├── .github └── ISSUE_TEMPLATE │ ├── BugReport.yml │ ├── FeatureRequest.yml │ └── config.yml ├── .gitignore ├── LICENSE ├── README.md └── src ├── CNC-pendant.ino ├── GCodeSerial.cpp ├── GCodeSerial.h ├── PassThrough.cpp ├── PassThrough.h ├── RotaryEncoder.cpp └── RotaryEncoder.h /.github/ISSUE_TEMPLATE/BugReport.yml: -------------------------------------------------------------------------------- 1 | name: Bug Report 2 | description: File a bug report 3 | title: "[Bug]: " 4 | labels: [bug] 5 | assignees: 6 | - x0rtrunks 7 | body: 8 | - type: markdown 9 | attributes: 10 | value: | 11 | # STOP! 12 | ### Before posting a bug report here, you must start a discussion on Duet3D forums. This is to help reduce duplicates and solve configuration issues. 13 | https://forum.duet3d.com/categories 14 | 15 | ### Before posting your issue, please review the following sources to check if your question has already been reported and answered. 16 | 17 | #### Have you checked the documentation? 18 | https://docs.duet3d.com/ 19 | 20 | #### Have you checked the GCODE reference? 21 | https://docs.duet3d.com/en/User_manual/Reference/Gcodes 22 | 23 | #### Have you checked the firmware release notes? 24 | RRF2: https://github.com/Duet3D/RepRapFirmware/wiki/Changelog-RRF-1.x-&-2.x 25 | RRF3: https://github.com/Duet3D/RepRapFirmware/wiki/Changelog-RRF-3.x 26 | 27 | #### Have you searched the forums? 28 | https://forum.duet3d.com/search 29 | 30 | #### If this is a Beta firmware release, have you checked the Beta Firmware Forum? 31 | https://forum.duet3d.com/category/30/beta-firmware 32 | 33 | #### Have you searched the existing issues on GitHub? 34 | 35 | ### Please complete the following form to the best of your ability. Provide as much detail as possible. 36 | 37 | ## Thank you for taking the time to file a bug report. 38 | - type: checkboxes 39 | id: Hardware 40 | attributes: 41 | label: Which Duet products are you using? 42 | description: Please list all Duet electronics boards you are using when experiencing your issue. 43 | options: 44 | - label: Duet2-Wifi 45 | - label: Duet2-Ethernet 46 | - label: Duet Expansion Breakout Board 47 | - label: Duex2 48 | - label: Duex5 49 | - label: Duet2-Maestro 50 | - label: Maestro Dual Driver Expansion 51 | - label: Duet3-6HC 52 | - label: Duet3-3HC 53 | - label: Duet3-1XD 54 | - label: Duet3-1LC 55 | - label: Duet3-Tool Distribution Board 56 | - label: Duet3-Mini5+ 57 | - label: Duet3-Mini2+ 58 | - label: Raspberry Pi or other SBC 59 | - label: SmartEffector 60 | - label: Magnetic Filament Sensor 61 | - label: Laser Filament Sensor 62 | - label: PT100 Daughterboard 63 | - label: Thermocouple Daughterboard 64 | - label: PanelDue 65 | - label: Other 66 | - label: None 67 | validations: 68 | required: true 69 | - type: input 70 | id: FirmwareVersion 71 | attributes: 72 | label: Firmware Version 73 | description: What version of our software are you running? Identify by sending M115 74 | placeholder: ex. RepRapFirmware 3.2.2, PanelDueFirmware 3.3 75 | validations: 76 | required: true 77 | - type: input 78 | id: DWCVersion 79 | attributes: 80 | label: Duet Web Control Version 81 | description: What version of our software are you running? Identify in DWC by going to the Settings, General page 82 | placeholder: ex. DWC 3.2.2, DWC 2.0 83 | validations: 84 | required: true 85 | - type: checkboxes 86 | id: SBCMode 87 | attributes: 88 | label: Are you using a Single Board Computer (RaspberryPi) with your Duet? 89 | description: SBC - Yes or No. 90 | options: 91 | - label: Yes I use a SBC. 92 | - label: No I do not use a SBC. 93 | validations: 94 | required: true 95 | - type: textarea 96 | id: M122 97 | attributes: 98 | label: Please upload the results of sending M122 in the gcode console. 99 | description: This diagnostic report will provide a lot of useful information for us. 100 | placeholder: Results of M122 copy and paste here. 101 | value: "M122 Report" 102 | render: shell 103 | validations: 104 | required: false 105 | - type: textarea 106 | id: config 107 | attributes: 108 | label: Please upload the content of your config.g file. 109 | description: This will show us how your printer is configured at startup. 110 | placeholder: Copy and paste your config.g here. 111 | value: "Config.g" 112 | render: gcode 113 | validations: 114 | required: false 115 | - type: textarea 116 | id: OtherMacros 117 | attributes: 118 | label: Please upload the content of any other releveant macro files. 119 | description: Homeall.g, bed.g, or a custom macro needed to reproduce the problem. 120 | placeholder: Copy and paste your macro file here. 121 | render: gcode 122 | validations: 123 | required: false 124 | - type: textarea 125 | id: PrinterDetails 126 | attributes: 127 | label: Details specific to your printer. 128 | description: Please tell us about your printer. 129 | placeholder: Make, model, DIY, kinematics, motors, power supply voltage, heaters, fans, etc. 130 | validations: 131 | required: false 132 | - type: textarea 133 | id: Links 134 | attributes: 135 | label: Links to additional info. 136 | description: Please share any links to forum threads or photos and videos of the problem. 137 | validations: 138 | required: false 139 | - type: textarea 140 | id: ProblemDescription 141 | attributes: 142 | label: What happened? 143 | description: Describe the problem in as much detail as possible. 144 | value: | 145 | Expected result 146 | 147 | Observed result 148 | 149 | Steps to reproduce 150 | 151 | validations: 152 | required: true 153 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/FeatureRequest.yml: -------------------------------------------------------------------------------- 1 | name: Feature Request 2 | description: Suggest an idea for this project 3 | title: "[FeatureRequest]: " 4 | labels: [FeatureRequest] 5 | assignees: 6 | - x0rtrunks 7 | body: 8 | - type: markdown 9 | attributes: 10 | value: | 11 | ### The Duet forums have wishlist sections for feature requests if you'd like to discuss your feature request there first. 12 | https://forum.duet3d.com/category/9/hardware-wishlist 13 | https://forum.duet3d.com/category/8/firmware-wishlist 14 | https://forum.duet3d.com/category/11/duet-web-control-wishlist 15 | 16 | ## Thank you for taking the time to submit a feature request. 17 | - type: textarea 18 | id: ProblemDescription 19 | attributes: 20 | label: Is your feature request related to a problem? Please describe. 21 | description: A clear and concise description of what the problem is. 22 | value: | 23 | Ex. I'm always frustrated when... 24 | validations: 25 | required: true 26 | - type: textarea 27 | id: SolutionDescription 28 | attributes: 29 | label: Describe the solution you propose. 30 | description: A clear and concise description of your prefered solution. 31 | value: | 32 | Ex. It would be great if... 33 | validations: 34 | required: true 35 | - type: textarea 36 | id: AlternativesDescription 37 | attributes: 38 | label: Describe alternatives you've considered 39 | description: A clear and concise description of any alternative solutions or features you've considered. 40 | value: | 41 | Ex. A workaround exists but it is tedius, for example... 