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Merge branch 'Development' into marlin_configurator 

Latest upstream changes
pull/1/head
Scott Lahteine 10 years ago
parent
352aa3f4c5 bb4cb1b15a
commit
4b50205f11
24 changed files with 805 additions and 947 deletions
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  1. 9
      Marlin/Configuration.h
  2. 7
      Marlin/Marlin.h
  3. 4
      Marlin/Marlin.ino
  4. 4
      Marlin/Marlin.pde
  5. 2
      Marlin/MarlinSerial.cpp
  6. 4
      Marlin/MarlinSerial.h
  7. 66
      Marlin/Marlin_main.cpp
  8. 18
      Marlin/Sd2Card.cpp
  9. 8
      Marlin/Sd2PinMap.h
  10. 4
      Marlin/SdBaseFile.h
  11. 2
      Marlin/SdVolume.cpp
  12. 6
      Marlin/dogm_lcd_implementation.h
  13. 3
      Marlin/fastio.h
  14. 2
      Marlin/pins.h
  15. 5
      Marlin/pins_RAMPS_13.h
  16. 22
      Marlin/planner.cpp
  17. 1262
      Marlin/stepper.cpp
  18. 10
      Marlin/stepper.h
  19. 224
      Marlin/temperature.cpp
  20. 4
      Marlin/ultralcd.cpp
  21. 38
      Marlin/ultralcd.h
  22. 34
      Marlin/ultralcd_implementation_hitachi_HD44780.h
  23. 6
      Marlin/ultralcd_st7920_u8glib_rrd.h
  24. 8
      Marlin/vector_3.cpp

9
Marlin/Configuration.h
View File

@ -362,6 +362,15 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS) #define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS) #define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
//===========================================================================
//============================= Filament Runout Sensor ======================
//===========================================================================
//#define FILAMENT_RUNOUT_SENSOR // Uncomment for defining a filament runout sensor such as a mechanical or opto endstop to check the existence of filament
// In RAMPS uses servo pin 2. Can be changed in pins file. For other boards pin definition should be made.
// It is assumed that when logic high = filament available
// when logic low = filament ran out
//const bool FIL_RUNOUT_INVERTING = true; // Should be uncommented and true or false should assigned
//#define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined.
//=========================================================================== //===========================================================================
//============================= Bed Auto Leveling =========================== //============================= Bed Auto Leveling ===========================

7
Marlin/Marlin.h
View File

@ -32,6 +32,9 @@
#include "WProgram.h" #include "WProgram.h"
#endif #endif
#define BIT(b) (1<<(b))
#define TEST(n,b) ((n)&BIT(b)!=0)
// Arduino < 1.0.0 does not define this, so we need to do it ourselves // Arduino < 1.0.0 does not define this, so we need to do it ourselves
#ifndef analogInputToDigitalPin #ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) ((p) + 0xA0) #define analogInputToDigitalPin(p) ((p) + 0xA0)
@ -199,6 +202,10 @@ void prepare_move();
void kill(); void kill();
void Stop(); void Stop();
#ifdef FILAMENT_RUNOUT_SENSOR
void filrunout();
#endif
bool IsStopped(); bool IsStopped();
bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full

4
Marlin/Marlin.ino
View File

@ -47,8 +47,8 @@
#endif #endif
#endif #endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 #if HAS_DIGIPOTSS
#include <SPI.h> #include <SPI.h>
#endif #endif
#if defined(DIGIPOT_I2C) #if defined(DIGIPOT_I2C)

4
Marlin/Marlin.pde
View File

@ -47,8 +47,8 @@
#endif #endif
#endif #endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 #if HAS_DIGIPOTSS
#include <SPI.h> #include <SPI.h>
#endif #endif
#if defined(DIGIPOT_I2C) #if defined(DIGIPOT_I2C)

2
Marlin/MarlinSerial.cpp
View File

@ -76,7 +76,7 @@ void MarlinSerial::begin(long baud) {
#endif #endif
if (useU2X) { if (useU2X) {
M_UCSRxA = 1 << M_U2Xx; M_UCSRxA = BIT(M_U2Xx);
baud_setting = (F_CPU / 4 / baud - 1) / 2; baud_setting = (F_CPU / 4 / baud - 1) / 2;
} else { } else {
M_UCSRxA = 0; M_UCSRxA = 0;

4
Marlin/MarlinSerial.h
View File

@ -97,14 +97,14 @@ class MarlinSerial { //: public Stream
} }
FORCE_INLINE void write(uint8_t c) { FORCE_INLINE void write(uint8_t c) {
while (!((M_UCSRxA) & (1 << M_UDREx))) while (!TEST(M_UCSRxA, M_UDREx))
; ;
M_UDRx = c; M_UDRx = c;
} }
FORCE_INLINE void checkRx(void) { FORCE_INLINE void checkRx(void) {
if ((M_UCSRxA & (1<<M_RXCx)) != 0) { if (TEST(M_UCSRxA, M_RXCx)) {
unsigned char c = M_UDRx; unsigned char c = M_UDRx;
int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE; int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;

