Merge pull request #106 from kliment/experimental
Merge Experimental into master
This commit is contained in:
kliment
commit
02f659a09c
4 changed files with 362 additions and 115 deletions
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@ -12,6 +12,7 @@
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// Teensylu (at90usb) = 8
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// Gen 3 Plus = 21
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// gen 3 Monolithic Electronics = 22
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// Gen3 PLUS for TechZone Gen3 Remix Motherboard = 23
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#define MOTHERBOARD 3
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//// Thermistor settings:
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@ -37,9 +38,11 @@ float axis_steps_per_unit[] = {80, 80, 3200/1.25,700};
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//// Endstop Settings
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#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
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// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
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const bool ENDSTOPS_INVERTING = false; //set to true to invert the logic of the endstops
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//If your axes are only moving in one direction, make sure the endstops are connected properly.
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//If your axes move in one direction ONLY when the endstops are triggered, set ENDSTOPS_INVERTING to true here
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//If your axes move in one direction ONLY when the endstops are triggered, set [XYZ]_ENDSTOP_INVERT to true here:
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const bool X_ENDSTOP_INVERT = false;
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const bool Y_ENDSTOP_INVERT = false;
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const bool Z_ENDSTOP_INVERT = false;
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// This determines the communication speed of the printer
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#define BAUDRATE 115200
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@ -117,15 +120,21 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
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//// PID settings:
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// Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful.
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//#define PIDTEMP
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//#define PIDTEMP 1
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#ifdef PIDTEMP
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#define PID_MAX 255 // limits current to nozzle
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#define PID_INTEGRAL_DRIVE_MAX 220
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#define PID_PGAIN 180 //100 is 1.0
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#define PID_IGAIN 2 //100 is 1.0
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#define PID_DGAIN 100 //100 is 1.0
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#define PID_INTEGRAL_DRIVE_MAX 80 // too big, and heater will lag after changing temperature, too small and it might not compensate enough for long-term errors
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#define PID_PGAIN 1280 //256 is 1.0 // value of 5.0 means that error of 20C is changing it almost halfway of the PWM range
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#define PID_IGAIN 64 //256 is 1.0 // value of 0.25 means that each degree error over 1 sec (2 measurements) changes duty cycle by 0.5 units (verify?)
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#define PID_DGAIN 2048 //256 is 1.0 // value of 8.0 means that each degree change over one measurement (half second) adjusts PWM by 8 units to compensate
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// magic formula 1, to get approximate "zero error" PWM duty. It is most likely linear formula
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#define HEATER_DUTY_FOR_SETPOINT(setpoint) (22+1*setpoint)
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// magic formula 2, to make led brightness approximately linear
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#define LED_PWM_FOR_BRIGHTNESS(brightness) ((64*brightness-1384)/(300-brightness))
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#endif
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// Change this value (range 1-255) to limit the current to the nozzle
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#define HEATER_CURRENT 255
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// How often should the heater check for new temp readings, in milliseconds
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#define HEATER_CHECK_INTERVAL 500
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#define BED_CHECK_INTERVAL 5000
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@ -149,6 +158,10 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
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// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
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//#define WATCHPERIOD 5000 //5 seconds
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// Actual temperature must be close to target for this long before M109 returns success
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//#define TEMP_RESIDENCY_TIME 20 // (seconds)
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//#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one
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//// The minimal temperature defines the temperature below which the heater will not be enabled
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#define MINTEMP 5
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@ -167,6 +180,12 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
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#define BED_USES_THERMISTOR
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//#define BED_USES_AD595
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//This is for controlling a fan to cool down the stepper drivers
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//it will turn on when any driver is enabled
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//and turn off after the set amount of seconds from last driver being disabled again
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//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
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#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run
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// Uncomment the following line to enable debugging. You can better control debugging below the following line
