/*
Reprap firmware based on Sprinter
Optimize for Sanguinololu 1.2 and above
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see . */
/*
This firmware is a mashup between Sprinter,grbl and parts from marlin.
(https://github.com/kliment/Sprinter)
Changes by Doppler Michael (midopple)
Planner is from Simen Svale Skogsrud
https://github.com/simen/grbl
Parts of Marlin Firmware from ErikZalm
https://github.com/ErikZalm/Marlin-non-gen6
Sprinter V2
- Look forward function --> calculate 16 Steps forward, get from Firmaware Marlin and Grbl
- Stepper control with Timer 1 (Interrupt)
- Extruder heating with PID use a Softpwm (Timer 2) with 500 hz to free Timer1 für Steppercontrol
- command M220 Sxxx --> tune Printing speed online (+/- 50 %)
- G2 / G3 command --> circle funktion
- Baudrate set to 250 kbaud
- Testet on Sanguinololu Board
- M30 Command can delete files on SD Card
- move string to flash to free RAM vor forward planner
- M203 Temperature monitor for Repetier
*/
#include
#include
#include "fastio.h"
#include "Configuration.h"
#include "pins.h"
#include "Sprinter.h"
#include "speed_lookuptable.h"
#include "arc_func.h"
#include "heater.h"
#ifdef SDSUPPORT
#include "SdFat.h"
#endif
#ifndef CRITICAL_SECTION_START
#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli()
#define CRITICAL_SECTION_END SREG = _sreg
#endif //CRITICAL_SECTION_START
void __cxa_pure_virtual(){};
// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
//Implemented Codes
//-------------------
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G2 - CW ARC
// G3 - CCW ARC
// G4 - Dwell S or P
// G28 - Home all Axis
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
//RepRap M Codes
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Wait for extruder current temp to reach target temp.
// M114 - Display current position
//Custom M Codes
// M20 - List SD card
// M21 - Init SD card
// M22 - Release SD card
// M23 - Select SD file (M23 filename.g)
// M24 - Start/resume SD print
// M25 - Pause SD print
// M26 - Set SD position in bytes (M26 S12345)
// M27 - Report SD print status
// M28 - Start SD write (M28 filename.g)
// M29 - Stop SD write
// - - Delete file on sd card
// M42 - Set output on free pins, on a non pwm pin (over pin 13 on an arduino mega) use S255 to turn it on and S0 to turn it off. Use P to decide the pin (M42 P23 S255) would turn pin 23 on
// M80 - Turn on Power Supply
// 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,
// or use S 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. To disable set zero (default)
// M92 - Set axis_steps_per_unit - same syntax as G92
// M115 - Capabilities string
// M119 - Show Endstopper State
// 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)
// M203 - Set temperture monitor to Sx
// M220 - set speed factor override percentage S:factor in percent
// Debug feature / Testing the PID for Hotend
// M601 - Show Temp jitter from Extruder (min / max value from Hotend Temperatur while printing)
// M602 - Reset Temp jitter from Extruder (min / max val) --> Dont use it while Printing
// M603 - Show Free Ram
#define _VERSION_TEXT "1.2.20T / 27.01.2012"
//Stepper Movement Variables
char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
float axis_steps_per_unit[] = _AXIS_STEP_PER_UNIT;
float max_feedrate[] = _MAX_FEEDRATE;
float homing_feedrate[] = _HOMING_FEEDRATE;
bool axis_relative_modes[] = _AXIS_RELATIVE_MODES;
bool move_direction[NUM_AXIS];
unsigned long axis_previous_micros[NUM_AXIS];
unsigned long previous_micros = 0;
unsigned long move_steps_to_take[NUM_AXIS];
#ifdef RAMP_ACCELERATION
float acceleration = _ACCELERATION; // Normal acceleration mm/s^2
float retract_acceleration = _RETRACT_ACCELERATION; // Normal acceleration mm/s^2
float max_xy_jerk = _MAX_XY_JERK;
float max_z_jerk = _MAX_Z_JERK;
float max_start_speed_units_per_second[] = _MAX_START_SPEED_UNITS_PER_SECOND;
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_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
unsigned long axis_max_interval[NUM_AXIS];
unsigned long axis_steps_per_sqr_second[NUM_AXIS];
unsigned long axis_travel_steps_per_sqr_second[NUM_AXIS];
unsigned long max_interval;
unsigned long steps_per_sqr_second, plateau_steps;
#endif
//adjustable feed faktor for online tuning printerspeed
volatile int feedmultiply=100; //100->original / 200-> Faktor 2 / 50 -> Faktor 0.5
int saved_feedmultiply;
volatile bool feedmultiplychanged=false;
boolean acceleration_enabled = false, accelerating = false;
unsigned long interval;
float destination[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
float current_position[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
unsigned long steps_taken[NUM_AXIS];
long axis_interval[NUM_AXIS]; // for speed delay
bool home_all_axis = true;
int feedrate = 1500, next_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;
//experimental feedrate calc
//float d = 0;
//float axis_diff[NUM_AXIS] = {0, 0, 0, 0};
//For arc centerpont, send bei Command G2/G3
float offset[3] = {0.0, 0.0, 0.0};
#ifdef STEP_DELAY_RATIO
long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
#endif
///oscillation reduction
#ifdef RAPID_OSCILLATION_REDUCTION
float cumm_wait_time_in_dir[NUM_AXIS]={0.0,0.0,0.0,0.0};
bool prev_move_direction[NUM_AXIS]={1,1,1,1};
float osc_wait_remainder = 0.0;
#endif
// comm variables and Commandbuffer
// BUFSIZE is reduced from 8 to 5 to free more RAM for the PLANNER
#define MAX_CMD_SIZE 96
#define BUFSIZE 5 //8
char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
bool fromsd[BUFSIZE];
//Need 1kb Ram --> only work with Atmega1284
#ifdef SD_FAST_XFER_AKTIV
char fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE + 1];
int lastxferchar;
long xferbytes;
#endif
int bufindr = 0;
int bufindw = 0;
int buflen = 0;
char serial_char;
int serial_count = 0;
boolean comment_mode = false;
char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
//Send Temperature in °C to Host
int hotendtC = 0, bedtempC = 0;
//Inactivity shutdown variables
unsigned long previous_millis_cmd = 0;
unsigned long max_inactive_time = 0;
unsigned long stepper_inactive_time = 0;
//Temp Montor for repetier
unsigned char manage_monitor = 255;
//------------------------------------------------
//Init the SD card
//------------------------------------------------
#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 read_char_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))
showString(PSTR("SD init fail\r\n"));
}
else if (!volume.init(&card))
showString(PSTR("volume.init failed\r\n"));
else if (!root.openRoot(&volume))
showString(PSTR("openRoot failed\r\n"));
else{
sdactive = true;
print_disk_info();
#ifdef SDINITFILE
file.close();
if(file.open(&root, "init.g", O_READ)){
sdpos = 0;
filesize = file.fileSize();
sdmode = true;
}
#endif
}
#endif
}
#ifdef SD_FAST_XFER_AKTIV
void fast_xfer()
{
char *pstr;
boolean done = false;
//force heater pins low
if(HEATER_0_PIN > -1) WRITE(HEATER_0_PIN,LOW);
if(HEATER_1_PIN > -1) WRITE(HEATER_1_PIN,LOW);
lastxferchar = 1;
xferbytes = 0;
pstr = strstr(strchr_pointer+4, " ");
if(pstr == NULL)
{
Serial.println("invalid command");
return;
}
*pstr = '\0';
//check mode (currently only RAW is supported
if(strcmp(strchr_pointer+4, "RAW") != 0)
{
Serial.println("Invalid transfer codec");
return;
}else{
Serial.print("Selected codec: ");
Serial.println(strchr_pointer+4);
}
if (!file.open(&root, pstr+1, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
{
Serial.print("open failed, File: ");
Serial.print(pstr+1);
Serial.print(".");
}else{
Serial.print("Writing to file: ");
Serial.println(pstr+1);
}
Serial.println("ok");
//RAW transfer codec
//Host sends \0 then up to SD_FAST_XFER_CHUNK_SIZE then \0
//when host is done, it sends \0\0.
