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-rw-r--r--Sprinter/Configuration.h14
-rw-r--r--Sprinter/Sd2PinMap.h2
-rw-r--r--Sprinter/Sprinter.h1
-rw-r--r--Sprinter/Sprinter.pde99
-rw-r--r--Sprinter/fastio.h4
-rw-r--r--Sprinter/pins.h136
-rw-r--r--Sprinter/thermistortables.h122
7 files changed, 302 insertions, 76 deletions
diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h
index 2594593..6e643ff 100644
--- a/Sprinter/Configuration.h
+++ b/Sprinter/Configuration.h
@@ -9,6 +9,8 @@
// Gen6 = 5,
// Sanguinololu up to 1.1 = 6
// Sanguinololu 1.2 and above = 62
+// Gen 3 Plus = 21
+// gen 3 Monolithic Electronics = 22
#define MOTHERBOARD 3
//// Thermistor settings:
@@ -16,6 +18,8 @@
// 2 is 200k thermistor
// 3 is mendel-parts thermistor
// 4 is 10k thermistor
+// 5 is ParCan supplied 104GT-2 100K
+// 6 is EPCOS 100k
#define THERMISTORHEATER 1
#define THERMISTORBED 1
@@ -29,7 +33,7 @@ float axis_steps_per_unit[] = {80, 80, 3200/1.25,700};
//float axis_steps_per_unit[] = {104.987, 104.987, 4545.4544, 1487};
//// Endstop Settings
-#define ENDSTOPPULLUPS 1 // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
+#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
//If your axes are only moving in one direction, make sure the endstops are connected properly.
//If your axes move in one direction ONLY when the endstops are triggered, set [XYZ]_ENDSTOP_INVERT to true here:
@@ -41,7 +45,7 @@ const bool Z_ENDSTOP_INVERT = false;
#define BAUDRATE 115200
// Comment out (using // at the start of the line) to disable SD support:
-#define SDSUPPORT 1
+#define SDSUPPORT
//// ADVANCED SETTINGS - to tweak parameters
@@ -93,7 +97,7 @@ bool axis_relative_modes[] = {false, false, false, false};
//#define STEP_DELAY_RATIO 0.25
// Comment this to disable ramp acceleration
-#define RAMP_ACCELERATION 1
+#define RAMP_ACCELERATION
//// Acceleration settings
#ifdef RAMP_ACCELERATION
@@ -113,7 +117,7 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
//// PID settings:
// Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful.
-//#define PIDTEMP 1
+//#define PIDTEMP
#ifdef PIDTEMP
#define PID_INTEGRAL_DRIVE_MAX 220
#define PID_PGAIN 180 //100 is 1.0
@@ -139,7 +143,7 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
#define DISABLE_CHECK_DURING_TRAVEL 1000
//// Temperature smoothing - only uncomment this if your temp readings are noisy (Gen6 without EvdZ's 5V hack)
-//#define SMOOTHING 1
+//#define SMOOTHING
//#define SMOOTHFACTOR 16 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm
//// Experimental watchdog and minimal temp
diff --git a/Sprinter/Sd2PinMap.h b/Sprinter/Sd2PinMap.h
index 4bd75a3..55518ed 100644
--- a/Sprinter/Sd2PinMap.h
+++ b/Sprinter/Sd2PinMap.h
@@ -117,7 +117,7 @@ static const pin_map_t digitalPinMap[] = {
{&DDRK, &PINK, &PORTK, 7} // K7 69
};
//------------------------------------------------------------------------------
-#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
+#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega1284P__)
// Sanguino
// Two Wire (aka I2C) ports
diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h
index d612b5d..a7c7a8f 100644
--- a/Sprinter/Sprinter.h
+++ b/Sprinter/Sprinter.h
@@ -8,6 +8,7 @@ void get_command();
void process_commands();
void manage_inactivity(byte debug);
+void setup_acceleration();
void manage_heater();
int temp2analogu(int celsius, const short table[][2], int numtemps, int source);
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index 3243d78..95fcd47 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -311,11 +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
@@ -787,7 +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){
@@ -798,65 +794,39 @@ inline void process_commands()
}
#endif
codenum = millis();
+
/* See if we are heating up or cooling down */
- if( current_raw < target_raw )
- /* We are heating up */
