diff options
| -rw-r--r-- | Sprinter/Makefile | 12 | ||||
| -rw-r--r-- | Sprinter/Sprinter.h | 67 | ||||
| -rw-r--r-- | Sprinter/Sprinter.pde | 377 |
3 files changed, 257 insertions, 199 deletions
diff --git a/Sprinter/Makefile b/Sprinter/Makefile index 0f9b5b7..7e888b0 100644 --- a/Sprinter/Makefile +++ b/Sprinter/Makefile @@ -54,7 +54,7 @@ SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \ $(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \ $(ARDUINO)/wiring_pulse.c \ $(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c -CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \ +CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp $(ARDUINO)/WString.cpp\ $(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp FORMAT = ihex @@ -82,14 +82,14 @@ CXXINCS = -I$(ARDUINO) # gnu89 - c89 plus GCC extensions # c99 - ISO C99 standard (not yet fully implemented) # gnu99 - c99 plus GCC extensions -CSTANDARD = -std=gnu99 +#CSTANDARD = -std=gnu99 CDEBUG = -g$(DEBUG) CWARN = -Wall -Wstrict-prototypes -CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums +CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -w -ffunction-sections -fdata-sections -DARDUINO=22 #CEXTRA = -Wa,-adhlns=$(<:.c=.lst) -CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA) -CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) +CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CEXTRA) $(CTUNING) +CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) -Wall $(CEXTRA) $(CTUNING) #ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs LDFLAGS = -lm @@ -200,7 +200,7 @@ extcoff: $(TARGET).elf # Link: create ELF output file from library. applet/$(TARGET).elf: $(TARGET).pde applet/core.a - $(CC) $(ALL_CFLAGS) -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS) + $(CC) $(ALL_CFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS) applet/core.a: $(OBJ) @for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h index 7a4b8a9..dbd7dc2 100644 --- a/Sprinter/Sprinter.h +++ b/Sprinter/Sprinter.h @@ -9,10 +9,59 @@ 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); +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 +#endif +#ifdef HEATER_USES_MAX6675 + #define HEATERSOURCE 3 +#endif +#ifdef BED_USES_THERMISTOR + #define BEDSOURCE 1 +#endif +#ifdef BED_USES_AD595 + #define BEDSOURCE 2 +#endif +#ifdef BED_USES_MAX6675 + #define BEDSOURCE 3 +#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() 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(); @@ -21,15 +70,7 @@ void get_coordinates(); void prepare_move(); void linear_move(unsigned long steps_remaining[]); void do_step_update_micros(int axis); -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_step(int axis); - +void do_step_update_micros(int axis); void kill(byte debug); diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 4ce93fc..04a6224 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -1,9 +1,9 @@ // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. // Licence: GPL -#include "Sprinter.h" #include "Configuration.h" #include "pins.h" +#include "Sprinter.h" #ifdef SDSUPPORT #include "SdFat.h" @@ -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}; @@ -64,27 +65,20 @@ 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; float destination[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0}; float current_position[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0}; +unsigned long steps_taken[NUM_AXIS]; long axis_interval[NUM_AXIS]; // for speed delay bool home_all_axis = true; -float feedrate = 1500, next_feedrate, saved_feedrate; +int feedrate = 1500, next_feedrate, saved_feedrate; float time_for_move; long gcode_N, gcode_LastN; bool relative_mode = false; //Determines Absolute or Relative Coordinates @@ -120,7 +114,7 @@ int target_raw = 0; int current_raw = 0; int target_bed_raw = 0; int current_bed_raw = 0; -float tt = 0, bt = 0; +int tt = 0, bt = 0; #ifdef PIDTEMP int temp_iState = 0; int temp_dState = 0; @@ -140,10 +134,10 @@ float tt = 0, bt = 0; unsigned long watchmillis = 0; #endif #ifdef MINTEMP - int minttemp = temp2analog(MINTEMP); + int minttemp = temp2analogh(MINTEMP); #endif #ifdef