diff options
Diffstat (limited to 'Sprinter/Sprinter.pde')
| -rw-r--r-- | Sprinter/Sprinter.pde | 3243 |
1 files changed, 2299 insertions, 944 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index c35258a..706910f 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -1,15 +1,134 @@ - // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. -// Licence: GPL +/* + Reprap firmware based on Sprinter + Optimize for Sanguinololu 1.2 and above, RAMPS + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. */ + +/* + This firmware is a mashup between Sprinter,grbl and parts from marlin. + (https://github.com/kliment/Sprinter) + + Changes by Doppler Michael (midopple) + + Planner is from Simen Svale Skogsrud + https://github.com/simen/grbl + + Parts of Marlin Firmware from ErikZalm + https://github.com/ErikZalm/Marlin-non-gen6 + + Sprinter Changelog + - Look forward function --> calculate 16 Steps forward, get from Firmaware Marlin and Grbl + - Stepper control with Timer 1 (Interrupt) + - Extruder heating with PID use a Softpwm (Timer 2) with 500 hz to free Timer1 für Steppercontrol + - command M220 Sxxx --> tune Printing speed online (+/- 50 %) + - G2 / G3 command --> circle funktion + - Baudrate set to 250 kbaud + - Testet on Sanguinololu Board + - M30 Command can delete files on SD Card + - move string to flash to free RAM vor forward planner + - M203 Temperature monitor for Repetier + + Version 1.3.04T + - Implement Plannercode from Marlin V1 big thanks to Erik + - Stepper interrupt with Step loops + - Stepperfrequenz 30 Khz + - New Command + * M202 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec + * M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 + * M205 - advanced settings: minimum travel speed S=while printing T=travel only, X= maximum xy jerk, Z=maximum Z jerk + - Remove unused Variables + - Check Uart Puffer while circle processing (CMD: G2 / G3) + - Fast Xfer Function --> move Text to Flash + - Option to deaktivate ARC (G2/G3) function (save flash) + - Removed modulo (%) operator, which uses an expensive divide + + Version 1.3.05T + - changed homing function to not conflict with min_software_endstops/max_software_endstops (thanks rGlory) + - Changed check in arc_func + - Corrected distance calculation. (thanks jv4779) + - MAX Feed Rate for Z-Axis reduced to 2 mm/s some Printers had problems with 4 mm/s + + Version 1.3.06T + - the microcontroller can store settings in the EEPROM + - M500 - stores paramters in EEPROM + - M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). + - M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. + - M503 - Print settings + + Version 1.3.07T + - Optimize Variable Size (faster Code) + - Remove unused Code from Interrupt --> faster ~ 22 us per step + - Replace abs with fabs --> Faster and smaler + - Add "store_eeprom.cpp" to makefile + + Version 1.3.08T + - If a line starts with ';', it is ignored but comment_mode is reset. + A ';' inside a line ignores just the portion following the ';' character. + The beginning of the line is still interpreted. + + - Same fix for SD Card, testet and work + + Version 1.3.09T + - Move SLOWDOWN Function up + + Version 1.3.10T +- Add info to GEN7 Pins +- Update pins.h for gen7, working setup for 20MHz +- calculate feedrate without extrude before planner block is set +- New Board --> GEN7 @ 20 Mhz … +- ENDSTOPS_ONLY_FOR_HOMING Option ignore Endstop always --> fault is cleared + + Version 1.3.11T +- fix for broken include in store_eeprom.cpp --> Thanks to kmeehl (issue #145) +- Make fastio & Arduino pin numbering consistent for AT90USB128x. --> Thanks to lincomatic +- Select Speedtable with F_CPU +- Use same Values for Speedtables as Marlin +- + + + +*/ + +#include <avr/pgmspace.h> +#include <math.h> #include "fastio.h" #include "Configuration.h" #include "pins.h" #include "Sprinter.h" +#include "speed_lookuptable.h" +#include "heater.h" + +#ifdef USE_ARC_FUNCTION + #include "arc_func.h" +#endif #ifdef SDSUPPORT -#include "SdFat.h" + #include "SdFat.h" +#endif + +#ifdef USE_EEPROM_SETTINGS + #include "store_eeprom.h" #endif +#ifndef CRITICAL_SECTION_START +#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli() +#define CRITICAL_SECTION_END SREG = _sreg +#endif //CRITICAL_SECTION_START + +void __cxa_pure_virtual(){}; + // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes @@ -17,6 +136,8 @@ //------------------- // G0 -> G1 // G1 - Coordinated Movement X Y Z E +// G2 - CW ARC +// G3 - CCW ARC // G4 - Dwell S<seconds> or P<milliseconds> // G28 - Home all Axis // G90 - Use Absolute Coordinates @@ -32,7 +153,6 @@ // M114 - Display current position //Custom M Codes -// M80 - Turn on Power Supply // M20 - List SD card // M21 - Init SD card // M22 - Release SD card @@ -43,7 +163,9 @@ // M27 - Report SD print status // M28 - Start SD write (M28 filename.g) // M29 - Stop SD write -// M42 - Set output on free pins, on a non pwm pin (over pin 13 on an arduino mega) use S255 to turn it on and S0 to turn it off. Use P to decide the pin (M42 P23 S255) would turn pin 23 on +// - <filename> - Delete file on sd card +// M42 - Set output on free pins, on a non pwm pin (over pin 13 on an arduino mega) use S255 to turn it on and S0 to turn it off. Use P to decide the pin (M42 P23 S255) would turn pin 23 on +// M80 - Turn on Power Supply // M81 - Turn off Power Supply // M82 - Set E codes absolute (default) // M83 - Set E codes relative while in Absolute Coordinates (G90) mode @@ -52,105 +174,142 @@ // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default) // M92 - Set axis_steps_per_unit - same syntax as G92 // M115 - Capabilities string +// M119 - Show Endstopper State // M140 - Set bed target temp // M190 - Wait for bed current temp to reach target temp. -// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000) -// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) +// M201 - Set maximum acceleration in units/s^2 for print moves (M201 X1000 Y1000) +// M202 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec +// M203 - Set temperture monitor to Sx +// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 +// M205 - advanced settings: minimum travel speed S=while printing T=travel only, X= maximum xy jerk, Z=maximum Z jerk +// M220 - set speed factor override percentage S:factor in percent -//Stepper Movement Variables +// M500 - stores paramters in EEPROM +// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). +// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. +// M503 - Print settings + +// Debug feature / Testing the PID for Hotend +// M601 - Show Temp jitter from Extruder (min / max value from Hotend Temperatur while printing) +// M602 - Reset Temp jitter from Extruder (min / max val) --> Dont use it while Printing +// M603 - Show Free Ram + +#define _VERSION_TEXT "1.3.11T / 19.03.2012" + +//Stepper Movement Variables char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; -bool move_direction[NUM_AXIS]; -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[NUM_AXIS]; +float axis_steps_per_unit[4] = _AXIS_STEP_PER_UNIT; + +float max_feedrate[4] = _MAX_FEEDRATE; +float homing_feedrate[] = _HOMING_FEEDRATE; +bool axis_relative_modes[] = _AXIS_RELATIVE_MODES; + +float move_acceleration = _ACCELERATION; // Normal acceleration mm/s^2 +float retract_acceleration = _RETRACT_ACCELERATION; // Normal acceleration mm/s^2 +float max_xy_jerk = _MAX_XY_JERK; +float max_z_jerk = _MAX_Z_JERK; + +long max_acceleration_units_per_sq_second[4] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts + +//float max_start_speed_units_per_second[] = _MAX_START_SPEED_UNITS_PER_SECOND; +//long max_travel_acceleration_units_per_sq_second[] = _MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z max acceleration in mm/s^2 for travel moves + +float mintravelfeedrate = DEFAULT_MINTRAVELFEEDRATE; +float minimumfeedrate = DEFAULT_MINIMUMFEEDRATE; + 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; +unsigned long plateau_steps; + +//unsigned long axis_max_interval[NUM_AXIS]; +//unsigned long axis_travel_steps_per_sqr_second[NUM_AXIS]; +//unsigned long max_interval; +//unsigned long steps_per_sqr_second; + + +//adjustable feed faktor for online tuning printerspeed +volatile int feedmultiply=100; //100->original / 200-> Faktor 2 / 50 -> Faktor 0.5 +int saved_feedmultiply; +volatile bool feedmultiplychanged=false; + +//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; +//unsigned ?? ToDo: Check 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 -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; + +//unsigned long steps_taken[NUM_AXIS]; +//long axis_interval[NUM_AXIS]; // for speed delay +//float time_for_move; +//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; + //experimental feedrate calc -float d = 0; -float axis_diff[NUM_AXIS] = {0, 0, 0, 0}; +//float d = 0; +//float axis_diff[NUM_AXIS] = {0, 0, 0, 0}; + + +#ifdef USE_ARC_FUNCTION +//For arc centerpont, send bei Command G2/G3 +float offset[3] = {0.0, 0.0, 0.0}; +#endif + #ifdef STEP_DELAY_RATIO long long_step_delay_ratio = STEP_DELAY_RATIO * 100; #endif +///oscillation reduction +#ifdef RAPID_OSCILLATION_REDUCTION + float cumm_wait_time_in_dir[NUM_AXIS]={0.0,0.0,0.0,0.0}; + bool prev_move_direction[NUM_AXIS]={1,1,1,1}; + float osc_wait_remainder = 0.0; +#endif -// comm variables +// comm variables and Commandbuffer +// BUFSIZE is reduced from 8 to 6 to free more RAM for the PLANNER #define MAX_CMD_SIZE 96 -#define BUFSIZE 8 +#define BUFSIZE 6 //8 char cmdbuffer[BUFSIZE][MAX_CMD_SIZE]; bool fromsd[BUFSIZE]; -int bufindr = 0; -int bufindw = 0; -int buflen = 0; -int i = 0; + +//Need 1kb Ram --> only work with Atmega1284 +#ifdef SD_FAST_XFER_AKTIV + char fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE + 1]; + int lastxferchar; + long xferbytes; +#endif + +unsigned char bufindr = 0; +unsigned char bufindw = 0; +unsigned char buflen = 0; char serial_char; int serial_count = 0; boolean comment_mode = false; char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc -// Manage heater variables. For a thermistor or AD595 thermocouple, raw values refer to the -// reading from the analog pin. For a MAX6675 thermocouple, the raw value is the temperature in 0.25 -// degree increments (i.e. 100=25 deg). - -int target_raw = 0; -int target_temp = 0; -int current_raw = 0; -int target_bed_raw = 0; -int current_bed_raw = 0; -int tt = 0, bt = 0; -#ifdef PIDTEMP - int temp_iState = 0; - int prev_temp = 0; - int pTerm; - int iTerm; - int dTerm; - //int output; - int error; - int heater_duty = 0; - const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; - const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; -#endif -#ifndef HEATER_CURRENT - #define HEATER_CURRENT 255 -#endif -#ifdef SMOOTHING - uint32_t nma = 0; -#endif -#ifdef WATCHPERIOD - int watch_raw = -1000; - unsigned long watchmillis = 0; -#endif -#ifdef MINTEMP - int minttemp = temp2analogh(MINTEMP); -#endif -#ifdef MAXTEMP -int maxttemp = temp2analogh(MAXTEMP); -#endif - +//Send Temperature in °C to Host +int hotendtC = 0, bedtempC = 0; + //Inactivity shutdown variables unsigned long previous_millis_cmd = 0; unsigned long max_inactive_time = 0; unsigned long stepper_inactive_time = 0; +//Temp Montor for repetier +unsigned char manage_monitor = 255; + + +//------------------------------------------------ +//Init the SD card +//------------------------------------------------ #ifdef SDSUPPORT Sd2Card card; SdVolume volume; @@ -161,23 +320,27 @@ unsigned long stepper_inactive_time = 0; bool sdmode = false; bool sdactive = false; bool savetosd = false; - int16_t n; + int16_t read_char_int; - void initsd(){ + 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"); + showString(PSTR("SD init fail\r\n")); } else if (!volume.init(&card)) - Serial.println("volume.init failed"); + showString(PSTR("volume.init failed\r\n")); else if (!root.openRoot(&volume)) - Serial.println("openRoot failed"); + showString(PSTR("openRoot failed\r\n")); else{ sdactive = true; + print_disk_info(); + #ifdef SDINITFILE file.close(); if(file.open(&root, "init.g", O_READ)){ @@ -187,38 +350,237 @@ unsigned long stepper_inactive_time = 0; } #endif } + + #endif + } + + #ifdef SD_FAST_XFER_AKTIV + + #ifdef PIDTEMP + extern int g_heater_pwm_val; #endif + + void fast_xfer() + { + char *pstr; + boolean done = false; + + //force heater pins low + if(HEATER_0_PIN > -1) WRITE(HEATER_0_PIN,LOW); + if(HEATER_1_PIN > -1) WRITE(HEATER_1_PIN,LOW); + + g_heater_pwm_val = 0; + + lastxferchar = 1; + xferbytes = 0; + + pstr = strstr(strchr_pointer+4, " "); + + if(pstr == NULL) + { + showString(PSTR("invalid command\r\n")); + return; + } + + *pstr = '\0'; + + //check mode (currently only RAW is supported + if(strcmp(strchr_pointer+4, "RAW") != 0) + { + showString(PSTR("Invalid transfer codec\r\n")); + return; + }else{ + showString(PSTR("Selected codec: ")); + Serial.println(strchr_pointer+4); + } + + if (!file.open(&root, pstr+1, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) + { + showString(PSTR("open failed, File: ")); + Serial.print(pstr+1); + showString(PSTR(".")); + }else{ + showString(PSTR("Writing to file: ")); + Serial.println(pstr+1); + } + + showString(PSTR("ok\r\n")); + + //RAW transfer codec + //Host sends \0 then up to SD_FAST_XFER_CHUNK_SIZE then \0 + //when host is done, it sends \0\0. + //if a non \0 character is recieved at the beginning, host has failed somehow, kill the transfer. + + //read SD_FAST_XFER_CHUNK_SIZE bytes (or until \0 is recieved) + while(!done) + { + while(!Serial.available()) + { + } + if(Serial.read() != 0) + { + //host has failed, this isn't a RAW chunk, it's an actual command + file.sync(); + file.close(); + return; + } + + for(int i=0;i<SD_FAST_XFER_CHUNK_SIZE+1;i++) + { + while(!Serial.available()) + { + } + lastxferchar = Serial.read(); + //buffer the data... + fastxferbuffer[i] = lastxferchar; + + xferbytes++; + + if(lastxferchar == 0) + break; + } + + if(fastxferbuffer[0] != 0) + { + fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE] = 0; + file.write(fastxferbuffer); + showString(PSTR("ok\r\n")); + }else{ + showString(PSTR("Wrote ")); + Serial.print(xferbytes); + showString(PSTR(" bytes.