Signed-off-by: Erik van der Zalm <erik@vdzalm.eu>
This commit is contained in:
Erik van der Zalm
parent
750f6c33e3
commit
f850af5c1c
1 changed files with 0 additions and 2050 deletions
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#include "WProgram.h"
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/*
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Reprap firmware based on Sprinter and grbl.
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Copyright (C) 2011
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program 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
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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This firmware is a mashup of Sprinter and grbl.
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(https://github.com/kliment/Sprinter)
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(https://github.com/simen/grbl/tree)
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The acceleration algorithm is derived from http://hwml.com/LeibRamp.pdf
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This firmware is optimized for gen6 electronics.
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*/
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#include "fastio.h"
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#include "Configuration.h"
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#include "pins.h"
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#include "Marlin.h"
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#include "speed_lookuptable.h"
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#ifdef SDSUPPORT
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#include "SdFat.h"
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#endif
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#ifndef CRITICAL_SECTION_START
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#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli()
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#define CRITICAL_SECTION_END SREG = _sreg
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#endif
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// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
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// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
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//Implemented Codes
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//-------------------
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// G0 -> G1
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// G1 - Coordinated Movement X Y Z E
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// G4 - Dwell S<seconds> or P<milliseconds>
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// G28 - Home all Axis
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// G90 - Use Absolute Coordinates
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// G91 - Use Relative Coordinates
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// G92 - Set current position to cordinates given
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//RepRap M Codes
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// M104 - Set extruder target temp
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// M105 - Read current temp
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// M106 - Fan on
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// M107 - Fan off
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// M109 - Wait for extruder current temp to reach target temp.
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// M114 - Display current position
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//Custom M Codes
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// M80 - Turn on Power Supply
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// M20 - List SD card
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// M21 - Init SD card
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// M22 - Release SD card
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// M23 - Select SD file (M23 filename.g)
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// M24 - Start/resume SD print
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// M25 - Pause SD print
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// M26 - Set SD position in bytes (M26 S12345)
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// M27 - Report SD print status
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// M28 - Start SD write (M28 filename.g)
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// M29 - Stop SD write
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// M81 - Turn off Power Supply
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// M82 - Set E codes absolute (default)
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// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
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// M84 - Disable steppers until next move,
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// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
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// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
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// M92 - Set axis_steps_per_unit - same syntax as G92
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// M115 - Capabilities string
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// M140 - Set bed target temp
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// M190 - Wait for bed current temp to reach target temp.
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// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
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// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000)
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// M301 - Set PID parameters P I and D
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//Stepper Movement Variables
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char axis_codes[NUM_AXIS] = {
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'X', 'Y', 'Z', 'E'};
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float destination[NUM_AXIS] = {
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0.0, 0.0, 0.0, 0.0};
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float current_position[NUM_AXIS] = {
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0.0, 0.0, 0.0, 0.0};
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bool home_all_axis = true;
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long feedrate = 1500, next_feedrate, saved_feedrate;
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long gcode_N, gcode_LastN;
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bool relative_mode = false; //Determines Absolute or Relative Coordinates
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bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
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unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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// comm variables
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#define MAX_CMD_SIZE 96
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#define BUFSIZE 8
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char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
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bool fromsd[BUFSIZE];
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int bufindr = 0;
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int bufindw = 0;
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int buflen = 0;
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int i = 0;
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char serial_char;
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int serial_count = 0;
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boolean comment_mode = false;
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char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
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// Manage heater variables.
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int target_raw = 0;
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int current_raw = 0;
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unsigned char temp_meas_ready = false;
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#ifdef PIDTEMP
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double temp_iState = 0;
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double temp_dState = 0;
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double pTerm;
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double iTerm;
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double dTerm;
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//int output;
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double pid_error;
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double temp_iState_min;
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double temp_iState_max;
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double pid_setpoint = 0.0;
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double pid_input;
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double pid_output;
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bool pid_reset;
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#endif
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#ifdef WATCHPERIOD
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int watch_raw = -1000;
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unsigned long watchmillis = 0;
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#endif
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#ifdef MINTEMP
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int minttemp = temp2analogh(MINTEMP);
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#endif
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#ifdef MAXTEMP
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int maxttemp = temp2analogh(MAXTEMP);
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#endif
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//Inactivity shutdown variables
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unsigned long previous_millis_cmd = 0;
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unsigned long max_inactive_time = 0;
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unsigned long stepper_inactive_time = 0;
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#ifdef SDSUPPORT
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Sd2Card card;
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SdVolume volume;
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SdFile root;
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SdFile file;
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uint32_t filesize = 0;
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uint32_t sdpos = 0;
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bool sdmode = false;
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bool sdactive = false;
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bool savetosd = false;
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int16_t n;
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void initsd(){
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sdactive = false;
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#if SDSS >- 1
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if(root.isOpen())
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root.close();
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if (!card.init(SPI_FULL_SPEED,SDSS)){
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//if (!card.init(SPI_HALF_SPEED,SDSS))
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Serial.println("SD init fail");
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}
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else if (!volume.init(&card))
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Serial.println("volume.init failed");
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else if (!root.openRoot(&volume))
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Serial.println("openRoot failed");
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else
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sdactive = true;
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#endif
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}
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inline void write_command(char *buf){
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char* begin = buf;
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char* npos = 0;
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char* end = buf + strlen(buf) - 1;
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file.writeError = false;
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if((npos = strchr(buf, 'N')) != NULL){
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begin = strchr(npos, ' ') + 1;
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end = strchr(npos, '*') - 1;
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}
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end[1] = '\r';
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end[2] = '\n';
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end[3] = '\0';
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//Serial.println(begin);
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file.write(begin);
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if (file.writeError){
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Serial.println("error writing to file");
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}
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}
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#endif
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void setup()
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{
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Serial.begin(BAUDRATE);
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Serial.println("start");
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for(int i = 0; i < BUFSIZE; i++){
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fromsd[i] = false;
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}
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//Initialize Dir Pins
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#if X_DIR_PIN > -1
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SET_OUTPUT(X_DIR_PIN);
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#endif
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#if Y_DIR_PIN > -1
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SET_OUTPUT(Y_DIR_PIN);
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#endif
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#if Z_DIR_PIN > -1
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SET_OUTPUT(Z_DIR_PIN);
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#endif
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#if E_DIR_PIN > -1
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SET_OUTPUT(E_DIR_PIN);
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#endif
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//Initialize Enable Pins - steppers default to disabled.
