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From: <hoe...@us...> - 2009-02-01 00:20:40
|
Revision: 2473
http://reprap.svn.sourceforge.net/reprap/?rev=2473&view=rev
Author: hoekstar
Date: 2009-02-01 00:20:36 +0000 (Sun, 01 Feb 2009)
Log Message:
-----------
moved things to their proper places.
Modified Paths:
--------------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Configuration.h
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/_misc.h
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder2.pde
Added Paths:
-----------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Datatypes.h
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Variables.h
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde 2009-02-01 00:14:48 UTC (rev 2472)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde 2009-02-01 00:20:36 UTC (rev 2473)
@@ -17,54 +17,16 @@
//include some basic libraries.
#include <WProgram.h>
-#include "_misc.h"
+#include <Servo.h>
+
+#include "Configuration.h"
+#include "Datatypes.h"
#include "Packet.h"
+#include "Variables.h"
//this is our firmware version
#define FIRMWARE_VERSION 0001
-//this is the version of our host software
-unsigned int master_version = 0;
-
-//these are our packet classes
-Packet masterPacket(0);
-
-//are we paused?
-boolean is_tool_paused = false;
-
-#include <Servo.h>
-
-int current_temperature;
-int target_temperature;
-
-// motor control states.
-typedef enum {
- MC_PWM = 0,
- MC_ENCODER
-}
-MotorControlStyle;
-
-typedef enum {
- MC_FORWARD = 0,
- MC_REVERSE = 1
-}
-MotorControlDirection;
-
-MotorControlStyle motor1_control = MC_PWM;
-MotorControlDirection motor1_dir = MC_FORWARD;
-byte motor1_pwm = 0;
-long motor1_target_rpm = 0;
-long motor1_current_rpm = 0;
-
-MotorControlStyle motor2_control = MC_PWM;
-MotorControlDirection motor2_dir = MC_FORWARD;
-byte motor2_pwm = 0;
-long motor2_target_rpm = 0;
-long motor2_current_rpm = 0;
-
-Servo servo1;
-Servo servo2;
-
//set up our firmware for actual usage.
void setup()
{
@@ -109,3 +71,25 @@
//initalize everything to the beginning
initialize();
}
+
+void delayMicrosecondsInterruptible(unsigned int us)
+{
+ // for a one-microsecond delay, simply return. the overhead
+ // of the function call yields a delay of approximately 1 1/8 us.
+ if (--us == 0)
+ return;
+
+ // the following loop takes a quarter of a microsecond (4 cycles)
+ // per iteration, so execute it four times for each microsecond of
+ // delay requested.
+ us <<= 2;
+
+ // account for the time taken in the preceeding commands.
+ us -= 2;
+
+ // busy wait
+ __asm__ __volatile__ (
+ "1: sbiw %0,1" "\n\t" // 2 cycles
+ "brne 1b" : "=w" (us) : "0" (us) // 2 cycles
+ );
+}
\ No newline at end of file
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Configuration.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Configuration.h 2009-02-01 00:14:48 UTC (rev 2472)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Configuration.h 2009-02-01 00:20:36 UTC (rev 2473)
@@ -3,135 +3,16 @@
****************************************************************************************/
//
-// CHOOSE WHICH MOTHERBOARD YOU'RE USING:
+// CHOOSE WHICH EXTRUDER YOU'RE USING:
//
-#define REPRAP_MOTHERBOARD_VERSION_1_0
-//#define REPRAP_MOTHERBOARD_VERSION_1_1
+#define EXTRUDER_CONTROLLER_VERSION_2_0
-//
-// CHOOSE WHICH FAMILY OF STEPPER DRIVER YOU'RE USING:
-//
-//#define STEPPER_DRIVER_VERSION_1_X
-#define STEPPER_DRIVER_VERSION_2_X
-
-//
-// CHOOSE WHICH FAMILY OF OPTO ENDSTOP YOU'RE USING:
-//
-//#define OPTO_ENDSTOP_1_X
-#define OPTO_ENDSTOP_2_X
-
/****************************************************************************************
* Sanguino Pin Assignment
****************************************************************************************/
//these are the pins for the v1.0 Motherboard.
-#ifdef REPRAP_MOTHERBOARD_VERSION_1_0
+#ifdef EXTRUDER_CONTROLLER_VERSION_2_0
-//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 21
-//y axis pins
-#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
-
-//z axis pins
-#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
-
-//our pin for debugging.
-#define DEBUG_PIN 0
-
-//various SPI select pins
-#define SPI_SELECT_1 ?
-#define SPI_SELECT_2 ?
-#define SPI_SELECT_3 ?
-
-//our SD card pins
-#define SD_CARD_SELECT ?
-#define SD_CARD_WRITE ?
-#define SD_CARD_DETECT ?
-
-//our RS485 pins
-#define RS485_TX_ENABLE ?
-#define RS485_RX_ENABLE ?
-
#endif
-
-//these are the pins for the v1.1 Motherboard.
-#ifdef REPRAP_MOTHERBOARD_VERSION_1_1
-
-//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 21
-
-//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 26
-
-//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 31
-
-//our pin for debugging.
-#define DEBUG_PIN 0
-
-//various SPI select pins
-#define SPI_SELECT_1 1
-#define SPI_SELECT_2 3
-#define SPI_SELECT_3 14
-
-//our SD card pins
-#define SD_CARD_SELECT 4
-#define SD_CARD_WRITE 2
-#define SD_CARD_DETECT 3
-
-//our RS485 pins
-#define RS485_TX_ENABLE 12
-#define RS485_RX_ENABLE 13
-
-#endif
-
-/****************************************************************************************
-* Stepper Driver Behaviour Definition
-****************************************************************************************/
-
-#ifdef STEPPER_DRIVER_VERSION_1_X
-#define STEPPER_ENABLE 1
-#define STEPPER_DISABLE 0
-#endif
-
-#ifdef STEPPER_DRIVER_VERSION_2_X
-#define STEPPER_ENABLE 0
-#define STEPPER_DISABLE 1
-#endif
-
-/****************************************************************************************
-* Opto Endstop Behaviour Definition
-****************************************************************************************/
-
-#ifdef OPTO_ENDSTOP_1_X
-#define SENSORS_INVERTING 0
-#endif
-
-#ifdef OPTO_ENDSTOP_2_X
-#define SENSORS_INVERTING 1
-#endif
Added: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Datatypes.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Datatypes.h (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Datatypes.h 2009-02-01 00:20:36 UTC (rev 2473)
@@ -0,0 +1,33 @@
+// motor control states.
+typedef enum {
+ MC_PWM = 0,
+ MC_ENCODER
+}
+MotorControlStyle;
+
+typedef enum {
+ MC_FORWARD = 0,
+ MC_REVERSE = 1
+}
+MotorControlDirection;
+
+// packet states
+typedef enum {
+ PS_START = 0,
+ PS_LEN,
+ PS_PAYLOAD,
+ PS_CRC,
+ PS_LAST
+}
+PacketState;
+
+// various error codes
+typedef enum {
+ RC_GENERIC_ERROR = 0,
+ RC_OK = 1,
+ RC_BUFFER_OVERFLOW = 2,
+ RC_CRC_MISMATCH = 3,
+ RC_PACKET_TOO_BIG = 4,
+ RC_CMD_UNSUPPORTED = 5
+}
+ResponseCode;
\ No newline at end of file
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h 2009-02-01 00:14:48 UTC (rev 2472)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h 2009-02-01 00:20:36 UTC (rev 2473)
@@ -6,27 +6,6 @@
#include <stdint.h>
#include "HardwareSerial.h"
-// packet states
-typedef enum {
- PS_START = 0,
- PS_LEN,
- PS_PAYLOAD,
- PS_CRC,
- PS_LAST
-}
-PacketState;
-
-// various error codes
-typedef enum {
- RC_GENERIC_ERROR = 0,
- RC_OK = 1,
- RC_BUFFER_OVERFLOW = 2,
- RC_CRC_MISMATCH = 3,
- RC_PACKET_TOO_BIG = 4,
- RC_CMD_UNSUPPORTED = 5
-}
-ResponseCode;
-
#define START_BYTE 0xD5
#define MAX_PACKET_LENGTH 32
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde 2009-02-01 00:14:48 UTC (rev 2472)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde 2009-02-01 00:20:36 UTC (rev 2473)
@@ -23,10 +23,6 @@
#define SLAVE_CMD_SELECT_TOOL 21
#define SLAVE_CMD_IS_TOOL_READY 22
-//how many queued commands have we processed?
-//this will be used to keep track of our current progress.
-unsigned long finishedCommands = 0;
-
//initialize the firmware to default state.
void init_commands()
{
Added: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Variables.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Variables.h (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Variables.h 2009-02-01 00:20:36 UTC (rev 2473)
@@ -0,0 +1,30 @@
+//this is the version of our host software
+unsigned int master_version = 0;
+
+//how many queued commands have we processed?
+//this will be used to keep track of our current progress.
+unsigned long finishedCommands = 0;
+
+//these are our packet classes
+Packet masterPacket(0);
+
+//are we paused?
+boolean is_tool_paused = false;
+
+int current_temperature;
+int target_temperature;
+
+MotorControlStyle motor1_control = MC_PWM;
+MotorControlDirection motor1_dir = MC_FORWARD;
+byte motor1_pwm = 0;
+long motor1_target_rpm = 0;
+long motor1_current_rpm = 0;
+
+MotorControlStyle motor2_control = MC_PWM;
+MotorControlDirection motor2_dir = MC_FORWARD;
+byte motor2_pwm = 0;
+long motor2_target_rpm = 0;
+long motor2_current_rpm = 0;
+
+Servo servo1;
+Servo servo2;
\ No newline at end of file
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/_misc.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/_misc.h 2009-02-01 00:14:48 UTC (rev 2472)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/_misc.h 2009-02-01 00:20:36 UTC (rev 2473)
@@ -1,48 +1,4 @@
//#include <stddef.h>
#include <stdint.h>
-void delayMicrosecondsInterruptible(unsigned int us)
-{
-#if F_CPU >= 16000000L
- // for the 16 MHz clock on most Arduino boards
-
- // for a one-microsecond delay, simply return. the overhead
- // of the function call yields a delay of approximately 1 1/8 us.
- if (--us == 0)
- return;
-
- // the following loop takes a quarter of a microsecond (4 cycles)
- // per iteration, so execute it four times for each microsecond of
- // delay requested.
- us <<= 2;
-
- // account for the time taken in the preceeding commands.
- us -= 2;
-#else
- // for the 8 MHz internal clock on the ATmega168
-
- // for a one- or two-microsecond delay, simply return. the overhead of
- // the function calls takes more than two microseconds. can't just
- // subtract two, since us is unsigned; we'd overflow.
- if (--us == 0)
- return;
- if (--us == 0)
- return;
-
- // the following loop takes half of a microsecond (4 cycles)
- // per iteration, so execute it twice for each microsecond of
- // delay requested.
- us <<= 1;
-
- // partially compensate for the time taken by the preceeding commands.
- // we can't subtract any more than this or we'd overflow w/ small delays.
- us--;
-#endif
-
- // busy wait
- __asm__ __volatile__ (
- "1: sbiw %0,1" "\n\t" // 2 cycles
- "brne 1b" : "=w" (us) : "0" (us) // 2 cycles
- );
-}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder2.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder2.pde 2009-02-01 00:14:48 UTC (rev 2472)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder2.pde 2009-02-01 00:20:36 UTC (rev 2473)
@@ -1,5 +1,3 @@
-
-
void init_extruder()
{
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hoe...@us...> - 2009-02-01 00:14:52
|
Revision: 2472
http://reprap.svn.sourceforge.net/reprap/?rev=2472&view=rev
Author: hoekstar
Date: 2009-02-01 00:14:48 +0000 (Sun, 01 Feb 2009)
Log Message:
-----------
more shuffling
Added Paths:
-----------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Configuration.h
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Timer1
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder2.pde
Removed Paths:
-------------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/_init.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Configuration.h (from rev 2471, trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/_init.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Configuration.h (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Configuration.h 2009-02-01 00:14:48 UTC (rev 2472)
@@ -0,0 +1,137 @@
+/****************************************************************************************
+* Here's where you define the overall electronics setup for your machine.
+****************************************************************************************/
+
+//
+// CHOOSE WHICH MOTHERBOARD YOU'RE USING:
+//
+#define REPRAP_MOTHERBOARD_VERSION_1_0
+//#define REPRAP_MOTHERBOARD_VERSION_1_1
+
+//
+// CHOOSE WHICH FAMILY OF STEPPER DRIVER YOU'RE USING:
+//
+//#define STEPPER_DRIVER_VERSION_1_X
+#define STEPPER_DRIVER_VERSION_2_X
+
+//
+// CHOOSE WHICH FAMILY OF OPTO ENDSTOP YOU'RE USING:
+//
+//#define OPTO_ENDSTOP_1_X
+#define OPTO_ENDSTOP_2_X
+
+/****************************************************************************************
+* Sanguino Pin Assignment
+****************************************************************************************/
+
+//these are the pins for the v1.0 Motherboard.
+#ifdef REPRAP_MOTHERBOARD_VERSION_1_0
+
+//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 21
+
+//y axis pins
+#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
+
+//z axis pins
+#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
+
+//our pin for debugging.
+#define DEBUG_PIN 0
+
+//various SPI select pins
+#define SPI_SELECT_1 ?
+#define SPI_SELECT_2 ?
+#define SPI_SELECT_3 ?
+
+//our SD card pins
+#define SD_CARD_SELECT ?
+#define SD_CARD_WRITE ?
+#define SD_CARD_DETECT ?
+
+//our RS485 pins
+#define RS485_TX_ENABLE ?
+#define RS485_RX_ENABLE ?
+
+#endif
+
+//these are the pins for the v1.1 Motherboard.
+#ifdef REPRAP_MOTHERBOARD_VERSION_1_1
+
+//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 21
+
+//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 26
+
+//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 31
+
+//our pin for debugging.
+#define DEBUG_PIN 0
+
+//various SPI select pins
+#define SPI_SELECT_1 1
+#define SPI_SELECT_2 3
+#define SPI_SELECT_3 14
+
+//our SD card pins
+#define SD_CARD_SELECT 4
+#define SD_CARD_WRITE 2
+#define SD_CARD_DETECT 3
+
+//our RS485 pins
+#define RS485_TX_ENABLE 12
+#define RS485_RX_ENABLE 13
+
+#endif
+
+/****************************************************************************************
+* Stepper Driver Behaviour Definition
+****************************************************************************************/
+
+#ifdef STEPPER_DRIVER_VERSION_1_X
+#define STEPPER_ENABLE 1
+#define STEPPER_DISABLE 0
+#endif
+
+#ifdef STEPPER_DRIVER_VERSION_2_X
+#define STEPPER_ENABLE 0
+#define STEPPER_DISABLE 1
+#endif
+
+/****************************************************************************************
+* Opto Endstop Behaviour Definition
+****************************************************************************************/
+
+#ifdef OPTO_ENDSTOP_1_X
+#define SENSORS_INVERTING 0
+#endif
+
+#ifdef OPTO_ENDSTOP_2_X
+#define SENSORS_INVERTING 1
+#endif
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Timer1 (from rev 2471, trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Timer1 (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Timer1 2009-02-01 00:14:48 UTC (rev 2472)
@@ -0,0 +1,132 @@
+//these routines provide an easy interface for controlling timer1 interrupts
+
+//this handles the timer interrupt event
+SIGNAL(SIG_OUTPUT_COMPARE1A)
+{
+}
+
+void enableTimer1Interrupt()
+{
+ //enable our interrupt!
+ TIMSK1 |= (1<<OCIE1A);
+}
+
+void disableTimer1Interrupt()
+{
+ TIMSK1 &= ~(1<<ICIE1);
+ TIMSK1 &= ~(1<<OCIE1A);
+}
+
+void setTimer1Resolution(byte r)
+{
+ //from table 15-5 in that atmega168 datasheet:
+ // we're setting CS12 - CS10 which correspond to the binary numbers 0-5
+ // 0 = no timer
+ // 1 = no prescaler
+ // 2 = clock/8
+ // 3 = clock/64
+ // 4 = clock/256
+ // 5 = clock/1024
+
+ if (r > 5)
+ r = 5;
+
+ TCCR1B &= B11111000;
+ TCCR1B |= r;
+}
+
+void setTimer1Ceiling(unsigned int c)
+{
+ OCR1A = c;
+}
+
+
+unsigned int getTimer1Ceiling(unsigned long ticks)
+{
+ // our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs)
+ if (ticks <= 65535L)
+ return (ticks & 0xffff);
+ // our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs)
+ else if (ticks <= 524280L)
+ return ((ticks / 8) & 0xffff);
+ // our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs)
+ else if (ticks <= 4194240L)
+ return ((ticks / 64) & 0xffff);
+ // our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs)
+ else if (ticks <= 16776960L)
+ return (ticks / 256);
+ // our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs)
+ else if (ticks <= 67107840L)
+ return (ticks / 1024);
+ //its really slow... hopefully we can just get by with super slow.
+ else
+ return 65535;
+}
+
+byte getTimer1Resolution(unsigned long ticks)
+{
+ // these also represent frequency: 1000000 / ticks / 2 = frequency in hz.
+
+ // our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs (4 millisecond max))
+ // range: 8Mhz max - 122hz min
+ if (ticks <= 65535L)
+ return 1;
+ // our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs (32 millisecond max))
+ // range:1Mhz max - 15.26hz min
+ else if (ticks <= 524280L)
+ return 2;
+ // our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs (0.26 seconds max))
+ // range: 125Khz max - 1.9hz min
+ else if (ticks <= 4194240L)
+ return 3;
+ // our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs (1.04 seconds max))
+ // range: 31.25Khz max - 0.475hz min
+ else if (ticks <= 16776960L)
+ return 4;
+ // our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs (4.19 seconds max))
+ // range: 7.812Khz max - 0.119hz min
+ else if (ticks <= 67107840L)
+ return 5;
+ //its really slow... hopefully we can just get by with super slow.
+ else
+ return 5;
+}
+
+void setTimer1Ticks(unsigned long ticks)
+{
+ // ticks is the delay between interrupts in 62.5 nanosecond ticks.
+ //
+ // we break it into 5 different resolutions based on the delay.
+ // then we set the resolution based on the size of the delay.
+ // we also then calculate the timer ceiling required. (ie what the counter counts to)
+ // the result is the timer counts up to the appropriate time and then fires an interrupt.
+
+ setTimer1Ceiling(getTimer1Ceiling(ticks));
+ setTimer1Resolution(getTimer1Resolution(ticks));
+}
+
+void setupTimer1Interrupt()
+{
+ //clear the registers
+ TCCR1A = 0;
+ TCCR1B = 0;
+ TCCR1C = 0;
+ TIMSK1 = 0;
+
+ //waveform generation = 0100 = CTC
+ TCCR1B &= ~(1<<WGM13);
+ TCCR1B |= (1<<WGM12);
+ TCCR1A &= ~(1<<WGM11);
+ TCCR1A &= ~(1<<WGM10);
+
+ //output mode = 00 (disconnected)
+ TCCR1A &= ~(1<<COM1A1);
+ TCCR1A &= ~(1<<COM1A0);
+ TCCR1A &= ~(1<<COM1B1);
+ TCCR1A &= ~(1<<COM1B0);
+
+ //start off with a slow frequency.
+ setTimer1Resolution(5);
+ setTimer1Ceiling(65535);
+ disableTimer1Interrupt();
+}
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/_init.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/_init.pde 2009-01-31 20:59:15 UTC (rev 2471)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/_init.pde 2009-02-01 00:14:48 UTC (rev 2472)
@@ -1,137 +0,0 @@
-/****************************************************************************************
-* Here's where you define the overall electronics setup for your machine.
-****************************************************************************************/
-
-//
-// CHOOSE WHICH MOTHERBOARD YOU'RE USING:
-//
-#define REPRAP_MOTHERBOARD_VERSION_1_0
-//#define REPRAP_MOTHERBOARD_VERSION_1_1
-
-//
-// CHOOSE WHICH FAMILY OF STEPPER DRIVER YOU'RE USING:
-//
-//#define STEPPER_DRIVER_VERSION_1_X
-#define STEPPER_DRIVER_VERSION_2_X
-
-//
-// CHOOSE WHICH FAMILY OF OPTO ENDSTOP YOU'RE USING:
-//
-//#define OPTO_ENDSTOP_1_X
-#define OPTO_ENDSTOP_2_X
-
-/****************************************************************************************
-* Sanguino Pin Assignment
-****************************************************************************************/
-
-//these are the pins for the v1.0 Motherboard.
-#ifdef REPRAP_MOTHERBOARD_VERSION_1_0
-
-//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 21
-
-//y axis pins
-#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
-
-//z axis pins
-#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
-
-//our pin for debugging.
-#define DEBUG_PIN 0
-
-//various SPI select pins
-#define SPI_SELECT_1 ?
-#define SPI_SELECT_2 ?
-#define SPI_SELECT_3 ?
-
-//our SD card pins
-#define SD_CARD_SELECT ?
-#define SD_CARD_WRITE ?
-#define SD_CARD_DETECT ?
-
-//our RS485 pins
-#define RS485_TX_ENABLE ?
-#define RS485_RX_ENABLE ?
-
-#endif
-
-//these are the pins for the v1.1 Motherboard.
-#ifdef REPRAP_MOTHERBOARD_VERSION_1_1
-
-//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 21
-
-//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 26
-
-//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 31
-
-//our pin for debugging.
-#define DEBUG_PIN 0
-
-//various SPI select pins
-#define SPI_SELECT_1 1
-#define SPI_SELECT_2 3
-#define SPI_SELECT_3 14
-
-//our SD card pins
-#define SD_CARD_SELECT 4
-#define SD_CARD_WRITE 2
-#define SD_CARD_DETECT 3
-
-//our RS485 pins
-#define RS485_TX_ENABLE 12
-#define RS485_RX_ENABLE 13
-
-#endif
-
-/****************************************************************************************
-* Stepper Driver Behaviour Definition
-****************************************************************************************/
-
-#ifdef STEPPER_DRIVER_VERSION_1_X
-#define STEPPER_ENABLE 1
-#define STEPPER_DISABLE 0
-#endif
-
-#ifdef STEPPER_DRIVER_VERSION_2_X
-#define STEPPER_ENABLE 0
-#define STEPPER_DISABLE 1
-#endif
-
-/****************************************************************************************
-* Opto Endstop Behaviour Definition
-****************************************************************************************/
-
-#ifdef OPTO_ENDSTOP_1_X
-#define SENSORS_INVERTING 0
-#endif
-
-#ifdef OPTO_ENDSTOP_2_X
-#define SENSORS_INVERTING 1
-#endif
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde 2009-01-31 20:59:15 UTC (rev 2471)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde 2009-02-01 00:14:48 UTC (rev 2472)
@@ -1,59 +0,0 @@
-
-
-void init_extruder()
-{
-
-}
-
-void manage_temperature()
-{
-
-}
-
-void enable_motor_1()
-{
-
-}
-
-void disable_motor_1()
-{
-
-}
-
-void enable_motor_2()
-{
-
-}
-
-void disable_motor_2()
-{
-
-}
-void enable_fan()
-{
-
-}
-
-void disable_fan()
-{
-
-}
-
-void open_valve()
-{
-
-}
-
-void close_valve()
-{
-
-}
-
-byte is_tool_ready()
-{
- //are we within 5% of the temperature?
- if (current_temperature > (int)(target_temperature * 0.95))
- return 1;
- else
- return 0;
-}
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder2.pde (from rev 2471, trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder2.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder2.pde 2009-02-01 00:14:48 UTC (rev 2472)
@@ -0,0 +1,59 @@
+
+
+void init_extruder()
+{
+
+}
+
+void manage_temperature()
+{
+
+}
+
+void enable_motor_1()
+{
+
+}
+
+void disable_motor_1()
+{
+
+}
+
+void enable_motor_2()
+{
+
+}
+
+void disable_motor_2()
+{
+
+}
+void enable_fan()
+{
+
+}
+
+void disable_fan()
+{
+
+}
+
+void open_valve()
+{
+
+}
+
+void close_valve()
+{
+
+}
+
+byte is_tool_ready()
+{
+ //are we within 5% of the temperature?
+ if (current_temperature > (int)(target_temperature * 0.95))
+ return 1;
+ else
+ return 0;
+}
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde 2009-01-31 20:59:15 UTC (rev 2471)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde 2009-02-01 00:14:48 UTC (rev 2472)
@@ -1,132 +0,0 @@
-//these routines provide an easy interface for controlling timer1 interrupts
-
-//this handles the timer interrupt event
-SIGNAL(SIG_OUTPUT_COMPARE1A)
-{
-}
-
-void enableTimer1Interrupt()
-{
- //enable our interrupt!
- TIMSK1 |= (1<<OCIE1A);
-}
-
-void disableTimer1Interrupt()
-{
- TIMSK1 &= ~(1<<ICIE1);
- TIMSK1 &= ~(1<<OCIE1A);
-}
-
-void setTimer1Resolution(byte r)
-{
- //from table 15-5 in that atmega168 datasheet:
- // we're setting CS12 - CS10 which correspond to the binary numbers 0-5
- // 0 = no timer
- // 1 = no prescaler
- // 2 = clock/8
- // 3 = clock/64
- // 4 = clock/256
- // 5 = clock/1024
-
- if (r > 5)
- r = 5;
-
- TCCR1B &= B11111000;
- TCCR1B |= r;
-}
-
-void setTimer1Ceiling(unsigned int c)
-{
- OCR1A = c;
-}
-
-
-unsigned int getTimer1Ceiling(unsigned long ticks)
-{
- // our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs)
- if (ticks <= 65535L)
- return (ticks & 0xffff);
- // our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs)
- else if (ticks <= 524280L)
- return ((ticks / 8) & 0xffff);
- // our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs)
- else if (ticks <= 4194240L)
- return ((ticks / 64) & 0xffff);
- // our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs)
- else if (ticks <= 16776960L)
- return (ticks / 256);
- // our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs)
- else if (ticks <= 67107840L)
- return (ticks / 1024);
- //its really slow... hopefully we can just get by with super slow.
- else
- return 65535;
-}
-
-byte getTimer1Resolution(unsigned long ticks)
-{
- // these also represent frequency: 1000000 / ticks / 2 = frequency in hz.
