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-rw-r--r--Sprinter/Sprinter.pde558
1 files changed, 316 insertions, 242 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index b31a629..8bb68d7 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -1,9 +1,10 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
-#include "Sprinter.h"
+#include "fastio.h"
#include "Configuration.h"
#include "pins.h"
+#include "Sprinter.h"
#ifdef SDSUPPORT
#include "SdFat.h"
@@ -57,34 +58,27 @@
//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};
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;
float destination[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
float current_position[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
+unsigned long steps_taken[NUM_AXIS];
long axis_interval[NUM_AXIS]; // for speed delay
bool home_all_axis = true;
-float feedrate = 1500, next_feedrate, saved_feedrate;
+int feedrate = 1500, next_feedrate, saved_feedrate;
float time_for_move;
long gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
@@ -120,7 +114,7 @@ int target_raw = 0;
int current_raw = 0;
int target_bed_raw = 0;
int current_bed_raw = 0;
-float tt = 0, bt = 0;
+int tt = 0, bt = 0;
#ifdef PIDTEMP
int temp_iState = 0;
int temp_dState = 0;
@@ -140,10 +134,10 @@ 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
@@ -211,59 +205,135 @@ 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
+ SET_OUTPUT(X_DIR_PIN);
+ #endif
+ #if Y_DIR_PIN > -1
+ SET_OUTPUT(Y_DIR_PIN);
+ #endif
+ #if Z_DIR_PIN > -1
+ SET_OUTPUT(Z_DIR_PIN);
+ #endif
+ #if E_DIR_PIN > -1
+ SET_OUTPUT(E_DIR_PIN);
+ #endif
+
+ //Initialize Enable Pins - steppers default to disabled.
+
+ #if (X_ENABLE_PIN > -1)
+ SET_OUTPUT(X_ENABLE_PIN);
+ if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
+ #endif
+ #if (Y_ENABLE_PIN > -1)
+ SET_OUTPUT(Y_ENABLE_PIN);
+ if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
+ #endif
+ #if (Z_ENABLE_PIN > -1)
+ SET_OUTPUT(Z_ENABLE_PIN);
+ if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
+ #endif
+ #if (E_ENABLE_PIN > -1)
+ SET_OUTPUT(E_ENABLE_PIN);
+ if(!E_ENABLE_ON) WRITE(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
+ SET_INPUT(X_MIN_PIN);
+ WRITE(X_MIN_PIN,HIGH);
+ #endif
+ #if X_MAX_PIN > -1
+ SET_INPUT(X_MAX_PIN);
+ WRITE(X_MAX_PIN,HIGH);
#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);
+ #if Y_MIN_PIN > -1
+ SET_INPUT(Y_MIN_PIN);
+ WRITE(Y_MIN_PIN,HIGH);
+ #endif
+ #if Y_MAX_PIN > -1
+ SET_INPUT(Y_MAX_PIN);
+ WRITE(Y_MAX_PIN,HIGH);
+ #endif
+ #if Z_MIN_PIN > -1
+ SET_INPUT(Z_MIN_PIN);
+ WRITE(Z_MIN_PIN,HIGH);
+ #endif
+ #if Z_MAX_PIN > -1
+ SET_INPUT(Z_MAX_PIN);
+ WRITE(Z_MAX_PIN,HIGH);
+ #endif
+ #else
+ #if X_MIN_PIN > -1
+ SET_INPUT(X_MIN_PIN);
+ #endif
+ #if X_MAX_PIN > -1
+ SET_INPUT(X_MAX_PIN);
+ #endif
+ #if Y_MIN_PIN > -1
+ SET_INPUT(Y_MIN_PIN);
+ #endif
+ #if Y_MAX_PIN > -1
+ SET_INPUT(Y_MAX_PIN);
+ #endif
+ #if Z_MIN_PIN > -1
+ SET_INPUT(Z_MIN_PIN);
+ #endif
+ #if Z_MAX_PIN > -1
+ SET_INPUT(Z_MAX_PIN);
+ #endif
+ #endif
+
+ #if (HEATER_0_PIN > -1)
+ SET_OUTPUT(HEATER_0_PIN);
+ #endif
+ #if (HEATER_1_PIN > -1)
+ SET_OUTPUT(HEATER_1_PIN);
+ #endif
+//Initialize Step Pins
+ #if (X_STEP_PIN > -1)
+ SET_OUTPUT(X_STEP_PIN);
+ #endif
+ #if (Y_STEP_PIN > -1)
+ SET_OUTPUT(Y_STEP_PIN);
+ #endif
+ #if (Z_STEP_PIN > -1)
+ SET_OUTPUT(Z_STEP_PIN);
+ #endif
+ #if (E_STEP_PIN > -1)
+ SET_OUTPUT(E_STEP_PIN);
+ #endif
+ #ifdef RAMP_ACCELERATION
+ for(int i=0; i < NUM_AXIS; i++){
+ 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);
- pinMode(MOSI_PIN,OUTPUT);
-
- digitalWrite(MISO_PIN,1);
- pinMode(MISO_PIN,INPUT);
-
- digitalWrite(MAX6675_SS,1);
- pinMode(MAX6675_SS,OUTPUT);
