From f75f426dfae5190d3e637b247030d3a244968c2a Mon Sep 17 00:00:00 2001
From: Erik van der Zalm <erik@vdzalm.eu>
Date: Sun, 27 Nov 2011 21:12:55 +0100
Subject: [PATCH] Removed interrupt nesting in the stepper ISR. Add serial
checkRx in stepper ISR. Copied HardwareSerial to MarlinSerial (Needed for
checkRx).
---
Marlin/Configuration.h | 2 +-
Marlin/EEPROMwrite.h | 1 +
Marlin/Marlin.h | 10 +-
Marlin/Marlin.pde | 25 +-
Marlin/MarlinSerial.cpp | 213 ++++++
Marlin/MarlinSerial.h | 66 ++
Marlin/Sd2Card.cpp | 1283 +++++++++++++++++++------------------
Marlin/SdBaseFile.cpp | 10 +-
Marlin/SdBaseFile.h | 2 +
Marlin/SdFatUtil.cpp | 4 +-
Marlin/SdFatUtil.h | 92 +--
Marlin/motion_control.cpp | 6 +-
Marlin/motion_control.h | 2 +-
Marlin/planner.cpp | 6 +-
Marlin/planner.h | 2 +-
Marlin/stepper.cpp | 37 +-
16 files changed, 1007 insertions(+), 754 deletions(-)
create mode 100644 Marlin/MarlinSerial.cpp
create mode 100644 Marlin/MarlinSerial.h
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 3a1983956d..558044e280 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -232,7 +232,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
#define DEFAULT_MINSEGMENTTIME 20000 // Obsolete delete this
-#define DEFAULT_XYJERK 30.0 // (mm/sec)
+#define DEFAULT_XYJERK 20.0 // (mm/sec)
#define DEFAULT_ZJERK 0.4 // (mm/sec)
diff --git a/Marlin/EEPROMwrite.h b/Marlin/EEPROMwrite.h
index 3d559c0269..c298c97350 100644
--- a/Marlin/EEPROMwrite.h
+++ b/Marlin/EEPROMwrite.h
@@ -4,6 +4,7 @@
#include "Marlin.h"
#include "planner.h"
#include "temperature.h"
+
#include <EEPROM.h>
template <class T> int EEPROM_writeAnything(int &ee, const T& value)
diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index acfc3c2fa6..57f403dffd 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -3,10 +3,12 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
+#define HardwareSerial_h // trick to disable the standard HWserial
#include <WProgram.h>
#include "fastio.h"
#include <avr/pgmspace.h>
#include "Configuration.h"
+#include "MarlinSerial.h"
//#define SERIAL_ECHO(x) Serial << "echo: " << x;
//#define SERIAL_ECHOLN(x) Serial << "echo: "<<x<<endl;
@@ -17,10 +19,10 @@
-#define SERIAL_PROTOCOL(x) Serial.print(x);
+#define SERIAL_PROTOCOL(x) MSerial.print(x);
#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x));
-#define SERIAL_PROTOCOLLN(x) {Serial.print(x);Serial.write('\n');}
-#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));Serial.write('\n');}
+#define SERIAL_PROTOCOLLN(x) {MSerial.print(x);MSerial.write('\n');}
+#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));MSerial.write('\n');}
const char errormagic[] PROGMEM ="Error:";
const char echomagic[] PROGMEM ="echo:";
@@ -46,7 +48,7 @@ inline void serialprintPGM(const char *str)
char ch=pgm_read_byte(str);
while(ch)
{
- Serial.write(ch);
+ MSerial.write(ch);
ch=pgm_read_byte(++str);
}
}
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index 836f5aa9ab..4c1535bf58 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -176,6 +176,7 @@ static unsigned long stoptime=0;
static uint8_t tmp_extruder;
+
//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
@@ -199,13 +200,6 @@ extern "C"{
}
}
-
-
-
-
-
-
-
//adds an command to the main command buffer
//thats really done in a non-safe way.
//needs overworking someday
@@ -226,7 +220,7 @@ void enquecommand(const char *cmd)
void setup()
{
- Serial.begin(BAUDRATE);
+ MSerial.begin(BAUDRATE);
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(VERSION_STRING);
SERIAL_PROTOCOLLNPGM("start");
@@ -289,15 +283,14 @@ void loop()
manage_heater();
manage_inactivity(1);
checkHitEndstops();
- checkStepperErrors();
LCD_STATUS;
}
inline void get_command()
{
- while( Serial.available() > 0 && buflen < BUFSIZE) {
- serial_char = Serial.read();
+ while( MSerial.available() > 0 && buflen < BUFSIZE) {
+ serial_char = MSerial.read();
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count) return; //if empty line
@@ -1039,7 +1032,7 @@ inline void process_commands()
void FlushSerialRequestResend()
{
//char cmdbuffer[bufindr][100]="Resend:";
- Serial.flush();
+ MSerial.flush();
SERIAL_PROTOCOLPGM("Resend:");
SERIAL_PROTOCOLLN(gcode_LastN + 1);
ClearToSend();
@@ -1088,7 +1081,7 @@ void prepare_move()
if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
}
- plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0);
+ plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
@@ -1098,7 +1091,7 @@ void prepare_arc_move(char isclockwise) {
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
// Trace the arc
- mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise);
+ mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
@@ -1108,10 +1101,6 @@ void prepare_arc_move(char isclockwise) {
}
}
-
-
-
-
void manage_inactivity(byte debug)
{
if( (millis()-previous_millis_cmd) > max_inactive_time )
diff --git a/Marlin/MarlinSerial.cpp b/Marlin/MarlinSerial.cpp
new file mode 100644
index 0000000000..fade8b293f
--- /dev/null
+++ b/Marlin/MarlinSerial.cpp
@@ -0,0 +1,213 @@
+/*
+ HardwareSerial.cpp - Hardware serial library for Wiring
+ Copyright (c) 2006 Nicholas Zambetti. All right reserved.
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+ Modified 23 November 2006 by David A. Mellis
+ Modified 28 September 2010 by Mark Sproul
+*/
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <inttypes.h>
+#include "wiring.h"
+#include "wiring_private.h"
+
+// this next line disables the entire HardwareSerial.cpp,
+// this is so I can support Attiny series and any other chip without a uart
+#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
+
+#include "MarlinSerial.h"
+
+// Define constants and variables for buffering incoming serial data. We're
+// using a ring buffer (I think), in which rx_buffer_head is the index of the
+// location to which to write the next incoming character and rx_buffer_tail
+// is the index of the location from which to read.
+#define RX_BUFFER_SIZE 128
+
+struct ring_buffer
+{
+ unsigned char buffer[RX_BUFFER_SIZE];
+ int head;
+ int tail;
+};
+
+#if defined(UBRRH) || defined(UBRR0H)
+ ring_buffer rx_buffer = { { 0 }, 0, 0 };
+#endif
+
+
+inline void store_char(unsigned char c, ring_buffer *rx_buffer)
+{
+ int i = (unsigned int)(rx_buffer->head + 1) % RX_BUFFER_SIZE;
+
+ // if we should be storing the received character into the location
+ // just before the tail (meaning that the head would advance to the
+ // current location of the tail), we're about to overflow the buffer
+ // and so we don't write the character or advance the head.
+ if (i != rx_buffer->tail) {
+ rx_buffer->buffer[rx_buffer->head] = c;
+ rx_buffer->head = i;
+ }
+}
+
+
+//#elif defined(SIG_USART_RECV)
+#if defined(USART0_RX_vect)
+ // fixed by Mark Sproul this is on the 644/644p
+ //SIGNAL(SIG_USART_RECV)
+ SIGNAL(USART0_RX_vect)
+ {
+ #if defined(UDR0)
+ unsigned char c = UDR0;
+ #elif defined(UDR)
+ unsigned char c = UDR; // atmega8, atmega32
+ #else
+ #error UDR not defined
+ #endif
+ store_char(c, &rx_buffer);
+ }
+#endif
+
+// Constructors ////////////////////////////////////////////////////////////////
+
+MarlinSerial::MarlinSerial(ring_buffer *rx_buffer,
+ volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
+ volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
+ volatile uint8_t *udr,
+ uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x)
+{
+ _rx_buffer = rx_buffer;
+ _ubrrh = ubrrh;
+ _ubrrl = ubrrl;
+ _ucsra = ucsra;
+ _ucsrb = ucsrb;
+ _udr = udr;
+ _rxen = rxen;
+ _txen = txen;
+ _rxcie = rxcie;
+ _udre = udre;
+ _u2x = u2x;
+}
+
+// Public Methods //////////////////////////////////////////////////////////////
+
+void MarlinSerial::begin(long baud)
+{
+ uint16_t baud_setting;
+ bool use_u2x = true;
+
+#if F_CPU == 16000000UL
+ // hardcoded exception for compatibility with the bootloader shipped
+ // with the Duemilanove and previous boards and the firmware on the 8U2
+ // on the Uno and Mega 2560.