42 | validations: 43 | required: false 44 | - type: textarea 45 | id: AdditionalDetails 46 | attributes: 47 | label: Provide any additional context or information. 48 | description: Add any other context or screenshots about the feature request here. 49 | value: | 50 | Ex. Photos, mockups, etc. 51 | validations: 52 | required: false 53 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/config.yml: -------------------------------------------------------------------------------- 1 | blank_issues_enabled: false 2 | contact_links: 3 | - name: Duet3D Community Support 4 | url: https://forum.duet3d.com// 5 | about: Please ask and answer questions here. 6 | - name: Duet3D Documentation 7 | url: https://docs.duet3d.com 8 | about: Detailed documentation for Duet electronics and RepRapFirmware. 9 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Prerequisites 2 | *.d 3 | 4 | # Compiled Object files 5 | *.slo 6 | *.lo 7 | *.o 8 | *.obj 9 | 10 | # Precompiled Headers 11 | *.gch 12 | *.pch 13 | 14 | # Compiled Dynamic libraries 15 | *.so 16 | *.dylib 17 | *.dll 18 | 19 | # Fortran module files 20 | *.mod 21 | *.smod 22 | 23 | # Compiled Static libraries 24 | *.lai 25 | *.la 26 | *.a 27 | *.lib 28 | 29 | # Executables 30 | *.exe 31 | *.out 32 | *.app 33 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. We, the Free Software Foundation, use the 18 | GNU General Public License for most of our software; it applies also to 19 | any other work released this way by its authors. You can apply it to 20 | your programs, too. 21 | 22 | When we speak of free software, we are referring to freedom, not 23 | price. Our General Public Licenses are designed to make sure that you 24 | have the freedom to distribute copies of free software (and charge for 25 | them if you wish), that you receive source code or can get it if you 26 | want it, that you can change the software or use pieces of it in new 27 | free programs, and that you know you can do these things. 28 | 29 | To protect your rights, we need to prevent others from denying you 30 | these rights or asking you to surrender the rights. Therefore, you have 31 | certain responsibilities if you distribute copies of the software, or if 32 | you modify it: responsibilities to respect the freedom of others. 33 | 34 | For example, if you distribute copies of such a program, whether 35 | gratis or for a fee, you must pass on to the recipients the same 36 | freedoms that you received. You must make sure that they, too, receive 37 | or can get the source code. And you must show them these terms so they 38 | know their rights. 39 | 40 | Developers that use the GNU GPL protect your rights with two steps: 41 | (1) assert copyright on the software, and (2) offer you this License 42 | giving you legal permission to copy, distribute and/or modify it. 43 | 44 | For the developers' and authors' protection, the GPL clearly explains 45 | that there is no warranty for this free software. For both users' and 46 | authors' sake, the GPL requires that modified versions be marked as 47 | changed, so that their problems will not be attributed erroneously to 48 | authors of previous versions. 49 | 50 | Some devices are designed to deny users access to install or run 51 | modified versions of the software inside them, although the manufacturer 52 | can do so. This is fundamentally incompatible with the aim of 53 | protecting users' freedom to change the software. The systematic 54 | pattern of such abuse occurs in the area of products for individuals to 55 | use, which is precisely where it is most unacceptable. Therefore, we 56 | have designed this version of the GPL to prohibit the practice for those 57 | products. If such problems arise substantially in other domains, we 58 | stand ready to extend this provision to those domains in future versions 59 | of the GPL, as needed to protect the freedom of users. 60 | 61 | Finally, every program is threatened constantly by software patents. 62 | States should not allow patents to restrict development and use of 63 | software on general-purpose computers, but in those that do, we wish to 64 | avoid the special danger that patents applied to a free program could 65 | make it effectively proprietary. To prevent this, the GPL assures that 66 | patents cannot be used to render the program non-free. 67 | 68 | The precise terms and conditions for copying, distribution and 69 | modification follow. 70 | 71 | TERMS AND CONDITIONS 72 | 73 | 0. Definitions. 74 | 75 | "This License" refers to version 3 of the GNU General Public License. 76 | 77 | "Copyright" also means copyright-like laws that apply to other kinds of 78 | works, such as semiconductor masks. 79 | 80 | "The Program" refers to any copyrightable work licensed under this 81 | License. Each licensee is addressed as "you". "Licensees" and 82 | "recipients" may be individuals or organizations. 83 | 84 | To "modify" a work means to copy from or adapt all or part of the work 85 | in a fashion requiring copyright permission, other than the making of an 86 | exact copy. The resulting work is called a "modified version" of the 87 | earlier work or a work "based on" the earlier work. 88 | 89 | A "covered work" means either the unmodified Program or a work based 90 | on the Program. 91 | 92 | To "propagate" a work means to do anything with it that, without 93 | permission, would make you directly or secondarily liable for 94 | infringement under applicable copyright law, except executing it on a 95 | computer or modifying a private copy. Propagation includes copying, 96 | distribution (with or without modification), making available to the 97 | public, and in some countries other activities as well. 98 | 99 | To "convey" a work means any kind of propagation that enables other 100 | parties to make or receive copies. Mere interaction with a user through 101 | a computer network, with no transfer of a copy, is not conveying. 102 | 103 | An interactive user interface displays "Appropriate Legal Notices" 104 | to the extent that it includes a convenient and prominently visible 105 | feature that (1) displays an appropriate copyright notice, and (2) 106 | tells the user that there is no warranty for the work (except to the 107 | extent that warranties are provided), that licensees may convey the 108 | work under this License, and how to view a copy of this License. If 109 | the interface presents a list of user commands or options, such as a 110 | menu, a prominent item in the list meets this criterion. 111 | 112 | 1. Source Code. 113 | 114 | The "source code" for a work means the preferred form of the work 115 | for making modifications to it. "Object code" means any non-source 116 | form of a work. 117 | 118 | A "Standard Interface" means an interface that either is an official 119 | standard defined by a recognized standards body, or, in the case of 120 | interfaces specified for a particular programming language, one that 121 | is widely used among developers working in that language. 