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authormidopple <mdoppler@gmx.at>2012-02-15 21:01:43 +0100
committermidopple <mdoppler@gmx.at>2012-02-15 21:01:43 +0100
commitee764635a3882722ef0834742c8baf342a3b2ee3 (patch)
tree9a2dbfcc012884219e9037a62d336530fb93a248 /Sprinter
parentbb38d646d35bc65956a437eba5dae59a828c5d23 (diff)
- changed homing function to not conflict with min_software_endstops/max_software_endstops (thanks rGlory)
- Corrected distance calculation. (thanks jv4779)
Diffstat (limited to 'Sprinter')
-rw-r--r--Sprinter/Sprinter.pde74
1 files changed, 46 insertions, 28 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index d33480f..1dac69b 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -39,7 +39,7 @@
- move string to flash to free RAM vor forward planner
- M203 Temperature monitor for Repetier
-
+ Version 1.3.04T
- Implement Plannercode from Marlin V1 big thanks to Erik
- Stepper interrupt with Step loops
- Stepperfrequenz 30 Khz
@@ -53,6 +53,13 @@
- Option to deaktivate ARC (G2/G3) function (save flash)
- Removed modulo (%) operator, which uses an expensive divide
+ Version 1.3.05T
+ - changed homing function to not conflict with min_software_endstops/max_software_endstops (thanks rGlory)
+ - Changed check in arc_func
+ - Corrected distance calculation. (thanks jv4779)
+ - MAX Feed Rate for Z-Axis reduced to 2 mm/s some Printers had problems with 4 mm/s
+
+
*/
#include <avr/pgmspace.h>
@@ -142,13 +149,13 @@ void __cxa_pure_virtual(){};
// M603 - Show Free Ram
-#define _VERSION_TEXT "1.3.04T / 04.02.2012"
+#define _VERSION_TEXT "1.3.05T / 15.02.2012"
//Stepper Movement Variables
char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
-float axis_steps_per_unit[] = _AXIS_STEP_PER_UNIT;
+float axis_steps_per_unit[4] = _AXIS_STEP_PER_UNIT;
-float max_feedrate[] = _MAX_FEEDRATE;
+float max_feedrate[4] = _MAX_FEEDRATE;
float homing_feedrate[] = _HOMING_FEEDRATE;
bool axis_relative_modes[] = _AXIS_RELATIVE_MODES;
@@ -157,7 +164,7 @@ float retract_acceleration = _RETRACT_ACCELERATION; // Normal acceleration mm/s^
float max_xy_jerk = _MAX_XY_JERK;
float max_z_jerk = _MAX_Z_JERK;
-long max_acceleration_units_per_sq_second[] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
+long max_acceleration_units_per_sq_second[4] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
//float max_start_speed_units_per_second[] = _MAX_START_SPEED_UNITS_PER_SECOND;
//long max_travel_acceleration_units_per_sq_second[] = _MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z max acceleration in mm/s^2 for travel moves
@@ -517,7 +524,7 @@ void setup()
{
Serial.begin(BAUDRATE);
- showString(PSTR("SprinterV2\r\n"));
+ showString(PSTR("Sprinter\r\n"));
showString(PSTR(_VERSION_TEXT));
showString(PSTR("\r\n"));
showString(PSTR("start\r\n"));
@@ -997,20 +1004,22 @@ FORCE_INLINE void process_commands()
if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1))
{
st_synchronize();
- current_position[X_AXIS] = 0;
+ current_position[X_AXIS] = -1.5 * X_MAX_LENGTH * X_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
+ destination[X_AXIS] = 0;
feedrate = homing_feedrate[X_AXIS];
prepare_move();
st_synchronize();
- current_position[X_AXIS] = 0;
+ current_position[X_AXIS] = 5 * X_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = -5 * X_HOME_DIR;
+ destination[X_AXIS] = 0;
prepare_move();
- st_synchronize();
- destination[X_AXIS] = 10 * X_HOME_DIR;
+ st_synchronize();
+ current_position[X_AXIS] = -10 * X_HOME_DIR;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[X_AXIS] = 0;
feedrate = homing_feedrate[X_AXIS]/2 ;
prepare_move();
st_synchronize();
@@ -1027,20 +1036,22 @@ FORCE_INLINE void process_commands()
{
if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1))
{
- current_position[Y_AXIS] = 0;
+ current_position[Y_AXIS] = -1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
+ destination[Y_AXIS] = 0;
feedrate = homing_feedrate[Y_AXIS];
prepare_move();
st_synchronize();
- current_position[Y_AXIS] = 0;
+ current_position[Y_AXIS] = 5 * Y_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Y_AXIS] = -5 * Y_HOME_DIR;
+ destination[Y_AXIS] = 0;
prepare_move();
st_synchronize();
- destination[Y_AXIS] = 10 * Y_HOME_DIR;
+ current_position[Y_AXIS] = -10 * Y_HOME_DIR;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[Y_AXIS] = 0;
feedrate = homing_feedrate[Y_AXIS]/2;
prepare_move();
st_synchronize();
@@ -1057,20 +1068,22 @@ FORCE_INLINE void process_commands()
{
if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1))
{
- current_position[Z_AXIS] = 0;
+ current_position[Z_AXIS] = -1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Z_AXIS] = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
+ destination[Z_AXIS] = 0;
feedrate = homing_feedrate[Z_AXIS];
prepare_move();
st_synchronize();
- current_position[Z_AXIS] = 0;
+ current_position[Z_AXIS] = 2 * Z_HOME_DIR;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Z_AXIS] = -2 * Z_HOME_DIR;
+ destination[Z_AXIS] = 0;
prepare_move();
st_synchronize();
- destination[Z_AXIS] = 3 * Z_HOME_DIR;
+ current_position[Z_AXIS] = -3 * Z_HOME_DIR;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[Z_AXIS] = 0;
feedrate = homing_feedrate[Z_AXIS]/2;
prepare_move();
st_synchronize();
@@ -1470,7 +1483,7 @@ FORCE_INLINE void process_commands()
// }
break;
case 115: // M115
- showString(PSTR("FIRMWARE_NAME: SprinterV2 PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\r\n"));
+ showString(PSTR("FIRMWARE_NAME: Sprinter Experimental PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\r\n"));
//Serial.println(uuid);
showString(PSTR(_DEF_CHAR_UUID));
showString(PSTR("\r\n"));
@@ -2185,8 +2198,13 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
- block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
- square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
+
+ if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) {
+ block->millimeters = fabs(delta_mm[E_AXIS]);
+ } else {
+ block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
+ }
+
float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
@@ -2205,10 +2223,10 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
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);
-
+#ifdef SLOWDOWN
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
#endif
@@ -2326,7 +2344,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
vmax_junction = max_z_jerk/2;
vmax_junction = min(vmax_junction, block->nominal_speed);
- if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
+ if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) {
float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
vmax_junction = block->nominal_speed;