diff options
| -rw-r--r-- | Sprinter/Sprinter.h | 71 | ||||
| -rw-r--r-- | Sprinter/Sprinter.pde | 315 |
2 files changed, 209 insertions, 177 deletions
diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h index 31d4b69..ad39c00 100644 --- a/Sprinter/Sprinter.h +++ b/Sprinter/Sprinter.h @@ -8,10 +8,59 @@ void process_commands(); void manage_inactivity(byte debug); void manage_heater(); -float temp2analog(int celsius); -float temp2analogBed(int celsius); -float analog2temp(int raw); -float analog2tempBed(int raw); +int temp2analogu(int celsius, const short table[][2], int numtemps, int source); +int analog2tempu(int raw, const short table[][2], int numtemps, int source); +#ifdef HEATER_USES_THERMISTOR + #define HEATERSOURCE 1 +#endif +#ifdef HEATER_USES_AD595 + #define HEATERSOURCE 2 +#endif +#ifdef HEATER_USES_MAX6675 + #define HEATERSOURCE 3 +#endif +#ifdef BED_USES_THERMISTOR + #define BEDSOURCE 1 +#endif +#ifdef BED_USES_AD595 + #define BEDSOURCE 2 +#endif +#ifdef BED_USES_MAX6675 + #define BEDSOURCE 3 +#endif + +#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS,HEATERSOURCE) +#define temp2analogBed( c ) temp2analogu((c),bedtemptable,BNUMTEMPS,BEDSOURCE) +#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS,HEATERSOURCE) +#define analog2tempBed( c ) analog2tempu((c),bedtemptable,BNUMTEMPS,BEDSOURCE) +#if X_ENABLE_PIN > -1 +#define enable_x() digitalWrite(X_ENABLE_PIN, X_ENABLE_ON) +#define disable_x() digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON) +#else +#define enable_x() ; +#define disable_x() ; +#endif +#if Y_ENABLE_PIN > -1 +#define enable_y() digitalWrite(Y_ENABLE_PIN, Y_ENABLE_ON) +#define disable_y() digitalWrite(Y_ENABLE_PIN,!Y_ENABLE_ON) +#else +#define enable_y() ; +#define disable_y() ; +#endif +#if Z_ENABLE_PIN > -1 +#define enable_z() digitalWrite(Z_ENABLE_PIN, Z_ENABLE_ON) +#define disable_z() digitalWrite(Z_ENABLE_PIN,!Z_ENABLE_ON) +#else +#define enable_z() ; +#define disable_z() ; +#endif +#if E_ENABLE_PIN > -1 +#define enable_e() digitalWrite(E_ENABLE_PIN, E_ENABLE_ON) +#define disable_e() digitalWrite(E_ENABLE_PIN,!E_ENABLE_ON) +#else +#define enable_e() ; +#define disable_e() ; +#endif void FlushSerialRequestResend(); void ClearToSend(); @@ -20,18 +69,6 @@ void get_coordinates(); void prepare_move(); void linear_move(unsigned long steps_remaining[]); void do_step_update_micros(int axis); -void disable_x(); -void disable_y(); -void disable_z(); -void disable_e(); -void enable_x(); -void enable_y(); -void enable_z(); -void enable_e(); -void do_x_step(); -void do_y_step(); -void do_z_step(); -void do_e_step(); - +void do_step(int axis); void kill(byte debug); diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index ea854cb..6b94c97 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -1,9 +1,9 @@ // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. // Licence: GPL -#include "Sprinter.h" #include "Configuration.h" #include "pins.h" +#include "Sprinter.h" #ifdef SDSUPPORT #include "SdFat.h" @@ -57,6 +57,7 @@ //Stepper Movement Variables + char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; bool move_direction[NUM_AXIS]; const int STEP_PIN[NUM_AXIS] = {X_STEP_PIN, Y_STEP_PIN, Z_STEP_PIN, E_STEP_PIN}; @@ -64,19 +65,11 @@ unsigned long axis_previous_micros[NUM_AXIS]; unsigned long previous_micros = 0, previous_millis_heater, previous_millis_bed_heater; unsigned long move_steps_to_take[NUM_AXIS]; #ifdef RAMP_ACCELERATION - unsigned long axis_max_interval[] = {100000000.0 / (max_start_speed_units_per_second[0] * axis_steps_per_unit[0]), - 100000000.0 / (max_start_speed_units_per_second[1] * axis_steps_per_unit[1]), - 100000000.0 / (max_start_speed_units_per_second[2] * axis_steps_per_unit[2]), - 100000000.0 / (max_start_speed_units_per_second[3] * axis_steps_per_unit[3])}; //TODO: refactor all things like this in a function, or move to setup() - // in