int main(void) // main function
{
sd_mount(DO, CLK, DI, CS); // Mount SD card
FILE* fp = fopen("test.txt", "w"); // Open a file for writing
// Store values as text in test.txt.
for(int i = -5; i < 15; i++) // Repeat 20x (-5...14)
{
memset(s, ' ', 30); // 30 spaces into string
s[30] = '\r'; // Newline for Windows Notepad
s[31] = '\n';
val = i * 10; // Emulate sensor reading
sprint(s, "i = %d , val = %d ", i, val); // Data to s array as characters
fwrite(s, 1, 32, fp); // Write line to file
}
fclose(fp); // Close file
// Retrieve values from file and store in
// variables for program use.
fp = fopen("test.txt", "r"); // Reopen file for reading
int idx;
for(int i = -5; i < 15; i++) // go back through
{
memset(s, '\0', 32); // All characters to zero
fread(s, 1, 32, fp); // Read the string
sscan(s, "i = %d , val = %d ", &idx, &val); // String values -> variables
print("idx = %d, val = %d \n", idx, val); // Print variables
}
fclose(fp); // Close the file
}
int composite_archinitialize(void)
{
/* If examples/composite is built as an NSH command, then SD slot should
* already have been initized in nsh_archinitialize() (see up_nsh.c). In
* this case, there is nothing further to be done here.
*
* NOTE: CONFIG_NSH_BUILTIN_APPS is not a fool-proof indication that NSH
* was built.
*/
#ifndef CONFIG_NSH_BUILTIN_APPS
return sd_mount(CONFIG_EXAMPLES_COMPOSITE_DEVMINOR1);
#else
return OK;
#endif /* CONFIG_NSH_BUILTIN_APPS */
}
int main() // main function
{
int DO = 22, CLK = 23, DI = 24, CS = 25; // SD I/O pins
sd_mount(DO, CLK, DI, CS); // Mount SD card
const char techloop[] = {"techloop.wav"}; // Set up techloop string
wav_play(techloop); // Pass to wav player
wav_volume(6); // Adjust volume
pause(3500); // Play for 3.5 s
wav_volume(4); // Repeat twice more
pause(2000);
wav_volume(8);
pause(3500);
wav_stop(); // Stop playing
}
int main() // Main function
{
int DO = 22, CLK = 23; // SD I/O pins
int DI = 24, CS = 25;
sd_mount(DO, CLK, DI, CS); // Mount SD file system
fp = fopen("navset.txt", "r"); // Open navset.txt
fread(str, 1, 512, fp); // navset.txt -> str
int strLength = strlen(str); // Count chars in str
int i = 0; // Declare index variable
drive_speed(0, 0); // Speed starts at 0
while(1) // Loop through commands
{
// Parse command
while(!isalpha(str[i])) i++; // Find 1st command char
sscan(&str[i], "%s", cmdbuf); // Command -> buffer
i += strlen(cmdbuf); // Idx up by command char count
if(!strcmp(cmdbuf, "end")) break; // If command is end, break
// Parse distance argument
while(!isdigit(str[i])) i++; // Find 1st digit after command
sscan(&str[i], "%s", valbuf); // Value -> buffer
i += strlen(valbuf); // Idx up by value char count
val = atoi(valbuf); // Convert string to value
// Execute command
if(strcmp(cmdbuf, "forward") == 0) // If forward
drive_goto(val, val); // ...go forward by val
else if(strcmp(cmdbuf, "backward") == 0) // If backward
drive_goto(-val, -val); // ... go backward by val
else if(strcmp(cmdbuf, "left") == 0) // If left
