document.txt" you should not delete the 8.3 name "NEWTEX~1.TXT". + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the file is a directory, is read only, + * \a dirFile is not a directory, \a fileName is not found + * or an I/O error occurred. + */ +uint8_t SdFile::remove(SdFile* dirFile, const char* fileName) { + SdFile file; + if (!file.open(dirFile, fileName, O_WRITE)) return false; + return file.remove(); +} +//------------------------------------------------------------------------------ +/** Remove a directory file. + * + * The directory file will be removed only if it is empty and is not the + * root directory. rmDir() follows DOS and Windows and ignores the + * read-only attribute for the directory. + * + * \note This function should not be used to delete the 8.3 version of a + * directory that has a long name. For example if a directory has the + * long name "New folder" you should not delete the 8.3 name "NEWFOL~1". + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include the file is not a directory, is the root + * directory, is not empty, or an I/O error occurred. + */ +uint8_t SdFile::rmDir(void) { + // must be open subdirectory + if (!isSubDir()) return false; + + rewind(); + + // make sure directory is empty + while (curPosition_ < fileSize_) { + dir_t* p = readDirCache(); + if (p == NULL) return false; + // done if past last used entry + if (p->name[0] == DIR_NAME_FREE) break; + // skip empty slot or '.' or '..' + if (p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') continue; + // error not empty + if (DIR_IS_FILE_OR_SUBDIR(p)) return false; + } + // convert empty directory to normal file for remove + type_ = FAT_FILE_TYPE_NORMAL; + flags_ |= O_WRITE; + return remove(); +} +//------------------------------------------------------------------------------ +/** Recursively delete a directory and all contained files. + * + * This is like the Unix/Linux 'rm -rf *' if called with the root directory + * hence the name. + * + * Warning - This will remove all contents of the directory including + * subdirectories. The directory will then be removed if it is not root. + * The read-only attribute for files will be ignored. + * + * \note This function should not be used to delete the 8.3 version of + * a directory that has a long name. See remove() and rmDir(). + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t SdFile::rmRfStar(void) { + rewind(); + while (curPosition_ < fileSize_) { + SdFile f; + + // remember position + uint16_t index = curPosition_/32; + + dir_t* p = readDirCache(); + if (!p) return false; + + // done if past last entry + if (p->name[0] == DIR_NAME_FREE) break; + + // skip empty slot or '.' or '..' + if (p->name[0] == DIR_NAME_DELETED || p->name[0] == '.') continue; + + // skip if part of long file name or volume label in root + if (!DIR_IS_FILE_OR_SUBDIR(p)) continue; + + if (!f.open(this, index, O_READ)) return false; + if (f.isSubDir()) { + // recursively delete + if (!f.rmRfStar()) return false; + } else { + // ignore read-only + f.flags_ |= O_WRITE; + if (!f.remove()) return false; + } + // position to next entry if required + if (curPosition_ != (32*(index + 1))) { + if (!seekSet(32*(index + 1))) return false; + } + } + // don't try to delete root + if (isRoot()) return true; + return rmDir(); +} +//------------------------------------------------------------------------------ +/** + * Sets a file's position. + * + * \param[in] pos The new position in bytes from the beginning of the file. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t SdFile::seekSet(uint32_t pos) { + // error if file not open or seek past end of file + if (!isOpen() || pos > fileSize_) return false; + + if (type_ == FAT_FILE_TYPE_ROOT16) { + curPosition_ = pos; + return true; + } + if (pos == 0) { + // set position to start of file + curCluster_ = 0; + curPosition_ = 0; + return true; + } + // calculate cluster index for cur and new position + uint32_t nCur = (curPosition_ - 1) >> (vol_->clusterSizeShift_ + 9); + uint32_t nNew = (pos - 1) >> (vol_->clusterSizeShift_ + 9); + + if (nNew < nCur || curPosition_ == 0) { + // must follow chain from first cluster + curCluster_ = firstCluster_; + } else { + // advance from curPosition + nNew -= nCur; + } + while (nNew--) { + if (!vol_->fatGet(curCluster_, &curCluster_)) return false; + } + curPosition_ = pos; + return true; +} +//------------------------------------------------------------------------------ +/** + * The sync() call causes all modified data and directory fields + * to be written to the storage device. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include a call to sync() before a file has been + * opened or an I/O error. + */ +uint8_t SdFile::sync(void) { + // only allow open files and directories + if (!isOpen()) return false; + + if (flags_ & F_FILE_DIR_DIRTY) { + dir_t* d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!d) return false; + + // do not set filesize for dir files + if (!isDir()) d->fileSize = fileSize_; + + // update first cluster fields + d->firstClusterLow = firstCluster_ & 0XFFFF; + d->firstClusterHigh = firstCluster_ >> 16; + + // set modify time if user supplied a callback date/time function + if (dateTime_) { + dateTime_(&d->lastWriteDate, &d->lastWriteTime); + d->lastAccessDate = d->lastWriteDate; + } + // clear directory dirty + flags_ &= ~F_FILE_DIR_DIRTY; + } + return SdVolume::cacheFlush(); +} +//------------------------------------------------------------------------------ +/** + * Set a file's timestamps in its directory entry. + * + * \param[in] flags Values for \a flags are constructed by a bitwise-inclusive + * OR of flags from the following list + * + * T_ACCESS - Set the file's last access date. + * + * T_CREATE - Set the file's creation date and time. + * + * T_WRITE - Set the file's last write/modification date and time. + * + * \param[in] year Valid range 1980 - 2107 inclusive. + * + * \param[in] month Valid range 1 - 12 inclusive. + * + * \param[in] day Valid range 1 - 31 inclusive. + * + * \param[in] hour Valid range 0 - 23 inclusive. + * + * \param[in] minute Valid range 0 - 59 inclusive. + * + * \param[in] second Valid range 0 - 59 inclusive + * + * \note It is possible to set an invalid date since there is no check for + * the number of days in a month. + * + * \note + * Modify and access timestamps may be overwritten if a date time callback + * function has been set by dateTimeCallback(). + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + */ +uint8_t SdFile::timestamp(uint8_t flags, uint16_t year, uint8_t month, + uint8_t day, uint8_t hour, uint8_t minute, uint8_t second) { + if (!isOpen() + || year < 1980 + || year > 2107 + || month < 1 + || month > 12 + || day < 1 + || day > 31 + || hour > 23 + || minute > 59 + || second > 59) { + return false; + } + dir_t* d = cacheDirEntry(SdVolume::CACHE_FOR_WRITE); + if (!d) return false; + + uint16_t dirDate = FAT_DATE(year, month, day); + uint16_t dirTime = FAT_TIME(hour, minute, second); + if (flags & T_ACCESS) { + d->lastAccessDate = dirDate; + } + if (flags & T_CREATE) { + d->creationDate = dirDate; + d->creationTime = dirTime; + // seems to be units of 1/100 second not 1/10 as Microsoft states + d->creationTimeTenths = second & 1 ? 100 : 0; + } + if (flags & T_WRITE) { + d->lastWriteDate = dirDate; + d->lastWriteTime = dirTime; + } + SdVolume::cacheSetDirty(); + return sync(); +} +//------------------------------------------------------------------------------ +/** + * Truncate a file to a specified length. The current file position + * will be maintained if it is less than or equal to \a length otherwise + * it will be set to end of file. + * + * \param[in] length The desired length for the file. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. + * Reasons for failure include file is read only, file is a directory, + * \a length is greater than the current file size or an I/O error occurs. + */ +uint8_t SdFile::truncate(uint32_t length) { +// error if not a normal file or read-only + if (!isFile() || !(flags_ & O_WRITE)) return false; + + // error if length is greater than current size + if (length > fileSize_) return false; + + // fileSize and length are zero - nothing to do + if (fileSize_ == 0) return true; + + // remember position for seek after truncation + uint32_t newPos = curPosition_ > length ? length : curPosition_; + + // position to last cluster in truncated file + if (!seekSet(length)) return false; + + if (length == 0) { + // free all clusters + if (!vol_->freeChain(firstCluster_)) return false; + firstCluster_ = 0; + } else { + uint32_t toFree; + if (!vol_->fatGet(curCluster_, &toFree)) return false; + + if (!vol_->isEOC(toFree)) { + // free extra clusters + if (!vol_->freeChain(toFree)) return false; + + // current cluster is end of chain + if (!vol_->fatPutEOC(curCluster_)) return false; + } + } + fileSize_ = length; + + // need to update directory entry + flags_ |= F_FILE_DIR_DIRTY; + + if (!sync()) return false; + + // set file to correct position + return seekSet(newPos); +} +//------------------------------------------------------------------------------ +/** + * Write data to an open file. + * + * \note Data is moved to the cache but may not be written to the + * storage device until sync() is called. + * + * \param[in] buf Pointer to the location of the data to be written. + * + * \param[in] nbyte Number of bytes to write. + * + * \return For success write() returns the number of bytes written, always + * \a nbyte. If an error occurs, write() returns -1. Possible errors + * include write() is called before a file has been opened, write is called + * for a read-only file, device is full, a corrupt file system or an I/O error. + * + */ +int16_t SdFile::write(const void* buf, uint16_t nbyte) { + // convert void* to uint8_t* - must be before goto statements + const uint8_t* src = reinterpret_cast(buf); + + // number of bytes left to write - must be before goto statements + uint16_t nToWrite = nbyte; + + // error if not a normal file or is read-only + if (!isFile() || !(flags_ & O_WRITE)) goto writeErrorReturn; + + // seek to end of file if append flag + if ((flags_ & O_APPEND) && curPosition_ != fileSize_) { + if (!seekEnd()) goto writeErrorReturn; + } + + while (nToWrite > 0) { + uint8_t blockOfCluster = vol_->blockOfCluster(curPosition_); + uint16_t blockOffset = curPosition_ & 0X1FF; + if (blockOfCluster == 0 && blockOffset == 0) { + // start of new cluster + if (curCluster_ == 0) { + if (firstCluster_ == 0) { + // allocate first cluster of file + if (!addCluster()) goto writeErrorReturn; + } else { + curCluster_ = firstCluster_; + } + } else { + uint32_t next; + if (!vol_->fatGet(curCluster_, &next)) return false; + if (vol_->isEOC(next)) { + // add cluster if at end of chain + if (!addCluster()) goto writeErrorReturn; + } else { + curCluster_ = next; + } + } + } + // max space in block + uint16_t n = 512 - blockOffset; + + // lesser of space and amount to write + if (n > nToWrite) n = nToWrite; + + // block for data write + uint32_t block = vol_->clusterStartBlock(curCluster_) + blockOfCluster; + if (n == 512) { + // full block - don't need to use cache + // invalidate cache if block is in cache + if (SdVolume::cacheBlockNumber_ == block) { + SdVolume::cacheBlockNumber_ = 0XFFFFFFFF; + } + if (!vol_->writeBlock(block, src)) goto writeErrorReturn; + src += 512; + } else { + if (blockOffset == 0 && curPosition_ >= fileSize_) { + // start of new block don't need to read into cache + if (!SdVolume::cacheFlush()) goto writeErrorReturn; + SdVolume::cacheBlockNumber_ = block; + SdVolume::cacheSetDirty(); + } else { + // rewrite part of block + if (!SdVolume::cacheRawBlock(block, SdVolume::CACHE_FOR_WRITE)) { + goto writeErrorReturn; + } + } + uint8_t* dst = SdVolume::cacheBuffer_.data + blockOffset; + uint8_t* end = dst + n; + while (dst != end) *dst++ = *src++; + } + nToWrite -= n; + curPosition_ += n; + } + if (curPosition_ > fileSize_) { + // update fileSize and insure sync will update dir entry + fileSize_ = curPosition_; + flags_ |= F_FILE_DIR_DIRTY; + } else if (dateTime_ && nbyte) { + // insure sync will update modified date and time + flags_ |= F_FILE_DIR_DIRTY; + } + + if (flags_ & O_SYNC) { + if (!sync()) goto writeErrorReturn; + } + return nbyte; + + writeErrorReturn: + // return for write error + writeError = true; + return -1; +} +//------------------------------------------------------------------------------ +/** + * Write a byte to a file. Required by the Arduino Print class. + * + * Use SdFile::writeError to check for errors. + */ +void SdFile::write(uint8_t b) { + write(&b, 1); +} +//------------------------------------------------------------------------------ +/** + * Write a string to a file. Used by the Arduino Print class. + * + * Use SdFile::writeError to check for errors. + */ +void SdFile::write(const char* str) { + write(str, strlen(str)); +} +//------------------------------------------------------------------------------ +/** + * Write a PROGMEM string to a file. + * + * Use SdFile::writeError to check for errors. + */ +void SdFile::write_P(PGM_P str) { + for (uint8_t c; (c = pgm_read_byte(str)); str++) write(c); +} +//------------------------------------------------------------------------------ +/** + * Write a PROGMEM string followed by CR/LF to a file. + * + * Use SdFile::writeError to check for errors. + */ +void SdFile::writeln_P(PGM_P str) { + write_P(str); + println(); +} diff --git a/Sprinter/SdInfo.h b/Sprinter/SdInfo.h new file mode 100644 index 0000000..acde74d --- /dev/null +++ b/Sprinter/SdInfo.h @@ -0,0 +1,232 @@ +/* Arduino Sd2Card Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino Sd2Card Library + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the Arduino Sd2Card Library. If not, see + * . + */ +#ifndef SdInfo_h +#define SdInfo_h +#include +// Based on the document: +// +// SD Specifications +// Part 1 +// Physical Layer +// Simplified Specification +// Version 2.00 +// September 25, 2006 +// +// www.sdcard.org/developers/tech/sdcard/pls/Simplified_Physical_Layer_Spec.pdf +//------------------------------------------------------------------------------ +// SD card commands +/** GO_IDLE_STATE - init card in spi mode if CS low */ +uint8_t const CMD0 = 0X00; +/** SEND_IF_COND - verify SD Memory Card interface operating condition.*/ +uint8_t const CMD8 = 0X08; +/** SEND_CSD - read the Card Specific Data (CSD register) */ +uint8_t const CMD9 = 0X09; +/** SEND_CID - read the card identification information (CID register) */ +uint8_t const CMD10 = 0X0A; +/** SEND_STATUS - read the card status register */ +uint8_t const CMD13 = 0X0D; +/** READ_BLOCK - read a single data block from the card */ +uint8_t const CMD17 = 0X11; +/** WRITE_BLOCK - write a single data block to the card */ +uint8_t const CMD24 = 0X18; +/** WRITE_MULTIPLE_BLOCK - write blocks of data until a STOP_TRANSMISSION */ +uint8_t const CMD25 = 0X19; +/** ERASE_WR_BLK_START - sets the address of the first block to be erased */ +uint8_t const CMD32 = 0X20; +/** ERASE_WR_BLK_END - sets the address of the last block of the continuous + range to be erased*/ +uint8_t const CMD33 = 0X21; +/** ERASE - erase all previously selected blocks */ +uint8_t const CMD38 = 0X26; +/** APP_CMD - escape for application specific command */ +uint8_t const CMD55 = 0X37; +/** READ_OCR - read the OCR register of a card */ +uint8_t const CMD58 = 0X3A; +/** SET_WR_BLK_ERASE_COUNT - Set the number of write blocks to be + pre-erased before writing */ +uint8_t const ACMD23 = 0X17; +/** SD_SEND_OP_COMD - Sends host capacity support information and + activates the card's initialization process */ +uint8_t const ACMD41 = 0X29; +//------------------------------------------------------------------------------ +/** status for card in the ready state */ +uint8_t const R1_READY_STATE = 0X00; +/** status for card in the idle state */ +uint8_t const R1_IDLE_STATE = 0X01; +/** status bit for illegal command */ +uint8_t const R1_ILLEGAL_COMMAND = 0X04; +/** start data token for read or write single block*/ +uint8_t const DATA_START_BLOCK = 0XFE; +/** stop token for write multiple blocks*/ +uint8_t const STOP_TRAN_TOKEN = 0XFD; +/** start data token for write multiple blocks*/ +uint8_t const WRITE_MULTIPLE_TOKEN = 0XFC; +/** mask for data response tokens after a write block operation */ +uint8_t const DATA_RES_MASK = 0X1F; +/** write data accepted token */ +uint8_t const DATA_RES_ACCEPTED = 0X05; +//------------------------------------------------------------------------------ +typedef struct CID { + // byte 0 + uint8_t mid; // Manufacturer ID + // byte 1-2 + char oid[2]; // OEM/Application ID + // byte 3-7 + char pnm[5]; // Product name + // byte 8 + unsigned prv_m : 4; // Product revision n.m + unsigned prv_n : 4; + // byte 9-12 + uint32_t psn; // Product serial number + // byte 13 + unsigned mdt_year_high : 4; // Manufacturing date + unsigned reserved : 4; + // byte 14 + unsigned mdt_month : 4; + unsigned mdt_year_low :4; + // byte 15 + unsigned always1 : 1; + unsigned crc : 7; +}cid_t; +//------------------------------------------------------------------------------ +// CSD for version 1.00 cards +typedef struct CSDV1 { + // byte 0 + unsigned reserved1 : 6; + unsigned csd_ver : 2; + // byte 1 + uint8_t taac; + // byte 2 + uint8_t nsac; + // byte 3 + uint8_t tran_speed; + // byte 4 + uint8_t ccc_high; + // byte 5 + unsigned read_bl_len : 4; + unsigned ccc_low : 4; + // byte 6 + unsigned c_size_high : 2; + unsigned reserved2 : 2; + unsigned dsr_imp : 1; + unsigned read_blk_misalign :1; + unsigned write_blk_misalign : 1; + unsigned read_bl_partial : 1; + // byte 7 + uint8_t c_size_mid; + // byte 8 + unsigned vdd_r_curr_max : 3; + unsigned vdd_r_curr_min : 3; + unsigned c_size_low :2; + // byte 9 + unsigned c_size_mult_high : 2; + unsigned vdd_w_cur_max : 3; + unsigned vdd_w_curr_min : 3; + // byte 10 + unsigned sector_size_high : 6; + unsigned erase_blk_en : 1; + unsigned c_size_mult_low : 1; + // byte 11 + unsigned wp_grp_size : 7; + unsigned sector_size_low : 1; + // byte 12 + unsigned write_bl_len_high : 2; + unsigned r2w_factor : 3; + unsigned reserved3 : 2; + unsigned wp_grp_enable : 1; + // byte 13 + unsigned reserved4 : 5; + unsigned write_partial : 1; + unsigned write_bl_len_low : 2; + // byte 14 + unsigned reserved5: 2; + unsigned file_format : 2; + unsigned tmp_write_protect : 1; + unsigned perm_write_protect : 1; + unsigned copy : 1; + unsigned file_format_grp : 1; + // byte 15 + unsigned always1 : 1; + unsigned crc : 7; +}csd1_t; +//------------------------------------------------------------------------------ +// CSD for version 2.00 cards +typedef struct CSDV2 { + // byte 0 + unsigned reserved1 : 6; + unsigned csd_ver : 2; + // byte 1 + uint8_t taac; + // byte 2 + uint8_t nsac; + // byte 3 + uint8_t tran_speed; + // byte 4 + uint8_t ccc_high; + // byte 5 + unsigned read_bl_len : 4; + unsigned ccc_low : 4; + // byte 6 + unsigned reserved2 : 4; + unsigned dsr_imp : 1; + unsigned read_blk_misalign :1; + unsigned write_blk_misalign : 1; + unsigned read_bl_partial : 1; + // byte 7 + unsigned reserved3 : 2; + unsigned c_size_high : 6; + // byte 8 + uint8_t c_size_mid; + // byte 9 + uint8_t c_size_low; + // byte 10 + unsigned sector_size_high : 6; + unsigned erase_blk_en : 1; + unsigned reserved4 : 1; + // byte 11 + unsigned wp_grp_size : 7; + unsigned sector_size_low : 1; + // byte 12 + unsigned write_bl_len_high : 2; + unsigned r2w_factor : 3; + unsigned reserved5 : 2; + unsigned wp_grp_enable : 1; + // byte 13 + unsigned reserved6 : 5; + unsigned write_partial : 1; + unsigned write_bl_len_low : 2; + // byte 14 + unsigned reserved7: 2; + unsigned file_format : 2; + unsigned tmp_write_protect : 1; + unsigned perm_write_protect : 1; + unsigned copy : 1; + unsigned file_format_grp : 1; + // byte 15 + unsigned always1 : 1; + unsigned crc : 7; +}csd2_t; +//------------------------------------------------------------------------------ +// union of old and new style CSD register +union csd_t { + csd1_t v1; + csd2_t v2; +}; +#endif // SdInfo_h diff --git a/Sprinter/SdVolume.cpp b/Sprinter/SdVolume.cpp new file mode 100644 index 0000000..3c1e641 --- /dev/null +++ b/Sprinter/SdVolume.cpp @@ -0,0 +1,295 @@ +/* Arduino SdFat Library + * Copyright (C) 2009 by William Greiman + * + * This file is part of the Arduino SdFat Library + * + * 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 + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This Library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the Arduino SdFat Library. If not, see + * . + */ +#include "SdFat.h" +//------------------------------------------------------------------------------ +// raw block cache +// init cacheBlockNumber_to invalid SD block number +uint32_t SdVolume::cacheBlockNumber_ = 0XFFFFFFFF; +cache_t SdVolume::cacheBuffer_; // 512 byte cache for Sd2Card +Sd2Card* SdVolume::sdCard_; // pointer to SD card object +uint8_t SdVolume::cacheDirty_ = 0; // cacheFlush() will write block if true +uint32_t SdVolume::cacheMirrorBlock_ = 0; // mirror block for second FAT +//------------------------------------------------------------------------------ +// find a contiguous group of clusters +uint8_t SdVolume::allocContiguous(uint32_t count, uint32_t* curCluster) { + // start of group + uint32_t bgnCluster; + + // flag to save place to start next search + uint8_t setStart; + + // set search start cluster + if (*curCluster) { + // try to make file contiguous + bgnCluster = *curCluster + 1; + + // don't save new start location + setStart = false; + } else { + // start at likely place for free cluster + bgnCluster = allocSearchStart_; + + // save next search start if one cluster + setStart = 1 == count; + } + // end of group + uint32_t endCluster = bgnCluster; + + // last cluster of FAT + uint32_t fatEnd = clusterCount_ + 1; + + // search the FAT for free clusters + for (uint32_t n = 0;; n++, endCluster++) { + // can't find space checked all clusters + if (n >= clusterCount_) return false; + + // past end - start from beginning of FAT + if (endCluster > fatEnd) { + bgnCluster = endCluster = 2; + } + uint32_t f; + if (!fatGet(endCluster, &f)) return false; + + if (f != 0) { + // cluster in use try next cluster as bgnCluster + bgnCluster = endCluster + 1; + } else if ((endCluster - bgnCluster + 1) == count) { + // done - found space + break; + } + } + // mark end of chain + if (!fatPutEOC(endCluster)) return false; + + // link clusters + while (endCluster > bgnCluster) { + if (!fatPut(endCluster - 1, endCluster)) return false; + endCluster--; + } + if (*curCluster != 0) { + // connect chains + if (!fatPut(*curCluster, bgnCluster)) return false; + } + // return first cluster number to caller + *curCluster = bgnCluster; + + // remember possible next free cluster + if (setStart) allocSearchStart_ = bgnCluster + 1; + + return true; +} +//------------------------------------------------------------------------------ +uint8_t SdVolume::cacheFlush(void) { + if (cacheDirty_) { + if (!sdCard_->writeBlock(cacheBlockNumber_, cacheBuffer_.data)) { + return false; + } + // mirror FAT tables + if (cacheMirrorBlock_) { + if (!sdCard_->writeBlock(cacheMirrorBlock_, cacheBuffer_.data)) { + return false; + } + cacheMirrorBlock_ = 0; + } + cacheDirty_ = 0; + } + return true; +} +//------------------------------------------------------------------------------ +uint8_t SdVolume::cacheRawBlock(uint32_t blockNumber, uint8_t action) { + if (cacheBlockNumber_ != blockNumber) { + if (!cacheFlush()) return false; + if (!sdCard_->readBlock(blockNumber, cacheBuffer_.data)) return false; + cacheBlockNumber_ = blockNumber; + } + cacheDirty_ |= action; + return true; +} +//------------------------------------------------------------------------------ +// cache a zero block for blockNumber +uint8_t SdVolume::cacheZeroBlock(uint32_t blockNumber) { + if (!cacheFlush()) return false; + + // loop take less flash than memset(cacheBuffer_.data, 0, 512); + for (uint16_t i = 0; i < 512; i++) { + cacheBuffer_.data[i] = 0; + } + cacheBlockNumber_ = blockNumber; + cacheSetDirty(); + return true; +} +//------------------------------------------------------------------------------ +// return the size in bytes of a cluster chain +uint8_t SdVolume::chainSize(uint32_t cluster, uint32_t* size) const { + uint32_t s = 0; + do { + if (!fatGet(cluster, &cluster)) return false; + s += 512UL << clusterSizeShift_; + } while (!isEOC(cluster)); + *size = s; + return true; +} +//------------------------------------------------------------------------------ +// Fetch a FAT entry +uint8_t SdVolume::fatGet(uint32_t cluster, uint32_t* value) const { + if (cluster > (clusterCount_ + 1)) return false; + uint32_t lba = fatStartBlock_; + lba += fatType_ == 16 ? cluster >> 8 : cluster >> 7; + if (lba != cacheBlockNumber_) { + if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false; + } + if (fatType_ == 16) { + *value = cacheBuffer_.fat16[cluster & 0XFF]; + } else { + *value = cacheBuffer_.fat32[cluster & 0X7F] & FAT32MASK; + } + return true; +} +//------------------------------------------------------------------------------ +// Store a FAT entry +uint8_t SdVolume::fatPut(uint32_t cluster, uint32_t value) { + // error if reserved cluster + if (cluster < 2) return false; + + // error if not in FAT + if (cluster > (clusterCount_ + 1)) return false; + + // calculate block address for entry + uint32_t lba = fatStartBlock_; + lba += fatType_ == 16 ? cluster >> 8 : cluster >> 7; + + if (lba != cacheBlockNumber_) { + if (!cacheRawBlock(lba, CACHE_FOR_READ)) return false; + } + // store entry + if (fatType_ == 16) { + cacheBuffer_.fat16[cluster & 0XFF] = value; + } else { + cacheBuffer_.fat32[cluster & 0X7F] = value; + } + cacheSetDirty(); + + // mirror second FAT + if (fatCount_ > 1) cacheMirrorBlock_ = lba + blocksPerFat_; + return true; +} +//------------------------------------------------------------------------------ +// free a cluster chain +uint8_t SdVolume::freeChain(uint32_t cluster) { + // clear free cluster location + allocSearchStart_ = 2; + + do { + uint32_t next; + if (!fatGet(cluster, &next)) return false; + + // free cluster + if (!fatPut(cluster, 0)) return false; + + cluster = next; + } while (!isEOC(cluster)); + + return true; +} +//------------------------------------------------------------------------------ +/** + * Initialize a FAT volume. + * + * \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 + * 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 super floppy with the FAT boot sector in block zero. + * + * \return The value one, true, is returned for success and + * the value zero, false, is returned for failure. Reasons for + * failure include not finding a valid partition, not finding a valid + * FAT file system in the specified partition or an I/O error. + */ +uint8_t SdVolume::init(Sd2Card* dev, uint8_t part) { + uint32_t volumeStartBlock = 0; + sdCard_ = dev; + // if part == 0 assume super floppy with FAT boot sector in block zero + // if part > 0 assume mbr volume with partition table + if (part) { + if (part > 4)return false; + if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false; + part_t* p = &cacheBuffer_.mbr.part[part-1]; + if ((p->boot & 0X7F) !=0 || + p->totalSectors < 100 || + p->firstSector == 0) { + // not a valid partition + return false; + } + volumeStartBlock = p->firstSector; + } + if (!cacheRawBlock(volumeStartBlock, CACHE_FOR_READ)) return false; + bpb_t* bpb = &cacheBuffer_.fbs.bpb; + if (bpb->bytesPerSector != 512 || + bpb->fatCount == 0 || + bpb->reservedSectorCount == 0 || + bpb->sectorsPerCluster == 0) { + // not valid FAT volume + return false; + } + fatCount_ = bpb->fatCount; + blocksPerCluster_ = bpb->sectorsPerCluster; + + // determine shift that is same as multiply by blocksPerCluster_ + clusterSizeShift_ = 0; + while (blocksPerCluster_ != (1 << clusterSizeShift_)) { + // error if not power of 2 + if (clusterSizeShift_++ > 7) return false; + } + blocksPerFat_ = bpb->sectorsPerFat16 ? + bpb->sectorsPerFat16 : bpb->sectorsPerFat32; + + fatStartBlock_ = volumeStartBlock + bpb->reservedSectorCount; + + // count for FAT16 zero for FAT32 + rootDirEntryCount_ = bpb->rootDirEntryCount; + + // directory start for FAT16 dataStart for FAT32 + rootDirStart_ = fatStartBlock_ + bpb->fatCount * blocksPerFat_; + + // data start for FAT16 and FAT32 + dataStartBlock_ = rootDirStart_ + ((32 * bpb->rootDirEntryCount + 511)/512); + + // total blocks for FAT16 or FAT32 + uint32_t totalBlocks = bpb->totalSectors16 ? + bpb->totalSectors16 : bpb->totalSectors32; + // total data blocks + clusterCount_ = totalBlocks - (dataStartBlock_ - volumeStartBlock); + + // divide by cluster size to get cluster count + clusterCount_ >>= clusterSizeShift_; + + // FAT type is determined by cluster count + if (clusterCount_ < 4085) { + fatType_ = 12; + } else if (clusterCount_ < 65525) { + fatType_ = 16; + } else { + rootDirStart_ = bpb->fat32RootCluster; + fatType_ = 32; + } + return true; +} diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h new file mode 100644 index 0000000..4e3c7ea --- /dev/null +++ b/Sprinter/Sprinter.h @@ -0,0 +1,36 @@ +// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. +// Licence: GPL +#include + +void get_command(); +void process_commands(); + +void manage_inactivity(byte debug); + +void manage_heater(); +float temp2analog(int celsius); +float temp2analogBed(int celsius); +float analog2temp(int raw); +float analog2tempBed(int raw); + +void FlushSerialRequestResend(); +void ClearToSend(); + +void get_coordinates(); +void prepare_move(); +void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining); +void disable_x(); +void disable_y(); +void disable_z(); +void disable_e(); +void enable_x(); +void enable_y(); +void enable_z(); +void enable_e(); +void do_x_step(); +void do_y_step(); +void do_z_step(); +void do_e_step(); + +void kill(byte debug); + diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde new file mode 100644 index 0000000..4528324 --- /dev/null +++ b/Sprinter/Sprinter.pde @@ -0,0 +1,1548 @@ +// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. +// Licence: GPL + +#include "Tonokip_Firmware.h" +#include "configuration.h" +#include "pins.h" + +#ifdef SDSUPPORT +#include "SdFat.h" +#endif + +// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html +// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes + +//Implemented Codes +//------------------- +// G0 -> G1 +// G1 - Coordinated Movement X Y Z E +// G4 - Dwell S or P +// G28 - Home all Axis +// G90 - Use Absolute Coordinates +// G91 - Use Relative Coordinates +// G92 - Set current position to cordinates given + +//RepRap M Codes +// M104 - Set extruder target temp +// M105 - Read current temp +// M106 - Fan on +// M107 - Fan off +// M109 - Wait for extruder current temp to reach target temp. +// M114 - Display current position + +//Custom M Codes +// M80 - Turn on Power Supply +// M20 - List SD card +// M21 - Init SD card +// M22 - Release SD card +// M23 - Select SD file (M23 filename.g) +// M24 - Start/resume SD print +// M25 - Pause SD print +// M26 - Set SD position in bytes (M26 S12345) +// M27 - Report SD print status +// M28 - Start SD write (M28 filename.g) +// M29 - Stop SD write +// M81 - Turn off Power Supply +// M82 - Set E codes absolute (default) +// M83 - Set E codes relative while in Absolute Coordinates (G90) mode +// M84 - Disable steppers until next move, +// or use S to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout. +// M85 - Set inactivity shutdown timer with parameter S. To disable set zero (default) +// M92 - Set axis_steps_per_unit - same syntax as G92 +// M115 - Capabilities string +// M140 - Set bed target temp +// M190 - Wait for bed current temp to reach target temp. +// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000) +// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) + + +//Stepper Movement Variables +char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; +bool move_direction[NUM_AXIS]; +const int STEP_PIN[NUM_AXIS] = {X_STEP_PIN, Y_STEP_PIN, Z_STEP_PIN, E_STEP_PIN}; +unsigned long axis_previous_micros[NUM_AXIS]; +unsigned long previous_micros = 0, previous_millis_heater, previous_millis_bed_heater; +unsigned long move_steps_to_take[NUM_AXIS]; +#ifdef RAMP_ACCELERATION + unsigned long axis_max_interval[] = {100000000.0 / (max_start_speed_units_per_second[0] * axis_steps_per_unit[0]), + 100000000.0 / (max_start_speed_units_per_second[1] * axis_steps_per_unit[1]), + 100000000.0 / (max_start_speed_units_per_second[2] * axis_steps_per_unit[2]), + 100000000.0 / (max_start_speed_units_per_second[3] * axis_steps_per_unit[3])}; //TODO: refactor all things like this in a function, or move to setup() + // in a for loop + unsigned long max_interval; + unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0], + max_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2], + max_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]}; + unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0], + max_travel_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_travel_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2], + max_travel_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]}; + unsigned long steps_per_sqr_second, plateau_steps; +#endif +boolean acceleration_enabled = false, accelerating = false; +unsigned long interval; +float destination[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0}; +float current_position[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0}; +long axis_interval[NUM_AXIS]; // for speed delay +bool home_all_axis = true; +float feedrate = 1500, next_feedrate, saved_feedrate; +float time_for_move; +long gcode_N, gcode_LastN; +bool relative_mode = false; //Determines Absolute or Relative Coordinates +bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode. +long timediff = 0; +//experimental feedrate calc +float d = 0; +float axis_diff[NUM_AXIS] = {0, 0, 0, 0}; +#ifdef STEP_DELAY_RATIO + long long_step_delay_ratio = STEP_DELAY_RATIO * 100; +#endif + + +// comm variables +#define MAX_CMD_SIZE 96 +#define BUFSIZE 8 +char cmdbuffer[BUFSIZE][MAX_CMD_SIZE]; +bool fromsd[BUFSIZE]; +int bufindr = 0; +int bufindw = 0; +int buflen = 0; +int i = 0; +char serial_char; +int serial_count = 0; +boolean comment_mode = false; +char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc + +// Manage heater variables. For a thermistor or AD595 thermocouple, raw values refer to the +// reading from the analog pin. For a MAX6675 thermocouple, the raw value is the temperature in 0.25 +// degree increments (i.e. 100=25 deg). + +int target_raw = 0; +int current_raw = 0; +int target_bed_raw = 0; +int current_bed_raw = 0; +float tt = 0, bt = 0; +#ifdef PIDTEMP + int temp_iState = 0; + int temp_dState = 0; + int pTerm; + int iTerm; + int dTerm; + //int output; + int error; + int temp_iState_min = 100 * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; + int temp_iState_max = 100 * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; +#endif +#ifdef SMOOTHING + uint32_t nma = SMOOTHFACTOR * analogRead(TEMP_0_PIN); +#endif +#ifdef WATCHPERIOD + int watch_raw = -1000; + unsigned long watchmillis = 0; +#endif +#ifdef MINTEMP + int minttemp = temp2analog(MINTEMP); +#endif +#ifdef MAXTEMP +int maxttemp = temp2analog(MAXTEMP); +#endif + +//Inactivity shutdown variables +unsigned long previous_millis_cmd = 0; +unsigned long max_inactive_time = 0; +unsigned long stepper_inactive_time = 0; + +#ifdef SDSUPPORT + Sd2Card card; + SdVolume volume; + SdFile root; + SdFile file; + uint32_t filesize = 0; + uint32_t sdpos = 0; + bool sdmode = false; + bool sdactive = false; + bool savetosd = false; + int16_t n; + + void initsd(){ + sdactive = false; + #if SDSS >- 1 + if(root.isOpen()) + root.close(); + if (!card.init(SPI_FULL_SPEED,SDSS)){ + //if (!card.init(SPI_HALF_SPEED,SDSS)) + Serial.println("SD init fail"); + } + else if (!volume.init(&card)) + Serial.println("volume.init failed"); + else if (!root.openRoot(&volume)) + Serial.println("openRoot failed"); + else + sdactive = true; + #endif + } + + inline void write_command(char *buf){ + char* begin = buf; + char* npos = 0; + char* end = buf + strlen(buf) - 1; + + file.writeError = false; + if((npos = strchr(buf, 'N')) != NULL){ + begin = strchr(npos, ' ') + 1; + end = strchr(npos, '*') - 1; + } + end[1] = '\r'; + end[2] = '\n'; + end[3] = '\0'; + //Serial.println(begin); + file.write(begin); + if (file.writeError){ + Serial.println("error writing to file"); + } + } +#endif + + +void setup() +{ + Serial.begin(BAUDRATE); + Serial.println("start"); + for(int i = 0; i < BUFSIZE; i++){ + fromsd[i] = false; + } + + //Initialize Step Pins + for(int i=0; i < NUM_AXIS; i++) if(STEP_PIN[i] > -1) pinMode(STEP_PIN[i],OUTPUT); + + //Initialize Dir Pins + if(X_DIR_PIN > -1) pinMode(X_DIR_PIN,OUTPUT); + if(Y_DIR_PIN > -1) pinMode(Y_DIR_PIN,OUTPUT); + if(Z_DIR_PIN > -1) pinMode(Z_DIR_PIN,OUTPUT); + if(E_DIR_PIN > -1) pinMode(E_DIR_PIN,OUTPUT); + + //Steppers default to disabled. + if(X_ENABLE_PIN > -1) if(!X_ENABLE_ON) digitalWrite(X_ENABLE_PIN,HIGH); + if(Y_ENABLE_PIN > -1) if(!Y_ENABLE_ON) digitalWrite(Y_ENABLE_PIN,HIGH); + if(Z_ENABLE_PIN > -1) if(!Z_ENABLE_ON) digitalWrite(Z_ENABLE_PIN,HIGH); + if(E_ENABLE_PIN > -1) if(!E_ENABLE_ON) digitalWrite(E_ENABLE_PIN,HIGH); + + //endstop pullups + #ifdef ENDSTOPPULLUPS + if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);} + if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);} + if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);} + if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);} + if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);} + if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);} + #endif + //Initialize Enable Pins + if(X_ENABLE_PIN > -1) pinMode(X_ENABLE_PIN,OUTPUT); + if(Y_ENABLE_PIN > -1) pinMode(Y_ENABLE_PIN,OUTPUT); + if(Z_ENABLE_PIN > -1) pinMode(Z_ENABLE_PIN,OUTPUT); + if(E_ENABLE_PIN > -1) pinMode(E_ENABLE_PIN,OUTPUT); + + if(HEATER_0_PIN > -1) pinMode(HEATER_0_PIN,OUTPUT); + if(HEATER_1_PIN > -1) pinMode(HEATER_1_PIN,OUTPUT); + +#ifdef HEATER_USES_MAX6675 + digitalWrite(SCK_PIN,0); + pinMode(SCK_PIN,OUTPUT); + + digitalWrite(MOSI_PIN,1); + pinMode(MOSI_PIN,OUTPUT); + + digitalWrite(MISO_PIN,1); + pinMode(MISO_PIN,INPUT); + + digitalWrite(MAX6675_SS,1); + pinMode(MAX6675_SS,OUTPUT); +#endif + +#ifdef SDSUPPORT + + //power to SD reader + #if SDPOWER > -1 + pinMode(SDPOWER,OUTPUT); + digitalWrite(SDPOWER,HIGH); + #endif + initsd(); + +#endif + +} + + +void loop() +{ + if(buflen<3) + get_command(); + + if(buflen){ +#ifdef SDSUPPORT + if(savetosd){ + if(strstr(cmdbuffer[bufindr],"M29") == NULL){ + write_command(cmdbuffer[bufindr]); + Serial.println("ok"); + }else{ + file.sync(); + file.close(); + savetosd = false; + Serial.println("Done saving file."); + } + }else{ + process_commands(); + } +#else + process_commands(); +#endif + buflen = (buflen-1); + bufindr = (bufindr + 1)%BUFSIZE; + } + //check heater every n milliseconds + manage_heater(); + manage_inactivity(1); + } + + +inline void get_command() +{ + while( Serial.available() > 0 && buflen < BUFSIZE) { + serial_char = Serial.read(); + if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) ) + { + if(!serial_count) return; //if empty line + cmdbuffer[bufindw][serial_count] = 0; //terminate string + if(!comment_mode){ + fromsd[bufindw] = false; + if(strstr(cmdbuffer[bufindw], "N") != NULL) + { + strchr_pointer = strchr(cmdbuffer[bufindw], 'N'); + gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10)); + if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) { + Serial.print("Serial Error: Line Number is not Last Line Number+1, Last Line:"); + Serial.println(gcode_LastN); + //Serial.println(gcode_N); + FlushSerialRequestResend(); + serial_count = 0; + return; + } + + if(strstr(cmdbuffer[bufindw], "*") != NULL) + { + byte checksum = 0; + byte count = 0; + while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++]; + strchr_pointer = strchr(cmdbuffer[bufindw], '*'); + + if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) { + Serial.print("Error: checksum mismatch, Last Line:"); + Serial.println(gcode_LastN); + FlushSerialRequestResend(); + serial_count = 0; + return; + } + //if no errors, continue parsing + } + else + { + Serial.print("Error: No Checksum with line number, Last Line:"); + Serial.println(gcode_LastN); + FlushSerialRequestResend(); + serial_count = 0; + return; + } + + gcode_LastN = gcode_N; + //if no errors, continue parsing + } + else // if we don't receive 'N' but still see '*' + { + if((strstr(cmdbuffer[bufindw], "*") != NULL)) + { + Serial.print("Error: No Line Number with checksum, Last Line:"); + Serial.println(gcode_LastN); + serial_count = 0; + return; + } + } + if((strstr(cmdbuffer[bufindw], "G") != NULL)){ + strchr_pointer = strchr(cmdbuffer[bufindw], 'G'); + switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){ + case 0: + case 1: + #ifdef SDSUPPORT + if(savetosd) + break; + #endif + Serial.println("ok"); + break; + default: + break; + } + + } + bufindw = (bufindw + 1)%BUFSIZE; + buflen += 1; + + } + comment_mode = false; //for new command + serial_count = 0; //clear buffer + } + else + { + if(serial_char == ';') comment_mode = true; + if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; + } + } +#ifdef SDSUPPORT +if(!sdmode || serial_count!=0){ + return; +} + while( filesize > sdpos && buflen < BUFSIZE) { + n = file.read(); + serial_char = (char)n; + if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || n == -1) + { + sdpos = file.curPosition(); + if(sdpos >= filesize){ + sdmode = false; + Serial.println("Done printing file"); + } + if(!serial_count) return; //if empty line + cmdbuffer[bufindw][serial_count] = 0; //terminate string + if(!comment_mode){ + fromsd[bufindw] = true; + buflen += 1; + bufindw = (bufindw + 1)%BUFSIZE; + } + comment_mode = false; //for new command + serial_count = 0; //clear buffer + } + else + { + if(serial_char == ';') comment_mode = true; + if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; + } +} +#endif + +} + + +inline float code_value() { return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); } +inline long code_value_long() { return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); } +inline bool code_seen(char code_string[]) { return (strstr(cmdbuffer[bufindr], code_string) != NULL); } //Return True if the string was found + +inline bool code_seen(char code) +{ + strchr_pointer = strchr(cmdbuffer[bufindr], code); + return (strchr_pointer != NULL); //Return True if a character was found +} + +inline void process_commands() +{ + unsigned long codenum; //throw away variable + char *starpos = NULL; + + if(code_seen('G')) + { + switch((int)code_value()) + { + case 0: // G0 -> G1 + case 1: // G1 + #ifdef DISABLE_CHECK_DURING_ACC || DISABLE_CHECK_DURING_MOVE || DISABLE_CHECK_DURING_TRAVEL + manage_heater(); + #endif + get_coordinates(); // For X Y Z E F + prepare_move(); + previous_millis_cmd = millis(); + //ClearToSend(); + return; + //break; + case 4: // G4 dwell + codenum = 0; + if(code_seen('P')) codenum = code_value(); // milliseconds to wait + if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait + codenum += millis(); // keep track of when we started waiting + while(millis() < codenum ){ + manage_heater(); + } + break; + case 28: //G28 Home all Axis one at a time + saved_feedrate = feedrate; + for(int i=0; i < NUM_AXIS; i++) { + destination[i] = 0; + current_position[i] = 0; + } + feedrate = 0; + + home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); + + if((home_all_axis) || (code_seen('X'))) { + if((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) { + current_position[0] = 0; + destination[0] = 1.5 * X_MAX_LENGTH * X_HOME_DIR; + feedrate = max_start_speed_units_per_second[0] * 60; + prepare_move(); + + current_position[0] = 0; + destination[0] = -1 * X_HOME_DIR; + prepare_move(); + + destination[0] = 10 * X_HOME_DIR; + prepare_move(); + + current_position[0] = 0; + destination[0] = 0; + feedrate = 0; + } + } + + if((home_all_axis) || (code_seen('X'))) { + if((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) { + current_position[1] = 0; + destination[1] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR; + feedrate = max_start_speed_units_per_second[1] * 60; + prepare_move(); + + current_position[1] = 0; + destination[1] = -1 * Y_HOME_DIR; + prepare_move(); + + destination[1] = 10 * Y_HOME_DIR; + prepare_move(); + + current_position[1] = 0; + destination[1] = 0; + feedrate = 0; + } + } + + if((home_all_axis) || (code_seen('X'))) { + if((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) { + current_position[2] = 0; + destination[2] = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR; + feedrate = max_feedrate[2]/2; + prepare_move(); + + current_position[2] = 0; + destination[2] = -1 * Z_HOME_DIR; + prepare_move(); + + destination[2] = 10 * Z_HOME_DIR; + prepare_move(); + + current_position[2] = 0; + destination[2] = 0; + feedrate = 0; + } + } + + feedrate = saved_feedrate; + previous_millis_cmd = millis(); + break; + case 90: // G90 + relative_mode = false; + break; + case 91: // G91 + relative_mode = true; + break; + case 92: // G92 + for(int i=0; i < NUM_AXIS; i++) { + if(code_seen(axis_codes[i])) current_position[i] = code_value(); + } + break; + + } + } + + else if(code_seen('M')) + { + + switch( (int)code_value() ) + { +#ifdef SDSUPPORT + + case 20: // M20 - list SD card + Serial.println("Begin file list"); + root.ls(); + Serial.println("End file list"); + break; + case 21: // M21 - init SD card + sdmode = false; + initsd(); + break; + case 22: //M22 - release SD card + sdmode = false; + sdactive = false; + break; + case 23: //M23 - Select file + if(sdactive){ + sdmode = false; + file.close(); + starpos = (strchr(strchr_pointer + 4,'*')); + if(starpos!=NULL) + *(starpos-1)='\0'; + if (file.open(&root, strchr_pointer + 4, O_READ)) { + Serial.print("File opened:"); + Serial.print(strchr_pointer + 4); + Serial.print(" Size:"); + Serial.println(file.fileSize()); + sdpos = 0; + filesize = file.fileSize(); + Serial.println("File selected"); + } + else{ + Serial.println("file.open failed"); + } + } + break; + case 24: //M24 - Start SD print + if(sdactive){ + sdmode = true; + } + break; + case 25: //M25 - Pause SD print + if(sdmode){ + sdmode = false; + } + break; + case 26: //M26 - Set SD index + if(sdactive && code_seen('S')){ + sdpos = code_value_long(); + file.seekSet(sdpos); + } + break; + case 27: //M27 - Get SD status + if(sdactive){ + Serial.print("SD printing byte "); + Serial.print(sdpos); + Serial.print("/"); + Serial.println(filesize); + }else{ + Serial.println("Not SD printing"); + } + break; + case 28: //M28 - Start SD write + if(sdactive){ + char* npos = 0; + file.close(); + sdmode = false; + starpos = (strchr(strchr_pointer + 4,'*')); + if(starpos != NULL){ + npos = strchr(cmdbuffer[bufindr], 'N'); + strchr_pointer = strchr(npos,' ') + 1; + *(starpos-1) = '\0'; + } + if (!file.open(&root, strchr_pointer+4, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) + { + Serial.print("open failed, File: "); + Serial.print(strchr_pointer + 4); + Serial.print("."); + }else{ + savetosd = true; + Serial.print("Writing to file: "); + Serial.println(strchr_pointer + 4); + } + } + break; + case 29: //M29 - Stop SD write + //processed in write to file routine above + //savetosd = false; + break; +#endif + case 104: // M104 + if (code_seen('S')) target_raw = temp2analog(code_value()); + #ifdef WATCHPERIOD + if(target_raw > current_raw){ + watchmillis = max(1,millis()); + watch_raw = current_raw; + }else{ + watchmillis = 0; + } + #endif + break; + case 140: // M140 set bed temp + if (code_seen('S')) target_bed_raw = temp2analogBed(code_value()); + break; + case 105: // M105 + #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) + tt = analog2temp(current_raw); + #endif + #if TEMP_1_PIN > -1 + bt = analog2tempBed(current_bed_raw); + #endif + #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) + Serial.print("ok T:"); + Serial.print(tt); + #if TEMP_1_PIN > -1 + Serial.print(" B:"); + Serial.println(bt); + #else + Serial.println(); + #endif + #else + Serial.println("No thermistors - no temp"); + #endif + return; + //break; + case 109: // M109 - Wait for extruder heater to reach target. + if (code_seen('S')) target_raw = temp2analog(code_value()); + #ifdef WATCHPERIOD + if(target_raw>current_raw){ + watchmillis = max(1,millis()); + watch_raw = current_raw; + }else{ + watchmillis = 0; + } + #endif + codenum = millis(); + while(current_raw < target_raw) { + if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. + { + Serial.print("T:"); + Serial.println( analog2temp(current_raw) ); + codenum = millis(); + } + manage_heater(); + } + break; + case 190: // M190 - Wait bed for heater to reach target. + #if TEMP_1_PIN > -1 + if (code_seen('S')) target_bed_raw = temp2analog(code_value()); + codenum = millis(); + while(current_bed_raw < target_bed_raw) { + if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. + { + tt=analog2temp(current_raw); + Serial.print("T:"); + Serial.println( tt ); + Serial.print("ok T:"); + Serial.print( tt ); + Serial.print(" B:"); + Serial.println( analog2temp(current_bed_raw) ); + codenum = millis(); + } + manage_heater(); + } + #endif + break; + case 106: //M106 Fan On + if (code_seen('S')){ + digitalWrite(FAN_PIN, HIGH); + analogWrite(FAN_PIN, constrain(code_value(),0,255) ); + } + else + digitalWrite(FAN_PIN, HIGH); + break; + case 107: //M107 Fan Off + analogWrite(FAN_PIN, 0); + + digitalWrite(FAN_PIN, LOW); + break; + case 80: // M81 - ATX Power On + if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,OUTPUT); //GND + break; + case 81: // M81 - ATX Power Off + if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); //Floating + break; + case 82: + axis_relative_modes[3] = false; + break; + case 83: + axis_relative_modes[3] = true; + break; + case 84: + if(code_seen('S')){ stepper_inactive_time = code_value() * 1000; } + else{ disable_x(); disable_y(); disable_z(); disable_e(); } + break; + case 85: // M85 + code_seen('S'); + max_inactive_time = code_value() * 1000; + break; + case 92: // M92 + for(int i=0; i < NUM_AXIS; i++) { + if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value(); + } + + //Update start speed intervals and axis order. TODO: refactor axis_max_interval[] calculation into a function, as it + // should also be used in setup() as well + #ifdef RAMP_ACCELERATION + long temp_max_intervals[NUM_AXIS]; + for(int i=0; i < NUM_AXIS; i++) { + axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);//TODO: do this for + // all steps_per_unit related variables + } + #endif + break; + case 115: // M115 + Serial.println("FIRMWARE_NAME:Sprinter FIRMWARE_URL:http%%3A/github.com/kliment/Sprinter/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1"); + break; + case 114: // M114 + Serial.print("X:"); + Serial.print(current_position[0]); + Serial.print("Y:"); + Serial.print(current_position[1]); + Serial.print("Z:"); + Serial.print(current_position[2]); + Serial.print("E:"); + Serial.println(current_position[3]); + break; + #ifdef RAMP_ACCELERATION + //TODO: update for all axis, use for loop + case 201: // M201 + for(int i=0; i < NUM_AXIS; i++) { + if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; + } + break; + case 202: // M202 + for(int i=0; i < NUM_AXIS; i++) { + if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; + } + break; + #endif + } + + } + else{ + Serial.println("Unknown command:"); + Serial.println(cmdbuffer[bufindr]); + } + + ClearToSend(); + +} + +inline void FlushSerialRequestResend() +{ + //char cmdbuffer[bufindr][100]="Resend:"; + Serial.flush(); + Serial.print("Resend:"); + Serial.println(gcode_LastN + 1); + ClearToSend(); +} + +inline void ClearToSend() +{ + previous_millis_cmd = millis(); + #ifdef SDSUPPORT + if(fromsd[bufindr]) + return; + #endif + Serial.println("ok"); +} + +inline void get_coordinates() +{ + for(int i=0; i < NUM_AXIS; i++) { + if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i]; + else destination[i] = current_position[i]; //Are these else lines really needed? + } + if(code_seen('F')) { + next_feedrate = code_value(); + if(next_feedrate > 0.0) feedrate = next_feedrate; + } +} + +inline void prepare_move() +{ + //Find direction + for(int i=0; i < NUM_AXIS; i++) { + if(destination[i] >= current_position[i]) move_direction[i] = 1; + else move_direction[i] = 0; + } + + + if (min_software_endstops) { + if (destination[0] < 0) destination[0] = 0.0; + if (destination[1] < 0) destination[1] = 0.0; + if (destination[2] < 0) destination[2] = 0.0; + } + + if (max_software_endstops) { + if (destination[0] > X_MAX_LENGTH) destination[0] = X_MAX_LENGTH; + if (destination[1] > Y_MAX_LENGTH) destination[1] = Y_MAX_LENGTH; + if (destination[2] > Z_MAX_LENGTH) destination[2] = Z_MAX_LENGTH; + } + + for(int i=0; i < NUM_AXIS; i++) { + axis_diff[i] = destination[i] - current_position[i]; + move_steps_to_take[i] = abs(axis_diff[i]) * axis_steps_per_unit[i]; + } + if(feedrate < 10) + feedrate = 10; + + //Feedrate calc based on XYZ travel distance + float xy_d; + if(abs(axis_diff[0]) > 0 || abs(axis_diff[1]) > 0 || abs(axis_diff[2])) { + xy_d = sqrt(axis_diff[0] * axis_diff[0] + axis_diff[1] * axis_diff[1]); + d = sqrt(xy_d * xy_d + axis_diff[2] * axis_diff[2]); + } + else if(abs(axis_diff[3]) > 0) + d = abs(axis_diff[3]); + #ifdef DEBUG_PREPARE_MOVE + else { + log_message("_PREPARE_MOVE - No steps to take!"); + } + #endif + time_for_move = (d / (feedrate / 60000000.0) ); + //Check max feedrate for each axis is not violated, update time_for_move if necessary + for(int i = 0; i < NUM_AXIS; i++) { + if(move_steps_to_take[i] && abs(axis_diff[i]) / (time_for_move / 60000000.0) > max_feedrate[i]) { + time_for_move = time_for_move / max_feedrate[i] * (abs(axis_diff[i]) / (time_for_move / 60000000.0)); + } + } + //Calculate the full speed stepper interval for each axis + for(int i=0; i < NUM_AXIS; i++) { + if(move_steps_to_take[i]) axis_interval[i] = time_for_move / move_steps_to_take[i] * 100; + } + + #ifdef DEBUG_PREPARE_MOVE + log_float("_PREPARE_MOVE - Move distance on the XY plane", xy_d); + log_float("_PREPARE_MOVE - Move distance on the XYZ space", d); + log_float("_PREPARE_MOVE - Commanded feedrate", feedrate); + log_float("_PREPARE_MOVE - Constant full speed move time", time_for_move); + log_float_array("_PREPARE_MOVE - Destination", destination, NUM_AXIS); + log_float_array("_PREPARE_MOVE - Current position", current_position, NUM_AXIS); + log_ulong_array("_PREPARE_MOVE - Steps to take", move_steps_to_take, NUM_AXIS); + log_long_array("_PREPARE_MOVE - Axes full speed intervals", axis_interval, NUM_AXIS); + #endif + + unsigned long move_steps[NUM_AXIS]; + for(int i=0; i < NUM_AXIS; i++) + move_steps[i] = move_steps_to_take[i]; + linear_move(move_steps); // make the move +} + +void linear_move(unsigned long axis_steps_remaining[]) // make linear move with preset speeds and destinations, see G0 and G1 +{ + //Determine direction of movement + if (destination[0] > current_position[0]) digitalWrite(X_DIR_PIN,!INVERT_X_DIR); + else digitalWrite(X_DIR_PIN,INVERT_X_DIR); + if (destination[1] > current_position[1]) digitalWrite(Y_DIR_PIN,!INVERT_Y_DIR); + else digitalWrite(Y_DIR_PIN,INVERT_Y_DIR); + if (destination[2] > current_position[2]) digitalWrite(Z_DIR_PIN,!INVERT_Z_DIR); + else digitalWrite(Z_DIR_PIN,INVERT_Z_DIR); + if (destination[3] > current_position[3]) digitalWrite(E_DIR_PIN,!INVERT_E_DIR); + else digitalWrite(E_DIR_PIN,INVERT_E_DIR); + + if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0; + if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0; + if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0; + if(X_MAX_PIN > -1) if(move_direction[0]) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0; + if(Y_MAX_PIN > -1) if(move_direction[1]) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0; + if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0; + + + //Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration. + // TODO: maybe it's better to refactor into a generic enable(int axis) function, that will probably take more ram, + // but will reduce code size + if(axis_steps_remaining[0]) enable_x(); + if(axis_steps_remaining[1]) enable_y(); + if(axis_steps_remaining[2]) enable_z(); + if(axis_steps_remaining[3]) enable_e(); + + //Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm. + unsigned long delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes + long axis_error[NUM_AXIS]; + unsigned int primary_axis; + if(delta[1] > delta[0] && delta[1] > delta[2] && delta[1] > delta[3]) primary_axis = 1; + else if (delta[0] >= delta[1] && delta[0] > delta[2] && delta[0] > delta[3]) primary_axis = 0; + else if (delta[2] >= delta[0] && delta[2] >= delta[1] && delta[2] > delta[3]) primary_axis = 2; + else primary_axis = 3; + unsigned long steps_remaining = delta[primary_axis]; + unsigned long steps_to_take = steps_remaining; + for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2; + interval = axis_interval[primary_axis]; + bool is_print_move = delta[3] > 0; + #ifdef DEBUG_BRESENHAM + log_int("_BRESENHAM - Primary axis", primary_axis); + log_int("_BRESENHAM - Primary axis full speed interval", interval); + log_ulong_array("_BRESENHAM - Deltas", delta, NUM_AXIS); + log_long_array("_BRESENHAM - Errors", axis_error, NUM_AXIS); + #endif + + //If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it. + #ifdef RAMP_ACCELERATION + long max_speed_steps_per_second; + long min_speed_steps_per_second; + max_interval = axis_max_interval[primary_axis]; + #ifdef DEBUG_RAMP_ACCELERATION + log_ulong_array("_RAMP_ACCELERATION - Teoric step intervals at move start", axis_max_interval, NUM_AXIS); + #endif + unsigned long new_axis_max_intervals[NUM_AXIS]; + max_speed_steps_per_second = 100000000 / interval; + min_speed_steps_per_second = 100000000 / max_interval; //TODO: can this be deleted? + //Calculate start speeds based on moving axes max start speed constraints. + int slowest_start_axis = primary_axis; + unsigned long slowest_start_axis_max_interval = max_interval; + for(int i = 0; i < NUM_AXIS; i++) + if (axis_steps_remaining[i] >0 && i != primary_axis && axis_max_interval[i] * axis_steps_remaining[i] + / axis_steps_remaining[slowest_start_axis] > slowest_start_axis_max_interval) { + slowest_start_axis = i; + slowest_start_axis_max_interval = axis_max_interval[i]; + } + for(int i = 0; i < NUM_AXIS; i++) + if(axis_steps_remaining[i] >0) { + new_axis_max_intervals[i] = slowest_start_axis_max_interval * axis_steps_remaining[slowest_start_axis] / axis_steps_remaining[i]; + if(i == primary_axis) { + max_interval = new_axis_max_intervals[i]; + min_speed_steps_per_second = 100000000 / max_interval; + } + } + //Calculate slowest axis plateau time + float slowest_axis_plateau_time = 0; + for(int i=0; i < NUM_AXIS ; i++) { + if(axis_steps_remaining[i] > 0) { + if(is_print_move && axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time, + (100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_steps_per_sqr_second[i]); + else if(axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time, + (100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_travel_steps_per_sqr_second[i]); + } + } + //Now we can calculate the new primary axis acceleration, so that the slowest axis max acceleration is not violated + steps_per_sqr_second = (100000000.0 / axis_interval[primary_axis] - 100000000.0 / new_axis_max_intervals[primary_axis]) / slowest_axis_plateau_time; + plateau_steps = (long) ((steps_per_sqr_second / 2.0 * slowest_axis_plateau_time + min_speed_steps_per_second) * slowest_axis_plateau_time); + #ifdef DEBUG_RAMP_ACCELERATION + log_int("_RAMP_ACCELERATION - Start speed limiting axis", slowest_start_axis); + log_ulong("_RAMP_ACCELERATION - Limiting axis start interval", slowest_start_axis_max_interval); + log_ulong_array("_RAMP_ACCELERATION - Actual step intervals at move start", new_axis_max_intervals, NUM_AXIS); + #endif + #endif + + unsigned long steps_done = 0; + #ifdef RAMP_ACCELERATION + plateau_steps *= 1.01; // This is to compensate we use discrete intervals + acceleration_enabled = true; + long full_interval = interval; + if(interval > max_interval) acceleration_enabled = false; + boolean decelerating = false; + #endif + + unsigned long start_move_micros = micros(); + for(int i = 0; i < NUM_AXIS; i++) { + axis_previous_micros[i] = start_move_micros * 100; + } + + #ifdef DISABLE_CHECK_DURING_TRAVEL + //If the move time is more than allowed in DISABLE_CHECK_DURING_TRAVEL, let's + // consider this a print move and perform heat management during it + if(time_for_move / 1000 > DISABLE_CHECK_DURING_TRAVEL) is_print_move = true; + //else, if the move is a retract, consider it as a travel move for the sake of this feature + else if(delta[3]>0 && delta[0] + delta[1] + delta[2] == 0) is_print_move = false; + #ifdef DEBUG_DISABLE_CHECK_DURING_TRAVEL + log_bool("_DISABLE_CHECK_DURING_TRAVEL - is_print_move", is_print_move); + #endif + #endif + + #ifdef DEBUG_MOVE_TIME + unsigned long startmove = micros(); + #endif + + //move until no more steps remain + while(axis_steps_remaining[0] + axis_steps_remaining[1] + axis_steps_remaining[2] + axis_steps_remaining[3] > 0) { + #ifdef DISABLE_CHECK_DURING_ACC + if(!accelerating && !decelerating) { + //If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp + #ifdef DISABLE_CHECK_DURING_TRAVEL + if(is_print_move) + #endif + manage_heater(); + } + #else + #ifdef DISABLE_CHECK_DURING_MOVE + {} //Do nothing + #else + //If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp + #ifdef DISABLE_CHECK_DURING_TRAVEL + if(is_print_move) + #endif + manage_heater(); + #endif + #endif + #ifdef RAMP_ACCELERATION + //If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval + if (acceleration_enabled && steps_done == 0) { + interval = max_interval; + } else if (acceleration_enabled && steps_done <= plateau_steps) { + long current_speed = (long) ((((long) steps_per_sqr_second) / 10000) + * ((micros() - start_move_micros) / 100) + (long) min_speed_steps_per_second); + interval = 100000000 / current_speed; + if (interval < full_interval) { + accelerating = false; + interval = full_interval; + } + if (steps_done >= steps_to_take / 2) { + plateau_steps = steps_done; + max_speed_steps_per_second = 100000000 / interval; + accelerating = false; + } + } else if (acceleration_enabled && steps_remaining <= plateau_steps) { //(interval > minInterval * 100) { + if (!accelerating) { + start_move_micros = micros(); + accelerating = true; + decelerating = true; + } + long current_speed = (long) ((long) max_speed_steps_per_second - ((((long) steps_per_sqr_second) / 10000) + * ((micros() - start_move_micros) / 100))); + interval = 100000000 / current_speed; + if (interval > max_interval) + interval = max_interval; + } else { + //Else, we are just use the full speed interval as current interval + interval = full_interval; + accelerating = false; + } + #endif + + //If there are x or y steps remaining, perform Bresenham algorithm + if(axis_steps_remaining[primary_axis]) { + if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break; + if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break; + if(X_MAX_PIN > -1) if(move_direction[0]) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break; + if(Y_MAX_PIN > -1) if(move_direction[1]) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break; + if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break; + if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break; + timediff = micros() * 100 - axis_previous_micros[primary_axis]; + while(timediff >= interval && axis_steps_remaining[primary_axis] > 0) { + steps_done++; + steps_remaining--; + axis_steps_remaining[primary_axis]--; timediff -= interval; + do_step_update_micros(primary_axis); + for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis && axis_steps_remaining[i] > 0) { + axis_error[i] = axis_error[i] - delta[i]; + if(axis_error[i] < 0) { + do_step(i); axis_steps_remaining[i]--; + axis_error[i] = axis_error[i] + delta[primary_axis]; + } + } + #ifdef STEP_DELAY_RATIO + if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000); + #endif + #ifdef STEP_DELAY_MICROS + if(timediff >= interval) delayMicroseconds(STEP_DELAY_MICROS); + #endif + } + } + } + #ifdef DEBUG_MOVE_TIME + log_ulong("_MOVE_TIME - This move took", micros()-startmove); + #endif + + if(DISABLE_X) disable_x(); + if(DISABLE_Y) disable_y(); + if(DISABLE_Z) disable_z(); + if(DISABLE_E) disable_e(); + + // Update current position partly based on direction, we probably can combine this with the direction code above... + for(int i=0; i < NUM_AXIS; i++) { + if (destination[i] > current_position[i]) current_position[i] = current_position[i] + move_steps_to_take[i] / axis_steps_per_unit[i]; + else current_position[i] = current_position[i] - move_steps_to_take[i] / axis_steps_per_unit[i]; + } +} + +inline void do_step_update_micros(int axis) { + digitalWrite(STEP_PIN[axis], HIGH); + axis_previous_micros[axis] += interval; + digitalWrite(STEP_PIN[axis], LOW); +} + +inline void do_step(int axis) { + digitalWrite(STEP_PIN[axis], HIGH); + digitalWrite(STEP_PIN[axis], LOW); +} + +inline void disable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON); } +inline void disable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN,!Y_ENABLE_ON); } +inline void disable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN,!Z_ENABLE_ON); } +inline void disable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN,!E_ENABLE_ON); } +inline void enable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN, X_ENABLE_ON); } +inline void enable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN, Y_ENABLE_ON); } +inline void enable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN, Z_ENABLE_ON); } +inline void enable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN, E_ENABLE_ON); } + +#define HEAT_INTERVAL 250 +#ifdef HEATER_USES_MAX6675 +unsigned long max6675_previous_millis = 0; +int max6675_temp = 2000; + +inline int read_max6675() +{ + if (millis() - max6675_previous_millis < HEAT_INTERVAL) + return max6675_temp; + + max6675_previous_millis = millis(); + + max6675_temp = 0; + + #ifdef PRR + PRR &= ~(1<> 3; + } + + return max6675_temp; +} +#endif + + +inline void manage_heater() +{ + if((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL ) + return; + previous_millis_heater = millis(); + #ifdef HEATER_USES_THERMISTOR + current_raw = analogRead(TEMP_0_PIN); + #ifdef DEBUG_HEAT_MGMT + log_int("_HEAT_MGMT - analogRead(TEMP_0_PIN)", current_raw); + log_int("_HEAT_MGMT - NUMTEMPS", NUMTEMPS); + #endif + // When using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target, + // this switches it up so that the reading appears lower than target for the control logic. + current_raw = 1023 - current_raw; + #elif defined HEATER_USES_AD595 + current_raw = analogRead(TEMP_0_PIN); + #elif defined HEATER_USES_MAX6675 + current_raw = read_max6675(); + #endif + #ifdef SMOOTHING + nma = (nma + current_raw) - (nma / SMOOTHFACTOR); + current_raw = nma / SMOOTHFACTOR; + #endif + #ifdef WATCHPERIOD + if(watchmillis && millis() - watchmillis > WATCHPERIOD){ + if(watch_raw + 1 >= current_raw){ + target_raw = 0; + digitalWrite(HEATER_0_PIN,LOW); + digitalWrite(LED_PIN,LOW); + }else{ + watchmillis = 0; + } + } + #endif + #ifdef MINTEMP + if(current_raw <= minttemp) + target_raw = 0; + #endif + #ifdef MAXTEMP + if(current_raw >= maxttemp) { + target_raw = 0; + } + #endif + #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX66675) + #ifdef PIDTEMP + error = target_raw - current_raw; + pTerm = (PID_PGAIN * error) / 100; + temp_iState += error; + temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); + iTerm = (PID_IGAIN * temp_iState) / 100; + dTerm = (PID_DGAIN * (current_raw - temp_dState)) / 100; + temp_dState = current_raw; + analogWrite(HEATER_0_PIN, constrain(pTerm + iTerm - dTerm, 0, PID_MAX)); + #else + if(current_raw >= target_raw) + { + digitalWrite(HEATER_0_PIN,LOW); + digitalWrite(LED_PIN,LOW); + } + else + { + digitalWrite(HEATER_0_PIN,HIGH); + digitalWrite(LED_PIN,HIGH); + } + #endif + #endif + + if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) + return; + previous_millis_bed_heater = millis(); + + #ifdef BED_USES_THERMISTOR + + current_bed_raw = analogRead(TEMP_1_PIN); + #ifdef DEBUG_HEAT_MGMT + log_int("_HEAT_MGMT - analogRead(TEMP_1_PIN)", current_bed_raw); + log_int("_HEAT_MGMT - BNUMTEMPS", BNUMTEMPS); + #endif + + // If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target, + // this switches it up so that the reading appears lower than target for the control logic. + current_bed_raw = 1023 - current_bed_raw; + #elif defined BED_USES_AD595 + current_bed_raw = analogRead(TEMP_1_PIN); + + #endif + + + #if TEMP_1_PIN > -1 + if(current_bed_raw >= target_bed_raw) + { + digitalWrite(HEATER_1_PIN,LOW); + } + else + { + digitalWrite(HEATER_1_PIN,HIGH); + } + #endif +} + +// Takes hot end temperature value as input and returns corresponding raw value. +// For a thermistor, it uses the RepRap thermistor temp table. +// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value. +// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware. +float temp2analog(int celsius) { + #ifdef HEATER_USES_THERMISTOR + int raw = 0; + byte i; + + for (i=1; i raw) + { + celsius = temptable[i-1][1] + + (raw - temptable[i-1][0]) * + (temptable[i][1] - temptable[i-1][1]) / + (temptable[i][0] - temptable[i-1][0]); + + break; + } + } + + // Overflow: Set to last value in the table + if (i == NUMTEMPS) celsius = temptable[i-1][1]; + + return celsius; + #elif defined HEATER_USES_AD595 + return raw * ((5.0 * 100.0) / 1024.0); + #elif defined HEATER_USES_MAX6675 + return raw * 0.25; + #endif +} + +// Derived from RepRap FiveD extruder::getTemperature() +// For bed temperature measurement. +float analog2tempBed(int raw) { + #ifdef BED_USES_THERMISTOR + int celsius = 0; + byte i; + + raw = 1023 - raw; + + for (i=1; i raw) + { + celsius = bedtemptable[i-1][1] + + (raw - bedtemptable[i-1][0]) * + (bedtemptable[i][1] - bedtemptable[i-1][1]) / + (bedtemptable[i][0] - bedtemptable[i-1][0]); + + break; + } + } + + // Overflow: Set to last value in the table + if (i == NUMTEMPS) celsius = bedtemptable[i-1][1]; + + return celsius; + + #elif defined BED_USES_AD595 + return raw * ((5.0 * 100.0) / 1024.0); + #endif +} + +inline void kill() +{ + #if TEMP_0_PIN > -1 + target_raw=0; + digitalWrite(HEATER_0_PIN,LOW); + #endif + #if TEMP_1_PIN > -1 + target_bed_raw=0; + if(HEATER_1_PIN > -1) digitalWrite(HEATER_1_PIN,LOW); + #endif + disable_x(); + disable_y(); + disable_z(); + disable_e(); + + if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); + +} + +inline void manage_inactivity(byte debug) { +if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill(); +if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); } +} + +#ifdef DEBUG +void log_message(char* message) { + Serial.print("DEBUG"); Serial.println(message); +} + +void log_bool(char* message, bool value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_int(char* message, int value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_long(char* message, long value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_float(char* message, float value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_uint(char* message, unsigned int value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_ulong(char* message, unsigned long value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_int_array(char* message, int value[], int array_lenght) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": {"); + for(int i=0; i < array_lenght; i++){ + Serial.print(value[i]); + if(i != array_lenght-1) Serial.print(", "); + } + Serial.println("}"); +} + +void log_long_array(char* message, long value[], int array_lenght) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": {"); + for(int i=0; i < array_lenght; i++){ + Serial.print(value[i]); + if(i != array_lenght-1) Serial.print(", "); + } + Serial.println("}"); +} + +void log_float_array(char* message, float value[], int array_lenght) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": {"); + for(int i=0; i < array_lenght; i++){ + Serial.print(value[i]); + if(i != array_lenght-1) Serial.print(", "); + } + Serial.println("}"); +} + +void log_uint_array(char* message, unsigned int value[], int array_lenght) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": {"); + for(int i=0; i < array_lenght; i++){ + Serial.print(value[i]); + if(i != array_lenght-1) Serial.print(", "); + } + Serial.println("}"); +} + +void log_ulong_array(char* message, unsigned long value[], int array_lenght) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": {"); + for(int i=0; i < array_lenght; i++){ + Serial.print(value[i]); + if(i != array_lenght-1) Serial.print(", "); + } + Serial.println("}"); +} +#endif diff --git a/Sprinter/ThermistorTable_100k.h b/Sprinter/ThermistorTable_100k.h new file mode 100644 index 0000000..d0698b2 --- /dev/null +++ b/Sprinter/ThermistorTable_100k.h @@ -0,0 +1,85 @@ +#ifndef THERMISTORTABLE_H_ +#define THERMISTORTABLE_H_ + +// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts) +// See this page: +// http://dev.www.reprap.org/bin/view/Main/Thermistor +// for details of what goes in this table. +// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py) +// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023 +// r0: 100000 +// t0: 25 +// r1: 0 +// r2: 4700 +// beta: 4066 +// max adc: 1023 + +#define NUMTEMPS 61 +const short temptable[NUMTEMPS][2] = { +{ 23 , 300 }, +{ 25 , 295 }, +{ 27 , 290 }, +{ 28 , 285 }, +{ 31 , 280 }, +{ 33 , 275 }, +{ 35 , 270 }, +{ 38 , 265 }, +{ 41 , 260 }, +{ 44 , 255 }, +{ 48 , 250 }, +{ 52 , 245 }, +{ 56 , 240 }, +{ 61 , 235 }, +{ 66 , 230 }, +{ 71 , 225 }, +{ 78 , 220 }, +{ 84 , 215 }, +{ 92 , 210 }, +{ 100 , 205 }, +{ 109 , 200 }, +{ 120 , 195 }, +{ 131 , 190 }, +{ 143 , 185 }, +{ 156 , 180 }, +{ 171 , 175 }, +{ 187 , 170 }, +{ 205 , 165 }, +{ 224 , 160 }, +{ 245 , 155 }, +{ 268 , 150 }, +{ 293 , 145 }, +{ 320 , 140 }, +{ 348 , 135 }, +{ 379 , 130 }, +{ 411 , 125 }, +{ 445 , 120 }, +{ 480 , 115 }, +{ 516 , 110 }, +{ 553 , 105 }, +{ 591 , 100 }, +{ 628 , 95 }, +{ 665 , 90 }, +{ 702 , 85 }, +{ 737 , 80 }, +{ 770 , 75 }, +{ 801 , 70 }, +{ 830 , 65 }, +{ 857 , 60 }, +{ 881 , 55 }, +{ 903 , 50 }, +{ 922 , 45 }, +{ 939 , 40 }, +{ 954 , 35 }, +{ 966 , 30 }, +{ 977 , 25 }, +{ 985 , 20 }, +{ 993 , 15 }, +{ 999 , 10 }, +{ 1004 , 5 }, +{ 1008 , 0 }, + +}; + + +#endif + diff --git a/Sprinter/ThermistorTable_200k.h b/Sprinter/ThermistorTable_200k.h new file mode 100644 index 0000000..4142eb2 --- /dev/null +++ b/Sprinter/ThermistorTable_200k.h @@ -0,0 +1,42 @@ +#ifndef THERMISTORTABLE_H_ +#define THERMISTORTABLE_H_ + +// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts) +// See this page: +// http://dev.www.reprap.org/bin/view/Main/Thermistor +// for details of what goes in this table. +// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py) +// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023 +// r0: 100000 +// t0: 25 +// r1: 0 +// r2: 4700 +// beta: 4066 +// max adc: 1023 + +#define NUMTEMPS 20 +const short temptable[NUMTEMPS][2] = { + {1, 848}, + {54, 275}, + {107, 228}, + {160, 202}, + {213, 185}, + {266, 171}, + {319, 160}, + {372, 150}, + {425, 141}, + {478, 133}, + {531, 125}, + {584, 118}, + {637, 110}, + {690, 103}, + {743, 95}, + {796, 86}, + {849, 77}, + {902, 65}, + {955, 49}, + {1008, 17} +}; + + +#endif diff --git a/Sprinter/ThermistorTable_mendelparts.h b/Sprinter/ThermistorTable_mendelparts.h new file mode 100644 index 0000000..9e65b85 --- /dev/null +++ b/Sprinter/ThermistorTable_mendelparts.h @@ -0,0 +1,45 @@ +#ifndef THERMISTORTABLE_H_ +#define THERMISTORTABLE_H_ + +//thermistor table for mendel-parts thermistor +// Standardized R/T characteristic no. 8404 + // RS thermistor 484-0183; EPCOS NTC + // Mendel-Parts thermistor G540 / G550 + // Optimized for 100...300C working range. + // Max range: -20...300C + // Max reading error on Gen 6 electronics: ~+5%, -3% in 100 - 300C range. + +#define NUMTEMPS 28 +const short temptable[NUMTEMPS][2] = { + {1,864}, + {21,300}, + {25,290}, + {29,280}, + {33,270}, + {39,260}, + {46,250}, + {54,240}, + {64,230}, + {75,220}, + {90,210}, + {107,200}, + {128,190}, + {154,180}, + {184,170}, + {221,160}, + {265,150}, + {316,140}, + {375,130}, + {441,120}, + {513,110}, + {588,100}, + {734,80}, + {856,60}, + {938,40}, + {986,20}, + {1008,0}, + {1018,-20} + }; + + +#endif