a for loop - unsigned long max_interval; - unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0], - max_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2], - max_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]}; - unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0], - max_travel_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_travel_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2], - max_travel_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]}; - unsigned long steps_per_sqr_second, plateau_steps; +unsigned long axis_max_interval[NUM_AXIS]; +unsigned long axis_steps_per_sqr_second[NUM_AXIS]; +unsigned long axis_travel_steps_per_sqr_second[NUM_AXIS]; +unsigned long max_interval; +unsigned long steps_per_sqr_second, plateau_steps; #endif boolean acceleration_enabled = false, accelerating = false; unsigned long interval; @@ -140,10 +133,10 @@ float tt = 0, bt = 0; unsigned long watchmillis = 0; #endif #ifdef MINTEMP - int minttemp = temp2analog(MINTEMP); + int minttemp = temp2analogh(MINTEMP); #endif #ifdef MAXTEMP -int maxttemp = temp2analog(MAXTEMP); +int maxttemp = temp2analogh(MAXTEMP); #endif //Inactivity shutdown variables @@ -211,51 +204,116 @@ void setup() fromsd[i] = false; } - //Initialize Step Pins - for(int i=0; i < NUM_AXIS; i++) if(STEP_PIN[i] > -1) pinMode(STEP_PIN[i],OUTPUT); //Initialize Dir Pins - if(X_DIR_PIN > -1) pinMode(X_DIR_PIN,OUTPUT); - if(Y_DIR_PIN > -1) pinMode(Y_DIR_PIN,OUTPUT); - if(Z_DIR_PIN > -1) pinMode(Z_DIR_PIN,OUTPUT); - if(E_DIR_PIN > -1) pinMode(E_DIR_PIN,OUTPUT); - - //Steppers default to disabled. - if(X_ENABLE_PIN > -1) if(!X_ENABLE_ON) digitalWrite(X_ENABLE_PIN,HIGH); - if(Y_ENABLE_PIN > -1) if(!Y_ENABLE_ON) digitalWrite(Y_ENABLE_PIN,HIGH); - if(Z_ENABLE_PIN > -1) if(!Z_ENABLE_ON) digitalWrite(Z_ENABLE_PIN,HIGH); - if(E_ENABLE_PIN > -1) if(!E_ENABLE_ON) digitalWrite(E_ENABLE_PIN,HIGH); - - //endstop pullups + #if X_DIR_PIN > -1 + pinMode(X_DIR_PIN,OUTPUT); + #endif + #if Y_DIR_PIN > -1 + pinMode(Y_DIR_PIN,OUTPUT); + #endif + #if Z_DIR_PIN > -1 + pinMode(Z_DIR_PIN,OUTPUT); + #endif + #if E_DIR_PIN > -1 + pinMode(E_DIR_PIN,OUTPUT); + #endif + + //Initialize Enable Pins - steppers default to disabled. + + #if (X_ENABLE_PIN > -1) + pinMode(X_ENABLE_PIN,OUTPUT); + if(!X_ENABLE_ON) digitalWrite(X_ENABLE_PIN,HIGH); + #endif + #if (Y_ENABLE_PIN > -1) + pinMode(Y_ENABLE_PIN,OUTPUT); + if(!Y_ENABLE_ON) digitalWrite(Y_ENABLE_PIN,HIGH); + #endif + #if (Z_ENABLE_PIN > -1) + pinMode(Z_ENABLE_PIN,OUTPUT); + if(!Z_ENABLE_ON) digitalWrite(Z_ENABLE_PIN,HIGH); + #endif + #if (E_ENABLE_PIN > -1) + pinMode(E_ENABLE_PIN,OUTPUT); + if(!E_ENABLE_ON) digitalWrite(E_ENABLE_PIN,HIGH); + #endif + + //endstops and 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); + #endif + #if X_MAX_PIN > -1 + pinMode(X_MAX_PIN,INPUT); + digitalWrite(X_MAX_PIN,HIGH); + #endif + #if Y_MIN_PIN > -1 + pinMode(Y_MIN_PIN,INPUT); + digitalWrite(Y_MIN_PIN,HIGH); + #endif + #if Y_MAX_PIN > -1 + pinMode(Y_MAX_PIN,INPUT); + digitalWrite(Y_MAX_PIN,HIGH); + #endif + #if Z_MIN_PIN > -1 + pinMode(Z_MIN_PIN,INPUT); + digitalWrite(Z_MIN_PIN,HIGH); + #endif + #if Z_MAX_PIN > -1 + pinMode(Z_MAX_PIN,INPUT); + digitalWrite(Z_MAX_PIN,HIGH); + #endif + #else + #if X_MIN_PIN > -1 + pinMode(X_MIN_PIN,INPUT); + #endif + #if X_MAX_PIN > -1 + pinMode(X_MAX_PIN,INPUT); + #endif + #if Y_MIN_PIN > -1 + pinMode(Y_MIN_PIN,INPUT); + #endif + #if Y_MAX_PIN > -1 + pinMode(Y_MAX_PIN,INPUT); + #endif + #if Z_MIN_PIN > -1 + pinMode(Z_MIN_PIN,INPUT); + #endif + #if Z_MAX_PIN > -1 + pinMode(Z_MAX_PIN,INPUT); #endif - //Initialize Enable Pins - if(X_ENABLE_PIN > -1) pinMode(X_ENABLE_PIN,OUTPUT); - if(Y_ENABLE_PIN > -1) pinMode(Y_ENABLE_PIN,OUTPUT); - if(Z_ENABLE_PIN > -1) pinMode(Z_ENABLE_PIN,OUTPUT); - if(E_ENABLE_PIN > -1) pinMode(E_ENABLE_PIN,OUTPUT); - - if(HEATER_0_PIN > -1) pinMode(HEATER_0_PIN,OUTPUT); - if(HEATER_1_PIN > -1) pinMode(HEATER_1_PIN,OUTPUT); + #endif + + #if (HEATER_0_PIN > -1) + pinMode(HEATER_0_PIN,OUTPUT); + #endif + #if (HEATER_1_PIN > -1) + pinMode(HEATER_1_PIN,OUTPUT); + #endif + +//Initialize Step Pins + for(int i=0; i < NUM_AXIS; i++){ + if(STEP_PIN[i] > -1) pinMode(STEP_PIN[i],OUTPUT); + #ifdef RAMP_ACCELERATION + axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]); + axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; + axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; + #endif + } #ifdef HEATER_USES_MAX6675 - digitalWrite(SCK_PIN,0); pinMode(SCK_PIN,OUTPUT); - - digitalWrite(MOSI_PIN,1); + digitalWrite(SCK_PIN,0); + pinMode(MOSI_PIN,OUTPUT); - - digitalWrite(MISO_PIN,1); + digitalWrite(MOSI_PIN,1); + pinMode(MISO_PIN,INPUT); - - digitalWrite(MAX6675_SS,1); + digitalWrite(MISO_PIN,1); + pinMode(MAX6675_SS,OUTPUT); + digitalWrite(MAX6675_SS,1); #endif #ifdef SDSUPPORT @@ -652,7 +710,7 @@ inline void process_commands() break; #endif case 104: // M104 - if (code_seen('S')) target_raw = temp2analog(code_value()); + if (code_seen('S')) target_raw = temp2analogh(code_value()); #ifdef WATCHPERIOD if(target_raw > current_raw){ watchmillis = max(1,millis()); @@ -682,12 +740,12 @@ inline void process_commands() Serial.println(); #endif #else - Serial.println("No thermistors - no temp"); + #error No temperature source available #endif return; //break; case 109: // M109 - Wait for extruder heater to reach target. - if (code_seen('S')) target_raw = temp2analog(code_value()); + if (code_seen('S')) target_raw = temp2analogh(code_value()); #ifdef WATCHPERIOD if(target_raw>current_raw){ watchmillis = max(1,millis()); @@ -709,7 +767,7 @@ inline void process_commands() break; case 190: // M190 - Wait bed for heater to reach target. #if TEMP_1_PIN > -1 - if (code_seen('S')) target_bed_raw = temp2analog(code_value()); + if (code_seen('S')) target_bed_raw = temp2analogh(code_value()); codenum = millis(); while(current_bed_raw < target_bed_raw) { if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. @@ -1150,15 +1208,6 @@ inline void do_step(int axis) { digitalWrite(STEP_PIN[axis], LOW); } -inline void disable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON); } -inline void disable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN,!Y_ENABLE_ON); } -inline void disable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN,!Z_ENABLE_ON); } -inline void disable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN,!E_ENABLE_ON); } -inline void enable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN, X_ENABLE_ON); } -inline void enable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN, Y_ENABLE_ON); } -inline void enable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN, Z_ENABLE_ON); } -inline void enable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN, E_ENABLE_ON); } - #define HEAT_INTERVAL 250 #ifdef HEATER_USES_MAX6675 unsigned long max6675_previous_millis = 0; @@ -1286,6 +1335,12 @@ inline void manage_heater() if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) return; previous_millis_bed_heater = millis(); + #ifndef TEMP_1_PIN + return; + #endif + #if TEMP_1_PIN == -1 + return; + #endif #ifdef BED_USES_THERMISTOR @@ -1304,7 +1359,6 @@ inline void manage_heater() #endif - #if TEMP_1_PIN > -1 if(current_bed_raw >= target_bed_raw) { digitalWrite(HEATER_1_PIN,LOW); @@ -1313,139 +1367,80 @@ inline void manage_heater() { digitalWrite(HEATER_1_PIN,HIGH); } - #endif } -// Takes hot end temperature value as input and returns corresponding raw value. -// For a thermistor, it uses the RepRap thermistor temp table. -// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value. -// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware. -float temp2analog(int celsius) { - #ifdef HEATER_USES_THERMISTOR - int raw = 0; - byte i; - - for (i=1; i<NUMTEMPS; i++) - { - if (temptable[i][1] < celsius) - { - raw = temptable[i-1][0] + - (celsius - temptable[i-1][1]) * - (temptable[i][0] - temptable[i-1][0]) / - (temptable[i][1] - temptable[i-1][1]); - - break; - } - } - - // Overflow: Set to last value in the table - if (i == NUMTEMPS) raw = temptable[i-1][0]; - - return 1023 - raw; - #elif defined HEATER_USES_AD595 - return celsius * (1024.0 / (5.0 * 100.0) ); - #elif defined HEATER_USES_MAX6675 - return celsius * 4.0; - #endif -} - -// Takes bed temperature value as input and returns corresponding raw value. -// For a thermistor, it uses the RepRap thermistor temp table. -// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value. -// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware. -float temp2analogBed(int celsius) { - #ifdef BED_USES_THERMISTOR +int temp2analogu(int celsius, const short table[][2], int numtemps, int source) { + #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) + if(source==1){ int raw = 0; byte i; - for (i=1; i<BNUMTEMPS; i++) + for (i=1; i<numtemps; i++) { - if (bedtemptable[i][1] < celsius) + if (table[i][1] < celsius) { - raw = bedtemptable[i-1][0] + - (celsius - bedtemptable[i-1][1]) * - (bedtemptable[i][0] - bedtemptable[i-1][0]) / - (bedtemptable[i][1] - bedtemptable[i-1][1]); + raw = table[i-1][0] + + (celsius - table[i-1][1]) * + (table[i][0] - table[i-1][0]) / + (table[i][1] - table[i-1][1]); break; } } // Overflow: Set to last value in the table - if (i == BNUMTEMPS) raw = bedtemptable[i-1][0]; + if (i == numtemps) raw = table[i-1][0]; return 1023 - raw; - #elif defined BED_USES_AD595 - return celsius * (1024.0 / (5.0 * 100.0) ); + } + #elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595) + if(source==2) + return celsius * 1024 / (500); + #elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) + if(source==3) + return celsius * 4; #endif + return -1; } -// Derived from RepRap FiveD extruder::getTemperature() -// For hot end temperature measurement. -float analog2temp(int raw) { - #ifdef HEATER_USES_THERMISTOR +int analog2tempu(int raw,const short table[][2], int numtemps, int source) { + #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) + if(source==1){ int celsius = 0; byte i; raw = 1023 - raw; - for (i=1; i<NUMTEMPS; i++) + for (i=1; i<numtemps; i++) { - if (temptable[i][0] > raw) + if (table[i][0] > raw) { - celsius = temptable[i-1][1] + - (raw - temptable[i-1][0]) * - (temptable[i][1] - temptable[i-1][1]) / - (temptable[i][0] - temptable[i-1][0]); + celsius = table[i-1][1] + + (raw - table[i-1][0]) * + (table[i][1] - table[i-1][1]) / + (table[i][0] - table[i-1][0]); break; } } // Overflow: Set to last value in the table - if (i == NUMTEMPS) celsius = temptable[i-1][1]; + if (i == numtemps) celsius = table[i-1][1]; return celsius; - #elif defined HEATER_USES_AD595 - return raw * ((5.0 * 100.0) / 1024.0); - #elif defined HEATER_USES_MAX6675 - return raw * 0.25; - #endif -} - -// Derived from RepRap FiveD extruder::getTemperature() -// For bed temperature measurement. -float analog2tempBed(int raw) { - #ifdef BED_USES_THERMISTOR - int celsius = 0; - byte i; - - raw = 1023 - raw; - - for (i=1; i<NUMTEMPS; i++) - { - if (bedtemptable[i][0] > raw) - { - celsius = bedtemptable[i-1][1] + - (raw - bedtemptable[i-1][0]) * - (bedtemptable[i][1] - bedtemptable[i-1][1]) / - (bedtemptable[i][0] - bedtemptable[i-1][0]); - - break; - } } - - // Overflow: Set to last value in the table - if (i == NUMTEMPS) celsius = bedtemptable[i-1][1]; - - return celsius; - - #elif defined BED_USES_AD595 - return raw * ((5.0 * 100.0) / 1024.0); + #elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595) + if(source==2) + return raw * 500 / 1024; + #elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) + if(source==3) + return raw / 4; #endif + return -1; } + inline void kill() { #if TEMP_0_PIN > -1 |