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- #include "Dcodes.h"
- #include "Marlin.h"
- #include "Configuration.h"
- #include "language.h"
- #include "cmdqueue.h"
- #include <stdio.h>
- #include <avr/pgmspace.h>
- #define SHOW_TEMP_ADC_VALUES
- #include "temperature.h"
- #define DBG(args...) printf_P(args)
- inline void print_hex_nibble(uint8_t val)
- {
- putchar((val > 9)?(val - 10 + 'a'):(val + '0'));
- }
- void print_hex_byte(uint8_t val)
- {
- print_hex_nibble(val >> 4);
- print_hex_nibble(val & 15);
- }
- void print_hex_word(uint16_t val)
- {
- print_hex_byte(val >> 8);
- print_hex_byte(val & 255);
- }
- void print_eeprom(uint16_t address, uint16_t count, uint8_t countperline = 16)
- {
- while (count)
- {
- print_hex_word(address);
- putchar(' ');
- uint8_t count_line = countperline;
- while (count && count_line)
- {
- putchar(' ');
- print_hex_byte(eeprom_read_byte((uint8_t*)address++));
- count_line--;
- count--;
- }
- putchar('\n');
- }
- }
- int parse_hex(char* hex, uint8_t* data, int count)
- {
- int parsed = 0;
- while (*hex)
- {
- if (count && (parsed >= count)) break;
- char c = *(hex++);
- if (c == ' ') continue;
- if (c == '\n') break;
- uint8_t val = 0x00;
- if ((c >= '0') && (c <= '9')) val |= ((c - '0') << 4);
- else if ((c >= 'a') && (c <= 'f')) val |= ((c - 'a' + 10) << 4);
- else return -parsed;
- c = *(hex++);
- if ((c >= '0') && (c <= '9')) val |= (c - '0');
- else if ((c >= 'a') && (c <= 'f')) val |= (c - 'a' + 10);
- else return -parsed;
- data[parsed] = val;
- parsed++;
- }
- return parsed;
- }
- void print_mem(uint32_t address, uint16_t count, uint8_t type, uint8_t countperline = 16)
- {
- while (count)
- {
- if (type == 2)
- print_hex_nibble(address >> 16);
- print_hex_word(address);
- putchar(' ');
- uint8_t count_line = countperline;
- while (count && count_line)
- {
- uint8_t data = 0;
- switch (type)
- {
- case 0: data = *((uint8_t*)address++); break;
- case 1: data = eeprom_read_byte((uint8_t*)address++); break;
- case 2: data = pgm_read_byte_far((uint8_t*)address++); break;
- }
- putchar(' ');
- print_hex_byte(data);
- count_line--;
- count--;
- }
- putchar('\n');
- }
- }
- #if defined DEBUG_DCODE3 || defined DEBUG_DCODES
- #define EEPROM_SIZE 0x1000
- /*!
- ### D3 - Read/Write EEPROM <a href="https://reprap.org/wiki/G-code#D3:_Read.2FWrite_EEPROM">D3: Read/Write EEPROM</a>
- This command can be used without any additional parameters. It will read the entire eeprom.