+ if (baud == 57600) {
+ use_u2x = false;
+ }
+#endif
+
+ if (use_u2x) {
+ *_ucsra = 1 << _u2x;
+ baud_setting = (F_CPU / 4 / baud - 1) / 2;
+ } else {
+ *_ucsra = 0;
+ baud_setting = (F_CPU / 8 / baud - 1) / 2;
+ }
+
+ // assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
+ *_ubrrh = baud_setting >> 8;
+ *_ubrrl = baud_setting;
+
+ sbi(*_ucsrb, _rxen);
+ sbi(*_ucsrb, _txen);
+ sbi(*_ucsrb, _rxcie);
+}
+
+void MarlinSerial::end()
+{
+ cbi(*_ucsrb, _rxen);
+ cbi(*_ucsrb, _txen);
+ cbi(*_ucsrb, _rxcie);
+}
+
+int MarlinSerial::available(void)
+{
+ return (unsigned int)(RX_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % RX_BUFFER_SIZE;
+}
+
+int MarlinSerial::peek(void)
+{
+ if (_rx_buffer->head == _rx_buffer->tail) {
+ return -1;
+ } else {
+ return _rx_buffer->buffer[_rx_buffer->tail];
+ }
+}
+
+int MarlinSerial::read(void)
+{
+ // if the head isn't ahead of the tail, we don't have any characters
+ if (_rx_buffer->head == _rx_buffer->tail) {
+ return -1;
+ } else {
+ unsigned char c = _rx_buffer->buffer[_rx_buffer->tail];
+ _rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) % RX_BUFFER_SIZE;
+ return c;
+ }
+}
+
+void MarlinSerial::flush()
+{
+ // don't reverse this or there may be problems if the RX interrupt
+ // occurs after reading the value of rx_buffer_head but before writing
+ // the value to rx_buffer_tail; the previous value of rx_buffer_head
+ // may be written to rx_buffer_tail, making it appear as if the buffer
+ // don't reverse this or there may be problems if the RX interrupt
+ // occurs after reading the value of rx_buffer_head but before writing
+ // the value to rx_buffer_tail; the previous value of rx_buffer_head
+ // may be written to rx_buffer_tail, making it appear as if the buffer
+ // were full, not empty.
+ _rx_buffer->head = _rx_buffer->tail;
+}
+
+void MarlinSerial::write(uint8_t c)
+{
+ while (!((*_ucsra) & (1 << _udre)))
+ ;
+
+ *_udr = c;
+}
+
+void MarlinSerial::checkRx()
+{
+ if((UCSR0A & (1<<RXC0)) != 0) {
+ unsigned char c = UDR0;
+ store_char(c, &rx_buffer);
+ }
+}
+
+// Preinstantiate Objects //////////////////////////////////////////////////////
+
+#if defined(UBRR0H) && defined(UBRR0L)
+ MarlinSerial MSerial(&rx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UDR0, RXEN0, TXEN0, RXCIE0, UDRE0, U2X0);
+#else
+ #error no serial port defined (port 0)
+#endif
+
+
+#endif // whole file
+
diff --git a/Marlin/MarlinSerial.h b/Marlin/MarlinSerial.h
new file mode 100644
index 0000000000..79454492a6
--- /dev/null
+++ b/Marlin/MarlinSerial.h
@@ -0,0 +1,66 @@
+/*
+ HardwareSerial.h - Hardware serial library for Wiring
+ Copyright (c) 2006 Nicholas Zambetti. All right reserved.
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+ Modified 28 September 2010 by Mark Sproul
+*/
+
+#ifndef MarlinSerial_h
+#define MarlinSerial_h
+
+#include <inttypes.h>
+
+#include "Stream.h"
+
+struct ring_buffer;
+
+class MarlinSerial : public Stream
+{
+ private:
+ ring_buffer *_rx_buffer;
+ volatile uint8_t *_ubrrh;
+ volatile uint8_t *_ubrrl;
+ volatile uint8_t *_ucsra;
+ volatile uint8_t *_ucsrb;
+ volatile uint8_t *_udr;
+ uint8_t _rxen;
+ uint8_t _txen;
+ uint8_t _rxcie;
+ uint8_t _udre;
+ uint8_t _u2x;
+ public:
+ MarlinSerial(ring_buffer *rx_buffer,
+ volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
+ volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
+ volatile uint8_t *udr,
+ uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x);
+ void begin(long);
+ void end();
+ virtual int available(void);
+ virtual int peek(void);
+ virtual int read(void);
+ virtual void flush(void);
+ virtual void write(uint8_t);
+ virtual void checkRx(void);
+ using Print::write; // pull in write(str) and write(buf, size) from Print
+};
+
+#if defined(UBRRH) || defined(UBRR0H)
+ extern MarlinSerial MSerial;
+#endif
+
+#endif
diff --git a/Marlin/Sd2Card.cpp b/Marlin/Sd2Card.cpp
index ab060c121e..4ca641ef9b 100644
--- a/Marlin/Sd2Card.cpp
+++ b/Marlin/Sd2Card.cpp
@@ -1,642 +1,643 @@
-/* Arduino Sd2Card Library
- * Copyright (C) 2009 by William Greiman
- *
- * This file is part of the Arduino Sd2Card Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This Library is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Sd2Card Library. If not, see
- * <http://www.gnu.org/licenses/>.