122 | 123 | The "System Libraries" of an executable work include anything, other 124 | than the work as a whole, that (a) is included in the normal form of 125 | packaging a Major Component, but which is not part of that Major 126 | Component, and (b) serves only to enable use of the work with that 127 | Major Component, or to implement a Standard Interface for which an 128 | implementation is available to the public in source code form. A 129 | "Major Component", in this context, means a major essential component 130 | (kernel, window system, and so on) of the specific operating system 131 | (if any) on which the executable work runs, or a compiler used to 132 | produce the work, or an object code interpreter used to run it. 133 | 134 | The "Corresponding Source" for a work in object code form means all 135 | the source code needed to generate, install, and (for an executable 136 | work) run the object code and to modify the work, including scripts to 137 | control those activities. However, it does not include the work's 138 | System Libraries, or general-purpose tools or generally available free 139 | programs which are used unmodified in performing those activities but 140 | which are not part of the work. For example, Corresponding Source 141 | includes interface definition files associated with source files for 142 | the work, and the source code for shared libraries and dynamically 143 | linked subprograms that the work is specifically designed to require, 144 | such as by intimate data communication or control flow between those 145 | subprograms and other parts of the work. 146 | 147 | The Corresponding Source need not include anything that users 148 | can regenerate automatically from other parts of the Corresponding 149 | Source. 150 | 151 | The Corresponding Source for a work in source code form is that 152 | same work. 153 | 154 | 2. Basic Permissions. 155 | 156 | All rights granted under this License are granted for the term of 157 | copyright on the Program, and are irrevocable provided the stated 158 | conditions are met. This License explicitly affirms your unlimited 159 | permission to run the unmodified Program. The output from running a 160 | covered work is covered by this License only if the output, given its 161 | content, constitutes a covered work. This License acknowledges your 162 | rights of fair use or other equivalent, as provided by copyright law. 163 | 164 | You may make, run and propagate covered works that you do not 165 | convey, without conditions so long as your license otherwise remains 166 | in force. You may convey covered works to others for the sole purpose 167 | of having them make modifications exclusively for you, or provide you 168 | with facilities for running those works, provided that you comply with 169 | the terms of this License in conveying all material for which you do 170 | not control copyright. Those thus making or running the covered works 171 | for you must do so exclusively on your behalf, under your direction 172 | and control, on terms that prohibit them from making any copies of 173 | your copyrighted material outside their relationship with you. 174 | 175 | Conveying under any other circumstances is permitted solely under 176 | the conditions stated below. Sublicensing is not allowed; section 10 177 | makes it unnecessary. 178 | 179 | 3. Protecting Users' Legal Rights From Anti-Circumvention Law. 180 | 181 | No covered work shall be deemed part of an effective technological 182 | measure under any applicable law fulfilling obligations under article 183 | 11 of the WIPO copyright treaty adopted on 20 December 1996, or 184 | similar laws prohibiting or restricting circumvention of such 185 | measures. 186 | 187 | When you convey a covered work, you waive any legal power to forbid 188 | circumvention of technological measures to the extent such circumvention 189 | is effected by exercising rights under this License with respect to 190 | the covered work, and you disclaim any intention to limit operation or 191 | modification of the work as a means of enforcing, against the work's 192 | users, your or third parties' legal rights to forbid circumvention of 193 | technological measures. 194 | 195 | 4. Conveying Verbatim Copies. 196 | 197 | You may convey verbatim copies of the Program's source code as you 198 | receive it, in any medium, provided that you conspicuously and 199 | appropriately publish on each copy an appropriate copyright notice; 200 | keep intact all notices stating that this License and any 201 | non-permissive terms added in accord with section 7 apply to the code; 202 | keep intact all notices of the absence of any warranty; and give all 203 | recipients a copy of this License along with the Program. 204 | 205 | You may charge any price or no price for each copy that you convey, 206 | and you may offer support or warranty protection for a fee. 207 | 208 | 5. Conveying Modified Source Versions. 209 | 210 | You may convey a work based on the Program, or the modifications to 211 | produce it from the Program, in the form of source code under the 212 | terms of section 4, provided that you also meet all of these conditions: 213 | 214 | a) The work must carry prominent notices stating that you modified 215 | it, and giving a relevant date. 216 | 217 | b) The work must carry prominent notices stating that it is 218 | released under this License and any conditions added under section 219 | 7. This requirement modifies the requirement in section 4 to 220 | "keep intact all notices". 221 | 222 | c) You must license the entire work, as a whole, under this 223 | License to anyone who comes into possession of a copy. This 224 | License will therefore apply, along with any applicable section 7 225 | additional terms, to the whole of the work, and all its parts, 226 | regardless of how they are packaged. This License gives no 227 | permission to license the work in any other way, but it does not 228 | invalidate such permission if you have separately received it. 229 | 230 | d) If the work has interactive user interfaces, each must display 231 | Appropriate Legal Notices; however, if the Program has interactive 232 | interfaces that do not display Appropriate Legal Notices, your 233 | work need not make them do so. 234 | 235 | A compilation of a covered work with other separate and independent 236 | works, which are not by their nature extensions of the covered work, 237 | and which are not combined with it such as to form a larger program, 238 | in or on a volume of a storage or distribution medium, is called an 239 | "aggregate" if the compilation and its resulting copyright are not 240 | used to limit the access or legal rights of the compilation's users 241 | beyond what the individual works permit. Inclusion of a covered work 242 | in an aggregate does not cause this License to apply to the other 243 | parts of the aggregate. 244 | 245 | 6. Conveying Non-Source Forms. 246 | 247 | You may convey a covered work in object code form under the terms 248 | of sections 4 and 5, provided that you also convey the 249 | machine-readable Corresponding Source under the terms of this License, 250 | in one of these ways: 251 | 252 | a) Convey the object code in, or embodied in, a physical product 253 | (including a physical distribution medium), accompanied by the 254 | Corresponding Source fixed on a durable physical medium 255 | customarily used for software interchange. 