diff options
Diffstat (limited to 'Sprinter/Sprinter.pde')
| -rw-r--r-- | Sprinter/Sprinter.pde | 100 |
1 files changed, 80 insertions, 20 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index eb354e1..8d3cf70 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -43,6 +43,7 @@ // 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 // M81 - Turn off Power Supply // M82 - Set E codes absolute (default) // M83 - Set E codes relative while in Absolute Coordinates (G90) mode @@ -126,6 +127,9 @@ int tt = 0, bt = 0; int temp_iState_min = 100 * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; int temp_iState_max = 100 * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; #endif +#ifndef HEATER_CURRENT + #define HEATER_CURRENT 255 +#endif #ifdef SMOOTHING uint32_t nma = 0; #endif @@ -307,11 +311,7 @@ void setup() SET_OUTPUT(E_STEP_PIN); #endif #ifdef RAMP_ACCELERATION - for(int i=0; i < NUM_AXIS; i++){ - axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]); - axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; - axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; - } + setup_acceleration(); #endif #ifdef HEATER_USES_MAX6675 @@ -721,6 +721,31 @@ inline void process_commands() //savetosd = false; break; #endif + case 42: //M42 -Change pin status via gcode + if (code_seen('S')) + { + int pin_status = code_value(); + if (code_seen('P') && pin_status >= 0 && pin_status <= 255) + { + int pin_number = code_value(); + for(int i = 0; i < sizeof(sensitive_pins); i++) + { + if (sensitive_pins[i] == pin_number) + { + pin_number = -1; + break; + } + } + + if (pin_number > -1) + { + pinMode(pin_number, OUTPUT); + digitalWrite(pin_number, pin_status); + analogWrite(pin_number, pin_status); + } + } + } + break; case 104: // M104 if (code_seen('S')) target_raw = temp2analogh(code_value()); #ifdef WATCHPERIOD @@ -758,7 +783,7 @@ inline void process_commands() #endif return; //break; - case 109: // M109 - Wait for extruder heater to reach target. + case 109: { // M109 - Wait for extruder heater to reach target. if (code_seen('S')) target_raw = temp2analogh(code_value()); #ifdef WATCHPERIOD if(target_raw>current_raw){ @@ -769,16 +794,39 @@ inline void process_commands() } #endif codenum = millis(); - while(current_raw < target_raw) { - if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. + + /* See if we are heating up or cooling down */ + bool target_direction = (current_raw < target_raw); // true if heating, false if cooling + + #ifdef TEMP_RESIDENCY_TIME + long residencyStart; + residencyStart = -1; + /* continue to loop until we have reached the target temp + _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */ + while( (target_direction ? (current_raw < target_raw) : (current_raw > target_raw)) + || (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) { + #else + while ( target_direction ? (current_raw < target_raw) : (current_raw > target_raw) ) { + #endif + if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up/cooling down { Serial.print("T:"); - Serial.println( analog2temp(current_raw) ); - codenum = millis(); + Serial.println( analog2temp(current_raw) ); + codenum = millis(); } manage_heater(); - } - break; + #ifdef TEMP_RESIDENCY_TIME + /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time + or when current temp falls outside the hysteresis after target temp was reached */ + if ( (residencyStart == -1 && target_direction && current_raw >= target_raw) + || (residencyStart == -1 && !target_direction && current_raw <= target_raw) + || (residencyStart > -1 && labs(analog2temp(current_raw) - analog2temp(target_raw)) > TEMP_HYSTERESIS) ) { + residencyStart = millis(); + } + #endif + } + } + 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()); @@ -839,15 +887,10 @@ inline void process_commands() if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value(); } - //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 #ifdef RAMP_ACCELERATION - 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 - } + setup_acceleration(); #endif + 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:"); @@ -1400,6 +1443,7 @@ void manage_heater() if(watch_raw + 1 >= current_raw){ target_raw = 0; WRITE(HEATER_0_PIN,LOW); + analogWrite(HEATER_0_PIN, 0); #if LED_PIN>-1 WRITE(LED_PIN,LOW); #endif @@ -1426,11 +1470,12 @@ void manage_heater() iTerm = (PID_IGAIN * temp_iState) / 100; dTerm = (PID_DGAIN * (current_raw - temp_dState)) / 100; temp_dState = current_raw; - analogWrite(HEATER_0_PIN, constrain(pTerm + iTerm - dTerm, 0, PID_MAX)); + analogWrite(HEATER_0_PIN, constrain(pTerm + iTerm - dTerm, 0, HEATER_CURRENT)); #else if(current_raw >= target_raw) { WRITE(HEATER_0_PIN,LOW); + analogWrite(HEATER_0_PIN, 0); #if LED_PIN>-1 WRITE(LED_PIN,LOW); #endif @@ -1438,6 +1483,7 @@ void manage_heater() else { WRITE(HEATER_0_PIN,HIGH); + analogWrite(HEATER_0_PIN, HEATER_CURRENT); #if LED_PIN > -1 WRITE(LED_PIN,HIGH); #endif @@ -1472,7 +1518,11 @@ void manage_heater() #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); } @@ -1579,6 +1629,16 @@ if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); } } +#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) { Serial.print("DEBUG"); Serial.println(message); |