- */
-#if ARDUINO < 100
-#include <WProgram.h>
-#else // ARDUINO
-#include <Arduino.h>
-#endif // ARDUINO
-#include "Sd2Card.h"
-//------------------------------------------------------------------------------
-#ifndef SOFTWARE_SPI
-// functions for hardware SPI
-//------------------------------------------------------------------------------
-// make sure SPCR rate is in expected bits
-#if (SPR0 != 0 || SPR1 != 1)
-#error unexpected SPCR bits
-#endif
-/**
- * Initialize hardware SPI
- * Set SCK rate to F_CPU/pow(2, 1 + spiRate) for spiRate [0,6]
- */
-static void spiInit(uint8_t spiRate) {
- // See avr processor documentation
- SPCR = (1 << SPE) | (1 << MSTR) | (spiRate >> 1);
- SPSR = spiRate & 1 || spiRate == 6 ? 0 : 1 << SPI2X;
-}
-//------------------------------------------------------------------------------
-/** SPI receive a byte */
-static uint8_t spiRec() {
- SPDR = 0XFF;
- while (!(SPSR & (1 << SPIF)));
- return SPDR;
-}
-//------------------------------------------------------------------------------
-/** SPI read data - only one call so force inline */
-static inline __attribute__((always_inline))
- void spiRead(uint8_t* buf, uint16_t nbyte) {
- if (nbyte-- == 0) return;
- SPDR = 0XFF;
- for (uint16_t i = 0; i < nbyte; i++) {
- while (!(SPSR & (1 << SPIF)));
- buf[i] = SPDR;
- SPDR = 0XFF;
- }
- while (!(SPSR & (1 << SPIF)));
- buf[nbyte] = SPDR;
-}
-//------------------------------------------------------------------------------
-/** SPI send a byte */
-static void spiSend(uint8_t b) {
- SPDR = b;
- while (!(SPSR & (1 << SPIF)));
-}
-//------------------------------------------------------------------------------
-/** SPI send block - only one call so force inline */
-static inline __attribute__((always_inline))
- void spiSendBlock(uint8_t token, const uint8_t* buf) {
- SPDR = token;
- for (uint16_t i = 0; i < 512; i += 2) {
- while (!(SPSR & (1 << SPIF)));
- SPDR = buf[i];
- while (!(SPSR & (1 << SPIF)));
- SPDR = buf[i + 1];
- }
- while (!(SPSR & (1 << SPIF)));
-}
-//------------------------------------------------------------------------------
-#else // SOFTWARE_SPI
-//------------------------------------------------------------------------------
-/** nop to tune soft SPI timing */
-#define nop asm volatile ("nop\n\t")
-//------------------------------------------------------------------------------
-/** Soft SPI receive byte */
-static uint8_t spiRec() {
- uint8_t data = 0;
- // no interrupts during byte receive - about 8 us
- cli();
- // output pin high - like sending 0XFF
- fastDigitalWrite(SPI_MOSI_PIN, HIGH);
-
- for (uint8_t i = 0; i < 8; i++) {
- fastDigitalWrite(SPI_SCK_PIN, HIGH);
-
- // adjust so SCK is nice
- nop;
- nop;
-
- data <<= 1;
-
- if (fastDigitalRead(SPI_MISO_PIN)) data |= 1;
-
- fastDigitalWrite(SPI_SCK_PIN, LOW);
- }
- // enable interrupts
- sei();
- return data;
-}
-//------------------------------------------------------------------------------
-/** Soft SPI read data */
-static void spiRead(uint8_t* buf, uint16_t nbyte) {
- for (uint16_t i = 0; i < nbyte; i++) {
- buf[i] = spiRec();
- }
-}
-//------------------------------------------------------------------------------
-/** Soft SPI send byte */
-static void spiSend(uint8_t data) {
- // no interrupts during byte send - about 8 us
- cli();
- for (uint8_t i = 0; i < 8; i++) {
- fastDigitalWrite(SPI_SCK_PIN, LOW);
-
- fastDigitalWrite(SPI_MOSI_PIN, data & 0X80);
-
- data <<= 1;
-
- fastDigitalWrite(SPI_SCK_PIN, HIGH);
- }
- // hold SCK high for a few ns
- nop;
- nop;
- nop;
- nop;
-
- fastDigitalWrite(SPI_SCK_PIN, LOW);
- // enable interrupts
- sei();
-}
-//------------------------------------------------------------------------------
-/** Soft SPI send block */
- void spiSendBlock(uint8_t token, const uint8_t* buf) {
- spiSend(token);
- for (uint16_t i = 0; i < 512; i++) {
- spiSend(buf[i]);
- }
-}
-#endif // SOFTWARE_SPI
-//------------------------------------------------------------------------------
-// send command and return error code. Return zero for OK
-uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) {
- // select card
- chipSelectLow();
-
- // wait up to 300 ms if busy
- waitNotBusy(300);
-
- // send command
- spiSend(cmd | 0x40);
-
- // send argument
- for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s);
-
- // send CRC
- uint8_t crc = 0XFF;
- if (cmd == CMD0) crc = 0X95; // correct crc for CMD0 with arg 0
- if (cmd == CMD8) crc = 0X87; // correct crc for CMD8 with arg 0X1AA
- spiSend(crc);
-
- // skip stuff byte for stop read
- if (cmd == CMD12) spiRec();
-
- // wait for response
- for (uint8_t i = 0; ((status_ = spiRec()) & 0X80) && i != 0XFF; i++);
- return status_;
-}
-//------------------------------------------------------------------------------
-/**
- * Determine the size of an SD flash memory card.
- *
- * \return The number of 512 byte data blocks in the card
- * or zero if an error occurs.
- */
-uint32_t Sd2Card::cardSize() {
- csd_t csd;
- if (!readCSD(&csd)) return 0;
- if (csd.v1.csd_ver == 0) {
- uint8_t read_bl_len = csd.v1.read_bl_len;
- uint16_t c_size = (csd.v1.c_size_high << 10)
- | (csd.v1.c_size_mid << 2) | csd.v1.c_size_low;
- uint8_t c_size_mult = (csd.v1.c_size_mult_high << 1)
- | csd.v1.c_size_mult_low;
- return (uint32_t)(c_size + 1) << (c_size_mult + read_bl_len - 7);
- } else if (csd.v2.csd_ver == 1) {
- uint32_t c_size = ((uint32_t)csd.v2.c_size_high << 16)
- | (csd.v2.c_size_mid << 8) | csd.v2.c_size_low;
- return (c_size + 1) << 10;
- } else {
- error(SD_CARD_ERROR_BAD_CSD);
- return 0;
- }
-}
-//------------------------------------------------------------------------------
-void Sd2Card::chipSelectHigh() {
- digitalWrite(chipSelectPin_, HIGH);
-}
-//------------------------------------------------------------------------------
-void Sd2Card::chipSelectLow() {
-#ifndef SOFTWARE_SPI
- spiInit(spiRate_);
-#endif // SOFTWARE_SPI
- digitalWrite(chipSelectPin_, LOW);
-}
-//------------------------------------------------------------------------------
-/** Erase a range of blocks.
- *
- * \param[in] firstBlock The address of the first block in the range.
- * \param[in] lastBlock The address of the last block in the range.
- *
- * \note This function requests the SD card to do a flash erase for a
- * range of blocks. The data on the card after an erase operation is
- * either 0 or 1, depends on the card vendor. The card must support
- * single block erase.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-bool Sd2Card::erase(uint32_t firstBlock, uint32_t lastBlock) {
- csd_t csd;
- if (!readCSD(&csd)) goto fail;
- // check for single block erase
- if (!csd.v1.erase_blk_en) {
- // erase size mask
- uint8_t m = (csd.v1.sector_size_high << 1) | csd.v1.sector_size_low;
- if ((firstBlock & m) != 0 || ((lastBlock + 1) & m) != 0) {
- // error card can't erase specified area
- error(SD_CARD_ERROR_ERASE_SINGLE_BLOCK);
- goto fail;
- }
- }
- if (type_ != SD_CARD_TYPE_SDHC) {
- firstBlock <<= 9;
- lastBlock <<= 9;
- }
- if (cardCommand(CMD32, firstBlock)
- || cardCommand(CMD33, lastBlock)
- || cardCommand(CMD38, 0)) {
- error(SD_CARD_ERROR_ERASE);
- goto fail;
- }
- if (!waitNotBusy(SD_ERASE_TIMEOUT)) {
- error(SD_CARD_ERROR_ERASE_TIMEOUT);
- goto fail;
- }
- chipSelectHigh();
- return true;
-
- fail:
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-/** Determine if card supports single block erase.
- *
- * \return The value one, true, is returned if single block erase is supported.
- * The value zero, false, is returned if single block erase is not supported.
- */
-bool Sd2Card::eraseSingleBlockEnable() {
- csd_t csd;
- return readCSD(&csd) ? csd.v1.erase_blk_en : false;
-}
-//------------------------------------------------------------------------------
-/**
- * Initialize an SD flash memory card.
- *
- * \param[in] sckRateID SPI clock rate selector. See setSckRate().
- * \param[in] chipSelectPin SD chip select pin number.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure. The reason for failure
- * can be determined by calling errorCode() and errorData().
- */
-bool Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) {
- errorCode_ = type_ = 0;
- chipSelectPin_ = chipSelectPin;
- // 16-bit init start time allows over a minute
- uint16_t t0 = (uint16_t)millis();
- uint32_t arg;
-
- // set pin modes
- pinMode(chipSelectPin_, OUTPUT);
- chipSelectHigh();
- pinMode(SPI_MISO_PIN, INPUT);
- pinMode(SPI_MOSI_PIN, OUTPUT);
- pinMode(SPI_SCK_PIN, OUTPUT);
-
-#ifndef SOFTWARE_SPI
- // SS must be in output mode even it is not chip select
- pinMode(SS_PIN, OUTPUT);
- // set SS high - may be chip select for another SPI device
-#if SET_SPI_SS_HIGH
- digitalWrite(SS_PIN, HIGH);
-#endif // SET_SPI_SS_HIGH
- // set SCK rate for initialization commands
- spiRate_ = SPI_SD_INIT_RATE;
- spiInit(spiRate_);
-#endif // SOFTWARE_SPI
-
- // must supply min of 74 clock cycles with CS high.