-
- // our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs (4 millisecond max))
- // range: 8Mhz max - 122hz min
- if (ticks <= 65535L)
- return 1;
- // our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs (32 millisecond max))
- // range:1Mhz max - 15.26hz min
- else if (ticks <= 524280L)
- return 2;
- // our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs (0.26 seconds max))
- // range: 125Khz max - 1.9hz min
- else if (ticks <= 4194240L)
- return 3;
- // our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs (1.04 seconds max))
- // range: 31.25Khz max - 0.475hz min
- else if (ticks <= 16776960L)
- return 4;
- // our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs (4.19 seconds max))
- // range: 7.812Khz max - 0.119hz min
- else if (ticks <= 67107840L)
- return 5;
- //its really slow... hopefully we can just get by with super slow.
- else
- return 5;
-}
-
-void setTimer1Ticks(unsigned long ticks)
-{
- // ticks is the delay between interrupts in 62.5 nanosecond ticks.
- //
- // we break it into 5 different resolutions based on the delay.
- // then we set the resolution based on the size of the delay.
- // we also then calculate the timer ceiling required. (ie what the counter counts to)
- // the result is the timer counts up to the appropriate time and then fires an interrupt.
-
- setTimer1Ceiling(getTimer1Ceiling(ticks));
- setTimer1Resolution(getTimer1Resolution(ticks));
-}
-
-void setupTimer1Interrupt()
-{
- //clear the registers
- TCCR1A = 0;
- TCCR1B = 0;
- TCCR1C = 0;
- TIMSK1 = 0;
-
- //waveform generation = 0100 = CTC
- TCCR1B &= ~(1<<WGM13);
- TCCR1B |= (1<<WGM12);
- TCCR1A &= ~(1<<WGM11);
- TCCR1A &= ~(1<<WGM10);
-
- //output mode = 00 (disconnected)
- TCCR1A &= ~(1<<COM1A1);
- TCCR1A &= ~(1<<COM1A0);
- TCCR1A &= ~(1<<COM1B1);
- TCCR1A &= ~(1<<COM1B0);
-
- //start off with a slow frequency.
- setTimer1Resolution(5);
- setTimer1Ceiling(65535);
- disableTimer1Interrupt();
-}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hoe...@us...> - 2009-01-31 20:59:20
|
Revision: 2471
http://reprap.svn.sourceforge.net/reprap/?rev=2471&view=rev
Author: hoekstar
Date: 2009-01-31 20:59:15 +0000 (Sat, 31 Jan 2009)
Log Message:
-----------
okay, it works properly now.
Modified Paths:
--------------
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde 2009-01-31 20:54:12 UTC (rev 2470)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde 2009-01-31 20:59:15 UTC (rev 2471)
@@ -14,10 +14,10 @@
//include some basic libraries.
#include <WProgram.h>
+#include <RepRapSDCard.h>
#include "Configuration.h"
#include "Datatypes.h"
-#include "RepRapSDCard.h"
#include "CircularBuffer.h"
#include "Packet.h"
#include "Variables.h"
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde 2009-01-31 20:54:12 UTC (rev 2470)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde 2009-01-31 20:59:15 UTC (rev 2471)
@@ -1,4 +1,4 @@
-t//initialize our stepper drivers
+//initialize our stepper drivers
void init_steppers()
{
//clear our point buffer
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hoe...@us...> - 2009-01-31 20:54:21
|
Revision: 2470
http://reprap.svn.sourceforge.net/reprap/?rev=2470&view=rev
Author: hoekstar
Date: 2009-01-31 20:54:12 +0000 (Sat, 31 Jan 2009)
Log Message:
-----------
added SD card support to the library.
Modified Paths:
--------------
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Variables.h
Added Paths:
-----------
trunk/reprap/firmware/Sanguino/Sanguino3G/RepRapSDCard/
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SDCard.pde
Added: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SDCard.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SDCard.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SDCard.pde 2009-01-31 20:54:12 UTC (rev 2470)
@@ -0,0 +1,125 @@
+void init_sd_card()
+{
+ if (!card.init_card())
+ {
+ if (!card.isAvailable())
+ {
+ Serial.println("No card present");
+ error = 1;
+ }
+ else
+ {
+ Serial.println("Card init failed");
+ error = 2;
+ }
+ }
+ else if (!card.open_partition())
+ {
+ Serial.println("No partition");
+ error = 3;
+ }
+ else if (!card.open_filesys())
+ {
+ Serial.println("Can't open filesys");
+ error = 4;
+ }
+ else if (!card.open_dir("/"))
+ {
+ Serial.println("Can't open /");
+ error = 5;
+ }
+ else if (card.isLocked())
+ {
+ Serial.println("Card is locked");
+ error = 6;
+ }
+}
+
+void open_file()
+{
+ open_new_file();
+
+ if (error == 0)
+ {
+ bufferIndex = 0;
+ for (char c = 'a'; c<= 'z'; c++)
+ {
+ buffer[bufferIndex] = c;
+ bufferIndex++;
+ }
+
+ card.write_file(f, (uint8_t *) buffer, bufferIndex);
+ card.close_file(f);
+ }
+
+ read_first_file();
+}
+
+void open_new_file()
+{
+ strcpy(buffer, "RRJOB00.TXT");
+ for (buffer[5] = '0'; buffer[5] <= '9'; buffer[5]++)
+ {
+ for (buffer[6] = '0'; buffer[6] <= '9'; buffer[6]++)
+ {
+ f = card.open_file(buffer);
+ if (!f)
+ break; // found a file!
+ card.close_file(f);
+ }
+ if (!f)
+ break;
+ }
+
+ if(!card.create_file(buffer))
+ {
+ Serial.print("couldnt create: ");
+ Serial.println(buffer);
+ error = 7;
+ }
+ else
+ {
+ f = card.open_file(buffer);
+ if (!f)
+ {
+ Serial.print("error opening: ");
+ Serial.println(buffer);
+ error = 8;
+ }
+ else
+ {
+ Serial.print("writing to: ");
+ Serial.println(buffer);
+ }
+ }
+}
+
+void read_first_file()
+{
+ strcpy(buffer, "RRJOB00.TXT");
+ f = card.open_file(buffer);
+
+ if (!f)
+ {
+ Serial.print("error opening: ");
+ Serial.println(buffer);
+ error = 8;
+ }
+ else
+ {
+ Serial.print("reading from: ");
+ Serial.println(buffer);
+
+ uint8_t result = card.read_file(f, (uint8_t *)buffer, 8);
+
+ if (result >0)
+ Serial.print(buffer);
+ else if (result == 0)
+ Serial.println("end of file.");
+ else
+ {
+ Serial.print("read error: ");
+ Serial.println(result, DEC);
+ }
+ }
+}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde 2009-01-31 20:20:09 UTC (rev 2469)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde 2009-01-31 20:54:12 UTC (rev 2470)
@@ -17,6 +17,7 @@
#include "Configuration.h"
#include "Datatypes.h"
+#include "RepRapSDCard.h"
#include "CircularBuffer.h"
#include "Packet.h"
#include "Variables.h"
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde 2009-01-31 20:20:09 UTC (rev 2469)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde 2009-01-31 20:54:12 UTC (rev 2470)
@@ -1,4 +1,4 @@
-//initialize our stepper drivers
+t//initialize our stepper drivers
void init_steppers()
{
//clear our point buffer
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Variables.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Variables.h 2009-01-31 20:20:09 UTC (rev 2469)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Variables.h 2009-01-31 20:54:12 UTC (rev 2470)
@@ -42,4 +42,14 @@
//this will be used to keep track of our current progress.
unsigned long finishedCommands = 0;
-byte currentToolIndex = 0;
\ No newline at end of file
+byte currentToolIndex = 0;
+
+//SD CARD STUFF.
+RepRapSDCard card;
+File f;
+
+//our buffer of bytes.
+#define BUFFSIZE 64
+char buffer[BUFFSIZE];
+byte bufferIndex = 0;
+byte error = 0;
\ No newline at end of file
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hoe...@us...> - 2009-01-31 20:20:13
|
Revision: 2469
http://reprap.svn.sourceforge.net/reprap/?rev=2469&view=rev
Author: hoekstar
Date: 2009-01-31 20:20:09 +0000 (Sat, 31 Jan 2009)
Log Message:
-----------
a bit more reshuffling
Added Paths:
-----------
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Timer1.pde
Removed Paths:
-------------
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_misc.h
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/timer1_interrupt_routines.pde
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Timer1.pde (from rev 2468, trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/timer1_interrupt_routines.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Timer1.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Timer1.pde 2009-01-31 20:20:09 UTC (rev 2469)
@@ -0,0 +1,133 @@
+//these routines provide an easy interface for controlling timer1 interrupts
+
+//this handles the timer interrupt event
+SIGNAL(SIG_OUTPUT_COMPARE1A)
+{
+ dda_step();
+}
+
+void enableTimer1Interrupt()
+{
+ //enable our interrupt!
+ TIMSK1 |= (1<<OCIE1A);
+}
+
+void disableTimer1Interrupt()
+{
+ TIMSK1 &= ~(1<<ICIE1);
+ TIMSK1 &= ~(1<<OCIE1A);
+}
+
+void setTimer1Resolution(byte r)
+{
+ //from table 15-5 in that atmega168 datasheet:
+ // we're setting CS12 - CS10 which correspond to the binary numbers 0-5
+ // 0 = no timer
+ // 1 = no prescaler
+ // 2 = clock/8
+ // 3 = clock/64
+ // 4 = clock/256
+ // 5 = clock/1024
+
+ if (r > 5)
+ r = 5;
+
+ TCCR1B &= B11111000;
+ TCCR1B |= r;
+}
+
+void setTimer1Ceiling(unsigned int c)
+{
+ OCR1A = c;
+}
+
+
+unsigned int getTimer1Ceiling(unsigned long ticks)
+{
+ // our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs)
+ if (ticks <= 65535L)
+ return (ticks & 0xffff);
+ // our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs)
+ else if (ticks <= 524280L)
+ return ((ticks / 8) & 0xffff);
+ // our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs)
+ else if (ticks <= 4194240L)
+ return ((ticks / 64) & 0xffff);
+ // our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs)
+ else if (ticks <= 16776960L)
+ return (ticks / 256);
+ // our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs)
+ else if (ticks <= 67107840L)
+ return (ticks / 1024);
+ //its really slow... hopefully we can just get by with super slow.
+ else
+ return 65535;
+}
+
+byte getTimer1Resolution(unsigned long ticks)
+{
+ // these also represent frequency: 1000000 / ticks / 2 = frequency in hz.
+
+ // our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs (4 millisecond max))
+ // range: 8Mhz max - 122hz min
+ if (ticks <= 65535L)
+ return 1;
+ // our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs (32 millisecond max))
+ // range:1Mhz max - 15.26hz min
+ else if (ticks <= 524280L)
+ return 2;
+ // our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs (0.26 seconds max))
+ // range: 125Khz max - 1.9hz min
+ else if (ticks <= 4194240L)
+ return 3;
+ // our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs (1.04 seconds max))
+ // range: 31.25Khz max - 0.475hz min
+ else if (ticks <= 16776960L)
+ return 4;
+ // our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs (4.19 seconds max))
+ // range: 7.812Khz max - 0.119hz min
+ else if (ticks <= 67107840L)
+ return 5;
+ //its really slow... hopefully we can just get by with super slow.
+ else
+ return 5;
+}
+
+void setTimer1Ticks(unsigned long ticks)
+{
+ // ticks is the delay between interrupts in 62.5 nanosecond ticks.
+ //
+ // we break it into 5 different resolutions based on the delay.
+ // then we set the resolution based on the size of the delay.
+ // we also then calculate the timer ceiling required. (ie what the counter counts to)
+ // the result is the timer counts up to the appropriate time and then fires an interrupt.
+
+ setTimer1Ceiling(getTimer1Ceiling(ticks));
+ setTimer1Resolution(getTimer1Resolution(ticks));
+}
+
+void setupTimer1Interrupt()
+{
+ //clear the registers
+ TCCR1A = 0;
+ TCCR1B = 0;
+ TCCR1C = 0;
+ TIMSK1 = 0;
+
+ //waveform generation = 0100 = CTC
+ TCCR1B &= ~(1<<WGM13);
+ TCCR1B |= (1<<WGM12);
+ TCCR1A &= ~(1<<WGM11);
+ TCCR1A &= ~(1<<WGM10);
+
+ //output mode = 00 (disconnected)
+ TCCR1A &= ~(1<<COM1A1);
+ TCCR1A &= ~(1<<COM1A0);
+ TCCR1A &= ~(1<<COM1B1);
+ TCCR1A &= ~(1<<COM1B0);
+
+ //start off with a slow frequency.
+ setTimer1Resolution(5);
+ setTimer1Ceiling(65535);
+ disableTimer1Interrupt();
+}
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_misc.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_misc.h 2009-01-31 20:16:52 UTC (rev 2468)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_misc.h 2009-01-31 20:20:09 UTC (rev 2469)
@@ -1 +0,0 @@
-
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/timer1_interrupt_routines.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/timer1_interrupt_routines.pde 2009-01-31 20:16:52 UTC (rev 2468)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/timer1_interrupt_routines.pde 2009-01-31 20:20:09 UTC (rev 2469)
@@ -1,133 +0,0 @@
-//these routines provide an easy interface for controlling timer1 interrupts
-
-//this handles the timer interrupt event
-SIGNAL(SIG_OUTPUT_COMPARE1A)
-{
- dda_step();
-}
-
-void enableTimer1Interrupt()
-{
- //enable our interrupt!
- TIMSK1 |= (1<<OCIE1A);
-}
-
-void disableTimer1Interrupt()
-{
- TIMSK1 &= ~(1<<ICIE1);
- TIMSK1 &= ~(1<<OCIE1A);
-}
-
-void setTimer1Resolution(byte r)
-{
- //from table 15-5 in that atmega168 datasheet:
- // we're setting CS12 - CS10 which correspond to the binary numbers 0-5
- // 0 = no timer
- // 1 = no prescaler
- // 2 = clock/8
- // 3 = clock/64
- // 4 = clock/256
- // 5 = clock/1024
-
- if (r > 5)
- r = 5;
-
- TCCR1B &= B11111000;
- TCCR1B |= r;
-}
-
-void setTimer1Ceiling(unsigned int c)
-{
- OCR1A = c;
-}
-
-
-unsigned int getTimer1Ceiling(unsigned long ticks)
-{
- // our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs)
- if (ticks <= 65535L)
- return (ticks & 0xffff);
- // our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs)
- else if (ticks <= 524280L)
- return ((ticks / 8) & 0xffff);
- // our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs)
- else if (ticks <= 4194240L)
- return ((ticks / 64) & 0xffff);
- // our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs)
- else if (ticks <= 16776960L)
- return (ticks / 256);
- // our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs)
- else if (ticks <= 67107840L)
- return (ticks / 1024);
- //its really slow... hopefully we can just get by with super slow.
- else
- return 65535;
-}
-
-byte getTimer1Resolution(unsigned long ticks)
-{
- // these also represent frequency: 1000000 / ticks / 2 = frequency in hz.
-
- // our slowest speed at our highest resolution ( (2^16-1) * 0.0625 usecs = 4095 usecs (4 millisecond max))
- // range: 8Mhz max - 122hz min
- if (ticks <= 65535L)
- return 1;
- // our slowest speed at our next highest resolution ( (2^16-1) * 0.5 usecs = 32767 usecs (32 millisecond max))
- // range:1Mhz max - 15.26hz min
- else if (ticks <= 524280L)
- return 2;
- // our slowest speed at our medium resolution ( (2^16-1) * 4 usecs = 262140 usecs (0.26 seconds max))
- // range: 125Khz max - 1.9hz min
- else if (ticks <= 4194240L)
- return 3;
- // our slowest speed at our medium-low resolution ( (2^16-1) * 16 usecs = 1048560 usecs (1.04 seconds max))
- // range: 31.25Khz max - 0.475hz min
- else if (ticks <= 16776960L)
- return 4;
- // our slowest speed at our lowest resolution ((2^16-1) * 64 usecs = 4194240 usecs (4.19 seconds max))
- // range: 7.812Khz max - 0.119hz min
- else if (ticks <= 67107840L)
- return 5;
- //its really slow... hopefully we can just get by with super slow.
- else
- return 5;
-}
-
-void setTimer1Ticks(unsigned long ticks)
-{
- // ticks is the delay between interrupts in 62.5 nanosecond ticks.
- //
- // we break it into 5 different resolutions based on the delay.
- // then we set the resolution based on the size of the delay.
- // we also then calculate the timer ceiling required. (ie what the counter counts to)
- // the result is the timer counts up to the appropriate time and then fires an interrupt.
-
- setTimer1Ceiling(getTimer1Ceiling(ticks));
- setTimer1Resolution(getTimer1Resolution(ticks));
-}
-
-void setupTimer1Interrupt()
-{
- //clear the registers
- TCCR1A = 0;
- TCCR1B = 0;
- TCCR1C = 0;
- TIMSK1 = 0;
-
- //waveform generation = 0100 = CTC
- TCCR1B &= ~(1<<WGM13);
- TCCR1B |= (1<<WGM12);
- TCCR1A &= ~(1<<WGM11);
- TCCR1A &= ~(1<<WGM10);
-
- //output mode = 00 (disconnected)
- TCCR1A &= ~(1<<COM1A1);
- TCCR1A &= ~(1<<COM1A0);
- TCCR1A &= ~(1<<COM1B1);
- TCCR1A &= ~(1<<COM1B0);
-
- //start off with a slow frequency.
- setTimer1Resolution(5);
- setTimer1Ceiling(65535);
- disableTimer1Interrupt();
-}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hoe...@us...> - 2009-01-31 20:16:56
|
Revision: 2468
http://reprap.svn.sourceforge.net/reprap/?rev=2468&view=rev
Author: hoekstar
Date: 2009-01-31 20:16:52 +0000 (Sat, 31 Jan 2009)
Log Message:
-----------
moved a bunch of things around to make things nice
Modified Paths:
--------------
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/CircularBuffer.h
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Packet.h
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_misc.h
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/timer1_interrupt_routines.pde
Added Paths:
-----------
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Datatypes.h
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Tools.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Variables.h
Removed Paths:
-------------
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/stepper.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools2.pde
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/CircularBuffer.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/CircularBuffer.h 2009-01-31 19:54:09 UTC (rev 2467)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/CircularBuffer.h 2009-01-31 20:16:52 UTC (rev 2468)
@@ -29,7 +29,7 @@
~CircularBuffer() {
}
-
+
/// Reset buffer. (Note: does not zero data.)
void clear() {
start = count = 0;
@@ -55,7 +55,7 @@
buffer[(start+count)%capacity] = datum;
count++;
}
-
+
/// Remove and return a character from the start of the
/// circular buffer.
const uint8_t remove_8() {
@@ -66,18 +66,12 @@
}
const uint16_t remove_16() {
- return (remove_8() << 8) & remove_8();
+ return (remove_8() << 8) & remove_8();
}
const uint32_t remove_32() {
- return (remove_16() << 16) & remove_16();
+ return (remove_16() << 16) & remove_16();
}
};
-//we store all queueable commands in one big giant buffer.
-// Explicitly allocate memory at compile time for buffer.
-#define COMMAND_BUFFER_SIZE 2048
-uint8_t underlyingBuffer[COMMAND_BUFFER_SIZE];
-CircularBuffer commandBuffer(COMMAND_BUFFER_SIZE, underlyingBuffer);
-
#endif // _CIRCULAR_BUFFER_H_
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h 2009-01-31 19:54:09 UTC (rev 2467)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h 2009-01-31 20:16:52 UTC (rev 2468)
@@ -1,6 +1,6 @@
/****************************************************************************************
-* Here's where you define the overall electronics setup for your machine.
-****************************************************************************************/
+ * Here's where you define the overall electronics setup for your machine.
+ ****************************************************************************************/
//
// CHOOSE WHICH MOTHERBOARD YOU'RE USING:
@@ -21,8 +21,8 @@
#define OPTO_ENDSTOP_2_X
/****************************************************************************************
-* Sanguino Pin Assignment
-****************************************************************************************/
+ * Sanguino Pin Assignment
+ ****************************************************************************************/
//these are the pins for the v1.0 Motherboard.
#ifdef REPRAP_MOTHERBOARD_VERSION_1_0
@@ -51,11 +51,6 @@
//our pin for debugging.
#define DEBUG_PIN 0
-//various SPI select pins
-#define SPI_SELECT_1 ?
-#define SPI_SELECT_2 ?
-#define SPI_SELECT_3 ?
-
//our SD card pins
#define SD_CARD_SELECT ?
#define SD_CARD_WRITE ?
@@ -111,8 +106,8 @@
#endif
/****************************************************************************************
-* Stepper Driver Behaviour Definition
-****************************************************************************************/
+ * Stepper Driver Behaviour Definition
+ ****************************************************************************************/
#ifdef STEPPER_DRIVER_VERSION_1_X
#define STEPPER_ENABLE 1
@@ -125,8 +120,8 @@
#endif
/****************************************************************************************
-* Opto Endstop Behaviour Definition
-****************************************************************************************/
+ * Opto Endstop Behaviour Definition
+ ****************************************************************************************/
#ifdef OPTO_ENDSTOP_1_X
#define SENSORS_INVERTING 0
@@ -135,3 +130,14 @@
#ifdef OPTO_ENDSTOP_2_X
#define SENSORS_INVERTING 1
#endif
+
+
+/****************************************************************************************
+ * Various Buffer Size Declarations
+ ****************************************************************************************/
+//we store all queueable commands in one big giant buffer.
+// Explicitly allocate memory at compile time for buffer.
+#define COMMAND_BUFFER_SIZE 2048
+#define POINT_QUEUE_SIZE 32
+#define POINT_SIZE 9
+#define MAX_PACKET_LENGTH 32
Added: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Datatypes.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Datatypes.h (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Datatypes.h 2009-01-31 20:16:52 UTC (rev 2468)
@@ -0,0 +1,30 @@
+//#include <stddef.h>
+#include <stdint.h>
+
+// our point structure to make things nice.
+struct LongPoint {
+ long x;
+ long y;
+ long z;
+};
+
+// packet states
+typedef enum {
+ PS_START = 0,
+ PS_LEN,
+ PS_PAYLOAD,
+ PS_CRC,
+ PS_LAST
+}
+PacketState;
+
+// various error codes
+typedef enum {
+ RC_GENERIC_ERROR = 0,
+ RC_OK = 1,
+ RC_BUFFER_OVERFLOW = 2,
+ RC_CRC_MISMATCH = 3,
+ RC_PACKET_TOO_BIG = 4,
+ RC_CMD_UNSUPPORTED = 5
+}
+ResponseCode;
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Packet.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Packet.h 2009-01-31 19:54:09 UTC (rev 2467)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Packet.h 2009-01-31 20:16:52 UTC (rev 2468)
@@ -3,34 +3,10 @@
//include our various libraries.
#include <util/crc16.h>
-//#include <stddef.h>
#include <stdint.h>
-#include "CircularBuffer.h"
#include "HardwareSerial.h"
-// packet states
-typedef enum {
- PS_START = 0,
- PS_LEN,
- PS_PAYLOAD,
- PS_CRC,
- PS_LAST
-}
-PacketState;
-
-// various error codes
-typedef enum {
- RC_GENERIC_ERROR = 0,
- RC_OK = 1,
- RC_BUFFER_OVERFLOW = 2,
- RC_CRC_MISMATCH = 3,
- RC_PACKET_TOO_BIG = 4,
- RC_CMD_UNSUPPORTED = 5
-}
-ResponseCode;
-
#define START_BYTE 0xD5
-#define MAX_PACKET_LENGTH 32
class Packet {
private:
@@ -43,16 +19,14 @@
uint8_t tx_length;
uint8_t tx_data[MAX_PACKET_LENGTH];
uint8_t tx_crc;
- uint8_t is_command_packet;
ResponseCode response_code;
-
uint8_t uart;
public:
Packet(uint8_t uart)
{
- this->uart = uart;
+ this->uart = uart;
init();
}
@@ -60,12 +34,11 @@
{
state = PS_START;
response_code = RC_OK;
- target_length = 0;
+ target_length = 0;
rx_length = 0;
- rx_crc = 0;
+ rx_crc = 0;
tx_length = 0;
- tx_crc = 0;
- is_command_packet = false;
+ tx_crc = 0;
}
//process a byte from our packet
@@ -87,49 +60,26 @@
}
else if (state == PS_LEN) // process length byte
{
- //figure out how much data is coming.
- //please note: data may go into command buffer
- //instead of query packet buffer, so don't check the size
target_length = b;
rx_length = 0;
state = PS_PAYLOAD;
+
+ if (target_length > MAX_PACKET_LENGTH)
+ response_code = RC_PACKET_TOO_BIG;
}
else if (state == PS_PAYLOAD) // process payload byte
{
- //the first byte determines command vs query
- if (rx_length == 0)
- {
- // top bit high == bufferable command packet (eg. #128-255)
- if (b & 1 << 7)
- is_command_packet = true;
- // top bit low == reply needed query packet (eg. #0-127)
- else
- is_command_packet = false;
- }
//just keep reading bytes while we got them.
if (rx_length < target_length)
{
//keep track of CRC.
rx_crc = _crc_ibutton_update(rx_crc, b);
- //we put different things in different buffers. (query vs command)
- if (is_command_packet)
- {
- //will it fit?
- if (commandBuffer.remainingCapacity() == 0)
- response_code = RC_BUFFER_OVERFLOW;
- else
- commandBuffer.append(b);
- }
- else
- {
- //will it fit?
- if (rx_length < MAX_PACKET_LENGTH)
- rx_data[rx_length] = b;
- else
- response_code = RC_PACKET_TOO_BIG;
- }
+ //will it fit?
+ if (rx_length < MAX_PACKET_LENGTH)
+ rx_data[rx_length] = b;
+ //keep track.
rx_length++;
}
@@ -153,24 +103,19 @@
return (state == PS_LAST);
}
- bool isQuery()
- {
- return (response_code == RC_OK && !is_command_packet);
- }
-
uint8_t getLength()
{
- return rx_length;
+ return rx_length;
}
uint8_t getData(uint8_t i)
{
- return rx_data[i];
+ return rx_data[i];
}
void unsupported()
{
- response_code = RC_CMD_UNSUPPORTED;
+ response_code = RC_CMD_UNSUPPORTED;
}
void sendReply()
@@ -181,7 +126,7 @@
//actually send our response.
transmit(START_BYTE);
- transmit(tx_length+1);
+ transmit(tx_length+1);
transmit(response_code);
//loop through our reply packet payload and send it.
