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-rw-r--r--Sprinter/Configuration.h39
-rw-r--r--Sprinter/Sd2Card.cpp4
-rw-r--r--Sprinter/SdFatUtil.h4
-rw-r--r--Sprinter/SdFile.cpp4
-rw-r--r--Sprinter/Sprinter.h4
-rw-r--r--Sprinter/Sprinter.pde737
-rw-r--r--Sprinter/arc_func.cpp2
-rw-r--r--Sprinter/heater.cpp404
-rw-r--r--Sprinter/heater.h9
-rw-r--r--Sprinter/pins.h16
-rw-r--r--Sprinter/store_eeprom.cpp98
-rw-r--r--Sprinter/store_eeprom.h19
-rw-r--r--Sprinter/thermistortables.h2
13 files changed, 1007 insertions, 335 deletions
diff --git a/Sprinter/Configuration.h b/Sprinter/Configuration.h
index a9243d2..f5a5730 100644
--- a/Sprinter/Configuration.h
+++ b/Sprinter/Configuration.h
@@ -7,6 +7,7 @@
// MEGA/RAMPS up to 1.2 = 3,
// RAMPS 1.3/1.4 = 33
// Gen6 = 5,
+// Gen6 deluxe = 51
// Sanguinololu up to 1.1 = 6
// Sanguinololu 1.2 and above = 62
// Gen 7 @ 16MHZ only= 7
@@ -152,6 +153,10 @@ const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z,
#define MAX_STEP_FREQUENCY 30000 // Max step frequency
+//For the retract (negative Extruder) move this maxiumum Limit of Feedrate is used
+//The next positive Extruder move use also this Limit,
+//then for the next (second after retract) move the original Maximum (_MAX_FEEDRATE) Limit is used
+#define MAX_RETRACT_FEEDRATE 100 //mm/sec
//-----------------------------------------------------------------------
//// Not used at the Moment
@@ -166,7 +171,9 @@ const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z,
//#define STEP_DELAY_RATIO 0.25
///Oscillation reduction. Forces x,y,or z axis to be stationary for ## ms before allowing axis to switch direcitons. Alternative method to prevent skipping steps. Uncomment the line below to activate.
+// At this Version with Planner this Function ist not used
//#define RAPID_OSCILLATION_REDUCTION
+
#ifdef RAPID_OSCILLATION_REDUCTION
const long min_time_before_dir_change = 30; //milliseconds
#endif
@@ -179,6 +186,7 @@ const long min_time_before_dir_change = 30; //milliseconds
#define _RETRACT_ACCELERATION 2000 // Extruder Normal acceleration mm/s^2
#define _MAX_XY_JERK 20.0
#define _MAX_Z_JERK 0.4
+#define _MAX_E_JERK 5.0 // (mm/sec)
//#define _MAX_START_SPEED_UNITS_PER_SECOND {25.0,25.0,0.2,10.0}
#define _MAX_ACCELERATION_UNITS_PER_SQ_SECOND {5000,5000,50,5000} // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
@@ -186,11 +194,13 @@ const long min_time_before_dir_change = 30; //milliseconds
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
-#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
+#define MINIMUM_PLANNER_SPEED 0.05 // (mm/sec)
#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 0.0
+#define _MIN_SEG_TIME 20000
+
// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN
@@ -231,6 +241,26 @@ const int dropsegments=5; //everything with less than this number of steps will
#define N_ARC_CORRECTION 25
//-----------------------------------------------------------------------
+//// FANCONTROL WITH SOFT PWM
+//-----------------------------------------------------------------------
+
+//With this option its possible to drive the fan with SOFT PWM (500hz) and use
+//every Digital output for it, main usage for Sanguinololu
+#define FAN_SOFT_PWM
+
+//-----------------------------------------------------------------------
+//// MINIMUM START SPEED FOR FAN
+//-----------------------------------------------------------------------
+
+//Minimum start speed for FAN when the last speed was zero
+//Set to 0 to deaktivate
+//If value is set the fan will drive with this minimum speed for MINIMUM_FAN_START_TIME
+#define MINIMUM_FAN_START_SPEED 0
+
+//This is the time how long the minimum FAN speed is set
+#define MINIMUM_FAN_START_TIME 6000 //6sec
+
+//-----------------------------------------------------------------------
//// HEATERCONTROL AND PID PARAMETERS
//-----------------------------------------------------------------------
@@ -261,6 +291,10 @@ const int dropsegments=5; //everything with less than this number of steps will
//Command M601 / Command M602 Reset the MIN/MAX Value
//#define DEBUG_HEATER_TEMP
+// M303 - PID relay autotune S<temperature> sets the target temperature.
+// (default target temperature = 150C)
+#define PID_AUTOTUNE
+
//PID Controler Settings
#define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors
#define PID_PGAIN 2560 //256 is 1.0 // value of X means that error of 1 degree is changing PWM duty by X, probably no need to go over 25
@@ -331,6 +365,9 @@ const int dropsegments=5; //everything with less than this number of steps will
//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run
+//This is for controlling a fan that will keep the extruder cool.
+//#define EXTRUDERFAN_PIN 66 //Pin used to control the fan, comment out to disable this function
+#define EXTRUDERFAN_DEC 50 //Hotend temperature from where the fan will be turned on
//-----------------------------------------------------------------------
// DEBUGING
diff --git a/Sprinter/Sd2Card.cpp b/Sprinter/Sd2Card.cpp
index 8222cfd..05832e7 100644
--- a/Sprinter/Sd2Card.cpp
+++ b/Sprinter/Sd2Card.cpp
@@ -17,7 +17,11 @@
* along with the Arduino Sd2Card Library. If not, see
* <http://www.gnu.org/licenses/>.
*/
+#if defined(ARDUINO) && ARDUINO >= 100
+#include <Arduino.h>
+#else
#include <WProgram.h>
+#endif
#include "Sd2Card.h"
//------------------------------------------------------------------------------
#ifndef SOFTWARE_SPI
diff --git a/Sprinter/SdFatUtil.h b/Sprinter/SdFatUtil.h
index de3fee3..361a5a2 100644
--- a/Sprinter/SdFatUtil.h
+++ b/Sprinter/SdFatUtil.h
@@ -23,7 +23,11 @@
* \file
* Useful utility functions.