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#if (X_ENABLE_PIN > -1)
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SET_OUTPUT(X_ENABLE_PIN);
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if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
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#endif
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#if (Y_ENABLE_PIN > -1)
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SET_OUTPUT(Y_ENABLE_PIN);
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if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
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#endif
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#if (Z_ENABLE_PIN > -1)
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SET_OUTPUT(Z_ENABLE_PIN);
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if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
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#endif
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#if (E_ENABLE_PIN > -1)
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SET_OUTPUT(E_ENABLE_PIN);
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if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
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#endif
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//endstops and pullups
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#ifdef ENDSTOPPULLUPS
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#if X_MIN_PIN > -1
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SET_INPUT(X_MIN_PIN);
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WRITE(X_MIN_PIN,HIGH);
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#endif
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#if X_MAX_PIN > -1
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SET_INPUT(X_MAX_PIN);
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WRITE(X_MAX_PIN,HIGH);
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#endif
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#if Y_MIN_PIN > -1
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SET_INPUT(Y_MIN_PIN);
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WRITE(Y_MIN_PIN,HIGH);
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#endif
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#if Y_MAX_PIN > -1
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SET_INPUT(Y_MAX_PIN);
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WRITE(Y_MAX_PIN,HIGH);
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#endif
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#if Z_MIN_PIN > -1
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SET_INPUT(Z_MIN_PIN);
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WRITE(Z_MIN_PIN,HIGH);
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#endif
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#if Z_MAX_PIN > -1
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SET_INPUT(Z_MAX_PIN);
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WRITE(Z_MAX_PIN,HIGH);
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#endif
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#else
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#if X_MIN_PIN > -1
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SET_INPUT(X_MIN_PIN);
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#endif
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#if X_MAX_PIN > -1
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SET_INPUT(X_MAX_PIN);
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#endif
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#if Y_MIN_PIN > -1
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SET_INPUT(Y_MIN_PIN);
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#endif
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#if Y_MAX_PIN > -1
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SET_INPUT(Y_MAX_PIN);
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#endif
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#if Z_MIN_PIN > -1
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SET_INPUT(Z_MIN_PIN);
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#endif
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#if Z_MAX_PIN > -1
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SET_INPUT(Z_MAX_PIN);
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#endif
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#endif
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#if (HEATER_0_PIN > -1)
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SET_OUTPUT(HEATER_0_PIN);
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#endif
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#if (HEATER_1_PIN > -1)
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SET_OUTPUT(HEATER_1_PIN);
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#endif
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//Initialize Step Pins
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#if (X_STEP_PIN > -1)
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SET_OUTPUT(X_STEP_PIN);
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#endif
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#if (Y_STEP_PIN > -1)
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SET_OUTPUT(Y_STEP_PIN);
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#endif
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#if (Z_STEP_PIN > -1)
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SET_OUTPUT(Z_STEP_PIN);
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#endif
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#if (E_STEP_PIN > -1)
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SET_OUTPUT(E_STEP_PIN);
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#endif
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for(int i=0; i < NUM_AXIS; i++){
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axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
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}
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#ifdef PIDTEMP
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temp_iState_min = 0.0;
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temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
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#endif //PIDTEMP
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#ifdef SDSUPPORT
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//power to SD reader
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#if SDPOWER > -1
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SET_OUTPUT(SDPOWER);
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WRITE(SDPOWER,HIGH);
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#endif
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initsd();
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#endif
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plan_init(); // Initialize planner;
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st_init(); // Initialize stepper;
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tp_init(); // Initialize temperature loop
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}
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void loop()
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{
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if(buflen<3)
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get_command();
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if(buflen){
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#ifdef SDSUPPORT
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if(savetosd){
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if(strstr(cmdbuffer[bufindr],"M29") == NULL){
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write_command(cmdbuffer[bufindr]);
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Serial.println("ok");
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}
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else{
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file.sync();
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file.close();
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savetosd = false;
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Serial.println("Done saving file.");
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}
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}
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else{
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process_commands();
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}
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#else
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process_commands();
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#endif
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buflen = (buflen-1);
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bufindr = (bufindr + 1)%BUFSIZE;
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}
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//check heater every n milliseconds
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manage_heater();
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manage_inactivity(1);
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}
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inline void get_command()
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{
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while( Serial.available() > 0 && buflen < BUFSIZE) {
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serial_char = Serial.read();
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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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if(!serial_count) return; //if empty line
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cmdbuffer[bufindw][serial_count] = 0; //terminate string
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if(!comment_mode){
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fromsd[bufindw] = false;
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if(strstr(cmdbuffer[bufindw], "N") != NULL)
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{
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strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
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gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
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||||||
if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
|
|
||||||
Serial.print("Serial Error: Line Number is not Last Line Number+1, Last Line:");
|
|
||||||
Serial.println(gcode_LastN);
|
|
||||||
//Serial.println(gcode_N);
|
|
||||||
FlushSerialRequestResend();
|
|
||||||
serial_count = 0;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
if(strstr(cmdbuffer[bufindw], "*") != NULL)
|
|
||||||
{
|
|
||||||
byte checksum = 0;
|
|
||||||
byte count = 0;
|
|
||||||
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
|
|
||||||
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
|
|
||||||
|
|
||||||
if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
|
|
||||||
Serial.print("Error: checksum mismatch, Last Line:");
|
|
||||||
Serial.println(gcode_LastN);
|
|
||||||
FlushSerialRequestResend();
|
|
||||||
serial_count = 0;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
//if no errors, continue parsing
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
Serial.print("Error: No Checksum with line number, Last Line:");
|
|
||||||
Serial.println(gcode_LastN);
|
|
||||||
FlushSerialRequestResend();
|
|
||||||
serial_count = 0;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
gcode_LastN = gcode_N;
|
|
||||||
//if no errors, continue parsing
|
|
||||||
}
|
|
||||||
else // if we don't receive 'N' but still see '*'
|
|
||||||
{
|
|
||||||
if((strstr(cmdbuffer[bufindw], "*") != NULL))
|
|
||||||
{
|
|
||||||
Serial.print("Error: No Line Number with checksum, Last Line:");
|
|
||||||
Serial.println(gcode_LastN);
|
|
||||||
serial_count = 0;
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if((strstr(cmdbuffer[bufindw], "G") != NULL)){
|
|
||||||
strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
|
|
||||||
switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
|
|
||||||
case 0:
|
|
||||||
case 1:
|
|
||||||
#ifdef SDSUPPORT
|
|
||||||
if(savetosd)
|
|
||||||
break;
|
|
||||||
#endif
|
|
||||||
Serial.println("ok");
|
|
||||||
break;
|
|
||||||
default:
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
|
||||||
bufindw = (bufindw + 1)%BUFSIZE;
|
|
||||||
buflen += 1;
|
|
||||||
|
|
||||||
}
|
|
||||||
comment_mode = false; //for new command
|
|
||||||
serial_count = 0; //clear buffer
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if(serial_char == ';') comment_mode = true;
|
|
||||||
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
#ifdef SDSUPPORT
|
|
||||||
if(!sdmode || serial_count!=0){
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
while( filesize > sdpos && buflen < BUFSIZE) {
|
|
||||||
n = file.read();
|
|
||||||
serial_char = (char)n;
|
|
||||||
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || n == -1)
|
|
||||||
{
|
|
||||||
sdpos = file.curPosition();
|
|
||||||
