diff options
Diffstat (limited to 'Tonokip_Firmware/Tonokip_Firmware.pde')
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 384 |
1 files changed, 192 insertions, 192 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index a8fc54a..0dffde8 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -14,7 +14,7 @@ //Implemented Codes //------------------- -// G0 -> G1 +// G0 -> G1 // G1 - Coordinated Movement X Y Z E // G4 - Dwell S<seconds> or P<milliseconds> // G28 - Home all Axis @@ -59,7 +59,7 @@ //Stepper Movement Variables bool direction_x, direction_y, direction_z, direction_e; -unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater, previous_millis_bed_heater; +unsigned long previous_micros = 0, previous_micros_x = 0, previous_micros_y = 0, previous_micros_z = 0, previous_micros_e = 0, previous_millis_heater, previous_millis_bed_heater; unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take; #ifdef RAMP_ACCELERATION unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit); @@ -80,9 +80,9 @@ unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit, y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps; #endif -boolean acceleration_enabled=false ,accelerating=false; +boolean acceleration_enabled = false, accelerating = false; unsigned long interval; -float destination_x =0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0; +float destination_x = 0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0; float current_x = 0.0, current_y = 0.0, current_z = 0.0, current_e = 0.0; long x_interval, y_interval, z_interval, e_interval; // for speed delay float feedrate = 1500, next_feedrate, z_feedrate, saved_feedrate; @@ -90,7 +90,7 @@ 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; +long timediff = 0; #ifdef STEP_DELAY_RATIO long long_step_delay_ratio = STEP_DELAY_RATIO * 100; #endif @@ -101,10 +101,10 @@ long timediff=0; #define BUFSIZE 8 char cmdbuffer[BUFSIZE][MAX_CMD_SIZE]; bool fromsd[BUFSIZE]; -int bufindr=0; -int bufindw=0; -int buflen=0; -int i=0; +int bufindr = 0; +int bufindw = 0; +int buflen = 0; +int i = 0; char serial_char; int serial_count = 0; boolean comment_mode = false; @@ -115,37 +115,37 @@ char *strchr_pointer; // just a pointer to find chars in the cmd string like X, // degree increments (i.e. 100=25 deg). int target_raw = 0; -int current_raw =0; +int current_raw = 0; int target_bed_raw = 0; -int current_bed_raw=0; -float tt=0,bt=0; +int current_bed_raw = 0; +float tt = 0, bt = 0; #ifdef PIDTEMP - int temp_iState=0; - int temp_dState=0; + int temp_iState = 0; + int temp_dState = 0; int pTerm; int iTerm; int dTerm; //int output; int error; - int temp_iState_min = 100*-PID_INTEGRAL_DRIVE_MAX/PID_IGAIN; - int temp_iState_max = 100*PID_INTEGRAL_DRIVE_MAX/PID_IGAIN; + int temp_iState_min = 100 * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; + int temp_iState_max = 100 * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; #endif #ifdef SMOOTHING - uint32_t nma=SMOOTHFACTOR*analogRead(TEMP_0_PIN); + uint32_t nma = SMOOTHFACTOR * analogRead(TEMP_0_PIN); #endif #ifdef WATCHPERIOD - int watch_raw=-1000; - unsigned long watchmillis=0; + int watch_raw = -1000; + unsigned long watchmillis = 0; #endif #ifdef MINTEMP - int minttemp=temp2analog(MINTEMP); + int minttemp = temp2analog(MINTEMP); #endif #ifdef MAXTEMP -int maxttemp=temp2analog(MAXTEMP); +int maxttemp = temp2analog(MAXTEMP); #endif //Inactivity shutdown variables -unsigned long previous_millis_cmd=0; +unsigned long previous_millis_cmd = 0; unsigned long max_inactive_time = 0; unsigned long stepper_inactive_time = 0; @@ -154,16 +154,16 @@ unsigned long stepper_inactive_time = 0; SdVolume volume; SdFile