diff options
Diffstat (limited to 'Tonokip_Firmware')
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 217 | ||||
| -rw-r--r-- | Tonokip_Firmware/configuration.h | 13 |
2 files changed, 125 insertions, 105 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 8d14217..bc65755 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -67,11 +67,14 @@ unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take 100000000.0 / (max_start_speed_units_per_second[1] * axis_steps_per_unit[1]), 100000000.0 / (max_start_speed_units_per_second[2] * axis_steps_per_unit[2]), 100000000.0 / (max_start_speed_units_per_second[3] * axis_steps_per_unit[3])}; //TODO: refactor all things like this in a function, or move to setup() + // in a for loop unsigned long max_interval; unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0], - max_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2]}; + max_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2], + max_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]}; unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0], - max_travel_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_travel_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2]}; + max_travel_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_travel_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2], + max_travel_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]}; unsigned long steps_per_sqr_second, plateau_steps; #endif #ifdef EXP_ACCELERATION @@ -270,36 +273,6 @@ void setup() initsd(); #endif - - -/* - //Sort the axis with ascending max start speed in steps/s. The insertion sort - // algorithm is used, since it's the less expensive in code size. - #ifdef RAMP_ACCELERATION - long temp_max_intervals[NUM_AXIS]; - for(int i=0; i < NUM_AXIS; i++) { - temp_max_intervals[i] = axis_max_interval[i]; - max_start_speed_axis_asc_order[i] = i; - } - for(int i=1; i < NUM_AXIS; i++) { - int j=i-1; - long axis_value = temp_max_intervals[i]; - while(j >= 0 && temp_max_intervals[j] < axis_value) { - temp_max_intervals[j+1] = temp_max_intervals[j]; - max_start_speed_axis_asc_order[j+1] = max_start_speed_axis_asc_order[j]; - j--; - } - temp_max_intervals[j+1] = axis_value; - max_start_speed_axis_asc_order[j+1] = i; - } - #ifdef DEBUGGING - Serial.println("New start speed axes order :"); - Serial.println(max_start_speed_axis_asc_order[0]); - Serial.println(max_start_speed_axis_asc_order[1]); - Serial.println(max_start_speed_axis_asc_order[2]); - Serial.println(max_start_speed_axis_asc_order[3]); - #endif - #endif*/ } @@ -825,11 +798,13 @@ inline void process_commands() if(code_seen('X')) axis_steps_per_sqr_second[0] = code_value() * axis_steps_per_unit[0]; if(code_seen('Y')) axis_steps_per_sqr_second[1] = code_value() * axis_steps_per_unit[1]; if(code_seen('Z')) axis_steps_per_sqr_second[2] = code_value() * axis_steps_per_unit[2]; + if(code_seen('E')) axis_steps_per_sqr_second[3] = code_value() * axis_steps_per_unit[3]; break; case 202: // M202 if(code_seen('X')) axis_travel_steps_per_sqr_second[0] = code_value() * axis_steps_per_unit[0]; if(code_seen('Y')) axis_travel_steps_per_sqr_second[1] = code_value() * axis_steps_per_unit[1]; if(code_seen('Z')) axis_travel_steps_per_sqr_second[2] = code_value() * axis_steps_per_unit[2]; + if(code_seen('E')) axis_travel_steps_per_sqr_second[3] = code_value() * axis_steps_per_unit[3]; break; #endif } @@ -951,9 +926,7 @@ inline void prepare_move() if(z_steps_to_take) axis_interval[2] = time_for_move / z_steps_to_take * 100; if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0) ) axis_interval[3] = time_for_move / e_steps_to_take * 100; - //#define DEBUGGING false - #if 0 - if(0) { + #ifdef DEBUG_PREPARE_MOVE Serial.print("destination_x: "); Serial.println(destination_x); Serial.print("current_x: "); Serial.println(current_x); Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take); @@ -978,16 +951,9 @@ inline void prepare_move() Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE); Serial.print("axis_interval[3]: "); Serial.println(axis_interval[3]); Serial.println(""); - } - #endif - #ifdef PRINT_MOVE_TIME - unsigned long startmove = micros(); #endif unsigned long