66
Marlin/Marlin_main.cpp
View File

@ -62,7 +62,7 @@
#include "Servo.h" #include "Servo.h"
#endif #endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 #if HAS_DIGIPOTSS
#include <SPI.h> #include <SPI.h>
#endif #endif
@ -370,6 +370,10 @@ bool cancel_heatup = false;
int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
#endif #endif
#ifdef FILAMENT_RUNOUT_SENSOR
static bool filrunoutEnqued = false;
#endif
const char errormagic[] PROGMEM = "Error:"; const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:"; const char echomagic[] PROGMEM = "echo:";
@ -529,6 +533,16 @@ void setup_killpin()
#endif #endif
} }
void setup_filrunoutpin()
{
#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
pinMode(FILRUNOUT_PIN,INPUT);
#if defined(ENDSTOPPULLUP_FIL_RUNOUT)
WRITE(FILLRUNOUT_PIN,HIGH);
#endif
#endif
}
// Set home pin // Set home pin
void setup_homepin(void) void setup_homepin(void)
{ {
@ -605,6 +619,7 @@ void servo_init()
void setup() void setup()
{ {
setup_killpin(); setup_killpin();
setup_filrunoutpin();
setup_powerhold(); setup_powerhold();
MYSERIAL.begin(BAUDRATE); MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start"); SERIAL_PROTOCOLLNPGM("start");
@ -2015,14 +2030,15 @@ inline void gcode_G28() {
if (verbose_level) { if (verbose_level) {
SERIAL_PROTOCOLPGM("Eqn coefficients: a: "); SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0] + 0.0001); SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
SERIAL_PROTOCOLPGM(" b: "); SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL(plane_equation_coefficients[1] + 0.0001); SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
SERIAL_PROTOCOLPGM(" d: "); SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOLLN(plane_equation_coefficients[2] + 0.0001); SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
SERIAL_EOL;
if (verbose_level > 2) { if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mean of sampled points: "); SERIAL_PROTOCOLPGM("Mean of sampled points: ");
SERIAL_PROTOCOL_F(mean, 6); SERIAL_PROTOCOL_F(mean, 8);
SERIAL_EOL; SERIAL_EOL;
} }
} }
@ -2033,15 +2049,20 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n"); SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
#if TOPO_ORIGIN == OriginFrontLeft #if TOPO_ORIGIN == OriginFrontLeft
SERIAL_PROTOCOLPGM("+-----------+\n");
SERIAL_PROTOCOLPGM("|...Back....|\n");
SERIAL_PROTOCOLPGM("|Left..Right|\n");
SERIAL_PROTOCOLPGM("|...Front...|\n");
SERIAL_PROTOCOLPGM("+-----------+\n");
for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--) for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--)
#else #else
for (yy = 0; yy < auto_bed_leveling_grid_points; yy++) for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
#endif #endif
{ {
#if TOPO_ORIGIN == OriginBackRight #if TOPO_ORIGIN == OriginBackRight
for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
#else
for (xx = 0; xx < auto_bed_leveling_grid_points; xx++) for (xx = 0; xx < auto_bed_leveling_grid_points; xx++)
#else
for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
#endif #endif
{ {
int ind = int ind =
@ -4130,6 +4151,11 @@ inline void gcode_M503() {
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#endif #endif
#ifdef FILAMENT_RUNOUT_SENSOR
filrunoutEnqued = false;
#endif
} }
#endif // FILAMENTCHANGEENABLE #endif // FILAMENTCHANGEENABLE
@ -4184,7 +4210,7 @@ inline void gcode_M503() {
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S * M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
*/ */
inline void gcode_M907() { inline void gcode_M907() {
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 #if HAS_DIGIPOTSS
for (int i=0;i<NUM_AXIS;i++) for (int i=0;i<NUM_AXIS;i++)
if (code_seen(axis_codes[i])) digipot_current(i, code_value()); if (code_seen(axis_codes[i])) digipot_current(i, code_value());
if (code_seen('B')) digipot_current(4, code_value()); if (code_seen('B')) digipot_current(4, code_value());
@ -4207,7 +4233,7 @@ inline void gcode_M907() {
#endif #endif
} }
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 #if HAS_DIGIPOTSS
/** /**
* M908: Control digital trimpot directly (M908 P<pin> S<current>) * M908: Control digital trimpot directly (M908 P<pin> S<current>)
@ -4219,7 +4245,7 @@ inline void gcode_M907() {
); );
} }
#endif // DIGIPOTSS_PIN #endif // HAS_DIGIPOTSS
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350() { inline void gcode_M350() {
@ -4806,11 +4832,11 @@ void process_commands() {
gcode_M907(); gcode_M907();
break; break;
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1 #if HAS_DIGIPOTSS
case 908: // M908 Control digital trimpot directly. case 908: // M908 Control digital trimpot directly.
gcode_M908(); gcode_M908();
break; break;
#endif // DIGIPOTSS_PIN #endif // HAS_DIGIPOTSS
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers. case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
gcode_M350(); gcode_M350();
@ -5269,6 +5295,12 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
const int KILL_DELAY = 10000; const int KILL_DELAY = 10000;
#endif #endif
#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
if(card.sdprinting) {
if(!(READ(FILRUNOUT_PIN))^FIL_RUNOUT_INVERTING)
filrunout(); }
#endif
#if defined(HOME_PIN) && HOME_PIN > -1 #if defined(HOME_PIN) && HOME_PIN > -1
static int homeDebounceCount = 0; // poor man's debouncing count static int homeDebounceCount = 0; // poor man's debouncing count
const int HOME_DEBOUNCE_DELAY = 10000; const int HOME_DEBOUNCE_DELAY = 10000;
@ -5417,6 +5449,16 @@ void kill()
while(1) { /* Intentionally left empty */ } // Wait for reset while(1) { /* Intentionally left empty */ } // Wait for reset
} }
#ifdef FILAMENT_RUNOUT_SENSOR
void filrunout()
{
if filrunoutEnqued == false {
filrunoutEnqued = true;
enquecommand("M600");
}
}
#endif
void Stop() void Stop()
{ {
disable_heater(); disable_heater();