if(sdpos >= filesize){
|
|
||||||
sdmode = false;
|
|
||||||
Serial.println("Done printing file");
|
|
||||||
}
|
|
||||||
if(!serial_count) return; //if empty line
|
|
||||||
cmdbuffer[bufindw][serial_count] = 0; //terminate string
|
|
||||||
if(!comment_mode){
|
|
||||||
fromsd[bufindw] = true;
|
|
||||||
buflen += 1;
|
|
||||||
bufindw = (bufindw + 1)%BUFSIZE;
|
|
||||||
}
|
|
||||||
comment_mode = false; //for new command
|
|
||||||
serial_count = 0; //clear buffer
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
if(serial_char == ';') comment_mode = true;
|
|
||||||
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
inline float code_value() {
|
|
||||||
return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
|
|
||||||
}
|
|
||||||
inline long code_value_long() {
|
|
||||||
return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
|
|
||||||
}
|
|
||||||
inline bool code_seen(char code_string[]) {
|
|
||||||
return (strstr(cmdbuffer[bufindr], code_string) != NULL);
|
|
||||||
} //Return True if the string was found
|
|
||||||
|
|
||||||
inline bool code_seen(char code)
|
|
||||||
{
|
|
||||||
strchr_pointer = strchr(cmdbuffer[bufindr], code);
|
|
||||||
return (strchr_pointer != NULL); //Return True if a character was found
|
|
||||||
}
|
|
||||||
|
|
||||||
inline void process_commands()
|
|
||||||
{
|
|
||||||
unsigned long codenum; //throw away variable
|
|
||||||
char *starpos = NULL;
|
|
||||||
|
|
||||||
if(code_seen('G'))
|
|
||||||
{
|
|
||||||
switch((int)code_value())
|
|
||||||
{
|
|
||||||
case 0: // G0 -> G1
|
|
||||||
case 1: // G1
|
|
||||||
get_coordinates(); // For X Y Z E F
|
|
||||||
prepare_move();
|
|
||||||
previous_millis_cmd = millis();
|
|
||||||
//ClearToSend();
|
|
||||||
return;
|
|
||||||
//break;
|
|
||||||
case 4: // G4 dwell
|
|
||||||
codenum = 0;
|
|
||||||
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
|
|
||||||
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
|
|
||||||
codenum += millis(); // keep track of when we started waiting
|
|
||||||
while(millis() < codenum ){
|
|
||||||
manage_heater();
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case 28: //G28 Home all Axis one at a time
|
|
||||||
saved_feedrate = feedrate;
|
|
||||||
for(int i=0; i < NUM_AXIS; i++) {
|
|
||||||
destination[i] = current_position[i];
|
|
||||||
}
|
|
||||||
feedrate = 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 ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)){
|
|
||||||
st_synchronize();
|
|
||||||
current_position[X_AXIS] = 0;
|
|
||||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
||||||
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
|
|
||||||
feedrate = homing_feedrate[X_AXIS];
|
|
||||||
prepare_move();
|
|
||||||
|
|
||||||
st_synchronize();
|
|
||||||
current_position[X_AXIS] = 0;
|
|
||||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
||||||
destination[X_AXIS] = -5 * X_HOME_DIR;
|
|
||||||
prepare_move();
|
|
||||||
|
|
||||||
st_synchronize();
|
|
||||||
destination[X_AXIS] = 10 * X_HOME_DIR;
|
|
||||||
feedrate = homing_feedrate[X_AXIS]/2 ;
|
|
||||||
prepare_move();
|
|
||||||
st_synchronize();
|
|
||||||
|
|
||||||
current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
|
|
||||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
||||||
destination[X_AXIS] = current_position[X_AXIS];
|
|
||||||
feedrate = 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
|
|
||||||
if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)){
|
|
||||||
current_position[Y_AXIS] = 0;
|
|
||||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
||||||
destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
|
|
||||||
feedrate = homing_feedrate[Y_AXIS];
|
|
||||||
prepare_move();
|
|
||||||
st_synchronize();
|
|
||||||
|
|
||||||
current_position[Y_AXIS] = 0;
|
|
||||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
||||||
destination[Y_AXIS] = -5 * Y_HOME_DIR;
|
|
||||||
prepare_move();
|
|
||||||
st_synchronize();
|
|
||||||
|
|
||||||
destination[Y_AXIS] = 10 * Y_HOME_DIR;
|
|
||||||
feedrate = homing_feedrate[Y_AXIS]/2;
|
|
||||||
prepare_move();
|
|
||||||
st_synchronize();
|
|
||||||
|
|
||||||
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
|
|
||||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
||||||
destination[Y_AXIS] = current_position[Y_AXIS];
|
|
||||||
feedrate = 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
|
|
||||||
if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)){
|
|
||||||
current_position[Z_AXIS] = 0;
|
|
||||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
||||||
destination[Z_AXIS] = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
|
|
||||||
feedrate = homing_feedrate[Z_AXIS];
|
|
||||||
prepare_move();
|
|
||||||
st_synchronize();
|
|
||||||
|
|
||||||
current_position[Z_AXIS] = 0;
|
|
||||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
||||||
destination[Z_AXIS] = -2 * Z_HOME_DIR;
|
|
||||||
prepare_move();
|
|
||||||
st_synchronize();
|
|
||||||
|
|
||||||
destination[Z_AXIS] = 3 * Z_HOME_DIR;
|
|
||||||
feedrate = homing_feedrate[Z_AXIS]/2;
|
|
||||||
prepare_move();
|
|
||||||
st_synchronize();
|
|
||||||
|
|
||||||
current_position[Z_AXIS] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH;
|
|
||||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
||||||
destination[Z_AXIS] = current_position[Z_AXIS];
|
|
||||||
feedrate = 0;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
feedrate = saved_feedrate;
|
|
||||||
previous_millis_cmd = millis();
|
|
||||||
break;
|
|
||||||
case 90: // G90
|
|
||||||
relative_mode = false;
|
|
||||||
break;
|
|
||||||
case 91: // G91
|
|
||||||
relative_mode = true;
|
|
||||||
break;
|
|
||||||
case 92: // G92
|
|
||||||
if(!code_seen(axis_codes[E_AXIS]))
|
|
||||||
st_synchronize();
|
|
||||||
for(int i=0; i < NUM_AXIS; i++) {
|
|
||||||
if(code_seen(axis_codes[i])) current_position[i] = code_value();
|
|
||||||
}
|
|
||||||
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
|
|
||||||
break;
|
|
||||||
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
else if(code_seen('M'))
|
|
||||||
{
|
|
||||||
|
|
||||||
switch( (int)code_value() )
|
|
||||||
{
|
|
||||||
#ifdef SDSUPPORT
|
|
||||||
|
|
||||||
case 20: // M20 - list SD card
|
|
||||||
Serial.println("Begin file list");
|
|
||||||
root.ls();
|
|
||||||
Serial.println("End file list");
|
|
||||||
break;
|
|
||||||
case 21: // M21 - init SD card
|
|
||||||
sdmode = false;
|
|
||||||
initsd();
|
|
||||||
break;
|
|
||||||
case 22: //M22 - release SD card
|
|
||||||
sdmode = false;
|
|
||||||
sdactive = false;
|
|
||||||
break;
|
|
||||||
case 23: //M23 - Select file
|
|
||||||
if(sdactive){
|
|
||||||
sdmode = false;
|
|
||||||
file.close();
|
|
||||||
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
||||||
if(starpos!=NULL)
|
|
||||||
*(starpos-1)='\0';
|
|
||||||
if (file.open(&root, strchr_pointer + 4, O_READ)) {
|
|
||||||
Serial.print("File opened:");
|
|
||||||
Serial.print(strchr_pointer + 4);
|
|
||||||
Serial.print(" Size:");
|
|
||||||
Serial.println(file.fileSize());
|
|
||||||
sdpos = 0;
|
|
||||||
filesize = file.fileSize();
|
|
||||||
Serial.println("File selected");
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
Serial.println("file.open failed");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case 24: //M24 - Start SD print
|
|
||||||
if(sdactive){
|
|
||||||
sdmode = true;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case 25: //M25 - Pause SD print
|
|
||||||
if(sdmode){
|
|
||||||
sdmode = false;
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case 26: //M26 - Set SD index
|
|
||||||
if(sdactive && code_seen('S')){
|
|
||||||
sdpos = code_value_long();
|
|
||||||
file.seekSet(sdpos);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case 27: //M27 - Get SD status
|
|
||||||
if(sdactive){
|
|
||||||
Serial.print("SD printing byte ");
|
|
||||||
Serial.print(sdpos);
|
|
||||||
Serial.print("/");
|
|
||||||
Serial.println(filesize);
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
Serial.println("Not SD printing");
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case 28: //M28 - Start SD write
|
|
||||||
if(sdactive){
|
|
||||||
char* npos = 0;
|
|
||||||
file.close();
|
|
||||||
sdmode = false;
|
|
||||||
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
||||||
if(starpos != NULL){
|
|
||||||
npos = strchr(cmdbuffer[bufindr], 'N');
|
|
||||||
strchr_pointer = strchr(npos,' ') + 1;
|
|
||||||
*(starpos-1) = '\0';
|
|
||||||
}
|
|
||||||
if (!file.open(&root, strchr_pointer+4, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
|
|
||||||
{
|
|
||||||
Serial.print("open failed, File: ");
|
|
||||||
Serial.print(strchr_pointer + 4);
|
|
||||||
Serial.print(".");
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
savetosd = true;
|
|
||||||
Serial.print("Writing to file: ");
|
|
||||||
Serial.println(strchr_pointer + 4);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case 29: //M29 - Stop SD write
|
|
||||||
//processed in write to file routine above
|
|
||||||
//savetosd = false;
|
|
||||||
break;
|
|
||||||
#endif
|
|
||||||
case 104: // M104
|
|
||||||
#ifdef PID_OPENLOOP
|
|
||||||
if (code_seen('S')) PidTemp_Output = code_value() * (PID_MAX/100.0);
|
|
||||||
if(pid_output > PID_MAX) pid_output = PID_MAX;
|
|
||||||
if(pid_output < 0) pid_output = 0;
|
|
||||||
#else //PID_OPENLOOP
|
|
||||||
if (code_seen('S')) {
|
|
||||||
target_raw = temp2analogh(code_value());
|
|
||||||
#ifdef PIDTEMP
|
|
||||||
pid_setpoint = code_value();
|
|
||||||
#endif //PIDTEMP
|
|
||||||
}
|
|
||||||
#ifdef WATCHPERIOD
|
|
||||||
if(target_raw > current_raw){
|
|
||||||
watchmillis = max(1,millis());
|
|
||||||
watch_raw = current_raw;
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
watchmillis = 0;
|
|
||||||
}
|
|
||||||
#endif //WATCHPERIOD
|
|
||||||
#endif //PID_OPENLOOP
|
|
||||||
break;
|
|
||||||
case 105: // M105
|
|
||||||
Serial.print("ok T:");
|
|
||||||
Serial.println(analog2temp(current_raw));
|
|
||||||
return;
|
|
||||||
//break;
|
|
||||||
case 109: // M109 - Wait for extruder heater to reach target.
|
|
||||||
if (code_seen('S')) target_raw = temp2analogh(code_value());
|
|
||||||
#ifdef WATCHPERIOD
|
|
||||||
if(target_raw>current_raw){
|
|
||||||
watchmillis = max(1,millis());
|
|
||||||
watch_raw = current_raw;
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
watchmillis = 0;
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
codenum = millis();
|
|
||||||
while(current_raw < target_raw) {
|
|
||||||
if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
|
|
||||||
{
|
|
||||||
Serial.print("T:");
|
|
||||||
Serial.println( analog2temp(current_raw));
|
|
||||||
codenum = millis();
|
|
||||||
}
|
|
||||||
manage_heater();
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case 190:
|
|
||||||
break;
|
|
||||||
case 82:
|
|
||||||
axis_relative_modes[3] = false;
|
|
||||||
break;
|
|
||||||
case 83:
|
|
||||||
axis_relative_modes[3] = true;
|
|
||||||
break;
|
|
||||||
case 84:
|
|
||||||
if(code_seen('S')){
|
|
||||||
stepper_inactive_time = code_value() * 1000;
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
st_synchronize();
|
|
||||||
disable_x();
|
|
||||||
disable_y();
|
|
||||||
disable_z();
|
|
||||||
disable_e();
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
case 85: // M85
|
|
||||||
code_seen('S');
|
|
||||||
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();
|
|
||||||
}
|
|
||||||
|
|
||||||
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");
|
|
||||||
break;
|
|
||||||
case 114: // M114
|
|
||||||
Serial.print("X:");
|
|
||||||
Serial.print(current_position[X_AXIS]);
|
|
||||||
Serial.print("Y:");
|
|
||||||
Serial.print(current_position[Y_AXIS]);
|
|
||||||
Serial.print("Z:");
|
|
||||||
Serial.print(current_position[Z_AXIS]);
|
|
||||||
Serial.print("E:");
|
|
||||||
Serial.println(current_position[E_AXIS]);
|
|
||||||
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
|
|
||||||
Serial.println("");
|
|
||||||
break;
|
|
||||||
//TODO: update for all axis, use for loop
|
|
||||||
case 201: // M201
|
|
||||||
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
|
|
||||||
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
|
|
||||||
#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.print("Kp ");Serial.println(Kp);
|
|
||||||
Serial.print("Ki ");Serial.println(Ki/PID_dT);
|
|
||||||
Serial.print("Kd ");Serial.println(Kd*PID_dT);
|
|
||||||
temp_iState_min = 0.0;
|
|
||||||
temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki;
|
|
||||||
break;
|
|
||||||
#endif //PIDTEMP
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else{
|
|
||||||
Serial.println("Unknown command:");
|
|
||||||
Serial.println(cmdbuffer[bufindr]);
|
|
||||||
}
|
|
||||||
|
|
||||||
ClearToSend();
|
|
||||||
}
|
|
||||||
|
|
||||||
void FlushSerialRequestResend()
|
|
||||||
{
|
|
||||||
//char cmdbuffer[bufindr][100]="Resend:";
|
|
||||||
Serial.flush();
|
|
||||||
Serial.print("Resend:");
|
|
||||||
Serial.println(gcode_LastN + 1);
|
|
||||||
ClearToSend();
|
|
||||||
}
|
|
||||||
|
|
||||||
void ClearToSend()
|
|
||||||
{
|
|
||||||
previous_millis_cmd = millis();
|
|
||||||
#ifdef SDSUPPORT
|
|
||||||
if(fromsd[bufindr])
|
|
||||||
return;
|
|
||||||
#endif
|
|
||||||
Serial.println("ok");
|
|
||||||
}
|
|
||||||
|
|
||||||
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?