@@ -200,9 +145,9 @@
void sendPacket()
{
- tx_crc = 0;
+ tx_crc = 0;
transmit(START_BYTE);
- transmit(tx_length);
+ transmit(tx_length);
//loop through our reply packet payload and send it.
for (uint8_t i=0; i<tx_length; i++)
@@ -215,13 +160,23 @@
transmit(tx_crc);
}
+#ifdef __ATMEGA644P__
void transmit(uint8_t d)
{
- if (uart == 0)
- Serial.print(d, BYTE);
- else
- Serial1.print(d, BYTE);
+ if (uart == 0)
+ Serial.print(d, BYTE);
+ else
+ Serial1.print(d, BYTE);
}
+#else
+ void transmit(uint8_t d)
+ {
+ if (uart == 0)
+ Serial.print(d, BYTE);
+ else
+ Serial1.print(d, BYTE);
+ }
+#endif
//add a four byte chunk of data to our reply
void add_32(uint32_t d)
@@ -250,17 +205,17 @@
uint8_t get_8(uint8_t idx)
{
- return rx_data[idx];
+ return rx_data[idx];
}
uint16_t get_16(uint8_t idx)
{
- return (get_8(idx+1) << 8) & get_8(idx);
+ return (get_8(idx+1) << 8) & get_8(idx);
}
uint32_t get_32(uint8_t idx)
{
- return (get_16(idx+2) << 16) & get_16(idx);
+ return (get_16(idx+2) << 16) & get_16(idx);
}
};
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde 2009-01-31 19:54:09 UTC (rev 2467)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde 2009-01-31 20:16:52 UTC (rev 2468)
@@ -22,10 +22,6 @@
#define HOST_CMD_WAIT_FOR_TOOL 135
#define HOST_CMD_TOOL_COMMAND 136
-//how many queued commands have we processed?
-//this will be used to keep track of our current progress.
-unsigned long finishedCommands = 0;
-
//initialize the firmware to default state.
void init_commands()
{
@@ -45,26 +41,25 @@
//do we have a finished packet?
if (hostPacket.isFinished())
{
- byte b = hostPacket.get_8(0);
- // top bit high == bufferable command packet (eg. #128-255)
- if (b & 1 << 7)
- {
- //okay, throw it in the buffer.
- for (int i=1; i<hostPacket.getLength(); i++)
- commandBuffer.append(hostPacket.get_8(i));
- }
- // top bit low == reply needed query packet (eg. #0-127)
- else
- {
- handle_query(b);
- }
+ byte b = hostPacket.get_8(0);
+ // top bit high == bufferable command packet (eg. #128-255)
+ if (b & 1 << 7)
+ {
+ //okay, throw it in the buffer.
+ for (int i=1; i<hostPacket.getLength(); i++)
+ commandBuffer.append(hostPacket.get_8(i));
}
-
+ // top bit low == reply needed query packet (eg. #0-127)
+ else
+ {
+ handle_query(b);
+ }
+
//okay, send our response
hostPacket.sendReply();
//only process one packet at a time.
- break;
+ return;
}
}
}
@@ -75,199 +70,199 @@
//which one did we get?
switch (cmd)
{
- case HOST_CMD_VERSION:
- //get our host version
- host_version = hostPacket.get_16(1);
-
- //send our version back.
- hostPacket.add_16(FIRMWARE_VERSION);
- break;
+ case HOST_CMD_VERSION:
+ //get our host version
+ host_version = hostPacket.get_16(1);
- case HOST_CMD_INIT:
- //just initialize
- initialize();
- break;
-
- case HOST_CMD_GET_BUFFER_SIZE:
- //send our remaining buffer size.
- hostPacket.add_16(commandBuffer.remainingCapacity());
- break;
+ //send our version back.
+ hostPacket.add_16(FIRMWARE_VERSION);
+ break;
- case HOST_CMD_CLEAR_BUFFER:
- //just clear it.
- commandBuffer.clear();
- break;
+ case HOST_CMD_INIT:
+ //just initialize
+ initialize();
+ break;
- case HOST_CMD_GET_POSITION:
- //send our position
- hostPacket.add_32(current_steps.x);
- hostPacket.add_32(current_steps.y);
- hostPacket.add_32(current_steps.z);
- hostPacket.add_8(get_endstop_states());
- break;
+ case HOST_CMD_GET_BUFFER_SIZE:
+ //send our remaining buffer size.
+ hostPacket.add_16(commandBuffer.remainingCapacity());
+ break;
- case HOST_CMD_GET_RANGE:
- //send our range
- hostPacket.add_32(range_steps.x);
- hostPacket.add_32(range_steps.y);
- hostPacket.add_32(range_steps.z);
- break;
+ case HOST_CMD_CLEAR_BUFFER:
+ //just clear it.
+ commandBuffer.clear();
+ break;
- case HOST_CMD_SET_RANGE:
- //set our range to what the host tells us
- range_steps.x = hostPacket.get_32(1);
- range_steps.y = hostPacket.get_32(5);
- range_steps.z = hostPacket.get_32(9);
-
- //write it back to eeprom
- write_range_to_eeprom();
- break;
+ case HOST_CMD_GET_POSITION:
+ //send our position
+ hostPacket.add_32(current_steps.x);
+ hostPacket.add_32(current_steps.y);
+ hostPacket.add_32(current_steps.z);
+ hostPacket.add_8(get_endstop_states());
+ break;
- case HOST_CMD_ABORT:
- //support a microcontrollers right to choice.
- abort_print();
- break;
+ case HOST_CMD_GET_RANGE:
+ //send our range
+ hostPacket.add_32(range_steps.x);
+ hostPacket.add_32(range_steps.y);
+ hostPacket.add_32(range_steps.z);
+ break;
- case HOST_CMD_PAUSE:
- if (is_machine_paused)
- {
- //unpause our machine.
- is_machine_paused = false;
-
- //unpause our tools
- set_tool_pause_state(false);
-
- //resume stepping.
- enableTimer1Interrupt();
- enable_steppers();
- }
- else
- {
- //pause our activity.
- is_machine_paused = true;
+ case HOST_CMD_SET_RANGE:
+ //set our range to what the host tells us
+ range_steps.x = hostPacket.get_32(1);
+ range_steps.y = hostPacket.get_32(5);
+ range_steps.z = hostPacket.get_32(9);
- //pause our tools
- set_tool_pause_state(true);
+ //write it back to eeprom
+ write_range_to_eeprom();
+ break;
- //pause stepping
- disableTimer1Interrupt();
- disable_steppers();
- }
- break;
+ case HOST_CMD_ABORT:
+ //support a microcontrollers right to choice.
+ abort_print();
+ break;
- case HOST_CMD_PROBE:
- //we dont support this yet.
- hostPacket.unsupported();
- break;
-
- case HOST_CMD_TOOL_QUERY:
- send_tool_query();
- break;
+ case HOST_CMD_PAUSE:
+ if (is_machine_paused)
+ {
+ //unpause our machine.
+ is_machine_paused = false;
+
+ //unpause our tools
+ set_tool_pause_state(false);
+
+ //resume stepping.
+ enableTimer1Interrupt();
+ enable_steppers();
+ }
+ else
+ {
+ //pause our activity.
+ is_machine_paused = true;
+
+ //pause our tools
+ set_tool_pause_state(true);
+
+ //pause stepping
+ disableTimer1Interrupt();
+ disable_steppers();
+ }
+ break;
+
+ case HOST_CMD_PROBE:
+ //we dont support this yet.
+ hostPacket.unsupported();
+ break;
+
+ case HOST_CMD_TOOL_QUERY:
+ send_tool_query();
+ break;
}
}
//this is for handling buffered commands with no response
void handle_commands()
{
- byte flags = 0;
-
+ byte flags = 0;
+
//do we have any commands?
if (commandBuffer.size())
{
//okay, which command are we handling?
- byte cmd = commandBuffer.remove_8();
+ byte cmd = commandBuffer.remove_8();
switch(cmd)
{
- //add it to our poitn queue.
- case HOST_CMD_QUEUE_POINT_INC:
- queue_incremental_point(
- commandBuffer.remove_16(),
- commandBuffer.remove_16(),
- commandBuffer.remove_16(),
- commandBuffer.remove_8(),
- commandBuffer.remove_16()
- );
- break;
+ //add it to our poitn queue.
+ case HOST_CMD_QUEUE_POINT_INC:
+ queue_incremental_point(
+ commandBuffer.remove_16(),
+ commandBuffer.remove_16(),
+ commandBuffer.remove_16(),
+ commandBuffer.remove_8(),
+ commandBuffer.remove_16()
+ );
+ break;
- //add it to our point queue.
- case HOST_CMD_QUEUE_POINT_ABS:
- queue_absolute_point(
- commandBuffer.remove_32(),
- commandBuffer.remove_32(),
- commandBuffer.remove_32(),
- commandBuffer.remove_8(),
- commandBuffer.remove_16()
- );
- break;
-
- //update our current point to where we're told.
- case HOST_CMD_SET_POSITION:
- wait_until_target_reached(); //dont want to get hasty.
-
- current_steps.x = commandBuffer.remove_32();
- current_steps.y = commandBuffer.remove_32();
- current_steps.z = commandBuffer.remove_32();
- break;
+ //add it to our point queue.
+ case HOST_CMD_QUEUE_POINT_ABS:
+ queue_absolute_point(
+ commandBuffer.remove_32(),
+ commandBuffer.remove_32(),
+ commandBuffer.remove_32(),
+ commandBuffer.remove_8(),
+ commandBuffer.remove_16()
+ );
+ break;
+ //update our current point to where we're told.
+ case HOST_CMD_SET_POSITION:
+ wait_until_target_reached(); //dont want to get hasty.
+
+ current_steps.x = commandBuffer.remove_32();
+ current_steps.y = commandBuffer.remove_32();
+ current_steps.z = commandBuffer.remove_32();
+ break;
+
//figure out our minimums.
- case HOST_CMD_FIND_AXES_MINIMUM:
- wait_until_target_reached(); //dont want to get hasty.
+ case HOST_CMD_FIND_AXES_MINIMUM:
+ wait_until_target_reached(); //dont want to get hasty.
- //no dda interrupts.
- disableTimer1Interrupt();
-
- //which ones are we going to?
- flags = commandBuffer.remove_8();
-
- //find them!
- seek_minimums(
- flags & 1,
- flags & (1 << 1),
- flags & (1 << 2),
- commandBuffer.remove_32(),
- commandBuffer.remove_16()
- );
-
- //turn on point seekign agian.
- enableTimer1Interrupt();
-
- break;
+ //no dda interrupts.
+ disableTimer1Interrupt();
+ //which ones are we going to?
+ flags = commandBuffer.remove_8();
+
+ //find them!
+ seek_minimums(
+ flags & 1,
+ flags & (1 << 1),
+ flags & (1 << 2),
+ commandBuffer.remove_32(),
+ commandBuffer.remove_16()
+ );
+
+ //turn on point seekign agian.
+ enableTimer1Interrupt();
+
+ break;
+
//gotta know your limits.
- case HOST_CMD_FIND_AXES_MAXIMUM:
- wait_until_target_reached(); //dont want to get hasty.
+ case HOST_CMD_FIND_AXES_MAXIMUM:
+ wait_until_target_reached(); //dont want to get hasty.
- //TODO: implement this.
- break;
+ //TODO: implement this.
+ break;
- case HOST_CMD_DELAY:
- wait_until_target_reached(); //dont want to get hasty.
+ case HOST_CMD_DELAY:
+ wait_until_target_reached(); //dont want to get hasty.
- //take it easy.
- delay(commandBuffer.remove_32());
- break;
+ //take it easy.
+ delay(commandBuffer.remove_32());
+ break;
- case HOST_CMD_CHANGE_TOOL:
- wait_until_target_reached(); //dont want to get hasty.
+ case HOST_CMD_CHANGE_TOOL:
+ wait_until_target_reached(); //dont want to get hasty.
- //extruder, i choose you!
- select_tool(commandBuffer.remove_8());
- break;
+ //extruder, i choose you!
+ select_tool(commandBuffer.remove_8());
+ break;
- case HOST_CMD_WAIT_FOR_TOOL:
- wait_until_target_reached(); //dont want to get hasty.
+ case HOST_CMD_WAIT_FOR_TOOL:
+ wait_until_target_reached(); //dont want to get hasty.
- //get your temp in gear, you lazy bum.
- wait_for_tool_ready_state(
- commandBuffer.remove_8(),
- commandBuffer.remove_16(),
- commandBuffer.remove_16()
+ //get your temp in gear, you lazy bum.
+ wait_for_tool_ready_state(
+ commandBuffer.remove_8(),
+ commandBuffer.remove_16(),
+ commandBuffer.remove_16()
);
- break;
+ break;
- case HOST_CMD_TOOL_QUERY:
- send_tool_command();
- break;
+ case HOST_CMD_TOOL_QUERY:
+ send_tool_command();
+ break;
}
}
}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde 2009-01-31 19:54:09 UTC (rev 2467)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde 2009-01-31 20:16:52 UTC (rev 2468)
@@ -14,50 +14,16 @@
//include some basic libraries.
#include <WProgram.h>
-#include "_misc.h"
+
+#include "Configuration.h"
+#include "Datatypes.h"
+#include "CircularBuffer.h"
#include "Packet.h"
+#include "Variables.h"
//this is our firmware version
#define FIRMWARE_VERSION 0001
-//this is the version of our host software
-unsigned int host_version = 0;
-
-//these are our packet classes
-Packet hostPacket(0);
-Packet slavePacket(1);
-
-//are we paused?
-boolean is_machine_paused = false;
-boolean is_machine_aborted = false;
-
-//init our variables
-volatile long max_delta;
-
-volatile long x_counter;
-volatile bool x_can_step;
-volatile bool x_direction;
-
-volatile long y_counter;
-volatile bool y_can_step;
-volatile bool y_direction;
-
-volatile long z_counter;
-volatile bool z_can_step;
-volatile bool z_direction;
-
-//our position tracking variables
-volatile LongPoint current_steps;
-volatile LongPoint target_steps;
-volatile LongPoint delta_steps;
-volatile LongPoint range_steps;
-
-//our point queue variables
-#define POINT_QUEUE_SIZE 32
-#define POINT_SIZE 9
-byte rawPointBuffer[POINT_QUEUE_SIZE * POINT_SIZE];
-CircularBuffer pointBuffer(POINT_QUEUE_SIZE * POINT_SIZE, rawPointBuffer);
-
//set up our firmware for actual usage.
void setup()
{
@@ -66,14 +32,14 @@
//this is a simple text string that identifies us.
Serial.print("R3G Master v");
- Serial.print(FIRMWARE_VERSION);
+ Serial.println(FIRMWARE_VERSION, DEC);
}
//this function takes us back to our default state.
void initialize()
{
is_machine_paused = false;
-
+
init_serial();
init_commands();
init_steppers();
@@ -83,8 +49,8 @@
//start our hardware serial drivers
void init_serial()
{
- Serial.begin(38400);
- Serial1.begin(115200);
+ Serial.begin(38400);
+ Serial1.begin(115200);
}
//handle various things we're required to do.
@@ -95,10 +61,10 @@
{
//check for and handle any packets that come in.
process_host_packets();
-
+
//only handle our buffer if we're unpaused.
if (!is_machine_paused && !is_machine_aborted)
- handle_commands();
+ handle_commands();
}
}
@@ -107,7 +73,7 @@
{
//yes, we're done here.
is_machine_aborted = true;
-
+
//TODO: turn off all of our tools.
//turn off steppers too.
@@ -117,3 +83,51 @@
//initalize everything to the beginning
initialize();
}
+
+void delayMicrosecondsInterruptible(unsigned int us)
+{
+
+#if F_CPU >= 16000000L
+ // for the 16 MHz clock on most Arduino boards
+
+ // for a one-microsecond delay, simply return. the overhead
+ // of the function call yields a delay of approximately 1 1/8 us.
+ if (--us == 0)
+ return;
+
+ // the following loop takes a quarter of a microsecond (4 cycles)
+ // per iteration, so execute it four times for each microsecond of
+ // delay requested.
+ us <<= 2;
+
+ // account for the time taken in the preceeding commands.
+ us -= 2;
+#else
+ // for the 8 MHz internal clock on the ATmega168
+
+ // for a one- or two-microsecond delay, simply return. the overhead of
+ // the function calls takes more than two microseconds. can't just
+ // subtract two, since us is unsigned; we'd overflow.
+ if (--us == 0)
+ return;
+ if (--us == 0)
+ return;
+
+ // the following loop takes half of a microsecond (4 cycles)
+ // per iteration, so execute it twice for each microsecond of
+ // delay requested.
+ us <<= 1;
+
+ // partially compensate for the time taken by the preceeding commands.
+ // we can't subtract any more than this or we'd overflow w/ small delays.
+ us--;
+#endif
+
+ // busy wait
+ __asm__ __volatile__ (
+ "1: sbiw %0,1" "\n\t" // 2 cycles
+"brne 1b" :
+ "=w" (us) :
+ "0" (us) // 2 cycles
+ );
+}
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde (from rev 2467, trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/stepper.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde 2009-01-31 20:16:52 UTC (rev 2468)
@@ -0,0 +1,508 @@
+//initialize our stepper drivers
+void init_steppers()
+{
+ //clear our point buffer
+ pointBuffer.clear();
+
+ //pull in our saved values.
+ read_range_from_eeprom();
+
+ //prep timer 1 for handling DDA stuff.
+ setupTimer1Interrupt();
+
+ //initialize all our pins.
+ pinMode(X_STEP_PIN, OUTPUT);
+ pinMode(X_DIR_PIN, OUTPUT);
+ pinMode(X_ENABLE_PIN, OUTPUT);
+ pinMode(X_MIN_PIN, INPUT);
+ pinMode(X_MAX_PIN, INPUT);
+
+ pinMode(Y_STEP_PIN, OUTPUT);
+ pinMode(Y_DIR_PIN, OUTPUT);
+ pinMode(Y_ENABLE_PIN, OUTPUT);
+ pinMode(Y_MIN_PIN, INPUT);
+ pinMode(Y_MAX_PIN, INPUT);
+
+ pinMode(Z_STEP_PIN, OUTPUT);
+ pinMode(Z_DIR_PIN, OUTPUT);
+ pinMode(Z_ENABLE_PIN, OUTPUT);
+ pinMode(Z_MIN_PIN, INPUT);
+ pinMode(Z_MAX_PIN, INPUT);
+
+ //turn them off to start.
+ disable_steppers();
+
+ //figure our stuff.
+ calculate_deltas();
+}
+
+void seek_minimums(boolean find_x, boolean find_y, boolean find_z, unsigned long step_delay, unsigned int timeout_seconds)
+{
+ unsigned long start = millis();
+ unsigned long end = millis() + (timeout_seconds*1000);
+
+ enable_steppers();
+
+ boolean found_x = false;
+ boolean found_y = false;
+ boolean found_z = false;
+
+ //do it until we time out.
+ while (millis() < end)
+ {
+ //do our steps and check for mins.
+ if (find_x && !found_x)
+ {
+ found_x = find_axis_min(X_STEP_PIN, X_DIR_PIN, X_MIN_PIN);
+ current_steps.x = 0;
+ }
+ if (find_y && !found_y)
+ {
+ found_y = find_axis_min(Y_STEP_PIN, Y_DIR_PIN, Y_MIN_PIN);
+ current_steps.y = 0;
+ }
+ if (find_z && !found_z)
+ {
+ found_z = find_axis_min(Z_STEP_PIN, Z_DIR_PIN, Z_MIN_PIN);
+ current_steps.z = 0;
+ }
+
+ //check to see if we've found all required switches.
+ if (find_x && !found_x)
+ true;
+ else if (find_y && !found_y)
+ true;
+ else if (find_z && !found_z)
+ true;
+ //found them all.
+ else
+ break;
+
+ //do our delay for our axes.
+ if (step_delay <= 65535)
+ delayMicrosecondsInterruptible(step_delay);
+ else
+ delay(step_delay/1000);
+ }
+}
+
+boolean find_axis_min(byte step_pin, byte dir_pin, byte min_pin)
+{
+ //are we at the minimum?
+ if (read_switch(min_pin))
+ {
+ //move forward until the switch goes open. (slowly)
+ digitalWrite(dir_pin, HIGH);
+ while (read_switch(min_pin))
+ {
+ do_step(step_pin);
+ delay(500);
+ }
+
+ //okay, now move us back one step.
+ digitalWrite(dir_pin, LOW);
+ do_step(step_pin);
+
+ return true;
+ }
+ else
+ {
+ digitalWrite(dir_pin, LOW);
+ do_step(step_pin);
+ }
+
+ return false;
+}
+
+void seek_maximums(boolean find_x, boolean find_y, boolean find_z, unsigned long step_delay, unsigned int timeout_seconds)
+{
+ unsigned long start = millis();
+ unsigned long end = millis() + (timeout_seconds*1000);
+
+ enable_steppers();
+
+ boolean found_x = false;
+ boolean found_y = false;
+ boolean found_z = false;
+
+ //do it until we time out.
+ while (millis() < end)
+ {
+ //do our steps and check for mins.
+ if (find_x && !found_x)
+ {
+ found_x = find_axis_max(X_STEP_PIN, X_DIR_PIN, X_MAX_PIN);
+ range_steps.x = current_steps.x;
+ }
+ if (find_y && !found_y)
+ {
+ found_y = find_axis_max(Y_STEP_PIN, Y_DIR_PIN, Y_MAX_PIN);
+ range_steps.x = current_steps.x;
+ }
+ if (find_z && !found_z)
+ {
+ found_z = find_axis_max(Z_STEP_PIN, Z_DIR_PIN, Z_MAX_PIN);
+ range_steps.x = current_steps.x;
+ }
+
+ //check to see if we've found all required switches.
+ if (find_x && !found_x)
+ true;
+ else if (find_y && !found_y)
+ true;
+ else if (find_z && !found_z)
+ true;
+ //found them all.
+ else
+ {
+ write_range_to_eeprom();
+ break;
+ }
+
+ //do our delay for our axes.
+ if (step_delay <= 65535)
+ delayMicrosecondsInterruptible(step_delay);
+ else
+ delay(step_delay/1000);
+ }
+}
+
+boolean find_axis_max(byte step_pin, byte dir_pin, byte max_pin)
+{
+ //are we at the minimum?
+ if (read_switch(max_pin))
+ {
+ //move forward until the switch goes open. (slowly)
+ digitalWrite(dir_pin, LOW);
+ while (read_switch(max_pin))
+ {
+ do_step(step_pin);
+ delay(500);
+ }
+
+ //okay, now move us back one step.
+ digitalWrite(dir_pin, HIGH);
+ do_step(step_pin);
+
+ return true;
+ }
+ else
+ {
+ digitalWrite(dir_pin, HIGH);
+ do_step(step_pin);
+ }
+
+ return false;
+}
+
+
+//prepare our variables for a bresenham DDA run.
+void prepare_dda()
+{
+ //enable our steppers if needed.
+ enable_steppers();
+
+ //figure out our deltas
+ max_delta = 0;
+ max_delta = max(delta_steps.x, delta_steps.y);
+ max_delta = max(delta_steps.z, max_delta);
+
+ //init stuff.
+ x_counter = -max_delta/2;
+ y_counter = -max_delta/2;
+ z_counter = -max_delta/2;
+}
+
+//do a single step on our DDA line!
+inline void dda_step()
+{
+ //check endstops, position, etc.
+ x_can_step = can_step(X_MIN_PIN, X_MAX_PIN, current_steps.x, target_steps.x, x_direction);
+ y_can_step = can_step(Y_MIN_PIN, Y_MAX_PIN, current_steps.y, target_steps.y, y_direction);
+ z_can_step = can_step(Z_MIN_PIN, Z_MAX_PIN, current_steps.z, target_steps.z, z_direction);
+
+ //increment our x counter, and take steps if required.
+ if (x_can_step)
+ {
+ x_counter += delta_steps.x;
+
+ if (x_counter > 0)
+ {
+ do_step(X_STEP_PIN);
+ x_counter -= max_delta;
+
+ if (x_direction)
+ current_steps.x++;
+ else
+ current_steps.x--;
+ }
+ }
+
+ //increment our y counter, and take steps if required.
+ if (y_can_step)
+ {
+ y_counter += delta_steps.y;
+
+ if (y_counter > 0)
+ {
+ do_step(Y_STEP_PIN);
+ y_counter -= max_delta;
+
+ if (y_direction)
+ current_steps.y++;
+ else
+ current_steps.y--;
+ }
+ }
+
+ //increment our z counter, and take steps if required.
+ if (z_can_step)
+ {
+ z_counter += delta_steps.z;
+
+ if (z_counter > 0)
+ {
+ do_step(Z_STEP_PIN);
+ z_counter -= max_delta;
+
+ if (z_direction)
+ current_steps.z++;
+ else
+ current_steps.z--;
+ }
+ }
+
+ //we're either at our target, or we're stuck.
+ if (!x_can_step && !y_can_step && !z_can_step)
+ {
+ //set us to be at our target.
+ current_steps.x = target_steps.x;
+ current_steps.y = target_steps.y;
+ current_steps.z = target_steps.z;
+
+ //where to next, boss?
+ grab_next_point();
+ }
+}
+
+void grab_next_point()
+{
+ //can we even step to this?
+ if (pointBuffer.size() >= POINT_SIZE)
+ {
+ //make it so we dont interrupt ourself.
+ disableTimer1Interrupt();
+
+ //grab our new target
+ target_steps.x += pointBuffer.remove_16();
+ target_steps.y += pointBuffer.remove_16();
+ target_steps.z += pointBuffer.remove_16();
+
+ //figure out stuff for the move.
+ calculate_deltas();
+ prepare_dda();
+
+ //start the move!
+ setTimer1Resolution(pointBuffer.remove_8());
+ setTimer1Ceiling(pointBuffer.remove_16());
+ enableTimer1Interrupt();
+ }
+}
+
+bool can_step(byte min_pin, byte max_pin, long current, long target, byte direction)
+{
+ //stop us if we're on target
+ if (target == current)
+ return false;
+ //stop us if we're at home and still going
+ else if (read_switch(min_pin) && !direction)
+ return false;
+ //stop us if we're at max and still going
+ else if (read_switch(max_pin) && direction)
+ return false;
+
+ //default to being able to step
+ return true;
+}
+
+//actually send a step signal.
