Merge remote branch 'origin/experimental' into experimental

5 files changed, 197 insertions, 155 deletions

diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h
index 319c839..5d64c7b 100644
--- a/Sprinter/Configuration.h
+++ b/Sprinter/Configuration.h
@@ -15,6 +15,7 @@
 // 1 is 100k thermistor
 // 2 is 200k thermistor
 // 3 is mendel-parts thermistor
+// 4 is 10k thermistor
 #define THERMISTORHEATER 1
 #define THERMISTORBED 1
 
@@ -28,6 +29,8 @@ float axis_steps_per_unit[] = {80, 80, 3200/1.25,700};
 #define ENDSTOPPULLUPS 1 // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
 // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
 const bool ENDSTOPS_INVERTING = false; //set to true to invert the logic of the endstops
+//If your axes are only moving in one direction, make sure the endstops are connected properly.
+//If your axes move in one direction ONLY when the endstops are triggered, set ENDSTOPS_INVERTING to true here
 
 // This determines the communication speed of the printer
 #define BAUDRATE 115200
@@ -41,10 +44,10 @@ const bool ENDSTOPS_INVERTING = false; //set to true to invert the logic of the
 #include "thermistortables.h"
 
 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
-const bool X_ENABLE_ON = 0;
-const bool Y_ENABLE_ON = 0;
-const bool Z_ENABLE_ON = 0;
-const bool E_ENABLE_ON = 0;
+#define X_ENABLE_ON 0
+#define Y_ENABLE_ON 0
+#define Z_ENABLE_ON 0
+#define E_ENABLE_ON 0
 
 // Disables axis when it's not being used.
 const bool DISABLE_X = false;
@@ -60,9 +63,9 @@ const bool INVERT_E_DIR = false;
 
 //// ENDSTOP SETTINGS:
 // Sets direction of endstops when homing; 1=MAX, -1=MIN
-const int X_HOME_DIR = -1;
-const int Y_HOME_DIR = -1;
-const int Z_HOME_DIR = -1;
+#define X_HOME_DIR -1
+#define Y_HOME_DIR -1
+#define Z_HOME_DIR -1
 
 const bool min_software_endstops = false; //If true, axis won't move to coordinates less than zero.
 const bool max_software_endstops = true;  //If true, axis won't move to coordinates greater than the defined lengths below.
@@ -73,6 +76,7 @@ const int Z_MAX_LENGTH = 100;
 //// MOVEMENT SETTINGS
 const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E
 float max_feedrate[] = {200000, 200000, 240, 500000};
+float homing_feedrate[] = {1500,1500,120};
 bool axis_relative_modes[] = {false, false, false, false};
 
 // Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index f9b73fc..aeaf540 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -127,7 +127,7 @@ int tt = 0, bt = 0;
   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 = 0;
 #endif
 #ifdef WATCHPERIOD
   int watch_raw = -1000;
@@ -541,8 +541,7 @@ inline void process_commands()
       case 28: //G28 Home all Axis one at a time
         saved_feedrate = feedrate;
         for(int i=0; i < NUM_AXIS; i++) {
-          destination[i] = 0;
-          current_position[i] = 0;
+          destination[i] = current_position[i];
         }
         feedrate = 0;
 
@@ -552,7 +551,7 @@ inline void process_commands()
           if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)){
             current_position[0] = 0;
             destination[0] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
-            feedrate = max_start_speed_units_per_second[0] * 60;
+            feedrate = homing_feedrate[0];
             prepare_move();
           
             current_position[0] = 0;
@@ -562,8 +561,8 @@ inline void process_commands()
             destination[0] = 10 * X_HOME_DIR;
             prepare_move();
           
-            current_position[0] = 0;
-            destination[0] = 0;
+            current_position[0] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
+            destination[0] = current_position[0];
             feedrate = 0;
           }
         }
@@ -572,7 +571,7 @@ inline void process_commands()
           if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)){
             current_position[1] = 0;
             destination[1] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
-            feedrate = max_start_speed_units_per_second[1] * 60;
+            feedrate = homing_feedrate[1];
             prepare_move();
           
             current_position[1] = 0;
@@ -582,8 +581,8 @@ inline void process_commands()
             destination[1] = 10 * Y_HOME_DIR;
             prepare_move();
           
-            current_position[1] = 0;
-            destination[1] = 0;
+            current_position[1] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
+            destination[1] = current_position[1];
             feedrate = 0;
           }
         }
@@ -592,7 +591,7 @@ inline void process_commands()
           if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)){
             current_position[2] = 0;
             destination[2] = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
-            feedrate = max_feedrate[2]/2;
+            feedrate = homing_feedrate[2];
             prepare_move();
           
             current_position[2] = 0;
@@ -602,8 +601,8 @@ inline void process_commands()
             destination[2] = 10 * Z_HOME_DIR;
             prepare_move();
           
