Removed interrupt nesting in the stepper ISR.
Add serial checkRx in stepper ISR. Copied HardwareSerial to MarlinSerial (Needed for checkRx).
This commit is contained in:
parent
aad4b75b94
commit
f75f426dfa
16 changed files with 1007 additions and 754 deletions
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@ -232,7 +232,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
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// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
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#define DEFAULT_MINSEGMENTTIME 20000 // Obsolete delete this
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#define DEFAULT_MINSEGMENTTIME 20000 // Obsolete delete this
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#define DEFAULT_XYJERK 30.0 // (mm/sec)
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#define DEFAULT_XYJERK 20.0 // (mm/sec)
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#define DEFAULT_ZJERK 0.4 // (mm/sec)
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#define DEFAULT_ZJERK 0.4 // (mm/sec)
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@ -4,6 +4,7 @@
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#include "Marlin.h"
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#include "Marlin.h"
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#include "planner.h"
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#include "planner.h"
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#include "temperature.h"
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#include "temperature.h"
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#include <EEPROM.h>
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#include <EEPROM.h>
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template <class T> int EEPROM_writeAnything(int &ee, const T& value)
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template <class T> int EEPROM_writeAnything(int &ee, const T& value)
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@ -3,10 +3,12 @@
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// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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// Licence: GPL
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// Licence: GPL
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#define HardwareSerial_h // trick to disable the standard HWserial
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#include <WProgram.h>
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#include <WProgram.h>
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#include "fastio.h"
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#include "fastio.h"
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#include <avr/pgmspace.h>
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#include <avr/pgmspace.h>
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#include "Configuration.h"
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#include "Configuration.h"
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#include "MarlinSerial.h"
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//#define SERIAL_ECHO(x) Serial << "echo: " << x;
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//#define SERIAL_ECHO(x) Serial << "echo: " << x;
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//#define SERIAL_ECHOLN(x) Serial << "echo: "<<x<<endl;
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//#define SERIAL_ECHOLN(x) Serial << "echo: "<<x<<endl;
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@ -17,10 +19,10 @@
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#define SERIAL_PROTOCOL(x) Serial.print(x);
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#define SERIAL_PROTOCOL(x) MSerial.print(x);
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#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x));
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#define SERIAL_PROTOCOLPGM(x) serialprintPGM(PSTR(x));
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#define SERIAL_PROTOCOLLN(x) {Serial.print(x);Serial.write('\n');}
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#define SERIAL_PROTOCOLLN(x) {MSerial.print(x);MSerial.write('\n');}
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#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));Serial.write('\n');}
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#define SERIAL_PROTOCOLLNPGM(x) {serialprintPGM(PSTR(x));MSerial.write('\n');}
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const char errormagic[] PROGMEM ="Error:";
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const char errormagic[] PROGMEM ="Error:";
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const char echomagic[] PROGMEM ="echo:";
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const char echomagic[] PROGMEM ="echo:";
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@ -46,7 +48,7 @@ inline void serialprintPGM(const char *str)
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char ch=pgm_read_byte(str);
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char ch=pgm_read_byte(str);
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while(ch)
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while(ch)
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{
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{
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Serial.write(ch);
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MSerial.write(ch);
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ch=pgm_read_byte(++str);
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ch=pgm_read_byte(++str);
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}
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}
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}
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}
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@ -176,6 +176,7 @@ static unsigned long stoptime=0;
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static uint8_t tmp_extruder;
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static uint8_t tmp_extruder;
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//===========================================================================
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//===========================================================================
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//=============================ROUTINES=============================
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//=============================ROUTINES=============================
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//===========================================================================
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//===========================================================================
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@ -199,13 +200,6 @@ extern "C"{
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}
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}
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}
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}
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//adds an command to the main command buffer
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//adds an command to the main command buffer
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//thats really done in a non-safe way.
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//thats really done in a non-safe way.