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//#define DEBUG
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#ifdef DEBUG
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@ -8,33 +8,47 @@ void get_command();
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void process_commands();
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void manage_inactivity(byte debug);
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void setup_acceleration();
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void manage_heater();
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int temp2analogu(int celsius, const short table[][2], int numtemps, int source);
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int analog2tempu(int raw, const short table[][2], int numtemps, int source);
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#ifdef HEATER_USES_THERMISTOR
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#define HEATERSOURCE 1
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#endif
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#ifdef HEATER_USES_AD595
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#define HEATERSOURCE 2
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#endif
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#ifdef HEATER_USES_MAX6675
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#define HEATERSOURCE 3
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#endif
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#ifdef BED_USES_THERMISTOR
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#define BEDSOURCE 1
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#endif
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#ifdef BED_USES_AD595
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#define BEDSOURCE 2
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#endif
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#ifdef BED_USES_MAX6675
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#define BEDSOURCE 3
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#if defined HEATER_USES_THERMISTOR
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#define temp2analogh( c ) temp2analog_thermistor(c,temptable,NUMTEMPS)
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#define analog2temp( c ) analog2temp_thermistor(c,temptable,NUMTEMPS)
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#elif defined HEATER_USES_AD595
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#define temp2analogh( c ) temp2analog_ad595(c)
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#define analog2temp( c ) analog2temp_ad595(c)
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#elif defined HEATER_USES_MAX6675
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#define temp2analogh( c ) temp2analog_max6675(c)
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#define analog2temp( c ) analog2temp_max6675(c)
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#endif
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#if defined BED_USES_THERMISTOR
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#define temp2analogBed( c ) temp2analog_thermistor((c),bedtemptable,BNUMTEMPS)
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#define analog2tempBed( c ) analog2temp_thermistor((c),bedtemptable,BNUMTEMPS)
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#elif defined BED_USES_AD595
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#define temp2analogBed( c ) temp2analog_ad595(c)
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#define analog2tempBed( c ) analog2temp_ad595(c)
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#elif defined BED_USES_MAX6675
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#define temp2analogBed( c ) temp2analog_max6675(c)
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#define analog2tempBed( c ) analog2temp_max6675(c)
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#endif
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#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
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int temp2analog_thermistor(int celsius, const short table[][2], int numtemps);
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int analog2temp_thermistor(int raw,const short table[][2], int numtemps);
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#endif
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#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
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int temp2analog_ad595(int celsius);
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int analog2temp_ad595(int raw);
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#endif
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#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
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int temp2analog_max6675(int celsius);
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int analog2temp_max6675(int raw);
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#endif
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#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS,HEATERSOURCE)
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#define temp2analogBed( c ) temp2analogu((c),bedtemptable,BNUMTEMPS,BEDSOURCE)
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#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS,HEATERSOURCE)
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#define analog2tempBed( c ) analog2tempu((c),bedtemptable,BNUMTEMPS,BEDSOURCE)
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#if X_ENABLE_PIN > -1
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#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
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#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
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@ -1,4 +1,4 @@
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// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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// Licence: GPL
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#include "fastio.h"
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@ -43,6 +43,7 @@
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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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// M42 - Set output on free pins, on a non pwm pin (over pin 13 on an arduino mega) use S255 to turn it on and S0 to turn it off. Use P to decide the pin (M42 P23 S255) would turn pin 23 on
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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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@ -111,20 +112,25 @@ char *strchr_pointer; // just a pointer to find chars in the cmd string like X,
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// degree increments (i.e. 100=25 deg).
