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-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde120
-rw-r--r--Tonokip_Firmware/configuration.h1
2 files changed, 49 insertions, 72 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index e193265..63babc5 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -58,7 +58,9 @@
//Stepper Movement Variables
bool direction_x, direction_y, direction_z, direction_e;
-unsigned long previous_micros = 0, previous_micros_x = 0, previous_micros_y = 0, previous_micros_z = 0, previous_micros_e = 0, previous_millis_heater, previous_millis_bed_heater;
+const int STEP_PIN[NUM_AXIS] = {X_STEP_PIN, Y_STEP_PIN, Z_STEP_PIN, E_STEP_PIN};
+long axis_previous_micros[NUM_AXIS];
+unsigned long previous_micros = 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);
@@ -83,7 +85,7 @@ 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
+long axis_interval[NUM_AXIS]; // for speed delay
float feedrate = 1500, next_feedrate, z_feedrate, saved_feedrate;
float time_for_move;
long gcode_N, gcode_LastN;
@@ -207,11 +209,9 @@ void setup()
for(int i = 0; i < BUFSIZE; i++){
fromsd[i] = false;
}
+
//Initialize Step Pins
- if(X_STEP_PIN > -1) pinMode(X_STEP_PIN,OUTPUT);
- if(Y_STEP_PIN > -1) pinMode(Y_STEP_PIN,OUTPUT);
- if(Z_STEP_PIN > -1) pinMode(Z_STEP_PIN,OUTPUT);
- if(E_STEP_PIN > -1) pinMode(E_STEP_PIN,OUTPUT);
+ for(int i=0; i < NUM_AXIS; i++) if(STEP_PIN[i] > -1) pinMode(STEP_PIN[i],OUTPUT);
//Initialize Dir Pins
if(X_DIR_PIN > -1) pinMode(X_DIR_PIN,OUTPUT);
@@ -900,10 +900,10 @@ inline void prepare_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;
+ if(x_steps_to_take) axis_interval[0] = time_for_move / x_steps_to_take * 100;
+ if(y_steps_to_take) axis_interval[1] = time_for_move / y_steps_to_take * 100;
+ if(z_steps_to_take) axis_interval[2] = time_for_move / z_steps_to_take * 100;
+ if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0) ) axis_interval[3] = time_for_move / e_steps_to_take * 100;
//#define DEBUGGING false
#if 0
@@ -912,25 +912,25 @@ inline void prepare_move()
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.print("axis_interval[0]: "); Serial.println(axis_interval[0]);
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.print("axis_interval[1]: "); Serial.println(axis_interval[1]);
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.print("axis_interval[2]: "); Serial.println(axis_interval[2]);
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.print("axis_interval[3]: "); Serial.println(axis_interval[3]);
Serial.println("");
}
#endif
@@ -961,8 +961,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
if(x_steps_remaining) enable_x();
if(y_steps_remaining) enable_y();
- if(z_steps_remaining) { enable_z(); do_z_step(); z_steps_remaining--; }
- if(e_steps_remaining) { enable_e(); do_e_step(); e_steps_remaining--; }
+ if(z_steps_remaining) { enable_z(); do_step(2); z_steps_remaining--; }
+ if(e_steps_remaining) { enable_e(); do_step(3); e_steps_remaining--; }
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
unsigned int delta_x = x_steps_remaining;
@@ -991,7 +991,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
//Do some Bresenham calculations depending on which axis will lead it.
if(steep_y) {
error_x = delta_y / 2;
- interval = y_interval;
+ interval = axis_interval[1];
#ifdef RAMP_ACCELERATION
max_interval = max_y_interval;
if(e_steps_to_take > 0) steps_per_sqr_second = y_steps_per_sqr_second;
@@ -1012,7 +1012,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
steps_to_take = delta_y;
} else if (steep_x) {
error_y = delta_x / 2;
- interval = x_interval;
+ interval = axis_interval[0];
#ifdef RAMP_ACCELERATION
max_interval = max_x_interval;
if(e_steps_to_take > 0) steps_per_sqr_second = x_steps_per_sqr_second;
@@ -1056,10 +1056,9 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
#endif
unsigned long start_move_micros = micros();
- previous_micros_x = start_move_micros*100;
- previous_micros_y = previous_micros_x;
- previous_micros_z = previous_micros_x;
- previous_micros_e = previous_micros_x;
+ for(int i = 0; i < NUM_AXIS; i++) {
+ axis_previous_micros[i] = start_move_micros * 100;
+ }
//move until no more steps remain
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
@@ -1130,15 +1129,15 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(steep_y) {
- timediff = micros() * 100 - previous_micros_y;
+ timediff = micros() * 100 - axis_previous_micros[1];
while(timediff >= interval && y_steps_remaining > 0) {
steps_done++;
steps_remaining--;
y_steps_remaining--; timediff -= interval;
error_x = error_x - delta_x;
- do_y_step();
+ do_step(1);
if(error_x < 0) {
- do_x_step(); x_steps_remaining--;
+ do_step(0); x_steps_remaining--;
error_x = error_x + delta_y;
}
#ifdef RAMP_ACCELERATION
@@ -1152,15 +1151,15 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
#endif
}
} else if (steep_x) {
