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Platform.cpp
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Platform.cpp
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/****************************************************************************************************
RepRapFirmware - Platform: RepRapPro Ormerod with Arduino Due controller
Platform contains all the code and definitions to deal with machine-dependent things such as control
pins, bed area, number of extruders, tolerable accelerations and speeds and so on.
-----------------------------------------------------------------------------------------------------
Version 0.1
18 November 2012
Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com
Licence: GPL
****************************************************************************************************/
#include "RepRapFirmware.h"
#include "DueFlashStorage.h"
#define WINDOWED_SEND_PACKETS (2)
extern char _end;
extern "C" char *sbrk(int i);
const uint8_t memPattern = 0xA5;
// Arduino initialise and loop functions
// Put nothing in these other than calls to the RepRap equivalents
void setup()
{
// Fill the free memory with a pattern so that we can check for stack usage and memory corruption
char* heapend = sbrk(0);
register const char * stack_ptr asm ("sp");
while (heapend + 16 < stack_ptr)
{
*heapend++ = memPattern;
}
reprap.Init();
}
void loop()
{
reprap.Spin();
}
extern "C"
{
// This intercepts the 1ms system tick. It must return 'false', otherwise the Arduino core tick handler will be bypassed.
int sysTickHook()
{
reprap.Tick();
return 0;
}
}
//*************************************************************************************************
// PidParameters class
bool PidParameters::UsePID() const
{
return kP >= 0;
}
float PidParameters::GetThermistorR25() const
{
return thermistorInfR * exp(thermistorBeta / (25.0 - ABS_ZERO));
}
void PidParameters::SetThermistorR25AndBeta(float r25, float beta)
{
thermistorInfR = r25 * exp(-beta / (25.0 - ABS_ZERO));
thermistorBeta = beta;
}
bool PidParameters::operator==(const PidParameters& other) const
{
return kI == other.kI && kD == other.kD && kP == other.kP && fullBand == other.fullBand && pidMin == other.pidMin
&& pidMax == other.pidMax && thermistorBeta == other.thermistorBeta && thermistorInfR == other.thermistorInfR
&& thermistorSeriesR == other.thermistorSeriesR && adcLowOffset == other.adcLowOffset
&& adcHighOffset == other.adcHighOffset;
}
//*************************************************************************************************
// Platform class
Platform::Platform() :
tickState(0), fileStructureInitialised(false), active(false), errorCodeBits(0), debugCode(0)
{
line = new Line();
// Files
massStorage = new MassStorage(this);
for (int8_t i = 0; i < MAX_FILES; i++)
{
files[i] = new FileStore(this);
}
}
//*******************************************************************************************************************
void Platform::Init()
{
digitalWrite(atxPowerPin, LOW); // ensure ATX power is off by default
pinMode(atxPowerPin, OUTPUT);
DueFlashStorage::init();
