From 1d171e9e52012c8129dfec2b7f2640e696678f2e Mon Sep 17 00:00:00 2001 From: Bernhard Kubicek Date: Sun, 6 Nov 2011 19:23:08 +0100 Subject: [PATCH] reformating and some minor bugs/things found on the way. --- Marlin/Configuration.h | 89 +++-- Marlin/EEPROMwrite.h | 117 +++--- Marlin/Marlin.h | 57 ++- Marlin/Marlin.pde | 781 +++++++++++++++++++------------------ Marlin/motion_control.cpp | 18 +- Marlin/pins.h | 68 ++++ Marlin/planner.cpp | 82 ++-- Marlin/planner.h | 25 +- Marlin/speed_lookuptable.h | 1 + Marlin/stepper.cpp | 402 +++++++++---------- Marlin/stepper.h | 4 +- Marlin/temperature.cpp | 389 +++++++++--------- Marlin/temperature.h | 21 +- Marlin/ultralcd.h | 126 ++---- Marlin/ultralcd.pde | 199 +++++----- Marlin/watchdog.h | 15 +- Marlin/watchdog.pde | 2 +- 17 files changed, 1204 insertions(+), 1192 deletions(-) diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 8ad0e2282..b437bfb01 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -1,5 +1,5 @@ -#ifndef CONFIGURATION_H -#define CONFIGURATION_H +#ifndef __CONFIGURATION_H +#define __CONFIGURATION_H //#define DEBUG_STEPS @@ -118,10 +118,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E //note: on bernhards ultimaker 200 200 12 are working well. #define HOMING_FEEDRATE {50*60, 50*60, 12*60, 0} // set the homing speeds -//the followint checks if an extrusion is existent in the move. if _not_, the speed of the move is set to the maximum speed. -//!!!!!!Use only if you know that your printer works at the maximum declared speeds. -// works around the skeinforge cool-bug. There all moves are slowed to have a minimum layer time. However slow travel moves= ooze -#define TRAVELING_AT_MAXSPEED + #define AXIS_RELATIVE_MODES {false, false, false, false} #define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step) @@ -177,41 +174,50 @@ const int dropsegments=5; //everything with this number of steps will be ignore //#define_HEATER_1_MAXTEMP 275 //#define BED_MAXTEMP 150 - - - - - - +/// PID settings: +// Uncomment the following line to enable PID support. + #define PIDTEMP #ifdef PIDTEMP - /// PID settings: - // Uncomment the following line to enable PID support. - //#define SMOOTHING - //#define SMOOTHFACTOR 5.0 - //float current_raw_average=0; - #define K1 0.95 //smoothing of the PID //#define PID_DEBUG // Sends debug data to the serial port. //#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in % - #define PID_MAX 255 // limits current to nozzle - #define PID_INTEGRAL_DRIVE_MAX 255 - #define PID_dT 0.1 - //machine with red silicon: 1950:45 second ; with fan fully blowin 3000:47 + + #define PID_MAX 255 // limits current to nozzle; 255=full current + #define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term + #define K1 0.95 //smoothing factor withing the PID + #define PID_dT 0.1 //sampling period of the PID + + //To develop some PID settings for your machine, you can initiall follow + // the Ziegler-Nichols method. + // set Ki and Kd to zero. + // heat with a defined Kp and see if the temperature stabilizes + // ideally you do this graphically with repg. + // the PID_CRITIAL_GAIN should be the Kp at which temperature oscillatins are not dampned out/decreas in amplitutde + // PID_SWING_AT_CRITIAL is the time for a full period of the oscillations at the critical Gain + // usually further manual tunine is necessary. #define PID_CRITIAL_GAIN 3000 #define PID_SWING_AT_CRITIAL 45 //seconds - #define PIDIADD 5 - /* - //PID according to Ziegler-Nichols method - float Kp = 0.6*PID_CRITIAL_GAIN; - float Ki =PIDIADD+2*Kp/PID_SWING_AT_CRITIAL*PID_dT; - float Kd = Kp*PID_SWING_AT_CRITIAL/8./PID_dT; - */ - //PI according to Ziegler-Nichols method - #define DEFAULT_Kp (PID_CRITIAL_GAIN/2.2) - #define DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT) - #define DEFAULT_Kd (0) + #define PID_PI //no differentail term + //#define PID_PID //normal PID + + #ifdef PID_PID + //PID according to Ziegler-Nichols method + #define DEFAULT_Kp (0.6*PID_CRITIAL_GAIN) + #define DEFAULT_Ki (2*Kp/PID_SWING_AT_CRITIAL*PID_dT) + #define DEFAULT_Kd (PID_SWING_AT_CRITIAL/8./PID_dT) + #endif + + #ifdef PID_PI + //PI according to Ziegler-Nichols method + #define DEFAULT_Kp (PID_CRITIAL_GAIN/2.2) + #define DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT) + #define DEFAULT_Kd (0) + #endif + + // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed. + // if Kc is choosen well, the additional required power due to increased melting should be compensated. #define PID_ADD_EXTRUSION_RATE #ifdef PID_ADD_EXTRUSION_RATE #define DEFAULT_Kc (5) //heatingpower=Kc*(e_speed) @@ -228,22 +234,21 @@ const int dropsegments=5; //everything with this number of steps will be ignore //#define ADVANCE #ifdef ADVANCE -#define EXTRUDER_ADVANCE_K .3 + #define EXTRUDER_ADVANCE_K .3 -#define D_FILAMENT 1.7 -#define STEPS_MM_E 65 -#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159) -#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA) + #define D_FILAMENT 1.7 + #define STEPS_MM_E 65 + #define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159) + #define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA) #endif // ADVANCE -// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, e.g. 8,16,32 -#if defined SDSUPPORT // The number of linear motions that can be in the plan at any give time. +// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering. +#if defined SDSUPPORT #define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller #else #define BLOCK_BUFFER_SIZE 16 // maximize block buffer #endif - -#endif +#endif //__CONFIGURATION_H diff --git a/Marlin/EEPROMwrite.h b/Marlin/EEPROMwrite.h index dba2d443e..db9f2fde1 100644 --- a/Marlin/EEPROMwrite.h +++ b/Marlin/EEPROMwrite.h @@ -1,39 +1,42 @@ #ifndef __EEPROMH #define __EEPROMH + +#include "Marlin.h" #include "planner.h" #include "temperature.h" #include -#include "Marlin.h" -#include "streaming.h" -//====================================================================================== template int EEPROM_writeAnything(int &ee, const T& value) { - const byte* p = (const byte*)(const void*)&value; - int i; - for (i = 0; i < (int)sizeof(value); i++) - EEPROM.write(ee++, *p++); - return i; + const byte* p = (const byte*)(const void*)&value; + int i; + for (i = 0; i < (int)sizeof(value); i++) + EEPROM.write(ee++, *p++); + return i; } -//====================================================================================== + template int EEPROM_readAnything(int &ee, T& value) { - byte* p = (byte*)(void*)&value; - int i; - for (i = 0; i < (int)sizeof(value); i++) - *p++ = EEPROM.read(ee++); - return i; + byte* p = (byte*)(void*)&value; + int i; + for (i = 0; i < (int)sizeof(value); i++) + *p++ = EEPROM.read(ee++); + return i; } //====================================================================================== #define EEPROM_OFFSET 100 -#define EEPROM_VERSION "V04" // IMPORTANT: Whenever there are changes made to the variables stored in EEPROM - // in the functions below, also increment the version number. This makes sure that - // 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. -void StoreSettings() { + +// IMPORTANT: Whenever there are changes made to the variables stored in EEPROM +// in the functions below, also increment the version number. This makes sure that +// 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 "V04" + +void StoreSettings() +{ char ver[4]= "000"; int i=EEPROM_OFFSET; EEPROM_writeAnything(i,ver); // invalidate data first @@ -48,52 +51,55 @@ void StoreSettings() { EEPROM_writeAnything(i,max_xy_jerk); EEPROM_writeAnything(i,max_z_jerk); #ifdef PIDTEMP - EEPROM_writeAnything(i,Kp); - EEPROM_writeAnything(i,Ki); - EEPROM_writeAnything(i,Kd); -#else - EEPROM_writeAnything(i,3000); - EEPROM_writeAnything(i,0); - EEPROM_writeAnything(i,0); -#endif + EEPROM_writeAnything(i,Kp); + EEPROM_writeAnything(i,Ki); + EEPROM_writeAnything(i,Kd); + #else + EEPROM_writeAnything(i,3000); + EEPROM_writeAnything(i,0); + EEPROM_writeAnything(i,0); + #endif char ver2[4]=EEPROM_VERSION; i=EEPROM_OFFSET; EEPROM_writeAnything(i,ver2); // validate data - SERIAL_ECHOLN("Settings Stored"); - + SERIAL_ECHOLN("Settings Stored"); } -void RetrieveSettings(bool def=false){ // if def=true, the default values will be used +void RetrieveSettings(bool def=false) +{ // if def=true, the default values will be used int i=EEPROM_OFFSET; char stored_ver[4]; char ver[4]=EEPROM_VERSION; EEPROM_readAnything(i,stored_ver); //read stored version -// SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]"); - 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,acceleration); - EEPROM_readAnything(i,retract_acceleration); - EEPROM_readAnything(i,minimumfeedrate); - EEPROM_readAnything(i,mintravelfeedrate); - EEPROM_readAnything(i,minsegmenttime); - EEPROM_readAnything(i,max_xy_jerk); - EEPROM_readAnything(i,max_z_jerk); -#ifndef PIDTEMP + // SERIAL_ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]"); + 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,acceleration); + EEPROM_readAnything(i,retract_acceleration); + EEPROM_readAnything(i,minimumfeedrate); + EEPROM_readAnything(i,mintravelfeedrate); + EEPROM_readAnything(i,minsegmenttime); + EEPROM_readAnything(i,max_xy_jerk); + EEPROM_readAnything(i,max_z_jerk); + #ifndef PIDTEMP float Kp,Ki,Kd; -#endif - EEPROM_readAnything(i,Kp); - EEPROM_readAnything(i,Ki); - EEPROM_readAnything(i,Kd); + #endif + EEPROM_readAnything(i,Kp); + EEPROM_readAnything(i,Ki); + EEPROM_readAnything(i,Kd); - SERIAL_ECHOLN("Stored