*/
+#if defined(ARDUINO) && ARDUINO >= 100
+#include <Arduino.h>
+#else
#include <WProgram.h>
+#endif
#include <avr/pgmspace.h>
/** Store and print a string in flash memory.*/
#define PgmPrint(x) SerialPrint_P(PSTR(x))
diff --git a/Sprinter/SdFile.cpp b/Sprinter/SdFile.cpp
index 13f4c6a..c847e01 100644
--- a/Sprinter/SdFile.cpp
+++ b/Sprinter/SdFile.cpp
@@ -19,7 +19,11 @@
*/
#include "SdFat.h"
#include <avr/pgmspace.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+#include <Arduino.h>
+#else
#include <WProgram.h>
+#endif
//------------------------------------------------------------------------------
// callback function for date/time
void (*SdFile::dateTime_)(uint16_t* date, uint16_t* time) = NULL;
diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h
index 66e6c59..50f3806 100644
--- a/Sprinter/Sprinter.h
+++ b/Sprinter/Sprinter.h
@@ -123,6 +123,10 @@ void check_buffer_while_arc();
void print_disk_info(void);
#endif //SDSUPPORT
+#if (MINIMUM_FAN_START_SPEED > 0)
+void manage_fan_start_speed(void);
+#endif
+
#ifdef DEBUG
void log_message(char* message);
void log_bool(char* message, bool value);
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index 8359fed..cc0ed44 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -1,6 +1,6 @@
/*
Reprap firmware based on Sprinter
- Optimize for Sanguinololu 1.2 and above, RAMPS
+ Optimized for Sanguinololu 1.2 and above / RAMPS
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@@ -16,7 +16,7 @@
along with this program. If not, see <http://www.gnu.org/licenses/>. */
/*
- This firmware is a mashup between Sprinter,grbl and parts from marlin.
+ This firmware is a mashup between Sprinter, grbl and parts from marlin.
(https://github.com/kliment/Sprinter)
Changes by Doppler Michael (midopple)
@@ -30,9 +30,9 @@
Sprinter Changelog
- Look forward function --> calculate 16 Steps forward, get from Firmaware Marlin and Grbl
- Stepper control with Timer 1 (Interrupt)
- - Extruder heating with PID use a Softpwm (Timer 2) with 500 hz to free Timer1 für Steppercontrol
+ - Extruder heating with PID use a Softpwm (Timer 2) with 500 hz to free Timer1 for Steppercontrol
- command M220 Sxxx --> tune Printing speed online (+/- 50 %)
- - G2 / G3 command --> circle funktion
+ - G2 / G3 command --> circle function
- Baudrate set to 250 kbaud
- Testet on Sanguinololu Board
- M30 Command can delete files on SD Card
@@ -42,15 +42,15 @@
Version 1.3.04T
- Implement Plannercode from Marlin V1 big thanks to Erik
- Stepper interrupt with Step loops
- - Stepperfrequenz 30 Khz
+ - Stepperfrequency 30 Khz
- 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
- - Option to deaktivate ARC (G2/G3) function (save flash)
+ - Option to deactivate ARC (G2/G3) function (save flash)
- Removed modulo (%) operator, which uses an expensive divide
Version 1.3.05T
@@ -77,7 +77,7 @@
A ';' inside a line ignores just the portion following the ';' character.
The beginning of the line is still interpreted.
- - Same fix for SD Card, testet and work
+ - Same fix for SD Card, tested and work
Version 1.3.09T
- Move SLOWDOWN Function up
@@ -94,9 +94,40 @@
- 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
+- Extrudemultiply with code M221 Sxxx (S100 original Extrude value)
+- use Feedratefactor 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 homing offset
+- Option for minimum FAN start speed --> #define MINIMUM_FAN_START_SPEED 50 (set it to zero to deactivate)
+ 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
+
+ Version 1.3.18T
+- Problem with Thermistor 3 table when sensor is broken and temp is -20 °C
+
+ Version 1.3.19T
+- Set maximum acceleration. If "steps per unit" is Change the acc were not recalculated
+- Extra Parameter for Max Extruder Jerk
+- New Parameter (max_e_jerk) in EEPROM --> Default settings after update !
+
+
*/
@@ -173,6 +204,7 @@ 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
@@ -180,23 +212,29 @@ void __cxa_pure_virtual(){};
// M201 - Set maximum acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M202 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
// 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
+// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) in 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 homing offset
+
+// M220 - set speed factor override percentage S=factor in percent
+// M221 - set extruder multiply factor S100 --> original Extrude Speed
-// M220 - set speed factor override percentage S:factor in percent
+// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
+
+// M400 - Finish all moves
// M500 - stores paramters in EEPROM
-// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
+// M501 - reads parameters from EEPROM (if you need to reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
// M503 - Print settings
// Debug feature / Testing the PID for Hotend
-// M601 - Show Temp jitter from Extruder (min / max value from Hotend Temperatur while printing)
-// M602 - Reset Temp jitter from Extruder (min / max val) --> Dont use it while Printing
+// M601 - Show Temp jitter from Extruder (min / max value from Hotend Temperature while printing)
+// M602 - Reset Temp jitter from Extruder (min / max val) --> Don't use it while Printing
// M603 - Show Free Ram
-#define _VERSION_TEXT "1.3.11T / 19.03.2012"
+#define _VERSION_TEXT "1.3.19T / 11.06.2012"
//Stepper Movement Variables
char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
@@ -210,6 +248,9 @@ 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;
+unsigned long min_seg_time = _MIN_SEG_TIME;
+unsigned int Kp = PID_PGAIN, Ki = PID_IGAIN, Kd = PID_DGAIN;
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
@@ -228,16 +269,21 @@ unsigned long plateau_steps;
//unsigned long steps_per_sqr_second;
-//adjustable feed faktor for online tuning printerspeed
-volatile int feedmultiply=100; //100->original / 200-> Faktor 2 / 50 -> Faktor 0.5
+//adjustable feed factor for online tuning printer speed
+volatile int feedmultiply=100; //100->original / 200 -> Factor 2 / 50 -> Factor 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_homing[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
@@ -260,7 +306,7 @@ bool is_homing = false;
#ifdef USE_ARC_FUNCTION
-//For arc centerpont, send bei Command G2/G3
+//For arc center point coordinates, sent by commands G2/G3
float offset[3] = {0.0, 0.0, 0.0};
#endif
@@ -275,6 +321,12 @@ 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
@@ -305,7 +357,7 @@ unsigned long previous_millis_cmd = 0;
unsigned long max_inactive_time = 0;
unsigned long stepper_inactive_time = 0;
-//Temp Montor for repetier
+//Temp Monitor for repetier
unsigned char manage_monitor = 255;
@@ -562,8 +614,8 @@ int FreeRam1(void)
