diff options
Diffstat (limited to 'Sprinter/Sprinter.pde')
| -rw-r--r-- | Sprinter/Sprinter.pde | 418 |
1 files changed, 347 insertions, 71 deletions
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde index 4e0d6ff..e76f1c4 100644 --- a/Sprinter/Sprinter.pde +++ b/Sprinter/Sprinter.pde @@ -94,9 +94,32 @@ - Make fastio & Arduino pin numbering consistent for AT90USB128x. --> Thanks to lincomatic - Select Speedtable with F_CPU - Use same Values for Speedtables as Marlin -- +- + Version 1.3.12T +- Fixed arc offset. + + Version 1.3.13T +- Extrudmultiply with code M221 Sxxx (S100 original Extrude value) +- use Feedratefaktor only when Extrude > 0 +- M106 / M107 can drive the FAN with PWM + Port check for not using Timer 1 +- Added M93 command. Sends current steps for all axis. +- New Option --> FAN_SOFT_PWM, with this option the FAN PWM can use every digital I/O + + Version 1.3.14T +- When endstop is hit count the virtual steps, so the print lose no position when endstop is hit + + Version 1.3.15T +- M206 - set additional homeing offset +- Option for minimum FAN start speed --> #define MINIMUM_FAN_START_SPEED 50 (set it to zero to deaktivate) + Version 1.3.16T +- Extra Max Feedrate for Retract (MAX_RETRACT_FEEDRATE) + + Version 1.3.17T +- M303 - PID relay autotune possible +- G4 Wait until last move is done + */ @@ -173,6 +196,7 @@ void __cxa_pure_virtual(){}; // or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout. // M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default) // M92 - Set axis_steps_per_unit - same syntax as G92 +// M93 - Send axis_steps_per_unit // M115 - Capabilities string // M119 - Show Endstopper State // M140 - Set bed target temp @@ -182,8 +206,12 @@ void __cxa_pure_virtual(){}; // M203 - Set temperture monitor to Sx // 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 +// M206 - set additional homeing offset // M220 - set speed factor override percentage S:factor in percent +// M221 - set extruder multiply factor S100 --> original Extrude Speed + +// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C) // M500 - stores paramters in EEPROM // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). @@ -196,7 +224,7 @@ void __cxa_pure_virtual(){}; // M603 - Show Free Ram -#define _VERSION_TEXT "1.3.11T / 19.03.2012" +#define _VERSION_TEXT "1.3.17T / 04.05.2012" //Stepper Movement Variables char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; @@ -232,12 +260,17 @@ unsigned long plateau_steps; volatile int feedmultiply=100; //100->original / 200-> Faktor 2 / 50 -> Faktor 0.5 int saved_feedmultiply; volatile bool feedmultiplychanged=false; +volatile int extrudemultiply=100; //100->1 200->2 //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}; +float add_homeing[3]={0,0,0}; +static unsigned short virtual_steps_x = 0; +static unsigned short virtual_steps_y = 0; +static unsigned short virtual_steps_z = 0; bool home_all_axis = true; //unsigned ?? ToDo: Check @@ -275,6 +308,12 @@ float offset[3] = {0.0, 0.0, 0.0}; float osc_wait_remainder = 0.0; #endif +#if (MINIMUM_FAN_START_SPEED > 0) + unsigned char fan_last_speed = 0; + unsigned char fan_org_start_speed = 0; + unsigned long previous_millis_fan_start = 0; +#endif + // comm variables and Commandbuffer // BUFSIZE is reduced from 8 to 6 to free more RAM for the PLANNER #define MAX_CMD_SIZE 96 @@ -782,7 +821,7 @@ void setup() #endif - #ifdef PID_SOFT_PWM + #if defined(PID_SOFT_PWM) || (defined(FAN_SOFT_PWM) && (FAN_PIN > -1)) showString(PSTR("Soft PWM Init\r\n")); init_Timer2_softpwm(); #endif @@ -856,6 +895,10 @@ void loop() //check heater every n milliseconds manage_heater(); manage_inactivity(1); + #if (MINIMUM_FAN_START_SPEED > 0) + manage_fan_start_speed(); + #endif + } //------------------------------------------------ @@ -875,10 +918,10 @@ void check_buffer_while_arc() //------------------------------------------------ void get_command() { - while( Serial.available() > 0 && buflen < BUFSIZE) + while( Serial.available() > 0 && buflen < BUFSIZE) { serial_char = Serial.read(); - if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) ) + if(serial_char == '\n' || serial_char == '\r' || (serial_char == ':' && comment_mode == false) || serial_count >= (MAX_CMD_SIZE - 1) ) { if(!serial_count) { //if empty line comment_mode = false; // for new command @@ -984,12 +1027,12 @@ void get_command() { return; } - while( filesize > sdpos && buflen < BUFSIZE) + while( filesize > sdpos && buflen < BUFSIZE) { serial_char = file.read(); read_char_int = (int)serial_char; - if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || read_char_int == -1) + if(serial_char == '\n' || serial_char == '\r' || (serial_char == ':' && comment_mode == false) || serial_count >= (MAX_CMD_SIZE - 1) || read_char_int == -1) { sdpos = file.curPosition(); if(sdpos >= filesize) @@ -1084,6 +1127,7 @@ FORCE_INLINE void process_commands() if(code_seen('P')) codenum = code_value(); // milliseconds to wait if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait codenum += millis(); // keep track of when we started waiting + st_synchronize(); // wait for all movements to finish while(millis() < codenum ){ manage_heater(); } @@ -1132,6 +1176,7 @@ FORCE_INLINE void process_commands() st_synchronize(); current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH; + current_position[X_AXIS] += add_homeing[0]; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); destination[X_AXIS] = current_position[X_AXIS]; feedrate = 0; @@ -1164,6 +1209,7 @@ FORCE_INLINE void process_commands() st_synchronize(); current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH; + current_position[Y_AXIS] += add_homeing[1]; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); destination[Y_AXIS] = current_position[Y_AXIS]; feedrate = 0; @@ -1196,6 +1242,7 @@ FORCE_INLINE void process_commands() st_synchronize(); current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH; + current_position[Z_AXIS] += add_homeing[2]; plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); destination[Z_AXIS] = current_position[Z_AXIS]; feedrate = 0; @@ -1498,6 +1545,9 @@ FORCE_INLINE void process_commands() codenum = millis(); } manage_heater(); + #if (MINIMUM_FAN_START_SPEED > 0) + manage_fan_start_speed(); + #endif #ifdef TEMP_RESIDENCY_TIME /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time or when current temp falls outside the hysteresis after target temp was reached */ @@ -1526,6 +1576,9 @@ FORCE_INLINE void process_commands() codenum = millis(); } manage_heater(); + #if (MINIMUM_FAN_START_SPEED > 0) + manage_fan_start_speed(); + #endif } #endif break; @@ -1533,18 +1586,51 @@ FORCE_INLINE void process_commands() case 106: //M106 Fan On if (code_seen('S')) { - WRITE(FAN_PIN, HIGH); - analogWrite_check(FAN_PIN, constrain(code_value(),0,255) ); + unsigned char l_fan_code_val = constrain(code_value(),0,255); + + #if (MINIMUM_FAN_START_SPEED > 0) + if(l_fan_code_val > 0 && fan_last_speed == 0) + { + if(l_fan_code_val < MINIMUM_FAN_START_SPEED) + { + fan_org_start_speed = l_fan_code_val; + l_fan_code_val = MINIMUM_FAN_START_SPEED; + previous_millis_fan_start = millis(); + } + fan_last_speed = l_fan_code_val; + } + else + { + fan_last_speed = l_fan_code_val; + fan_org_start_speed = 0; + } + #endif + + #if defined(FAN_SOFT_PWM) && (FAN_PIN > -1) + g_fan_pwm_val = l_fan_code_val; + #else + WRITE(FAN_PIN, HIGH); + analogWrite_check(FAN_PIN, l_fan_code_val; + #endif + } else { - WRITE(FAN_PIN, HIGH); - analogWrite_check(FAN_PIN, 255 ); + #if defined(FAN_SOFT_PWM) && (FAN_PIN > -1) + g_fan_pwm_val = 255; + #else + WRITE(FAN_PIN, HIGH); + analogWrite_check(FAN_PIN, 255 ); + #endif } break; case 107: //M107 Fan Off - analogWrite_check(FAN_PIN, 0); - WRITE(FAN_PIN, LOW); + #if defined(FAN_SOFT_PWM) && (FAN_PIN > -1) + g_fan_pwm_val = 0; + #else + analogWrite_check(FAN_PIN, 0); + WRITE(FAN_PIN, LOW); + #endif break; #endif #if (PS_ON_PIN > -1) @@ -1594,6 +1680,17 @@ FORCE_INLINE void process_commands() // all steps_per_unit related variables // } break; + case 93: // M93 show current axis steps. + showString(PSTR("ok ")); + showString(PSTR("X:")); + Serial.print(axis_steps_per_unit[0]); + showString(PSTR("Y:")); + Serial.print(axis_steps_per_unit[1]); + showString(PSTR("Z:")); + Serial.print(axis_steps_per_unit[2]); + showString(PSTR("E:")); + Serial.println(axis_steps_per_unit[3]); + break; case 115: // M115 showString(PSTR("FIRMWARE_NAME: Sprinter Experimental PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\r\n")); //Serial.println(uuid); @@ -1639,7 +1736,7 @@ FORCE_INLINE void process_commands() showString(PSTR("\r\n")); break; - case 201: // M201 + case 201: // M201 Set maximum acceleration in units/s^2 for print moves (M201 X1000 Y1000) for(int8_t i=0; i < NUM_AXIS; i++) { @@ -1679,18 +1776,41 @@ FORCE_INLINE void process_commands() //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() ; + break; + case 206: // M206 additional homeing offset + for(int8_t cnt_i=0; cnt_i < 3; cnt_i++) + { + if(code_seen(axis_codes[cnt_i])) add_homeing[cnt_i] = code_value(); + } break; case 220: // M220 S<factor in percent>- set speed factor override percentage { if(code_seen('S')) { feedmultiply = code_value() ; - if(feedmultiply < 20) feedmultiply = 20; - if(feedmultiply > 200) feedmultiply = 200; + feedmultiply = constrain(feedmultiply, 20, 200); feedmultiplychanged=true; } } break; + case 221: // M221 S<factor in percent>- set extrude factor override percentage + { + if(code_seen('S')) + { + extrudemultiply = code_value() ; + extrudemultiply = constrain(extrudemultiply, 40, 200); + } + } + break; +#ifdef PID_AUTOTUNE + case 303: // M303 PID autotune + { + float help_temp = 150.0; + if (code_seen('S')) help_temp=code_value(); + PID_autotune(help_temp); + } + break; +#endif #ifdef USE_EEPROM_SETTINGS case 500: // Store settings in EEPROM { @@ -1796,15 +1916,26 @@ FORCE_INLINE void get_coordinates() } #ifdef USE_ARC_FUNCTION -FORCE_INLINE void get_arc_coordinates() +void get_arc_coordinates() { get_coordinates(); - if(code_seen('I')) offset[0] = code_value(); - if(code_seen('J')) offset[1] = code_value(); + if(code_seen('I')) { + offset[0] = code_value(); + } + else { + offset[0] = 0.0; + } + if(code_seen('J')) { + offset[1] = code_value(); + } + else { + offset[1] = 0.0; + } } #endif + void prepare_move() { long help_feedrate = 0; @@ -1824,8 +1955,16 @@ void prepare_move() if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH; } } + + if(destination[E_AXIS] > current_position[E_AXIS]) + { + help_feedrate = ((long)feedrate*(long)feedmultiply); + } + else + { + help_feedrate = ((long)feedrate*(long)100); + } - help_feedrate = ((long)feedrate*(long)feedmultiply); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], help_feedrate/6000.0); for(int i=0; i < NUM_AXIS; i++) @@ -1842,8 +1981,15 @@ void prepare_arc_move(char isclockwise) float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc long help_feedrate = 0; - - help_feedrate = ((long)feedrate*(long)feedmultiply); + if(destination[E_AXIS] > current_position[E_AXIS]) + { + help_feedrate = ((long)feedrate*(long)feedmultiply); + } + else + { + help_feedrate = ((long)feedrate*(long)100); + } + // Trace the arc mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, help_feedrate/6000.0, r, isclockwise); @@ -1892,8 +2038,27 @@ FORCE_INLINE void manage_inactivity(byte debug) check_axes_activity(); } - - +#if (MINIMUM_FAN_START_SPEED > 0) +void manage_fan_start_speed(void) +{ + if(fan_org_start_speed > 0) + { + if((millis() - previous_millis_fan_start) > MINIMUM_FAN_START_TIME ) + { + #if FAN_PIN > -1 + #if defined(FAN_SOFT_PWM) + g_fan_pwm_val = fan_org_start_speed; + #else + WRITE(FAN_PIN, HIGH); + analogWrite_check(FAN_PIN, fan_org_start_speed; + #endif + #endif + + fan_org_start_speed = 0; + } + } +} +#endif // Planner with Interrupt for Stepper @@ -2252,6 +2417,9 @@ void check_axes_activity() { float junction_deviation = 0.1; +float max_E_feedrate_calc = MAX_RETRACT_FEEDRATE; +bool retract_feedrate_aktiv = false; + // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration // calculation the caller must also provide the physical length of the line in millimeters. @@ -2265,6 +2433,9 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) while(block_buffer_tail == next_buffer_head) { manage_heater(); manage_inactivity(1); + #if (MINIMUM_FAN_START_SPEED > 0) + manage_fan_start_speed(); + #endif } // The target position of the tool in absolute steps @@ -2287,6 +2458,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]); block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); block->steps_e = labs(target[E_AXIS]-position[E_AXIS]); + block->steps_e *= extrudemultiply; + block->steps_e /= 100; block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e))); // Bail if this is a zero-length block @@ -2297,7 +2470,25 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); } if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); } if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); } - if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); } + if (target[E_AXIS] < position[E_AXIS]) + { + block->direction_bits |= (1<<E_AXIS); + //High Feedrate for retract + max_E_feedrate_calc = MAX_RETRACT_FEEDRATE; + retract_feedrate_aktiv = true; + } + else + { + if(retract_feedrate_aktiv) + { + if(block->steps_e > 0) + retract_feedrate_aktiv = false; + } + else + { + max_E_feedrate_calc = max_feedrate[E_AXIS]; + } + } #ifdef DELAY_ENABLE @@ -2311,12 +2502,12 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) enable_y(); delayMicroseconds(DELAY_ENABLE); } - if(if(block->steps_z != 0)) + if(block->steps_z != 0) { enable_z(); delayMicroseconds(DELAY_ENABLE); } - if(if(block->steps_e != 0)) + if(block->steps_e != 0) { enable_e(); delayMicroseconds(DELAY_ENABLE); @@ -2346,7 +2537,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS]; delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]; delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; - delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS]; + //delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS]; + delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0; if ( block->steps_x <= dropsegments && block->steps_y <= dropsegments && block->steps_z <= dropsegments ) { block->millimeters = fabs(delta_mm[E_AXIS]); @@ -2381,32 +2573,24 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) */ - // Calculate speed in mm/sec for each axis + // Calculate and limit speed in mm/sec for each axis float current_speed[4]; - for(int i=0; i < 4; i++) { - current_speed[i] = delta_mm[i] * inverse_second; - } - - // Limit speed per axis float speed_factor = 1.0; //factor <=1 do decrease speed - for(int i=0; i < 4; i++) { + for(int i=0; i < 3; i++) + { + current_speed[i] = delta_mm[i] * inverse_second; if(fabs(current_speed[i]) > max_feedrate[i]) speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i])); } + + current_speed[E_AXIS] = delta_mm[E_AXIS] * inverse_second; + if(fabs(current_speed[E_AXIS]) > max_E_feedrate_calc) + speed_factor = min(speed_factor, max_E_feedrate_calc / fabs(current_speed[E_AXIS])); + // Correct the speed - if( speed_factor < 1.0) { -// Serial.print("speed factor : "); Serial.println(speed_factor); - for(int i=0; i < 4; i++) { - if(fabs(current_speed[i]) > max_feedrate[i]) - speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i])); - /* - if(speed_factor < 0.1) { - Serial.print("speed factor : "); Serial.println(speed_factor); - Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]); - } - */ - } + if( speed_factor < 1.0) + { for(unsigned char i=0; i < 4; i++) { current_speed[i] *= speed_factor; } @@ -2554,6 +2738,12 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) st_wake_up(); } +int calc_plannerpuffer_fill(void) +{ + int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); + return(moves_queued); +} + void plan_set_position(float x, float y, float z, float e) { position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); @@ -2561,6 +2751,10 @@ void plan_set_position(float x, float y, float z, float e) position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); + virtual_steps_x = 0; + virtual_steps_y = 0; + virtual_steps_z = 0; + previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. previous_speed[0] = 0.0; previous_speed[1] = 0.0; @@ -2577,16 +2771,19 @@ void getHighESpeed() if((target_temp+2) < autotemp_min) //probably temperature set to zero. return; //do nothing - float high=0; + float high=0.0; uint8_t block_index = block_buffer_tail; - while(block_index != block_buffer_head) - { - float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate; - //se; units steps/sec; - if(se>high) - { - high=se; + while(block_index != block_buffer_head) { + if((block_buffer[block_index].steps_x != 0) || + (block_buffer[block_index].steps_y != 0) || + (block_buffer[block_index].steps_z != 