//if a non \0 character is recieved at the beginning, host has failed somehow, kill the transfer.
//read SD_FAST_XFER_CHUNK_SIZE bytes (or until \0 is recieved)
while(!done)
{
while(!Serial.available())
{
}
if(Serial.peek() != 0)
{
//host has failed, this isn't a RAW chunk, it's an actual command
file.sync();
file.close();
return;
}
//clear the initial 0
Serial.read();
for(int i=0;i(__brkval) == 0)
{
// if no heap use from end of bss section
free_memory = reinterpret_cast(&free_memory) - reinterpret_cast(&__bss_end);
}
else
{
// use from top of stack to heap
free_memory = reinterpret_cast(&free_memory) - reinterpret_cast(__brkval);
}
return free_memory;
}
//------------------------------------------------
//Print a String from Flash to Serial (save RAM)
//------------------------------------------------
void showString (PGM_P s)
{
char c;
while ((c = pgm_read_byte(s++)) != 0)
Serial.print(c);
}
//------------------------------------------------
// Init
//------------------------------------------------
void setup()
{
Serial.begin(BAUDRATE);
showString(PSTR("SprinterV2\r\n"));
showString(PSTR(_VERSION_TEXT));
showString(PSTR("\r\n"));
showString(PSTR("start\r\n"));
for(int i = 0; i < BUFSIZE; i++)
{
fromsd[i] = false;
}
//Initialize Dir Pins
#if X_DIR_PIN > -1
SET_OUTPUT(X_DIR_PIN);
#endif
#if Y_DIR_PIN > -1
SET_OUTPUT(Y_DIR_PIN);
#endif
#if Z_DIR_PIN > -1
SET_OUTPUT(Z_DIR_PIN);
#endif
#if E_DIR_PIN > -1
SET_OUTPUT(E_DIR_PIN);
#endif
//Initialize Enable Pins - steppers default to disabled.
#if (X_ENABLE_PIN > -1)
SET_OUTPUT(X_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
#endif
#if (Y_ENABLE_PIN > -1)
SET_OUTPUT(Y_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
#endif
#if (Z_ENABLE_PIN > -1)
SET_OUTPUT(Z_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
#endif
#if (E_ENABLE_PIN > -1)
SET_OUTPUT(E_ENABLE_PIN);
if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
#endif
#ifdef CONTROLLERFAN_PIN
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
//endstops and pullups
#ifdef ENDSTOPPULLUPS
#if X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN);
WRITE(X_MIN_PIN,HIGH);
#endif
#if X_MAX_PIN > -1
SET_INPUT(X_MAX_PIN);
WRITE(X_MAX_PIN,HIGH);
#endif
#if Y_MIN_PIN > -1
SET_INPUT(Y_MIN_PIN);
WRITE(Y_MIN_PIN,HIGH);
#endif
#if Y_MAX_PIN > -1
SET_INPUT(Y_MAX_PIN);
WRITE(Y_MAX_PIN,HIGH);
#endif
#if Z_MIN_PIN > -1
SET_INPUT(Z_MIN_PIN);
WRITE(Z_MIN_PIN,HIGH);
#endif
#if Z_MAX_PIN > -1
SET_INPUT(Z_MAX_PIN);
WRITE(Z_MAX_PIN,HIGH);
#endif
#else
#if X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN);
#endif
#if X_MAX_PIN > -1
SET_INPUT(X_MAX_PIN);
#endif
#if Y_MIN_PIN > -1
SET_INPUT(Y_MIN_PIN);
#endif
#if Y_MAX_PIN > -1
SET_INPUT(Y_MAX_PIN);
#endif
#if Z_MIN_PIN > -1
SET_INPUT(Z_MIN_PIN);
#endif
#if Z_MAX_PIN > -1
SET_INPUT(Z_MAX_PIN);
#endif
#endif
#if (HEATER_0_PIN > -1)
SET_OUTPUT(HEATER_0_PIN);
WRITE(HEATER_0_PIN,LOW);
#endif
#if (HEATER_1_PIN > -1)
SET_OUTPUT(HEATER_1_PIN);
WRITE(HEATER_1_PIN,LOW);
#endif
//Initialize Fan Pin
#if (FAN_PIN > -1)
SET_OUTPUT(FAN_PIN);
#endif
//Initialize Alarm Pin
#if (ALARM_PIN > -1)
SET_OUTPUT(ALARM_PIN);
WRITE(ALARM_PIN,LOW);
#endif
//Initialize LED Pin
#if (LED_PIN > -1)
SET_OUTPUT(LED_PIN);
WRITE(LED_PIN,LOW);
#endif
//Initialize Step Pins
#if (X_STEP_PIN > -1)
SET_OUTPUT(X_STEP_PIN);
#endif
#if (Y_STEP_PIN > -1)
SET_OUTPUT(Y_STEP_PIN);
#endif
#if (Z_STEP_PIN > -1)
SET_OUTPUT(Z_STEP_PIN);
#endif
#if (E_STEP_PIN > -1)
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];
}
#endif
#ifdef HEATER_USES_MAX6675
SET_OUTPUT(SCK_PIN);
WRITE(SCK_PIN,0);
SET_OUTPUT(MOSI_PIN);
WRITE(MOSI_PIN,1);
SET_INPUT(MISO_PIN);
WRITE(MISO_PIN,1);
SET_OUTPUT(MAX6675_SS);
WRITE(MAX6675_SS,1);
#endif
#ifdef SDSUPPORT
//power to SD reader
#if SDPOWER > -1
SET_OUTPUT(SDPOWER);
WRITE(SDPOWER,HIGH);
#endif
showString(PSTR("SD Start\r\n"));
initsd();
#endif
#ifdef PID_SOFT_PWM
showString(PSTR("Soft PWM Init\r\n"));
init_Timer2_softpwm();
#endif
showString(PSTR("Planner Init\r\n"));
plan_init(); // Initialize planner;
showString(PSTR("Stepper Timer init\r\n"));
st_init(); // Initialize stepper
//Free Ram
showString(PSTR("Free Ram: "));
Serial.println(FreeRam1());
//Planner Buffer Size
showString(PSTR("Plan Buffer Size:"));
Serial.print((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
showString(PSTR(" / "));
Serial.println(BLOCK_BUFFER_SIZE);
}
//------------------------------------------------
//MAIN LOOP
//------------------------------------------------
void loop()
{
if(buflen < (BUFSIZE-1))
get_command();
if(buflen)
{
#ifdef SDSUPPORT
if(savetosd)
{
if(strstr(cmdbuffer[bufindr],"M29") == NULL)
{
write_command(cmdbuffer[bufindr]);
showString(PSTR("ok\r\n"));
}
else
{
file.sync();
file.close();
savetosd = false;
showString(PSTR("Done saving file.\r\n"));
}
}
else
{
process_commands();
}
#else
process_commands();
#endif
buflen = (buflen-1);
bufindr = (bufindr + 1)%BUFSIZE;
}
//check heater every n milliseconds
manage_heater();
manage_inactivity(1);
}
//------------------------------------------------
//Check Uart buffer while arc function ist calc a circle
//------------------------------------------------
void check_buffer_while_arc()
{
if(buflen < (BUFSIZE-1))
{
get_command();
}
}
//------------------------------------------------
//READ COMMAND FROM UART
//------------------------------------------------
void get_command()
{
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;