void analogWrite_check(uint8_t check_pin, int val)
{
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
- //Atmega168 / 328 can not useed OCR1A and OCR1B
- //This are PINS PB1 / PB2 or on Ardurino D9 / D10
+ //Atmega168/328 can't use OCR1A and OCR1B
+ //These are pins PB1/PB2 or on Arduino D9/D10
if((check_pin != 9) && (check_pin != 10))
{
analogWrite(check_pin, val);
@@ -571,8 +623,8 @@ void analogWrite_check(uint8_t check_pin, int val)
#endif
#if defined(__AVR_ATmega644P__) || defined(__AVR_ATmega1284P__)
- //Atmega664P / 1284P can not useed OCR1A and OCR1B
- //This are PINS PD4 / PD5 or on Ardurino D12 / D13
+ //Atmega664P/1284P can't use OCR1A and OCR1B
+ //These are pins PD4/PD5 or on Arduino D12/D13
if((check_pin != 12) && (check_pin != 13))
{
analogWrite(check_pin, val);
@@ -580,8 +632,8 @@ void analogWrite_check(uint8_t check_pin, int val)
#endif
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
- //Atmega1280 / 2560 can not useed OCR1A, OCR1B and OCR1C
- //This are PINS PB5,PB6,PB7 or on Ardurino D11,D12,and D13
+ //Atmega1280/2560 can't use OCR1A, OCR1B and OCR1C
+ //These are pins PB5,PB6,PB7 or on Arduino D11,D12 and D13
if((check_pin != 11) && (check_pin != 12) && (check_pin != 13))
{
analogWrite(check_pin, val);
@@ -657,6 +709,10 @@ void setup()
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
#endif
+ #ifdef EXTRUDERFAN_PIN
+ SET_OUTPUT(EXTRUDERFAN_PIN); //Set pin used for extruder cooling fan
+ #endif
+
//endstops and pullups
#ifdef ENDSTOPPULLUPS
#if X_MIN_PIN > -1
@@ -744,10 +800,7 @@ 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]);
@@ -782,7 +835,7 @@ 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
@@ -808,6 +861,12 @@ 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];
+ }
+
}
@@ -856,6 +915,10 @@ 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 +938,10 @@ 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 +1047,12 @@ 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)
@@ -1042,6 +1105,67 @@ FORCE_INLINE bool code_seen(char code)
return (strchr_pointer != NULL); //Return True if a character was found
}
+FORCE_INLINE void homing_routine(char axis)
+{
+ int min_pin, max_pin, home_dir, max_length, home_bounce;
+
+ switch(axis){
+ case X_AXIS:
+ min_pin = X_MIN_PIN;
+ max_pin = X_MAX_PIN;
+ home_dir = X_HOME_DIR;
+ max_length = X_MAX_LENGTH;
+ home_bounce = 10;
+ break;
+ case Y_AXIS:
+ min_pin = Y_MIN_PIN;
+ max_pin = Y_MAX_PIN;
+ home_dir = Y_HOME_DIR;
+ max_length = Y_MAX_LENGTH;
+ home_bounce = 10;
+ break;
+ case Z_AXIS:
+ min_pin = Z_MIN_PIN;
+ max_pin = Z_MAX_PIN;
+ home_dir = Z_HOME_DIR;
+ max_length = Z_MAX_LENGTH;
+ home_bounce = 4;
+ break;
+ default:
+ //never reached
+ break;
+ }
+
+ if ((min_pin > -1 && home_dir==-1) || (max_pin > -1 && home_dir==1))
+ {
+ current_position[axis] = -1.5 * max_length * home_dir;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = 0;
+ feedrate = homing_feedrate[axis];
+ prepare_move();
+ st_synchronize();
+
+ current_position[axis] = home_bounce/2 * home_dir;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = 0;
+ prepare_move();
+ st_synchronize();
+
+ current_position[axis] = -home_bounce * home_dir;
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = 0;
+ feedrate = homing_feedrate[axis]/2;
+ prepare_move();
+ st_synchronize();
+
+ current_position[axis] = (home_dir == -1) ? 0 : max_length;
+ current_position[axis] += add_homing[axis];
+ plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
+ destination[axis] = current_position[axis];
+ feedrate = 0;
+ }
+}
+
//------------------------------------------------
// CHECK COMMAND AND CONVERT VALUES
//------------------------------------------------
@@ -1084,6 +1208,7 @@ 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();
}
@@ -1107,102 +1232,13 @@ FORCE_INLINE void process_commands()
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
- {
- if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1))
- {
- st_synchronize();
- current_position[X_AXIS] = -1.5 * X_MAX_LENGTH * X_HOME_DIR;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = 0;
- feedrate = homing_feedrate[X_AXIS];
- prepare_move();
-
- st_synchronize();
- current_position[X_AXIS] = 5 * X_HOME_DIR;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = 0;
- prepare_move();
-
- st_synchronize();
- current_position[X_AXIS] = -10 * X_HOME_DIR;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[X_AXIS] = 0;
- feedrate = homing_feedrate[X_AXIS]/2 ;
- prepare_move();
- st_synchronize();
-
- current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
- 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;
- }
- }
- //showString(PSTR("HOME X AXIS\r\n"));
+ homing_routine(X_AXIS);
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS])))
- {
- if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1))
- {
- current_position[Y_AXIS] = -1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Y_AXIS] = 0;
- feedrate = homing_feedrate[Y_AXIS];
- prepare_move();
- st_synchronize();
-
- current_position[Y_AXIS] = 5 * Y_HOME_DIR;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Y_AXIS] = 0;
- prepare_move();
- st_synchronize();
-
- current_position[Y_AXIS] = -10 * Y_HOME_DIR;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Y_AXIS] = 0;
- feedrate = homing_feedrate[Y_AXIS]/2;
- prepare_move();
- st_synchronize();
-
- current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
- 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;
- }
- }
- //showString(PSTR("HOME Y AXIS\r\n"));
+ homing_routine(Y_AXIS);
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS])))
- {
- if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1))
- {
- current_position[Z_AXIS] = -1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Z_AXIS] = 0;
- feedrate = homing_feedrate[Z_AXIS];
- prepare_move();
- st_synchronize();
-
- current_position[Z_AXIS] = 2 * Z_HOME_DIR;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Z_AXIS] = 0;
- prepare_move();
- st_synchronize();
-
- current_position[Z_AXIS] = -3 * Z_HOME_DIR;
- plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
- destination[Z_AXIS] = 0;
- feedrate = homing_feedrate[Z_AXIS]/2;
- prepare_move();
- st_synchronize();
-
- current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH;
- 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;
- }
- }
-
- //showString(PSTR("HOME Z AXIS\r\n"));
+ homing_routine(Z_AXIS);
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
@@ -1498,6 +1534,9 @@ 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 */
@@ -1510,7 +1549,7 @@ FORCE_INLINE void process_commands()
}
}
break;
- case 190: // M190 - Wait bed for heater to reach target.
+ case 190: // M190 - Wait for bed heater to reach target temperature.
