Added support for the Rambo reprap electronics board. Added Mcodes to set

motor current and microstepping pins.

Author: tonokip

Marlin/Configuration.h

@@ -30,9 +30,10 @@
 // Ultimaker = 7
 // Teensylu = 8
 // Gen3+ =9
+// Rambo = 301
 
 #ifndef MOTHERBOARD
-#define MOTHERBOARD 7
+#define MOTHERBOARD 301
 #endif
 
 

Marlin/Configuration_adv.h

@@ -128,6 +128,20 @@
 // if unwanted behavior is observed on a user's machine when running at very slow speeds.
 #define MINIMUM_PLANNER_SPEED 0.05// (mm/sec)
 
+// MS1 MS2 Stepper Driver Microstepping mode table
+#define MICROSTEP1 LOW,LOW
+#define MICROSTEP2 HIGH,LOW
+#define MICROSTEP4 LOW,HIGH
+#define MICROSTEP8 HIGH,HIGH
+#define MICROSTEP16 HIGH,HIGH
+
+// Microstep setting (Only functional when stepper driver microstep pins are connected to MCU.
+#define MICROSTEP_MODES {16,16,16,16,16} // [1,2,4,8,16]
+
+// Motor Current setting (Only functional when motor driver current ref pins are connected to a digital trimpot on supported boards)
+#define DIGIPOT_MOTOR_CURRENT {135,135,135,135,135} // Values 0-255 (RAMBO 135 = ~0.75A, 185 = ~1A)
+
+
 //===========================================================================
 //=============================Additional Features===========================
 //===========================================================================

Marlin/Marlin.pde

@@ -26,7 +26,7 @@
  It has preliminary support for Matthew Roberts advance algorithm 
     http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
  */
-
+#include <SPI.h>
 #include "Marlin.h"
 
 #include "ultralcd.h"
@@ -120,6 +120,10 @@
 // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).  
 // M502 - reverts to the default "factory settings".  You still need to store them in EEPROM afterwards if you want to.
 // M503 - print the current settings (from memory not from eeprom)
+// M907 - Set digital trimpot motor current using axis codes.
+// M908 - Control digital trimpot directly.
+// M350 - Set microstepping mode.
+// M351 - Toggle MS1 MS2 pins directly.
 // M999 - Restart after being stopped by error
 
 //Stepper Movement Variables
@@ -309,6 +313,8 @@ void setup()
       SERIAL_ECHOPGM(STRING_VERSION_CONFIG_H);
       SERIAL_ECHOPGM(MSG_AUTHOR);
       SERIAL_ECHOLNPGM(STRING_CONFIG_H_AUTHOR);
+      SERIAL_ECHOPGM("Compiled: ");
+      SERIAL_ECHOLNPGM(__DATE__);
     #endif
   #endif
   SERIAL_ECHO_START;
@@ -1466,6 +1472,52 @@ void process_commands()
       EEPROM_printSettings();
     }
     break;
+    case 907: // Set digital trimpot motor current using axis codes.
+    {
+      #if DIGIPOTSS_PIN > -1
+        for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) digipot_current(i,code_value());
+        if(code_seen('B')) digipot_current(4,code_value());
+        if(code_seen('S')) for(int i=0;i<=4;i++) digipot_current(i,code_value());
+      #endif
+    }
+    case 908: // Control digital trimpot directly.
+    {
+      #if DIGIPOTSS_PIN > -1
+        uint8_t channel,current;
+        if(code_seen('P')) channel=code_value();
+        if(code_seen('S')) current=code_value();
+        digitalPotWrite(channel, current);
+      #endif
+    }
+    break;
+    case 350: // Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
+    {
+      #if X_MS1_PIN > -1
+        if(code_seen('S')) for(int i=0;i<=4;i++) microstep_mode(i,code_value()); 
+        for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_mode(i,(uint8_t)code_value());
+        if(code_seen('B')) microstep_mode(4,code_value());
+        microstep_readings();
+      #endif
+    }
+    break;
+    case 351: // Toggle MS1 MS2 pins directly, S# determines MS1 or MS2, X# sets the pin high/low.
+    {
+      #if X_MS1_PIN > -1
+      if(code_seen('S')) switch((int)code_value())
+      {
+        case 1:
+          for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,code_value(),-1);
+          if(code_seen('B')) microstep_ms(4,code_value(),-1);
+          break;
+        case 2:
+          for(int i=0;i<=NUM_AXIS;i++) if(code_seen(axis_codes[i])) microstep_ms(i,-1,code_value());
+          if(code_seen('B')) microstep_ms(4,-1,code_value());
+          break;
+      }
+      microstep_readings();
+      #endif
+    }
+    break;
     case 999: // Restart after being stopped
       Stopped = false;
       gcode_LastN = Stopped_gcode_LastN;

