int main (void) {
//TCCR0B = _BV(CS00); // no prescaler, timer running
power_on();
while(1);
while(true) {
power_on();
_delay_ms(1000);
power_off();
_delay_ms(1000);
}
}
// Once you're done, just type make and it should produce an executable
// called <name of source file>.out
int main()
{
// Initialize by connecting to the FPGA
init_fpga();
// Power on the system
power_on();
/* YOUR CODE GOES HERE */
sleep(2); // Pause for 2 seconds
int x, y, z, d; // Get acceleration vector and depth
get_accel(&x, &y, &z);
d = get_depth();
printf("Acceleration is: (%d, %d, %d)\n", x, y, z);
printf("Current depth is: %d\n", d);
int p = get_power(); // Check if power is still on
printf("Power system %s\n", p ? "is good": "has failed");
puts("Exiting...");
/* END */
// Power off and release resources
exit_safe();
return 0;
}
DSTATUS disk_initialize (
BYTE pdrv /* Physical drive nmuber (0) */
)
{
if (pdrv) return STA_NOINIT; /* Supports only single drive */
power_off(); /* Power off */
Stat |= STA_NOINIT;
if (Stat & STA_NODISK) return Stat; /* Exit if socket is empty */
power_on(); /* Initialize CFC control port and socket power on */
write_ata(REG_DEVCTRL, SRST); /* Set software reset */
delay_ms(20);
write_ata(REG_DEVCTRL, 0); /* Release software reset */
delay_ms(20);
if (!wait_stat(3000, 0)) return Stat; /* Select device 0 */
write_ata(REG_DEV, 0);
if (!wait_stat(3000, DRDY)) return Stat;
write_ata(REG_FEATURES, 0x03); /* Set default PIO mode wo IORDY */
write_ata(REG_COUNT, 0x01);
write_ata(REG_COMMAND, CMD_SETFEATURES);
if (!wait_stat(3000, DRDY)) return Stat;
write_ata(REG_FEATURES, 0x01); /* Select 8-bit PIO transfer mode */
write_ata(REG_COMMAND, CMD_SETFEATURES);
if (!wait_stat(1000, DRDY)) return Stat;
Stat &= ~STA_NOINIT; /* Initialization succeeded */
return Stat;
}
/*
* Same as power_on(), but an external function.
*/
void term_pwron(void) {
power_on();
fix_cpos;
disptop = scrtop;
deselect();
term_update();
}
void setup(){
pinMode(onModulePin, OUTPUT);
Serial.begin(115200);
printf("Starting...\n");
power_on();
delay(3000);
// sets the PIN code
sendATcommand("AT+CPIN=****", "OK", 2000);
delay(3000);
// sets APN, user name and password
sendATcommand("AT+CGPSPWR=1", "OK", 2000);
sendATcommand("AT+CGPSRST=0", "OK", 2000);
// waits for fix GPS
while( (sendATcommand("AT+CGPSSTATUS?", "2D Fix", 5000) ||
sendATcommand("AT+CGPSSTATUS?", "3D Fix", 5000)) == 0 );
}
void plus(void) {
if(state < MAX_STATE) {
state++;
set_power();
};
if(state == 1) power_on();
full_power_leds();
};
int main(void)
{
//Setup IO ports
PORTD=(1<<ENCA)|(1<<ENCB)|(1<<ENCSW);
DDRC=(1<<LEDR)|(1<<LEDG)|(1<<LEDB);
DDRB=(1<<PB2)|(1<<PB3)|(1<<PB5)|(1<<PWR_OUT);
//Setup Timer 0
TCCR0=(1<<CS00);//Timer 0 on, clk/1
TIMSK=(1<<TOIE0); //Timer 0 interrupt enabled
//Setup SPI
SPCR=(1<<SPE)|(1<<MSTR);
//Setup external interrupts
MCUCR=(1<<ISC00)|(1<<ISC01); //Enable interrupt on INT0 rising edge
GICR=(1<<INT0); //Enable INT0 external interrupt
sei(); //Enable interrupts
//Setup UART
UBRRH=0;
UBRRL=51; //For 9600bps
UCSRB=(1<<RXEN)|(1<<TXEN)|(1<<RXCIE); //Enable rx,tx and rx interrupt
UCSRC=(1<<URSEL)|(1<<UCSZ1)|(1<<UCSZ0); //8-bit character size
PORTB=(1<<CS)|(power<<PWR_OUT);
send_pot_value(volume);
while(1)
{
_delay_ms(1);
if (!(PIND&(1<<ENCSW))) { //Encoder button pressed
if (pressed==0) {
pressed=1;
}
}
else if (pressed==1) { //Button released
pressed=0;
if (precision_adj_on==0) {
if (power==0) {
power_on();
}
else {
power_off();
}
}
precision_adj_on=0;
}
if (command_ready)
exec_command();
}
}
DSTATUS disk_initialize (
BYTE drv /* Physical drive nmuber (0) */
)
{
UINT cmd, n;
DWORD resp[4];
BYTE ty;
if (drv) return STA_NOINIT; /* Supports only single drive */
if (Stat & STA_NODISK) return Stat; /* No card in the socket */
power_on(); /* Force socket power on */
MCI_CLOCK = 0x100 | (PCLK/MCLK_ID/2-1); /* Set MCICLK = MCLK_ID */
for (Timer[0] = 2; Timer[0]; );
LEDR_ON();
send_cmd(CMD0, 0, 0, NULL); /* Enter idle state */
CardRCA = 0;
/*---- Card is 'idle' state ----*/
Timer[0] = 1000; /* Initialization timeout of 1000 msec */
if (send_cmd(CMD8, 0x1AA, 1, resp) /* SDC Ver2 */
&& (resp[0] & 0xFFF) == 0x1AA) { /* The card can work at vdd range of 2.7-3.6V */
do { /* Wait while card is busy state (use ACMD41 with HCS bit) */
if (!Timer[0]) goto di_fail;
} while (!send_cmd(ACMD41, 0x40FF8000, 1, resp) || !(resp[0] & 0x80000000));
ty = (resp[0] & 0x40000000) ? CT_SD2 | CT_BLOCK : CT_SD2; /* Check CCS bit in the OCR */
}
else { /* SDC Ver1 or MMC */
if (send_cmd(ACMD41, 0x00FF8000, 1, resp)) {
ty = CT_SD1; cmd = ACMD41; /* ACMD41 is accepted -> SDC Ver1 */
} else {
ty = CT_MMC; cmd = CMD1; /* ACMD41 is rejected -> MMC */
}
do { /* Wait while card is busy state (use ACMD41 or CMD1) */
if (!Timer[0]) goto di_fail;
} while (!send_cmd(cmd, 0x00FF8000, 1, resp) || !(resp[0] & 0x80000000));
}
CardType = ty; /* Save card type */
bswap_cp(&CardInfo[32], resp); /* Save OCR */
/*---- Card is 'ready' state ----*/
if (!send_cmd(CMD2, 0, 2, resp)) goto di_fail; /* Enter ident state */
for (n = 0; n < 4; n++) bswap_cp(&CardInfo[n * 4 + 16], &resp[n]); /* Save CID */
/*---- Card is 'ident' state ----*/
if (ty & CT_SDC) { /* SDC: Get generated RCA and save it */
if (!send_cmd(CMD3, 0, 1, resp)) goto di_fail;
CardRCA = (WORD)(resp[0] >> 16);
} else { /* MMC: Assign RCA to the card */
if (!send_cmd(CMD3, 1 << 16, 1, resp)) goto di_fail;
void temp_set(uint16_t t, uint8_t sensor_number)
{
if (t)
{
steptimeout = 0;
power_on();
}
target_temp[sensor_number] = t;
}
/*
* Initialise the terminal.