- #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( current_raw < target_raw
- || (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
- #else
- while(current_raw < target_raw) {
- #endif
- if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
- {
- Serial.print("T:");
- Serial.println( analog2temp(current_raw) );
- codenum = millis();
- }
- manage_heater();
- #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 && current_raw >= target_raw)
- || (residencyStart > -1 && labs(analog2temp(current_raw) - analog2temp(target_raw)) > TEMP_HYSTERESIS) ) {
- residencyStart = millis();
- }
- #endif
- }
- else if( current_raw > target_raw )
- /* We are cooling down */
- #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( current_raw > target_raw
- || (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
- #else
- while(current_raw > target_raw) {
- #endif
- if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
+ 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();
#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 && current_raw <= target_raw)
+ 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;
+ }
+ }
+ 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());
@@ -917,15 +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:");
@@ -1277,8 +1242,8 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov
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) / 10000)
- * ((micros() - start_move_micros) / 100) + (long) min_speed_steps_per_second);
+ 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;
@@ -1664,6 +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);
diff --git a/Sprinter/fastio.h b/Sprinter/fastio.h
index 1d28d05..73410cb 100644
--- a/Sprinter/fastio.h
+++ b/Sprinter/fastio.h
@@ -400,7 +400,7 @@ pins
#define PD7_PWM NULL
#endif /* _AVR_ATmega{168,328,328P}__ */
-#if defined (__AVR_ATmega644__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__)
+#if defined (__AVR_ATmega644__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__) || defined(__AVR_ATmega1284P__)
// UART
#define RXD DIO8
#define TXD DIO9
@@ -901,7 +901,7 @@ pins
#define PD7_WPORT PORTD
#define PD7_DDR DDRD
#define PD7_PWM &OCR2A
-#endif /* _AVR_ATmega{644,644P,644PA}__ */
+#endif /* _AVR_ATmega{644,644P,644PA,1284P}__ */
#if defined (__AVR_ATmega1280__) || defined (__AVR_ATmega2560__)
// UART
diff --git a/Sprinter/pins.h b/Sprinter/pins.h
index 9c38bed..8571d20 100644
--- a/Sprinter/pins.h
+++ b/Sprinter/pins.h
@@ -98,7 +98,7 @@
#if MOTHERBOARD == 1
#define KNOWN_BOARD 1
-#ifndef __AVR_ATmega644P__
+#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__)
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
@@ -148,7 +148,7 @@
#if MOTHERBOARD == 2
#define KNOWN_BOARD 1
-#ifndef __AVR_ATmega644P__
+#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__)
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
@@ -201,6 +201,129 @@
#endif
/****************************************************************************************
+* Gen3 PLUS
+*
+****************************************************************************************/
+#if MOTHERBOARD == 21
+#define KNOWN_BOARD 1
+
+#ifndef __AVR_ATmega644P__
+ #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#endif
+
+
+//x axis pins
+#define X_STEP_PIN 15
+#define X_DIR_PIN 18
+#define X_ENABLE_PIN 19
+#define X_MIN_PIN 20
+#define X_MAX_PIN -1
+
+//y axis pins
+#define Y_STEP_PIN 23
+#define Y_DIR_PIN 22
+#define Y_ENABLE_PIN 24
+#define Y_MIN_PIN 25
+#define Y_MAX_PIN -1
+
+//z axis pins
+#define Z_STEP_PIN 27
+#define Z_DIR_PIN 28
+#define Z_ENABLE_PIN 29
+#define Z_MIN_PIN 30
+#define Z_MAX_PIN -1
+
+#define E_DIR_PIN 21
+#define E_STEP_PIN 17
+#define E_ENABLE_PIN 13
+
+//heaters
+
+//pin for hot end heater
+#define HEATER_0_PIN 12
+
+//Pin for heated bed heater
+#define HEATER_1_PIN 5
+
+
+//pin for debugging.