if(strstr(cmdbuffer[bufindw], "N") != NULL)
{
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) )
{
showString(PSTR("Serial Error: Line Number is not Last Line Number+1, Last Line:"));
Serial.println(gcode_LastN);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
}
if(strstr(cmdbuffer[bufindw], "*") != NULL)
{
byte checksum = 0;
byte count = 0;
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum)
{
showString(PSTR("Error: checksum mismatch, Last Line:"));
Serial.println(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
//if no errors, continue parsing
}
else
{
showString(PSTR("Error: No Checksum with line number, Last Line:"));
Serial.println(gcode_LastN);
FlushSerialRequestResend();
serial_count = 0;
return;
}
gcode_LastN = gcode_N;
//if no errors, continue parsing
}
else // if we don't receive 'N' but still see '*'
{
if((strstr(cmdbuffer[bufindw], "*") != NULL))
{
showString(PSTR("Error: No Line Number with checksum, Last Line:"));
Serial.println(gcode_LastN);
serial_count = 0;
return;
}
}
if((strstr(cmdbuffer[bufindw], "G") != NULL))
{
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL))))
{
case 0:
case 1:
case 2: //G2
case 3: //G3 arc func
#ifdef SDSUPPORT
if(savetosd)
break;
#endif
showString(PSTR("ok\r\n"));
//Serial.println("ok");
break;
default:
break;
}
}
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
}
comment_mode = false; //for new command
serial_count = 0; //clear buffer
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
#ifdef SDSUPPORT
if(!sdmode || serial_count!=0)
{
return;
}
while( filesize > sdpos && buflen < BUFSIZE)
{
read_char_n = file.read();
serial_char = (char)read_char_n;
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || read_char_n == -1)
{
sdpos = file.curPosition();
if(sdpos >= filesize)
{
sdmode = false;
showString(PSTR("Done printing file\r\n"));
}
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;
}
comment_mode = false; //for new command
serial_count = 0; //clear buffer
}
else
{
if(serial_char == ';') comment_mode = true;
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
#endif
}
inline float code_value() { return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); }
inline long code_value_long() { return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); }
inline bool code_seen(char code_string[]) { return (strstr(cmdbuffer[bufindr], code_string) != NULL); } //Return True if the string was found
inline bool code_seen(char code)
{
strchr_pointer = strchr(cmdbuffer[bufindr], code);
return (strchr_pointer != NULL); //Return True if a character was found
}
//------------------------------------------------
// CHECK COMMAND AND CONVERT VALUES
//------------------------------------------------
inline void process_commands()
{
unsigned long codenum; //throw away variable
char *starpos = NULL;
if(code_seen('G'))
{
switch((int)code_value())
{
case 0: // G0 -> G1
case 1: // G1
#if (defined DISABLE_CHECK_DURING_ACC) || (defined DISABLE_CHECK_DURING_MOVE) || (defined DISABLE_CHECK_DURING_TRAVEL)
manage_heater();
#endif
get_coordinates(); // For X Y Z E F
prepare_move();
previous_millis_cmd = millis();
//ClearToSend();
return;
//break;
case 2: // G2 - CW ARC
get_arc_coordinates();
prepare_arc_move(true);
previous_millis_cmd = millis();
//break;
return;
case 3: // G3 - CCW ARC
get_arc_coordinates();
prepare_arc_move(false);
previous_millis_cmd = millis();
//break;
return;
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
codenum += millis(); // keep track of when we started waiting
while(millis() < codenum ){
manage_heater();
}
break;
case 28: //G28 Home all Axis one at a time
saved_feedrate = feedrate;
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
for(int i=0; i < NUM_AXIS; i++)
{
destination[i] = current_position[i];
}
feedrate = 0;
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{
if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1))
{
st_synchronize();
current_position[X_AXIS] = 0;
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;
feedrate = homing_feedrate[X_AXIS];
prepare_move();
st_synchronize();
current_position[X_AXIS] = 0;
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;
prepare_move();
st_synchronize();
destination[X_AXIS] = 10 * X_HOME_DIR;
feedrate = homing_feedrate[X_AXIS]/2 ;
prepare_move();
st_synchronize();
current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
feedrate = 0;
}
}
showString(PSTR("HOME X AXIS\r\n"));
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
{
if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1))
{
current_position[Y_AXIS] = 0;
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;
feedrate = homing_feedrate[Y_AXIS];
prepare_move();
st_synchronize();
current_position[Y_AXIS] = 0;
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;
prepare_move();
st_synchronize();
destination[Y_AXIS] = 10 * Y_HOME_DIR;
feedrate = homing_feedrate[Y_AXIS]/2;
prepare_move();
st_synchronize();
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Y_AXIS] = current_position[Y_AXIS];
feedrate = 0;
}
}
showString(PSTR("HOME Y AXIS\r\n"));
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS])))
{
if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1))
{
current_position[Z_AXIS] = 0;
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;
feedrate = homing_feedrate[Z_AXIS];
prepare_move();
st_synchronize();
current_position[Z_AXIS] = 0;