0)) { + float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed; + //se; units steps/sec; + if(se>high) + { + high=se; + } } block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); } @@ -2848,10 +3045,18 @@ ISR(TIMER1_COMPA_vect) #if X_MIN_PIN > -1 bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOP_INVERT); if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) { - endstop_x_hit=true; - step_events_completed = current_block->step_event_count; + if(!is_homing) + endstop_x_hit=true; + else + step_events_completed = current_block->step_event_count; + } + else + { + endstop_x_hit=false; } old_x_min_endstop = x_min_endstop; + #else + endstop_x_hit=false; #endif } } @@ -2862,10 +3067,18 @@ ISR(TIMER1_COMPA_vect) #if X_MAX_PIN > -1 bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOP_INVERT); if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){ - endstop_x_hit=true; - step_events_completed = current_block->step_event_count; + if(!is_homing) + endstop_x_hit=true; + else + step_events_completed = current_block->step_event_count; + } + else + { + endstop_x_hit=false; } old_x_max_endstop = x_max_endstop; + #else + endstop_x_hit=false; #endif } } @@ -2877,10 +3090,18 @@ ISR(TIMER1_COMPA_vect) #if Y_MIN_PIN > -1 bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT); if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) { - endstop_y_hit=true; - step_events_completed = current_block->step_event_count; + if(!is_homing) + endstop_y_hit=true; + else + step_events_completed = current_block->step_event_count; + } + else + { + endstop_y_hit=false; } old_y_min_endstop = y_min_endstop; + #else + endstop_y_hit=false; #endif } } @@ -2891,10 +3112,18 @@ ISR(TIMER1_COMPA_vect) #if Y_MAX_PIN > -1 bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT); if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){ - endstop_y_hit=true; - step_events_completed = current_block->step_event_count; + if(!is_homing) + endstop_y_hit=true; + else + step_events_completed = current_block->step_event_count; + } + else + { + endstop_y_hit=false; } old_y_max_endstop = y_max_endstop; + #else + endstop_y_hit=false; #endif } } @@ -2906,10 +3135,18 @@ ISR(TIMER1_COMPA_vect) #if Z_MIN_PIN > -1 bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT); if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) { - endstop_z_hit=true; - step_events_completed = current_block->step_event_count; + if(!is_homing) + endstop_z_hit=true; + else + step_events_completed = current_block->step_event_count; + } + else + { + endstop_z_hit=false; } old_z_min_endstop = z_min_endstop; + #else + endstop_z_hit=false; #endif } } @@ -2920,10 +3157,18 @@ ISR(TIMER1_COMPA_vect) #if Z_MAX_PIN > -1 bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT); if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) { - endstop_z_hit=true; - step_events_completed = current_block->step_event_count; + if(!is_homing) + endstop_z_hit=true; + else + step_events_completed = current_block->step_event_count; + } + else + { + endstop_z_hit=false; } old_z_max_endstop = z_max_endstop; + #else + endstop_z_hit=false; #endif } } @@ -2953,24 +3198,52 @@ ISR(TIMER1_COMPA_vect) } } #endif //ADVANCE - + + counter_x += current_block->steps_x; if (counter_x > 0) { - WRITE(X_STEP_PIN, HIGH); + if(!endstop_x_hit) + { + if(virtual_steps_x) + virtual_steps_x--; + else + WRITE(X_STEP_PIN, HIGH); + } + else + virtual_steps_x++; + counter_x -= current_block->step_event_count; WRITE(X_STEP_PIN, LOW); } counter_y += current_block->steps_y; if (counter_y > 0) { - WRITE(Y_STEP_PIN, HIGH); + if(!endstop_y_hit) + { + if(virtual_steps_y) + virtual_steps_y--; + else + WRITE(Y_STEP_PIN, HIGH); + } + else + virtual_steps_y++; + counter_y -= current_block->step_event_count; WRITE(Y_STEP_PIN, LOW); } counter_z += current_block->steps_z; if (counter_z > 0) { - WRITE(Z_STEP_PIN, HIGH); + if(!endstop_z_hit) + { + if(virtual_steps_z) + virtual_steps_z--; + else + WRITE(Z_STEP_PIN, HIGH); + } + else + virtual_steps_z++; + counter_z -= current_block->step_event_count; WRITE(Z_STEP_PIN, LOW); } @@ -3130,6 +3403,9 @@ void st_synchronize() while(blocks_queued()) { manage_heater(); manage_inactivity(1); + #if (MINIMUM_FAN_START_SPEED > 0) + manage_fan_start_speed(); + #endif } } |