+#define DEBUG_PIN -1
+
+//SD card pin
+
+#define SDSS 4
+
+#define SDPOWER -1
+#define FAN_PIN -1
+#define TEMP_0_PIN 0
+#define TEMP_1_PIN 5
+#define LED_PIN -1
+
+//pin for controlling the PSU.
+#define PS_ON_PIN 14
+
+#endif
+
+/****************************************************************************************
+* Gen3 Monolithic Electronics
+*
+****************************************************************************************/
+#if MOTHERBOARD == 22
+#define KNOWN_BOARD 1
+
+#ifndef __AVR_ATmega644P__
+ #error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
+#endif
+
+#define DEBUG_PIN 0
+
+
+// x axis
+#define X_STEP_PIN 15
+#define X_DIR_PIN 18
+#define X_MIN_PIN 20
+#define X_ENABLE_PIN 24 //actually uses Y_enable_pin
+#define X_MAX_PIN -1
+
+// y axes
+#define Y_STEP_PIN 23
+#define Y_DIR_PIN 22
+#define Y_MIN_PIN 25
+#define Y_ENABLE_PIN 24 //shared with X_enable_pin
+#define Y_MAX_PIN -1
+
+// z axes
+#define Z_STEP_PIN 27
+#define Z_DIR_PIN 28
+#define Z_MIN_PIN 30
+#define Z_ENABLE_PIN 29
+#define Z_MAX_PIN -1
+
+//extruder pins
+#define E_STEP_PIN 12
+#define E_DIR_PIN 17
+#define E_ENABLE_PIN 3
+#define HEATER_0_PIN 16
+#define TEMP_0_PIN 0
+
+#define FAN_PIN -1
+
+//bed pins
+#define HEATER_1_PIN -1
+#define TEMP_1_PIN -1
+
+
+#define SDSS -1
+#define SDPOWER -1
+#define LED_PIN -1
+
+//pin for controlling the PSU.
+#define PS_ON_PIN 14
+
+#endif
+
+
+/****************************************************************************************
* Arduino Mega pin assignment
*
****************************************************************************************/
@@ -261,7 +384,7 @@
#define HEATER_1_PIN 8
#define TEMP_0_PIN 13 // ANALOG NUMBERING
#define TEMP_1_PIN 14 // ANALOG NUMBERING
-
+#define TEMP_2_PIN 15 // ANALOG NUMBERING
#else // RAMPS_V_1_1 or RAMPS_V_1_2 as default
@@ -313,7 +436,8 @@
// SPI for Max6675 Thermocouple
#ifndef SDSUPPORT
-// these pins are defined in the SD library if building with SD support #define SCK_PIN 52
+// these pins are defined in the SD library if building with SD support
+ #define SCK_PIN 52
#define MISO_PIN 50
#define MOSI_PIN 51
#define MAX6675_SS 53
@@ -376,7 +500,7 @@
#if MOTHERBOARD == 5
#define KNOWN_BOARD 1
-#ifndef __AVR_ATmega644P__
+#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__)
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
@@ -435,7 +559,7 @@
#endif
#if MOTHERBOARD == 6
#define KNOWN_BOARD 1
-#ifndef __AVR_ATmega644P__
+#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__)
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
diff --git a/Sprinter/thermistortables.h b/Sprinter/thermistortables.h
index de9aee6..67fb666 100644