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;
prepare_move();
st_synchronize();
destination[Z_AXIS] = 3 * Z_HOME_DIR;
feedrate = homing_feedrate[Z_AXIS]/2;
prepare_move();
st_synchronize();
current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[Z_AXIS] = current_position[Z_AXIS];
feedrate = 0;
}
}
showString(PSTR("HOME Z AXIS\r\n"));
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
break;
case 90: // G90
relative_mode = false;
break;
case 91: // G91
relative_mode = true;
break;
case 92: // G92
if(!code_seen(axis_codes[E_AXIS]))
st_synchronize();
for(int i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i])) current_position[i] = code_value();
}
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
break;
default:
#ifdef SEND_WRONG_CMD_INFO
showString(PSTR("Unknown G-COM:"));
Serial.println(cmdbuffer[bufindr]);
#endif
break;
}
}
else if(code_seen('M'))
{
switch( (int)code_value() )
{
#ifdef SDSUPPORT
case 20: // M20 - list SD card
showString(PSTR("Begin file list\r\n"));
root.ls();
showString(PSTR("End file list\r\n"));
break;
case 21: // M21 - init SD card
sdmode = false;
initsd();
break;
case 22: //M22 - release SD card
sdmode = false;
sdactive = false;
break;
case 23: //M23 - Select file
if(sdactive)
{
sdmode = false;
file.close();
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos!=NULL)
*(starpos-1)='\0';
if (file.open(&root, strchr_pointer + 4, O_READ))
{
showString(PSTR("File opened:"));
Serial.print(strchr_pointer + 4);
showString(PSTR(" Size:"));
Serial.println(file.fileSize());
sdpos = 0;
filesize = file.fileSize();
showString(PSTR("File selected\r\n"));
}
else
{
showString(PSTR("file.open failed\r\n"));
}
}
break;
case 24: //M24 - Start SD print
if(sdactive)
{
sdmode = true;
}
break;
case 25: //M25 - Pause SD print
if(sdmode)
{
sdmode = false;
}
break;
case 26: //M26 - Set SD index
if(sdactive && code_seen('S'))
{
sdpos = code_value_long();
file.seekSet(sdpos);
}
break;
case 27: //M27 - Get SD status
if(sdactive)
{
showString(PSTR("SD printing byte "));
Serial.print(sdpos);
showString(PSTR("/"));
Serial.println(filesize);
}
else
{
showString(PSTR("Not SD printing\r\n"));
}
break;
case 28: //M28 - Start SD write
if(sdactive)
{
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';
}
if (!file.open(&root, strchr_pointer+4, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
{
showString(PSTR("open failed, File: "));
Serial.print(strchr_pointer + 4);
showString(PSTR("."));
}
else
{
savetosd = true;
showString(PSTR("Writing to file: "));
Serial.println(strchr_pointer + 4);
}
}
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//savetosd = false;
break;
#ifndef SD_FAST_XFER_AKTIV
case 30: // M30 filename - Delete file
if(sdactive)
{
sdmode = false;
file.close();
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos!=NULL)
*(starpos-1)='\0';
if(file.remove(&root, strchr_pointer + 4))
{
showString(PSTR("File deleted\r\n"));
}
else
{
showString(PSTR("Deletion failed\r\n"));
}
}
break;
#else
case 30: //M30 - fast SD transfer
fast_xfer();
break;
case 31: //M31 - high speed xfer capabilities
showString(PSTR("RAW:"));
Serial.println(SD_FAST_XFER_CHUNK_SIZE);
break;
#endif
#endif
case 42: //M42 -Change pin status via gcode
if (code_seen('S'))
{
int pin_status = code_value();
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
{
int pin_number = code_value();
for(int i = 0; i < sizeof(sensitive_pins); i++)
{
if (sensitive_pins[i] == pin_number)
{
pin_number = -1;
break;
}
}
if (pin_number > -1)
{
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
//analogWrite(pin_number, pin_status);
}
}
}
break;
case 104: // M104
if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value());
#ifdef WATCHPERIOD
if(target_raw > current_raw)
{
watchmillis = max(1,millis());
watch_raw = current_raw;
}
else
{
watchmillis = 0;
}
#endif
break;
case 140: // M140 set bed temp
#if TEMP_1_PIN > -1 || defined BED_USES_AD595
if (code_seen('S')) target_bed_raw = temp2analogBed(code_value());
#endif
break;
case 105: // M105
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675)|| defined HEATER_USES_AD595
hotendtC = analog2temp(current_raw);
#endif
#if TEMP_1_PIN > -1 || defined BED_USES_AD595
bedtempC = analog2tempBed(current_bed_raw);
#endif
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined HEATER_USES_AD595
showString(PSTR("ok T:"));
Serial.print(hotendtC);
#ifdef PIDTEMP
showString(PSTR(" @:"));
Serial.print(heater_duty);
showString(PSTR(",P:"));
Serial.print(pTerm);
showString(PSTR(",I:"));
Serial.print(iTerm);
showString(PSTR(",D:"));
Serial.print(dTerm);
#ifdef AUTOTEMP
showString(PSTR(",AU:"));
Serial.print(autotemp_setpoint);
#endif
#endif
#if TEMP_1_PIN > -1 || defined BED_USES_AD595
showString(PSTR(" B:"));
Serial.println(bedtempC);
#else
Serial.println();
#endif
#else
#error No temperature source available
#endif
return;
//break;
case 109: { // M109 - Wait for extruder heater to reach target.
if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value());
#ifdef WATCHPERIOD
if(target_raw>current_raw)
{
watchmillis = max(1,millis());
watch_raw = current_raw;
}
else
{
watchmillis = 0;
}
#endif
codenum = millis();
/* See if we are heating up or cooling down */
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
{
showString(PSTR("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 && 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;
case 190: // M190 - Wait bed for heater to reach target.