Marlin/pins.h

@@ -1,6 +1,18 @@
 #ifndef PINS_H
 #define PINS_H
 
+#define X_MS1_PIN -1
+#define X_MS2_PIN -1
+#define Y_MS1_PIN -1
+#define Y_MS2_PIN -1
+#define Z_MS1_PIN -1
+#define Z_MS2_PIN -1
+#define E0_MS1_PIN -1
+#define E0_MS2_PIN -1
+#define E1_MS1_PIN -1
+#define E1_MS2_PIN -1
+#define DIGIPOTSS_PIN -1
+
 #if MOTHERBOARD == 99
 #define	KNOWN_BOARD 1
 
@@ -1128,6 +1140,76 @@
 
 #endif
 
+#if MOTHERBOARD == 301
+#define KNOWN_BOARD
+/*****************************************************************
+* Rambo Pin Assignments
+******************************************************************/
+
+#ifndef __AVR_ATmega2560__
+#error Oops!  Make sure you have 'Arduino Mega 2560' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define X_STEP_PIN 37
+#define X_DIR_PIN 48
+#define X_MIN_PIN 12
+#define X_MAX_PIN 19
+#define X_ENABLE_PIN 29
+#define X_MS1_PIN 40
+#define X_MS2_PIN 41
+
+#define Y_STEP_PIN 36
+#define Y_DIR_PIN 49
+#define Y_MIN_PIN 11
+#define Y_MAX_PIN 18
+#define Y_ENABLE_PIN 28
+#define Y_MS1_PIN 69
+#define Y_MS2_PIN 39
+
+#define Z_STEP_PIN 35
+#define Z_DIR_PIN 47
+#define Z_MIN_PIN 10
+#define Z_MAX_PIN 15
+#define Z_ENABLE_PIN 27
+#define Z_MS1_PIN 68
+#define Z_MS2_PIN 67
+
+#define HEATER_BED_PIN 3
+#define TEMP_BED_PIN 2 
+
+#define HEATER_0_PIN  9
+#define TEMP_0_PIN 0
+
+#define HEATER_1_PIN 7
+#define TEMP_1_PIN 1
+
+#define HEATER_2_PIN -1
+#define TEMP_2_PIN -1
+
+#define E0_STEP_PIN         34
+#define E0_DIR_PIN          43
+#define E0_ENABLE_PIN       26
+#define E0_MS1_PIN 65
+#define E0_MS2_PIN 66
+
+#define E1_STEP_PIN         33
+#define E1_DIR_PIN          42
+#define E1_ENABLE_PIN       25
+#define E1_MS1_PIN 63
+#define E1_MS2_PIN 64
+
+#define DIGIPOTSS_PIN 38
+#define DIGIPOT_CHANNELS {4,5,3,0,1} // X Y Z E0 E1 digipot channels to stepper driver mapping
+
+#define SDPOWER            -1
+#define SDSS               53
+#define LED_PIN            13
+#define FAN_PIN            8
+#define PS_ON_PIN          4
+#define KILL_PIN           -1
+#define SUICIDE_PIN        -1  //PIN that has to be turned on right after start, to keep power flowing.
+
+#endif
 
 #ifndef KNOWN_BOARD
 #error Unknown MOTHERBOARD value in configuration.h

Marlin/stepper.cpp

@@ -28,7 +28,7 @@
 #include "ultralcd.h"
 #include "language.h"
 #include "speed_lookuptable.h"
-
+#include <SPI.h>
 
 
 //===========================================================================
@@ -714,6 +714,9 @@ ISR(TIMER1_COMPA_vect)
 
 void st_init()
 {
+  digipot_init(); //Initialize Digipot Motor Current
+  microstep_init(); //Initialize Microstepping Pins
+  
   //Initialize Dir Pins
   #if X_DIR_PIN > -1
     SET_OUTPUT(X_DIR_PIN);
@@ -951,3 +954,100 @@ void quickStop()
   ENABLE_STEPPER_DRIVER_INTERRUPT();
 }
 