root; SdFile file; - uint32_t filesize=0; - uint32_t sdpos=0; - bool sdmode=false; - bool sdactive=false; - bool savetosd=false; + uint32_t filesize = 0; + uint32_t sdpos = 0; + bool sdmode = false; + bool sdactive = false; + bool savetosd = false; int16_t n; void initsd(){ - sdactive=false; - #if SDSS>-1 + sdactive = false; + #if SDSS >- 1 if(root.isOpen()) root.close(); if (!card.init(SPI_FULL_SPEED,SDSS)){ @@ -175,23 +175,23 @@ unsigned long stepper_inactive_time = 0; else if (!root.openRoot(&volume)) Serial.println("openRoot failed"); else - sdactive=true; + sdactive = true; #endif } inline void write_command(char *buf){ - char* begin=buf; - char* npos=0; - char* end=buf+strlen(buf)-1; + char* begin = buf; + char* npos = 0; + char* end = buf + strlen(buf) - 1; file.writeError = false; - if((npos=strchr(buf, 'N')) != NULL){ - begin = strchr(npos,' ')+1; - end =strchr(npos, '*')-1; + if((npos = strchr(buf, 'N')) != NULL){ + begin = strchr(npos, ' ') + 1; + end = strchr(npos, '*') - 1; } - end[1]='\r'; - end[2]='\n'; - end[3]='\0'; + end[1] = '\r'; + end[2] = '\n'; + end[3] = '\0'; //Serial.println(begin); file.write(begin); if (file.writeError){ @@ -205,8 +205,8 @@ void setup() { Serial.begin(BAUDRATE); Serial.println("start"); - for(int i=0;i<BUFSIZE;i++){ - fromsd[i]=false; + for(int i = 0; i < BUFSIZE; i++){ + fromsd[i] = false; } //Initialize Step Pins if(X_STEP_PIN > -1) pinMode(X_STEP_PIN,OUTPUT); @@ -279,13 +279,13 @@ void loop() if(buflen){ #ifdef SDSUPPORT if(savetosd){ - if(strstr(cmdbuffer[bufindr],"M29")==NULL){ + if(strstr(cmdbuffer[bufindr],"M29") == NULL){ write_command(cmdbuffer[bufindr]); Serial.println("ok"); }else{ file.sync(); file.close(); - savetosd=false; + savetosd = false; Serial.println("Done saving file."); } }else{ @@ -294,8 +294,8 @@ void loop() #else process_commands(); #endif - buflen=(buflen-1); - bufindr=(bufindr+1)%BUFSIZE; + buflen = (buflen-1); + bufindr = (bufindr + 1)%BUFSIZE; } manage_heater(); @@ -306,14 +306,14 @@ void loop() inline void get_command() { - while( Serial.available() > 0 && buflen<BUFSIZE) { - serial_char=Serial.read(); + 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) ) { if(!serial_count) return; //if empty line cmdbuffer[bufindw][serial_count] = 0; //terminate string if(!comment_mode){ - fromsd[bufindw]=false; + fromsd[bufindw] = false; if(strstr(cmdbuffer[bufindw], "N") != NULL) { strchr_pointer = strchr(cmdbuffer[bufindw], 'N'); @@ -330,7 +330,7 @@ inline void get_command() if(strstr(cmdbuffer[bufindw], "*") != NULL) { byte checksum = 0; - byte count=0; + byte count = 0; while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++]; strchr_pointer = strchr(cmdbuffer[bufindw], '*'); @@ -338,7 +338,7 @@ inline void get_command() Serial.print("Error: checksum mismatch, Last Line:"); Serial.println(gcode_LastN); FlushSerialRequestResend(); - serial_count=0; + serial_count = 0; return; } //if no errors, continue parsing @@ -348,7 +348,7 @@ inline void get_command() Serial.print("Error: No Checksum with line number, Last Line:"); Serial.println(gcode_LastN); FlushSerialRequestResend(); - serial_count=0; + serial_count = 0; return; } @@ -361,7 +361,7 @@ inline void get_command() { Serial.print("Error: No Line Number with checksum, Last Line:"); Serial.println(gcode_LastN); - serial_count=0; + serial_count = 0; return; } } @@ -381,8 +381,8 @@ inline void get_command() } } - bufindw=(bufindw+1)%BUFSIZE; - buflen+=1; + bufindw = (bufindw + 1)%BUFSIZE; + buflen += 1; } comment_mode = false; //for new command @@ -398,22 +398,22 @@ inline void get_command() 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) { + n = file.read(); + serial_char = (char)n; + if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || n == -1) { - sdpos=file.curPosition(); - if(sdpos>=filesize){ - sdmode=false; + sdpos = file.curPosition(); + if(sdpos >= filesize){ + sdmode = false; Serial.println("Done printing file"); } 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; + fromsd[bufindw] = true; + buflen += 1; + bufindw = (bufindw + 1)%BUFSIZE; } comment_mode = false; //for new command serial_count = 0; //clear buffer @@ -439,13 +439,13 @@ inline bool code_seen(char code) return (strchr_pointer != NULL); //Return True if a character was found } //experimental feedrate calc -float d=0; -float xdiff=0,ydiff=0,zdiff=0,ediff=0; +float d = 0; +float xdiff = 0, ydiff = 0, zdiff = 0, ediff = 0; inline void process_commands() { unsigned long codenum; //throw away variable - char *starpos=NULL; + char *starpos = NULL; if(code_seen('G')) { switch((int)code_value()) @@ -461,7 +461,7 @@ inline void process_commands() case 4: // G4 dwell codenum = 0; if(code_seen('P')) codenum = code_value(); // milliseconds to wait - if(code_seen('S')) codenum = code_value()*1000; // seconds to wait + if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait previous_millis_heater = millis(); // keep track of when we started waiting while((millis() - previous_millis_heater) < codenum ) manage_heater(); //manage heater until time is up break; @@ -480,7 +480,7 @@ inline void process_commands() if(X_MIN_PIN > -1) { current_x = 0; destination_x = -1.5 * X_MAX_LENGTH; - feedrate = min_units_per_second*60; + feedrate = min_units_per_second * 60; prepare_move(); current_x = 0; @@ -498,7 +498,7 @@ inline void process_commands() if(Y_MIN_PIN > -1) { current_y = 0; destination_y = -1.5 * Y_MAX_LENGTH; - feedrate = min_units_per_second*60; + feedrate = min_units_per_second * 60; prepare_move(); current_y = 0; @@ -563,27 +563,27 @@ inline void process_commands() Serial.println("End file list"); break; case 21: // M21 - init SD card - sdmode=false; + sdmode = false; initsd(); break; case 22: //M22 - release SD card - sdmode=false; - sdactive=false; + sdmode = false; + sdactive = false; break; case 23: //M23 - Select file if(sdactive){ - sdmode=false; + sdmode = false; file.close(); - starpos=(strchr(strchr_pointer+4,'*')); + starpos = (strchr(strchr_pointer + 4,'*')); if(starpos!=NULL) *(starpos-1)='\0'; - if (file.open(&root, strchr_pointer+4, O_READ)) { + if (file.open(&root, strchr_pointer + 4, O_READ)) { Serial.print("File opened:"); - Serial.print(strchr_pointer+4); + Serial.print(strchr_pointer + 4); Serial.print(" Size:"); Serial.println(file.fileSize()); - sdpos=0; - filesize=file.fileSize(); + sdpos = 0; + filesize = file.fileSize(); Serial.println("File selected"); } else{ @@ -593,17 +593,17 @@ inline void process_commands() break; case 24: //M24 - Start SD print if(sdactive){ - sdmode=true; + sdmode = true; } break; case 25: //M25 - Pause SD print if(sdmode){ - sdmode=false; + sdmode = false; } break; case 26: //M26 - Set SD index if(sdactive && code_seen('S')){ - sdpos=code_value_long(); + sdpos = code_value_long(); file.seekSet(sdpos); } break; @@ -619,40 +619,40 @@ inline void process_commands() break; case 28: //M28 - Start SD write if(sdactive){ - char* npos=0; + char* npos = 0; file.close(); - sdmode=false; - starpos=(strchr(strchr_pointer+4,'*')); - if(starpos!