- timediff=micros() * 100 - previous_micros_x;
+ timediff=micros() * 100 - axis_previous_micros[0];
while(timediff >= interval && x_steps_remaining>0) {
steps_done++;
steps_remaining--;
x_steps_remaining--; timediff -= interval;
error_y = error_y - delta_y;
- do_x_step();
+ do_step(0);
if(error_y < 0) {
- do_y_step(); y_steps_remaining--;
+ do_step(1); y_steps_remaining--;
error_y = error_y + delta_x;
}
#ifdef RAMP_ACCELERATION
@@ -1185,39 +1184,39 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
if(z_steps_remaining) {
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
- timediff = micros() * 100-previous_micros_z;
- while(timediff >= z_interval && z_steps_remaining) {
- do_z_step();
+ timediff = micros() * 100-axis_previous_micros[2];
+ while(timediff >= axis_interval[2] && z_steps_remaining) {
+ do_step(2);
z_steps_remaining--;
- timediff -= z_interval;
+ timediff -= axis_interval[2];
#ifdef STEP_DELAY_RATIO
- if(timediff >= z_interval) delayMicroseconds(long_step_delay_ratio * z_interval / 10000);
+ if(timediff >= axis_interval[2]) delayMicroseconds(long_step_delay_ratio * axis_interval[2] / 10000);
#endif
#ifdef STEP_DELAY_MICROS
- if(timediff >= z_interval) delayMicroseconds(STEP_DELAY_MICROS);
+ if(timediff >= axis_interval[2]) delayMicroseconds(STEP_DELAY_MICROS);
#endif
}
}
//If there are e steps remaining, check if e steps must be taken
if(e_steps_remaining){
- if (x_steps_to_take + y_steps_to_take <= 0) timediff = micros()*100 - previous_micros_e;
+ if (x_steps_to_take + y_steps_to_take <= 0) timediff = micros()*100 - axis_previous_micros[3];
unsigned int final_e_steps_remaining = 0;
if (steep_x && x_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * x_steps_remaining / x_steps_to_take;
else if (steep_y && y_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * y_steps_remaining / y_steps_to_take;
//If this move has X or Y steps, let E follow the Bresenham pace
- if (final_e_steps_remaining > 0) while(e_steps_remaining > final_e_steps_remaining) { do_e_step(); e_steps_remaining--;}
- else if (x_steps_to_take + y_steps_to_take > 0) while(e_steps_remaining) { do_e_step(); e_steps_remaining--;}
+ if (final_e_steps_remaining > 0) while(e_steps_remaining > final_e_steps_remaining) { do_step(3); e_steps_remaining--;}
+ else if (x_steps_to_take + y_steps_to_take > 0) while(e_steps_remaining) { do_step(3); e_steps_remaining--;}
//Else, normally check if e steps must be taken
- else while (timediff >= e_interval && e_steps_remaining) {
- do_e_step();
+ else while (timediff >= axis_interval[3] && e_steps_remaining) {
+ do_step(3);
e_steps_remaining--;
- timediff -= e_interval;
+ timediff -= axis_interval[3];
#ifdef STEP_DELAY_RATIO
- if(timediff >= e_interval) delayMicroseconds(long_step_delay_ratio * e_interval / 10000);
+ if(timediff >= axis_interval[3]) delayMicroseconds(long_step_delay_ratio * axis_interval[3] / 10000);
#endif
#ifdef STEP_DELAY_MICROS
- if(timediff >= e_interval) delayMicroseconds(STEP_DELAY_MICROS);
+ if(timediff >= axis_interval[3]) delayMicroseconds(STEP_DELAY_MICROS);
#endif
}
}
@@ -1240,36 +1239,13 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
-inline void do_x_step()
-{
- digitalWrite(X_STEP_PIN, HIGH);
- previous_micros_x += interval;
- //delayMicroseconds(3);
- digitalWrite(X_STEP_PIN, LOW);
-}
-
-inline void do_y_step()
-{
- digitalWrite(Y_STEP_PIN, HIGH);
- previous_micros_y += interval;
- //delayMicroseconds(3);
- digitalWrite(Y_STEP_PIN, LOW);
-}
-
-inline void do_z_step()
-{
- digitalWrite(Z_STEP_PIN, HIGH);
- previous_micros_z += z_interval;
- //delayMicroseconds(3);
- digitalWrite(Z_STEP_PIN, LOW);
-}
-
-inline void do_e_step()
-{
- digitalWrite(E_STEP_PIN, HIGH);
- previous_micros_e += e_interval;
- //delayMicroseconds(3);
- digitalWrite(E_STEP_PIN, LOW);
+inline void do_step(int axis) {
+ digitalWrite(STEP_PIN[axis], HIGH);
+ //TODO: the following check is ugly and not the best thing to do here, but this will be sorted out more easily when all
+ // axis will be under Bresenham
+ if(axis < 2) axis_previous_micros[axis] += interval;
+ else axis_previous_micros[axis] += axis_interval[axis];
+ digitalWrite(STEP_PIN[axis], LOW);
}
inline void disable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON); }
diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h
index a658412..35c714a 100644
--- a/Tonokip_Firmware/configuration.h
+++ b/Tonokip_Firmware/configuration.h
@@ -86,6 +86,7 @@ float min_constant_speed_units = 2; // the minimum units of an accelerated move
// units are in millimeters or whatever length unit you prefer: inches,football-fields,parsecs etc
//Calibration variables
+const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E
float x_steps_per_unit = 80.376;
float y_steps_per_unit = 80.376;
float z_steps_per_unit = 3200/1.25;
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-22 23:59:55 +0000