+ SET_OUTPUT(SCK_PIN);
+ WRITE(SCK_PIN,0);
+
+ SET_OUTPUT(MOSI_PIN);
+ WRITE(MOSI_PIN,1);
+
+ SET_INPUT(MISO_PIN);
+ WRITE(MISO_PIN,1);
+
+ SET_OUTPUT(MAX6675_SS);
+ WRITE(MAX6675_SS,1);
#endif
#ifdef SDSUPPORT
//power to SD reader
#if SDPOWER > -1
- pinMode(SDPOWER,OUTPUT);
- digitalWrite(SDPOWER,HIGH);
+ SET_OUTPUT(SDPOWER);
+ WRITE(SDPOWER,HIGH);
#endif
initsd();
@@ -653,7 +723,7 @@ 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());
@@ -683,12 +753,12 @@ 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());
@@ -710,7 +780,7 @@ 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.
@@ -726,25 +796,29 @@ inline void process_commands()
}
#endif
break;
+ #if FAN_PIN > -1
case 106: //M106 Fan On
if (code_seen('S')){
- digitalWrite(FAN_PIN, HIGH);
+ WRITE(FAN_PIN, HIGH);
analogWrite(FAN_PIN, constrain(code_value(),0,255) );
}
else
- digitalWrite(FAN_PIN, HIGH);
+ WRITE(FAN_PIN, HIGH);
break;
case 107: //M107 Fan Off
analogWrite(FAN_PIN, 0);
- digitalWrite(FAN_PIN, LOW);
+ WRITE(FAN_PIN, LOW);
break;
+ #endif
+ #if (PS_ON_PIN > -1)
case 80: // M81 - ATX Power On
- if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,OUTPUT); //GND
+ SET_OUTPUT(PS_ON_PIN); //GND
break;
case 81: // M81 - ATX Power Off
- if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); //Floating
+ SET_INPUT(PS_ON_PIN); //Floating
break;
+ #endif
case 82:
axis_relative_modes[3] = false;
break;
@@ -790,27 +864,27 @@ inline void process_commands()
case 119: // M119
#if (X_MIN_PIN > -1)
Serial.print("x_min:");
- Serial.print((digitalRead(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (X_MAX_PIN > -1)
Serial.print("x_max:");
- Serial.print((digitalRead(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Y_MIN_PIN > -1)
Serial.print("y_min:");
- Serial.print((digitalRead(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Y_MAX_PIN > -1)
Serial.print("y_max:");
- Serial.print((digitalRead(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Z_MIN_PIN > -1)
Serial.print("z_min:");
- Serial.print((digitalRead(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Z_MAX_PIN > -1)
Serial.print("z_max:");
- Serial.print((digitalRead(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
Serial.println("");
break;
@@ -839,7 +913,7 @@ inline void process_commands()
}
-inline void FlushSerialRequestResend()
+void FlushSerialRequestResend()
{
//char cmdbuffer[bufindr][100]="Resend:";
Serial.flush();
@@ -848,7 +922,7 @@ inline void FlushSerialRequestResend()
ClearToSend();
}
-inline void ClearToSend()
+void ClearToSend()
{
previous_millis_cmd = millis();
#ifdef SDSUPPORT
@@ -870,7 +944,7 @@ inline void get_coordinates()
}
}
-inline void prepare_move()
+void prepare_move()
{
//Find direction
for(int i=0; i < NUM_AXIS; i++) {
@@ -900,17 +974,29 @@ inline void prepare_move()
//Feedrate calc based on XYZ travel distance
float xy_d;
- if(abs(axis_diff[0]) > 0 || abs(axis_diff[1]) > 0 || abs(axis_diff[2])) {
+ //Check for cases where only one axis is moving - handle those without float sqrt
+ if(abs(axis_diff[0]) > 0 && abs(axis_diff[1]) == 0 && abs(axis_diff[2])==0)
+ d=abs(axis_diff[0]);
+ else if(abs(axis_diff[0]) == 0 && abs(axis_diff[1]) > 0 && abs(axis_diff[2])==0)
+ d=abs(axis_diff[1]);
+ else if(abs(axis_diff[0]) == 0 && abs(axis_diff[1]) == 0 && abs(axis_diff[2])>0)
+ d=abs(axis_diff[2]);
+ //two or three XYZ axes moving
+ else if(abs(axis_diff[0]) > 0 || abs(axis_diff[1]) > 0) { //X or Y or both
xy_d = sqrt(axis_diff[0] * axis_diff[0] + axis_diff[1] * axis_diff[1]);
- d = sqrt(xy_d * xy_d + axis_diff[2] * axis_diff[2]);
+ //check if Z involved - if so interpolate that too
+ d = (abs(axis_diff[2]>0))?sqrt(xy_d * xy_d + axis_diff[2] * axis_diff[2]):xy_d;
