diff options
| -rw-r--r-- | Sprinter/Sprinter.h | 42 | ||||
| -rw-r--r-- | Sprinter/Sprinter.pde | 165 |
2 files changed, 136 insertions, 71 deletions
diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h index 1a324a0..10318ae 100644 --- a/Sprinter/Sprinter.h +++ b/Sprinter/Sprinter.h @@ -33,6 +33,34 @@ int analog2tempu(int raw, const short table[][2], int numtemps, int source); #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() digitalWrite(X_ENABLE_PIN, X_ENABLE_ON) +#define disable_x() digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON) +#else +#define enable_x() ; +#define disable_x() ; +#endif +#if Y_ENABLE_PIN > -1 +#define enable_y() digitalWrite(Y_ENABLE_PIN, Y_ENABLE_ON) +#define disable_y() digitalWrite(Y_ENABLE_PIN,!Y_ENABLE_ON) +#else +#define enable_y() ; +#define disable_y() ; +#endif +#if Z_ENABLE_PIN > -1 +#define enable_z() digitalWrite(Z_ENABLE_PIN, Z_ENABLE_ON) +#define disable_z() digitalWrite(Z_ENABLE_PIN,!Z_ENABLE_ON) +#else +#define enable_z() ; +#define disable_z() ; +#endif +#if E_ENABLE_PIN > -1 +#define enable_e() digitalWrite(E_ENABLE_PIN, E_ENABLE_ON) +#define disable_e() digitalWrite(E_ENABLE_PIN,!E_ENABLE_ON) +#else +#define enable_e() ; +#define disable_e() ; +#endif void FlushSerialRequestResend(); void ClearToSend(); @@ -40,18 +68,6 @@ void ClearToSend(); void get_coordinates(); void prepare_move(); 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 do_step(int axis); void kill(byte debug); diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index cc31668..a2ea948 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -57,6 +57,7 @@ //Stepper Movement Variables + char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; bool move_direction[NUM_AXIS]; const int STEP_PIN[NUM_AXIS] = {X_STEP_PIN, Y_STEP_PIN, Z_STEP_PIN, E_STEP_PIN}; @@ -64,19 +65,11 @@ unsigned long axis_previous_micros[NUM_AXIS]; unsigned long previous_micros = 0, previous_millis_heater, previous_millis_bed_heater; unsigned long move_steps_to_take[NUM_AXIS]; #ifdef RAMP_ACCELERATION - 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, or move to setup() - // in a for loop - unsigned long max_interval; - 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], max_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2], - max_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]}; - 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], max_travel_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2], - max_travel_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]}; - unsigned long steps_per_sqr_second, plateau_steps; +unsigned long axis_max_interval[NUM_AXIS]; +unsigned long axis_steps_per_sqr_second[NUM_AXIS]; +unsigned long axis_travel_steps_per_sqr_second[NUM_AXIS]; +unsigned long max_interval; +unsigned long steps_per_sqr_second, plateau_steps; #endif boolean acceleration_enabled = false, accelerating = false; unsigned long interval; @@ -211,51 +204,116 @@ void setup() fromsd[i] = false; } - //Initialize Step Pins - for(int i=0; i < NUM_AXIS; i++) if(STEP_PIN[i] > -1) pinMode(STEP_PIN[i],OUTPUT); //Initialize Dir Pins - if(X_DIR_PIN > -1) pinMode(X_DIR_PIN,OUTPUT); - if(Y_DIR_PIN > -1) pinMode(Y_DIR_PIN,OUTPUT); - if(Z_DIR_PIN > -1) pinMode(Z_DIR_PIN,OUTPUT); - if(E_DIR_PIN > -1) pinMode(E_DIR_PIN,OUTPUT); - - //Steppers default to disabled. - if(X_ENABLE_PIN > -1) if(!X_ENABLE_ON) digitalWrite(X_ENABLE_PIN,HIGH); - if(Y_ENABLE_PIN > -1) if(!Y_ENABLE_ON) digitalWrite(Y_ENABLE_PIN,HIGH); - if(Z_ENABLE_PIN > -1) if(!Z_ENABLE_ON) digitalWrite(Z_ENABLE_PIN,HIGH); - if(E_ENABLE_PIN > -1) if(!E_ENABLE_ON) digitalWrite(E_ENABLE_PIN,HIGH); - - //endstop pullups + #if X_DIR_PIN > -1 + pinMode(X_DIR_PIN,OUTPUT); + #endif + #if Y_DIR_PIN > -1 + pinMode(Y_DIR_PIN,OUTPUT); + #endif + #if Z_DIR_PIN > -1 + pinMode(Z_DIR_PIN,OUTPUT); + #endif + #if E_DIR_PIN > -1 + pinMode(E_DIR_PIN,OUTPUT); + #endif + + //Initialize Enable Pins - steppers default to disabled. + + #if (X_ENABLE_PIN > -1) + pinMode(X_ENABLE_PIN,OUTPUT); + if(!X_ENABLE_ON) digitalWrite(X_ENABLE_PIN,HIGH); + #endif + #if (Y_ENABLE_PIN > -1) + pinMode(Y_ENABLE_PIN,OUTPUT); + if(!Y_ENABLE_ON) digitalWrite(Y_ENABLE_PIN,HIGH); + #endif + #if (Z_ENABLE_PIN > -1) + pinMode(Z_ENABLE_PIN,OUTPUT); + if(!Z_ENABLE_ON) digitalWrite(Z_ENABLE_PIN,HIGH); + #endif + #if (E_ENABLE_PIN > -1) + pinMode(E_ENABLE_PIN,OUTPUT); + if(!E_ENABLE_ON) digitalWrite(E_ENABLE_PIN,HIGH); + #endif + + //endstops and 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); + #endif + #if X_MAX_PIN > -1 + pinMode(X_MAX_PIN,INPUT); + digitalWrite(X_MAX_PIN,HIGH); + #endif + #if Y_MIN_PIN > -1 + pinMode(Y_MIN_PIN,INPUT); + digitalWrite(Y_MIN_PIN,HIGH); + #endif + #if Y_MAX_PIN > -1 + pinMode(Y_MAX_PIN,INPUT); + digitalWrite(Y_MAX_PIN,HIGH); + #endif + #if Z_MIN_PIN > -1 + pinMode(Z_MIN_PIN,INPUT); + digitalWrite(Z_MIN_PIN,HIGH); + #endif + #if Z_MAX_PIN > -1 + pinMode(Z_MAX_PIN,INPUT); + digitalWrite(Z_MAX_PIN,HIGH); + #endif + #else + #if X_MIN_PIN > -1 + pinMode(X_MIN_PIN,INPUT); + #endif + #if X_MAX_PIN > -1 + pinMode(X_MAX_PIN,INPUT); + #endif + #if Y_MIN_PIN > -1 + pinMode(Y_MIN_PIN,INPUT); + #endif + #if Y_MAX_PIN > -1 + pinMode(Y_MAX_PIN,INPUT); + #endif + #if Z_MIN_PIN > -1 + pinMode(Z_MIN_PIN,INPUT); #endif - //Initialize Enable Pins - if(X_ENABLE_PIN > -1) pinMode(X_ENABLE_PIN,OUTPUT); - if(Y_ENABLE_PIN > -1) pinMode(Y_ENABLE_PIN,OUTPUT); - if(Z_ENABLE_PIN > -1) pinMode(Z_ENABLE_PIN,OUTPUT); - if(E_ENABLE_PIN > -1) pinMode(E_ENABLE_PIN,OUTPUT); - - if(HEATER_0_PIN > -1) pinMode(HEATER_0_PIN,OUTPUT); - if(HEATER_1_PIN > -1) pinMode(HEATER_1_PIN,OUTPUT); + #if Z_MAX_PIN > -1 + pinMode(Z_MAX_PIN,INPUT); + #endif + #endif + + #if (HEATER_0_PIN > -1) + pinMode(HEATER_0_PIN,OUTPUT); + #endif + #if (HEATER_1_PIN > -1) + pinMode(HEATER_1_PIN,OUTPUT); + #endif + +//Initialize Step Pins + for(int i=0; i < NUM_AXIS; i++){ + if(STEP_PIN[i] > -1) pinMode(STEP_PIN[i],OUTPUT); + #ifdef RAMP_ACCELERATION + 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 HEATER_USES_MAX6675 - digitalWrite(SCK_PIN,0); pinMode(SCK_PIN,OUTPUT); - - digitalWrite(MOSI_PIN,1); + digitalWrite(SCK_PIN,0); + pinMode(MOSI_PIN,OUTPUT); - - digitalWrite(MISO_PIN,1); + digitalWrite(MOSI_PIN,1); + pinMode(MISO_PIN,INPUT); - - digitalWrite(MAX6675_SS,1); + digitalWrite(MISO_PIN,1); + pinMode(MAX6675_SS,OUTPUT); + digitalWrite(MAX6675_SS,1); #endif #ifdef SDSUPPORT @@ -682,7 +740,7 @@ inline void process_commands() Serial.println(); #endif #else - Serial.println("No thermistors - no temp"); + #error No temperature source available #endif return; //break; @@ -1150,15 +1208,6 @@ inline void do_step(int axis) { digitalWrite(STEP_PIN[axis], LOW); } -inline void disable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON); } -inline void disable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN,!Y_ENABLE_ON); } -inline void disable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN,!Z_ENABLE_ON); } -inline void disable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN,!E_ENABLE_ON); } -inline void enable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN, X_ENABLE_ON); } -inline void enable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN, Y_ENABLE_ON); } -inline void enable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN, Z_ENABLE_ON); } -inline void enable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN, E_ENABLE_ON); } - #define HEAT_INTERVAL 250 #ifdef HEATER_USES_MAX6675 unsigned long max6675_previous_millis = 0; |