--- a/Sprinter/thermistortables.h
+++ b/Sprinter/thermistortables.h
@@ -157,6 +157,116 @@ short temptable_4[NUMTEMPS_4][2] = {
};
#endif
+#if (THERMISTORHEATER == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
+
+#define NUMTEMPS_5 61
+const short temptable_5[NUMTEMPS_5][2] = {
+{1, 713},
+{18, 316},
+{35, 266},
+{52, 239},
+{69, 221},
+{86, 208},
+{103, 197},
+{120, 188},
+{137, 181},
+{154, 174},
+{171, 169},
+{188, 163},
+{205, 159},
+{222, 154},
+{239, 150},
+{256, 147},
+{273, 143},
+{290, 140},
+{307, 136},
+{324, 133},
+{341, 130},
+{358, 128},
+{375, 125},
+{392, 122},
+{409, 120},
+{426, 117},
+{443, 115},
+{460, 112},
+{477, 110},
+{494, 108},
+{511, 106},
+{528, 103},
+{545, 101},
+{562, 99},
+{579, 97},
+{596, 95},
+{613, 92},
+{630, 90},
+{647, 88},
+{664, 86},
+{681, 84},
+{698, 81},
+{715, 79},
+{732, 77},
+{749, 75},
+{766, 72},
+{783, 70},
+{800, 67},
+{817, 64},
+{834, 61},
+{851, 58},
+{868, 55},
+{885, 52},
+{902, 48},
+{919, 44},
+{936, 40},
+{953, 34},
+{970, 28},
+{987, 20},
+{1004, 8},
+{1021, 0}
+};
+#endif
+
+#if (THERMISTORHEATER == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor
+#define NUMTEMPS_6 36
+const short temptable_6[NUMTEMPS_6][2] = {
+ {28, 250},
+ {31, 245},
+ {35, 240},
+ {39, 235},
+ {42, 230},
+ {44, 225},
+ {49, 220},
+ {53, 215},
+ {62, 210},
+ {73, 205},
+ {72, 200},
+ {94, 190},
+ {102, 185},
+ {116, 170},
+ {143, 160},
+ {183, 150},
+ {223, 140},
+ {270, 130},
+ {318, 120},
+ {383, 110},
+ {413, 105},
+ {439, 100},
+ {484, 95},
+ {513, 90},
+ {607, 80},
+ {664, 70},
+ {781, 60},
+ {810, 55},
+ {849, 50},
+ {914, 45},
+ {914, 40},
+ {935, 35},
+ {954, 30},
+ {970, 25},
+ {978, 22},
+ {1008, 3}
+};
+#endif
+
#if THERMISTORHEATER == 1
#define NUMTEMPS NUMTEMPS_1
#define temptable temptable_1
@@ -169,6 +279,12 @@ short temptable_4[NUMTEMPS_4][2] = {
#elif THERMISTORHEATER == 4
#define NUMTEMPS NUMTEMPS_4
#define temptable temptable_4
+#elif THERMISTORHEATER == 5
+#define NUMTEMPS NUMTEMPS_5
+#define temptable temptable_5
+#elif THERMISTORHEATER == 6
+#define NUMTEMPS NUMTEMPS_6
+#define temptable temptable_6
#elif defined HEATER_USES_THERMISTOR
#error No heater thermistor table specified
#endif
@@ -184,6 +300,12 @@ short temptable_4[NUMTEMPS_4][2] = {
#elif THERMISTORBED == 4
#define BNUMTEMPS NUMTEMPS_4
#define bedtemptable temptable_4
+#elif THERMISTORBED == 5
+#define BNUMTEMPS NUMTEMPS_5
+#define bedtemptable temptable_5
+#elif THERMISTORBED == 6
+#define BNUMTEMPS NUMTEMPS_6
+#define bedtemptable temptable_6
#elif defined BED_USES_THERMISTOR
#error No bed thermistor table specified
#endif
generated by cgit v1.2.1 (git 2.18.0) at 2024-07-02 04:42:05 +0000