MAXTEMP -int maxttemp = temp2analog(MAXTEMP); +int maxttemp = temp2analogh(MAXTEMP); #endif //Inactivity shutdown variables @@ -211,51 +205,116 @@ 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 - //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 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 + #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 @@ -652,7 +711,7 @@ inline void process_commands() break; #endif case 104: // M104 - if (code_seen('S')) target_raw = temp2analog(code_value()); + if (code_seen('S')) target_raw = temp2analogh(code_value()); #ifdef WATCHPERIOD if(target_raw > current_raw){ watchmillis = max(1,millis()); @@ -682,12 +741,12 @@ inline void process_commands() Serial.println(); #endif #else - Serial.println("No thermistors - no temp"); + #error No temperature source available #endif return; //break; case 109: // M109 - Wait for extruder heater to reach target. - if (code_seen('S')) target_raw = temp2analog(code_value()); + if (code_seen('S')) target_raw = temp2analogh(code_value()); #ifdef WATCHPERIOD if(target_raw>current_raw){ watchmillis = max(1,millis()); @@ -709,7 +768,7 @@ inline void process_commands() break; case 190: // M190 - Wait bed for heater to reach target. #if TEMP_1_PIN > -1 - if (code_seen('S')) target_bed_raw = temp2analog(code_value()); + if (code_seen('S')) target_bed_raw = temp2analogh(code_value()); codenum = millis(); while(current_bed_raw < target_bed_raw) { if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. @@ -872,17 +931,29 @@ inline void prepare_move() //Feedrate calc based on XYZ travel distance float xy_d; - if(abs(axis_diff[0]) > 0 || abs(axis_diff[1]) > 0 || abs(axis_diff[2])) { + //Check for cases where only one axis is moving - handle those without float sqrt + if(abs(axis_diff[0]) > 0 && abs(axis_diff[1]) == 0 && abs(axis_diff[2])==0) + d=abs(axis_diff[0]); + else if(abs(axis_diff[0]) == 0 && abs(axis_diff[1]) > 0 && abs(axis_diff[2])==0) + d=abs(axis_diff[1]); + else if(abs(axis_diff[0]) == 0 && abs(axis_diff[1]) == 0 && abs(axis_diff[2])>0) + d=abs(axis_diff[2]); + //two or three XYZ axes moving + else if(abs(axis_diff[0]) > 0 || abs(axis_diff[1]) > 0) { //X or Y or both xy_d = sqrt(axis_diff[0] * axis_diff[0] + axis_diff[1] * axis_diff[1]); - d = sqrt(xy_d * xy_d + axis_diff[2] * axis_diff[2]); + //check if Z involved - if so interpolate that too + d = (abs(axis_diff[2]>0))?sqrt(xy_d * xy_d + axis_diff[2] * axis_diff[2]):xy_d; } else if(abs(axis_diff[3]) > 0) d = abs(axis_diff[3]); + else{ //zero length move #ifdef DEBUG_PREPARE_MOVE - else { + log_message("_PREPARE_MOVE - No steps to take!"); - } + #endif + return; + } time_for_move = (d / (feedrate / 60000000.0) ); //Check max feedrate for each axis is not violated, update time_for_move if necessary for(int i = 0; i < NUM_AXIS; i++) { @@ -898,7 +969,7 @@ inline void prepare_move() #ifdef DEBUG_PREPARE_MOVE log_float("_PREPARE_MOVE - Move distance on the XY plane", xy_d); log_float("_PREPARE_MOVE - Move distance on the XYZ space", d); - log_float("_PREPARE_MOVE - Commanded feedrate", feedrate); + log_int("_PREPARE_MOVE - Commanded feedrate", feedrate); log_float("_PREPARE_MOVE - Constant full speed move time", time_for_move); log_float_array("_PREPARE_MOVE - Destination", destination, NUM_AXIS); log_float_array("_PREPARE_MOVE - Current position", current_position, NUM_AXIS); @@ -923,7 +994,6 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with else digitalWrite(Z_DIR_PIN,INVERT_Z_DIR); if (destination[3] > current_position[3]) digitalWrite(E_DIR_PIN,!INVERT_E_DIR); else digitalWrite(E_DIR_PIN,INVERT_E_DIR); - if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0; if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0; if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0; @@ -943,14 +1013,17 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with //Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm. unsigned long delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes long axis_error[NUM_AXIS]; - unsigned int primary_axis; + int primary_axis; if(delta[1] > delta[0] && delta[1] > delta[2] && delta[1] > delta[3]) primary_axis = 1; else if (delta[0] >= delta[1] && delta[0] > delta[2] && delta[0] > delta[3]) primary_axis = 0; else if (delta[2] >= delta[0] && delta[2] >= delta[1] && delta[2] > delta[3]) primary_axis = 2; else primary_axis = 3; unsigned long steps_remaining = delta[primary_axis]; unsigned long steps_to_take = steps_remaining; - for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2; + for(int i=0; i < NUM_AXIS; i++){ + if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2; + steps_taken[i]=0; + } interval = axis_interval[primary_axis]; bool is_print_move = delta[3] > 0; #ifdef DEBUG_BRESENHAM @@ -975,8 +1048,9 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with int slowest_start_axis = primary_axis; unsigned long slowest_start_axis_max_interval = max_interval; for(int i = 0; i < NUM_AXIS; i++) - if (axis_steps_remaining[i] >0 && i != primary_axis && axis_max_interval[i] * axis_steps_remaining[i] - / axis_steps_remaining[slowest_start_axis] > slowest_start_axis_max_interval) { + if (axis_steps_remaining[i] >0 && + i != primary_axis && + axis_max_interval[i] * axis_steps_remaining[i]/ axis_steps_remaining[slowest_start_axis] > slowest_start_axis_max_interval) { slowest_start_axis = i; slowest_start_axis_max_interval = axis_max_interval[i]; } @@ -1012,7 +1086,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with #ifdef RAMP_ACCELERATION plateau_steps *= 1.01; // This is to compensate we use discrete intervals acceleration_enabled = true; - long full_interval = interval; + unsigned long full_interval = interval; if(interval > max_interval) acceleration_enabled = false; boolean decelerating = false; #endif @@ -1102,7 +1176,11 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break; if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break; timediff = micros() * 100 - axis_previous_micros[primary_axis]; - while(timediff >= interval && axis_steps_remaining[primary_axis] > 0) { + if(timediff<0){//check for overflow + axis_previous_micros[primary_axis]=micros()*100; + timediff=interval/2; //approximation + } + while(((unsigned long)timediff) >= interval && axis_steps_remaining[primary_axis] > 0) { steps_done++; steps_remaining--; axis_steps_remaining[primary_axis]--; timediff -= interval; @@ -1134,37 +1212,30 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with // Update current position partly based on direction, we probably can combine this with the direction code above... for(int i=0; i < NUM_AXIS; i++) { - if (destination[i] > current_position[i]) current_position[i] = current_position[i] + move_steps_to_take[i] / axis_steps_per_unit[i]; - else current_position[i] = current_position[i] - move_steps_to_take[i] / axis_steps_per_unit[i]; + if (destination[i] > current_position[i]) current_position[i] = current_position[i] + steps_taken[i] / axis_steps_per_unit[i]; + else current_position[i] = current_position[i] - steps_taken[i] / axis_steps_per_unit[i]; } } -inline void do_step_update_micros(int axis) { +void do_step_update_micros(int axis) { digitalWrite(STEP_PIN[axis], HIGH); axis_previous_micros[axis] += interval; digitalWrite(STEP_PIN[axis], LOW); + steps_taken[axis]+=1; } -inline void do_step(int axis) { +void do_step(int axis) { digitalWrite(STEP_PIN[axis], HIGH); digitalWrite(STEP_PIN[axis], LOW); + steps_taken[axis]+=1; } -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; int max6675_temp = 2000; -inline int read_max6675() +int read_max6675() { if (millis() - max6675_previous_millis < HEAT_INTERVAL) return max6675_temp; @@ -1216,7 +1287,7 @@ inline int read_max6675() #endif -inline void manage_heater() +void manage_heater() { if((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL ) return; @@ -1286,6 +1357,12 @@ inline void manage_heater() if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) return; previous_millis_bed_heater = millis(); + #ifndef TEMP_1_PIN + return; + #endif + #if TEMP_1_PIN == -1 + return; + #endif #ifdef BED_USES_THERMISTOR @@ -1304,7 +1381,6 @@ inline void manage_heater() #endif - #if TEMP_1_PIN > -1 if(current_bed_raw >= target_bed_raw) { digitalWrite(HEATER_1_PIN,LOW); @@ -1313,139 +1389,80 @@ inline