- for (uint8_t i = 0; i < 10; i++) spiSend(0XFF);
-
- // command to go idle in SPI mode
- while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
- if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
- error(SD_CARD_ERROR_CMD0);
- goto fail;
- }
- }
- // check SD version
- if ((cardCommand(CMD8, 0x1AA) & R1_ILLEGAL_COMMAND)) {
- type(SD_CARD_TYPE_SD1);
- } else {
- // only need last byte of r7 response
- for (uint8_t i = 0; i < 4; i++) status_ = spiRec();
- if (status_ != 0XAA) {
- error(SD_CARD_ERROR_CMD8);
- goto fail;
- }
- type(SD_CARD_TYPE_SD2);
- }
- // initialize card and send host supports SDHC if SD2
- arg = type() == SD_CARD_TYPE_SD2 ? 0X40000000 : 0;
-
- while ((status_ = cardAcmd(ACMD41, arg)) != R1_READY_STATE) {
- // check for timeout
- if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
- error(SD_CARD_ERROR_ACMD41);
- goto fail;
- }
- }
- // if SD2 read OCR register to check for SDHC card
- if (type() == SD_CARD_TYPE_SD2) {
- if (cardCommand(CMD58, 0)) {
- error(SD_CARD_ERROR_CMD58);
- goto fail;
- }
- if ((spiRec() & 0XC0) == 0XC0) type(SD_CARD_TYPE_SDHC);
- // discard rest of ocr - contains allowed voltage range
- for (uint8_t i = 0; i < 3; i++) spiRec();
- }
- chipSelectHigh();
-
-#ifndef SOFTWARE_SPI
- return setSckRate(sckRateID);
-#else // SOFTWARE_SPI
- return true;
-#endif // SOFTWARE_SPI
-
- fail:
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-/**
- * Read a 512 byte block from an SD card.
- *
- * \param[in] blockNumber Logical block to be read.
- * \param[out] dst Pointer to the location that will receive the data.
-
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-bool Sd2Card::readBlock(uint32_t blockNumber, uint8_t* dst) {
- // use address if not SDHC card
- if (type()!= SD_CARD_TYPE_SDHC) blockNumber <<= 9;
- if (cardCommand(CMD17, blockNumber)) {
- error(SD_CARD_ERROR_CMD17);
- goto fail;
- }
- return readData(dst, 512);
-
- fail:
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-/** Read one data block in a multiple block read sequence
- *
- * \param[in] dst Pointer to the location for the data to be read.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-bool Sd2Card::readData(uint8_t *dst) {
- chipSelectLow();
- return readData(dst, 512);
-}
-//------------------------------------------------------------------------------
-bool Sd2Card::readData(uint8_t* dst, uint16_t count) {
- // wait for start block token
- uint16_t t0 = millis();
- while ((status_ = spiRec()) == 0XFF) {
- if (((uint16_t)millis() - t0) > SD_READ_TIMEOUT) {
- error(SD_CARD_ERROR_READ_TIMEOUT);
- goto fail;
- }
- }
- if (status_ != DATA_START_BLOCK) {
- error(SD_CARD_ERROR_READ);
- goto fail;
- }
- // transfer data
- spiRead(dst, count);
-
- // discard CRC
- spiRec();
- spiRec();
- chipSelectHigh();
- return true;
-
- fail:
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-/** read CID or CSR register */
-bool Sd2Card::readRegister(uint8_t cmd, void* buf) {
- uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
- if (cardCommand(cmd, 0)) {
- error(SD_CARD_ERROR_READ_REG);
- goto fail;
- }
- return readData(dst, 16);
-
- fail:
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-/** Start a read multiple blocks sequence.
- *
- * \param[in] blockNumber Address of first block in sequence.
- *
- * \note This function is used with readData() and readStop() for optimized
- * multiple block reads. SPI chipSelect must be low for the entire sequence.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-bool Sd2Card::readStart(uint32_t blockNumber) {
- if (type()!= SD_CARD_TYPE_SDHC) blockNumber <<= 9;
- if (cardCommand(CMD18, blockNumber)) {
- error(SD_CARD_ERROR_CMD18);
- goto fail;
- }
- chipSelectHigh();
- return true;
-
- fail:
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-/** End a read multiple blocks sequence.
- *
-* \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-bool Sd2Card::readStop() {
- chipSelectLow();
- if (cardCommand(CMD12, 0)) {
- error(SD_CARD_ERROR_CMD12);
- goto fail;
- }
- chipSelectHigh();
- return true;
-
- fail:
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-/**
- * Set the SPI clock rate.
- *
- * \param[in] sckRateID A value in the range [0, 6].
- *
- * The SPI clock will be set to F_CPU/pow(2, 1 + sckRateID). The maximum
- * SPI rate is F_CPU/2 for \a sckRateID = 0 and the minimum rate is F_CPU/128
- * for \a scsRateID = 6.
- *
- * \return The value one, true, is returned for success and the value zero,
- * false, is returned for an invalid value of \a sckRateID.
- */
-bool Sd2Card::setSckRate(uint8_t sckRateID) {
- if (sckRateID > 6) {
- error(SD_CARD_ERROR_SCK_RATE);
- return false;
- }
- spiRate_ = sckRateID;
- return true;
-}
-//------------------------------------------------------------------------------
-// wait for card to go not busy
-bool Sd2Card::waitNotBusy(uint16_t timeoutMillis) {
- uint16_t t0 = millis();
- while (spiRec() != 0XFF) {
- if (((uint16_t)millis() - t0) >= timeoutMillis) goto fail;
- }
- return true;
-
- fail:
- return false;
-}
-//------------------------------------------------------------------------------
-/**
- * Writes a 512 byte block to an SD card.
- *
- * \param[in] blockNumber Logical block to be written.
- * \param[in] src Pointer to the location of the data to be written.
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-bool Sd2Card::writeBlock(uint32_t blockNumber, const uint8_t* src) {
- // use address if not SDHC card
- if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;
- if (cardCommand(CMD24, blockNumber)) {
- error(SD_CARD_ERROR_CMD24);
- goto fail;
- }
- if (!writeData(DATA_START_BLOCK, src)) goto fail;
-
- // wait for flash programming to complete
- if (!waitNotBusy(SD_WRITE_TIMEOUT)) {
- error(SD_CARD_ERROR_WRITE_TIMEOUT);
- goto fail;
- }
- // response is r2 so get and check two bytes for nonzero
- if (cardCommand(CMD13, 0) || spiRec()) {
- error(SD_CARD_ERROR_WRITE_PROGRAMMING);
- goto fail;
- }
- chipSelectHigh();
- return true;
-
- fail:
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-/** Write one data block in a multiple block write sequence
- * \param[in] src Pointer to the location of the data to be written.
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-bool Sd2Card::writeData(const uint8_t* src) {
- chipSelectLow();
- // wait for previous write to finish
- if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
- if (!writeData(WRITE_MULTIPLE_TOKEN, src)) goto fail;
- chipSelectHigh();
- return true;
-
- fail:
- error(SD_CARD_ERROR_WRITE_MULTIPLE);
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-// send one block of data for write block or write multiple blocks
-bool Sd2Card::writeData(uint8_t token, const uint8_t* src) {
- spiSendBlock(token, src);
-
- spiSend(0xff); // dummy crc
- spiSend(0xff); // dummy crc
-
- status_ = spiRec();
- if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) {
- error(SD_CARD_ERROR_WRITE);
- goto fail;
- }
- return true;
-
- fail:
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-/** Start a write multiple blocks sequence.
- *
- * \param[in] blockNumber Address of first block in sequence.
- * \param[in] eraseCount The number of blocks to be pre-erased.