+int digitalPotWrite(int address, int value) // From Arduino DigitalPotControl example
+{
+  #if DIGIPOTSS_PIN > -1
+    digitalWrite(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
+    SPI.transfer(address); //  send in the address and value via SPI:
+    SPI.transfer(value);
+    digitalWrite(DIGIPOTSS_PIN,HIGH); // take the SS pin high to de-select the chip:
+    //delay(10);
+  #endif
+}
+
+void digipot_init() //Initialize Digipot Motor Current
+{
+  #if DIGIPOTSS_PIN > -1
+    const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
+    
+    SPI.begin(); 
+    pinMode(DIGIPOTSS_PIN, OUTPUT);    
+    for(int i=0;i<=4;i++) 
+      //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
+      digipot_current(i,digipot_motor_current[i]);
+  #endif
+}
+
+void digipot_current(uint8_t driver, int current)
+{
+  #if DIGIPOTSS_PIN > -1
+    const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
+    digitalPotWrite(digipot_ch[driver], current);
+  #endif
+}
+
+void microstep_init()
+{
+  #if X_MS1_PIN > -1
+  const uint8_t microstep_modes[] = MICROSTEP_MODES;
+  pinMode(X_MS2_PIN,OUTPUT);
+  pinMode(Y_MS2_PIN,OUTPUT);
+  pinMode(Z_MS2_PIN,OUTPUT);
+  pinMode(E0_MS2_PIN,OUTPUT);
+  pinMode(E1_MS2_PIN,OUTPUT);
+  for(int i=0;i<=4;i++) microstep_mode(i,microstep_modes[i]);
+  #endif
+}
+
+void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2)
+{
+  if(ms1 > -1) switch(driver)
+  {
+    case 0: digitalWrite( X_MS1_PIN,ms1); break;
+    case 1: digitalWrite( Y_MS1_PIN,ms1); break;
+    case 2: digitalWrite( Z_MS1_PIN,ms1); break;
+    case 3: digitalWrite(E0_MS1_PIN,ms1); break;
+    case 4: digitalWrite(E1_MS1_PIN,ms1); break;
+  }
+  if(ms2 > -1) switch(driver)
+  {
+    case 0: digitalWrite( X_MS2_PIN,ms2); break;
+    case 1: digitalWrite( Y_MS2_PIN,ms2); break;
+    case 2: digitalWrite( Z_MS2_PIN,ms2); break;
+    case 3: digitalWrite(E0_MS2_PIN,ms2); break;
+    case 4: digitalWrite(E1_MS2_PIN,ms2); break;
+  }
+}
+
+void microstep_mode(uint8_t driver, uint8_t stepping_mode)
+{
+  switch(stepping_mode)
+  {
+    case 1: microstep_ms(driver,MICROSTEP1); break;
+    case 2: microstep_ms(driver,MICROSTEP2); break;
+    case 4: microstep_ms(driver,MICROSTEP4); break;
+    case 8: microstep_ms(driver,MICROSTEP8); break;
+    case 16: microstep_ms(driver,MICROSTEP16); break;
+  }
+}
+
+void microstep_readings()
+{
+      SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n");
+      SERIAL_PROTOCOLPGM("X: ");
+      SERIAL_PROTOCOL(   digitalRead(X_MS1_PIN));
+      SERIAL_PROTOCOLLN( digitalRead(X_MS2_PIN));
+      SERIAL_PROTOCOLPGM("Y: ");
+      SERIAL_PROTOCOL(   digitalRead(Y_MS1_PIN));
+      SERIAL_PROTOCOLLN( digitalRead(Y_MS2_PIN));
+      SERIAL_PROTOCOLPGM("Z: ");
+      SERIAL_PROTOCOL(   digitalRead(Z_MS1_PIN));
+      SERIAL_PROTOCOLLN( digitalRead(Z_MS2_PIN));
+      SERIAL_PROTOCOLPGM("E0: ");
+      SERIAL_PROTOCOL(   digitalRead(E0_MS1_PIN));
+      SERIAL_PROTOCOLLN( digitalRead(E0_MS2_PIN));
+      SERIAL_PROTOCOLPGM("E1: ");
+      SERIAL_PROTOCOL(   digitalRead(E1_MS1_PIN));
+      SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN));
+}
+

Marlin/stepper.h

@@ -68,4 +68,13 @@ void finishAndDisableSteppers();
 extern block_t *current_block;  // A pointer to the block currently being traced
 
 void quickStop();
+
+int digitalPotWrite(int address, int value);
+void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
+void microstep_mode(uint8_t driver, uint8_t stepping);
+void digipot_init();
+void digipot_current(uint8_t driver, int current);
+void microstep_init();
+void microstep_readings();
+
 #endif