+void do_step(byte step_pin)
+{
+ digitalWrite(step_pin, HIGH);
+ delayMicrosecondsInterruptible(5);
+ digitalWrite(step_pin, LOW);
+}
+
+//figure out if we're at a switch or not
+bool read_switch(byte pin)
+{
+ //dual read as crude debounce
+ if (SENSORS_INVERTING)
+ return !digitalRead(pin) && !digitalRead(pin);
+ else
+ return digitalRead(pin) && digitalRead(pin);
+}
+
+//prepare our deltas and such for our DDA action
+void calculate_deltas()
+{
+ //figure our deltas.
+ delta_steps.x = abs(target_steps.x - current_steps.x);
+ delta_steps.y = abs(target_steps.y - current_steps.y);
+ delta_steps.z = abs(target_steps.z - current_steps.z);
+
+ //what is our direction
+ x_direction = (target_steps.x >= current_steps.x);
+ y_direction = (target_steps.y >= current_steps.y);
+ z_direction = (target_steps.z >= current_steps.z);
+
+ //set our direction pins as well
+ digitalWrite(X_DIR_PIN, x_direction);
+ digitalWrite(Y_DIR_PIN, y_direction);
+ digitalWrite(Z_DIR_PIN, z_direction);
+}
+
+//enable our steppers so we can move them.
+void enable_steppers()
+{
+ if (delta_steps.x > 0)
+ digitalWrite(X_ENABLE_PIN, STEPPER_ENABLE);
+ if (delta_steps.y > 0)
+ digitalWrite(Y_ENABLE_PIN, STEPPER_ENABLE);
+ if (delta_steps.z > 0)
+ digitalWrite(Z_ENABLE_PIN, STEPPER_ENABLE);
+}
+
+//turn off steppers to save juice / keep things cool.
+void disable_steppers()
+{
+ //disable our steppers
+ digitalWrite(X_ENABLE_PIN, STEPPER_DISABLE);
+ digitalWrite(Y_ENABLE_PIN, STEPPER_DISABLE);
+ digitalWrite(Z_ENABLE_PIN, STEPPER_DISABLE);
+}
+
+//read all of our states into a single byte.
+byte get_endstop_states()
+{
+ byte state = 0;
+
+ //each one is its own bit in the byte.
+ state |= read_switch(Z_MAX_PIN) << 5;
+ state |= read_switch(Z_MIN_PIN) << 4;
+ state |= read_switch(Y_MAX_PIN) << 3;
+ state |= read_switch(Y_MIN_PIN) << 2;
+ state |= read_switch(X_MAX_PIN) << 1;
+ state |= read_switch(X_MIN_PIN);
+
+ return state;
+}
+
+//TODO: make me work!
+void write_range_to_eeprom()
+{
+
+}
+
+//TODO: make me work!
+void read_range_from_eeprom()
+{
+
+}
+
+//queue a point for us to move to
+void queue_incremental_point(int x, int y, int z, byte prescaler, unsigned int count)
+{
+ //wait until we have free space
+ while (pointBuffer.remainingCapacity() > POINT_SIZE)
+ delayMicrosecondsInterruptible(500);
+
+ //okay, add in our points.
+ // x
+ pointBuffer.append(x & 0xff);
+ pointBuffer.append(x >> 8);
+ // y
+ pointBuffer.append(y & 0xff);
+ pointBuffer.append(y >> 8);
+ // z
+ pointBuffer.append(z & 0xff);
+ pointBuffer.append(z >> 8);
+ // prescaler
+ pointBuffer.append(prescaler);
+ // counter
+ pointBuffer.append(count & 0xff);
+ pointBuffer.append(count >> 8);
+
+ //turn our interrupt on.
+ enableTimer1Interrupt();
+}
+
+//TODO: make this proportional based on the delta proportions.
+//queue a point for us to move to
+void queue_absolute_point(long x, long y, long z, byte prescaler, unsigned int count)
+{
+ //calculate our total travel in steps
+ unsigned long delta_x = abs(x - current_steps.x);
+ unsigned long delta_y = abs(y - current_steps.y);
+ unsigned long delta_z = abs(z - current_steps.z);
+
+ //setup some variables.
+ int x_inc = 0;
+ int y_inc = 0;
+ int z_inc = 0;
+
+ //keep queueing points while we can.
+ while (delta_x >= 0 || delta_y >= 0 || delta_z >= 0)
+ {
+ //figure out our incremental points.
+ x_inc = get_increment_from_absolute(delta_x, current_steps.x, x);
+ y_inc = get_increment_from_absolute(delta_y, current_steps.y, y);
+ z_inc = get_increment_from_absolute(delta_z, current_steps.z, z);
+
+ //queue our point.
+ queue_incremental_point(x_inc, y_inc, z_inc, prescaler, count);
+
+ //remove them from our deltas.
+ delta_x -= x_inc;
+ delta_x -= y_inc;
+ delta_x -= z_inc;
+ }
+}
+
+int get_increment_from_absolute(unsigned long delta, long current, long target)
+{
+ if (delta > 32767)
+ {
+ if (target < current)
+ return -32767;
+ else
+ return 32767;
+ }
+ else
+ {
+ if (target < current)
+ return -((int)delta);
+ else
+ return (int)delta;
+ }
+}
+
+boolean is_point_buffer_empty()
+{
+ //okay, we got points in the buffer.
+ if (pointBuffer.size() > 0)
+ return false;
+
+ //still working on a point.
+ if (current_steps.x != target_steps.x && current_steps.y != target_steps.y && current_steps.z != target_steps.z)
+ return false;
+
+ //nope, we're done.
+ return true;
+}
+
+void wait_until_target_reached()
+{
+ while(!is_point_buffer_empty())
+ delayMicrosecondsInterruptible(500);
+}
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Tools.pde (from rev 2467, trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools2.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Tools.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Tools.pde 2009-01-31 20:16:52 UTC (rev 2468)
@@ -0,0 +1,195 @@
+// These are our query commands from the host
+#define SLAVE_CMD_VERSION 0
+#define SLAVE_CMD_INIT 1
+#define SLAVE_CMD_GET_TEMP 2
+#define SLAVE_CMD_SET_TEMP 3
+#define SLAVE_CMD_SET_MOTOR_1_PWM 4
+#define SLAVE_CMD_SET_MOTOR_2_PWM 5
+#define SLAVE_CMD_SET_MOTOR_1_RPM 6
+#define SLAVE_CMD_SET_MOTOR_2_RPM 7
+#define SLAVE_CMD_SET_MOTOR_1_DIR 8
+#define SLAVE_CMD_SET_MOTOR_2_DIR 9
+#define SLAVE_CMD_TOGGLE_MOTOR_1 10
+#define SLAVE_CMD_TOGGLE_MOTOR_2 11
+#define SLAVE_CMD_TOGGLE_FAN 12
+#define SLAVE_CMD_TOGGLE_VALVE 13
+#define SLAVE_CMD_SET_SERVO_1_POS 14
+#define SLAVE_CMD_SET_SERVO_2_POS 15
+#define SLAVE_CMD_FILAMENT_STATUS 16
+#define SLAVE_CMD_GET_MOTOR_1_PWM 17
+#define SLAVE_CMD_GET_MOTOR_2_PWM 18
+#define SLAVE_CMD_GET_MOTOR_1_RPM 19
+#define SLAVE_CMD_GET_MOTOR_2_RPM 20
+#define SLAVE_CMD_SELECT_TOOL 21
+#define SLAVE_CMD_IS_TOOL_READY 22
+
+//initialize our tools
+void init_tools()
+{
+ //do a scan of tools from address 0-255?
+ //with a 1 millisecond timeout, this takes ~0.256 seconds.
+ //we may also want to store which tools are available in eeprom?
+ for (int i=0; i<256; i++)
+ {
+ //are you out there?
+ if (ping_tool(i))
+ {
+ init_tool(i);
+ }
+ }
+}
+
+//ask a tool if its there.
+bool ping_tool(byte i)
+{
+ slavePacket.init();
+
+ slavePacket.add_8(i);
+ slavePacket.add_8(SLAVE_CMD_VERSION);
+ slavePacket.add_16(FIRMWARE_VERSION);
+ slavePacket.sendPacket();
+
+ return read_tool_response(1);
+}
+
+//initialize a tool to its default state.
+void init_tool(byte i)
+{
+ slavePacket.init();
+
+ slavePacket.add_8(i);
+ slavePacket.add_8(SLAVE_CMD_INIT);
+ slavePacket.sendPacket();
+
+ read_tool_response(1);
+}
+
+//select a tool as our current tool, and let it know.
+void select_tool(byte tool)
+{
+ currentToolIndex = tool;
+
+ slavePacket.init();
+
+ slavePacket.add_8(tool);
+ slavePacket.add_8(SLAVE_CMD_SELECT_TOOL);
+ slavePacket.sendPacket();
+
+ read_tool_response(1);
+}
+
+//ping the tool until it tells us its ready
+void wait_for_tool_ready_state(byte tool, int delay_millis, int timeout_seconds)
+{
+ //setup some defaults
+ if (delay_millis == 0)
+ delay_millis = 100;
+ if (timeout_seconds == 0)
+ timeout_seconds = 60;
+
+ //check for our end time.
+ unsigned long now = millis();
+ unsigned long end = now + (timeout_seconds * 1000);
+
+ //do it until we hear something, or time out.
+ while (1)
+ {
+ //did we time out yet?
+ if (millis() >= end)
+ return;
+
+ //did we hear back from the tool?
+ if (is_tool_ready(tool))
+ return;
+
+ //try again...
+ delay(delay_millis);
+ }
+}
+
+//is our tool ready for action?
+bool is_tool_ready(byte tool)
+{
+ slavePacket.init();
+
+ slavePacket.add_8(tool);
+ slavePacket.add_8(SLAVE_CMD_IS_TOOL_READY);
+ slavePacket.sendPacket();
+
+ //did we get a response?
+ if (read_tool_response(1))
+ {
+ //is it true?
+ if (slavePacket.get_8(1) == 1)
+ return true;
+ }
+
+ //bail.
+ return false;
+}
+
+void send_tool_query()
+{
+ //zero out our packet
+ slavePacket.init();
+
+ //load up our packet.
+ for (byte i=1; i<hostPacket.getLength(); i++)
+ slavePacket.add_8(hostPacket.get_8(i));
+
+ //send it and then get our response
+ slavePacket.sendPacket();
+ read_tool_response(60000);
+
+ //now load it up into the host.
+ for (byte i=0; i<slavePacket.getLength(); i++)
+ hostPacket.add_8(slavePacket.get_8(i));
+}
+
+void send_tool_command()
+{
+ //zero out our packet
+ slavePacket.init();
+
+ //add in our tool id and command.
+ slavePacket.add_16(commandBuffer.remove_16());
+
+ //load up our packet.
+ byte len = commandBuffer.remove_8();
+ for (byte i=0; i<len; i++)
+ slavePacket.add_8(commandBuffer.remove_8());
+
+ //send it and then get our response
+ slavePacket.sendPacket();
+ read_tool_response(60000);
+}
+
+bool read_tool_response(int timeout)
+{
+ //figure out our timeout stuff.
+ long start = millis();
+ long end = start + timeout;
+
+ //keep reading until we got it.
+ while (!slavePacket.isFinished())
+ {
+ //read through our available data
+ if (Serial.available() > 0)
+ {
+ //grab a byte and process it.
+ byte d = Serial1.read();
+ slavePacket.process_byte(d);
+
+ //our timeout guy.
+ if (millis() > end)
+ return false;
+ }
+ }
+
+ return true;
+}
+
+void set_tool_pause_state(bool paused)
+{
+ //TODO: pause/unpause tool.
+}
Added: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Variables.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Variables.h (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Variables.h 2009-01-31 20:16:52 UTC (rev 2468)
@@ -0,0 +1,45 @@
+//this is the version of our host software
+unsigned int host_version = 0;
+
+//these are our packet classes
+Packet hostPacket(0);
+Packet slavePacket(1);
+
+//are we paused?
+boolean is_machine_paused = false;
+boolean is_machine_aborted = false;
+
+//init our variables
+volatile long max_delta;
+
+volatile long x_counter;
+volatile bool x_can_step;
+volatile bool x_direction;
+
+volatile long y_counter;
+volatile bool y_can_step;
+volatile bool y_direction;
+
+volatile long z_counter;
+volatile bool z_can_step;
+volatile bool z_direction;
+
+//our position tracking variables
+volatile LongPoint current_steps;
+volatile LongPoint target_steps;
+volatile LongPoint delta_steps;
+volatile LongPoint range_steps;
+
+//our point queue variables
+byte rawPointBuffer[POINT_QUEUE_SIZE * POINT_SIZE];
+CircularBuffer pointBuffer(POINT_QUEUE_SIZE * POINT_SIZE, rawPointBuffer);
+
+//buffer for our commands
+uint8_t underlyingBuffer[COMMAND_BUFFER_SIZE];
+CircularBuffer commandBuffer(COMMAND_BUFFER_SIZE, underlyingBuffer);
+
+//how many queued commands have we processed?
+//this will be used to keep track of our current progress.
+unsigned long finishedCommands = 0;
+
+byte currentToolIndex = 0;
\ No newline at end of file
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_misc.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_misc.h 2009-01-31 19:54:09 UTC (rev 2467)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_misc.h 2009-01-31 20:16:52 UTC (rev 2468)
@@ -1,55 +1 @@
-//#include <stddef.h>
-#include <stdint.h>
-void delayMicrosecondsInterruptible(unsigned int us)
-{
-
-#if F_CPU >= 16000000L
- // for the 16 MHz clock on most Arduino boards
-
- // for a one-microsecond delay, simply return. the overhead
- // of the function call yields a delay of approximately 1 1/8 us.
- if (--us == 0)
- return;
-
- // the following loop takes a quarter of a microsecond (4 cycles)
- // per iteration, so execute it four times for each microsecond of
- // delay requested.
- us <<= 2;
-
- // account for the time taken in the preceeding commands.
- us -= 2;
-#else
- // for the 8 MHz internal clock on the ATmega168
-
- // for a one- or two-microsecond delay, simply return. the overhead of
- // the function calls takes more than two microseconds. can't just
- // subtract two, since us is unsigned; we'd overflow.
- if (--us == 0)
- return;
- if (--us == 0)
- return;
-
- // the following loop takes half of a microsecond (4 cycles)
- // per iteration, so execute it twice for each microsecond of
- // delay requested.
- us <<= 1;
-
- // partially compensate for the time taken by the preceeding commands.
- // we can't subtract any more than this or we'd overflow w/ small delays.
- us--;
-#endif
-
- // busy wait
- __asm__ __volatile__ (
- "1: sbiw %0,1" "\n\t" // 2 cycles
- "brne 1b" : "=w" (us) : "0" (us) // 2 cycles
- );
-}
-
-// our point structure to make things nice.
-struct LongPoint {
- long x;
- long y;
- long z;
-};
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/stepper.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/stepper.pde 2009-01-31 19:54:09 UTC (rev 2467)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/stepper.pde 2009-01-31 20:16:52 UTC (rev 2468)
@@ -1,508 +0,0 @@
-//initialize our stepper drivers
-void init_steppers()
-{
- //clear our point buffer
- pointBuffer.clear();
-
- //pull in our saved values.
- read_range_from_eeprom();
-
- //prep timer 1 for handling DDA stuff.
- setupTimer1Interrupt();
-
- //initialize all our pins.
- pinMode(X_STEP_PIN, OUTPUT);
- pinMode(X_DIR_PIN, OUTPUT);
- pinMode(X_ENABLE_PIN, OUTPUT);
- pinMode(X_MIN_PIN, INPUT);
- pinMode(X_MAX_PIN, INPUT);
-
- pinMode(Y_STEP_PIN, OUTPUT);
- pinMode(Y_DIR_PIN, OUTPUT);
- pinMode(Y_ENABLE_PIN, OUTPUT);
- pinMode(Y_MIN_PIN, INPUT);
- pinMode(Y_MAX_PIN, INPUT);
-
- pinMode(Z_STEP_PIN, OUTPUT);
- pinMode(Z_DIR_PIN, OUTPUT);
- pinMode(Z_ENABLE_PIN, OUTPUT);
- pinMode(Z_MIN_PIN, INPUT);
- pinMode(Z_MAX_PIN, INPUT);
-
- //turn them off to start.
- disable_steppers();
-
- //figure our stuff.
- calculate_deltas();
-}
-
-void seek_minimums(boolean find_x, boolean find_y, boolean find_z, unsigned long step_delay, unsigned int timeout_seconds)
-{
- unsigned long start = millis();
- unsigned long end = millis() + (timeout_seconds*1000);
-
- enable_steppers();
-
- boolean found_x = false;
- boolean found_y = false;
- boolean found_z = false;
-
- //do it until we time out.
- while (millis() < end)
- {
- //do our steps and check for mins.
- if (find_x && !found_x)
- {
- found_x = find_axis_min(X_STEP_PIN, X_DIR_PIN, X_MIN_PIN);
- current_steps.x = 0;
- }
- if (find_y && !found_y)
- {
- found_y = find_axis_min(Y_STEP_PIN, Y_DIR_PIN, Y_MIN_PIN);
- current_steps.y = 0;
- }
- if (find_z && !found_z)
- {
- found_z = find_axis_min(Z_STEP_PIN, Z_DIR_PIN, Z_MIN_PIN);
- current_steps.z = 0;
- }
-
- //check to see if we've found all required switches.
- if (find_x && !found_x)
- true;
- else if (find_y && !found_y)
- true;
- else if (find_z && !found_z)
- true;
- //found them all.
- else
- break;
-
- //do our delay for our axes.
- if (step_delay <= 65535)
- delayMicrosecondsInterruptible(step_delay);
- else
- delay(step_delay/1000);
- }
-}
-
-boolean find_axis_min(byte step_pin, byte dir_pin, byte min_pin)
-{
- //are we at the minimum?
- if (read_switch(min_pin))
- {
- //move forward until the switch goes open. (slowly)
- digitalWrite(dir_pin, HIGH);
- while (read_switch(min_pin))
- {
- do_step(step_pin);
- delay(500);
- }
-
- //okay, now move us back one step.
- digitalWrite(dir_pin, LOW);
- do_step(step_pin);
-
- return true;
- }
- else
- {
- digitalWrite(dir_pin, LOW);
- do_step(step_pin);
- }
-
- return false;
-}
-
-void seek_maximums(boolean find_x, boolean find_y, boolean find_z, unsigned long step_delay, unsigned int timeout_seconds)
-{
- unsigned long start = millis();
- unsigned long end = millis() + (timeout_seconds*1000);
-
- enable_steppers();
-
- boolean found_x = false;
- boolean found_y = false;
- boolean found_z = false;
-
- //do it until we time out.
- while (millis() < end)
- {
- //do our steps and check for mins.
- if (find_x && !found_x)
- {
- found_x = find_axis_max(X_STEP_PIN, X_DIR_PIN, X_MAX_PIN);
- range_steps.x = current_steps.x;
- }
- if (find_y && !found_y)
- {
- found_y = find_axis_max(Y_STEP_PIN, Y_DIR_PIN, Y_MAX_PIN);
- range_steps.x = current_steps.x;
- }
- if (find_z && !found_z)
- {
- found_z = find_axis_max(Z_STEP_PIN, Z_DIR_PIN, Z_MAX_PIN);
- range_steps.x = current_steps.x;
- }
-
- //check to see if we've found all required switches.
- if (find_x && !found_x)
- true;
- else if (find_y && !found_y)
- true;
- else if (find_z && !found_z)
- true;
- //found them all.
- else
- {
- write_range_to_eeprom();
- break;
- }
-
- //do our delay for our axes.
- if (step_delay <= 65535)
- delayMicrosecondsInterruptible(step_delay);
- else
- delay(step_delay/1000);
- }
-}
-
-boolean find_axis_max(byte step_pin, byte dir_pin, byte max_pin)
-{
- //are we at the minimum?
- if (read_switch(max_pin))
- {
- //move forward until the switch goes open. (slowly)
- digitalWrite(dir_pin, LOW);
- while (read_switch(max_pin))
- {
- do_step(step_pin);
- delay(500);
- }
-
- //okay, now move us back one step.
- digitalWrite(dir_pin, HIGH);
- do_step(step_pin);
-
- return true;
- }
- else
- {
- digitalWrite(dir_pin, HIGH);
- do_step(step_pin);
- }
-
- return false;
-}
-
-
-//prepare our variables for a bresenham DDA run.
-void prepare_dda()
-{
- //enable our steppers if needed.
- enable_steppers();
-
- //figure out our deltas
- max_delta = 0;
- max_delta = max(delta_steps.x, delta_steps.y);
- max_delta = max(delta_steps.z, max_delta);
-
- //init stuff.
- x_counter = -max_delta/2;
- y_counter = -max_delta/2;
- z_counter = -max_delta/2;
-}
-
-//do a single step on our DDA line!
-inline void dda_step()
-{
- //check endstops, position, etc.
- x_can_step = can_step(X_MIN_PIN, X_MAX_PIN, current_steps.x, target_steps.x, x_direction);
- y_can_step = can_step(Y_MIN_PIN, Y_MAX_PIN, current_steps.y, target_steps.y, y_direction);
- z_can_step = can_step(Z_MIN_PIN, Z_MAX_PIN, current_steps.z, target_steps.z, z_direction);
-
- //increment our x counter, and take steps if required.
- if (x_can_step)
- {
- x_counter += delta_steps.x;
-
- if (x_counter > 0)
- {
- do_step(X_STEP_PIN);
- x_counter -= max_delta;
-
- if (x_direction)
- current_steps.x++;
- else
- current_steps.x--;
- }
- }
-
- //increment our y counter, and take steps if required.
- if (y_can_step)
- {
- y_counter += delta_steps.y;
-
- if (y_counter > 0)
- {
- do_step(Y_STEP_PIN);
- y_counter -= max_delta;
-
- if (y_direction)
- current_steps.y++;
- else
- current_steps.y--;
- }
- }
-
- //increment our z counter, and take steps if required.
- if (z_can_step)
- {
- z_counter += delta_steps.z;
-
- if (z_counter > 0)
- {
- do_step(Z_STEP_PIN);
- z_counter -= max_delta;
-
- if (z_direction)
- current_steps.z++;
- else
- current_steps.z--;
- }
- }
-
- //we're either at our target, or we're stuck.
- if (!x_can_step && !y_can_step && !z_can_step)
- {
- //set us to be at our target.
- current_steps.x = target_steps.x;
- current_steps.y = target_steps.y;
- current_steps.z = target_steps.z;
-
- //where to next, boss?
- grab_next_point();
- }
-}
-
-void grab_next_point()
-{
- //can we even step to this?
- if (pointBuffer.size() >= POINT_SIZE)
- {
- //make it so we dont interrupt ourself.
- disableTimer1Interrupt();
-
- //grab our new target
- target_steps.x += pointBuffer.remove_16();
- target_steps.y += pointBuffer.remove_16();
- target_steps.z += pointBuffer.remove_16();
-
- //figure out stuff for the move.
- calculate_deltas();
- prepare_dda();
-
- //start the move!
- setTimer1Resolution(pointBuffer.remove_8());
- setTimer1Ceiling(pointBuffer.remove_16());
- enableTimer1Interrupt();
- }
-}
-
-bool can_step(byte min_pin, byte max_pin, long current, long target, byte direction)
-{
- //stop us if we're on target
- if (target == current)
- return false;
- //stop us if we're at home and still going
- else if (read_switch(min_pin) && !direction)
- return false;
- //stop us if we're at max and still going
- else if (read_switch(max_pin) && direction)
- return false;
-
- //default to being able to step
- return true;
-}
-
-//actually send a step signal.
-void do_step(byte step_pin)
-{
- digitalWrite(step_pin, HIGH);
- delayMicrosecondsInterruptible(5);
- digitalWrite(step_pin, LOW);
-}
-
-//figure out if we're at a switch or not
-bool read_switch(byte pin)
-{
- //dual read as crude debounce
- if (SENSORS_INVERTING)
- return !digitalRead(pin) && !digitalRead(pin);
- else
- return digitalRead(pin) && digitalRead(pin);
-}
-
-//prepare our deltas and such for our DDA action
-void calculate_deltas()
-{
- //figure our deltas.
- delta_steps.x = abs(target_steps.x - current_steps.x);
- delta_steps.y = abs(target_steps.y - current_steps.y);
- delta_steps.z = abs(target_steps.z - current_steps.z);
-
- //what is our direction
- x_direction = (target_steps.x >= current_steps.x);
- y_direction = (target_steps.y >= current_steps.y);
- z_direction = (target_steps.z >= current_steps.z);
-
- //set our direction pins as well
- digitalWrite(X_DIR_PIN, x_direction);
- digitalWrite(Y_DIR_PIN, y_direction);
- digitalWrite(Z_DIR_PIN, z_direction);
-}
-
-//enable our steppers so we can move them.
-void enable_steppers()
-{
- if (delta_steps.x > 0)
- digitalWrite(X_ENABLE_PIN, STEPPER_ENABLE);
- if (delta_steps.y > 0)
- digitalWrite(Y_ENABLE_PIN, STEPPER_ENABLE);
- if (delta_steps.z > 0)
- digitalWrite(Z_ENABLE_PIN, STEPPER_ENABLE);
-}
-
-//turn off steppers to save juice / keep things cool.
-void disable_steppers()
-{
- //disable our steppers
- digitalWrite(X_ENABLE_PIN, STEPPER_DISABLE);
- digitalWrite(Y_ENABLE_PIN, STEPPER_DISABLE);
- digitalWrite(Z_ENABLE_PIN, STEPPER_DISABLE);
-}
-
-//read all of our states into a single byte.
-byte get_endstop_states()
-{
- byte state = 0;
-
- //each one is its own bit in the byte.
- state |= read_switch(Z_MAX_PIN) << 5;
- state |= read_switch(Z_MIN_PIN) << 4;
- state |= read_switch(Y_MAX_PIN) << 3;
- state |= read_switch(Y_MIN_PIN) << 2;
- state |= read_switch(X_MAX_PIN) << 1;
- state |= read_switch(X_MIN_PIN);
-
- return state;
-}
-
-//TODO: make me work!