*/
void term_init(void) {
text = sbtop = scrtop = disptop = cpos = NULL;
disptext = wanttext = NULL;
tabs = NULL;
selspace = NULL;
deselect();
rows = cols = -1;
nl_count = 0;
power_on();
}
DSTATUS disk_initialize (
BYTE pdrv /* Physical drive nmuber (0) */
)
{
BYTE n, cmd, ty, ocr[4];
if (pdrv) return STA_NOINIT; /* Supports only single drive */
power_off(); /* Turn off the socket power to reset the card */
power_on(); /* Turn on the socket power */
FCLK_SLOW();
for (n = 10; n; n--) xchg_spi(0xFF); /* 80 dummy clocks */
ty = 0;
if (send_cmd(CMD0, 0) == 1) { /* Enter Idle state */
WORD wt = 1000; /* Initialization timeout of 1000 msec */
if (send_cmd(CMD8, 0x1AA) == 1) { /* SDv2? */
for (n = 0; n < 4; n++) ocr[n] = xchg_spi(0xFF); /* Get trailing return value of R7 resp */
if (ocr[2] == 0x01 && ocr[3] == 0xAA) { /* The card can work at vdd range of 2.7-3.6V */
do {
if (!send_cmd(ACMD41, 1UL << 30)) break; /* Wait for leaving idle state (ACMD41 with HCS bit) */
delay_ms(1);
} while (--wt);
if (wt && send_cmd(CMD58, 0) == 0) { /* Check CCS bit in the OCR */
for (n = 0; n < 4; n++) ocr[n] = xchg_spi(0xFF);
ty = (ocr[0] & 0x40) ? CT_SD2 | CT_BLOCK : CT_SD2; /* SDv2 */
}
}
} else { /* SDv1 or MMCv3 */
if (send_cmd(ACMD41, 0) <= 1) {
ty = CT_SD1; cmd = ACMD41; /* SDv1 */
} else {
ty = CT_MMC; cmd = CMD1; /* MMCv3 */
}
do {
if (!send_cmd(cmd,0)) break;
delay_ms(1);
} while (--wt); /* Wait for leaving idle state */
if (!wt || send_cmd(CMD16, 512) != 0) /* Set R/W block length to 512 */
ty = 0;
}
}
CardType = ty;
deselect();
if (ty) { /* Initialization succeded */
Stat &= ~STA_NOINIT; /* Clear STA_NOINIT */
FCLK_FAST();
} else { /* Initialization failed */
power_off();
}
return Stat;
}
static void init(void)
{
//Power Hold
Driver_GPIO.Configure(3, GPIO_DIRECTION_OUTPUT_2MA, GPIO_EVENT_DISABLE, NULL);
//UVDetect
Driver_GPIO.Configure(4, GPIO_DIRECTION_INPUT_HI_Z, GPIO_EVENT_DISABLE, NULL);
Driver_PMU.StandbyInputBuffer(PMU_IO_FUNC_GPIO_4, 0); /* UVdetect */
//LED
Driver_GPIO.Configure(10, GPIO_DIRECTION_OUTPUT_2MA, GPIO_EVENT_DISABLE, NULL);
Driver_GPIO.Configure(11, GPIO_DIRECTION_OUTPUT_2MA, GPIO_EVENT_DISABLE, NULL);
power_on();
}
static void hdmi_bridge_pre_enable(struct drm_bridge *bridge)
{
struct hdmi_bridge *hdmi_bridge = to_hdmi_bridge(bridge);
struct hdmi *hdmi = hdmi_bridge->hdmi;
struct hdmi_phy *phy = hdmi->phy;
DBG("power up");
if (!hdmi_bridge->power_on) {
power_on(bridge);
hdmi_bridge->power_on = true;
}
phy->funcs->powerup(phy, hdmi_bridge->pixclock);
hdmi_set_mode(hdmi, true);
}
/**
* Initialize the module. Initialize the following subsystems:
*
* - kernel debugging
* - timer
* - serial UART0
* - Bluetooth module
* - AFSK driver
* - KISS driver
*
* The AFSK module should be initialized after the startup banner is
* printed to reduce the chance of a buffer overrun.
*/
static void init(void)
{
IRQ_ENABLE;
kdbg_init();
timer_init();
power_on();
int hc_status = init_hc05(&ser.fd);
wdt_location = 0;
mobilinkd_set_error(MOBILINKD_ERROR_WATCHDOG_TIMEOUT);
afsk_init(&afsk, ADC_CH, 0);
wdt_location = 1;
kiss_init(&kiss, &afsk.fd, &ser.fd);
wdt_location = 2;
if (kiss.params.options & KISS_OPTION_VIN_POWER_ON)
{
set_power_config(get_power_config() | POWER_ON_VIN_ON);
}
if (kiss.params.options & KISS_OPTION_VIN_POWER_OFF)
{
set_power_config(get_power_config() | POWER_OFF_VIN_OFF);
}
if (kiss.params.options & KISS_OPTION_PTT_SIMPLEX)
{
afsk_ptt_set(&afsk, AFSK_PTT_MODE_SIMPLEX);
}
else
{
afsk_ptt_set(&afsk, AFSK_PTT_MODE_MULTIPLEX);
}
power_on_message(hc_status);
enable_power_off();
wdt_enable(WDTO_4S);
}
void ActuatorOutputSubmarine::special_cmd(SPECIAL_COMMAND cmd)
{
switch(cmd) {
case (SUB_POWER_ON):
power_on();
break;
case (SUB_STARTUP_SEQUENCE):
SubmarineSingleton::get_instance().set_target_yaw(get_yaw());
SubmarineSingleton::get_instance().set_target_depth(get_depth());
startup_sequence();
break;
case (SUB_MISSION_STARTUP_SEQUENCE):
mission_startup_sequence();
break;
case (SUB_POWER_OFF):
power_off();
break;
default:
break;
}
}
void exec_command() {
command_ready=0;
uint8_t vol=0;
if (uart_rx_buffer[0]=='v') { //change volume
vol=(uart_rx_buffer[1]&0xF)*100;
vol+=(uart_rx_buffer[2]&0xF)*10;
vol+=(uart_rx_buffer[3]&0xF);
volume=vol&255;
set_volume();
write_uart_str("OK\r\n",4);
}
else if (uart_rx_buffer[0]=='o') {
if (uart_rx_buffer[1]=='n') {
power_on();
write_uart_str("OK\r\n",4);
}
else if (uart_rx_buffer[1]=='f'&&uart_rx_buffer[2]=='f') {
power_off();
write_uart_str("OK\r\n",4);
}
}
else if (uart_rx_buffer[0]=='g'&&uart_rx_buffer[1]=='e'&&uart_rx_buffer[2]=='t') {
write_uart('O');
write_uart('K');
write_uart((volume/100)+'0');
write_uart(((volume/10)%10)+'0');
write_uart((volume%10)+'0');
write_uart('\r');
write_uart('\n');
}
else {
write_uart_str("NO\r\n",4);
}
uart_rx_buffer_idx=0;
uart_rx_buffer[0]=0;
}
static void hdmi_bridge_pre_enable(struct drm_bridge *bridge)
{
struct hdmi_bridge *hdmi_bridge = to_hdmi_bridge(bridge);
struct hdmi *hdmi = hdmi_bridge->hdmi;
struct hdmi_phy *phy = hdmi->phy;
DBG("power up");
if (!hdmi->power_on) {
power_on(bridge);
hdmi->power_on = true;
hdmi_audio_update(hdmi);
}
if (phy)
phy->funcs->powerup(phy, hdmi->pixclock);
hdmi_set_mode(hdmi, true);
#ifdef CONFIG_DRM_MSM_HDCP
if (hdmi->hdcp_ctrl)
hdmi_hdcp_ctrl_on(hdmi->hdcp_ctrl);
#endif
}
/** \brief manually set PWM output
\param index the heater we're setting the output for
\param value the PWM value to write
anything done by this function is overwritten by heater_tick above if the heater has an associated temp sensor
*/
void heater_set(heater_t index, uint8_t value) {
if (index >= NUM_HEATERS)
return;
heaters_runtime[index].heater_output = value;
if (heaters[index].heater_pwm) {
*(heaters[index].heater_pwm) = heaters[index].invert ?