- #### Usage
-
- D3 [ A | C | X ]
-
- #### Parameters
- - `A` - Address (x0000-x0fff)
- - `C` - Count (1-4096)
- - `X` - Data (hex)
-
- #### Notes
- - The hex address needs to be lowercase without the 0 before the x
- - Count is decimal
- - The hex data needs to be lowercase
-
- */
- void dcode_3()
- {
- DBG(_N("D3 - Read/Write EEPROM\n"));
- uint16_t address = 0x0000; //default 0x0000
- uint16_t count = EEPROM_SIZE; //default 0x1000 (entire eeprom)
- if (code_seen('A')) // Address (0x0000-0x0fff)
- address = (strchr_pointer[1] == 'x')?strtol(strchr_pointer + 2, 0, 16):(int)code_value();
- if (code_seen('C')) // Count (0x0001-0x1000)
- count = (int)code_value();
- address &= 0x1fff;
- if (count > EEPROM_SIZE) count = EEPROM_SIZE;
- if ((address + count) > EEPROM_SIZE) count = EEPROM_SIZE - address;
- if (code_seen('X')) // Data
- {
- uint8_t data[16];
- count = parse_hex(strchr_pointer + 1, data, 16);
- if (count > 0)
- {
- for (uint16_t i = 0; i < count; i++)
- eeprom_write_byte((uint8_t*)(address + i), data[i]);
- printf_P(_N("%d bytes written to EEPROM at address 0x%04x"), count, address);
- putchar('\n');
- }
- else
- count = 0;
- }
- print_mem(address, count, 1);
- /* while (count)
- {
- print_hex_word(address);
- putchar(' ');
- uint8_t countperline = 16;
- while (count && countperline)
- {
- uint8_t data = eeprom_read_byte((uint8_t*)address++);
- putchar(' ');
- print_hex_byte(data);
- countperline--;
- count--;
- }
- putchar('\n');
- }*/
- }
- #endif //DEBUG_DCODE3
- #include "ConfigurationStore.h"
- #include "cmdqueue.h"
- #include "pat9125.h"
- #include "adc.h"
- #include "temperature.h"
- #include <avr/wdt.h>
- #include "bootapp.h"
- #if 0
- #define FLASHSIZE 0x40000
- #define RAMSIZE 0x2000
- #define boot_src_addr (*((uint32_t*)(RAMSIZE - 16)))
- #define boot_dst_addr (*((uint32_t*)(RAMSIZE - 12)))
- #define boot_copy_size (*((uint16_t*)(RAMSIZE - 8)))
- #define boot_reserved (*((uint8_t*)(RAMSIZE - 6)))
- #define boot_app_flags (*((uint8_t*)(RAMSIZE - 5)))
- #define boot_app_magic (*((uint32_t*)(RAMSIZE - 4)))
- #define BOOT_APP_FLG_ERASE 0x01
- #define BOOT_APP_FLG_COPY 0x02
- #define BOOT_APP_FLG_FLASH 0x04
- extern float current_temperature_pinda;
- extern float axis_steps_per_unit[NUM_AXIS];
- #define LOG(args...) printf(args)
- #endif //0
- #define LOG(args...)
- /*!
- *
- ### D-1 - Endless Loop <a href="https://reprap.org/wiki/G-code#G28:_Move_to_Origin_.28Home.29">D-1: Endless Loop</a>
-
- D-1
-
- *
- */
- void dcode__1()
- {
- DBG(_N("D-1 - Endless loop\n"));
- // cli();
- while (1);
- }
- #ifdef DEBUG_DCODES
- /*!
- ### D0 - Reset <a href="https://reprap.org/wiki/G-code#D0:_Reset">D0: Reset</a>
- #### Usage
-
- D0 [ B ]
-
- #### Parameters
- - `B` - Bootloader
- */
- void dcode_0()
- {
- if (*(strchr_pointer + 1) == 0) return;
- LOG("D0 - Reset\n");
- if (code_seen('B')) //bootloader
- {
- softReset();
- }
- else //reset
- {
- #ifndef _NO_ASM
- asm volatile("jmp 0x00000");
- #endif //_NO_ASM
- }
- }
- /*!
- *
- ### D1 - Clear EEPROM and RESET <a href="https://reprap.org/wiki/G-code#D1:_Clear_EEPROM_and_RESET">D1: Clear EEPROM and RESET</a>
-
- D1
-
- *
- */
- void dcode_1()
- {
- LOG("D1 - Clear EEPROM and RESET\n");
- cli();
- for (int i = 0; i < 8192; i++)
- eeprom_write_byte((unsigned char*)i, (unsigned char)0xff);
- softReset();
- }
- /*!
- ### D2 - Read/Write RAM <a href="https://reprap.org/wiki/G-code#D2:_Read.2FWrite_RAM">D3: Read/Write RAM</a>
- This command can be used without any additional parameters. It will read the entire RAM.