\r\n")); + done = true; + } + } + + file.sync(); + file.close(); } + #endif + + + void print_disk_info(void) + { + + // print the type of card + showString(PSTR("\nCard type: ")); + switch(card.type()) + { + case SD_CARD_TYPE_SD1: + showString(PSTR("SD1\r\n")); + break; + case SD_CARD_TYPE_SD2: + showString(PSTR("SD2\r\n")); + break; + case SD_CARD_TYPE_SDHC: + showString(PSTR("SDHC\r\n")); + break; + default: + showString(PSTR("Unknown\r\n")); + } - inline void write_command(char *buf){ + //uint64_t freeSpace = volume.clusterCount()*volume.blocksPerCluster()*512; + //uint64_t occupiedSpace = (card.cardSize()*512) - freeSpace; + // print the type and size of the first FAT-type volume + uint32_t volumesize; + showString(PSTR("\nVolume type is FAT")); + Serial.println(volume.fatType(), DEC); + + volumesize = volume.blocksPerCluster(); // clusters are collections of blocks + volumesize *= volume.clusterCount(); // we'll have a lot of clusters + volumesize *= 512; // SD card blocks are always 512 bytes + volumesize /= 1024; //kbytes + volumesize /= 1024; //Mbytes + showString(PSTR("Volume size (Mbytes): ")); + Serial.println(volumesize); + + // list all files in the card with date and size + //root.ls(LS_R | LS_DATE | LS_SIZE); + } + + + + + + FORCE_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){ + + 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"); + + if (file.writeError) + { + showString(PSTR("error writing to file\r\n")); } } + #endif +int FreeRam1(void) +{ + extern int __bss_end; + extern int* __brkval; + int free_memory; + + if (reinterpret_cast<int>(__brkval) == 0) + { + // if no heap use from end of bss section + free_memory = reinterpret_cast<int>(&free_memory) - reinterpret_cast<int>(&__bss_end); + } + else + { + // use from top of stack to heap + free_memory = reinterpret_cast<int>(&free_memory) - reinterpret_cast<int>(__brkval); + } + + return free_memory; +} + +//------------------------------------------------ +//Print a String from Flash to Serial (save RAM) +//------------------------------------------------ +void showString (PGM_P s) +{ + char c; + + while ((c = pgm_read_byte(s++)) != 0) + Serial.print(c); +} + + +//------------------------------------------------ +// Init +//------------------------------------------------ void setup() { + Serial.begin(BAUDRATE); - Serial.println("start"); - for(int i = 0; i < BUFSIZE; i++){ + showString(PSTR("Sprinter\r\n")); + showString(PSTR(_VERSION_TEXT)); + showString(PSTR("\r\n")); + showString(PSTR("start\r\n")); + + for(int i = 0; i < BUFSIZE; i++) + { fromsd[i] = false; } + //Initialize Dir Pins @@ -253,7 +615,7 @@ void setup() SET_OUTPUT(E_ENABLE_PIN); if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH); #endif - + #ifdef CONTROLLERFAN_PIN SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan #endif @@ -329,7 +691,7 @@ void setup() #if (LED_PIN > -1) SET_OUTPUT(LED_PIN); WRITE(LED_PIN,LOW); - #endif + #endif //Initialize Step Pins #if (X_STEP_PIN > -1) @@ -344,9 +706,17 @@ void setup() #if (E_STEP_PIN > -1) SET_OUTPUT(E_STEP_PIN); #endif - #ifdef RAMP_ACCELERATION - setup_acceleration(); - #endif + + for(int8_t i=0; i < NUM_AXIS; i++) + { + axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; + } + +// 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]; +// } #ifdef HEATER_USES_MAX6675 SET_OUTPUT(SCK_PIN); @@ -369,48 +739,107 @@ void setup() SET_OUTPUT(SDPOWER); WRITE(SDPOWER,HIGH); #endif + + showString(PSTR("SD Start\r\n")); initsd(); #endif + #ifdef PID_SOFT_PWM + showString(PSTR("Soft PWM Init\r\n")); + init_Timer2_softpwm(); + #endif + + showString(PSTR("Planner Init\r\n")); + plan_init(); // Initialize planner; + + showString(PSTR("Stepper Timer init\r\n")); + st_init(); // Initialize stepper + + #ifdef USE_EEPROM_SETTINGS + //first Value --> Init with default + //second value --> Print settings to UART + EEPROM_RetrieveSettings(false,false); + #endif + + //Free Ram + showString(PSTR("Free Ram: ")); + Serial.println(FreeRam1()); + + //Planner Buffer Size + showString(PSTR("Plan Buffer Size:")); + Serial.print((int)sizeof(block_t)*BLOCK_BUFFER_SIZE); + showString(PSTR(" / ")); + Serial.println(BLOCK_BUFFER_SIZE); } + +//------------------------------------------------ +//MAIN LOOP +//------------------------------------------------ void loop() { - if(buflen<3) - get_command(); + if(buflen < (BUFSIZE-1)) + get_command(); - if(buflen){ + if(buflen) + { #ifdef SDSUPPORT - if(savetosd){ - if(strstr(cmdbuffer[bufindr],"M29") == NULL){ + if(savetosd) + { + if(strstr(cmdbuffer[bufindr],"M29") == NULL) + { write_command(cmdbuffer[bufindr]); - Serial.println("ok"); - }else{ + showString(PSTR("ok\r\n")); + } + else + { file.sync(); file.close(); savetosd = false; - Serial.println("Done saving file."); + showString(PSTR("Done saving file.\r\n")); } - }else{ + } + else + { process_commands(); } #else process_commands(); #endif + buflen = (buflen-1); - bufindr = (bufindr + 1)%BUFSIZE; - } - //check heater every n milliseconds - manage_heater(); - manage_inactivity(1); + //bufindr = (bufindr + 1)%BUFSIZE; + //Removed modulo (%) operator, which uses an expensive divide and multiplication + bufindr++; + if(bufindr == BUFSIZE) bufindr = 0; } + + //check heater every n milliseconds + manage_heater(); + manage_inactivity(1); +} + +//------------------------------------------------ +//Check Uart buffer while arc function ist calc a circle +//------------------------------------------------ +void check_buffer_while_arc() +{ + if(buflen < (BUFSIZE-1)) + { + get_command(); + } +} -inline void get_command() +//------------------------------------------------ +//READ COMMAND FROM UART +//------------------------------------------------ +void get_command() { - while( Serial.available() > 0 && buflen < BUFSIZE) { + while( Serial.available() > 0 && buflen < BUFSIZE) + { serial_char = Serial.read(); if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) ) { @@ -419,77 +848,91 @@ inline void get_command() return; } cmdbuffer[bufindw][serial_count] = 0; //terminate string - fromsd[bufindw] = false; - if(strstr(cmdbuffer[bufindw], "N") != NULL) - { - strchr_pointer = strchr(cmdbuffer[bufindw], 'N'); - gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10)); - if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) { - Serial.print("Serial Error: Line Number is not Last Line Number+1, Last Line:"); - Serial.println(gcode_LastN); - //Serial.println(gcode_N); - FlushSerialRequestResend(); - serial_count = 0; - return; - } + + fromsd[bufindw] = false; + if(strstr(cmdbuffer[bufindw], "N") != NULL) + { + strchr_pointer = strchr(cmdbuffer[bufindw], 'N'); + gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10)); + if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) + { + showString(PSTR("Serial Error: Line Number is not Last Line Number+1, Last Line:")); + Serial.println(gcode_LastN); + //Serial.println(gcode_N); + FlushSerialRequestResend(); + serial_count = 0; + return; + } - if(strstr(cmdbuffer[bufindw], "*") != NULL) - { - byte checksum = 0; - byte count = 0; - while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++]; - strchr_pointer = strchr(cmdbuffer[bufindw], '*'); - - if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) { - Serial.print("Error: checksum mismatch, Last Line:"); - Serial.println(gcode_LastN); - FlushSerialRequestResend(); - serial_count = 0; - return; - } - //if no errors, continue parsing - } - else - { - Serial.print("Error: No Checksum with line number, Last Line:"); - Serial.println(gcode_LastN); - FlushSerialRequestResend(); - serial_count = 0; - return; - } + if(strstr(cmdbuffer[bufindw], "*") != NULL) + { + byte checksum = 0; + byte count = 0; + while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++]; + strchr_pointer = strchr(cmdbuffer[bufindw], '*'); + + if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) + { + showString(PSTR("Error: checksum mismatch, Last Line:")); + Serial.println(gcode_LastN); + FlushSerialRequestResend(); + serial_count = 0; + return; + } + //if no errors, continue parsing + } + else + { + showString(PSTR("Error: No Checksum with line number, Last Line:")); + Serial.println(gcode_LastN); + FlushSerialRequestResend(); + serial_count = 0; + return; + } - gcode_LastN = gcode_N; - //if no errors, continue parsing - } - else // if we don't receive 'N' but still see '*' - { - if((strstr(cmdbuffer[bufindw], "*") != NULL)) - { - Serial.print("Error: No Line Number with checksum, Last Line:"); - Serial.println(gcode_LastN); - serial_count = 0; - return; - } - } - if((strstr(cmdbuffer[bufindw], "G") != NULL)){ - strchr_pointer = strchr(cmdbuffer[bufindw], 'G'); - switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){ - case 0: - case 1: + gcode_LastN = gcode_N; + //if no errors, continue parsing + } + else // if we don't receive 'N' but still see '*' + { + if((strstr(cmdbuffer[bufindw], "*") != NULL)) + { + showString(PSTR("Error: No Line Number with checksum, Last Line:")); + Serial.println(gcode_LastN); + serial_count = 0; + return; + } + } + + if((strstr(cmdbuffer[bufindw], "G") != NULL)) + { + strchr_pointer = strchr(cmdbuffer[bufindw], 'G'); + switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))) + { + case 0: + case 1: + #ifdef USE_ARC_FUNCTION + case 2: //G2 + case 3: //G3 arc func + #endif #ifdef SDSUPPORT if(savetosd) break; #endif - Serial.println("ok"); - break; - default: - break; - } - - } - bufindw = (bufindw + 1)%BUFSIZE; + showString(PSTR("ok\r\n")); + //Serial.println("ok"); + break; + + default: + break; + } + } + //Removed modulo (%) operator, which uses an expensive divide and multiplication + //bufindw = (bufindw + 1)%BUFSIZE; + bufindw++; + if(bufindw == BUFSIZE) bufindw = 0; buflen += 1; - + comment_mode = false; //for new command serial_count = 0; //clear buffer } @@ -500,51 +943,66 @@ inline void get_command() } } #ifdef SDSUPPORT -if(!sdmode || serial_count!=0){ + if(!sdmode || serial_count!=0) + { return; -} - while( filesize > sdpos && buflen < BUFSIZE) { - n = file.read(); - serial_char = (char)n; - if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || n == -1) + } + while( filesize > sdpos && buflen < BUFSIZE) + { + serial_char = file.read(); + read_char_int = (int)serial_char; + + if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || read_char_int == -1) { sdpos = file.curPosition(); - if(sdpos >= filesize){ + if(sdpos >= filesize) + { sdmode = false; - Serial.println("Done printing file"); + showString(PSTR("Done printing file\r\n")); } - if(!serial_count) return; //if empty line - cmdbuffer[bufindw][serial_count] = 0; //terminate string - if(!comment_mode){ - fromsd[bufindw] = true; - buflen += 1; - bufindw = (bufindw + 1)%BUFSIZE; - } - comment_mode = false; //for new command - serial_count = 0; //clear buffer + + if(!serial_count) { //if empty line + comment_mode = false; // for new command + return; + } + + cmdbuffer[bufindw][serial_count] = 0; //terminate string + + fromsd[bufindw] = true; + buflen += 1; + //Removed modulo (%) operator, which uses an expensive divide and multiplication + //bufindw = (bufindw + 1)%BUFSIZE; + bufindw++; + if(bufindw == BUFSIZE) bufindw = 0; + + comment_mode = false; //for new command + serial_count = 0; //clear buffer } else { if(serial_char == ';') comment_mode = true; if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; } -} + } #endif } -inline float code_value() { return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); } -inline long code_value_long() { return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); } -inline bool code_seen(char code_string[]) { return (strstr(cmdbuffer[bufindr], code_string) != NULL); } //Return True if the string was found +FORCE_INLINE float code_value() { return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); } +FORCE_INLINE long code_value_long() { return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); } +FORCE_INLINE bool code_seen(char code_string[]) { return (strstr(cmdbuffer[bufindr], code_string) != NULL); } //Return True if the string was found -inline bool code_seen(char code) +FORCE_INLINE bool code_seen(char code) { strchr_pointer = strchr(cmdbuffer[bufindr], code); return (strchr_pointer != NULL); //Return True if a character was found } -inline void process_commands() +//------------------------------------------------ +// CHECK COMMAND AND CONVERT VALUES +//------------------------------------------------ +FORCE_INLINE void process_commands() { unsigned long codenum; //throw away variable char *starpos = NULL; @@ -564,6 +1022,20 @@ inline void process_commands() //ClearToSend(); return; //break; + #ifdef USE_ARC_FUNCTION + case 2: // G2 - CW ARC + get_arc_coordinates(); + prepare_arc_move(true); + previous_millis_cmd = millis(); + //break; + return; + case 3: // G3 - CCW ARC + get_arc_coordinates(); + prepare_arc_move(false); + previous_millis_cmd = millis(); + //break; + return; + #endif case 4: // G4 dwell codenum = 0; if(code_seen('P')) codenum = code_value(); // milliseconds to wait @@ -575,79 +1047,126 @@ inline void process_commands() break; case 28: //G28 Home all Axis one at a time saved_feedrate = feedrate; - for(int i=0; i < NUM_AXIS; i++) { + saved_feedmultiply = feedmultiply; + previous_millis_cmd = millis(); + + feedmultiply = 100; + + enable_endstops(true); + + for(int i=0; i < NUM_AXIS; i++) + { destination[i] = current_position[i]; } feedrate = 0; home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))); - if((home_all_axis) || (code_seen(axis_codes[0]))) { - if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)){ - current_position[0] = -1.5 * X_MAX_LENGTH * X_HOME_DIR; - destination[0] = 0; - feedrate = homing_feedrate[0]; + if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) + { + if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) + { + st_synchronize(); + current_position[X_AXIS] = -1.5 * X_MAX_LENGTH * X_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[X_AXIS] = 0; + feedrate = homing_feedrate[X_AXIS]; prepare_move(); - - current_position[0] = 5 * X_HOME_DIR; - destination[0] = 0; + + st_synchronize(); + current_position[X_AXIS] = 5 * X_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[X_AXIS] = 0; prepare_move(); - - current_position[0] = -10 * X_HOME_DIR; - destination[0] = 0; + + st_synchronize(); + current_position[X_AXIS] = -10 * X_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[X_AXIS] = 0; + feedrate = homing_feedrate[X_AXIS]/2 ; prepare_move(); - - current_position[0] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH; - destination[0] = current_position[0]; + st_synchronize(); + + current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[X_AXIS] = current_position[X_AXIS]; feedrate = 0; } } - - if((home_all_axis) || (code_seen(axis_codes[1]))) { - if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)){ - current_position[1] = -1.5 * Y_MAX_LENGTH * Y_HOME_DIR; - destination[1] = 0; + //showString(PSTR("HOME X AXIS\r\n")); - feedrate = homing_feedrate[1]; + if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) + { + if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) + { + current_position[Y_AXIS] = -1.5 * Y_MAX_LENGTH * Y_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Y_AXIS] = 0; + feedrate = homing_feedrate[Y_AXIS]; prepare_move(); - - current_position[1] = 5 * Y_HOME_DIR; - destination[1] = 0; + st_synchronize(); + + current_position[Y_AXIS] = 5 * Y_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Y_AXIS] = 0; prepare_move(); - - current_position[1] = -10 * Y_HOME_DIR; - destination[1] = 0; + st_synchronize(); + + current_position[Y_AXIS] = -10 * Y_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Y_AXIS] = 0; + feedrate = homing_feedrate[Y_AXIS]/2; prepare_move(); - - current_position[1] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH; - destination[1] = current_position[1]; + st_synchronize(); + + current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Y_AXIS] = current_position[Y_AXIS]; feedrate = 0; } } - - if((home_all_axis) || (code_seen(axis_codes[2]))) { - if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)){ - current_position[2] = -1.5 * Z_MAX_LENGTH * Z_HOME_DIR; - destination[2] = 0; - feedrate = homing_feedrate[2]; + //showString(PSTR("HOME Y AXIS\r\n")); + + if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) + { + if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) + { + current_position[Z_AXIS] = -1.5 * Z_MAX_LENGTH * Z_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Z_AXIS] = 0; + feedrate = homing_feedrate[Z_AXIS]; prepare_move(); - - current_position[2] = 2 * Z_HOME_DIR; - destination[2] = 0; + st_synchronize(); + + current_position[Z_AXIS] = 2 * Z_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Z_AXIS] = 0; prepare_move(); - - current_position[2] = -5 * Z_HOME_DIR; - destination[2] = 0; + st_synchronize(); + + current_position[Z_AXIS] = -3 * Z_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Z_AXIS] = 0; + feedrate = homing_feedrate[Z_AXIS]/2; prepare_move(); - - current_position[2] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH; - destination[2] = current_position[2]; - feedrate = 0; - - } - } + st_synchronize(); + + current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Z_AXIS] = current_position[Z_AXIS]; + feedrate = 0; + } + } + + //showString(PSTR("HOME Z AXIS\r\n")); + #ifdef ENDSTOPS_ONLY_FOR_HOMING + enable_endstops(false); + #endif + feedrate = saved_feedrate; + feedmultiply = saved_feedmultiply; + previous_millis_cmd = millis(); break; case 90: // G90 @@ -657,11 +1176,21 @@ inline void process_commands() relative_mode = true; break; case 92: // G92 - for(int i=0; i < NUM_AXIS; i++) { + if(!code_seen(axis_codes[E_AXIS])) + st_synchronize(); + + for(int i=0; i < NUM_AXIS; i++) + { if(code_seen(axis_codes[i])) current_position[i] = code_value(); } + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); break; - + default: + #ifdef SEND_WRONG_CMD_INFO + showString(PSTR("Unknown G-COM:")); + Serial.println(cmdbuffer[bufindr]); + #endif + break; } } @@ -673,9 +1202,9 @@ inline void process_commands() #ifdef SDSUPPORT case 20: // M20 - list SD card - Serial.println("Begin file list"); + showString(PSTR("Begin file list\r\n")); root.ls(); - Serial.println("End file list"); + showString(PSTR("End file list\r\n")); break; case 21: // M21 - init SD card sdmode = false; @@ -686,72 +1215,88 @@ inline void process_commands() sdactive = false; break; case 23: //M23 - Select file - if(sdactive){ + if(sdactive) + { sdmode = false; file.close(); starpos = (strchr(strchr_pointer + 4,'*')); + if(starpos!=NULL) *(starpos-1)='\0'; - if (file.open(&root, strchr_pointer + 4, O_READ)) { - Serial.print("File opened:"); + + if (file.open(&root, strchr_pointer + 4, O_READ)) + { + showString(PSTR("File opened:")); Serial.print(strchr_pointer + 4); - Serial.print(" Size:"); + showString(PSTR(" Size:")); Serial.println(file.fileSize()); sdpos = 0; filesize = file.fileSize(); - Serial.println("File selected"); + showString(PSTR("File selected\r\n")); } - else{ - Serial.println("file.open failed"); + else + { + showString(PSTR("file.open failed\r\n")); } } break; case 24: //M24 - Start SD print - if(sdactive){ + if(sdactive) + { sdmode = true; } break; case 25: //M25 - Pause SD print - if(sdmode){ + if(sdmode) + { sdmode = false; } break; case 26: //M26 - Set SD index - if(sdactive && code_seen('S')){ + if(sdactive && code_seen('S')) + { sdpos = code_value_long(); file.seekSet(sdpos); } break; case 27: //M27 - Get SD status - if(sdactive){ - Serial.print("SD printing byte "); + if(sdactive) + { + showString(PSTR("SD printing byte ")); Serial.print(sdpos); - Serial.print("/"); + showString(PSTR("/")); Serial.println(filesize); - }else{ - Serial.println("Not SD printing"); + } + else + { + showString(PSTR("Not SD printing\r\n")); } break; - case 28: //M28 - Start SD write - if(sdactive){ + case 28: //M28 - Start SD write + if(sdactive) + { char* npos = 0; file.close(); sdmode = false; starpos = (strchr(strchr_pointer + 4,'*')); - if(starpos != NULL){ + if(starpos != NULL) + { npos = strchr(cmdbuffer[bufindr], 'N'); strchr_pointer = strchr(npos,' ') + 1; *(starpos-1) = '\0'; } - if (!file.open(&root, strchr_pointer+4, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) + + if (!file.open(&root, strchr_pointer+4, O_CREAT | O_APPEND | O_WRITE | O_TRUNC)) + { + showString(PSTR("open failed, File: ")); + Serial.print(strchr_pointer + 4); + showString(PSTR(".")); + } + else { - Serial.print("open failed, File: "); - Serial.print(strchr_pointer + 4); - Serial.print("."); - }else{ - savetosd = true; - Serial.print("Writing to file: "); - Serial.println(strchr_pointer + 4); + savetosd = true; + showString(PSTR("Writing to file: ")); + Serial.println(strchr_pointer + 4); } } break; @@ -759,6 +1304,38 @@ inline void process_commands() //processed in write to file routine above //savetosd = false; break; + #ifndef SD_FAST_XFER_AKTIV + case 30: // M30 filename - Delete file + if(sdactive) + { + sdmode = false; + file.close(); + + starpos = (strchr(strchr_pointer + 4,'*')); + + if(starpos!=NULL) + *(starpos-1)='\0'; + + if(file.remove(&root, strchr_pointer + 4)) + { + showString(PSTR("File deleted\r\n")); + } + else + { + showString(PSTR("Deletion failed\r\n")); + } + } + break; + #else + case 30: //M30 - fast SD transfer + fast_xfer(); + break; + case 31: //M31 - high speed xfer capabilities + showString(PSTR("RAW:")); + Serial.println(SD_FAST_XFER_CHUNK_SIZE); + break; + #endif + #endif case 42: //M42 -Change pin status via gcode if (code_seen('S')) @@ -780,7 +1357,7 @@ inline void process_commands() { pinMode(pin_number, OUTPUT); digitalWrite(pin_number, pin_status); - analogWrite(pin_number, pin_status); + //analogWrite(pin_number, pin_status); } } } @@ -788,10 +1365,13 @@ inline void process_commands() case 104: // M104 if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value()); #ifdef WATCHPERIOD - if(target_raw > current_raw){ + if(target_raw > current_raw) + { watchmillis = max(1,millis()); watch_raw = current_raw; - }else{ + } + else + { watchmillis = 0; } #endif @@ -803,23 +1383,33 @@ inline void process_commands() break; case 105: // M105 #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675)|| defined HEATER_USES_AD595 - tt = analog2temp(current_raw); + hotendtC = analog2temp(current_raw); #endif #if TEMP_1_PIN > -1 || defined BED_USES_AD595 - bt = analog2tempBed(current_bed_raw); + bedtempC = analog2tempBed(current_bed_raw); #endif #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined HEATER_USES_AD595 - Serial.print("ok T:"); - Serial.print(tt); + showString(PSTR("ok T:")); + Serial.print(hotendtC); #ifdef PIDTEMP - Serial.print(" @:"); + showString(PSTR(" @:")); Serial.print(heater_duty); - Serial.print(","); + /* + showString(PSTR(",P:")); + Serial.print(pTerm); + showString(PSTR(",I:")); Serial.print(iTerm); + showString(PSTR(",D:")); + Serial.print(dTerm); + */ + #ifdef AUTOTEMP + showString(PSTR(",AU:")); + Serial.print(autotemp_setpoint); + #endif #endif #if TEMP_1_PIN > -1 || defined BED_USES_AD595 - Serial.print(" B:"); - Serial.println(bt); + showString(PSTR(" B:")); + Serial.println(bedtempC); #else Serial.println(); #endif @@ -831,10 +1421,13 @@ inline void process_commands() case 109: { // M109 - Wait for extruder heater to reach target. if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value()); #ifdef WATCHPERIOD - if(target_raw>current_raw){ + if(target_raw>current_raw) + { watchmillis = max(1,millis()); watch_raw = current_raw; - }else{ + } + else + { watchmillis = 0; } #endif @@ -855,7 +1448,7 @@ inline void process_commands() #endif if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up/cooling down { - Serial.print("T:"); + showString(PSTR("T:")); Serial.println( analog2temp(current_raw) ); codenum = millis(); } @@ -874,35 +1467,38 @@ 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 = temp2analogh(code_value()); + if (code_seen('S')) target_bed_raw = temp2analogBed(code_value()); codenum = millis(); - while(current_bed_raw < target_bed_raw) { + while(current_bed_raw < target_bed_raw) + { if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. { - tt=analog2temp(current_raw); - Serial.print("T:"); - Serial.print( tt ); - Serial.print(" B:"); - Serial.println( analog2temp(current_bed_raw) ); + hotendtC=analog2temp(current_raw); + showString(PSTR("T:")); + Serial.print( hotendtC ); + showString(PSTR(" B:")); + Serial.println( analog2tempBed(current_bed_raw) ); codenum = millis(); } - manage_heater(); + manage_heater(); } #endif break; #if FAN_PIN > -1 case 106: //M106 Fan On - if (code_seen('S')){ + if (code_seen('S')) + { WRITE(FAN_PIN, HIGH); - analogWrite(FAN_PIN, constrain(code_value(),0,255) ); + //analogWrite(FAN_PIN, constrain(code_value(),0,255) ); } - else { + else + { WRITE(FAN_PIN, HIGH); - analogWrite(FAN_PIN, 255 ); + //analogWrite(FAN_PIN, 255 ); } break; case 107: //M107 Fan Off - analogWrite(FAN_PIN, 0); + //analogWrite(FAN_PIN, 0); WRITE(FAN_PIN, LOW); break; #endif @@ -921,82 +1517,195 @@ inline void