=NULL){ - npos=strchr(cmdbuffer[bufindr], 'N'); - strchr_pointer = strchr(npos,' ')+1; - *(starpos-1)='\0'; + sdmode = false; + starpos = (strchr(strchr_pointer + 4,'*')); + 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)) { Serial.print("open failed, File: "); - Serial.print(strchr_pointer+4); + Serial.print(strchr_pointer + 4); Serial.print("."); }else{ savetosd = true; Serial.print("Writing to file: "); - Serial.println(strchr_pointer+4); + Serial.println(strchr_pointer + 4); } } break; case 29: //M29 - Stop SD write //processed in write to file routine above - //savetosd=false; + //savetosd = false; break; #endif case 104: // M104 if (code_seen('S')) target_raw = temp2analog(code_value()); #ifdef WATCHPERIOD - if(target_raw>current_raw){ - watchmillis=max(1,millis()); - watch_raw=current_raw; + if(target_raw > current_raw){ + watchmillis = max(1,millis()); + watch_raw = current_raw; }else{ - watchmillis=0; + watchmillis = 0; } #endif break; @@ -660,16 +660,16 @@ inline void process_commands() if (code_seen('S')) target_bed_raw = temp2analogBed(code_value()); break; case 105: // M105 - #if (TEMP_0_PIN>-1) || defined (HEATER_USES_MAX6675) - tt=analog2temp(current_raw); + #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) + tt = analog2temp(current_raw); #endif - #if TEMP_1_PIN>-1 - bt=analog2tempBed(current_bed_raw); + #if TEMP_1_PIN > -1 + bt = analog2tempBed(current_bed_raw); #endif - #if (TEMP_0_PIN>-1) || defined (HEATER_USES_MAX6675) + #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) Serial.print("T:"); Serial.println(tt); - #if TEMP_1_PIN>-1 + #if TEMP_1_PIN > -1 Serial.print("ok T:"); Serial.print(tt); @@ -685,15 +685,15 @@ inline void process_commands() if (code_seen('S')) target_raw = temp2analog(code_value()); #ifdef WATCHPERIOD if(target_raw>current_raw){ - watchmillis=max(1,millis()); - watch_raw=current_raw; + watchmillis = max(1,millis()); + watch_raw = current_raw; }else{ - watchmillis=0; + watchmillis = 0; } #endif previous_millis_heater = millis(); while(current_raw < target_raw) { - if( (millis()-previous_millis_heater) > 1000 ) //Print Temp Reading every 1 second while heating up. + if( (millis() - previous_millis_heater) > 1000 ) //Print Temp Reading every 1 second while heating up. { Serial.print("T:"); Serial.println( analog2temp(current_raw) ); @@ -703,7 +703,7 @@ inline void process_commands() } break; case 190: // M190 - Wait bed for heater to reach target. - #if TEMP_1_PIN>-1 + #if TEMP_1_PIN > -1 if (code_seen('S')) target_bed_raw = temp2analog(code_value()); previous_millis_heater = millis(); while(current_bed_raw < target_bed_raw) { @@ -725,7 +725,7 @@ inline void process_commands() case 106: //M106 Fan On if (code_seen('S')){ digitalWrite(FAN_PIN, HIGH); - analogWrite(FAN_PIN,constrain(code_value(),0,255)); + analogWrite(FAN_PIN, constrain(code_value(),0,255) ); } else digitalWrite(FAN_PIN, HIGH); @@ -748,12 +748,12 @@ inline void process_commands() relative_mode_e = true; break; case 84: - if(code_seen('S')){ stepper_inactive_time = code_value()*1000; } + 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; + max_inactive_time = code_value() * 1000; break; case 86: // M86 If Endstop is Not Activated then Abort Print if(code_seen('X')) if( digitalRead(X_MIN_PIN) == ENDSTOPS_INVERTING ) kill(3); @@ -806,7 +806,7 @@ inline void FlushSerialRequestResend() //char cmdbuffer[bufindr][100]="Resend:"; Serial.flush(); Serial.print("Resend:"); - Serial.println(gcode_LastN+1); + Serial.println(gcode_LastN + 1); ClearToSend(); } @@ -839,14 +839,14 @@ inline void get_coordinates() inline void prepare_move() { //Find direction - if(destination_x >= current_x) direction_x=1; - else direction_x=0; - if(destination_y >= current_y) direction_y=1; - else direction_y=0; - if(destination_z >= current_z) direction_z=1; - else direction_z=0; - if(destination_e >= current_e) direction_e=1; - else direction_e=0; + if(destination_x >= current_x) direction_x = 1; + else direction_x = 