diff --git a/Sprinter/configuration.h b/Sprinter/configuration.h new file mode 100644 index 0000000..0a38a6a --- /dev/null +++ b/Sprinter/configuration.h @@ -0,0 +1,158 @@ +#ifndef PARAMETERS_H +#define PARAMETERS_H + +// NO RS485/EXTRUDER CONTROLLER SUPPORT +// PLEASE VERIFY PIN ASSIGNMENTS FOR YOUR CONFIGURATION!!!!!!! +#define MOTHERBOARD 3 // ATMEGA168 = 0, SANGUINO = 1, MOTHERBOARD = 2, MEGA/RAMPS = 3, ATMEGA328 = 4, Gen6 = 5, Sanguinololu = 6 + +//Comment out to disable SD support +#define SDSUPPORT 1 + +//Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this +// If you enable this, make sure STEP_DELAY_RATIO is disabled. +//#define STEP_DELAY_MICROS 1 + +//Step delay over interval ratio. If you are still experiencing missing steps, try to uncomment the following line, but be aware this +//If you enable this, make sure STEP_DELAY_MICROS is disabled. +//#define STEP_DELAY_RATIO 0.25 + +//Comment this to disable ramp acceleration +#define RAMP_ACCELERATION 1 + +//Acceleration settings +#ifdef RAMP_ACCELERATION +//X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. +float max_start_speed_units_per_second[] = {25.0,25.0,0.2,10.0}; +long max_acceleration_units_per_sq_second[] = {1000,1000,50,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts +long max_travel_acceleration_units_per_sq_second[] = {500,500,50}; // X, Y, Z max acceleration in mm/s^2 for travel moves +#endif + +// AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!! + +//PID settings: +//Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful. +//#define PIDTEMP 1 +#ifdef PIDTEMP +#define PID_MAX 255 // limits current to nozzle +#define PID_INTEGRAL_DRIVE_MAX 220 +#define PID_PGAIN 180 //100 is 1.0 +#define PID_IGAIN 2 //100 is 1.0 +#define PID_DGAIN 100 //100 is 1.0 +#endif + +//How often should the heater check for new temp readings, in milliseconds +#define HEATER_CHECK_INTERVAL 500 +#define BED_CHECK_INTERVAL 5000 +//Comment the following line to enable heat management during acceleration +#define DISABLE_CHECK_DURING_ACC +#ifndef DISABLE_CHECK_DURING_ACC + //Uncomment the following line to disable heat management during the move + //#define DISABLE_CHECK_DURING_MOVE +#endif +//Uncomment the following line to disable heat management during travel moves (and extruder-only moves, eg: retracts), strongly recommended if you are missing steps mid print. +//Probably this should remain commented if are using PID. +//It also defines the max milliseconds interval after which a travel move is not considered so for the sake of this feature. +#define DISABLE_CHECK_DURING_TRAVEL 1000 + +//Experimental temperature smoothing - only uncomment this if your temp readings are noisy +//#define SMOOTHING 1 +//#define SMOOTHFACTOR 16 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm + +//Experimental watchdog and minimal temp +//The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature +//If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109 +//#define WATCHPERIOD 5000 //5 seconds +//The minimal temperature defines the temperature below which the heater will not be enabled +//#define MINTEMP + +//Experimental max temp +//When temperature exceeds max temp, your bot will halt. +//This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure! +//You should use MINTEMP for thermistor short/failure protection. +//#define MAXTEMP 275 + +// Select one of these only to define how the nozzle temp is read. +#define HEATER_USES_THERMISTOR +//#define HEATER_USES_AD595 +//#define HEATER_USES_MAX6675 + +// Select one of these only to define how the bed temp is read. +#define BED_USES_THERMISTOR +//#define BED_USES_AD595 + +// Calibration formulas +// e_extruded_steps_per_mm = e_feedstock_steps_per_mm * (desired_extrusion_diameter^2 / feedstock_diameter^2) +// new_axis_steps_per_mm = previous_axis_steps_per_mm * (test_distance_instructed/test_distance_traveled) +// units are in millimeters or whatever length unit you prefer: inches,football-fields,parsecs etc + +//Calibration variables +const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E +bool axis_relative_modes[] = {false, false, false, false}; +float axis_steps_per_unit[] = {80.376,80.376,3200/1.25,16}; // {X steps per unit, Y steps per unit, Z steps per unit, E steps per unit} +//For SAE Prusa mendeel float z_steps_per_unit = should be 3200/1.411 for 5/16-18 rod and 3200/1.058 for 5/16-24 +//float axis_steps_per_unit[] = {10.047,10.047,833.398,0.706}; +float max_feedrate[] = {200000, 200000, 240, 500000}; //mmm, acceleration! + +//For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 +const bool X_ENABLE_ON = 0; +const bool Y_ENABLE_ON = 0; +const bool Z_ENABLE_ON = 0; +const bool E_ENABLE_ON = 0; + +//Disables axis when it's not being used. +const bool DISABLE_X = false; +const bool DISABLE_Y = false; +const bool DISABLE_Z = true; +const bool DISABLE_E = false; + +const bool INVERT_X_DIR = false; +const bool INVERT_Y_DIR = false; +const bool INVERT_Z_DIR = true; +const bool INVERT_E_DIR = false; + +// Sets direction of endstops when homing; 1=MAX, -1=MIN +const int X_HOME_DIR = -1; +const int Y_HOME_DIR = -1; +const int Z_HOME_DIR = -1; + + +//Thermistor settings: + +//Uncomment for 100k thermistor +//#include "ThermistorTable_100k.h" +//#include "BedThermistorTable_100k.h" + +//Uncomment for 200k thermistor +//#include "ThermistorTable_200k.h" +//#include "BedThermistorTable_200k.h" + +//Identical thermistors on heater and bed - use this if you have no heated bed or if the thermistors are the same on both: +#include "ThermistorTable_200k.h" +//#include "ThermistorTable_100k.h" +//#include "ThermistorTable_mendelparts.h" +#define BNUMTEMPS NUMTEMPS +#define bedtemptable temptable + +//Endstop Settings +#define ENDSTOPPULLUPS 1 +const bool ENDSTOPS_INVERTING = false; +const bool min_software_endstops = false; //If true, axis won't move to coordinates less than zero. +const bool max_software_endstops = true; //If true, axis won't move to coordinates greater than the defined lengths below. +const int X_MAX_LENGTH = 220; +const int Y_MAX_LENGTH = 220; +const int Z_MAX_LENGTH = 100; + +#define BAUDRATE 115200 + +//Uncomment the following line to enable debugging. You can better control debugging below the following line +//#define DEBUG +#ifdef DEBUG + //#define DEBUG_PREPARE_MOVE //Enable this to debug prepare_move() function + //#define DEBUG_BRESENHAM //Enable this to debug the Bresenham algorithm + //#define DEBUG_RAMP_ACCELERATION //Enable this to debug all constant acceleration info + //#define DEBUG_MOVE_TIME //Enable this to time each move and print the result + //#define DEBUG_HEAT_MGMT //Enable this to debug heat management. WARNING, this will cause axes to jitter! + //#define DEBUG_DISABLE_CHECK_DURING_TRAVEL //Debug the namesake feature, see above in this file +#endif + +#endif diff --git a/Sprinter/createTemperatureLookup.py b/Sprinter/createTemperatureLookup.py new file mode 100644 index 0000000..e60a490 --- /dev/null +++ b/Sprinter/createTemperatureLookup.py @@ -0,0 +1,127 @@ +#!/usr/bin/python +# +# Creates a C code lookup table for doing ADC to temperature conversion +# on a microcontroller +# based on: http://hydraraptor.blogspot.com/2007/10/measuring-temperature-easy-way.html +"""Thermistor Value Lookup Table Generator + +Generates lookup to temperature values for use in a microcontroller in C format based on: +http://hydraraptor.blogspot.com/2007/10/measuring-temperature-easy-way.html + +The main use is for Arduino programs that read data from the circuit board described here: +http://make.rrrf.org/ts-1.0 + +Usage: python createTemperatureLookup.py [options] + +Options: + -h, --help show this help + --r0=... thermistor rating where # is the ohm rating of the thermistor at t0 (eg: 10K = 10000) + --t0=... thermistor temp rating where # is the temperature in Celsuis to get r0 (from your datasheet) + --beta=... thermistor beta rating. see http://reprap.org/bin/view/Main/MeasuringThermistorBeta + --r1=... R1 rating where # is the ohm rating of R1 (eg: 10K = 10000) + --r2=... R2 rating where # is the ohm rating of R2 (eg: 10K = 10000) + --num-temps=... the number of temperature points to calculate (default: 20) + --max-adc=... the max ADC reading to use. if you use R1, it limits the top value for the thermistor circuit, and thus the possible range of ADC values +""" + +from math import * +import sys +import getopt + +class Thermistor: + "Class to do the thermistor maths" + def __init__(self, r0, t0, beta, r1, r2): + self.r0 = r0 # stated resistance, e.g. 10K + self.t0 = t0 + 273.15 # temperature at stated resistance, e.g. 25C + self.beta = beta # stated beta, e.g. 3500 + self.vadc = 5.0 # ADC reference + self.vcc = 5.0 # supply voltage to potential divider + self.k = r0 * exp(-beta / self.t0) # constant part of calculation + + if r1 > 0: + self.vs = r1 * self.vcc / (r1 + r2) # effective bias voltage + self.rs = r1 * r2 / (r1 + r2) # effective bias impedance + else: + self.vs = self.vcc # effective bias voltage + self.rs = r2 # effective bias impedance + + def temp(self,adc): + "Convert ADC reading into a temperature in Celcius" + v = adc * self.vadc / 1024 # convert the 10 bit ADC value to a voltage + r = self.rs * v / (self.vs - v) # resistance of thermistor + return (self.beta / log(r / self.k)) - 273.15 # temperature + + def setting(self, t): + "Convert a temperature into a ADC value" + r = self.r0 * exp(self.beta * (1 / (t + 273.15) - 1 / self.t0)) # resistance of the thermistor + v = self.vs * r / (self.rs + r) # the voltage at the potential divider + return round(v / self.vadc * 1024) # the ADC reading + +def main(argv): + + r0 = 10000; + t0 = 25; + beta = 3947; + r1 = 680; + r2 = 1600; + num_temps = int(20); + + try: + opts, args = getopt.getopt(argv, "h", ["help", "r0=", "t0=", "beta=", "r1=", "r2="]) + except getopt.GetoptError: + usage() + sys.exit(2) + + for opt, arg in opts: + if opt in ("-h", "--help"): + usage() + sys.exit() + elif opt == "--r0": + r0 = int(arg) + elif opt == "--t0": + t0 = int(arg) + elif opt == "--beta": + beta = int(arg) + elif opt == "--r1": + r1 = int(arg) + elif opt == "--r2": + r2 = int(arg) + + if r1: + max_adc = int(1023 * r1 / (r1 + r2)); + else: + max_adc = 1023 + increment = int(max_adc/(num_temps-1)); + + t = Thermistor(r0, t0, beta, r1, r2) + + adcs = range(1, max_adc, increment); +# adcs = [1, 20, 25, 30, 35, 40, 45, 50, 60, 70, 80, 90, 100, 110, 130, 150, 190, 220, 250, 300] + first = 1 + + print "// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts)" + print "// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py)" + print "// ./createTemperatureLookup.py --r0=%s --t0=%s --r1=%s --r2=%s --beta=%s --max-adc=%s" % (r0, t0, r1, r2, beta, max_adc) + print "// r0: %s" % (r0) + print "// t0: %s" % (t0) + print "// r1: %s" % (r1) + print "// r2: %s" % (r2) + print "// beta: %s" % (beta) + print "// max adc: %s" % (max_adc) + print "#define NUMTEMPS %s" % (len(adcs)) + print "short temptable[NUMTEMPS][2] = {" + + counter = 0 + for adc in adcs: + counter = counter +1 + if counter == len(adcs): + print " {%s, %s}" % (adc, int(t.temp(adc))) + else: + print " {%s, %s}," % (adc, int(t.temp(adc))) + print "};" + +def usage(): + print __doc__ + +if __name__ == "__main__": + main(sys.argv[1:]) diff --git a/Sprinter/pins.h b/Sprinter/pins.h new file mode 100644 index 0000000..eee78e8 --- /dev/null +++ b/Sprinter/pins.h @@ -0,0 +1,477 @@ +#ifndef PINS_H +#define PINS_H + +/**************************************************************************************** +* Arduino pin assignment +* +* ATMega168 +* +-\/-+ +* PC6 1| |28 PC5 (AI 5 / D19) +* (D 0) PD0 2| |27 PC4 (AI 4 / D18) +* (D 1) PD1 3| |26 PC3 (AI 3 / D17) +* (D 2) PD2 4| |25 PC2 (AI 2 / D16) +* PWM+ (D 3) PD3 5| |24 PC1 (AI 1 / D15) +* (D 4) PD4 6| |23 PC0 (AI 0 / D14) +* VCC 7| |22 GND +* GND 8| |21 AREF +* PB6 9| |20 AVCC +* PB7 10| |19 PB5 (D 13) +* PWM+ (D 5) PD5 11| |18 PB4 (D 12) +* PWM+ (D 6) PD6 12| |17 PB3 (D 11) PWM +* (D 7) PD7 13| |16 PB2 (D 10) PWM +* (D 8) PB0 14| |15 PB1 (D 9) PWM +* +----+ +****************************************************************************************/ +#if MOTHERBOARD == 0 +#ifndef __AVR_ATmega168__ +#error Oops! Make sure you have 'Arduino Diecimila' selected from the boards menu. +#endif + +#define X_STEP_PIN 2 +#define X_DIR_PIN 3 +#define X_ENABLE_PIN -1 +#define X_MIN_PIN 4 +#define X_MAX_PIN 9 + +#define Y_STEP_PIN 10 +#define Y_DIR_PIN 7 +#define Y_ENABLE_PIN -1 +#define Y_MIN_PIN 8 +#define Y_MAX_PIN 13 + +#define Z_STEP_PIN 19 +#define Z_DIR_PIN 18 +#define Z_ENABLE_PIN 5 +#define Z_MIN_PIN 17 +#define Z_MAX_PIN 16 + +#define E_STEP_PIN 11 +#define E_DIR_PIN 12 +#define E_ENABLE_PIN -1 + +#define SDPOWER -1 +#define SDSS -1 +#define LED_PIN -1 +#define FAN_PIN -1 +#define PS_ON_PIN 15 +#define KILL_PIN -1 + +#define HEATER_0_PIN 6 +#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! + + + + + + +/**************************************************************************************** +* Sanguino/RepRap Motherboard with direct-drive extruders +* +* ATMega644P +* +* +---\/---+ +* (D 0) PB0 1| |40 PA0 (AI 0 / D31) +* (D 1) PB1 2| |39 PA1 (AI 1 / D30) +* INT2 (D 2) PB2 3| |38 PA2 (AI 2 / D29) +* PWM (D 3) PB3 4| |37 PA3 (AI 3 / D28) +* PWM (D 4) PB4 5| |36 PA4 (AI 4 / D27) +* MOSI (D 5) PB5 6| |35 PA5 (AI 5 / D26) +* MISO (D 6) PB6 7| |34 PA6 (AI 6 / D25) +* SCK (D 7) PB7 8| |33 PA7 (AI 7 / D24) +* RST 9| |32 AREF +* VCC 10| |31 GND +* GND 11| |30 AVCC +* XTAL2 12| |29 PC7 (D 23) +* XTAL1 13| |28 PC6 (D 22) +* RX0 (D 8) PD0 14| |27 PC5 (D 21) TDI +* TX0 (D 9) PD1 15| |26 PC4 (D 20) TDO +* INT0 RX1 (D 10) PD2 16| |25 PC3 (D 19) TMS +* INT1 TX1 (D 11) PD3 17| |24 PC2 (D 18) TCK +* PWM (D 12) PD4 18| |23 PC1 (D 17) SDA +* PWM (D 13) PD5 19| |22 PC0 (D 16) SCL +* PWM (D 14) PD6 20| |21 PD7 (D 15) PWM +* +--------+ +* +****************************************************************************************/ +#elif MOTHERBOARD == 1 +#ifndef __AVR_ATmega644P__ +#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. +#endif + +#define X_STEP_PIN 15 +#define X_DIR_PIN 18 +#define X_ENABLE_PIN 19 +#define X_MIN_PIN 20 +#define X_MAX_PIN 21 + +#define Y_STEP_PIN 23 +#define Y_DIR_PIN 22 +#define Y_ENABLE_PIN 19 +#define Y_MIN_PIN 25 +#define Y_MAX_PIN 26 + +#define Z_STEP_PIN 29 +#define Z_DIR_PIN 30 +#define Z_ENABLE_PIN 31 +#define Z_MIN_PIN 2 +#define Z_MAX_PIN 1 + +#define E_STEP_PIN 12 +#define E_DIR_PIN 16 +#define E_ENABLE_PIN 3 + +#define SDPOWER -1 +#define SDSS -1 +#define LED_PIN 0 +#define FAN_PIN -1 +#define PS_ON_PIN -1 +#define KILL_PIN -1 + +#define HEATER_0_PIN 14 +#define TEMP_0_PIN 4 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! + +/* 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) */ + + + + + + +/**************************************************************************************** +* RepRap Motherboard ****---NOOOOOO RS485/EXTRUDER CONTROLLER!!!!!!!!!!!!!!!!!---******* +* +****************************************************************************************/ +#elif MOTHERBOARD == 2 +#ifndef __AVR_ATmega644P__ +#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. +#endif + +#define X_STEP_PIN 15 +#define X_DIR_PIN 18 +#define X_ENABLE_PIN 19 +#define X_MIN_PIN 20 +#define X_MAX_PIN 21 + +#define Y_STEP_PIN 23 +#define Y_DIR_PIN 22 +#define Y_ENABLE_PIN 24 +#define Y_MIN_PIN 25 +#define Y_MAX_PIN 26 + +#define Z_STEP_PINN 27 +#define Z_DIR_PINN 28 +#define Z_ENABLE_PIN 29 +#define Z_MIN_PIN 30 +#define Z_MAX_PIN 31 + +#define E_STEP_PIN 17 +#define E_DIR_PIN 16 +#define E_ENABLE_PIN -1 + +#define SDPOWER -1 +#define SDSS 4 +#define LED_PIN 0 + +#define SD_CARD_WRITE 2 +#define SD_CARD_DETECT 3 +#define SD_CARD_SELECT 4 + +//our RS485 pins +#define TX_ENABLE_PIN 12 +#define RX_ENABLE_PIN 13 + +//pin for controlling the PSU. +#define PS_ON_PIN 14 + +#define FAN_PIN -1 +#define KILL_PIN -1 + +#define HEATER_0_PIN -1 +#define TEMP_0_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! + + + + + + +/**************************************************************************************** +* Arduino Mega pin assignment +* +****************************************************************************************/ +#elif MOTHERBOARD == 3 +//////////////////FIX THIS////////////// +#ifndef __AVR_ATmega1280__ + #ifndef __AVR_ATmega2560__ + #error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu. + #endif +#endif + +// 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_0 + + +#ifdef RAMPS_V_1_3 + +#define X_STEP_PIN 54 +#define X_DIR_PIN 55 +#define X_ENABLE_PIN 38 +#define X_MIN_PIN 3 +#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_DIR_PIN 61 +#define Y_ENABLE_PIN 56 +#define Y_MIN_PIN 14 +#define Y_MAX_PIN -1 //15 + +#define Z_STEP_PIN 46 +#define Z_DIR_PIN 48 +#define Z_ENABLE_PIN 62 +#define Z_MIN_PIN 18 +#define Z_MAX_PIN -1 //19 + +#define E_STEP_PIN 26 +#define E_DIR_PIN 28 +#define E_ENABLE_PIN 24 + +#define SDPOWER -1 +#define SDSS 53 +#define LED_PIN 13 +#define FAN_PIN 9 +#define PS_ON_PIN 12 +#define KILL_PIN -1 + +#define HEATER_0_PIN 10 +#define HEATER_1_PIN 8 +#define TEMP_0_PIN 13 // ANALOG NUMBERING +#define TEMP_1_PIN 14 // ANALOG NUMBERING + + +#else // RAMPS_V_1_1 or RAMPS_V_1_2 as default + +#define X_STEP_PIN 26 +#define X_DIR_PIN 28 +#define X_ENABLE_PIN 24 +#define X_MIN_PIN 3 +#define X_MAX_PIN -1 //2 + +#define Y_STEP_PIN 38 +#define Y_DIR_PIN 40 +#define Y_ENABLE_PIN 36 +#define Y_MIN_PIN 16 +#define Y_MAX_PIN -1 //17 + +#define Z_STEP_PIN 44 +#define Z_DIR_PIN 46 +#define Z_ENABLE_PIN 42 +#define Z_MIN_PIN 18 +#define Z_MAX_PIN -1 //19 + +#define E_STEP_PIN 32 +#define E_DIR_PIN 34 +#define E_ENABLE_PIN 30 + +#define SDPOWER 48 +#define SDSS 53 +#define LED_PIN 13 +#define PS_ON_PIN -1 +#define KILL_PIN -1 + + + +#ifdef RAMPS_V_1_0 // RAMPS_V_1_0 + #define HEATER_0_PIN 12 // RAMPS 1.0 + #define HEATER_1_PIN -1 // RAMPS 1.0 + #define FAN_PIN 11 // RAMPS 1.0 + +#else // RAMPS_V_1_1 or RAMPS_V_1_2 + #define HEATER_0_PIN 10 // RAMPS 1.1 + #define HEATER_1_PIN 8 // RAMPS 1.1 + #define FAN_PIN 9 // RAMPS 1.1 +#endif + +#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!!!!!!!!! +#endif + +// SPI for Max6675 Thermocouple + +#ifndef SDSUPPORT +// these pins are defined in the SD library if building with SD support #define SCK_PIN 52 + #define MISO_PIN 50 + #define MOSI_PIN 51 + #define MAX6675_SS 53 +#else + #define MAX6675_SS 49 +#endif + + + +/**************************************************************************************** +* Duemilanove w/ ATMega328P pin assignment +* +****************************************************************************************/ +#elif MOTHERBOARD == 4 +#ifndef __AVR_ATmega328P__ +#error Oops! Make sure you have 'Arduino Duemilanove w/ ATMega328' selected from the 'Tools -> Boards' menu. +#endif + +#define X_STEP_PIN 19 +#define X_DIR_PIN 18 +#define X_ENABLE_PIN -1 +#define X_MIN_PIN 17 +#define X_MAX_PIN -1 + +#define Y_STEP_PIN 