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int target_raw = 0;
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int target_temp = 0;
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int current_raw = 0;
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int target_bed_raw = 0;
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int current_bed_raw = 0;
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int tt = 0, bt = 0;
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#ifdef PIDTEMP
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int temp_iState = 0;
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int temp_dState = 0;
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int prev_temp = 0;
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int pTerm;
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int iTerm;
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int dTerm;
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//int output;
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int error;
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int temp_iState_min = 100 * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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int temp_iState_max = 100 * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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int heater_duty = 0;
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const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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#endif
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#ifndef HEATER_CURRENT
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#define HEATER_CURRENT 255
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#endif
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#ifdef SMOOTHING
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uint32_t nma = 0;
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@ -239,6 +245,10 @@ void setup()
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if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
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#endif
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#ifdef CONTROLLERFAN_PIN
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SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
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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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@ -288,9 +298,11 @@ void setup()
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#if (HEATER_0_PIN > -1)
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SET_OUTPUT(HEATER_0_PIN);
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WRITE(HEATER_0_PIN,LOW);
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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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WRITE(HEATER_1_PIN,LOW);
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#endif
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//Initialize Fan Pin
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@ -298,6 +310,18 @@ void setup()
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SET_OUTPUT(FAN_PIN);
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#endif
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//Initialize Alarm Pin
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#if (ALARM_PIN > -1)
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SET_OUTPUT(ALARM_PIN);
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WRITE(ALARM_PIN,LOW);
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#endif
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//Initialize LED Pin
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#if (LED_PIN > -1)
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SET_OUTPUT(LED_PIN);
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WRITE(LED_PIN,LOW);
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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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@ -312,11 +336,7 @@ void setup()
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SET_OUTPUT(E_STEP_PIN);
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#endif
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#ifdef RAMP_ACCELERATION
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for(int i=0; i < NUM_AXIS; i++){
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axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[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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axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
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}
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setup_acceleration();
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#endif
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#ifdef HEATER_USES_MAX6675
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@ -726,8 +746,33 @@ inline void process_commands()
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//savetosd = false;
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break;
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#endif
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case 42: //M42 -Change pin status via gcode
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if (code_seen('S'))
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{
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int pin_status = code_value();
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if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
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{
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int pin_number = code_value();
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for(int i = 0; i < sizeof(sensitive_pins); i++)
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{
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if (sensitive_pins[i] == pin_number)
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{
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pin_number = -1;
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break;
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}
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}
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if (pin_number > -1)
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{
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pinMode(pin_number, OUTPUT);
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digitalWrite(pin_number, pin_status);
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analogWrite(pin_number, pin_status);
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}
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}
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}
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break;
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case 104: // M104
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if (code_seen('S')) target_raw = temp2analogh(code_value());
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if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value());
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#ifdef WATCHPERIOD
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if(target_raw > current_raw){
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watchmillis = max(1,millis());
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@ -752,6 +797,12 @@ inline void process_commands()
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#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined HEATER_USES_AD595
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Serial.print("ok T:");
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Serial.print(tt);
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#ifdef PIDTEMP
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Serial.print(" @:");
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Serial.print(heater_duty);
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Serial.print(",");
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Serial.print(iTerm);
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#endif
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#if TEMP_1_PIN > -1 || defined BED_USES_AD595
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Serial.print(" B:");
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Serial.println(bt);
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@ -763,8 +814,8 @@ inline void process_commands()
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#endif
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return;
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//break;
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case 109: // M109 - Wait for extruder heater to reach target.
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if (code_seen('S')) target_raw = temp2analogh(code_value());
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case 109: { // M109 - Wait for extruder heater to reach target.