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//needs overworking someday
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//needs overworking someday
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@ -226,7 +220,7 @@ void enquecommand(const char *cmd)
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void setup()
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void setup()
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{
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{
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Serial.begin(BAUDRATE);
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MSerial.begin(BAUDRATE);
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SERIAL_ECHO_START;
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SERIAL_ECHO_START;
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SERIAL_ECHOLNPGM(VERSION_STRING);
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SERIAL_ECHOLNPGM(VERSION_STRING);
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SERIAL_PROTOCOLLNPGM("start");
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SERIAL_PROTOCOLLNPGM("start");
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@ -289,15 +283,14 @@ void loop()
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manage_heater();
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manage_heater();
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manage_inactivity(1);
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manage_inactivity(1);
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checkHitEndstops();
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checkHitEndstops();
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checkStepperErrors();
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LCD_STATUS;
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LCD_STATUS;
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}
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}
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inline void get_command()
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inline void get_command()
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{
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{
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while( Serial.available() > 0 && buflen < BUFSIZE) {
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while( MSerial.available() > 0 && buflen < BUFSIZE) {
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serial_char = Serial.read();
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serial_char = MSerial.read();
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if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
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if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
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{
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{
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if(!serial_count) return; //if empty line
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if(!serial_count) return; //if empty line
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@ -1039,7 +1032,7 @@ inline void process_commands()
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void FlushSerialRequestResend()
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void FlushSerialRequestResend()
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{
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{
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//char cmdbuffer[bufindr][100]="Resend:";
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//char cmdbuffer[bufindr][100]="Resend:";
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Serial.flush();
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MSerial.flush();
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SERIAL_PROTOCOLPGM("Resend:");
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SERIAL_PROTOCOLPGM("Resend:");
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SERIAL_PROTOCOLLN(gcode_LastN + 1);
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SERIAL_PROTOCOLLN(gcode_LastN + 1);
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ClearToSend();
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ClearToSend();
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@ -1088,7 +1081,7 @@ void prepare_move()
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if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
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if (destination[Z_AXIS] > Z_MAX_LENGTH) destination[Z_AXIS] = Z_MAX_LENGTH;
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}
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}
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0);
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
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for(int8_t i=0; i < NUM_AXIS; i++) {
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for(int8_t i=0; i < NUM_AXIS; i++) {
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current_position[i] = destination[i];
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current_position[i] = destination[i];
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}
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}
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@ -1098,7 +1091,7 @@ void prepare_arc_move(char isclockwise) {
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float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
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float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
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// Trace the arc
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// Trace the arc
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mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise);
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mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise, active_extruder);
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// As far as the parser is concerned, the position is now == target. In reality the
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// As far as the parser is concerned, the position is now == target. In reality the
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// motion control system might still be processing the action and the real tool position
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// motion control system might still be processing the action and the real tool position
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@ -1108,10 +1101,6 @@ void prepare_arc_move(char isclockwise) {
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}
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}
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}
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}
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void manage_inactivity(byte debug)
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void manage_inactivity(byte debug)
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{
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{
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if( (millis()-previous_millis_cmd) > max_inactive_time )
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if( (millis()-previous_millis_cmd) > max_inactive_time )
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213
Marlin/MarlinSerial.cpp
Normal file
213
Marlin/MarlinSerial.cpp
Normal file
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@ -0,0 +1,213 @@
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/*
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HardwareSerial.cpp - Hardware serial library for Wiring
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Copyright (c) 2006 Nicholas Zambetti. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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Modified 23 November 2006 by David A. Mellis
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Modified 28 September 2010 by Mark Sproul
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*/
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include <inttypes.h>
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#include "wiring.h"
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#include "wiring_private.h"
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// this next line disables the entire HardwareSerial.cpp,
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// this is so I can support Attiny series and any other chip without a uart
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#if defined(UBRRH) || defined(UBRR0H) || defined(UBRR1H) || defined(UBRR2H) || defined(UBRR3H)
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#include "MarlinSerial.h"
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// Define constants and variables for buffering incoming serial data. We're
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// using a ring buffer (I think), in which rx_buffer_head is the index of the
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// location to which to write the next incoming character and rx_buffer_tail
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// is the index of the location from which to read.
