diff options
| -rw-r--r-- | Sprinter/Configuration.h | 28 | ||||
| -rw-r--r-- | Sprinter/Sprinter.h | 52 | ||||
| -rw-r--r-- | Sprinter/Sprinter.pde | 262 | ||||
| -rw-r--r-- | Sprinter/pins.h | 13 |
4 files changed, 248 insertions, 107 deletions
diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h index 1e25d17..e246e65 100644 --- a/Sprinter/Configuration.h +++ b/Sprinter/Configuration.h @@ -36,9 +36,11 @@ float axis_steps_per_unit[] = {80, 80, 3200/1.25,700}; //// Endstop Settings #define ENDSTOPPULLUPS // 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 +//If your axes move in one direction ONLY when the endstops are triggered, set [XYZ]_ENDSTOP_INVERT to true here: +const bool X_ENDSTOP_INVERT = false; +const bool Y_ENDSTOP_INVERT = false; +const bool Z_ENDSTOP_INVERT = false; // This determines the communication speed of the printer #define BAUDRATE 115200 @@ -116,15 +118,21 @@ char uuid[] = "00000000-0000-0000-0000-000000000000"; //// PID settings: // Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful. -//#define PIDTEMP +//#define PIDTEMP 1 #ifdef PIDTEMP -#define PID_MAX 255 // limits current to nozzle -#define PID_INTEGRAL_DRIVE_MAX 220 -#define PID_PGAIN 180 //100 is 1.0 -#define PID_IGAIN 2 //100 is 1.0 -#define PID_DGAIN 100 //100 is 1.0 +#define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors +#define PID_PGAIN 1280 //256 is 1.0 // value of 5.0 means that error of 20C is changing it almost halfway of the PWM range +#define PID_IGAIN 64 //256 is 1.0 // value of 0.25 means that each degree error over 1 sec (2 measurements) changes duty cycle by 0.5 units (verify?) +#define PID_DGAIN 2048 //256 is 1.0 // value of 8.0 means that each degree change over one measurement (half second) adjusts PWM by 8 units to compensate +// magic formula 1, to get approximate "zero error" PWM duty. It is most likely linear formula +#define HEATER_DUTY_FOR_SETPOINT(setpoint) (22+1*setpoint) +// magic formula 2, to make led brightness approximately linear +#define LED_PWM_FOR_BRIGHTNESS(brightness) ((64*brightness-1384)/(300-brightness)) #endif +// Change this value (range 1-255) to limit the current to the nozzle +#define HEATER_CURRENT 255 + // How often should the heater check for new temp readings, in milliseconds #define HEATER_CHECK_INTERVAL 500 #define BED_CHECK_INTERVAL 5000 @@ -148,6 +156,10 @@ char uuid[] = "00000000-0000-0000-0000-000000000000"; // If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109 //#define WATCHPERIOD 5000 //5 seconds +// Actual temperature must be close to target for this long before M109 returns success +//#define TEMP_RESIDENCY_TIME 20 // (seconds) +//#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one + //// The minimal temperature defines the temperature below which the heater will not be enabled #define MINTEMP 5 diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h index d612b5d..2ac9163 100644 --- a/Sprinter/Sprinter.h +++ b/Sprinter/Sprinter.h @@ -8,33 +8,47 @@ void get_command(); void process_commands(); void manage_inactivity(byte debug); +void setup_acceleration(); void manage_heater(); -int temp2analogu(int celsius, const short table[][2], int numtemps, int source); -int analog2tempu(int raw, const short table[][2], int numtemps, int source); -#ifdef HEATER_USES_THERMISTOR - #define HEATERSOURCE 1 -#endif -#ifdef HEATER_USES_AD595 - #define HEATERSOURCE 2 + +#if defined HEATER_USES_THERMISTOR +#define temp2analogh( c ) temp2analog_thermistor(c,temptable,NUMTEMPS) +#define analog2temp( c ) analog2temp_thermistor(c,temptable,NUMTEMPS) +#elif defined HEATER_USES_AD595 +#define temp2analogh( c ) temp2analog_ad595(c) +#define analog2temp( c ) analog2temp_ad595(c) +#elif defined HEATER_USES_MAX6675 +#define temp2analogh( c ) temp2analog_max6675(c) +#define analog2temp( c ) analog2temp_max6675(c) #endif -#ifdef HEATER_USES_MAX6675 - #define HEATERSOURCE 