drive_goto(-val, val); // ...go left by val
else if(strcmp(cmdbuf, "right") == 0) // If right
drive_goto(val, -val); // ... go right by val
}
fclose(fp); // Close SD file
}
int main() // main function
{
int DO = 22,CLK = 23, DI = 24, CS = 25;
sd_mount(DO,CLK,DI,CS);
wav_volume(10);
freqout(4, 2000, 3000); // Speaker tone: P4, 2 s, 3 kHz
while(1) // Endless loop
{
int wL = input(7); // Left whisker -> wL variable
int wR = input(8); // Right whisker -> wR variable
//print("%c", HOME); // Terminal cursor home (top-left)
//print("wL = %d wR = %d", wL, wR); // Display whisker variables
drive_speed(128,128);
if(input(7)==0 || input(8) == 0)
{
drive_speed(0,0);
pause(500);
wav_play("ouch.wav");
drive_goto(-64,64);
}
}
}
int main()
{
sd_mount(DO, CLK, DI, CS); // Mount SD card
FILE* fp = fopen("test.txt", "w"); // Open a file for writing
fwrite("Testing 123...\n", 1, 15, fp); // Add contents to the file
fclose(fp); // Close the file
char s[15]; // Buffer for characters
fp = fopen("test.txt", "r"); // Reopen file for reading
fread(s, 1, 15, fp); // Read 15 characters
fclose(fp); // Close the file
print("First 15 chars in test.txt:\n"); // Display heading
pause(500);
for (int i = 0; i<15; i++)
{
print("%x\n", s[i]); // Display characters
pause(500);
}
print("\n\n");
//hyperterminal();
while(1)
{
}
return 0;
}
void menu_process(void)
{
int k;
// Z80-Bus request
// MZ_Brequest();
do {
k=menu(0,0,0); // Root menu
switch(k){
case 0:
if(view_inventory()==999) continue;
break;
case 3:
direct_load();
break;
case 7:
sd_mount();
tname[0]='\0'; dname[0][0]='\0'; dname[1][0]='\0';
break;
case 10:
if(tname[0]!='\0'){ // if tape file is not empty
tape_unmount();
}
tape_mount();
break;
case 11:
case 12:
fd_mount(k);
break;
case 20:
tape_unmount();
break;
case 21:
case 22:
fd_unmount(k);
break;
case 40:
case 41:
case 42:
case 43:
case 44:
case 45:
case 46:
case 47:
case 48:
set_rom(k);
if(view_inventory()==999) continue;
fname[0]='\0';
break;
case 50:
case 51:
case 52:
case 53:
case 54:
case 55:
case 56:
case 57:
case 58:
clear_rom(k);
if(view_inventory()==999) continue;
break;
case 60:
case 61:
default:
break;
}
break;
}while(1);
keybuf_clear();
// Z80-Bus release
// MZ_Brelease();
}
void System_Initialize(void)
{
char SecName[8],buffer[512],data[4096];
unsigned char *cgrom,*keymap;
int k;
UINT i,r;
ROMS_t *romdata=(ROMS_t *)(CFI_BASE+0x100000);
// Interrupt regist
int_regist();
sd_mount();
tname[0]='\0'; dname[0][0]='\0'; dname[1][0]='\0';
// Clear VRAM
for(i=0;i<1000;i++)
IOWR_8DIRECT(REG_BASE, MZ_VRAM+i, 0);
// Clear GRAM
for(i=0;i<65536;i++)
MZ80B_GRAM(i)=0;
cgrom=romdata->char80b;
keymap=romdata->key80b;
// CG ROM
for(i=0;i<2048;i++){ // (0xc800-0xcfff)
IOWR_8DIRECT(REG_BASE, MZ_CGROM+i, cgrom[i]);
}
// Key Map Data
for(i=0;i<256;i++){ // (0xc000-0xc0ff)
IOWR_8DIRECT(REG_BASE, MZ_KMAP+i, keymap[i]);
}
if(IORD_8DIRECT(REG_BASE, MZ_SYS_SW70)&0x20){
// Select Section Name by MZ mode
if((IORD_8DIRECT(REG_BASE, MZ_SYS_SW98)&0x2))
strcpy(SecName, "MZ-2000");