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#define RX_BUFFER_SIZE 128
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struct ring_buffer
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{
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unsigned char buffer[RX_BUFFER_SIZE];
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int head;
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int tail;
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};
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#if defined(UBRRH) || defined(UBRR0H)
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ring_buffer rx_buffer = { { 0 }, 0, 0 };
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#endif
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inline void store_char(unsigned char c, ring_buffer *rx_buffer)
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{
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int i = (unsigned int)(rx_buffer->head + 1) % RX_BUFFER_SIZE;
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// if we should be storing the received character into the location
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// just before the tail (meaning that the head would advance to the
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// current location of the tail), we're about to overflow the buffer
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// and so we don't write the character or advance the head.
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if (i != rx_buffer->tail) {
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rx_buffer->buffer[rx_buffer->head] = c;
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rx_buffer->head = i;
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}
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}
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//#elif defined(SIG_USART_RECV)
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#if defined(USART0_RX_vect)
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// fixed by Mark Sproul this is on the 644/644p
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//SIGNAL(SIG_USART_RECV)
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SIGNAL(USART0_RX_vect)
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{
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#if defined(UDR0)
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unsigned char c = UDR0;
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#elif defined(UDR)
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unsigned char c = UDR; // atmega8, atmega32
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#else
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#error UDR not defined
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#endif
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store_char(c, &rx_buffer);
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}
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#endif
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// Constructors ////////////////////////////////////////////////////////////////
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MarlinSerial::MarlinSerial(ring_buffer *rx_buffer,
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volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
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volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
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volatile uint8_t *udr,
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uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x)
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{
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_rx_buffer = rx_buffer;
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_ubrrh = ubrrh;
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_ubrrl = ubrrl;
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_ucsra = ucsra;
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_ucsrb = ucsrb;
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_udr = udr;
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_rxen = rxen;
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_txen = txen;
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_rxcie = rxcie;
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_udre = udre;
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_u2x = u2x;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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void MarlinSerial::begin(long baud)
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{
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uint16_t baud_setting;
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bool use_u2x = true;
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#if F_CPU == 16000000UL
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// hardcoded exception for compatibility with the bootloader shipped
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// with the Duemilanove and previous boards and the firmware on the 8U2
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// on the Uno and Mega 2560.
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if (baud == 57600) {
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use_u2x = false;
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}
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#endif
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if (use_u2x) {
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*_ucsra = 1 << _u2x;
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baud_setting = (F_CPU / 4 / baud - 1) / 2;
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} else {
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*_ucsra = 0;
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baud_setting = (F_CPU / 8 / baud - 1) / 2;
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}
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// assign the baud_setting, a.k.a. ubbr (USART Baud Rate Register)
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*_ubrrh = baud_setting >> 8;
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*_ubrrl = baud_setting;
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sbi(*_ucsrb, _rxen);
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sbi(*_ucsrb, _txen);
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sbi(*_ucsrb, _rxcie);
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}
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void MarlinSerial::end()
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{
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cbi(*_ucsrb, _rxen);
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cbi(*_ucsrb, _txen);
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cbi(*_ucsrb, _rxcie);
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}
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int MarlinSerial::available(void)
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{
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return (unsigned int)(RX_BUFFER_SIZE + _rx_buffer->head - _rx_buffer->tail) % RX_BUFFER_SIZE;
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}
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int MarlinSerial::peek(void)
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{
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if (_rx_buffer->head == _rx_buffer->tail) {
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return -1;
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} else {
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return _rx_buffer->buffer[_rx_buffer->tail];
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}
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}
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int MarlinSerial::read(void)
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{
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// if the head isn't ahead of the tail, we don't have any characters
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if (_rx_buffer->head == _rx_buffer->tail) {
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return -1;
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} else {
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unsigned char c = _rx_buffer->buffer[_rx_buffer->tail];
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_rx_buffer->tail = (unsigned int)(_rx_buffer->tail + 1) % RX_BUFFER_SIZE;
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return c;
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}
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}
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void MarlinSerial::flush()
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{
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// don't reverse this or there may be problems if the RX interrupt
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// occurs after reading the value of rx_buffer_head but before writing
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// the value to rx_buffer_tail; the previous value of rx_buffer_head
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// may be written to rx_buffer_tail, making it appear as if the buffer
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// don't reverse this or there may be problems if the RX interrupt
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// occurs after reading the value of rx_buffer_head but before writing
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// the value to rx_buffer_tail; the previous value of rx_buffer_head
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// may be written to rx_buffer_tail, making it appear as if the buffer
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// were full, not empty.