- *
- * \note This function is used with writeData() and writeStop()
- * for optimized multiple block writes.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-bool Sd2Card::writeStart(uint32_t blockNumber, uint32_t eraseCount) {
- // send pre-erase count
- if (cardAcmd(ACMD23, eraseCount)) {
- error(SD_CARD_ERROR_ACMD23);
- goto fail;
- }
- // use address if not SDHC card
- if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;
- if (cardCommand(CMD25, blockNumber)) {
- error(SD_CARD_ERROR_CMD25);
- goto fail;
- }
- chipSelectHigh();
- return true;
-
- fail:
- chipSelectHigh();
- return false;
-}
-//------------------------------------------------------------------------------
-/** End a write multiple blocks sequence.
- *
-* \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-bool Sd2Card::writeStop() {
- chipSelectLow();
- if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
- spiSend(STOP_TRAN_TOKEN);
- if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
- chipSelectHigh();
- return true;
-
- fail:
- error(SD_CARD_ERROR_STOP_TRAN);
- chipSelectHigh();
- return false;
+/* Arduino Sd2Card Library
+ * Copyright (C) 2009 by William Greiman
+ *
+ * This file is part of the Arduino Sd2Card Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino Sd2Card Library. If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#if ARDUINO < 100
+#define HardwareSerial_h // trick to disable the standard HWserial
+#include <WProgram.h>
+#else // ARDUINO
+#include <Arduino.h>
+#endif // ARDUINO
+#include "Sd2Card.h"
+//------------------------------------------------------------------------------
+#ifndef SOFTWARE_SPI
+// functions for hardware SPI
+//------------------------------------------------------------------------------
+// make sure SPCR rate is in expected bits
+#if (SPR0 != 0 || SPR1 != 1)
+#error unexpected SPCR bits
+#endif
+/**
+ * Initialize hardware SPI
+ * Set SCK rate to F_CPU/pow(2, 1 + spiRate) for spiRate [0,6]
+ */
+static void spiInit(uint8_t spiRate) {
+ // See avr processor documentation
+ SPCR = (1 << SPE) | (1 << MSTR) | (spiRate >> 1);
+ SPSR = spiRate & 1 || spiRate == 6 ? 0 : 1 << SPI2X;
+}
+//------------------------------------------------------------------------------
+/** SPI receive a byte */
+static uint8_t spiRec() {
+ SPDR = 0XFF;
+ while (!(SPSR & (1 << SPIF)));
+ return SPDR;
+}
+//------------------------------------------------------------------------------
+/** SPI read data - only one call so force inline */
+static inline __attribute__((always_inline))
+ void spiRead(uint8_t* buf, uint16_t nbyte) {
+ if (nbyte-- == 0) return;
+ SPDR = 0XFF;
+ for (uint16_t i = 0; i < nbyte; i++) {
+ while (!(SPSR & (1 << SPIF)));
+ buf[i] = SPDR;
+ SPDR = 0XFF;
+ }
+ while (!(SPSR & (1 << SPIF)));
+ buf[nbyte] = SPDR;
+}
+//------------------------------------------------------------------------------
+/** SPI send a byte */
+static void spiSend(uint8_t b) {
+ SPDR = b;
+ while (!(SPSR & (1 << SPIF)));
+}
+//------------------------------------------------------------------------------
+/** SPI send block - only one call so force inline */
+static inline __attribute__((always_inline))
+ void spiSendBlock(uint8_t token, const uint8_t* buf) {
+ SPDR = token;
+ for (uint16_t i = 0; i < 512; i += 2) {
+ while (!(SPSR & (1 << SPIF)));
+ SPDR = buf[i];
+ while (!(SPSR & (1 << SPIF)));
+ SPDR = buf[i + 1];
+ }
+ while (!(SPSR & (1 << SPIF)));
+}
+//------------------------------------------------------------------------------
+#else // SOFTWARE_SPI
+//------------------------------------------------------------------------------
+/** nop to tune soft SPI timing */
+#define nop asm volatile ("nop\n\t")
+//------------------------------------------------------------------------------
+/** Soft SPI receive byte */
+static uint8_t spiRec() {
+ uint8_t data = 0;
+ // no interrupts during byte receive - about 8 us
+ cli();
+ // output pin high - like sending 0XFF
+ fastDigitalWrite(SPI_MOSI_PIN, HIGH);
+
+ for (uint8_t i = 0; i < 8; i++) {
+ fastDigitalWrite(SPI_SCK_PIN, HIGH);
+
+ // adjust so SCK is nice
+ nop;
+ nop;
+
+ data <<= 1;
+
+ if (fastDigitalRead(SPI_MISO_PIN)) data |= 1;
+
+ fastDigitalWrite(SPI_SCK_PIN, LOW);
+ }
+ // enable interrupts
+ sei();
+ return data;
+}
+//------------------------------------------------------------------------------
+/** Soft SPI read data */
+static void spiRead(uint8_t* buf, uint16_t nbyte) {
+ for (uint16_t i = 0; i < nbyte; i++) {
+ buf[i] = spiRec();
+ }
+}
+//------------------------------------------------------------------------------
+/** Soft SPI send byte */
+static void spiSend(uint8_t data) {
+ // no interrupts during byte send - about 8 us
+ cli();
+ for (uint8_t i = 0; i < 8; i++) {
+ fastDigitalWrite(SPI_SCK_PIN, LOW);
+
+ fastDigitalWrite(SPI_MOSI_PIN, data & 0X80);
+
+ data <<= 1;
+
+ fastDigitalWrite(SPI_SCK_PIN, HIGH);
+ }
+ // hold SCK high for a few ns
+ nop;
+ nop;
+ nop;
+ nop;
+
+ fastDigitalWrite(SPI_SCK_PIN, LOW);
+ // enable interrupts
+ sei();
+}
+//------------------------------------------------------------------------------
+/** Soft SPI send block */
+ void spiSendBlock(uint8_t token, const uint8_t* buf) {
+ spiSend(token);
+ for (uint16_t i = 0; i < 512; i++) {
+ spiSend(buf[i]);
+ }
+}
+#endif // SOFTWARE_SPI
+//------------------------------------------------------------------------------
+// send command and return error code. Return zero for OK
+uint8_t Sd2Card::cardCommand(uint8_t cmd, uint32_t arg) {
+ // select card
+ chipSelectLow();
+
+ // wait up to 300 ms if busy
+ waitNotBusy(300);
+
+ // send command
+ spiSend(cmd | 0x40);
+
+ // send argument
+ for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s);
+
+ // send CRC
+ uint8_t crc = 0XFF;
+ if (cmd == CMD0) crc = 0X95; // correct crc for CMD0 with arg 0
+ if (cmd == CMD8) crc = 0X87; // correct crc for CMD8 with arg 0X1AA
+ spiSend(crc);
+
+ // skip stuff byte for stop read
+ if (cmd == CMD12) spiRec();
+
+ // wait for response
+ for (uint8_t i = 0; ((status_ = spiRec()) & 0X80) && i != 0XFF; i++);
+ return status_;
+}
+//------------------------------------------------------------------------------
+/**
+ * Determine the size of an SD flash memory card.
+ *
+ * \return The number of 512 byte data blocks in the card
+ * or zero if an error occurs.
+ */
+uint32_t Sd2Card::cardSize() {
+ csd_t csd;
+ if (!readCSD(&csd)) return 0;
+ if (csd.v1.csd_ver == 0) {
+ uint8_t read_bl_len = csd.v1.read_bl_len;
+ uint16_t c_size = (csd.v1.c_size_high << 10)
+ | (csd.v1.c_size_mid << 2) | csd.v1.c_size_low;
+ uint8_t c_size_mult = (csd.v1.c_size_mult_high << 1)
+ | csd.v1.c_size_mult_low;
+ return (uint32_t)(c_size + 1) << (c_size_mult + read_bl_len - 7);
+ } else if (csd.v2.csd_ver == 1) {
+ uint32_t c_size = ((uint32_t)csd.v2.c_size_high << 16)
+ | (csd.v2.c_size_mid << 8) | csd.v2.c_size_low;
+ return (c_size + 1) << 10;
+ } else {
+ error(SD_CARD_ERROR_BAD_CSD);
+ return 0;
+ }
+}
+//------------------------------------------------------------------------------
+void Sd2Card::chipSelectHigh() {
+ digitalWrite(chipSelectPin_, HIGH);
+}
+//------------------------------------------------------------------------------
+void Sd2Card::chipSelectLow() {
+#ifndef SOFTWARE_SPI
+ spiInit(spiRate_);
+#endif // SOFTWARE_SPI
+ digitalWrite(chipSelectPin_, LOW);
+}
+//------------------------------------------------------------------------------
+/** Erase a range of blocks.