18
Marlin/Sd2Card.cpp
View File

@ -35,14 +35,14 @@
*/ */
static void spiInit(uint8_t spiRate) { static void spiInit(uint8_t spiRate) {
// See avr processor documentation // See avr processor documentation
SPCR = (1 << SPE) | (1 << MSTR) | (spiRate >> 1); SPCR = BIT(SPE) | BIT(MSTR) | (spiRate >> 1);
SPSR = spiRate & 1 || spiRate == 6 ? 0 : 1 << SPI2X; SPSR = spiRate & 1 || spiRate == 6 ? 0 : BIT(SPI2X);
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** SPI receive a byte */ /** SPI receive a byte */
static uint8_t spiRec() { static uint8_t spiRec() {
SPDR = 0XFF; SPDR = 0XFF;
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
return SPDR; return SPDR;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
@ -52,18 +52,18 @@ void spiRead(uint8_t* buf, uint16_t nbyte) {
if (nbyte-- == 0) return; if (nbyte-- == 0) return;
SPDR = 0XFF; SPDR = 0XFF;
for (uint16_t i = 0; i < nbyte; i++) { for (uint16_t i = 0; i < nbyte; i++) {
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
buf[i] = SPDR; buf[i] = SPDR;
SPDR = 0XFF; SPDR = 0XFF;
} }
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
buf[nbyte] = SPDR; buf[nbyte] = SPDR;
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** SPI send a byte */ /** SPI send a byte */
static void spiSend(uint8_t b) { static void spiSend(uint8_t b) {
SPDR = b; SPDR = b;
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** SPI send block - only one call so force inline */ /** SPI send block - only one call so force inline */
@ -71,12 +71,12 @@ static inline __attribute__((always_inline))
void spiSendBlock(uint8_t token, const uint8_t* buf) { void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPDR = token; SPDR = token;
for (uint16_t i = 0; i < 512; i += 2) { for (uint16_t i = 0; i < 512; i += 2) {
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
SPDR = buf[i]; SPDR = buf[i];
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
SPDR = buf[i + 1]; SPDR = buf[i + 1];
} }
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ } while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
} }
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
#else // SOFTWARE_SPI #else // SOFTWARE_SPI

8
Marlin/Sd2PinMap.h
View File

@ -334,9 +334,9 @@ static inline __attribute__((always_inline))
void setPinMode(uint8_t pin, uint8_t mode) { void setPinMode(uint8_t pin, uint8_t mode) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) { if (__builtin_constant_p(pin) && pin < digitalPinCount) {
if (mode) { if (mode) {
*digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit; *digitalPinMap[pin].ddr |= BIT(digitalPinMap[pin].bit);
} else { } else {
*digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit); *digitalPinMap[pin].ddr &= ~BIT(digitalPinMap[pin].bit);
} }
} else { } else {
badPinNumber(); badPinNumber();
@ -354,9 +354,9 @@ static inline __attribute__((always_inline))
void fastDigitalWrite(uint8_t pin, uint8_t value) { void fastDigitalWrite(uint8_t pin, uint8_t value) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) { if (__builtin_constant_p(pin) && pin < digitalPinCount) {
if (value) { if (value) {
*digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit; *digitalPinMap[pin].port |= BIT(digitalPinMap[pin].bit);
} else { } else {
*digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit); *digitalPinMap[pin].port &= ~BIT(digitalPinMap[pin].bit);
} }
} else { } else {
badPinNumber(); badPinNumber();

4
Marlin/SdBaseFile.h
View File

@ -171,9 +171,9 @@ static inline uint8_t FAT_SECOND(uint16_t fatTime) {
return 2*(fatTime & 0X1F); return 2*(fatTime & 0X1F);
} }
/** Default date for file timestamps is 1 Jan 2000 */ /** Default date for file timestamps is 1 Jan 2000 */
uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1; uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | BIT(5) | 1;
/** Default time for file timestamp is 1 am */ /** Default time for file timestamp is 1 am */
uint16_t const FAT_DEFAULT_TIME = (1 << 11); uint16_t const FAT_DEFAULT_TIME = BIT(11);
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
/** /**
* \class SdBaseFile * \class SdBaseFile

2
Marlin/SdVolume.cpp
View File

@ -360,7 +360,7 @@ bool SdVolume::init(Sd2Card* dev, uint8_t part) {
blocksPerCluster_ = fbs->sectorsPerCluster; blocksPerCluster_ = fbs->sectorsPerCluster;
// determine shift that is same as multiply by blocksPerCluster_ // determine shift that is same as multiply by blocksPerCluster_
clusterSizeShift_ = 0; clusterSizeShift_ = 0;
while (blocksPerCluster_ != (1 << clusterSizeShift_)) { while (blocksPerCluster_ != BIT(clusterSizeShift_)) {
// error if not power of 2 // error if not power of 2
if (clusterSizeShift_++ > 7) goto fail; if (clusterSizeShift_++ > 7) goto fail;
} }

6
Marlin/dogm_lcd_implementation.h
View File

@ -24,9 +24,9 @@
#define BLEN_A 0 #define BLEN_A 0
#define BLEN_B 1 #define BLEN_B 1
#define BLEN_C 2 #define BLEN_C 2
#define EN_A (1<<BLEN_A) #define EN_A BIT(BLEN_A)
#define EN_B (1<<BLEN_B) #define EN_B BIT(BLEN_B)
#define EN_C (1<<BLEN_C) #define EN_C BIT(BLEN_C)
#define LCD_CLICKED (buttons&EN_C) #define LCD_CLICKED (buttons&EN_C)
#endif #endif

3
Marlin/fastio.h
View File

@ -13,8 +13,7 @@
*/ */
#ifndef MASK #ifndef MASK
/// MASKING- returns \f$2^PIN\f$ #define MASK(PIN) (1 << PIN)
#define MASK(PIN) (1 << PIN)
#endif #endif
/* /*

