diff options
Diffstat (limited to 'Sprinter/Sprinter.h')
| -rw-r--r-- | Sprinter/Sprinter.h | 117 |
1 files changed, 71 insertions, 46 deletions
diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h index 2ac9163..844fc34 100644 --- a/Sprinter/Sprinter.h +++ b/Sprinter/Sprinter.h @@ -2,52 +2,9 @@ // Licence: GPL #include <WProgram.h> #include "fastio.h" -extern "C" void __cxa_pure_virtual(); -void __cxa_pure_virtual(){}; -void get_command(); -void process_commands(); - -void manage_inactivity(byte debug); -void setup_acceleration(); - -void manage_heater(); - -#if defined HEATER_USES_THERMISTOR -#define temp2analogh( c ) temp2analog_thermistor(c,temptable,NUMTEMPS) -#define analog2temp( c ) analog2temp_thermistor(c,temptable,NUMTEMPS) -#elif defined HEATER_USES_AD595 -#define temp2analogh( c ) temp2analog_ad595(c) -#define analog2temp( c ) analog2temp_ad595(c) -#elif defined HEATER_USES_MAX6675 -#define temp2analogh( c ) temp2analog_max6675(c) -#define analog2temp( c ) analog2temp_max6675(c) -#endif - -#if defined BED_USES_THERMISTOR -#define temp2analogBed( c ) temp2analog_thermistor((c),bedtemptable,BNUMTEMPS) -#define analog2tempBed( c ) analog2temp_thermistor((c),bedtemptable,BNUMTEMPS) -#elif defined BED_USES_AD595 -#define temp2analogBed( c ) temp2analog_ad595(c) -#define analog2tempBed( c ) analog2temp_ad595(c) -#elif defined BED_USES_MAX6675 -#define temp2analogBed( c ) temp2analog_max6675(c) -#define analog2tempBed( c ) analog2temp_max6675(c) -#endif - -#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) -int temp2analog_thermistor(int celsius, const short table[][2], int numtemps); -int analog2temp_thermistor(int raw,const short table[][2], int numtemps); -#endif -#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595) -int temp2analog_ad595(int celsius); -int analog2temp_ad595(int raw); -#endif +extern "C" void __cxa_pure_virtual(); -#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) -int temp2analog_max6675(int celsius); -int analog2temp_max6675(int raw); -#endif #if X_ENABLE_PIN > -1 #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON) @@ -78,12 +35,80 @@ int analog2temp_max6675(int raw); #define disable_e() ; #endif +#define X_AXIS 0 +#define Y_AXIS 1 +#define Z_AXIS 2 +#define E_AXIS 3 + + +// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in +// the source g-code and may never actually be reached if acceleration management is active. +typedef struct { + // Fields used by the bresenham algorithm for tracing the line + long steps_x, steps_y, steps_z, steps_e; // Step count along each axis + + long step_event_count; // The number of step events required to complete this block + volatile long accelerate_until; // The index of the step event on which to stop acceleration + volatile long decelerate_after; // The index of the step event on which to start decelerating + volatile long acceleration_rate; // The acceleration rate used for acceleration calculation + unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) + + #ifdef ADVANCE + long advance_rate; + volatile long initial_advance; + volatile long final_advance; + float advance; + #endif + + // Fields used by the motion planner to manage acceleration + float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis + float nominal_speed; // The nominal speed for this block in mm/min + float millimeters; // The total travel of this block in mm + float entry_speed; + float acceleration; // acceleration mm/sec^2 + + // Settings for the trapezoid generator + long nominal_rate; // The nominal step rate for this block in step_events/sec + volatile long initial_rate; // The jerk-adjusted step rate at start of block + volatile long final_rate; // The minimal rate at exit + long acceleration_st; // acceleration steps/sec^2 + volatile char busy; +} block_t; + + void FlushSerialRequestResend(); void ClearToSend(); +void showString (PGM_P s); + +void manage_inactivity(byte debug); + + void get_coordinates(); void prepare_move(); -void linear_move(unsigned long steps_remaining[]); -void do_step(int axis); +void prepare_arc_move(char isclockwise); +void plan_buffer_line(float x, float y, float z, float e, float feed_rate); + void kill(byte debug); +void check_axes_activity(); +void plan_init(); +void st_init(); +void tp_init(); +void plan_buffer_line(float x, float y, float z, float e, float feed_rate); +void plan_set_position(float x, float y, float z, float e); +void st_wake_up(); +void st_synchronize(); + +void check_buffer_while_arc(); + + +#ifdef DEBUG +void log_message(char* message); +void log_bool(char* message, bool value); +void log_int(char* message, int value); +void log_long(char* message, long value); +void log_float(char* message, float value); +void log_uint(char* message, unsigned int value); +void log_ulong(char* message, unsigned long value); +#endif |