10 +#define Y_DIR_PIN 7 +#define Y_ENABLE_PIN -1 +#define Y_MIN_PIN 8 +#define Y_MAX_PIN -1 + +#define Z_STEP_PIN 13 +#define Z_DIR_PIN 3 +#define Z_ENABLE_PIN 2 +#define Z_MIN_PIN 4 +#define Z_MAX_PIN -1 + +#define E_STEP_PIN 11 +#define E_DIR_PIN 12 +#define E_ENABLE_PIN -1 + +#define SDPOWER -1 +#define SDSS -1 +#define LED_PIN -1 +#define FAN_PIN 5 +#define PS_ON_PIN -1 +#define KILL_PIN -1 + +#define HEATER_0_PIN 6 +#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! + + + + +/**************************************************************************************** +* Gen6 pin assignment +* +****************************************************************************************/ +#elif MOTHERBOARD == 5 + +#ifndef __AVR_ATmega644P__ + #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. +#endif + +//x axis pins + #define X_STEP_PIN 15 + #define X_DIR_PIN 18 + #define X_ENABLE_PIN 19 + #define X_MIN_PIN 20 + #define X_MAX_PIN -1 + + //y axis pins + #define Y_STEP_PIN 23 + #define Y_DIR_PIN 22 + #define Y_ENABLE_PIN 24 + #define Y_MIN_PIN 25 + #define Y_MAX_PIN -1 + + //z axis pins + #define Z_STEP_PIN 27 + #define Z_DIR_PIN 28 + #define Z_ENABLE_PIN 29 + #define Z_MIN_PIN 30 + #define Z_MAX_PIN -1 + + //extruder pins + #define E_STEP_PIN 4 //Edited @ EJE Electronics 20100715 + #define E_DIR_PIN 2 //Edited @ EJE Electronics 20100715 + #define E_ENABLE_PIN 3 //Added @ EJE Electronics 20100715 + #define TEMP_0_PIN 5 //changed @ rkoeppl 20110410 + #define HEATER_0_PIN 14 //changed @ rkoeppl 20110410 + #define HEATER_1_PIN -1 //changed @ rkoeppl 20110410 + + + #define SDPOWER -1 + #define SDSS -1 + #define LED_PIN -1 //changed @ rkoeppl 20110410 + #define TEMP_1_PIN -1 //changed @ rkoeppl 20110410 + #define FAN_PIN -1 //changed @ rkoeppl 20110410 + #define PS_ON_PIN -1 //changed @ rkoeppl 20110410 + //our pin for debugging. + + #define DEBUG_PIN 0 + + //our RS485 pins + #define TX_ENABLE_PIN 12 + #define RX_ENABLE_PIN 13 + + +/**************************************************************************************** +* Sanguinololu pin assignment +* +****************************************************************************************/ +#elif MOTHERBOARD == 6 +#ifndef __AVR_ATmega644P__ +#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. +#endif + +// uncomment the following line for Sanguinololu v1.2, comment for 1.1 or earlier. +// #define SANGUINOLOLU_V_1_2 + + +#define X_STEP_PIN 15 +#define X_DIR_PIN 21 +#define X_ENABLE_PIN -1 +#define X_MIN_PIN 18 +#define X_MAX_PIN -2 //2 + +#define Y_STEP_PIN 22 +#define Y_DIR_PIN 23 +#define Y_ENABLE_PIN -1 +#define Y_MIN_PIN 19 +#define Y_MAX_PIN -1 //17 + +#define Z_STEP_PIN 3 +#define Z_DIR_PIN 2 +// zenable defined by platform below +#define Z_MIN_PIN 20 +#define Z_MAX_PIN -1 //19 + +#define E_STEP_PIN 1 +#define E_DIR_PIN 0 +#define E_ENABLE_PIN -1 + +#define LED_PIN -1 + +#define FAN_PIN -1 // THIS LINE FOR V1.0 + +#define PS_ON_PIN -1 +#define KILL_PIN -1 + +#define HEATER_0_PIN 13 // THIS LINE FOR V1.0+ (extruder) + +#ifdef SANGUINOLOLU_V_1_2 + +#define HEATER_1_PIN 12 // (bed) +#define Z_ENABLE_PIN 26 + +#else + +#define HEATER_1_PIN 14 // (bed) +#define Z_ENABLE_PIN -1 + +#endif + +#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 SDPOWER -1 +#define SDSS 31 + +#else + +#error Unknown MOTHERBOARD value in configuration.h + +#endif + +#endif -- cgit v1.2.1 From 873e85b3bb5240eaaba6491c38284e2d6d3fba2e Mon Sep 17 00:00:00 2001 From: kliment Date: Mon, 4 Jul 2011 22:24:14 +0200 Subject: Rename to sprinter --- Sprinter/Sprinter.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'Sprinter') diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 4528324..e697231 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -1,7 +1,7 @@ // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. // Licence: GPL -#include "Tonokip_Firmware.h" +#include "Sprinter.h" #include "configuration.h" #include "pins.h" -- cgit v1.2.1 From d1cfd12190a0810bb6a623a5e674d9339e723b8e Mon Sep 17 00:00:00 2001 From: kliment Date: Tue, 5 Jul 2011 20:20:15 +0200 Subject: Cleaned up configuration. Made a hack so that board versions can be set from configuration.h. Combined thermistor tables. Enabled maxtemp and mintemp by default. Changed case of configuration.h to make it appear first in Arduino IDE --- Sprinter/BedThermistorTable_100k.h | 85 ---------- Sprinter/BedThermistorTable_200k.h | 42 ----- Sprinter/Configuration.h | 170 ++++++++++++++++++++ Sprinter/Sprinter.pde | 2 +- Sprinter/ThermistorTable_100k.h | 85 ---------- Sprinter/ThermistorTable_200k.h | 42 ----- Sprinter/ThermistorTable_mendelparts.h | 45 ------ Sprinter/configuration.h | 158 ------------------- Sprinter/pins.h | 51 ++++-- Sprinter/thermistortables.h | 274 +++++++++++++++++++++++++++++++++ 10 files changed, 480 insertions(+), 474 deletions(-) delete mode 100644 Sprinter/BedThermistorTable_100k.h delete mode 100644 Sprinter/BedThermistorTable_200k.h create mode 100644 Sprinter/Configuration.h delete mode 100644 Sprinter/ThermistorTable_100k.h delete mode 100644 Sprinter/ThermistorTable_200k.h delete mode 100644 Sprinter/ThermistorTable_mendelparts.h delete mode 100644 Sprinter/configuration.h create mode 100644 Sprinter/thermistortables.h (limited to 'Sprinter') diff --git a/Sprinter/BedThermistorTable_100k.h b/Sprinter/BedThermistorTable_100k.h deleted file mode 100644 index 84bc607..0000000 --- a/Sprinter/BedThermistorTable_100k.h +++ /dev/null @@ -1,85 +0,0 @@ -#ifndef THERMISTORTABLE_H_ -#define THERMISTORTABLE_H_ - -// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts) -// See this page: -// http://dev.www.reprap.org/bin/view/Main/Thermistor -// for details of what goes in this table. -// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py) -// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023 -// r0: 100000 -// t0: 25 -// r1: 0 -// r2: 4700 -// beta: 4066 -// max adc: 1023 - -#define BNUMTEMPS 61 -const short bedtemptable[BNUMTEMPS][2] = { -{ 23 , 300 }, -{ 25 , 295 }, -{ 27 , 290 }, -{ 28 , 285 }, -{ 31 , 280 }, -{ 33 , 275 }, -{ 35 , 270 }, -{ 38 , 265 }, -{ 41 , 260 }, -{ 44 , 255 }, -{ 48 , 250 }, -{ 52 , 245 }, -{ 56 , 240 }, -{ 61 , 235 }, -{ 66 , 230 }, -{ 71 , 225 }, -{ 78 , 220 }, -{ 84 , 215 }, -{ 92 , 210 }, -{ 100 , 205 }, -{ 109 , 200 }, -{ 120 , 195 }, -{ 131 , 190 }, -{ 143 , 185 }, -{ 156 , 180 }, -{ 171 , 175 }, -{ 187 , 170 }, -{ 205 , 165 }, -{ 224 , 160 }, -{ 245 , 155 }, -{ 268 , 150 }, -{ 293 , 145 }, -{ 320 , 140 }, -{ 348 , 135 }, -{ 379 , 130 }, -{ 411 , 125 }, -{ 445 , 120 }, -{ 480 , 115 }, -{ 516 , 110 }, -{ 553 , 105 }, -{ 591 , 100 }, -{ 628 , 95 }, -{ 665 , 90 }, -{ 702 , 85 }, -{ 737 , 80 }, -{ 770 , 75 }, -{ 801 , 70 }, -{ 830 , 65 }, -{ 857 , 60 }, -{ 881 , 55 }, -{ 903 , 50 }, -{ 922 , 45 }, -{ 939 , 40 }, -{ 954 , 35 }, -{ 966 , 30 }, -{ 977 , 25 }, -{ 985 , 20 }, -{ 993 , 15 }, -{ 999 , 10 }, -{ 1004 , 5 }, -{ 1008 , 0 }, - -}; - - -#endif - diff --git a/Sprinter/BedThermistorTable_200k.h b/Sprinter/BedThermistorTable_200k.h deleted file mode 100644 index 3d96aa3..0000000 --- a/Sprinter/BedThermistorTable_200k.h +++ /dev/null @@ -1,42 +0,0 @@ -#ifndef THERMISTORTABLE_H_ -#define THERMISTORTABLE_H_ - -// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts) -// See this page: -// http://dev.www.reprap.org/bin/view/Main/Thermistor -// for details of what goes in this table. -// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py) -// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023 -// r0: 100000 -// t0: 25 -// r1: 0 -// r2: 4700 -// beta: 4066 -// max adc: 1023 - -#define BNUMTEMPS 20 -const short bedtemptable[BNUMTEMPS][2] = { - {1, 848}, - {54, 275}, - {107, 228}, - {160, 202}, - {213, 185}, - {266, 171}, - {319, 160}, - {372, 150}, - {425, 141}, - {478, 133}, - {531, 125}, - {584, 118}, - {637, 110}, - {690, 103}, - {743, 95}, - {796, 86}, - {849, 77}, - {902, 65}, - {955, 49}, - {1008, 17} -}; - - -#endif diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h new file mode 100644 index 0000000..54ea8ea --- /dev/null +++ b/Sprinter/Configuration.h @@ -0,0 +1,170 @@ +#ifndef CONFIGURATION_H +#define CONFIGURATION_H + + +//BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration + +// The following define selects which electronics board you have. Please choose the one that matches your setup +// MEGA/RAMPS up to 1.2 = 3, +// RAMPS 1.3 = 63 +// Gen6 = 5, +// Sanguinololu up to 1.1 = 6 +// Sanguinololu 1.2 and above = 62 +#define MOTHERBOARD 3 + +//Thermistor settings: +// 1 is 100k thermistor +// 2 is 200k thermistor +// 3 is mendel-parts thermistor +#define THERMISTORHEATER 1 +#define THERMISTORBED 1 + + +//Calibration variables +//X, Y, Z, E steps per unit - Metric Prusa Mendel with Wade extruder: +float axis_steps_per_unit[] = {80, 80, 3200/1.25,700}; +//Metric Prusa Mendel with Makergear geared stepper extruder: +//float axis_steps_per_unit[] = {80,80,3200/1.25,1380}; + + +////Endstop Settings +#define ENDSTOPPULLUPS 1 // Comment this out (using // at the start of the line) to disable the endstop pullup resistors +//The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins. +const bool ENDSTOPS_INVERTING = false; //set to true to invert the logic of the endstops + +//This determines the communication speed of the printer +#define BAUDRATE 115200 + +//Comment out (using // at the start of the line) to disable SD support: +#define SDSUPPORT 1 + + + + + +//ADVANCED SETTINGS - to tweak parameters + +#include "thermistortables.h" + +//For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 +const bool X_ENABLE_ON = 0; +const bool Y_ENABLE_ON = 0; +const bool Z_ENABLE_ON = 0; +const bool E_ENABLE_ON = 0; + +//Disables axis when it's not being used. +const bool DISABLE_X = false; +const bool DISABLE_Y = false; +const bool DISABLE_Z = true; +const bool DISABLE_E = false; + +const bool INVERT_X_DIR = false; +const bool INVERT_Y_DIR = false; +const bool INVERT_Z_DIR = true; +const bool INVERT_E_DIR = false; + +//ENDSTOP SETTINGS: +// Sets direction of endstops when homing; 1=MAX, -1=MIN +const int X_HOME_DIR = -1; +const int Y_HOME_DIR = -1; +const int Z_HOME_DIR = -1; + +const bool min_software_endstops = false; //If true, axis won't move to coordinates less than zero. +const bool max_software_endstops = true; //If true, axis won't move to coordinates greater than the defined lengths below. +const int X_MAX_LENGTH = 200; +const int Y_MAX_LENGTH = 200; +const int Z_MAX_LENGTH = 100; + + +//MOVEMENT SETTINGS +const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E +float max_feedrate[] = {200000, 200000, 240, 500000}; +bool axis_relative_modes[] = {false, false, false, false}; + + +//Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this +// If you enable this, make sure STEP_DELAY_RATIO is disabled. +//#define STEP_DELAY_MICROS 1 + +//Step delay over interval ratio. If you are still experiencing missing steps, try to uncomment the following line, but be aware this +//If you enable this, make sure STEP_DELAY_MICROS is disabled. +//#define STEP_DELAY_RATIO 0.25 + +//Comment this to disable ramp acceleration +#define RAMP_ACCELERATION 1 + +//Acceleration settings +#ifdef RAMP_ACCELERATION +//X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. +float max_start_speed_units_per_second[] = {25.0,25.0,0.2,10.0}; +long max_acceleration_units_per_sq_second[] = {1000,1000,50,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts +long max_travel_acceleration_units_per_sq_second[] = {500,500,50}; // X, Y, Z max acceleration in mm/s^2 for travel moves +#endif + +// AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!! + +//PID settings: +//Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful. +//#define PIDTEMP 1 +#ifdef PIDTEMP +#define PID_MAX 255 // limits current to nozzle +#define PID_INTEGRAL_DRIVE_MAX 220 +#define PID_PGAIN 180 //100 is 1.0 +#define PID_IGAIN 2 //100 is 1.0 +#define PID_DGAIN 100 //100 is 1.0 +#endif + +//How often should the heater check for new temp readings, in milliseconds +#define HEATER_CHECK_INTERVAL 500 +#define BED_CHECK_INTERVAL 5000 +//Comment the following line to enable heat management during acceleration +#define DISABLE_CHECK_DURING_ACC +#ifndef DISABLE_CHECK_DURING_ACC + //Uncomment the following line to disable heat management during the move + //#define DISABLE_CHECK_DURING_MOVE +#endif +//Uncomment the following line to disable heat management during travel moves (and extruder-only moves, eg: retracts), strongly recommended if you are missing steps mid print. +//Probably this should remain commented if are using PID. +//It also defines the max milliseconds interval after which a travel move is not considered so for the sake of this feature. +#define DISABLE_CHECK_DURING_TRAVEL 1000 + +//Experimental temperature smoothing - only uncomment this if your temp readings are noisy +//#define SMOOTHING 1 +//#define SMOOTHFACTOR 16 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm + +//Experimental watchdog and minimal temp +//The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature +//If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109 +//#define WATCHPERIOD 5000 //5 seconds +//The minimal temperature defines the temperature below which the heater will not be enabled +#define MINTEMP 5 + +//Experimental max temp +//When temperature exceeds max temp, your bot will halt. +//This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure! +//You should use MINTEMP for thermistor short/failure protection. +#define MAXTEMP 275 + +// Select one of these only to define how the nozzle temp is read. +#define HEATER_USES_THERMISTOR +//#define HEATER_USES_AD595 +//#define HEATER_USES_MAX6675 + +// Select one of these only to define how the bed temp is read. +#define BED_USES_THERMISTOR +//#define BED_USES_AD595 + + + +//Uncomment the following line to enable debugging. You can better control debugging below the following line +//#define DEBUG +#ifdef DEBUG + //#define DEBUG_PREPARE_MOVE //Enable this to debug prepare_move() function + //#define DEBUG_BRESENHAM //Enable this to debug the Bresenham algorithm + //#define DEBUG_RAMP_ACCELERATION //Enable this to debug all constant acceleration info + //#define DEBUG_MOVE_TIME //Enable this to time each move and print the result + //#define DEBUG_HEAT_MGMT //Enable this to debug heat management. WARNING, this will cause axes to jitter! + //#define DEBUG_DISABLE_CHECK_DURING_TRAVEL //Debug the namesake feature, see above in this file +#endif + +#endif diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index e697231..733aec8 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -2,7 +2,7 @@ // Licence: GPL #include "Sprinter.h" -#include "configuration.h" +#include "Configuration.h" #include "pins.h" #ifdef SDSUPPORT diff --git a/Sprinter/ThermistorTable_100k.h b/Sprinter/ThermistorTable_100k.h deleted file mode 100644 index d0698b2..0000000 --- a/Sprinter/ThermistorTable_100k.h +++ /dev/null @@ -1,85 +0,0 @@ -#ifndef THERMISTORTABLE_H_ -#define THERMISTORTABLE_H_ - -// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts) -// See this page: -// http://dev.www.reprap.org/bin/view/Main/Thermistor -// for details of what goes in this table. -// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py) -// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023 -// r0: 100000 -// t0: 25 -// r1: 0 -// r2: 4700 -// beta: 4066 -// max adc: 1023 - -#define NUMTEMPS 61 -const short temptable[NUMTEMPS][2] = { -{ 23 , 300 }, -{ 25 , 295 }, -{ 27 , 290 }, -{ 28 , 285 }, -{ 31 , 280 }, -{ 33 , 275 }, -{ 35 , 270 }, -{ 38 , 265 }, -{ 41 , 260 }, -{ 44 , 255 }, -{ 48 , 250 }, -{ 52 , 245 }, -{ 56 , 240 }, -{ 61 , 235 }, -{ 66 , 230 }, -{ 71 , 225 }, -{ 78 , 220 }, -{ 84 , 215 }, -{ 92 , 210 }, -{ 100 , 205 }, -{ 109 , 200 }, -{ 120 , 195 }, -{ 131 , 190 }, -{ 143 , 185 }, -{ 156 , 180 }, -{ 171 , 175 }, -{ 187 , 170 }, -{ 205 , 165 }, -{ 224 , 160 }, -{ 245 , 155 }, -{ 268 , 150 }, -{ 293 , 145 }, -{ 320 , 140 }, -{ 348 , 135 }, -{ 379 , 130 }, -{ 411 , 125 }, -{ 445 , 120 }, -{ 480 , 115 }, -{ 516 , 110 }, -{ 553 , 105 }, -{ 591 , 100 }, -{ 628 , 95 }, -{ 665 , 90 }, -{ 702 , 85 }, -{ 737 , 80 }, -{ 770 , 75 }, -{ 801 , 70 }, -{ 830 , 65 }, -{ 857 , 60 }, -{ 881 , 55 }, -{ 903 , 50 }, -{ 922 , 45 }, -{ 939 , 40 }, -{ 954 , 35 }, -{ 966 , 30 }, -{ 977 , 25 }, -{ 985 , 20 }, -{ 993 , 15 }, -{ 999 , 10 }, -{ 1004 , 5 }, -{ 1008 , 0 }, - -}; - - -#endif - diff --git a/Sprinter/ThermistorTable_200k.h b/Sprinter/ThermistorTable_200k.h deleted file mode 100644 index 4142eb2..0000000 --- a/Sprinter/ThermistorTable_200k.h +++ /dev/null @@ -1,42 +0,0 @@ -#ifndef THERMISTORTABLE_H_ -#define THERMISTORTABLE_H_ - -// Thermistor lookup table for RepRap Temperature Sensor Boards (http://make.rrrf.org/ts) -// See this page: -// http://dev.www.reprap.org/bin/view/Main/Thermistor -// for details of what goes in this table. -// Made with createTemperatureLookup.py (http://svn.reprap.org/trunk/reprap/firmware/Arduino/utilities/createTemperatureLookup.py) -// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=4066 --max-adc=1023 -// r0: 100000 -// t0: 25 -// r1: 0 -// r2: 4700 -// beta: 4066 -// max adc: 1023 - -#define NUMTEMPS 20 -const short temptable[NUMTEMPS][2] = { - {1, 848}, - {54, 275}, - {107, 228}, - {160, 202}, - {213, 185}, - {266, 171}, - {319, 160}, - {372, 150}, - {425, 141}, - {478, 133}, - {531, 125}, - {584, 118}, - {637, 110}, - {690, 103}, - {743, 95}, - {796, 86}, - {849, 77}, - {902, 65}, - {955, 49}, - {1008, 17} -}; - - -#endif diff --git a/Sprinter/ThermistorTable_mendelparts.h b/Sprinter/ThermistorTable_mendelparts.h deleted file mode 100644 index 9e65b85..0000000 --- a/Sprinter/ThermistorTable_mendelparts.h +++ /dev/null @@ -1,45 +0,0 @@ -#ifndef THERMISTORTABLE_H_ -#define THERMISTORTABLE_H_ - -//thermistor table for mendel-parts thermistor -// Standardized R/T characteristic no. 8404 - // RS thermistor 484-0183; EPCOS NTC - // Mendel-Parts thermistor G540 / G550 - // Optimized for 100...300C working range. - // Max range: -20...300C - // Max reading error on Gen 6 electronics: ~+5%, -3% in 100 - 300C range. - -#define NUMTEMPS 28 -const short temptable[NUMTEMPS][2] = { - {1,864}, - {21,300}, - {25,290}, - {29,280}, - {33,270}, - {39,260}, - {46,250}, - {54,240}, - {64,230}, - {75,220}, - {90,210}, - {107,200}, - {128,190}, - {154,180}, - {184,170}, - {221,160}, - {265,150}, - {316,140}, - {375,130}, - {441,120}, - {513,110}, - {588,100}, - {734,80}, - {856,60}, - {938,40}, - {986,20}, - {1008,0}, - {1018,-20} - }; - - -#endif diff --git a/Sprinter/configuration.h b/Sprinter/configuration.h deleted file mode 100644 index 0a38a6a..0000000 --- a/Sprinter/configuration.h +++ /dev/null @@ -1,158 +0,0 @@ -#ifndef PARAMETERS_H -#define PARAMETERS_H - -// NO RS485/EXTRUDER CONTROLLER SUPPORT -// PLEASE VERIFY PIN ASSIGNMENTS FOR YOUR CONFIGURATION!!!!!!! -#define MOTHERBOARD 3 // ATMEGA168 = 0, SANGUINO = 1, MOTHERBOARD = 2, MEGA/RAMPS = 3, ATMEGA328 = 4, Gen6 = 5, Sanguinololu = 6 - -//Comment out to disable SD support -#define SDSUPPORT 1 - -//Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this -// If you enable this, make sure