#if TEMP_1_PIN > -1
if (code_seen('S')) target_bed_raw = temp2analogBed(code_value());
codenum = millis();
while(current_bed_raw < target_bed_raw)
{
if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
hotendtC=analog2temp(current_raw);
showString(PSTR("T:"));
Serial.print( hotendtC );
showString(PSTR(" B:"));
Serial.println( analog2tempBed(current_bed_raw) );
codenum = millis();
}
manage_heater();
}
#endif
break;
#if FAN_PIN > -1
case 106: //M106 Fan On
if (code_seen('S'))
{
WRITE(FAN_PIN, HIGH);
//analogWrite(FAN_PIN, constrain(code_value(),0,255) );
}
else
{
WRITE(FAN_PIN, HIGH);
//analogWrite(FAN_PIN, 255 );
}
break;
case 107: //M107 Fan Off
//analogWrite(FAN_PIN, 0);
WRITE(FAN_PIN, LOW);
break;
#endif
#if (PS_ON_PIN > -1)
case 80: // M81 - ATX Power On
SET_OUTPUT(PS_ON_PIN); //GND
break;
case 81: // M81 - ATX Power Off
SET_INPUT(PS_ON_PIN); //Floating
break;
#endif
case 82:
axis_relative_modes[3] = false;
break;
case 83:
axis_relative_modes[3] = true;
break;
case 84:
st_synchronize(); // wait for all movements to finish
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;
break;
case 92: // M92
for(int i=0; i < NUM_AXIS; i++)
{
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
}
#endif
break;
case 115: // M115
showString(PSTR("FIRMWARE_NAME: SprinterV2 PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\r\n"));
//Serial.println(uuid);
showString(PSTR(_DEF_CHAR_UUID));
showString(PSTR("\r\n"));
break;
case 114: // M114
showString(PSTR("X:"));
Serial.print(current_position[0]);
showString(PSTR("Y:"));
Serial.print(current_position[1]);
showString(PSTR("Z:"));
Serial.print(current_position[2]);
showString(PSTR("E:"));
Serial.println(current_position[3]);
break;
case 119: // M119
#if (X_MIN_PIN > -1)
showString(PSTR("x_min:"));
Serial.print((READ(X_MIN_PIN)^X_ENDSTOP_INVERT)?"H ":"L ");
#endif
#if (X_MAX_PIN > -1)
showString(PSTR("x_max:"));
Serial.print((READ(X_MAX_PIN)^X_ENDSTOP_INVERT)?"H ":"L ");
#endif
#if (Y_MIN_PIN > -1)
showString(PSTR("y_min:"));
Serial.print((READ(Y_MIN_PIN)^Y_ENDSTOP_INVERT)?"H ":"L ");
#endif
#if (Y_MAX_PIN > -1)
showString(PSTR("y_max:"));
Serial.print((READ(Y_MAX_PIN)^Y_ENDSTOP_INVERT)?"H ":"L ");
#endif
#if (Z_MIN_PIN > -1)
showString(PSTR("z_min:"));
Serial.print((READ(Z_MIN_PIN)^Z_ENDSTOP_INVERT)?"H ":"L ");
#endif
#if (Z_MAX_PIN > -1)
showString(PSTR("z_max:"));
Serial.print((READ(Z_MAX_PIN)^Z_ENDSTOP_INVERT)?"H ":"L ");
#endif
showString(PSTR("\r\n"));
break;
#ifdef RAMP_ACCELERATION
//TODO: update for all axis, use for loop
case 201: // M201
for(int i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
case 202: // M202
for(int i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
break;
#endif
case 203: // M203 Temperature monitor
if(code_seen('S')) manage_monitor = code_value();
if(manage_monitor==100) manage_monitor=1; // Set 100 to heated bed
break;
case 220: // M220 S- set speed factor override percentage
{
if(code_seen('S'))
{
feedmultiply = code_value() ;
if(feedmultiply < 20) feedmultiply = 20;
if(feedmultiply > 200) feedmultiply = 200;
feedmultiplychanged=true;
}
}
break;
#ifdef DEBUG_HEATER_TEMP
case 601: // M601 show Extruder Temp jitter
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675)|| defined HEATER_USES_AD595
if(current_raw_maxval > 0)
tt_maxval = analog2temp(current_raw_maxval);
if(current_raw_minval < 10000)
tt_minval = analog2temp(current_raw_minval);
#endif
showString(PSTR("Tmin:"));
Serial.print(tt_minval);
showString(PSTR(" / Tmax:"));
Serial.print(tt_maxval);
showString(PSTR(" "));
break;
case 602: // M602 reset Extruder Temp jitter
current_raw_minval = 32000;
current_raw_maxval = -32000;
showString(PSTR("T Minmax Reset "));
break;
#endif
case 603: // M603 Free RAM
showString(PSTR("Free Ram: "));
Serial.println(FreeRam1());
break;
default:
#ifdef SEND_WRONG_CMD_INFO
showString(PSTR("Unknown M-COM:"));
Serial.println(cmdbuffer[bufindr]);
#endif
break;
}
}
else{
showString(PSTR("Unknown command:\r\n"));
Serial.println(cmdbuffer[bufindr]);
}
ClearToSend();
}
void FlushSerialRequestResend()
{
//char cmdbuffer[bufindr][100]="Resend:";
Serial.flush();
showString(PSTR("Resend:"));
Serial.println(gcode_LastN + 1);
ClearToSend();
}
void ClearToSend()
{
previous_millis_cmd = millis();
#ifdef SDSUPPORT
if(fromsd[bufindr])
return;
#endif
showString(PSTR("ok\r\n"));
//Serial.println("ok");
}
inline void get_coordinates()
{
for(int i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
else destination[i] = current_position[i]; //Are these else lines really needed?
}
if(code_seen('F'))
{
next_feedrate = code_value();
if(next_feedrate > 0.0) feedrate = next_feedrate;
}
}
inline void get_arc_coordinates()
{
get_coordinates();
if(code_seen('I')) offset[0] = code_value();
if(code_seen('J')) offset[1] = code_value();
}
void prepare_move()
{
long help_feedrate = 0;
if (min_software_endstops)
{
if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
if (destination[Z_AXIS] < 0) destination[Z_AXIS] = 0.0;
}
if (max_software_endstops)
{
if (destination[X_AXIS] > X_MAX_LENGTH) destination[X_AXIS] = X_MAX_LENGTH;
if (destination[Y_AXIS] > Y_MAX_LENGTH) destination[Y_AXIS] = Y_MAX_LENGTH;
if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
}
help_feedrate = ((long)feedrate*(long)feedmultiply);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], help_feedrate/6000.0);
for(int i=0; i < NUM_AXIS; i++)
{
current_position[i] = destination[i];
}
}
void prepare_arc_move(char isclockwise)
{
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
long help_feedrate = 0;
help_feedrate = ((long)feedrate*(long)feedmultiply);
// Trace the arc
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, help_feedrate/6000.0, r, isclockwise);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position
// in any intermediate location.