-            current_position[2] = 0;
-            destination[2] = 0;
+            current_position[2] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH;
+            destination[2] = current_position[2];
             feedrate = 0;
           
         }
@@ -734,7 +733,9 @@ inline void process_commands()
         #endif
         break;
       case 140: // M140 set bed temp
-        if (code_seen('S')) target_bed_raw = temp2analogBed(code_value());
+        #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
@@ -1389,6 +1390,7 @@ void manage_heater()
     current_raw = read_max6675();
   #endif
   #ifdef SMOOTHING
+  if (!nma) nma = SMOOTHFACTOR * current_raw;
   nma = (nma + current_raw) - (nma / SMOOTHFACTOR);
   current_raw = nma / SMOOTHFACTOR;
   #endif
diff --git a/Sprinter/fastio.h b/Sprinter/fastio.h
index aa5ad0e..1d28d05 100644
--- a/Sprinter/fastio.h
+++ b/Sprinter/fastio.h
@@ -179,53 +179,53 @@ pins
 #define DIO13_PWM		NULL
 
 
-#define AIO0_PIN		PINC0
-#define AIO0_RPORT	PINC
-#define AIO0_WPORT	PORTC
-#define AIO0_DDR		DDRC
-#define AIO0_PWM		NULL
+#define DIO14_PIN		PINC0
+#define DIO14_RPORT	PINC
+#define DIO14_WPORT	PORTC
+#define DIO14_DDR		DDRC
+#define DIO14_PWM		NULL
 
-#define AIO1_PIN		PINC1
-#define AIO1_RPORT	PINC
-#define AIO1_WPORT	PORTC
-#define AIO1_DDR		DDRC
-#define AIO1_PWM		NULL
+#define DIO15_PIN		PINC1
+#define DIO15_RPORT	PINC
+#define DIO15_WPORT	PORTC
+#define DIO15_DDR		DDRC
+#define DIO15_PWM		NULL
 
-#define AIO2_PIN		PINC2
-#define AIO2_RPORT	PINC
-#define AIO2_WPORT	PORTC
-#define AIO2_DDR		DDRC
-#define AIO2_PWM		NULL
+#define DIO16_PIN		PINC2
+#define DIO16_RPORT	PINC
+#define DIO16_WPORT	PORTC
+#define DIO16_DDR		DDRC
+#define DIO16_PWM		NULL
 
-#define AIO3_PIN		PINC3
-#define AIO3_RPORT	PINC
-#define AIO3_WPORT	PORTC
-#define AIO3_DDR		DDRC
-#define AIO3_PWM		NULL
+#define DIO17_PIN		PINC3
+#define DIO17_RPORT	PINC
+#define DIO17_WPORT	PORTC
+#define DIO17_DDR		DDRC
+#define DIO17_PWM		NULL
 
-#define AIO4_PIN		PINC4
-#define AIO4_RPORT	PINC
-#define AIO4_WPORT	PORTC
-#define AIO4_DDR		DDRC
-#define AIO4_PWM		NULL
+#define DIO18_PIN		PINC4
+#define DIO18_RPORT	PINC
+#define DIO18_WPORT	PORTC
+#define DIO18_DDR		DDRC
+#define DIO18_PWM		NULL
 
-#define AIO5_PIN		PINC5
-#define AIO5_RPORT	PINC
-#define AIO5_WPORT	PORTC
-#define AIO5_DDR		DDRC
-#define AIO5_PWM		NULL
+#define DIO19_PIN		PINC5
+#define DIO19_RPORT	PINC
+#define DIO19_WPORT	PORTC
+#define DIO19_DDR		DDRC
+#define DIO19_PWM		NULL
 
-#define AIO6_PIN		PINC6
-#define AIO6_RPORT	PINC
-#define AIO6_WPORT	PORTC
-#define AIO6_DDR		DDRC
-#define AIO6_PWM		NULL
+#define DIO20_PIN		PINC6
+#define DIO20_RPORT	PINC
+#define DIO20_WPORT	PORTC
+#define DIO20_DDR		DDRC
+#define DIO20_PWM		NULL
 
-#define AIO7_PIN		PINC7
-#define AIO7_RPORT	PINC
-#define AIO7_WPORT	PORTC
-#define AIO7_DDR		DDRC
-#define AIO7_PWM		NULL
+#define DIO21_PIN		PINC7
+#define DIO21_RPORT	PINC
+#define DIO21_WPORT	PORTC
+#define DIO21_DDR		DDRC
+#define DIO21_PWM		NULL
 
 
 
