void CardReader::removeFile(char* name) {
if (!cardOK) return;
file.close();
sdprinting = false;
SdFile myDir;
curDir = &root;
char *fname = name;
char *dirname_start, *dirname_end;
if (name[0] == '/') {
dirname_start = strchr(name, '/') + 1;
while (dirname_start > 0) {
dirname_end = strchr(dirname_start, '/');
//SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name));
//SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end - name));
if (dirname_end > 0 && dirname_end > dirname_start) {
char subdirname[FILENAME_LENGTH];
strncpy(subdirname, dirname_start, dirname_end - dirname_start);
subdirname[dirname_end - dirname_start] = 0;
SERIAL_ECHOLN(subdirname);
if (!myDir.open(curDir, subdirname, O_READ)) {
SERIAL_PROTOCOLPGM("open failed, File: ");
SERIAL_PROTOCOL(subdirname);
SERIAL_PROTOCOLCHAR('.');
return;
}
else {
//SERIAL_ECHOLN("dive ok");
}
curDir = &myDir;
dirname_start = dirname_end + 1;
}
else { // the remainder after all /fsa/fdsa/ is the filename
fname = dirname_start;
//SERIAL_ECHOLN("remainder");
//SERIAL_ECHOLN(fname);
break;
}
}
}
else { // relative path
curDir = &workDir;
}
if (file.remove(curDir, fname)) {
SERIAL_PROTOCOLPGM("File deleted:");
SERIAL_PROTOCOLLN(fname);
sdpos = 0;
}
else {
SERIAL_PROTOCOLPGM("Deletion failed, File: ");
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLCHAR('.');
}
}
void MTWLEDUpdate(patterncode pattern, unsigned long timer, int control) // send pattern frame via I2C
{
byte sout[]={250,pattern.part[0],constrain(pattern.part[1],0,127),constrain(pattern.part[2],0,127),constrain(pattern.part[3],0,127)}; // build frame
if(control==2) { MTWLEDEndstop(true); return; } // force endstop status display on C2
if(control==254) { MTWLED_feedback=!MTWLED_feedback; return; }
if(control==252) { MTWLED_mode ? MTWLED_mode=0 : MTWLED_mode=1; return; }
if(control>=0) MTWLED_control=control; // handle exceptions/collisions/control
if(pattern.part[0] < 1) return;
if(pattern.value != MTWLED_lastpattern.value) // don't sent sequential identical patterns
{
Wire.beginTransmission(21);
Wire.write(sout,5); // send the 5 byte frame
Wire.endTransmission();
MTWLED_lastpattern=pattern; // update states
if(timer) MTWLED_timer=millis()+(timer*1000);
if(MTWLED_feedback)
{
SERIAL_PROTOCOL("LED P:"); // print feedback to serial
SERIAL_PROTOCOL((int)pattern.part[0]);
SERIAL_PROTOCOL(" R:");
SERIAL_PROTOCOL((int)pattern.part[1]);
SERIAL_PROTOCOL(" E:");
SERIAL_PROTOCOL((int)pattern.part[2]);
SERIAL_PROTOCOL(" B:");
SERIAL_PROTOCOL((int)pattern.part[3]);
SERIAL_PROTOCOL(" C:");
SERIAL_PROTOCOLLN((int)MTWLED_control);
// SERIAL_PROTOCOL("MTWLED ");
// SERIAL_PROTOCOLLN((uint32_t)pattern.value);
}
}
}
void vector_3::debug(char* title)
{
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL(x);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(z);
SERIAL_PROTOCOLPGM("\n");
}
void checkHitEndstops()
{
if( endstop_x_hit || endstop_y_hit || endstop_z_hit || endstop_j_hit) {
SERIAL_ECHO_START;
snprintf(json_str,JSONSIZE,"{%s:[",MSG_ENDSTOPS_HIT);
SERIAL_PROTOCOL(json_str);
comma = false;
if(endstop_x_hit) {
SERIAL_PROTOCOLPGM("\"x\"");
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
comma = true;
}
if(endstop_y_hit) {
if (comma) SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOLPGM("\"y\"");
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
comma = true;
}
if(endstop_z_hit) {
if (comma) SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOLPGM("\"z\"");
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
comma = true;
}
if(endstop_j_hit) {