#if TEMP_1_PIN > -1
if (code_seen('S')) target_bed_raw = temp2analogBed(code_value());
codenum = millis();
@@ -1526,6 +1565,9 @@ FORCE_INLINE void process_commands()
codenum = millis();
}
manage_heater();
+ #if (MINIMUM_FAN_START_SPEED > 0)
+ manage_fan_start_speed();
+ #endif
}
#endif
break;
@@ -1533,18 +1575,51 @@ 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)
@@ -1582,7 +1657,11 @@ 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
@@ -1594,6 +1673,17 @@ 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 +1729,7 @@ 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++)
{
@@ -1669,28 +1759,57 @@ FORCE_INLINE void process_commands()
if(code_seen('S')) manage_monitor = code_value();
if(manage_monitor==100) manage_monitor=1; // Set 100 to heated bed
break;
- case 204: // M204 acclereration S normal moves T filmanent only moves
+ case 204: // M204 acceleration S normal moves T filmanent only moves
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 homing offset
+ for(int8_t cnt_i=0; cnt_i < 3; cnt_i++)
+ {
+ if(code_seen(axis_codes[cnt_i])) add_homing[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
+ case 400: // M400 finish all moves
+ {
+ st_synchronize();
+ }
+ break;
#ifdef USE_EEPROM_SETTINGS
case 500: // Store settings in EEPROM
{
@@ -1700,11 +1819,19 @@ 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
@@ -1796,15 +1923,26 @@ 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 +1962,16 @@ 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 +1988,15 @@ 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 +2045,27 @@ 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
@@ -2008,7 +2180,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
- // have to use intersection_distance() to calculate when to abort acceleration and start braking
+ // have to use intersection_distance() to calculate when to abort acceleration and start breaking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = ceil(
@@ -2083,10 +2255,17 @@ 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];
@@ -2252,6 +2431,9 @@ 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 +2447,9 @@ 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 +2472,8 @@ 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 +2484,25 @@ 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 +2516,12 @@ 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);
@@ -2336,7 +2541,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
}
- // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
+ // slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
#ifdef SLOWDOWN
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
@@ -2346,7 +2551,8 @@ 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 +2587,24 @@ 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;
}
@@ -2475,25 +2673,33 @@ 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);
@@ -2506,10 +2712,14 @@ 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;
@@ -2536,10 +2746,8 @@ 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;
@@ -2554,6 +2762,12 @@ 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 +2775,10 @@ 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 +2795,19 @@ 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);
}
@@ -2611,7 +2832,6 @@ void getHighESpeed()
-
// Stepper
// intRes = intIn1 * intIn2 >> 16
@@ -2711,7 +2931,7 @@ static unsigned long step_events_completed; // The number of step events execute
static short e_steps;
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
static long acceleration_time, deceleration_time;
-static unsigned short acc_step_rate; // needed for deccelaration start point
+static unsigned short acc_step_rate; // needed for deceleration start point
static char step_loops;
static unsigned short OCR1A_nominal;
@@ -2739,7 +2959,7 @@ static bool old_z_max_endstop=false;
//
// time ----->
//
-// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
+// The trapezoid is the shape of the speed curve over time. It starts at block->initial_rate, accelerates
// first block->accelerate_until step_events_completed, then keeps going at constant speed until
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
// The slope of acceleration is calculated with the leib ramp alghorithm.
@@ -2840,7 +3060,7 @@ ISR(TIMER1_COMPA_vect)
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits;
- // Set direction en check limit switches
+ // Set direction and check limit switches
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
WRITE(X_DIR_PIN, INVERT_X_DIR);
CHECK_ENDSTOPS
@@ -2848,10 +3068,18 @@ 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 +3090,18 @@ 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 +3113,18 @@ 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 +3135,18 @@ 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 +3158,18 @@ 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 +3180,18 @@ 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 +3221,52 @@ 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);
}
@@ -2983,8 +3279,10 @@ 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;
@@ -3130,6 +3428,9 @@ void st_synchronize()
while(blocks_queued()) {
manage_heater();
manage_inactivity(1);
+ #if (MINIMUM_FAN_START_SPEED > 0)
+ manage_fan_start_speed();
+ #endif
}
}
diff --git a/Sprinter/arc_func.cpp b/Sprinter/arc_func.cpp
index 255129f..1446e30 100644
--- a/Sprinter/arc_func.cpp
+++ b/Sprinter/arc_func.cpp
@@ -50,6 +50,8 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
if (millimeters_of_travel < 0.001) { return; }
uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