+ *
+ * \param[in] firstBlock The address of the first block in the range.
+ * \param[in] lastBlock The address of the last block in the range.
+ *
+ * \note This function requests the SD card to do a flash erase for a
+ * range of blocks. The data on the card after an erase operation is
+ * either 0 or 1, depends on the card vendor. The card must support
+ * single block erase.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::erase(uint32_t firstBlock, uint32_t lastBlock) {
+ csd_t csd;
+ if (!readCSD(&csd)) goto fail;
+ // check for single block erase
+ if (!csd.v1.erase_blk_en) {
+ // erase size mask
+ uint8_t m = (csd.v1.sector_size_high << 1) | csd.v1.sector_size_low;
+ if ((firstBlock & m) != 0 || ((lastBlock + 1) & m) != 0) {
+ // error card can't erase specified area
+ error(SD_CARD_ERROR_ERASE_SINGLE_BLOCK);
+ goto fail;
+ }
+ }
+ if (type_ != SD_CARD_TYPE_SDHC) {
+ firstBlock <<= 9;
+ lastBlock <<= 9;
+ }
+ if (cardCommand(CMD32, firstBlock)
+ || cardCommand(CMD33, lastBlock)
+ || cardCommand(CMD38, 0)) {
+ error(SD_CARD_ERROR_ERASE);
+ goto fail;
+ }
+ if (!waitNotBusy(SD_ERASE_TIMEOUT)) {
+ error(SD_CARD_ERROR_ERASE_TIMEOUT);
+ goto fail;
+ }
+ chipSelectHigh();
+ return true;
+
+ fail:
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+/** Determine if card supports single block erase.
+ *
+ * \return The value one, true, is returned if single block erase is supported.
+ * The value zero, false, is returned if single block erase is not supported.
+ */
+bool Sd2Card::eraseSingleBlockEnable() {
+ csd_t csd;
+ return readCSD(&csd) ? csd.v1.erase_blk_en : false;
+}
+//------------------------------------------------------------------------------
+/**
+ * Initialize an SD flash memory card.
+ *
+ * \param[in] sckRateID SPI clock rate selector. See setSckRate().
+ * \param[in] chipSelectPin SD chip select pin number.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure. The reason for failure
+ * can be determined by calling errorCode() and errorData().
+ */
+bool Sd2Card::init(uint8_t sckRateID, uint8_t chipSelectPin) {
+ errorCode_ = type_ = 0;
+ chipSelectPin_ = chipSelectPin;
+ // 16-bit init start time allows over a minute
+ uint16_t t0 = (uint16_t)millis();
+ uint32_t arg;
+
+ // set pin modes
+ pinMode(chipSelectPin_, OUTPUT);
+ chipSelectHigh();
+ pinMode(SPI_MISO_PIN, INPUT);
+ pinMode(SPI_MOSI_PIN, OUTPUT);
+ pinMode(SPI_SCK_PIN, OUTPUT);
+
+#ifndef SOFTWARE_SPI
+ // SS must be in output mode even it is not chip select
+ pinMode(SS_PIN, OUTPUT);
+ // set SS high - may be chip select for another SPI device
+#if SET_SPI_SS_HIGH
+ digitalWrite(SS_PIN, HIGH);
+#endif // SET_SPI_SS_HIGH
+ // set SCK rate for initialization commands
+ spiRate_ = SPI_SD_INIT_RATE;
+ spiInit(spiRate_);
+#endif // SOFTWARE_SPI
+
+ // must supply min of 74 clock cycles with CS high.
+ for (uint8_t i = 0; i < 10; i++) spiSend(0XFF);
+
+ // command to go idle in SPI mode
+ while ((status_ = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
+ if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
+ error(SD_CARD_ERROR_CMD0);
+ goto fail;
+ }
+ }
+ // check SD version
+ if ((cardCommand(CMD8, 0x1AA) & R1_ILLEGAL_COMMAND)) {
+ type(SD_CARD_TYPE_SD1);
+ } else {
+ // only need last byte of r7 response
+ for (uint8_t i = 0; i < 4; i++) status_ = spiRec();
+ if (status_ != 0XAA) {
+ error(SD_CARD_ERROR_CMD8);
+ goto fail;
+ }
+ type(SD_CARD_TYPE_SD2);
+ }
+ // initialize card and send host supports SDHC if SD2
+ arg = type() == SD_CARD_TYPE_SD2 ? 0X40000000 : 0;
+
+ while ((status_ = cardAcmd(ACMD41, arg)) != R1_READY_STATE) {
+ // check for timeout
+ if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
+ error(SD_CARD_ERROR_ACMD41);
+ goto fail;
+ }
+ }
+ // if SD2 read OCR register to check for SDHC card
+ if (type() == SD_CARD_TYPE_SD2) {
+ if (cardCommand(CMD58, 0)) {
+ error(SD_CARD_ERROR_CMD58);
+ goto fail;
+ }
+ if ((spiRec() & 0XC0) == 0XC0) type(SD_CARD_TYPE_SDHC);
+ // discard rest of ocr - contains allowed voltage range
+ for (uint8_t i = 0; i < 3; i++) spiRec();
+ }
+ chipSelectHigh();
+
+#ifndef SOFTWARE_SPI
+ return setSckRate(sckRateID);
+#else // SOFTWARE_SPI
+ return true;
+#endif // SOFTWARE_SPI
+
+ fail:
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+/**
+ * Read a 512 byte block from an SD card.
+ *
+ * \param[in] blockNumber Logical block to be read.
+ * \param[out] dst Pointer to the location that will receive the data.
+
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::readBlock(uint32_t blockNumber, uint8_t* dst) {
+ // use address if not SDHC card
+ if (type()!= SD_CARD_TYPE_SDHC) blockNumber <<= 9;
+ if (cardCommand(CMD17, blockNumber)) {
+ error(SD_CARD_ERROR_CMD17);
+ goto fail;
+ }
+ return readData(dst, 512);
+
+ fail:
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+/** Read one data block in a multiple block read sequence
+ *
+ * \param[in] dst Pointer to the location for the data to be read.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::readData(uint8_t *dst) {
+ chipSelectLow();
+ return readData(dst, 512);
+}
+//------------------------------------------------------------------------------
+bool Sd2Card::readData(uint8_t* dst, uint16_t count) {
+ // wait for start block token
+ uint16_t t0 = millis();
+ while ((status_ = spiRec()) == 0XFF) {
+ if (((uint16_t)millis() - t0) > SD_READ_TIMEOUT) {
+ error(SD_CARD_ERROR_READ_TIMEOUT);
+ goto fail;
+ }
+ }
+ if (status_ != DATA_START_BLOCK) {
+ error(SD_CARD_ERROR_READ);
+ goto fail;
+ }
+ // transfer data
+ spiRead(dst, count);
+
+ // discard CRC
+ spiRec();
+ spiRec();
+ chipSelectHigh();
+ return true;
+
+ fail:
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+/** read CID or CSR register */
+bool Sd2Card::readRegister(uint8_t cmd, void* buf) {
+ uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
+ if (cardCommand(cmd, 0)) {
+ error(SD_CARD_ERROR_READ_REG);
+ goto fail;
+ }
+ return readData(dst, 16);
+
+ fail:
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+/** Start a read multiple blocks sequence.
+ *
+ * \param[in] blockNumber Address of first block in sequence.
+ *
+ * \note This function is used with readData() and readStop() for optimized
+ * multiple block reads. SPI chipSelect must be low for the entire sequence.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::readStart(uint32_t blockNumber) {
+ if (type()!= SD_CARD_TYPE_SDHC) blockNumber <<= 9;
+ if (cardCommand(CMD18, blockNumber)) {
+ error(SD_CARD_ERROR_CMD18);
+ goto fail;
+ }
+ chipSelectHigh();
+ return true;
+
+ fail:
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+/** End a read multiple blocks sequence.