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if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value());
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#ifdef WATCHPERIOD
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if(target_raw>current_raw){
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watchmillis = max(1,millis());
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@ -774,16 +825,39 @@ inline void process_commands()
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}
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#endif
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codenum = millis();
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while(current_raw < target_raw) {
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if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
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/* See if we are heating up or cooling down */
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bool target_direction = (current_raw < target_raw); // true if heating, false if cooling
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#ifdef TEMP_RESIDENCY_TIME
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long residencyStart;
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residencyStart = -1;
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/* continue to loop until we have reached the target temp
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_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
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while( (target_direction ? (current_raw < target_raw) : (current_raw > target_raw))
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|| (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
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#else
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while ( target_direction ? (current_raw < target_raw) : (current_raw > target_raw) ) {
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#endif
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if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up/cooling down
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{
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Serial.print("T:");
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Serial.println( analog2temp(current_raw) );
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codenum = millis();
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Serial.println( analog2temp(current_raw) );
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codenum = millis();
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}
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manage_heater();
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}
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break;
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#ifdef TEMP_RESIDENCY_TIME
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/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
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or when current temp falls outside the hysteresis after target temp was reached */
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if ( (residencyStart == -1 && target_direction && current_raw >= target_raw)
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|| (residencyStart == -1 && !target_direction && current_raw <= target_raw)
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|| (residencyStart > -1 && labs(analog2temp(current_raw) - analog2temp(target_raw)) > TEMP_HYSTERESIS) ) {
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residencyStart = millis();
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}
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#endif
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}
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}
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break;
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case 190: // M190 - Wait bed for heater to reach target.
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#if TEMP_1_PIN > -1
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if (code_seen('S')) target_bed_raw = temp2analogh(code_value());
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@ -845,15 +919,10 @@ inline void process_commands()
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if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value();
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}
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//Update start speed intervals and axis order. TODO: refactor axis_max_interval[] calculation into a function, as it
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// should also be used in setup() as well
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#ifdef RAMP_ACCELERATION
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long temp_max_intervals[NUM_AXIS];
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for(int i=0; i < NUM_AXIS; i++) {
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axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);//TODO: do this for
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// all steps_per_unit related variables
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}
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setup_acceleration();
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#endif
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break;
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case 115: // M115
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Serial.print("FIRMWARE_NAME:Sprinter FIRMWARE_URL:http%%3A/github.com/kliment/Sprinter/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 UUID:");