- #### Usage
-
- D2 [ A | C | X ]
-
- #### Parameters
- - `A` - Address (x0000-x1fff)
- - `C` - Count (1-8192)
- - `X` - Data
- #### Notes
- - The hex address needs to be lowercase without the 0 before the x
- - Count is decimal
- - The hex data needs to be lowercase
-
- */
- void dcode_2()
- {
- LOG("D2 - Read/Write RAM\n");
- uint16_t address = 0x0000; //default 0x0000
- uint16_t count = 0x2000; //default 0x2000 (entire ram)
- if (code_seen('A')) // Address (0x0000-0x1fff)
- address = (strchr_pointer[1] == 'x')?strtol(strchr_pointer + 2, 0, 16):(int)code_value();
- if (code_seen('C')) // Count (0x0001-0x2000)
- count = (int)code_value();
- address &= 0x1fff;
- if (count > 0x2000) count = 0x2000;
- if ((address + count) > 0x2000) count = 0x2000 - address;
- if (code_seen('X')) // Data
- {
- uint8_t data[16];
- count = parse_hex(strchr_pointer + 1, data, 16);
- if (count > 0)
- {
- for (uint16_t i = 0; i < count; i++)
- *((uint8_t*)(address + i)) = data[i];
- LOG("%d bytes written to RAM at address %04x", count, address);
- }
- else
- count = 0;
- }
- print_mem(address, count, 0);
- /* while (count)
- {
- print_hex_word(address);
- putchar(' ');
- uint8_t countperline = 16;
- while (count && countperline)
- {
- uint8_t data = *((uint8_t*)address++);
- putchar(' ');
- print_hex_byte(data);
- countperline--;
- count--;
- }
- putchar('\n');
- }*/
- }
- /*!
-
- ### D4 - Read/Write PIN <a href="https://reprap.org/wiki/G-code#D4:_Read.2FWrite_PIN">D4: Read/Write PIN</a>
- To read the digital value of a pin you need only to define the pin number.
- #### Usage
-
- D4 [ P | F | V ]
-
- #### Parameters
- - `P` - Pin (0-255)
- - `F` - Function in/out (0/1)
- - `V` - Value (0/1)
- */
- void dcode_4()
- {
- LOG("D4 - Read/Write PIN\n");
- if (code_seen('P')) // Pin (0-255)
- {
- int pin = (int)code_value();
- if ((pin >= 0) && (pin <= 255))
- {
- if (code_seen('F')) // Function in/out (0/1)
- {
- int fnc = (int)code_value();
- if (fnc == 0) pinMode(pin, INPUT);
- else if (fnc == 1) pinMode(pin, OUTPUT);
- }
- if (code_seen('V')) // Value (0/1)
- {
- int val = (int)code_value();
- if (val == 0) digitalWrite(pin, LOW);
- else if (val == 1) digitalWrite(pin, HIGH);
- }
- else
- {
- int val = (digitalRead(pin) != LOW)?1:0;
- printf("PIN%d=%d", pin, val);
- }
- }
- }
- }
- #endif //DEBUG_DCODES
- #if defined DEBUG_DCODE5 || defined DEBUG_DCODES
- /*!
- ### D5 - Read/Write FLASH <a href="https://reprap.org/wiki/G-code#D5:_Read.2FWrite_FLASH">D5: Read/Write Flash</a>
- This command can be used without any additional parameters. It will read the 1kb FLASH.