+ *
+* \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::readStop() {
+ chipSelectLow();
+ if (cardCommand(CMD12, 0)) {
+ error(SD_CARD_ERROR_CMD12);
+ goto fail;
+ }
+ chipSelectHigh();
+ return true;
+
+ fail:
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+/**
+ * Set the SPI clock rate.
+ *
+ * \param[in] sckRateID A value in the range [0, 6].
+ *
+ * The SPI clock will be set to F_CPU/pow(2, 1 + sckRateID). The maximum
+ * SPI rate is F_CPU/2 for \a sckRateID = 0 and the minimum rate is F_CPU/128
+ * for \a scsRateID = 6.
+ *
+ * \return The value one, true, is returned for success and the value zero,
+ * false, is returned for an invalid value of \a sckRateID.
+ */
+bool Sd2Card::setSckRate(uint8_t sckRateID) {
+ if (sckRateID > 6) {
+ error(SD_CARD_ERROR_SCK_RATE);
+ return false;
+ }
+ spiRate_ = sckRateID;
+ return true;
+}
+//------------------------------------------------------------------------------
+// wait for card to go not busy
+bool Sd2Card::waitNotBusy(uint16_t timeoutMillis) {
+ uint16_t t0 = millis();
+ while (spiRec() != 0XFF) {
+ if (((uint16_t)millis() - t0) >= timeoutMillis) goto fail;
+ }
+ return true;
+
+ fail:
+ return false;
+}
+//------------------------------------------------------------------------------
+/**
+ * Writes a 512 byte block to an SD card.
+ *
+ * \param[in] blockNumber Logical block to be written.
+ * \param[in] src Pointer to the location of the data to be written.
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::writeBlock(uint32_t blockNumber, const uint8_t* src) {
+ // use address if not SDHC card
+ if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;
+ if (cardCommand(CMD24, blockNumber)) {
+ error(SD_CARD_ERROR_CMD24);
+ goto fail;
+ }
+ if (!writeData(DATA_START_BLOCK, src)) goto fail;
+
+ // wait for flash programming to complete
+ if (!waitNotBusy(SD_WRITE_TIMEOUT)) {
+ error(SD_CARD_ERROR_WRITE_TIMEOUT);
+ goto fail;
+ }
+ // response is r2 so get and check two bytes for nonzero
+ if (cardCommand(CMD13, 0) || spiRec()) {
+ error(SD_CARD_ERROR_WRITE_PROGRAMMING);
+ goto fail;
+ }
+ chipSelectHigh();
+ return true;
+
+ fail:
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+/** Write one data block in a multiple block write sequence
+ * \param[in] src Pointer to the location of the data to be written.
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::writeData(const uint8_t* src) {
+ chipSelectLow();
+ // wait for previous write to finish
+ if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
+ if (!writeData(WRITE_MULTIPLE_TOKEN, src)) goto fail;
+ chipSelectHigh();
+ return true;
+
+ fail:
+ error(SD_CARD_ERROR_WRITE_MULTIPLE);
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+// send one block of data for write block or write multiple blocks
+bool Sd2Card::writeData(uint8_t token, const uint8_t* src) {
+ spiSendBlock(token, src);
+
+ spiSend(0xff); // dummy crc
+ spiSend(0xff); // dummy crc
+
+ status_ = spiRec();
+ if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) {
+ error(SD_CARD_ERROR_WRITE);
+ goto fail;
+ }
+ return true;
+
+ fail:
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+/** Start a write multiple blocks sequence.
+ *
+ * \param[in] blockNumber Address of first block in sequence.
+ * \param[in] eraseCount The number of blocks to be pre-erased.
+ *
+ * \note This function is used with writeData() and writeStop()
+ * for optimized multiple block writes.
+ *
+ * \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::writeStart(uint32_t blockNumber, uint32_t eraseCount) {
+ // send pre-erase count
+ if (cardAcmd(ACMD23, eraseCount)) {
+ error(SD_CARD_ERROR_ACMD23);
+ goto fail;
+ }
+ // use address if not SDHC card
+ if (type() != SD_CARD_TYPE_SDHC) blockNumber <<= 9;
+ if (cardCommand(CMD25, blockNumber)) {
+ error(SD_CARD_ERROR_CMD25);
+ goto fail;
+ }
+ chipSelectHigh();
+ return true;
+
+ fail:
+ chipSelectHigh();
+ return false;
+}
+//------------------------------------------------------------------------------
+/** End a write multiple blocks sequence.
+ *
+* \return The value one, true, is returned for success and
+ * the value zero, false, is returned for failure.
+ */
+bool Sd2Card::writeStop() {
+ chipSelectLow();
+ if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
+ spiSend(STOP_TRAN_TOKEN);
+ if (!waitNotBusy(SD_WRITE_TIMEOUT)) goto fail;
+ chipSelectHigh();
+ return true;
+
+ fail:
+ error(SD_CARD_ERROR_STOP_TRAN);
+ chipSelectHigh();
+ return false;
}
diff --git a/Marlin/SdBaseFile.cpp b/Marlin/SdBaseFile.cpp
index dda44ec3ca..a485199b36 100644
--- a/Marlin/SdBaseFile.cpp
+++ b/Marlin/SdBaseFile.cpp
@@ -306,7 +306,7 @@ void SdBaseFile::getpos(fpos_t* pos) {
* LS_R - Recursive list of subdirectories.
*/
void SdBaseFile::ls(uint8_t flags) {
- ls(&Serial, flags, 0);
+ ls(&MSerial, flags, 0);
}
//------------------------------------------------------------------------------
/** List directory contents.
@@ -949,7 +949,7 @@ int SdBaseFile::peek() {
*/
void SdBaseFile::printDirName(const dir_t& dir,
uint8_t width, bool printSlash) {
- printDirName(&Serial, dir, width, printSlash);
+ printDirName(&MSerial, dir, width, printSlash);
}
//------------------------------------------------------------------------------
/** %Print the name field of a directory entry in 8.3 format.
@@ -993,7 +993,7 @@ static void print2u(Print* pr, uint8_t v) {
* \param[in] fatDate The date field from a directory entry.
*/
void SdBaseFile::printFatDate(uint16_t fatDate) {
- printFatDate(&Serial, fatDate);
+ printFatDate(&MSerial, fatDate);
}
//------------------------------------------------------------------------------
/** %Print a directory date field.
@@ -1018,7 +1018,7 @@ void SdBaseFile::printFatDate(Print* pr, uint16_t fatDate) {
* \param[in] fatTime The time field from a directory entry.
*/
void SdBaseFile::printFatTime(uint16_t fatTime) {
- printFatTime(&Serial, fatTime);
+ printFatTime(&MSerial, fatTime);
}
//------------------------------------------------------------------------------
/** %Print a directory time field.
@@ -1044,7 +1044,7 @@ void SdBaseFile::printFatTime(Print* pr, uint16_t fatTime) {
bool SdBaseFile::printName() {
char name[13];
if (!getFilename(name)) return false;
- Serial.print(name);
+ MSerial.print(name);
return true;
}
//------------------------------------------------------------------------------
diff --git a/Marlin/SdBaseFile.h b/Marlin/SdBaseFile.h
index 9363401c96..e02ec3c7a5 100644
--- a/Marlin/SdBaseFile.h
+++ b/Marlin/SdBaseFile.h
@@ -25,7 +25,9 @@
*/
#include <avr/pgmspace.h>
#if ARDUINO < 100
+#define HardwareSerial_h // trick to disable the standard HWserial
#include <WProgram.h>
+#include "MarlinSerial.h"
#else // ARDUINO
#include <Arduino.h>
#endif // ARDUINO
diff --git a/Marlin/SdFatUtil.cpp b/Marlin/SdFatUtil.cpp
index 1870980b1d..7f82a7083b 100644
--- a/Marlin/SdFatUtil.cpp
+++ b/Marlin/SdFatUtil.cpp
@@ -62,7 +62,7 @@ void SdFatUtil::println_P(Print* pr, PGM_P str) {
* \param[in] str Pointer to string stored in flash memory.