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@ -872,27 +941,27 @@ inline void process_commands()
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case 119: // M119
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#if (X_MIN_PIN > -1)
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Serial.print("x_min:");
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Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
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Serial.print((READ(X_MIN_PIN)^X_ENDSTOP_INVERT)?"H ":"L ");
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#endif
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#if (X_MAX_PIN > -1)
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Serial.print("x_max:");
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Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
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Serial.print((READ(X_MAX_PIN)^X_ENDSTOP_INVERT)?"H ":"L ");
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#endif
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#if (Y_MIN_PIN > -1)
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Serial.print("y_min:");
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Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
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Serial.print((READ(Y_MIN_PIN)^Y_ENDSTOP_INVERT)?"H ":"L ");
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#endif
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#if (Y_MAX_PIN > -1)
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Serial.print("y_max:");
|
||||
Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
|
||||
Serial.print((READ(Y_MAX_PIN)^Y_ENDSTOP_INVERT)?"H ":"L ");
|
||||
#endif
|
||||
#if (Z_MIN_PIN > -1)
|
||||
Serial.print("z_min:");
|
||||
Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
|
||||
Serial.print((READ(Z_MIN_PIN)^Z_ENDSTOP_INVERT)?"H ":"L ");
|
||||
#endif
|
||||
#if (Z_MAX_PIN > -1)
|
||||
Serial.print("z_max:");
|
||||
Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
|
||||
Serial.print((READ(Z_MAX_PIN)^Z_ENDSTOP_INVERT)?"H ":"L ");
|
||||
#endif
|
||||
Serial.println("");
|
||||
break;
|
||||
|
|
@ -1047,22 +1116,22 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov
|
|||
else WRITE(E_DIR_PIN,INVERT_E_DIR);
|
||||
movereset:
|
||||
#if (X_MIN_PIN > -1)
|
||||
if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
|
||||
if(!move_direction[0]) if(READ(X_MIN_PIN) != X_ENDSTOP_INVERT) axis_steps_remaining[0]=0;
|
||||
#endif
|
||||
#if (Y_MIN_PIN > -1)
|
||||
if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
|
||||
if(!move_direction[1]) if(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT) axis_steps_remaining[1]=0;
|
||||
#endif
|
||||
#if (Z_MIN_PIN > -1)
|
||||
if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
|
||||
if(!move_direction[2]) if(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT) axis_steps_remaining[2]=0;
|
||||
#endif
|
||||
#if (X_MAX_PIN > -1)
|
||||
if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
|
||||
if(move_direction[0]) if(READ(X_MAX_PIN) != X_ENDSTOP_INVERT) axis_steps_remaining[0]=0;
|
||||
#endif
|
||||
#if (Y_MAX_PIN > -1)
|
||||
if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
|
||||
if(move_direction[1]) if(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT) axis_steps_remaining[1]=0;
|
||||
#endif
|
||||
# if(Z_MAX_PIN > -1)
|
||||
if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
|
||||
if(move_direction[2]) if(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT) axis_steps_remaining[2]=0;
|
||||
#endif
|
||||
|
||||
|
||||
|
|
@ -1238,22 +1307,22 @@ inline void linear_move(unsigned long axis_steps_remaining[]) // make linear mov
|
|||
//If there are x or y steps remaining, perform Bresenham algorithm
|
||||
if(axis_steps_remaining[primary_axis]) {
|
||||
#if (X_MIN_PIN > -1)
|
||||
if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
|
||||
if(!move_direction[0]) if(READ(X_MIN_PIN) != X_ENDSTOP_INVERT) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
|
||||
#endif
|
||||
#if (Y_MIN_PIN > -1)
|
||||
if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
|
||||
if(!move_direction[1]) if(READ(Y_MIN_PIN) != Y_ENDSTOP_INVERT) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
|
||||
#endif
|
||||
#if (X_MAX_PIN > -1)
|
||||
if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
|
||||
if(move_direction[0]) if(READ(X_MAX_PIN) != X_ENDSTOP_INVERT) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
|
||||
#endif
|
||||
#if (Y_MAX_PIN > -1)
|
||||
if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
|
||||
if(move_direction[1]) if(READ(Y_MAX_PIN) != Y_ENDSTOP_INVERT) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
|
||||
#endif
|
||||
#if (Z_MIN_PIN > -1)
|
||||
if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
|
||||
if(!move_direction[2]) if(READ(Z_MIN_PIN) != Z_ENDSTOP_INVERT) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
|
||||
#endif
|
||||
#if (Z_MAX_PIN > -1)
|
||||
if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
|
||||
if(move_direction[2]) if(READ(Z_MAX_PIN) != Z_ENDSTOP_INVERT) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
|
||||
#endif
|
||||
timediff = micros() * 100 - axis_previous_micros[primary_axis];
|
||||
if(timediff<0){//check for overflow
|
||||
|
|
@ -1376,6 +1445,32 @@ int read_max6675()
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONTROLLERFAN_PIN
|
||||
unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
|
||||
unsigned long lastMotorCheck = 0;
|
||||
|
||||
void controllerFan()
|
||||
{
|
||||
if ((millis() - lastMotorCheck) >= 2500) //Not a time critical function, so we only check every 2500ms
|
||||
{
|
||||
lastMotorCheck = millis();
|
||||
|
||||
if(!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || !READ(E_ENABLE_PIN)) //If any of the drivers are enabled...
