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-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.h35
-rw-r--r--Tonokip_Firmware/Tonokip_Firmware.pde230
-rw-r--r--Tonokip_Firmware/pins.h48
3 files changed, 167 insertions, 146 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.h b/Tonokip_Firmware/Tonokip_Firmware.h
new file mode 100644
index 0000000..65bfccd
--- /dev/null
+++ b/Tonokip_Firmware/Tonokip_Firmware.h
@@ -0,0 +1,35 @@
+// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
+// Licence: GPL
+#include <WProgram.h>
+
+void get_command();
+void process_commands();
+
+void manage_inactivity(byte debug);
+
+void manage_heater();
+float temp2analog(int celsius);
+float temp2analogBed(int celsius);
+float analog2temp(int raw);
+float analog2tempBed(int raw);
+
+void FlushSerialRequestResend();
+void ClearToSend();
+
+void get_coordinates();
+void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining);
+void disable_x();
+void disable_y();
+void disable_z();
+void disable_e();
+void enable_x();
+void enable_y();
+void enable_z();
+void enable_e();
+void do_x_step();
+void do_y_step();
+void do_z_step();
+void do_e_step();
+
+void kill(byte debug);
+
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde
index 5cbf96c..83038f5 100644
--- a/Tonokip_Firmware/Tonokip_Firmware.pde
+++ b/Tonokip_Firmware/Tonokip_Firmware.pde
@@ -1,6 +1,7 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
+#include "Tonokip_Firmware.h"
#include "configuration.h"
#include "pins.h"
@@ -8,39 +9,6 @@
#include "SdFat.h"
#endif
-void get_command();
-void process_commands();
-
-void manage_inactivity(byte debug);
-
-void manage_heater();
-float temp2analog(int celsius);
-float temp2analogBed(int celsius);
-float analog2temp(int raw);
-float analog2tempBed(int raw);
-
-void FlushSerialRequestResend();
-void ClearToSend();
-
-void get_coordinates();
-void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining);
-void disable_x();
-void disable_y();
-void disable_z();
-void disable_e();
-void enable_x();
-void enable_y();
-void enable_z();
-void enable_e();
-void do_x_step();
-void do_y_step();
-void do_z_step();
-void do_e_step();
-
-void kill(byte debug);
-
-
-
// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
@@ -84,7 +52,8 @@ void kill(byte debug);
// M115 - Capabilities string
// M140 - Set bed target temp
// M190 - Wait for bed current temp to reach target temp.
-
+// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
+// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000)
//Stepper Movement Variables
@@ -92,23 +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;
@@ -122,7 +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
@@ -150,25 +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
@@ -177,56 +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
@@ -257,12 +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);
@@ -289,12 +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
@@ -314,9 +281,9 @@ void loop()
if(savetosd){
if(strstr(cmdbuffer[bufindr],"M29")==NULL){
write_command(cmdbuffer[bufindr]);
- file.sync();
Serial.println("ok");
}else{
+ file.sync(); // maybe this call is not needed
file.close();
savetosd=false;
Serial.println("Done saving file.");
@@ -496,7 +463,8 @@ inline void process_commands()
e_steps_to_take = abs(ediff)*e_steps_per_unit;
if(feedrate<10)
feedrate=10;
- /*//experimental feedrate calc
+ /*
+ //experimental feedrate calc
if(abs(xdiff)>0.1 && abs(ydiff)>0.1)
d=sqrt(xdiff*xdiff+ydiff*ydiff);
else if(abs(xdiff)>0.1)
@@ -813,6 +781,16 @@ inline void process_commands()
Serial.print("E:");
Serial.println(current_e);
break;
+ #ifdef RAMP_ACCELERATION
+ case 201: // M201
+ if(code_seen('X')) x_steps_per_sqr_second = code_value() * x_steps_per_unit;
+ if(code_seen('Y')) x_steps_per_sqr_second = code_value() * y_steps_per_unit;
+ break;
+ case 202: // M202
+ if(code_seen('X')) x_travel_steps_per_sqr_second = code_value() * x_steps_per_unit;
+ if(code_seen('Y')) x_travel_steps_per_sqr_second = code_value() * y_steps_per_unit;
+ break;
+ #endif
}
}
diff --git a/Tonokip_Firmware/pins.h b/Tonokip_Firmware/pins.h
index 282961f..42845fd 100644
--- a/Tonokip_Firmware/pins.h
+++ b/Tonokip_Firmware/pins.h
@@ -210,51 +210,59 @@
#define X_DIR_PIN 28
#define X_ENABLE_PIN 24
#define X_MIN_PIN 3
-#define X_MAX_PIN -2 //2
+#define X_MAX_PIN -2 //2
#define Y_STEP_PIN 38
#define Y_DIR_PIN 40
#define Y_ENABLE_PIN 36
#define Y_MIN_PIN 16
-#define Y_MAX_PIN -1 //17
+#define Y_MAX_PIN -1 //17
#define Z_STEP_PIN 44
#define Z_DIR_PIN 46
#define Z_ENABLE_PIN 42
#define Z_MIN_PIN 18
-#define Z_MAX_PIN -1 //19
+#define Z_MAX_PIN -1 //19
#define E_STEP_PIN 32
#define E_DIR_PIN 34
#define E_ENABLE_PIN 30
-#define SDPOWER 48
-#define SDSS 53
+#define SDPOWER 48
+#define SDSS 53
#define LED_PIN 13
-//#define FAN_PIN 11 // UNCOMMENT THIS LINE FOR V1.0
-#define FAN_PIN 9 // THIS LINE FOR V1.1
-
#define PS_ON_PIN -1
#define KILL_PIN -1
-//#define HEATER_0_PIN 12 // UNCOMMENT THIS LINE FOR V1.0
-#define HEATER_0_PIN 10 // THIS LINE FOR V1.1
-#define HEATER_1_PIN 8 // THIS LINE FOR V1.1
+// uncomment the following line for RAMPS V1.0
+// #define RAMPS_V_1_0
-#define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
-#define TEMP_1_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+#ifdef RAMPS_V_1_0
+ #define HEATER_0_PIN 12 // RAMPS 1.0
+ #define HEATER_1_PIN -1 // RAMPS 1.0
+ #define FAN_PIN 11 // RAMPS 1.0
-#ifndef SDSUPPORT
+#else // RAMPS_V_1_1 as default
+ #define HEATER_0_PIN 10 // RAMPS 1.1
+ #define HEATER_1_PIN 8 // RAMPS 1.1
-// SPI for Max6675 Thermocouple (these pins are defined in the SD library if building with SD support).
-#define SCK_PIN 52
-#define MISO_PIN 50
-#define MOSI_PIN 51
-#define MAX6675_SS 53
+ #define FAN_PIN 9 // RAMPS 1.1
+#endif
+
+#define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+#define TEMP_1_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
+
+// SPI for Max6675 Thermocouple
+
+#ifndef SDSUPPORT
+// these pins are defined in the SD library if building with SD support #define SCK_PIN 52
+ #define MISO_PIN 50
+ #define MOSI_PIN 51
+ #define MAX6675_SS 53
#else
-#define MAX6675_SS 49
+ #define MAX6675_SS 49
#endif
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-26 13:56:02 +0000