else
strcpy(SecName, "MZ-80B");
// CG ROM
GetPrivateProfileString(SecName, "CGROM", "NULL", buffer, "system.ini");
if(strcmp(buffer,"NULL")==0)
GetPrivateProfileString("COMMON", "CGROM", "NULL", buffer, "system.ini");
if(strcmp(buffer,"NULL")!=0){
file_bulk_read(buffer, data, 2048);
for(i=0;i<2048;i++){ // (0xc800-0xcfff)
IOWR_8DIRECT(REG_BASE, MZ_CGROM+i, data[i]);
}
}
// Key Map Data
GetPrivateProfileString(SecName, "KEYMAP", "NULL", buffer, "system.ini");
if(strcmp(buffer,"NULL")==0)
GetPrivateProfileString("COMMON", "KEYMAP", "NULL", buffer, "system.ini");
if(strcmp(buffer,"NULL")!=0){
file_bulk_read(buffer, data, 256);
for(i=0;i<256;i++){ // (0xc000-0xc0ff)
IOWR_8DIRECT(REG_BASE, MZ_KMAP+i, data[i]);
}
}
}
}
void process_gcode_command() {
uint32_t backup_f;
// convert relative to absolute
if (next_target.option_all_relative) {
next_target.target.axis[X] += startpoint.axis[X];
next_target.target.axis[Y] += startpoint.axis[Y];
next_target.target.axis[Z] += startpoint.axis[Z];
}
// E relative movement.
// Matches Sprinter's behaviour as of March 2012.
if (next_target.option_e_relative)
next_target.target.e_relative = 1;
else
next_target.target.e_relative = 0;
if (next_target.option_all_relative && !next_target.option_e_relative)
next_target.target.axis[E] += startpoint.axis[E];
// implement axis limits
#ifdef X_MIN
if (next_target.target.axis[X] < (int32_t)(X_MIN * 1000.))
next_target.target.axis[X] = (int32_t)(X_MIN * 1000.);
#endif
#ifdef X_MAX
if (next_target.target.axis[X] > (int32_t)(X_MAX * 1000.))
next_target.target.axis[X] = (int32_t)(X_MAX * 1000.);
#endif
#ifdef Y_MIN
if (next_target.target.axis[Y] < (int32_t)(Y_MIN * 1000.))
next_target.target.axis[Y] = (int32_t)(Y_MIN * 1000.);
#endif
#ifdef Y_MAX
if (next_target.target.axis[Y] > (int32_t)(Y_MAX * 1000.))
next_target.target.axis[Y] = (int32_t)(Y_MAX * 1000.);
#endif
#ifdef Z_MIN
if (next_target.target.axis[Z] < (int32_t)(Z_MIN * 1000.))
next_target.target.axis[Z] = (int32_t)(Z_MIN * 1000.);
#endif
#ifdef Z_MAX
if (next_target.target.axis[Z] > (int32_t)(Z_MAX * 1000.))
next_target.target.axis[Z] = (int32_t)(Z_MAX * 1000.);
#endif
// The GCode documentation was taken from http://reprap.org/wiki/Gcode .
if (next_target.seen_T) {
//? --- T: Select Tool ---
//?
//? Example: T1
//?
//? Select extruder number 1 to build with. Extruder numbering starts at 0.
next_tool = next_target.T;
}
if (next_target.seen_G) {
uint8_t axisSelected = 0;
switch (next_target.G) {
case 0:
//? G0: Rapid Linear Motion
//?
//? Example: G0 X12
//?
//? In this case move rapidly to X = 12 mm. In fact, the RepRap firmware uses exactly the same code for rapid as it uses for controlled moves (see G1 below), as - for the RepRap machine - this is just as efficient as not doing so. (The distinction comes from some old machine tools that used to move faster if the axes were not driven in a straight line. For them G0 allowed any movement in space to get to the destination as fast as possible.)