-void write_range_to_eeprom()
-{
-
-}
-
-//TODO: make me work!
-void read_range_from_eeprom()
-{
-
-}
-
-//queue a point for us to move to
-void queue_incremental_point(int x, int y, int z, byte prescaler, unsigned int count)
-{
- //wait until we have free space
- while (pointBuffer.remainingCapacity() > POINT_SIZE)
- delayMicrosecondsInterruptible(500);
-
- //okay, add in our points.
- // x
- pointBuffer.append(x & 0xff);
- pointBuffer.append(x >> 8);
- // y
- pointBuffer.append(y & 0xff);
- pointBuffer.append(y >> 8);
- // z
- pointBuffer.append(z & 0xff);
- pointBuffer.append(z >> 8);
- // prescaler
- pointBuffer.append(prescaler);
- // counter
- pointBuffer.append(count & 0xff);
- pointBuffer.append(count >> 8);
-
- //turn our interrupt on.
- enableTimer1Interrupt();
-}
-
-//TODO: make this proportional based on the delta proportions.
-//queue a point for us to move to
-void queue_absolute_point(long x, long y, long z, byte prescaler, unsigned int count)
-{
- //calculate our total travel in steps
- unsigned long delta_x = abs(x - current_steps.x);
- unsigned long delta_y = abs(y - current_steps.y);
- unsigned long delta_z = abs(z - current_steps.z);
-
- //setup some variables.
- int x_inc = 0;
- int y_inc = 0;
- int z_inc = 0;
-
- //keep queueing points while we can.
- while (delta_x >= 0 || delta_y >= 0 || delta_z >= 0)
- {
- //figure out our incremental points.
- x_inc = get_increment_from_absolute(delta_x, current_steps.x, x);
- y_inc = get_increment_from_absolute(delta_y, current_steps.y, y);
- z_inc = get_increment_from_absolute(delta_z, current_steps.z, z);
-
- //queue our point.
- queue_incremental_point(x_inc, y_inc, z_inc, prescaler, count);
-
- //remove them from our deltas.
- delta_x -= x_inc;
- delta_x -= y_inc;
- delta_x -= z_inc;
- }
-}
-
-int get_increment_from_absolute(unsigned long delta, long current, long target)
-{
- if (delta > 32767)
- {
- if (target < current)
- return -32767;
- else
- return 32767;
- }
- else
- {
- if (target < current)
- return -((int)delta);
- else
- return (int)delta;
- }
-}
-
-boolean is_point_buffer_empty()
-{
- //okay, we got points in the buffer.
- if (pointBuffer.size() > 0)
- return false;
-
- //still working on a point.
- if (current_steps.x != target_steps.x && current_steps.y != target_steps.y && current_steps.z != target_steps.z)
- return false;
-
- //nope, we're done.
- return true;
-}
-
-void wait_until_target_reached()
-{
- while(!is_point_buffer_empty())
- delayMicrosecondsInterruptible(500);
-}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/timer1_interrupt_routines.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/timer1_interrupt_routines.pde 2009-01-31 19:54:09 UTC (rev 2467)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/timer1_interrupt_routines.pde 2009-01-31 20:16:52 UTC (rev 2468)
@@ -8,126 +8,126 @@
void enableTimer1Interrupt()
{
- //enable our interrupt!
- TIMSK1 |= (1<<OCIE1A);
+ //enable our interrupt!
+ TIMSK1 |= (1<<OCIE1A);
}
void disableTimer1Interrupt()
{
- TIMSK1 &= ~(1<<ICIE1);
- TIMSK1 &= ~(1<<OCIE1A);
+ TIMSK1 &= ~(1<<ICIE1);
+ TIMSK1 &= ~(1<<OCIE1A);
}
void setTimer1Resolution(byte r)
{
- //from table ...
[truncated message content] |
|
From: <hoe...@us...> - 2009-01-31 19:54:13
|
Revision: 2467
http://reprap.svn.sourceforge.net/reprap/?rev=2467&view=rev
Author: hoekstar
Date: 2009-01-31 19:54:09 +0000 (Sat, 31 Jan 2009)
Log Message:
-----------
moving stuff around.
Added Paths:
-----------
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/stepper.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools2.pde
Removed Paths:
-------------
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/HostPacketProcessor.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_init.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/steppers.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools.pde
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h (from rev 2461, trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_init.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h 2009-01-31 19:54:09 UTC (rev 2467)
@@ -0,0 +1,137 @@
+/****************************************************************************************
+* Here's where you define the overall electronics setup for your machine.
+****************************************************************************************/
+
+//
+// CHOOSE WHICH MOTHERBOARD YOU'RE USING:
+//
+#define REPRAP_MOTHERBOARD_VERSION_1_0
+//#define REPRAP_MOTHERBOARD_VERSION_1_1
+
+//
+// CHOOSE WHICH FAMILY OF STEPPER DRIVER YOU'RE USING:
+//
+//#define STEPPER_DRIVER_VERSION_1_X
+#define STEPPER_DRIVER_VERSION_2_X
+
+//
+// CHOOSE WHICH FAMILY OF OPTO ENDSTOP YOU'RE USING:
+//
+//#define OPTO_ENDSTOP_1_X
+#define OPTO_ENDSTOP_2_X
+
+/****************************************************************************************
+* Sanguino Pin Assignment
+****************************************************************************************/
+
+//these are the pins for the v1.0 Motherboard.
+#ifdef REPRAP_MOTHERBOARD_VERSION_1_0
+
+//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 21
+
+//y axis pins
+#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
+
+//z axis pins
+#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
+
+//our pin for debugging.
+#define DEBUG_PIN 0
+
+//various SPI select pins
+#define SPI_SELECT_1 ?
+#define SPI_SELECT_2 ?
+#define SPI_SELECT_3 ?
+
+//our SD card pins
+#define SD_CARD_SELECT ?
+#define SD_CARD_WRITE ?
+#define SD_CARD_DETECT ?
+
+//our RS485 pins
+#define RS485_TX_ENABLE ?
+#define RS485_RX_ENABLE ?
+
+#endif
+
+//these are the pins for the v1.1 Motherboard.
+#ifdef REPRAP_MOTHERBOARD_VERSION_1_1
+
+//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 21
+
+//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 26
+
+//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 31
+
+//our pin for debugging.
+#define DEBUG_PIN 0
+
+//various SPI select pins
+#define SPI_SELECT_1 1
+#define SPI_SELECT_2 3
+#define SPI_SELECT_3 14
+
+//our SD card pins
+#define SD_CARD_SELECT 4
+#define SD_CARD_WRITE 2
+#define SD_CARD_DETECT 3
+
+//our RS485 pins
+#define RS485_TX_ENABLE 12
+#define RS485_RX_ENABLE 13
+
+#endif
+
+/****************************************************************************************
+* Stepper Driver Behaviour Definition
+****************************************************************************************/
+
+#ifdef STEPPER_DRIVER_VERSION_1_X
+#define STEPPER_ENABLE 1
+#define STEPPER_DISABLE 0
+#endif
+
+#ifdef STEPPER_DRIVER_VERSION_2_X
+#define STEPPER_ENABLE 0
+#define STEPPER_DISABLE 1
+#endif
+
+/****************************************************************************************
+* Opto Endstop Behaviour Definition
+****************************************************************************************/
+
+#ifdef OPTO_ENDSTOP_1_X
+#define SENSORS_INVERTING 0
+#endif
+
+#ifdef OPTO_ENDSTOP_2_X
+#define SENSORS_INVERTING 1
+#endif
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/HostPacketProcessor.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/HostPacketProcessor.pde 2009-01-31 17:42:46 UTC (rev 2466)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/HostPacketProcessor.pde 2009-01-31 19:54:09 UTC (rev 2467)
@@ -1,273 +0,0 @@
-// These are our query commands from the host
-#define HOST_CMD_VERSION 0
-#define HOST_CMD_INIT 1
-#define HOST_CMD_GET_BUFFER_SIZE 2
-#define HOST_CMD_CLEAR_BUFFER 3
-#define HOST_CMD_GET_POSITION 4
-#define HOST_CMD_GET_RANGE 5
-#define HOST_CMD_SET_RANGE 6
-#define HOST_CMD_ABORT 7
-#define HOST_CMD_PAUSE 8
-#define HOST_CMD_PROBE 9
-#define HOST_CMD_TOOL_QUERY 10
-
-// These are our bufferable commands from the host
-#define HOST_CMD_QUEUE_POINT_INC 128
-#define HOST_CMD_QUEUE_POINT_ABS 129
-#define HOST_CMD_SET_POSITION 130
-#define HOST_CMD_FIND_AXES_MINIMUM 131
-#define HOST_CMD_FIND_AXES_MAXIMUM 132
-#define HOST_CMD_DELAY 133
-#define HOST_CMD_CHANGE_TOOL 134
-#define HOST_CMD_WAIT_FOR_TOOL 135
-#define HOST_CMD_TOOL_COMMAND 136
-
-//how many queued commands have we processed?
-//this will be used to keep track of our current progress.
-unsigned long finishedCommands = 0;
-
-//initialize the firmware to default state.
-void init_commands()
-{
- finishedCommands = 0;
-}
-
-//handle our packets.
-void process_host_packets()
-{
- //read through our available data
- while (Serial.available() > 0)
- {
- //grab a byte and process it.
- byte d = Serial.read();
- hostPacket.process_byte(d);
-
- //do we have a finished packet?
- if (hostPacket.isFinished())
- {
- byte b = hostPacket.get_8(0);
- // top bit high == bufferable command packet (eg. #128-255)
- if (b & 1 << 7)
- {
- //okay, throw it in the buffer.
- for (int i=1; i<hostPacket.getLength(); i++)
- commandBuffer.append(hostPacket.get_8(i));
- }
- // top bit low == reply needed query packet (eg. #0-127)
- else
- {
- handle_query(b);
- }
- }
-
- //okay, send our response
- hostPacket.sendReply();
-
- //only process one packet at a time.
- break;
- }
- }
-}
-
-//this is for handling query commands that need a response.
-void handle_query(byte cmd)
-{
- //which one did we get?
- switch (cmd)
- {
- case HOST_CMD_VERSION:
- //get our host version
- host_version = hostPacket.get_16(1);
-
- //send our version back.
- hostPacket.add_16(FIRMWARE_VERSION);
- break;
-
- case HOST_CMD_INIT:
- //just initialize
- initialize();
- break;
-
- case HOST_CMD_GET_BUFFER_SIZE:
- //send our remaining buffer size.
- hostPacket.add_16(commandBuffer.remainingCapacity());
- break;
-
- case HOST_CMD_CLEAR_BUFFER:
- //just clear it.
- commandBuffer.clear();
- break;
-
- case HOST_CMD_GET_POSITION:
- //send our position
- hostPacket.add_32(current_steps.x);
- hostPacket.add_32(current_steps.y);
- hostPacket.add_32(current_steps.z);
- hostPacket.add_8(get_endstop_states());
- break;
-
- case HOST_CMD_GET_RANGE:
- //send our range
- hostPacket.add_32(range_steps.x);
- hostPacket.add_32(range_steps.y);
- hostPacket.add_32(range_steps.z);
- break;
-
- case HOST_CMD_SET_RANGE:
- //set our range to what the host tells us
- range_steps.x = hostPacket.get_32(1);
- range_steps.y = hostPacket.get_32(5);
- range_steps.z = hostPacket.get_32(9);
-
- //write it back to eeprom
- write_range_to_eeprom();
- break;
-
- case HOST_CMD_ABORT:
- //support a microcontrollers right to choice.
- abort_print();
- break;
-
- case HOST_CMD_PAUSE:
- if (is_machine_paused)
- {
- //unpause our machine.
- is_machine_paused = false;
-
- //unpause our tools
- set_tool_pause_state(false);
-
- //resume stepping.
- enableTimer1Interrupt();
- enable_steppers();
- }
- else
- {
- //pause our activity.
- is_machine_paused = true;
-
- //pause our tools
- set_tool_pause_state(true);
-
- //pause stepping
- disableTimer1Interrupt();
- disable_steppers();
- }
- break;
-
- case HOST_CMD_PROBE:
- //we dont support this yet.
- hostPacket.unsupported();
- break;
-
- case HOST_CMD_TOOL_QUERY:
- send_tool_query();
- break;
- }
-}
-
-//this is for handling buffered commands with no response
-void handle_commands()
-{
- byte flags = 0;
-
- //do we have any commands?
- if (commandBuffer.size())
- {
- //okay, which command are we handling?
- byte cmd = commandBuffer.remove_8();
- switch(cmd)
- {
- //add it to our poitn queue.
- case HOST_CMD_QUEUE_POINT_INC:
- queue_incremental_point(
- commandBuffer.remove_16(),
- commandBuffer.remove_16(),
- commandBuffer.remove_16(),
- commandBuffer.remove_8(),
- commandBuffer.remove_16()
- );
- break;
-
- //add it to our point queue.
- case HOST_CMD_QUEUE_POINT_ABS:
- queue_absolute_point(
- commandBuffer.remove_32(),
- commandBuffer.remove_32(),
- commandBuffer.remove_32(),
- commandBuffer.remove_8(),
- commandBuffer.remove_16()
- );
- break;
-
- //update our current point to where we're told.
- case HOST_CMD_SET_POSITION:
- wait_until_target_reached(); //dont want to get hasty.
-
- current_steps.x = commandBuffer.remove_32();
- current_steps.y = commandBuffer.remove_32();
- current_steps.z = commandBuffer.remove_32();
- break;
-
- //figure out our minimums.
- case HOST_CMD_FIND_AXES_MINIMUM:
- wait_until_target_reached(); //dont want to get hasty.
-
- //no dda interrupts.
- disableTimer1Interrupt();
-
- //which ones are we going to?
- flags = commandBuffer.remove_8();
-
- //find them!
- seek_minimums(
- flags & 1,
- flags & (1 << 1),
- flags & (1 << 2),
- commandBuffer.remove_32(),
- commandBuffer.remove_16()
- );
-
- //turn on point seekign agian.
- enableTimer1Interrupt();
-
- break;
-
- //gotta know your limits.
- case HOST_CMD_FIND_AXES_MAXIMUM:
- wait_until_target_reached(); //dont want to get hasty.
-
- //TODO: implement this.
- break;
-
- case HOST_CMD_DELAY:
- wait_until_target_reached(); //dont want to get hasty.
-
- //take it easy.
- delay(commandBuffer.remove_32());
- break;
-
- case HOST_CMD_CHANGE_TOOL:
- wait_until_target_reached(); //dont want to get hasty.
-
- //extruder, i choose you!
- select_tool(commandBuffer.remove_8());
- break;
-
- case HOST_CMD_WAIT_FOR_TOOL:
- wait_until_target_reached(); //dont want to get hasty.
-
- //get your temp in gear, you lazy bum.
- wait_for_tool_ready_state(
- commandBuffer.remove_8(),
- commandBuffer.remove_16(),
- commandBuffer.remove_16()
- );
- break;
-
- case HOST_CMD_TOOL_QUERY:
- send_tool_command();
- break;
- }
- }
-}
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde (from rev 2465, trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/HostPacketProcessor.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde 2009-01-31 19:54:09 UTC (rev 2467)
@@ -0,0 +1,273 @@
+// These are our query commands from the host
+#define HOST_CMD_VERSION 0
+#define HOST_CMD_INIT 1
+#define HOST_CMD_GET_BUFFER_SIZE 2
+#define HOST_CMD_CLEAR_BUFFER 3
+#define HOST_CMD_GET_POSITION 4
+#define HOST_CMD_GET_RANGE 5
+#define HOST_CMD_SET_RANGE 6
+#define HOST_CMD_ABORT 7
+#define HOST_CMD_PAUSE 8
+#define HOST_CMD_PROBE 9
+#define HOST_CMD_TOOL_QUERY 10
+
+// These are our bufferable commands from the host
+#define HOST_CMD_QUEUE_POINT_INC 128
+#define HOST_CMD_QUEUE_POINT_ABS 129
+#define HOST_CMD_SET_POSITION 130
+#define HOST_CMD_FIND_AXES_MINIMUM 131
+#define HOST_CMD_FIND_AXES_MAXIMUM 132
+#define HOST_CMD_DELAY 133
+#define HOST_CMD_CHANGE_TOOL 134
+#define HOST_CMD_WAIT_FOR_TOOL 135
+#define HOST_CMD_TOOL_COMMAND 136
+
+//how many queued commands have we processed?
+//this will be used to keep track of our current progress.
+unsigned long finishedCommands = 0;
+
+//initialize the firmware to default state.
+void init_commands()
+{
+ finishedCommands = 0;
+}
+
+//handle our packets.
+void process_host_packets()
+{
+ //read through our available data
+ while (Serial.available() > 0)
+ {
+ //grab a byte and process it.
+ byte d = Serial.read();
+ hostPacket.process_byte(d);
+
+ //do we have a finished packet?
+ if (hostPacket.isFinished())
+ {
+ byte b = hostPacket.get_8(0);
+ // top bit high == bufferable command packet (eg. #128-255)
+ if (b & 1 << 7)
+ {
+ //okay, throw it in the buffer.
+ for (int i=1; i<hostPacket.getLength(); i++)
+ commandBuffer.append(hostPacket.get_8(i));
+ }
+ // top bit low == reply needed query packet (eg. #0-127)
+ else
+ {
+ handle_query(b);
+ }
+ }
+
+ //okay, send our response
+ hostPacket.sendReply();
+
+ //only process one packet at a time.
+ break;
+ }
+ }
+}
+
+//this is for handling query commands that need a response.
+void handle_query(byte cmd)
+{
+ //which one did we get?
+ switch (cmd)
+ {
+ case HOST_CMD_VERSION:
+ //get our host version
+ host_version = hostPacket.get_16(1);
+
+ //send our version back.
+ hostPacket.add_16(FIRMWARE_VERSION);
+ break;
+
+ case HOST_CMD_INIT:
+ //just initialize
+ initialize();
+ break;
+
+ case HOST_CMD_GET_BUFFER_SIZE:
+ //send our remaining buffer size.
+ hostPacket.add_16(commandBuffer.remainingCapacity());
+ break;
+
+ case HOST_CMD_CLEAR_BUFFER:
+ //just clear it.
+ commandBuffer.clear();
+ break;
+
+ case HOST_CMD_GET_POSITION:
+ //send our position
+ hostPacket.add_32(current_steps.x);
+ hostPacket.add_32(current_steps.y);
+ hostPacket.add_32(current_steps.z);
+ hostPacket.add_8(get_endstop_states());
+ break;
+
+ case HOST_CMD_GET_RANGE:
+ //send our range
+ hostPacket.add_32(range_steps.x);
+ hostPacket.add_32(range_steps.y);
+ hostPacket.add_32(range_steps.z);
+ break;
+
+ case HOST_CMD_SET_RANGE:
+ //set our range to what the host tells us
+ range_steps.x = hostPacket.get_32(1);
+ range_steps.y = hostPacket.get_32(5);
+ range_steps.z = hostPacket.get_32(9);
+
+ //write it back to eeprom
+ write_range_to_eeprom();
+ break;
+
+ case HOST_CMD_ABORT:
+ //support a microcontrollers right to choice.
+ abort_print();
+ break;
+
+ case HOST_CMD_PAUSE:
+ if (is_machine_paused)
+ {
+ //unpause our machine.
+ is_machine_paused = false;
+
+ //unpause our tools
+ set_tool_pause_state(false);
+
+ //resume stepping.
+ enableTimer1Interrupt();
+ enable_steppers();
+ }
+ else
+ {
+ //pause our activity.
+ is_machine_paused = true;
+
+ //pause our tools
+ set_tool_pause_state(true);
+
+ //pause stepping
+ disableTimer1Interrupt();
+ disable_steppers();
+ }
+ break;
+
+ case HOST_CMD_PROBE:
+ //we dont support this yet.
+ hostPacket.unsupported();
+ break;
+
+ case HOST_CMD_TOOL_QUERY:
+ send_tool_query();
+ break;
+ }
+}
+
+//this is for handling buffered commands with no response
+void handle_commands()
+{
+ byte flags = 0;
+
+ //do we have any commands?
+ if (commandBuffer.size())
+ {
+ //okay, which command are we handling?
+ byte cmd = commandBuffer.remove_8();
+ switch(cmd)
+ {
+ //add it to our poitn queue.
+ case HOST_CMD_QUEUE_POINT_INC:
+ queue_incremental_point(
+ commandBuffer.remove_16(),
+ commandBuffer.remove_16(),
+ commandBuffer.remove_16(),
+ commandBuffer.remove_8(),
+ commandBuffer.remove_16()
+ );
+ break;
+
+ //add it to our point queue.
+ case HOST_CMD_QUEUE_POINT_ABS:
+ queue_absolute_point(
+ commandBuffer.remove_32(),
+ commandBuffer.remove_32(),
+ commandBuffer.remove_32(),
+ commandBuffer.remove_8(),
+ commandBuffer.remove_16()
+ );
+ break;
+
+ //update our current point to where we're told.
+ case HOST_CMD_SET_POSITION:
+ wait_until_target_reached(); //dont want to get hasty.
+
+ current_steps.x = commandBuffer.remove_32();
+ current_steps.y = commandBuffer.remove_32();
+ current_steps.z = commandBuffer.remove_32();
+ break;
+
+ //figure out our minimums.
+ case HOST_CMD_FIND_AXES_MINIMUM:
+ wait_until_target_reached(); //dont want to get hasty.
+
+ //no dda interrupts.
+ disableTimer1Interrupt();
+
+ //which ones are we going to?
+ flags = commandBuffer.remove_8();
+
+ //find them!
+ seek_minimums(
+ flags & 1,
+ flags & (1 << 1),
+ flags & (1 << 2),
+ commandBuffer.remove_32(),
+ commandBuffer.remove_16()
+ );
+
+ //turn on point seekign agian.
+ enableTimer1Interrupt();
+
+ break;
+
+ //gotta know your limits.
+ case HOST_CMD_FIND_AXES_MAXIMUM:
+ wait_until_target_reached(); //dont want to get hasty.
+
+ //TODO: implement this.
+ break;
+
+ case HOST_CMD_DELAY:
+ wait_until_target_reached(); //dont want to get hasty.
+
+ //take it easy.
+ delay(commandBuffer.remove_32());
+ break;
+
+ case HOST_CMD_CHANGE_TOOL:
+ wait_until_target_reached(); //dont want to get hasty.
+
+ //extruder, i choose you!
+ select_tool(commandBuffer.remove_8());
+ break;
+
+ case HOST_CMD_WAIT_FOR_TOOL:
+ wait_until_target_reached(); //dont want to get hasty.
+
+ //get your temp in gear, you lazy bum.
+ wait_for_tool_ready_state(
+ commandBuffer.remove_8(),
+ commandBuffer.remove_16(),
+ commandBuffer.remove_16()
+ );
+ break;
+
+ case HOST_CMD_TOOL_QUERY:
+ send_tool_command();
+ break;
+ }
+ }
+}
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_init.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_init.pde 2009-01-31 17:42:46 UTC (rev 2466)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/_init.pde 2009-01-31 19:54:09 UTC (rev 2467)
@@ -1,137 +0,0 @@
-/****************************************************************************************
-* Here's where you define the overall electronics setup for your machine.
-****************************************************************************************/
-
-//
-// CHOOSE WHICH MOTHERBOARD YOU'RE USING:
-//
-#define REPRAP_MOTHERBOARD_VERSION_1_0
-//#define REPRAP_MOTHERBOARD_VERSION_1_1
-
-//
-// CHOOSE WHICH FAMILY OF STEPPER DRIVER YOU'RE USING:
-//
-//#define STEPPER_DRIVER_VERSION_1_X
-#define STEPPER_DRIVER_VERSION_2_X
-
-//
-// CHOOSE WHICH FAMILY OF OPTO ENDSTOP YOU'RE USING:
-//
-//#define OPTO_ENDSTOP_1_X
-#define OPTO_ENDSTOP_2_X
-
-/****************************************************************************************
-* Sanguino Pin Assignment
-****************************************************************************************/
-
-//these are the pins for the v1.0 Motherboard.
-#ifdef REPRAP_MOTHERBOARD_VERSION_1_0
-
-//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 21
-
-//y axis pins
-#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
-
-//z axis pins
-#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
-
-//our pin for debugging.
-#define DEBUG_PIN 0
-
-//various SPI select pins
-#define SPI_SELECT_1 ?
-#define SPI_SELECT_2 ?
-#define SPI_SELECT_3 ?
-
-//our SD card pins
-#define SD_CARD_SELECT ?
-#define SD_CARD_WRITE ?
-#define SD_CARD_DETECT ?
-
-//our RS485 pins
-#define RS485_TX_ENABLE ?
-#define RS485_RX_ENABLE ?
-
-#endif
-
-//these are the pins for the v1.1 Motherboard.
-#ifdef REPRAP_MOTHERBOARD_VERSION_1_1
-
-//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 21
-
-//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 26
-
-//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 31
-
-//our pin for debugging.
-#define DEBUG_PIN 0
-
-//various SPI select pins
-#define SPI_SELECT_1 1
-#define SPI_SELECT_2 3
-#define SPI_SELECT_3 14
-
-//our SD card pins
-#define SD_CARD_SELECT 4
-#define SD_CARD_WRITE 2
-#define SD_CARD_DETECT 3
-
-//our RS485 pins
-#define RS485_TX_ENABLE 12
-#define RS485_RX_ENABLE 13
-
-#endif
-
-/****************************************************************************************
-* Stepper Driver Behaviour Definition
-****************************************************************************************/
-
-#ifdef STEPPER_DRIVER_VERSION_1_X
-#define STEPPER_ENABLE 1
-#define STEPPER_DISABLE 0
-#endif
-
-#ifdef STEPPER_DRIVER_VERSION_2_X
-#define STEPPER_ENABLE 0
-#define STEPPER_DISABLE 1
-#endif
-
-/****************************************************************************************
-* Opto Endstop Behaviour Definition
-****************************************************************************************/
-
-#ifdef OPTO_ENDSTOP_1_X
-#define SENSORS_INVERTING 0
-#endif
-
-#ifdef OPTO_ENDSTOP_2_X
-#define SENSORS_INVERTING 1
-#endif
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/stepper.pde (from rev 2461, trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/steppers.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/stepper.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/stepper.pde 2009-01-31 19:54:09 UTC (rev 2467)
@@ -0,0 +1,508 @@
+//initialize our stepper drivers
+void init_steppers()
+{
+ //clear our point buffer
+ pointBuffer.clear();
+
+ //pull in our saved values.