|
||||
{
|
||||
lastMotor = millis(); //... set time to NOW so the fan will turn on
|
||||
}
|
||||
|
||||
if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
|
||||
{
|
||||
WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
|
||||
}
|
||||
else
|
||||
{
|
||||
WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
void manage_heater()
|
||||
{
|
||||
|
|
@ -1404,8 +1499,9 @@ void manage_heater()
|
|||
#ifdef WATCHPERIOD
|
||||
if(watchmillis && millis() - watchmillis > WATCHPERIOD){
|
||||
if(watch_raw + 1 >= current_raw){
|
||||
target_raw = 0;
|
||||
target_temp = target_raw = 0;
|
||||
WRITE(HEATER_0_PIN,LOW);
|
||||
analogWrite(HEATER_0_PIN, 0);
|
||||
#if LED_PIN>-1
|
||||
WRITE(LED_PIN,LOW);
|
||||
#endif
|
||||
|
|
@ -1416,27 +1512,48 @@ void manage_heater()
|
|||
#endif
|
||||
#ifdef MINTEMP
|
||||
if(current_raw <= minttemp)
|
||||
target_raw = 0;
|
||||
target_temp = target_raw = 0;
|
||||
#endif
|
||||
#ifdef MAXTEMP
|
||||
if(current_raw >= maxttemp) {
|
||||
target_raw = 0;
|
||||
target_temp = target_raw = 0;
|
||||
#if (ALARM_PIN > -1)
|
||||
WRITE(ALARM_PIN,HIGH);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675) || defined (HEATER_USES_AD595)
|
||||
#ifdef PIDTEMP
|
||||
error = target_raw - current_raw;
|
||||
pTerm = (PID_PGAIN * error) / 100;
|
||||
temp_iState += error;
|
||||
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
|
||||
iTerm = (PID_IGAIN * temp_iState) / 100;
|
||||
dTerm = (PID_DGAIN * (current_raw - temp_dState)) / 100;
|
||||
temp_dState = current_raw;
|
||||
analogWrite(HEATER_0_PIN, constrain(pTerm + iTerm - dTerm, 0, PID_MAX));
|
||||
int current_temp = analog2temp(current_raw);
|
||||
error = target_temp - current_temp;
|
||||
int delta_temp = current_temp - prev_temp;
|
||||
prev_temp = current_temp;
|
||||
pTerm = ((long)PID_PGAIN * error) / 256;
|
||||
const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT);
|
||||
heater_duty = H0 + pTerm;
|
||||
if(error < 20){
|
||||
temp_iState += error;
|
||||
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
|
||||
iTerm = ((long)PID_IGAIN * temp_iState) / 256;
|
||||
heater_duty += iTerm;
|
||||
}
|
||||
int prev_error = abs(target_temp - prev_temp);
|
||||
int log3 = 1; // discrete logarithm base 3, plus 1
|
||||
if(prev_error > 81){ prev_error /= 81; log3 += 4; }
|
||||
if(prev_error > 9){ prev_error /= 9; log3 += 2; }
|
||||
if(prev_error > 3){ prev_error /= 3; log3 ++; }
|
||||
dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3);
|
||||
heater_duty += dTerm;
|
||||
heater_duty = constrain(heater_duty, 0, HEATER_CURRENT);
|
||||
analogWrite(HEATER_0_PIN, heater_duty);
|
||||
#if LED_PIN>-1
|
||||
analogWrite(LED_PIN, constrain(LED_PWM_FOR_BRIGHTNESS(heater_duty),0,255));
|
||||
#endif
|
||||
#else
|
||||
if(current_raw >= target_raw)
|
||||
{
|
||||
WRITE(HEATER_0_PIN,LOW);
|
||||
analogWrite(HEATER_0_PIN, 0);
|
||||
#if LED_PIN>-1
|
||||
WRITE(LED_PIN,LOW);
|
||||
#endif
|
||||
|
|
@ -1444,6 +1561,7 @@ void manage_heater()
|
|||
else
|
||||
{
|
||||
WRITE(HEATER_0_PIN,HIGH);
|
||||
analogWrite(HEATER_0_PIN, HEATER_CURRENT);
|
||||
#if LED_PIN > -1
|
||||
WRITE(LED_PIN,HIGH);
|
||||
#endif
|
||||
|
|
@ -1478,7 +1596,11 @@ void manage_heater()
|
|||
#endif
|
||||
|
||||
|
||||
#ifdef MINTEMP
|
||||
if(current_bed_raw >= target_bed_raw || current_bed_raw < minttemp)
|
||||
#else
|
||||
if(current_bed_raw >= target_bed_raw)
|
||||
#endif
|
||||
{
|
||||
WRITE(HEATER_1_PIN,LOW);
|
||||
}
|
||||
|
|
@ -1487,12 +1609,14 @@ void manage_heater()
|
|||
WRITE(HEATER_1_PIN,HIGH);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef CONTROLLERFAN_PIN
|
||||
controllerFan(); //Check if fan should be turned on to cool stepper drivers down
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
int temp2analogu(int celsius, const short table[][2], int numtemps, int source) {
|
||||
#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
|
||||
if(source==1){
|
||||