process_commands() axis_relative_modes[3] = true; break; case 84: - if(code_seen('S')){ stepper_inactive_time = code_value() * 1000; } - else{ disable_x(); disable_y(); disable_z(); disable_e(); } + st_synchronize(); // wait for all movements to finish + if(code_seen('S')) + { + stepper_inactive_time = code_value() * 1000; + } + else + { + disable_x(); + disable_y(); + disable_z(); + disable_e(); + } break; case 85: // M85 code_seen('S'); max_inactive_time = code_value() * 1000; break; case 92: // M92 - for(int i=0; i < NUM_AXIS; i++) { + for(int i=0; i < NUM_AXIS; i++) + { if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value(); } - #ifdef RAMP_ACCELERATION - setup_acceleration(); - #endif - + // Update start speed intervals and axis order. TODO: refactor axis_max_interval[] calculation into a function, as it + // should also be used in setup() as well +// long temp_max_intervals[NUM_AXIS]; +// 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]);//TODO: do this for +// all steps_per_unit related variables +// } break; case 115: // M115 - Serial.print("FIRMWARE_NAME:Sprinter FIRMWARE_URL:http%%3A/github.com/kliment/Sprinter/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 UUID:"); - Serial.println(uuid); + showString(PSTR("FIRMWARE_NAME: Sprinter Experimental PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\r\n")); + //Serial.println(uuid); + showString(PSTR(_DEF_CHAR_UUID)); + showString(PSTR("\r\n")); break; case 114: // M114 - Serial.print("X:"); + showString(PSTR("X:")); Serial.print(current_position[0]); - Serial.print("Y:"); + showString(PSTR("Y:")); Serial.print(current_position[1]); - Serial.print("Z:"); + showString(PSTR("Z:")); Serial.print(current_position[2]); - Serial.print("E:"); + showString(PSTR("E:")); Serial.println(current_position[3]); break; case 119: // M119 + #if (X_MIN_PIN > -1) - Serial.print("x_min:"); - Serial.print((READ(X_MIN_PIN)^X_ENDSTOP_INVERT)?"H ":"L "); + showString(PSTR("x_min:")); + Serial.print((READ(X_MIN_PIN)^X_ENDSTOP_INVERT)?"H ":"L "); #endif #if (X_MAX_PIN > -1) - Serial.print("x_max:"); - Serial.print((READ(X_MAX_PIN)^X_ENDSTOP_INVERT)?"H ":"L "); + showString(PSTR("x_max:")); + Serial.print((READ(X_MAX_PIN)^X_ENDSTOP_INVERT)?"H ":"L "); #endif #if (Y_MIN_PIN > -1) - Serial.print("y_min:"); - Serial.print((READ(Y_MIN_PIN)^Y_ENDSTOP_INVERT)?"H ":"L "); + showString(PSTR("y_min:")); + Serial.print((READ(Y_MIN_PIN)^Y_ENDSTOP_INVERT)?"H ":"L "); #endif #if (Y_MAX_PIN > -1) - Serial.print("y_max:"); - Serial.print((READ(Y_MAX_PIN)^Y_ENDSTOP_INVERT)?"H ":"L "); + showString(PSTR("y_max:")); + Serial.print((READ(Y_MAX_PIN)^Y_ENDSTOP_INVERT)?"H ":"L "); #endif #if (Z_MIN_PIN > -1) - Serial.print("z_min:"); - Serial.print((READ(Z_MIN_PIN)^Z_ENDSTOP_INVERT)?"H ":"L "); + showString(PSTR("z_min:")); + Serial.print((READ(Z_MIN_PIN)^Z_ENDSTOP_INVERT)?"H ":"L "); #endif #if (Z_MAX_PIN > -1) - Serial.print("z_max:"); - Serial.print((READ(Z_MAX_PIN)^Z_ENDSTOP_INVERT)?"H ":"L "); + showString(PSTR("z_max:")); + Serial.print((READ(Z_MAX_PIN)^Z_ENDSTOP_INVERT)?"H ":"L "); #endif - Serial.println(""); + + showString(PSTR("\r\n")); break; - #ifdef RAMP_ACCELERATION - //TODO: update for all axis, use for loop case 201: // M201 - for(int i=0; i < NUM_AXIS; i++) { - if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; + + for(int8_t i=0; i < NUM_AXIS; i++) + { + if(code_seen(axis_codes[i])) + { + max_acceleration_units_per_sq_second[i] = code_value(); + axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; + } } - break; + + #if 0 // Not used for Sprinter/grbl gen6 case 202: // M202 - for(int i=0; i < NUM_AXIS; i++) { + for(int i=0; i < NUM_AXIS; i++) + { if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; } break; + #else + case 202: // M202 max feedrate mm/sec + for(int8_t i=0; i < NUM_AXIS; i++) + { + if(code_seen(axis_codes[i])) max_feedrate[i] = code_value(); + } + break; #endif + case 203: // M203 Temperature monitor + if(code_seen('S')) manage_monitor = code_value(); + if(manage_monitor==100) manage_monitor=1; // Set 100 to heated bed + break; + case 204: // M204 acclereration S normal moves T filmanent only moves + if(code_seen('S')) move_acceleration = code_value() ; + if(code_seen('T')) retract_acceleration = code_value() ; + break; + case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk + if(code_seen('S')) minimumfeedrate = code_value(); + if(code_seen('T')) mintravelfeedrate = code_value(); + //if(code_seen('B')) minsegmenttime = code_value() ; + if(code_seen('X')) max_xy_jerk = code_value() ; + if(code_seen('Z')) max_z_jerk = code_value() ; + break; + case 220: // M220 S<factor in percent>- set speed factor override percentage + { + if(code_seen('S')) + { + feedmultiply = code_value() ; + if(feedmultiply < 20) feedmultiply = 20; + if(feedmultiply > 200) feedmultiply = 200; + feedmultiplychanged=true; + } + } + break; +#ifdef USE_EEPROM_SETTINGS + case 500: // Store settings in EEPROM + { + EEPROM_StoreSettings(); + } + break; + case 501: // Read settings from EEPROM + { + EEPROM_RetrieveSettings(false,true); + } + break; + case 502: // Revert to default settings + { + EEPROM_RetrieveSettings(true,true); + } + break; + case 503: // print settings currently in memory + { + EEPROM_printSettings(); + } + break; +#endif +#ifdef DEBUG_HEATER_TEMP + case 601: // M601 show Extruder Temp jitter + #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675)|| defined HEATER_USES_AD595 + if(current_raw_maxval > 0) + tt_maxval = analog2temp(current_raw_maxval); + if(current_raw_minval < 10000) + tt_minval = analog2temp(current_raw_minval); + #endif + + showString(PSTR("Tmin:")); + Serial.print(tt_minval); + showString(PSTR(" / Tmax:")); + Serial.print(tt_maxval); + showString(PSTR(" ")); + break; + case 602: // M602 reset Extruder Temp jitter + current_raw_minval = 32000; + current_raw_maxval = -32000; + + showString(PSTR("T Minmax Reset ")); + break; +#endif + case 603: // M603 Free RAM + showString(PSTR("Free Ram: ")); + Serial.println(FreeRam1()); + break; + default: + #ifdef SEND_WRONG_CMD_INFO + showString(PSTR("Unknown M-COM:")); + Serial.println(cmdbuffer[bufindr]); + #endif + break; + } } else{ - Serial.println("Unknown command:"); + showString(PSTR("Unknown command:\r\n")); Serial.println(cmdbuffer[bufindr]); } @@ -1004,11 +1713,13 @@ inline void process_commands() } + + void FlushSerialRequestResend() { //char cmdbuffer[bufindr][100]="Resend:"; Serial.flush(); - Serial.print("Resend:"); + showString(PSTR("Resend:")); Serial.println(gcode_LastN + 1); ClearToSend(); } @@ -1020,724 +1731,1368 @@ void ClearToSend() if(fromsd[bufindr]) return; #endif - Serial.println("ok"); + showString(PSTR("ok\r\n")); + //Serial.println("ok"); } -inline void get_coordinates() +FORCE_INLINE void get_coordinates() { - for(int i=0; i < NUM_AXIS; i++) { + for(int i=0; i < NUM_AXIS; i++) + { if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i]; else destination[i] = current_position[i]; //Are these else lines really needed? } - if(code_seen('F')) { + + if(code_seen('F')) + { next_feedrate = code_value(); if(next_feedrate > 0.0) feedrate = next_feedrate; } } +#ifdef USE_ARC_FUNCTION +FORCE_INLINE void get_arc_coordinates() +{ + get_coordinates(); + if(code_seen('I')) offset[0] = code_value(); + if(code_seen('J')) offset[1] = code_value(); +} +#endif + + void prepare_move() { - //Find direction - for(int i=0; i < NUM_AXIS; i++) { - if(destination[i] >= current_position[i]) move_direction[i] = 1; - else move_direction[i] = 0; - } - - - if (min_software_endstops) { - if (destination[0] < 0) destination[0] = 0.0; - if (destination[1] < 0) destination[1] = 0.0; - if (destination[2] < 0) destination[2] = 0.0; - } - - if (max_software_endstops) { - if (destination[0] > X_MAX_LENGTH) destination[0] = X_MAX_LENGTH; - if (destination[1] > Y_MAX_LENGTH) destination[1] = Y_MAX_LENGTH; - if (destination[2] > Z_MAX_LENGTH) destination[2] = Z_MAX_LENGTH; - } - - for(int i=0; i < NUM_AXIS; i++) { - axis_diff[i] = destination[i] - current_position[i]; - move_steps_to_take[i] = abs(axis_diff[i]) * axis_steps_per_unit[i]; - } - if(feedrate < 10) - feedrate = 10; - - //Feedrate calc based on XYZ travel distance - float xy_d; - //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]); - //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 - - 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++) { - if(move_steps_to_take[i] && abs(axis_diff[i]) / (time_for_move / 60000000.0) > max_feedrate[i]) { - time_for_move = time_for_move / max_feedrate[i] * (abs(axis_diff[i]) / (time_for_move / 60000000.0)); - } + long help_feedrate = 0; + + if (min_software_endstops) + { + if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0; + if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0; + if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0; } - //Calculate the full speed stepper interval for each axis - for(int i=0; i < NUM_AXIS; i++) { - if(move_steps_to_take[i]) axis_interval[i] = time_for_move / move_steps_to_take[i] * 100; + + if (max_software_endstops) + { + if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH; + if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH; + if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH; } - - #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_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); - log_ulong_array("_PREPARE_MOVE - Steps to take", move_steps_to_take, NUM_AXIS); - log_long_array("_PREPARE_MOVE - Axes full speed intervals", axis_interval, NUM_AXIS); - #endif - unsigned long move_steps[NUM_AXIS]; + help_feedrate = ((long)feedrate*(long)feedmultiply); + plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], help_feedrate/6000.0); + for(int i=0; i < NUM_AXIS; i++) - move_steps[i] = move_steps_to_take[i]; - linear_move(move_steps); // make the move + { + current_position[i] = destination[i]; + } } -inline void linear_move(unsigned long axis_steps_remaining[]) // make linear move with preset speeds and destinations, see G0 and G1 + +#ifdef USE_ARC_FUNCTION +void prepare_arc_move(char isclockwise) { - //Determine direction of movement - 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) != X_ENDSTOP_INVERT) axis_steps_remaining[0]=0; - #endif - #if (Y_MIN_PIN > -1) - if(!move_direction[1]) if(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT) axis_steps_remaining[1]=0; - #endif - #if (Z_MIN_PIN > -1) - if(!move_direction[2]) if(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT) axis_steps_remaining[2]=0; - #endif - #if (X_MAX_PIN > -1) - if(move_direction[0]) if(READ(X_MAX_PIN) != X_ENDSTOP_INVERT) axis_steps_remaining[0]=0; - #endif - #if (Y_MAX_PIN > -1) - if(move_direction[1]) if(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT) axis_steps_remaining[1]=0; - #endif - # if(Z_MAX_PIN > -1) - if(move_direction[2]) if(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT) axis_steps_remaining[2]=0; - #endif + + float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc + long help_feedrate = 0; + + help_feedrate = ((long)feedrate*(long)feedmultiply); + // Trace the arc + mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, help_feedrate/6000.0, r, isclockwise); - //Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration. - // TODO: maybe it's better to refactor into a generic enable(int axis) function, that will probably take more ram, - // but will reduce code size - if(axis_steps_remaining[0]) enable_x(); - if(axis_steps_remaining[1]) enable_y(); - if(axis_steps_remaining[2]) enable_z(); - if(axis_steps_remaining[3]) enable_e(); - - //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]; - 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; - steps_taken[i]=0; - } - interval = axis_interval[primary_axis]; - bool is_print_move = delta[3] > 0; - #ifdef DEBUG_BRESENHAM - log_int("_BRESENHAM - Primary axis", primary_axis); - log_int("_BRESENHAM - Primary axis full speed interval", interval); - log_ulong_array("_BRESENHAM - Deltas", delta, NUM_AXIS); - log_long_array("_BRESENHAM - Errors", axis_error, NUM_AXIS); - #endif + // As far as the parser is concerned, the position is now == target. In reality the + // motion control system might still be processing the action and the real tool position + // in any intermediate location. + for(int8_t i=0; i < NUM_AXIS; i++) + { + current_position[i] = destination[i]; + } +} +#endif - //If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it. - #ifdef RAMP_ACCELERATION - long max_speed_steps_per_second; - long min_speed_steps_per_second; - max_interval = axis_max_interval[primary_axis]; - #ifdef DEBUG_RAMP_ACCELERATION - log_ulong_array("_RAMP_ACCELERATION - Teoric step intervals at move start", axis_max_interval, NUM_AXIS); - #endif - unsigned long new_axis_max_intervals[NUM_AXIS]; - max_speed_steps_per_second = 100000000 / interval; - min_speed_steps_per_second = 100000000 / max_interval; //TODO: can this be deleted? - //Calculate start speeds based on moving axes max start speed constraints. - 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) { - slowest_start_axis = i; - slowest_start_axis_max_interval = axis_max_interval[i]; - } - for(int i = 0; i < NUM_AXIS; i++) - if(axis_steps_remaining[i] >0) { - // multiplying slowest_start_axis_max_interval by axis_steps_remaining[slowest_start_axis] - // could lead to overflows when we have long distance moves (say, 390625*390625 > sizeof(unsigned long)) - float steps_remaining_ratio = (float) axis_steps_remaining[slowest_start_axis] / axis_steps_remaining[i]; - new_axis_max_intervals[i] = slowest_start_axis_max_interval * steps_remaining_ratio; - - if(i == primary_axis) { - max_interval = new_axis_max_intervals[i]; - min_speed_steps_per_second = 100000000 / max_interval; - } - } - //Calculate slowest axis plateau time - float slowest_axis_plateau_time = 0; - for(int i=0; i < NUM_AXIS ; i++) { - if(axis_steps_remaining[i] > 0) { - if(is_print_move && axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time, - (100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_steps_per_sqr_second[i]); - else if(axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time, - (100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_travel_steps_per_sqr_second[i]); - } - } - //Now we can calculate the new primary axis acceleration, so that the slowest axis max acceleration is not violated - steps_per_sqr_second = (100000000.0 / axis_interval[primary_axis] - 100000000.0 / new_axis_max_intervals[primary_axis]) / slowest_axis_plateau_time; - plateau_steps = (long) ((steps_per_sqr_second / 2.0 * slowest_axis_plateau_time + min_speed_steps_per_second) * slowest_axis_plateau_time); - #ifdef DEBUG_RAMP_ACCELERATION - log_int("_RAMP_ACCELERATION - Start speed limiting axis", slowest_start_axis); - log_ulong("_RAMP_ACCELERATION - Limiting axis start interval", slowest_start_axis_max_interval); - log_ulong_array("_RAMP_ACCELERATION - Actual step intervals at move start", new_axis_max_intervals, NUM_AXIS); - #endif +FORCE_INLINE void kill() +{ + #if TEMP_0_PIN > -1 + target_raw=0; + WRITE(HEATER_0_PIN,LOW); #endif - unsigned long steps_done = 0; - #ifdef RAMP_ACCELERATION - plateau_steps *= 1.01; // This is to compensate we use discrete intervals - acceleration_enabled = true; - unsigned long full_interval = interval; - if(interval > max_interval) acceleration_enabled = false; - boolean decelerating = false; + #if TEMP_1_PIN > -1 + target_bed_raw=0; + if(HEATER_1_PIN > -1) WRITE(HEATER_1_PIN,LOW); #endif + + disable_x(); + disable_y(); + disable_z(); + disable_e(); + + if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); - unsigned long start_move_micros = micros(); - for(int i = 0; i < NUM_AXIS; i++) { - axis_previous_micros[i] = start_move_micros * 100; +} + +FORCE_INLINE void manage_inactivity(byte debug) +{ + if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill(); + + if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) + { + disable_x(); + disable_y(); + disable_z(); + disable_e(); } + check_axes_activity(); +} - #ifdef DISABLE_CHECK_DURING_TRAVEL - //If the move time is more than allowed in DISABLE_CHECK_DURING_TRAVEL, let's - // consider this a print move and perform heat management during it - if(time_for_move / 1000 > DISABLE_CHECK_DURING_TRAVEL) is_print_move = true; - //else, if the move is a retract, consider it as a travel move for the sake of this feature - else if(delta[3]>0 && delta[0] + delta[1] + delta[2] == 0) is_print_move = false; - #ifdef DEBUG_DISABLE_CHECK_DURING_TRAVEL - log_bool("_DISABLE_CHECK_DURING_TRAVEL - is_print_move", is_print_move); - #endif - #endif - #ifdef DEBUG_MOVE_TIME - unsigned long startmove = micros(); - #endif + + +// Planner with Interrupt for Stepper + +/* + Reasoning behind the mathematics in this module (in the key of 'Mathematica'): + + s == speed, a == acceleration, t == time, d == distance + + Basic definitions: + + Speed[s_, a_, t_] := s + (a*t) + Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t] + + Distance to reach a specific speed with a constant acceleration: + + Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t] + d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance() + + Speed after a given distance of travel with constant acceleration: + + Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t] + m -> Sqrt[2 a d + s^2] + + DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2] + + When to start braking (di) to reach a specified destionation speed (s2) after accelerating + from initial speed s1 without ever stopping at a plateau: + + Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di] + di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance() + + IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a) + */ + + +static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions +static volatile unsigned char block_buffer_head; // Index of the next block to be pushed +static volatile unsigned char block_buffer_tail; // Index of the block to process now + +//=========================================================================== +//=============================private variables ============================ +//=========================================================================== + +// Returns the index of the next block in the ring buffer +// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication. +static int8_t next_block_index(int8_t block_index) { + block_index++; + if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; } + return(block_index); +} + + +// Returns the index of the previous block in the ring buffer +static int8_t prev_block_index(int8_t block_index) { + if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; } + block_index--; + return(block_index); +} + +// The current position of the tool in absolute steps +static long position[4]; +static float previous_speed[4]; // Speed of previous path line segment +static float previous_nominal_speed; // Nominal speed of previous path line segment + + +// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the +// given acceleration: +FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) +{ + if (acceleration!=0) { + return((target_rate*target_rate-initial_rate*initial_rate)/ + (2.0*acceleration)); + } + else { + return 0.0; // acceleration was 0, set acceleration distance to 0 + } +} + +// This function gives you the point at which you must start braking (at the rate of -acceleration) if +// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after +// a total travel of distance. This can be used to compute the intersection point between acceleration and +// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) + +FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) +{ + if (acceleration!=0) { + return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/ + (4.0*acceleration) ); + } + else { + return 0.0; // acceleration was 0, set intersection distance to 0 + } +} + +// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. + +void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) { + unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min) + unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min) + + // Limit minimal step rate (Otherwise the timer will overflow.) + if(initial_rate <120) {initial_rate=120; } + if(final_rate < 120) {final_rate=120; } - //move until no more steps remain - while(axis_steps_remaining[0] + axis_steps_remaining[1] + axis_steps_remaining[2] + axis_steps_remaining[3] > 0) { - #if defined RAMP_ACCELERATION && defined DISABLE_CHECK_DURING_ACC - if(!accelerating && !decelerating) { - //If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp - #ifdef DISABLE_CHECK_DURING_TRAVEL - if(is_print_move) - #endif - manage_heater(); - } - #else - #ifdef DISABLE_CHECK_DURING_MOVE - {} //Do nothing - #else - //If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp - #ifdef DISABLE_CHECK_DURING_TRAVEL - if(is_print_move) - #endif - manage_heater(); - #endif - #endif - #ifdef RAMP_ACCELERATION - //If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval - if (acceleration_enabled && steps_done == 0) { - interval = max_interval; - } else if (acceleration_enabled && steps_done <= plateau_steps) { - long current_speed = (long) ((((long) steps_per_sqr_second) / 100) - * ((micros() - start_move_micros) / 100)/100 + (long) min_speed_steps_per_second); - interval = 100000000 / current_speed; - if (interval < full_interval) { - accelerating = false; - interval = full_interval; - } - if (steps_done >= steps_to_take / 2) { - plateau_steps = steps_done; - max_speed_steps_per_second = 100000000 / interval; - accelerating = false; + long acceleration = block->acceleration_st; + int32_t accelerate_steps = + ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration)); + int32_t decelerate_steps = + floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration)); + + // Calculate the size of Plateau of Nominal Rate. + int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps; + + // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will + // have to use intersection_distance() to calculate when to abort acceleration and start braking + // in order to reach the final_rate exactly at the end of this block. + if (plateau_steps < 0) { + accelerate_steps = ceil( + intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count)); + accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off + accelerate_steps = min(accelerate_steps,block->step_event_count); + plateau_steps = 0; + } + + #ifdef ADVANCE + volatile long initial_advance = block->advance*entry_factor*entry_factor; + volatile long final_advance = block->advance*exit_factor*exit_factor; + #endif // ADVANCE + + // block->accelerate_until = accelerate_steps; + // block->decelerate_after = accelerate_steps+plateau_steps; + CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section + if(block->busy == false) { // Don't update variables if block is busy. + block->accelerate_until = accelerate_steps; + block->decelerate_after = accelerate_steps+plateau_steps; + block->initial_rate = initial_rate; + block->final_rate = final_rate; + #ifdef ADVANCE + block->initial_advance = initial_advance; + block->final_advance = final_advance; + #endif //ADVANCE + } + CRITICAL_SECTION_END; +} + +// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the +// acceleration within the allotted distance. +FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) { + return sqrt(target_velocity*target_velocity-2*acceleration*distance); +} + +// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks. +// This method will calculate the junction jerk as the euclidean distance between the nominal +// velocities of the respective blocks. +//inline float junction_jerk(block_t *before, block_t *after) { +// return sqrt( +// pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2)); +//} + + + +// The kernel called by planner_recalculate() when scanning the plan from last to first entry. +void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) { + if(!current) { return; } + + if (next) { + // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. + // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and + // check for maximum allowable speed reductions to ensure maximum possible planned speed. + if (current->entry_speed != current->max_entry_speed) { + + // If nominal length true, max junction speed is guaranteed to be reached. Only compute + // for max allowable speed if block is decelerating and nominal length is false. + if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) { + current->entry_speed = min( current->max_entry_speed, + max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters)); + } else { + current->entry_speed = current->max_entry_speed; } - } else if (acceleration_enabled && steps_remaining <= plateau_steps) { //(interval > minInterval * 100) { - if (!accelerating) { - start_move_micros = micros(); - accelerating = true; - decelerating = true; - } - long current_speed = (long) ((long) max_speed_steps_per_second - ((((long) steps_per_sqr_second) / 100) - * ((micros() - start_move_micros) / 100)/100)); - interval = 100000000 / current_speed; - if (interval > max_interval) - interval = max_interval; - } else { - //Else, we are just use the full speed interval as current interval - interval = full_interval; - accelerating = false; + current->recalculate_flag = true; + } - #endif + } // Skip last block. Already initialized and set for recalculation. +} - //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(READ(X_MIN_PIN) != X_ENDSTOP_INVERT) 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) != Y_ENDSTOP_INVERT) 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) != X_ENDSTOP_INVERT) 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) != Y_ENDSTOP_INVERT) 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) != Z_ENDSTOP_INVERT) 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) != Z_ENDSTOP_INVERT) 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]; - 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(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) { - do_step(i); axis_steps_remaining[i]--; - axis_error[i] = axis_error[i] + delta[primary_axis]; - } - } - #ifdef