- #### Usage
-
- D5 [ A | C | X | E ]
-
- #### Parameters
- - `A` - Address (x00000-x3ffff)
- - `C` - Count (1-8192)
- - `X` - Data (hex)
- - `E` - Erase
-
- #### Notes
- - The hex address needs to be lowercase without the 0 before the x
- - Count is decimal
- - The hex data needs to be lowercase
-
- */
- void dcode_5()
- {
- printf_P(PSTR("D5 - Read/Write FLASH\n"));
- uint32_t address = 0x0000; //default 0x0000
- uint16_t count = 0x0400; //default 0x0400 (1kb block)
- if (code_seen('A')) // Address (0x00000-0x3ffff)
- address = (strchr_pointer[1] == 'x')?strtol(strchr_pointer + 2, 0, 16):(int)code_value();
- if (code_seen('C')) // Count (0x0001-0x2000)
- count = (int)code_value();
- address &= 0x3ffff;
- if (count > 0x2000) count = 0x2000;
- if ((address + count) > 0x40000) count = 0x40000 - address;
- bool bErase = false;
- bool bCopy = false;
- if (code_seen('E')) //Erase
- bErase = true;
- uint8_t data[16];
- if (code_seen('X')) // Data
- {
- count = parse_hex(strchr_pointer + 1, data, 16);
- if (count > 0) bCopy = true;
- }
- if (bErase || bCopy)
- {
- if (bErase)
- {
- printf_P(PSTR("%d bytes of FLASH at address %05x will be erased\n"), count, address);
- }
- if (bCopy)
- {
- printf_P(PSTR("%d bytes will be written to FLASH at address %05x\n"), count, address);
- }
- cli();
- boot_app_magic = 0x55aa55aa;
- boot_app_flags = (bErase?(BOOT_APP_FLG_ERASE):0) | (bCopy?(BOOT_APP_FLG_COPY):0);
- boot_copy_size = (uint16_t)count;
- boot_dst_addr = (uint32_t)address;
- boot_src_addr = (uint32_t)(&data);
- bootapp_print_vars();
- softReset();
- }
- while (count)
- {
- print_hex_nibble(address >> 16);
- print_hex_word(address);
- putchar(' ');
- uint8_t countperline = 16;
- while (count && countperline)
- {
- uint8_t data = pgm_read_byte_far((uint8_t*)address++);
- putchar(' ');
- print_hex_byte(data);
- countperline--;
- count--;
- }
- putchar('\n');
- }
- }
- #endif //DEBUG_DCODE5
- #ifdef DEBUG_DCODES
- /*!
- ### D6 - Read/Write external FLASH <a href="https://reprap.org/wiki/G-code#D6:_Read.2FWrite_external_FLASH">D6: Read/Write external Flash</a>
- Reserved
- */
- void dcode_6()
- {
- LOG("D6 - Read/Write external FLASH\n");
- }
- /*!
- ### D7 - Read/Write Bootloader <a href="https://reprap.org/wiki/G-code#D7:_Read.2FWrite_Bootloader">D7: Read/Write Bootloader</a>
- Reserved
- */
- void dcode_7()
- {
- LOG("D7 - Read/Write Bootloader\n");
- /*
- cli();
- boot_app_magic = 0x55aa55aa;
- boot_app_flags = BOOT_APP_FLG_ERASE | BOOT_APP_FLG_COPY | BOOT_APP_FLG_FLASH;
- boot_copy_size = (uint16_t)0xc00;
- boot_src_addr = (uint32_t)0x0003e400;
- boot_dst_addr = (uint32_t)0x0003f400;
- softReset();
- */
- }
- /*!
- ### D8 - Read/Write PINDA <a href="https://reprap.org/wiki/G-code#D8:_Read.2FWrite_PINDA">D8: Read/Write PINDA</a>
- #### Usage
-
- D8 [ ? | ! | P | Z ]
-
- #### Parameters
- - `?` - Read PINDA temperature shift values
- - `!` - Reset PINDA temperature shift values to default
- - `P` - Pinda temperature [C]
- - `Z` - Z Offset [mm]
- */
- void dcode_8()
- {
- printf_P(PSTR("D8 - Read/Write PINDA\n"));
- uint8_t cal_status = calibration_status_pinda();
- float temp_pinda = current_temperature_pinda;
- float offset_z = temp_compensation_pinda_thermistor_offset(temp_pinda);
- if ((strchr_pointer[1+1] == '?') || (strchr_pointer[1+1] == 0))
- {
- printf_P(PSTR("cal_status=%d\n"), cal_status?1:0);
- for (uint8_t i = 0; i < 6; i++)
- {
- uint16_t offs = 0;
- if (i > 0) offs = eeprom_read_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + (i - 1));
- float foffs = ((float)offs) / cs.axis_steps_per_unit[Z_AXIS];
- offs = 1000 * foffs;
- printf_P(PSTR("temp_pinda=%dC temp_shift=%dum\n"), 35 + i * 5, offs);
- }
- }
- else if (strchr_pointer[1+1] == '!')