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_rx_buffer->head = _rx_buffer->tail;
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}
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void MarlinSerial::write(uint8_t c)
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{
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while (!((*_ucsra) & (1 << _udre)))
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;
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*_udr = c;
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}
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|
|
||||||
|
void MarlinSerial::checkRx()
|
||||||
|
{
|
||||||
|
if((UCSR0A & (1<<RXC0)) != 0) {
|
||||||
|
unsigned char c = UDR0;
|
||||||
|
store_char(c, &rx_buffer);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Preinstantiate Objects //////////////////////////////////////////////////////
|
||||||
|
|
||||||
|
#if defined(UBRR0H) && defined(UBRR0L)
|
||||||
|
MarlinSerial MSerial(&rx_buffer, &UBRR0H, &UBRR0L, &UCSR0A, &UCSR0B, &UDR0, RXEN0, TXEN0, RXCIE0, UDRE0, U2X0);
|
||||||
|
#else
|
||||||
|
#error no serial port defined (port 0)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
|
||||||
|
#endif // whole file
|
||||||
|
|
66
Marlin/MarlinSerial.h
Normal file
66
Marlin/MarlinSerial.h
Normal file
|
@ -0,0 +1,66 @@
|
||||||
|
/*
|
||||||
|
HardwareSerial.h - Hardware serial library for Wiring
|
||||||
|
Copyright (c) 2006 Nicholas Zambetti. All right reserved.
|
||||||
|
|
||||||
|
This library is free software; you can redistribute it and/or
|
||||||
|
modify it under the terms of the GNU Lesser General Public
|
||||||
|
License as published by the Free Software Foundation; either
|
||||||
|
version 2.1 of the License, or (at your option) any later version.
|
||||||
|
|
||||||
|
This library is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
||||||
|
Lesser General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU Lesser General Public
|
||||||
|
License along with this library; if not, write to the Free Software
|
||||||
|
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||||
|
|
||||||
|
Modified 28 September 2010 by Mark Sproul
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef MarlinSerial_h
|
||||||
|
#define MarlinSerial_h
|
||||||
|
|
||||||
|
#include <inttypes.h>
|
||||||
|
|
||||||
|
#include "Stream.h"
|
||||||
|
|
||||||
|
struct ring_buffer;
|
||||||
|
|
||||||
|
class MarlinSerial : public Stream
|
||||||
|
{
|
||||||
|
private:
|
||||||
|
ring_buffer *_rx_buffer;
|
||||||
|
volatile uint8_t *_ubrrh;
|
||||||
|
volatile uint8_t *_ubrrl;
|
||||||
|
volatile uint8_t *_ucsra;
|
||||||
|
volatile uint8_t *_ucsrb;
|
||||||
|
volatile uint8_t *_udr;
|
||||||
|
uint8_t _rxen;
|
||||||
|
uint8_t _txen;
|
||||||
|
uint8_t _rxcie;
|
||||||
|
uint8_t _udre;
|
||||||
|
uint8_t _u2x;
|
||||||
|
public:
|
||||||
|
MarlinSerial(ring_buffer *rx_buffer,
|
||||||
|
volatile uint8_t *ubrrh, volatile uint8_t *ubrrl,
|
||||||
|
volatile uint8_t *ucsra, volatile uint8_t *ucsrb,
|
||||||
|
volatile uint8_t *udr,
|
||||||
|
uint8_t rxen, uint8_t txen, uint8_t rxcie, uint8_t udre, uint8_t u2x);
|
||||||
|
void begin(long);
|
||||||
|
void end();
|
||||||
|
virtual int available(void);
|
||||||
|
virtual int peek(void);
|
||||||
|
virtual int read(void);
|
||||||
|
virtual void flush(void);
|
||||||
|
virtual void write(uint8_t);
|
||||||
|
virtual void checkRx(void);
|
||||||
|
using Print::write; // pull in write(str) and write(buf, size) from Print
|
||||||
|
};
|
||||||
|
|
||||||
|
#if defined(UBRRH) || defined(UBRR0H)
|
||||||
|
extern MarlinSerial MSerial;
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#endif
|
|
@ -18,6 +18,7 @@
|
||||||
* <http://www.gnu.org/licenses/>.