|
|
||||||
}
|
|
||||||
if(code_seen('F')) {
|
|
||||||
next_feedrate = code_value();
|
|
||||||
if(next_feedrate > 0.0) feedrate = next_feedrate;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void prepare_move()
|
|
||||||
{
|
|
||||||
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60);
|
|
||||||
for(int i=0; i < NUM_AXIS; i++) {
|
|
||||||
current_position[i] = destination[i];
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
void manage_heater()
|
|
||||||
{
|
|
||||||
float pid_input;
|
|
||||||
float pid_output;
|
|
||||||
if(temp_meas_ready != true)
|
|
||||||
return;
|
|
||||||
|
|
||||||
CRITICAL_SECTION_START;
|
|
||||||
temp_meas_ready = false;
|
|
||||||
CRITICAL_SECTION_END;
|
|
||||||
|
|
||||||
#ifdef PIDTEMP
|
|
||||||
pid_input = analog2temp(current_raw);//ACT
|
|
||||||
|
|
||||||
#ifndef PID_OPENLOOP
|
|
||||||
pid_error = pid_setpoint - pid_input;
|
|
||||||
if(pid_error > 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;
|
|
||||||
#define K1 0.8
|
|
||||||
#define K2 (1.0-K1)
|
|
||||||
dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
|
|
||||||
temp_dState = pid_input;
|
|
||||||
pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
|
|
||||||
}
|
|
||||||
#endif //PID_OPENLOOP
|
|
||||||
#ifdef PID_DEBUG
|
|
||||||
Serial.print(" Input ");
|
|
||||||
Serial.print(pid_input);
|
|
||||||
Serial.print(" Output ");
|
|
||||||
Serial.print(pid_output);
|
|
||||||
Serial.print(" pTerm ");
|
|
||||||
Serial.print(pTerm);
|
|
||||||
Serial.print(" iTerm ");
|
|
||||||
Serial.print(iTerm);
|
|
||||||
Serial.print(" dTerm ");
|
|
||||||
Serial.print(dTerm);
|
|
||||||
Serial.println();
|
|
||||||
#endif //PID_DEBUG
|
|
||||||
OCR2B = pid_output;
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
int temp2analogu(int celsius, const short table[][2], int numtemps) {
|
|
||||||
int raw = 0;
|
|
||||||
byte i;
|
|
||||||
|
|
||||||
for (i=1; i<numtemps; i++) {
|
|
||||||
if (table[i][1] < celsius) {
|
|
||||||
raw = table[i-1][0] +
|
|
||||||
(celsius - table[i-1][1]) *
|
|
||||||
(table[i][0] - table[i-1][0]) /
|
|
||||||
(table[i][1] - table[i-1][1]);
|
|
||||||
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// Overflow: Set to last value in the table
|
|
||||||
if (i == numtemps) raw = table[i-1][0];
|
|
||||||
|
|
||||||
return 16383 - raw;
|
|
||||||
}
|
|
||||||
|
|
||||||
float analog2tempu(int raw,const short table[][2], int numtemps) {
|
|
||||||
float celsius = 0.0;
|
|
||||||
byte i;
|
|
||||||
|
|
||||||
raw = 16383 - raw;
|
|
||||||
for (i=1; i<numtemps; i++) {
|
|
||||||
if (table[i][0] > raw) {
|
|
||||||
celsius = (float)table[i-1][1] +
|
|
||||||
(float)(raw - table[i-1][0]) *
|
|
||||||
(float)(table[i][1] - table[i-1][1]) /
|
|
||||||
(float)(table[i][0] - table[i-1][0]);
|
|
||||||
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// Overflow: Set to last value in the table
|
|
||||||
if (i == numtemps) celsius = table[i-1][1];
|
|
||||||
|
|
||||||
return celsius;
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
inline void kill()
|
|
||||||
{
|
|
||||||
target_raw=0;
|
|
||||||
#ifdef PIDTEMP
|
|
||||||
pid_setpoint = 0.0;
|
|
||||||
#endif PIDTEMP
|
|
||||||
OCR2B = 0;
|
|
||||||
WRITE(HEATER_0_PIN,LOW);
|
|
||||||
|
|
||||||
disable_x();
|
|
||||||
disable_y();
|
|
||||||
disable_z();
|
|
||||||
disable_e();
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
inline void manage_inactivity(byte debug) {
|
|
||||||
if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill();
|
|
||||||
if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) {
|
|
||||||
disable_x();
|
|
||||||
disable_y();
|
|
||||||
disable_z();
|
|
||||||
disable_e();
|
|
||||||
}
|
|
||||||
check_axes_activity();
|
|
||||||
}
|
|
||||||
|
|
||||||
// Planner
|
|
||||||
|
|
||||||
/*
|
|
||||||
Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
|
|
||||||
|
|
||||||
s == speed, a == acceleration, t == time, d == distance
|
|
||||||
|
|
||||||
Basic definitions:
|
|
||||||
|
|
||||||
Speed[s_, a_, t_] := s + (a*t)
|
|
||||||
Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
|
|
||||||
|
|
||||||
Distance to reach a specific speed with a constant acceleration:
|
|
||||||
|
|
||||||
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
|
|
||||||
d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
|
|
||||||
|
|
||||||
Speed after a given distance of travel with constant acceleration:
|
|
||||||
|
|
||||||
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
|
|
||||||
m -> Sqrt[2 a d + s^2]
|
|
||||||
|
|
||||||
DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
|
|
||||||
|
|
||||||
When to start braking (di) to reach a specified destionation speed (s2) after accelerating
|
|
||||||
from initial speed s1 without ever stopping at a plateau:
|
|
||||||
|
|
||||||
Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
|
|
||||||
di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
|
|
||||||
|
|
||||||
IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
|
|
||||||
*/
|
|
||||||
|
|
||||||
|
|
||||||
// The number of linear motions that can be in the plan at any give time
|
|
||||||
#define BLOCK_BUFFER_SIZE 16
|
|
||||||
#define BLOCK_BUFFER_MASK 0x0f
|
|
||||||
|
|
||||||
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
|
|
||||||
static volatile unsigned char block_buffer_head; // Index of the next block to be pushed
|
|
||||||
static volatile unsigned char block_buffer_tail; // Index of the block to process now
|
|
||||||
|
|
||||||
// The current position of the tool in absolute steps
|
|
||||||
static long position[4];
|
|
||||||
|
|
||||||
#define ONE_MINUTE_OF_MICROSECONDS 60000000.0
|
|
||||||
|
|
||||||
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
|
|
||||||
// given acceleration:
|
|
||||||
inline long estimate_acceleration_distance(long initial_rate, long target_rate, long acceleration) {
|
|
||||||
return(
|
|
||||||
(target_rate*target_rate-initial_rate*initial_rate)/
|
|
||||||
(2L*acceleration)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
// This function gives you the point at which you must start braking (at the rate of -acceleration) if
|
|
||||||
// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
|
|
||||||
// a total travel of distance. This can be used to compute the intersection point between acceleration and
|
|
||||||
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
|
|
||||||
|
|
||||||
inline long intersection_distance(long initial_rate, long final_rate, long acceleration, long distance) {
|
|
||||||
return(
|
|
||||||
(2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
|
|
||||||
(4*acceleration)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
|
|
||||||
|
|
||||||
void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed) {
|
|
||||||
if(block->busy == true) return; // If block is busy then bail out.