//?
temp_wait();
backup_f = next_target.target.F;
next_target.target.F = MAXIMUM_FEEDRATE_X * 2L;
enqueue(&next_target.target);
next_target.target.F = backup_f;
break;
case 1:
//? --- G1: Linear Motion at Feed Rate ---
//?
//? Example: G1 X90.6 Y13.8 E22.4
//?
//? Go in a straight line from the current (X, Y) point to the point (90.6, 13.8), extruding material as the move happens from the current extruded length to a length of 22.4 mm.
//?
temp_wait();
enqueue(&next_target.target);
break;
// G2 - Arc Clockwise
// unimplemented
// G3 - Arc Counter-clockwise
// unimplemented
case 4:
//? --- G4: Dwell ---
//?
//? Example: G4 P200
//?
//? In this case sit still doing nothing for 200 milliseconds. During delays the state of the machine (for example the temperatures of its extruders) will still be preserved and controlled.
//?
queue_wait();
// delay
if (next_target.seen_P) {
for (;next_target.P > 0;next_target.P--) {
clock();
delay_ms(1);
}
}
break;
case 20:
//? --- G20: Set Units to Inches ---
//?
//? Example: G20
//?
//? Units from now on are in inches.
//?
next_target.option_inches = 1;
break;
case 21:
//? --- G21: Set Units to Millimeters ---
//?
//? Example: G21
//?
//? Units from now on are in millimeters. (This is the RepRap default.)
//?
next_target.option_inches = 0;
break;
case 28:
//? --- G28: Home ---
//?
//? Example: G28
//?
//? This causes the RepRap machine to search for its X, Y and Z
//? endstops. It does so at high speed, so as to get there fast. When
//? it arrives it backs off slowly until the endstop is released again.
//? Backing off slowly ensures more accurate positioning.
//?
//? If you add axis characters, then just the axes specified will be
//? seached. Thus
//?
//? G28 X Y72.3
//?
//? will zero the X and Y axes, but not Z. Coordinate values are
//? ignored.
//?
queue_wait();
if (next_target.seen_X) {
#if defined X_MIN_PIN
home_x_negative();
#elif defined X_MAX_PIN
home_x_positive();
#endif
axisSelected = 1;
}
if (next_target.seen_Y) {
#if defined Y_MIN_PIN
home_y_negative();
#elif defined Y_MAX_PIN
home_y_positive();
#endif
axisSelected = 1;
}
if (next_target.seen_Z) {
#if defined Z_MIN_PIN
home_z_negative();
#elif defined Z_MAX_PIN
home_z_positive();
#endif
axisSelected = 1;
}
// there's no point in moving E, as E has no endstops
if (!axisSelected) {
home();
}
break;
case 90:
//? --- G90: Set to Absolute Positioning ---
//?
//? Example: G90
//?
//? All coordinates from now on are absolute relative to the origin
//? of the machine. This is the RepRap default.
//?
//? If you ever want to switch back and forth between relative and
//? absolute movement keep in mind, X, Y and Z follow the machine's
//? coordinate system while E doesn't change it's position in the
//? coordinate system on relative movements.
//?
// No wait_queue() needed.
next_target.option_all_relative = 0;
break;
case 91:
//? --- G91: Set to Relative Positioning ---
//?
//? Example: G91
//?
//? All coordinates from now on are relative to the last position.
//?
// No wait_queue() needed.
next_target.option_all_relative = 1;
break;
case 92:
//? --- G92: Set Position ---
//?
//? Example: G92 X10 E90
//?
//? Allows programming of absolute zero point, by reseting the current position to the values specified. This would set the machine's X coordinate to 10, and the extrude coordinate to 90. No physical motion will occur.
