summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.h1
-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde178
2 files changed, 89 insertions, 90 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.h b/Tonokip_Firmware/Tonokip_Firmware.h
index 151937c..65bfccd 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.h
+++ b/Tonokip_Firmware/Tonokip_Firmware.h
@@ -1,5 +1,6 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
+#include <WProgram.h>
void get_command();
void process_commands();
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index 33c4297..4dcd2aa 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -61,23 +61,23 @@ 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;
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);
-unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
-unsigned long max_interval;
-unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
-unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
-unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
-unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
-unsigned long steps_per_sqr_second, plateau_steps;
+ unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
+ unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
+ unsigned long max_interval;
+ unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
+ unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
+ unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
+ unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
+ unsigned long steps_per_sqr_second, plateau_steps;
#endif
#ifdef EXP_ACCELERATION
-unsigned long long_full_velocity_units = full_velocity_units * 100;
-unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
-unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
-unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
-unsigned long max_interval;
-unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit,
- y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps;
+ unsigned long long_full_velocity_units = full_velocity_units * 100;
+ unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
+ unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
+ unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
+ unsigned long max_interval;
+ unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit,
+ y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps;
#endif
boolean acceleration_enabled=false ,accelerating=false;
unsigned long interval;
@@ -91,7 +91,7 @@ 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;
#ifdef STEP_DELAY_RATIO
-long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
+ long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
#endif
@@ -119,25 +119,25 @@ int target_bed_raw = 0;
int current_bed_raw=0;
float tt=0,bt=0;
#ifdef PIDTEMP
-int temp_iState=0;
-int temp_dState=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 temp_iState=0;
+ int temp_dState=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;
#endif
#ifdef SMOOTHING
-uint32_t nma=SMOOTHFACTOR*analogRead(TEMP_0_PIN);
+ uint32_t nma=SMOOTHFACTOR*analogRead(TEMP_0_PIN);
#endif
#ifdef WATCHPERIOD
-int watch_raw=-1000;
-unsigned long watchmillis=0;
+ int watch_raw=-1000;
+ unsigned long watchmillis=0;
#endif
#ifdef MINTEMP
-int minttemp=temp2analog(MINTEMP);
+ int minttemp=temp2analog(MINTEMP);
#endif
//Inactivity shutdown variables
@@ -146,56 +146,54 @@ unsigned long max_inactive_time = 0;
unsigned long stepper_inactive_time = 0;
#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 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))
- Serial.println("SD init fail");
-}
-else if (!volume.init(&card))
- Serial.println("volume.init failed");
-else if (!root.openRoot(&volume))
- Serial.println("openRoot failed");
-else
- sdactive=true;
-#endif
-}
-
-inline void write_command(char *buf){
- char* begin=buf;
- char* npos=0;
- char* end=buf+strlen(buf)-1;
-
- file.writeError = false;
- if((npos=strchr(buf, 'N')) != NULL){
- begin = strchr(npos,' ')+1;
- end =strchr(npos, '*')-1;
- }
- end[1]='\r';
- end[2]='\n';
- end[3]='\0';
- //Serial.println(begin);
- file.write(begin);
- if (file.writeError){
- Serial.println("error writing to file");
+ 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 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))
+ Serial.println("SD init fail");
}
-}
-
-
+ else if (!volume.init(&card))
+ Serial.println("volume.init failed");
+ else if (!root.openRoot(&volume))
+ Serial.println("openRoot failed");
+ else
+ sdactive=true;
+ #endif
+ }
+
+ inline void write_command(char *buf){
+ char* begin=buf;
+ char* npos=0;
+ char* end=buf+strlen(buf)-1;
+
+ file.writeError = false;
+ if((npos=strchr(buf, 'N')) != NULL){
+ begin = strchr(npos,' ')+1;
+ end =strchr(npos, '*')-1;
+ }
+ end[1]='\r';
+ end[2]='\n';
+ end[3]='\0';
+ //Serial.println(begin);
+ file.write(begin);
+ if (file.writeError){
+ Serial.println("error writing to file");
+ }
+ }
#endif
@@ -226,12 +224,12 @@ void setup()
//endstop pullups
#ifdef ENDSTOPPULLUPS
- if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);}
- if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);}
- if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);}
- if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);}
- if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);}
- if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);}
+ if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);}
+ if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);}
+ if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);}
+ if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);}
+ if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);}
+ if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);}
#endif
//Initialize Enable Pins
if(X_ENABLE_PIN > -1) pinMode(X_ENABLE_PIN,OUTPUT);
@@ -258,12 +256,12 @@ void setup()
#ifdef SDSUPPORT
-//power to SD reader
-#if SDPOWER > -1
-pinMode(SDPOWER,OUTPUT);
-digitalWrite(SDPOWER,HIGH);
-#endif
-initsd();
+ //power to SD reader
+ #if SDPOWER > -1
+ pinMode(SDPOWER,OUTPUT);
+ digitalWrite(SDPOWER,HIGH);
+ #endif
+ initsd();
#endif
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-22 19:58:53 +0000