2
Marlin/pins.h
View File

@ -184,4 +184,6 @@
analogInputToDigitalPin(TEMP_BED_PIN) \ analogInputToDigitalPin(TEMP_BED_PIN) \
} }
#define HAS_DIGIPOTSS (DIGIPOTSS_PIN >= 0)
#endif //__PINS_H #endif //__PINS_H

5
Marlin/pins_RAMPS_13.h
View File

@ -61,6 +61,11 @@
#define FILWIDTH_PIN 5 #define FILWIDTH_PIN 5
#endif #endif
#if defined(FILAMENT_RUNOUT_SENSOR)
// define digital pin 4 for the filament runout sensor. Use the RAMPS 1.4 digital input 4 on the servos connector
#define FILRUNOUT_PIN 4
#endif
#if MB(RAMPS_13_EFB) || MB(RAMPS_13_EFF) #if MB(RAMPS_13_EFB) || MB(RAMPS_13_EFF)
#define FAN_PIN 9 // (Sprinter config) #define FAN_PIN 9 // (Sprinter config)
#if MB(RAMPS_13_EFF) #if MB(RAMPS_13_EFF)

22
Marlin/planner.cpp
View File

@ -59,7 +59,7 @@
#include "language.h" #include "language.h"
//=========================================================================== //===========================================================================
//=============================public variables ============================ //============================= public variables ============================
//=========================================================================== //===========================================================================
unsigned long minsegmenttime; unsigned long minsegmenttime;
@ -623,37 +623,37 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
#ifndef COREXY #ifndef COREXY
if (target[X_AXIS] < position[X_AXIS]) if (target[X_AXIS] < position[X_AXIS])
{ {
block->direction_bits |= (1<<X_AXIS); block->direction_bits |= BIT(X_AXIS);
} }
if (target[Y_AXIS] < position[Y_AXIS]) if (target[Y_AXIS] < position[Y_AXIS])
{ {
block->direction_bits |= (1<<Y_AXIS); block->direction_bits |= BIT(Y_AXIS);
} }
#else #else
if (target[X_AXIS] < position[X_AXIS]) if (target[X_AXIS] < position[X_AXIS])
{ {
block->direction_bits |= (1<<X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis block->direction_bits |= BIT(X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
} }
if (target[Y_AXIS] < position[Y_AXIS]) if (target[Y_AXIS] < position[Y_AXIS])
{ {
block->direction_bits |= (1<<Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis block->direction_bits |= BIT(Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
} }
if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0) if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
{ {
block->direction_bits |= (1<<X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS) block->direction_bits |= BIT(X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
} }
if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0) if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
{ {
block->direction_bits |= (1<<Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS) block->direction_bits |= BIT(Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
} }
#endif #endif
if (target[Z_AXIS] < position[Z_AXIS]) if (target[Z_AXIS] < position[Z_AXIS])
{ {
block->direction_bits |= (1<<Z_AXIS); block->direction_bits |= BIT(Z_AXIS);
} }
if (target[E_AXIS] < position[E_AXIS]) if (target[E_AXIS] < position[E_AXIS])
{ {
block->direction_bits |= (1<<E_AXIS); block->direction_bits |= BIT(E_AXIS);
} }
block->active_extruder = extruder; block->active_extruder = extruder;
@ -864,7 +864,7 @@ Having the real displacement of the head, we can calculate the total movement le
old_direction_bits = block->direction_bits; old_direction_bits = block->direction_bits;
segment_time = lround((float)segment_time / speed_factor); segment_time = lround((float)segment_time / speed_factor);
if((direction_change & (1<<X_AXIS)) == 0) if((direction_change & BIT(X_AXIS)) == 0)
{ {
x_segment_time[0] += segment_time; x_segment_time[0] += segment_time;
} }
@ -874,7 +874,7 @@ Having the real displacement of the head, we can calculate the total movement le
x_segment_time[1] = x_segment_time[0]; x_segment_time[1] = x_segment_time[0];
x_segment_time[0] = segment_time; x_segment_time[0] = segment_time;
} }
if((direction_change & (1<<Y_AXIS)) == 0) if((direction_change & BIT(Y_AXIS)) == 0)
{ {
y_segment_time[0] += segment_time; y_segment_time[0] += segment_time;
} }

1262
Marlin/stepper.cpp
View File

File diff suppressed because it is too large

10
Marlin/stepper.h
View File

@ -25,26 +25,26 @@
#include "stepper_indirection.h" #include "stepper_indirection.h"
#if EXTRUDERS > 3 #if EXTRUDERS > 3
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}} #define E_STEP_WRITE(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
#define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}} #define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
#define REV_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE(INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}} #define REV_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE(INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}}
#elif EXTRUDERS > 2 #elif EXTRUDERS > 2
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}} #define E_STEP_WRITE(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
#define NORM_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}} #define NORM_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}
#define REV_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}} #define REV_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}
#elif EXTRUDERS > 1 #elif EXTRUDERS > 1
#ifndef DUAL_X_CARRIAGE #ifndef DUAL_X_CARRIAGE
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }} #define E_STEP_WRITE(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define NORM_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }} #define NORM_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
#define REV_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }} #define REV_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
#else #else
extern bool extruder_duplication_enabled; extern bool extruder_duplication_enabled;
#define WRITE_E_STEP(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }} #define E_STEP_WRITE(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define NORM_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }} #define NORM_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
#define REV_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(INVERT_E0_DIR); E1_DIR_WRITE(INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }} #define REV_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(INVERT_E0_DIR); E1_DIR_WRITE(INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
#endif #endif
#else #else
#define WRITE_E_STEP(v) E0_STEP_WRITE(v) #define E_STEP_WRITE(v) E0_STEP_WRITE(v)
#define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR) #define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR) #define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR)
#endif #endif