|
* <http://www.gnu.org/licenses/>.
|
||||||
*/
|
*/
|
||||||
#if ARDUINO < 100
|
#if ARDUINO < 100
|
||||||
|
#define HardwareSerial_h // trick to disable the standard HWserial
|
||||||
#include <WProgram.h>
|
#include <WProgram.h>
|
||||||
#else // ARDUINO
|
#else // ARDUINO
|
||||||
#include <Arduino.h>
|
#include <Arduino.h>
|
||||||
|
|
|
@ -306,7 +306,7 @@ void SdBaseFile::getpos(fpos_t* pos) {
|
||||||
* LS_R - Recursive list of subdirectories.
|
* LS_R - Recursive list of subdirectories.
|
||||||
*/
|
*/
|
||||||
void SdBaseFile::ls(uint8_t flags) {
|
void SdBaseFile::ls(uint8_t flags) {
|
||||||
ls(&Serial, flags, 0);
|
ls(&MSerial, flags, 0);
|
||||||
}
|
}
|
||||||
//------------------------------------------------------------------------------
|
//------------------------------------------------------------------------------
|
||||||
/** List directory contents.
|
/** List directory contents.
|
||||||
|
@ -949,7 +949,7 @@ int SdBaseFile::peek() {
|
||||||
*/
|
*/
|
||||||
void SdBaseFile::printDirName(const dir_t& dir,
|
void SdBaseFile::printDirName(const dir_t& dir,
|
||||||
uint8_t width, bool printSlash) {
|
uint8_t width, bool printSlash) {
|
||||||
printDirName(&Serial, dir, width, printSlash);
|
printDirName(&MSerial, dir, width, printSlash);
|
||||||
}
|
}
|
||||||
//------------------------------------------------------------------------------
|
//------------------------------------------------------------------------------
|
||||||
/** %Print the name field of a directory entry in 8.3 format.
|
/** %Print the name field of a directory entry in 8.3 format.
|
||||||
|
@ -993,7 +993,7 @@ static void print2u(Print* pr, uint8_t v) {
|
||||||
* \param[in] fatDate The date field from a directory entry.
|
* \param[in] fatDate The date field from a directory entry.
|
||||||
*/
|
*/
|
||||||
void SdBaseFile::printFatDate(uint16_t fatDate) {
|
void SdBaseFile::printFatDate(uint16_t fatDate) {
|
||||||
printFatDate(&Serial, fatDate);
|
printFatDate(&MSerial, fatDate);
|
||||||
}
|
}
|
||||||
//------------------------------------------------------------------------------
|
//------------------------------------------------------------------------------
|
||||||
/** %Print a directory date field.
|
/** %Print a directory date field.
|
||||||
|
@ -1018,7 +1018,7 @@ void SdBaseFile::printFatDate(Print* pr, uint16_t fatDate) {
|
||||||
* \param[in] fatTime The time field from a directory entry.
|
* \param[in] fatTime The time field from a directory entry.
|
||||||
*/
|
*/
|
||||||
void SdBaseFile::printFatTime(uint16_t fatTime) {
|
void SdBaseFile::printFatTime(uint16_t fatTime) {
|
||||||
printFatTime(&Serial, fatTime);
|
printFatTime(&MSerial, fatTime);
|
||||||
}
|
}
|
||||||
//------------------------------------------------------------------------------
|
//------------------------------------------------------------------------------
|
||||||
/** %Print a directory time field.
|
/** %Print a directory time field.