*/
void SdFatUtil::SerialPrint_P(PGM_P str) {
- print_P(&Serial, str);
+ print_P(&MSerial, str);
}
//------------------------------------------------------------------------------
/** %Print a string in flash memory to Serial followed by a CR/LF.
@@ -70,5 +70,5 @@ void SdFatUtil::SerialPrint_P(PGM_P str) {
* \param[in] str Pointer to string stored in flash memory.
*/
void SdFatUtil::SerialPrintln_P(PGM_P str) {
- println_P(&Serial, str);
+ println_P(&MSerial, str);
}
diff --git a/Marlin/SdFatUtil.h b/Marlin/SdFatUtil.h
index b4112aa2d9..c49e77df85 100644
--- a/Marlin/SdFatUtil.h
+++ b/Marlin/SdFatUtil.h
@@ -1,46 +1,48 @@
-/* Arduino SdFat Library
- * Copyright (C) 2008 by William Greiman
- *
- * This file is part of the Arduino SdFat Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This Library is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
-
- * You should have received a copy of the GNU General Public License
- * along with the Arduino SdFat Library. If not, see
- * <http://www.gnu.org/licenses/>.
- */
-#ifndef SdFatUtil_h
-#define SdFatUtil_h
-/**
- * \file
- * \brief Useful utility functions.
- */
-#include <avr/pgmspace.h>
-#if ARDUINO < 100
-#include <WProgram.h>
-#else // ARDUINO
-#include <Arduino.h>
-#endif // ARDUINO
-/** Store and print a string in flash memory.*/
-#define PgmPrint(x) SerialPrint_P(PSTR(x))
-/** Store and print a string in flash memory followed by a CR/LF.*/
-#define PgmPrintln(x) SerialPrintln_P(PSTR(x))
-
-namespace SdFatUtil {
- int FreeRam();
- void print_P(Print* pr, PGM_P str);
- void println_P(Print* pr, PGM_P str);
- void SerialPrint_P(PGM_P str);
- void SerialPrintln_P(PGM_P str);
-}
-
-using namespace SdFatUtil; // NOLINT
+/* Arduino SdFat Library
+ * Copyright (C) 2008 by William Greiman
+ *
+ * This file is part of the Arduino SdFat Library
+ *
+ * This Library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This Library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+
+ * You should have received a copy of the GNU General Public License
+ * along with the Arduino SdFat Library. If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+#ifndef SdFatUtil_h
+#define SdFatUtil_h
+/**
+ * \file
+ * \brief Useful utility functions.
+ */
+#include <avr/pgmspace.h>
+#if ARDUINO < 100
+#define HardwareSerial_h // trick to disable the standard HWserial
+#include <WProgram.h>
+#include "MarlinSerial.h"
+#else // ARDUINO
+#include <Arduino.h>
+#endif // ARDUINO
+/** Store and print a string in flash memory.*/
+#define PgmPrint(x) SerialPrint_P(PSTR(x))
+/** Store and print a string in flash memory followed by a CR/LF.*/
+#define PgmPrintln(x) SerialPrintln_P(PSTR(x))
+
+namespace SdFatUtil {
+ int FreeRam();
+ void print_P(Print* pr, PGM_P str);
+ void println_P(Print* pr, PGM_P str);
+ void SerialPrint_P(PGM_P str);
+ void SerialPrintln_P(PGM_P str);
+}
+
+using namespace SdFatUtil; // NOLINT
#endif // #define SdFatUtil_h
diff --git a/Marlin/motion_control.cpp b/Marlin/motion_control.cpp
index ff3f8c2f2d..8ecc1a0445 100644
--- a/Marlin/motion_control.cpp
+++ b/Marlin/motion_control.cpp
@@ -27,7 +27,7 @@
// The arc is approximated by generating a huge number of tiny, linear segments. The length of each
// segment is configured in settings.mm_per_arc_segment.
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
- uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise)
+ uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder)
{
// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
@@ -123,11 +123,11 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
arc_target[axis_1] = center_axis1 + r_axis1;
arc_target[axis_linear] += linear_per_segment;
arc_target[E_AXIS] += extruder_per_segment;
- plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate);
+ plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
}
// Ensure last segment arrives at target location.
- plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate);
+ plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, extruder);
// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
}
diff --git a/Marlin/motion_control.h b/Marlin/motion_control.h
index 9bcff4bf4c..ca50f8098f 100644
--- a/Marlin/motion_control.h
+++ b/Marlin/motion_control.h
@@ -27,6 +27,6 @@
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
// for vector transformation direction.
void mc_arc(float *position, float *target, float *offset, unsigned char axis_0, unsigned char axis_1,
- unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise);
+ unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise, uint8_t extruder);
#endif
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 0f9b1eb9ee..47286983b8 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -451,7 +451,7 @@ float junction_deviation = 0.1;
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters.
-void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate)
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
{
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
@@ -527,12 +527,12 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
else {
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
}
-
+
#ifdef SLOWDOWN
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
- if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5)) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
+ if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
#endif
/*
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 57c59a0b0f..8ef8fec17f 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -66,7 +66,7 @@ void plan_init();
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
// millimaters. Feed rate specifies the speed of the motion.
-void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
+void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
// Set position. Used for G92 instructions.
void plan_set_position(const float &x, const float &y, const float &z, const float &e);
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 491b6e7f2b..34c7153c64 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -52,7 +52,7 @@ static long counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z,
counter_e;
-static unsigned long step_events_completed; // The number of step events executed in the current block
+volatile static unsigned long step_events_completed; // The number of step events executed in the current block
#ifdef ADVANCE
static long advance_rate, advance, final_advance = 0;
static short old_advance = 0;
@@ -63,6 +63,7 @@ static long acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deccelaration start point
static char step_loops;
+static unsigned short OCR1A_nominal;
volatile long endstops_trigsteps[3]={0,0,0};
volatile long endstops_stepsTotal,endstops_stepsDone;
@@ -77,10 +78,6 @@ static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false;
-static bool busy_error=false;
-unsigned short OCR1A_error=12345;
-unsigned short OCR1A_nominal;
-
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
@@ -164,15 +161,6 @@ asm volatile ( \
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
-void checkStepperErrors()
-{
- if(busy_error) {
- SERIAL_ERROR_START
- SERIAL_ERROR(OCR1A_error);
- SERIAL_ERRORLNPGM(" ISR overtaking itself.");
- busy_error = false;
- }
-}
void checkHitEndstops()
{
@@ -255,7 +243,7 @@ inline unsigned short calc_timer(unsigned short step_rate) {
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
}
- if(timer < 100) { timer = 100; Serial.print("Steprate to high : "); Serial.println(step_rate); }//(20kHz this should never happen)
+ if(timer < 100) { timer = 100; MSerial.print("Steprate to high : "); MSerial.println(step_rate); }//(20kHz this should never happen)
return timer;
}
@@ -277,17 +265,7 @@ inline void trapezoid_generator_reset() {
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect)
-{
- if(busy){
- OCR1A_error = OCR1A;
- busy_error = true;
- OCR1A = 30000;
- return;
- } // The busy-flag is used to avoid reentering this interrupt
-
- busy = true;
- sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
-
+{
// If there is no current block, attempt to pop one from the buffer
if (current_block == NULL) {
// Anything in the buffer?
@@ -304,7 +282,7 @@ ISR(TIMER1_COMPA_vect)
// #endif
}
else {
-// DISABLE_STEPPER_DRIVER_INTERRUPT();
+ OCR1A=2000; // 1kHz.
}
}
@@ -404,8 +382,8 @@ ISR(TIMER1_COMPA_vect)
count_direction[E_AXIS]=-1;
}
#endif //!ADVANCE
-
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
+ MSerial.checkRx();
/*
counter_e += current_block->steps_e;
if (counter_e > 0) {
@@ -470,6 +448,7 @@ ISR(TIMER1_COMPA_vect)
unsigned short timer;
unsigned short step_rate;
if (step_events_completed <= current_block->accelerate_until) {
+
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate += current_block->initial_rate;
@@ -519,8 +498,6 @@ ISR(TIMER1_COMPA_vect)
plan_discard_current_block();
}
}
- cli(); // disable interrupts
- busy=false;
}
#ifdef ADVANCE
--
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