0; + if(destination_y >= current_y) direction_y = 1; + else direction_y = 0; + if(destination_z >= current_z) direction_z = 1; + else direction_z = 0; + if(destination_e >= current_e) direction_e = 1; + else direction_e = 0; if (min_software_endstops) { @@ -864,49 +864,49 @@ inline void prepare_move() if(feedrate > max_feedrate) feedrate = max_feedrate; if(feedrate > max_z_feedrate) z_feedrate = max_z_feedrate; - else z_feedrate=feedrate; + else z_feedrate = feedrate; - xdiff=(destination_x - current_x); - ydiff=(destination_y - current_y); - zdiff=(destination_z - current_z); - ediff=(destination_e - current_e); - x_steps_to_take = abs(xdiff)*x_steps_per_unit; - y_steps_to_take = abs(ydiff)*y_steps_per_unit; - z_steps_to_take = abs(zdiff)*z_steps_per_unit; - e_steps_to_take = abs(ediff)*e_steps_per_unit; - if(feedrate<10) - feedrate=10; + xdiff = (destination_x - current_x); + ydiff = (destination_y - current_y); + zdiff = (destination_z - current_z); + ediff = (destination_e - current_e); + x_steps_to_take = abs(xdiff) * x_steps_per_unit; + y_steps_to_take = abs(ydiff) * y_steps_per_unit; + z_steps_to_take = abs(zdiff) * z_steps_per_unit; + e_steps_to_take = abs(ediff) * e_steps_per_unit; + if(feedrate < 10) + feedrate = 10; /* //experimental feedrate calc - if(abs(xdiff)>0.1 && abs(ydiff)>0.1) - d=sqrt(xdiff*xdiff+ydiff*ydiff); - else if(abs(xdiff)>0.1) - d=abs(xdiff); - else if(abs(ydiff)>0.1) - d=abs(ydiff); - else if(abs(zdiff)>0.05) - d=abs(zdiff); - else if(abs(ediff)>0.1) - d=abs(ediff); - else d=1; //extremely slow move, should be okay for moves under 0.1mm - time_for_move=(xdiff/(feedrate/60000000)); - //time=60000000*dist/feedrate - //int feedz=(60000000*zdiff)/time_for_move; - //if(feedz>maxfeed) + if(abs(xdiff) > 0.1 && abs(ydiff) > 0.1) + d = sqrt(xdiff * xdiff + ydiff * ydiff); + else if(abs(xdiff) > 0.1) + d = abs(xdiff); + else if(abs(ydiff) > 0.1) + d = abs(ydiff); + else if(abs(zdiff) > 0.05) + d = abs(zdiff); + else if(abs(ediff) > 0.1) + d = abs(ediff); + else d = 1; //extremely slow move, should be okay for moves under 0.1mm + time_for_move = (xdiff / (feedrate / 60000000) ); + //time = 60000000 * dist / feedrate + //int feedz = (60000000 * zdiff) / time_for_move; + //if(feedz > maxfeed) */ #define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000)) #define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000)) #define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*z_feedrate/60000000)) #define E_TIME_FOR_MOVE ((float)e_steps_to_take / (e_steps_per_unit*feedrate/60000000)) - time_for_move = max(X_TIME_FOR_MOVE,Y_TIME_FOR_MOVE); - time_for_move = max(time_for_move,Z_TIME_FOR_MOVE); - if(time_for_move <= 0) time_for_move = max(time_for_move,E_TIME_FOR_MOVE); - - if(x_steps_to_take) x_interval = time_for_move/x_steps_to_take*100; - if(y_steps_to_take) y_interval = time_for_move/y_steps_to_take*100; - if(z_steps_to_take) z_interval = time_for_move/z_steps_to_take*100; - if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0)) e_interval = time_for_move/e_steps_to_take*100; + time_for_move = max(X_TIME_FOR_MOVE, Y_TIME_FOR_MOVE); + time_for_move = max(time_for_move, Z_TIME_FOR_MOVE); + if(time_for_move <= 0) time_for_move = max(time_for_move, E_TIME_FOR_MOVE); + + if(x_steps_to_take) x_interval = time_for_move / x_steps_to_take * 100; + if(y_steps_to_take) y_interval = time_for_move / y_steps_to_take * 100; + if(z_steps_to_take) z_interval = time_for_move / z_steps_to_take * 100; + if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0) ) e_interval = time_for_move / e_steps_to_take * 100; //#define DEBUGGING false #if 0 @@ -964,8 +964,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin //Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration. if(x_steps_remaining) enable_x(); if(y_steps_remaining) enable_y(); - if(z_steps_remaining) { enable_z(); do_z_step(); z_steps_remaining--;} - if(e_steps_remaining) {enable_e(); do_e_step(); e_steps_remaining--;} + if(z_steps_remaining) { enable_z(); do_z_step(); z_steps_remaining--; } + if(e_steps_remaining) { enable_e(); do_e_step(); e_steps_remaining--; } previous_millis_heater = millis(); @@ -1062,10 +1062,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin #endif unsigned long start_move_micros = micros(); - previous_micros_x=start_move_micros*100; - previous_micros_y=previous_micros_x; - previous_micros_z=previous_micros_x; - previous_micros_e=previous_micros_x; + previous_micros_x = start_move_micros*100; + previous_micros_y = previous_micros_x; + previous_micros_z = previous_micros_x; + previous_micros_e = previous_micros_x; //move until no more steps remain while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) { @@ -1134,10 +1134,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break; if(steep_y) { timediff = micros() * 100 - previous_micros_y; - while(timediff >= interval && y_steps_remaining>0) { + while(timediff >= interval && y_steps_remaining > 0) { steps_done++; steps_remaining--; - y_steps_remaining--; timediff-=interval; + y_steps_remaining--; timediff -= interval; error_x = error_x - delta_x; do_y_step(); if(error_x < 0) { @@ -1159,7 +1159,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin while(timediff >= interval && x_steps_remaining>0) { steps_done++; steps_remaining--; - x_steps_remaining--; timediff-=interval; + x_steps_remaining--; timediff -= interval; error_y = error_y - delta_y; do_x_step(); if(error_y < 0) { @@ -1179,18 +1179,18 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin } } #ifdef RAMP_ACCELERATION - if (steps_to_take>0 && (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating))) continue; + if (steps_to_take > 0 && (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating))) continue; #endif //If there are z steps remaining, check if z steps must be taken if(z_steps_remaining) { if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break; if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break; - timediff=micros() * 100-previous_micros_z; + timediff = micros() * 100-previous_micros_z; while(timediff >= z_interval && z_steps_remaining) { do_z_step(); z_steps_remaining--; - timediff-=z_interval; + timediff -= z_interval; #ifdef STEP_DELAY_RATIO if(timediff >= z_interval) delayMicroseconds(long_step_delay_ratio * z_interval / 10000); #endif @@ -1202,7 +1202,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin //If there are e steps remaining, check if e steps must be taken if(e_steps_remaining){ - if (x_steps_to_take + y_steps_to_take <= 0) timediff=micros() * 100-previous_micros_e; + if (x_steps_to_take + y_steps_to_take <= 0) timediff = micros() * 100-previous_micros_e; unsigned int final_e_steps_remaining = 0; if (steep_x && x_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * x_steps_remaining / x_steps_to_take; else if (steep_y && y_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * y_steps_remaining / y_steps_to_take; @@ -1213,7 +1213,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin else while (timediff >= e_interval && e_steps_remaining) { do_e_step(); e_steps_remaining--; - timediff-=e_interval; + timediff -= e_interval; #ifdef STEP_DELAY_RATIO if(timediff >= e_interval) delayMicroseconds(long_step_delay_ratio * e_interval / 10000); #endif @@ -1238,14 +1238,14 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin if(DISABLE_E) disable_e(); // Update current position partly based on direction, we probably can combine this with the direction code above... - if (destination_x > current_x) current_x = current_x + x_steps_to_take/x_steps_per_unit; - else current_x = current_x - x_steps_to_take/x_steps_per_unit; - if (destination_y > current_y) current_y = current_y + y_steps_to_take/y_steps_per_unit; - else current_y = current_y - y_steps_to_take/y_steps_per_unit; - if (destination_z > current_z) current_z = current_z + z_steps_to_take/z_steps_per_unit; - else current_z = current_z - z_steps_to_take/z_steps_per_unit; - if (destination_e > current_e) current_e = current_e + e_steps_to_take/e_steps_per_unit; - else current_e = current_e - e_steps_to_take/e_steps_per_unit; + if (destination_x > current_x) current_x = current_x + x_steps_to_take / x_steps_per_unit; + else current_x = current_x - x_steps_to_take / x_steps_per_unit; + if (destination_y > current_y) current_y = current_y + y_steps_to_take / y_steps_per_unit; + else current_y = current_y - y_steps_to_take / y_steps_per_unit; + if (destination_z > current_z) current_z = current_z + z_steps_to_take / z_steps_per_unit; + else current_z = current_z - z_steps_to_take / z_steps_per_unit; + if (destination_e > current_e) current_e = current_e + e_steps_to_take / e_steps_per_unit; + else current_e = current_e - e_steps_to_take / e_steps_per_unit; } @@ -1360,26 +1360,26 @@ inline void manage_heater() current_raw = read_max6675(); #endif #ifdef SMOOTHING - nma=(nma+current_raw)-(nma/SMOOTHFACTOR); - current_raw=nma/SMOOTHFACTOR; + 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_raw=0; + if(watchmillis && millis() - watchmillis > WATCHPERIOD){ + if(watch_raw + 1 >= current_raw){ + target_raw = 0; digitalWrite(HEATER_0_PIN,LOW); digitalWrite(LED_PIN,LOW); }else{ - watchmillis=0; + watchmillis = 0; } } #endif #ifdef MINTEMP - if(current_raw<=minttemp) - target_raw=0; + if(current_raw <= minttemp) + target_raw = 0; #endif #ifdef MAXTEMP - if(current_raw>maxttemp) { + if(current_raw > maxttemp) { // We are too hot. Emergency brake to protect hotend kill(5); } @@ -1387,11 +1387,11 @@ inline void manage_heater() #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX66675) #ifdef PIDTEMP error = target_raw - current_raw; - pTerm = (PID_PGAIN * error)/100; + pTerm = (PID_PGAIN * error) / 100; temp_iState += error; temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); - iTerm = (PID_IGAIN * temp_iState) /100; - dTerm = (PID_DGAIN * (current_raw - temp_dState))/100; + 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)); #else @@ -1408,7 +1408,7 @@ inline void manage_heater() #endif #endif - if(millis()-previous_millis_bed_heater<5000) + if(millis() - previous_millis_bed_heater < 5000) return; previous_millis_bed_heater = millis(); @@ -1464,7 +1464,7 @@ float temp2analog(int celsius) { return 1023 - raw; #elif defined HEATER_USES_AD595 - return celsius * (1024.0/(5.0 * 100.0)); + return celsius * (1024.0 / (5.0 * 100.0) ); #elif defined HEATER_USES_MAX6675 return celsius * 4.0; #endif @@ -1498,7 +1498,7 @@ float temp2analogBed(int celsius) { return 1023 - raw; #elif defined BED_USES_AD595 - return celsius * (1024.0/(5.0 * 100.0)); + return celsius * (1024.0 / (5.0 * 100.0) ); #endif } @@ -1563,7 +1563,7 @@ float analog2tempBed(int raw) { return celsius; #elif defined BED_USES_AD595 - return raw * ((5.0*100.0)/1024.0); + return raw * ((5.0 * 100.0) / 1024.0); #endif } @@ -1597,4 +1597,4 @@ 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); if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); } -} +}
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