@@ -1265,101 +1265,101 @@ pins
 #define	DIO53_DDR		DDRB
 #define DIO53_PWM		NULL
 
-#define AIO0_PIN		PINF0
-#define AIO0_RPORT	PINF
-#define AIO0_WPORT	PORTF
-#define AIO0_DDR		DDRF
-#define AIO0_PWM		NULL
-
-#define AIO1_PIN		PINF1
-#define AIO1_RPORT	PINF
-#define AIO1_WPORT	PORTF
-#define AIO1_DDR		DDRF
-#define AIO1_PWM		NULL
-
-#define AIO2_PIN		PINF2
-#define AIO2_RPORT	PINF
-#define AIO2_WPORT	PORTF
-#define AIO2_DDR		DDRF
-#define AIO2_PWM		NULL
-
-#define AIO3_PIN		PINF3
-#define AIO3_RPORT	PINF
-#define AIO3_WPORT	PORTF
-#define AIO3_DDR		DDRF
-#define AIO3_PWM		NULL
-
-#define AIO4_PIN		PINF4
-#define AIO4_RPORT	PINF
-#define AIO4_WPORT	PORTF
-#define AIO4_DDR		DDRF
-#define AIO4_PWM		NULL
-
-#define AIO5_PIN		PINF5
-#define AIO5_RPORT	PINF
-#define AIO5_WPORT	PORTF
-#define AIO5_DDR		DDRF
-#define AIO5_PWM		NULL
-
-#define AIO6_PIN		PINF6
-#define AIO6_RPORT	PINF
-#define AIO6_WPORT	PORTF
-#define AIO6_DDR		DDRF
-#define AIO6_PWM		NULL
-
-#define AIO7_PIN		PINF7
-#define AIO7_RPORT	PINF
-#define AIO7_WPORT	PORTF
-#define AIO7_DDR		DDRF
-#define AIO7_PWM		NULL
-
-#define AIO8_PIN		PINK0
-#define AIO8_RPORT	PINK
-#define AIO8_WPORT	PORTK
-#define AIO8_DDR		DDRK
-#define AIO8_PWM		NULL
-
-#define AIO9_PIN		PINK1
-#define AIO9_RPORT	PINK
-#define AIO9_WPORT	PORTK
-#define AIO9_DDR		DDRK
-#define AIO9_PWM		NULL
-
-#define AIO10_PIN		PINK2
-#define AIO10_RPORT	PINK
-#define AIO10_WPORT	PORTK
-#define AIO10_DDR		DDRK
-#define AIO10_PWM		NULL
-
-#define AIO11_PIN		PINK3
-#define AIO11_RPORT	PINK
-#define AIO11_WPORT	PORTK
-#define AIO11_DDR		DDRK
-#define AIO11_PWM		NULL
-
-#define AIO12_PIN		PINK4
-#define AIO12_RPORT	PINK
-#define AIO12_WPORT	PORTK
-#define AIO12_DDR		DDRK
-#define AIO12_PWM		NULL
-
-#define AIO13_PIN		PINK5
-#define AIO13_RPORT	PINK
-#define AIO13_WPORT	PORTK
-#define AIO13_DDR		DDRK
-#define AIO13_PWM		NULL
-
-#define AIO14_PIN		PINK6
-#define AIO14_RPORT	PINK
-#define AIO14_WPORT	PORTK
-#define AIO14_DDR		DDRK
-#define AIO14_PWM		NULL
-
-#define AIO15_PIN		PINK7
-#define AIO15_RPORT	PINK
-#define AIO15_WPORT	PORTK
-#define AIO15_DDR		DDRK
-#define AIO15_PWM		NULL
+#define DIO54_PIN		PINF0
+#define DIO54_RPORT	PINF
+#define DIO54_WPORT	PORTF
+#define DIO54_DDR		DDRF
+#define DIO54_PWM		NULL
+
+#define DIO55_PIN		PINF1
+#define DIO55_RPORT	PINF
+#define DIO55_WPORT	PORTF
+#define DIO55_DDR		DDRF
+#define DIO55_PWM		NULL
+
+#define DIO56_PIN		PINF2
+#define DIO56_RPORT	PINF
+#define DIO56_WPORT	PORTF
+#define DIO56_DDR		DDRF
+#define DIO56_PWM		NULL
+
+#define DIO57_PIN		PINF3
+#define DIO57_RPORT	PINF
+#define DIO57_WPORT	PORTF
+#define DIO57_DDR		DDRF
+#define DIO57_PWM		NULL
+
+#define DIO58_PIN		PINF4
+#define DIO58_RPORT	PINF
+#define DIO58_WPORT	PORTF
+#define DIO58_DDR		DDRF
+#define DIO58_PWM		NULL
+
+#define DIO59_PIN		PINF5
+#define DIO59_RPORT	PINF
+#define DIO59_WPORT	PORTF
+#define DIO59_DDR		DDRF
+#define DIO59_PWM		NULL
+
+#define DIO60_PIN		PINF6
+#define DIO60_RPORT	PINF
+#define DIO60_WPORT	PORTF
+#define DIO60_DDR		DDRF
+#define DIO60_PWM		NULL
+
+#define DIO61_PIN		PINF7
+#define DIO61_RPORT	PINF
+#define DIO61_WPORT	PORTF
+#define DIO61_DDR		DDRF
+#define DIO61_PWM		NULL
+
+#define DIO62_PIN		PINK0
+#define DIO62_RPORT	PINK
+#define DIO62_WPORT	PORTK
+#define DIO62_DDR		DDRK
+#define DIO62_PWM		NULL
+
+#define DIO63_PIN		PINK1
+#define DIO63_RPORT	PINK
+#define DIO63_WPORT	PORTK
+#define DIO63_DDR		DDRK
+#define DIO63_PWM		NULL
+
+#define DIO64_PIN		PINK2
+#define DIO64_RPORT	PINK
+#define DIO64_WPORT	PORTK
+#define DIO64_DDR		DDRK
+#define DIO64_PWM		NULL
+
+#define DIO65_PIN		PINK3
+#define DIO65_RPORT	PINK
+#define DIO65_WPORT	PORTK
+#define DIO65_DDR		DDRK
+#define DIO65_PWM		NULL
+
+#define DIO66_PIN		PINK4
+#define DIO66_RPORT	PINK
+#define DIO66_WPORT	PORTK
+#define DIO66_DDR		DDRK
+#define DIO66_PWM		NULL
+
+#define DIO67_PIN		PINK5
+#define DIO67_RPORT	PINK
+#define DIO67_WPORT	PORTK
+#define DIO67_DDR		DDRK
+#define DIO67_PWM		NULL
+
+#define DIO68_PIN		PINK6
+#define DIO68_RPORT	PINK
+#define DIO68_WPORT	PORTK
+#define DIO68_DDR		DDRK
+#define DIO68_PWM		NULL
+
+#define DIO69_PIN		PINK7
+#define DIO69_RPORT	PINK
+#define DIO69_WPORT	PORTK
+#define DIO69_DDR		DDRK
+#define DIO69_PWM		NULL
 