+ read_range_from_eeprom();
+
+ //prep timer 1 for handling DDA stuff.
+ setupTimer1Interrupt();
+
+ //initialize all our pins.
+ pinMode(X_STEP_PIN, OUTPUT);
+ pinMode(X_DIR_PIN, OUTPUT);
+ pinMode(X_ENABLE_PIN, OUTPUT);
+ pinMode(X_MIN_PIN, INPUT);
+ pinMode(X_MAX_PIN, INPUT);
+
+ pinMode(Y_STEP_PIN, OUTPUT);
+ pinMode(Y_DIR_PIN, OUTPUT);
+ pinMode(Y_ENABLE_PIN, OUTPUT);
+ pinMode(Y_MIN_PIN, INPUT);
+ pinMode(Y_MAX_PIN, INPUT);
+
+ pinMode(Z_STEP_PIN, OUTPUT);
+ pinMode(Z_DIR_PIN, OUTPUT);
+ pinMode(Z_ENABLE_PIN, OUTPUT);
+ pinMode(Z_MIN_PIN, INPUT);
+ pinMode(Z_MAX_PIN, INPUT);
+
+ //turn them off to start.
+ disable_steppers();
+
+ //figure our stuff.
+ calculate_deltas();
+}
+
+void seek_minimums(boolean find_x, boolean find_y, boolean find_z, unsigned long step_delay, unsigned int timeout_seconds)
+{
+ unsigned long start = millis();
+ unsigned long end = millis() + (timeout_seconds*1000);
+
+ enable_steppers();
+
+ boolean found_x = false;
+ boolean found_y = false;
+ boolean found_z = false;
+
+ //do it until we time out.
+ while (millis() < end)
+ {
+ //do our steps and check for mins.
+ if (find_x && !found_x)
+ {
+ found_x = find_axis_min(X_STEP_PIN, X_DIR_PIN, X_MIN_PIN);
+ current_steps.x = 0;
+ }
+ if (find_y && !found_y)
+ {
+ found_y = find_axis_min(Y_STEP_PIN, Y_DIR_PIN, Y_MIN_PIN);
+ current_steps.y = 0;
+ }
+ if (find_z && !found_z)
+ {
+ found_z = find_axis_min(Z_STEP_PIN, Z_DIR_PIN, Z_MIN_PIN);
+ current_steps.z = 0;
+ }
+
+ //check to see if we've found all required switches.
+ if (find_x && !found_x)
+ true;
+ else if (find_y && !found_y)
+ true;
+ else if (find_z && !found_z)
+ true;
+ //found them all.
+ else
+ break;
+
+ //do our delay for our axes.
+ if (step_delay <= 65535)
+ delayMicrosecondsInterruptible(step_delay);
+ else
+ delay(step_delay/1000);
+ }
+}
+
+boolean find_axis_min(byte step_pin, byte dir_pin, byte min_pin)
+{
+ //are we at the minimum?
+ if (read_switch(min_pin))
+ {
+ //move forward until the switch goes open. (slowly)
+ digitalWrite(dir_pin, HIGH);
+ while (read_switch(min_pin))
+ {
+ do_step(step_pin);
+ delay(500);
+ }
+
+ //okay, now move us back one step.
+ digitalWrite(dir_pin, LOW);
+ do_step(step_pin);
+
+ return true;
+ }
+ else
+ {
+ digitalWrite(dir_pin, LOW);
+ do_step(step_pin);
+ }
+
+ return false;
+}
+
+void seek_maximums(boolean find_x, boolean find_y, boolean find_z, unsigned long step_delay, unsigned int timeout_seconds)
+{
+ unsigned long start = millis();
+ unsigned long end = millis() + (timeout_seconds*1000);
+
+ enable_steppers();
+
+ boolean found_x = false;
+ boolean found_y = false;
+ boolean found_z = false;
+
+ //do it until we time out.
+ while (millis() < end)
+ {
+ //do our steps and check for mins.
+ if (find_x && !found_x)
+ {
+ found_x = find_axis_max(X_STEP_PIN, X_DIR_PIN, X_MAX_PIN);
+ range_steps.x = current_steps.x;
+ }
+ if (find_y && !found_y)
+ {
+ found_y = find_axis_max(Y_STEP_PIN, Y_DIR_PIN, Y_MAX_PIN);
+ range_steps.x = current_steps.x;
+ }
+ if (find_z && !found_z)
+ {
+ found_z = find_axis_max(Z_STEP_PIN, Z_DIR_PIN, Z_MAX_PIN);
+ range_steps.x = current_steps.x;
+ }
+
+ //check to see if we've found all required switches.
+ if (find_x && !found_x)
+ true;
+ else if (find_y && !found_y)
+ true;
+ else if (find_z && !found_z)
+ true;
+ //found them all.
+ else
+ {
+ write_range_to_eeprom();
+ break;
+ }
+
+ //do our delay for our axes.
+ if (step_delay <= 65535)
+ delayMicrosecondsInterruptible(step_delay);
+ else
+ delay(step_delay/1000);
+ }
+}
+
+boolean find_axis_max(byte step_pin, byte dir_pin, byte max_pin)
+{
+ //are we at the minimum?
+ if (read_switch(max_pin))
+ {
+ //move forward until the switch goes open. (slowly)
+ digitalWrite(dir_pin, LOW);
+ while (read_switch(max_pin))
+ {
+ do_step(step_pin);
+ delay(500);
+ }
+
+ //okay, now move us back one step.
+ digitalWrite(dir_pin, HIGH);
+ do_step(step_pin);
+
+ return true;
+ }
+ else
+ {
+ digitalWrite(dir_pin, HIGH);
+ do_step(step_pin);
+ }
+
+ return false;
+}
+
+
+//prepare our variables for a bresenham DDA run.
+void prepare_dda()
+{
+ //enable our steppers if needed.
+ enable_steppers();
+
+ //figure out our deltas
+ max_delta = 0;
+ max_delta = max(delta_steps.x, delta_steps.y);
+ max_delta = max(delta_steps.z, max_delta);
+
+ //init stuff.
+ x_counter = -max_delta/2;
+ y_counter = -max_delta/2;
+ z_counter = -max_delta/2;
+}
+
+//do a single step on our DDA line!
+inline void dda_step()
+{
+ //check endstops, position, etc.
+ x_can_step = can_step(X_MIN_PIN, X_MAX_PIN, current_steps.x, target_steps.x, x_direction);
+ y_can_step = can_step(Y_MIN_PIN, Y_MAX_PIN, current_steps.y, target_steps.y, y_direction);
+ z_can_step = can_step(Z_MIN_PIN, Z_MAX_PIN, current_steps.z, target_steps.z, z_direction);
+
+ //increment our x counter, and take steps if required.
+ if (x_can_step)
+ {
+ x_counter += delta_steps.x;
+
+ if (x_counter > 0)
+ {
+ do_step(X_STEP_PIN);
+ x_counter -= max_delta;
+
+ if (x_direction)
+ current_steps.x++;
+ else
+ current_steps.x--;
+ }
+ }
+
+ //increment our y counter, and take steps if required.
+ if (y_can_step)
+ {
+ y_counter += delta_steps.y;
+
+ if (y_counter > 0)
+ {
+ do_step(Y_STEP_PIN);
+ y_counter -= max_delta;
+
+ if (y_direction)
+ current_steps.y++;
+ else
+ current_steps.y--;
+ }
+ }
+
+ //increment our z counter, and take steps if required.
+ if (z_can_step)
+ {
+ z_counter += delta_steps.z;
+
+ if (z_counter > 0)
+ {
+ do_step(Z_STEP_PIN);
+ z_counter -= max_delta;
+
+ if (z_direction)
+ current_steps.z++;
+ else
+ current_steps.z--;
+ }
+ }
+
+ //we're either at our target, or we're stuck.
+ if (!x_can_step && !y_can_step && !z_can_step)
+ {
+ //set us to be at our target.
+ current_steps.x = target_steps.x;
+ current_steps.y = target_steps.y;
+ current_steps.z = target_steps.z;
+
+ //where to next, boss?
+ grab_next_point();
+ }
+}
+
+void grab_next_point()
+{
+ //can we even step to this?
+ if (pointBuffer.size() >= POINT_SIZE)
+ {
+ //make it so we dont interrupt ourself.
+ disableTimer1Interrupt();
+
+ //grab our new target
+ target_steps.x += pointBuffer.remove_16();
+ target_steps.y += pointBuffer.remove_16();
+ target_steps.z += pointBuffer.remove_16();
+
+ //figure out stuff for the move.
+ calculate_deltas();
+ prepare_dda();
+
+ //start the move!
+ setTimer1Resolution(pointBuffer.remove_8());
+ setTimer1Ceiling(pointBuffer.remove_16());
+ enableTimer1Interrupt();
+ }
+}
+
+bool can_step(byte min_pin, byte max_pin, long current, long target, byte direction)
+{
+ //stop us if we're on target
+ if (target == current)
+ return false;
+ //stop us if we're at home and still going
+ else if (read_switch(min_pin) && !direction)
+ return false;
+ //stop us if we're at max and still going
+ else if (read_switch(max_pin) && direction)
+ return false;
+
+ //default to being able to step
+ return true;
+}
+
+//actually send a step signal.
+void do_step(byte step_pin)
+{
+ digitalWrite(step_pin, HIGH);
+ delayMicrosecondsInterruptible(5);
+ digitalWrite(step_pin, LOW);
+}
+
+//figure out if we're at a switch or not
+bool read_switch(byte pin)
+{
+ //dual read as crude debounce
+ if (SENSORS_INVERTING)
+ return !digitalRead(pin) && !digitalRead(pin);
+ else
+ return digitalRead(pin) && digitalRead(pin);
+}
+
+//prepare our deltas and such for our DDA action
+void calculate_deltas()
+{
+ //figure our deltas.
+ delta_steps.x = abs(target_steps.x - current_steps.x);
+ delta_steps.y = abs(target_steps.y - current_steps.y);
+ delta_steps.z = abs(target_steps.z - current_steps.z);
+
+ //what is our direction
+ x_direction = (target_steps.x >= current_steps.x);
+ y_direction = (target_steps.y >= current_steps.y);
+ z_direction = (target_steps.z >= current_steps.z);
+
+ //set our direction pins as well
+ digitalWrite(X_DIR_PIN, x_direction);
+ digitalWrite(Y_DIR_PIN, y_direction);
+ digitalWrite(Z_DIR_PIN, z_direction);
+}
+
+//enable our steppers so we can move them.
+void enable_steppers()
+{
+ if (delta_steps.x > 0)
+ digitalWrite(X_ENABLE_PIN, STEPPER_ENABLE);
+ if (delta_steps.y > 0)
+ digitalWrite(Y_ENABLE_PIN, STEPPER_ENABLE);
+ if (delta_steps.z > 0)
+ digitalWrite(Z_ENABLE_PIN, STEPPER_ENABLE);
+}
+
+//turn off steppers to save juice / keep things cool.
+void disable_steppers()
+{
+ //disable our steppers
+ digitalWrite(X_ENABLE_PIN, STEPPER_DISABLE);
+ digitalWrite(Y_ENABLE_PIN, STEPPER_DISABLE);
+ digitalWrite(Z_ENABLE_PIN, STEPPER_DISABLE);
+}
+
+//read all of our states into a single byte.
+byte get_endstop_states()
+{
+ byte state = 0;
+
+ //each one is its own bit in the byte.
+ state |= read_switch(Z_MAX_PIN) << 5;
+ state |= read_switch(Z_MIN_PIN) << 4;
+ state |= read_switch(Y_MAX_PIN) << 3;
+ state |= read_switch(Y_MIN_PIN) << 2;
+ state |= read_switch(X_MAX_PIN) << 1;
+ state |= read_switch(X_MIN_PIN);
+
+ return state;
+}
+
+//TODO: make me work!
+void write_range_to_eeprom()
+{
+
+}
+
+//TODO: make me work!
+void read_range_from_eeprom()
+{
+
+}
+
+//queue a point for us to move to
+void queue_incremental_point(int x, int y, int z, byte prescaler, unsigned int count)
+{
+ //wait until we have free space
+ while (pointBuffer.remainingCapacity() > POINT_SIZE)
+ delayMicrosecondsInterruptible(500);
+
+ //okay, add in our points.
+ // x
+ pointBuffer.append(x & 0xff);
+ pointBuffer.append(x >> 8);
+ // y
+ pointBuffer.append(y & 0xff);
+ pointBuffer.append(y >> 8);
+ // z
+ pointBuffer.append(z & 0xff);
+ pointBuffer.append(z >> 8);
+ // prescaler
+ pointBuffer.append(prescaler);
+ // counter
+ pointBuffer.append(count & 0xff);
+ pointBuffer.append(count >> 8);
+
+ //turn our interrupt on.
+ enableTimer1Interrupt();
+}
+
+//TODO: make this proportional based on the delta proportions.
+//queue a point for us to move to
+void queue_absolute_point(long x, long y, long z, byte prescaler, unsigned int count)
+{
+ //calculate our total travel in steps
+ unsigned long delta_x = abs(x - current_steps.x);
+ unsigned long delta_y = abs(y - current_steps.y);
+ unsigned long delta_z = abs(z - current_steps.z);
+
+ //setup some variables.
+ int x_inc = 0;
+ int y_inc = 0;
+ int z_inc = 0;
+
+ //keep queueing points while we can.
+ while (delta_x >= 0 || delta_y >= 0 || delta_z >= 0)
+ {
+ //figure out our incremental points.
+ x_inc = get_increment_from_absolute(delta_x, current_steps.x, x);
+ y_inc = get_increment_from_absolute(delta_y, current_steps.y, y);
+ z_inc = get_increment_from_absolute(delta_z, current_steps.z, z);
+
+ //queue our point.
+ queue_incremental_point(x_inc, y_inc, z_inc, prescaler, count);
+
+ //remove them from our deltas.
+ delta_x -= x_inc;
+ delta_x -= y_inc;
+ delta_x -= z_inc;
+ }
+}
+
+int get_increment_from_absolute(unsigned long delta, long current, long target)
+{
+ if (delta > 32767)
+ {
+ if (target < current)
+ return -32767;
+ else
+ return 32767;
+ }
+ else
+ {
+ if (target < current)
+ return -((int)delta);
+ else
+ return (int)delta;
+ }
+}
+
+boolean is_point_buffer_empty()
+{
+ //okay, we got points in the buffer.
+ if (pointBuffer.size() > 0)
+ return false;
+
+ //still working on a point.
+ if (current_steps.x != target_steps.x && current_steps.y != target_steps.y && current_steps.z != target_steps.z)
+ return false;
+
+ //nope, we're done.
+ return true;
+}
+
+void wait_until_target_reached()
+{
+ while(!is_point_buffer_empty())
+ delayMicrosecondsInterruptible(500);
+}
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/steppers.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/steppers.pde 2009-01-31 17:42:46 UTC (rev 2466)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/steppers.pde 2009-01-31 19:54:09 UTC (rev 2467)
@@ -1,508 +0,0 @@
-//initialize our stepper drivers
-void init_steppers()
-{
- //clear our point buffer
- pointBuffer.clear();
-
- //pull in our saved values.
- read_range_from_eeprom();
-
- //prep timer 1 for handling DDA stuff.
- setupTimer1Interrupt();
-
- //initialize all our pins.
- pinMode(X_STEP_PIN, OUTPUT);
- pinMode(X_DIR_PIN, OUTPUT);
- pinMode(X_ENABLE_PIN, OUTPUT);
- pinMode(X_MIN_PIN, INPUT);
- pinMode(X_MAX_PIN, INPUT);
-
- pinMode(Y_STEP_PIN, OUTPUT);
- pinMode(Y_DIR_PIN, OUTPUT);
- pinMode(Y_ENABLE_PIN, OUTPUT);
- pinMode(Y_MIN_PIN, INPUT);
- pinMode(Y_MAX_PIN, INPUT);
-
- pinMode(Z_STEP_PIN, OUTPUT);
- pinMode(Z_DIR_PIN, OUTPUT);
- pinMode(Z_ENABLE_PIN, OUTPUT);
- pinMode(Z_MIN_PIN, INPUT);
- pinMode(Z_MAX_PIN, INPUT);
-
- //turn them off to start.
- disable_steppers();
-
- //figure our stuff.
- calculate_deltas();
-}
-
-void seek_minimums(boolean find_x, boolean find_y, boolean find_z, unsigned long step_delay, unsigned int timeout_seconds)
-{
- unsigned long start = millis();
- unsigned long end = millis() + (timeout_seconds*1000);
-
- enable_steppers();
-
- boolean found_x = false;
- boolean found_y = false;
- boolean found_z = false;
-
- //do it until we time out.
- while (millis() < end)
- {
- //do our steps and check for mins.
- if (find_x && !found_x)
- {
- found_x = find_axis_min(X_STEP_PIN, X_DIR_PIN, X_MIN_PIN);
- current_steps.x = 0;
- }
- if (find_y && !found_y)
- {
- found_y = find_axis_min(Y_STEP_PIN, Y_DIR_PIN, Y_MIN_PIN);
- current_steps.y = 0;
- }
- if (find_z && !found_z)
- {
- found_z = find_axis_min(Z_STEP_PIN, Z_DIR_PIN, Z_MIN_PIN);
- current_steps.z = 0;
- }
-
- //check to see if we've found all required switches.
- if (find_x && !found_x)
- true;
- else if (find_y && !found_y)
- true;
- else if (find_z && !found_z)
- true;
- //found them all.
- else
- break;
-
- //do our delay for our axes.
- if (step_delay <= 65535)
- delayMicrosecondsInterruptible(step_delay);
- else
- delay(step_delay/1000);
- }
-}
-
-boolean find_axis_min(byte step_pin, byte dir_pin, byte min_pin)
-{
- //are we at the minimum?
- if (read_switch(min_pin))
- {
- //move forward until the switch goes open. (slowly)
- digitalWrite(dir_pin, HIGH);
- while (read_switch(min_pin))
- {
- do_step(step_pin);
- delay(500);
- }
-
- //okay, now move us back one step.
- digitalWrite(dir_pin, LOW);
- do_step(step_pin);
-
- return true;
- }
- else
- {
- digitalWrite(dir_pin, LOW);
- do_step(step_pin);
- }
-
- return false;
-}
-
-void seek_maximums(boolean find_x, boolean find_y, boolean find_z, unsigned long step_delay, unsigned int timeout_seconds)
-{
- unsigned long start = millis();
- unsigned long end = millis() + (timeout_seconds*1000);
-
- enable_steppers();
-
- boolean found_x = false;
- boolean found_y = false;
- boolean found_z = false;
-
- //do it until we time out.
- while (millis() < end)
- {
- //do our steps and check for mins.
- if (find_x && !found_x)
- {
- found_x = find_axis_max(X_STEP_PIN, X_DIR_PIN, X_MAX_PIN);
- range_steps.x = current_steps.x;
- }
- if (find_y && !found_y)
- {
- found_y = find_axis_max(Y_STEP_PIN, Y_DIR_PIN, Y_MAX_PIN);
- range_steps.x = current_steps.x;
- }
- if (find_z && !found_z)
- {
- found_z = find_axis_max(Z_STEP_PIN, Z_DIR_PIN, Z_MAX_PIN);
- range_steps.x = current_steps.x;
- }
-
- //check to see if we've found all required switches.
- if (find_x && !found_x)
- true;
- else if (find_y && !found_y)
- true;
- else if (find_z && !found_z)
- true;
- //found them all.
- else
- {
- write_range_to_eeprom();
- break;
- }
-
- //do our delay for our axes.
- if (step_delay <= 65535)
- delayMicrosecondsInterruptible(step_delay);
- else
- delay(step_delay/1000);
- }
-}
-
-boolean find_axis_max(byte step_pin, byte dir_pin, byte max_pin)
-{
- //are we at the minimum?
- if (read_switch(max_pin))
- {
- //move forward until the switch goes open. (slowly)
- digitalWrite(dir_pin, LOW);
- while (read_switch(max_pin))
- {
- do_step(step_pin);
- delay(500);
- }
-
- //okay, now move us back one step.
- digitalWrite(dir_pin, HIGH);
- do_step(step_pin);
-
- return true;
- }
- else
- {
- digitalWrite(dir_pin, HIGH);
- do_step(step_pin);
- }
-
- return false;
-}
-
-
-//prepare our variables for a bresenham DDA run.
-void prepare_dda()
-{
- //enable our steppers if needed.
- enable_steppers();
-
- //figure out our deltas
- max_delta = 0;
- max_delta = max(delta_steps.x, delta_steps.y);
- max_delta = max(delta_steps.z, max_delta);
-
- //init stuff.
- x_counter = -max_delta/2;
- y_counter = -max_delta/2;
- z_counter = -max_delta/2;
-}
-
-//do a single step on our DDA line!
-inline void dda_step()
-{
- //check endstops, position, etc.
- x_can_step = can_step(X_MIN_PIN, X_MAX_PIN, current_steps.x, target_steps.x, x_direction);
- y_can_step = can_step(Y_MIN_PIN, Y_MAX_PIN, current_steps.y, target_steps.y, y_direction);
- z_can_step = can_step(Z_MIN_PIN, Z_MAX_PIN, current_steps.z, target_steps.z, z_direction);
-
- //increment our x counter, and take steps if required.
- if (x_can_step)
- {
- x_counter += delta_steps.x;
-
- if (x_counter > 0)
- {
- do_step(X_STEP_PIN);
- x_counter -= max_delta;
-
- if (x_direction)
- current_steps.x++;
- else
- current_steps.x--;
- }
- }
-
- //increment our y counter, and take steps if required.
- if (y_can_step)
- {
- y_counter += delta_steps.y;
-
- if (y_counter > 0)
- {
- do_step(Y_STEP_PIN);
- y_counter -= max_delta;
-
- if (y_direction)
- current_steps.y++;
- else
- current_steps.y--;
- }
- }
-
- //increment our z counter, and take steps if required.
- if (z_can_step)
- {
- z_counter += delta_steps.z;
-
- if (z_counter > 0)
- {
- do_step(Z_STEP_PIN);
- z_counter -= max_delta;
-
- if (z_direction)
- current_steps.z++;
- else
- current_steps.z--;
- }
- }
-
- //we're either at our target, or we're stuck.
- if (!x_can_step && !y_can_step && !z_can_step)
- {
- //set us to be at our target.
- current_steps.x = target_steps.x;
- current_steps.y = target_steps.y;
- current_steps.z = target_steps.z;
-
- //where to next, boss?
- grab_next_point();
- }
-}
-
-void grab_next_point()
-{
- //can we even step to this?
- if (pointBuffer.size() >= POINT_SIZE)
- {
- //make it so we dont interrupt ourself.
- disableTimer1Interrupt();
-
- //grab our new target
- target_steps.x += pointBuffer.remove_16();
- target_steps.y += pointBuffer.remove_16();
- target_steps.z += pointBuffer.remove_16();
-
- //figure out stuff for the move.
- calculate_deltas();
- prepare_dda();
-
- //start the move!
- setTimer1Resolution(pointBuffer.remove_8());
- setTimer1Ceiling(pointBuffer.remove_16());
- enableTimer1Interrupt();
- }
-}
-
-bool can_step(byte min_pin, byte max_pin, long current, long target, byte direction)
-{
- //stop us if we're on target
- if (target == current)
- return false;
- //stop us if we're at home and still going
- else if (read_switch(min_pin) && !direction)
- return false;
- //stop us if we're at max and still going
- else if (read_switch(max_pin) && direction)
- return false;
-
- //default to being able to step
- return true;
-}
-
-//actually send a step signal.
-void do_step(byte step_pin)
-{
- digitalWrite(step_pin, HIGH);
- delayMicrosecondsInterruptible(5);
- digitalWrite(step_pin, LOW);
-}
-
-//figure out if we're at a switch or not
-bool read_switch(byte pin)
-{
- //dual read as crude debounce
- if (SENSORS_INVERTING)
- return !digitalRead(pin) && !digitalRead(pin);
- else
- return digitalRead(pin) && digitalRead(pin);
-}
-
-//prepare our deltas and such for our DDA action
-void calculate_deltas()
-{
- //figure our deltas.
- delta_steps.x = abs(target_steps.x - current_steps.x);
- delta_steps.y = abs(target_steps.y - current_steps.y);
- delta_steps.z = abs(target_steps.z - current_steps.z);
-
- //what is our direction
- x_direction = (target_steps.x >= current_steps.x);
- y_direction = (target_steps.y >= current_steps.y);
- z_direction = (target_steps.z >= current_steps.z);
-
- //set our direction pins as well
- digitalWrite(X_DIR_PIN, x_direction);
- digitalWrite(Y_DIR_PIN, y_direction);
- digitalWrite(Z_DIR_PIN, z_direction);
-}
-
-//enable our steppers so we can move them.
-void enable_steppers()
-{
- if (delta_steps.x > 0)
- digitalWrite(X_ENABLE_PIN, STEPPER_ENABLE);
- if (delta_steps.y > 0)
- digitalWrite(Y_ENABLE_PIN, STEPPER_ENABLE);
- if (delta_steps.z > 0)
- digitalWrite(Z_ENABLE_PIN, STEPPER_ENABLE);
-}
-
-//turn off steppers to save juice / keep things cool.
-void disable_steppers()
-{
- //disable our steppers
- digitalWrite(X_ENABLE_PIN, STEPPER_DISABLE);
- digitalWrite(Y_ENABLE_PIN, STEPPER_DISABLE);
- digitalWrite(Z_ENABLE_PIN, STEPPER_DISABLE);
-}
-
-//read all of our states into a single byte.
-byte get_endstop_states()
-{
- byte state = 0;
-
- //each one is its own bit in the byte.
- state |= read_switch(Z_MAX_PIN) << 5;
- state |= read_switch(Z_MIN_PIN) << 4;
- state |= read_switch(Y_MAX_PIN) << 3;
- state |= read_switch(Y_MIN_PIN) << 2;
- state |= read_switch(X_MAX_PIN) << 1;
- state |= read_switch(X_MIN_PIN);
-
- return state;
-}
-
-//TODO: make me work!
-void write_range_to_eeprom()
-{
-
-}
-
-//TODO: make me work!