if (comma) SERIAL_PROTOCOLPGM(",");
SERIAL_PROTOCOLPGM("\"j\"");
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "J");
}
SERIAL_PROTOCOL("]}");
SERIAL_MSG_END;
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
endstop_j_hit=false;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
if (abort_on_endstop_hit)
{
card.sdprinting = false;
card.closefile();
quickStop();
setTargetHotend0(0);
setTargetHotend1(0);
setTargetHotend2(0);
}
#endif
}
}
void matrix_3x3::debug(char* title)
{
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOL("\n");
int count = 0;
for(int i=0; i<3; i++)
{
for(int j=0; j<3; j++)
{
SERIAL_PROTOCOL(matrix[count]);
SERIAL_PROTOCOLPGM(" ");
count++;
}
SERIAL_PROTOCOLPGM("\n");
}
}
void CardReader::getStatus() {
if (cardOK) {
SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
SERIAL_PROTOCOL(sdpos);
SERIAL_PROTOCOLCHAR('/');
SERIAL_PROTOCOLLN(filesize);
} else
SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
}
void report_xyze(const float pos[XYZE], const uint8_t n = 4, const uint8_t precision = 3) {
char str[12];
for (uint8_t i = 0; i < n; i++) {
SERIAL_CHAR(' ');
SERIAL_CHAR(axis_codes[i]);
SERIAL_CHAR(':');
SERIAL_PROTOCOL(dtostrf(pos[i], 8, precision, str));
}
SERIAL_EOL();
}
void vector_3::debug(const char title[]) {
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL_F(x, 6);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL_F(y, 6);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL_F(z, 6);
SERIAL_EOL;
}
/**
* Get a long pretty path based on a DOS 8.3 path
*/
void CardReader::printLongPath(char *path) {
lsAction = LS_GetFilename;
int i, pathLen = strlen(path);
// SERIAL_ECHOPGM("Full Path: "); SERIAL_ECHOLN(path);
// Zero out slashes to make segments
for (i = 0; i < pathLen; i++) if (path[i] == '/') path[i] = '\0';
SdFile diveDir = root; // start from the root for segment 1
for (i = 0; i < pathLen;) {
if (path[i] == '\0') i++; // move past a single nul
char *segment = &path[i]; // The segment after most slashes
// If a segment is empty (extra-slash) then exit
if (!*segment) break;
// Go to the next segment
while (path[++i]) { }
// SERIAL_ECHOPGM("Looking for segment: "); SERIAL_ECHOLN(segment);
// Find the item, setting the long filename
diveDir.rewind();
lsDive("", diveDir, segment);
// Print /LongNamePart to serial output
SERIAL_PROTOCOLCHAR('/');
SERIAL_PROTOCOL(longFilename[0] ? longFilename : "???");
// If the filename was printed then that's it
if (!filenameIsDir) break;
// SERIAL_ECHOPGM("Opening dir: "); SERIAL_ECHOLN(segment);
// Open the sub-item as the new dive parent
SdFile dir;
if (!dir.open(diveDir, segment, O_READ)) {
SERIAL_EOL;
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_SD_CANT_OPEN_SUBDIR);
SERIAL_ECHO(segment);
break;
}
diveDir.close();
diveDir = dir;
} // while i<pathLen
SERIAL_EOL;
}
/* ??? Check se serve */
void MemReader::getStatus()
{
if(isprinting){
SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
SERIAL_PROTOCOL(pos);
SERIAL_PROTOCOLPGM("/");
SERIAL_PROTOCOLLN(ScriptLength[program]);
}
else{
SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
}
}
void CardReader::getStatus()
{
if(cardOK){
SERIAL_PROTOCOLPGM(MSG_SD_PRINTING_BYTE);
SERIAL_PROTOCOL(sdpos);
SERIAL_PROTOCOLPGM("/");
SERIAL_PROTOCOLLN(filesize);
}
else{
SERIAL_PROTOCOLLNPGM(MSG_SD_NOT_PRINTING);
}
if (card.errorCode())
{
SERIAL_PROTOCOLPGM("Card error:");
SERIAL_PROTOCOLLN(card.errorCode());
}
}
//===========================================================================
void Hysteresis::ReportToSerial()
{
SERIAL_PROTOCOLPGM("H=X");