|
|
||||||
float entry_factor = entry_speed / block->nominal_speed;
|
|
||||||
float exit_factor = exit_speed / block->nominal_speed;
|
|
||||||
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
|
|
||||||
|
|
||||||
// Limit minimal step rate (Otherwise the timer will overflow.)
|
|
||||||
if(initial_rate <32) initial_rate=32;
|
|
||||||
if(final_rate < 32) final_rate=32;
|
|
||||||
|
|
||||||
// Calculate the acceleration steps
|
|
||||||
long acceleration = block->acceleration;
|
|
||||||
long accelerate_steps = estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration);
|
|
||||||
long decelerate_steps = estimate_acceleration_distance(final_rate, block->nominal_rate, acceleration);
|
|
||||||
|
|
||||||
// Calculate the size of Plateau of Nominal Rate.
|
|
||||||
long plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
|
|
||||||
|
|
||||||
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
|
|
||||||
// have to use intersection_distance() to calculate when to abort acceleration and start braking
|
|
||||||
// in order to reach the final_rate exactly at the end of this block.
|
|
||||||
if (plateau_steps < 0) {
|
|
||||||
accelerate_steps = intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count);
|
|
||||||
plateau_steps = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
long decelerate_after = accelerate_steps+plateau_steps;
|
|
||||||
long acceleration_rate = (long)((float)acceleration * 8.388608);
|
|
||||||
|
|
||||||
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
|
|
||||||
if(block->busy == false) { // Don't update variables if block is busy.
|
|
||||||
block->accelerate_until = accelerate_steps;
|
|
||||||
block->decelerate_after = decelerate_after;
|
|
||||||
block->acceleration_rate = acceleration_rate;
|
|
||||||
block->initial_rate = initial_rate;
|
|
||||||
block->final_rate = final_rate;
|
|
||||||
#ifdef ADVANCE
|
|
||||||
block->initial_advance = initial_advance;
|
|
||||||
block->final_advance = final_advance;
|
|
||||||
#endif ADVANCE
|
|
||||||
}
|
|
||||||
CRITICAL_SECTION_END;
|
|
||||||
}
|
|
||||||
|
|
||||||
// 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)
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
// "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)+
|
|
||||||
pow((before->speed_z-after->speed_z)*axis_steps_per_unit[Z_AXIS]/axis_steps_per_unit[X_AXIS], 2))
|
|
||||||
);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Return the safe speed which is max_jerk/2, e.g. the
|
|
||||||
// speed under which you cannot exceed max_jerk no matter what you do.
|
|
||||||
float safe_speed(block_t *block) {
|
|
||||||
float safe_speed;
|
|
||||||
safe_speed = max_jerk/2;
|
|
||||||
if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed;
|
|
||||||
return safe_speed;
|
|
||||||
}
|
|
||||||
|
|
||||||
// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
|
|
||||||
void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
|
|
||||||
if(!current) {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
float entry_speed = current->nominal_speed;
|
|
||||||
float exit_factor;
|
|
||||||
float exit_speed;
|
|
||||||
if (next) {
|
|
||||||
exit_speed = next->entry_speed;
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
exit_speed = safe_speed(current);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Calculate the entry_factor for the current block.
|
|
||||||
if (previous) {
|
|
||||||
// Reduce speed so that junction_jerk is within the maximum allowed
|
|
||||||
float jerk = junction_jerk(previous, current);
|
|
||||||
if((previous->steps_x == 0) && (previous->steps_y == 0)) {
|
|
||||||
entry_speed = safe_speed(current);
|
|
||||||
}
|
|
||||||
else if (jerk > max_jerk) {
|
|
||||||
entry_speed = (max_jerk/jerk) * entry_speed;
|
|
||||||
}
|
|
||||||
// If the required deceleration across the block is too rapid, reduce the entry_factor accordingly.
|
|
||||||
if (entry_speed > exit_speed) {
|
|
||||||
float max_entry_speed = max_allowable_speed(-acceleration,exit_speed, current->millimeters);
|
|
||||||
if (max_entry_speed < entry_speed) {
|
|
||||||
entry_speed = max_entry_speed;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
entry_speed = safe_speed(current);
|
|
||||||
}
|
|
||||||
// Store result
|
|
||||||
current->entry_speed = entry_speed;
|
|
||||||
}
|
|
||||||
|
|
||||||
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
|
|
||||||
// implements the reverse pass.
|
|
||||||
void planner_reverse_pass() {
|
|
||||||
char block_index = block_buffer_head;
|
|
||||||
block_t *block[3] = {
|
|
||||||
NULL, NULL, NULL };
|
|
||||||
while(block_index != block_buffer_tail) {
|
|
||||||
block_index--;
|
|
||||||
if(block_index < 0) {
|
|
||||||
block_index = BLOCK_BUFFER_SIZE-1;
|
|
||||||
}
|
|
||||||
block[2]= block[1];
|
|
||||||
block[1]= block[0];
|
|
||||||
block[0] = &block_buffer[block_index];
|
|
||||||
planner_reverse_pass_kernel(block[0], block[1], block[2]);
|
|
||||||
}
|
|
||||||
planner_reverse_pass_kernel(NULL, block[0], block[1]);
|
|
||||||
}
|
|
||||||
|
|
||||||
// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
|
|
||||||
void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
|
|
||||||
if(!current) {
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
if(previous) {
|
|
||||||
// If the previous block is an acceleration block, but it is not long enough to
|
|
||||||
// complete the full speed change within the block, we need to adjust out entry
|
|
||||||
// speed accordingly. Remember current->entry_factor equals the exit factor of
|
|
||||||
// the previous block.
|
|
||||||
if(previous->entry_speed < current->entry_speed) {
|
|
||||||
float max_entry_speed = max_allowable_speed(-acceleration, previous->entry_speed, previous->millimeters);
|
|
||||||
if (max_entry_speed < current->entry_speed) {
|
|
||||||
current->entry_speed = max_entry_speed;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
|
|
||||||
// implements the forward pass.
|
|
||||||
void planner_forward_pass() {
|
|
||||||
char block_index = block_buffer_tail;
|
|
||||||
block_t *block[3] = {
|
|
||||||
NULL, NULL, NULL };
|
|
||||||
|
|
||||||
while(block_index != block_buffer_head) {
|
|
||||||
block[0] = block[1];
|
|
||||||
block[1] = block[2];
|
|
||||||
block[2] = &block_buffer[block_index];
|
|
||||||
planner_forward_pass_kernel(block[0],block[1],block[2]);
|
|
||||||
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
|
|
||||||
}
|
|
||||||
planner_forward_pass_kernel(block[1], block[2], NULL);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
|
|
||||||
// entry_factor for each junction. Must be called by planner_recalculate() after
|
|
||||||
// updating the blocks.
|
|
||||||
void planner_recalculate_trapezoids() {
|
|
||||||
char block_index = block_buffer_tail;
|
|
||||||
block_t *current;
|
|
||||||
block_t *next = NULL;
|
|
||||||
while(block_index != block_buffer_head) {
|
|
||||||
current = next;
|
|
||||||
next = &block_buffer[block_index];
|
|
||||||
if (current) {
|
|
||||||
calculate_trapezoid_for_block(current, current->entry_speed, next->entry_speed);
|
|
||||||
}
|
|
||||||
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
|
|
||||||
}
|
|
||||||
calculate_trapezoid_for_block(next, next->entry_speed, safe_speed(next));
|
|
||||||
}
|
|
||||||
|
|
||||||
// Recalculates the motion plan according to the following algorithm:
|
|
||||||
//
|
|
||||||
// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
|
|
||||||
// so that:
|
|
||||||
// a. The junction jerk is within the set limit
|
|
||||||
// b. No speed reduction within one block requires faster deceleration than the one, true constant
|
|
||||||
// acceleration.
|
|
||||||
// 2. Go over every block in chronological order and dial down junction speed reduction values if
|
|
||||||
// a. The speed increase within one block would require faster accelleration than the one, true
|
|
||||||
// constant acceleration.
|
|
||||||
//
|
|
||||||
// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
|
|
||||||
// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
|
|
||||||
// the set limit. Finally it will:
|
|
||||||
//
|
|
||||||
// 3. Recalculate trapezoids for all blocks.