-void read_range_from_eeprom()
-{
-
-}
-
-//queue a point for us to move to
-void queue_incremental_point(int x, int y, int z, byte prescaler, unsigned int count)
-{
- //wait until we have free space
- while (pointBuffer.remainingCapacity() > POINT_SIZE)
- delayMicrosecondsInterruptible(500);
-
- //okay, add in our points.
- // x
- pointBuffer.append(x & 0xff);
- pointBuffer.append(x >> 8);
- // y
- pointBuffer.append(y & 0xff);
- pointBuffer.append(y >> 8);
- // z
- pointBuffer.append(z & 0xff);
- pointBuffer.append(z >> 8);
- // prescaler
- pointBuffer.append(prescaler);
- // counter
- pointBuffer.append(count & 0xff);
- pointBuffer.append(count >> 8);
-
- //turn our interrupt on.
- enableTimer1Interrupt();
-}
-
-//TODO: make this proportional based on the delta proportions.
-//queue a point for us to move to
-void queue_absolute_point(long x, long y, long z, byte prescaler, unsigned int count)
-{
- //calculate our total travel in steps
- unsigned long delta_x = abs(x - current_steps.x);
- unsigned long delta_y = abs(y - current_steps.y);
- unsigned long delta_z = abs(z - current_steps.z);
-
- //setup some variables.
- int x_inc = 0;
- int y_inc = 0;
- int z_inc = 0;
-
- //keep queueing points while we can.
- while (delta_x >= 0 || delta_y >= 0 || delta_z >= 0)
- {
- //figure out our incremental points.
- x_inc = get_increment_from_absolute(delta_x, current_steps.x, x);
- y_inc = get_increment_from_absolute(delta_y, current_steps.y, y);
- z_inc = get_increment_from_absolute(delta_z, current_steps.z, z);
-
- //queue our point.
- queue_incremental_point(x_inc, y_inc, z_inc, prescaler, count);
-
- //remove them from our deltas.
- delta_x -= x_inc;
- delta_x -= y_inc;
- delta_x -= z_inc;
- }
-}
-
-int get_increment_from_absolute(unsigned long delta, long current, long target)
-{
- if (delta > 32767)
- {
- if (target < current)
- return -32767;
- else
- return 32767;
- }
- else
- {
- if (target < current)
- return -((int)delta);
- else
- return (int)delta;
- }
-}
-
-boolean is_point_buffer_empty()
-{
- //okay, we got points in the buffer.
- if (pointBuffer.size() > 0)
- return false;
-
- //still working on a point.
- if (current_steps.x != target_steps.x && current_steps.y != target_steps.y && current_steps.z != target_steps.z)
- return false;
-
- //nope, we're done.
- return true;
-}
-
-void wait_until_target_reached()
-{
- while(!is_point_buffer_empty())
- delayMicrosecondsInterruptible(500);
-}
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools.pde 2009-01-31 17:42:46 UTC (rev 2466)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools.pde 2009-01-31 19:54:09 UTC (rev 2467)
@@ -1,197 +0,0 @@
-// These are our query commands from the host
-#define SLAVE_CMD_VERSION 0
-#define SLAVE_CMD_INIT 1
-#define SLAVE_CMD_GET_TEMP 2
-#define SLAVE_CMD_SET_TEMP 3
-#define SLAVE_CMD_SET_MOTOR_1_PWM 4
-#define SLAVE_CMD_SET_MOTOR_2_PWM 5
-#define SLAVE_CMD_SET_MOTOR_1_RPM 6
-#define SLAVE_CMD_SET_MOTOR_2_RPM 7
-#define SLAVE_CMD_SET_MOTOR_1_DIR 8
-#define SLAVE_CMD_SET_MOTOR_2_DIR 9
-#define SLAVE_CMD_TOGGLE_MOTOR_1 10
-#define SLAVE_CMD_TOGGLE_MOTOR_2 11
-#define SLAVE_CMD_TOGGLE_FAN 12
-#define SLAVE_CMD_TOGGLE_VALVE 13
-#define SLAVE_CMD_SET_SERVO_1_POS 14
-#define SLAVE_CMD_SET_SERVO_2_POS 15
-#define SLAVE_CMD_FILAMENT_STATUS 16
-#define SLAVE_CMD_GET_MOTOR_1_PWM 17
-#define SLAVE_CMD_GET_MOTOR_2_PWM 18
-#define SLAVE_CMD_GET_MOTOR_1_RPM 19
-#define SLAVE_CMD_GET_MOTOR_2_RPM 20
-#define SLAVE_CMD_SELECT_TOOL 21
-#define SLAVE_CMD_IS_TOOL_READY 22
-
-byte currentToolIndex = 0;
-
-//initialize our tools
-void init_tools()
-{
- //do a scan of tools from address 0-255?
- //with a 1 millisecond timeout, this takes ~0.256 seconds.
- //we may also want to store which tools are available in eeprom?
- for (int i=0; i<256; i++)
- {
- //are you out there?
- if (ping_tool(i))
- {
- init_tool(i);
- }
- }
-}
-
-//ask a tool if its there.
-boolean ping_tool(byte i)
-{
- slavePacket.init();
-
- slavePacket.add_8(i);
- slavePacket.add_8(SLAVE_CMD_VERSION);
- slavePacket.add_16(FIRMWARE_VERSION);
- slavePacket.sendPacket();
-
- return read_tool_response(1);
-}
-
-//initialize a tool to its default state.
-void init_tool(byte i)
-{
- slavePacket.init();
-
- slavePacket.add_8(i);
- slavePacket.add_8(SLAVE_CMD_INIT);
- slavePacket.sendPacket();
-
- read_tool_response(1);
-}
-
-//select a tool as our current tool, and let it know.
-void select_tool(byte tool)
-{
- currentToolIndex = tool;
-
- slavePacket.init();
-
- slavePacket.add_8(tool);
- slavePacket.add_8(SLAVE_CMD_SELECT_TOOL);
- slavePacket.sendPacket();
-
- read_tool_response(1);
-}
-
-//ping the tool until it tells us its ready
-void wait_for_tool_ready_state(byte tool, int delay_millis, int timeout_seconds)
-{
- //setup some defaults
- if (delay_millis == 0)
- delay_millis = 100;
- if (timeout_seconds == 0)
- timeout_seconds = 60;
-
- //check for our end time.
- unsigned long now = millis();
- unsigned long end = now + (timeout_seconds * 1000);
-
- //do it until we hear something, or time out.
- while (1)
- {
- //did we time out yet?
- if (millis() >= end)
- return;
-
- //did we hear back from the tool?
- if (is_tool_ready(tool))
- return;
-
- //try again...
- delay(delay_millis);
- }
-}
-
-//is our tool ready for action?
-boolean is_tool_ready(byte tool)
-{
- slavePacket.init();
-
- slavePacket.add_8(tool);
- slavePacket.add_8(SLAVE_CMD_IS_TOOL_READY);
- slavePacket.sendPacket();
-
- //did we get a response?
- if (read_tool_response(1))
- {
- //is it true?
- if (slavePacket.get_8(1) == 1)
- return true;
- }
-
- //bail.
- return false;
-}
-
-void send_tool_query()
-{
- //zero out our packet
- slavePacket.init();
-
- //load up our packet.
- for (byte i=1; i<hostPacket.getLength(); i++)
- slavePacket.add_8(hostPacket.get_8(i));
-
- //send it and then get our response
- slavePacket.sendPacket();
- read_tool_response(60000);
-
- //now load it up into the host.
- for (byte i=0; i<slavePacket.getLength(); i++)
- hostPacket.add_8(slavePacket.get_8(i));
-}
-
-void send_tool_command()
-{
- //zero out our packet
- slavePacket.init();
-
- //add in our tool id and command.
- slavePacket.add_16(commandBuffer.remove_16());
-
- //load up our packet.
- byte len = commandBuffer.remove_8();
- for (byte i=0; i<len; i++)
- slavePacket.add_8(commandBuffer.remove_8());
-
- //send it and then get our response
- slavePacket.sendPacket();
- read_tool_response(60000);
-}
-
-boolean read_tool_response(int timeout)
-{
- //figure out our timeout stuff.
- long start = millis();
- long end = start + timeout;
-
- //keep reading until we got it.
- while (!slavePacket.isFinished())
- {
- //read through our available data
- if (Serial.available() > 0)
- {
- //grab a byte and process it.
- byte d = Serial1.read();
- slavePacket.process_byte(d);
-
- //our timeout guy.
- if (millis() > end)
- return false;
- }
- }
-
- return true;
-}
-
-void set_tool_pause_state(boolean paused)
-{
- //TODO: pause/unpause tool.
-}
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools2.pde (from rev 2461, trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools2.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/tools2.pde 2009-01-31 19:54:09 UTC (rev 2467)
@@ -0,0 +1,197 @@
+// These are our query commands from the host
+#define SLAVE_CMD_VERSION 0
+#define SLAVE_CMD_INIT 1
+#define SLAVE_CMD_GET_TEMP 2
+#define SLAVE_CMD_SET_TEMP 3
+#define SLAVE_CMD_SET_MOTOR_1_PWM 4
+#define SLAVE_CMD_SET_MOTOR_2_PWM 5
+#define SLAVE_CMD_SET_MOTOR_1_RPM 6
+#define SLAVE_CMD_SET_MOTOR_2_RPM 7
+#define SLAVE_CMD_SET_MOTOR_1_DIR 8
+#define SLAVE_CMD_SET_MOTOR_2_DIR 9
+#define SLAVE_CMD_TOGGLE_MOTOR_1 10
+#define SLAVE_CMD_TOGGLE_MOTOR_2 11
+#define SLAVE_CMD_TOGGLE_FAN 12
+#define SLAVE_CMD_TOGGLE_VALVE 13
+#define SLAVE_CMD_SET_SERVO_1_POS 14
+#define SLAVE_CMD_SET_SERVO_2_POS 15
+#define SLAVE_CMD_FILAMENT_STATUS 16
+#define SLAVE_CMD_GET_MOTOR_1_PWM 17
+#define SLAVE_CMD_GET_MOTOR_2_PWM 18
+#define SLAVE_CMD_GET_MOTOR_1_RPM 19
+#define SLAVE_CMD_GET_MOTOR_2_RPM 20
+#define SLAVE_CMD_SELECT_TOOL 21
+#define SLAVE_CMD_IS_TOOL_READY 22
+
+byte currentToolIndex = 0;
+
+//initialize our tools
+void init_tools()
+{
+ //do a scan of tools from address 0-255?
+ //with a 1 millisecond timeout, this takes ~0.256 seconds.
+ //we may also want to store which tools are available in eeprom?
+ for (int i=0; i<256; i++)
+ {
+ //are you out there?
+ if (ping_tool(i))
+ {
+ init_tool(i);
+ }
+ }
+}
+
+//ask a tool if its there.
+boolean ping_tool(byte i)
+{
+ slavePacket.init();
+
+ slavePacket.add_8(i);
+ slavePacket.add_8(SLAVE_CMD_VERSION);
+ slavePacket.add_16(FIRMWARE_VERSION);
+ slavePacket.sendPacket();
+
+ return read_tool_response(1);
+}
+
+//initialize a tool to its default state.
+void init_tool(byte i)
+{
+ slavePacket.init();
+
+ slavePacket.add_8(i);
+ slavePacket.add_8(SLAVE_CMD_INIT);
+ slavePacket.sendPacket();
+
+ read_tool_response(1);
+}
+
+//select a tool as our current tool, and let it know.
+void select_tool(byte tool)
+{
+ currentToolIndex = tool;
+
+ slavePacket.init();
+
+ slavePacket.add_8(tool);
+ slavePacket.add_8(SLAVE_CMD_SELECT_TOOL);
+ slavePacket.sendPacket();
+
+ read_tool_response(1);
+}
+
+//ping the tool until it tells us its ready
+void wait_for_tool_ready_state(byte tool, int delay_millis, int timeout_seconds)
+{
+ //setup some defaults
+ if (delay_millis == 0)
+ delay_millis = 100;
+ if (timeout_seconds == 0)
+ timeout_seconds = 60;
+
+ //check for our end time.
+ unsigned long now = millis();
+ unsigned long end = now + (timeout_seconds * 1000);
+
+ //do it until we hear something, or time out.
+ while (1)
+ {
+ //did we time out yet?
+ if (millis() >= end)
+ return;
+
+ //did we hear back from the tool?
+ if (is_tool_ready(tool))
+ return;
+
+ //try again...
+ delay(delay_millis);
+ }
+}
+
+//is our tool ready for action?
+boolean is_tool_ready(byte tool)
+{
+ slavePacket.init();
+
+ slavePacket.add_8(tool);
+ slavePacket.add_8(SLAVE_CMD_IS_TOOL_READY);
+ slavePacket.sendPacket();
+
+ //did we get a response?
+ if (read_tool_response(1))
+ {
+ //is it true?
+ if (slavePacket.get_8(1) == 1)
+ return true;
+ }
+
+ //bail.
+ return false;
+}
+
+void send_tool_query()
+{
+ //zero out our packet
+ slavePacket.init();
+
+ //load up our packet.
+ for (byte i=1; i<hostPacket.getLength(); i++)
+ slavePacket.add_8(hostPacket.get_8(i));
+
+ //send it and then get our response
+ slavePacket.sendPacket();
+ read_tool_response(60000);
+
+ //now load it up into the host.
+ for (byte i=0; i<slavePacket.getLength(); i++)
+ hostPacket.add_8(slavePacket.get_8(i));
+}
+
+void send_tool_command()
+{
+ //zero out our packet
+ slavePacket.init();
+
+ //add in our tool id and command.
+ slavePacket.add_16(commandBuffer.remove_16());
+
+ //load up our packet.
+ byte len = commandBuffer.remove_8();
+ for (byte i=0; i<len; i++)
+ slavePacket.add_8(commandBuffer.remove_8());
+
+ //send it and then get our response
+ slavePacket.sendPacket();
+ read_tool_response(60000);
+}
+
+boolean read_tool_response(int timeout)
+{
+ //figure out our timeout stuff.
+ long start = millis();
+ long end = start + timeout;
+
+ //keep reading until we got it.
+ while (!slavePacket.isFinished())
+ {
+ //read through our available data
+ if (Serial.available() > 0)
+ {
+ //grab a byte and process it.
+ byte d = Serial1.read();
+ slavePacket.process_byte(d);
+
+ //our timeout guy.
+ if (millis() > end)
+ return false;
+ }
+ }
+
+ return true;
+}
+
+void set_tool_pause_state(boolean paused)
+{
+ //TODO: pause/unpause tool.
+}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hoe...@us...> - 2009-01-31 17:42:48
|
Revision: 2466
http://reprap.svn.sourceforge.net/reprap/?rev=2466&view=rev
Author: hoekstar
Date: 2009-01-31 17:42:46 +0000 (Sat, 31 Jan 2009)
Log Message:
-----------
okay, the slave firmware compiles.
Modified Paths:
--------------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde
Added Paths:
-----------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde
Removed Paths:
-------------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde 2009-01-31 17:24:42 UTC (rev 2465)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde 2009-01-31 17:42:46 UTC (rev 2466)
@@ -32,6 +32,39 @@
//are we paused?
boolean is_tool_paused = false;
+#include <Servo.h>
+
+int current_temperature;
+int target_temperature;
+
+// motor control states.
+typedef enum {
+ MC_PWM = 0,
+ MC_ENCODER
+}
+MotorControlStyle;
+
+typedef enum {
+ MC_FORWARD = 0,
+ MC_REVERSE = 1
+}
+MotorControlDirection;
+
+MotorControlStyle motor1_control = MC_PWM;
+MotorControlDirection motor1_dir = MC_FORWARD;
+byte motor1_pwm = 0;
+long motor1_target_rpm = 0;
+long motor1_current_rpm = 0;
+
+MotorControlStyle motor2_control = MC_PWM;
+MotorControlDirection motor2_dir = MC_FORWARD;
+byte motor2_pwm = 0;
+long motor2_target_rpm = 0;
+long motor2_current_rpm = 0;
+
+Servo servo1;
+Servo servo2;
+
//set up our firmware for actual usage.
void setup()
{
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde 2009-01-31 17:24:42 UTC (rev 2465)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde 2009-01-31 17:42:46 UTC (rev 2466)
@@ -1,199 +0,0 @@
-// These are our query commands from the host
-#define SLAVE_CMD_VERSION 0
-#define SLAVE_CMD_INIT 1
-#define SLAVE_CMD_GET_TEMP 2
-#define SLAVE_CMD_SET_TEMP 3
-#define SLAVE_CMD_SET_MOTOR_1_PWM 4
-#define SLAVE_CMD_SET_MOTOR_2_PWM 5
-#define SLAVE_CMD_SET_MOTOR_1_RPM 6
-#define SLAVE_CMD_SET_MOTOR_2_RPM 7
-#define SLAVE_CMD_SET_MOTOR_1_DIR 8
-#define SLAVE_CMD_SET_MOTOR_2_DIR 9
-#define SLAVE_CMD_TOGGLE_MOTOR_1 10
-#define SLAVE_CMD_TOGGLE_MOTOR_2 11
-#define SLAVE_CMD_TOGGLE_FAN 12
-#define SLAVE_CMD_TOGGLE_VALVE 13
-#define SLAVE_CMD_SET_SERVO_1_POS 14
-#define SLAVE_CMD_SET_SERVO_2_POS 15
-#define SLAVE_CMD_FILAMENT_STATUS 16
-#define SLAVE_CMD_GET_MOTOR_1_PWM 17
-#define SLAVE_CMD_GET_MOTOR_2_PWM 18
-#define SLAVE_CMD_GET_MOTOR_1_RPM 19
-#define SLAVE_CMD_GET_MOTOR_2_RPM 20
-#define SLAVE_CMD_SELECT_TOOL 21
-#define SLAVE_CMD_IS_TOOL_READY 22
-
-//how many queued commands have we processed?
-//this will be used to keep track of our current progress.
-unsigned long finishedCommands = 0;
-
-//initialize the firmware to default state.
-void init_commands()
-{
- finishedCommands = 0;
-}
-
-//handle our packets.
-void process_packets()
-{
- //read through our available data
- while (Serial.available() > 0)
- {
- //grab a byte and process it.
- byte d = Serial.read();
- masterPacket.process_byte(d);
-
- //do we have a finished packet?
- if (masterPacket.isFinished())
- {
- //take some action.
- handle_query();
-
- //okay, send our response
- masterPacket.sendReply();
-
- //only process one packet at a time.
- break;
- }
- }
-}
-
-//this is for handling query commands that need a response.
-void handle_query()
-{
- byte temp;
-
- //which one did we get?
- switch (masterPacket.getData(0))
- {
- case SLAVE_CMD_VERSION:
- //get our host version
- master_version = masterPacket.get_16(1);
-
- //send our version back.
- masterPacket.add_16(FIRMWARE_VERSION);
- break;
-
- case SLAVE_CMD_INIT:
- //just initialize
- initialize();
- break;
-
- case SLAVE_CMD_GET_TEMP:
- masterPacket.add_16(current_temperature);
- break;
-
- case SLAVE_CMD_SET_TEMP:
- target_temperature = masterPacket.get_16(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_1_PWM:
- motor1_control = MC_PWM;
- motor1_pwm = masterPacket.get_8(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_2_PWM:
- motor2_control = MC_PWM;
- motor2_pwm = masterPacket.get_8(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_1_RPM:
- motor1_control = MC_ENCODER;
- motor1_target_rpm = masterPacket.get_32(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_2_RPM:
- motor2_control = MC_ENCODER;
- motor2_target_rpm = masterPacket.get_32(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_1_DIR:
- motor1_dir = masterPacket.get_8(1);
- break;
-
- case SLAVE_CMD_SET_MOTOR_2_DIR:
- motor2_dir = masterPacket.get_8(1);
- break;
-
- case SLAVE_CMD_TOGGLE_MOTOR_1:
- temp = masterPacket.get_8(1);
- if (temp & 1<<2)
- motor_1_dir = MC_FORWARD;
- else
- motor_1_dir = MC_REVERSE;
-
- if (temp & 1)
- enable_motor_1();
- else
- disable_motor_1();
- break;
-
- case SLAVE_CMD_TOGGLE_MOTOR_2:
- temp = masterPacket.get_8(1);
- if (temp & 1<<2)
- motor_2_dir = MC_FORWARD;
- else
- motor_2_dir = MC_REVERSE;
-
- if (temp & 1)
- enable_motor_2();
- else
- disable_motor_2();
- break;
-
- case SLAVE_CMD_TOGGLE_FAN:
- temp = masterPacket.get_8(1);
- if (temp & 1)
- enable_fan();
- else
- disable_fan();
- break;
-
- case SLAVE_CMD_TOGGLE_VALVE:
- temp = masterPacket.get_8(1);
- if (temp & 1)
- open_valve();
- else
- close_valve();
- break;
-
- case SLAVE_CMD_SET_SERVO_1_POS:
- servo1.attach();
- servo1.write(masterPacket.get_8(1));
- break;
-
- case SLAVE_CMD_SET_SERVO_2_POS:
- servo2.attach();
- servo2.write(masterPacket.get_8(1));
- break;
-
- case SLAVE_CMD_FILAMENT_STATUS:
- //TODO: figure out how to detect this.
- masterPacket.add_8(255);
- break;
-
- case SLAVE_CMD_GET_MOTOR_1_PWM:
- masterPacket.add_8(motor1_pwm);
- break;
-
- case SLAVE_CMD_GET_MOTOR_2_PWM:
- masterPacket.add_8(motor2_pwm);
- break;
-
- case SLAVE_CMD_GET_MOTOR_1_RPM:
- masterPacket.add_32(motor1_current_rpm);
- break;
-
- case SLAVE_CMD_GET_MOTOR_2_RPM:
- masterPacket.add_32(motor1_current_rpm);
- break;
-
- case SLAVE_CMD_SELECT_TOOL:
- //do we do anything?
- break;
-
- case SLAVE_CMD_IS_TOOL_READY:
- masterPacket.add_8(is_tool_ready());
- break;
- }
-}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h 2009-01-31 17:24:42 UTC (rev 2465)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h 2009-01-31 17:42:46 UTC (rev 2466)
@@ -187,8 +187,8 @@
{
if (uart == 0)
Serial.print(d, BYTE);
- else
- Serial1.print(d, BYTE);
+// else
+// Serial1.print(d, BYTE);
}
//add a four byte chunk of data to our reply
Copied: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde (from rev 2465, trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde)
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/PacketProcessor.pde 2009-01-31 17:42:46 UTC (rev 2466)
@@ -0,0 +1,207 @@
+// These are our query commands from the host
+#define SLAVE_CMD_VERSION 0
+#define SLAVE_CMD_INIT 1
+#define SLAVE_CMD_GET_TEMP 2
+#define SLAVE_CMD_SET_TEMP 3
+#define SLAVE_CMD_SET_MOTOR_1_PWM 4
+#define SLAVE_CMD_SET_MOTOR_2_PWM 5
+#define SLAVE_CMD_SET_MOTOR_1_RPM 6
+#define SLAVE_CMD_SET_MOTOR_2_RPM 7
+#define SLAVE_CMD_SET_MOTOR_1_DIR 8
+#define SLAVE_CMD_SET_MOTOR_2_DIR 9
+#define SLAVE_CMD_TOGGLE_MOTOR_1 10
+#define SLAVE_CMD_TOGGLE_MOTOR_2 11
+#define SLAVE_CMD_TOGGLE_FAN 12
+#define SLAVE_CMD_TOGGLE_VALVE 13
+#define SLAVE_CMD_SET_SERVO_1_POS 14
+#define SLAVE_CMD_SET_SERVO_2_POS 15
+#define SLAVE_CMD_FILAMENT_STATUS 16
+#define SLAVE_CMD_GET_MOTOR_1_PWM 17
+#define SLAVE_CMD_GET_MOTOR_2_PWM 18
+#define SLAVE_CMD_GET_MOTOR_1_RPM 19
+#define SLAVE_CMD_GET_MOTOR_2_RPM 20
+#define SLAVE_CMD_SELECT_TOOL 21
+#define SLAVE_CMD_IS_TOOL_READY 22
+
+//how many queued commands have we processed?
+//this will be used to keep track of our current progress.
+unsigned long finishedCommands = 0;
+
+//initialize the firmware to default state.
+void init_commands()
+{
+ finishedCommands = 0;
+}
+
+//handle our packets.
+void process_packets()
+{
+ //read through our available data
+ while (Serial.available() > 0)
+ {
+ //grab a byte and process it.
+ byte d = Serial.read();
+ masterPacket.process_byte(d);
+
+ //do we have a finished packet?
+ if (masterPacket.isFinished())
+ {
+ //take some action.
+ handle_query();
+
+ //okay, send our response
+ masterPacket.sendReply();
+
+ //only process one packet at a time.
+ break;
+ }
+ }
+}
+
+//this is for handling query commands that need a response.
+void handle_query()
+{
+ byte temp;
+
+ //which one did we get?
+ switch (masterPacket.getData(0))
+ {
+ case SLAVE_CMD_VERSION:
+ //get our host version
+ master_version = masterPacket.get_16(1);
+
+ //send our version back.