+ if(segments == 0) segments = 1;
+
/*
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
diff --git a/Sprinter/heater.cpp b/Sprinter/heater.cpp
index c02924c..7682516 100644
--- a/Sprinter/heater.cpp
+++ b/Sprinter/heater.cpp
@@ -32,6 +32,10 @@
void controllerFan(void);
#endif
+#ifdef EXTRUDERFAN_PIN
+ void extruderFan(void);
+#endif
+
// Manage heater variables. For a thermistor or AD595 thermocouple, raw values refer to the
// reading from the analog pin. For a MAX6675 thermocouple, the raw value is the temperature in 0.25
// degree increments (i.e. 100=25 deg).
@@ -50,8 +54,8 @@ unsigned long previous_millis_heater, previous_millis_bed_heater, previous_milli
#ifdef PIDTEMP
volatile unsigned char g_heater_pwm_val = 0;
- unsigned char PWM_off_time = 0;
- unsigned char PWM_out_on = 0;
+ //unsigned char PWM_off_time = 0;
+ //unsigned char PWM_out_on = 0;
int temp_iState = 0;
int temp_dState = 0;
@@ -67,6 +71,10 @@ unsigned long previous_millis_heater, previous_millis_bed_heater, previous_milli
#endif
+#if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
+ volatile unsigned char g_fan_pwm_val = 0;
+#endif
+
#ifdef AUTOTEMP
float autotemp_max=AUTO_TEMP_MAX;
float autotemp_min=AUTO_TEMP_MIN;
@@ -155,90 +163,339 @@ int read_max6675()
#endif
-#ifdef PID_SOFT_PWM
+//------------------------------------------------------------------------
+// Soft PWM for Heater and FAN
+//------------------------------------------------------------------------
+#if defined(PID_SOFT_PWM) || (defined(FAN_SOFT_PWM) && (FAN_PIN > -1))
void init_Timer2_softpwm(void)
{
// This is a simple SOFT PWM with 500 Hz for Extruder Heating
-
TIFR2 = (1 << TOV2); // clear interrupt flag
TCCR2B = (1 << CS22) | (1 << CS20); // start timer (ck/128 prescalar)
- TCCR2A = (1 << WGM21); // CTC mode
- OCR2A = 128; // We want to have at least 30Hz or else it gets choppy
- TIMSK2 = (1 << OCIE2A); // enable timer2 output compare match interrupt
-
+ TCCR2A = 0;//(1 << WGM21); // Normal mode
+
+ TIMSK2 |= (1 << TOIE2);
+
+ #ifdef PID_SOFT_PWM
+ OCR2A = 128; // We want to have at least 500Hz or else it gets choppy
+ TIMSK2 |= (1 << OCIE2A); // enable timer2 output compare match interrupt
+ #endif
+
+ #if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
+ OCR2B = 128; // We want to have at least 500Hz or else it gets choppy
+ TIMSK2 |= (1 << OCIE2B); // enable timer2 output compare match interrupt
+ #endif
+
}
+#endif
+#if defined(PID_SOFT_PWM) || (defined(FAN_SOFT_PWM) && (FAN_PIN > -1))
+ISR(TIMER2_OVF_vect)
+{
+
+ //--------------------------------------
+ // Soft PWM, Heater, start PWM cycle
+ //--------------------------------------
+ #ifdef PID_SOFT_PWM
+ if(g_heater_pwm_val >= 2)
+ {
+ #if LED_PIN > -1
+ WRITE(LED_PIN,HIGH);
+ #endif
+ WRITE(HEATER_0_PIN,HIGH);
- ISR(TIMER2_COMPA_vect)
- {
-
-
- if(g_heater_pwm_val < 2)
+ if(g_heater_pwm_val <= 253)
+ OCR2A = g_heater_pwm_val;
+ else
+ OCR2A = 192;
+ }
+ else
{
#if LED_PIN > -1
WRITE(LED_PIN,LOW);
#endif
WRITE(HEATER_0_PIN,LOW);
- PWM_out_on = 0;
- OCR2A = 128;
+ OCR2A = 192;
}
- else if(g_heater_pwm_val > 253)
+ #endif
+
+ //--------------------------------------
+ // Soft PWM, Fan, start PWM cycle
+ //--------------------------------------
+ #if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
+ if(g_fan_pwm_val >= 2)
{
- #if LED_PIN > -1
- WRITE(LED_PIN,HIGH);
- #endif
- WRITE(HEATER_0_PIN,HIGH);
- PWM_out_on = 1;
- OCR2A = 128;
+ #if (FAN_PIN > -1)
+ WRITE(FAN_PIN,HIGH);
+ #endif
+
+ if(g_fan_pwm_val <= 253)
+ OCR2B = g_fan_pwm_val;
+ else
+ OCR2B = 128;
}
else
{
-
- if(PWM_out_on == 1)
- {
-
- #if LED_PIN > -1
- WRITE(LED_PIN,LOW);
- #endif
- WRITE(HEATER_0_PIN,LOW);
- PWM_out_on = 0;
- OCR2A = PWM_off_time;
- }
- else
- {
-
- #if LED_PIN > -1
- WRITE(LED_PIN,HIGH);
- #endif
- WRITE(HEATER_0_PIN,HIGH);
- PWM_out_on = 1;
-
- if(g_heater_pwm_val > 253)
- {
- OCR2A = 253;
- PWM_off_time = 2;
- }
- else if(g_heater_pwm_val < 2)
- {
- OCR2A = 2;
- PWM_off_time = 253;
- }
- else
- {
- OCR2A = g_heater_pwm_val;
- PWM_off_time = 255 - g_heater_pwm_val;
- }
-
- }
+ #if (FAN_PIN > -1)
+ WRITE(FAN_PIN,LOW);
+ #endif
+
+ OCR2B = 128;
}
-
+ #endif
+
+}
+#endif
+
+
+ #ifdef PID_SOFT_PWM
+ ISR(TIMER2_COMPA_vect)
+ {
+
+
+ if(g_heater_pwm_val > 253)
+ {
+ #if LED_PIN > -1
+ WRITE(LED_PIN,HIGH);
+ #endif
+ WRITE(HEATER_0_PIN,HIGH);
+ }
+ else
+ {
+ #if LED_PIN > -1
+ WRITE(LED_PIN,LOW);
+ #endif
+ WRITE(HEATER_0_PIN,LOW);
+ }
+
+
}
#endif
+
+ #if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
+ ISR(TIMER2_COMPB_vect)
+ {
+
+
+ if(g_fan_pwm_val > 253)
+ {
+ #if (FAN_PIN > -1)
+ WRITE(FAN_PIN,HIGH);
+ #endif
+ }
+ else
+ {
+ #if (FAN_PIN > -1)
+ WRITE(FAN_PIN,LOW);
+ #endif
+ }
+
+
+ }
+ #endif
+ //--------------------END SOFT PWM---------------------------
+
+//-------------------- START PID AUTOTUNE ---------------------------
+// Based on PID relay test
+// Thanks to Erik van der Zalm for this idea to use it for Marlin
+// Some information see:
+// http://brettbeauregard.com/blog/2012/01/arduino-pid-autotune-library/
+//------------------------------------------------------------------
+#ifdef PID_AUTOTUNE
+void PID_autotune(int PIDAT_test_temp)
+{
+ float PIDAT_input = 0;
+ int PIDAT_input_help = 0;
+ unsigned char PIDAT_count_input = 0;
+
+ float PIDAT_max, PIDAT_min;
+ unsigned char PIDAT_PWM_val = 255;
+
+ unsigned char PIDAT_cycles=0;
+ bool PIDAT_heating = true;
+
+ unsigned long PIDAT_temp_millis = millis();
+ unsigned long PIDAT_t1=PIDAT_temp_millis;
+ unsigned long PIDAT_t2=PIDAT_temp_millis;
+ unsigned long PIDAT_T_check_AI_val = PIDAT_temp_millis;