224
Marlin/temperature.cpp
View File

@ -75,6 +75,10 @@
//============================= public variables ============================ //============================= public variables ============================
//=========================================================================== //===========================================================================
#ifdef K1 // Defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
#endif
// Sampling period of the temperature routine // Sampling period of the temperature routine
#ifdef PID_dT #ifdef PID_dT
#undef PID_dT #undef PID_dT
@ -127,8 +131,6 @@ static volatile bool temp_meas_ready = false;
static float pid_error[EXTRUDERS]; static float pid_error[EXTRUDERS];
static float temp_iState_min[EXTRUDERS]; static float temp_iState_min[EXTRUDERS];
static float temp_iState_max[EXTRUDERS]; static float temp_iState_max[EXTRUDERS];
// static float pid_input[EXTRUDERS];
// static float pid_output[EXTRUDERS];
static bool pid_reset[EXTRUDERS]; static bool pid_reset[EXTRUDERS];
#endif //PIDTEMP #endif //PIDTEMP
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
@ -546,12 +548,102 @@ void bed_max_temp_error(void) {
_temp_error(-1, MSG_MAXTEMP_BED_OFF, MSG_ERR_MAXTEMP_BED); _temp_error(-1, MSG_MAXTEMP_BED_OFF, MSG_ERR_MAXTEMP_BED);
} }
float get_pid_output(int e) {
float pid_output;
#ifdef PIDTEMP
#ifndef PID_OPENLOOP
pid_error[e] = target_temperature[e] - current_temperature[e];
if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX;
pid_reset[e] = true;
}
else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
pid_output = 0;
pid_reset[e] = true;
}
else {
if (pid_reset[e]) {
temp_iState[e] = 0.0;
pid_reset[e] = false;
}
pTerm[e] = PID_PARAM(Kp,e) * pid_error[e];
temp_iState[e] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
dTerm[e] = K2 * PID_PARAM(Kd,e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e];
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
if (pid_output > PID_MAX) {
if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
pid_output = PID_MAX;
}
else if (pid_output < 0) {
if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
pid_output = 0;
}
}
temp_dState[e] = current_temperature[e];
#else
pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP
#ifdef PID_DEBUG
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_PID_DEBUG);
SERIAL_ECHO(e);
SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
SERIAL_ECHO(current_temperature[e]);
SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
SERIAL_ECHO(pid_output);
SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
SERIAL_ECHO(pTerm[e]);
SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
SERIAL_ECHO(iTerm[e]);
SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
SERIAL_ECHOLN(dTerm[e]);
#endif //PID_DEBUG
#else /* PID off */
pid_output = (current_temperature[e] < target_temperature[e]) ? PID_MAX : 0;
#endif
return pid_output;
}
#ifdef PIDTEMPBED
float get_pid_output_bed() {
float pid_output;
#ifndef PID_OPENLOOP
pid_error_bed = target_temperature_bed - current_temperature_bed;
pTerm_bed = bedKp * pid_error_bed;
temp_iState_bed += pid_error_bed;
temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
iTerm_bed = bedKi * temp_iState_bed;
dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed;
temp_dState_bed = current_temperature_bed;
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
if (pid_output > MAX_BED_POWER) {
if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = MAX_BED_POWER;
}
else if (pid_output < 0) {
if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = 0;
}
#else
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
#endif // PID_OPENLOOP
return pid_output;
}
#endif
void manage_heater() { void manage_heater() {
if (!temp_meas_ready) return; if (!temp_meas_ready) return;
float pid_input, pid_output;
updateTemperaturesFromRawValues(); updateTemperaturesFromRawValues();
#ifdef HEATER_0_USES_MAX6675 #ifdef HEATER_0_USES_MAX6675
@ -569,69 +661,7 @@ void manage_heater() {
thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS); thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS);
#endif #endif
#ifdef PIDTEMP float pid_output = get_pid_output(e);
pid_input = current_temperature[e];
#ifndef PID_OPENLOOP
pid_error[e] = target_temperature[e] - pid_input;
if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX;
pid_reset[e] = true;
}
else if (pid_error[e] < -PID_FUNCTIONAL_RANGE || target_temperature[e] == 0) {
pid_output = 0;
pid_reset[e] = true;
}
else {
if (pid_reset[e] == true) {
temp_iState[e] = 0.0;
pid_reset[e] = false;
}
pTerm[e] = PID_PARAM(Kp,e) * pid_error[e];
temp_iState[e] += pid_error[e];
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e])) * K2 + (K1 * dTerm[e]);
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
if (pid_output > PID_MAX) {
if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
pid_output = PID_MAX;
}
else if (pid_output < 0) {
if (pid_error[e] < 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
pid_output = 0;
}
}
temp_dState[e] = pid_input;
#else
pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP
#ifdef PID_DEBUG
SERIAL_ECHO_START;
SERIAL_ECHO(MSG_PID_DEBUG);
SERIAL_ECHO(e);
SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
SERIAL_ECHO(pid_input);
SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
SERIAL_ECHO(pid_output);
SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
SERIAL_ECHO(pTerm[e]);
SERIAL_ECHO(MSG_PID_DEBUG_ITERM);
SERIAL_ECHO(iTerm[e]);
SERIAL_ECHO(MSG_PID_DEBUG_DTERM);
SERIAL_ECHOLN(dTerm[e]);
#endif //PID_DEBUG
#else /* PID off */
pid_output = 0;