STEP_DELAY_RATIO is disabled. -//#define STEP_DELAY_MICROS 1 - -//Step delay over interval ratio. If you are still experiencing missing steps, try to uncomment the following line, but be aware this -//If you enable this, make sure STEP_DELAY_MICROS is disabled. -//#define STEP_DELAY_RATIO 0.25 - -//Comment this to disable ramp acceleration -#define RAMP_ACCELERATION 1 - -//Acceleration settings -#ifdef RAMP_ACCELERATION -//X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. -float max_start_speed_units_per_second[] = {25.0,25.0,0.2,10.0}; -long max_acceleration_units_per_sq_second[] = {1000,1000,50,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts -long max_travel_acceleration_units_per_sq_second[] = {500,500,50}; // X, Y, Z max acceleration in mm/s^2 for travel moves -#endif - -// AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!! - -//PID settings: -//Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful. -//#define PIDTEMP 1 -#ifdef PIDTEMP -#define PID_MAX 255 // limits current to nozzle -#define PID_INTEGRAL_DRIVE_MAX 220 -#define PID_PGAIN 180 //100 is 1.0 -#define PID_IGAIN 2 //100 is 1.0 -#define PID_DGAIN 100 //100 is 1.0 -#endif - -//How often should the heater check for new temp readings, in milliseconds -#define HEATER_CHECK_INTERVAL 500 -#define BED_CHECK_INTERVAL 5000 -//Comment the following line to enable heat management during acceleration -#define DISABLE_CHECK_DURING_ACC -#ifndef DISABLE_CHECK_DURING_ACC - //Uncomment the following line to disable heat management during the move - //#define DISABLE_CHECK_DURING_MOVE -#endif -//Uncomment the following line to disable heat management during travel moves (and extruder-only moves, eg: retracts), strongly recommended if you are missing steps mid print. -//Probably this should remain commented if are using PID. -//It also defines the max milliseconds interval after which a travel move is not considered so for the sake of this feature. -#define DISABLE_CHECK_DURING_TRAVEL 1000 - -//Experimental temperature smoothing - only uncomment this if your temp readings are noisy -//#define SMOOTHING 1 -//#define SMOOTHFACTOR 16 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm - -//Experimental watchdog and minimal temp -//The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature -//If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109 -//#define WATCHPERIOD 5000 //5 seconds -//The minimal temperature defines the temperature below which the heater will not be enabled -//#define MINTEMP - -//Experimental max temp -//When temperature exceeds max temp, your bot will halt. -//This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure! -//You should use MINTEMP for thermistor short/failure protection. -//#define MAXTEMP 275 - -// Select one of these only to define how the nozzle temp is read. -#define HEATER_USES_THERMISTOR -//#define HEATER_USES_AD595 -//#define HEATER_USES_MAX6675 - -// Select one of these only to define how the bed temp is read. -#define BED_USES_THERMISTOR -//#define BED_USES_AD595 - -// Calibration formulas -// e_extruded_steps_per_mm = e_feedstock_steps_per_mm * (desired_extrusion_diameter^2 / feedstock_diameter^2) -// new_axis_steps_per_mm = previous_axis_steps_per_mm * (test_distance_instructed/test_distance_traveled) -// units are in millimeters or whatever length unit you prefer: inches,football-fields,parsecs etc - -//Calibration variables -const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E -bool axis_relative_modes[] = {false, false, false, false}; -float axis_steps_per_unit[] = {80.376,80.376,3200/1.25,16}; // {X steps per unit, Y steps per unit, Z steps per unit, E steps per unit} -//For SAE Prusa mendeel float z_steps_per_unit = should be 3200/1.411 for 5/16-18 rod and 3200/1.058 for 5/16-24 -//float axis_steps_per_unit[] = {10.047,10.047,833.398,0.706}; -float max_feedrate[] = {200000, 200000, 240, 500000}; //mmm, acceleration! - -//For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 -const bool X_ENABLE_ON = 0; -const bool Y_ENABLE_ON = 0; -const bool Z_ENABLE_ON = 0; -const bool E_ENABLE_ON = 0; - -//Disables axis when it's not being used. -const bool DISABLE_X = false; -const bool DISABLE_Y = false; -const bool DISABLE_Z = true; -const bool DISABLE_E = false; - -const bool INVERT_X_DIR = false; -const bool INVERT_Y_DIR = false; -const bool INVERT_Z_DIR = true; -const bool INVERT_E_DIR = false; - -// Sets direction of endstops when homing; 1=MAX, -1=MIN -const int X_HOME_DIR = -1; -const int Y_HOME_DIR = -1; -const int Z_HOME_DIR = -1; - - -//Thermistor settings: - -//Uncomment for 100k thermistor -//#include "ThermistorTable_100k.h" -//#include "BedThermistorTable_100k.h" - -//Uncomment for 200k thermistor -//#include "ThermistorTable_200k.h" -//#include "BedThermistorTable_200k.h" - -//Identical thermistors on heater and bed - use this if you have no heated bed or if the thermistors are the same on both: -#include "ThermistorTable_200k.h" -//#include "ThermistorTable_100k.h" -//#include "ThermistorTable_mendelparts.h" -#define BNUMTEMPS NUMTEMPS -#define bedtemptable temptable - -//Endstop Settings -#define ENDSTOPPULLUPS 1 -const bool ENDSTOPS_INVERTING = false; -const bool min_software_endstops = false; //If true, axis won't move to coordinates less than zero. -const bool max_software_endstops = true; //If true, axis won't move to coordinates greater than the defined lengths below. -const int X_MAX_LENGTH = 220; -const int Y_MAX_LENGTH = 220; -const int Z_MAX_LENGTH = 100; - -#define BAUDRATE 115200 - -//Uncomment the following line to enable debugging. You can better control debugging below the following line -//#define DEBUG -#ifdef DEBUG - //#define DEBUG_PREPARE_MOVE //Enable this to debug prepare_move() function - //#define DEBUG_BRESENHAM //Enable this to debug the Bresenham algorithm - //#define DEBUG_RAMP_ACCELERATION //Enable this to debug all constant acceleration info - //#define DEBUG_MOVE_TIME //Enable this to time each move and print the result - //#define DEBUG_HEAT_MGMT //Enable this to debug heat management. WARNING, this will cause axes to jitter! - //#define DEBUG_DISABLE_CHECK_DURING_TRAVEL //Debug the namesake feature, see above in this file -#endif - -#endif diff --git a/Sprinter/pins.h b/Sprinter/pins.h index eee78e8..7540ebc 100644 --- a/Sprinter/pins.h +++ b/Sprinter/pins.h @@ -23,6 +23,8 @@ * +----+ ****************************************************************************************/ #if MOTHERBOARD == 0 +#define KNOWN_BOARD 1 + #ifndef __AVR_ATmega168__ #error Oops! Make sure you have 'Arduino Diecimila' selected from the boards menu. #endif @@ -60,7 +62,7 @@ #define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! - +#endif @@ -93,7 +95,9 @@ * +--------+ * ****************************************************************************************/ -#elif MOTHERBOARD == 1 +#if MOTHERBOARD == 1 +#define KNOWN_BOARD 1 + #ifndef __AVR_ATmega644P__ #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. #endif @@ -134,14 +138,16 @@ - +#endif /**************************************************************************************** * RepRap Motherboard ****---NOOOOOO RS485/EXTRUDER CONTROLLER!!!!!!!!!!!!!!!!!---******* * ****************************************************************************************/ -#elif MOTHERBOARD == 2 +#if MOTHERBOARD == 2 +#define KNOWN_BOARD 1 + #ifndef __AVR_ATmega644P__ #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. #endif @@ -192,13 +198,19 @@ - +#endif /**************************************************************************************** * Arduino Mega pin assignment * ****************************************************************************************/ -#elif MOTHERBOARD == 3 +#if MOTHERBOARD == 33 +#define MOTHERBOARD 3 +#define RAMPS_V_1_3 +#endif +#if MOTHERBOARD == 3 +#define KNOWN_BOARD 1 + //////////////////FIX THIS////////////// #ifndef __AVR_ATmega1280__ #ifndef __AVR_ATmega2560__ @@ -210,7 +222,6 @@ // #define RAMPS_V_1_3 // #define RAMPS_V_1_0 - #ifdef RAMPS_V_1_3 #define X_STEP_PIN 54 @@ -307,12 +318,14 @@ #endif - +#endif /**************************************************************************************** * Duemilanove w/ ATMega328P pin assignment * ****************************************************************************************/ -#elif MOTHERBOARD == 4 +#if MOTHERBOARD == 4 +#define KNOWN_BOARD 1 + #ifndef __AVR_ATmega328P__ #error Oops! Make sure you have 'Arduino Duemilanove w/ ATMega328' selected from the 'Tools -> Boards' menu. #endif @@ -350,13 +363,14 @@ #define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! - +#endif /**************************************************************************************** * Gen6 pin assignment * ****************************************************************************************/ -#elif MOTHERBOARD == 5 +#if MOTHERBOARD == 5 +#define KNOWN_BOARD 1 #ifndef __AVR_ATmega644P__ #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. @@ -393,7 +407,7 @@ #define SDPOWER -1 - #define SDSS -1 + #define SDSS 17 #define LED_PIN -1 //changed @ rkoeppl 20110410 #define TEMP_1_PIN -1 //changed @ rkoeppl 20110410 #define FAN_PIN -1 //changed @ rkoeppl 20110410 @@ -406,12 +420,17 @@ #define TX_ENABLE_PIN 12 #define RX_ENABLE_PIN 13 - +#endif /**************************************************************************************** * Sanguinololu pin assignment * ****************************************************************************************/ -#elif MOTHERBOARD == 6 +#if MOTHERBOARD == 62 +#define MOTHERBOARD 6 +#define +#endif +#if MOTHERBOARD == 6 +#define KNOWN_BOARD 1 #ifndef __AVR_ATmega644P__ #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. #endif @@ -468,9 +487,9 @@ #define SDPOWER -1 #define SDSS 31 -#else - +#ifndef KNOWN_BOARD #error Unknown MOTHERBOARD value in configuration.h +#endif #endif diff --git a/Sprinter/thermistortables.h b/Sprinter/thermistortables.h new file mode 100644 index 0000000..e21b647 --- /dev/null +++ b/Sprinter/thermistortables.h @@ -0,0 +1,274 @@ +#ifndef THERMISTORTABLES_H_ +#define THERMISTORTABLES_H_ + +#if THERMISTORHEATER == 1 //100k bed thermistor + + +#define NUMTEMPS 61 +const short temptable[NUMTEMPS][2] = { +{ 23 , 300 }, +{ 25 , 295 }, +{ 27 , 290 }, +{ 28 , 285 }, +{ 31 , 280 }, +{ 33 , 275 }, +{ 35 , 270 }, +{ 38 , 265 }, +{ 41 , 260 }, +{ 44 , 255 }, +{ 48 , 250 }, +{ 52 , 245 }, +{ 56 , 240 }, +{ 61 , 235 }, +{ 66 , 230 }, +{ 71 , 225 }, +{ 78 , 220 }, +{ 84 , 215 }, +{ 92 , 210 }, +{ 100 , 205 }, +{ 109 , 200 }, +{ 120 , 195 }, +{ 131 , 190 }, +{ 143 , 185 }, +{ 156 , 180 }, +{ 171 , 175 }, +{ 187 , 170 }, +{ 205 , 165 }, +{ 224 , 160 }, +{ 245 , 155 }, +{ 268 , 150 }, +{ 293 , 145 }, +{ 320 , 140 }, +{ 348 , 135 }, +{ 379 , 130 }, +{ 411 , 125 }, +{ 445 , 120 }, +{ 480 , 115 }, +{ 516 , 110 }, +{ 553 , 105 }, +{ 591 , 100 }, +{ 628 , 95 }, +{ 665 , 90 }, +{ 702 , 85 }, +{ 737 , 80 }, +{ 770 , 75 }, +{ 801 , 70 }, +{ 830 , 65 }, +{ 857 , 60 }, +{ 881 , 55 }, +{ 903 , 50 }, +{ 922 , 45 }, +{ 939 , 40 }, +{ 954 , 35 }, +{ 966 , 30 }, +{ 977 , 25 }, +{ 985 , 20 }, +{ 993 , 15 }, +{ 999 , 10 }, +{ 1004 , 5 }, +{ 1008 , 0 } //safety +}; + +#elif THERMISTORHEATER == 2 //200k bed thermistor +#define NUMTEMPS 21 +const short temptable[NUMTEMPS][2] = { + {1, 848}, + {54, 275}, + {107, 228}, + {160, 202}, + {213, 185}, + {266, 171}, + {319, 160}, + {372, 150}, + {425, 141}, + {478, 133}, + {531, 125}, + {584, 118}, + {637, 110}, + {690, 103}, + {743, 95}, + {796, 86}, + {849, 77}, + {902, 65}, + {955, 49}, + {1008, 17}, + {1020, 0} //safety +}; + +#elif THERMISTORHEATER == 3 //mendel-parts +#define NUMTEMPS 28 +const short temptable[NUMTEMPS][2] = { + {1,864}, + {21,300}, + {25,290}, + {29,280}, + {33,270}, + {39,260}, + {46,250}, + {54,240}, + {64,230}, + {75,220}, + {90,210}, + {107,200}, + {128,190}, + {154,180}, + {184,170}, + {221,160}, + {265,150}, + {316,140}, + {375,130}, + {441,120}, + {513,110}, + {588,100}, + {734,80}, + {856,60}, + {938,40}, + {986,20}, + {1008,0}, + {1018,-20} + }; + +#else +#error No thermistor table specified + +#endif + + +#if THERMISTORHEATER==THERMISTORBED +#define BNUMTEMPS NUMTEMPS +#define bedtemptable temptable +#else +#if THERMISTORBED == 1 //100k bed thermistor + + +#define BNUMTEMPS 61 +const short bedtemptable[BNUMTEMPS][2] = { +{ 23 , 300 }, +{ 25 , 295 }, +{ 27 , 290 }, +{ 28 , 285 }, +{ 31 , 280 }, +{ 33 , 275 }, +{ 35 , 270 }, +{ 38 , 265 }, +{ 41 , 260 }, +{ 44 , 255 }, +{ 48 , 250 }, +{ 52 , 245 }, +{ 56 , 240 }, +{ 61 , 235 }, +{ 66 , 230 }, +{ 71 , 225 }, +{ 78 , 220 }, +{ 84 , 215 }, +{ 92 , 210 }, +{ 100 , 205 }, +{ 109 , 200 }, +{ 120 , 195 }, +{ 131 , 190 }, +{ 143 , 185 }, +{ 156 , 180 }, +{ 171 , 175 }, +{ 187 , 170 }, +{ 205 , 165 }, +{ 224 , 160 }, +{ 245 , 155 }, +{ 268 , 150 }, +{ 293 , 145 }, +{ 320 , 140 }, +{ 348 , 135 }, +{ 379 , 130 }, +{ 411 , 125 }, +{ 445 , 120 }, +{ 480 , 115 }, +{ 516 , 110 }, +{ 553 , 105 }, +{ 591 , 100 }, +{ 628 , 95 }, +{ 665 , 90 }, +{ 702 , 85 }, +{ 737 , 80 }, +{ 770 , 75 }, +{ 801 , 70 }, +{ 830 , 65 }, +{ 857 , 60 }, +{ 881 , 55 }, +{ 903 , 50 }, +{ 922 , 45 }, +{ 939 , 40 }, +{ 954 , 35 }, +{ 966 , 30 }, +{ 977 , 25 }, +{ 985 , 20 }, +{ 993 , 15 }, +{ 999 , 10 }, +{ 1004 , 5 }, +{ 1008 , 0 } //safety +}; + +#elif THERMISTORBED == 2 //200k bed thermistor +#define BNUMTEMPS 21 +const short bedtemptable[BNUMTEMPS][2] = { + {1, 848}, + {54, 275}, + {107, 228}, + {160, 202}, + {213, 185}, + {266, 171}, + {319, 160}, + {372, 150}, + {425, 141}, + {478, 133}, + {531, 125}, + {584, 118}, + {637, 110}, + {690, 103}, + {743, 95}, + {796, 86}, + {849, 77}, + {902, 65}, + {955, 49}, + {1008, 17}, + {1020, 0} //safety +}; + +#elif THERMISTORBED == 3 //mendel-parts +#define BNUMTEMPS 28 +const short bedtemptable[BNUMTEMPS][2] = { + {1,864}, + {21,300}, + {25,290}, + {29,280}, + {33,270}, + {39,260}, + {46,250}, + {54,240}, + {64,230}, + {75,220}, + {90,210}, + {107,200}, + {128,190}, + {154,180}, + {184,170}, + {221,160}, + {265,150}, + {316,140}, + {375,130}, + {441,120}, + {513,110}, + {588,100}, + {734,80}, + {856,60}, + {938,40}, + {986,20}, + {1008,0}, + {1018,-20} + }; +#else +#error No bed thermistor table specified + +#endif + + +#endif //if THERMISTORHEATER==THERMISTORBED +#endif //THERMISTORTABLES_H_ -- cgit v1.2.1 From c8767013f10a9b4022e2c260bd0e0d7769a6b1e2 Mon Sep 17 00:00:00 2001 From: kliment Date: Tue, 5 Jul 2011 23:29:45 +0200 Subject: Fix RAMPS 1.3 number --- Sprinter/Configuration.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'Sprinter') diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h index 54ea8ea..39fe1f0 100644 --- a/Sprinter/Configuration.h +++ b/Sprinter/Configuration.h @@ -6,7 +6,7 @@ // The following define selects which electronics board you have. Please choose the one that matches your setup // MEGA/RAMPS up to 1.2 = 3, -// RAMPS 1.3 = 63 +// RAMPS 1.3 = 33 // Gen6 = 5, // Sanguinololu up to 1.1 = 6 // Sanguinololu 1.2 and above = 62 -- cgit v1.2.1 From 709a84956be02e91e12e6dc368d92ebb936630fc Mon Sep 17 00:00:00 2001 From: kliment Date: Wed, 6 Jul 2011 13:34:08 +0200 Subject: Documentation improvements in Configuration.h --- Sprinter/Configuration.h | 92 ++++++++++++++++++++++-------------------------- 1 file changed, 42 insertions(+), 50 deletions(-) (limited to 'Sprinter') diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h index 39fe1f0..de2af79 100644 --- a/Sprinter/Configuration.h +++ b/Sprinter/Configuration.h @@ -1,10 +1,9 @@ #ifndef CONFIGURATION_H #define CONFIGURATION_H +// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration -//BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration - -// The following define selects which electronics board you have. Please choose the one that matches your setup +//// The following define selects which electronics board you have. Please choose the one that matches your setup // MEGA/RAMPS up to 1.2 = 3, // RAMPS 1.3 = 33 // Gen6 = 5, @@ -12,58 +11,54 @@ // Sanguinololu 1.2 and above = 62 #define MOTHERBOARD 3 -//Thermistor settings: +//// Thermistor settings: // 1 is 100k thermistor // 2 is 200k thermistor // 3 is mendel-parts thermistor #define THERMISTORHEATER 1 #define THERMISTORBED 1 - -//Calibration variables -//X, Y, Z, E steps per unit - Metric Prusa Mendel with Wade extruder: +//// Calibration variables +// X, Y, Z, E steps per unit - Metric Prusa Mendel with Wade extruder: float axis_steps_per_unit[] = {80, 80, 3200/1.25,700}; -//Metric Prusa Mendel with Makergear geared stepper extruder: +// Metric Prusa Mendel with Makergear geared stepper extruder: //float axis_steps_per_unit[] = {80,80,3200/1.25,1380}; - -////Endstop Settings +//// Endstop Settings #define ENDSTOPPULLUPS 1 // Comment this out (using // at the start of the line) to disable the endstop pullup resistors -//The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins. +// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins. const bool ENDSTOPS_INVERTING = false; //set to true to invert the logic of the endstops -//This determines the communication speed of the printer +// This determines the communication speed of the printer #define BAUDRATE 115200 -//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 SDSUPPORT 1 - - - -//ADVANCED SETTINGS - to tweak parameters +//// ADVANCED SETTINGS - to tweak parameters #include "thermistortables.h" -//For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 +// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 const bool X_ENABLE_ON = 0; const bool Y_ENABLE_ON = 0; const bool Z_ENABLE_ON = 0; const bool E_ENABLE_ON = 0; -//Disables axis when it's not being used. +// Disables axis when it's not being used. const bool DISABLE_X = false; const bool DISABLE_Y = false; const bool DISABLE_Z = true; const bool DISABLE_E = false; +// Inverting axis direction const bool INVERT_X_DIR = false; const bool INVERT_Y_DIR = false; const bool INVERT_Z_DIR = true; const bool INVERT_E_DIR = false; -//ENDSTOP SETTINGS: +//// ENDSTOP SETTINGS: // Sets direction of endstops when homing; 1=MAX, -1=MIN const int X_HOME_DIR = -1; const int Y_HOME_DIR = -1; @@ -75,36 +70,34 @@ const int X_MAX_LENGTH = 200; const int Y_MAX_LENGTH = 200; const int Z_MAX_LENGTH = 100; - -//MOVEMENT SETTINGS +//// MOVEMENT SETTINGS const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E float max_feedrate[] = {200000, 200000, 240, 500000}; bool axis_relative_modes[] = {false, false, false, false}; - -//Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this +// Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this // If you enable this, make sure STEP_DELAY_RATIO is disabled. //#define STEP_DELAY_MICROS 1 -//Step delay over interval ratio. If you are still experiencing missing steps, try to uncomment the following line, but be aware this -//If you enable this, make sure STEP_DELAY_MICROS is disabled. +// Step delay over interval ratio. If you are still experiencing missing steps, try to uncomment the following line, but be aware this +// If you enable this, make sure STEP_DELAY_MICROS is disabled. //#define STEP_DELAY_RATIO 0.25 -//Comment this to disable ramp acceleration +// Comment