- {
- cal_status = 1;
- eeprom_write_byte((uint8_t*)EEPROM_CALIBRATION_STATUS_PINDA, cal_status);
- eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 0, 8); //40C - 20um - 8usteps
- eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 1, 24); //45C - 60um - 24usteps
- eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 2, 48); //50C - 120um - 48usteps
- eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 3, 80); //55C - 200um - 80usteps
- eeprom_write_word(((uint16_t*)EEPROM_PROBE_TEMP_SHIFT) + 4, 120); //60C - 300um - 120usteps
- }
- else
- {
- if (code_seen('P')) // Pinda temperature [C]
- temp_pinda = code_value();
- offset_z = temp_compensation_pinda_thermistor_offset(temp_pinda);
- if (code_seen('Z')) // Z Offset [mm]
- {
- offset_z = code_value();
- }
- }
- printf_P(PSTR("temp_pinda=%d offset_z=%d.%03d\n"), (int)temp_pinda, (int)offset_z, ((int)(1000 * offset_z) % 1000));
- }
- /*!
- ### D9 - Read ADC <a href="https://reprap.org/wiki/G-code#D9:_Read.2FWrite_ADC">D9: Read ADC</a>
- #### Usage
-
- D9 [ I | V ]
-
- #### Parameters
- - `I` - ADC channel index
- - `0` - Heater 0 temperature
- - `1` - Heater 1 temperature
- - `2` - Bed temperature
- - `3` - PINDA temperature
- - `4` - PWR voltage
- - `5` - Ambient temperature
- - `6` - BED voltage
- - `V` Value to be written as simulated
- */
- const char* dcode_9_ADC_name(uint8_t i)
- {
- switch (i)
- {
- case 0: return PSTR("TEMP_HEATER0");
- case 1: return PSTR("TEMP_HEATER1");
- case 2: return PSTR("TEMP_BED");
- case 3: return PSTR("TEMP_PINDA");
- case 4: return PSTR("VOLT_PWR");
- case 5: return PSTR("TEMP_AMBIENT");
- case 6: return PSTR("VOLT_BED");
- }
- return 0;
- }
- #ifdef AMBIENT_THERMISTOR
- extern int current_temperature_raw_ambient;
- #endif //AMBIENT_THERMISTOR
- #ifdef VOLT_PWR_PIN
- extern int current_voltage_raw_pwr;
- #endif //VOLT_PWR_PIN
- #ifdef VOLT_BED_PIN
- extern int current_voltage_raw_bed;
- #endif //VOLT_BED_PIN
- uint16_t dcode_9_ADC_val(uint8_t i)
- {
- switch (i)
- {
- case 0: return current_temperature_raw[0];
- case 1: return 0;
- case 2: return current_temperature_bed_raw;
- case 3: return current_temperature_raw_pinda;
- #ifdef VOLT_PWR_PIN
- case 4: return current_voltage_raw_pwr;
- #endif //VOLT_PWR_PIN
- #ifdef AMBIENT_THERMISTOR
- case 5: return current_temperature_raw_ambient;
- #endif //AMBIENT_THERMISTOR
- #ifdef VOLT_BED_PIN
- case 6: return current_voltage_raw_bed;
- #endif //VOLT_BED_PIN
- }
- return 0;
- }
- void dcode_9()
- {
- printf_P(PSTR("D9 - Read/Write ADC\n"));
- if ((strchr_pointer[1+1] == '?') || (strchr_pointer[1+1] == 0))
- {
- for (uint8_t i = 0; i < ADC_CHAN_CNT; i++)
- printf_P(PSTR("\tADC%d=%4d\t(%S)\n"), i, dcode_9_ADC_val(i) >> 4, dcode_9_ADC_name(i));
- }
- else
- {
- uint8_t index = 0xff;
- if (code_seen('I')) // index (index of used channel, not avr channel index)
- index = code_value();
- if (index < ADC_CHAN_CNT)
- {
- if (code_seen('V')) // value to be written as simulated
- {
- adc_sim_mask |= (1 << index);
- adc_values[index] = (((int)code_value()) << 4);
- printf_P(PSTR("ADC%d=%4d\n"), index, adc_values[index] >> 4);
- }
- }
- }
- }
- /*!
- ### D10 - Set XYZ calibration = OK <a href="https://reprap.org/wiki/G-code#D10:_Set_XYZ_calibration_.3D_OK">D10: Set XYZ calibration = OK</a>
- */
- void dcode_10()
- {//Tell the printer that XYZ calibration went OK
- LOG("D10 - XYZ calibration = OK\n");
- calibration_status_store(CALIBRATION_STATUS_LIVE_ADJUST);
- }
- /*!