settings retreived:"); + SERIAL_ECHOLN("Stored settings retreived:"); } - else { + else + { float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT; float tmp2[]=DEFAULT_MAX_FEEDRATE; long tmp3[]=DEFAULT_MAX_ACCELERATION; - for (int i=0;i<4;i++) { + for (short i=0;i<4;i++) + { axis_steps_per_unit[i]=tmp1[i]; max_feedrate[i]=tmp2[i]; max_acceleration_units_per_sq_second[i]=tmp3[i]; @@ -117,11 +123,10 @@ void RetrieveSettings(bool def=false){ // if def=true, the default values will SERIAL_ECHOLN(" M204 S" <<_FLOAT(acceleration,2) << " T" << _FLOAT(retract_acceleration,2)); SERIAL_ECHOLN("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s), Z=maximum Z jerk (mm/s)"); SERIAL_ECHOLN(" M205 S" <<_FLOAT(minimumfeedrate/60,2) << " T" << _FLOAT(mintravelfeedrate/60,2) << " B" << _FLOAT(minsegmenttime,2) << " X" << _FLOAT(max_xy_jerk/60,2) << " Z" << _FLOAT(max_z_jerk/60,2)); -#ifdef PIDTEMP - SERIAL_ECHOLN("PID settings:"); - SERIAL_ECHOLN(" M301 P" << _FLOAT(Kp,3) << " I" << _FLOAT(Ki,3) << " D" << _FLOAT(Kd,3)); -#endif - + #ifdef PIDTEMP + SERIAL_ECHOLN("PID settings:"); + SERIAL_ECHOLN(" M301 P" << _FLOAT(Kp,3) << " I" << _FLOAT(Ki,3) << " D" << _FLOAT(Kd,3)); + #endif } #endif diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index 06f701d03..21eadeeb5 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -18,41 +18,39 @@ void process_commands(); void manage_inactivity(byte debug); #if X_ENABLE_PIN > -1 -#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON) -#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON) + #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON) + #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON) #else -#define enable_x() ; -#define disable_x() ; + #define enable_x() ; + #define disable_x() ; #endif + #if Y_ENABLE_PIN > -1 -#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON) -#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON) + #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON) + #define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON) #else -#define enable_y() ; -#define disable_y() ; + #define enable_y() ; + #define disable_y() ; #endif + #if Z_ENABLE_PIN > -1 -#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON) -#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON) + #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON) + #define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON) #else -#define enable_z() ; -#define disable_z() ; + #define enable_z() ; + #define disable_z() ; #endif #if E_ENABLE_PIN > -1 - - #define enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON) - #define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON) - + #define enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON) + #define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON) #else -#define enable_e() ; -#define disable_e() ; + #define enable_e() ; + #define disable_e() ; #endif -#define X_AXIS 0 -#define Y_AXIS 1 -#define Z_AXIS 2 -#define E_AXIS 3 +enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3}; + void FlushSerialRequestResend(); void ClearToSend(); @@ -61,26 +59,15 @@ void get_coordinates(); void prepare_move(); void kill(); -//void check_axes_activity(); -//void plan_init(); -//void st_init(); -//void tp_init(); -//void plan_buffer_line(float x, float y, float z, float e, float feed_rate); -//void plan_set_position(float x, float y, float z, float e); -//void st_wake_up(); -//void st_synchronize(); void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer. #ifndef CRITICAL_SECTION_START -#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli(); -#define CRITICAL_SECTION_END SREG = _sreg; + #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli(); + #define CRITICAL_SECTION_END SREG = _sreg; #endif //CRITICAL_SECTION_START extern float homing_feedrate[]; extern bool axis_relative_modes[]; - -void kill(); - #endif diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde index b449bb069..6c2c6c87a 100644 --- a/Marlin/Marlin.pde +++ b/Marlin/Marlin.pde @@ -25,6 +25,7 @@ http://reprap.org/pipermail/reprap-dev/2011-May/003323.html */ +#include #include "EEPROMwrite.h" #include "fastio.h" #include "Configuration.h" @@ -37,14 +38,11 @@ #include "temperature.h" #include "motion_control.h" -#ifdef SIMPLE_LCD - #include "Simplelcd.h" -#endif char version_string[] = "1.0.0 Alpha 1"; #ifdef SDSUPPORT -#include "SdFat.h" + #include "SdFat.h" #endif //SDSUPPORT @@ -109,12 +107,9 @@ char version_string[] = "1.0.0 Alpha 1"; //Stepper Movement Variables -char axis_codes[NUM_AXIS] = { - 'X', 'Y', 'Z', 'E'}; -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}; +const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'}; +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 offset[3] = {0.0, 0.0, 0.0}; bool home_all_axis = true; float feedrate = 1500.0, next_feedrate, saved_feedrate; @@ -131,6 +126,7 @@ uint8_t fanpwm=0; volatile int feedmultiply=100; //100->1 200->2 int saved_feedmultiply; volatile bool feedmultiplychanged=false; + // comm variables #define MAX_CMD_SIZE 96 #define BUFSIZE 4 @@ -146,13 +142,10 @@ boolean comment_mode = false; char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc extern float HeaterPower; -#include "EEPROM.h" - const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42 float tt = 0, bt = 0; - //Inactivity shutdown variables unsigned long previous_millis_cmd = 0; unsigned long max_inactive_time = 0; @@ -161,73 +154,81 @@ unsigned long stepper_inactive_time = 0; unsigned long starttime=0; unsigned long stoptime=0; #ifdef SDSUPPORT -Sd2Card card; -SdVolume volume; -SdFile root; -SdFile file; -uint32_t filesize = 0; -uint32_t sdpos = 0; -bool sdmode = false; -bool sdactive = false; -bool savetosd = false; -int16_t n; -unsigned long autostart_atmillis=0; + Sd2Card card; + SdVolume volume; + SdFile root; + SdFile file; + uint32_t filesize = 0; + uint32_t sdpos = 0; + bool sdmode = false; + bool sdactive = false; + bool savetosd = false; + int16_t n; + unsigned long autostart_atmillis=0; + + bool autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware. -void initsd() -{ - sdactive = false; -#if SDSS >- 1 - if(root.isOpen()) - root.close(); - if (!card.init(SPI_FULL_SPEED,SDSS)) - { - //if (!card.init(SPI_HALF_SPEED,SDSS)) - SERIAL_ECHOLN("SD init fail"); - } - else if (!volume.init(&card)) - { - SERIAL_ERRORLN("volume.init failed"); - } - else if (!root.openRoot(&volume)) - { - SERIAL_ERRORLN("openRoot failed"); - } - else - { - sdactive = true; - SERIAL_ECHOLN("SD card ok"); - } -#endif //SDSS -} -void quickinitsd(){ - sdactive=false; - autostart_atmillis=millis()+5000; -} - -inline void write_command(char *buf){ - char* begin = buf; - char* npos = 0; - char* end = buf + strlen(buf) - 1; - - file.writeError = false; - if((npos = strchr(buf, 'N')) != NULL){ - begin = strchr(npos, ' ') + 1; - end = strchr(npos, '*') - 1; + void initsd() + { + sdactive = false; + #if SDSS >- 1 + if(root.isOpen()) + root.close(); + if (!card.init(SPI_FULL_SPEED,SDSS)) + { + //if (!card.init(SPI_HALF_SPEED,SDSS)) + SERIAL_ECHOLN("SD init fail"); + } + else if (!volume.init(&card)) + { + SERIAL_ERRORLN("volume.init failed"); + } + else if (!root.openRoot(&volume)) + { + SERIAL_ERRORLN("openRoot failed"); + } + else + { + sdactive = true; + SERIAL_ECHOLN("SD card ok"); + } + #endif //SDSS } - end[1] = '\r'; - end[2] = '\n'; - end[3] = '\0'; - //Serial.println(begin); - file.write(begin); - if (file.writeError){ - SERIAL_ERRORLN("error writing to file"); + + void quickinitsd() + { + sdactive=false; + autostart_atmillis=millis()+5000; + } + + inline void write_command(char *buf) + { + char* begin = buf; + char* npos = 0; + char* end = buf + strlen(buf) - 1; + + file.writeError = false; + if((npos = strchr(buf, 'N')) != NULL) + { + begin = strchr(npos, ' ') + 1; + end = strchr(npos, '*') - 1; + } + end[1] = '\r'; + end[2] = '\n'; + end[3] = '\0'; + file.write(begin); + if (file.writeError) + { + SERIAL_ERRORLN("error writing to file"); + } } -} #endif //SDSUPPORT -///adds an command to the main command buffer +//adds an command to the main command buffer +//thats really done in a non-safe way. +//needs overworking someday void enquecommand(const char *cmd) { if(buflen < BUFSIZE) @@ -242,106 +243,93 @@ void enquecommand(const char *cmd) void setup() { - Serial.begin(BAUDRATE); SERIAL_ECHOLN("Marlin "< -1 - SET_OUTPUT(SDPOWER); - WRITE(SDPOWER,HIGH); -#endif //SDPOWER - quickinitsd(); - -#endif //SDSUPPORT + #ifdef SDSUPPORT + //power to SD reader + #if SDPOWER > -1 + SET_OUTPUT(SDPOWER); + WRITE(SDPOWER,HIGH); + #endif //SDPOWER + quickinitsd(); + #endif //SDSUPPORT + plan_init(); // Initialize planner; st_init(); // Initialize stepper; tp_init(); // Initialize temperature loop - //checkautostart(); } #ifdef SDSUPPORT -bool autostart_stilltocheck=true; - void checkautostart(bool force) { - //this is to delay autostart and hence the initialisaiton of the sd card to some seconds after the normal init, so the device is available quick after a reset - if(!force) - { - if(!autostart_stilltocheck) - return; - if(autostart_atmillis 0) + { + for(int i=0;i<(int)strlen((char*)p.name);i++) + p.name[i]=tolower(p.name[i]); + //Serial.print((char*)p.name); + //Serial.print(" "); + //Serial.println(autoname); + if(p.name[9]!='~') //skip safety copies + if(strncmp((char*)p.name,autoname,5)==0) + { + char cmd[30]; - bool found=false; - while (root.readDir(p) > 0) - { - for(int i=0;i<(int)strlen((char*)p.name);i++) - p.name[i]=tolower(p.name[i]); - //Serial.print((char*)p.name); - //Serial.print(" "); - //Serial.println(autoname); - if(p.name[9]!