(255 - value) : value;
if (DEBUG_PID && (debug_flags & DEBUG_PID))
sersendf_P(PSTR("PWM{%u = %u}\n"), index, *heaters[index].heater_pwm);
}
else {
if ((value >= HEATER_THRESHOLD && ! heaters[index].invert) ||
(value < HEATER_THRESHOLD && heaters[index].invert))
*(heaters[index].heater_port) |= MASK(heaters[index].heater_pin);
else
*(heaters[index].heater_port) &= ~MASK(heaters[index].heater_pin);
}
if (value)
power_on();
}
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()
void set_power(void) {
saved = 0;
if(state == 0) power_off();
else if(state >= 1) power_on();
OCR1A=state*43;
};
static int tft_panel_resume(struct platform_device *p_dev)
{
power_on(g_plt_data);
return 0;
}
int get_command(pState state){
//magic len command subcommand data checkval
//message is len + 8 (2 magic, 2 len, 4 checkval)
//magic = 0xa55a, short len, short command, var subcommand, var data, int checkval
// unsigned char *buf = malloc(MAX_MESSAGE_LEN+8);
unsigned char buf[MAX_MESSAGE_LEN+8];
unsigned int checkval = 0;
unsigned int calc_checkval = 0;
unsigned short magic = 0;
unsigned short len = 0;
unsigned short command = 0xaa;
unsigned short subcommand = 0xffff;
unsigned short sensorID = 0xffff;
unsigned int sensor_address = 0xffff;
unsigned int coefficient = 0xffff;
unsigned short temp = 0xffff;
unsigned short numSteps = 0xffff;
unsigned short *tempP = NULL;
unsigned short seconds = 0;
pStep steps = NULL;
int ret = -1;
unsigned int fw = 0;
bzero(buf,MAX_MESSAGE_LEN+8);
//get magic
get_bytes(buf ,2);
magic = get_short(buf);
if (magic != MAGIC){
prime_buf(buf);
send(buf,12);
//free(buf);
return 1;
}
//get len
get_bytes(buf+2,2);
len = get_short(buf+2);
//check len
if (len > MAX_MESSAGE_LEN){
prime_buf(buf);
send(buf,12);
//free(buf);
return 1;
}
//get the rest of message except checkval
get_bytes(buf+4, len);
//get checkval
checkval = get_int(buf+len);
//compare to calculated from message
calc_checkval = check_val( buf, len);
if ( checkval != calc_checkval ){
//bad check_val
prime_buf(buf);
send(buf,12);
//free(buf);
return 1;
}
//get command
command = get_short(buf+4);
switch (command) {
case 1:{ //set power state
subcommand = get_short(buf+6);
prime_buf(buf);
if (subcommand == 0x0000){
power_off(state);
}
if (subcommand == 0x0001){
power_on(state);
}
if (subcommand > 0x0001){
//bad subcommand
}
send(buf, 12);
break;
}
case 2:{//set temp
temp = get_short(buf+6);
prime_buf(buf);
if (set_temp(state,temp) == 2){
buf[6] = 1;
}
send(buf, 12);
break;
}
case 3:{ //add sensor
sensorID = get_short(buf+6);
sensor_address = get_int(buf+8);
coefficient = get_int(buf+12);
unsigned int sensorTemp = get_int(buf+16);
//check count < 10 buf[6] = 0x08, sensor_ID is unique/not in use buf[6] = 0x07,
ret = add_sensor(state, sensorID, sensor_address, coefficient, sensorTemp);
prime_buf(buf);
if (ret == 2){buf[6]=0x07;}
if (ret == 3){buf[6]=0x08;}
send(buf, 12);
break;
}
case 4:{ //remove sensor
sensorID = get_short(buf+6);
ret = remove_sensor(state,sensorID);
prime_buf(buf);
if (ret == 1){buf[6]=0x06;}
send(buf, 12);
break;
}
case 5:{ //set smoke sensor
subcommand = get_short(buf+6);
prime_buf(buf);
if (subcommand == 0x0000){
smoke_off(state);
}
if (subcommand == 0x0001){
smoke_on(state);
}
if (subcommand > 0x0001){
//bad subcommand
//no response
}
send(buf, 12);
break;
}
case 6:{ //set program
numSteps = get_short(buf+6);
steps = (pStep)(buf+8) ;
ret = add_steps(state,numSteps,steps);
prime_buf(buf);
if (ret == 3){buf[6]=3;}
if (ret == 2){buf[6]=2;}
if (ret == 1){buf[6]=1;}
send(buf, 12);
break;
}
case 7:{//get program
prime_buf(buf);
unsigned int lenz = 0;
unsigned int program[30];
bzero(program,120);
buf[4]=1;
buf[6]=7;
get_program(state, &lenz, program);
lenz = lenz*3*sizeof(int);
cgc_memcpy(buf+8,&lenz,sizeof(int));
cgc_memcpy(buf+12,program,lenz);
send(buf,lenz + 12);
break;
}
case 8:{//get status
prime_buf(buf);
buf[4]=1;
buf[6]=8;
unsigned int status[6];
int len = 24;
ret = get_status(state,status);
cgc_memcpy(buf+8,&len,sizeof(int));
cgc_memcpy(buf+12,status,24);
send(buf,36);
break;
}
case 9:{//simulate seconds
seconds = get_short(buf+6);
prime_buf(buf);
unsigned int bufsize = 12;
unsigned int histSize = 0;
ret = simulate_seconds(state, seconds);
unsigned int currentTime = state->currentTime;
unsigned int setTemp = state->setTemp;
if (ret == 0 ){
buf[6] = 9;
cgc_memcpy(buf+8, ¤tTime ,sizeof(int));
send(buf,12);
}
if(ret == 2){
buf[4] = 1;
buf[6] = 0xc;
histSize = state->historyPosition*sizeof(int);
unsigned int *pHistoryList = state->history;
unsigned int historyListSize = state->historyPosition;
unsigned int ambientTemp = state->ambientTemp;
new_state(state);
if (historyListSize > 0){
cgc_memcpy(buf+8, &historyListSize, sizeof(historyListSize));
cgc_memcpy(buf+12, pHistoryList, histSize);
bufsize = histSize + 12;
}
cgc_memcpy(buf+bufsize, &ambientTemp, sizeof(unsigned int));
bufsize+=4;
cgc_memcpy(buf+bufsize, &setTemp, sizeof(unsigned int));
bufsize+=4;
send(buf, bufsize);
//new_state(state);
}
break;
}
case 0xa:{ //validate firmware
unsigned int fw = validate_fw(state);
prime_buf(buf);
buf[4]=1;
buf[6]=0xa;
buf[8]=4;
cgc_memcpy(buf+12, &fw,sizeof(int) );
send(buf, 16);
break;
}
case 0xb:{//cgc_read sensor list
prime_buf(buf);
int len = 0;
buf[4]=1;
buf[6]=0xb;
len = state->sensorCount * (sizeof(int)*4);
//buff is filled with sensor bytes
unsigned int sensorList[40*sizeof(int)];
get_sensors(state,sensorList);
cgc_memcpy(buf+8,&len,sizeof(int));
cgc_memcpy(buf+12,sensorList,len);
send(buf, len+12);
break;
}
case 0xc:{//set ambient temp
int ambientTemp = get_signed_int(buf+6);
prime_buf(buf);
if (set_ambient_temp(state,ambientTemp) == 2){
buf[6] = 1;
}
send(buf, 12);
break;
}
case 0xff:{
//free(buf);
exit_normal();
break;
}
default:{
//bad command
prime_buf(buf);
buf[6]=5;
send(buf,12);
break;
}
}
// free(buf);
return 0;
}
static void tft_panel_late_resume(struct early_suspend *h)
{
power_on(g_plt_data);
}
void dda_create(DDA *dda, TARGET *target) {
uint32_t distance, c_limit, c_limit_calc;
// initialise DDA to a known state
dda->allflags = 0;
if (debug_flags & DEBUG_DDA)
serial_writestr_P(PSTR("\n{DDA_CREATE: ["));
// we end at the passed target
memcpy(&(dda->endpoint), target, sizeof(TARGET));
dda->x_delta = ABS(target->X - startpoint.X);
dda->y_delta = ABS(target->Y - startpoint.Y);
dda->z_delta = ABS(target->Z - startpoint.Z);
dda->e_delta = ABS(target->E - startpoint.E);
dda->x_direction = (target->X >= startpoint.X)?1:0;
dda->y_direction = (target->Y >= startpoint.Y)?1:0;
dda->z_direction = (target->Z >= startpoint.Z)?1:0;
dda->e_direction = (target->E >= startpoint.E)?1:0;
if (debug_flags & DEBUG_DDA) {
if (dda->x_direction == 0)
serial_writechar('-');
serwrite_uint32(dda->x_delta);
serial_writechar(',');
if (dda->y_direction == 0)
serial_writechar('-');
serwrite_uint32(dda->y_delta);
serial_writechar(',');
if (dda->z_direction == 0)
serial_writechar('-');
serwrite_uint32(dda->z_delta);
serial_writechar(',');
if (dda->e_direction == 0)
serial_writechar('-');
serwrite_uint32(dda->e_delta);
serial_writestr_P(PSTR("] ["));
}
dda->total_steps = dda->x_delta;
if (dda->y_delta > dda->total_steps)
dda->total_steps = dda->y_delta;
if (dda->z_delta > dda->total_steps)
dda->total_steps = dda->z_delta;
if (dda->e_delta > dda->total_steps)
dda->total_steps = dda->e_delta;
if (debug_flags & DEBUG_DDA) {
serial_writestr_P(PSTR("ts:"));
serwrite_uint32(dda->total_steps);
}
if (dda->total_steps == 0) {
dda->nullmove = 1;
}
else {
// get steppers ready to go
steptimeout = 0;
power_on();
dda->x_counter = dda->y_counter = dda->z_counter = dda->e_counter =
-(dda->total_steps >> 1);
// since it's unusual to combine X, Y and Z changes in a single move on reprap, check if we can use simpler approximations before trying the full 3d approximation.