DueFlashStorage::read(nvAddress, &nvData, sizeof(nvData));
if (nvData.magic != FlashData::magicValue)
{
// Nonvolatile data has not been initialized since the firmware was last written, so set up default values
nvData.compatibility = me;
nvData.ipAddress = IP_ADDRESS;
nvData.netMask = NET_MASK;
nvData.gateWay = GATE_WAY;
nvData.macAddress = MAC_ADDRESS;
nvData.zProbeType = 0; // Default is to use the switch
nvData.switchZProbeParameters.Init(0.0);
nvData.irZProbeParameters.Init(Z_PROBE_STOP_HEIGHT);
nvData.ultrasonicZProbeParameters.Init(Z_PROBE_STOP_HEIGHT);
for (size_t i = 0; i < HEATERS; ++i)
{
PidParameters& pp = nvData.pidParams[i];
pp.thermistorSeriesR = defaultThermistorSeriesRs[i];
pp.SetThermistorR25AndBeta(defaultThermistor25RS[i], defaultThermistorBetas[i]);
pp.kI = defaultPidKis[i];
pp.kD = defaultPidKds[i];
pp.kP = defaultPidKps[i];
pp.fullBand = defaultFullBand[i];
pp.pidMin = defaultPidMin[i];
pp.pidMax = defaultPidMax[i];
pp.adcLowOffset = pp.adcHighOffset = 0.0;
}
nvData.resetReason = 0;
GetStackUsage(NULL, NULL, &nvData.neverUsedRam);
nvData.magic = FlashData::magicValue;
WriteNvData();
}
line->Init();
messageIndent = 0;
massStorage->Init();
for (size_t i = 0; i < MAX_FILES; i++)
{
files[i]->Init();
}
fileStructureInitialised = true;
mcpDuet.begin(); //only call begin once in the entire execution, this begins the I2C comms on that channel for all objects
mcpExpansion.setMCP4461Address(0x2E); //not required for mcpDuet, as this uses the default address
sysDir = SYS_DIR;
configFile = CONFIG_FILE;
// DRIVES
stepPins = STEP_PINS;
directionPins = DIRECTION_PINS;
enablePins = ENABLE_PINS;
disableDrives = DISABLE_DRIVES;
lowStopPins = LOW_STOP_PINS;
highStopPins = HIGH_STOP_PINS;
maxFeedrates = MAX_FEEDRATES;
accelerations = ACCELERATIONS;
driveStepsPerUnit = DRIVE_STEPS_PER_UNIT;
instantDvs = INSTANT_DVS;
potWipes = POT_WIPES;
senseResistor = SENSE_RESISTOR;
maxStepperDigipotVoltage = MAX_STEPPER_DIGIPOT_VOLTAGE;
numMixingDrives = NUM_MIXING_DRIVES;
// Z PROBE
zProbePin = Z_PROBE_PIN;
zProbeModulationPin = Z_PROBE_MOD_PIN;
zProbeAdcChannel = PinToAdcChannel(zProbePin);
InitZProbe();
// AXES
axisMaxima = AXIS_MAXIMA;
axisMinima = AXIS_MINIMA;
homeFeedrates = HOME_FEEDRATES;
headOffsets = HEAD_OFFSETS;
// HEATERS - Bed is assumed to be the first
tempSensePins = TEMP_SENSE_PINS;
heatOnPins = HEAT_ON_PINS;
heatSampleTime = HEAT_SAMPLE_TIME;
standbyTemperatures = STANDBY_TEMPERATURES;
activeTemperatures = ACTIVE_TEMPERATURES;
coolingFanPin = COOLING_FAN_PIN;
webDir = WEB_DIR;
gcodeDir = GCODE_DIR;
tempDir = TEMP_DIR;
/*
FIXME Nasty having to specify individually if a pin is arduino or not.
requires a unified variant file. If implemented this would be much better
to allow for different hardware in the future
*/
for (size_t i = 0; i < DRIVES; i++)
{
if (stepPins[i] >= 0)
{
if(i == E0_DRIVE || i == E3_DRIVE) //STEP_PINS {14, 25, 5, X2, 41, 39, X4, 49}
pinModeNonDue(stepPins[i], OUTPUT);
else
pinMode(stepPins[i], OUTPUT);
}
if (directionPins[i] >= 0)
{
if(i == E0_DRIVE) //DIRECTION_PINS {15, 26, 4, X3, 35, 53, 51, 48}
pinModeNonDue(directionPins[i], OUTPUT);