256 | 257 | b) Convey the object code in, or embodied in, a physical product 258 | (including a physical distribution medium), accompanied by a 259 | written offer, valid for at least three years and valid for as 260 | long as you offer spare parts or customer support for that product 261 | model, to give anyone who possesses the object code either (1) a 262 | copy of the Corresponding Source for all the software in the 263 | product that is covered by this License, on a durable physical 264 | medium customarily used for software interchange, for a price no 265 | more than your reasonable cost of physically performing this 266 | conveying of source, or (2) access to copy the 267 | Corresponding Source from a network server at no charge. 268 | 269 | c) Convey individual copies of the object code with a copy of the 270 | written offer to provide the Corresponding Source. This 271 | alternative is allowed only occasionally and noncommercially, and 272 | only if you received the object code with such an offer, in accord 273 | with subsection 6b. 274 | 275 | d) Convey the object code by offering access from a designated 276 | place (gratis or for a charge), and offer equivalent access to the 277 | Corresponding Source in the same way through the same place at no 278 | further charge. You need not require recipients to copy the 279 | Corresponding Source along with the object code. If the place to 280 | copy the object code is a network server, the Corresponding Source 281 | may be on a different server (operated by you or a third party) 282 | that supports equivalent copying facilities, provided you maintain 283 | clear directions next to the object code saying where to find the 284 | Corresponding Source. Regardless of what server hosts the 285 | Corresponding Source, you remain obligated to ensure that it is 286 | available for as long as needed to satisfy these requirements. 287 | 288 | e) Convey the object code using peer-to-peer transmission, provided 289 | you inform other peers where the object code and Corresponding 290 | Source of the work are being offered to the general public at no 291 | charge under subsection 6d. 292 | 293 | A separable portion of the object code, whose source code is excluded 294 | from the Corresponding Source as a System Library, need not be 295 | included in conveying the object code work. 296 | 297 | A "User Product" is either (1) a "consumer product", which means any 298 | tangible personal property which is normally used for personal, family, 299 | or household purposes, or (2) anything designed or sold for incorporation 300 | into a dwelling. In determining whether a product is a consumer product, 301 | doubtful cases shall be resolved in favor of coverage. For a particular 302 | product received by a particular user, "normally used" refers to a 303 | typical or common use of that class of product, regardless of the status 304 | of the particular user or of the way in which the particular user 305 | actually uses, or expects or is expected to use, the product. A product 306 | is a consumer product regardless of whether the product has substantial 307 | commercial, industrial or non-consumer uses, unless such uses represent 308 | the only significant mode of use of the product. 309 | 310 | "Installation Information" for a User Product means any methods, 311 | procedures, authorization keys, or other information required to install 312 | and execute modified versions of a covered work in that User Product from 313 | a modified version of its Corresponding Source. The information must 314 | suffice to ensure that the continued functioning of the modified object 315 | code is in no case prevented or interfered with solely because 316 | modification has been made. 317 | 318 | If you convey an object code work under this section in, or with, or 319 | specifically for use in, a User Product, and the conveying occurs as 320 | part of a transaction in which the right of possession and use of the 321 | User Product is transferred to the recipient in perpetuity or for a 322 | fixed term (regardless of how the transaction is characterized), the 323 | Corresponding Source conveyed under this section must be accompanied 324 | by the Installation Information. But this requirement does not apply 325 | if neither you nor any third party retains the ability to install 326 | modified object code on the User Product (for example, the work has 327 | been installed in ROM). 328 | 329 | The requirement to provide Installation Information does not include a 330 | requirement to continue to provide support service, warranty, or updates 331 | for a work that has been modified or installed by the recipient, or for 332 | the User Product in which it has been modified or installed. Access to a 333 | network may be denied when the modification itself materially and 334 | adversely affects the operation of the network or violates the rules and 335 | protocols for communication across the network. 336 | 337 | Corresponding Source conveyed, and Installation Information provided, 338 | in accord with this section must be in a format that is publicly 339 | documented (and with an implementation available to the public in 340 | source code form), and must require no special password or key for 341 | unpacking, reading or copying. 342 | 343 | 7. Additional Terms. 344 | 345 | "Additional permissions" are terms that supplement the terms of this 346 | License by making exceptions from one or more of its conditions. 347 | Additional permissions that are applicable to the entire Program shall 348 | be treated as though they were included in this License, to the extent 349 | that they are valid under applicable law. If additional permissions 350 | apply only to part of the Program, that part may be used separately 351 | under those permissions, but the entire Program remains governed by 352 | this License without regard to the additional permissions. 353 | 354 | When you convey a copy of a covered work, you may at your option 355 | remove any additional permissions from that copy, or from any part of 356 | it. (Additional permissions may be written to require their own 357 | removal in certain cases when you modify the work.) You may place 358 | additional permissions on material, added by you to a covered work, 359 | for which you have or can give appropriate copyright permission. 360 | 361 | Notwithstanding any other provision of this License, for material you 362 | add to a covered work, you may (if authorized by the copyright holders of 363 | that material) supplement the terms of this License with terms: 364 | 365 | a) Disclaiming warranty or limiting liability differently from the 366 | terms of sections 15 and 16 of this License; or 367 | 368 | b) Requiring preservation of specified reasonable legal notices or 369 | author attributions in that material or in the Appropriate Legal 370 | Notices displayed by works containing it; or 371 | 372 | c) Prohibiting misrepresentation of the origin of that material, or 373 | requiring that modified versions of such material be marked in 374 | reasonable ways as different from the original version; or 375 | 376 | d) Limiting the use for publicity purposes of names of licensors or 377 | authors of the material; or 378 | 379 | e) Declining to grant rights under trademark law for use of some 380 | trade names, trademarks, or service marks; or 381 | 382 | f) Requiring indemnification of licensors and authors of that 383 | material by anyone who conveys the material (or modified versions of 384 | it) with contractual assumptions of liability to the recipient, for 385 | any liability that these contractual assumptions directly impose on 386 | those licensors and authors. 