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-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.h36
-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde460
-rw-r--r--Tonokip_Firmware/pins.h48
3 files changed, 319 insertions, 225 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.h b/Tonokip_Firmware/Tonokip_Firmware.h
new file mode 100644
index 0000000..4e3c7ea
--- /dev/null
+++ b/Tonokip_Firmware/Tonokip_Firmware.h
@@ -0,0 +1,36 @@
+// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
+// Licence: GPL
+#include <WProgram.h>
+
+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 prepare_move();
+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);
+
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index c1f11dd..43434b1 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
@@ -49,6 +17,7 @@ void kill(byte debug);
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G4 - Dwell S<seconds> or P<milliseconds>
+// G28 - Home all Axis
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
@@ -85,7 +54,8 @@ void kill(byte debug);
// M140 - Set bed target temp
// M143 - Set maximum hot-end temperature
// 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
@@ -93,37 +63,37 @@ 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 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);
-unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
-unsigned long max_interval;
-unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
-unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
-unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
-unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
-unsigned long steps_per_sqr_second, plateau_steps;
+ unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
+ unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
+ unsigned long max_interval;
+ unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
+ unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
+ unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
+ unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
+ unsigned long steps_per_sqr_second, plateau_steps;
#endif
#ifdef EXP_ACCELERATION
-unsigned long long_full_velocity_units = full_velocity_units * 100;
-unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
-unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
-unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
-unsigned long max_interval;
-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;
+ unsigned long long_full_velocity_units = full_velocity_units * 100;
+ unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
+ unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
+ unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
+ unsigned long max_interval;
+ 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;
unsigned long interval;
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;
+float feedrate = 1500, next_feedrate, z_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;
#ifdef STEP_DELAY_RATIO
-long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
+ long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
#endif
@@ -151,25 +121,25 @@ int target_bed_raw = 0;
int current_bed_raw=0;
float tt=0,bt=0;
#ifdef PIDTEMP
-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=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;
#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);
@@ -181,56 +151,54 @@ unsigned long max_inactive_time = 0;
unsigned long stepper_inactive_time = 0;
#ifdef SDSUPPORT
-Sd2Card card;
-SdVolume volume;
-SdFile root;
-SdFile file;
-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
-if(root.isOpen())
- root.close();
-if (!card.init(SPI_FULL_SPEED,SDSS)){
- if (!card.init(SPI_HALF_SPEED,SDSS))
- Serial.println("SD init fail");
-}
-else if (!volume.init(&card))
- Serial.println("volume.init failed");
-else if (!root.openRoot(&volume))
- Serial.println("openRoot failed");
-else
- sdactive=true;
-#endif
-}
-
-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){
- 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");
+ Sd2Card card;
+ SdVolume volume;
+ SdFile root;
+ SdFile file;
+ 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
+ if(root.isOpen())
+ root.close();
+ if (!card.init(SPI_FULL_SPEED,SDSS)){
+ //if (!card.init(SPI_HALF_SPEED,SDSS))
+ Serial.println("SD init fail");
}
-}
-
-
+ else if (!volume.init(&card))
+ Serial.println("volume.init failed");
+ else if (!root.openRoot(&volume))
+ Serial.println("openRoot failed");
+ else
+ sdactive=true;
+ #endif
+ }
+
+ 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){
+ 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");
+ }
+ }
#endif