+
+ unsigned char PIDAT_cycle_cnt = 0;
+
+ long PIDAT_t_high;
+ long PIDAT_t_low;
+
+ long PIDAT_bias= 127;
+ long PIDAT_d = 127;
+
+ float PIDAT_Ku, PIDAT_Tu;
+ float PIDAT_Kp, PIDAT_Ki, PIDAT_Kd;
+
+ #define PIDAT_TIME_FACTOR ((HEATER_CHECK_INTERVAL*256.0) / 1000.0)
+
+ showString(PSTR("PID Autotune start\r\n"));
+
+ target_temp = PIDAT_test_temp;
+
+ #ifdef BED_USES_THERMISTOR
+ WRITE(HEATER_1_PIN,LOW);
+ #endif
+
+ for(;;)
+ {
+
+ if((millis() - PIDAT_T_check_AI_val) > 100 )
+ {
+ PIDAT_T_check_AI_val = millis();
+ PIDAT_cycle_cnt++;
+
+ #ifdef HEATER_USES_THERMISTOR
+ current_raw = analogRead(TEMP_0_PIN);
+ current_raw = 1023 - current_raw;
+ PIDAT_input_help += analog2temp(current_raw);
+ PIDAT_count_input++;
+ #elif defined HEATER_USES_AD595
+ current_raw = analogRead(TEMP_0_PIN);
+ PIDAT_input_help += analog2temp(current_raw);
+ PIDAT_count_input++;
+ #elif defined HEATER_USES_MAX6675
+ current_raw = read_max6675();
+ PIDAT_input_help += analog2temp(current_raw);
+ PIDAT_count_input++;
+ #endif
+ }
+
+ if(PIDAT_cycle_cnt >= 10 )
+ {
+
+ PIDAT_cycle_cnt = 0;
+
+ PIDAT_input = (float)PIDAT_input_help / (float)PIDAT_count_input;
+ PIDAT_input_help = 0;
+ PIDAT_count_input = 0;
+
+ PIDAT_max=max(PIDAT_max,PIDAT_input);
+ PIDAT_min=min(PIDAT_min,PIDAT_input);
+
+ if(PIDAT_heating == true && PIDAT_input > PIDAT_test_temp)
+ {
+ if(millis() - PIDAT_t2 > 5000)
+ {
+ PIDAT_heating = false;
+ PIDAT_PWM_val = (PIDAT_bias - PIDAT_d);
+ PIDAT_t1 = millis();
+ PIDAT_t_high = PIDAT_t1 - PIDAT_t2;
+ PIDAT_max = PIDAT_test_temp;
+ }
+ }
+
+ if(PIDAT_heating == false && PIDAT_input < PIDAT_test_temp)
+ {
+ if(millis() - PIDAT_t1 > 5000)
+ {
+ PIDAT_heating = true;
+ PIDAT_t2 = millis();
+ PIDAT_t_low = PIDAT_t2 - PIDAT_t1;
+
+ if(PIDAT_cycles > 0)
+ {
+ PIDAT_bias += (PIDAT_d*(PIDAT_t_high - PIDAT_t_low))/(PIDAT_t_low + PIDAT_t_high);
+ PIDAT_bias = constrain(PIDAT_bias, 20 ,235);
+ if(PIDAT_bias > 127) PIDAT_d = 254 - PIDAT_bias;
+ else PIDAT_d = PIDAT_bias;
+
+ showString(PSTR(" bias: ")); Serial.print(PIDAT_bias);
+ showString(PSTR(" d: ")); Serial.print(PIDAT_d);
+ showString(PSTR(" min: ")); Serial.print(PIDAT_min);
+ showString(PSTR(" max: ")); Serial.println(PIDAT_max);
+
+ if(PIDAT_cycles > 2)
+ {
+ PIDAT_Ku = (4.0*PIDAT_d)/(3.14159*(PIDAT_max-PIDAT_min));
+ PIDAT_Tu = ((float)(PIDAT_t_low + PIDAT_t_high)/1000.0);
+
+ showString(PSTR(" Ku: ")); Serial.print(PIDAT_Ku);
+ showString(PSTR(" Tu: ")); Serial.println(PIDAT_Tu);
+
+ PIDAT_Kp = 0.60*PIDAT_Ku;
+ PIDAT_Ki = 2*PIDAT_Kp/PIDAT_Tu;
+ PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/8;
+ showString(PSTR(" Clasic PID \r\n"));
+ //showString(PSTR(" Kp: ")); Serial.println(PIDAT_Kp);
+ //showString(PSTR(" Ki: ")); Serial.println(PIDAT_Ki);
+ //showString(PSTR(" Kd: ")); Serial.println(PIDAT_Kd);
+ showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
+ showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
+ showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
+
+ PIDAT_Kp = 0.30*PIDAT_Ku;
+ PIDAT_Ki = PIDAT_Kp/PIDAT_Tu;
+ PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/3;
+ showString(PSTR(" Some overshoot \r\n"));
+ showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
+ showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
+ showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
+ /*
+ PIDAT_Kp = 0.20*PIDAT_Ku;
+ PIDAT_Ki = 2*PIDAT_Kp/PIDAT_Tu;
+ PIDAT_Kd = PIDAT_Kp*PIDAT_Tu/3;
+ showString(PSTR(" No overshoot \r\n"));
+ showString(PSTR(" CFG Kp: ")); Serial.println((unsigned int)(PIDAT_Kp*256));
+ showString(PSTR(" CFG Ki: ")); Serial.println((unsigned int)(PIDAT_Ki*PIDAT_TIME_FACTOR));
+ showString(PSTR(" CFG Kd: ")); Serial.println((unsigned int)(PIDAT_Kd*PIDAT_TIME_FACTOR));
+ */
+ }
+ }
+ PIDAT_PWM_val = (PIDAT_bias + PIDAT_d);
+ PIDAT_cycles++;
+ PIDAT_min = PIDAT_test_temp;
+ }
+ }
+
+ #ifdef PID_SOFT_PWM
+ g_heater_pwm_val = PIDAT_PWM_val;
+ #else
+ analogWrite_check(HEATER_0_PIN, PIDAT_PWM_val);
+ #if LED_PIN>-1
+ analogWrite_check(LED_PIN, PIDAT_PWM_val);
+ #endif
+ #endif
+ }
+
+ if(PIDAT_input > (PIDAT_test_temp + 20))
+ {
+ showString(PSTR("PID Autotune failed! Temperature to high\r\n"));
+ return;
+ }
+
+ if(millis() - PIDAT_temp_millis > 2000)
+ {
+ PIDAT_temp_millis = millis();
+ showString(PSTR("ok T:"));
+ Serial.print(PIDAT_input);
+ showString(PSTR(" @:"));
+ Serial.println((unsigned char)PIDAT_PWM_val*1);
+ }
+
+ if(((millis() - PIDAT_t1) + (millis() - PIDAT_t2)) > (10L*60L*1000L*2L))
+ {
+ showString(PSTR("PID Autotune failed! timeout\r\n"));
+ return;
+ }
+
+ if(PIDAT_cycles > 5)
+ {
+ showString(PSTR("PID Autotune finished ! Place the Kp, Ki and Kd constants in the configuration.h\r\n"));
+ return;
+ }
+ }
+}
+#endif
+//---------------- END AUTOTUNE PID ------------------------------
void manage_heater()
{
@@ -247,6 +504,8 @@ int read_max6675()
if((millis() - previous_millis_monitor) > 250 )
{
previous_millis_monitor = millis();
+
+
if(manage_monitor <= 1)
{
showString(PSTR("MTEMP:"));
@@ -491,6 +750,10 @@ int read_max6675()
controllerFan(); //Check if fan should be turned on to cool stepper drivers down
#endif
+#ifdef EXTRUDERFAN_PIN
+ extruderFan(); //Check if fan should be turned on to cool extruder down
+#endif
+
}
#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
@@ -601,3 +864,24 @@ void controllerFan()
}
#endif
+#ifdef EXTRUDERFAN_PIN
+unsigned long lastExtruderCheck = 0;
+
+void extruderFan()
+{
+ if ((millis() - lastExtruderCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
+ {
+ lastExtruderCheck = millis();
+
+ if (analog2temp(current_raw) < EXTRUDERFAN_DEC)
