diff options
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 134 | ||||
| -rw-r--r-- | Tonokip_Firmware/configuration.h | 8 |
2 files changed, 102 insertions, 40 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index c1e3d17..f654ada 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -63,20 +63,24 @@ unsigned 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 axis_max_interval[] = {100000000.0 / (min_units_per_second * x_steps_per_unit), 100000000.0 / (min_units_per_second * y_steps_per_unit)}; + unsigned int max_start_speed_axis_asc_order[NUM_AXIS]; + unsigned long axis_max_interval[] = {100000000.0 / (max_start_speed_units_per_second[0] * axis_steps_per_unit[0]), + 100000000.0 / (max_start_speed_units_per_second[1] * axis_steps_per_unit[1]), + 100000000.0 / (max_start_speed_units_per_second[2] * axis_steps_per_unit[2]), + 100000000.0 / (max_start_speed_units_per_second[3] * axis_steps_per_unit[3])}; //TODO: refactor all things like this in a function unsigned long max_interval; - unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * x_steps_per_unit, max_acceleration_units_per_sq_second[1] * y_steps_per_unit}; - unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * x_steps_per_unit, max_travel_acceleration_units_per_sq_second[1] * y_steps_per_unit}; + unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0], max_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1]}; + unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0], max_travel_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1]}; unsigned long steps_per_sqr_second, plateau_steps; #endif #ifdef EXP_ACCELERATION - unsigned long axis_virtual_full_velocity_steps[] = {full_velocity_units * x_steps_per_unit, full_velocity_units * y_steps_per_unit}; - unsigned long axis_travel_virtual_full_velocity_steps[] = {travel_move_full_velocity_units * x_steps_per_unit, - travel_move_full_velocity_units * y_steps_per_unit}; - unsigned long axis_max_interval[] = {100000000.0 / (min_units_per_second * x_steps_per_unit), - 100000000.0 / (min_units_per_second * y_steps_per_unit)}; + unsigned long axis_virtual_full_velocity_steps[] = {full_velocity_units * axis_steps_per_unit[0], full_velocity_units * axis_steps_per_unit[1]}; + unsigned long axis_travel_virtual_full_velocity_steps[] = {travel_move_full_velocity_units * axis_steps_per_unit[0], + travel_move_full_velocity_units * axis_steps_per_unit[1]}; + unsigned long axis_max_interval[] = {100000000.0 / (max_start_speed_units_per_second[0] * axis_steps_per_unit[0]), + 100000000.0 / (max_start_speed_units_per_second[1] * axis_steps_per_unit[1])}; unsigned long max_interval; - unsigned long axis_min_constant_speed_steps[] = {min_constant_speed_units * x_steps_per_unit, min_constant_speed_units * y_steps_per_unit}; + unsigned long axis_min_constant_speed_steps[] = {min_constant_speed_units * axis_steps_per_unit[0], min_constant_speed_units * axis_steps_per_unit[1]}; unsigned long min_constant_speed_steps; #endif boolean acceleration_enabled = false, accelerating = false; @@ -265,6 +269,36 @@ void setup() initsd(); #endif + + //Sort the axis with ascending max start speed in steps/s. The insertion sort + // algorithm is used, since it's the less expensive in code size. + #ifdef RAMP_ACCELERATION + long temp_max_intervals[NUM_AXIS]; + for(int i=0; i < NUM_AXIS; i++) { + temp_max_intervals[i] = axis_max_interval[i]; + max_start_speed_axis_asc_order[i] = i; + } + for(int i=1; i < NUM_AXIS; i++) { + int j=i-1; + long axis_value = temp_max_intervals[i]; + Serial.print("Axis value: "); Serial.println(axis_value); + while(j >= 0 && temp_max_intervals[j] < axis_value) { + temp_max_intervals[j+1] = temp_max_intervals[j]; + max_start_speed_axis_asc_order[j+1] = max_start_speed_axis_asc_order[j]; + j--; + } + Serial.print("Axis value: "); Serial.println(axis_value); + temp_max_intervals[j+1] = axis_value; + max_start_speed_axis_asc_order[j+1] = i; + } + #ifdef