diff options
Diffstat (limited to 'Sprinter/Sprinter.pde')
| -rw-r--r-- | Sprinter/Sprinter.pde | 558 |
1 files changed, 316 insertions, 242 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 3961019..5faf117 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]; } @@ -1040,7 +1142,7 @@ 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 @@ -1123,18 +1225,35 @@ 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) { @@ -1162,37 +1281,39 @@ 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; @@ -1210,7 +1331,7 @@ 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); @@ -1227,7 +1348,7 @@ inline int read_max6675() max6675_temp |= SPDR; // disable TT_MAX6675 - digitalWrite(MAX6675_SS, 1); + WRITE(MAX6675_SS, 1); if (max6675_temp & 4) { @@ -1244,7 +1365,7 @@ inline int read_max6675() #endif -inline void manage_heater() +void manage_heater() { if((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL ) return; @@ -1271,8 +1392,10 @@ 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; } @@ -1300,13 +1423,17 @@ 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 @@ -1314,6 +1441,12 @@ 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 @@ -1332,157 +1465,98 @@ 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(); |