diff options
| -rw-r--r-- | Sprinter/Makefile | 4 | ||||
| -rw-r--r-- | Sprinter/Sprinter.pde | 110 | ||||
| -rw-r--r-- | Sprinter/heater.cpp | 4 | ||||
| -rw-r--r-- | Sprinter/heater.h | 2 | ||||
| -rw-r--r-- | Sprinter/thermistortables.h | 2 |
5 files changed, 55 insertions, 67 deletions
diff --git a/Sprinter/Makefile b/Sprinter/Makefile index 4d6326a..6b873bb 100644 --- a/Sprinter/Makefile +++ b/Sprinter/Makefile @@ -55,7 +55,7 @@ $(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \ $(ARDUINO)/wiring_pulse.c \ $(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp $(ARDUINO)/WString.cpp\ -$(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp ./heater.cpp ./arc_func.cpp +$(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp ./heater.cpp ./arc_func.cpp ./store_eeprom.cpp FORMAT = ihex @@ -199,7 +199,7 @@ extcoff: $(TARGET).elf $(NM) -n $< > $@ # Link: create ELF output file from library. -applet/$(TARGET).elf: applet/core.a applet/$(TARGET).cpp +applet/$(TARGET).elf: applet/$(TARGET).cpp applet/core.a $(CC) $(ALL_CFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS) applet/core.a: $(OBJ) diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index dfe12d1..8a663da 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -65,6 +65,19 @@ - M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). - M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. - M503 - Print settings + + Version 1.3.07T + - Optimize Variable Size (faster Code) + - Remove unused Code from Interrupt --> faster ~ 22 us per step + - Replace abs with fabs --> Faster and smaler + - Add "store_eeprom.cpp" to makefile + + Version 1.3.08T + - If a line starts with ';', it is ignored but comment_mode is reset. + A ';' inside a line ignores just the portion following the ';' character. + The beginning of the line is still interpreted. + + - Same fix for SD Card, testet and work */ @@ -165,7 +178,7 @@ void __cxa_pure_virtual(){}; // M603 - Show Free Ram -#define _VERSION_TEXT "1.3.06T / 17.02.2012" +#define _VERSION_TEXT "1.3.08T / 24.02.2012" //Stepper Movement Variables char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; @@ -289,7 +302,7 @@ unsigned char manage_monitor = 255; bool sdmode = false; bool sdactive = false; bool savetosd = false; - int16_t read_char_n; + int16_t read_char_int; void initsd() { @@ -812,10 +825,12 @@ void get_command() 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 + if(!serial_count) { //if empty line + comment_mode = false; // for new command + return; + } cmdbuffer[bufindw][serial_count] = 0; //terminate string - if(!comment_mode) - { + fromsd[bufindw] = false; if(strstr(cmdbuffer[bufindw], "N") != NULL) { @@ -894,12 +909,12 @@ void get_command() break; } } - //Removed modulo (%) operator, which uses an expensive divide and multiplication + //Removed modulo (%) operator, which uses an expensive divide and multiplication //bufindw = (bufindw + 1)%BUFSIZE; bufindw++; if(bufindw == BUFSIZE) bufindw = 0; buflen += 1; - } + comment_mode = false; //for new command serial_count = 0; //clear buffer } @@ -916,9 +931,10 @@ void get_command() } 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) + serial_char = file.read(); + read_char_int = (int)serial_char; + + if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || read_char_int == -1) { sdpos = file.curPosition(); if(sdpos >= filesize) @@ -926,18 +942,21 @@ void get_command() sdmode = false; showString(PSTR("Done printing file\r\n")); } - if(!serial_count) return; //if empty line + + if(!serial_count) { //if empty line + comment_mode = false; // for new command + return; + } + cmdbuffer[bufindw][serial_count] = 0; //terminate string - if(!comment_mode) - { + fromsd[bufindw] = true; buflen += 1; - //Removed modulo (%) operator, which uses an expensive divide and multiplication + //Removed modulo (%) operator, which uses an expensive divide and multiplication //bufindw = (bufindw + 1)%BUFSIZE; bufindw++; if(bufindw == BUFSIZE) bufindw = 0; - - } + comment_mode = false; //for new command serial_count = 0; //clear buffer } @@ -2298,16 +2317,16 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) // Limit speed per axis float speed_factor = 1.0; //factor <=1 do decrease speed for(int i=0; i < 4; i++) { - if(abs(current_speed[i]) > max_feedrate[i]) - speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i])); + if(fabs(current_speed[i]) > max_feedrate[i]) + speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i])); } // Correct