+ {
+ WRITE(EXTRUDERFAN_PIN, LOW); //... turn the fan off
+ }
+ else
+ {
+ WRITE(EXTRUDERFAN_PIN, HIGH); //... turn the fan on
+ }
+ }
+}
+#endif
+
diff --git a/Sprinter/heater.h b/Sprinter/heater.h
index a1d2917..87b6b4d 100644
--- a/Sprinter/heater.h
+++ b/Sprinter/heater.h
@@ -90,6 +90,9 @@ extern unsigned char manage_monitor;
extern int heater_duty;
#endif
+#if defined(FAN_SOFT_PWM) && (FAN_PIN > -1)
+ extern volatile unsigned char g_fan_pwm_val;
+#endif
#ifdef AUTOTEMP
extern float autotemp_max;
@@ -112,8 +115,12 @@ extern unsigned char manage_monitor;
-#ifdef PID_SOFT_PWM
+#if defined(PID_SOFT_PWM) || (defined(FAN_SOFT_PWM) && (FAN_PIN > -1))
void init_Timer2_softpwm(void);
#endif
+#ifdef PID_AUTOTUNE
+ void PID_autotune(int PIDAT_test_temp);
+#endif
+
void manage_heater();
diff --git a/Sprinter/pins.h b/Sprinter/pins.h
index afe99bc..e2d2f89 100644
--- a/Sprinter/pins.h
+++ b/Sprinter/pins.h
@@ -181,7 +181,7 @@
#if MOTHERBOARD == 2
#define KNOWN_BOARD 1
-#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__)
+#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__) && !defined(__ATmega644P__) && !defined(__ATmega1284P__)
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
@@ -598,6 +598,11 @@
* Gen6 pin assignment
*
****************************************************************************************/
+#if MOTHERBOARD == 51
+ #define MOTHERBOARD 5
+ #define GEN6_DELUXE
+#endif
+
#if MOTHERBOARD == 5
#define KNOWN_BOARD 1
@@ -632,13 +637,18 @@
#define E_ENABLE_PIN 3 //Added @ EJE Electronics 20100715
#define TEMP_0_PIN 5 //changed @ rkoeppl 20110410
#define HEATER_0_PIN 14 //changed @ rkoeppl 20110410
- #define HEATER_1_PIN -1 //changed @ rkoeppl 20110410
+ #ifdef GEN6_DELUXE
+ #define HEATER_1_PIN 1
+ #define TEMP_1_PIN 0
+ #else
+ #define HEATER_1_PIN -1
+ #define TEMP_1_PIN -1
+ #endif
#define SDPOWER -1
#define SDSS 17
#define LED_PIN -1 //changed @ rkoeppl 20110410
- #define TEMP_1_PIN -1 //changed @ rkoeppl 20110410
#define FAN_PIN -1 //changed @ rkoeppl 20110410
#define PS_ON_PIN -1 //changed @ rkoeppl 20110410
//our pin for debugging.
diff --git a/Sprinter/store_eeprom.cpp b/Sprinter/store_eeprom.cpp
index c2cd353..5dc884a 100644
--- a/Sprinter/store_eeprom.cpp
+++ b/Sprinter/store_eeprom.cpp
@@ -29,21 +29,21 @@
//======================================================================================
//========================= Read / Write EEPROM =======================================
-template <class T> int EEPROM_writeAnything(int &ee, const T& value)
+template <class T> int EEPROM_write_setting(int address, const T& value)
{
const byte* p = (const byte*)(const void*)&value;
int i;
for (i = 0; i < (int)sizeof(value); i++)
- eeprom_write_byte((unsigned char *)ee++, *p++);
+ eeprom_write_byte((unsigned char *)address++, *p++);
return i;
}
-template <class T> int EEPROM_readAnything(int &ee, T& value)
+template <class T> int EEPROM_read_setting(int address, T& value)
{
byte* p = (byte*)(void*)&value;
int i;
for (i = 0; i < (int)sizeof(value); i++)
- *p++ = eeprom_read_byte((unsigned char *)ee++);
+ *p++ = eeprom_read_byte((unsigned char *)address++);
return i;
}
//======================================================================================
@@ -51,34 +51,27 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
void EEPROM_StoreSettings()
{
-
- unsigned long ul_help = 20000;
- unsigned int ui_help = 0;
char ver[4]= "000";
- int i=EEPROM_OFFSET;
- EEPROM_writeAnything(i,ver); // invalidate data first
- EEPROM_writeAnything(i,axis_steps_per_unit);
- EEPROM_writeAnything(i,max_feedrate);
- EEPROM_writeAnything(i,max_acceleration_units_per_sq_second);
- EEPROM_writeAnything(i,move_acceleration);
- EEPROM_writeAnything(i,retract_acceleration);
- EEPROM_writeAnything(i,minimumfeedrate);
- EEPROM_writeAnything(i,mintravelfeedrate);
- EEPROM_writeAnything(i,ul_help); //Min Segment Time, not used yet
- EEPROM_writeAnything(i,max_xy_jerk);
- EEPROM_writeAnything(i,max_z_jerk);
+ EEPROM_write_setting(EEPROM_OFFSET, ver); // invalidate data first
+ EEPROM_write_setting(axis_steps_per_unit_address, axis_steps_per_unit);
+ EEPROM_write_setting(max_feedrate_address, max_feedrate);
+ EEPROM_write_setting(max_acceleration_units_per_sq_second_address, max_acceleration_units_per_sq_second);
+ EEPROM_write_setting(move_acceleration_address, move_acceleration);
+ EEPROM_write_setting(retract_acceleration_address, retract_acceleration);
+ EEPROM_write_setting(minimumfeedrate_address, minimumfeedrate);
+ EEPROM_write_setting(mintravelfeedrate_address, mintravelfeedrate);
+ EEPROM_write_setting(min_seg_time_address, min_seg_time); //Min Segment Time, not used yet
+ EEPROM_write_setting(max_xy_jerk_address, max_xy_jerk);
+ EEPROM_write_setting(max_z_jerk_address, max_z_jerk);
+ EEPROM_write_setting(max_e_jerk_address, max_e_jerk);
//PID Settings, not used yet --> placeholder
- ui_help = 2560;
- EEPROM_writeAnything(i,ui_help); //Kp
- ui_help = 64;
- EEPROM_writeAnything(i,ui_help); //Ki
- ui_help = 4096;
- EEPROM_writeAnything(i,ui_help); //Kd
+ EEPROM_write_setting(Kp_address, Kp); //Kp
+ EEPROM_write_setting(Ki_address, Ki); //Ki
+ EEPROM_write_setting(Kd_address, Kd); //Kd
char ver2[4]=EEPROM_VERSION;
- i=EEPROM_OFFSET;
- EEPROM_writeAnything(i,ver2); // validate data
+ EEPROM_write_setting(EEPROM_OFFSET, ver2); // validate data
showString(PSTR("Settings Stored\r\n"));
}
@@ -86,7 +79,6 @@ void EEPROM_StoreSettings()
void EEPROM_printSettings()
{
- // if def=true, the default values will be used
#ifdef PRINT_EEPROM_SETTING
showString(PSTR("Steps per unit:\r\n"));
