diff options
Diffstat (limited to 'Sprinter/Sprinter.pde')
| -rw-r--r-- | Sprinter/Sprinter.pde | 98 |
1 files changed, 71 insertions, 27 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index a027377..27a0bc3 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -46,7 +46,7 @@ - New Command * M202 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec * M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 - * M205 - advanced settings: minimum travel speed S=while printing T=travel only, X= maximum xy jerk, Z=maximum Z jerk + * M205 - advanced settings: minimum travel speed S=while printing T=travel only, X= maximum xy jerk, Z=maximum Z jerk, E = max E jerk - Remove unused Variables - Check Uart Puffer while circle processing (CMD: G2 / G3) - Fast Xfer Function --> move Text to Flash @@ -120,6 +120,15 @@ - M303 - PID relay autotune possible - G4 Wait until last move is done + Version 1.3.18T +- Problem with Thermistor 3 table when sensor is brocken and temp is -20 °C + + Version 1.3.19T +- Set maximum acceleration. If "steps per unit" is Change the acc were not recalculatet +- Extra Parameter for Max Extruder Jerk +- New Parameter (max_e_jerk) in EEPROM --> Default settings after update ! + + */ @@ -226,7 +235,7 @@ void __cxa_pure_virtual(){}; // M603 - Show Free Ram -#define _VERSION_TEXT "1.3.17T / 04.05.2012" +#define _VERSION_TEXT "1.3.19T / 11.06.2012" //Stepper Movement Variables char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; @@ -240,6 +249,7 @@ float move_acceleration = _ACCELERATION; // Normal acceleration mm/s^2 float retract_acceleration = _RETRACT_ACCELERATION; // Normal acceleration mm/s^2 float max_xy_jerk = _MAX_XY_JERK; float max_z_jerk = _MAX_Z_JERK; +float max_e_jerk = _MAX_E_JERK; long max_acceleration_units_per_sq_second[4] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts @@ -789,10 +799,7 @@ void setup() SET_OUTPUT(E_STEP_PIN); #endif - for(int8_t i=0; i < NUM_AXIS; i++) - { - axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; - } + // 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]); @@ -853,6 +860,12 @@ void setup() Serial.print((int)sizeof(block_t)*BLOCK_BUFFER_SIZE); showString(PSTR(" / ")); Serial.println(BLOCK_BUFFER_SIZE); + + for(int8_t i=0; i < NUM_AXIS; i++) + { + axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; + } + } @@ -1674,7 +1687,11 @@ FORCE_INLINE void process_commands() case 92: // M92 for(int i=0; i < NUM_AXIS; i++) { - if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value(); + if(code_seen(axis_codes[i])) + { + axis_steps_per_unit[i] = code_value(); + axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; + } } // Update start speed intervals and axis order. TODO: refactor axis_max_interval[] calculation into a function, as it @@ -1752,7 +1769,7 @@ FORCE_INLINE void process_commands() axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; } } - + break; #if 0 // Not used for Sprinter/grbl gen6 case 202: // M202 for(int i=0; i < NUM_AXIS; i++) @@ -1776,12 +1793,13 @@ FORCE_INLINE void process_commands() if(code_seen('S')) move_acceleration = code_value() ; if(code_seen('T')) retract_acceleration = code_value() ; break; - case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk + case 205: //M205 advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E= max E jerk if(code_seen('S')) minimumfeedrate = code_value(); if(code_seen('T')) mintravelfeedrate = code_value(); //if(code_seen('B')) minsegmenttime = code_value() ; if(code_seen('X')) max_xy_jerk = code_value() ; if(code_seen('Z')) max_z_jerk = code_value() ; + if(code_seen('E')) max_e_jerk = code_value() ; break; case 206: // M206 additional homeing offset for(int8_t cnt_i=0; cnt_i < 3; cnt_i++) @@ -1831,11 +1849,19 @@ FORCE_INLINE void process_commands() case 501: // Read settings from EEPROM { EEPROM_RetrieveSettings(false,true); + for(int8_t i=0; i < NUM_AXIS; i++) + { + axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; + } } break; case 502: // Revert to default settings { EEPROM_RetrieveSettings(true,true); + for(int8_t i=0; i < NUM_AXIS; i++) + { + axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i]; + } } break; case 503: // print settings currently in memory @@ -2259,10 +2285,17 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n // implements the reverse pass. void planner_reverse_pass() { uint8_t block_index = block_buffer_head; - if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) { + + //Make a local copy of block_buffer_tail, because the interrupt can alter it + CRITICAL_SECTION_START; + unsigned char tail = block_buffer_tail; + CRITICAL_SECTION_END; + + if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) + { block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1); block_t *block[3] = { NULL, NULL, NULL }; - while(block_index != block_buffer_tail) { + while(block_index != tail) { block_index = prev_block_index(block_index); block[2]= block[1]; block[1]= block[0]; @@ -2670,25 +2703,33 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) } #endif // Start with a safe speed - float vmax_junction = max_xy_jerk/2; + float vmax_junction = max_xy_jerk/2; + float vmax_junction_factor = 1.0; if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) - vmax_junction = max_z_jerk/2; + vmax_junction = min(vmax_junction, max_z_jerk/2); + if(fabs(current_speed[E_AXIS]) > max_e_jerk/2) + vmax_junction = min(vmax_junction, max_e_jerk/2); vmax_junction = min(vmax_junction, block->nominal_speed); + float safe_speed = vmax_junction; - if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) { + if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) { float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2)); - if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) { - vmax_junction = block->nominal_speed; - } + // if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) { + vmax_junction = block->nominal_speed; + // } if (jerk > max_xy_jerk) { - vmax_junction *= (max_xy_jerk/jerk); + vmax_junction_factor = (max_xy_jerk/jerk); } if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) { - vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])); + vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]))); + } + if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) { + vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]))); } + vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed } block->max_entry_speed = vmax_junction; - + // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters); block->entry_speed = min(vmax_junction, v_allowable); @@ -2701,10 +2742,14 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) // block nominal speed limits both the current and next maximum junction speeds. Hence, in both // the reverse and forward planners, the corresponding block junction speed will always be at the // the maximum junction speed and may always be ignored for any speed reduction checks. - if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; } - else { block->nominal_length_flag = false; } + if (block->nominal_speed <= v_allowable) { + block->nominal_length_flag = true; + } + else { + block->nominal_length_flag = false; + } block->recalculate_flag = true; // Always calculate trapezoid for new block - + // Update previous path unit_vector and nominal speed memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[] previous_nominal_speed = block->nominal_speed; @@ -2731,10 +2776,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) #endif // ADVANCE - - calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed, - MINIMUM_PLANNER_SPEED/block->nominal_speed); + safe_speed/block->nominal_speed); // Move buffer head block_buffer_head = next_buffer_head; @@ -2819,7 +2862,6 @@ void getHighESpeed() - // Stepper // intRes = intIn1 * intIn2 >> 16 @@ -3267,8 +3309,10 @@ ISR(TIMER1_COMPA_vect) WRITE(E_STEP_PIN, LOW); } #endif //!ADVANCE + step_events_completed += 1; if(step_events_completed >= current_block->step_event_count) break; + } // Calculare new timer value unsigned short timer; |