3 + +#if defined BED_USES_THERMISTOR +#define temp2analogBed( c ) temp2analog_thermistor((c),bedtemptable,BNUMTEMPS) +#define analog2tempBed( c ) analog2temp_thermistor((c),bedtemptable,BNUMTEMPS) +#elif defined BED_USES_AD595 +#define temp2analogBed( c ) temp2analog_ad595(c) +#define analog2tempBed( c ) analog2temp_ad595(c) +#elif defined BED_USES_MAX6675 +#define temp2analogBed( c ) temp2analog_max6675(c) +#define analog2tempBed( c ) analog2temp_max6675(c) #endif -#ifdef BED_USES_THERMISTOR - #define BEDSOURCE 1 + +#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) +int temp2analog_thermistor(int celsius, const short table[][2], int numtemps); +int analog2temp_thermistor(int raw,const short table[][2], int numtemps); #endif -#ifdef BED_USES_AD595 - #define BEDSOURCE 2 + +#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595) +int temp2analog_ad595(int celsius); +int analog2temp_ad595(int raw); #endif -#ifdef BED_USES_MAX6675 - #define BEDSOURCE 3 + +#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) +int temp2analog_max6675(int celsius); +int analog2temp_max6675(int raw); #endif -#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS,HEATERSOURCE) -#define temp2analogBed( c ) temp2analogu((c),bedtemptable,BNUMTEMPS,BEDSOURCE) -#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS,HEATERSOURCE) -#define analog2tempBed( c ) analog2tempu((c),bedtemptable,BNUMTEMPS,BEDSOURCE) #if X_ENABLE_PIN > -1 #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON) #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON) diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 2a36875..52910ec 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -1,4 +1,4 @@ -// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. + // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. // Licence: GPL #include "fastio.h" @@ -43,6 +43,7 @@ // M27 - Report SD print status // M28 - Start SD write (M28 filename.g) // M29 - Stop SD write +// 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 // M81 - Turn off Power Supply // M82 - Set E codes absolute (default) // M83 - Set E codes relative while in Absolute Coordinates (G90) mode @@ -111,20 +112,25 @@ char *strchr_pointer; // just a pointer to find chars in the cmd string like X, // degree increments (i.e. 100=25 deg). int target_raw = 0; +int target_temp = 0; int current_raw = 0; int target_bed_raw = 0; int current_bed_raw = 0; int tt = 0, bt = 0; #ifdef PIDTEMP int temp_iState = 0; - int temp_dState = 0; + int prev_temp = 0; int pTerm; int iTerm; int dTerm; //int output; int error; - int temp_iState_min = 100 * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; - int temp_iState_max = 100 * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; + int heater_duty = 0; + const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; + const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN; +#endif +#ifndef HEATER_CURRENT + #define HEATER_CURRENT 255 #endif #ifdef SMOOTHING uint32_t nma = 0; @@ -288,9 +294,11 @@ void setup() #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 @@ -298,6 +306,18 @@ void setup() 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); @@ -312,11 +332,7 @@ void setup() 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]; - } + setup_acceleration(); #endif #ifdef HEATER_USES_MAX6675 @@ -726,8 +742,33 @@ inline void process_commands() //savetosd = false; break; #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(code_value()); + if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value()); #ifdef WATCHPERIOD if(target_raw > current_raw){ watchmillis = max(1,millis()); @@ -752,6 +793,12 @@ inline void process_commands() #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined HEATER_USES_AD595 Serial.print("ok T:"); Serial.print(tt); + #ifdef PIDTEMP + Serial.print(" @:"); + Serial.print(heater_duty); + Serial.print(","); + Serial.print(iTerm); + #endif #if TEMP_1_PIN > -1 || defined BED_USES_AD595 Serial.print(" B:"); Serial.println(bt); @@ -763,8 +810,8 @@ inline void process_commands() #endif return; //break; - case 109: // M109 - Wait for extruder heater to reach target. - if (code_seen('S')) target_raw = temp2analogh(code_value()); + 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()); @@ -774,16 +821,39 @@ inline void process_commands() } #endif codenum = millis(); - while(current_raw < target_raw) { - if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. + + /* 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 { Serial.print("T:"); - Serial.println( analog2temp(current_raw) ); - codenum = millis(); + Serial.println( analog2temp(current_raw) ); + codenum = millis(); } manage_heater(); - } - break; + #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 = temp2analogh(code_value()); @@ -845,15 +915,10 @@ inline void process_commands() 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 - } + setup_acceleration(); #endif + break; case 115: // M115 Serial.print("FIRMWARE_NAME:Sprinter FIRMWARE_URL:http%%3A/github.com/kliment/Sprinter/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 UUID:"); @@ -872,27 +937,27 @@ inline void process_commands() case 119: // M119 #if (X_MIN_PIN > -1) Serial.print("x_min:"); - Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + Serial.print((READ(X_MIN_PIN)^X_ENDSTOP_INVERT)?"H ":"L "); #endif #if (X_MAX_PIN > -1) Serial.print("x_max:"); - Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + Serial.print((READ(X_MAX_PIN)^X_ENDSTOP_INVERT)?"H ":"L "); #endif #if (Y_MIN_PIN > -1) Serial.print("y_min:"); - Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + Serial.print((READ(Y_MIN_PIN)^Y_ENDSTOP_INVERT)?"H ":"L "); #endif #if (Y_MAX_PIN > -1) Serial.print("y_max:"); - Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + Serial.print((READ(Y_MAX_PIN)^Y_ENDSTOP_INVERT)?"H ":"L "); #endif #if (Z_MIN_PIN > -1) Serial.print("z_min:"); - Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + Serial.print((READ(Z_MIN_PIN)^Z_ENDSTOP_INVERT)?"H ":"L "); #endif #if (Z_MAX_PIN > -1) Serial.print("z_max:"); - Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + Serial.print((READ(Z_MAX_PIN)^Z_ENDSTOP_INVERT)?"H ":"L "); #endif Serial.println(""); break; @@ -1047,22 +1112,22 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov else WRITE(E_DIR_PIN,INVERT_E_DIR); movereset: #if (X_MIN_PIN > -1) - if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0; + if(!move_direction[0]) if(READ(X_MIN_PIN) != X_ENDSTOP_INVERT) axis_steps_remaining[0]=0; #endif #if (Y_MIN_PIN > -1) - if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0; + if(!move_direction[1]) if(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT) axis_steps_remaining[1]=0; #endif #if (Z_MIN_PIN > -1) - if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0; + if(!move_direction[2]) if(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT) axis_steps_remaining[2]=0; #endif #if (X_MAX_PIN > -1) - if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0; + if(move_direction[0]) if(READ(X_MAX_PIN) != X_ENDSTOP_INVERT) axis_steps_remaining[0]=0; #endif #if (Y_MAX_PIN > -1) - if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0; + if(move_direction[1]) if(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT) axis_steps_remaining[1]=0; #endif # if(Z_MAX_PIN > -1) - if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0; + if(move_direction[2]) if(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT) axis_steps_remaining[2]=0; #endif @@ -1238,22 +1303,22 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov //If there are x or y steps remaining, perform Bresenham algorithm if(axis_steps_remaining[primary_axis]) { #if (X_MIN_PIN > -1) - if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0; + if(!move_direction[0]) if(READ(X_MIN_PIN) != X_ENDSTOP_INVERT) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0; #endif #if (Y_MIN_PIN > -1) - if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0; + if(!move_direction[1]) if(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0; #endif #if (X_MAX_PIN > -1) - if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0; + if(move_direction[0]) if(READ(X_MAX_PIN) != X_ENDSTOP_INVERT) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0; #endif #if (Y_MAX_PIN > -1) - if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0; + if(move_direction[1]) if(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0; #endif #if (Z_MIN_PIN > -1) - if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0; + if(!move_direction[2]) if(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0; #endif #if (Z_MAX_PIN > -1) - if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0; + if(move_direction[2]) if(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0; #endif timediff = micros() * 100 - axis_previous_micros[primary_axis]; if(timediff<0){//check for overflow @@ -1404,8 +1469,9 @@ void manage_heater() #ifdef WATCHPERIOD if(watchmillis && millis() - watchmillis > WATCHPERIOD){ if(watch_raw + 1 >= current_raw){ - target_raw = 0; + target_temp = target_raw = 0; WRITE(HEATER_0_PIN,LOW); + analogWrite(HEATER_0_PIN, 0); #if LED_PIN>-1 WRITE(LED_PIN,LOW); #endif @@ -1416,27 +1482,48 @@ void manage_heater() #endif #ifdef MINTEMP if(current_raw <= minttemp) - target_raw = 0; + target_temp = target_raw = 0; #endif #ifdef MAXTEMP if(current_raw >= maxttemp) { - target_raw = 0; + target_temp = target_raw = 0; + #if (ALARM_PIN > -1) + WRITE(ALARM_PIN,HIGH); + #endif } #endif #if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined (HEATER_USES_AD595) #ifdef PIDTEMP - error = target_raw - current_raw; - pTerm = (PID_PGAIN * error) / 100; - temp_iState += error; - temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); - iTerm = (PID_IGAIN * temp_iState) / 100; - dTerm = (PID_DGAIN * (current_raw - temp_dState)) / 100; - temp_dState = current_raw; - analogWrite(HEATER_0_PIN, constrain(pTerm + iTerm - dTerm, 0, PID_MAX)); + int current_temp = analog2temp(current_raw); + error = target_temp - current_temp; + int delta_temp = current_temp - prev_temp; + prev_temp = current_temp; + pTerm = ((long)PID_PGAIN * error) / 256; + const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT); + heater_duty = H0 + pTerm; + if(error < 20){ + temp_iState += error; + temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); + iTerm = ((long)PID_IGAIN * temp_iState) / 256; + heater_duty += iTerm; + } + int prev_error = abs(target_temp - prev_temp); + int log3 = 1; // discrete logarithm base 3, plus 1 + if(prev_error > 81){ prev_error /= 81; log3 += 4; } + if(prev_error > 9){ prev_error /= 9; log3 += 2; } + if(prev_error > 3){ prev_error /= 3; log3 ++; } + dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3); + heater_duty += dTerm; + heater_duty = constrain(heater_duty, 0, HEATER_CURRENT); + analogWrite(HEATER_0_PIN, heater_duty); + #if LED_PIN>-1 + analogWrite(LED_PIN, constrain(LED_PWM_FOR_BRIGHTNESS(heater_duty),0,255)); + #endif #else if(current_raw >= target_raw) { WRITE(HEATER_0_PIN,LOW); + analogWrite(HEATER_0_PIN, 0); #if LED_PIN>-1 WRITE(LED_PIN,LOW); #endif @@ -1444,6 +1531,7 @@ void manage_heater() else { WRITE(HEATER_0_PIN,HIGH); + analogWrite(HEATER_0_PIN, HEATER_CURRENT); #if LED_PIN > -1 WRITE(LED_PIN,HIGH); #endif @@ -1478,7 +1566,11 @@ void manage_heater() #endif + #ifdef MINTEMP + if(current_bed_raw >= target_bed_raw || current_bed_raw < minttemp) + #else if(current_bed_raw >= target_bed_raw) + #endif { WRITE(HEATER_1_PIN,LOW); } @@ -1489,10 +1581,8 @@ void manage_heater() #endif } - -int temp2analogu(int celsius, const short table[][2], int numtemps, int