387 | 388 | All other non-permissive additional terms are considered "further 389 | restrictions" within the meaning of section 10. If the Program as you 390 | received it, or any part of it, contains a notice stating that it is 391 | governed by this License along with a term that is a further 392 | restriction, you may remove that term. If a license document contains 393 | a further restriction but permits relicensing or conveying under this 394 | License, you may add to a covered work material governed by the terms 395 | of that license document, provided that the further restriction does 396 | not survive such relicensing or conveying. 397 | 398 | If you add terms to a covered work in accord with this section, you 399 | must place, in the relevant source files, a statement of the 400 | additional terms that apply to those files, or a notice indicating 401 | where to find the applicable terms. 402 | 403 | Additional terms, permissive or non-permissive, may be stated in the 404 | form of a separately written license, or stated as exceptions; 405 | the above requirements apply either way. 406 | 407 | 8. Termination. 408 | 409 | You may not propagate or modify a covered work except as expressly 410 | provided under this License. Any attempt otherwise to propagate or 411 | modify it is void, and will automatically terminate your rights under 412 | this License (including any patent licenses granted under the third 413 | paragraph of section 11). 414 | 415 | However, if you cease all violation of this License, then your 416 | license from a particular copyright holder is reinstated (a) 417 | provisionally, unless and until the copyright holder explicitly and 418 | finally terminates your license, and (b) permanently, if the copyright 419 | holder fails to notify you of the violation by some reasonable means 420 | prior to 60 days after the cessation. 421 | 422 | Moreover, your license from a particular copyright holder is 423 | reinstated permanently if the copyright holder notifies you of the 424 | violation by some reasonable means, this is the first time you have 425 | received notice of violation of this License (for any work) from that 426 | copyright holder, and you cure the violation prior to 30 days after 427 | your receipt of the notice. 428 | 429 | Termination of your rights under this section does not terminate the 430 | licenses of parties who have received copies or rights from you under 431 | this License. If your rights have been terminated and not permanently 432 | reinstated, you do not qualify to receive new licenses for the same 433 | material under section 10. 434 | 435 | 9. Acceptance Not Required for Having Copies. 436 | 437 | You are not required to accept this License in order to receive or 438 | run a copy of the Program. Ancillary propagation of a covered work 439 | occurring solely as a consequence of using peer-to-peer transmission 440 | to receive a copy likewise does not require acceptance. However, 441 | nothing other than this License grants you permission to propagate or 442 | modify any covered work. These actions infringe copyright if you do 443 | not accept this License. Therefore, by modifying or propagating a 444 | covered work, you indicate your acceptance of this License to do so. 445 | 446 | 10. Automatic Licensing of Downstream Recipients. 447 | 448 | Each time you convey a covered work, the recipient automatically 449 | receives a license from the original licensors, to run, modify and 450 | propagate that work, subject to this License. You are not responsible 451 | for enforcing compliance by third parties with this License. 452 | 453 | An "entity transaction" is a transaction transferring control of an 454 | organization, or substantially all assets of one, or subdividing an 455 | organization, or merging organizations. If propagation of a covered 456 | work results from an entity transaction, each party to that 457 | transaction who receives a copy of the work also receives whatever 458 | licenses to the work the party's predecessor in interest had or could 459 | give under the previous paragraph, plus a right to possession of the 460 | Corresponding Source of the work from the predecessor in interest, if 461 | the predecessor has it or can get it with reasonable efforts. 462 | 463 | You may not impose any further restrictions on the exercise of the 464 | rights granted or affirmed under this License. For example, you may 465 | not impose a license fee, royalty, or other charge for exercise of 466 | rights granted under this License, and you may not initiate litigation 467 | (including a cross-claim or counterclaim in a lawsuit) alleging that 468 | any patent claim is infringed by making, using, selling, offering for 469 | sale, or importing the Program or any portion of it. 470 | 471 | 11. Patents. 472 | 473 | A "contributor" is a copyright holder who authorizes use under this 474 | License of the Program or a work on which the Program is based. The 475 | work thus licensed is called the contributor's "contributor version". 476 | 477 | A contributor's "essential patent claims" are all patent claims 478 | owned or controlled by the contributor, whether already acquired or 479 | hereafter acquired, that would be infringed by some manner, permitted 480 | by this License, of making, using, or selling its contributor version, 481 | but do not include claims that would be infringed only as a 482 | consequence of further modification of the contributor version. For 483 | purposes of this definition, "control" includes the right to grant 484 | patent sublicenses in a manner consistent with the requirements of 485 | this License. 486 | 487 | Each contributor grants you a non-exclusive, worldwide, royalty-free 488 | patent license under the contributor's essential patent claims, to 489 | make, use, sell, offer for sale, import and otherwise run, modify and 490 | propagate the contents of its contributor version. 491 | 492 | In the following three paragraphs, a "patent license" is any express 493 | agreement or commitment, however denominated, not to enforce a patent 494 | (such as an express permission to practice a patent or covenant not to 495 | sue for patent infringement). To "grant" such a patent license to a 496 | party means to make such an agreement or commitment not to enforce a 497 | patent against the party. 498 | 499 | If you convey a covered work, knowingly relying on a patent license, 500 | and the Corresponding Source of the work is not available for anyone 501 | to copy, free of charge and under the terms of this License, through a 502 | publicly available network server or other readily accessible means, 503 | then you must either (1) cause the Corresponding Source to be so 504 | available, or (2) arrange to deprive yourself of the benefit of the 505 | patent license for this particular work, or (3) arrange, in a manner 506 | consistent with the requirements of this License, to extend the patent 507 | license to downstream recipients. "Knowingly relying" means you have 508 | actual knowledge that, but for the patent license, your conveying the 509 | covered work in a country, or your recipient's use of the covered work 510 | in a country, would infringe one or more identifiable patents in that 511 | country that you have reason to believe are valid. 