this to disable ramp acceleration #define RAMP_ACCELERATION 1 -//Acceleration settings +//// Acceleration settings #ifdef RAMP_ACCELERATION -//X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. +// X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. float max_start_speed_units_per_second[] = {25.0,25.0,0.2,10.0}; long max_acceleration_units_per_sq_second[] = {1000,1000,50,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts long max_travel_acceleration_units_per_sq_second[] = {500,500,50}; // X, Y, Z max acceleration in mm/s^2 for travel moves #endif -// AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!! +//// AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!! -//PID settings: -//Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful. +//// PID settings: +// Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful. //#define PIDTEMP 1 #ifdef PIDTEMP #define PID_MAX 255 // limits current to nozzle @@ -114,35 +107,36 @@ long max_travel_acceleration_units_per_sq_second[] = {500,500,50}; // X, Y, Z ma #define PID_DGAIN 100 //100 is 1.0 #endif -//How often should the heater check for new temp readings, in milliseconds +// How often should the heater check for new temp readings, in milliseconds #define HEATER_CHECK_INTERVAL 500 #define BED_CHECK_INTERVAL 5000 -//Comment the following line to enable heat management during acceleration +// Comment the following line to enable heat management during acceleration #define DISABLE_CHECK_DURING_ACC #ifndef DISABLE_CHECK_DURING_ACC - //Uncomment the following line to disable heat management during the move + // Uncomment the following line to disable heat management during moves //#define DISABLE_CHECK_DURING_MOVE #endif -//Uncomment the following line to disable heat management during travel moves (and extruder-only moves, eg: retracts), strongly recommended if you are missing steps mid print. -//Probably this should remain commented if are using PID. -//It also defines the max milliseconds interval after which a travel move is not considered so for the sake of this feature. +// Uncomment the following line to disable heat management during travel moves (and extruder-only moves, eg: retracts), strongly recommended if you are missing steps mid print. +// Probably this should remain commented if are using PID. +// It also defines the max milliseconds interval after which a travel move is not considered so for the sake of this feature. #define DISABLE_CHECK_DURING_TRAVEL 1000 -//Experimental temperature smoothing - only uncomment this if your temp readings are noisy +//// Temperature smoothing - only uncomment this if your temp readings are noisy //#define SMOOTHING 1 //#define SMOOTHFACTOR 16 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm -//Experimental watchdog and minimal temp -//The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature -//If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109 +//// Experimental watchdog and minimal temp +// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature +// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109 //#define WATCHPERIOD 5000 //5 seconds -//The minimal temperature defines the temperature below which the heater will not be enabled + +//// The minimal temperature defines the temperature below which the heater will not be enabled #define MINTEMP 5 -//Experimental max temp -//When temperature exceeds max temp, your bot will halt. -//This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure! -//You should use MINTEMP for thermistor short/failure protection. +//// Experimental max temp +// When temperature exceeds max temp, your heater will be switched off. +// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure! +// You should use MINTEMP for thermistor short/failure protection. #define MAXTEMP 275 // Select one of these only to define how the nozzle temp is read. @@ -154,9 +148,7 @@ long max_travel_acceleration_units_per_sq_second[] = {500,500,50}; // X, Y, Z ma #define BED_USES_THERMISTOR //#define BED_USES_AD595 - - -//Uncomment the following line to enable debugging. You can better control debugging below the following line +// Uncomment the following line to enable debugging. You can better control debugging below the following line //#define DEBUG #ifdef DEBUG //#define DEBUG_PREPARE_MOVE //Enable this to debug prepare_move() function -- cgit v1.2.1 From 8dafab9b9a51ae91e1a5c5f5f03e7e2d6ba5be01 Mon Sep 17 00:00:00 2001 From: kliment Date: Wed, 6 Jul 2011 14:22:06 +0200 Subject: Single definition temp tables --- Sprinter/thermistortables.h | 181 ++++++++------------------------------------ 1 file changed, 33 insertions(+), 148 deletions(-) (limited to 'Sprinter') diff --git a/Sprinter/thermistortables.h b/Sprinter/thermistortables.h index e21b647..6c583af 100644 --- a/Sprinter/thermistortables.h +++ b/Sprinter/thermistortables.h @@ -1,11 +1,11 @@ #ifndef THERMISTORTABLES_H_ #define THERMISTORTABLES_H_ -#if THERMISTORHEATER == 1 //100k bed thermistor +#if (THERMISTORHEATER == 1) || (THERMISTORBED == 1) //100k bed thermistor -#define NUMTEMPS 61 -const short temptable[NUMTEMPS][2] = { +#define NUMTEMPS_1 61 +const short temptable_1[NUMTEMPS_1][2] = { { 23 , 300 }, { 25 , 295 }, { 27 , 290 }, @@ -68,10 +68,10 @@ const short temptable[NUMTEMPS][2] = { { 1004 , 5 }, { 1008 , 0 } //safety }; - -#elif THERMISTORHEATER == 2 //200k bed thermistor -#define NUMTEMPS 21 -const short temptable[NUMTEMPS][2] = { +#endif +#if (THERMISTORHEATER == 2) || (THERMISTORBED == 2) //200k bed thermistor +#define NUMTEMPS_2 21 +const short temptable_2[NUMTEMPS_2][2] = { {1, 848}, {54, 275}, {107, 228}, @@ -95,9 +95,10 @@ const short temptable[NUMTEMPS][2] = { {1020, 0} //safety }; -#elif THERMISTORHEATER == 3 //mendel-parts -#define NUMTEMPS 28 -const short temptable[NUMTEMPS][2] = { +#endif +#if (THERMISTORHEATER == 3) || (THERMISTORBED == 3) //mendel-parts +#define NUMTEMPS_3 28 +const short temptable_3[NUMTEMPS_3][2] = { {1,864}, {21,300}, {25,290}, @@ -128,147 +129,31 @@ const short temptable[NUMTEMPS][2] = { {1018,-20} }; -#else -#error No thermistor table specified - #endif - -#if THERMISTORHEATER==THERMISTORBED -#define BNUMTEMPS NUMTEMPS -#define bedtemptable temptable -#else -#if THERMISTORBED == 1 //100k bed thermistor - - -#define BNUMTEMPS 61 -const short bedtemptable[BNUMTEMPS][2] = { -{ 23 , 300 }, -{ 25 , 295 }, -{ 27 , 290 }, -{ 28 , 285 }, -{ 31 , 280 }, -{ 33 , 275 }, -{ 35 , 270 }, -{ 38 , 265 }, -{ 41 , 260 }, -{ 44 , 255 }, -{ 48 , 250 }, -{ 52 , 245 }, -{ 56 , 240 }, -{ 61 , 235 }, -{ 66 , 230 }, -{ 71 , 225 }, -{ 78 , 220 }, -{ 84 , 215 }, -{ 92 , 210 }, -{ 100 , 205 }, -{ 109 , 200 }, -{ 120 , 195 }, -{ 131 , 190 }, -{ 143 , 185 }, -{ 156 , 180 }, -{ 171 , 175 }, -{ 187 , 170 }, -{ 205 , 165 }, -{ 224 , 160 }, -{ 245 , 155 }, -{ 268 , 150 }, -{ 293 , 145 }, -{ 320 , 140 }, -{ 348 , 135 }, -{ 379 , 130 }, -{ 411 , 125 }, -{ 445 , 120 }, -{ 480 , 115 }, -{ 516 , 110 }, -{ 553 , 105 }, -{ 591 , 100 }, -{ 628 , 95 }, -{ 665 , 90 }, -{ 702 , 85 }, -{ 737 , 80 }, -{ 770 , 75 }, -{ 801 , 70 }, -{ 830 , 65 }, -{ 857 , 60 }, -{ 881 , 55 }, -{ 903 , 50 }, -{ 922 , 45 }, -{ 939 , 40 }, -{ 954 , 35 }, -{ 966 , 30 }, -{ 977 , 25 }, -{ 985 , 20 }, -{ 993 , 15 }, -{ 999 , 10 }, -{ 1004 , 5 }, -{ 1008 , 0 } //safety -}; - -#elif THERMISTORBED == 2 //200k bed thermistor -#define BNUMTEMPS 21 -const short bedtemptable[BNUMTEMPS][2] = { - {1, 848}, - {54, 275}, - {107, 228}, - {160, 202}, - {213, 185}, - {266, 171}, - {319, 160}, - {372, 150}, - {425, 141}, - {478, 133}, - {531, 125}, - {584, 118}, - {637, 110}, - {690, 103}, - {743, 95}, - {796, 86}, - {849, 77}, - {902, 65}, - {955, 49}, - {1008, 17}, - {1020, 0} //safety -}; - -#elif THERMISTORBED == 3 //mendel-parts -#define BNUMTEMPS 28 -const short bedtemptable[BNUMTEMPS][2] = { - {1,864}, - {21,300}, - {25,290}, - {29,280}, - {33,270}, - {39,260}, - {46,250}, - {54,240}, - {64,230}, - {75,220}, - {90,210}, - {107,200}, - {128,190}, - {154,180}, - {184,170}, - {221,160}, - {265,150}, - {316,140}, - {375,130}, - {441,120}, - {513,110}, - {588,100}, - {734,80}, - {856,60}, - {938,40}, - {986,20}, - {1008,0}, - {1018,-20} - }; -#else +#if THERMISTORHEATER == 1 +#define NUMTEMPS NUMTEMPS_1 +#define temptable temptable_1 +#elif THERMISTORHEATER == 2 +#define NUMTEMPS NUMTEMPS_2 +#define temptable temptable_2 +#elif THERMISTORHEATER == 3 +#define NUMTEMPS NUMTEMPS_3 +#define temptable temptable_3 +#elif defined HEATER_USES_THERMISTOR +#error No heater thermistor table specified +#endif +#if THERMISTORBED == 1 +#define BNUMTEMPS NUMTEMPS_1 +#define bedtemptable temptable_1 +#elif THERMISTORBED == 2 +#define BNUMTEMPS NUMTEMPS_2 +#define bedtemptable temptable_2 +#elif THERMISTORBED == 3 +#define BNUMTEMPS NUMTEMPS_3 +#define bedtemptable temptable_3 +#elif defined BED_USES_THERMISTOR #error No bed thermistor table specified - #endif - -#endif //if THERMISTORHEATER==THERMISTORBED #endif //THERMISTORTABLES_H_ -- cgit v1.2.1 From e5cb83f4aa28cdfc6ff393463ff445869db3502d Mon Sep 17 00:00:00 2001 From: Ahmet Cem TURAN Date: Wed, 6 Jul 2011 05:59:27 -0700 Subject: Put some notes in for gen6 users.. --- Sprinter/Configuration.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'Sprinter') diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h index de2af79..8bccfcc 100644 --- a/Sprinter/Configuration.h +++ b/Sprinter/Configuration.h @@ -80,7 +80,7 @@ bool axis_relative_modes[] = {false, false, false, false}; //#define STEP_DELAY_MICROS 1 // Step delay over interval ratio. If you are still experiencing missing steps, try to uncomment the following line, but be aware this -// If you enable this, make sure STEP_DELAY_MICROS is disabled. +// If you enable this, make sure STEP_DELAY_MICROS is disabled. (except for Gen6: both need to be enabled.) //#define STEP_DELAY_RATIO 0.25 // Comment this to disable ramp acceleration @@ -121,7 +121,7 @@ long max_travel_acceleration_units_per_sq_second[] = {500,500,50}; // X, Y, Z ma // It also defines the max milliseconds interval after which a travel move is not considered so for the sake of this feature. #define DISABLE_CHECK_DURING_TRAVEL 1000 -//// Temperature smoothing - only uncomment this if your temp readings are noisy +//// Temperature smoothing - only uncomment this if your temp readings are noisy (Gen6 without EvdZ's 5V hack) //#define SMOOTHING 1 //#define SMOOTHFACTOR 16 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm -- cgit v1.2.1 From bdc7c47ad280c193e5ba53bc6cc8bf10ac081977 Mon Sep 17 00:00:00 2001 From: kliment Date: Wed, 6 Jul 2011 15:13:23 +0200 Subject: Make M190 not break flow control --- Sprinter/Sprinter.pde | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) (limited to 'Sprinter') diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 733aec8..f00ff11 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -716,9 +716,7 @@ inline void process_commands() { tt=analog2temp(current_raw); Serial.print("T:"); - Serial.println( tt ); - Serial.print("ok T:"); - Serial.print( tt ); + Serial.print( tt ); Serial.print(" B:"); Serial.println( analog2temp(current_bed_raw) ); codenum = millis(); -- cgit v1.2.1 From b247ffd7dbf4da06b8708ae2228cc4396828d333 Mon Sep 17 00:00:00 2001 From: kliment Date: Wed, 6 Jul 2011 21:27:52 +0200 Subject: Fix sanguinololu version define --- Sprinter/pins.h | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) (limited to 'Sprinter') diff --git a/Sprinter/pins.h b/Sprinter/pins.h index dfd12b5..b1216a0 100644 --- a/Sprinter/pins.h +++ b/Sprinter/pins.h @@ -427,7 +427,7 @@ ****************************************************************************************/ #if MOTHERBOARD == 62 #define MOTHERBOARD 6 -#define +#define SANGUINOLOLU_V_1_2 #endif #if MOTHERBOARD == 6 #define KNOWN_BOARD 1 @@ -436,7 +436,6 @@ #endif // comment the following line for Sanguinololu v1.1 or earlier. -#define SANGUINOLOLU_V_1_2 #define X_STEP_PIN 15 -- cgit v1.2.1 From 88b8df4a860802e398c5b82b2e640257db40e7a8 Mon Sep 17 00:00:00 2001 From: kliment Date: Wed, 6 Jul 2011 21:30:42 +0200 Subject: Documentation fix - delete misleading comment --- Sprinter/pins.h | 3 --- 1 file changed, 3 deletions(-) (limited to 'Sprinter') diff --git a/Sprinter/pins.h b/Sprinter/pins.h index b1216a0..1bd6702 100644 --- a/Sprinter/pins.h +++ b/Sprinter/pins.h @@ -435,9 +435,6 @@ #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu. #endif -// comment the following line for Sanguinololu v1.1 or earlier. - - #define X_STEP_PIN 15 #define X_DIR_PIN 21 #define X_MIN_PIN 18 -- cgit v1.2.1 From f4944f6d8ef6bb51ccf632fff6d80934f7b4e5cb Mon Sep 17 00:00:00 2001 From: kliment Date: Thu, 7 Jul 2011 10:34:24 +0200 Subject: Fix broken #ifdef Fix declarations in .h file --- Sprinter/Sprinter.h | 3 ++- Sprinter/Sprinter.pde | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) (limited to 'Sprinter') diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h index 4e3c7ea..31d4b69 100644 --- a/Sprinter/Sprinter.h +++ b/Sprinter/Sprinter.h @@ -18,7 +18,8 @@ void ClearToSend(); void get_coordinates(); void prepare_move(); -void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining); +void linear_move(unsigned long steps_remaining[]); +void do_step_update_micros(int axis); void disable_x(); void disable_y(); void disable_z(); diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index f00ff11..ea854cb 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -450,7 +450,7 @@ inline void process_commands() { case 0: // G0 -> G1 case 1: // G1 - #ifdef DISABLE_CHECK_DURING_ACC || DISABLE_CHECK_DURING_MOVE || DISABLE_CHECK_DURING_TRAVEL + #if (defined DISABLE_CHECK_DURING_ACC) || (defined DISABLE_CHECK_DURING_MOVE) || (defined DISABLE_CHECK_DURING_TRAVEL) manage_heater(); #endif get_coordinates(); // For X Y Z E F -- cgit v1.2.1 From 57f82b5a5b566025ff0c6da6728dbc4380b937cd Mon Sep 17 00:00:00 2001 From: kliment Date: Thu, 7 Jul 2011 16:32:10 +0200 Subject: Add missing accel per sq second for E --- Sprinter/Configuration.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'Sprinter') diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h index 8bccfcc..319c839 100644 --- a/Sprinter/Configuration.h +++ b/Sprinter/Configuration.h @@ -91,7 +91,7 @@ bool axis_relative_modes[] = {false, false, false, false}; // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. float max_start_speed_units_per_second[] = {25.0,25.0,0.2,10.0}; long max_acceleration_units_per_sq_second[] = {1000,1000,50,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts -long max_travel_acceleration_units_per_sq_second[] = {500,500,50}; // X, Y, Z max acceleration in mm/s^2 for travel moves +long max_travel_acceleration_units_per_sq_second[] = {500,500,50,500}; // X, Y, Z max acceleration in mm/s^2 for travel moves #endif //// AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!! -- cgit v1.2.1 From d98555ffb0e94ece92311dcf2ff3a2ff13d9e3d4 Mon Sep 17 00:00:00 2001 From: kliment Date: Thu, 7 Jul 2011 16:34:34 +0200 Subject: Fix makefile and header to compile from command line --- Sprinter/Makefile | 6 +++--- Sprinter/Sprinter.h | 8 +++----- 2 files changed, 6 insertions(+), 8 deletions(-) (limited to 'Sprinter') diff --git a/Sprinter/Makefile b/Sprinter/Makefile index 618b384..0f9b5b7 100644 --- a/Sprinter/Makefile +++ b/Sprinter/Makefile @@ -33,7 +33,7 @@ # $Id$ TARGET = $(notdir $(CURDIR)) -INSTALL_DIR = /home/chris/arduino-0022 +INSTALL_DIR = ../../arduino22/arduino-0022/ UPLOAD_RATE = 38400 AVRDUDE_PROGRAMMER = stk500v1 PORT = /dev/ttyUSB0 @@ -52,7 +52,7 @@ ARDUINO = $(INSTALL_DIR)/hardware/arduino/cores/arduino AVR_TOOLS_PATH = /usr/bin SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \ $(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \ -$(ARDUINO)/wiring_pulse.c $(ARDUINO)/wiring_serial.c \ +$(ARDUINO)/wiring_pulse.c \ $(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \ $(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp @@ -142,7 +142,7 @@ applet_files: $(TARGET).pde test -d applet || mkdir applet echo '#include "WProgram.h"' > applet/$(TARGET).cpp cat $(TARGET).pde >> applet/$(TARGET).cpp - cat $(ARDUINO)/main.cxx >> applet/$(TARGET).cpp + cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp elf: applet/$(TARGET).elf hex: applet/$(TARGET).hex diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h index 31d4b69..7a4b8a9 100644 --- a/Sprinter/Sprinter.h +++ b/Sprinter/Sprinter.h @@ -1,7 +1,8 @@ // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. // Licence: GPL #include - +extern "C" void __cxa_pure_virtual(); +void __cxa_pure_virtual(){}; void get_command(); void process_commands(); @@ -28,10 +29,7 @@ void enable_x(); void enable_y(); void enable_z(); void enable_e(); -void do_x_step(); -void do_y_step(); -void do_z_step(); -void do_e_step(); +void do_step(int axis); void kill(byte debug); -- cgit v1.2.1 From 3e28c2e8f00a3440873c806f780641de0ed5190f Mon Sep 17 00:00:00 2001 From: kliment Date: Sat, 9 Jul 2011 10:35:30 +0200 Subject: Change backoff during homing to 5mm. --- Sprinter/Sprinter.pde | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) (limited to 'Sprinter') diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index ea854cb..4ce93fc 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -479,14 +479,14 @@ inline void process_commands() home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); if((home_all_axis) || (code_seen('X'))) { - if((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) { + #if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) current_position[0] = 0; destination[0] = 1.5 * X_MAX_LENGTH * X_HOME_DIR; feedrate = max_start_speed_units_per_second[0] * 60; prepare_move(); current_position[0] = 0; - destination[0] = -1 * X_HOME_DIR; + destination[0] = -5 * X_HOME_DIR; prepare_move(); destination[0] = 10 * X_HOME_DIR; @@ -495,18 +495,18 @@ inline void process_commands() current_position[0] = 0; destination[0] = 0; feedrate = 0; - } + #endif } if((home_all_axis) || (code_seen('X'))) { - if((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) { + #if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) current_position[1] = 0; destination[1] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR; feedrate = max_start_speed_units_per_second[1] * 60; prepare_move(); current_position[1] = 0; - destination[1] = -1 * Y_HOME_DIR; + destination[1] = -5 * Y_HOME_DIR; prepare_move(); destination[1] = 10 * Y_HOME_DIR; @@ -515,18 +515,18 @@ inline void process_commands() current_position[1] = 0; destination[1] = 0; feedrate = 0; - } + #endif } if((home_all_axis) || (code_seen('X'))) { - if((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) { + #if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) current_position[2] = 0; destination[2] = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR; feedrate = max_feedrate[2]/2; prepare_move(); current_position[2] = 0; - destination[2] = -1 * Z_HOME_DIR; + destination[2] = -5 * Z_HOME_DIR; prepare_move(); destination[2] = 10 * Z_HOME_DIR; @@ -535,7 +535,7 @@ inline void process_commands() current_position[2] = 0; destination[2] = 0; feedrate = 0; - } + #endif } feedrate = saved_feedrate; -- cgit v1.2.1