//?
queue_wait();
if (next_target.seen_X) {
startpoint.axis[X] = next_target.target.axis[X];
axisSelected = 1;
}
if (next_target.seen_Y) {
startpoint.axis[Y] = next_target.target.axis[Y];
axisSelected = 1;
}
if (next_target.seen_Z) {
startpoint.axis[Z] = next_target.target.axis[Z];
axisSelected = 1;
}
if (next_target.seen_E) {
startpoint.axis[E] = next_target.target.axis[E];
axisSelected = 1;
}
if (axisSelected == 0) {
startpoint.axis[X] = next_target.target.axis[X] =
startpoint.axis[Y] = next_target.target.axis[Y] =
startpoint.axis[Z] = next_target.target.axis[Z] =
startpoint.axis[E] = next_target.target.axis[E] = 0;
}
dda_new_startpoint();
break;
case 161:
//? --- G161: Home negative ---
//?
//? Find the minimum limit of the specified axes by searching for the limit switch.
//?
#if defined X_MIN_PIN
if (next_target.seen_X)
home_x_negative();
#endif
#if defined Y_MIN_PIN
if (next_target.seen_Y)
home_y_negative();
#endif
#if defined Z_MIN_PIN
if (next_target.seen_Z)
home_z_negative();
#endif
break;
case 162:
//? --- G162: Home positive ---
//?
//? Find the maximum limit of the specified axes by searching for the limit switch.
//?
#if defined X_MAX_PIN
if (next_target.seen_X)
home_x_positive();
#endif
#if defined Y_MAX_PIN
if (next_target.seen_Y)
home_y_positive();
#endif
#if defined Z_MAX_PIN
if (next_target.seen_Z)
home_z_positive();
#endif
break;
// unknown gcode: spit an error
default:
sersendf_P(PSTR("E: Bad G-code %d\n"), next_target.G);
return;
}
}
else if (next_target.seen_M) {
uint8_t i;
switch (next_target.M) {
case 0:
//? --- M0: machine stop ---
//?
//? Example: M0
//?
//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379
//? Unimplemented, especially the restart after the stop. Fall trough to M2.
//?
case 2:
case 84: // For compatibility with slic3rs default end G-code.
//? --- M2: program end ---
//?
//? Example: M2
//?
//? http://linuxcnc.org/handbook/RS274NGC_3/RS274NGC_33a.html#1002379
//?
queue_wait();
for (i = 0; i < NUM_HEATERS; i++)
temp_set(i, 0);
power_off();
serial_writestr_P(PSTR("\nstop\n"));
break;
case 6:
//? --- M6: tool change ---
//?
//? Undocumented.
tool = next_tool;
break;
#ifdef SD
case 20:
//? --- M20: list SD card. ---
sd_list("/");
break;
case 21:
//? --- M21: initialise SD card. ---
//?
//? Has to be done before doing any other operation, including M20.
sd_mount();
break;
case 22:
//? --- M22: release SD card. ---
//?
//? Not mandatory. Just removing the card is fine, but results in
//? odd behaviour when trying to read from the card anyways. M22
//? makes also sure SD card printing is disabled, even with the card
//? inserted.
sd_unmount();
break;
case 23:
//? --- M23: select file. ---
//?
//? This opens a file for reading. This file is valid up to M22 or up
//? to the next M23.
sd_open(gcode_str_buf);
break;
case 24:
//? --- M24: start/resume SD print. ---
//?
//? This makes the SD card available as a G-code source. File is the
//? one selected with M23.
gcode_sources |= GCODE_SOURCE_SD;
break;
case 25:
//? --- M25: pause SD print. ---
//?
//? This removes the SD card from the bitfield of available G-code
//? sources. The file is kept open. The position inside the file
//? is kept as well, to allow resuming.
gcode_sources &= ! GCODE_SOURCE_SD;
break;
#endif /* SD */
case 82:
//? --- M82 - Set E codes absolute ---
//?
//? This is the default and overrides G90/G91.
//? M82/M83 is not documented in the RepRap wiki, behaviour
//? was taken from Sprinter as of March 2012.
//?
//? While E does relative movements, it doesn't change its
//? position in the coordinate system. See also comment on G90.
//?