showString(PSTR(" M92 X"));
@@ -99,7 +91,7 @@ void EEPROM_printSettings()
Serial.println(axis_steps_per_unit[3]);
showString(PSTR("Maximum feedrates (mm/s):\r\n"));
- showString(PSTR(" M203 X"));
+ showString(PSTR(" M202 X"));
Serial.print(max_feedrate[0]);
showString(PSTR(" Y"));
Serial.print(max_feedrate[1]);
@@ -124,7 +116,7 @@ void EEPROM_printSettings()
showString(PSTR(" T"));
Serial.println(retract_acceleration);
- showString(PSTR("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), X=maximum xY jerk (mm/s), Z=maximum Z jerk (mm/s)\r\n"));
+ showString(PSTR("Advanced variables (mm/s): S=Min feedrate, T=Min travel feedrate, X=max xY jerk, Z=max Z jerk, E=max E jerk\r\n"));
showString(PSTR(" M205 S"));
Serial.print(minimumfeedrate );
@@ -135,7 +127,10 @@ void EEPROM_printSettings()
showString(PSTR(" X"));
Serial.print(max_xy_jerk );
showString(PSTR(" Z"));
- Serial.println(max_z_jerk);
+ Serial.print(max_z_jerk);
+ showString(PSTR(" E"));
+ Serial.println(max_e_jerk);
+
#ifdef PIDTEMP
/*
@@ -159,26 +154,24 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
int i=EEPROM_OFFSET;
char stored_ver[4];
char ver[4]=EEPROM_VERSION;
- unsigned long ul_help = 0;
- EEPROM_readAnything(i,stored_ver); //read stored version
- if ((!def)&&(strncmp(ver,stored_ver,3)==0))
+ EEPROM_read_setting(EEPROM_OFFSET,stored_ver); //read stored version
+ if ((!def)&&(strncmp(ver,stored_ver,3)==0))
{ // version number match
- EEPROM_readAnything(i,axis_steps_per_unit);
- EEPROM_readAnything(i,max_feedrate);
- EEPROM_readAnything(i,max_acceleration_units_per_sq_second);
- EEPROM_readAnything(i,move_acceleration);
- EEPROM_readAnything(i,retract_acceleration);
- EEPROM_readAnything(i,minimumfeedrate);
- EEPROM_readAnything(i,mintravelfeedrate);
- EEPROM_readAnything(i,ul_help); //min Segmenttime --> not used yet
- EEPROM_readAnything(i,max_xy_jerk);
- EEPROM_readAnything(i,max_z_jerk);
-
- unsigned int Kp,Ki,Kd;
- EEPROM_readAnything(i,Kp);
- EEPROM_readAnything(i,Ki);
- EEPROM_readAnything(i,Kd);
+ EEPROM_read_setting(axis_steps_per_unit_address, axis_steps_per_unit);
+ EEPROM_read_setting(max_feedrate_address, max_feedrate);
+ EEPROM_read_setting(max_acceleration_units_per_sq_second_address, max_acceleration_units_per_sq_second);
+ EEPROM_read_setting(move_acceleration_address, move_acceleration);
+ EEPROM_read_setting(retract_acceleration_address, retract_acceleration);
+ EEPROM_read_setting(minimumfeedrate_address, minimumfeedrate);
+ EEPROM_read_setting(mintravelfeedrate_address, mintravelfeedrate);
+ EEPROM_read_setting(min_seg_time_address, min_seg_time); //min Segmenttime --> not used yet
+ EEPROM_read_setting(max_xy_jerk_address, max_xy_jerk);
+ EEPROM_read_setting(max_z_jerk_address, max_z_jerk);
+ EEPROM_read_setting(max_e_jerk_address, max_e_jerk);
+ EEPROM_read_setting(Kp_address, Kp);
+ EEPROM_read_setting(Ki_address, Ki);
+ EEPROM_read_setting(Kd_address, Kd);
showString(PSTR("Stored settings retreived\r\n"));
}
@@ -200,10 +193,15 @@ void EEPROM_RetrieveSettings(bool def, bool printout)
mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
max_xy_jerk=_MAX_XY_JERK;
max_z_jerk=_MAX_Z_JERK;
+ max_e_jerk=_MAX_E_JERK;
+ min_seg_time=_MIN_SEG_TIME;
+ Kp = PID_PGAIN;
+ Ki = PID_IGAIN;
+ Kd = PID_DGAIN;
showString(PSTR("Using Default settings\r\n"));
}
-
+
if(printout)
{
EEPROM_printSettings();
diff --git a/Sprinter/store_eeprom.h b/Sprinter/store_eeprom.h
index cff25d3..f275f3a 100644
--- a/Sprinter/store_eeprom.h
+++ b/Sprinter/store_eeprom.h
@@ -27,7 +27,7 @@
// the default values are used whenever there is a change to the data, to prevent
// wrong data being written to the variables.
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
-#define EEPROM_VERSION "S01"
+#define EEPROM_VERSION "S03"
extern float axis_steps_per_unit[4];
@@ -39,7 +39,24 @@ extern float mintravelfeedrate;
extern float minimumfeedrate;
extern float max_xy_jerk;
extern float max_z_jerk;
+extern float max_e_jerk;
+extern unsigned long min_seg_time;
+extern unsigned int Kp, Ki, Kd;
+#define axis_steps_per_unit_address (EEPROM_OFFSET + 4*sizeof(char))
+#define max_feedrate_address (axis_steps_per_unit_address + 4*sizeof(float))
+#define max_acceleration_units_per_sq_second_address (max_feedrate_address + 4*sizeof(float))
+#define move_acceleration_address (max_acceleration_units_per_sq_second_address + 4*sizeof(long))
+#define retract_acceleration_address (move_acceleration_address + sizeof(float))
+#define mintravelfeedrate_address (retract_acceleration_address + sizeof(float))
+#define minimumfeedrate_address (mintravelfeedrate_address + sizeof(float))
+#define max_xy_jerk_address (minimumfeedrate_address + sizeof(float))
+#define max_z_jerk_address (max_xy_jerk_address + sizeof(float))
+#define max_e_jerk_address (max_z_jerk_address + sizeof(float))
+#define min_seg_time_address (max_e_jerk_address + sizeof(float))
+#define Kp_address (min_seg_time_address + sizeof(unsigned long))
+#define Ki_address (Kp_address + sizeof(unsigned int))
+#define Kd_address (Ki_address + sizeof(unsigned int))
extern void EEPROM_RetrieveSettings(bool def, bool printout );
extern void EEPROM_printSettings();
diff --git a/Sprinter/thermistortables.h b/Sprinter/thermistortables.h
index 222c013..270cfaf 100644
--- a/Sprinter/thermistortables.h
+++ b/Sprinter/thermistortables.h
@@ -423,4 +423,4 @@ const short temptable_7[NUMTEMPS_7][2] = {
#error No bed thermistor table specified
#endif
-#endif //THERMISTORTABLES_H_ \ No newline at end of file
+#endif //THERMISTORTABLES_H_
generated by cgit v1.2.1 (git 2.18.0) at 2024-11-22 03:59:29 +0000