|
|
||||||
|
|
||||||
void planner_recalculate() {
|
|
||||||
planner_reverse_pass();
|
|
||||||
planner_forward_pass();
|
|
||||||
planner_recalculate_trapezoids();
|
|
||||||
}
|
|
||||||
|
|
||||||
void plan_init() {
|
|
||||||
block_buffer_head = 0;
|
|
||||||
block_buffer_tail = 0;
|
|
||||||
memset(position, 0, sizeof(position)); // clear position
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
inline void plan_discard_current_block() {
|
|
||||||
if (block_buffer_head != block_buffer_tail) {
|
|
||||||
block_buffer_tail = (block_buffer_tail + 1) & BLOCK_BUFFER_MASK;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
inline block_t *plan_get_current_block() {
|
|
||||||
if (block_buffer_head == block_buffer_tail) {
|
|
||||||
return(NULL);
|
|
||||||
}
|
|
||||||
block_t *block = &block_buffer[block_buffer_tail];
|
|
||||||
block->busy = true;
|
|
||||||
return(block);
|
|
||||||
}
|
|
||||||
|
|
||||||
void check_axes_activity() {
|
|
||||||
unsigned char x_active = 0;
|
|
||||||
unsigned char y_active = 0;
|
|
||||||
unsigned char z_active = 0;
|
|
||||||
unsigned char e_active = 0;
|
|
||||||
block_t *block;
|
|
||||||
|
|
||||||
if(block_buffer_tail != block_buffer_head) {
|
|
||||||
char block_index = block_buffer_tail;
|
|
||||||
while(block_index != block_buffer_head) {
|
|
||||||
block = &block_buffer[block_index];
|
|
||||||
if(block->steps_x != 0) x_active++;
|
|
||||||
if(block->steps_y != 0) y_active++;
|
|
||||||
if(block->steps_z != 0) z_active++;
|
|
||||||
if(block->steps_e != 0) e_active++;
|
|
||||||
block_index = (block_index+1) & BLOCK_BUFFER_MASK;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if((DISABLE_X) && (x_active == 0)) disable_x();
|
|
||||||
if((DISABLE_Y) && (y_active == 0)) disable_y();
|
|
||||||
if((DISABLE_Z) && (z_active == 0)) disable_z();
|
|
||||||
if((DISABLE_E) && (e_active == 0)) disable_e();
|
|
||||||
}
|
|
||||||
|
|
||||||
// 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) {
|
|
||||||
|
|
||||||
// The target position of the tool in absolute steps
|
|
||||||
// Calculate target position in absolute steps
|
|
||||||
long target[4];
|
|
||||||
target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
|
|
||||||
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
|
|
||||||
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
|
|
||||||
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
|
|
||||||
|
|
||||||
// Calculate the buffer head after we push this byte
|
|
||||||
int next_buffer_head = (block_buffer_head + 1) & BLOCK_BUFFER_MASK;
|
|
||||||
|
|
||||||
// If the buffer is full: good! That means we are well ahead of the robot.
|
|
||||||
// Rest here until there is room in the buffer.
|
|
||||||
while(block_buffer_tail == next_buffer_head) {
|
|
||||||
manage_heater();
|
|
||||||
manage_inactivity(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Prepare to set up new block
|
|
||||||
block_t *block = &block_buffer[block_buffer_head];
|
|
||||||
|
|
||||||
// Mark block as not busy (Not executed by the stepper interrupt)
|
|
||||||
block->busy = false;
|
|
||||||
|
|
||||||
// Number of steps for each axis
|
|
||||||
block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
|
|
||||||
block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
|
|
||||||
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
|
|
||||||
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
|
|
||||||
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
|
|
||||||
|
|
||||||
// Bail if this is a zero-length block
|
|
||||||
if (block->step_event_count == 0) {
|
|
||||||
return;
|
|
||||||
};
|
|
||||||
|
|
||||||
float delta_x_mm = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
|
|
||||||
float delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
|
|
||||||
float delta_z_mm = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
|
|
||||||
float delta_e_mm = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
|
|
||||||
block->millimeters = sqrt(square(delta_x_mm) + square(delta_y_mm) + square(delta_z_mm) + square(delta_e_mm));
|
|
||||||
|
|
||||||
unsigned long microseconds;
|
|
||||||
microseconds = lround((block->millimeters/feed_rate)*1000000);
|
|
||||||
|
|
||||||
// Calculate speed in mm/minute for each axis
|
|
||||||
float multiplier = 60.0*1000000.0/microseconds;
|
|
||||||
block->speed_z = delta_z_mm * multiplier;
|
|
||||||
block->speed_x = delta_x_mm * multiplier;
|
|
||||||
block->speed_y = delta_y_mm * multiplier;
|
|
||||||
block->speed_e = delta_e_mm * multiplier;
|
|
||||||
|
|
||||||
// Limit speed per axis
|
|
||||||
float speed_factor = 1;
|
|
||||||
float tmp_speed_factor;
|
|
||||||
if(abs(block->speed_x) > max_feedrate[X_AXIS]) {
|
|
||||||
speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_x);
|
|
||||||
}
|
|
||||||
if(abs(block->speed_y) > max_feedrate[Y_AXIS]){
|
|
||||||
tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y);
|
|
||||||
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
|
|
||||||
}
|
|
||||||
if(abs(block->speed_z) > max_feedrate[Z_AXIS]){
|
|
||||||
tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z);
|
|
||||||
if(tmp_speed_factor < speed_factor) speed_factor = tmp_speed_factor;
|
|
||||||
}
|
|
||||||
if(abs(block->speed_e) > max_feedrate[E_AXIS]){
|
|
||||||
tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e);
|
|
||||||
if(tmp_speed_factor < speed_factor) speed_factor = tmp_speed_factor;
|
|
||||||
}
|
|
||||||
multiplier = multiplier * speed_factor;
|
|
||||||
block->speed_z = delta_z_mm * multiplier;
|
|
||||||
block->speed_x = delta_x_mm * multiplier;
|
|
||||||
block->speed_y = delta_y_mm * multiplier;
|
|
||||||
block->speed_e = delta_e_mm * multiplier;
|
|
||||||
|
|
||||||
block->nominal_speed = block->millimeters * multiplier;
|
|
||||||
block->nominal_rate = ceil(block->step_event_count * multiplier / 60);
|
|
||||||
if(block->nominal_rate < 32) block->nominal_rate = 32;
|
|
||||||
block->entry_speed = safe_speed(block);
|
|
||||||
|
|
||||||
// Compute the acceleration rate for the trapezoid generator.
|
|
||||||
float travel_per_step = block->millimeters/block->step_event_count;
|
|
||||||
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) {
|
|
||||||
block->acceleration = ceil( (retract_acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
block->acceleration = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
|
|
||||||
// Limit acceleration per axis
|
|
||||||
if((block->acceleration * block->steps_x / block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
|
|
||||||
block->acceleration = axis_steps_per_sqr_second[X_AXIS];
|
|
||||||
if((block->acceleration * block->steps_y / block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
|
|
||||||
block->acceleration = axis_steps_per_sqr_second[Y_AXIS];
|
|
||||||
if((block->acceleration * block->steps_e / block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
|
|
||||||
block->acceleration = axis_steps_per_sqr_second[E_AXIS];
|
|
||||||
if((block->acceleration * block->steps_z / block->step_event_count) > axis_steps_per_sqr_second[Z_AXIS])
|
|
||||||
block->acceleration = axis_steps_per_sqr_second[Z_AXIS];
|
|
||||||
}
|
|
||||||
|
|
||||||
#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);
|
|
||||||
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);
|
|
||||||
calculate_trapezoid_for_block(block, safespeed, safespeed);
|
|
||||||
|
|
||||||
// Compute direction bits for this block
|
|
||||||
block->direction_bits = 0;
|
|
||||||