if (current_temperature[e] < target_temperature[e]) pid_output = PID_MAX;
#endif
// Check if temperature is within the correct range // Check if temperature is within the correct range
soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0; soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0;
@ -678,33 +708,7 @@ void manage_heater() {
#endif #endif
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
pid_input = current_temperature_bed; float pid_output = get_pid_output_bed();
#ifndef PID_OPENLOOP
pid_error_bed = target_temperature_bed - pid_input;
pTerm_bed = bedKp * pid_error_bed;
temp_iState_bed += pid_error_bed;
temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
iTerm_bed = bedKi * temp_iState_bed;
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm_bed = (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
temp_dState_bed = pid_input;
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
if (pid_output > MAX_BED_POWER) {
if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = MAX_BED_POWER;
}
else if (pid_output < 0) {
if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = 0;
}
#else
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
#endif //PID_OPENLOOP
soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0; soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0;
@ -878,8 +882,8 @@ void tp_init()
{ {
#if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1)) #if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
//disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector //disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
MCUCR=(1<<JTD); MCUCR=BIT(JTD);
MCUCR=(1<<JTD); MCUCR=BIT(JTD);
#endif #endif
// Finish init of mult extruder arrays // Finish init of mult extruder arrays
@ -937,13 +941,13 @@ void tp_init()
#endif //HEATER_0_USES_MAX6675 #endif //HEATER_0_USES_MAX6675
#ifdef DIDR2 #ifdef DIDR2
#define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= 1 << pin; else DIDR2 |= 1 << (pin - 8); }while(0) #define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= BIT(pin); else DIDR2 |= BIT(pin - 8); }while(0)
#else #else
#define ANALOG_SELECT(pin) do{ DIDR0 |= 1 << pin; }while(0) #define ANALOG_SELECT(pin) do{ DIDR0 |= BIT(pin); }while(0)
#endif #endif
// Set analog inputs // Set analog inputs
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07; ADCSRA = BIT(ADEN) | BIT(ADSC) | BIT(ADIF) | 0x07;
DIDR0 = 0; DIDR0 = 0;
#ifdef DIDR2 #ifdef DIDR2
DIDR2 = 0; DIDR2 = 0;
@ -970,7 +974,7 @@ void tp_init()
// Use timer0 for temperature measurement // Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt // Interleave temperature interrupt with millies interrupt
OCR0B = 128; OCR0B = 128;
TIMSK0 |= (1<<OCIE0B); TIMSK0 |= BIT(OCIE0B);
// Wait for temperature measurement to settle // Wait for temperature measurement to settle
delay(250); delay(250);
@ -1174,12 +1178,12 @@ void disable_heater() {
max6675_temp = 0; max6675_temp = 0;
#ifdef PRR #ifdef PRR
PRR &= ~(1<<PRSPI); PRR &= ~BIT(PRSPI);
#elif defined(PRR0) #elif defined(PRR0)
PRR0 &= ~(1<<PRSPI); PRR0 &= ~BIT(PRSPI);
#endif #endif
SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0); SPCR = BIT(MSTR) | BIT(SPE) | BIT(SPR0);
// enable TT_MAX6675 // enable TT_MAX6675
WRITE(MAX6675_SS, 0); WRITE(MAX6675_SS, 0);
@ -1190,13 +1194,13 @@ void disable_heater() {
// read MSB // read MSB
SPDR = 0; SPDR = 0;
for (;(SPSR & (1<<SPIF)) == 0;); for (;(SPSR & BIT(SPIF)) == 0;);
max6675_temp = SPDR; max6675_temp = SPDR;
max6675_temp <<= 8; max6675_temp <<= 8;
// read LSB // read LSB
SPDR = 0; SPDR = 0;
for (;(SPSR & (1<<SPIF)) == 0;); for (;(SPSR & BIT(SPIF)) == 0;);
max6675_temp |= SPDR; max6675_temp |= SPDR;
// disable TT_MAX6675 // disable TT_MAX6675
@ -1246,7 +1250,7 @@ ISR(TIMER0_COMPB_vect) {
static unsigned long raw_temp_3_value = 0; static unsigned long raw_temp_3_value = 0;
static unsigned long raw_temp_bed_value = 0; static unsigned long raw_temp_bed_value = 0;
static TempState temp_state = StartupDelay; static TempState temp_state = StartupDelay;
static unsigned char pwm_count = (1 << SOFT_PWM_SCALE); static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);
// Static members for each heater // Static members for each heater
#ifdef SLOW_PWM_HEATERS #ifdef SLOW_PWM_HEATERS
@ -1331,7 +1335,7 @@ ISR(TIMER0_COMPB_vect) {
if (soft_pwm_fan < pwm_count) WRITE_FAN(0); if (soft_pwm_fan < pwm_count) WRITE_FAN(0);
#endif #endif
pwm_count += (1 << SOFT_PWM_SCALE); pwm_count += BIT(SOFT_PWM_SCALE);
pwm_count &= 0x7f; pwm_count &= 0x7f;
#else // SLOW_PWM_HEATERS #else // SLOW_PWM_HEATERS
@ -1412,7 +1416,7 @@ ISR(TIMER0_COMPB_vect) {
if (soft_pwm_fan < pwm_count) WRITE_FAN(0); if (soft_pwm_fan < pwm_count) WRITE_FAN(0);
#endif //FAN_SOFT_PWM #endif //FAN_SOFT_PWM
pwm_count += (1 << SOFT_PWM_SCALE); pwm_count += BIT(SOFT_PWM_SCALE);
pwm_count &= 0x7f; pwm_count &= 0x7f;
// increment slow_pwm_count only every 64 pwm_count circa 65.5ms // increment slow_pwm_count only every 64 pwm_count circa 65.5ms
@ -1438,9 +1442,9 @@ ISR(TIMER0_COMPB_vect) {
#endif // SLOW_PWM_HEATERS #endif // SLOW_PWM_HEATERS
#define SET_ADMUX_ADCSRA(pin) ADMUX = (1 << REFS0) | (pin & 0x07); ADCSRA |= 1<<ADSC #define SET_ADMUX_ADCSRA(pin) ADMUX = BIT(REFS0) | (pin & 0x07); ADCSRA |= BIT(ADSC)
#ifdef MUX5 #ifdef MUX5
#define START_ADC(pin) if (pin > 7) ADCSRB = 1 << MUX5; else ADCSRB = 0; SET_ADMUX_ADCSRA(pin) #define START_ADC(pin) if (pin > 7) ADCSRB = BIT(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#else #else
#define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin) #define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#endif #endif