if (dda->z_delta == 0)
distance = approx_distance(dda->x_delta * UM_PER_STEP_X, dda->y_delta * UM_PER_STEP_Y);
else if (dda->x_delta == 0 && dda->y_delta == 0)
distance = dda->z_delta * UM_PER_STEP_Z;
else
distance = approx_distance_3(dda->x_delta * UM_PER_STEP_X, dda->y_delta * UM_PER_STEP_Y, dda->z_delta * UM_PER_STEP_Z);
if (distance < 2)
distance = dda->e_delta * UM_PER_STEP_E;
if (debug_flags & DEBUG_DDA) {
serial_writestr_P(PSTR(",ds:"));
serwrite_uint32(distance);
}
// pre-calculate move speed in millimeter microseconds per step minute for less math in interrupt context
// mm (distance) * 60000000 us/min / step (total_steps) = mm.us per step.min
// note: um (distance) * 60000 == mm * 60000000
// so in the interrupt we must simply calculate
// mm.us per step.min / mm per min (F) = us per step
// break this calculation up a bit and lose some precision because 300,000um * 60000 is too big for a uint32
// calculate this with a uint64 if you need the precision, but it'll take longer so routines with lots of short moves may suffer
// 2^32/6000 is about 715mm which should be plenty
// changed * 10 to * (F_CPU / 100000) so we can work in cpu_ticks rather than microseconds.
// timer.c setTimer() routine altered for same reason
// changed distance * 6000 .. * F_CPU / 100000 to
// distance * 2400 .. * F_CPU / 40000 so we can move a distance of up to 1800mm without overflowing
uint32_t move_duration = ((distance * 2400) / dda->total_steps) * (F_CPU / 40000);
// similarly, find out how fast we can run our axes.
// do this for each axis individually, as the combined speed of two or more axes can be higher than the capabilities of a single one.
c_limit = 0;
c_limit_calc = ( (dda->x_delta * (UM_PER_STEP_X * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_X) << 8;
if (c_limit_calc > c_limit)
c_limit = c_limit_calc;
c_limit_calc = ( (dda->y_delta * (UM_PER_STEP_Y * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Y) << 8;
if (c_limit_calc > c_limit)
c_limit = c_limit_calc;
c_limit_calc = ( (dda->z_delta * (UM_PER_STEP_Z * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Z) << 8;
if (c_limit_calc > c_limit)
c_limit = c_limit_calc;
c_limit_calc = ( (dda->e_delta * (UM_PER_STEP_E * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_E) << 8;
if (c_limit_calc > c_limit)
c_limit = c_limit_calc;
#ifdef ACCELERATION_REPRAP
// c is initial step time in IOclk ticks
dda->c = (move_duration / startpoint.F) << 8;
if (dda->c < c_limit)
dda->c = c_limit;
dda->end_c = (move_duration / target->F) << 8;
if (dda->end_c < c_limit)
dda->end_c = c_limit;
if (debug_flags & DEBUG_DDA) {
serial_writestr_P(PSTR(",md:"));
serwrite_uint32(move_duration);
serial_writestr_P(PSTR(",c:"));
serwrite_uint32(dda->c >> 8);
}
if (dda->c != dda->end_c) {
uint32_t stF = startpoint.F / 4;
uint32_t enF = target->F / 4;
// now some constant acceleration stuff, courtesy of http://www.embedded.com/columns/technicalinsights/56800129?printable=true
uint32_t ssq = (stF * stF);
uint32_t esq = (enF * enF);
int32_t dsq = (int32_t) (esq - ssq) / 4;
uint8_t msb_ssq = msbloc(ssq);
uint8_t msb_tot = msbloc(dda->total_steps);
// the raw equation WILL overflow at high step rates, but 64 bit math routines take waay too much space
// at 65536 mm/min (1092mm/s), ssq/esq overflows, and dsq is also close to overflowing if esq/ssq is small
// but if ssq-esq is small, ssq/dsq is only a few bits
// we'll have to do it a few different ways depending on the msb locations of each
if ((msb_tot + msb_ssq) <= 30) {
// we have room to do all the multiplies first
if (debug_flags & DEBUG_DDA)
serial_writechar('A');
dda->n = ((int32_t) (dda->total_steps * ssq) / dsq) + 1;
}
else if (msb_tot >= msb_ssq) {
// total steps has more precision
if (debug_flags & DEBUG_DDA)
serial_writechar('B');
dda->n = (((int32_t) dda->total_steps / dsq) * (int32_t) ssq) + 1;
}
else {
// otherwise
if (debug_flags & DEBUG_DDA)
serial_writechar('C');
dda->n = (((int32_t) ssq / dsq) * (int32_t) dda->total_steps) + 1;
}
if (debug_flags & DEBUG_DDA) {
sersendf_P(PSTR("\n{DDA:CA end_c:%lu, n:%ld, md:%lu, ssq:%lu, esq:%lu, dsq:%lu, msbssq:%u, msbtot:%u}\n"),
(long unsigned int)dda->end_c >> 8,
(long int)dda->n,
(long unsigned int)move_duration,
(long unsigned int)ssq,
(long unsigned int)esq,
(long unsigned int)dsq,
msb_ssq,
msb_tot);
}
enum power_state power_handle_state(enum power_state state)
{
int value;
static int boot_from_g3;
switch (state) {
case POWER_G3:
boot_from_g3 = check_for_power_on_event();
if (boot_from_g3)
return POWER_G3S5;
break;
case POWER_G3S5:
return POWER_S5;
case POWER_S5:
if (boot_from_g3) {
value = boot_from_g3;
boot_from_g3 = 0;
} else {
value = check_for_power_on_event();
}
if (value) {
CPRINTS("power on %d", value);
return POWER_S5S3;
}
return state;
case POWER_S5S3:
hook_notify(HOOK_CHIPSET_PRE_INIT);
power_on();
disable_sleep(SLEEP_MASK_AP_RUN);
powerled_set_state(POWERLED_STATE_ON);
if (power_wait_signals(IN_POWER_GOOD) == EC_SUCCESS) {
CPRINTS("POWER_GOOD seen");
if (power_button_wait_for_release(
DELAY_SHUTDOWN_ON_POWER_HOLD) ==
EC_SUCCESS) {
power_button_was_pressed = 0;
set_pmic_pwron(0);
/* setup misc gpio for S3/S0 functionality */
gpio_set_flags(GPIO_SUSPEND_L, GPIO_INPUT
| GPIO_INT_BOTH | GPIO_PULL_DOWN);
gpio_set_flags(GPIO_EC_INT_L, GPIO_OUTPUT
| GPIO_OUT_HIGH);
/* Call hooks now that AP is running */
hook_notify(HOOK_CHIPSET_STARTUP);
return POWER_S3;
} else {
CPRINTS("long-press button, shutdown");
power_off();
/*
* Since the AP may be up already, return S0S3
* state to go through the suspend hook.