SERIAL_PROTOCOL(m_hysteresis_mm[X_AXIS]);
SERIAL_PROTOCOLPGM(" Y");
SERIAL_PROTOCOL(m_hysteresis_mm[Y_AXIS]);
SERIAL_PROTOCOLPGM(" Z");
SERIAL_PROTOCOL(m_hysteresis_mm[Z_AXIS]);
SERIAL_PROTOCOLPGM(" E");
SERIAL_PROTOCOL(m_hysteresis_mm[E_AXIS]);
SERIAL_PROTOCOLPGM(" SHIFTS:x=");
SERIAL_PROTOCOL(axis_shift[X_AXIS]);
SERIAL_PROTOCOLPGM(" y=");
SERIAL_PROTOCOL(axis_shift[Y_AXIS]);
SERIAL_PROTOCOLPGM(" z=");
SERIAL_PROTOCOL(axis_shift[Z_AXIS]);
SERIAL_PROTOCOLPGM(" e=");
SERIAL_PROTOCOL(axis_shift[E_AXIS]);
SERIAL_PROTOCOLLN("");
}
void CardReader::lsDive(const char *prepend,SdFile parent)
{
dir_t p;
uint8_t cnt=0;
while (parent.readDir(p, longFilename) > 0)
{
if( DIR_IS_SUBDIR(&p) && lsAction!=LS_Count && lsAction!=LS_GetFilename) // hence LS_SerialPrint
{
char path[13*2];
char lfilename[13];
createFilename(lfilename,p);
path[0]=0;
if(strlen(prepend)==0) //avoid leading / if already in prepend
{
strcat(path,"/");
}
strcat(path,prepend);
strcat(path,lfilename);
strcat(path,"/");
//Serial.print(path);
SdFile dir;
if(!dir.open(parent,lfilename, O_READ))
{
if(lsAction==LS_SerialPrint)
{
SERIAL_ECHO_START;
SERIAL_ECHOLN(MSG_SD_CANT_OPEN_SUBDIR);
SERIAL_ECHOLN(lfilename);
}
}
lsDive(path,dir);
//close done automatically by destructor of SdFile
}
else
{
if (p.name[0] == DIR_NAME_FREE) break;
if (p.name[0] == DIR_NAME_DELETED || p.name[0] == '.'|| p.name[0] == '_') continue;
if ( p.name[0] == '.')
{
if ( p.name[1] != '.')
continue;
}
if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue;
filenameIsDir=DIR_IS_SUBDIR(&p);
if(!filenameIsDir)
{
if(p.name[8]!='G') continue;
if(p.name[9]=='~') continue;
}
//if(cnt++!=nr) continue;
createFilename(filename,p);
if(lsAction==LS_SerialPrint)
{
SERIAL_PROTOCOL(prepend);
SERIAL_PROTOCOLLN(filename);
}
else if(lsAction==LS_Count)
{
nrFiles++;
}
else if(lsAction==LS_GetFilename)
{
if(cnt==nrFiles)
return;
cnt++;
}
}
}
}
void CardReader::openFile(char* name,bool read)
{
if(!cardOK)
return;
file.close();
sdprinting = false;
SdFile myDir;
curDir=&root;
char *fname=name;
char *dirname_start,*dirname_end;
if(name[0]=='/')
{
dirname_start=strchr(name,'/')+1;
while(dirname_start>0)
{
dirname_end=strchr(dirname_start,'/');
//SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start-name));
//SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end-name));
if(dirname_end>0 && dirname_end>dirname_start)
{
char subdirname[13];
strncpy(subdirname, dirname_start, dirname_end-dirname_start);
subdirname[dirname_end-dirname_start]=0;
SERIAL_ECHOLN(subdirname);
if(!myDir.open(curDir,subdirname,O_READ))
{
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(subdirname);
SERIAL_PROTOCOLLNPGM(".");
return;
}
else
{
//SERIAL_ECHOLN("dive ok");
}
curDir=&myDir;
dirname_start=dirname_end+1;
}
else // the reminder after all /fsa/fdsa/ is the filename
{
fname=dirname_start;
//SERIAL_ECHOLN("remaider");
//SERIAL_ECHOLN(fname);
break;
}
}
}
else //relative path
{
curDir=&workDir;
}
if(read)
{
if (file.open(curDir, fname, O_READ))
{
filesize = file.fileSize();
SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
SERIAL_PROTOCOLLN(filesize);
sdpos = 0;
SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
LCD_MESSAGE(fname);
}
else
{
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLLNPGM(".");
}
}
else
{ //write
if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
{
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLLNPGM(".");
}
else
{
saving = true;
SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
SERIAL_PROTOCOLLN(name);
LCD_MESSAGE(fname);
}
}
}