else
pinMode(directionPins[i], OUTPUT);
}
if (enablePins[i] >= 0)
{
if(i == Z_AXIS || i==E0_DRIVE || i==E2_DRIVE) //ENABLE_PINS {29, 27, X1, X0, 37, X8, 50, 47}
pinModeNonDue(enablePins[i], OUTPUT);
else
pinMode(enablePins[i], OUTPUT);
}
Disable(i);
driveEnabled[i] = false;
}
for(size_t i = 0; i < DRIVES; i++)
{
if (lowStopPins[i] >= 0)
{
pinMode(lowStopPins[i], INPUT);
digitalWrite(lowStopPins[i], HIGH); // Turn on pullup
}
if (highStopPins[i] >= 0)
{
pinMode(highStopPins[i], INPUT);
digitalWrite(highStopPins[i], HIGH); // Turn on pullup
}
}
for (size_t i = 0; i < HEATERS; i++)
{
if (heatOnPins[i] >= 0)
{
if(i == E0_HEATER || i==E1_HEATER) //HEAT_ON_PINS {6, X5, X7, 7, 8, 9}
{
pinMode(heatOnPins[i], OUTPUT);
}
else
{
pinModeNonDue(heatOnPins[i], OUTPUT);
}
}
thermistorFilters[i].Init();
heaterAdcChannels[i] = PinToAdcChannel(tempSensePins[i]);
// Calculate and store the ADC average sum that corresponds to an overheat condition, so that we can check is quickly in the tick ISR
float thermistorOverheatResistance = nvData.pidParams[i].GetRInf()
* exp(-nvData.pidParams[i].GetBeta() / (BAD_HIGH_TEMPERATURE - ABS_ZERO));
float thermistorOverheatAdcValue = (adRangeReal + 1) * thermistorOverheatResistance
/ (thermistorOverheatResistance + nvData.pidParams[i].thermistorSeriesR);
thermistorOverheatSums[i] = (uint32_t) (thermistorOverheatAdcValue + 0.9) * numThermistorReadingsAveraged;
}
if (coolingFanPin >= 0)
{
//pinModeNonDue(coolingFanPin, OUTPUT); //not required as analogwrite does this automatically
analogWriteNonDue(coolingFanPin, 255); //inverse logic for Duet v0.6 this turns it off
}
InitialiseInterrupts();
addToTime = 0.0;
lastTimeCall = 0;
lastTime = Time();
longWait = lastTime;
}
void Platform::InitZProbe()
{
zProbeOnFilter.Init();
zProbeOffFilter.Init();
if (nvData.zProbeType == 1 || nvData.zProbeType == 2)
{
pinMode(zProbeModulationPin, OUTPUT);
digitalWrite(zProbeModulationPin, HIGH); // enable the IR LED
SetZProbing(false);
}
else if (nvData.zProbeType == 3)
{
pinMode(zProbeModulationPin, OUTPUT);
digitalWrite(zProbeModulationPin, LOW); // enable the ultrasonic sensor
SetZProbing(false);
}
}
int Platform::GetRawZHeight() const
{
return (nvData.zProbeType != 0) ? analogRead(zProbePin) : 0;
}
// Return the Z probe data.
// The ADC readings are 12 bits, so we convert them to 10-bit readings for compatibility with the old firmware.
int Platform::ZProbe()
{
if (zProbeOnFilter.IsValid() && zProbeOffFilter.IsValid())
{
switch (nvData.zProbeType)
{
case 1:
case 3:
// Simple IR sensor, or direct-mode ultrasonic sensor
return (int) ((zProbeOnFilter.GetSum() + zProbeOffFilter.GetSum()) / (8 * numZProbeReadingsAveraged));
case 2:
// Modulated IR sensor. We assume that zProbeOnFilter and zprobeOffFilter average the same number of readings.
// Because of noise, it is possible to get a negative reading, so allow for this.
return (int) (((int32_t) zProbeOnFilter.GetSum() - (int32_t) zProbeOffFilter.GetSum())
/ (4 * numZProbeReadingsAveraged));
default:
break;
}
}
return 0; // Z probe not turned on or not initialised yet
}
// Return the Z probe secondary values.