 
 
diff --git a/Sprinter/pins.h b/Sprinter/pins.h
index 1bd6702..720f3a9 100644
--- a/Sprinter/pins.h
+++ b/Sprinter/pins.h
@@ -246,6 +246,10 @@
 #define E_DIR_PIN          28
 #define E_ENABLE_PIN       24
 
+#define E_1_STEP_PIN         36
+#define E_1_DIR_PIN          34
+#define E_1_ENABLE_PIN       30
+
 #define SDPOWER            -1
 #define SDSS               53
 #define LED_PIN            13
diff --git a/Sprinter/thermistortables.h b/Sprinter/thermistortables.h
index 6c583af..de9aee6 100644
--- a/Sprinter/thermistortables.h
+++ b/Sprinter/thermistortables.h
@@ -130,6 +130,32 @@ const short temptable_3[NUMTEMPS_3][2] = {
 	};
 
 #endif
+#if (THERMISTORHEATER == 4) || (THERMISTORBED == 4) //10k thermistor
+
+#define NUMTEMPS_4 20
+short temptable_4[NUMTEMPS_4][2] = {
+   {1, 430},
+   {54, 137},
+   {107, 107},
+   {160, 91},
+   {213, 80},
+   {266, 71},
+   {319, 64},
+   {372, 57},
+   {425, 51},
+   {478, 46},
+   {531, 41},
+   {584, 35},
+   {637, 30},
+   {690, 25},
+   {743, 20},
+   {796, 14},
+   {849, 7},
+   {902, 0},
+   {955, -11},
+   {1008, -35}
+};
+#endif
 
 #if THERMISTORHEATER == 1
 #define NUMTEMPS NUMTEMPS_1
@@ -140,6 +166,9 @@ const short temptable_3[NUMTEMPS_3][2] = {
 #elif THERMISTORHEATER == 3
 #define NUMTEMPS NUMTEMPS_3
 #define temptable temptable_3
+#elif THERMISTORHEATER == 4
+#define NUMTEMPS NUMTEMPS_4
+#define temptable temptable_4
 #elif defined HEATER_USES_THERMISTOR
 #error No heater thermistor table specified
 #endif
@@ -152,6 +181,9 @@ const short temptable_3[NUMTEMPS_3][2] = {
 #elif THERMISTORBED == 3
 #define BNUMTEMPS NUMTEMPS_3
 #define bedtemptable temptable_3
+#elif THERMISTORBED == 4
+#define BNUMTEMPS NUMTEMPS_4
+#define bedtemptable temptable_4
 #elif defined BED_USES_THERMISTOR
 #error No bed thermistor table specified
 #endif