512 | 513 | If, pursuant to or in connection with a single transaction or 514 | arrangement, you convey, or propagate by procuring conveyance of, a 515 | covered work, and grant a patent license to some of the parties 516 | receiving the covered work authorizing them to use, propagate, modify 517 | or convey a specific copy of the covered work, then the patent license 518 | you grant is automatically extended to all recipients of the covered 519 | work and works based on it. 520 | 521 | A patent license is "discriminatory" if it does not include within 522 | the scope of its coverage, prohibits the exercise of, or is 523 | conditioned on the non-exercise of one or more of the rights that are 524 | specifically granted under this License. You may not convey a covered 525 | work if you are a party to an arrangement with a third party that is 526 | in the business of distributing software, under which you make payment 527 | to the third party based on the extent of your activity of conveying 528 | the work, and under which the third party grants, to any of the 529 | parties who would receive the covered work from you, a discriminatory 530 | patent license (a) in connection with copies of the covered work 531 | conveyed by you (or copies made from those copies), or (b) primarily 532 | for and in connection with specific products or compilations that 533 | contain the covered work, unless you entered into that arrangement, 534 | or that patent license was granted, prior to 28 March 2007. 535 | 536 | Nothing in this License shall be construed as excluding or limiting 537 | any implied license or other defenses to infringement that may 538 | otherwise be available to you under applicable patent law. 539 | 540 | 12. No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # CNC-Pendant-Firmware 2 | 3 | This is firmware to run on an Arduino Pro Micro (preferred) or Arduino Nano to interface a popular style of wired CNC pendant to the PanelDue port of Duet electronics. Build it using Arduino IDE. 4 | 5 | The code on the master branch send commands with checksums to RRF, suitable for older versions RRF. If you use the PanelDue pass-through facility then you need to use an older version of PanelDueFirmware that uses checksums, because it does not recognise CRCs from PanelDue. 6 | 7 | The code on the crc16 branch sends commands with CRC to RRF with a CRC instead. This works with newer versions of RRF and provides better integrity protection. If the PanelDue pass-through facility is used, it accepts either CRCs or checksums from PanelDue. 8 | 9 | For a full guide to building the pendant, see [the Duet3D wiki here](https://docs.duet3d.com/en/User_manual/Connecting_hardware/IO_CNC_Pendant). 10 | 11 | ## Wiring 12 | 13 | Pendant to Arduino Pro Micro wiring: 14 | 15 | | Pro Micro | Pendant | Wire colours | 16 | |:----------|:--------|:-------------| 17 | | VCC | +5V | red | 18 | | GND | 0V
COM
CN
LED- | black
orange/black
blue/black
white/black | 19 | | D2 | A | green | 20 | | D3 | B | white | 21 | | D4 | X | yellow | 22 | | D5 | Y | yellow/black | 23 | | D6 | Z | brown | 24 | | D7 | 4 | brown/black | 25 | | D8 | 5 | pink (if present) | 26 | | D9 | 6 | pink/black (if present) | 27 | | D10 | LED+ | green/black | 28 | | A0 | STOP | blue | 29 | | A1 | X1 | grey | 30 | | A2 | X10 | grey/black | 31 | | A3 | X100 | orange | 32 | | NC | /A
/B | violet
violet/black | 33 | 34 | Arduino Pro Micro to Duet 3 IO_0 connector or Duet 2 PanelDue connector wiring (3- or 4-core cable): 35 | 36 | | Pro Micro | Duet | 37 | |:----------|:-----| 38 | | VCC | +5V (red wire) | 39 | | GND | GND (yellow wire) | 40 | | TXO
GND | Through 6K8 resistor to IO_0_IN (Duet 3) or URXD0 (Duet 2)
Also connect 10K resistor between GND and IO_0_IN (Duet 3) or URXD0 (Duet 2) (blue wire from resistor junction to Duet) | 41 | 42 | To connect a PanelDue as well (the Arduino Pro Micro passes the PanelDue commands through to the Duet): 43 | 44 | | PanelDue | Pro Micro / Duet | 45 | |:---------|:-----------------| 46 | | +5V | +5V/VCC (red wire to Ardiuno or Duet) | 47 | | GND | GND (yellow wire to Ardiuno or Duet) | 48 | | DIN | **Duet** IO_0_OUT (Duet 3) or UTXD0 (Duet 2) (green wire) | 49 | | DOUT | **Pro Micro** RXI (blue wire of PanelDue cable to green wire of pendant cable) | 50 | 51 | For wiring differences and hardware changes needed if using an Arduino Nano, see the comments at the start of the CNC-pendant.ino file. 52 | 53 | ## Support requests 54 | 55 | Please use the [forum](https://forum.duet3d.com) for support requests. 56 | -------------------------------------------------------------------------------- /src/CNC-pendant.ino: -------------------------------------------------------------------------------- 1 | // CNC pendant interface to Duet 2 | // D Crocker, started 2020-05-04 3 | 4 | /* This Arduino sketch can be run on either Arduino Nano or Arduino Pro Micro. 5 | * It should alo work on an Arduino Uno (using the same wiring scheme as for the Nano) or Arduino Leonardo (using the same wiring scheme as for the Pro Micro). 6 | * The recommended board is the Arduino Pro Micro because the passthrough works without any modificatoins to the Arduino. 7 | 8 | *** Pendant to Arduino Pro Micro connections *** 9 | 10 | Pro Micro Pendant Wire colours 11 | VCC +5V red 12 | GND 0V, black 13 | COM, orange/black 14 | CN, blue/black 15 | LED- white/black 16 | 17 | D2 A green 18 | D3 B white 19 | D4 X yellow 20 | D5 Y yellow/black 21 | D6 Z brown 22 | D7 4 brown/black 23 | D8 5 powder (if present) 24 | D9 6 powder/black (if present) 25 | D10 LED+ green/black 26 | A0 STOP blue 27 | A1 X1 grey 28 | A2 X10 grey/black 29 | A3 X100 orange 30 | 31 | NC /A, violet 32 | /B violet/black 33 | 34 | *** Arduino Pro Micro to Duet PanelDue connector connections *** 35 | 36 | Pro Micro Duet 37 | VCC +5V 38 | GND GND 39 | TX1/D0 Through 6K8 resistor to URXD, also connect 10K resistor between URXD and GND 40 | 41 | To connect a PanelDue as well: 42 | 43 | PanelDue +5V to +5V/VCC 44 | PanelDue GND to GND 45 | PanelDue DIN to Duet UTXD or IO_0_OUT 46 | PanelDue DOUT to /Pro Micro RX1/D0. 47 | 48 | *** Pendant to Arduino Nano connections *** 49 | 50 | Nano Pendant Wire colours 51 | +5V +5V red 52 | GND 0V, black 53 | COM, orange/black 54 | CN, blue/black 55 | LED- white/black 56 | 57 | D2 A green 58 | D3 B white 59 | D4 X yellow 60 | D5 Y yellow/black 61 | D6 Z brown 62 | D7 4 brown/black 63 | D8 5 powder (if present) 64 | D9 6 powder/black (if present) 65 | D10 X1 grey 66 | D11 X10 grey/black 67 | D12 X100 orange 68 | D13 LED+ green/black 69 | A0 STOP blue 70 | 71 | NC /A, violet 72 | /B violet/black 73 | 74 | *** Arduino Nano to Duet PanelDue connector connections *** 75 | 76 | Nano Duet 77 | +5V +5V 78 | GND GND 79 | TX1/D0 Through 6K8 resistor to URXD, also connect 10K resistor between URXD and GND 80 | 81 | To connect a PanelDue as well: 82 | 83 | PanelDue +5V to +5V 84 | PanelDue GND to GND 85 | PanelDue DIN to Duet UTXD or IO_0_OUT 86 | PanelDue DOUT to Nano/Pro Micro RX1/D0. 