for(int8_t i=0; i < NUM_AXIS; i++)
{
current_position[i] = destination[i];
}
}
inline void kill()
{
#if TEMP_0_PIN > -1
target_raw=0;
WRITE(HEATER_0_PIN,LOW);
#endif
#if TEMP_1_PIN > -1
target_bed_raw=0;
if(HEATER_1_PIN > -1) WRITE(HEATER_1_PIN,LOW);
#endif
disable_x();
disable_y();
disable_z();
disable_e();
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
}
inline void manage_inactivity(byte debug)
{
if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill();
if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time)
{
disable_x();
disable_y();
disable_z();
disable_e();
}
check_axes_activity();
}
// Planner with Interrupt for Stepper
/*
Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
s == speed, a == acceleration, t == time, d == distance
Basic definitions:
Speed[s_, a_, t_] := s + (a*t)
Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
Distance to reach a specific speed with a constant acceleration:
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
Speed after a given distance of travel with constant acceleration:
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
m -> Sqrt[2 a d + s^2]
DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
When to start braking (di) to reach a specified destionation speed (s2) after accelerating
from initial speed s1 without ever stopping at a plateau:
Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
*/
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
static volatile unsigned char block_buffer_head; // Index of the next block to be pushed
static volatile unsigned char block_buffer_tail; // Index of the block to process now
// The current position of the tool in absolute steps
static long position[4];
#define ONE_MINUTE_OF_MICROSECONDS 60000000.0
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration:
inline long estimate_acceleration_distance(long initial_rate, long target_rate, long acceleration)
{
return(
(target_rate*target_rate-initial_rate*initial_rate)/
(2L*acceleration)
);
}
// This function gives you the point at which you must start braking (at the rate of -acceleration) if
// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
// a total travel of distance. This can be used to compute the intersection point between acceleration and
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
inline long intersection_distance(long initial_rate, long final_rate, long acceleration, long distance)
{
return(
(2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
(4*acceleration)
);
}
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed)
{
if(block->busy == true) return; // If block is busy then bail out.
float entry_factor = entry_speed / block->nominal_speed;
float exit_factor = exit_speed / block->nominal_speed;
long initial_rate = ceil(block->nominal_rate*entry_factor);
long final_rate = ceil(block->nominal_rate*exit_factor);
#ifdef ADVANCE
long initial_advance = block->advance*entry_factor*entry_factor;
long final_advance = block->advance*exit_factor*exit_factor;
#endif // ADVANCE
// Limit minimal step rate (Otherwise the timer will overflow.)
if(initial_rate <120) initial_rate=120;
if(final_rate < 120) final_rate=120;
// Calculate the acceleration steps
long acceleration = block->acceleration_st;
long accelerate_steps = estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration);
long decelerate_steps = estimate_acceleration_distance(final_rate, block->nominal_rate, acceleration);
// Calculate the size of Plateau of Nominal Rate.
long plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count);
plateau_steps = 0;
}
long decelerate_after = accelerate_steps+plateau_steps;
long acceleration_rate = (long)((float)acceleration * 8.388608);
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if(block->busy == false) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
block->decelerate_after = decelerate_after;
block->acceleration_rate = acceleration_rate;
block->initial_rate = initial_rate;
block->final_rate = final_rate;
#ifdef ADVANCE
block->initial_advance = initial_advance;
block->final_advance = final_advance;
#endif ADVANCE
}
CRITICAL_SECTION_END;
}
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance.
inline float max_allowable_speed(float acceleration, float target_velocity, float distance) {
return(
sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance)
);
}
// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
// This method will calculate the junction jerk as the euclidean distance between the nominal
// velocities of the respective blocks.
inline float junction_jerk(block_t *before, block_t *after) {
return(sqrt(
pow((before->speed_x-after->speed_x), 2)+
pow((before->speed_y-after->speed_y), 2)));
}
// Return the safe speed which is max_jerk/2, e.g. the
// speed under which you cannot exceed max_jerk no matter what you do.
float safe_speed(block_t *block) {
float safe_speed;
safe_speed = max_xy_jerk/2;
if(abs(block->speed_z) > max_z_jerk/2) safe_speed = max_z_jerk/2;
if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed;
return safe_speed;
}
// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) {
return;
}
float entry_speed = current->nominal_speed;
float exit_factor;
float exit_speed;
if (next) {
exit_speed = next->entry_speed;
}
else {
exit_speed = safe_speed(current);
}
// Calculate the entry_factor for the current block.
if (previous) {
// Reduce speed so that junction_jerk is within the maximum allowed
float jerk = junction_jerk(previous, current);
if((previous->steps_x == 0) && (previous->steps_y == 0)) {
entry_speed = safe_speed(current);
}
else if (jerk > max_xy_jerk) {
entry_speed = (max_xy_jerk/jerk) * entry_speed;
}
if(abs(previous->speed_z - current->speed_z) > max_z_jerk) {
entry_speed = (max_z_jerk/abs(previous->speed_z - current->speed_z)) * entry_speed;
}
// If the required deceleration across the block is too rapid, reduce the entry_factor accordingly.
if (entry_speed > exit_speed) {
float max_entry_speed = max_allowable_speed(-current->acceleration,exit_speed, current->millimeters);
if (max_entry_speed < entry_speed) {
entry_speed = max_entry_speed;
}
}
}
else {
entry_speed = safe_speed(current);
}
// Store result
current->entry_speed = entry_speed;
}
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the reverse pass.
void planner_reverse_pass() {
char block_index = block_buffer_head;
block_t *block[3] = { NULL, NULL, NULL };
while(block_index != block_buffer_tail) {
block_index--;
if(block_index < 0) block_index = BLOCK_BUFFER_SIZE-1;
block[2]= block[1];
block[1]= block[0];
block[0] = &block_buffer[block_index];
planner_reverse_pass_kernel(block[0], block[1], block[2]);
}
planner_reverse_pass_kernel(NULL, block[0], block[1]);
}
// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
if(!current) {
return;
}
if(previous) {
// If the previous block is an acceleration block, but it is not long enough to
// complete the full speed change within the block, we need to adjust out entry
// speed accordingly. Remember current->entry_factor equals the exit factor of
// the previous block.
if(previous->entry_speed < current->entry_speed) {
float max_entry_speed = max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters);
if (max_entry_speed < current->entry_speed) {
current->entry_speed = max_entry_speed;
}
}
}
}
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the forward pass.
