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/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program 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 program 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 this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(DUET_SMART_EFFECTOR) && PIN_EXISTS(SMART_EFFECTOR_MOD)
#include "../gcode.h"
#include "../../HAL/shared/Delay.h"
#include "../parser.h"
/**
* The Marlin format for the M672 command is different than shown in the Duet Smart Effector
* documentation https://duet3d.dozuki.com/Wiki/Smart_effector_and_carriage_adapters_for_delta_printer
*
* To set custom sensitivity:
* Duet: M672 S105:aaa:bbb
* Marlin: M672 Saaa
*
* (where aaa is the desired sensitivity and bbb is 255 - aaa).
*
* Revert sensitivity to factory settings:
* Duet: M672 S105:131:131
* Marlin: M672 R
*/
#define M672_PROGBYTE 105 // magic byte to start programming custom sensitivity
#define M672_ERASEBYTE 131 // magic byte to clear custom sensitivity
//
// Smart Effector byte send protocol:
//
// 0 0 1 0 ... always 0010
// b7 b6 b5 b4 ~b4 ... hi bits, NOT last bit
// b3 b2 b1 b0 ~b0 ... lo bits, NOT last bit
//
void M672_send(uint8_t b) { // bit rate requirement: 1KHz +/- 30%
LOOP_L_N(bits, 14) {
switch (bits) {
default: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, !!(b & 0x80)); b <<= 1; break; } // send bit, shift next into place
case 7:
case 12: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, !!(b & 0x80)); break; } // send bit. no shift
case 8:
case 13: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, !(b & 0x80)); b <<= 1; break; } // send inverted previous bit
case 0: case 1: // 00
case 3: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW); break; } // 0010
case 2: { OUT_WRITE(SMART_EFFECTOR_MOD_PIN, HIGH); break; } // 001
}
DELAY_US(1000);
}
}
/**
* M672 - Set/reset Duet Smart Effector sensitivity
*
* One of these is required:
* S<sensitivity> - 0-255
* R - Flag to reset sensitivity to default
*/
void GcodeSuite::M672() {
if (parser.seen('R')) {
M672_send(M672_ERASEBYTE);
M672_send(M672_ERASEBYTE);
}
else if (parser.seenval('S')) {
const int8_t M672_sensitivity = parser.value_byte();
M672_send(M672_PROGBYTE);
M672_send(M672_sensitivity);
M672_send(255 - M672_sensitivity);
}
else {
SERIAL_ECHO_MSG("!'S' or 'R' parameter required.");
return;
}
OUT_WRITE(SMART_EFFECTOR_MOD_PIN, LOW); // Keep Smart Effector in NORMAL mode
}
#endif // DUET_SMART_EFFECTOR && SMART_EFFECTOR_MOD_PIN
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