+ masterPacket.add_16(FIRMWARE_VERSION);
+ break;
+
+ case SLAVE_CMD_INIT:
+ //just initialize
+ initialize();
+ break;
+
+ case SLAVE_CMD_GET_TEMP:
+ masterPacket.add_16(current_temperature);
+ break;
+
+ case SLAVE_CMD_SET_TEMP:
+ target_temperature = masterPacket.get_16(1);
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_1_PWM:
+ motor1_control = MC_PWM;
+ motor1_pwm = masterPacket.get_8(1);
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_2_PWM:
+ motor2_control = MC_PWM;
+ motor2_pwm = masterPacket.get_8(1);
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_1_RPM:
+ motor1_control = MC_ENCODER;
+ motor1_target_rpm = masterPacket.get_32(1);
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_2_RPM:
+ motor2_control = MC_ENCODER;
+ motor2_target_rpm = masterPacket.get_32(1);
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_1_DIR:
+ temp = masterPacket.get_8(1);
+ if (temp & 1)
+ motor1_dir = MC_FORWARD;
+ else
+ motor1_dir = MC_REVERSE;
+ break;
+
+ case SLAVE_CMD_SET_MOTOR_2_DIR:
+ temp = masterPacket.get_8(1);
+ if (temp & 1)
+ motor2_dir = MC_FORWARD;
+ else
+ motor2_dir = MC_REVERSE;
+ break;
+
+ case SLAVE_CMD_TOGGLE_MOTOR_1:
+ temp = masterPacket.get_8(1);
+ if (temp & 1<<2)
+ motor1_dir = MC_FORWARD;
+ else
+ motor1_dir = MC_REVERSE;
+
+ if (temp & 1)
+ enable_motor_1();
+ else
+ disable_motor_1();
+ break;
+
+ case SLAVE_CMD_TOGGLE_MOTOR_2:
+ temp = masterPacket.get_8(1);
+ if (temp & 1<<2)
+ motor2_dir = MC_FORWARD;
+ else
+ motor2_dir = MC_REVERSE;
+
+ if (temp & 1)
+ enable_motor_2();
+ else
+ disable_motor_2();
+ break;
+
+ case SLAVE_CMD_TOGGLE_FAN:
+ temp = masterPacket.get_8(1);
+ if (temp & 1)
+ enable_fan();
+ else
+ disable_fan();
+ break;
+
+ case SLAVE_CMD_TOGGLE_VALVE:
+ temp = masterPacket.get_8(1);
+ if (temp & 1)
+ open_valve();
+ else
+ close_valve();
+ break;
+
+ case SLAVE_CMD_SET_SERVO_1_POS:
+ servo1.attach(9);
+ servo1.write(masterPacket.get_8(1));
+ break;
+
+ case SLAVE_CMD_SET_SERVO_2_POS:
+ servo2.attach(10);
+ servo2.write(masterPacket.get_8(1));
+ break;
+
+ case SLAVE_CMD_FILAMENT_STATUS:
+ //TODO: figure out how to detect this.
+ masterPacket.add_8(255);
+ break;
+
+ case SLAVE_CMD_GET_MOTOR_1_PWM:
+ masterPacket.add_8(motor1_pwm);
+ break;
+
+ case SLAVE_CMD_GET_MOTOR_2_PWM:
+ masterPacket.add_8(motor2_pwm);
+ break;
+
+ case SLAVE_CMD_GET_MOTOR_1_RPM:
+ masterPacket.add_32(motor1_current_rpm);
+ break;
+
+ case SLAVE_CMD_GET_MOTOR_2_RPM:
+ masterPacket.add_32(motor1_current_rpm);
+ break;
+
+ case SLAVE_CMD_SELECT_TOOL:
+ //do we do anything?
+ break;
+
+ case SLAVE_CMD_IS_TOOL_READY:
+ masterPacket.add_8(is_tool_ready());
+ break;
+ }
+}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde 2009-01-31 17:24:42 UTC (rev 2465)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde 2009-01-31 17:42:46 UTC (rev 2466)
@@ -1,36 +1,5 @@
-#include <Servo.h>
-int current_temperature;
-int target_temperature;
-// motor control states.
-typedef enum {
- MC_PWM = 0,
- MC_ENCODER
-}
-MotorControlStyle;
-
-typedef enum {
- MC_FORWARD = 0,
- MC_REVERSE = 1
-}
-MotorControlDirection;
-
-MotorControlStyle motor1_control = MC_PWM;
-MotorControlDirection motor1_dir = MC_FORWARD;
-byte motor1_pwm = 0;
-long motor1_target_rpm = 0;
-long motor1_current_rpm = 0;
-
-MotorControlStyle motor2_control = MC_PWM;
-MotorControlDirection motor2_dir = MC_FORWARD;
-byte motor2_pwm = 0;
-long motor2_target_rpm = 0;
-long motor2_current_rpm = 0;
-
-Servo servo1;
-Servo servo2;
-
void init_extruder()
{
@@ -51,6 +20,15 @@
}
+void enable_motor_2()
+{
+
+}
+
+void disable_motor_2()
+{
+
+}
void enable_fan()
{
@@ -78,4 +56,4 @@
return 1;
else
return 0;
-}
\ No newline at end of file
+}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde 2009-01-31 17:24:42 UTC (rev 2465)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/timer1_interrupt_routines.pde 2009-01-31 17:42:46 UTC (rev 2466)
@@ -3,7 +3,6 @@
//this handles the timer interrupt event
SIGNAL(SIG_OUTPUT_COMPARE1A)
{
- dda_step();
}
void enableTimer1Interrupt()
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <hoe...@us...> - 2009-01-31 17:24:45
|
Revision: 2465
http://reprap.svn.sourceforge.net/reprap/?rev=2465&view=rev
Author: hoekstar
Date: 2009-01-31 17:24:42 +0000 (Sat, 31 Jan 2009)
Log Message:
-----------
implemented most of the commands for the extruder.
Modified Paths:
--------------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/HostPacketProcessor.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde
Added Paths:
-----------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde
Removed Paths:
-------------
trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/CircularBuffer.h
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde 2009-01-31 01:03:36 UTC (rev 2464)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/ArduinoSlaveExtruder.pde 2009-01-31 17:24:42 UTC (rev 2465)
@@ -31,7 +31,6 @@
//are we paused?
boolean is_tool_paused = false;
-boolean is_tool_aborted = false;
//set up our firmware for actual usage.
void setup()
@@ -50,7 +49,7 @@
is_tool_paused = false;
init_serial();
- init_tool();
+ init_extruder();
}
//start our hardware serial drivers
@@ -63,15 +62,17 @@
void loop()
{
//check for and handle any packets that come in.
- process_master_packets();
+ process_packets();
+
+ //manage our extruder stuff.
+ manage_temperature();
}
//handle the abortion of a print job
void abort_print()
{
- //yes, we're done here.
- is_tool_aborted = true;
-
+ //TODO: shut down all things
+
//initalize everything to the beginning
initialize();
}
Deleted: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/CircularBuffer.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/CircularBuffer.h 2009-01-31 01:03:36 UTC (rev 2464)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/CircularBuffer.h 2009-01-31 17:24:42 UTC (rev 2465)
@@ -1,83 +0,0 @@
-#ifndef _CIRCULAR_BUFFER_H_
-#define _CIRCULAR_BUFFER_H_
-
-#include <stddef.h>
-#include <stdint.h>
-
-///
-/// Implementation of an in-memory circular byte buffer.
-/// Originally a template, bowlderized to make the
-/// arduino build happy. Sigh.
-///
-/// No safety checks are made in this
-/// implementation. It will allow you to cheerfully
-/// write bytes all over yourself.
-///
-
-class CircularBuffer {
-private:
- uint8_t* buffer;
- size_t capacity;
- size_t start;
- size_t count; // elements filled
-public:
- CircularBuffer(size_t capacity, uint8_t* pBuf) {
- this->capacity = capacity;
- buffer = pBuf;
- clear();
- }
-
- ~CircularBuffer() {
- }
-
- /// Reset buffer. (Note: does not zero data.)
- void clear() {
- start = count = 0;
- }
-
- uint8_t operator[](const size_t i) const {
- const size_t idx = (i+start)%capacity;
- return buffer[idx];
- }
-
- /// Check remaining capacity of this vector.
- size_t remainingCapacity() const {
- return capacity-count;
- }
-
- /// Get the current number of elements in the buffer.
- size_t size() const {
- return count;
- }
-
- /// Append a character to the end of the circular buffer.
- bool append(const uint8_t datum) {
- buffer[(start+count)%capacity] = datum;
- count++;
- }
-
- /// Remove and return a character from the start of the
- /// circular buffer.
- const uint8_t remove_8() {
- const uint8_t c = buffer[start];
- start = (start+1)%capacity;
- count--;
- return c;
- }
-
- const uint16_t remove_16() {
- return (remove_8() << 8) & remove_8();
- }
-
- const uint32_t remove_32() {
- return (remove_16() << 16) & remove_16();
- }
-};
-
-//we store all queueable commands in one big giant buffer.
-// Explicitly allocate memory at compile time for buffer.
-#define COMMAND_BUFFER_SIZE 2048
-uint8_t underlyingBuffer[COMMAND_BUFFER_SIZE];
-CircularBuffer commandBuffer(COMMAND_BUFFER_SIZE, underlyingBuffer);
-
-#endif // _CIRCULAR_BUFFER_H_
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde 2009-01-31 01:03:36 UTC (rev 2464)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/HostPacketProcessor.pde 2009-01-31 17:24:42 UTC (rev 2465)
@@ -1,27 +1,28 @@
// These are our query commands from the host
-#define HOST_CMD_VERSION 0
-#define HOST_CMD_INIT 1
-#define HOST_CMD_GET_BUFFER_SIZE 2
-#define HOST_CMD_CLEAR_BUFFER 3
-#define HOST_CMD_GET_POSITION 4
-#define HOST_CMD_GET_RANGE 5
-#define HOST_CMD_SET_RANGE 6
-#define HOST_CMD_ABORT 7
-#define HOST_CMD_PAUSE 8
-#define HOST_CMD_PROBE 9
-#define HOST_CMD_TOOL_QUERY 10
+#define SLAVE_CMD_VERSION 0
+#define SLAVE_CMD_INIT 1
+#define SLAVE_CMD_GET_TEMP 2
+#define SLAVE_CMD_SET_TEMP 3
+#define SLAVE_CMD_SET_MOTOR_1_PWM 4
+#define SLAVE_CMD_SET_MOTOR_2_PWM 5
+#define SLAVE_CMD_SET_MOTOR_1_RPM 6
+#define SLAVE_CMD_SET_MOTOR_2_RPM 7
+#define SLAVE_CMD_SET_MOTOR_1_DIR 8
+#define SLAVE_CMD_SET_MOTOR_2_DIR 9
+#define SLAVE_CMD_TOGGLE_MOTOR_1 10
+#define SLAVE_CMD_TOGGLE_MOTOR_2 11
+#define SLAVE_CMD_TOGGLE_FAN 12
+#define SLAVE_CMD_TOGGLE_VALVE 13
+#define SLAVE_CMD_SET_SERVO_1_POS 14
+#define SLAVE_CMD_SET_SERVO_2_POS 15
+#define SLAVE_CMD_FILAMENT_STATUS 16
+#define SLAVE_CMD_GET_MOTOR_1_PWM 17
+#define SLAVE_CMD_GET_MOTOR_2_PWM 18
+#define SLAVE_CMD_GET_MOTOR_1_RPM 19
+#define SLAVE_CMD_GET_MOTOR_2_RPM 20
+#define SLAVE_CMD_SELECT_TOOL 21
+#define SLAVE_CMD_IS_TOOL_READY 22
-// These are our bufferable commands from the host
-#define HOST_CMD_QUEUE_POINT_INC 128
-#define HOST_CMD_QUEUE_POINT_ABS 129
-#define HOST_CMD_SET_POSITION 130
-#define HOST_CMD_FIND_AXES_MINIMUM 131
-#define HOST_CMD_FIND_AXES_MAXIMUM 132
-#define HOST_CMD_DELAY 133
-#define HOST_CMD_CHANGE_TOOL 134
-#define HOST_CMD_WAIT_FOR_TOOL 135
-#define HOST_CMD_TOOL_COMMAND 136
-
//how many queued commands have we processed?
//this will be used to keep track of our current progress.
unsigned long finishedCommands = 0;
@@ -33,24 +34,23 @@
}
//handle our packets.
-void process_host_packets()
+void process_packets()
{
//read through our available data
while (Serial.available() > 0)
{
//grab a byte and process it.
byte d = Serial.read();
- hostPacket.process_byte(d);
+ masterPacket.process_byte(d);
//do we have a finished packet?
- if (hostPacket.isFinished())
+ if (masterPacket.isFinished())
{
- //are we cool?
- if (hostPacket.isQuery())
+ //take some action.
handle_query();
//okay, send our response
- hostPacket.sendReply();
+ masterPacket.sendReply();
//only process one packet at a time.
break;
@@ -61,202 +61,139 @@
//this is for handling query commands that need a response.
void handle_query()
{
+ byte temp;
+
//which one did we get?
- switch (hostPacket.getData(0))
+ switch (masterPacket.getData(0))
{
- case HOST_CMD_VERSION:
- //get our host version
- host_version = hostPacket.get_16(1);
-
- //send our version back.
- hostPacket.add_16(FIRMWARE_VERSION);
- break;
+ case SLAVE_CMD_VERSION:
+ //get our host version
+ master_version = masterPacket.get_16(1);
- case HOST_CMD_INIT:
- //just initialize
- initialize();
- break;
-
- case HOST_CMD_GET_BUFFER_SIZE:
- //send our remaining buffer size.
- hostPacket.add_16(commandBuffer.remainingCapacity());
- break;
+ //send our version back.
+ masterPacket.add_16(FIRMWARE_VERSION);
+ break;
- case HOST_CMD_CLEAR_BUFFER:
- //just clear it.
- commandBuffer.clear();
- break;
+ case SLAVE_CMD_INIT:
+ //just initialize
+ initialize();
+ break;
- case HOST_CMD_GET_POSITION:
- //send our position
- hostPacket.add_32(current_steps.x);
- hostPacket.add_32(current_steps.y);
- hostPacket.add_32(current_steps.z);
- hostPacket.add_8(get_endstop_states());
- break;
+ case SLAVE_CMD_GET_TEMP:
+ masterPacket.add_16(current_temperature);
+ break;
- case HOST_CMD_GET_RANGE:
- //send our range
- hostPacket.add_32(range_steps.x);
- hostPacket.add_32(range_steps.y);
- hostPacket.add_32(range_steps.z);
- break;
+ case SLAVE_CMD_SET_TEMP:
+ target_temperature = masterPacket.get_16(1);
+ break;
- case HOST_CMD_SET_RANGE:
- //set our range to what the host tells us
- range_steps.x = hostPacket.get_32(1);
- range_steps.y = hostPacket.get_32(5);
- range_steps.z = hostPacket.get_32(9);
-
- //write it back to eeprom
- write_range_to_eeprom();
- break;
+ case SLAVE_CMD_SET_MOTOR_1_PWM:
+ motor1_control = MC_PWM;
+ motor1_pwm = masterPacket.get_8(1);
+ break;
- case HOST_CMD_ABORT:
- //support a microcontrollers right to choice.
- abort_print();
- break;
+ case SLAVE_CMD_SET_MOTOR_2_PWM:
+ motor2_control = MC_PWM;
+ motor2_pwm = masterPacket.get_8(1);
+ break;
- case HOST_CMD_PAUSE:
- if (is_machine_paused)
- {
- //unpause our machine.
- is_machine_paused = false;
-
- //unpause our tools
- set_tool_pause_state(false);
-
- //resume stepping.
- enableTimer1Interrupt();
- enable_steppers();
- }
- else
- {
- //pause our activity.
- is_machine_paused = true;
+ case SLAVE_CMD_SET_MOTOR_1_RPM:
+ motor1_control = MC_ENCODER;
+ motor1_target_rpm = masterPacket.get_32(1);
+ break;
- //pause our tools
- set_tool_pause_state(true);
+ case SLAVE_CMD_SET_MOTOR_2_RPM:
+ motor2_control = MC_ENCODER;
+ motor2_target_rpm = masterPacket.get_32(1);
+ break;
- //pause stepping
- disableTimer1Interrupt();
- disable_steppers();
- }
- break;
+ case SLAVE_CMD_SET_MOTOR_1_DIR:
+ motor1_dir = masterPacket.get_8(1);
+ break;
- case HOST_CMD_PROBE:
- //we dont support this yet.
- hostPacket.unsupported();
- break;
-
- case HOST_CMD_TOOL_QUERY:
- send_tool_query();
- break;
- }
-}
+ case SLAVE_CMD_SET_MOTOR_2_DIR:
+ motor2_dir = masterPacket.get_8(1);
+ break;
-//this is for handling buffered commands with no response
-void handle_commands()
-{
- byte flags = 0;
-
- //do we have any commands?
- if (commandBuffer.size())
- {
- //okay, which command are we handling?
- byte cmd = commandBuffer.remove_8();
- switch(cmd)
- {
- //add it to our poitn queue.
- case HOST_CMD_QUEUE_POINT_INC:
- queue_incremental_point(
- commandBuffer.remove_16(),
- commandBuffer.remove_16(),
- commandBuffer.remove_16(),
- commandBuffer.remove_8(),
- commandBuffer.remove_16()
- );
- break;
+ case SLAVE_CMD_TOGGLE_MOTOR_1:
+ temp = masterPacket.get_8(1);
+ if (temp & 1<<2)
+ motor_1_dir = MC_FORWARD;
+ else
+ motor_1_dir = MC_REVERSE;
- //add it to our point queue.
- case HOST_CMD_QUEUE_POINT_ABS:
- queue_absolute_point(
- commandBuffer.remove_32(),
- commandBuffer.remove_32(),
- commandBuffer.remove_32(),
- commandBuffer.remove_8(),
- commandBuffer.remove_16()
- );
- break;
-
- //update our current point to where we're told.
- case HOST_CMD_SET_POSITION:
- wait_until_target_reached(); //dont want to get hasty.
-
- current_steps.x = commandBuffer.remove_32();
- current_steps.y = commandBuffer.remove_32();
- current_steps.z = commandBuffer.remove_32();
- break;
+ if (temp & 1)
+ enable_motor_1();
+ else
+ disable_motor_1();
+ break;
- //figure out our minimums.
- case HOST_CMD_FIND_AXES_MINIMUM:
- wait_until_target_reached(); //dont want to get hasty.
+ case SLAVE_CMD_TOGGLE_MOTOR_2:
+ temp = masterPacket.get_8(1);
+ if (temp & 1<<2)
+ motor_2_dir = MC_FORWARD;
+ else
+ motor_2_dir = MC_REVERSE;
- //no dda interrupts.
- disableTimer1Interrupt();
-
- //which ones are we going to?
- flags = commandBuffer.remove_8();
-
- //find them!
- seek_minimums(
- flags & 1,
- flags & (1 << 1),
- flags & (1 << 2),
- commandBuffer.remove_32(),
- commandBuffer.remove_16()
- );
-
- //turn on point seekign agian.
- enableTimer1Interrupt();
-
- break;
+ if (temp & 1)
+ enable_motor_2();
+ else
+ disable_motor_2();
+ break;
- //gotta know your limits.
- case HOST_CMD_FIND_AXES_MAXIMUM:
- wait_until_target_reached(); //dont want to get hasty.
+ case SLAVE_CMD_TOGGLE_FAN:
+ temp = masterPacket.get_8(1);
+ if (temp & 1)
+ enable_fan();
+ else
+ disable_fan();
+ break;
- //TODO: implement this.
- break;
+ case SLAVE_CMD_TOGGLE_VALVE:
+ temp = masterPacket.get_8(1);
+ if (temp & 1)
+ open_valve();
+ else
+ close_valve();
+ break;
- case HOST_CMD_DELAY:
- wait_until_target_reached(); //dont want to get hasty.
+ case SLAVE_CMD_SET_SERVO_1_POS:
+ servo1.attach();
+ servo1.write(masterPacket.get_8(1));
+ break;
- //take it easy.
- delay(commandBuffer.remove_32());
- break;
+ case SLAVE_CMD_SET_SERVO_2_POS:
+ servo2.attach();
+ servo2.write(masterPacket.get_8(1));
+ break;
- case HOST_CMD_CHANGE_TOOL:
- wait_until_target_reached(); //dont want to get hasty.
+ case SLAVE_CMD_FILAMENT_STATUS:
+ //TODO: figure out how to detect this.
+ masterPacket.add_8(255);
+ break;
- //extruder, i choose you!
- select_tool(commandBuffer.remove_8());
- break;
+ case SLAVE_CMD_GET_MOTOR_1_PWM:
+ masterPacket.add_8(motor1_pwm);
+ break;
- case HOST_CMD_WAIT_FOR_TOOL:
- wait_until_target_reached(); //dont want to get hasty.
+ case SLAVE_CMD_GET_MOTOR_2_PWM:
+ masterPacket.add_8(motor2_pwm);
+ break;
- //get your temp in gear, you lazy bum.
- wait_for_tool_ready_state(
- commandBuffer.remove_8(),
- commandBuffer.remove_16(),
- commandBuffer.remove_16()
- );
- break;
+ case SLAVE_CMD_GET_MOTOR_1_RPM:
+ masterPacket.add_32(motor1_current_rpm);
+ break;
- case HOST_CMD_TOOL_QUERY:
- send_tool_command();
- break;
- }
+ case SLAVE_CMD_GET_MOTOR_2_RPM:
+ masterPacket.add_32(motor1_current_rpm);
+ break;
+
+ case SLAVE_CMD_SELECT_TOOL:
+ //do we do anything?
+ break;
+
+ case SLAVE_CMD_IS_TOOL_READY:
+ masterPacket.add_8(is_tool_ready());
+ break;
}
}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h 2009-01-31 01:03:36 UTC (rev 2464)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/Packet.h 2009-01-31 17:24:42 UTC (rev 2465)
@@ -3,7 +3,6 @@
//include our various libraries.
#include <util/crc16.h>
-//#include <stddef.h>
#include <stdint.h>
#include "HardwareSerial.h"
@@ -42,7 +41,6 @@
uint8_t tx_length;
uint8_t tx_data[MAX_PACKET_LENGTH];
uint8_t tx_crc;
- uint8_t is_command_packet;
ResponseCode response_code;
uint8_t uart;
@@ -64,7 +62,6 @@
rx_crc = 0;
tx_length = 0;
tx_crc = 0;
- is_command_packet = false;
}
//process a byte from our packet
@@ -86,49 +83,26 @@
}
else if (state == PS_LEN) // process length byte
{
- //figure out how much data is coming.
- //please note: data may go into command buffer
- //instead of query packet buffer, so don't check the size
target_length = b;
rx_length = 0;
state = PS_PAYLOAD;
+
+ if (target_length > MAX_PACKET_LENGTH)
+ response_code = RC_PACKET_TOO_BIG;
}
else if (state == PS_PAYLOAD) // process payload byte
{
- //the first byte determines command vs query
- if (rx_length == 0)
- {
- // top bit high == bufferable command packet (eg. #128-255)
- if (b & 1 << 7)
- is_command_packet = true;
- // top bit low == reply needed query packet (eg. #0-127)
- else
- is_command_packet = false;
- }
//just keep reading bytes while we got them.
if (rx_length < target_length)
{
//keep track of CRC.
rx_crc = _crc_ibutton_update(rx_crc, b);
- //we put different things in different buffers. (query vs command)
- if (is_command_packet)
- {
- //will it fit?
- if (commandBuffer.remainingCapacity() == 0)
- response_code = RC_BUFFER_OVERFLOW;
- else
- commandBuffer.append(b);
- }
- else
- {
- //will it fit?
- if (rx_length < MAX_PACKET_LENGTH)
- rx_data[rx_length] = b;
- else
- response_code = RC_PACKET_TOO_BIG;
- }
+ //will it fit?
+ if (rx_length < MAX_PACKET_LENGTH)
+ rx_data[rx_length] = b;
+ //keep track.
rx_length++;
}
@@ -152,11 +126,6 @@
return (state == PS_LAST);
}
- bool isQuery()
- {
- return (response_code == RC_OK && !is_command_packet);
- }
-
uint8_t getLength()
{
return rx_length;
Added: trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde (rev 0)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/ArduinoSlaveExtruder/extruder.pde 2009-01-31 17:24:42 UTC (rev 2465)
@@ -0,0 +1,81 @@
+#include <Servo.h>
+
+int current_temperature;
+int target_temperature;
+
+// motor control states.
+typedef enum {
+ MC_PWM = 0,
+ MC_ENCODER
+}
+MotorControlStyle;
+
+typedef enum {
+ MC_FORWARD = 0,
+ MC_REVERSE = 1
+}
+MotorControlDirection;
+
+MotorControlStyle motor1_control = MC_PWM;
+MotorControlDirection motor1_dir = MC_FORWARD;
+byte motor1_pwm = 0;
+long motor1_target_rpm = 0;
+long motor1_current_rpm = 0;
+
+MotorControlStyle motor2_control = MC_PWM;
+MotorControlDirection motor2_dir = MC_FORWARD;
+byte motor2_pwm = 0;
+long motor2_target_rpm = 0;
+long motor2_current_rpm = 0;
+
+Servo servo1;
+Servo servo2;
+
+void init_extruder()
+{
+
+}
+
+void manage_temperature()
+{
+
+}
+
+void enable_motor_1()
+{
+
+}
+
+void disable_motor_1()
+{
+
+}
+
+void enable_fan()
+{
+
+}
+
+void disable_fan()
+{
+
+}
+
+void open_valve()
+{
+
+}
+
+void close_valve()
+{
+
+}
+
+byte is_tool_ready()
+{
+ //are we within 5% of the temperature?
+ if (current_temperature > (int)(target_temperature * 0.95))
+ return 1;
+ else
+ return 0;
+}
\ No newline at end of file
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/HostPacketProcessor.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/HostPacketProcessor.pde 2009-01-31 01:03:36 UTC (rev 2464)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/HostPacketProcessor.pde 2009-01-31 17:24:42 UTC (rev 2465)
@@ -45,10 +45,21 @@
//do we have a finished packet?
if (hostPacket.isFinished())
{
- //are we cool?
- if (hostPacket.isQuery())
- handle_query();
-
+ byte b = hostPacket.get_8(0);
+ // top bit high == bufferable command packet (eg. #128-255)
+ if (b & 1 << 7)
+ {
+ //okay, throw it in the buffer.
+ for (int i=1; i<hostPacket.getLength(); i++)
+ commandBuffer.append(hostPacket.get_8(i));
+ }
+ // top bit low == reply needed query packet (eg. #0-127)
+ else
+ {
+ handle_query(b);
+ }
+ }
+
//okay, send our response
hostPacket.sendReply();
@@ -59,10 +70,10 @@
}
//this is for handling query commands that need a response.
-void handle_query()
+void handle_query(byte cmd)
{
//which one did we get?
- switch (hostPacket.getData(0))
+ switch (cmd)
{
case HOST_CMD_VERSION:
//get our host version
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde 2009-01-31 01:03:36 UTC (rev 2464)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/SanguinoMaster.pde 2009-01-31 17:24:42 UTC (rev 2465)
@@ -65,7 +65,7 @@
initialize();
//this is a simple text string that identifies us.
- Serial.print("S3G v");
+ Serial.print("R3G Master v");
Serial.print(FIRMWARE_VERSION);
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
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From: nop h. <nop...@go...> - 2009-01-31 17:16:08
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From: Zach 'H. S. <ho...@gm...> - 2009-01-31 16:22:01
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test |