if (target[X_AXIS] < position[X_AXIS]) {
|
|
||||||
block->direction_bits |= (1<<X_AXIS);
|
|
||||||
}
|
|
||||||
if (target[Y_AXIS] < position[Y_AXIS]) {
|
|
||||||
block->direction_bits |= (1<<Y_AXIS);
|
|
||||||
}
|
|
||||||
if (target[Z_AXIS] < position[Z_AXIS]) {
|
|
||||||
block->direction_bits |= (1<<Z_AXIS);
|
|
||||||
}
|
|
||||||
if (target[E_AXIS] < position[E_AXIS]) {
|
|
||||||
block->direction_bits |= (1<<E_AXIS);
|
|
||||||
}
|
|
||||||
|
|
||||||
//enable active axes
|
|
||||||
if(block->steps_x != 0) enable_x();
|
|
||||||
if(block->steps_y != 0) enable_y();
|
|
||||||
if(block->steps_z != 0) enable_z();
|
|
||||||
if(block->steps_e != 0) enable_e();
|
|
||||||
|
|
||||||
// Move buffer head
|
|
||||||
block_buffer_head = next_buffer_head;
|
|
||||||
|
|
||||||
// Update position
|
|
||||||
memcpy(position, target, sizeof(target)); // position[] = target[]
|
|
||||||
|
|
||||||
planner_recalculate();
|
|
||||||
st_wake_up();
|
|
||||||
}
|
|
||||||
|
|
||||||
void plan_set_position(float x, float y, float z, float e)
|
|
||||||
{
|
|
||||||
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
|
|
||||||
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
|
|
||||||
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
|
|
||||||
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
|
|
||||||
}
|
|
||||||
|
|
||||||
// Stepper
|
|
||||||
|
|
||||||
// intRes = intIn1 * intIn2 >> 16
|
|
||||||
// uses:
|
|
||||||
// r26 to store 0
|
|
||||||
// r27 to store the byte 1 of the 24 bit result
|
|
||||||
#define MultiU16X8toH16(intRes, charIn1, intIn2) \
|
|
||||||
asm volatile ( \
|
|
||||||
"clr r26 \n\t" \
|
|
||||||
"mul %A1, %B2 \n\t" \
|
|
||||||
"movw %A0, r0 \n\t" \
|
|
||||||
"mul %A1, %A2 \n\t" \
|
|
||||||
"add %A0, r1 \n\t" \
|
|
||||||
"adc %B0, r26 \n\t" \
|
|
||||||
"lsr r0 \n\t" \
|
|
||||||
"adc %A0, r26 \n\t" \
|
|
||||||
"adc %B0, r26 \n\t" \
|
|
||||||
"clr r1 \n\t" \
|
|
||||||
: \
|
|
||||||
"=&r" (intRes) \
|
|
||||||
: \
|
|
||||||
"d" (charIn1), \
|
|
||||||
"d" (intIn2) \
|
|
||||||
: \
|
|
||||||
"r26" , "r27" \
|
|
||||||
)
|
|
||||||
|
|
||||||
// intRes = longIn1 * longIn2 >> 24
|
|
||||||
// uses:
|
|
||||||
// r26 to store 0
|
|
||||||
// r27 to store the byte 1 of the 48bit result
|
|
||||||
#define MultiU24X24toH16(intRes, longIn1, longIn2) \
|
|
||||||
asm volatile ( \
|
|
||||||
"clr r26 \n\t" \
|
|
||||||
"mul %A1, %B2 \n\t" \
|
|
||||||
"mov r27, r1 \n\t" \
|
|
||||||
"mul %B1, %C2 \n\t" \
|
|
||||||
"movw %A0, r0 \n\t" \
|
|
||||||
"mul %C1, %C2 \n\t" \
|
|
||||||
"add %B0, r0 \n\t" \
|
|
||||||
"mul %C1, %B2 \n\t" \
|
|
||||||
"add %A0, r0 \n\t" \
|
|
||||||
"adc %B0, r1 \n\t" \
|
|
||||||
"mul %A1, %C2 \n\t" \
|
|
||||||
"add r27, r0 \n\t" \
|
|
||||||
"adc %A0, r1 \n\t" \
|
|
||||||
"adc %B0, r26 \n\t" \
|
|
||||||
"mul %B1, %B2 \n\t" \
|
|
||||||
"add r27, r0 \n\t" \
|
|
||||||
"adc %A0, r1 \n\t" \
|
|
||||||
"adc %B0, r26 \n\t" \
|
|
||||||
"mul %C1, %A2 \n\t" \
|
|
||||||
"add r27, r0 \n\t" \
|
|
||||||
"adc %A0, r1 \n\t" \
|
|
||||||
"adc %B0, r26 \n\t" \
|
|
||||||
"mul %B1, %A2 \n\t" \
|
|
||||||
"add r27, r1 \n\t" \
|
|
||||||
"adc %A0, r26 \n\t" \
|
|
||||||
"adc %B0, r26 \n\t" \
|
|
||||||
"lsr r27 \n\t" \
|
|
||||||
"adc %A0, r26 \n\t" \
|
|
||||||
"adc %B0, r26 \n\t" \
|
|
||||||
"clr r1 \n\t" \
|
|
||||||
: \
|
|
||||||
"=&r" (intRes) \
|
|
||||||
: \
|
|
||||||
"d" (longIn1), \
|
|
||||||
"d" (longIn2) \
|
|
||||||
: \
|
|
||||||
"r26" , "r27" \
|
|
||||||
)
|
|
||||||
|
|
||||||
// Some useful constants
|
|
||||||
|
|
||||||
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
|
|
||||||
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
|
|
||||||
|
|
||||||
static block_t *current_block; // A pointer to the block currently being traced
|
|
||||||
|
|
||||||
// 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
|
|
||||||
counter_y,
|
|
||||||
counter_z,
|
|
||||||
counter_e;
|
|
||||||
static unsigned long step_events_completed; // The number of step events executed in the current block
|
|
||||||
static long advance_rate, advance, final_advance = 0;
|
|
||||||
static short old_advance = 0;
|
|
||||||
static short e_steps;
|
|
||||||
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
|
|
||||||
static long acceleration_time, deceleration_time;
|
|
||||||
static long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate;
|
|
||||||
static unsigned short acc_step_rate; // needed for deccelaration start point
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// __________________________
|
|
||||||
// /| |\ _________________ ^
|
|
||||||
// / | | \ /| |\ |
|
|
||||||
// / | | \ / | | \ s
|
|
||||||
// / | | | | | \ p
|
|
||||||
// / | | | | | \ e
|
|
||||||
// +-----+------------------------+---+--+---------------+----+ e
|
|
||||||
// | BLOCK 1 | BLOCK 2 | d
|
|
||||||
//
|
|
||||||
// time ----->
|
|
||||||
//
|
|
||||||
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
|
|
||||||
// first block->accelerate_until step_events_completed, then keeps going at constant speed until
|
|
||||||
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
|
|
||||||
// The slope of acceleration is calculated with the leib ramp alghorithm.
|
|
||||||
|
|
||||||
void st_wake_up() {
|
|
||||||
// TCNT1 = 0;
|
|
||||||
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
||||||
}
|
|
||||||
|
|
||||||
inline unsigned short calc_timer(unsigned short step_rate) {
|
|
||||||
unsigned short timer;
|
|
||||||
if(step_rate < 32) step_rate = 32;
|
|
||||||
step_rate -= 32; // Correct for minimal speed
|
|
||||||
if(step_rate > (8*256)){ // higher step rate
|
|
||||||
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
|
|
||||||
unsigned char tmp_step_rate = (step_rate & 0x00ff);
|
|
||||||
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
|
|
||||||
MultiU16X8toH16(timer, tmp_step_rate, gain);
|
|
||||||
timer = (unsigned short)pgm_read_word_near(table_address) - timer;
|
|
||||||
}
|
|
||||||
else { // lower step rates
|
|
||||||
unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
|
|
||||||
table_address += ((step_rate)>>1) & 0xfffc;
|
|
||||||
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);
|
|
||||||
}
|
|
||||||
if(timer < 100) timer = 100;
|
|
||||||
return timer;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Initializes the trapezoid generator from the current block. Called whenever a new
|
|
||||||
// block begins.
|
|
||||||
inline void trapezoid_generator_reset() {
|
|
||||||
accelerate_until = current_block->accelerate_until;
|
|
||||||
decelerate_after = current_block->decelerate_after;
|
|
||||||
acceleration_rate = current_block->acceleration_rate;
|
|
||||||
initial_rate = current_block->initial_rate;
|
|
||||||
final_rate = current_block->final_rate;
|
|
||||||
advance = current_block->initial_advance;
|
|
||||||
final_advance = current_block->final_advance;
|
|
||||||
deceleration_time = 0;
|
|
||||||
advance_rate = current_block->advance_rate;
|
|
||||||
// step_rate to timer interval
|
|
||||||
acc_step_rate = initial_rate;
|
|
||||||
acceleration_time = calc_timer(acc_step_rate);
|
|
||||||
OCR1A = acceleration_time;
|
|
||||||
}
|
|
||||||
|
|
||||||
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
|
|
||||||
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
|
|
||||||
ISR(TIMER1_COMPA_vect)
|
|
||||||
{
|
|
||||||
if(busy){ /*Serial.println("BUSY")*/;
|
|
||||||
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 (current_block == NULL) {
|
|
||||||
// Anything in the buffer?