void manage_heater() { digitalWrite(HEATER_1_PIN,HIGH); } - #endif } -// Takes hot end temperature value as input and returns corresponding raw value. -// For a thermistor, it uses the RepRap thermistor temp table. -// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value. -// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware. -float temp2analog(int celsius) { - #ifdef HEATER_USES_THERMISTOR - int raw = 0; - byte i; - - for (i=1; i<NUMTEMPS; i++) - { - if (temptable[i][1] < celsius) - { - raw = temptable[i-1][0] + - (celsius - temptable[i-1][1]) * - (temptable[i][0] - temptable[i-1][0]) / - (temptable[i][1] - temptable[i-1][1]); - - break; - } - } - - // Overflow: Set to last value in the table - if (i == NUMTEMPS) raw = temptable[i-1][0]; - - return 1023 - raw; - #elif defined HEATER_USES_AD595 - return celsius * (1024.0 / (5.0 * 100.0) ); - #elif defined HEATER_USES_MAX6675 - return celsius * 4.0; - #endif -} - -// Takes bed temperature value as input and returns corresponding raw value. -// For a thermistor, it uses the RepRap thermistor temp table. -// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value. -// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware. -float temp2analogBed(int celsius) { - #ifdef BED_USES_THERMISTOR +int temp2analogu(int celsius, const short table[][2], int numtemps, int source) { + #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) + if(source==1){ int raw = 0; byte i; - for (i=1; i<BNUMTEMPS; i++) + for (i=1; i<numtemps; i++) { - if (bedtemptable[i][1] < celsius) + if (table[i][1] < celsius) { - raw = bedtemptable[i-1][0] + - (celsius - bedtemptable[i-1][1]) * - (bedtemptable[i][0] - bedtemptable[i-1][0]) / - (bedtemptable[i][1] - bedtemptable[i-1][1]); + raw = table[i-1][0] + + (celsius - table[i-1][1]) * + (table[i][0] - table[i-1][0]) / + (table[i][1] - table[i-1][1]); break; } } // Overflow: Set to last value in the table - if (i == BNUMTEMPS) raw = bedtemptable[i-1][0]; + if (i == numtemps) raw = table[i-1][0]; return 1023 - raw; - #elif defined BED_USES_AD595 - return celsius * (1024.0 / (5.0 * 100.0) ); + } + #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; } -// Derived from RepRap FiveD extruder::getTemperature() -// For hot end temperature measurement. -float analog2temp(int raw) { - #ifdef HEATER_USES_THERMISTOR +int analog2tempu(int raw,const short table[][2], int numtemps, int source) { + #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR) + if(source==1){ int celsius = 0; byte i; raw = 1023 - raw; - for (i=1; i<NUMTEMPS; i++) + for (i=1; i<numtemps; i++) { - if (temptable[i][0] > raw) + if (table[i][0] > raw) { - celsius = temptable[i-1][1] + - (raw - temptable[i-1][0]) * - (temptable[i][1] - temptable[i-1][1]) / - (temptable[i][0] - temptable[i-1][0]); + celsius = table[i-1][1] + + (raw - table[i-1][0]) * + (table[i][1] - table[i-1][1]) / + (table[i][0] - table[i-1][0]); break; } } // Overflow: Set to last value in the table - if (i == NUMTEMPS) celsius = temptable[i-1][1]; + if (i == numtemps) celsius = table[i-1][1]; return celsius; - #elif defined HEATER_USES_AD595 - return raw * ((5.0 * 100.0) / 1024.0); - #elif defined HEATER_USES_MAX6675 - return raw * 0.25; - #endif -} - -// Derived from RepRap FiveD extruder::getTemperature() -// For bed temperature measurement. -float analog2tempBed(int raw) { - #ifdef BED_USES_THERMISTOR - int celsius = 0; - byte i; - - raw = 1023 - raw; - - for (i=1; i<NUMTEMPS; i++) - { - if (bedtemptable[i][0] > raw) - { - celsius = bedtemptable[i-1][1] + - (raw - bedtemptable[i-1][0]) * - (bedtemptable[i][1] - bedtemptable[i-1][1]) / - (bedtemptable[i][0] - bedtemptable[i-1][0]); - - break; - } } - - // Overflow: Set to last value in the table - if (i == NUMTEMPS) celsius = bedtemptable[i-1][1]; - - return celsius; - - #elif defined BED_USES_AD595 - return raw * ((5.0 * 100.0) / 1024.0); + #elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595) + if(source==2) + return raw * 500 / 1024; + #elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675) + if(source==3) + return raw / 4; #endif + return -1; } + inline void kill() { #if TEMP_0_PIN > -1 |