int Platform::GetZProbeSecondaryValues(int& v1, int& v2)
{
if (zProbeOnFilter.IsValid() && zProbeOffFilter.IsValid())
{
switch (nvData.zProbeType)
{
case 2: // modulated IR sensor
v1 = (int) (zProbeOnFilter.GetSum() / (4 * numZProbeReadingsAveraged)); // pass back the reading with IR turned on
return 1;
default:
break;
}
}
return 0;
}
int Platform::GetZProbeType() const
{
return nvData.zProbeType;
}
float Platform::ZProbeStopHeight() const
{
switch (nvData.zProbeType)
{
case 0:
return nvData.switchZProbeParameters.GetStopHeight(GetTemperature(0));
case 1:
case 2:
return nvData.irZProbeParameters.GetStopHeight(GetTemperature(0));
case 3:
return nvData.ultrasonicZProbeParameters.GetStopHeight(GetTemperature(0));
default:
return 0;
}
}
void Platform::SetZProbeType(int pt)
{
int newZProbeType = (pt >= 0 && pt <= 3) ? pt : 0;
if (newZProbeType != nvData.zProbeType)
{
nvData.zProbeType = newZProbeType;
WriteNvData();
}
InitZProbe();
}
bool Platform::GetZProbeParameters(struct ZProbeParameters& params) const
{
switch (nvData.zProbeType)
{
case 0:
params = nvData.switchZProbeParameters;
return true;
case 1:
case 2:
params = nvData.irZProbeParameters;
return true;
case 3:
params = nvData.ultrasonicZProbeParameters;
return true;
default:
return false;
}
}
bool Platform::SetZProbeParameters(const struct ZProbeParameters& params)
{
switch (nvData.zProbeType)
{
case 0:
if (nvData.switchZProbeParameters != params)
{
nvData.switchZProbeParameters = params;
WriteNvData();
}
return true;
case 1:
case 2:
if (nvData.irZProbeParameters != params)
{
nvData.irZProbeParameters = params;
WriteNvData();
}
return true;
case 3:
if (nvData.ultrasonicZProbeParameters != params)
{
nvData.ultrasonicZProbeParameters = params;
WriteNvData();
}
return true;
default:
return false;
}
}
// Return true if we must home X and Y before we home Z (i.e. we are using a bed probe)
bool Platform::MustHomeXYBeforeZ() const
{
return nvData.zProbeType != 0;
}
void Platform::WriteNvData()
{
DueFlashStorage::write(nvAddress, &nvData, sizeof(nvData));
}
void Platform::SetZProbing(bool starting)
{
}
// Note: the use of floating point time will cause the resolution to degrade over time.
// For example, 1ms time resolution will only be available for about half an hour from startup.
// Personally, I (dc42) would rather just maintain and provide the time in milliseconds in a uint32_t.
// This would wrap round after about 49 days, but that isn't difficult to handle.
float Platform::Time()
{
unsigned long now = micros();
if (now < lastTimeCall) // Has timer overflowed?
addToTime += ((float) ULONG_MAX) * TIME_FROM_REPRAP;
lastTimeCall = now;
return addToTime + TIME_FROM_REPRAP * (float) now;
}
void Platform::Exit()
{
Message(HOST_MESSAGE, "Platform class exited.\n");
active = false;
}
Compatibility Platform::Emulating() const
{
if (nvData.compatibility == reprapFirmware)
return me;
return nvData.compatibility;
}
void Platform::SetEmulating(Compatibility c)
{
if (c != me && c != reprapFirmware && c != marlin)
{
Message(HOST_MESSAGE, "Attempt to emulate unsupported firmware.\n");
return;
}
if (c == reprapFirmware)
{
c = me;
}
if (nvData.compatibility != c)
{
nvData.compatibility = c;
WriteNvData();
}
}
void Platform::UpdateNetworkAddress(byte dst[4], const byte src[4])
{
bool changed = false;
for (uint8_t i = 0; i < 4; i++)
{
if (dst[i] != src[i])
{
dst[i] = src[i];
changed = true;
}
}
if (changed)
{
WriteNvData();
}
}
void Platform::SetIPAddress(byte ip[])
{
UpdateNetworkAddress(nvData.ipAddress, ip);
}
void Platform::SetGateWay(byte gw[])
{
UpdateNetworkAddress(nvData.gateWay, gw);