|
|
||||||
current_block = plan_get_current_block();
|
|
||||||
if (current_block != NULL) {
|
|
||||||
trapezoid_generator_reset();
|
|
||||||
counter_x = -(current_block->step_event_count >> 1);
|
|
||||||
counter_y = counter_x;
|
|
||||||
counter_z = counter_x;
|
|
||||||
counter_e = counter_x;
|
|
||||||
step_events_completed = 0;
|
|
||||||
e_steps = 0;
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (current_block != NULL) {
|
|
||||||
// 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<<E_AXIS)) != 0) { // - direction
|
|
||||||
CRITICAL_SECTION_START;
|
|
||||||
e_steps--;
|
|
||||||
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
|
|
||||||
|
|
||||||
// Set direction en check limit switches
|
|
||||||
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
|
|
||||||
WRITE(X_DIR_PIN, INVERT_X_DIR);
|
|
||||||
if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
|
|
||||||
step_events_completed = current_block->step_event_count;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else // +direction
|
|
||||||
WRITE(X_DIR_PIN,!INVERT_X_DIR);
|
|
||||||
|
|
||||||
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
|
|
||||||
WRITE(Y_DIR_PIN,INVERT_Y_DIR);
|
|
||||||
if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
|
|
||||||
step_events_completed = current_block->step_event_count;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else // +direction
|
|
||||||
WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
|
|
||||||
|
|
||||||
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
|
|
||||||
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
|
|
||||||
if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
|
|
||||||
step_events_completed = current_block->step_event_count;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
else // +direction
|
|
||||||
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
|
|
||||||
|
|
||||||
#ifndef ADVANCE
|
|
||||||
if ((out_bits & (1<<E_AXIS)) != 0) // -direction
|
|
||||||
WRITE(E_DIR_PIN,INVERT_E_DIR);
|
|
||||||
else // +direction
|
|
||||||
WRITE(E_DIR_PIN,!INVERT_E_DIR);
|
|
||||||
#endif //!ADVANCE
|
|
||||||
|
|
||||||
counter_x += current_block->steps_x;
|
|
||||||
if (counter_x > 0) {
|
|
||||||
WRITE(X_STEP_PIN, HIGH);
|
|
||||||
counter_x -= current_block->step_event_count;
|
|
||||||
WRITE(X_STEP_PIN, LOW);
|
|
||||||
}
|
|
||||||
|
|
||||||
counter_y += current_block->steps_y;
|
|
||||||
if (counter_y > 0) {
|
|
||||||
WRITE(Y_STEP_PIN, HIGH);
|
|
||||||
counter_y -= current_block->step_event_count;
|
|
||||||
WRITE(Y_STEP_PIN, LOW);
|
|
||||||
}
|
|
||||||
|
|
||||||
counter_z += current_block->steps_z;
|
|
||||||
if (counter_z > 0) {
|
|
||||||
WRITE(Z_STEP_PIN, HIGH);
|
|
||||||
counter_z -= current_block->step_event_count;
|
|
||||||
WRITE(Z_STEP_PIN, LOW);
|
|
||||||
}
|
|
||||||
|
|
||||||
#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
|
|
||||||
|
|
||||||
// Calculare new timer value
|
|
||||||
unsigned short timer;
|
|
||||||
unsigned short step_rate;
|
|
||||||
if (step_events_completed < accelerate_until) {
|
|
||||||
MultiU24X24toH16(acc_step_rate, acceleration_time, acceleration_rate);
|
|
||||||
acc_step_rate += initial_rate;
|
|
||||||
|
|
||||||
// upper limit
|
|
||||||
if(acc_step_rate > current_block->nominal_rate)
|
|
||||||
acc_step_rate = current_block->nominal_rate;
|
|
||||||
|
|
||||||
// step_rate to timer interval
|
|
||||||
timer = calc_timer(acc_step_rate);
|
|
||||||
advance += advance_rate;
|
|
||||||
acceleration_time += timer;
|
|
||||||
OCR1A = timer;
|
|
||||||
}
|
|
||||||
else if (step_events_completed > decelerate_after) {
|
|
||||||
MultiU24X24toH16(step_rate, deceleration_time, acceleration_rate);
|
|
||||||
|
|
||||||
if(step_rate > acc_step_rate) { // Check step_rate stays positive
|
|
||||||
step_rate = final_rate;
|
|
||||||
}
|
|
||||||
else {
|
|
||||||
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
|
|
||||||
}
|
|
||||||
|
|
||||||
// lower limit
|
|
||||||
if(step_rate < final_rate)
|
|
||||||
step_rate = final_rate;
|
|
||||||
|
|
||||||
// step_rate to timer interval
|
|
||||||
timer = calc_timer(step_rate);
|
|
||||||
#ifdef ADVANCE
|
|
||||||
advance -= advance_rate;
|
|
||||||
if(advance < final_advance)
|
|
||||||
advance = final_advance;
|
|
||||||
#endif //ADVANCE
|
|
||||||
deceleration_time += timer;
|
|
||||||
OCR1A = timer;
|
|
||||||
}
|
|
||||||
// If current block is finished, reset pointer
|
|
||||||
step_events_completed += 1;
|
|
||||||
if (step_events_completed >= current_block->step_event_count) {
|
|
||||||
current_block = NULL;
|
|
||||||
plan_discard_current_block();
|
|
||||||
}
|
|
||||||
}
|
|
||||||
busy=false;
|
|
||||||
}
|
|
||||||
|
|
||||||
#ifdef ADVANCE
|
|
||||||
|
|
||||||
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);
|
|
||||||
// e_steps is changed in timer 1 interrupt
|
|
||||||
CRITICAL_SECTION_START;
|
|
||||||
// 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);
|
|
||||||
}
|
|
||||||
CRITICAL_SECTION_END;
|
|
||||||
old_OCR0A += 25; // 10kHz interrupt
|
|
||||||
OCR0A = old_OCR0A;
|
|
||||||
}
|
|
||||||
#endif // ADVANCE
|
|
||||||
|
|
||||||
void st_init()
|
|
||||||
{
|
|
||||||
// waveform generation = 0100 = CTC
|
|
||||||
TCCR1B &= ~(1<<WGM13);
|
|
||||||
TCCR1B |= (1<<WGM12);
|
|
||||||
TCCR1A &= ~(1<<WGM11);
|
|
||||||
TCCR1A &= ~(1<<WGM10);
|
|
||||||
|
|
||||||
// output mode = 00 (disconnected)
|
|
||||||
TCCR1A &= ~(3<<COM1A0);
|
|
||||||
TCCR1A &= ~(3<<COM1B0);
|
|
||||||
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
|
|
||||||
|
|
||||||
OCR1A = 0x4000;
|
|
||||||
DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
||||||
|
|
||||||
#ifdef ADVANCE
|
|
||||||
e_steps = 0;
|
|
||||||
TIMSK0 |= (1<<OCIE0A);
|
|
||||||
#endif //ADVANCE
|
|
||||||
sei();
|
|
||||||
}
|
|
||||||
|
|
||||||
// Block until all buffered steps are executed
|
|
||||||
void st_synchronize()
|
|
||||||
{
|
|
||||||
while(plan_get_current_block()) {
|
|
||||||
manage_heater();
|
|
||||||
manage_inactivity(1);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Temperature loop
|
|
||||||
|
|
||||||
void tp_init()
|
|
||||||
{
|
|
||||||
DIDR0 = 1<<5; // TEMP_0_PIN for GEN6
|
|
||||||
ADMUX = ((1 << REFS0) | (5 & 0x07));
|
|
||||||
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07; // ADC enable, Clear interrupt, 1/128 prescaler.
|
|
||||||
TCCR2B = 0; //Stop timer in case of running
|
|
||||||
|
|
||||||
#ifdef PIDTEMP
|
|
||||||
TCCR2A = 0x23; //OC2A disable; FastPWM noninverting; FastPWM mode 7
|
|
||||||
#else
|
|
||||||
TCCR2A = 0x03; //OC2A disable; FastPWM noninverting; FastPWM mode 7
|
|
||||||
#endif
|
|
||||||
OCR2A = 156; //Period is ~10ms
|
|
||||||
OCR2B = 0; //Duty Cycle for heater pin is 0 (startup)
|
|
||||||
TIMSK2 = 0x01; //Enable overflow interrupt
|
|
||||||
TCCR2B = 0x0F; //1/1024 prescaler, start
|
|
||||||
}
|
|
||||||
|
|
||||||
static unsigned char temp_count = 0;
|
|
||||||
static unsigned long raw_temp_value = 0;
|
|
||||||
|
|
||||||
ISR(TIMER2_OVF_vect)
|
|
||||||
{
|
|
||||||
// uint8_t low, high;
|
|
||||||
|
|
||||||
// low = ADCL;
|
|
||||||
// high = ADCH;
|
|
||||||
raw_temp_value += ADC;
|
|
||||||
// raw_temp_value = (ADCH <<8) | ADCL;
|
|
||||||
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07; // ADC enable, Clear interrupt, Enable Interrupt, 1/128 prescaler.
|
|
||||||
// raw_temp_value += (high <<8) | low;
|
|
||||||
temp_count++;
|
|
||||||
|
|
||||||
if(temp_count >= 16)
|
|
||||||
{
|
|
||||||
current_raw = 16383 - raw_temp_value;
|
|
||||||
temp_meas_ready = true;
|
|
||||||
temp_count = 0;
|
|
||||||
raw_temp_value = 0;
|
|
||||||
#ifdef MAXTEMP
|
|
||||||
if(current_raw >= maxttemp) {
|
|
||||||
target_raw = 0;
|
|
||||||
#ifdef PIDTEMP
|
|
||||||
OCR2B = 0;
|
|
||||||
#else
|
|
||||||
WRITE(HEATER_0_PIN,LOW);
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
#ifdef MINTEMP
|
|
||||||
if(current_raw <= minttemp) {
|
|
||||||
target_raw = 0;
|
|
||||||
#ifdef PIDTEMP
|
|
||||||
OCR2B = 0;
|
|
||||||
#else
|
|
||||||
WRITE(HEATER_0_PIN,LOW);
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
#ifndef PIDTEMP
|
|
||||||
if(current_raw >= target_raw)
|
|
||||||
{
|
|
||||||
WRITE(HEATER_0_PIN,LOW);
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
WRITE(HEATER_0_PIN,HIGH);
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
#include <WProgram.h>
|
|
||||||
|
|
||||||
int main(void)
|
|
||||||
{
|
|
||||||
init();
|
|
||||||
|
|
||||||
setup();
|
|
||||||
|
|
||||||
for (;;)
|
|
||||||
loop();
|
|
||||||
|
|
||||||
return 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
Reference in a new issue