- ### D12 - Time <a href="https://reprap.org/wiki/G-code#D12:_Time">D12: Time</a>
- Writes the current time in the log file.
- */
- void dcode_12()
- {//Time
- LOG("D12 - Time\n");
- }
- #ifdef HEATBED_ANALYSIS
- /*!
- ### D80 - Bed check <a href="https://reprap.org/wiki/G-code#D80:_Bed_check">D80: Bed check</a>
- This command will log data to SD card file "mesh.txt".
- #### Usage
-
- D80 [ E | F | G | H | I | J ]
-
- #### Parameters
- - `E` - Dimension X (default 40)
- - `F` - Dimention Y (default 40)
- - `G` - Points X (default 40)
- - `H` - Points Y (default 40)
- - `I` - Offset X (default 74)
- - `J` - Offset Y (default 34)
- */
- void dcode_80()
- {
- float dimension_x = 40;
- float dimension_y = 40;
- int points_x = 40;
- int points_y = 40;
- float offset_x = 74;
- float offset_y = 33;
- if (code_seen('E')) dimension_x = code_value();
- if (code_seen('F')) dimension_y = code_value();
- if (code_seen('G')) {points_x = code_value(); }
- if (code_seen('H')) {points_y = code_value(); }
- if (code_seen('I')) {offset_x = code_value(); }
- if (code_seen('J')) {offset_y = code_value(); }
- printf_P(PSTR("DIM X: %f\n"), dimension_x);
- printf_P(PSTR("DIM Y: %f\n"), dimension_y);
- printf_P(PSTR("POINTS X: %d\n"), points_x);
- printf_P(PSTR("POINTS Y: %d\n"), points_y);
- printf_P(PSTR("OFFSET X: %f\n"), offset_x);
- printf_P(PSTR("OFFSET Y: %f\n"), offset_y);
- bed_check(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
- }
- /*!
- ### D81 - Bed analysis <a href="https://reprap.org/wiki/G-code#D81:_Bed_analysis">D80: Bed analysis</a>
- This command will log data to SD card file "wldsd.txt".
- #### Usage
-
- D81 [ E | F | G | H | I | J ]
-
- #### Parameters
- - `E` - Dimension X (default 40)
- - `F` - Dimention Y (default 40)
- - `G` - Points X (default 40)
- - `H` - Points Y (default 40)
- - `I` - Offset X (default 74)
- - `J` - Offset Y (default 34)
- */
- void dcode_81()
- {
- float dimension_x = 40;
- float dimension_y = 40;
- int points_x = 40;
- int points_y = 40;
- float offset_x = 74;
- float offset_y = 33;
- if (code_seen('E')) dimension_x = code_value();
- if (code_seen('F')) dimension_y = code_value();
- if (code_seen("G")) { strchr_pointer+=1; points_x = code_value(); }
- if (code_seen("H")) { strchr_pointer+=1; points_y = code_value(); }
- if (code_seen("I")) { strchr_pointer+=1; offset_x = code_value(); }
- if (code_seen("J")) { strchr_pointer+=1; offset_y = code_value(); }
-
- bed_analysis(dimension_x,dimension_y,points_x,points_y,offset_x,offset_y);
-
- }
- #endif //HEATBED_ANALYSIS
- /*!
- ### D106 - Print measured fan speed for different pwm values <a href="https://reprap.org/wiki/G-code#D106:_Print_measured_fan_speed_for_different_pwm_values">D106: Print measured fan speed for different pwm values</a>
- */
- void dcode_106()
- {
- for (int i = 255; i > 0; i = i - 5) {
- fanSpeed = i;
- //delay_keep_alive(2000);
- for (int j = 0; j < 100; j++) {
- delay_keep_alive(100);
- }
- printf_P(_N("%d: %d\n"), i, fan_speed[1]);
- }
- }
- #ifdef TMC2130
- #include "planner.h"
- #include "tmc2130.h"
- extern void st_synchronize();
- /*!