='~') //skip safety copies - if(strncmp((char*)p.name,autoname,5)==0) - { - char cmd[30]; - - sprintf(cmd,"M23 %s",autoname); - //sprintf(cmd,"M115"); - //enquecommand("G92 Z0"); - //enquecommand("G1 Z10 F2000"); - //enquecommand("G28 X-105 Y-105"); - enquecommand(cmd); - enquecommand("M24"); - found=true; - - } - } - if(!found) - lastnr=-1; - else - lastnr++; - -} -#else - -inline void checkautostart(bool x) -{ + sprintf(cmd,"M23 %s",autoname); + //sprintf(cmd,"M115"); + //enquecommand("G92 Z0"); + //enquecommand("G1 Z10 F2000"); + //enquecommand("G28 X-105 Y-105"); + enquecommand(cmd); + enquecommand("M24"); + found=true; + } + } + if(!found) + lastnr=-1; + else + lastnr++; } +#else //NO SD SUPORT + inline void checkautostart(bool x){} #endif @@ -349,28 +337,32 @@ void loop() { if(buflen<3) get_command(); - checkautostart(false); + checkautostart(false); if(buflen) { -#ifdef SDSUPPORT - if(savetosd){ - if(strstr(cmdbuffer[bufindr],"M29") == NULL){ - write_command(cmdbuffer[bufindr]); - Serial.println("ok"); + #ifdef SDSUPPORT + if(savetosd) + { + if(strstr(cmdbuffer[bufindr],"M29") == NULL) + { + write_command(cmdbuffer[bufindr]); + Serial.println("ok"); + } + else + { + file.sync(); + file.close(); + savetosd = false; + Serial.println("Done saving file."); + } } - else{ - file.sync(); - file.close(); - savetosd = false; - Serial.println("Done saving file."); + else + { + process_commands(); } - } - else{ + #else process_commands(); - } -#else - process_commands(); -#endif //SDSUPPORT + #endif //SDSUPPORT buflen = (buflen-1); bufindr = (bufindr + 1)%BUFSIZE; } @@ -449,10 +441,10 @@ inline void get_command() case 1: case 2: case 3: -#ifdef SDSUPPORT + #ifdef SDSUPPORT if(savetosd) break; -#endif //SDSUPPORT + #endif //SDSUPPORT Serial.println("ok"); break; default: @@ -473,7 +465,7 @@ inline void get_command() if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; } } -#ifdef SDSUPPORT + #ifdef SDSUPPORT if(!sdmode || serial_count!=0){ return; } @@ -486,18 +478,19 @@ inline void get_command() if(sdpos >= filesize){ sdmode = false; Serial.println("echo: Done printing file"); - stoptime=millis(); - char time[30]; - unsigned long t=(stoptime-starttime)/1000; - int sec,min; - min=t/60; - sec=t%60; - sprintf(time,"echo: %i min, %i sec",min,sec); - Serial.println(time); - LCD_MESSAGE(time); - checkautostart(true); + stoptime=millis(); + char time[30]; + unsigned long t=(stoptime-starttime)/1000; + int sec,min; + min=t/60; + sec=t%60; + sprintf(time,"echo: %i min, %i sec",min,sec); + Serial.println(time); + LCD_MESSAGE(time); + checkautostart(true); } - if(!serial_count) return; //if empty line + if(!serial_count) + return; //if empty line cmdbuffer[bufindw][serial_count] = 0; //terminate string if(!comment_mode){ fromsd[bufindw] = true; @@ -513,20 +506,23 @@ inline void get_command() if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char; } } -#endif //SDSUPPORT + #endif //SDSUPPORT } -inline float code_value() { +inline float code_value() +{ return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); } -inline long code_value_long() { +inline long code_value_long() +{ return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); } -inline bool code_seen(char code_string[]) { +inline bool code_seen(char code_string[]) //Return True if the string was found +{ return (strstr(cmdbuffer[bufindr], code_string) != NULL); -} //Return True if the string was found +} inline bool code_seen(char code) { @@ -579,10 +575,10 @@ inline void process_commands() destination[i] = current_position[i]; } feedrate = 0.0; - 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((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] = 0; @@ -689,7 +685,7 @@ inline void process_commands() switch( (int)code_value() ) { -#ifdef SDSUPPORT + #ifdef SDSUPPORT case 20: // M20 - list SD card Serial.println("Begin file list"); @@ -781,6 +777,8 @@ inline void process_commands() //processed in write to file routine above //savetosd = false; break; + #endif //SDSUPPORT + case 30: //M30 take time since the start of the SD print or an M109 command { stoptime=millis(); @@ -794,133 +792,134 @@ inline void process_commands() LCD_MESSAGE(time); } break; -#endif //SDSUPPORT - case 42: //M42 -Change pin status via gcode - if (code_seen('S')) + case 42: //M42 -Change pin status via gcode + if (code_seen('S')) + { + int pin_status = code_value(); + if (code_seen('P') && pin_status >= 0 && pin_status <= 255) { - int pin_status = code_value(); - if (code_seen('P') && pin_status >= 0 && pin_status <= 255) + int pin_number = code_value(); + for(int i = 0; i < (int)sizeof(sensitive_pins); i++) { - int pin_number = code_value(); - for(int i = 0; i < (int)sizeof(sensitive_pins); i++) + if (sensitive_pins[i] == pin_number) { - if (sensitive_pins[i] == pin_number) - { - pin_number = -1; - break; - } - } - - if (pin_number > -1) - { - pinMode(pin_number, OUTPUT); - digitalWrite(pin_number, pin_status); - analogWrite(pin_number, pin_status); + pin_number = -1; + break; } } + + if (pin_number > -1) + { + pinMode(pin_number, OUTPUT); + digitalWrite(pin_number, pin_status); + analogWrite(pin_number, pin_status); + } } - break; - case 104: // M104 - if (code_seen('S')) setTargetHotend0(code_value()); - setWatch(); - break; - case 140: // M140 set bed temp - if (code_seen('S')) setTargetBed(code_value()); - break; - case 105: // M105 - #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595) - tt = degHotend0(); - #endif - #if TEMP_1_PIN > -1 - bt = degBed(); - #endif - #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595) - Serial.print("ok T:"); - Serial.print(tt); -// Serial.print(", raw:"); -// Serial.print(current_raw); - #if TEMP_1_PIN > -1 -#ifdef PIDTEMP + } + break; + case 104: // M104 + if (code_seen('S')) setTargetHotend0(code_value()); + setWatch(); + break; + case 140: // M140 set bed temp + if (code_seen('S')) setTargetBed(code_value()); + break; + case 105: // M105 + #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595) + tt = degHotend0(); + #endif + #if TEMP_1_PIN > -1 + bt = degBed(); + #endif + #if (TEMP_0_PIN > -1) || defined (HEATER_USES_AD595) + Serial.print("ok T:"); + Serial.print(tt); + #if TEMP_1_PIN > -1 + #ifdef PIDTEMP Serial.print(" B:"); #if TEMP_1_PIN > -1 - Serial.println(bt); + Serial.println(bt); #else - Serial.println(HeaterPower); + Serial.println(HeaterPower); #endif -#else + #else //not PIDTEMP Serial.println(); -#endif - #else + #endif //PIDTEMP + #else Serial.println(); - #endif + #endif //TEMP_1_PIN #else Serial.println("echo: No thermistors - no temp"); - #endif - return; - //break; - case 109: {// M109 - Wait for extruder heater to reach target. - LCD_MESSAGE("Heating..."); - if (code_seen('S')) setTargetHotend0(code_value()); - - setWatch(); - codenum = millis(); - - /* See if we are heating up or cooling down */ - bool target_direction = isHeatingHotend0(); // true if heating, false if cooling - - #ifdef TEMP_RESIDENCY_TIME - long residencyStart; - residencyStart = -1; - /* continue to loop until we have reached the target temp - _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */ - while((target_direction ? (isHeatingHotend0()) : (isCoolingHotend0()) || - (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) { - #else - while ( target_direction ? (isHeatingHotend0()) : (isCoolingHotend0()) ) { - #endif //TEMP_RESIDENCY_TIME - if( (millis() - codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up/cooling down - Serial.print("T:"); - Serial.println( degHotend0() ); - codenum = millis(); - } - manage_heater(); - LCD_STATUS; - #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 */ - if ((residencyStart == -1 && target_direction && !isHeatingHotend0()) || - (residencyStart == -1 && !target_direction && !isCoolingHotend0()) || - (residencyStart > -1 && labs(degHotend0() - degTargetHotend0()) > TEMP_HYSTERESIS) ) { - residencyStart = millis(); - } - #endif //TEMP_RESIDENCY_TIME - } - LCD_MESSAGE("Heating done."); - starttime=millis(); - } - break; - case 190: // M190 - Wait bed for heater to reach target. - #if TEMP_1_PIN > -1 - if (code_seen('S')) setTargetBed(code_value()); - codenum = millis(); - while(isHeatingBed()) - { - if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. - { - float tt=degHotend0(); - Serial.print("T:"); - Serial.println( tt ); - Serial.print("ok T:"); - Serial.print( tt ); - Serial.print(" B:"); - Serial.println( degBed() ); - codenum = millis(); - } - manage_heater(); - } #endif + return; break; -#if FAN_PIN > -1 + case 109: + {// M109 - Wait for extruder heater to reach target. + LCD_MESSAGE("Heating..."); + if (code_seen('S')) setTargetHotend0(code_value()); + + setWatch(); + codenum = millis(); + + /* See if we are heating up or cooling down */ + bool target_direction = isHeatingHotend0(); // true if heating, false if cooling + + #ifdef TEMP_RESIDENCY_TIME + long residencyStart; + residencyStart = -1; + /* continue to loop until we have reached the target temp + _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */ + while((target_direction ? (isHeatingHotend0()) : (isCoolingHotend0()) || + (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) { + #else + while ( target_direction ? (isHeatingHotend0()) : (isCoolingHotend0()) ) { + #endif //TEMP_RESIDENCY_TIME + if( (millis() - codenum) > 1000 ) + { //Print Temp Reading every 1 second while heating up/cooling