*/
return POWER_S0S3;
}
} else {
CPRINTS("POWER_GOOD not seen in time");
}
chipset_turn_off_power_rails();
return POWER_S5;
case POWER_S3:
if (!(power_get_signals() & IN_POWER_GOOD))
return POWER_S3S5;
else if (!(power_get_signals() & IN_SUSPEND))
return POWER_S3S0;
return state;
case POWER_S3S0:
powerled_set_state(POWERLED_STATE_ON);
hook_notify(HOOK_CHIPSET_RESUME);
return POWER_S0;
case POWER_S0:
value = check_for_power_off_event();
if (value) {
CPRINTS("power off %d", value);
power_off();
return POWER_S0S3;
} else if (power_get_signals() & IN_SUSPEND)
return POWER_S0S3;
return state;
case POWER_S0S3:
if (lid_is_open())
powerled_set_state(POWERLED_STATE_SUSPEND);
else
powerled_set_state(POWERLED_STATE_OFF);
/* Call hooks here since we don't know it prior to AP suspend */
hook_notify(HOOK_CHIPSET_SUSPEND);
return POWER_S3;
case POWER_S3S5:
power_button_wait_for_release(-1);
power_button_was_pressed = 0;
return POWER_S5;
case POWER_S5G3:
return POWER_G3;
}
return state;
}
/*
* Remove everything currently in `inbuf' and stick it up on the
* in-memory display. There's a big state machine in here to
* process escape sequences...
*/
void term_out(void) {
int c;
int must_update = FALSE;
while ( (c = inbuf_getc()) != -1) {
#ifdef LOG
{
static FILE *fp = NULL;
if (!fp) fp = fopen("putty.log", "wb");
if (fp) fputc (c, fp);
}
#endif
switch (termstate) {
case TOPLEVEL:
do_toplevel:
switch (c) {
case '\005': /* terminal type query */
ldisc->send ("\033[?1;2c", 7);
break;
case '\007':
beep();
disptop = scrtop;
must_update = TRUE;
break;
case '\b':
if (curs_x == 0 && curs_y > 0)
curs_x = cols-1, curs_y--;
else if (wrapnext)
wrapnext = FALSE;
else
curs_x--;
fix_cpos;
disptop = scrtop;
must_update = TRUE;
break;
case '\016':
cset = 1;
break;
case '\017':
cset = 0;
break;
case '\033':
termstate = SEEN_ESC;
break;
case 0233:
termstate = SEEN_CSI;
esc_nargs = 1;
esc_args[0] = ARG_DEFAULT;
esc_query = FALSE;
break;
case 0235:
termstate = SEEN_OSC;
esc_args[0] = 0;
break;
case '\r':
curs_x = 0;
wrapnext = FALSE;
fix_cpos;
disptop = scrtop;
must_update = TRUE;
break;
case '\013':
case '\014':
case '\n':
if (curs_y == marg_b)
scroll (marg_t, marg_b, 1, TRUE);
else if (curs_y < rows-1)
curs_y++;
if (cfg.lfhascr)
curs_x = 0;
fix_cpos;
wrapnext = FALSE;
disptop = scrtop;
nl_count++;
break;
case '\t':
do {
curs_x++;
} while (curs_x < cols-1 && !tabs[curs_x]);
if (curs_x >= cols)
curs_x = cols-1;
{
unsigned long *old_cpos = cpos;
fix_cpos;
check_selection (old_cpos, cpos);
}
disptop = scrtop;
must_update = TRUE;
break;
default:
if (c >= ' ' && c != 0234) {
if (wrapnext) {
cpos[1] = ATTR_WRAPPED;
if (curs_y == marg_b)
scroll (marg_t, marg_b, 1, TRUE);
else if (curs_y < rows-1)
curs_y++;
curs_x = 0;
fix_cpos;
wrapnext = FALSE;
nl_count++;
}
if (insert)
insch (1);
check_selection (cpos, cpos+1);
*cpos++ = xlat_tty2scr((unsigned char)c) | curr_attr |
(c <= 0x7F ? cset_attr[cset] : ATTR_ASCII);
curs_x++;
if (curs_x == cols) {
cpos--;
curs_x--;
wrapnext = wrap;
}
disptop = scrtop;
}
}
break;
case IGNORE_NEXT:
termstate = TOPLEVEL;
break;
case OSC_MAYBE_ST:
/*
* This state is virtually identical to SEEN_ESC, with the
* exception that we have an OSC sequence in the pipeline,
* and _if_ we see a backslash, we process it.
*/
if (c == '\\') {
do_osc();
termstate = TOPLEVEL;
break;
}
/* else fall through */
case SEEN_ESC:
termstate = TOPLEVEL;
switch (c) {
case '\005': case '\007': case '\b': case '\016': case '\017':
case '\033': case 0233: case 0234: case 0235: case '\r':
case '\013': case '\014': case '\n': case '\t':
termstate = TOPLEVEL;
goto do_toplevel; /* hack... */
case ' ': /* some weird sequence? */
termstate = IGNORE_NEXT;
break;
case '[': /* enter CSI mode */
termstate = SEEN_CSI;
esc_nargs = 1;
esc_args[0] = ARG_DEFAULT;
esc_query = FALSE;
break;
case ']': /* xterm escape sequences */
termstate = SEEN_OSC;
esc_args[0] = 0;
break;
case '(': /* should set GL */
termstate = SET_GL;
break;
case ')': /* should set GR */
termstate = SET_GR;
break;
case '7': /* save cursor */
save_cursor (TRUE);
break;
case '8': /* restore cursor */
save_cursor (FALSE);
disptop = scrtop;
must_update = TRUE;
break;
case '=':
app_keypad_keys = TRUE;
break;
case '>':
app_keypad_keys = FALSE;
break;
case 'D': /* exactly equivalent to LF */
if (curs_y == marg_b)
scroll (marg_t, marg_b, 1, TRUE);
else if (curs_y < rows-1)
curs_y++;
fix_cpos;
wrapnext = FALSE;
disptop = scrtop;
nl_count++;
break;
case 'E': /* exactly equivalent to CR-LF */
curs_x = 0;
wrapnext = FALSE;
if (curs_y == marg_b)
scroll (marg_t, marg_b, 1, TRUE);
else if (curs_y < rows-1)
curs_y++;
fix_cpos;
wrapnext = FALSE;
nl_count++;
disptop = scrtop;
break;
case 'M': /* reverse index - backwards LF */
if (curs_y == marg_t)
scroll (marg_t, marg_b, -1, TRUE);
else if (curs_y > 0)
curs_y--;
fix_cpos;
wrapnext = FALSE;
disptop = scrtop;
must_update = TRUE;
break;
case 'Z': /* terminal type query */
ldisc->send ("\033[?6c", 5);
break;
case 'c': /* restore power-on settings */
power_on();
fix_cpos;
disptop = scrtop;
must_update = TRUE;
break;
case '#': /* ESC # 8 fills screen with Es :-) */
termstate = SEEN_ESCHASH;
break;
case 'H': /* set a tab */
tabs[curs_x] = TRUE;
break;
}
break;
case SEEN_CSI:
termstate = TOPLEVEL; /* default */
switch (c) {
case '\005': case '\007': case '\b': case '\016': case '\017':
case '\033': case 0233: case 0234: case 0235: case '\r':
case '\013': case '\014': case '\n': case '\t':
termstate = TOPLEVEL;
goto do_toplevel; /* hack... */
case '0': case '1': case '2': case '3': case '4':
case '5': case '6': case '7': case '8': case '9':
if (esc_nargs <= ARGS_MAX) {
if (esc_args[esc_nargs-1] == ARG_DEFAULT)
esc_args[esc_nargs-1] = 0;
esc_args[esc_nargs-1] =
10 * esc_args[esc_nargs-1] + c - '0';
}
termstate = SEEN_CSI;
break;
case ';':
if (++esc_nargs <= ARGS_MAX)
esc_args[esc_nargs-1] = ARG_DEFAULT;
termstate = SEEN_CSI;
break;
case '?':
esc_query = TRUE;
termstate = SEEN_CSI;
break;
case 'A': /* move up N lines */
move (curs_x, curs_y - def(esc_args[0], 1), 1);
disptop = scrtop;
must_update = TRUE;
break;
case 'B': case 'e': /* move down N lines */
move (curs_x, curs_y + def(esc_args[0], 1), 1);
disptop = scrtop;
must_update = TRUE;
break;
case 'C': case 'a': /* move right N cols */
move (curs_x + def(esc_args[0], 1), curs_y, 1);
disptop = scrtop;
must_update = TRUE;
break;