DEBUGGING + Serial.println("New start speed axes order :"); + Serial.println(max_start_speed_axis_asc_order[0]); + Serial.println(max_start_speed_axis_asc_order[1]); + Serial.println(max_start_speed_axis_asc_order[2]); + Serial.println(max_start_speed_axis_asc_order[3]); + #endif + #endif } @@ -480,7 +514,7 @@ inline void process_commands() if((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) { current_x = 0; destination_x = 1.5 * X_MAX_LENGTH * X_HOME_DIR; - feedrate = min_units_per_second * 60; + feedrate = max_start_speed_units_per_second[0] * 60; prepare_move(); current_x = 0; @@ -498,7 +532,7 @@ inline void process_commands() if((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) { current_y = 0; destination_y = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR; - feedrate = min_units_per_second * 60; + feedrate = max_start_speed_units_per_second[1] * 60; prepare_move(); current_y = 0; @@ -756,10 +790,39 @@ inline void process_commands() max_inactive_time = code_value() * 1000; break; case 92: // M92 - if(code_seen('X')) x_steps_per_unit = code_value(); - if(code_seen('Y')) y_steps_per_unit = code_value(); - if(code_seen('Z')) z_steps_per_unit = code_value(); - if(code_seen('E')) e_steps_per_unit = code_value(); + if(code_seen('X')) axis_steps_per_unit[0] = code_value(); + if(code_seen('Y')) axis_steps_per_unit[1] = code_value(); + if(code_seen('Z')) axis_steps_per_unit[2] = code_value(); + if(code_seen('E')) axis_steps_per_unit[3] = code_value(); + //Update start speed intervals and axis order. TODO: refactor array sorting in + // a function, refactor axis_max_interval[] calculation into a function, as they + // can 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]); + temp_max_intervals[i] = axis_max_interval[i]; + max_start_speed_axis_asc_order[i] = i; + } + for(int i=1; i < NUM_AXIS; i++) { + int j=i-1; + long axis_value = temp_max_intervals[i]; + while(j >= 0 && temp_max_intervals[j] < axis_value) { + temp_max_intervals[j+1] = temp_max_intervals[j]; + max_start_speed_axis_asc_order[j+1] = max_start_speed_axis_asc_order[j]; + j--; + } + temp_max_intervals[j+1] = axis_value; + max_start_speed_axis_asc_order[j+1] = i; + } + #ifdef DEBUGGING + Serial.println("New start speed axes order :"); + Serial.println(max_start_speed_axis_asc_order[0]); + Serial.println(max_start_speed_axis_asc_order[1]); + Serial.println(max_start_speed_axis_asc_order[2]); + Serial.println(max_start_speed_axis_asc_order[3]); + #endif + #endif break; case 115: // M115 Serial.println("FIRMWARE_NAME:Sprinter FIRMWARE_URL:http%%3A/github.com/kliment/Sprinter/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1"); @@ -775,13 +838,14 @@ inline void process_commands() Serial.println(current_e); break; #ifdef RAMP_ACCELERATION + //TODO: update for all axis, use for loop case 201: // M201 - if(code_seen('X')) axis_steps_per_sqr_second[0] = code_value() * x_steps_per_unit; - if(code_seen('Y')) axis_steps_per_sqr_second[1] = code_value() * y_steps_per_unit; + if(code_seen('X')) axis_steps_per_sqr_second[0] = code_value() * axis_steps_per_unit[0]; + if(code_seen('Y')) axis_steps_per_sqr_second[1] = code_value() * axis_steps_per_unit[1]; break; case 202: // M202 - if(code_seen('X')) axis_travel_steps_per_sqr_second[0] = code_value() * x_steps_per_unit; - if(code_seen('Y')) axis_travel_steps_per_sqr_second[1] = code_value() * y_steps_per_unit; + if(code_seen('X')) axis_travel_steps_per_sqr_second[0] = code_value() * axis_steps_per_unit[0]; + if(code_seen('Y')) axis_travel_steps_per_sqr_second[1] = code_value() * axis_steps_per_unit[1]; break; #endif } @@ -865,10 +929,10 @@ inline void prepare_move() ydiff = (destination_y - current_y); zdiff = (destination_z - current_z); ediff = (destination_e - current_e); - x_steps_to_take = abs(xdiff) * x_steps_per_unit; - y_steps_to_take = abs(ydiff) * y_steps_per_unit; - z_steps_to_take = abs(zdiff) * z_steps_per_unit; - e_steps_to_take = abs(ediff) * e_steps_per_unit; + x_steps_to_take = abs(xdiff) * axis_steps_per_unit[0]; + y_steps_to_take = abs(ydiff) * axis_steps_per_unit[1]; + z_steps_to_take = abs(zdiff) * axis_steps_per_unit[2]; + e_steps_to_take = abs(ediff) * axis_steps_per_unit[3]; if(feedrate < 10) feedrate = 10; /* @@ -889,10 +953,10 @@ inline void prepare_move() //int feedz = (60000000 * zdiff) / time_for_move; //if(feedz > maxfeed) */ - #define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000)) - #define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000)) - #define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*z_feedrate/60000000)) - #define E_TIME_FOR_MOVE ((float)e_steps_to_take / (e_steps_per_unit*feedrate/60000000)) + #define X_TIME_FOR_MOVE ((float)x_steps_to_take / (axis_steps_per_unit[0]*feedrate/60000000)) + #define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (axis_steps_per_unit[1]*feedrate/60000000)) + #define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (axis_steps_per_unit[2]*z_feedrate/60000000)) + #define E_TIME_FOR_MOVE ((float)e_steps_to_take / (axis_steps_per_unit[3]*feedrate/60000000)) time_for_move = max(X_TIME_FOR_MOVE, Y_TIME_FOR_MOVE); time_for_move = max(time_for_move, Z_TIME_FOR_MOVE); @@ -1188,14 +1252,14 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with if(DISABLE_E) disable_e(); // Update current position partly based on direction, we probably can combine this with the direction code above... - if (destination_x > current_x) current_x = current_x + x_steps_to_take / x_steps_per_unit; - else current_x = current_x - x_steps_to_take / x_steps_per_unit; - if (destination_y > current_y) current_y = current_y + y_steps_to_take / y_steps_per_unit; - else current_y = current_y - y_steps_to_take / y_steps_per_unit; - if (destination_z > current_z) current_z = current_z + z_steps_to_take / z_steps_per_unit; - else current_z = current_z - z_steps_to_take / z_steps_per_unit; - if (destination_e > current_e) current_e = current_e + e_steps_to_take / e_steps_per_unit; - else current_e = current_e - e_steps_to_take / e_steps_per_unit; + if (destination_x > current_x) current_x = current_x + x_steps_to_take / axis_steps_per_unit[0]; + else current_x = current_x - x_steps_to_take / axis_steps_per_unit[0]; + if (destination_y > current_y) current_y = current_y + y_steps_to_take / axis_steps_per_unit[1]; + else current_y = current_y - y_steps_to_take / axis_steps_per_unit[1]; + if (destination_z > current_z) current_z = current_z + z_steps_to_take / axis_steps_per_unit[2]; + else current_z = current_z - z_steps_to_take / axis_steps_per_unit[2]; + if (destination_e > current_e) current_e = current_e + e_steps_to_take / axis_steps_per_unit[3]; + else current_e = current_e - e_steps_to_take / axis_steps_per_unit[3]; } diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h index 004c0d8..00bc9a5 100644 --- a/Tonokip_Firmware/configuration.h +++ b/Tonokip_Firmware/configuration.h @@ -24,7 +24,8 @@ //Acceleration settings #ifdef RAMP_ACCELERATION -float min_units_per_second = 35.0; // the minimum feedrate +//X, Y (Z and E currently not used) maximum start speed. E default value is good for skeinforge 40+, for older versions raise it a lot. +float max_start_speed_units_per_second[] = {35.0,35.0,1.0,10.0}; long max_acceleration_units_per_sq_second[] = {750,750,100,10000}; // X, Y (Z and E currently not used) max acceleration in mm/s^2 for printing moves long max_travel_acceleration_units_per_sq_second[] = {1500,1500,100}; // X, Y (Z currently not used) max acceleration in mm/s^2 for travel moves #endif @@ -87,10 +88,7 @@ float min_constant_speed_units = 2; // the minimum units of an accelerated move //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; -float e_steps_per_unit = 16; +float axis_steps_per_unit[] = {80.376,80.376,3200/1.25,16}; float max_feedrate = 200000; //mmm, acceleration! float max_z_feedrate = 120; |