void Config_PrintSettings()
{ // Always have this function, even with EEPROM_SETTINGS disabled, the current values will be shown
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("FABtotum TOTUMDUINO");
SERIAL_ECHOPAIR(" Batch Number: ", (unsigned long)fab_batch_number);
SERIAL_ECHOLN("");
SERIAL_ECHOLNPGM("FABlin");
SERIAL_ECHOLNPGM(" Version: " STRING_BUILD_VERSION);
SERIAL_ECHOPAIR(" Baudrate: ", (unsigned long)BAUDRATE);
SERIAL_ECHOLN("");
SERIAL_ECHOLNPGM("Steps per unit:");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M92 X",axis_steps_per_unit[0]);
SERIAL_ECHOPAIR_P(PMSG_WS_Y,axis_steps_per_unit[1]);
SERIAL_ECHOPAIR_P(PMSG_WS_Z,axis_steps_per_unit[2]);
SERIAL_ECHOPAIR_P(PMSG_WS_E,axis_steps_per_unit[3]);
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum feedrates (mm/s):");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M203 X",max_feedrate[0]);
SERIAL_ECHOPAIR_P(PMSG_WS_Y,max_feedrate[1] );
SERIAL_ECHOPAIR_P(PMSG_WS_Z, max_feedrate[2] );
SERIAL_ECHOPAIR_P(PMSG_WS_E, max_feedrate[3]);
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Maximum Acceleration (mm/s2):");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M201 X" ,max_acceleration_units_per_sq_second[0] );
SERIAL_ECHOPAIR_P(PMSG_WS_Y , max_acceleration_units_per_sq_second[1] );
SERIAL_ECHOPAIR_P(PMSG_WS_Z ,max_acceleration_units_per_sq_second[2] );
SERIAL_ECHOPAIR_P(PMSG_WS_E ,max_acceleration_units_per_sq_second[3]);
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Acceleration: S=acceleration, T=retract acceleration");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M204 S",acceleration );
SERIAL_ECHOPAIR_P(PMSG_WS_T, retract_acceleration);
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum XY jerk (mm/s), Z=maximum Z jerk (mm/s), E=maximum E jerk (mm/s)");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M205 S",minimumfeedrate );
SERIAL_ECHOPAIR_P(PMSG_WS_T, mintravelfeedrate );
SERIAL_ECHOPAIR(" B" ,minsegmenttime );
SERIAL_ECHOPAIR_P(PMSG_WS_X, max_xy_jerk );
SERIAL_ECHOPAIR_P(PMSG_WS_Z, max_z_jerk);
SERIAL_ECHOPAIR_P(PMSG_WS_E, max_e_jerk);
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Home offset (mm):");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M206 X",add_homeing[0] );
SERIAL_ECHOPAIR_P(PMSG_WS_Y, add_homeing[1] );
SERIAL_ECHOPAIR_P(PMSG_WS_Z, add_homeing[2] );
SERIAL_ECHOLN("");
#ifdef DELTA
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Endstop adjustement (mm):");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M666 X",endstop_adj[0] );
SERIAL_ECHOPAIR_P(PMSG_WS_Y, endstop_adj[1] );
SERIAL_ECHOPAIR_P(PMSG_WS_Z, endstop_adj[2] );
SERIAL_ECHOLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Delta settings: L=delta_diagonal_rod, R=delta_radius, S=delta_segments_per_second");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M665 L",delta_diagonal_rod );
SERIAL_ECHOPAIR(" R" ,delta_radius );
SERIAL_ECHOPAIR(" S" ,delta_segments_per_second );
SERIAL_ECHOLN("");
#endif
#ifdef PIDTEMP
//SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("PID settings:");
//SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M301 P",Kp);
SERIAL_ECHOPAIR(" I" ,unscalePID_i(Ki));
SERIAL_ECHOPAIR(" D" ,unscalePID_d(Kd));
SERIAL_ECHOLN("");
#endif
//SERIAL_ECHO_START;
SERIAL_ECHOPGM("Servo Endstop settings:");
SERIAL_PROTOCOL(" R: ");
SERIAL_PROTOCOL(servo_endstop_angles[5]);
SERIAL_PROTOCOL(" E: ");
SERIAL_PROTOCOL(servo_endstop_angles[4]);
SERIAL_PROTOCOLLN("");
//SERIAL_ECHO_START;
SERIAL_ECHOPGM("Z Probe Length: ");
SERIAL_PROTOCOL_F(-zprobe_zoffset,2);