case 'D': /* move left N cols */
move (curs_x - def(esc_args[0], 1), curs_y, 1);
disptop = scrtop;
must_update = TRUE;
break;
case 'E': /* move down N lines and CR */
move (0, curs_y + def(esc_args[0], 1), 1);
disptop = scrtop;
must_update = TRUE;
break;
case 'F': /* move up N lines and CR */
move (0, curs_y - def(esc_args[0], 1), 1);
disptop = scrtop;
must_update = TRUE;
break;
case 'G': case '`': /* set horizontal posn */
move (def(esc_args[0], 1) - 1, curs_y, 0);
disptop = scrtop;
must_update = TRUE;
break;
case 'd': /* set vertical posn */
move (curs_x, (dec_om ? marg_t : 0) + def(esc_args[0], 1) - 1,
(dec_om ? 2 : 0));
disptop = scrtop;
must_update = TRUE;
break;
case 'H': case 'f': /* set horz and vert posns at once */
if (esc_nargs < 2)
esc_args[1] = ARG_DEFAULT;
move (def(esc_args[1], 1) - 1,
(dec_om ? marg_t : 0) + def(esc_args[0], 1) - 1,
(dec_om ? 2 : 0));
disptop = scrtop;
must_update = TRUE;
break;
case 'J': /* erase screen or parts of it */
{
unsigned int i = def(esc_args[0], 0) + 1;
if (i > 3)
i = 0;
erase_lots(FALSE, !!(i & 2), !!(i & 1));
}
disptop = scrtop;
must_update = TRUE;
break;
case 'K': /* erase line or parts of it */
{
unsigned int i = def(esc_args[0], 0) + 1;
if (i > 3)
i = 0;
erase_lots(TRUE, !!(i & 2), !!(i & 1));
}
disptop = scrtop;
must_update = TRUE;
break;
case 'L': /* insert lines */
if (curs_y <= marg_b)
scroll (curs_y, marg_b, -def(esc_args[0], 1), FALSE);
disptop = scrtop;
must_update = TRUE;
break;
case 'M': /* delete lines */
if (curs_y <= marg_b)
scroll (curs_y, marg_b, def(esc_args[0], 1), FALSE);
disptop = scrtop;
must_update = TRUE;
break;
case '@': /* insert chars */
insch (def(esc_args[0], 1));
disptop = scrtop;
must_update = TRUE;
break;
case 'P': /* delete chars */
insch (-def(esc_args[0], 1));
disptop = scrtop;
must_update = TRUE;
break;
case 'c': /* terminal type query */
ldisc->send ("\033[?6c", 5);
break;
case 'n': /* cursor position query */
if (esc_args[0] == 6) {
char buf[32];
sprintf (buf, "\033[%d;%dR", curs_y + 1, curs_x + 1);
ldisc->send (buf, strlen(buf));
}
break;
case 'h': /* toggle a mode to high */
toggle_mode (esc_args[0], esc_query, TRUE);
break;
case 'l': /* toggle a mode to low */
toggle_mode (esc_args[0], esc_query, FALSE);
break;
case 'g': /* clear tabs */
if (esc_nargs == 1) {
if (esc_args[0] == 0) {
tabs[curs_x] = FALSE;
} else if (esc_args[0] == 3) {
int i;
for (i = 0; i < cols; i++)
tabs[i] = FALSE;
}
}
break;
case 'r': /* set scroll margins */
if (!esc_query && esc_nargs <= 2) {
int top, bot;
top = def(esc_args[0], 1) - 1;
if (top < 0)
top = 0;
bot = (esc_nargs <= 1 || esc_args[1] == 0 ? rows :
def(esc_args[1], rows)) - 1;
if (bot >= rows)
bot = rows-1;
if (top <= bot) {
marg_t = top;
marg_b = bot;
curs_x = 0;
/*
* I used to think the cursor should be
* placed at the top of the newly marginned
* area. Apparently not: VMS TPU falls over
* if so.
*/
curs_y = 0;
fix_cpos;
disptop = scrtop;
must_update = TRUE;
}
}
break;
case 'm': /* set graphics rendition */
{
int i;
for (i=0; i<esc_nargs; i++) {
switch (def(esc_args[i], 0)) {
case 0: /* restore defaults */
curr_attr = ATTR_DEFAULT; break;
case 1: /* enable bold */
curr_attr |= ATTR_BOLD; break;
case 4: /* enable underline */
case 21: /* (enable double underline) */
curr_attr |= ATTR_UNDER; break;
case 7: /* enable reverse video */
curr_attr |= ATTR_REVERSE; break;
case 22: /* disable bold */
curr_attr &= ~ATTR_BOLD; break;
case 24: /* disable underline */
curr_attr &= ~ATTR_UNDER; break;
case 27: /* disable reverse video */
curr_attr &= ~ATTR_REVERSE; break;
case 30: case 31: case 32: case 33:
case 34: case 35: case 36: case 37:
/* foreground */
curr_attr &= ~ATTR_FGMASK;
curr_attr |= (esc_args[i] - 30) << ATTR_FGSHIFT;
break;
case 39: /* default-foreground */
curr_attr &= ~ATTR_FGMASK;
curr_attr |= ATTR_DEFFG;
break;
case 40: case 41: case 42: case 43:
case 44: case 45: case 46: case 47:
/* background */
curr_attr &= ~ATTR_BGMASK;
curr_attr |= (esc_args[i] - 40) << ATTR_BGSHIFT;
break;
case 49: /* default-background */
curr_attr &= ~ATTR_BGMASK;
curr_attr |= ATTR_DEFBG;
break;
}
}
}
break;
case 's': /* save cursor */
save_cursor (TRUE);
break;
case 'u': /* restore cursor */
save_cursor (FALSE);
disptop = scrtop;
must_update = TRUE;
break;
case 't': /* set page size - ie window height */
request_resize (cols, def(esc_args[0], 24));
deselect();
break;
case 'X': /* write N spaces w/o moving cursor */
{
int n = def(esc_args[0], 1);
unsigned long *p = cpos;
if (n > cols - curs_x)
n = cols - curs_x;
check_selection (cpos, cpos+n);
while (n--)
*p++ = ERASE_CHAR;
disptop = scrtop;
must_update = TRUE;
}
break;
case 'x': /* report terminal characteristics */
{
char buf[32];
int i = def(esc_args[0], 0);
if (i == 0 || i == 1) {
strcpy (buf, "\033[2;1;1;112;112;1;0x");
buf[2] += i;
ldisc->send (buf, 20);
}
}
break;
}
break;
case SET_GL:
case SET_GR:
switch (c) {
case 'A':
cset_attr[termstate == SET_GL ? 0 : 1] = ATTR_GBCHR;
break;
case '0':
cset_attr[termstate == SET_GL ? 0 : 1] = ATTR_LINEDRW;
break;
default: /* specifically, 'B' */
cset_attr[termstate == SET_GL ? 0 : 1] = ATTR_ASCII;
break;
}
termstate = TOPLEVEL;
break;
case SEEN_OSC:
osc_w = FALSE;
switch (c) {
case '\005': case '\007': case '\b': case '\016': case '\017':
case '\033': case 0233: case 0234: case 0235: case '\r':
case '\013': case '\014': case '\n': case '\t':
termstate = TOPLEVEL;
goto do_toplevel; /* hack... */
case 'P': /* Linux palette sequence */
termstate = SEEN_OSC_P;
osc_strlen = 0;
break;
case 'R': /* Linux palette reset */
palette_reset();
term_invalidate();
termstate = TOPLEVEL;
break;
case 'W': /* word-set */
termstate = SEEN_OSC_W;
osc_w = TRUE;
break;
case '0': case '1': case '2': case '3': case '4':
case '5': case '6': case '7': case '8': case '9':
esc_args[0] = 10 * esc_args[0] + c - '0';
break;
case 'L':
/*
* Grotty hack to support xterm and DECterm title
* sequences concurrently.
*/
if (esc_args[0] == 2) {
esc_args[0] = 1;
break;
}
/* else fall through */
default:
termstate = OSC_STRING;
osc_strlen = 0;
}
break;
case OSC_STRING:
if (c == 0234 || c == '\007') {
/*
* These characters terminate the string; ST and BEL
* terminate the sequence and trigger instant
* processing of it, whereas ESC goes back to SEEN_ESC
* mode unless it is followed by \, in which case it is
* synonymous with ST in the first place.