4
Marlin/ultralcd.cpp
View File

@ -1426,7 +1426,7 @@ void lcd_buttons_update() {
WRITE(SHIFT_LD, HIGH); WRITE(SHIFT_LD, HIGH);
for(int8_t i = 0; i < 8; i++) { for(int8_t i = 0; i < 8; i++) {
newbutton_reprapworld_keypad >>= 1; newbutton_reprapworld_keypad >>= 1;
if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= (1 << 7); if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= BIT(7);
WRITE(SHIFT_CLK, HIGH); WRITE(SHIFT_CLK, HIGH);
WRITE(SHIFT_CLK, LOW); WRITE(SHIFT_CLK, LOW);
} }
@ -1439,7 +1439,7 @@ void lcd_buttons_update() {
unsigned char tmp_buttons = 0; unsigned char tmp_buttons = 0;
for(int8_t i=0; i<8; i++) { for(int8_t i=0; i<8; i++) {
newbutton >>= 1; newbutton >>= 1;
if (READ(SHIFT_OUT)) newbutton |= (1 << 7); if (READ(SHIFT_OUT)) newbutton |= BIT(7);
WRITE(SHIFT_CLK, HIGH); WRITE(SHIFT_CLK, HIGH);
WRITE(SHIFT_CLK, LOW); WRITE(SHIFT_CLK, LOW);
} }

38
Marlin/ultralcd.h
View File

@ -57,20 +57,20 @@
void lcd_ignore_click(bool b=true); void lcd_ignore_click(bool b=true);
#ifdef NEWPANEL #ifdef NEWPANEL
#define EN_C (1<<BLEN_C) #define EN_C BIT(BLEN_C)
#define EN_B (1<<BLEN_B) #define EN_B BIT(BLEN_B)
#define EN_A (1<<BLEN_A) #define EN_A BIT(BLEN_A)
#define LCD_CLICKED (buttons&EN_C) #define LCD_CLICKED (buttons&EN_C)
#ifdef REPRAPWORLD_KEYPAD #ifdef REPRAPWORLD_KEYPAD
#define EN_REPRAPWORLD_KEYPAD_F3 (1<<BLEN_REPRAPWORLD_KEYPAD_F3) #define EN_REPRAPWORLD_KEYPAD_F3 BIT(BLEN_REPRAPWORLD_KEYPAD_F3)
#define EN_REPRAPWORLD_KEYPAD_F2 (1<<BLEN_REPRAPWORLD_KEYPAD_F2) #define EN_REPRAPWORLD_KEYPAD_F2 BIT(BLEN_REPRAPWORLD_KEYPAD_F2)
#define EN_REPRAPWORLD_KEYPAD_F1 (1<<BLEN_REPRAPWORLD_KEYPAD_F1) #define EN_REPRAPWORLD_KEYPAD_F1 BIT(BLEN_REPRAPWORLD_KEYPAD_F1)
#define EN_REPRAPWORLD_KEYPAD_UP (1<<BLEN_REPRAPWORLD_KEYPAD_UP) #define EN_REPRAPWORLD_KEYPAD_UP BIT(BLEN_REPRAPWORLD_KEYPAD_UP)
#define EN_REPRAPWORLD_KEYPAD_RIGHT (1<<BLEN_REPRAPWORLD_KEYPAD_RIGHT) #define EN_REPRAPWORLD_KEYPAD_RIGHT BIT(BLEN_REPRAPWORLD_KEYPAD_RIGHT)
#define EN_REPRAPWORLD_KEYPAD_MIDDLE (1<<BLEN_REPRAPWORLD_KEYPAD_MIDDLE) #define EN_REPRAPWORLD_KEYPAD_MIDDLE BIT(BLEN_REPRAPWORLD_KEYPAD_MIDDLE)
#define EN_REPRAPWORLD_KEYPAD_DOWN (1<<BLEN_REPRAPWORLD_KEYPAD_DOWN) #define EN_REPRAPWORLD_KEYPAD_DOWN BIT(BLEN_REPRAPWORLD_KEYPAD_DOWN)
#define EN_REPRAPWORLD_KEYPAD_LEFT (1<<BLEN_REPRAPWORLD_KEYPAD_LEFT) #define EN_REPRAPWORLD_KEYPAD_LEFT BIT(BLEN_REPRAPWORLD_KEYPAD_LEFT)
#define LCD_CLICKED ((buttons&EN_C) || (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F1)) #define LCD_CLICKED ((buttons&EN_C) || (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F1))
#define REPRAPWORLD_KEYPAD_MOVE_Z_UP (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F2) #define REPRAPWORLD_KEYPAD_MOVE_Z_UP (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F2)
@ -83,14 +83,14 @@
#endif //REPRAPWORLD_KEYPAD #endif //REPRAPWORLD_KEYPAD
#else #else
//atomic, do not change //atomic, do not change
#define B_LE (1<<BL_LE) #define B_LE BIT(BL_LE)
#define B_UP (1<<BL_UP) #define B_UP BIT(BL_UP)
#define B_MI (1<<BL_MI) #define B_MI BIT(BL_MI)
#define B_DW (1<<BL_DW) #define B_DW BIT(BL_DW)
#define B_RI (1<<BL_RI) #define B_RI BIT(BL_RI)
#define B_ST (1<<BL_ST) #define B_ST BIT(BL_ST)
#define EN_B (1<<BLEN_B) #define EN_B BIT(BLEN_B)
#define EN_A (1<<BLEN_A) #define EN_A BIT(BLEN_A)
#define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST)) #define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST))
#endif//NEWPANEL #endif//NEWPANEL