|
||||||
|
@ -1044,7 +1044,7 @@ void SdBaseFile::printFatTime(Print* pr, uint16_t fatTime) {
|
||||||
bool SdBaseFile::printName() {
|
bool SdBaseFile::printName() {
|
||||||
char name[13];
|
char name[13];
|
||||||
if (!getFilename(name)) return false;
|
if (!getFilename(name)) return false;
|
||||||
Serial.print(name);
|
MSerial.print(name);
|
||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
//------------------------------------------------------------------------------
|
//------------------------------------------------------------------------------
|
||||||
|
|
|
@ -25,7 +25,9 @@
|
||||||
*/
|
*/
|
||||||
#include <avr/pgmspace.h>
|
#include <avr/pgmspace.h>
|
||||||
#if ARDUINO < 100
|
#if ARDUINO < 100
|
||||||
|
#define HardwareSerial_h // trick to disable the standard HWserial
|
||||||
#include <WProgram.h>
|
#include <WProgram.h>
|
||||||
|
#include "MarlinSerial.h"
|
||||||
#else // ARDUINO
|
#else // ARDUINO
|
||||||
#include <Arduino.h>
|
#include <Arduino.h>
|
||||||
#endif // ARDUINO
|
#endif // ARDUINO
|
||||||
|
|
|
@ -62,7 +62,7 @@ void SdFatUtil::println_P(Print* pr, PGM_P str) {
|
||||||
* \param[in] str Pointer to string stored in flash memory.
|
* \param[in] str Pointer to string stored in flash memory.
|
||||||
*/
|
*/
|
||||||
void SdFatUtil::SerialPrint_P(PGM_P str) {
|
void SdFatUtil::SerialPrint_P(PGM_P str) {
|
||||||
print_P(&Serial, str);
|
print_P(&MSerial, str);
|
||||||
}
|
}
|
||||||
//------------------------------------------------------------------------------
|
//------------------------------------------------------------------------------
|
||||||
/** %Print a string in flash memory to Serial followed by a CR/LF.
|
/** %Print a string in flash memory to Serial followed by a CR/LF.
|
||||||
|
@ -70,5 +70,5 @@ void SdFatUtil::SerialPrint_P(PGM_P str) {
|
||||||
* \param[in] str Pointer to string stored in flash memory.
|
* \param[in] str Pointer to string stored in flash memory.
|
||||||
*/
|
*/
|
||||||
void SdFatUtil::SerialPrintln_P(PGM_P str) {
|
void SdFatUtil::SerialPrintln_P(PGM_P str) {
|
||||||
println_P(&Serial, str);
|
println_P(&MSerial, str);
|
||||||
}
|
}
|
||||||
|
|
|
@ -25,7 +25,9 @@
|
||||||
*/
|
*/
|
||||||
#include <avr/pgmspace.h>
|
#include <avr/pgmspace.h>
|
||||||
#if ARDUINO < 100
|
#if ARDUINO < 100
|
||||||
|
#define HardwareSerial_h // trick to disable the standard HWserial
|
||||||
#include <WProgram.h>
|
#include <WProgram.h>
|
||||||
|
#include "MarlinSerial.h"
|
||||||
#else // ARDUINO
|
#else // ARDUINO
|
||||||
#include <Arduino.h>
|
#include <Arduino.h>
|
||||||
#endif // ARDUINO
|
#endif // ARDUINO
|
||||||
|
|
|
@ -27,7 +27,7 @@
|
||||||
// The arc is approximated by generating a huge number of tiny, linear segments. The length of each
|
// The arc is approximated by generating a huge number of tiny, linear segments. The length of each
|
||||||
// segment is configured in settings.mm_per_arc_segment.
|
// segment is configured in settings.mm_per_arc_segment.
|
||||||
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
|
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)
|
uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise, uint8_t extruder)
|
||||||
{
|
{
|
||||||
// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
|
// 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
|
// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
|
||||||
|
@ -123,11 +123,11 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
|
||||||
arc_target[axis_1] = center_axis1 + r_axis1;
|
arc_target[axis_1] = center_axis1 + r_axis1;
|
||||||
arc_target[axis_linear] += linear_per_segment;
|
arc_target[axis_linear] += linear_per_segment;
|
||||||
arc_target[E_AXIS] += extruder_per_segment;
|
arc_target[E_AXIS] += extruder_per_segment;
|
||||||
plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate);
|
plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
|
||||||
|
|
||||||
}
|
}
|
||||||
// Ensure last segment arrives at target location.