down + Serial.print("T:"); + Serial.println( degHotend0() ); + codenum = millis(); + } + manage_heater(); + LCD_STATUS; + #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 */ + if ((residencyStart == -1 && target_direction && !isHeatingHotend0()) || + (residencyStart == -1 && !target_direction && !isCoolingHotend0()) || + (residencyStart > -1 && labs(degHotend0() - degTargetHotend0()) > TEMP_HYSTERESIS) ) + { + residencyStart = millis(); + } + #endif //TEMP_RESIDENCY_TIME + } + LCD_MESSAGE("Heating done."); + starttime=millis(); + } + break; + case 190: // M190 - Wait bed for heater to reach target. + #if TEMP_1_PIN > -1 + if (code_seen('S')) setTargetBed(code_value()); + codenum = millis(); + while(isHeatingBed()) + { + if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up. + { + float tt=degHotend0(); + Serial.print("T:"); + Serial.println( tt ); + Serial.print("ok T:"); + Serial.print( tt ); + Serial.print(" B:"); + Serial.println( degBed() ); + codenum = millis(); + } + manage_heater(); + } + #endif + break; + + #if FAN_PIN > -1 case 106: //M106 Fan On if (code_seen('S')){ WRITE(FAN_PIN,HIGH); @@ -937,27 +936,29 @@ inline void process_commands() WRITE(FAN_PIN,LOW); analogWrite(FAN_PIN, 0); break; -#endif -#if (PS_ON_PIN > -1) + #endif //FAN_PIN + + #if (PS_ON_PIN > -1) case 80: // M80 - ATX Power On SET_OUTPUT(PS_ON_PIN); //GND break; case 81: // M81 - ATX Power Off SET_INPUT(PS_ON_PIN); //Floating break; -#endif + #endif case 82: axis_relative_modes[3] = false; break; case 83: axis_relative_modes[3] = true; break; - case 18: + case 18: //compatibility case 84: if(code_seen('S')){ stepper_inactive_time = code_value() * 1000; } - else{ + else + { st_synchronize(); disable_x(); disable_y(); @@ -970,13 +971,14 @@ inline void process_commands() max_inactive_time = code_value() * 1000; break; case 92: // M92 - for(int i=0; i < NUM_AXIS; i++) { - if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value(); + for(int i=0; i < NUM_AXIS; i++) + { + if(code_seen(axis_codes[i])) + axis_steps_per_unit[i] = code_value(); } - break; case 115: // M115 - Serial.println("FIRMWARE_NAME:Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1"); + Serial.println("FIRMWARE_NAME:Marlin; Sprinter/grbl mashup for gen6 FIRMWARE_URL:http://www.mendel-parts.com PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1"); break; case 114: // M114 Serial.print("X:"); @@ -998,45 +1000,46 @@ inline void process_commands() Serial.println(""); break; case 119: // M119 -#if (X_MIN_PIN > -1) - Serial.print("x_min:"); - Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif -#if (X_MAX_PIN > -1) - Serial.print("x_max:"); - Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif -#if (Y_MIN_PIN > -1) - Serial.print("y_min:"); - Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif -#if (Y_MAX_PIN > -1) - Serial.print("y_max:"); - Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif -#if (Z_MIN_PIN > -1) - Serial.print("z_min:"); - Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif -#if (Z_MAX_PIN > -1) - Serial.print("z_max:"); - Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); -#endif + #if (X_MIN_PIN > -1) + Serial.print("x_min:"); + Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + #endif + #if (X_MAX_PIN > -1) + Serial.print("x_max:"); + Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + #endif + #if (Y_MIN_PIN > -1) + Serial.print("y_min:"); + Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + #endif + #if (Y_MAX_PIN > -1) + Serial.print("y_max:"); + Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + #endif + #if (Z_MIN_PIN > -1) + Serial.print("z_min:"); + Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + #endif + #if (Z_MAX_PIN > -1) + Serial.print("z_max:"); + Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L "); + #endif Serial.println(""); break; //TODO: update for all axis, use for loop case 201: // M201 - for(int i=0; i < NUM_AXIS; i++) { + for(int i=0; i < NUM_AXIS; i++) + { if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; } break; -#if 0 // Not used for Sprinter/grbl gen6 + #if 0 // Not used for Sprinter/grbl gen6 case 202: // M202 for(int i=0; i < NUM_AXIS; i++) { if(code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; } break; -#endif + #endif case 203: // M203 max feedrate mm/sec for(int i=0; i < NUM_AXIS; i++) { if(code_seen(axis_codes[i])) max_feedrate[i] = code_value()*60 ; @@ -1048,59 +1051,52 @@ inline void process_commands() 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 + { + if(code_seen('S')) minimumfeedrate = code_value()*60 ; + if(code_seen('T')) mintravelfeedrate = code_value()*60 ; + if(code_seen('B')) minsegmenttime = code_value() ; + if(code_seen('X')) max_xy_jerk = code_value()*60 ; + if(code_seen('Z')) max_z_jerk = code_value()*60 ; + } + break; + case 220: // M220 S- set speed factor override percentage + { + if(code_seen('S')) { - if(code_seen('S')) minimumfeedrate = code_value()*60 ; - if(code_seen('T')) mintravelfeedrate = code_value()*60 ; - if(code_seen('B')) minsegmenttime = code_value() ; - if(code_seen('X')) max_xy_jerk = code_value()*60 ; - if(code_seen('Z')) max_z_jerk = code_value()*60 ; + feedmultiply = code_value() ; + feedmultiplychanged=true; } - break; - case 220: // M220 S- set speed factor override percentage - { - if(code_seen('S')) - { - feedmultiply = code_value() ; - feedmultiplychanged=true; - } - } - break; -#ifdef PIDTEMP + } + break; + + #ifdef PIDTEMP case 301: // M301 if(code_seen('P')) Kp = code_value(); if(code_seen('I')) Ki = code_value()*PID_dT; if(code_seen('D')) Kd = code_value()/PID_dT; -// SERIAL_ECHOLN("Kp "<<_FLOAT(Kp,2)); -// SERIAL_ECHOLN("Ki "<<_FLOAT(Ki/PID_dT,2)); -// SERIAL_ECHOLN("Kd "<<_FLOAT(Kd*PID_dT,2)); - -// temp_iState_min = 0.0; -// if (Ki!=0) { -// temp_iState_max = PID_INTEGRAL_DRIVE_MAX / (Ki/100.0); -// } -// else temp_iState_max = 1.0e10; - break; -#endif //PIDTEMP - case 500: // Store settings in EEPROM - { - StoreSettings(); - } - break; - case 501: // Read settings from EEPROM - { - RetrieveSettings(); - } - break; - case 502: // Revert to default settings - { - RetrieveSettings(true); - } break; + #endif //PIDTEMP + case 500: // Store settings in EEPROM + { + StoreSettings(); + } + break; + case 501: // Read settings from EEPROM + { + RetrieveSettings(); + } + break; + case 502: // Revert to default settings + { + RetrieveSettings(true); + } + break; } } - else{ + else + { Serial.print("echo: Unknown command:\""); Serial.print(cmdbuffer[bufindr]); Serial.println("\""); @@ -1121,10 +1117,10 @@ void FlushSerialRequestResend() void ClearToSend() { previous_millis_cmd = millis(); -#ifdef SDSUPPORT + #ifdef SDSUPPORT if(fromsd[bufindr]) return; -#endif //SDSUPPORT + #endif //SDSUPPORT Serial.println("ok"); } @@ -1132,7 +1128,7 @@ inline void get_coordinates() { for(int i=0; i < NUM_AXIS; i++) { if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i]; - else destination[i] = current_position[i]; //Are these else lines really needed? + else destination[i] = current_position[i]; //Are these else lines really needed? } if(code_seen('F')) { next_feedrate = code_value(); @@ -1276,14 +1272,19 @@ void prepare_arc_move(char isclockwise) { -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(); - } +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(); + } check_axes_activity(); } diff --git a/Marlin/motion_control.cpp b/Marlin/motion_control.cpp index 0b734de4a..75396143a 100644 --- a/Marlin/motion_control.cpp +++ b/Marlin/motion_control.cpp @@ -33,8 +33,8 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1, uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise) { -// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled(); -// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc + // int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled(); + // plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc SERIAL_ECHOLN("mc_arc."); float center_axis0 = position[axis_0] + offset[axis_0]; float center_axis1 = position[axis_1] + offset[axis_1]; @@ -52,12 +52,12 @@ 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 == 0.0) { return; } uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT); -/* - // 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 - // all segments. - if (invert_feed_rate) { feed_rate *= segments; } -*/ + /* + // 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 + // all segments. + if (invert_feed_rate) { feed_rate *= segments; } + */ float theta_per_segment = angular_travel/segments; float linear_per_segment = linear_travel/segments; @@ -128,6 +128,6 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8 // Ensure last segment arrives at target location. plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate); -// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled); + // plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled); } diff --git a/Marlin/pins.h b/Marlin/pins.h index e9ebd4412..4df1bd0e3 100644 --- a/Marlin/pins.h +++ b/Marlin/pins.h @@ -557,6 +557,74 @@ #define FAN_PIN 7 #define PS_ON_PIN 12 #define KILL_PIN -1 + +#ifdef ULTRA_LCD + + #ifdef NEWPANEL + //arduino pin witch triggers an piezzo beeper + #define BEEPER 18 + + #define LCD_PINS_RS 20 + #define LCD_PINS_ENABLE 17 + #define LCD_PINS_D4 16 + #define LCD_PINS_D5 21 + #define LCD_PINS_D6 5 + #define LCD_PINS_D7 6 + + //buttons are directly attached + #define BTN_EN1 40 + #define BTN_EN2 42 + #define BTN_ENC 19 //the click + + #define BLEN_C 2 + #define BLEN_B 1 + #define BLEN_A 0 + + #define