SERIAL_PROTOCOLLN("");
SERIAL_ECHOLNPGM("Installed head ID:");
SERIAL_ECHOPAIR(" M793 S", (unsigned long)installed_head_id);
SERIAL_ECHOLN("");
}
void CardReader::openFile(char* name, bool read, bool replace_current/*=true*/) {
if (!cardOK) return;
if (file.isOpen()) { //replacing current file by new file, or subfile call
if (!replace_current) {
if (file_subcall_ctr > SD_PROCEDURE_DEPTH - 1) {
SERIAL_ERROR_START;
SERIAL_ERRORPGM("trying to call sub-gcode files with too many levels. MAX level is:");
SERIAL_ERRORLN(SD_PROCEDURE_DEPTH);
kill();
return;
}
SERIAL_ECHO_START;
SERIAL_ECHOPGM("SUBROUTINE CALL target:\"");
SERIAL_ECHO(name);
SERIAL_ECHOPGM("\" parent:\"");
//store current filename and position
getAbsFilename(filenames[file_subcall_ctr]);
SERIAL_ECHO(filenames[file_subcall_ctr]);
SERIAL_ECHOPGM("\" pos");
SERIAL_ECHOLN(sdpos);
filespos[file_subcall_ctr] = sdpos;
file_subcall_ctr++;
}
else {
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Now doing file: ");
SERIAL_ECHOLN(name);
}
file.close();
}
else { //opening fresh file
file_subcall_ctr = 0; //resetting procedure depth in case user cancels print while in procedure
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Now fresh file: ");
SERIAL_ECHOLN(name);
}
sdprinting = false;
SdFile myDir;
curDir = &root;
char *fname = name;
char *dirname_start, *dirname_end;
if (name[0] == '/') {
dirname_start = &name[1];
while(dirname_start > 0) {
dirname_end = strchr(dirname_start, '/');
//SERIAL_ECHO("start:");SERIAL_ECHOLN((int)(dirname_start - name));
//SERIAL_ECHO("end :");SERIAL_ECHOLN((int)(dirname_end - name));
if (dirname_end > 0 && dirname_end > dirname_start) {
char subdirname[FILENAME_LENGTH];
strncpy(subdirname, dirname_start, dirname_end - dirname_start);
subdirname[dirname_end - dirname_start] = 0;
SERIAL_ECHOLN(subdirname);
if (!myDir.open(curDir, subdirname, O_READ)) {
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(subdirname);
SERIAL_PROTOCOLCHAR('.');
return;
}
else {
//SERIAL_ECHOLN("dive ok");
}
curDir = &myDir;
dirname_start = dirname_end + 1;
}
else { // the remainder after all /fsa/fdsa/ is the filename
fname = dirname_start;
//SERIAL_ECHOLN("remainder");
//SERIAL_ECHOLN(fname);
break;
}
}
}
else { //relative path
curDir = &workDir;
}
if (read) {
if (file.open(curDir, fname, O_READ)) {
filesize = file.fileSize();
SERIAL_PROTOCOLPGM(MSG_SD_FILE_OPENED);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLPGM(MSG_SD_SIZE);
SERIAL_PROTOCOLLN(filesize);
sdpos = 0;
SERIAL_PROTOCOLLNPGM(MSG_SD_FILE_SELECTED);
getfilename(0, fname);
lcd_setstatus(longFilename[0] ? longFilename : fname);
}
else {
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLCHAR('.');
}
}
else { //write
if (!file.open(curDir, fname, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) {
SERIAL_PROTOCOLPGM(MSG_SD_OPEN_FILE_FAIL);
SERIAL_PROTOCOL(fname);
SERIAL_PROTOCOLCHAR('.');
}
else {
saving = true;
SERIAL_PROTOCOLPGM(MSG_SD_WRITE_TO_FILE);
SERIAL_PROTOCOLLN(name);
lcd_setstatus(fname);
}
}
}
void PID_autotune(float temp, int extruder, int ncycles)
{
float input = 0.0;
int cycles = 0;
bool heating = true;
millis_t temp_ms = millis(), t1 = temp_ms, t2 = temp_ms;
long t_high = 0, t_low = 0;
long bias, d;
float Ku, Tu;
float Kp, Ki, Kd;
float max = 0, min = 10000;
#if HAS_AUTO_FAN
millis_t next_auto_fan_check_ms = temp_ms + 2500;
#endif
if (extruder >= EXTRUDERS
#if !HAS_TEMP_BED
|| extruder < 0
#endif
) {
SERIAL_ECHOLN(MSG_PID_BAD_EXTRUDER_NUM);
return;
}
SERIAL_ECHOLN(MSG_PID_AUTOTUNE_START);
disable_heater(); // switch off all heaters.