@@ -261,12 +229,12 @@ void setup()
//endstop pullups
#ifdef ENDSTOPPULLUPS
- if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);}
- if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);}
- if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);}
- if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);}
- if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);}
- if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);}
+ if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);}
+ if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);}
+ if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);}
+ if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);}
+ if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);}
+ if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);}
#endif
//Initialize Enable Pins
if(X_ENABLE_PIN > -1) pinMode(X_ENABLE_PIN,OUTPUT);
@@ -293,23 +261,19 @@ void setup()
#ifdef SDSUPPORT
-//power to SD reader
-#if SDPOWER > -1
-pinMode(SDPOWER,OUTPUT);
-digitalWrite(SDPOWER,HIGH);
-#endif
-initsd();
+ //power to SD reader
+ #if SDPOWER > -1
+ pinMode(SDPOWER,OUTPUT);
+ digitalWrite(SDPOWER,HIGH);
+ #endif
+ initsd();
#endif
-
-
}
void loop()
{
-
-
if(buflen<3)
get_command();
@@ -318,9 +282,9 @@ void loop()
if(savetosd){
if(strstr(cmdbuffer[bufindr],"M29")==NULL){
write_command(cmdbuffer[bufindr]);
- file.sync();
Serial.println("ok");
}else{
+ file.sync();
file.close();
savetosd=false;
Serial.println("Done saving file.");
@@ -358,7 +322,7 @@ inline void get_command()
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);
+ //Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
@@ -490,77 +454,7 @@ inline void process_commands()
case 0: // G0 -> G1
case 1: // G1
get_coordinates(); // For X Y Z E F
- 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)
- */
- #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;
-
- //#define DEBUGGING false
- #if 0
- if(0) {
- Serial.print("destination_x: "); Serial.println(destination_x);
- Serial.print("current_x: "); Serial.println(current_x);
- Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take);
- Serial.print("X_TIME_FOR_MVE: "); Serial.println(X_TIME_FOR_MOVE);
- Serial.print("x_interval: "); Serial.println(x_interval);
- Serial.println("");
- Serial.print("destination_y: "); Serial.println(destination_y);
- Serial.print("current_y: "); Serial.println(current_y);
- Serial.print("y_steps_to_take: "); Serial.println(y_steps_to_take);
- Serial.print("Y_TIME_FOR_MVE: "); Serial.println(Y_TIME_FOR_MOVE);
- Serial.print("y_interval: "); Serial.println(y_interval);
- Serial.println("");
- Serial.print("destination_z: "); Serial.println(destination_z);
- Serial.print("current_z: "); Serial.println(current_z);
- Serial.print("z_steps_to_take: "); Serial.println(z_steps_to_take);
- Serial.print("Z_TIME_FOR_MVE: "); Serial.println(Z_TIME_FOR_MOVE);
- Serial.print("z_interval: "); Serial.println(z_interval);
- Serial.println("");
- Serial.print("destination_e: "); Serial.println(destination_e);
- Serial.print("current_e: "); Serial.println(current_e);
- Serial.print("e_steps_to_take: "); Serial.println(e_steps_to_take);
- Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE);
- Serial.print("e_interval: "); Serial.println(e_interval);
- Serial.println("");
- }
- #endif
- linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
+ prepare_move();
previous_millis_cmd = millis();
//ClearToSend();
return;
@@ -572,6 +466,75 @@ inline void process_commands()
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;
+ case 28: //G28 Home all Axis one at a time
+ saved_feedrate = feedrate;
+ destination_x = 0;
+ current_x = 0;
+ destination_y = 0;
+ current_y = 0;
+ destination_z = 0;
+ current_z = 0;
+ destination_e = 0;
+ current_e = 0;
+ feedrate = 0;
+
+ if(X_MIN_PIN > -1) {
+ current_x = 0;
+ destination_x = -1.5 * X_MAX_LENGTH;
+ feedrate = min_units_per_second*60;
+ prepare_move();
+
+ current_x = 0;
+ destination_x = 1;
+ prepare_move();
+
+ destination_x = -10;
+ prepare_move();
+
+ current_x = 0;
+ destination_x = 0;
+ feedrate = 0;
+ }
+
+ if(Y_MIN_PIN > -1) {
+ current_y = 0;
+ destination_y = -1.5 * Y_MAX_LENGTH;
+ feedrate = min_units_per_second*60;
+ prepare_move();
+
+ current_y = 0;
+ destination_y = 1;
+ prepare_move();
+
+ destination_y = -10;
+ prepare_move();
+
+ current_y = 0;
+ destination_y = 0;
+ feedrate = 0;
+ }
+
+ if(Z_MIN_PIN > -1) {
+ current_z = 0;
+ destination_z = -1.5 * Z_MAX_LENGTH;
+ feedrate = max_z_feedrate/2;
+ prepare_move();
+
+ current_z = 0;
+ destination_z = 1;
+ prepare_move();
+
+ destination_z = -10;
+ prepare_move();
+
+ current_z = 0;
+ destination_z = 0;
+ feedrate = 0;
+ }
+