}
else if(abs(axis_diff[3]) > 0)
d = abs(axis_diff[3]);
+ else{ //zero length move
#ifdef DEBUG_PREPARE_MOVE
- else {
+
log_message("_PREPARE_MOVE - No steps to take!");
- }
+
#endif
+ return;
+ }
time_for_move = (d / (feedrate / 60000000.0) );
//Check max feedrate for each axis is not violated, update time_for_move if necessary
for(int i = 0; i < NUM_AXIS; i++) {
@@ -926,7 +1012,7 @@ inline void prepare_move()
#ifdef DEBUG_PREPARE_MOVE
log_float("_PREPARE_MOVE - Move distance on the XY plane", xy_d);
log_float("_PREPARE_MOVE - Move distance on the XYZ space", d);
- log_float("_PREPARE_MOVE - Commanded feedrate", feedrate);
+ log_int("_PREPARE_MOVE - Commanded feedrate", feedrate);
log_float("_PREPARE_MOVE - Constant full speed move time", time_for_move);
log_float_array("_PREPARE_MOVE - Destination", destination, NUM_AXIS);
log_float_array("_PREPARE_MOVE - Current position", current_position, NUM_AXIS);
@@ -940,24 +1026,36 @@ inline void prepare_move()
linear_move(move_steps); // make the move
}
-void linear_move(unsigned long axis_steps_remaining[]) // make linear move with preset speeds and destinations, see G0 and G1
+inline void linear_move(unsigned long axis_steps_remaining[]) // make linear move with preset speeds and destinations, see G0 and G1
{
//Determine direction of movement
- if (destination[0] > current_position[0]) digitalWrite(X_DIR_PIN,!INVERT_X_DIR);
- else digitalWrite(X_DIR_PIN,INVERT_X_DIR);
- if (destination[1] > current_position[1]) digitalWrite(Y_DIR_PIN,!INVERT_Y_DIR);
- else digitalWrite(Y_DIR_PIN,INVERT_Y_DIR);
- if (destination[2] > current_position[2]) digitalWrite(Z_DIR_PIN,!INVERT_Z_DIR);
- else digitalWrite(Z_DIR_PIN,INVERT_Z_DIR);
- if (destination[3] > current_position[3]) digitalWrite(E_DIR_PIN,!INVERT_E_DIR);
- else digitalWrite(E_DIR_PIN,INVERT_E_DIR);
-
- if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
- if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
- if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
- if(X_MAX_PIN > -1) if(move_direction[0]) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
- if(Y_MAX_PIN > -1) if(move_direction[1]) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
- if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
+ if (destination[0] > current_position[0]) WRITE(X_DIR_PIN,!INVERT_X_DIR);
+ else WRITE(X_DIR_PIN,INVERT_X_DIR);
+ if (destination[1] > current_position[1]) WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
+ else WRITE(Y_DIR_PIN,INVERT_Y_DIR);
+ if (destination[2] > current_position[2]) WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
+ else WRITE(Z_DIR_PIN,INVERT_Z_DIR);
+ if (destination[3] > current_position[3]) WRITE(E_DIR_PIN,!INVERT_E_DIR);
+ else WRITE(E_DIR_PIN,INVERT_E_DIR);
+ movereset:
+ #if (X_MIN_PIN > -1)
+ if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
+ #endif
+ #if (Y_MIN_PIN > -1)
+ if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
+ #endif
+ #if (Z_MIN_PIN > -1)
+ if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
+ #endif
+ #if (X_MAX_PIN > -1)
+ if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
+ #endif
+ #if (Y_MAX_PIN > -1)
+ if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
+ #endif
+ # if(Z_MAX_PIN > -1)
+ if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
+ #endif
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
@@ -971,14 +1069,17 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
unsigned long delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes
long axis_error[NUM_AXIS];
- unsigned int primary_axis;
+ int primary_axis;
if(delta[1] > delta[0] && delta[1] > delta[2] && delta[1] > delta[3]) primary_axis = 1;