*/
do_osc();
termstate = TOPLEVEL;
} else if (c == '\033')
termstate = OSC_MAYBE_ST;
else if (osc_strlen < OSC_STR_MAX)
osc_string[osc_strlen++] = c;
break;
case SEEN_OSC_P:
{
int max = (osc_strlen == 0 ? 21 : 16);
int val;
if (c >= '0' && c <= '9')
val = c - '0';
else if (c >= 'A' && c <= 'A'+max-10)
val = c - 'A' + 10;
else if (c >= 'a' && c <= 'a'+max-10)
val = c - 'a' + 10;
else
termstate = TOPLEVEL;
osc_string[osc_strlen++] = val;
if (osc_strlen >= 7) {
palette_set (osc_string[0],
osc_string[1] * 16 + osc_string[2],
osc_string[3] * 16 + osc_string[4],
osc_string[5] * 16 + osc_string[6]);
term_invalidate();
termstate = TOPLEVEL;
}
}
break;
case SEEN_OSC_W:
switch (c) {
case '\005': case '\007': case '\b': case '\016': case '\017':
case '\033': case 0233: case 0234: case 0235: case '\r':
case '\013': case '\014': case '\n': case '\t':
termstate = TOPLEVEL;
goto do_toplevel; /* hack... */
case '0': case '1': case '2': case '3': case '4':
case '5': case '6': case '7': case '8': case '9':
esc_args[0] = 10 * esc_args[0] + c - '0';
break;
default:
termstate = OSC_STRING;
osc_strlen = 0;
}
break;
case SEEN_ESCHASH:
if (c == '8') {
unsigned long *p = scrtop;
int n = rows * (cols+1);
while (n--)
*p++ = ATTR_DEFAULT | 'E';
disptop = scrtop;
must_update = TRUE;
check_selection (scrtop, scrtop + rows * (cols+1));
}
termstate = TOPLEVEL;
break;
}
check_selection (cpos, cpos+1);
}
if (must_update || nl_count > MAXNL)
term_update();
}
void process_gcode_command() {
uint32_t backup_f;
// convert relative to absolute
if (next_target.option_all_relative) {
next_target.target.X += startpoint.X;
next_target.target.Y += startpoint.Y;
next_target.target.Z += startpoint.Z;
}
// E relative movement.
// Matches Sprinter's behaviour as of March 2012.
if (next_target.option_all_relative || next_target.option_e_relative)
next_target.target.e_relative = 1;
else
next_target.target.e_relative = 0;
// implement axis limits
#ifdef X_MIN
if (next_target.target.X < X_MIN * 1000.)
next_target.target.X = X_MIN * 1000.;
#endif
#ifdef X_MAX
if (next_target.target.X > X_MAX * 1000.)
next_target.target.X = X_MAX * 1000.;
#endif
#ifdef Y_MIN
if (next_target.target.Y < Y_MIN * 1000.)
next_target.target.Y = Y_MIN * 1000.;
#endif
#ifdef Y_MAX
if (next_target.target.Y > Y_MAX * 1000.)
next_target.target.Y = Y_MAX * 1000.;
#endif
#ifdef Z_MIN
if (next_target.target.Z < Z_MIN * 1000.)
next_target.target.Z = Z_MIN * 1000.;
#endif
#ifdef Z_MAX
if (next_target.target.Z > Z_MAX * 1000.)
next_target.target.Z = 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.)
//?
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.
//?
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 30:
//? --- G30: Go home via point ---
//?
//? Undocumented.
enqueue(&next_target.target);
// no break here, G30 is move and then go home
case 28:
//? --- G28: Home ---
//?
//? Example: G28
//?
//? This causes the RepRap machine to move back to its X, Y and Z zero endstops. It does so accelerating, so as to get there fast. But when it arrives it backs off by 1 mm in each direction slowly, then moves back slowly to the stop. This ensures more accurate positioning.
//?
//? If you add coordinates, then just the axes with coordinates specified will be zeroed. Thus
//?
//? G28 X0 Y72.3
//?
//? will zero the X and Y axes, but not Z. The actual 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_MAX_PIN
home_z_positive();
#elif defined Z_MIN_PIN
home_z_negative();
#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.X = next_target.target.X;
axisSelected = 1;
}
if (next_target.seen_Y) {
startpoint.Y = next_target.target.Y;
axisSelected = 1;
}
if (next_target.seen_Z) {
startpoint.Z = next_target.target.Z;
axisSelected = 1;
}
if (next_target.seen_E) {
startpoint.E = next_target.target.E;
axisSelected = 1;
}
if (axisSelected == 0) {
startpoint.X = next_target.target.X =
startpoint.Y = next_target.target.Y =
startpoint.Z = next_target.target.Z =
startpoint.E = next_target.target.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 (next_target.seen_X)
home_x_negative();
if (next_target.seen_Y)
home_y_negative();
if (next_target.seen_Z)
home_z_negative();
break;
case 162:
//? --- G162: Home positive ---
//?
//? Find the maximum limit of the specified axes by searching for the limit switch.
//?
if (next_target.seen_X)
home_x_positive();
if (next_target.seen_Y)
home_y_positive();
if (next_target.seen_Z)
home_z_positive();
break;
// unknown gcode: spit an error
default:
sersendf_P(PSTR("E: Bad G-code %d"), next_target.G);
// newline is sent from gcode_parse after we return
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();
break;
case 112:
//? --- M112: Emergency Stop ---
//?
//? Example: M112
//?
//? Any moves in progress are immediately terminated, then RepRap shuts down. All motors and heaters are turned off.
//? It can be started again by pressing the reset button on the master microcontroller. See also M0.
//?
timer_stop();
queue_flush();
power_off();
cli();
for (;;)
wd_reset();
break;
case 6:
//? --- M6: tool change ---
//?
//? Undocumented.
tool = next_tool;
break;
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.
if (temp_achieved() == 0) {
enqueue(NULL);
}
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, DC_EXTRUDER_PWM);
#elif E_STARTSTOP_STEPS > 0
do {
// backup feedrate, move E very quickly then restore feedrate
backup_f = startpoint.F;
startpoint.F = MAXIMUM_FEEDRATE_E;
SpecialMoveE(E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E);
startpoint.F = backup_f;
} while (0);
#endif
break;
// M102- extruder reverse
// M5/M103- extruder off
case 5:
case 103:
//? --- M103: extruder off ---
//?
//? Undocumented.
#ifdef DC_EXTRUDER
heater_set(DC_EXTRUDER, 0);
#elif E_STARTSTOP_STEPS > 0
do {
// backup feedrate, move E very quickly then restore feedrate
backup_f = startpoint.F;
startpoint.F = MAXIMUM_FEEDRATE_E;
SpecialMoveE(-E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E);
startpoint.F = backup_f;
} while (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;
#ifdef HEATER_EXTRUDER
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
// else use the first available device
#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
#ifdef HEATER_FAN
if ( ! next_target.seen_P)
next_target.P = HEATER_FAN;
// else use the first available device
#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
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"),
current_position.X, current_position.Y,
current_position.Z, current_position.E,
current_position.F);
#ifdef DEBUG
if (DEBUG_POSITION && (debug_flags & DEBUG_POSITION)) {
sersendf_P(PSTR(",c:%lu}\nEndpoint: X:%ld,Y:%ld,Z:%ld,E:%ld,F:%lu,c:%lu}"),
movebuffer[mb_tail].c, movebuffer[mb_tail].endpoint.X,
movebuffer[mb_tail].endpoint.Y, movebuffer[mb_tail].endpoint.Z,
movebuffer[mb_tail].endpoint.E, movebuffer[mb_tail].endpoint.F,
#ifdef ACCELERATION_REPRAP
movebuffer[mb_tail].end_c
#else
movebuffer[mb_tail].c
#endif
);
print_queue();
}
#endif /* DEBUG */
// newline is sent from gcode_parse after we return
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/triffid/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/triffid/Teacup_Firmware/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:%d TEMP_SENSOR_COUNT:%d HEATER_COUNT:%d"), 1, NUM_TEMP_SENSORS, NUM_HEATERS);
// newline is sent from gcode_parse after we return
break;
case 116:
//? --- M116: Wait ---
//?
//? Example: M116
//?