87 | 88 | On the Arduino Nano is necessary to replace the 1K resistor between the USB interface chip by a 10K resistor so that PanelDiue can override the USB chip. 89 | On Arduino Nano clones with CH340G chip, it is also necessary to remove the RxD LED or its series resistor. 90 | 91 | */ 92 | 93 | // Configuration constants 94 | const int PinA = 2; 95 | const int PinB = 3; 96 | const int PinX = 4; 97 | const int PinY = 5; 98 | const int PinZ = 6; 99 | const int PinAxis4 = 7; 100 | const int PinAxis5 = 8; 101 | const int PinAxis6 = 9; 102 | const int PinStop = A0; 103 | 104 | #if defined(__AVR_ATmega32U4__) // Arduino Micro, Pro Micro or Leonardo 105 | const int PinTimes1 = A1; 106 | const int PinTimes10 = A2; 107 | const int PinTimes100 = A3; 108 | const int PinLed = 10; 109 | #endif 110 | 111 | #if defined(__AVR_ATmega328P__) // Arduino Nano or Uno 112 | const int PinTimes1 = 10; 113 | const int PinTimes10 = 11; 114 | const int PinTimes100 = 12; 115 | const int PinLed = 13; 116 | #endif 117 | 118 | 119 | const unsigned long BaudRate = 57600; 120 | const int PulsesPerClick = 4; 121 | const unsigned long MinCommandInterval = 20; 122 | 123 | // Table of commands we send, one entry for each axis 124 | const char* const MoveCommands[] = 125 | { 126 | "G91 G0 F6000 X", // X axis 127 | "G91 G0 F6000 Y", // Y axis 128 | "G91 G0 F600 Z", // Z axis 129 | "G91 G0 F6000 U", // axis 4 130 | "G91 G0 F6000 V", // axis 5 131 | "G91 G0 F6000 W" // axis 6 132 | }; 133 | 134 | #include "RotaryEncoder.h" 135 | #include "GCodeSerial.h" 136 | #include "PassThrough.h" 137 | 138 | RotaryEncoder encoder(PinA, PinB, PulsesPerClick); 139 | PassThrough passThrough; 140 | 141 | int serialBufferSize; 142 | int distanceMultiplier; 143 | int axis; 144 | uint32_t whenLastCommandSent = 0; 145 | 146 | const int axisPins[] = { PinX, PinY, PinZ, PinAxis4, PinAxis5, PinAxis6 }; 147 | const int feedAmountPins[] = { PinTimes1, PinTimes10, PinTimes100 }; 148 | 149 | #if defined(__AVR_ATmega32U4__) // Arduino Leonardo or Pro Micro 150 | # define UartSerial Serial1 151 | #elif defined(__AVR_ATmega328P__) // Arduino Uno or Nano 152 | # define UartSerial Serial 153 | #endif 154 | 155 | GCodeSerial output(UartSerial); 156 | 157 | void setup() 158 | { 159 | pinMode(PinA, INPUT_PULLUP); 160 | pinMode(PinB, INPUT_PULLUP); 161 | pinMode(PinX, INPUT_PULLUP); 162 | pinMode(PinY, INPUT_PULLUP); 163 | pinMode(PinZ, INPUT_PULLUP); 164 | pinMode(PinAxis4, INPUT_PULLUP); 165 | pinMode(PinAxis5, INPUT_PULLUP); 166 | pinMode(PinAxis6, INPUT_PULLUP); 167 | pinMode(PinTimes1, INPUT_PULLUP); 168 | pinMode(PinTimes10, INPUT_PULLUP); 169 | pinMode(PinTimes100, INPUT_PULLUP); 170 | pinMode(PinStop, INPUT_PULLUP); 171 | pinMode(PinLed, OUTPUT); 172 | 173 | output.begin(BaudRate); 174 | 175 | serialBufferSize = output.availableForWrite(); 176 | 177 | #if defined(__AVR_ATmega32U4__) // Arduino Leonardo or Pro Micro 178 | TX_RX_LED_INIT; 179 | #endif 180 | } 181 | 182 | // Check for received data from PanelDue, store it in the pass through buffer, and send it if we have a complete command 183 | void checkPassThrough() 184 | { 185 | unsigned int commandLength = passThrough.Check(UartSerial); 186 | if (commandLength != 0 && UartSerial.availableForWrite() == serialBufferSize) 187 | { 188 | output.write(passThrough.GetCommand(), commandLength); 189 | } 190 | } 191 | 192 | void loop() 193 | { 194 | // 0. Poll the encoder. Ideally we would do this in the tick ISR, but after all these years the Arduino core STILL doesn't let us hook it. 195 | // We could possibly use interrupts instead, but if the encoder suffers from contact bounce then that isn't a good idea. 196 | // In practice this loop executes fast enough that polling it here works well enough 197 | encoder.poll(); 198 | 199 | // 1. Check for emergency stop 200 | if (digitalRead(PinStop) == HIGH) 201 | { 202 | // Send emergency stop command every 2 seconds 203 | do 204 | { 205 | output.write("M112 ;" "\xF0" "\x0F" "\n"); 206 | digitalWrite(PinLed, LOW); 207 | uint16_t now = (uint16_t)millis(); 208 | while (digitalRead(PinStop) == HIGH && (uint16_t)millis() - now < 2000) 209 | { 210 | checkPassThrough(); 211 | } 212 | encoder.getChange(); // ignore any movement 213 | } while (digitalRead(PinStop) == HIGH); 214 | 215 | output.write("M999\n"); 216 | } 217 | 218 | digitalWrite(PinLed, HIGH); 219 | 220 | // 2. Poll the feed amount switch 221 | distanceMultiplier = 0; 222 | int localDistanceMultiplier = 1; 223 | for (int pin : feedAmountPins) 224 | { 225 | if (digitalRead(pin) == LOW) 226 | { 227 | distanceMultiplier = localDistanceMultiplier; 228 | break; 229 | } 230 | localDistanceMultiplier *= 10; 231 | } 232 | 233 | // 3. Poll the axis selector switch 234 | axis = -1; 235 | int localAxis = 0; 236 | for (int pin : axisPins) 237 | { 238 | if (digitalRead(pin) == LOW) 239 | { 240 | axis = localAxis; 241 | break; 242 | } 243 | ++localAxis; 244 | } 245 | 246 | // 5. If the serial output buffer is empty, send a G0 command for the accumulated encoder motion. 247 | if (output.availableForWrite() == serialBufferSize) 248 | { 249 | #if defined(__AVR_ATmega32U4__) // Arduino Micro, Pro Micro or Leonardo 250 | TXLED1; // turn off transmit LED 251 | #endif 252 | const uint32_t now = millis(); 253 | if (now - whenLastCommandSent >= MinCommandInterval) 254 | { 255 | int distance = encoder.getChange() * distanceMultiplier; 256 | if (axis >= 0 && distance != 0) 257 | { 258 | #if defined(__AVR_ATmega32U4__) // Arduino Micro, Pro Micro or Leonardo 259 | TXLED0; // turn on transmit LED 260 | #endif 261 | whenLastCommandSent = now; 262 | output.write(MoveCommands[axis]); 263 | if (distance < 0) 264 | { 265 | output.write('-'); 266 | distance = -distance; 267 | } 268 | output.print(distance/10); 269 | output.write('.'); 270 | output.print(distance % 10); 271 | output.write('\n'); 272 | } 273 | } 274 | } 275 | 276 | checkPassThrough(); 277 | } 278 | 279 | // End 280 | -------------------------------------------------------------------------------- /src/GCodeSerial.cpp: -------------------------------------------------------------------------------- 1 | #include "GCodeSerial.h" 2 | 3 | void GCodeSerial::begin(unsigned long baud) 4 | { 5 | serial.begin(baud); 6 | lineNumber = 0; 7 | checksum = 0; 8 | emptyLine = true; 9 | } 10 | 11 | size_t GCodeSerial::write(uint8_t c) 12 | { 13 | if (c == '\n') 14 | { 15 | if (!emptyLine) 16 | { 17 | serial.write('*'); 18 | serial.print(checksum); 19 | emptyLine = true; 20 | } 21 | } 22 | else 23 | { 24 | if (emptyLine) 25 | { 26 | ++lineNumber; 27 | checksum = 0; 28 | emptyLine = false; // do this first to avoid infinite recursion 29 | write('N'); // this recurses so that it updates the checksum 30 | print(lineNumber); // this recurses so that it updates the checksum 31 | } 32 | checksum ^= c; 33 | } 34 | serial.write(c); 35 | return 1; 36 | } 37 | 38 | // End 39 | -------------------------------------------------------------------------------- /src/GCodeSerial.h: -------------------------------------------------------------------------------- 1 | #ifndef GCODESERIAL_INCLUDED 2 | #define GCODESERIAL_INCLUDED 3 | 4 | #include "Arduino.h" 5 | 6 | // Class to output to serial, adding line numbers and checksums 7 | class GCodeSerial : public Print 8 | { 9 | public: 10 | GCodeSerial(HardwareSerial& device) : serial(device) { } 11 | 12 | void begin(unsigned long baud); 13 | size_t write(uint8_t) override; 14 | int availableForWrite() override { return serial.availableForWrite(); } 15 | using Print::write; 16 | 17 | private: 18 | HardwareSerial& serial; 19 | uint16_t lineNumber; 20 | uint8_t checksum; 21 | bool emptyLine; 22 | }; 23 | 24 | #endif 25 | -------------------------------------------------------------------------------- /src/PassThrough.cpp: -------------------------------------------------------------------------------- 1 | #include "PassThrough.h" 2 | 3 | // Store character and add to checksum. If no room, we will discover that when we try to append the newline, so no need to record overflow here. 4 | void PassThrough::StoreAndAddToChecksum(char c) 5 | { 6 | actualChecksum ^= c; 7 | if (count < sizeof(buffer)/sizeof(buffer[0])) 8 | { 9 | buffer[count++] = c; 10 | } 11 | } 12 | 13 | // Get the command and reset the state 14 | const char *PassThrough::GetCommand() 15 | { 16 | state = State::waitingForStart; 17 | return buffer; 18 | } 19 | 20 | // Check for new data, return 0 if no command available, else length of the command 21 | unsigned int PassThrough::Check(HardwareSerial& serial) 22 | { 23 | while (state != State::haveCommand && serial.available() != 0) 24 | { 25 | #if defined(__AVR_ATmega32U4__) // Arduino Micro, Pro Micro or Leonardo 26 | RXLED0; // turn on receive LED 27 | #endif 28 | const char c = serial.read(); 29 | #if defined(__AVR_ATmega32U4__) // Arduino Micro, Pro Micro or Leonardo 30 | if (c == '\r' || c == '\n') 31 | { 32 | RXLED1; // turn off receive LED 33 | } 34 | else 35 | { 36 | RXLED0; // turn on receive LED 37 | } 38 | #endif 39 | switch (state) 40 | { 41 | case State::waitingForStart: 42 | if (c == 'N') 43 | { 44 | state = State::receivingLineNumber; 45 | actualChecksum = c; 46 | count = 0; 47 | } 48 | break; 49 | 50 | case State::receivingLineNumber: 51 | if (c >= '0' && c <= '9') 52 | { 53 | StoreAndAddToChecksum(c); 54 | break; 55 | } 56 | state = State::receivingCommand; 57 | __attribute__ ((fallthrough)); 58 | case State::receivingCommand: 59 | if (c == '*') 60 | { 61 | state = State::receivingChecksum; 62 | receivedChecksum = 0; 63 | break; 64 | } 65 | if (c == '\n' || c == '\r') 66 | { 67 | state = State::waitingForStart; 68 | break; 69 | } 70 | if (c == '"') 71 | { 72 | state = State::receivingQuotedString; 73 | } 74 | StoreAndAddToChecksum(c); 75 | break; 76 | 77 | case State::receivingQuotedString: 78 | if (c == '\n' || c == '\r') 79 | { 80 | state = State::waitingForStart; 81 | break; 82 | } 83 | if (c == '"') 84 | { 85 | state = State::receivingCommand; 86 | } 87 | StoreAndAddToChecksum(c); 88 | break; 89 | 90 | case State::receivingChecksum: 91 | if (c == '\n' || c == '\r') 92 | { 93 | if (count == sizeof(buffer)/sizeof(buffer[0])) // if buffer too small for the command 94 | { 95 | state = State::waitingForStart; 96 | break; 97 | } 98 | buffer[count++] = '\n'; 99 | state = (receivedChecksum == actualChecksum) ? State::haveCommand : State::waitingForStart; 100 | } 101 | else if (c >= '0' && c <= '9') 102 | { 103 | receivedChecksum = (10 * receivedChecksum) + (c - '0'); 104 | } 105 | else 106 | { 107 | state = State::waitingForStart; 108 | } 109 | break; 110 | 111 | default: 112 | break; 113 | } 114 | } 115 | return (state == State::haveCommand) ? count : 0; 116 | } 117 | 118 | // End 119 | -------------------------------------------------------------------------------- /src/PassThrough.h: -------------------------------------------------------------------------------- 1 | #ifndef PASSTHROUGH_H_INCLUDED 2 | #define PASSTHROUGH_H_INCLUDED 3 | 4 | #include "Arduino.h" 5 | 6 | // Class to accumulate commands received from PanelDue to be passed through 7 | class PassThrough 8 | { 9 | public: 10 | unsigned int Check(HardwareSerial& serial); // Check for new data, return 0 if no command available, else length of the command 11 | const char *GetCommand(); // Get the command and reset the state 12 | 13 | private: 14 | void StoreAndAddToChecksum(char c); // Store character and add to checksum. If no room, set the overflow flag. 15 | // Pass through data 16 | enum class State : uint8_t 17 | { 18 | waitingForStart = 0, 19 | receivingLineNumber, 20 | receivingCommand, 21 | receivingQuotedString, 22 | receivingChecksum, 23 | haveCommand 24 | }; 25 | 26 | uint8_t count = 0; 27 | uint8_t actualChecksum; 28 | uint8_t receivedChecksum; 29 | State state = State::waitingForStart; 30 | bool overflowed; 31 | char buffer[100]; 32 | }; 33 | 34 | #endif 35 | -------------------------------------------------------------------------------- /src/RotaryEncoder.cpp: -------------------------------------------------------------------------------- 1 | #include "RotaryEncoder.h" 2 | #include "arduino.h" 3 | 4 | void RotaryEncoder::init() 5 | { 6 | pinMode(pin0, INPUT_PULLUP); 7 | pinMode(pin1, INPUT_PULLUP); 8 | change = 0; 9 | delay(10); // ensure we read the initial state correctly 10 | state = readState(); 11 | } 12 | 13 | void RotaryEncoder::poll() 14 | { 15 | // State transition table. Each entry has the following meaning: 16 | // 0 - the encoder hasn't moved 17 | // 1 - the encoder has moved 1 unit clockwise 18 | // -1 = the encoder has moved 1 unit anticlockwise 19 | static const int tbl[16] = 20 | { 0, +1, -1, 0, // position 3 = 00 to 11, can't really do anything, so 0 21 | -1, 0, -2, +1, // position 2 = 01 to 10, assume it was a bounce and should be 01 -> 00 -> 10 22 | +1, +2, 0, -1, // position 1 = 10 to 01, assume it was a bounce and should be 10 -> 00 -> 01 23 | 0, -1, +1, 0 // position 0 = 11 to 10, can't really do anything 24 | }; 25 | const unsigned int t = readState(); 26 | const int movement = tbl[(state << 2) | t]; 27 | change += movement; 28 | state = t; 29 | } 30 | 31 | int RotaryEncoder::getChange() 32 | { 33 | int r; 34 | noInterrupts(); 35 | if (change >= ppc) 36 | { 37 | r = change/ppc; 38 | } 39 | else if (change <= -ppc) 40 | { 41 | r = -((-change)/ppc); 42 | } 43 | else 44 | { 45 | r = 0; 46 | } 47 | change -= (r * ppc); 48 | interrupts(); 49 | return r; 50 | } 51 | 52 | // End 53 | -------------------------------------------------------------------------------- /src/RotaryEncoder.h: -------------------------------------------------------------------------------- 1 | #ifndef __RotaryEncoderIncluded 2 | #define __RotaryEncoderIncluded 3 | 4 | #include 5 | 6 | class RotaryEncoder 7 | { 8 | uint8_t state; 9 | int pin0, pin1; 10 | int ppc; 11 | int change; 12 | 13 | uint8_t readState() 14 | { 15 | return (digitalRead(pin0) ? 1u : 0u) | (digitalRead(pin1) ? 2u : 0u); 16 | } 17 | 18 | public: 19 | RotaryEncoder(int p0, int p1, int pulsesPerClick) : 20 | state(0), pin0(p0), pin1(p1), ppc(pulsesPerClick), change(0) {} 21 | 22 | void init(); 23 | void poll(); 24 | int getChange(); 25 | }; 26 | 27 | #endif 28 | --------------------------------------------------------------------------------