From ee764635a3882722ef0834742c8baf342a3b2ee3 Mon Sep 17 00:00:00 2001 From: midopple Date: Wed, 15 Feb 2012 21:01:43 +0100 Subject: - changed homing function to not conflict with min_software_endstops/max_software_endstops (thanks rGlory) - Corrected distance calculation. (thanks jv4779) --- Sprinter/Sprinter.pde | 74 ++++++++++++++++++++++++++++++++------------------- 1 file changed, 46 insertions(+), 28 deletions(-) (limited to 'Sprinter') diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index d33480f..1dac69b 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -39,7 +39,7 @@ - move string to flash to free RAM vor forward planner - M203 Temperature monitor for Repetier - + Version 1.3.04T - Implement Plannercode from Marlin V1 big thanks to Erik - Stepper interrupt with Step loops - Stepperfrequenz 30 Khz @@ -53,6 +53,13 @@ - Option to deaktivate ARC (G2/G3) function (save flash) - Removed modulo (%) operator, which uses an expensive divide + Version 1.3.05T + - changed homing function to not conflict with min_software_endstops/max_software_endstops (thanks rGlory) + - Changed check in arc_func + - Corrected distance calculation. (thanks jv4779) + - MAX Feed Rate for Z-Axis reduced to 2 mm/s some Printers had problems with 4 mm/s + + */ #include @@ -142,13 +149,13 @@ void __cxa_pure_virtual(){}; // M603 - Show Free Ram -#define _VERSION_TEXT "1.3.04T / 04.02.2012" +#define _VERSION_TEXT "1.3.05T / 15.02.2012" //Stepper Movement Variables char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; -float axis_steps_per_unit[] = _AXIS_STEP_PER_UNIT; +float axis_steps_per_unit[4] = _AXIS_STEP_PER_UNIT; -float max_feedrate[] = _MAX_FEEDRATE; +float max_feedrate[4] = _MAX_FEEDRATE; float homing_feedrate[] = _HOMING_FEEDRATE; bool axis_relative_modes[] = _AXIS_RELATIVE_MODES; @@ -157,7 +164,7 @@ float retract_acceleration = _RETRACT_ACCELERATION; // Normal acceleration mm/s^ float max_xy_jerk = _MAX_XY_JERK; float max_z_jerk = _MAX_Z_JERK; -long max_acceleration_units_per_sq_second[] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts +long max_acceleration_units_per_sq_second[4] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts //float max_start_speed_units_per_second[] = _MAX_START_SPEED_UNITS_PER_SECOND; //long max_travel_acceleration_units_per_sq_second[] = _MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z max acceleration in mm/s^2 for travel moves @@ -517,7 +524,7 @@ void setup() { Serial.begin(BAUDRATE); - showString(PSTR("SprinterV2\r\n")); + showString(PSTR("Sprinter\r\n")); showString(PSTR(_VERSION_TEXT)); showString(PSTR("\r\n")); showString(PSTR("start\r\n")); @@ -997,20 +1004,22 @@ FORCE_INLINE void process_commands() if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) { st_synchronize(); - current_position[X_AXIS] = 0; + current_position[X_AXIS] = -1.5 * X_MAX_LENGTH * X_HOME_DIR; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR; + destination[X_AXIS] = 0; feedrate = homing_feedrate[X_AXIS]; prepare_move(); st_synchronize(); - current_position[X_AXIS] = 0; + current_position[X_AXIS] = 5 * X_HOME_DIR; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[X_AXIS] = -5 * X_HOME_DIR; + destination[X_AXIS] = 0; prepare_move(); - st_synchronize(); - destination[X_AXIS] = 10 * X_HOME_DIR; + st_synchronize(); + current_position[X_AXIS] = -10 * X_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[X_AXIS] = 0; feedrate = homing_feedrate[X_AXIS]/2 ; prepare_move(); st_synchronize(); @@ -1027,20 +1036,22 @@ FORCE_INLINE void process_commands() { if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) { - current_position[Y_AXIS] = 0; + current_position[Y_AXIS] = -1.5 * Y_MAX_LENGTH * Y_HOME_DIR; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR; + destination[Y_AXIS] = 0; feedrate = homing_feedrate[Y_AXIS]; prepare_move(); st_synchronize(); - current_position[Y_AXIS] = 0; + current_position[Y_AXIS] = 5 * Y_HOME_DIR; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Y_AXIS] = -5 * Y_HOME_DIR; + destination[Y_AXIS] = 0; prepare_move(); st_synchronize(); - destination[Y_AXIS] = 10 * Y_HOME_DIR; + current_position[Y_AXIS] = -10 * Y_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Y_AXIS] = 0; feedrate = homing_feedrate[Y_AXIS]/2; prepare_move(); st_synchronize(); @@ -1057,20 +1068,22 @@ FORCE_INLINE void process_commands() { if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) { - current_position[Z_AXIS] = 0; + current_position[Z_AXIS] = -1.5 * Z_MAX_LENGTH * Z_HOME_DIR; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Z_AXIS] = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR; + destination[Z_AXIS] = 0; feedrate = homing_feedrate[Z_AXIS]; prepare_move(); st_synchronize(); - current_position[Z_AXIS] = 0; + current_position[Z_AXIS] = 2 * Z_HOME_DIR; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); - destination[Z_AXIS] = -2 * Z_HOME_DIR; + destination[Z_AXIS] = 0; prepare_move(); st_synchronize(); - destination[Z_AXIS] = 3 * Z_HOME_DIR; + current_position[Z_AXIS] = -3 * Z_HOME_DIR; + plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); + destination[Z_AXIS] = 0; feedrate = homing_feedrate[Z_AXIS]/2; prepare_move(); st_synchronize(); @@ -1470,7 +1483,7 @@ FORCE_INLINE void process_commands() // } break; case 115: // M115 - showString(PSTR("FIRMWARE_NAME: SprinterV2 PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\r\n")); + showString(PSTR("FIRMWARE_NAME: Sprinter Experimental PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\r\n")); //Serial.println(uuid); showString(PSTR(_DEF_CHAR_UUID)); showString(PSTR("\r\n")); @@ -2185,8 +2198,13 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]; delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS]; - block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + - square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS])); + + if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) { + block->millimeters = fabs(delta_mm[E_AXIS]); + } else { + block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])); + } + float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides // Calculate speed in mm/second for each axis. No divide by zero due to previous checks. @@ -2205,10 +2223,10 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) if(feed_rate 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); #endif @@ -2326,7 +2344,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) vmax_junction = max_z_jerk/2; vmax_junction = min(vmax_junction, block->nominal_speed); - if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) { + if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) { float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2)); if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) { vmax_junction = block->nominal_speed; -- cgit v1.2.1