the speed if( speed_factor < 1.0) { // Serial.print("speed factor : "); Serial.println(speed_factor); for(int i=0; i < 4; i++) { - if(abs(current_speed[i]) > max_feedrate[i]) - speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i])); + if(fabs(current_speed[i]) > max_feedrate[i]) + speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i])); /* if(speed_factor < 0.1) { Serial.print("speed factor : "); Serial.println(speed_factor); @@ -2384,7 +2403,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) #endif // Start with a safe speed float vmax_junction = max_xy_jerk/2; - if(abs(current_speed[Z_AXIS]) > max_z_jerk/2) + if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) vmax_junction = max_z_jerk/2; vmax_junction = min(vmax_junction, block->nominal_speed); @@ -2396,8 +2415,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) if (jerk > max_xy_jerk) { vmax_junction *= (max_xy_jerk/jerk); } - if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) { - vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])); + if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) { + vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])); } } block->max_entry_speed = vmax_junction; @@ -2468,7 +2487,7 @@ void plan_set_position(float x, float y, float z, float e) position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); - st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]); + previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. previous_speed[0] = 0.0; previous_speed[1] = 0.0; @@ -2612,17 +2631,17 @@ static long counter_x, // Counter variables for the bresenham line tracer counter_z, counter_e; static unsigned long step_events_completed; // The number of step events executed in the current block -static long advance_rate, advance, final_advance = 0; -static short old_advance = 0; +#ifdef ADVANCE + static long advance_rate, advance, final_advance = 0; + static short old_advance = 0; +#endif static short e_steps; static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler. static long acceleration_time, deceleration_time; -//static long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate; static unsigned short acc_step_rate; // needed for deccelaration start point static char step_loops; static unsigned short OCR1A_nominal; -volatile long endstops_trigsteps[3]={0,0,0}; static volatile bool endstop_x_hit=false; static volatile bool endstop_y_hit=false; static volatile bool endstop_z_hit=false; @@ -2636,8 +2655,6 @@ static bool old_z_max_endstop=false; static bool check_endstops = true; -volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; -volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1}; // __________________________ @@ -2760,13 +2777,11 @@ ISR(TIMER1_COMPA_vect) // Set direction en check limit switches if ((out_bits & (1<<X_AXIS)) != 0) { // -direction WRITE(X_DIR_PIN, INVERT_X_DIR); - count_direction[X_AXIS]=-1; CHECK_ENDSTOPS { #if X_MIN_PIN > -1 bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOP_INVERT); if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) { - endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; endstop_x_hit=true; step_events_completed = current_block->step_event_count; } @@ -2776,13 +2791,11 @@ ISR(TIMER1_COMPA_vect) } else { // +direction WRITE(X_DIR_PIN,!INVERT_X_DIR); - count_direction[X_AXIS]=1; CHECK_ENDSTOPS { #if X_MAX_PIN > -1 bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOP_INVERT); if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){ - endstops_trigsteps[X_AXIS] = count_position[X_AXIS]; endstop_x_hit=true; step_events_completed = current_block->step_event_count; } @@ -2793,13 +2806,11 @@ ISR(TIMER1_COMPA_vect) if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction WRITE(Y_DIR_PIN,INVERT_Y_DIR); - count_direction[Y_AXIS]=-1; CHECK_ENDSTOPS { #if Y_MIN_PIN > -1 bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT); if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) { - endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; endstop_y_hit=true; step_events_completed = current_block->step_event_count; } @@ -2808,14 +2819,12 @@ ISR(TIMER1_COMPA_vect) } } else { // +direction - WRITE(Y_DIR_PIN,!INVERT_Y_DIR); - count_direction[Y_AXIS]=1; + WRITE(Y_DIR_PIN,!INVERT_Y_DIR); CHECK_ENDSTOPS { #if Y_MAX_PIN > -1 bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT); if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){ - endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS]; endstop_y_hit=true; step_events_completed = current_block->step_event_count; } @@ -2826,13 +2835,11 @@ ISR(TIMER1_COMPA_vect) if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction WRITE(Z_DIR_PIN,INVERT_Z_DIR); - count_direction[Z_AXIS]=-1; CHECK_ENDSTOPS { #if Z_MIN_PIN > -1 bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT); if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) { - endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstop_z_hit=true; step_events_completed = current_block->step_event_count; } @@ -2842,13 +2849,11 @@ ISR(TIMER1_COMPA_vect) } else { // +direction WRITE(Z_DIR_PIN,!INVERT_Z_DIR); - count_direction[Z_AXIS]=1; CHECK_ENDSTOPS { #if Z_MAX_PIN > -1 bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT); if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) { - endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS]; endstop_z_hit=true; step_events_completed = current_block->step_event_count; } @@ -2860,18 +2865,15 @@ ISR(TIMER1_COMPA_vect) #ifndef ADVANCE if ((out_bits & (1<<E_AXIS)) != 0) { // -direction WRITE(E_DIR_PIN,INVERT_E_DIR); - count_direction[E_AXIS]=-1; } else { // +direction WRITE(E_DIR_PIN,!INVERT_E_DIR); - count_direction[E_AXIS]=-1; } #endif //!ADVANCE for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves) - //MSerial.checkRx(); // Check for serial chars. #ifdef ADVANCE counter_e += current_block->steps_e; @@ -2891,7 +2893,6 @@ ISR(TIMER1_COMPA_vect) WRITE(X_STEP_PIN, HIGH); counter_x -= current_block->step_event_count; WRITE(X_STEP_PIN, LOW); - count_position[X_AXIS]+=count_direction[X_AXIS]; } counter_y += current_block->steps_y; @@ -2899,7 +2900,6 @@ ISR(TIMER1_COMPA_vect) WRITE(Y_STEP_PIN, HIGH); counter_y -= current_block->step_event_count; WRITE(Y_STEP_PIN, LOW); - count_position[Y_AXIS]+=count_direction[Y_AXIS]; } counter_z += current_block->steps_z; @@ -2907,7 +2907,6 @@ ISR(TIMER1_COMPA_vect) WRITE(Z_STEP_PIN, HIGH); counter_z -= current_block->step_event_count; WRITE(Z_STEP_PIN, LOW); - count_position[Z_AXIS]+=count_direction[Z_AXIS]; } #ifndef ADVANCE @@ -2915,8 +2914,7 @@ ISR(TIMER1_COMPA_vect) if (counter_e > 0) { WRITE(E_STEP_PIN, HIGH); counter_e -= current_block->step_event_count; - WRITE(E_STEP_PIN, LOW); - count_position[E_AXIS]+=count_direction[E_AXIS]; + WRITE(E_STEP_PIN, LOW); } #endif //!ADVANCE step_events_completed += 1; @@ -3063,16 +3061,6 @@ void st_synchronize() } } -void st_set_position(const long &x, const long &y, const long &z, const long &e) -{ - CRITICAL_SECTION_START; - count_position[X_AXIS] = x; - count_position[Y_AXIS] = y; - count_position[Z_AXIS] = z; - count_position[E_AXIS] = e; - CRITICAL_SECTION_END; -} - #ifdef DEBUG void log_message(char* message) { diff --git a/Sprinter/heater.cpp b/Sprinter/heater.cpp index 65f52e4..9d494b2 100644 --- a/Sprinter/heater.cpp +++ b/Sprinter/heater.cpp @@ -48,7 +48,7 @@ int current_bed_raw = 0; unsigned long previous_millis_heater, previous_millis_bed_heater, previous_millis_monitor; #ifdef PIDTEMP - int g_heater_pwm_val = 0; + volatile unsigned char g_heater_pwm_val = 0; unsigned char PWM_off_time = 0; unsigned char PWM_out_on = 0; @@ -402,7 +402,7 @@ int read_max6675() heater_duty = constrain(heater_duty, 0, HEATER_CURRENT); #ifdef PID_SOFT_PWM - g_heater_pwm_val = heater_duty; + g_heater_pwm_val = (unsigned char)heater_duty; #else analogWrite(HEATER_0_PIN, heater_duty); diff --git a/Sprinter/heater.h b/Sprinter/heater.h index 5470a4f..a1d2917 100644 --- a/Sprinter/heater.h +++ b/Sprinter/heater.h @@ -75,7 +75,7 @@ extern unsigned long previous_millis_heater, previous_millis_bed_heater; extern unsigned char manage_monitor; #ifdef PIDTEMP - extern int g_heater_pwm_val; + extern volatile unsigned char g_heater_pwm_val; extern unsigned char PWM_off_time; extern unsigned char PWM_out_on; diff --git a/Sprinter/thermistortables.h b/Sprinter/thermistortables.h index ef1e78b..eccfe88 100644 --- a/Sprinter/thermistortables.h +++ b/Sprinter/thermistortables.h @@ -176,7 +176,7 @@ const short temptable_3[NUMTEMPS_3][2] = { #if (THERMISTORHEATER == 4) || (THERMISTORBED == 4) //10k thermistor #define NUMTEMPS_4 20 -short temptable_4[NUMTEMPS_4][2] = { +const short temptable_4[NUMTEMPS_4][2] = { {1, 430}, {54, 137}, {107, 107}, |