- ### D2130 - Trinamic stepper controller <a href="https://reprap.org/wiki/G-code#D2130:_Trinamic_stepper_controller">D2130: Trinamic stepper controller</a>
- @todo Please review by owner of the code. RepRap Wiki Gcode needs to be updated after review of owner as well.
-
- #### Usage
-
- D2130 [ Axis | Command | Subcommand | Value ]
-
- #### Parameters
- - Axis
- - `X` - X stepper driver
- - `Y` - Y stepper driver
- - `Z` - Z stepper driver
- - `E` - Extruder stepper driver
- - Commands
- - `0` - Current off
- - `1` - Current on
- - `+` - Single step
- - `-` - Single step oposite direction
- - `NNN` - Value sereval steps
- - `?` - Read register
- - Subcommands for read register
- - `mres` - Micro step resolution. More information in datasheet '5.5.2 CHOPCONF – Chopper Configuration'
- - `step` - Step
- - `mscnt` - Microstep counter. More information in datasheet '5.5 Motor Driver Registers'
- - `mscuract` - Actual microstep current for motor. More information in datasheet '5.5 Motor Driver Registers'
- - `wave` - Microstep linearity compensation curve
- - `!` - Set register
- - Subcommands for set register
- - `mres` - Micro step resolution
- - `step` - Step
- - `wave` - Microstep linearity compensation curve
- - Values for set register
- - `0, 180 --> 250` - Off
- - `0.9 --> 1.25` - Valid values (recommended is 1.1)
- - `@` - Home calibrate axis
-
- Examples:
-
- D2130E?wave
-
- Print extruder microstep linearity compensation curve
-
- D2130E!wave0
-
- Disable extruder linearity compensation curve, (sine curve is used)
-
- D2130E!wave220
-
- (sin(x))^1.1 extruder microstep compensation curve used
-
- Notes:
- For more information see https://www.trinamic.com/fileadmin/assets/Products/ICs_Documents/TMC2130_datasheet.pdf
- *
- */
- void dcode_2130()
- {
- printf_P(PSTR("D2130 - TMC2130\n"));
- uint8_t axis = 0xff;
- switch (strchr_pointer[1+4])
- {
- case 'X': axis = X_AXIS; break;
- case 'Y': axis = Y_AXIS; break;
- case 'Z': axis = Z_AXIS; break;
- case 'E': axis = E_AXIS; break;
- }
- if (axis != 0xff)
- {
- char ch_axis = strchr_pointer[1+4];
- if (strchr_pointer[1+5] == '0') { tmc2130_set_pwr(axis, 0); }
- else if (strchr_pointer[1+5] == '1') { tmc2130_set_pwr(axis, 1); }
- else if (strchr_pointer[1+5] == '+')
- {
- if (strchr_pointer[1+6] == 0)
- {
- tmc2130_set_dir(axis, 0);
- tmc2130_do_step(axis);
- }
- else
- {
- uint8_t steps = atoi(strchr_pointer + 1 + 6);
- tmc2130_do_steps(axis, steps, 0, 1000);
- }
- }
- else if (strchr_pointer[1+5] == '-')
- {
- if (strchr_pointer[1+6] == 0)
- {
- tmc2130_set_dir(axis, 1);
- tmc2130_do_step(axis);
- }
- else
- {
- uint8_t steps = atoi(strchr_pointer + 1 + 6);
- tmc2130_do_steps(axis, steps, 1, 1000);
- }
- }
- else if (strchr_pointer[1+5] == '?')
- {
- if (strcmp(strchr_pointer + 7, "mres") == 0) printf_P(PSTR("%c mres=%d\n"), ch_axis, tmc2130_mres[axis]);
- else if (strcmp(strchr_pointer + 7, "step") == 0) printf_P(PSTR("%c step=%d\n"), ch_axis, tmc2130_rd_MSCNT(axis) >> tmc2130_mres[axis]);
- else if (strcmp(strchr_pointer + 7, "mscnt") == 0) printf_P(PSTR("%c MSCNT=%d\n"), ch_axis, tmc2130_rd_MSCNT(axis));
- else if (strcmp(strchr_pointer + 7, "mscuract") == 0)
- {
- uint32_t val = tmc2130_rd_MSCURACT(axis);
- int curA = (val & 0xff);
- int curB = ((val >> 16) & 0xff);
- if ((val << 7) & 0x8000) curA -= 256;
- if ((val >> 9) & 0x8000) curB -= 256;
- printf_P(PSTR("%c MSCURACT=0x%08lx A=%d B=%d\n"), ch_axis, val, curA, curB);
- }
- else if (strcmp(strchr_pointer + 7, "wave") == 0)
- {
- tmc2130_get_wave(axis, 0, stdout);
- }
- }
- else if (strchr_pointer[1+5] == '!')