void planner_forward_pass() {
char block_index = block_buffer_tail;
block_t *block[3] = {
NULL, NULL, NULL };
while(block_index != block_buffer_head) {
block[0] = block[1];
block[1] = block[2];
block[2] = &block_buffer[block_index];
planner_forward_pass_kernel(block[0],block[1],block[2]);
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
}
planner_forward_pass_kernel(block[1], block[2], NULL);
}
// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
// entry_factor for each junction. Must be called by planner_recalculate() after
// updating the blocks.
void planner_recalculate_trapezoids() {
char block_index = block_buffer_tail;
block_t *current;
block_t *next = NULL;
while(block_index != block_buffer_head) {
current = next;
next = &block_buffer[block_index];
if (current) {
calculate_trapezoid_for_block(current, current->entry_speed, next->entry_speed);
}
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
}
calculate_trapezoid_for_block(next, next->entry_speed, safe_speed(next));
}
// Recalculates the motion plan according to the following algorithm:
//
// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
// so that:
// a. The junction jerk is within the set limit
// b. No speed reduction within one block requires faster deceleration than the one, true constant
// acceleration.
// 2. Go over every block in chronological order and dial down junction speed reduction values if
// a. The speed increase within one block would require faster accelleration than the one, true
// constant acceleration.
//
// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
// the set limit. Finally it will:
//
// 3. Recalculate trapezoids for all blocks.
void planner_recalculate() {
planner_reverse_pass();
planner_forward_pass();
planner_recalculate_trapezoids();
}
void plan_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position
}
inline void plan_discard_current_block() {
if (block_buffer_head != block_buffer_tail) {
block_buffer_tail = (block_buffer_tail + 1) & BLOCK_BUFFER_MASK;
}
}
inline block_t *plan_get_current_block() {
if (block_buffer_head == block_buffer_tail) {
return(NULL);
}
block_t *block = &block_buffer[block_buffer_tail];
block->busy = true;
return(block);
}
void check_axes_activity() {
unsigned char x_active = 0;
unsigned char y_active = 0;
unsigned char z_active = 0;
unsigned char e_active = 0;
block_t *block;
if(block_buffer_tail != block_buffer_head) {
char block_index = block_buffer_tail;
while(block_index != block_buffer_head) {
block = &block_buffer[block_index];
if(block->steps_x != 0) x_active++;
if(block->steps_y != 0) y_active++;
if(block->steps_z != 0) z_active++;
if(block->steps_e != 0) e_active++;
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
}
}
if((DISABLE_X) && (x_active == 0)) disable_x();
if((DISABLE_Y) && (y_active == 0)) disable_y();
if((DISABLE_Z) && (z_active == 0)) disable_z();
if((DISABLE_E) && (e_active == 0)) disable_e();
}
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters.
void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
long target[4];
target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
// Calculate the buffer head after we push this byte
int next_buffer_head = (block_buffer_head + 1) & BLOCK_BUFFER_MASK;
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
while(block_buffer_tail == next_buffer_head) {
manage_heater();
manage_inactivity(1);
}
//showString(PSTR("X:"));
//Serial.print(x);
//showString(PSTR(" Y:"));
//Serial.println(y);
// Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
// Mark block as not busy (Not executed by the stepper interrupt)
block->busy = false;
// Number of steps for each axis
block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
// Bail if this is a zero-length block
if (block->step_event_count == 0) {
return;
};
#ifdef DELAY_ENABLE
if(block->steps_x != 0)
{
enable_x();
delayMicroseconds(DELAY_ENABLE);
}
if(block->steps_y != 0)
{
enable_y();
delayMicroseconds(DELAY_ENABLE);
}
if(if(block->steps_z != 0))
{
enable_z();
delayMicroseconds(DELAY_ENABLE);
}
if(if(block->steps_e != 0))
{
enable_e();
delayMicroseconds(DELAY_ENABLE);
}
#else
//enable active axes
if(block->steps_x != 0) enable_x();
if(block->steps_y != 0) enable_y();
if(block->steps_z != 0) enable_z();
if(block->steps_e != 0) enable_e();
#endif
float delta_x_mm = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
float delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
float delta_z_mm = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
float delta_e_mm = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
block->millimeters = sqrt(square(delta_x_mm) + square(delta_y_mm) + square(delta_z_mm) + square(delta_e_mm));
unsigned long microseconds;
microseconds = lround((block->millimeters/feed_rate)*1000000);
// Calculate speed in mm/minute for each axis
float multiplier = 60.0*1000000.0/microseconds;
block->speed_z = delta_z_mm * multiplier;
block->speed_x = delta_x_mm * multiplier;
block->speed_y = delta_y_mm * multiplier;
block->speed_e = delta_e_mm * multiplier;
// Limit speed per axis
float speed_factor = 1;
float tmp_speed_factor;
if(abs(block->speed_x) > max_feedrate[X_AXIS]) {
speed_factor = max_feedrate[X_AXIS] / abs(block->speed_x);
}
if(abs(block->speed_y) > max_feedrate[Y_AXIS]){
tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y);
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
}
if(abs(block->speed_z) > max_feedrate[Z_AXIS]){
tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z);
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
}
if(abs(block->speed_e) > max_feedrate[E_AXIS]){
tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e);
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
}
multiplier = multiplier * speed_factor;
block->speed_z = delta_z_mm * multiplier;
block->speed_x = delta_x_mm * multiplier;
block->speed_y = delta_y_mm * multiplier;
block->speed_e = delta_e_mm * multiplier;
block->nominal_speed = block->millimeters * multiplier;
block->nominal_rate = ceil(block->step_event_count * multiplier / 60);
if(block->nominal_rate < 120) block->nominal_rate = 120;
block->entry_speed = safe_speed(block);
// Compute the acceleration rate for the trapezoid generator.