}
void Platform::SetNetMask(byte nm[])
{
UpdateNetworkAddress(nvData.netMask, nm);
}
void Platform::Spin()
{
if (!active)
return;
if (debugCode == DiagnosticTest::TestSpinLockup)
{
for (;;) {}
}
line->Spin();
ClassReport("Platform", longWait);
}
void Platform::SoftwareReset(uint16_t reason)
{
if (reason != 0)
{
if (line->inUsbWrite)
{
reason |= SoftwareResetReason::inUsbOutput; // if we are resetting because we are stuck in a Spin function, record whether we are trying to send to USB
}
if (reprap.GetNetwork()->InLwip())
{
reason |= SoftwareResetReason::inLwipSpin;
}
}
if (reason != 0 || reason != nvData.resetReason)
{
nvData.resetReason = reason;
GetStackUsage(NULL, NULL, &nvData.neverUsedRam);
WriteNvData();
}
rstc_start_software_reset(RSTC);
for(;;) {}
}
//*****************************************************************************************************************
// Interrupts
void TC3_Handler()
{
TC_GetStatus(TC1, 0);
reprap.Interrupt();
}
void Platform::InitialiseInterrupts()
{
// Timer interrupt for stepper motors
pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t) TC3_IRQn);
TC_Configure(TC1, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK4);
TC1 ->TC_CHANNEL[0].TC_IER = TC_IER_CPCS;
TC1 ->TC_CHANNEL[0].TC_IDR = ~TC_IER_CPCS;
SetInterrupt(STANDBY_INTERRUPT_RATE);
// Tick interrupt for ADC conversions
tickState = 0;
currentHeater = 0;
active = true; // this enables the tick interrupt, which keeps the watchdog happy
}
void Platform::DisableInterrupts()
{
NVIC_DisableIRQ(TC3_IRQn);
}
// Process a 1ms tick interrupt
// This function must be kept fast so as not to disturb the stepper timing, so don't do any floating point maths in here.
// This is what we need to do:
// 0. Kick the watchdog.
// 1. Kick off a new ADC conversion.
// 2. Fetch and process the result of the last ADC conversion.
// 3a. If the last ADC conversion was for the Z probe, toggle the modulation output if using a modulated IR sensor.
// 3b. If the last ADC reading was a thermistor reading, check for an over-temperature situation and turn off the heater if necessary.
// We do this here because the usual polling loop sometimes gets stuck trying to send data to the USB port.
//#define TIME_TICK_ISR 1 // define this to store the tick ISR time in errorCodeBits
void Platform::Tick()
{
#ifdef TIME_TICK_ISR
uint32_t now = micros();
#endif
switch (tickState)
{
case 1: // last conversion started was a thermistor
case 3:
{
ThermistorAveragingFilter& currentFilter = const_cast<ThermistorAveragingFilter&>(thermistorFilters[currentHeater]);
currentFilter.ProcessReading(GetAdcReading(heaterAdcChannels[currentHeater]));
StartAdcConversion(zProbeAdcChannel);
if (currentFilter.IsValid())
{
uint32_t sum = currentFilter.GetSum();
if (sum < thermistorOverheatSums[currentHeater] || sum >= adDisconnectedReal * numThermistorReadingsAveraged)
{
// We have an over-temperature or bad reading from this thermistor, so turn off the heater
// NB - the SetHeater function we call does floating point maths, but this is an exceptional situation so we allow it
SetHeater(currentHeater, 0.0);
errorCodeBits |= ErrorBadTemp;
}
}
++currentHeater;
if (currentHeater == HEATERS)
{
currentHeater = 0;
}
}
++tickState;
break;
case 2: // last conversion started was the Z probe, with IR LED on
const_cast<ZProbeAveragingFilter&>(zProbeOnFilter).ProcessReading(GetAdcReading(zProbeAdcChannel));
StartAdcConversion(heaterAdcChannels[currentHeater]); // read a thermistor
if (nvData.zProbeType == 2) // if using a modulated IR sensor
{