SDCARDDETECT 38 + + //encoder rotation values + #define encrot0 0 + #define encrot1 2 + #define encrot2 3 + #define encrot3 1 + #else //old style panel with shift register + //arduino pin witch triggers an piezzo beeper + #define BEEPER 18 + + //buttons are attached to a shift register + #define SHIFT_CLK 38 + #define SHIFT_LD 42 + #define SHIFT_OUT 40 + #define SHIFT_EN 17 + + #define LCD_PINS_RS 16 + #define LCD_PINS_ENABLE 5 + #define LCD_PINS_D4 6 + #define LCD_PINS_D5 21 + #define LCD_PINS_D6 20 + #define LCD_PINS_D7 19 + + //encoder rotation values + #define encrot0 0 + #define encrot1 2 + #define encrot2 3 + #define encrot3 1 + + + //bits in the shift register that carry the buttons for: + // left up center down right red + #define BL_LE 7 + #define BL_UP 6 + #define BL_MI 5 + #define BL_DW 4 + #define BL_RI 3 + #define BL_ST 2 + + #define BLEN_B 1 + #define BLEN_A 0 + #endif +#endif //ULTRA_LCD + #endif diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index 14f0bb104..b4271bab3 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -83,7 +83,7 @@ static volatile unsigned char block_buffer_head; // Index of the next static volatile unsigned char block_buffer_tail; // Index of the block to process now // The current position of the tool in absolute steps - long position[4]; +long position[4]; #define ONE_MINUTE_OF_MICROSECONDS 60000000.0 @@ -123,10 +123,10 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit long initial_rate = ceil(block->nominal_rate*entry_factor); long final_rate = ceil(block->nominal_rate*exit_factor); -#ifdef ADVANCE - long initial_advance = block->advance*entry_factor*entry_factor; - long final_advance = block->advance*exit_factor*exit_factor; -#endif // ADVANCE + #ifdef ADVANCE + long initial_advance = block->advance*entry_factor*entry_factor; + long final_advance = block->advance*exit_factor*exit_factor; + #endif // ADVANCE // Limit minimal step rate (Otherwise the timer will overflow.) if(initial_rate <120) initial_rate=120; @@ -155,10 +155,10 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit block->decelerate_after = decelerate_after; block->initial_rate = initial_rate; block->final_rate = final_rate; -#ifdef ADVANCE - block->initial_advance = initial_advance; - block->final_advance = final_advance; -#endif //ADVANCE + #ifdef ADVANCE + block->initial_advance = initial_advance; + block->final_advance = final_advance; + #endif //ADVANCE } CRITICAL_SECTION_END; } @@ -166,18 +166,15 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the // acceleration within the allotted distance. inline float max_allowable_speed(float acceleration, float target_velocity, float distance) { - return( - sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance) - ); + return sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance); } // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks. // This method will calculate the junction jerk as the euclidean distance between the nominal // velocities of the respective blocks. inline float junction_jerk(block_t *before, block_t *after) { - return(sqrt( - pow((before->speed_x-after->speed_x), 2)+ - pow((before->speed_y-after->speed_y), 2))); + return sqrt( + pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2)); } // Return the safe speed which is max_jerk/2, e.g. the @@ -185,8 +182,10 @@ inline float junction_jerk(block_t *before, block_t *after) { float safe_speed(block_t *block) { float safe_speed; safe_speed = max_xy_jerk/2; - if(abs(block->speed_z) > max_z_jerk/2) safe_speed = max_z_jerk/2; - if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed; + if(abs(block->speed_z) > max_z_jerk/2) + safe_speed = max_z_jerk/2; + if (safe_speed > block->nominal_speed) + safe_speed = block->nominal_speed; return safe_speed; } @@ -379,9 +378,8 @@ void check_axes_activity() { // 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. -void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { - - +void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate) +{ // Calculate the buffer head after we push this byte int next_buffer_head = (block_buffer_head + 1) & (BLOCK_BUFFER_SIZE - 1); @@ -469,11 +467,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { // Limit speed per axis float speed_factor = 1; //factor <=1 do decrease speed if(abs(block->speed_x) > max_feedrate[X_AXIS]) { - //// [ErikDeBruijn] IS THIS THE BUG WE'RE LOOING FOR???? - //// [bernhard] No its not, according to Zalm. - //// the if would always be true, since tmp_speedfactor <=0 due the inial if, so its safe to set. the next lines actually compare. speed_factor = max_feedrate[X_AXIS] / abs(block->speed_x); - //if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; + //if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; /is not need here because auf the init above } if(abs(block->speed_y) > max_feedrate[Y_AXIS]){ float tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y); @@ -495,7 +490,8 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { block->nominal_speed = block->millimeters * multiplier; block->nominal_rate = ceil(block->step_event_count * multiplier / 60); - if(block->nominal_rate < 120) block->nominal_rate = 120; + if(block->nominal_rate < 120) + block->nominal_rate = 120; block->entry_speed = safe_speed(block); // Compute the acceleration rate for the trapezoid generator. @@ -527,25 +523,25 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { block->acceleration = block->acceleration_st * travel_per_step; block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608); -#ifdef ADVANCE - // Calculate advance rate - if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) { - block->advance_rate = 0; - block->advance = 0; - } - else { - long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st); - float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * - (block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536; - block->advance = advance; - if(acc_dist == 0) { + #ifdef ADVANCE + // Calculate advance rate + if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) { block->advance_rate = 0; - } - else { - block->advance_rate = advance / (float)acc_dist; + block->advance = 0; } - } -#endif // ADVANCE + else { + long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st); + float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * + (block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536; + block->advance = advance; + if(acc_dist == 0) { + block->advance_rate = 0; + } + else { + block->advance_rate = advance / (float)acc_dist; + } + } + #endif // ADVANCE // compute a preliminary conservative acceleration trapezoid float safespeed = safe_speed(block); @@ -576,7 +572,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { st_wake_up(); } -void plan_set_position(float x, float y, float z, float e) +void plan_set_position(const float &x, const float &y, const float &z, const float &e) { position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); diff --git a/Marlin/planner.h b/Marlin/planner.h index 18ea1e2b1..79f54d879 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -32,16 +32,16 @@ typedef struct { // Fields used by the bresenham algorithm for tracing the line long steps_x, steps_y, steps_z, steps_e; // Step count along each axis long step_event_count; // The number of step events required to complete this block - volatile long accelerate_until; // The index of the step event on which to stop acceleration - volatile long decelerate_after; // The index of the step event on which to start decelerating - volatile long acceleration_rate; // The acceleration rate used for acceleration calculation + volatile long accelerate_until; // The index of the step event on which to stop acceleration + volatile long decelerate_after; // The index of the step event on which to start decelerating + volatile long acceleration_rate; // The acceleration rate used for acceleration calculation unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) -#ifdef ADVANCE - long advance_rate; - volatile long initial_advance; - volatile long final_advance; - float advance; -#endif + #ifdef ADVANCE + long advance_rate; + volatile long initial_advance; + volatile long final_advance; + float advance; + #endif // Fields used by the motion planner to manage acceleration float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis @@ -57,16 +57,17 @@ typedef struct { long acceleration_st; // acceleration steps/sec^2 volatile char busy; } block_t; - + // Initialize the motion plan subsystem void plan_init(); // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in // millimaters. Feed rate specifies the speed of the motion. -void plan_buffer_line(float x, float y, float z, float e, float feed_rate); +void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate); // Set position. Used for G92 instructions. -void plan_set_position(float x, float y, float z, float e); +void plan_set_position(const float &x, const float &y, const float &z, const float &e); + // Called when the current block is no longer needed. Discards the block and makes the memory // availible for new blocks. diff --git a/Marlin/speed_lookuptable.h b/Marlin/speed_lookuptable.h index 05dae47df..002f852f6 100644 --- a/Marlin/speed_lookuptable.h +++ b/Marlin/speed_lookuptable.h @@ -37,6 +37,7 @@ uint16_t speed_lookuptable_fast[256][2] PROGMEM = {\ { 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0}, { 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0} }; + uint16_t speed_lookuptable_slow[256][2] PROGMEM = {\ { 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894}, { 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657}, diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index 9e5db44a8..924521119 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -35,8 +35,8 @@ // if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer. // for debugging purposes only, should be disabled by default #ifdef DEBUG_STEPS -volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; -volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1}; + volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; + volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1}; #endif @@ -117,6 +117,8 @@ asm volatile ( \ block_t *current_block; // A pointer to the block currently being traced +//static makes it inpossible to be called from outside of this file by extern.! + // Variables used by The Stepper Driver Interrupt static unsigned char out_bits; // The next stepping-bits to be output static long counter_x, // Counter variables for the bresenham line tracer @@ -125,9 +127,9 @@ static long counter_x, // Counter variables for the bresenham line tracer counter_e; static unsigned long step_events_completed; // The number of step events executed in the current block #ifdef ADVANCE -static long advance_rate, advance, final_advance = 0; -static short old_advance = 0; -static short e_steps; + static long advance_rate, advance, final_advance = 0; + static short old_advance = 0; + static short e_steps; #endif 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; @@ -195,10 +197,10 @@ inline unsigned short calc_timer(unsigned short step_rate) { // Initializes the trapezoid generator from the current block. Called whenever a new // block begins. inline void trapezoid_generator_reset() { -#ifdef ADVANCE - advance = current_block->initial_advance; - final_advance = current_block->final_advance; -#endif + #ifdef ADVANCE + advance = current_block->initial_advance; + final_advance = current_block->final_advance; + #endif deceleration_time = 0; // advance_rate = current_block->advance_rate; // step_rate to timer interval @@ -211,7 +213,8 @@ inline void trapezoid_generator_reset() { // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. ISR(TIMER1_COMPA_vect) { - if(busy){ SERIAL_ERRORLN(*(unsigned short *)OCR1A<< " ISR overtaking itself."); + if(busy){ + SERIAL_ERRORLN(*(unsigned short *)OCR1A<< " ISR overtaking itself."); return; } // The busy-flag is used to avoid reentering this interrupt @@ -242,74 +245,74 @@ 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; -#ifdef ADVANCE - // Calculate E early. - counter_e += current_block->steps_e; - if (counter_e > 0) { - counter_e -= current_block->step_event_count; - if ((out_bits & (1<steps_e; + if (counter_e > 0) { + counter_e -= current_block->step_event_count; + if ((out_bits & (1<> 16) - old_advance); CRITICAL_SECTION_END; - } - else { - CRITICAL_SECTION_START; - e_steps++; - CRITICAL_SECTION_END; - } - } - // Do E steps + advance steps - CRITICAL_SECTION_START; - e_steps += ((advance >> 16) - old_advance); - CRITICAL_SECTION_END; - old_advance = advance >> 16; -#endif //ADVANCE + old_advance = advance >> 16; + #endif //ADVANCE // Set direction en check limit switches -if ((out_bits & (1< -1 + if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) { + step_events_completed = current_block->step_event_count; + } #endif -#if X_MIN_PIN > -1 - if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) { - step_events_completed = current_block->step_event_count; - } -#endif } else { // +direction - WRITE(X_DIR_PIN,!INVERT_X_DIR); - #ifdef DEBUG_STEPS + WRITE(X_DIR_PIN,!INVERT_X_DIR); + #ifdef DEBUG_STEPS count_direction[X_AXIS]=1; - #endif -#if X_MAX_PIN > -1 + #endif + #if X_MAX_PIN > -1 if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){ step_events_completed = current_block->step_event_count; } -#endif + #endif } if ((out_bits & (1< -1 + if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) { + step_events_completed = current_block->step_event_count; + } #endif -#if Y_MIN_PIN > -1 - if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) { - step_events_completed = current_block->step_event_count; - } -#endif } else { // +direction WRITE(Y_DIR_PIN,!INVERT_Y_DIR); #ifdef DEBUG_STEPS - count_direction[Y_AXIS]=1; + count_direction[Y_AXIS]=1; + #endif + #if Y_MAX_PIN > -1 + if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){ + step_events_completed = current_block->step_event_count; + } #endif -#if Y_MAX_PIN > -1 - if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){ - step_events_completed = current_block->step_event_count; - } -#endif } if ((out_bits & (1< -1 - if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) { - step_events_completed = current_block->step_event_count; - } -#endif + #if Z_MIN_PIN > -1 + if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) { + step_events_completed = current_block->step_event_count; + } + #endif } else { // +direction - WRITE(Z_DIR_PIN,!INVERT_Z_DIR); - #ifdef DEBUG_STEPS + WRITE(Z_DIR_PIN,!INVERT_Z_DIR); + #ifdef DEBUG_STEPS count_direction[Z_AXIS]=1; - #endif -#if Z_MAX_PIN > -1 + #endif + #if Z_MAX_PIN > -1 if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){ step_events_completed = current_block->step_event_count; } -#endif + #endif } -#ifndef ADVANCE - if ((out_bits & (1<steps_x; @@ -349,7 +352,7 @@ if ((out_bits & (1<step_event_count; WRITE(X_STEP_PIN, LOW); #ifdef DEBUG_STEPS - count_position[X_AXIS]+=count_direction[X_AXIS]; + count_position[X_AXIS]+=count_direction[X_AXIS]; #endif } @@ -359,7 +362,7 @@ if ((out_bits & (1<step_event_count; WRITE(Y_STEP_PIN, LOW); #ifdef DEBUG_STEPS - count_position[Y_AXIS]+=count_direction[Y_AXIS]; + count_position[Y_AXIS]+=count_direction[Y_AXIS]; #endif } @@ -369,18 +372,18 @@ if ((out_bits & (1<step_event_count; WRITE(Z_STEP_PIN, LOW); #ifdef DEBUG_STEPS - count_position[Z_AXIS]+=count_direction[Z_AXIS]; + count_position[Z_AXIS]+=count_direction[Z_AXIS]; #endif } -#ifndef ADVANCE - counter_e += current_block->steps_e; - if (counter_e > 0) { - WRITE(E_STEP_PIN, HIGH); - counter_e -= current_block->step_event_count; - WRITE(E_STEP_PIN, LOW); - } -#endif //!ADVANCE + #ifndef ADVANCE + counter_e += current_block->steps_e; + if (counter_e > 0) { + WRITE(E_STEP_PIN, HIGH); + counter_e -= current_block->step_event_count; + WRITE(E_STEP_PIN, LOW); + } + #endif //!ADVANCE step_events_completed += 1; if(step_events_completed >= current_block->step_event_count) break; } @@ -397,9 +400,9 @@ if ((out_bits & (1< 0) { - WRITE(E_DIR_PIN,!INVERT_E_DIR); - e_steps--; - WRITE(E_STEP_PIN, HIGH); + unsigned char old_OCR0A; + // Timer interrupt for E. e_steps is set in the main routine; + // Timer 0 is shared with millies + ISR(TIMER0_COMPA_vect) + { + // Critical section needed because Timer 1 interrupt has higher priority. + // The pin set functions are placed on trategic position to comply with the stepper driver timing. + WRITE(E_STEP_PIN, LOW); + // Set E direction (Depends on E direction + advance) + if (e_steps < 0) { + WRITE(E_DIR_PIN,INVERT_E_DIR); + e_steps++; + WRITE(E_STEP_PIN, HIGH); + } + if (e_steps > 0) { + WRITE(E_DIR_PIN,!INVERT_E_DIR); + e_steps--; + WRITE(E_STEP_PIN, HIGH); + } + old_OCR0A += 25; // 10kHz interrupt + OCR0A = old_OCR0A; } - old_OCR0A += 25; // 10kHz interrupt - OCR0A = old_OCR0A; -} #endif // ADVANCE void st_init() { //Initialize Dir Pins -#if X_DIR_PIN > -1 - SET_OUTPUT(X_DIR_PIN); -#endif -#if Y_DIR_PIN > -1 - SET_OUTPUT(Y_DIR_PIN); -#endif -#if Z_DIR_PIN > -1 - SET_OUTPUT(Z_DIR_PIN); -#endif -#if E_DIR_PIN > -1 - SET_OUTPUT(E_DIR_PIN); -#endif + #if X_DIR_PIN > -1 + SET_OUTPUT(X_DIR_PIN); + #endif + #if Y_DIR_PIN > -1 + SET_OUTPUT(Y_DIR_PIN); + #endif + #if Z_DIR_PIN > -1 + SET_OUTPUT(Z_DIR_PIN); + #endif + #if E_DIR_PIN > -1 + SET_OUTPUT(E_DIR_PIN); + #endif //Initialize Enable Pins - steppers default to disabled. -#if (X_ENABLE_PIN > -1) - SET_OUTPUT(X_ENABLE_PIN); - if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); -#endif -#if (Y_ENABLE_PIN > -1) - SET_OUTPUT(Y_ENABLE_PIN); - if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); -#endif -#if (Z_ENABLE_PIN > -1) - SET_OUTPUT(Z_ENABLE_PIN); - if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); -#endif -#if (E_ENABLE_PIN > -1) - SET_OUTPUT(E_ENABLE_PIN); - if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH); -#endif + #if (X_ENABLE_PIN > -1) + SET_OUTPUT(X_ENABLE_PIN); + if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); + #endif + #if (Y_ENABLE_PIN > -1) + SET_OUTPUT(Y_ENABLE_PIN); + if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); + #endif + #if (Z_ENABLE_PIN > -1) + SET_OUTPUT(Z_ENABLE_PIN); + if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); + #endif + #if (E_ENABLE_PIN > -1) + SET_OUTPUT(E_ENABLE_PIN); + if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH); + #endif //endstops and pullups -#ifdef ENDSTOPPULLUPS -#if X_MIN_PIN > -1 - SET_INPUT(X_MIN_PIN); - WRITE(X_MIN_PIN,HIGH); -#endif -#if X_MAX_PIN > -1 - SET_INPUT(X_MAX_PIN); - WRITE(X_MAX_PIN,HIGH); -#endif -#if Y_MIN_PIN > -1 - SET_INPUT(Y_MIN_PIN); - WRITE(Y_MIN_PIN,HIGH); -#endif -#if Y_MAX_PIN > -1 - SET_INPUT(Y_MAX_PIN); - WRITE(Y_MAX_PIN,HIGH); -#endif -#if Z_MIN_PIN > -1 - SET_INPUT(Z_MIN_PIN); - WRITE(Z_MIN_PIN,HIGH); -#endif -#if Z_MAX_PIN > -1 - SET_INPUT(Z_MAX_PIN); - WRITE(Z_MAX_PIN,HIGH); -#endif -#else //ENDSTOPPULLUPS -#if X_MIN_PIN > -1 - SET_INPUT(X_MIN_PIN); -#endif -#if X_MAX_PIN > -1 - SET_INPUT(X_MAX_PIN); -#endif -#if Y_MIN_PIN > -1 - SET_INPUT(Y_MIN_PIN); -#endif -#if Y_MAX_PIN > -1 - SET_INPUT(Y_MAX_PIN); -#endif -#if Z_MIN_PIN > -1 - SET_INPUT(Z_MIN_PIN); -#endif -#if Z_MAX_PIN > -1 - SET_INPUT(Z_MAX_PIN); -#endif -#endif //ENDSTOPPULLUPS + #ifdef ENDSTOPPULLUPS + #if X_MIN_PIN > -1 + SET_INPUT(X_MIN_PIN); + WRITE(X_MIN_PIN,HIGH); + #endif + #if X_MAX_PIN > -1 + SET_INPUT(X_MAX_PIN); + WRITE(X_MAX_PIN,HIGH); + #endif + #if Y_MIN_PIN > -1 + SET_INPUT(Y_MIN_PIN); + WRITE(Y_MIN_PIN,HIGH); + #endif + #if Y_MAX_PIN > -1 + SET_INPUT(Y_MAX_PIN); + WRITE(Y_MAX_PIN,HIGH); + #endif + #if Z_MIN_PIN > -1 + SET_INPUT(Z_MIN_PIN); + WRITE(Z_MIN_PIN,HIGH); + #endif + #if Z_MAX_PIN > -1 + SET_INPUT(Z_MAX_PIN); + WRITE(Z_MAX_PIN,HIGH); + #endif + #else //ENDSTOPPULLUPS + #if X_MIN_PIN > -1 + SET_INPUT(X_MIN_PIN); + #endif + #if X_MAX_PIN > -1 + SET_INPUT(X_MAX_PIN); + #endif + #if Y_MIN_PIN > -1 + SET_INPUT(Y_MIN_PIN); + #endif + #if Y_MAX_PIN > -1 + SET_INPUT(Y_MAX_PIN); + #endif + #if Z_MIN_PIN > -1 + SET_INPUT(Z_MIN_PIN); + #endif + #if Z_MAX_PIN > -1 + SET_INPUT(Z_MAX_PIN); + #endif + #endif //ENDSTOPPULLUPS //Initialize Step Pins -#if (X_STEP_PIN > -1) - SET_OUTPUT(X_STEP_PIN); -#endif -#if (Y_STEP_PIN > -1) - SET_OUTPUT(Y_STEP_PIN); -#endif -#if (Z_STEP_PIN > -1) - SET_OUTPUT(Z_STEP_PIN); -#endif -#if (E_STEP_PIN > -1) - SET_OUTPUT(E_STEP_PIN); -#endif + #if (X_STEP_PIN > -1) + SET_OUTPUT(X_STEP_PIN); + #endif + #if (Y_STEP_PIN > -1) + SET_OUTPUT(Y_STEP_PIN); + #endif + #if (Z_STEP_PIN > -1) + SET_OUTPUT(Z_STEP_PIN); + #endif + #if (E_STEP_PIN > -1) + SET_OUTPUT(E_STEP_PIN); + #endif // waveform generation = 0100 = CTC TCCR1B &= ~(1< 10){ - pid_output = PID_MAX; - pid_reset = true; - } - else if(pid_error < -10) { - pid_output = 0; - pid_reset = true; - } - else { - if(pid_reset == true) { - temp_iState = 0.0; - pid_reset = false; - } - pTerm = Kp * pid_error; - temp_iState += pid_error; - temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); - iTerm = Ki * temp_iState; - //K1 defined in Configuration.h in the PID settings - #define K2 (1.0-K1) - dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm); - temp_dState = pid_input; - #ifdef PID_ADD_EXTRUSION_RATE - pTerm+=Kc*current_block->speed_e; //additional heating if extrusion speed is high - #endif - pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX); - } -#endif //PID_OPENLOOP -#ifdef PID_DEBUG - SERIAL_ECHOLN(" PIDDEBUG Input "< 10){ + pid_output = PID_MAX; + pid_reset = true; + } + else if(pid_error < -10) { + pid_output = 0; + pid_reset = true; + } + else { + if(pid_reset == true) { + temp_iState = 0.0; + pid_reset = false; + } + pTerm = Kp * pid_error; + temp_iState += pid_error; + temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); + iTerm = Ki * temp_iState; + //K1 defined in Configuration.h in the PID settings + #define K2 (1.0-K1) + dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm); + temp_dState = pid_input; + #ifdef PID_ADD_EXTRUSION_RATE + pTerm+=Kc*current_block->speed_e; //additional heating if extrusion speed is high + #endif + pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX); + } + #endif //PID_OPENLOOP + #ifdef PID_DEBUG + SERIAL_ECHOLN(" PIDDEBUG Input "<= target_raw[0]) { WRITE(HEATER_0_PIN,LOW); @@ -157,7 +156,7 @@ CRITICAL_SECTION_END; { WRITE(HEATER_0_PIN,HIGH); } -#endif + #endif if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) return; @@ -173,7 +172,7 @@ CRITICAL_SECTION_END; WRITE(HEATER_1_PIN,HIGH); } #endif - } +} // Takes hot end temperature value as input and returns corresponding raw value. // For a thermistor, it uses the RepRap thermistor temp table. @@ -300,26 +299,26 @@ float analog2tempBed(int raw) { void tp_init() { -#if (HEATER_0_PIN > -1) - SET_OUTPUT(HEATER_0_PIN); -#endif -#if (HEATER_1_PIN > -1) - SET_OUTPUT(HEATER_1_PIN); -#endif -#if (HEATER_2_PIN > -1) - SET_OUTPUT(HEATER_2_PIN); -#endif + #if (HEATER_0_PIN > -1) + SET_OUTPUT(HEATER_0_PIN); + #endif + #if (HEATER_1_PIN > -1) + SET_OUTPUT(HEATER_1_PIN); + #endif + #if (HEATER_2_PIN > -1) + SET_OUTPUT(HEATER_2_PIN); + #endif -#ifdef PIDTEMP - temp_iState_min = 0.0; - temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki; -#endif //PIDTEMP + #ifdef PIDTEMP + temp_iState_min = 0.0; + temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki; + #endif //PIDTEMP -// Set analog inputs + // Set analog inputs ADCSRA = 1< -1 + #if TEMP_0_PIN > -1 target_raw[0]=0; #if HEATER_0_PIN > -1 WRITE(HEATER_0_PIN,LOW); #endif #endif + #if TEMP_1_PIN > -1 - target_raw[1]=0; - #if HEATER_1_PIN > -1 - WRITE(HEATER_1_PIN,LOW); - #endif + target_raw[1]=0; + #if HEATER_1_PIN > -1 + WRITE(HEATER_1_PIN,LOW); + #endif #endif + #if TEMP_2_PIN > -1 - target_raw[2]=0; - #if HEATER_2_PIN > -1 - WRITE(HEATER_2_PIN,LOW); - #endif + target_raw[2]=0; + #if HEATER_2_PIN > -1 + WRITE(HEATER_2_PIN,LOW); + #endif #endif } @@ -376,75 +377,75 @@ ISR(TIMER0_COMPB_vect) switch(temp_state) { case 0: // Prepare TEMP_0 - #if (TEMP_0_PIN > -1) - #if TEMP_0_PIN < 8 - DIDR0 = 1 << TEMP_0_PIN; - #else - DIDR2 = 1<<(TEMP_0_PIN - 8); - ADCSRB = 1< -1) + #if TEMP_0_PIN < 8 + DIDR0 = 1 << TEMP_0_PIN; + #else + DIDR2 = 1<<(TEMP_0_PIN - 8); + ADCSRB = 1< -1) - raw_temp_0_value += ADC; - #endif - temp_state = 2; - break; + #if (TEMP_0_PIN > -1) + raw_temp_0_value += ADC; + #endif + temp_state = 2; + break; case 2: // Prepare TEMP_1 - #if (TEMP_1_PIN > -1) - #if TEMP_1_PIN < 7 - DIDR0 = 1< -1) + #if TEMP_1_PIN < 7 + DIDR0 = 1< -1) - raw_temp_1_value += ADC; - #endif - temp_state = 4; - break; + #if (TEMP_1_PIN > -1) + raw_temp_1_value += ADC; + #endif + temp_state = 4; + break; case 4: // Prepare TEMP_2 - #if (TEMP_2_PIN > -1) - #if TEMP_2_PIN < 7 - DIDR0 = 1 << TEMP_2_PIN; - #else - DIDR2 = 1<<(TEMP_2_PIN - 8); - ADCSRB = 1< -1) + #if TEMP_2_PIN < 7 + DIDR0 = 1 << TEMP_2_PIN; + #else + DIDR2 = 1<<(TEMP_2_PIN - 8); + ADCSRB = 1< -1) - raw_temp_2_value += ADC; - #endif - temp_state = 0; - temp_count++; - break; + #if (TEMP_2_PIN > -1) + raw_temp_2_value += ADC; + #endif + temp_state = 0; + temp_count++; + break; default: - SERIAL_ERRORLN("Temp measurement error!"); - break; + SERIAL_ERRORLN("Temp measurement error!"); + break; } if(temp_count >= 16) // 6 ms * 16 = 96ms. @@ -472,67 +473,71 @@ ISR(TIMER0_COMPB_vect) raw_temp_0_value = 0; raw_temp_1_value = 0; raw_temp_2_value = 0; -#ifdef HEATER_0_MAXTEMP - #if (HEATER_0_PIN > -1) - if(current_raw[TEMPSENSOR_HOTEND_0] >= maxttemp_0) { - target_raw[TEMPSENSOR_HOTEND_0] = 0; - analogWrite(HEATER_0_PIN, 0); - SERIAL_ERRORLN("Temperature extruder 0 switched off. MAXTEMP triggered !!"); - kill(); - } + #ifdef HEATER_0_MAXTEMP + #if (HEATER_0_PIN > -1) + if(current_raw[TEMPSENSOR_HOTEND_0] >= maxttemp_0) { + target_raw[TEMPSENSOR_HOTEND_0] = 0; + analogWrite(HEATER_0_PIN, 0); + SERIAL_ERRORLN("Temperature extruder 0 switched off. MAXTEMP triggered !!"); + kill(); + } + #endif + #endif + #ifdef HEATER_1_MAXTEMP + #if (HEATER_1_PIN > -1) + if(current_raw[TEMPSENSOR_HOTEND_1] >= maxttemp_1) { + target_raw[TEMPSENSOR_HOTEND_1] = 0; + if(current_raw[2] >= maxttemp_1) { + analogWrite(HEATER_2_PIN, 0); + SERIAL_ERRORLN("Temperature extruder 1 switched off. MAXTEMP triggered !!"); + kill() + } + #endif + #endif //MAXTEMP + + #ifdef HEATER_0_MINTEMP + #if (HEATER_0_PIN > -1) + if(current_raw[TEMPSENSOR_HOTEND_0] <= minttemp_0) { + target_raw[TEMPSENSOR_HOTEND_0] = 0; + analogWrite(HEATER_0_PIN, 0); + SERIAL_ERRORLN("Temperature extruder 0 switched off. MINTEMP triggered !!"); + kill(); + } + #endif #endif -#endif -#ifdef HEATER_1_MAXTEMP - #if (HEATER_1_PIN > -1) - if(current_raw[TEMPSENSOR_HOTEND_1] >= maxttemp_1) { - target_raw[TEMPSENSOR_HOTEND_1] = 0; - if(current_raw[2] >= maxttemp_1) { - analogWrite(HEATER_2_PIN, 0); - SERIAL_ERRORLN("Temperature extruder 1 switched off. MAXTEMP triggered !!"); - kill() - } + + #ifdef HEATER_1_MINTEMP + #if (HEATER_2_PIN > -1) + if(current_raw[TEMPSENSOR_HOTEND_1] <= minttemp_1) { + target_raw[TEMPSENSOR_HOTEND_1] = 0; + analogWrite(HEATER_2_PIN, 0); + SERIAL_ERRORLN("Temperature extruder 1 switched off. MINTEMP triggered !!"); + kill(); + } + #endif + #endif //MAXTEMP + + #ifdef BED_MINTEMP + #if (HEATER_1_PIN > -1) + if(current_raw[1] <= bed_minttemp) { + target_raw[1] = 0; + WRITE(HEATER_1_PIN, 0); + SERIAL_ERRORLN("Temperatur heated bed switched off. MINTEMP triggered !!"); + kill(); + } + #endif #endif -#endif //MAXTEMP -#ifdef HEATER_0_MINTEMP - #if (HEATER_0_PIN > -1) - if(current_raw[TEMPSENSOR_HOTEND_0] <= minttemp_0) { - target_raw[TEMPSENSOR_HOTEND_0] = 0; - analogWrite(HEATER_0_PIN, 0); - SERIAL_ERRORLN("Temperature extruder 0 switched off. MINTEMP triggered !!"); - kill(); - } + + #ifdef BED_MAXTEMP + #if (HEATER_1_PIN > -1) + if(current_raw[1] >= bed_maxttemp) { + target_raw[1] = 0; + WRITE(HEATER_1_PIN, 0); + SERIAL_ERRORLN("Temperature heated bed switched off. MAXTEMP triggered !!"); + kill(); + } + #endif #endif -#endif -#ifdef HEATER_1_MINTEMP - #if (HEATER_2_PIN > -1) - if(current_raw[TEMPSENSOR_HOTEND_1] <= minttemp_1) { - target_raw[TEMPSENSOR_HOTEND_1] = 0; - analogWrite(HEATER_2_PIN, 0); - SERIAL_ERRORLN("Temperature extruder 1 switched off. MINTEMP triggered !!"); - kill(); - } - #endif -#endif //MAXTEMP -#ifdef BED_MINTEMP - #if (HEATER_1_PIN > -1) - if(current_raw[1] <= bed_minttemp) { - target_raw[1] = 0; - WRITE(HEATER_1_PIN, 0); - SERIAL_ERRORLN("Temperatur heated bed switched off. MINTEMP triggered !!"); - kill(); - } - #endif -#endif -#ifdef BED_MAXTEMP - #if (HEATER_1_PIN > -1) - if(current_raw[1] >= bed_maxttemp) { - target_raw[1] = 0; - WRITE(HEATER_1_PIN, 0); - SERIAL_ERRORLN("Temperature heated bed switched off. MAXTEMP triggered !!"); - kill(); - } - #endif -#endif } } diff --git a/Marlin/temperature.h b/Marlin/temperature.h index 44d54db14..9c4b59a24 100644 --- a/Marlin/temperature.h +++ b/Marlin/temperature.h @@ -27,9 +27,11 @@ #include "stepper.h" #endif +// public functions void tp_init(); //initialise the heating void manage_heater(); //it is critical that this is called periodically. + enum TempSensor {TEMPSENSOR_HOTEND_0=0,TEMPSENSOR_BED=1, TEMPSENSOR_HOTEND_1=2}; //low leven conversion routines @@ -41,9 +43,11 @@ float analog2tempBed(int raw); extern int target_raw[3]; extern int current_raw[3]; extern float Kp,Ki,Kd,Kc; + #ifdef PIDTEMP extern float pid_setpoint ; #endif + #ifdef WATCHPERIOD extern int watch_raw[3] ; extern unsigned long watchmillis; @@ -63,15 +67,15 @@ inline float degTargetHotend0() { return analog2temp(target_raw[TEMPSENSOR_HOTE inline float degTargetHotend1() { return analog2temp(target_raw[TEMPSENSOR_HOTEND_1]);}; inline float degTargetBed() { return analog2tempBed(target_raw[TEMPSENSOR_BED]);}; -inline void setTargetHotend0(float celsius) +inline void setTargetHotend0(const float &celsius) { target_raw[TEMPSENSOR_HOTEND_0]=temp2analog(celsius); #ifdef PIDTEMP pid_setpoint = celsius; #endif //PIDTEMP }; -inline void setTargetHotend1(float celsius) { target_raw[TEMPSENSOR_HOTEND_1]=temp2analog(celsius);}; -inline void setTargetBed(float celsius) { target_raw[TEMPSENSOR_BED ]=temp2analogBed(celsius);}; +inline void setTargetHotend1(const float &celsius) { target_raw[TEMPSENSOR_HOTEND_1]=temp2analog(celsius);}; +inline void setTargetBed(const float &celsius) { target_raw[TEMPSENSOR_BED ]=temp2analogBed(celsius);}; inline bool isHeatingHotend0() {return target_raw[TEMPSENSOR_HOTEND_0] > current_raw[TEMPSENSOR_HOTEND_0];}; inline bool isHeatingHotend1() {return target_raw[TEMPSENSOR_HOTEND_1] > current_raw[TEMPSENSOR_HOTEND_1];}; @@ -84,16 +88,5 @@ inline bool isCoolingBed() {return target_raw[TEMPSENSOR_BED] < current_raw[TEMP void disable_heater(); void setWatch(); -#ifdef HEATER_0_USES_THERMISTOR - #define HEATERSOURCE 1 -#endif -#ifdef BED_USES_THERMISTOR - #define BEDSOURCE 1 -#endif - - - - - #endif diff --git a/Marlin/ultralcd.h b/Marlin/ultralcd.h index b7092c9cb..18d1b7f24 100644 --- a/Marlin/ultralcd.h +++ b/Marlin/ultralcd.h @@ -9,107 +9,48 @@ void lcd_status(const char* message); void beep(); void buttons_check(); - #define LCDSTATUSRIGHT + #define LCD_UPDATE_INTERVAL 100 #define STATUSTIMEOUT 15000 - #include "Configuration.h" #include extern LiquidCrystal lcd; - //lcd display size -#ifdef NEWPANEL - //arduino pin witch triggers an piezzo beeper - #define BEEPER 18 + #ifdef NEWPANEL - #define LCD_PINS_RS 20 - #define LCD_PINS_ENABLE 17 - #define LCD_PINS_D4 16 - #define LCD_PINS_D5 21 - #define LCD_PINS_D6 5 - #define LCD_PINS_D7 6 - - //buttons are directly attached - #define BTN_EN1 40 - #define BTN_EN2 42 - #define BTN_ENC 19 //the click - - #define BLEN_C 2 - #define BLEN_B 1 - #define BLEN_A 0 - - #define SDCARDDETECT 38 - - #define EN_C (1<>1; - if(READ(SHIFT_OUT)) - newbutton|=(1<<7); - WRITE(SHIFT_CLK,HIGH); - WRITE(SHIFT_CLK,LOW); - } - buttons=~newbutton; //invert it, because a pressed switch produces a logical 0 -#endif + #ifdef NEWPANEL + uint8_t newbutton=0; + if(READ(BTN_EN1)==0) newbutton|=EN_A; + if(READ(BTN_EN2)==0) newbutton|=EN_B; + if((blocking>1; + if(READ(SHIFT_OUT)) + newbutton|=(1<<7); + WRITE(SHIFT_CLK,HIGH); + WRITE(SHIFT_CLK,LOW); + } + buttons=~newbutton; //invert it, because a pressed switch produces a logical 0 + #endif + char enc=0; if(buttons&EN_A) enc|=(1<<0); @@ -212,7 +211,6 @@ void buttons_check() } } lastenc=enc; -// busy=false; } #endif @@ -223,9 +221,9 @@ MainMenu::MainMenu() displayStartingRow=0; activeline=0; force_lcd_update=true; -#ifdef ULTIPANEL - buttons_init(); -#endif + #ifdef ULTIPANEL + buttons_init(); + #endif lcd_init(); linechanging=false; } @@ -1154,12 +1152,13 @@ uint8_t getnrfilenames() cnt++; } return cnt; +#else + return 0; #endif } void MainMenu::showSD() { - #ifdef SDSUPPORT uint8_t line=0; @@ -1205,11 +1204,11 @@ void MainMenu::showSD() if(force_lcd_update) { lcd.setCursor(0,line); -#ifdef CARDINSERTED + #ifdef CARDINSERTED if(CARDINSERTED) -#else + #else if(true) -#endif + #endif { lcd.print(" \004Refresh"); } @@ -1306,9 +1305,9 @@ void MainMenu::showMainMenu() { //if(int(encoderpos/lcdslow)!=int(lastencoderpos/lcdslow)) // force_lcd_update=true; -#ifndef ULTIPANEL - force_lcd_update=false; -#endif + #ifndef ULTIPANEL + force_lcd_update=false; + #endif //Serial.println((int)activeline); if(force_lcd_update) clear(); @@ -1347,17 +1346,17 @@ void MainMenu::showMainMenu() beepshort(); } }break; -#ifdef SDSUPPORT + #ifdef SDSUPPORT case ItemM_file: { if(force_lcd_update) { lcd.setCursor(0,line); -#ifdef CARDINSERTED - if(CARDINSERTED) -#else - if(true) -#endif + #ifdef CARDINSERTED + if(CARDINSERTED) + #else + if(true) + #endif { if(sdmode) lcd.print(" Stop Print \x7E"); @@ -1370,7 +1369,7 @@ void MainMenu::showMainMenu() } } #ifdef CARDINSERTED - if(CARDINSERTED) + if(CARDINSERTED) #endif if((activeline==line)&&CLICKED) { @@ -1380,28 +1379,30 @@ void MainMenu::showMainMenu() beepshort(); } }break; -#endif + #endif default: SERIAL_ERRORLN("Something is wrong in the MenuStructure."); break; } } - if(activeline<0) activeline=0; - if(activeline>=LCD_HEIGHT) activeline=LCD_HEIGHT-1; + if(activeline<0) + activeline=0; + if(activeline>=LCD_HEIGHT) + activeline=LCD_HEIGHT-1; if((encoderpos!=lastencoderpos)||force_lcd_update) { lcd.setCursor(0,activeline);lcd.print(activeline?' ':' '); if(encoderpos<0) encoderpos=0; - if(encoderpos>3*lcdslow) encoderpos=3*lcdslow; + if(encoderpos>3*lcdslow) + encoderpos=3*lcdslow; activeline=abs(encoderpos/lcdslow)%LCD_HEIGHT; - if(activeline<0) activeline=0; - if(activeline>=LCD_HEIGHT) activeline=LCD_HEIGHT-1; + if(activeline<0) + activeline=0; + if(activeline>=LCD_HEIGHT) + activeline=LCD_HEIGHT-1; lastencoderpos=encoderpos; lcd.setCursor(0,activeline);lcd.print(activeline?'>':'\003'); } - - - } void MainMenu::update() @@ -1409,25 +1410,24 @@ void MainMenu::update() static MainStatus oldstatus=Main_Menu; //init automatically causes foce_lcd_update=true static long timeoutToStatus=0; static bool oldcardstatus=false; -#ifdef CARDINSERTED - if((CARDINSERTED != oldcardstatus)) - { - force_lcd_update=true; - oldcardstatus=CARDINSERTED; - //Serial.println("echo: SD CHANGE"); - if(CARDINSERTED) + #ifdef CARDINSERTED + if((CARDINSERTED != oldcardstatus)) { - initsd(); - lcd_status("Card inserted"); + force_lcd_update=true; + oldcardstatus=CARDINSERTED; + //Serial.println("echo: SD CHANGE"); + if(CARDINSERTED) + { + initsd(); + lcd_status("Card inserted"); + } + else + { + sdactive=false; + lcd_status("Card removed"); + } } - else - { - sdactive=false; - lcd_status("Card removed"); - - } - } -#endif + #endif if(status!=oldstatus) { @@ -1484,9 +1484,9 @@ void MainMenu::update() //return for string conversion routines -char conv[8]; +static char conv[8]; -/// convert float to string with +123.4 format +// convert float to string with +123.4 format char *ftostr3(const float &x) { //sprintf(conv,"%5.1f",x); @@ -1497,6 +1497,7 @@ char *ftostr3(const float &x) conv[3]=0; return conv; } + char *itostr2(const uint8_t &x) { //sprintf(conv,"%5.1f",x); @@ -1506,10 +1507,10 @@ char *itostr2(const uint8_t &x) conv[2]=0; return conv; } -/// convert float to string with +123.4 format + +// convert float to string with +123.4 format char *ftostr31(const float &x) { - //sprintf(conv,"%5.1f",x); int xx=x*10; conv[0]=(xx>=0)?'+':'-'; xx=abs(xx); @@ -1524,7 +1525,6 @@ char *ftostr31(const float &x) char *itostr31(const int &xx) { - //sprintf(conv,"%5.1f",x); conv[0]=(xx>=0)?'+':'-'; conv[1]=(xx/1000)%10+'0'; conv[2]=(xx/100)%10+'0'; @@ -1534,6 +1534,7 @@ char *itostr31(const int &xx) conv[6]=0; return conv; } + char *itostr3(const int &xx) { conv[0]=(xx/100)%10+'0'; @@ -1553,7 +1554,7 @@ char *itostr4(const int &xx) return conv; } -/// convert float to string with +1234.5 format +// convert float to string with +1234.5 format char *ftostr51(const float &x) { int xx=x*10; @@ -1587,11 +1588,9 @@ char *fillto(int8_t n,char *c) } ret[n]=0; return ret; - } -#else -inline void lcd_status() {}; -#endif + +#endif //ULTRA_LCD diff --git a/Marlin/watchdog.h b/Marlin/watchdog.h index 7dd31f9f7..44ee9de35 100644 --- a/Marlin/watchdog.h +++ b/Marlin/watchdog.h @@ -1,13 +1,16 @@ #ifndef __WATCHDOGH #define __WATCHDOGH #include "Configuration.h" -//#ifdef USE_WATCHDOG +#ifdef USE_WATCHDOG -/// intialise watch dog with a 1 sec interrupt time -void wd_init(); -/// pad the dog/reset watchdog. MUST be called at least every second after the first wd_init or avr will go into emergency procedures.. -void wd_reset(); + // intialise watch dog with a 1 sec interrupt time + void wd_init(); + // pad the dog/reset watchdog. MUST be called at least every second after the first wd_init or avr will go into emergency procedures.. + void wd_reset(); -//#endif +#else + inline void wd_init() {}; + inline void wd_reset() {}; +#endif #endif diff --git a/Marlin/watchdog.pde b/Marlin/watchdog.pde index 09d881d1d..71868cec5 100644 --- a/Marlin/watchdog.pde +++ b/Marlin/watchdog.pde @@ -3,7 +3,7 @@ #include #include -volatile uint8_t timeout_seconds=0; +static volatile uint8_t timeout_seconds=0; void(* ctrlaltdelete) (void) = 0; //does not work on my atmega2560