float travel_per_step = block->millimeters/block->step_event_count;
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) {
block->acceleration_st = ceil( (retract_acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
}
else {
block->acceleration_st = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
// Limit acceleration per axis
if((block->acceleration_st * block->steps_x / block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if((block->acceleration_st * block->steps_y / block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
if((block->acceleration_st * block->steps_e / block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
if(((block->acceleration_st / block->step_event_count) * block->steps_z ) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
}
block->acceleration = block->acceleration_st * travel_per_step;
#ifdef ADVANCE
// Calculate advance rate
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
block->advance_rate = 0;
block->advance = 0;
}
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
(block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
block->advance = advance;
if(acc_dist == 0) {
block->advance_rate = 0;
}
else {
block->advance_rate = advance / (float)acc_dist;
}
}
#endif // ADVANCE
// compute a preliminary conservative acceleration trapezoid
float safespeed = safe_speed(block);
calculate_trapezoid_for_block(block, safespeed, safespeed);
// Compute direction bits for this block
block->direction_bits = 0;
if (target[X_AXIS] < position[X_AXIS]) {
block->direction_bits |= (1<direction_bits |= (1<direction_bits |= (1<direction_bits |= (1<high)
{
high=se;
}
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
}
float t=autotemp_min+high*autotemp_factor;
if(tautotemp_max)
t=autotemp_max;
if(oldt>t)
{
t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
}
oldt=t;
autotemp_setpoint = (int)t;
}
#endif
// Stepper
// intRes = intIn1 * intIn2 >> 16
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 24 bit result
#define MultiU16X8toH16(intRes, charIn1, intIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %A1, %A2 \n\t" \
"add %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r0 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (charIn1), \
"d" (intIn2) \
: \
"r26" \
)
// intRes = longIn1 * longIn2 >> 24
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 48bit result
#define MultiU24X24toH16(intRes, longIn1, longIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"mov r27, r1 \n\t" \
"mul %B1, %C2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %C1, %C2 \n\t" \
"add %B0, r0 \n\t" \
"mul %C1, %B2 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %A1, %C2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %B2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %C1, %A2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %A2 \n\t" \
"add r27, r1 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r27 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (longIn1), \
"d" (longIn2) \
: \
"r26" , "r27" \
)
// Some useful constants
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<
//
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
// first block->accelerate_until step_events_completed, then keeps going at constant speed until
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
// The slope of acceleration is calculated with the leib ramp alghorithm.
void st_wake_up()
{
// TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
inline unsigned short calc_timer(unsigned short step_rate)
{
unsigned short timer;
if(step_rate < 32) step_rate = 32;
step_rate -= 32; // Correct for minimal speed
if(step_rate >= (8*256))
{ // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00ff);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
MultiU16X8toH16(timer, tmp_step_rate, gain);
timer = (unsigned short)pgm_read_word_near(table_address) - timer;
}
else
{ // lower step rates
unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
table_address += ((step_rate)>>1) & 0xfffc;
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
}
if(timer < 100) timer = 100;
return timer;
}
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
inline void trapezoid_generator_reset()
{
accelerate_until = current_block->accelerate_until;
decelerate_after = current_block->decelerate_after;
acceleration_rate = current_block->acceleration_rate;
initial_rate = current_block->initial_rate;
final_rate = current_block->final_rate;
nominal_rate = current_block->nominal_rate;
#ifdef ADVANCE
advance = current_block->initial_advance;
final_advance = current_block->final_advance;
advance_rate = current_block->advance_rate;
#endif
deceleration_time = 0;
// step_rate to timer interval
acc_step_rate = initial_rate;
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
}
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect)
{
if(busy){ /*Serial.println("BUSY")*/;
return;
} // The busy-flag is used to avoid reentering this interrupt
busy = true;
sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
// If there is no current block, attempt to pop one from the buffer
if (current_block == NULL) {
// Anything in the buffer?
current_block = plan_get_current_block();
if (current_block != NULL) {
trapezoid_generator_reset();
counter_x = -(current_block->step_event_count >> 1);
counter_y = counter_x;
counter_z = counter_x;
counter_e = counter_x;
step_events_completed = 0;
e_steps = 0;
}
else {
DISABLE_STEPPER_DRIVER_INTERRUPT();
}
}
if (current_block != NULL) {
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits;
#ifdef ADVANCE
// Calculate E early.
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<> 16) - old_advance);
CRITICAL_SECTION_END;
old_advance = advance >> 16;
#endif //ADVANCE
// Set direction en check limit switches
if ((out_bits & (1<step_event_count;
}
}
else // +direction
WRITE(X_DIR_PIN,!INVERT_X_DIR);
if ((out_bits & (1<step_event_count;
}
}
else // +direction
WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
if ((out_bits & (1<step_event_count;
}
}
else // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
#ifndef ADVANCE
if ((out_bits & (1<steps_x;
if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH);
counter_x -= current_block->step_event_count;
WRITE(X_STEP_PIN, LOW);
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
WRITE(Y_STEP_PIN, HIGH);
counter_y -= current_block->step_event_count;
WRITE(Y_STEP_PIN, LOW);
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
WRITE(Z_STEP_PIN, HIGH);
counter_z -= current_block->step_event_count;
WRITE(Z_STEP_PIN, LOW);
}
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
WRITE(E_STEP_PIN, HIGH);
counter_e -= current_block->step_event_count;
WRITE(E_STEP_PIN, LOW);
}
#endif //!ADVANCE
// Calculare new timer value
unsigned short timer;
unsigned short step_rate;
if (step_events_completed < accelerate_until) {
MultiU24X24toH16(acc_step_rate, acceleration_time, acceleration_rate);
acc_step_rate += initial_rate;
// upper limit
if(acc_step_rate > nominal_rate)
acc_step_rate = nominal_rate;
// step_rate to timer interval
timer = calc_timer(acc_step_rate);
advance += advance_rate;
acceleration_time += timer;
OCR1A = timer;
}
else if (step_events_completed >= decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, acceleration_rate);
if(step_rate > acc_step_rate) { // Check step_rate stays positive
step_rate = final_rate;
}
else {
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
}
// lower limit
if(step_rate < final_rate)
step_rate = final_rate;
// step_rate to timer interval
timer = calc_timer(step_rate);
#ifdef ADVANCE
advance -= advance_rate;
if(advance < final_advance)
advance = final_advance;
#endif //ADVANCE
deceleration_time += timer;
OCR1A = timer;
}
// If current block is finished, reset pointer
step_events_completed += 1;
if (step_events_completed >= current_block->step_event_count) {
current_block = NULL;
plan_discard_current_block();
}
}
busy=false;
}
#ifdef ADVANCE
unsigned char old_OCR0A;
// Timer interrupt for E. e_steps is set in the main routine;
// Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect)
{
// Critical section needed because Timer 1 interrupt has higher priority.
// The pin set functions are placed on trategic position to comply with the stepper driver timing.
WRITE(E_STEP_PIN, LOW);
// Set E direction (Depends on E direction + advance)
if (e_steps < 0) {
WRITE(E_DIR_PIN,INVERT_E_DIR);
e_steps++;
WRITE(E_STEP_PIN, HIGH);
}
if (e_steps > 0) {
WRITE(E_DIR_PIN,!INVERT_E_DIR);
e_steps--;
WRITE(E_STEP_PIN, HIGH);
}
old_OCR0A += 25; // 10kHz interrupt
OCR0A = old_OCR0A;
}
#endif // ADVANCE
void st_init()
{
// waveform generation = 0100 = CTC
TCCR1B &= ~(1<