axis_steps_to_take[NUM_AXIS] = {x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take}; linear_move(axis_steps_to_take); // make the move - #ifdef PRINT_MOVE_TIME - Serial.println(micros()-startmove); - #endif } void linear_move(unsigned long axis_steps_remaining[]) // make linear move with preset speeds and destinations, see G0 and G1 @@ -1016,38 +982,37 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with if(axis_steps_remaining[0]) enable_x(); if(axis_steps_remaining[1]) enable_y(); if(axis_steps_remaining[2]) enable_z(); - if(axis_steps_remaining[3]) { enable_e(); do_step(3); axis_steps_remaining[3]--; } + if(axis_steps_remaining[3]) enable_e(); //Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm. unsigned int delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes - boolean steep_y = delta[1] > delta[0] && delta[1] > delta[2];// && delta[1] > delta[3]; - boolean steep_x = delta[0] >= delta[1] && delta[0] > delta[2];// && delta[0] > delta[3]]; - boolean steep_z = delta[2] >= delta[0] && delta[2] >= delta[1]; // && delta[2] > delta[3]; int axis_error[NUM_AXIS]; unsigned int primary_axis; - if(steep_x) primary_axis = 0; - else if (steep_y) primary_axis = 1; - else primary_axis = 2; - #ifdef RAMP_ACCELERATION - long max_speed_steps_per_second; - long min_speed_steps_per_second; - #endif - #ifdef EXP_ACCELERATION - unsigned long virtual_full_velocity_steps; - unsigned long full_velocity_steps; - #endif + if(delta[1] > delta[0] && delta[1] > delta[2] && delta[1] > delta[3]) primary_axis = 1; + else if (delta[0] >= delta[1] && delta[0] > delta[2] && delta[0] > delta[3]) primary_axis = 0; + else if (delta[2] >= delta[0] && delta[2] >= delta[1] && delta[2] > delta[3]) primary_axis = 2; + else primary_axis = 3; unsigned long steps_remaining = delta[primary_axis]; unsigned long steps_to_take = steps_remaining; for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2; interval = axis_interval[primary_axis]; + #ifdef DEBUG_BRESENHAM + log_int("_BRESENHAM - Primary axis", primary_axis); + log_int("_BRESENHAM - Primary axis full speed interval", interval); + #endif //If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it. #ifdef RAMP_ACCELERATION + long max_speed_steps_per_second; + long min_speed_steps_per_second; max_interval = axis_max_interval[primary_axis]; + #ifdef DEBUG_RAMP_ACCELERATION + log_ulong_array("_RAMP_ACCELERATION - Teoric step intervals at move start", axis_max_interval, NUM_AXIS); + #endif unsigned long new_axis_max_intervals[NUM_AXIS]; max_speed_steps_per_second = 100000000 / interval; min_speed_steps_per_second = 100000000 / max_interval; //TODO: can this be deleted? - //Calculate start speeds based on moving axes max start speed constraints. TODO: delete all println + //Calculate start speeds based on moving axes max start speed constraints. int slowest_start_axis = primary_axis; unsigned long slowest_start_axis_max_interval = max_interval; for(int i = 0; i < NUM_AXIS; i++) @@ -1059,17 +1024,17 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with for(int i = 0; i < NUM_AXIS; i++) if(axis_steps_remaining[i] >0) { new_axis_max_intervals[i] = slowest_start_axis_max_interval * axis_steps_remaining[i] / axis_steps_remaining[slowest_start_axis]; - //Serial.print("new_axis_max_intervals[i] :"); Serial.println(new_axis_max_intervals[i]); //TODO: delete this println when finished if(i == primary_axis) { max_interval = new_axis_max_intervals[i]; min_speed_steps_per_second = 100000000 / max_interval; } } - max_interval = new_axis_max_intervals[primary_axis]; - //Serial.print("Max interval :"); Serial.println(max_interval); //TODO: delete this println when finished + #ifdef DEBUG_RAMP_ACCELERATION + log_ulong_array("_RAMP_ACCELERATION - Actual step intervals at move start", new_axis_max_intervals, NUM_AXIS); + #endif //Calculate slowest axis plateau time float slowest_axis_plateau_time = 0; - for(int i=0; i < 3 ; i++) { //TODO: change to NUM_AXIS as axes get added to bresenham + for(int i=0; i < NUM_AXIS ; i++) { if(axis_steps_remaining[i] > 0) { if(e_steps_to_take > 0 && axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time, (100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_steps_per_sqr_second[i]); @@ -1082,6 +1047,8 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with plateau_steps = (long) ((steps_per_sqr_second / 2.0 * slowest_axis_plateau_time + min_speed_steps_per_second) * slowest_axis_plateau_time); #endif #ifdef EXP_ACCELERATION + unsigned long virtual_full_velocity_steps; + unsigned long full_velocity_steps; if(e_steps_to_take > 0) virtual_full_velocity_steps = axis_virtual_full_velocity_steps[primary_axis]; else virtual_full_velocity_steps = axis_travel_virtual_full_velocity_steps[primary_axis]; full_velocity_steps = min(virtual_full_velocity_steps, (delta[primary_axis] - axis_min_constant_speed_steps[primary_axis]) / 2); @@ -1116,6 +1083,10 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with for(int i = 0; i < NUM_AXIS; i++) { axis_previous_micros[i] = start_move_micros * 100; } + + #ifdef DEBUG_MOVE_TIME + unsigned long startmove = micros(); + #endif //move until no more steps remain while(axis_steps_remaining[0] + axis_steps_remaining[1] + axis_steps_remaining[2] + axis_steps_remaining[3] > 0) { @@ -1181,7 +1152,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with #endif //If there are x or y steps remaining, perform Bresenham algorithm - if(axis_steps_remaining[0] || axis_steps_remaining[1] || axis_steps_remaining[2]) { + if(axis_steps_remaining[primary_axis]) { if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break; if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break; if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break; @@ -1193,18 +1164,14 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with steps_done++; steps_remaining--; axis_steps_remaining[primary_axis]--; timediff -= interval; - do_step(primary_axis); - for(int i=0; i < 3; i++) if(i != primary_axis) {//TODO change "3" to NUM_AXIS when other axes gets added to bresenham + do_step_update_micros(primary_axis); + for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis && axis_steps_remaining[i] > 0) { axis_error[i] = axis_error[i] - delta[i]; if(axis_error[i] < 0) { do_step(i); axis_steps_remaining[i]--; axis_error[i] = axis_error[i] + delta[primary_axis]; } } - #ifdef RAMP_ACCELERATION - //TODO: may this check be dangerous? -> steps_remaining == plateau_steps - if (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating)) break; - #endif #ifdef STEP_DELAY_RATIO if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000); #endif @@ -1213,36 +1180,10 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with #endif } } - #ifdef RAMP_ACCELERATION - if((axis_steps_remaining[0]>0 || axis_steps_remaining[1]>0) && - steps_to_take > 0 && - (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating))) continue; - #endif - - //If there are e steps remaining, check if e steps must be taken - if(axis_steps_remaining[3]){ - if (x_steps_to_take + y_steps_to_take + z_steps_to_take<= 0) timediff = micros()*100 - axis_previous_micros[3]; - unsigned int final_e_steps_remaining = 0; - if (steep_x && x_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * axis_steps_remaining[0] / x_steps_to_take; - else if (steep_y && y_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * axis_steps_remaining[1] / y_steps_to_take; - else if (steep_z && z_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * axis_steps_remaining[2] / z_steps_to_take; - //If this move has X or Y steps, let E follow the Bresenham pace - if (final_e_steps_remaining > 0) while(axis_steps_remaining[3] > final_e_steps_remaining) { do_step(3); axis_steps_remaining[3]--;} - else if (x_steps_to_take + y_steps_to_take + z_steps_to_take > 0) while(axis_steps_remaining[3]) { do_step(3); axis_steps_remaining[3]--;} - //Else, normally check if e steps must be taken - else while (timediff >= axis_interval[3] && axis_steps_remaining[3]) { - do_step(3); - axis_steps_remaining[3]--; - timediff -= axis_interval[3]; - #ifdef STEP_DELAY_RATIO - if(timediff >= axis_interval[3]) delayMicroseconds(long_step_delay_ratio * axis_interval[3] / 10000); - #endif - #ifdef STEP_DELAY_MICROS - if(timediff >= axis_interval[3]) delayMicroseconds(STEP_DELAY_MICROS); - #endif - } - } } + #ifdef DEBUG_MOVE_TIME + log_ulong("_MOVE_TIME - This move took", micros()-startmove); + #endif if(DISABLE_X) disable_x(); if(DISABLE_Y) disable_y(); @@ -1260,13 +1201,14 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with else