if (extruder < 0)
soft_pwm_bed = bias = d = MAX_BED_POWER / 2;
else
soft_pwm[extruder] = bias = d = PID_MAX / 2;
// PID Tuning loop
for (;;) {
millis_t ms = millis();
if (temp_meas_ready) { // temp sample ready
updateTemperaturesFromRawValues();
input = (extruder<0)?current_temperature_bed:current_temperature[extruder];
max = max(max, input);
min = min(min, input);
#if HAS_AUTO_FAN
if (ms > next_auto_fan_check_ms) {
checkExtruderAutoFans();
next_auto_fan_check_ms = ms + 2500;
}
#endif
if (heating == true && input > temp) {
if (ms - t2 > 5000) {
heating = false;
if (extruder < 0)
soft_pwm_bed = (bias - d) >> 1;
else
soft_pwm[extruder] = (bias - d) >> 1;
t1 = ms;
t_high = t1 - t2;
max = temp;
}
}
if (heating == false && input < temp) {
if (ms - t1 > 5000) {
heating = true;
t2 = ms;
t_low = t2 - t1;
if (cycles > 0) {
long max_pow = extruder < 0 ? MAX_BED_POWER : PID_MAX;
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20, max_pow - 20);
d = (bias > max_pow / 2) ? max_pow - 1 - bias : bias;
SERIAL_PROTOCOLPGM(MSG_BIAS); SERIAL_PROTOCOL(bias);
SERIAL_PROTOCOLPGM(MSG_D); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(MSG_T_MIN); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(MSG_T_MAX); SERIAL_PROTOCOLLN(max);
if (cycles > 2) {
Ku = (4.0 * d) / (3.14159265 * (max - min) / 2.0);
Tu = ((float)(t_low + t_high) / 1000.0);
SERIAL_PROTOCOLPGM(MSG_KU); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(MSG_TU); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6 * Ku;
Ki = 2 * Kp / Tu;
Kd = Kp * Tu / 8;
SERIAL_PROTOCOLLNPGM(MSG_CLASSIC_PID);
SERIAL_PROTOCOLPGM(MSG_KP); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(MSG_KI); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(MSG_KD); SERIAL_PROTOCOLLN(Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot ");
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
*/
}
}
if (extruder < 0)
soft_pwm_bed = (bias + d) >> 1;
else
soft_pwm[extruder] = (bias + d) >> 1;
cycles++;
min = temp;
}
void PID_autotune(float temp)
{
float input;
int cycles=0;
bool heating = true;
unsigned long temp_millis = millis();
unsigned long t1=temp_millis;
unsigned long t2=temp_millis;
long t_high;
long t_low;
long bias=127;
long d = 127;
float Ku, Tu;
float Kp, Ki, Kd;
float max, min;
SERIAL_ECHOLN("PID Autotune start");
disable_heater(); // switch off all heaters.