#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
|
||||
int temp2analog_thermistor(int celsius, const short table[][2], int numtemps) {
|
||||
int raw = 0;
|
||||
byte i;
|
||||
|
||||
|
|
@ -1513,20 +1637,23 @@ int temp2analogu(int celsius, const short table[][2], int numtemps, int source)
|
|||
if (i == numtemps) raw = table[i-1][0];
|
||||
|
||||
return 1023 - raw;
|
||||
}
|
||||
#elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
|
||||
if(source==2)
|
||||
return celsius * 1024 / (500);
|
||||
#elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
|
||||
if(source==3)
|
||||
return celsius * 4;
|
||||
#endif
|
||||
return -1;
|
||||
}
|
||||
#endif
|
||||
|
||||
int analog2tempu(int raw,const short table[][2], int numtemps, int source) {
|
||||
#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
|
||||
if(source==1){
|
||||
#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
|
||||
int temp2analog_ad595(int celsius) {
|
||||
return celsius * 1024 / (500);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
|
||||
int temp2analog_max6675(int celsius) {
|
||||
return celsius * 4;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
|
||||
int analog2temp_thermistor(int raw,const short table[][2], int numtemps) {
|
||||
int celsius = 0;
|
||||
byte i;
|
||||
|
||||
|
|
@ -1549,17 +1676,20 @@ int analog2tempu(int raw,const short table[][2], int numtemps, int source) {
|
|||
if (i == numtemps) celsius = table[i-1][1];
|
||||
|
||||
return celsius;
|
||||
}
|
||||
#elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
|
||||
if(source==2)
|
||||
return raw * 500 / 1024;
|
||||
#elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
|
||||
if(source==3)
|
||||
return raw / 4;
|
||||
#endif
|
||||
return -1;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
|
||||
int analog2temp_ad595(int raw) {
|
||||
return raw * 500 / 1024;
|
||||
}
|
||||
#endif
|
||||
|
||||
#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
|
||||
int analog2temp_max6675(int raw) {
|
||||
return raw / 4;
|
||||
}
|
||||
#endif
|
||||
|
||||
inline void kill()
|
||||
{
|
||||
|
|
@ -1585,6 +1715,16 @@ if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time)
|
|||
if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); }
|
||||
}
|
||||
|
||||
#ifdef RAMP_ACCELERATION
|
||||
void setup_acceleration() {
|
||||
for (int i=0; i < NUM_AXIS; i++) {
|
||||
axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
|
||||
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
|
||||
axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef DEBUG
|
||||
void log_message(char* message) {
|
||||
Serial.print("DEBUG"); Serial.println(message);
|
||||
|
|
|
|||
|
|
@ -57,6 +57,7 @@
|
|||
#define FAN_PIN -1
|
||||
#define PS_ON_PIN 15
|
||||
#define KILL_PIN -1
|
||||
#define ALARM_PIN -1
|
||||
|
||||
#define HEATER_0_PIN 6
|
||||
#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
|
||||
|
|
@ -130,6 +131,7 @@
|
|||
#define FAN_PIN -1
|
||||
#define PS_ON_PIN -1
|
||||
#define KILL_PIN -1
|
||||
#define ALARM_PIN -1
|
||||
|
||||
#define HEATER_0_PIN 14
|
||||
#define TEMP_0_PIN 4 //D27 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
|
||||
|
|
@ -191,6 +193,7 @@
|
|||
|
||||
#define FAN_PIN -1
|
||||
#define KILL_PIN -1
|
||||
#define ALARM_PIN -1
|
||||
|
||||
#define HEATER_0_PIN -1
|
||||
#define TEMP_0_PIN -1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
|
||||
|
|
@ -201,7 +204,7 @@
|
|||
#endif
|
||||
|
||||
/****************************************************************************************
|
||||
* Gen3 PLUS
|
||||
* Gen3 PLUS for RepRap Motherboard V1.2
|
||||
*
|
||||
****************************************************************************************/
|
||||
#if MOTHERBOARD == 21
|
||||
|
|
@ -243,7 +246,7 @@
|
|||
#define HEATER_0_PIN 12
|
||||
|
||||
//Pin for heated bed heater
|
||||
#define HEATER_1_PIN 5
|
||||
#define HEATER_1_PIN 16
|
||||
|
||||
|
||||
//pin for debugging.
