diff options
Diffstat (limited to 'Tonokip_Firmware')
| -rw-r--r-- | Tonokip_Firmware/Tonokip_Firmware.pde | 26 |
1 files changed, 16 insertions, 10 deletions
diff --git a/Tonokip_Firmware/Tonokip_Firmware.pde b/Tonokip_Firmware/Tonokip_Firmware.pde index 48a8b1a..23cbd45 100644 --- a/Tonokip_Firmware/Tonokip_Firmware.pde +++ b/Tonokip_Firmware/Tonokip_Firmware.pde @@ -91,6 +91,7 @@ SdFile root; SdFile file; uint32_t filesize=0; uint32_t sdpos=0; +unsigned long timediff=0; bool sdmode=false; bool sdactive=false; int16_t n; @@ -363,7 +364,7 @@ inline void process_commands() y_steps_to_take = abs(destination_y - current_y)*y_steps_per_unit; z_steps_to_take = abs(destination_z - current_z)*z_steps_per_unit; e_steps_to_take = abs(destination_e - current_e)*e_steps_per_unit; - + #define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000)) #define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000)) #define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*feedrate/60000000)) @@ -653,10 +654,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin else digitalWrite(E_DIR_PIN,INVERT_E_DIR); //Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration. - if(x_steps_remaining) enable_x(); - if(y_steps_remaining) enable_y(); - if(z_steps_remaining) enable_z(); - if(e_steps_remaining) enable_e(); + if(x_steps_remaining) { enable_x(); do_x_step(); x_steps_remaining--;} + if(y_steps_remaining) { enable_y(); do_y_step(); y_steps_remaining--;} + if(z_steps_remaining) { enable_z(); do_z_step(); z_steps_remaining--;} + if(e_steps_remaining) { enable_e(); do_e_step(); e_steps_remaining--;} if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0; if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0; @@ -668,22 +669,27 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) // move until no more steps remain { if(x_steps_remaining) { - if ((micros()-previous_micros_x) >= x_interval) { do_x_step(); x_steps_remaining--; } if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0; + timediff=micros()-previous_micros_x; + while(timediff >= x_interval && x_steps_remaining) { do_x_step(); x_steps_remaining--; timediff-=x_interval;} } if(y_steps_remaining) { - if ((micros()-previous_micros_y) >= y_interval) { do_y_step(); y_steps_remaining--; } if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0; + timediff=micros()-previous_micros_y; + while(timediff >= y_interval && y_steps_remaining) { do_y_step(); y_steps_remaining--; timediff-=y_interval;} } if(z_steps_remaining) { - if ((micros()-previous_micros_z) >= z_interval) { do_z_step(); z_steps_remaining--; } if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0; + timediff=micros()-previous_micros_z; + while(timediff >= z_interval && z_steps_remaining) { do_z_step(); z_steps_remaining--; timediff-=z_interval;} } - if(e_steps_remaining) if ((micros()-previous_micros_e) >= e_interval) { do_e_step(); e_steps_remaining--; } - + if(e_steps_remaining){ + timediff=micros()-previous_micros_e; + while(timediff >= e_interval && e_steps_remaining) { do_e_step(); e_steps_remaining--; timediff-=e_interval;} + } if( (millis() - previous_millis_heater) >= 500 ) { manage_heater(); previous_millis_heater = millis(); |