soft_pwm[0] = 255>>1;
for(;;) {
if(temp_meas_ready == true) { // temp sample ready
CRITICAL_SECTION_START;
temp_meas_ready = false;
CRITICAL_SECTION_END;
input = analog2temp(current_raw[0], 0);
max=max(max,input);
min=min(min,input);
if(heating == true && input > temp) {
if(millis() - t2 > 5000) {
heating=false;
soft_pwm[0] = (bias - d) >> 1;
t1=millis();
t_high=t1 - t2;
max=temp;
}
}
if(heating == false && input < temp) {
if(millis() - t1 > 5000) {
heating=true;
t2=millis();
t_low=t2 - t1;
if(cycles > 0) {
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20 ,235);
if(bias > 127) d = 254 - bias;
else d = bias;
SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);
SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOL(d);
SERIAL_PROTOCOLPGM(" min: "); SERIAL_PROTOCOL(min);
SERIAL_PROTOCOLPGM(" max: "); SERIAL_PROTOCOLLN(max);
if(cycles > 2) {
Ku = (4.0*d)/(3.14159*(max-min)/2.0);
Tu = ((float)(t_low + t_high)/1000.0);
SERIAL_PROTOCOLPGM(" Ku: "); SERIAL_PROTOCOL(Ku);
SERIAL_PROTOCOLPGM(" Tu: "); SERIAL_PROTOCOLLN(Tu);
Kp = 0.6*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/8;
SERIAL_PROTOCOLLNPGM(" Clasic PID ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
/*
Kp = 0.33*Ku;
Ki = Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" Some overshoot ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
Kp = 0.2*Ku;
Ki = 2*Kp/Tu;
Kd = Kp*Tu/3;
SERIAL_PROTOCOLLNPGM(" No overshoot ")
SERIAL_PROTOCOLPGM(" Kp: "); SERIAL_PROTOCOLLN(Kp);
SERIAL_PROTOCOLPGM(" Ki: "); SERIAL_PROTOCOLLN(Ki);
SERIAL_PROTOCOLPGM(" Kd: "); SERIAL_PROTOCOLLN(Kd);
*/
}
}
soft_pwm[0] = (bias + d) >> 1;
cycles++;
min=temp;
}
}
/**
* Dive into a folder and recurse depth-first to perform a pre-set operation lsAction:
* LS_Count - Add +1 to nrFiles for every file within the parent
* LS_GetFilename - Get the filename of the file indexed by nrFiles
* LS_SerialPrint - Print the full path of each file to serial output
*/
void CardReader::lsDive(const char *prepend, SdFile parent, const char * const match/*=NULL*/) {
dir_t p;
uint8_t cnt = 0;
// Read the next entry from a directory
while (parent.readDir(p, longFilename) > 0) {
// If the entry is a directory and the action is LS_SerialPrint
if (DIR_IS_SUBDIR(&p) && lsAction != LS_Count && lsAction != LS_GetFilename) {
// Get the short name for the item, which we know is a folder
char lfilename[FILENAME_LENGTH];
createFilename(lfilename, p);
// Allocate enough stack space for the full path to a folder, trailing slash, and nul
boolean prepend_is_empty = (prepend[0] == '\0');
int len = (prepend_is_empty ? 1 : strlen(prepend)) + strlen(lfilename) + 1 + 1;
char path[len];
// Append the FOLDERNAME12/ to the passed string.
// It contains the full path to the "parent" argument.
// We now have the full path to the item in this folder.
strcpy(path, prepend_is_empty ? "/" : prepend); // root slash if prepend is empty
strcat(path, lfilename); // FILENAME_LENGTH-1 characters maximum
strcat(path, "/"); // 1 character
// Serial.print(path);
// Get a new directory object using the full path
// and dive recursively into it.
SdFile dir;
if (!dir.open(parent, lfilename, O_READ)) {
if (lsAction == LS_SerialPrint) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_SD_CANT_OPEN_SUBDIR);
SERIAL_ECHOLN(lfilename);
}
}
lsDive(path, dir);
// close() is done automatically by destructor of SdFile
}
else {
uint8_t pn0 = p.name[0];
if (pn0 == DIR_NAME_FREE) break;
if (pn0 == DIR_NAME_DELETED || pn0 == '.') continue;
if (longFilename[0] == '.') continue;
if (!DIR_IS_FILE_OR_SUBDIR(&p)) continue;
filenameIsDir = DIR_IS_SUBDIR(&p);
if (!filenameIsDir && (p.name[8] != 'G' || p.name[9] == '~')) continue;
switch (lsAction) {
case LS_Count:
nrFiles++;
break;
case LS_SerialPrint:
createFilename(filename, p);
SERIAL_PROTOCOL(prepend);
SERIAL_PROTOCOLLN(filename);
break;
case LS_GetFilename:
createFilename(filename, p);
if (match != NULL) {
if (strcasecmp(match, filename) == 0) return;
}
else if (cnt == nrFiles) return;
cnt++;
break;
}
}
} // while readDir
}