// No wait_queue() needed.
next_target.option_e_relative = 0;
break;
case 83:
//? --- M83 - Set E codes relative ---
//?
//? Counterpart to M82.
//?
// No wait_queue() needed.
next_target.option_e_relative = 1;
break;
// M3/M101- extruder on
case 3:
case 101:
//? --- M101: extruder on ---
//?
//? Undocumented.
temp_wait();
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM);
#endif
break;
// M5/M103- extruder off
case 5:
case 103:
//? --- M103: extruder off ---
//?
//? Undocumented.
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, 0);
#endif
break;
case 104:
//? --- M104: Set Extruder Temperature (Fast) ---
//?
//? Example: M104 S190
//?
//? Set the temperature of the current extruder to 190<sup>o</sup>C
//? and return control to the host immediately (''i.e.'' before that
//? temperature has been reached by the extruder). For waiting, see M116.
//?
//? Teacup supports an optional P parameter as a zero-based temperature
//? sensor index to address (e.g. M104 P1 S100 will set the temperature
//? of the heater connected to the second temperature sensor rather
//? than the extruder temperature).
//?
if ( ! next_target.seen_S)
break;
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
temp_set(next_target.P, next_target.S);
break;
case 105:
//? --- M105: Get Temperature(s) ---
//?
//? Example: M105
//?
//? Request the temperature of the current extruder and the build base
//? in degrees Celsius. For example, the line sent to the host in
//? response to this command looks like
//?
//? <tt>ok T:201 B:117</tt>
//?
//? Teacup supports an optional P parameter as a zero-based temperature
//? sensor index to address.
//?
#ifdef ENFORCE_ORDER
queue_wait();
#endif
if ( ! next_target.seen_P)
next_target.P = TEMP_SENSOR_none;
temp_print(next_target.P);
break;
case 7:
case 106:
//? --- M106: Set Fan Speed / Set Device Power ---
//?
//? Example: M106 S120
//?
//? Control the cooling fan (if any).
//?
//? Teacup supports an optional P parameter as a zero-based heater
//? index to address. The heater index can differ from the temperature
//? sensor index, see config.h.
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
if ( ! next_target.seen_P)
#ifdef HEATER_FAN
next_target.P = HEATER_FAN;
#else
next_target.P = 0;
#endif
if ( ! next_target.seen_S)
break;
heater_set(next_target.P, next_target.S);
break;
case 110:
//? --- M110: Set Current Line Number ---
//?
//? Example: N123 M110
//?
//? Set the current line number to 123. Thus the expected next line after this command will be 124.
//? This is a no-op in Teacup.
//?
break;
#ifdef DEBUG
case 111:
//? --- M111: Set Debug Level ---
//?
//? Example: M111 S6
//?
//? Set the level of debugging information transmitted back to the host to level 6. The level is the OR of three bits:
//?
//? <Pre>
//? #define DEBUG_PID 1
//? #define DEBUG_DDA 2
//? #define DEBUG_POSITION 4
//? </pre>
//?
//? This command is only available in DEBUG builds of Teacup.
if ( ! next_target.seen_S)
break;
debug_flags = next_target.S;
break;
#endif /* DEBUG */
case 112:
//? --- M112: Emergency Stop ---
//?
//? Example: M112
//?
//? Any moves in progress are immediately terminated, then the printer
//? shuts down. All motors and heaters are turned off. Only way to
//? restart is to press the reset button on the master microcontroller.
//? See also M0.
//?
timer_stop();
queue_flush();
power_off();
cli();
for (;;)
wd_reset();
break;
case 114:
//? --- M114: Get Current Position ---
//?
//? Example: M114
//?
//? This causes the RepRap machine to report its current X, Y, Z and E coordinates to the host.
//?
//? For example, the machine returns a string such as:
//?
//? <tt>ok C: X:0.00 Y:0.00 Z:0.00 E:0.00</tt>
//?