STEP_DELAY_RATIO - if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000); - #endif - #ifdef STEP_DELAY_MICROS - if(timediff >= interval) delayMicroseconds(STEP_DELAY_MICROS); - #endif - } +// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This +// implements the reverse pass. +void planner_reverse_pass() { + uint8_t block_index = block_buffer_head; + if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) { + block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1); + block_t *block[3] = { NULL, NULL, NULL }; + while(block_index != block_buffer_tail) { + block_index = prev_block_index(block_index); + block[2]= block[1]; + block[1]= block[0]; + block[0] = &block_buffer[block_index]; + planner_reverse_pass_kernel(block[0], block[1], block[2]); } } - #ifdef DEBUG_MOVE_TIME - log_ulong("_MOVE_TIME - This move took", micros()-startmove); - #endif +} + + +// The kernel called by planner_recalculate() when scanning the plan from first to last entry. +void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) { + if(!previous) { return; } - if(DISABLE_X) disable_x(); - if(DISABLE_Y) disable_y(); - if(DISABLE_Z) disable_z(); - if(DISABLE_E) disable_e(); + // If the previous block is an acceleration block, but it is not long enough to complete the + // full speed change within the block, we need to adjust the entry speed accordingly. Entry + // speeds have already been reset, maximized, and reverse planned by reverse planner. + // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck. + if (!previous->nominal_length_flag) { + if (previous->entry_speed < current->entry_speed) { + double entry_speed = min( current->entry_speed, + max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) ); + + // Check for junction speed change + if (current->entry_speed != entry_speed) { + current->entry_speed = entry_speed; + current->recalculate_flag = true; + } + } + } +} + +// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This +// implements the forward pass. +void planner_forward_pass() { + uint8_t block_index = block_buffer_tail; + block_t *block[3] = { NULL, NULL, NULL }; + + while(block_index != block_buffer_head) { + block[0] = block[1]; + block[1] = block[2]; + block[2] = &block_buffer[block_index]; + planner_forward_pass_kernel(block[0],block[1],block[2]); + block_index = next_block_index(block_index); + } + planner_forward_pass_kernel(block[1], block[2], NULL); +} + +// Recalculates the trapezoid speed profiles for all blocks in the plan according to the +// entry_factor for each junction. Must be called by planner_recalculate() after +// updating the blocks. +void planner_recalculate_trapezoids() { + int8_t block_index = block_buffer_tail; + block_t *current; + block_t *next = NULL; - // 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] + steps_taken[i] / axis_steps_per_unit[i]; - else current_position[i] = current_position[i] - steps_taken[i] / axis_steps_per_unit[i]; + while(block_index != block_buffer_head) { + current = next; + next = &block_buffer[block_index]; + if (current) { + // Recalculate if current block entry or exit junction speed has changed. + if (current->recalculate_flag || next->recalculate_flag) { + // NOTE: Entry and exit factors always > 0 by all previous logic operations. + calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed, + next->entry_speed/current->nominal_speed); + current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed + } + } + block_index = next_block_index( block_index ); + } + // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated. + if(next != NULL) { + calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed, + MINIMUM_PLANNER_SPEED/next->nominal_speed); + next->recalculate_flag = false; } } -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); +// Recalculates the motion plan according to the following algorithm: +// +// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor) +// so that: +// a. The junction jerk is within the set limit +// b. No speed reduction within one block requires faster deceleration than the one, true constant +// acceleration. +// 2. Go over every block in chronological order and dial down junction speed reduction values if +// a. The speed increase within one block would require faster accelleration than the one, true +// constant acceleration. +// +// When these stages are complete all blocks have an entry_factor that will allow all speed changes to +// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than +// the set limit. Finally it will: +// +// 3. Recalculate trapezoids for all blocks. + +void planner_recalculate() { + planner_reverse_pass(); + planner_forward_pass(); + planner_recalculate_trapezoids(); } -#define HEAT_INTERVAL 250 -#ifdef HEATER_USES_MAX6675 -unsigned long max6675_previous_millis = 0; -int max6675_temp = 2000; +void plan_init() { + block_buffer_head = 0; + block_buffer_tail = 0; + memset(position, 0, sizeof(position)); // clear position + previous_speed[0] = 0.0; + previous_speed[1] = 0.0; + previous_speed[2] = 0.0; + previous_speed[3] = 0.0; + previous_nominal_speed = 0.0; +} + + + +FORCE_INLINE void plan_discard_current_block() { + if (block_buffer_head != block_buffer_tail) { + block_buffer_tail = (block_buffer_tail + 1) & BLOCK_BUFFER_MASK; + } +} + +FORCE_INLINE block_t *plan_get_current_block() { + if (block_buffer_head == block_buffer_tail) { + return(NULL); + } + block_t *block = &block_buffer[block_buffer_tail]; + block->busy = true; + return(block); +} + +// Gets the current block. Returns NULL if buffer empty +FORCE_INLINE bool blocks_queued() +{ + if (block_buffer_head == block_buffer_tail) { + return false; + } + else + return true; +} + +void check_axes_activity() { + unsigned char x_active = 0; + unsigned char y_active = 0; + unsigned char z_active = 0; + unsigned char e_active = 0; + block_t *block; + + if(block_buffer_tail != block_buffer_head) { + uint8_t block_index = block_buffer_tail; + while(block_index != block_buffer_head) { + block = &block_buffer[block_index]; + if(block->steps_x != 0) x_active++; + if(block->steps_y != 0) y_active++; + if(block->steps_z != 0) z_active++; + if(block->steps_e != 0) e_active++; + block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); + } + } + if((DISABLE_X) && (x_active == 0)) disable_x(); + if((DISABLE_Y) && (y_active == 0)) disable_y(); + if((DISABLE_Z) && (z_active == 0)) disable_z(); + if((DISABLE_E) && (e_active == 0)) disable_e(); +} -int read_max6675() + +float junction_deviation = 0.1; +// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in +// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration +// calculation the caller must also provide the physical length of the line in millimeters. +void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { - if (millis() - max6675_previous_millis < HEAT_INTERVAL) - return max6675_temp; + // Calculate the buffer head after we push this byte + int next_buffer_head = next_block_index(block_buffer_head); + + // If the buffer is full: good! That means we are well ahead of the robot. + // Rest here until there is room in the buffer. + while(block_buffer_tail == next_buffer_head) { + manage_heater(); + manage_inactivity(1); + } + + // The target position of the tool in absolute steps + // Calculate target position in absolute steps + //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow + long target[4]; + target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); + target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); + target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); + target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); + + // Prepare to set up new block + block_t *block = &block_buffer[block_buffer_head]; + + // Mark block as not busy (Not executed by the stepper interrupt) + block->busy = false; + + // Number of steps for each axis + block->steps_x = labs(target[X_AXIS]-position[X_AXIS]); + block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]); + block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); + block->steps_e = labs(target[E_AXIS]-position[E_AXIS]); + block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e))); + + // Bail if this is a zero-length block + if (block->step_event_count <=dropsegments) { return; }; + + // Compute direction bits for this block + block->direction_bits = 0; + if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); } + if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); } + if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); } + if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); } - max6675_previous_millis = millis(); - max6675_temp = 0; - - #ifdef PRR - PRR &= ~(1<<PRSPI); - #elif defined PRR0 - PRR0 &= ~(1<<PRSPI); - #endif + #ifdef DELAY_ENABLE + if(block->steps_x != 0) + { + enable_x(); + delayMicroseconds(DELAY_ENABLE); + } + if(block->steps_y != 0) + { + enable_y(); + delayMicroseconds(DELAY_ENABLE); + } + if(if(block->steps_z != 0)) + { + enable_z(); + delayMicroseconds(DELAY_ENABLE); + } + if(if(block->steps_e != 0)) + { + enable_e(); + delayMicroseconds(DELAY_ENABLE); + } + #else + //enable active axes + if(block->steps_x != 0) enable_x(); + if(block->steps_y != 0) enable_y(); + if(block->steps_z != 0) enable_z(); + if(block->steps_e != 0) enable_e(); + #endif + + if (block->steps_e == 0) { + if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate; + } + else { + if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate; + } + + // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill + int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); +#ifdef SLOWDOWN + if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); +#endif + + float delta_mm[4]; + delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS]; + delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]; + delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; + delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS]; - SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0); + if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) { + block->millimeters = fabs(delta_mm[E_AXIS]); + } else { + block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])); + } - // enable TT_MAX6675 - WRITE(MAX6675_SS, 0); + float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides - // ensure 100ns delay - a bit extra is fine - delay(1); + // Calculate speed in mm/second for each axis. No divide by zero due to previous checks. + float inverse_second = feed_rate * inverse_millimeters; - // read MSB - SPDR = 0; - for (;(SPSR & (1<<SPIF)) == 0;); - max6675_temp = SPDR; - max6675_temp <<= 8; + block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0 + block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0 + - // read LSB - SPDR = 0; - for (;(SPSR & (1<<SPIF)) == 0;); - max6675_temp |= SPDR; + + - // disable TT_MAX6675 - WRITE(MAX6675_SS, 1); +/* + // segment time im micro seconds + long segment_time = lround(1000000.0/inverse_second); + if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) { + if (segment_time<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more. + segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount); + } + } + else { + if (segment_time<minsegmenttime) segment_time=minsegmenttime; + } + // END OF SLOW DOWN SECTION +*/ - if (max6675_temp & 4) - { - // thermocouple open - max6675_temp = 2000; + + // Calculate speed in mm/sec for each axis + float current_speed[4]; + for(int i=0; i < 4; i++) { + current_speed[i] = delta_mm[i] * inverse_second; } - else - { - max6675_temp = max6675_temp >> 3; + + // Limit speed per axis + float speed_factor = 1.0; //factor <=1 do decrease speed + for(int i=0; i < 4; i++) { + if(fabs(current_speed[i]) > max_feedrate[i]) + speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i])); } - return max6675_temp; -} -#endif + // Correct the speed + if( speed_factor < 1.0) { +// Serial.print("speed factor : "); Serial.println(speed_factor); + for(int i=0; i < 4; i++) { + if(fabs(current_speed[i]) > max_feedrate[i]) + speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i])); + /* + if(speed_factor < 0.1) { + Serial.print("speed factor : "); Serial.println(speed_factor); + Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]); + } + */ + } + for(unsigned char i=0; i < 4; i++) { + current_speed[i] *= speed_factor; + } + block->nominal_speed *= speed_factor; + block->nominal_rate *= speed_factor; + } -#ifdef CONTROLLERFAN_PIN -unsigned long lastMotor = 0; //Save the time for when a motor was turned on last -unsigned long lastMotorCheck = 0; + // Compute and limit the acceleration rate for the trapezoid generator. + float steps_per_mm = block->step_event_count/block->millimeters; + if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) { + block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 + } + else { + block->acceleration_st = ceil(move_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 + // Limit acceleration per axis + if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; + if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; + if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; + if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; + } + block->acceleration = block->acceleration_st / steps_per_mm; + block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608); + +#if 0 // Use old jerk for now + // Compute path unit vector + double unit_vec[3]; -void controllerFan() -{ - if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms - { - lastMotorCheck = millis(); - - if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || !READ(E_ENABLE_PIN)) //If any of the drivers are enabled... - { - lastMotor = millis(); //... set time to NOW so the fan will turn on + unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters; + unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters; + unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters; + + // Compute maximum allowable entry speed at junction by centripetal acceleration approximation. + // Let a circle be tangent to both previous and current path line segments, where the junction + // deviation is defined as the distance from the junction to the closest edge of the circle, + // colinear with the circle center. The circular segment joining the two paths represents the + // path of centripetal acceleration. Solve for max velocity based on max acceleration about the + // radius of the circle, defined indirectly by junction deviation. This may be also viewed as + // path width or max_jerk in the previous grbl version. This approach does not actually deviate + // from path, but used as a robust way to compute cornering speeds, as it takes into account the + // nonlinearities of both the junction angle and junction velocity. + double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed + + // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles. + if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) { + // Compute cosine of angle between previous and current path. (prev_unit_vec is negative) + // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity. + double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS] + - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS] + - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ; + + // Skip and use default max junction speed for 0 degree acute junction. + if (cos_theta < 0.95) { + vmax_junction = min(previous_nominal_speed,block->nominal_speed); + // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds. + if (cos_theta > -0.95) { + // Compute maximum junction velocity based on maximum acceleration and junction deviation + double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive. + vmax_junction = min(vmax_junction, + sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) ); + } + } + } +#endif + // Start with a safe speed + float vmax_junction = max_xy_jerk/2; + if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) + vmax_junction = max_z_jerk/2; + vmax_junction = min(vmax_junction, block->nominal_speed); + + if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) { + float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2)); + if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) { + vmax_junction = block->nominal_speed; } + if (jerk > max_xy_jerk) { + vmax_junction *= (max_xy_jerk/jerk); + } + if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) { + vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])); + } + } + block->max_entry_speed = vmax_junction; - if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC... - { - WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off + // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. + double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters); + block->entry_speed = min(vmax_junction, v_allowable); + + // Initialize planner efficiency flags + // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. + // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then + // the current block and next block junction speeds are guaranteed to always be at their maximum + // junction speeds in deceleration and acceleration, respectively. This is due to how the current + // block nominal speed limits both the current and next maximum junction speeds. Hence, in both + // the reverse and forward planners, the corresponding block junction speed will always be at the + // the maximum junction speed and may always be ignored for any speed reduction checks. + if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; } + else { block->nominal_length_flag = false; } + block->recalculate_flag = true; // Always calculate trapezoid for new block + + // Update previous path unit_vector and nominal speed + memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[] + previous_nominal_speed = block->nominal_speed; + + #ifdef ADVANCE + // Calculate advance rate + if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) { + block->advance_rate = 0; + block->advance = 0; } - else + else { + long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st); + float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * + (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256; + block->advance = advance; + if(acc_dist == 0) { + block->advance_rate = 0; + } + else { + block->advance_rate = advance / (float)acc_dist; + } + } + + #endif // ADVANCE + + + + + calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed, + MINIMUM_PLANNER_SPEED/block->nominal_speed); + + // Move buffer head + block_buffer_head = next_buffer_head; + + // Update position + memcpy(position, target, sizeof(target)); // position[] = target[] + + planner_recalculate(); + #ifdef AUTOTEMP + getHighESpeed(); + #endif + st_wake_up(); +} + +void plan_set_position(float x, float y, float z, float e) +{ + position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); + position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); + position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); + position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); + + previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. + previous_speed[0] = 0.0; + previous_speed[1] = 0.0; + previous_speed[2] = 0.0; + previous_speed[3] = 0.0; +} + +#ifdef AUTOTEMP +void getHighESpeed() +{ + static float oldt=0; + if(!autotemp_enabled) + return; + if((target_temp+2) < autotemp_min) //probably temperature set to zero. + return; //do nothing + + float high=0; + uint8_t block_index = block_buffer_tail; + + while(block_index != block_buffer_head) + { + float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate; + //se; units steps/sec; + if(se>high) { - WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on + high=se; } + block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); + } + + float t=autotemp_min+high*autotemp_factor; + + if(t<autotemp_min) + t=autotemp_min; + + if(t>autotemp_max) + t=autotemp_max; + + if(oldt>t) + { + t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t; } + oldt=t; + autotemp_setpoint = (int)t; + } #endif -void manage_heater() + + + +// Stepper + +// intRes = intIn1 * intIn2 >> 16 +// uses: +// r26 to store 0 +// r27 to store the byte 1 of the 24 bit result +#define MultiU16X8toH16(intRes, charIn1, intIn2) \ +asm volatile ( \ +"clr r26 \n\t" \ +"mul %A1, %B2 \n\t" \ +"movw %A0, r0 \n\t" \ +"mul %A1, %A2 \n\t" \ +"add %A0, r1 \n\t" \ +"adc %B0, r26 \n\t" \ +"lsr r0 \n\t" \ +"adc %A0, r26 \n\t" \ +"adc %B0, r26 \n\t" \ +"clr r1 \n\t" \ +: \ +"=&r" (intRes) \ +: \ +"d" (charIn1), \ +"d" (intIn2) \ +: \ +"r26" \ +) + +// intRes = longIn1 * longIn2 >> 24 +// uses: +// r26 to store 0 +// r27 to store the byte 1 of the 48bit result +#define MultiU24X24toH16(intRes, longIn1, longIn2) \ +asm volatile ( \ +"clr r26 \n\t" \ +"mul %A1, %B2 \n\t" \ +"mov r27, r1 \n\t" \ +"mul %B1, %C2 \n\t" \ +"movw %A0, r0 \n\t" \ +"mul %C1, %C2 \n\t" \ +"add %B0, r0 \n\t" \ +"mul %C1, %B2 \n\t" \ +"add %A0, r0 \n\t" \ +"adc %B0, r1 \n\t" \ +"mul %A1, %C2 \n\t" \ +"add r27, r0 \n\t" \ +"adc %A0, r1 \n\t" \ +"adc %B0, r26 \n\t" \ +"mul %B1, %B2 \n\t" \ +"add r27, r0 \n\t" \ +"adc %A0, r1 \n\t" \ +"adc %B0, r26 \n\t" \ +"mul %C1, %A2 \n\t" \ +"add r27, r0 \n\t" \ +"adc %A0, r1 \n\t" \ +"adc %B0, r26 \n\t" \ +"mul %B1, %A2 \n\t" \ +"add r27, r1 \n\t" \ +"adc %A0, r26 \n\t" \ +"adc %B0, r26 \n\t" \ +"lsr r27 \n\t" \ +"adc %A0, r26 \n\t" \ +"adc %B0, r26 \n\t" \ +"clr r1 \n\t" \ +: \ +"=&r" (intRes) \ +: \ +"d" (longIn1), \ +"d" (longIn2) \ +: \ +"r26" , "r27" \ +) + +// Some useful constants + +#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A) +#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A) + +#ifdef ENDSTOPS_ONLY_FOR_HOMING + #define CHECK_ENDSTOPS if(check_endstops) +#else + #define CHECK_ENDSTOPS +#endif + +static block_t *current_block; // A pointer to the block currently being traced + +// Variables used by The Stepper Driver Interrupt +static unsigned char out_bits; // The next stepping-bits to be output +static long counter_x, // Counter variables for the bresenham line tracer + counter_y, + counter_z, + counter_e; +static unsigned long step_events_completed; // The number of step events executed in the current block +#ifdef ADVANCE + static long advance_rate, advance, final_advance = 0; + static short old_advance = 0; +#endif +static short e_steps; +static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler. +static long acceleration_time, deceleration_time; +static unsigned short acc_step_rate; // needed for deccelaration start point +static char step_loops; +static unsigned short OCR1A_nominal; + +static volatile bool endstop_x_hit=false; +static volatile bool endstop_y_hit=false; +static volatile bool endstop_z_hit=false; + +static bool old_x_min_endstop=false; +static bool old_x_max_endstop=false; +static bool old_y_min_endstop=false; +static bool old_y_max_endstop=false; +static bool old_z_min_endstop=false; +static bool old_z_max_endstop=false; + +static bool check_endstops = true; + + + +// __________________________ +// /| |\ _________________ ^ +// / | | \ /| |\ | +// / | | \ / | | \ s +// / | | | | | \ p +// / | | | | | \ e +// +-----+------------------------+---+--+---------------+----+ e +// | BLOCK 1 | BLOCK 2 | d +// +// time -----> +// +// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates +// first block->accelerate_until step_events_completed, then keeps going at constant speed until +// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset. +// The slope of acceleration is calculated with the leib ramp alghorithm. + +void st_wake_up() { - if((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL ) - return; - previous_millis_heater = millis(); - #ifdef HEATER_USES_THERMISTOR - current_raw = analogRead(TEMP_0_PIN); - #ifdef DEBUG_HEAT_MGMT - log_int("_HEAT_MGMT - analogRead(TEMP_0_PIN)", current_raw); - log_int("_HEAT_MGMT - NUMTEMPS", NUMTEMPS); - #endif - // When using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target, - // this switches it up so that the reading appears lower than target for the control logic. - current_raw = 1023 - current_raw; - #elif defined HEATER_USES_AD595 - current_raw = analogRead(TEMP_0_PIN); - #elif defined HEATER_USES_MAX6675 - current_raw = read_max6675(); - #endif - #ifdef SMOOTHING - if (!nma) nma = SMOOTHFACTOR * current_raw; - nma = (nma + current_raw) - (nma / SMOOTHFACTOR); - current_raw = nma / SMOOTHFACTOR; - #endif - #ifdef WATCHPERIOD - if(watchmillis && millis() - watchmillis > WATCHPERIOD){ - if(watch_raw + 1 >= current_raw){ - target_temp = target_raw = 0; - WRITE(HEATER_0_PIN,LOW); - analogWrite(HEATER_0_PIN, 0); - #if LED_PIN>-1 - WRITE(LED_PIN,LOW); - #endif - }else{ - watchmillis = 0; - } - } - #endif - #ifdef MINTEMP - if(current_raw <= minttemp) - target_temp = target_raw = 0; + // TCNT1 = 0; + if(busy == false) + ENABLE_STEPPER_DRIVER_INTERRUPT(); +} + +void enable_endstops(bool check) +{ + check_endstops = check; +} + +FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) +{ + unsigned short timer; + if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY; + + if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times + step_rate = (step_rate >> 2)&0x3fff; + step_loops = 4; + } + else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times + step_rate = (step_rate >> 1)&0x7fff; + step_loops = 2; + } + else { + step_loops = 1; + } + + if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000); + step_rate -= (F_CPU/500000); // Correct for minimal speed + + if(step_rate >= (8*256)) // higher step rate + { // higher step rate + unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0]; + unsigned char tmp_step_rate = (step_rate & 0x00ff); + unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2); + MultiU16X8toH16(timer, tmp_step_rate, gain); + timer = (unsigned short)pgm_read_word_near(table_address) - timer; + } + else + { // lower step rates + unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0]; + table_address += ((step_rate)>>1) & 0xfffc; + timer = (unsigned short)pgm_read_word_near(table_address); + timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3); + } + if(timer < 100) { timer = 100; }//(20kHz this should never happen) + return timer; +} + +// Initializes the trapezoid generator from the current block. Called whenever a new +// block begins. +FORCE_INLINE void trapezoid_generator_reset() +{ + #ifdef ADVANCE + advance = current_block->initial_advance; + final_advance = current_block->final_advance; + // Do E steps + advance steps + e_steps += ((advance >>8) - old_advance); + old_advance = advance >>8; #endif - #ifdef MAXTEMP - if(current_raw >= maxttemp) { - target_temp = target_raw = 0; - #if (ALARM_PIN > -1) - WRITE(ALARM_PIN,HIGH); + deceleration_time = 0; + + + // step_rate to timer interval + acc_step_rate = current_block->initial_rate; + acceleration_time = calc_timer(acc_step_rate); + OCR1A = acceleration_time; + OCR1A_nominal = calc_timer(current_block->nominal_rate); + +} + +// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse. +// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. +ISR(TIMER1_COMPA_vect) +{ + // If there is no current block, attempt to pop one from the buffer + if (current_block == NULL) { + // Anything in the buffer? + current_block = plan_get_current_block(); + if (current_block != NULL) { + trapezoid_generator_reset(); + counter_x = -(current_block->step_event_count >> 1); + counter_y = counter_x; + counter_z = counter_x; + counter_e = counter_x; + step_events_completed = 0; +// #ifdef ADVANCE +// e_steps = 0; +// #endif + } + else { + OCR1A=2000; // 1kHz. + } + } + + if (current_block != NULL) { + // Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt + out_bits = current_block->direction_bits; + + // Set direction en check limit switches + if ((out_bits & (1<<X_AXIS)) != 0) { // -direction + WRITE(X_DIR_PIN, INVERT_X_DIR); + CHECK_ENDSTOPS + { + #if X_MIN_PIN > -1 + bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOP_INVERT); + if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) { + endstop_x_hit=true; + step_events_completed = current_block->step_event_count; + } + old_x_min_endstop = x_min_endstop; #endif + } } - #endif - #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined (HEATER_USES_AD595) - #ifdef PIDTEMP - int current_temp = analog2temp(current_raw); - error = target_temp - current_temp; - int delta_temp = current_temp - prev_temp; - prev_temp = current_temp; - pTerm = ((long)PID_PGAIN * error) / 256; - const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT); - heater_duty = H0 + pTerm; - if(error < 20){ - temp_iState += error; - temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); - iTerm = ((long)PID_IGAIN * temp_iState) / 256; - heater_duty += iTerm; + else { // +direction + WRITE(X_DIR_PIN,!INVERT_X_DIR); + CHECK_ENDSTOPS + { + #if X_MAX_PIN > -1 + bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOP_INVERT); + if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){ + endstop_x_hit=true; + step_events_completed = current_block->step_event_count; + } + old_x_max_endstop = x_max_endstop; + #endif } - int prev_error = abs(target_temp - prev_temp); - int log3 = 1; // discrete logarithm base 3, plus 1 - if(prev_error > 81){ prev_error /= 81; log3 += 4; } - if(prev_error > 9){ prev_error /= 9; log3 += 2; } - if(prev_error > 3){ prev_error /= 3; log3 ++; } - dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3); - heater_duty += dTerm; - heater_duty = constrain(heater_duty, 0, HEATER_CURRENT); - analogWrite(HEATER_0_PIN, heater_duty); - #if LED_PIN>-1 - analogWrite(LED_PIN, constrain(LED_PWM_FOR_BRIGHTNESS(heater_duty),0,255)); - #endif - #else - if(current_raw >= target_raw) + } + + if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction + WRITE(Y_DIR_PIN,INVERT_Y_DIR); + CHECK_ENDSTOPS { - WRITE(HEATER_0_PIN,LOW); - analogWrite(HEATER_0_PIN, 0); - #if LED_PIN>-1 - WRITE(LED_PIN,LOW); + #if Y_MIN_PIN > -1 + bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT); + if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) { + endstop_y_hit=true; + step_events_completed = current_block->step_event_count; + } + old_y_min_endstop = y_min_endstop; #endif } - else + } + else { // +direction + WRITE(Y_DIR_PIN,!INVERT_Y_DIR); + CHECK_ENDSTOPS { - WRITE(HEATER_0_PIN,HIGH); - analogWrite(HEATER_0_PIN, HEATER_CURRENT); - #if LED_PIN > -1 - WRITE(LED_PIN,HIGH); + #if Y_MAX_PIN > -1 + bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT); + if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){ + endstop_y_hit=true; + step_events_completed = current_block->step_event_count; + } + old_y_max_endstop = y_max_endstop; #endif } - #endif - #endif - - 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 - - current_bed_raw = analogRead(TEMP_1_PIN); - #ifdef DEBUG_HEAT_MGMT - log_int("_HEAT_MGMT - analogRead(TEMP_1_PIN)", current_bed_raw); - log_int("_HEAT_MGMT - BNUMTEMPS", BNUMTEMPS); - #endif - - // If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target, - // this switches it up so that the reading appears lower than target for the control logic. - current_bed_raw = 1023 - current_bed_raw; - #elif defined BED_USES_AD595 - current_bed_raw = analogRead(TEMP_1_PIN); + } - #endif - - - #ifdef MINTEMP - if(current_bed_raw >= target_bed_raw || current_bed_raw < minttemp) - #else - if(current_bed_raw >= target_bed_raw) - #endif - { - WRITE(HEATER_1_PIN,LOW); + if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction + WRITE(Z_DIR_PIN,INVERT_Z_DIR); + CHECK_ENDSTOPS + { + #if Z_MIN_PIN > -1 + bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT); + if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) { + endstop_z_hit=true; + step_events_completed = current_block->step_event_count; + } + old_z_min_endstop = z_min_endstop; + #endif + } } - else - { - WRITE(HEATER_1_PIN,HIGH); + else { // +direction + WRITE(Z_DIR_PIN,!INVERT_Z_DIR); + CHECK_ENDSTOPS + { + #if Z_MAX_PIN > -1 + bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT); + if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) { + endstop_z_hit=true; + step_events_completed = current_block->step_event_count; + } + old_z_max_endstop = z_max_endstop; + #endif + } } - #endif + + #ifndef ADVANCE + if ((out_bits & (1<<E_AXIS)) != 0) { // -direction + WRITE(E_DIR_PIN,INVERT_E_DIR); + } + else { // +direction + WRITE(E_DIR_PIN,!INVERT_E_DIR); + } + #endif //!ADVANCE -#ifdef CONTROLLERFAN_PIN - controllerFan(); //Check if fan should be turned on to cool stepper drivers down -#endif -} -#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) -int temp2analog_thermistor(int celsius, const short table[][2], int numtemps) { - int raw = 0; - byte i; - for (i=1; i<numtemps; i++) - { - if (table[i][1] < celsius) - { - raw = table[i-1][0] + - (celsius - table[i-1][1]) * - (table[i][0] - table[i-1][0]) / - (table[i][1] - table[i-1][1]); + for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) - break; + #ifdef ADVANCE + counter_e += current_block->steps_e; + if (counter_e > 0) { + counter_e -= current_block->step_event_count; + if ((out_bits & (1<<E_AXIS)) != 0) { // - direction + e_steps--; + } + else { + e_steps++; + } + } + #endif //ADVANCE + + counter_x += current_block->steps_x; + if (counter_x > 0) { + WRITE(X_STEP_PIN, HIGH); + counter_x -= current_block->step_event_count; + WRITE(X_STEP_PIN, LOW); } - } - // Overflow: Set to last value in the table - if (i == numtemps) raw = table[i-1][0]; + counter_y += current_block->steps_y; + if (counter_y > 0) { + WRITE(Y_STEP_PIN, HIGH); + counter_y -= current_block->step_event_count; + WRITE(Y_STEP_PIN, LOW); + } - return 1023 - raw; -} -#endif + counter_z += current_block->steps_z; + if (counter_z > 0) { + WRITE(Z_STEP_PIN, HIGH); + counter_z -= current_block->step_event_count; + WRITE(Z_STEP_PIN, LOW); + } -#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595) -int temp2analog_ad595(int celsius) { - return celsius * 1024 / (500); -} -#endif + #ifndef ADVANCE + counter_e += current_block->steps_e; + if (counter_e > 0) { + WRITE(E_STEP_PIN, HIGH); + counter_e -= current_block->step_event_count; + WRITE(E_STEP_PIN, LOW); + } + #endif //!ADVANCE + step_events_completed += 1; + if(step_events_completed >= current_block->step_event_count) break; + } + // Calculare new timer value + unsigned short timer; + unsigned short step_rate; + if (step_events_completed <= (unsigned long int)current_block->accelerate_until) { + + MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate); + acc_step_rate += current_block->initial_rate; + + // upper limit + if(acc_step_rate > current_block->nominal_rate) + acc_step_rate = current_block->nominal_rate; + + // step_rate to timer interval + timer = calc_timer(acc_step_rate); + OCR1A = timer; + acceleration_time += timer; + #ifdef ADVANCE + for(int8_t i=0; i < step_loops; i++) { + advance += advance_rate; + } + //if(advance > current_block->advance) advance = current_block->advance; + // Do E steps + advance steps + e_steps += ((advance >>8) - old_advance); + old_advance = advance >>8; + + #endif + } + else if (step_events_completed > (unsigned long int)current_block->decelerate_after) { + MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate); + + if(step_rate > acc_step_rate) { // Check step_rate stays positive + step_rate = current_block->final_rate; + } + else { + step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point. + } + + // lower limit + if(step_rate < current_block->final_rate) + step_rate = current_block->final_rate; + + // step_rate to timer interval + timer = calc_timer(step_rate); + OCR1A = timer; + deceleration_time += timer; + #ifdef ADVANCE + for(int8_t i=0; i < step_loops; i++) { + advance -= advance_rate; + } + if(advance < final_advance) advance = final_advance; + // Do E steps + advance steps + e_steps += ((advance >>8) - old_advance); + old_advance = advance >>8; + #endif //ADVANCE + } + else { + OCR1A = OCR1A_nominal; + } -#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) -int temp2analog_max6675(int celsius) { - return celsius * 4; + // If current block is finished, reset pointer + if (step_events_completed >= current_block->step_event_count) { + current_block = NULL; + plan_discard_current_block(); + } + } } -#endif -#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) -int analog2temp_thermistor(int raw,const short table[][2], int numtemps) { - int celsius = 0; - byte i; - - raw = 1023 - raw; +#ifdef ADVANCE - for (i=1; i<numtemps; i++) - { - if (table[i][0] > raw) +unsigned char old_OCR0A; +// Timer interrupt for E. e_steps is set in the main routine; +// Timer 0 is shared with millies +ISR(TIMER0_COMPA_vect) +{ + old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz) + OCR0A = old_OCR0A; + // Set E direction (Depends on E direction + advance) + for(unsigned char i=0; i<4;i++) + { + if (e_steps != 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; + WRITE(E0_STEP_PIN, LOW); + if (e_steps < 0) { + WRITE(E0_DIR_PIN, INVERT_E0_DIR); + e_steps++; + WRITE(E0_STEP_PIN, HIGH); + } + else if (e_steps > 0) { + WRITE(E0_DIR_PIN, !INVERT_E0_DIR); + e_steps--; + WRITE(E0_STEP_PIN, HIGH); + } } } + } +#endif // ADVANCE - // Overflow: Set to last value in the table - if (i == numtemps) celsius = table[i-1][1]; - - return celsius; -} -#endif - -#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595) -int analog2temp_ad595(int raw) { - return raw * 500 / 1024; -} -#endif - -#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) -int analog2temp_max6675(int raw) { - return raw / 4; -} -#endif - -inline void kill() +void st_init() { - #if TEMP_0_PIN > -1 - target_raw=0; - WRITE(HEATER_0_PIN,LOW); - #endif - #if TEMP_1_PIN > -1 - target_bed_raw=0; - if(HEATER_1_PIN > -1) WRITE(HEATER_1_PIN,LOW); + // waveform generation = 0100 = CTC + TCCR1B &= ~(1<<WGM13); + TCCR1B |= (1<<WGM12); + TCCR1A &= ~(1<<WGM11); + TCCR1A &= ~(1<<WGM10); + + // output mode = 00 (disconnected) + TCCR1A &= ~(3<<COM1A0); + TCCR1A &= ~(3<<COM1B0); + + // Set the timer pre-scaler + // Generally we use a divider of 8, resulting in a 2MHz timer + // frequency on a 16MHz MCU. If you are going to change this, be + // sure to regenerate speed_lookuptable.h with + // create_speed_lookuptable.py + TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer + + OCR1A = 0x4000; + TCNT1 = 0; + ENABLE_STEPPER_DRIVER_INTERRUPT(); + +#ifdef ADVANCE + #if defined(TCCR0A) && defined(WGM01) + TCCR0A &= ~(1<<WGM01); + TCCR0A &= ~(1<<WGM00); + #endif + e_steps = 0; + TIMSK0 |= (1<<OCIE0A); +#endif //ADVANCE + + #ifdef ENDSTOPS_ONLY_FOR_HOMING + enable_endstops(false); + #else + enable_endstops(true); #endif - disable_x(); - disable_y(); - disable_z(); - disable_e(); - - if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); + sei(); } -inline void manage_inactivity(byte debug) { -if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill(); -if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); } +// Block until all buffered steps are executed +void st_synchronize() +{ + while(blocks_queued()) { + manage_heater(); + manage_inactivity(1); + } } -#ifdef RAMP_ACCELERATION -void setup_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 DEBUG void log_message(char* message) { |