digitalWrite(Z_PROBE_MOD_PIN, LOW); // turn off the IR emitter
}
++tickState;
break;
case 4: // last conversion started was the Z probe, with IR LED off if modulation is enabled
const_cast<ZProbeAveragingFilter&>(zProbeOffFilter).ProcessReading(GetAdcReading(zProbeAdcChannel));
// no break
case 0: // this is the state after initialisation, no conversion has been started
default:
StartAdcConversion(heaterAdcChannels[currentHeater]); // read a thermistor
if (nvData.zProbeType == 2) // if using a modulated IR sensor
{
digitalWrite(Z_PROBE_MOD_PIN, HIGH); // turn on the IR emitter
}
tickState = 1;
break;
}
#ifdef TIME_TICK_ISR
uint32_t now2 = micros();
if (now2 - now > errorCodeBits)
{
errorCodeBits = now2 - now;
}
#endif
}
/*static*/uint16_t Platform::GetAdcReading(adc_channel_num_t chan)
{
uint16_t rslt = (uint16_t) adc_get_channel_value(ADC, chan);
adc_disable_channel(ADC, chan);
return rslt;
}
/*static*/void Platform::StartAdcConversion(adc_channel_num_t chan)
{
adc_enable_channel(ADC, chan);
adc_start(ADC );
}
// Convert an Arduino Due pin number to the corresponding ADC channel number
/*static*/adc_channel_num_t Platform::PinToAdcChannel(int pin)
{
if (pin < A0)
{
pin += A0;
}
return (adc_channel_num_t) (int) g_APinDescription[pin].ulADCChannelNumber;
}
//*************************************************************************************************
void Platform::Diagnostics()
{
Message(HOST_MESSAGE, "Platform Diagnostics:\n");
}
void Platform::SetDebug(int d)
{
switch (d)
{
case DiagnosticTest::TestWatchdog:
SysTick ->CTRL &= ~(SysTick_CTRL_TICKINT_Msk); // disable the system tick interrupt so that we get a watchdog timeout reset
break;
case DiagnosticTest::TestSpinLockup:
debugCode = d; // tell the Spin function to loop
break;
default:
break;
}
}
// Return the stack usage and amount of memory that has never been used, in bytes
void Platform::GetStackUsage(size_t* currentStack, size_t* maxStack, size_t* neverUsed) const
{
const char *ramend = (const char *) 0x20088000;
register const char * stack_ptr asm ("sp");
const char *heapend = sbrk(0);
const char* stack_lwm = heapend;
while (stack_lwm < stack_ptr && *stack_lwm == memPattern)
{
++stack_lwm;
}
if (currentStack) { *currentStack = ramend - stack_ptr; }
if (maxStack) { *maxStack = ramend - stack_lwm; }
if (neverUsed) { *neverUsed = stack_lwm - heapend; }
}
// Print memory stats and error codes to USB and copy them to the current webserver reply
void Platform::PrintMemoryUsage()
{
const char *ramstart = (char *) 0x20070000;
const struct mallinfo mi = mallinfo();
Message(HOST_MESSAGE, "\n");
Message(HOST_MESSAGE, "Memory usage:\n\n");
snprintf(scratchString, STRING_LENGTH, "Program static ram used: %d\n", &_end - ramstart);
reprap.GetWebserver()->HandleReply(scratchString, false);
Message(HOST_MESSAGE, scratchString);
snprintf(scratchString, STRING_LENGTH, "Dynamic ram used: %d\n", mi.uordblks);
reprap.GetWebserver()->AppendReply(scratchString);
Message(HOST_MESSAGE, scratchString);
snprintf(scratchString, STRING_LENGTH, "Recycled dynamic ram: %d\n", mi.fordblks);
reprap.GetWebserver()->AppendReply(scratchString);
Message(HOST_MESSAGE, scratchString);
size_t currentStack, maxStack, neverUsed;
GetStackUsage(¤tStack, &maxStack, &neverUsed);
snprintf(scratchString, STRING_LENGTH, "Current stack ram used: %d\n", currentStack);
reprap.GetWebserver()->AppendReply(scratchString);
Message(HOST_MESSAGE, scratchString);
snprintf(scratchString, STRING_LENGTH, "Maximum stack ram used: %d\n", maxStack);
reprap.GetWebserver()->AppendReply(scratchString);
Message(HOST_MESSAGE, scratchString);