|
// 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_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate, extruder);
|
||||||
|
|
||||||
// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
|
// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
|
||||||
}
|
}
|
||||||
|
|
|
@ -27,6 +27,6 @@
|
||||||
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
|
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
|
||||||
// for vector transformation direction.
|
// for vector transformation direction.
|
||||||
void mc_arc(float *position, float *target, float *offset, unsigned char axis_0, unsigned char axis_1,
|
void mc_arc(float *position, float *target, float *offset, unsigned char axis_0, unsigned char axis_1,
|
||||||
unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise);
|
unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise, uint8_t extruder);
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|
|
@ -451,7 +451,7 @@ float junction_deviation = 0.1;
|
||||||
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
|
// 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
|
// 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.
|
// calculation the caller must also provide the physical length of the line in millimeters.
|
||||||
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate)
|
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
|
||||||
{
|
{
|
||||||
// Calculate the buffer head after we push this byte
|
// Calculate the buffer head after we push this byte
|
||||||
int next_buffer_head = next_block_index(block_buffer_head);
|
int next_buffer_head = next_block_index(block_buffer_head);
|
||||||
|
@ -532,7 +532,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||||
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
|
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
|
||||||
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
|
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
|
||||||
|
|
||||||
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5)) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
|
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
/*
|
/*
|
||||||
|
|
|
@ -66,7 +66,7 @@ void plan_init();
|
||||||
|
|
||||||
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
|
// 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.
|
// millimaters. Feed rate specifies the speed of the motion.
|
||||||
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
|
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
|
||||||
|
|
||||||
// Set position. Used for G92 instructions.
|
// Set position. Used for G92 instructions.
|
||||||
void plan_set_position(const float &x, const float &y, const float &z, const float &e);
|
void plan_set_position(const float &x, const float &y, const float &z, const float &e);
|
||||||
|
|
|
@ -52,7 +52,7 @@ static long counter_x, // Counter variables for the bresenham line tracer
|
||||||
counter_y,
|
counter_y,
|
||||||
counter_z,
|
counter_z,
|
||||||
counter_e;
|
counter_e;
|
||||||
static unsigned long step_events_completed; // The number of step events executed in the current block
|
volatile static unsigned long step_events_completed; // The number of step events executed in the current block
|
||||||
#ifdef ADVANCE
|
#ifdef ADVANCE
|
||||||
static long advance_rate, advance, final_advance = 0;
|
static long advance_rate, advance, final_advance = 0;
|
||||||
static short old_advance = 0;
|
static short old_advance = 0;
|
||||||
|
@ -63,6 +63,7 @@ static long acceleration_time, deceleration_time;
|
||||||
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
|
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
|
||||||
static unsigned short acc_step_rate; // needed for deccelaration start point
|
static unsigned short acc_step_rate; // needed for deccelaration start point
|
||||||
static char step_loops;
|
static char step_loops;
|
||||||
|
static unsigned short OCR1A_nominal;
|
||||||
|
|
||||||
volatile long endstops_trigsteps[3]={0,0,0};
|
volatile long endstops_trigsteps[3]={0,0,0};
|
||||||
volatile long endstops_stepsTotal,endstops_stepsDone;
|
volatile long endstops_stepsTotal,endstops_stepsDone;
|
||||||
|
@ -77,10 +78,6 @@ static bool old_y_max_endstop=false;
|
||||||
static bool old_z_min_endstop=false;
|
static bool old_z_min_endstop=false;