#ifdef ENFORCE_ORDER
// wait for all moves to complete
queue_wait();
#endif
update_current_position();
sersendf_P(PSTR("X:%lq,Y:%lq,Z:%lq,E:%lq,F:%lu\n"),
current_position.axis[X], current_position.axis[Y],
current_position.axis[Z], current_position.axis[E],
current_position.F);
if (mb_tail_dda != NULL) {
if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION)) {
sersendf_P(PSTR("Endpoint: X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}\n"),
mb_tail_dda->endpoint.axis[X],
mb_tail_dda->endpoint.axis[Y],
mb_tail_dda->endpoint.axis[Z],
mb_tail_dda->endpoint.axis[E],
mb_tail_dda->endpoint.F,
#ifdef ACCELERATION_REPRAP
mb_tail_dda->end_c
#else
mb_tail_dda->c
#endif
);
}
print_queue();
}
break;
case 115:
//? --- M115: Get Firmware Version and Capabilities ---
//?
//? Example: M115
//?
//? Request the Firmware Version and Capabilities of the current microcontroller
//? The details are returned to the host computer as key:value pairs separated by spaces and terminated with a linefeed.
//?
//? sample data from firmware:
//? FIRMWARE_NAME:Teacup FIRMWARE_URL:http://github.com/traumflug/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 TEMP_SENSOR_COUNT:1 HEATER_COUNT:1
//?
sersendf_P(PSTR("FIRMWARE_NAME:Teacup FIRMWARE_URL:http://github.com/traumflug/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:%d TEMP_SENSOR_COUNT:%d HEATER_COUNT:%d\n"), 1, NUM_TEMP_SENSORS, NUM_HEATERS);
break;
case 116:
//? --- M116: Wait ---
//?
//? Example: M116
//?
//? Wait for temperatures and other slowly-changing variables to arrive at their set values.
temp_set_wait();
break;
case 119:
//? --- M119: report endstop status ---
//? Report the current status of the endstops configured in the
//? firmware to the host.
power_on();
endstops_on();
delay_ms(10); // allow the signal to stabilize
{
#if ! (defined(X_MIN_PIN) || defined(X_MAX_PIN) || \
defined(Y_MIN_PIN) || defined(Y_MAX_PIN) || \
defined(Z_MIN_PIN) || defined(Z_MAX_PIN))
serial_writestr_P(PSTR("No endstops defined."));
#else
const char* const open = PSTR("open ");
const char* const triggered = PSTR("triggered ");
#endif
#if defined(X_MIN_PIN)
serial_writestr_P(PSTR("x_min:"));
x_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(X_MAX_PIN)
serial_writestr_P(PSTR("x_max:"));
x_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Y_MIN_PIN)
serial_writestr_P(PSTR("y_min:"));
y_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Y_MAX_PIN)
serial_writestr_P(PSTR("y_max:"));
y_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Z_MIN_PIN)
serial_writestr_P(PSTR("z_min:"));
z_min() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
#if defined(Z_MAX_PIN)
serial_writestr_P(PSTR("z_max:"));
z_max() ? serial_writestr_P(triggered) : serial_writestr_P(open);
#endif
}
endstops_off();
serial_writechar('\n');
break;
#ifdef EECONFIG
case 130:
//? --- M130: heater P factor ---
//? Undocumented.
// P factor in counts per degreeC of error
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_p(next_target.P, next_target.S);
break;
case 131:
//? --- M131: heater I factor ---
//? Undocumented.
// I factor in counts per C*s of integrated error
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_i(next_target.P, next_target.S);
break;
case 132:
//? --- M132: heater D factor ---
//? Undocumented.
// D factor in counts per degreesC/second
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_d(next_target.P, next_target.S);
break;
case 133:
//? --- M133: heater I limit ---
//? Undocumented.