source) { - #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) - if(source==1){ +#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) +int temp2analog_thermistor(int celsius, const short table[][2], int numtemps) { int raw = 0; byte i; @@ -1513,20 +1603,23 @@ int temp2analogu(int celsius, const short table[][2], int numtemps, int source) if (i == numtemps) raw = table[i-1][0]; return 1023 - raw; - } - #elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595) - if(source==2) - return celsius * 1024 / (500); - #elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) - if(source==3) - return celsius * 4; - #endif - return -1; } +#endif -int analog2tempu(int raw,const short table[][2], int numtemps, int source) { - #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) - if(source==1){ +#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595) +int temp2analog_ad595(int celsius) { + return celsius * 1024 / (500); +} +#endif + +#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) +int temp2analog_max6675(int celsius) { + return celsius * 4; +} +#endif + +#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) +int analog2temp_thermistor(int raw,const short table[][2], int numtemps) { int celsius = 0; byte i; @@ -1549,17 +1642,20 @@ int analog2tempu(int raw,const short table[][2], int numtemps, int source) { if (i == numtemps) celsius = table[i-1][1]; return celsius; - } - #elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595) - if(source==2) +} +#endif + +#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595) +int analog2temp_ad595(int raw) { return raw * 500 / 1024; - #elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) - if(source==3) - return raw / 4; - #endif - return -1; } +#endif +#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) +int analog2temp_max6675(int raw) { + return raw / 4; +} +#endif inline void kill() { @@ -1585,6 +1681,16 @@ if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); } } +#ifdef RAMP_ACCELERATION +void setup_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 DEBUG void log_message(char* message) { Serial.print("DEBUG"); Serial.println(message); diff --git a/Sprinter/pins.h b/Sprinter/pins.h index 3cc92dc..fd9995d 100644 --- a/Sprinter/pins.h +++ b/Sprinter/pins.h @@ -57,6 +57,7 @@ #define FAN_PIN -1 #define PS_ON_PIN 15 #define KILL_PIN -1 +#define ALARM_PIN -1 #define HEATER_0_PIN 6 #define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! @@ -130,6 +131,7 @@ #define FAN_PIN -1 #define PS_ON_PIN -1 #define KILL_PIN -1 +#define ALARM_PIN -1 #define HEATER_0_PIN 14 #define TEMP_0_PIN 4 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! @@ -191,6 +193,7 @@ #define FAN_PIN -1 #define KILL_PIN -1 +#define ALARM_PIN -1 #define HEATER_0_PIN -1 #define TEMP_0_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! @@ -379,12 +382,13 @@ #define FAN_PIN 9 #define PS_ON_PIN 12 #define KILL_PIN -1 +#define ALARM_PIN -1 #define HEATER_0_PIN 10 #define HEATER_1_PIN 8 #define TEMP_0_PIN 13 // ANALOG NUMBERING #define TEMP_1_PIN 14 // ANALOG NUMBERING - +#define TEMP_2_PIN 15 // ANALOG NUMBERING #else // RAMPS_V_1_1 or RAMPS_V_1_2 as default @@ -415,7 +419,7 @@ #define LED_PIN 13 #define PS_ON_PIN -1 #define KILL_PIN -1 - +#define ALARM_PIN -1 #ifdef RAMPS_V_1_0 // RAMPS_V_1_0 @@ -486,6 +490,7 @@ #define FAN_PIN 5 #define PS_ON_PIN -1 #define KILL_PIN -1 +#define ALARM_PIN -1 #define HEATER_0_PIN 6 #define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! @@ -587,6 +592,7 @@ #define PS_ON_PIN -1 #define KILL_PIN -1 +#define ALARM_PIN -1 #define HEATER_0_PIN 13 // (extruder) @@ -619,4 +625,7 @@ #endif +//List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those! +const int sensitive_pins[] = {0, 1, X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, E_STEP_PIN, E_DIR_PIN, E_ENABLE_PIN, LED_PIN, PS_ON_PIN, HEATER_0_PIN, HEATER_1_PIN, FAN_PIN, TEMP_0_PIN, TEMP_1_PIN}; + #endif |