//? Wait for temperatures and other slowly-changing variables to arrive at their set values.
enqueue(NULL);
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)
sersendf_P(PSTR("x_min:%d "), x_min());
#endif
#if defined(X_MAX_PIN)
sersendf_P(PSTR("x_max:%d "), x_max());
#endif
#if defined(Y_MIN_PIN)
sersendf_P(PSTR("y_min:%d "), y_min());
#endif
#if defined(Y_MAX_PIN)
sersendf_P(PSTR("y_max:%d "), y_max());
#endif
#if defined(Z_MIN_PIN)
sersendf_P(PSTR("z_min:%d "), z_min());
#endif
#if defined(Z_MAX_PIN)
sersendf_P(PSTR("z_max:%d "), z_max());
#endif
#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))
sersendf_P(PSTR("no endstops defined"));
#endif
endstops_off();
break;
#ifdef EECONFIG
case 130:
//? --- M130: heater P factor ---
//? Undocumented.
#ifdef HEATER_EXTRUDER
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
// else use the first available device
#endif
if (next_target.seen_S)
pid_set_p(next_target.P, next_target.S);
break;
case 131:
//? --- M131: heater I factor ---
//? Undocumented.
#ifdef HEATER_EXTRUDER
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
#endif
if (next_target.seen_S)
pid_set_i(next_target.P, next_target.S);
break;
case 132:
//? --- M132: heater D factor ---
//? Undocumented.
#ifdef HEATER_EXTRUDER
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
#endif
if (next_target.seen_S)
pid_set_d(next_target.P, next_target.S);
break;
case 133:
//? --- M133: heater I limit ---
//? Undocumented.
#ifdef HEATER_EXTRUDER
if ( ! next_target.seen_P)
next_target.P = HEATER_EXTRUDER;
#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)
next_target.P = HEATER_EXTRUDER;
heater_print(next_target.P);
break;
#endif
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;
#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"));
// newline is sent from gcode_parse after we return
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"));
// newline is sent from gcode_parse after we return
break;
#endif /* DEBUG */
// unknown mcode: spit an error
default:
sersendf_P(PSTR("E: Bad M-code %d"), next_target.M);
// newline is sent from gcode_parse after we return
} // switch (next_target.M)
} // else if (next_target.seen_M)
} // process_gcode_command()
void keyboard_irq(int irq, struct pt_regs *regs)
{
int modifiers;
int key;
modifiers = psiongetchar();
key = (modifiers & 0x00FF);
/* no key pressed */
if (key == 0) {
key_repeat = 0;
last_key = 0;
return;
}
if (key == last_key) {
if (key_repeat < 5) {
key_repeat++;
return;
}
}
last_key = key;
key_repeat = 0;
if (modifiers & PSION) {
if (key == 0x31 && power_state == 1) /* Psion + 1 */
power_off();
if (key == 0x20 && power_state == 0) /* Psion + Space */
power_on();
return;
}
if (power_state == 0)
return; /* prevent key presses when off */
if (modifiers & MENU) {
if (key < 0x40 && key > 0x30) { /* MENU + 1..9 */
#ifdef CONFIG_SIBO_VIRTUAL_CONSOLE
Console_set_vc(key - 0x31);
#else
AddQueue(ESC);
AddQueue(key - 0x31 + 'a');
#endif
return;
}
}
switch (key) {
case 0x18: /* Arrow up */
AddQueue(ESC);
AddQueue('A');
return;
case 0x19: /* Arrow down */
AddQueue(ESC);
AddQueue('B');
return;
case 0x1A: /* Arrow right */
AddQueue(ESC);
AddQueue('C');
return;
case 0x1B: /* Arrow left */
AddQueue(ESC);
AddQueue('D');
return;
default:
AddQueue(key);
return;
}
}
int cyttsp4_init(struct cyttsp4_core_platform_data *pdata,
int on, struct device *dev)
{
int rst_gpio = pdata->rst_gpio;
int irq_gpio = pdata->irq_gpio;
int rc = 0;
if (on) {
rc = power_init(pdata, 1, dev);
if (rc)
dev_err(dev, "%s: power init failed\n", __func__);
rc = power_on(pdata, 1, dev);
if (rc)
dev_err(dev, "%s: power on failed\n", __func__);
rc = cyttsp4_pinctrl_init(pdata, 1, dev);
if (rc)
dev_err(dev, "%s: pinctrl init failed\n", __func__);
rc = cyttsp4_pinctrl_select(pdata, dev, 1);
if (rc)
dev_err(dev, "%s: pinctrl select failed\n", __func__);
rc = gpio_request(rst_gpio, NULL);
if (rc < 0) {
gpio_free(rst_gpio);
rc = gpio_request(rst_gpio, NULL);
}
if (rc < 0) {
dev_err(dev,
"%s: Fail request gpio=%d\n", __func__,
rst_gpio);
} else {
rc = gpio_direction_output(rst_gpio, 1);
if (rc < 0) {
pr_err("%s: Fail set output gpio=%d\n",
__func__, rst_gpio);
gpio_free(rst_gpio);
} else {
rc = gpio_request(irq_gpio, NULL);
if (rc < 0) {
gpio_free(irq_gpio);
rc = gpio_request(irq_gpio,
NULL);
}
if (rc < 0) {
dev_err(dev,
"%s: Fail request gpio=%d\n",
__func__, irq_gpio);
gpio_free(rst_gpio);
} else {
gpio_direction_input(irq_gpio);
}
}
}
} else {
rc = cyttsp4_pinctrl_select(pdata, dev, 0);
if(rc)
dev_err(dev, "%s: pinctrl select failed\n", __func__);
rc = cyttsp4_pinctrl_init(pdata, 0, dev);
if (rc)
dev_err(dev, "%s: pinctrl init failed\n", __func__);
rc = power_on(pdata, 0, dev);
if (rc)
dev_err(dev, "%s: power on failed\n", __func__);
rc = power_init(pdata, 0, dev);
if (rc)
dev_err(dev, "%s: power init failed\n", __func__);
gpio_free(rst_gpio);
gpio_free(irq_gpio);
}
dev_info(dev,
"%s: INIT CYTTSP RST gpio=%d and IRQ gpio=%d r=%d\n",
__func__, rst_gpio, irq_gpio, rc);
return rc;
}
DSTATUS disk_initialize(void)
{
u8 n, cmd, ty, ocr[4], rep, timeout;
u16 tmr;
power_on(); /* Force socket power on */
for (n = 10; n; n--) xmit_spi(0xFF); /* Dummy clocks */
ty = 0;
timeout=100;
// Trying to enter Idle state
do {
DESELECT();
xmit_spi(0xFF);
SELECT();
rep = send_cmd(CMD0,0);
} while ((rep != 1) && (--timeout));
if(timeout == 0)
{
DESELECT();
xmit_spi(0xFF);
SELECT();
rep = send_cmd(CMD12,0);
rep = send_cmd(CMD0,0);
if (rep != 1)
{
return STA_NOINIT;
}
}
rep = send_cmd(CMD8, 0x1AA);
// SDHC
if ( rep == 1)
{
for (n = 0; n < 4; n++) ocr[n] = rcvr_spi(); /* Get trailing return value of R7 resp */
if (ocr[2] == 0x01 && ocr[3] == 0xAA) { /* The card can work at vdd range of 2.7-3.6V */
for (tmr = 25000; tmr && send_cmd(ACMD41, 1UL << 30); tmr--) ; /* Wait for leaving idle state (ACMD41 with HCS bit) */
if (tmr && send_cmd(CMD58, 0) == 0) { /* Check CCS bit in the OCR */
for (n = 0; n < 4; n++) ocr[n] = rcvr_spi();
ty = (ocr[0] & 0x40) ? CT_SD2 | CT_BLOCK : CT_SD2; /* SDv2 */
}
}
}
// SDSC or MMC
else
{
if (send_cmd(ACMD41, 0) <= 1) {
ty = CT_SD1; cmd = ACMD41; /* SDv1 */
} else {
ty = CT_MMC; cmd = CMD1; /* MMCv3 */
}
for (tmr = 25000; tmr && send_cmd(cmd, 0); tmr--) ; /* Wait for leaving idle state */
if (!tmr || send_cmd(CMD16, 512) != 0) /* Set R/W block length to 512 */
ty = 0;
}
CardType = ty;
release_spi();
// Initialization succeded
if (ty)
{
FCLK_FAST();
return RES_OK;
}
// Initialization failed
else
{
power_off();
return STA_NOINIT;
}
}