else if (delta[0] >= delta[1] && delta[0] > delta[2] && delta[0] > delta[3]) primary_axis = 0;
else if (delta[2] >= delta[0] && delta[2] >= delta[1] && delta[2] > delta[3]) primary_axis = 2;
else primary_axis = 3;
unsigned long steps_remaining = delta[primary_axis];
unsigned long steps_to_take = steps_remaining;
- for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
+ for(int i=0; i < NUM_AXIS; i++){
+ if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
+ steps_taken[i]=0;
+ }
interval = axis_interval[primary_axis];
bool is_print_move = delta[3] > 0;
#ifdef DEBUG_BRESENHAM
@@ -1003,8 +1104,9 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
int slowest_start_axis = primary_axis;
unsigned long slowest_start_axis_max_interval = max_interval;
for(int i = 0; i < NUM_AXIS; i++)
- if (axis_steps_remaining[i] >0 && i != primary_axis && axis_max_interval[i] * axis_steps_remaining[i]
- / axis_steps_remaining[slowest_start_axis] > slowest_start_axis_max_interval) {
+ if (axis_steps_remaining[i] >0 &&
+ i != primary_axis &&
+ axis_max_interval[i] * axis_steps_remaining[i]/ axis_steps_remaining[slowest_start_axis] > slowest_start_axis_max_interval) {
slowest_start_axis = i;
slowest_start_axis_max_interval = axis_max_interval[i];
}
@@ -1044,7 +1146,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
#ifdef RAMP_ACCELERATION
plateau_steps *= 1.01; // This is to compensate we use discrete intervals
acceleration_enabled = true;
- long full_interval = interval;
+ unsigned long full_interval = interval;
if(interval > max_interval) acceleration_enabled = false;
boolean decelerating = false;
#endif
@@ -1127,18 +1229,35 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
//If there are x or y steps remaining, perform Bresenham algorithm
if(axis_steps_remaining[primary_axis]) {
- if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
- if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
- if(X_MAX_PIN > -1) if(move_direction[0]) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
- if(Y_MAX_PIN > -1) if(move_direction[1]) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
- if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
- if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
+ #if (X_MIN_PIN > -1)
+ if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
+ #endif
+ #if (Y_MIN_PIN > -1)
+ if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
+ #endif
+ #if (X_MAX_PIN > -1)
+ if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
+ #endif
+ #if (Y_MAX_PIN > -1)
+ if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
+ #endif
+ #if (Z_MIN_PIN > -1)
+ if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
+ #endif
+ #if (Z_MAX_PIN > -1)
+ if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
+ #endif
timediff = micros() * 100 - axis_previous_micros[primary_axis];
- while(timediff >= interval && axis_steps_remaining[primary_axis] > 0) {
+ if(timediff<0){//check for overflow
+ axis_previous_micros[primary_axis]=micros()*100;
+ timediff=interval/2; //approximation
+ }
+ while(((unsigned long)timediff) >= interval && axis_steps_remaining[primary_axis] > 0) {
steps_done++;
steps_remaining--;
axis_steps_remaining[primary_axis]--; timediff -= interval;
- do_step_update_micros(primary_axis);
+ do_step(primary_axis);
+ axis_previous_micros[primary_axis] += interval;
for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis && axis_steps_remaining[i] > 0) {
axis_error[i] = axis_error[i] - delta[i];
if(axis_error[i] < 0) {
@@ -1166,37 +1285,39 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
// Update current position partly based on direction, we probably can combine this with the direction code above...