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
if (next_target.seen_S)
pid_set_i_limit(next_target.P, next_target.S);
break;
case 134:
//? --- M134: save PID settings to eeprom ---
//? Undocumented.
heater_save_settings();
break;
#endif /* EECONFIG */
#ifdef DEBUG
case 136:
//? --- M136: PRINT PID settings to host ---
//? Undocumented.
//? This comand is only available in DEBUG builds.
if ( ! next_target.seen_P)
#ifdef HEATER_EXTRUDER
next_target.P = HEATER_EXTRUDER;
#else
next_target.P = 0;
#endif
heater_print(next_target.P);
break;
#endif /* DEBUG */
case 140:
//? --- M140: Set heated bed temperature ---
//? Undocumented.
#ifdef HEATER_BED
if ( ! next_target.seen_S)
break;
temp_set(HEATER_BED, next_target.S);
#endif
break;
case 220:
//? --- M220: Set speed factor override percentage ---
if ( ! next_target.seen_S)
break;
// Scale 100% = 256
next_target.target.f_multiplier = (next_target.S * 64 + 12) / 25;
break;
case 221:
//? --- M221: Control the extruders flow ---
if ( ! next_target.seen_S)
break;
// Scale 100% = 256
next_target.target.e_multiplier = (next_target.S * 64 + 12) / 25;
break;
#ifdef DEBUG
case 240:
//? --- M240: echo off ---
//? Disable echo.
//? This command is only available in DEBUG builds.
debug_flags &= ~DEBUG_ECHO;
serial_writestr_P(PSTR("Echo off\n"));
break;
case 241:
//? --- M241: echo on ---
//? Enable echo.
//? This command is only available in DEBUG builds.
debug_flags |= DEBUG_ECHO;
serial_writestr_P(PSTR("Echo on\n"));
break;
#endif /* DEBUG */
// unknown mcode: spit an error
default:
sersendf_P(PSTR("E: Bad M-code %d\n"), next_target.M);
} // switch (next_target.M)
} // else if (next_target.seen_M)
} // process_gcode_command()
/**
* A simple cog for painting the screen
*/
void LCD_Run(void) {
FILE *fp;
uint8_t buffer[500];
uint16_t x, y, i, j;
int dataOffset;
int size;
int counter = 0;
LCD_Init();
// Initialize the interface to the SD card
sd_mount(SD_DO, SD_SCK, SD_DI, SD_SS);
while(1) {
// paint(0xF800);
// pause(100);
// paint(0x07E0);
// pause(100);
// paint(0x001F);
// pause(100);
// Open the first image
if(counter == 0) {
fp = fopen("1.bmp", "r");
counter++;
}
else {
fp = fopen("2.bmp", "r");
counter = 0;
}
// Read in the header
fread(buffer, 1, 54, fp);
// Get the size of the image
// 16 bit numbers, do some bit shifting
x = buffer[18] + (buffer[19] << 8);
y = buffer[22] + (buffer[23] << 8);
//size = buffer[2] | (buffer[3] << 8) | (buffer[4] << 16) | (buffer[5] << 24);
dataOffset = buffer[10] | (buffer[11] << 8) | (buffer[12] << 16) | (buffer[13] << 24);
// Seek the file pointer to the start of the pixel data
fseek(fp, dataOffset, SEEK_SET);
LCD_SetWindow(0,0,239,400);
for(i = 0; i < y; i++) {
// Read a line in
fread(buffer, 1, x * 2, fp);
for(j = 0; j < x * 2; j += 2) {
// Write the pixel data out to the display
// Note that the pixel data is the Red, Green, Blue data in the 565 format, ie:
//
// Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
// Use B1 B2 B3 B4 B5 G0 G1 G2 G3 G4 G5 R1 R2 R3 R4 R5
//
// Notice that we only have 5 bits of Blue and Red? The human eye is more sensitive
// to the color green, so to make the RGB fit into 16 bits it is given priority
LCD_Write_Data((buffer[j]) + (buffer[j+1] << 8));
}
}
// Close and prepare for the next file
fclose(fp);
}
}