|
||||||
static bool old_z_max_endstop=false;
|
static bool old_z_max_endstop=false;
|
||||||
|
|
||||||
static bool busy_error=false;
|
|
||||||
unsigned short OCR1A_error=12345;
|
|
||||||
unsigned short OCR1A_nominal;
|
|
||||||
|
|
||||||
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
|
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
|
||||||
volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
|
volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
|
||||||
|
|
||||||
|
@ -164,15 +161,6 @@ asm volatile ( \
|
||||||
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
|
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
|
||||||
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
|
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
|
||||||
|
|
||||||
void checkStepperErrors()
|
|
||||||
{
|
|
||||||
if(busy_error) {
|
|
||||||
SERIAL_ERROR_START
|
|
||||||
SERIAL_ERROR(OCR1A_error);
|
|
||||||
SERIAL_ERRORLNPGM(" ISR overtaking itself.");
|
|
||||||
busy_error = false;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void checkHitEndstops()
|
void checkHitEndstops()
|
||||||
{
|
{
|
||||||
|
@ -255,7 +243,7 @@ inline unsigned short calc_timer(unsigned short step_rate) {
|
||||||
timer = (unsigned short)pgm_read_word_near(table_address);
|
timer = (unsigned short)pgm_read_word_near(table_address);
|
||||||
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
|
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
|
||||||
}
|
}
|
||||||
if(timer < 100) { timer = 100; Serial.print("Steprate to high : "); Serial.println(step_rate); }//(20kHz this should never happen)
|
if(timer < 100) { timer = 100; MSerial.print("Steprate to high : "); MSerial.println(step_rate); }//(20kHz this should never happen)
|
||||||
return timer;
|
return timer;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -278,16 +266,6 @@ inline void trapezoid_generator_reset() {
|
||||||
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
|
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
|
||||||
ISR(TIMER1_COMPA_vect)
|
ISR(TIMER1_COMPA_vect)
|
||||||
{
|
{
|
||||||
if(busy){
|
|
||||||
OCR1A_error = OCR1A;
|
|
||||||
busy_error = true;
|
|
||||||
OCR1A = 30000;
|
|
||||||
return;
|
|
||||||
} // The busy-flag is used to avoid reentering this interrupt
|
|
||||||
|
|
||||||
busy = true;
|
|
||||||
sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
|
|
||||||
|
|
||||||
// If there is no current block, attempt to pop one from the buffer
|
// If there is no current block, attempt to pop one from the buffer
|
||||||
if (current_block == NULL) {
|
if (current_block == NULL) {
|
||||||
// Anything in the buffer?
|
// Anything in the buffer?
|
||||||
|
@ -304,7 +282,7 @@ ISR(TIMER1_COMPA_vect)
|
||||||
// #endif
|
// #endif
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
// DISABLE_STEPPER_DRIVER_INTERRUPT();
|
OCR1A=2000; // 1kHz.
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -404,8 +382,8 @@ ISR(TIMER1_COMPA_vect)
|
||||||
count_direction[E_AXIS]=-1;
|
count_direction[E_AXIS]=-1;
|
||||||
}
|
}
|
||||||
#endif //!ADVANCE
|
#endif //!ADVANCE
|
||||||
|
|
||||||
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
|
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
|
||||||
|
MSerial.checkRx();
|
||||||
/*
|
/*
|
||||||
counter_e += current_block->steps_e;
|
counter_e += current_block->steps_e;
|
||||||
if (counter_e > 0) {
|
if (counter_e > 0) {
|
||||||
|
@ -470,6 +448,7 @@ ISR(TIMER1_COMPA_vect)
|
||||||
unsigned short timer;
|
unsigned short timer;
|
||||||
unsigned short step_rate;
|
unsigned short step_rate;
|
||||||
if (step_events_completed <= current_block->accelerate_until) {
|
if (step_events_completed <= current_block->accelerate_until) {
|
||||||
|
|
||||||
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
|
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
|
||||||
acc_step_rate += current_block->initial_rate;
|
acc_step_rate += current_block->initial_rate;
|
||||||
|
|
||||||
|
@ -519,8 +498,6 @@ ISR(TIMER1_COMPA_vect)
|
||||||
plan_discard_current_block();
|
plan_discard_current_block();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
cli(); // disable interrupts
|
|
||||||
busy=false;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#ifdef ADVANCE
|
#ifdef ADVANCE
|
||||||
|
|
Reference in a new issue