- {
- if (strncmp(strchr_pointer + 7, "step", 4) == 0)
- {
- uint8_t step = atoi(strchr_pointer + 11);
- uint16_t res = tmc2130_get_res(axis);
- tmc2130_goto_step(axis, step & (4*res - 1), 2, 1000, res);
- }
- else if (strncmp(strchr_pointer + 7, "mres", 4) == 0)
- {
- uint8_t mres = strchr_pointer[11] - '0';
- if (mres <= 8)
- {
- st_synchronize();
- uint16_t res = tmc2130_get_res(axis);
- uint16_t res_new = tmc2130_mres2usteps(mres);
- tmc2130_set_res(axis, res_new);
- if (res_new > res)
- cs.axis_steps_per_unit[axis] *= (res_new / res);
- else
- cs.axis_steps_per_unit[axis] /= (res / res_new);
- }
- }
- else if (strncmp(strchr_pointer + 7, "wave", 4) == 0)
- {
- uint8_t fac1000 = atoi(strchr_pointer + 11) & 0xffff;
- if (fac1000 < TMC2130_WAVE_FAC1000_MIN) fac1000 = 0;
- if (fac1000 > TMC2130_WAVE_FAC1000_MAX) fac1000 = TMC2130_WAVE_FAC1000_MAX;
- tmc2130_set_wave(axis, 247, fac1000);
- tmc2130_wave_fac[axis] = fac1000;
- }
- }
- else if (strchr_pointer[1+5] == '@')
- {
- tmc2130_home_calibrate(axis);
- }
- }
- }
- #endif //TMC2130
- #ifdef PAT9125
- /*!
- ### D9125 - PAT9125 filament sensor <a href="https://reprap.org/wiki/G-code#D9:_Read.2FWrite_ADC">D9125: PAT9125 filament sensor</a>
- #### Usage
-
- D9125 [ ? | ! | R | X | Y | L ]
-
- #### Parameters
- - `?` - Print values
- - `!` - Print values
- - `R` - Resolution. Not active in code
- - `X` - X values
- - `Y` - Y values
- - `L` - Activate filament sensor log
- */
- void dcode_9125()
- {
- LOG("D9125 - PAT9125\n");
- if ((strchr_pointer[1+4] == '?') || (strchr_pointer[1+4] == 0))
- {
- // printf("res_x=%d res_y=%d x=%d y=%d b=%d s=%d\n", pat9125_xres, pat9125_yres, pat9125_x, pat9125_y, pat9125_b, pat9125_s);
- printf("x=%d y=%d b=%d s=%d\n", pat9125_x, pat9125_y, pat9125_b, pat9125_s);
- return;
- }
- if (strchr_pointer[1+4] == '!')
- {
- pat9125_update();
- printf("x=%d y=%d b=%d s=%d\n", pat9125_x, pat9125_y, pat9125_b, pat9125_s);
- return;
- }
- /*
- if (code_seen('R'))
- {
- unsigned char res = (int)code_value();
- LOG("pat9125_init(xres=yres=%d)=%d\n", res, pat9125_init(res, res));
- }
- */
- if (code_seen('X'))
- {
- pat9125_x = (int)code_value();
- LOG("pat9125_x=%d\n", pat9125_x);
- }
- if (code_seen('Y'))
- {
- pat9125_y = (int)code_value();
- LOG("pat9125_y=%d\n", pat9125_y);
- }
- #ifdef DEBUG_FSENSOR_LOG
- if (code_seen('L'))
- {
- fsensor_log = (int)code_value();
- LOG("fsensor_log=%d\n", fsensor_log);
- }
- #endif //DEBUG_FSENSOR_LOG
- }
- #endif //PAT9125
- #endif //DEBUG_DCODES
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