diff options
author | kliment <kliment.yanev@gmail.com> | 2011-05-11 05:30:10 -0700 |
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committer | kliment <kliment.yanev@gmail.com> | 2011-05-11 05:30:10 -0700 |
commit | 9c93fe2a8709e7d7ba6b8b15bb3e646f4168d96f (patch) | |
tree | ce410d929b0df80d599bfc8967580466565c8db0 /Tonokip_Firmware/Tonokip_Firmware.pde | |
parent | 4663709f470504008b0ee68d544424fd8daee74d (diff) | |
parent | 5f1c505fc9652cf2a4414efe054b435be4512108 (diff) |
Merge pull request #14 from sam-ward/master
Cleaned up some code formatting
Diffstat (limited to 'Tonokip_Firmware/Tonokip_Firmware.pde')
-rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 178 |
1 files changed, 88 insertions, 90 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 33c4297..4dcd2aa 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -61,23 +61,23 @@ bool direction_x, direction_y, direction_z, direction_e; unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater, previous_millis_bed_heater; unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take; #ifdef RAMP_ACCELERATION -unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit); -unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit); -unsigned long max_interval; -unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit; -unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit; -unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit; -unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit; -unsigned long steps_per_sqr_second, plateau_steps; + unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit); + unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit); + unsigned long max_interval; + unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit; + unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit; + unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit; + unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit; + unsigned long steps_per_sqr_second, plateau_steps; #endif #ifdef EXP_ACCELERATION -unsigned long long_full_velocity_units = full_velocity_units * 100; -unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100; -unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit); -unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit); -unsigned long max_interval; -unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit, - y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps; + unsigned long long_full_velocity_units = full_velocity_units * 100; + unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100; + unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit); + unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit); + unsigned long max_interval; + unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit, + y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps; #endif boolean acceleration_enabled=false ,accelerating=false; unsigned long interval; @@ -91,7 +91,7 @@ bool relative_mode = false; //Determines Absolute or Relative Coordinates bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode. long timediff=0; #ifdef STEP_DELAY_RATIO -long long_step_delay_ratio = STEP_DELAY_RATIO * 100; + long long_step_delay_ratio = STEP_DELAY_RATIO * 100; #endif @@ -119,25 +119,25 @@ int target_bed_raw = 0; int current_bed_raw=0; float tt=0,bt=0; #ifdef PIDTEMP -int temp_iState=0; -int temp_dState=0; -int pTerm; -int iTerm; -int dTerm; - //int output; -int error; -int temp_iState_min = 100*-PID_INTEGRAL_DRIVE_MAX/PID_IGAIN; -int temp_iState_max = 100*PID_INTEGRAL_DRIVE_MAX/PID_IGAIN; + int temp_iState=0; + int temp_dState=0; + int pTerm; + int iTerm; + int dTerm; + //int output; + int error; + int temp_iState_min = 100*-PID_INTEGRAL_DRIVE_MAX/PID_IGAIN; + int temp_iState_max = 100*PID_INTEGRAL_DRIVE_MAX/PID_IGAIN; #endif #ifdef SMOOTHING -uint32_t nma=SMOOTHFACTOR*analogRead(TEMP_0_PIN); + uint32_t nma=SMOOTHFACTOR*analogRead(TEMP_0_PIN); #endif #ifdef WATCHPERIOD -int watch_raw=-1000; -unsigned long watchmillis=0; + int watch_raw=-1000; + unsigned long watchmillis=0; #endif #ifdef MINTEMP -int minttemp=temp2analog(MINTEMP); + int minttemp=temp2analog(MINTEMP); #endif //Inactivity shutdown variables @@ -146,56 +146,54 @@ unsigned long max_inactive_time = 0; unsigned long stepper_inactive_time = 0; #ifdef SDSUPPORT -Sd2Card card; -SdVolume volume; -SdFile root; -SdFile file; -uint32_t filesize=0; -uint32_t sdpos=0; -bool sdmode=false; -bool sdactive=false; -bool savetosd=false; -int16_t n; - -void initsd(){ -sdactive=false; -#if SDSS>-1 -if(root.isOpen()) - root.close(); -if (!card.init(SPI_FULL_SPEED,SDSS)){ - if (!card.init(SPI_HALF_SPEED,SDSS)) - Serial.println("SD init fail"); -} -else if (!volume.init(&card)) - Serial.println("volume.init failed"); -else if (!root.openRoot(&volume)) - Serial.println("openRoot failed"); -else - sdactive=true; -#endif -} - -inline void write_command(char *buf){ - char* begin=buf; - char* npos=0; - char* end=buf+strlen(buf)-1; - - file.writeError = false; - if((npos=strchr(buf, 'N')) != NULL){ - begin = strchr(npos,' ')+1; - end =strchr(npos, '*')-1; - } - end[1]='\r'; - end[2]='\n'; - end[3]='\0'; - //Serial.println(begin); - file.write(begin); - if (file.writeError){ - Serial.println("error writing to file"); + Sd2Card card; + SdVolume volume; + SdFile root; + SdFile file; + uint32_t filesize=0; + uint32_t sdpos=0; + bool sdmode=false; + bool sdactive=false; + bool savetosd=false; + int16_t n; + + void initsd(){ + sdactive=false; + #if SDSS>-1 + if(root.isOpen()) + root.close(); + if (!card.init(SPI_FULL_SPEED,SDSS)){ + if (!card.init(SPI_HALF_SPEED,SDSS)) + Serial.println("SD init fail"); } -} - - + else if (!volume.init(&card)) + Serial.println("volume.init failed"); + else if (!root.openRoot(&volume)) + Serial.println("openRoot failed"); + else + sdactive=true; + #endif + } + + inline void write_command(char *buf){ + char* begin=buf; + char* npos=0; + char* end=buf+strlen(buf)-1; + + file.writeError = false; + if((npos=strchr(buf, 'N')) != NULL){ + begin = strchr(npos,' ')+1; + end =strchr(npos, '*')-1; + } + end[1]='\r'; + end[2]='\n'; + end[3]='\0'; + //Serial.println(begin); + file.write(begin); + if (file.writeError){ + Serial.println("error writing to file"); + } + } #endif @@ -226,12 +224,12 @@ void setup() //endstop pullups #ifdef ENDSTOPPULLUPS - if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);} - if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);} - if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);} - if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);} - if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);} - if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);} + if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);} + if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);} + if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);} + if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);} + if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);} + if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);} #endif //Initialize Enable Pins if(X_ENABLE_PIN > -1) pinMode(X_ENABLE_PIN,OUTPUT); @@ -258,12 +256,12 @@ void setup() #ifdef SDSUPPORT -//power to SD reader -#if SDPOWER > -1 -pinMode(SDPOWER,OUTPUT); -digitalWrite(SDPOWER,HIGH); -#endif -initsd(); + //power to SD reader + #if SDPOWER > -1 + pinMode(SDPOWER,OUTPUT); + digitalWrite(SDPOWER,HIGH); + #endif + initsd(); #endif |