snprintf(scratchString, STRING_LENGTH, "Never used ram: %d\n", neverUsed);
reprap.GetWebserver()->AppendReply(scratchString);
Message(HOST_MESSAGE, scratchString);
// Show the up time and reason for the last reset
const uint32_t now = (uint32_t)Time(); // get up time in seconds
const char* resetReasons[8] = { "power up", "backup", "watchdog", "software", "external", "?", "?", "?" };
snprintf(scratchString, STRING_LENGTH, "Last reset %02d:%02d:%02d ago, cause: %s\n",
(unsigned int)(now/3600), (unsigned int)((now % 3600)/60), (unsigned int)(now % 60),
resetReasons[(REG_RSTC_SR & RSTC_SR_RSTTYP_Msk) >> RSTC_SR_RSTTYP_Pos]);
reprap.GetWebserver()->AppendReply(scratchString);
Message(HOST_MESSAGE, scratchString);
// Show the error code stored at the last software reset
snprintf(scratchString, STRING_LENGTH, "Last software reset code & available RAM: 0x%04x, %u\n", nvData.resetReason, nvData.neverUsedRam);
reprap.GetWebserver()->AppendReply(scratchString);
Message(HOST_MESSAGE, scratchString);
// Show the current error codes
snprintf(scratchString, STRING_LENGTH, "Error status: %u\n", errorCodeBits);
reprap.GetWebserver()->AppendReply(scratchString);
Message(HOST_MESSAGE, scratchString);
// Show the current probe position heights
strncpy(scratchString, "Bed probe heights:", STRING_LENGTH);
for (size_t i = 0; i < NUMBER_OF_PROBE_POINTS; ++i)
{
sncatf(scratchString, STRING_LENGTH, " %.3f", reprap.GetMove()->zBedProbePoint(i));
}
strncat(scratchString, "\n", STRING_LENGTH);
reprap.GetWebserver()->AppendReply(scratchString);
Message(HOST_MESSAGE, scratchString);
// Show the number of free entries in the file table
unsigned int numFreeFiles = 0;
for (int8_t i = 0; i < MAX_FILES; i++)
{
if (!files[i]->inUse)
{
++numFreeFiles;
}
}
snprintf(scratchString, STRING_LENGTH, "Free file entries: %u\n", numFreeFiles);
reprap.GetWebserver()->AppendReply(scratchString);
Message(HOST_MESSAGE, scratchString);
}
void Platform::ClassReport(char* className, float &lastTime)
{
if (!reprap.Debug())
return;
if (Time() - lastTime < LONG_TIME)
return;
lastTime = Time();
snprintf(scratchString, STRING_LENGTH, "Class %s spinning.\n", className);
Message(HOST_MESSAGE, scratchString);
}
//===========================================================================
//=============================Thermal Settings ============================
//===========================================================================
// See http://en.wikipedia.org/wiki/Thermistor#B_or_.CE.B2_parameter_equation
// BETA is the B value
// RS is the value of the series resistor in ohms
// R_INF is R0.exp(-BETA/T0), where R0 is the thermistor resistance at T0 (T0 is in kelvin)
// Normally T0 is 298.15K (25 C). If you write that expression in brackets in the #define the compiler
// should compute it for you (i.e. it won't need to be calculated at run time).
// If the A->D converter has a range of 0..1023 and the measured voltage is V (between 0 and 1023)
// then the thermistor resistance, R = V.RS/(1024 - V)
// and the temperature, T = BETA/ln(R/R_INF)
// To get degrees celsius (instead of kelvin) add -273.15 to T
// Result is in degrees celsius
float Platform::GetTemperature(size_t heater) const
{
int rawTemp = GetRawTemperature(heater);
// If the ADC reading is N then for an ideal ADC, the input voltage is at least N/(AD_RANGE + 1) and less than (N + 1)/(AD_RANGE + 1), times the analog reference.
// So we add 0.5 to to the reading to get a better estimate of the input.
float reading = (float) rawTemp + 0.5;
// Recognise the special case of thermistor disconnected.
