1 files changed, 25 insertions, 42 deletions

diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index bb77f7e..33c4297 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -1,6 +1,7 @@
 // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
 // Licence: GPL
 
+#include "Tonokip_Firmware.h"
 #include "configuration.h"
 #include "pins.h"
 
@@ -8,39 +9,6 @@
 #include "SdFat.h"
 #endif
 
-void get_command();
-void process_commands();
-
-void manage_inactivity(byte debug);
-
-void manage_heater();
-float temp2analog(int celsius);
-float temp2analogBed(int celsius);
-float analog2temp(int raw);
-float analog2tempBed(int raw);
-
-void FlushSerialRequestResend();
-void ClearToSend();
-
-void get_coordinates();
-void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining);
-void disable_x();
-void disable_y();
-void disable_z();
-void disable_e();
-void enable_x();
-void enable_y();
-void enable_z();
-void enable_e();
-void do_x_step();
-void do_y_step();
-void do_z_step();
-void do_e_step();
-
-void kill(byte debug);
-
-
-
 // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
 // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
 
@@ -76,14 +44,16 @@ void kill(byte debug);
 // M81  - Turn off Power Supply
 // M82  - Set E codes absolute (default)
 // M83  - Set E codes relative while in Absolute Coordinates (G90) mode
-// M84  - Disable steppers until next move
+// M84  - Disable steppers until next move, 
+//        or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled.  S0 to disable the timeout.
 // M85  - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
 // M86  - If Endstop is Not Activated then Abort Print. Specify X and/or Y
 // M92  - Set axis_steps_per_unit - same syntax as G92
 // M115	- Capabilities string
 // 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)
 
 
 //Stepper Movement Variables
@@ -173,6 +143,7 @@ int minttemp=temp2analog(MINTEMP);
 //Inactivity shutdown variables
 unsigned long previous_millis_cmd=0;
 unsigned long max_inactive_time = 0;
+unsigned long stepper_inactive_time = 0;
 
 #ifdef SDSUPPORT
 Sd2Card card;
@@ -312,9 +283,9 @@ void loop()
     if(savetosd){
         if(strstr(cmdbuffer[bufindr],"M29")==NULL){
             write_command(cmdbuffer[bufindr]);
-            file.sync();
             Serial.println("ok");
         }else{
+            file.sync(); // maybe this call is not needed
             file.close();
             savetosd=false;
             Serial.println("Done saving file.");
@@ -494,7 +465,8 @@ inline void process_commands()
         e_steps_to_take = abs(ediff)*e_steps_per_unit;
         if(feedrate<10)
             feedrate=10;
-        /*//experimental feedrate calc
+        /*
+        //experimental feedrate calc
         if(abs(xdiff)>0.1 && abs(ydiff)>0.1)
             d=sqrt(xdiff*xdiff+ydiff*ydiff);
         else if(abs(xdiff)>0.1)
@@ -780,10 +752,8 @@ inline void process_commands()
         relative_mode_e = true;
         break;
       case 84:
-        disable_x();
-        disable_y();
-        disable_z();
-        disable_e();
+        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');
@@ -813,6 +783,16 @@ inline void process_commands()
 	Serial.print("E:");
         Serial.println(current_e);
         break;
+      #ifdef RAMP_ACCELERATION
+      case 201: // M201
+        if(code_seen('X')) x_steps_per_sqr_second = code_value() * x_steps_per_unit;
+        if(code_seen('Y')) x_steps_per_sqr_second = code_value() * y_steps_per_unit;
+        break;
+      case 202: // M202
+        if(code_seen('X')) x_travel_steps_per_sqr_second = code_value() * x_steps_per_unit;
+        if(code_seen('Y')) x_travel_steps_per_sqr_second = code_value() * y_steps_per_unit;
+        break;
+      #endif
     }
     
   }
@@ -1534,4 +1514,7 @@ inline void kill(byte debug)
   }
 }
 
-inline void manage_inactivity(byte debug) { if( (millis()-previous_millis_cmd) >  max_inactive_time ) if(max_inactive_time) kill(debug); }
+inline void manage_inactivity(byte debug) { 
+if( (millis()-previous_millis_cmd) >  max_inactive_time ) if(max_inactive_time) kill(debug); 
+if( (millis()-previous_millis_cmd) >  stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); }
+}