34
Marlin/ultralcd_implementation_hitachi_HD44780.h
View File

@ -24,13 +24,13 @@
#define BLEN_B 1 #define BLEN_B 1
#define BLEN_A 0 #define BLEN_A 0
#define EN_B (1<<BLEN_B) // The two encoder pins are connected through BTN_EN1 and BTN_EN2 #define EN_B BIT(BLEN_B) // The two encoder pins are connected through BTN_EN1 and BTN_EN2
#define EN_A (1<<BLEN_A) #define EN_A BIT(BLEN_A)
#if defined(BTN_ENC) && BTN_ENC > -1 #if defined(BTN_ENC) && BTN_ENC > -1
// encoder click is directly connected // encoder click is directly connected
#define BLEN_C 2 #define BLEN_C 2
#define EN_C (1<<BLEN_C) #define EN_C BIT(BLEN_C)
#endif #endif
// //
@ -85,14 +85,14 @@
#define REPRAPWORLD_BTN_OFFSET 3 // bit offset into buttons for shift register values #define REPRAPWORLD_BTN_OFFSET 3 // bit offset into buttons for shift register values
#define EN_REPRAPWORLD_KEYPAD_F3 (1<<(BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET)) #define EN_REPRAPWORLD_KEYPAD_F3 BIT((BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F2 (1<<(BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET)) #define EN_REPRAPWORLD_KEYPAD_F2 BIT((BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F1 (1<<(BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET)) #define EN_REPRAPWORLD_KEYPAD_F1 BIT((BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_UP (1<<(BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET)) #define EN_REPRAPWORLD_KEYPAD_UP BIT((BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_RIGHT (1<<(BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET)) #define EN_REPRAPWORLD_KEYPAD_RIGHT BIT((BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_MIDDLE (1<<(BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET)) #define EN_REPRAPWORLD_KEYPAD_MIDDLE BIT((BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_DOWN (1<<(BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET)) #define EN_REPRAPWORLD_KEYPAD_DOWN BIT((BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_LEFT (1<<(BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET)) #define EN_REPRAPWORLD_KEYPAD_LEFT BIT((BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET))
#define LCD_CLICKED ((buttons&EN_C) || (buttons&EN_REPRAPWORLD_KEYPAD_F1)) #define LCD_CLICKED ((buttons&EN_C) || (buttons&EN_REPRAPWORLD_KEYPAD_F1))
#define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN (buttons&EN_REPRAPWORLD_KEYPAD_DOWN) #define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN (buttons&EN_REPRAPWORLD_KEYPAD_DOWN)
@ -113,12 +113,12 @@
#define BL_ST 2 #define BL_ST 2
//automatic, do not change //automatic, do not change
#define B_LE (1<<BL_LE) #define B_LE BIT(BL_LE)
#define B_UP (1<<BL_UP) #define B_UP BIT(BL_UP)
#define B_MI (1<<BL_MI) #define B_MI BIT(BL_MI)
#define B_DW (1<<BL_DW) #define B_DW BIT(BL_DW)
#define B_RI (1<<BL_RI) #define B_RI BIT(BL_RI)
#define B_ST (1<<BL_ST) #define B_ST BIT(BL_ST)
#define LCD_CLICKED (buttons&(B_MI|B_ST)) #define LCD_CLICKED (buttons&(B_MI|B_ST))
#endif #endif

6
Marlin/ultralcd_st7920_u8glib_rrd.h
View File

@ -27,9 +27,15 @@ static void ST7920_SWSPI_SND_8BIT(uint8_t val)
for( i=0; i<8; i++ ) for( i=0; i<8; i++ )
{ {
WRITE(ST7920_CLK_PIN,0); WRITE(ST7920_CLK_PIN,0);
#if F_CPU == 20000000
__asm__("nop\n\t");
#endif
WRITE(ST7920_DAT_PIN,val&0x80); WRITE(ST7920_DAT_PIN,val&0x80);
val<<=1; val<<=1;
WRITE(ST7920_CLK_PIN,1); WRITE(ST7920_CLK_PIN,1);
#if F_CPU == 20000000
__asm__("nop\n\t""nop\n\t");
#endif
} }
} }

8
Marlin/vector_3.cpp
View File

@ -79,11 +79,11 @@ void vector_3::debug(char* title)
{ {
SERIAL_PROTOCOL(title); SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: "); SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL(x); SERIAL_PROTOCOL_F(x, 6);
SERIAL_PROTOCOLPGM(" y: "); SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y); SERIAL_PROTOCOL_F(y, 6);
SERIAL_PROTOCOLPGM(" z: "); SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(z); SERIAL_PROTOCOL_F(z, 6);
SERIAL_EOL; SERIAL_EOL;
} }
@ -150,7 +150,7 @@ void matrix_3x3::debug(char* title) {
int count = 0; int count = 0;
for(int i=0; i<3; i++) { for(int i=0; i<3; i++) {
for(int j=0; j<3; j++) { for(int j=0; j<3; j++) {
SERIAL_PROTOCOL(matrix[count] + 0.0001); SERIAL_PROTOCOL_F(matrix[count], 6);
SERIAL_PROTOCOLPGM(" "); SERIAL_PROTOCOLPGM(" ");
count++; count++;
} }

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