current_e = current_e - e_steps_to_take / axis_steps_per_unit[3]; } +inline void do_step_update_micros(int axis) { + digitalWrite(STEP_PIN[axis], HIGH); + axis_previous_micros[axis] += interval; + digitalWrite(STEP_PIN[axis], LOW); +} inline void do_step(int axis) { digitalWrite(STEP_PIN[axis], HIGH); - //TODO: the following check is ugly and not the best thing to do here, but this will be sorted out more easily when all - // axis will be under Bresenham - if(axis < 2) axis_previous_micros[axis] += interval; - else axis_previous_micros[axis] += axis_interval[axis]; digitalWrite(STEP_PIN[axis], LOW); } @@ -1581,3 +1523,74 @@ inline void manage_inactivity(byte debug) { if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill(); if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); } } + +#ifdef DEBUG +void log_message(char* message) { + Serial.println(message); +} + +void log_int(char* message, int value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_long(char* message, long value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_float(char* message, float value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_uint(char* message, unsigned int value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_ulong(char* message, unsigned long value) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value); +} + +void log_int_array(char* message, int value[], int array_lenght) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": {"); + for(int i=0; i < array_lenght; i++){ + Serial.print(value[i]); + if(i != array_lenght-1) Serial.print(", "); + } + Serial.println("}"); +} + +void log_long_array(char* message, long value[], int array_lenght) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": {"); + for(int i=0; i < array_lenght; i++){ + Serial.print(value[i]); + if(i != array_lenght-1) Serial.print(", "); + } + Serial.println("}"); +} + +void log_float_array(char* message, float value[], int array_lenght) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": {"); + for(int i=0; i < array_lenght; i++){ + Serial.print(value[i]); + if(i != array_lenght-1) Serial.print(", "); + } + Serial.println("}"); +} + +void log_uint_array(char* message, unsigned int value[], int array_lenght) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": {"); + for(int i=0; i < array_lenght; i++){ + Serial.print(value[i]); + if(i != array_lenght-1) Serial.print(", "); + } + Serial.println("}"); +} + +void log_ulong_array(char* message, unsigned long value[], int array_lenght) { + Serial.print("DEBUG"); Serial.print(message); Serial.print(": {"); + for(int i=0; i < array_lenght; i++){ + Serial.print(value[i]); + if(i != array_lenght-1) Serial.print(", "); + } + Serial.println("}"); +} +#endif diff --git a/Tonokip_Firmware/configuration.h b/Tonokip_Firmware/configuration.h index f8de2a7..cea0740 100644 --- a/Tonokip_Firmware/configuration.h +++ b/Tonokip_Firmware/configuration.h @@ -26,9 +26,9 @@ //Acceleration settings #ifdef RAMP_ACCELERATION -//X, Y, Z, E maximum start speed for accelerated moves. E default value is good for skeinforge 40+, for older versions raise it a lot. +//X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. float max_start_speed_units_per_second[] = {35.0,35.0,0.2,10.0}; -long max_acceleration_units_per_sq_second[] = {750,750,50,4000}; // X, Y, Z (E currently not used) max acceleration in mm/s^2 for printing moves +long max_acceleration_units_per_sq_second[] = {750,750,50,4000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts long max_travel_acceleration_units_per_sq_second[] = {1500,1500,50}; // X, Y, Z max acceleration in mm/s^2 for travel moves #endif #ifdef EXP_ACCELERATION @@ -151,6 +151,13 @@ const int Z_MAX_LENGTH = 100; #define BAUDRATE 115200 -//#define PRINT_MOVE_TIME +//Uncomment the following line to enable debugging. You can better control debugging below the following line +//#define DEBUG +#ifdef DEBUG + #define DEBUG_PREPARE_MOVE //Enable this to debug prepare_move() function + #define DEBUG_BRESENHAM //Enable this to debug the Bresenham algorithm + #define DEBUG_RAMP_ACCELERATION //Enable this to debug all constant acceleration info + #define DEBUG_MOVE_TIME //Enable this to time each move and print the result +#endif #endif |