// For some ADCs, the high-end offset is negative, meaning that the ADC never returns a high enough value. We need to allow for this here.
const PidParameters& p = nvData.pidParams[heater];
if (p.adcHighOffset < 0.0)
{
rawTemp -= (int) p.adcHighOffset;
}
if (rawTemp >= adDisconnectedVirtual)
{
return ABS_ZERO; // thermistor is disconnected
}
// Correct for the low and high ADC offsets
reading -= p.adcLowOffset;
reading *= (adRangeVirtual + 1) / (adRangeVirtual + 1 + p.adcHighOffset - p.adcLowOffset);
float resistance = reading * p.thermistorSeriesR / ((adRangeVirtual + 1) - reading);
return (resistance <= p.GetRInf()) ? 2000.0 // thermistor short circuit, return a high temperature
: ABS_ZERO + p.GetBeta() / log(resistance / p.GetRInf());
}
void Platform::SetPidParameters(size_t heater, const PidParameters& params)
{
if (heater < HEATERS && params != nvData.pidParams[heater])
{
nvData.pidParams[heater] = params;
WriteNvData();
}
}
const PidParameters& Platform::GetPidParameters(size_t heater)
{
return nvData.pidParams[heater];
}
// power is a fraction in [0,1]
void Platform::SetHeater(size_t heater, const float& power)
{
if (heatOnPins[heater] < 0)
return;
byte p = (byte) (255.0 * min<float>(1.0, max<float>(0.0, power)));
if (HEAT_ON == 0)
{
p = 255 - p;
if(heater == E0_HEATER || heater == E1_HEATER) //HEAT_ON_PINS {6, X5, X7, 7, 8, 9}
{
analogWriteNonDue(heatOnPins[heater], p);
}
else
{
analogWrite(heatOnPins[heater], p);
}
}
}
EndStopHit Platform::Stopped(int8_t drive)
{
if (nvData.zProbeType > 0)
{ // Z probe is used for both X and Z.
if (drive != Y_AXIS)
{
int zProbeVal = ZProbe();
int zProbeADValue =
(nvData.zProbeType == 3) ?
nvData.ultrasonicZProbeParameters.adcValue : nvData.irZProbeParameters.adcValue;
if (zProbeVal >= zProbeADValue)
return lowHit;
else if (zProbeVal * 10 >= zProbeADValue * 9) // if we are at/above 90% of the target value
return lowNear;
else
return noStop;
}
}
if (lowStopPins[drive] >= 0)
{
if (digitalRead(lowStopPins[drive]) == ENDSTOP_HIT)
return lowHit;
}
if (highStopPins[drive] >= 0)
{
if (digitalRead(highStopPins[drive]) == ENDSTOP_HIT)
return highHit;
}
return noStop;
}
void Platform::SetDirection(byte drive, bool direction)
{
if(directionPins[drive] < 0)
return;
if(drive == AXES)
digitalWriteNonDue(directionPins[drive], direction);
else
digitalWrite(directionPins[drive], direction);
}
void Platform::Disable(byte drive)
{
if(enablePins[drive] < 0)
return;
if(drive >= Z_AXIS)
digitalWriteNonDue(enablePins[drive], DISABLE);
else
digitalWrite(enablePins[drive], DISABLE);
driveEnabled[drive] = false;
}
void Platform::Step(byte drive)
{
if(stepPins[drive] < 0)
return;
if(!driveEnabled[drive] && enablePins[drive] >= 0)
{
if(drive >= Z_AXIS)
digitalWriteNonDue(enablePins[drive], ENABLE);
else
digitalWrite(enablePins[drive], ENABLE);
driveEnabled[drive] = true;
}
if(drive == AXES)
{
digitalWriteNonDue(stepPins[drive], 0);
digitalWriteNonDue(stepPins[drive], 1);
} else
{
digitalWrite(stepPins[drive], 0);
digitalWrite(stepPins[drive], 1);
}
}
// current is in mA
void Platform::SetMotorCurrent(byte drive, float current)
{
unsigned short pot = (unsigned short)(0.256*current*8.0*senseResistor/maxStepperDigipotVoltage);
// Message(HOST_MESSAGE, "Set pot to: ");
// snprintf(scratchString, STRING_LENGTH, "%d", pot);
// Message(HOST_MESSAGE, scratchString);
// Message(HOST_MESSAGE, "\n");
if(drive < 4)
{
mcpDuet.setNonVolatileWiper(potWipes[drive], pot);