+ feedrate = saved_feedrate;
+ previous_millis_cmd = millis();
+ break;
case 90: // G90
relative_mode = false;
break;
@@ -820,6 +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
}
}
@@ -865,7 +838,10 @@ inline void get_coordinates()
next_feedrate = code_value();
if(next_feedrate > 0.0) feedrate = next_feedrate;
}
-
+}
+
+inline void prepare_move()
+{
//Find direction
if(destination_x >= current_x) direction_x=1;
else direction_x=0;
@@ -893,6 +869,80 @@ inline void get_coordinates()
if(feedrate > max_z_feedrate) z_feedrate = max_z_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;
+ /*
+ //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)
+ */
+ #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;
+
+ //#define DEBUGGING false
+ #if 0
+ if(0) {
+ Serial.print("destination_x: "); Serial.println(destination_x);
+ Serial.print("current_x: "); Serial.println(current_x);
+ Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take);
+ Serial.print("X_TIME_FOR_MVE: "); Serial.println(X_TIME_FOR_MOVE);
+ Serial.print("x_interval: "); Serial.println(x_interval);
+ Serial.println("");
+ Serial.print("destination_y: "); Serial.println(destination_y);
+ Serial.print("current_y: "); Serial.println(current_y);
+ Serial.print("y_steps_to_take: "); Serial.println(y_steps_to_take);
+ Serial.print("Y_TIME_FOR_MVE: "); Serial.println(Y_TIME_FOR_MOVE);
+ Serial.print("y_interval: "); Serial.println(y_interval);
+ Serial.println("");
+ Serial.print("destination_z: "); Serial.println(destination_z);
+ Serial.print("current_z: "); Serial.println(current_z);
+ Serial.print("z_steps_to_take: "); Serial.println(z_steps_to_take);
+ Serial.print("Z_TIME_FOR_MVE: "); Serial.println(Z_TIME_FOR_MOVE);
+ Serial.print("z_interval: "); Serial.println(z_interval);
+ Serial.println("");
+ Serial.print("destination_e: "); Serial.println(destination_e);
+ Serial.print("current_e: "); Serial.println(current_e);
+ Serial.print("e_steps_to_take: "); Serial.println(e_steps_to_take);
+ Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE);
+ Serial.print("e_interval: "); Serial.println(e_interval);
+ Serial.println("");
+ }
+ #endif
+
+ linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
}
void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining) // make linear move with preset speeds and destinations, see G0 and G1
@@ -1177,8 +1227,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
}
- //If more that half second is passed since previous heating check, manage it
- if(!accelerating && (millis() - previous_millis_heater) >= 500 ) {
+ //If more that 50ms have passed since previous heating check, adjust temp
+ if(!accelerating && (millis() - previous_millis_heater) >= 50 ) {
manage_heater();
previous_millis_heater = millis();
diff --git a/Tonokip_Firmware/pins.h b/Tonokip_Firmware/pins.h
index 282961f..42845fd 100644
--- a/Tonokip_Firmware/pins.h
+++ b/Tonokip_Firmware/pins.h
@@ -210,51 +210,59 @@
#define X_DIR_PIN 28
#define X_ENABLE_PIN 24
#define X_MIN_PIN 3
-#define X_MAX_PIN -2 //2
+#define X_MAX_PIN -2 //2
#define Y_STEP_PIN 38
#define Y_DIR_PIN 40
#define Y_ENABLE_PIN 36
#define Y_MIN_PIN 16
-#define Y_MAX_PIN -1 //17
+#define Y_MAX_PIN -1 //17
#define Z_STEP_PIN 44
#define Z_DIR_PIN 46
#define Z_ENABLE_PIN 42
#define Z_MIN_PIN 18
-#define Z_MAX_PIN -1 //19
+#define Z_MAX_PIN -1 //19
#define E_STEP_PIN 32
#define E_DIR_PIN 34
#define E_ENABLE_PIN 30
-#define SDPOWER 48
-#define SDSS 53
+#define SDPOWER 48
+#define SDSS 53
#define LED_PIN 13
-//#define FAN_PIN 11 // UNCOMMENT THIS LINE FOR V1.0
-#define FAN_PIN 9 // THIS LINE FOR V1.1
-
#define PS_ON_PIN -1
#define KILL_PIN -1
-//#define HEATER_0_PIN 12 // UNCOMMENT THIS LINE FOR V1.0
-#define HEATER_0_PIN 10 // THIS LINE FOR V1.1
-#define HEATER_1_PIN 8 // THIS LINE FOR V1.1
+// uncomment the following line for RAMPS V1.0
+// #define RAMPS_V_1_0
-#define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+#ifdef RAMPS_V_1_0
+ #define HEATER_0_PIN 12 // RAMPS 1.0
+ #define HEATER_1_PIN -1 // RAMPS 1.0
+ #define FAN_PIN 11 // RAMPS 1.0
-#ifndef SDSUPPORT
+#else // RAMPS_V_1_1 as default
+ #define HEATER_0_PIN 10 // RAMPS 1.1
+ #define HEATER_1_PIN 8 // RAMPS 1.1
-// SPI for Max6675 Thermocouple (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
+ #define FAN_PIN 9 // RAMPS 1.1
+#endif
+
+#define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+#define TEMP_1_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+
+// SPI for Max6675 Thermocouple
+
+#ifndef SDSUPPORT
+// 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
#else
-#define MAX6675_SS 49
+ #define MAX6675_SS 49
#endif
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-02 21:02:12 +0000