for(int i=0; i < NUM_AXIS; i++) {
- if (destination[i] > current_position[i]) current_position[i] = current_position[i] + move_steps_to_take[i] / axis_steps_per_unit[i];
- else current_position[i] = current_position[i] - move_steps_to_take[i] / axis_steps_per_unit[i];
+ if (destination[i] > current_position[i]) current_position[i] = current_position[i] + steps_taken[i] / axis_steps_per_unit[i];
+ else current_position[i] = current_position[i] - steps_taken[i] / axis_steps_per_unit[i];
}
}
-inline void do_step_update_micros(int axis) {
- digitalWrite(STEP_PIN[axis], HIGH);
- axis_previous_micros[axis] += interval;
- digitalWrite(STEP_PIN[axis], LOW);
-}
-
-inline void do_step(int axis) {
- digitalWrite(STEP_PIN[axis], HIGH);
- digitalWrite(STEP_PIN[axis], LOW);
+void do_step(int axis) {
+ switch(axis){
+ case 0:
+ WRITE(X_STEP_PIN, HIGH);
+ break;
+ case 1:
+ WRITE(Y_STEP_PIN, HIGH);
+ break;
+ case 2:
+ WRITE(Z_STEP_PIN, HIGH);
+ break;
+ case 3:
+ WRITE(E_STEP_PIN, HIGH);
+ break;
+ }
+ steps_taken[axis]+=1;
+ WRITE(X_STEP_PIN, LOW);
+ WRITE(Y_STEP_PIN, LOW);
+ WRITE(Z_STEP_PIN, LOW);
+ WRITE(E_STEP_PIN, 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;
int max6675_temp = 2000;
-inline int read_max6675()
+int read_max6675()
{
if (millis() - max6675_previous_millis < HEAT_INTERVAL)
return max6675_temp;
@@ -1214,7 +1335,7 @@ inline int read_max6675()
SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0);
// enable TT_MAX6675
- digitalWrite(MAX6675_SS, 0);
+ WRITE(MAX6675_SS, 0);
// ensure 100ns delay - a bit extra is fine
delay(1);
@@ -1231,7 +1352,7 @@ inline int read_max6675()
max6675_temp |= SPDR;
// disable TT_MAX6675
- digitalWrite(MAX6675_SS, 1);
+ WRITE(MAX6675_SS, 1);
if (max6675_temp & 4)
{
@@ -1248,7 +1369,7 @@ inline int read_max6675()
#endif
-inline void manage_heater()
+void manage_heater()
{
if((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL )
return;
@@ -1275,8 +1396,10 @@ inline void manage_heater()
if(watchmillis && millis() - watchmillis > WATCHPERIOD){
if(watch_raw + 1 >= current_raw){
target_raw = 0;
- digitalWrite(HEATER_0_PIN,LOW);
- digitalWrite(LED_PIN,LOW);
+ WRITE(HEATER_0_PIN,LOW);
+ #if LED_PIN>-1
+ WRITE(LED_PIN,LOW);
+ #endif
}else{
watchmillis = 0;
}
@@ -1304,13 +1427,17 @@ inline void manage_heater()
#else
if(current_raw >= target_raw)
{
- digitalWrite(HEATER_0_PIN,LOW);
- digitalWrite(LED_PIN,LOW);
+ WRITE(HEATER_0_PIN,LOW);
+ #if LED_PIN>-1
+ WRITE(LED_PIN,LOW);
+ #endif
}
else
{
- digitalWrite(HEATER_0_PIN,HIGH);
- digitalWrite(LED_PIN,HIGH);
+ WRITE(HEATER_0_PIN,HIGH);
+ #if LED_PIN > -1
+ WRITE(LED_PIN,HIGH);
+ #endif
}
#endif
#endif
@@ -1318,6 +1445,12 @@ 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;
+ #else
#ifdef BED_USES_THERMISTOR
@@ -1336,157 +1469,98 @@ inline void manage_heater()
#endif
- #if TEMP_1_PIN > -1
if(current_bed_raw >= target_bed_raw)
{
- digitalWrite(HEATER_1_PIN,LOW);
+ WRITE(HEATER_1_PIN,LOW);
}
else
{
- digitalWrite(HEATER_1_PIN,HIGH);
+ WRITE(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
+ #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
target_raw=0;
- digitalWrite(HEATER_0_PIN,LOW);
+ WRITE(HEATER_0_PIN,LOW);
#endif
#if TEMP_1_PIN > -1
target_bed_raw=0;
- if(HEATER_1_PIN > -1) digitalWrite(HEATER_1_PIN,LOW);
+ if(HEATER_1_PIN > -1) WRITE(HEATER_1_PIN,LOW);
#endif
disable_x();
disable_y();