|
||||
|
|
@ -265,7 +268,7 @@
|
|||
#endif
|
||||
|
||||
/****************************************************************************************
|
||||
* Gen3 Monolithic Electronics
|
||||
* Gen3 Monolithic Electronics
|
||||
*
|
||||
****************************************************************************************/
|
||||
#if MOTHERBOARD == 22
|
||||
|
|
@ -323,6 +326,71 @@
|
|||
#endif
|
||||
|
||||
|
||||
/****************************************************************************************
|
||||
* Gen3 PLUS for TechZone Gen3 Remix Motherboard
|
||||
*
|
||||
****************************************************************************************/
|
||||
#if MOTHERBOARD == 23
|
||||
#define KNOWN_BOARD 1
|
||||
|
||||
#ifndef __AVR_ATmega644P__
|
||||
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
|
||||
#endif
|
||||
|
||||
|
||||
//x axis pins
|
||||
#define X_STEP_PIN 15
|
||||
#define X_DIR_PIN 18
|
||||
#define X_ENABLE_PIN 24 //same as E/Y_enable_pin
|
||||
#define X_MIN_PIN 20
|
||||
#define X_MAX_PIN -1
|
||||
|
||||
//y axis pins
|
||||
#define Y_STEP_PIN 23
|
||||
#define Y_DIR_PIN 22
|
||||
#define Y_ENABLE_PIN 24 //same as E/X_enable_pin
|
||||
#define Y_MIN_PIN 25
|
||||
#define Y_MAX_PIN -1
|
||||
|
||||
//z axis pins
|
||||
#define Z_STEP_PIN 27
|
||||
#define Z_DIR_PIN 28
|
||||
#define Z_ENABLE_PIN 29
|
||||
#define Z_MIN_PIN 30
|
||||
#define Z_MAX_PIN -1
|
||||
|
||||
#define E_DIR_PIN 21
|
||||
#define E_STEP_PIN 19
|
||||
#define E_ENABLE_PIN 24 //same as X/Y_enable_pin
|
||||
|
||||
//heaters
|
||||
|
||||
//pin for hot end heater
|
||||
#define HEATER_0_PIN 16
|
||||
|
||||
//Pin for heated bed heater
|
||||
#define HEATER_1_PIN 17
|
||||
|
||||
|
||||
//pin for debugging.
|
||||
#define DEBUG_PIN -1
|
||||
|
||||
//SD card pin
|
||||
|
||||
#define SDSS 4
|
||||
|
||||
#define SDPOWER -1
|
||||
#define FAN_PIN -1
|
||||
#define TEMP_0_PIN 0
|
||||
#define TEMP_1_PIN 5
|
||||
#define LED_PIN -1
|
||||
|
||||
//pin for controlling the PSU.
|
||||
#define PS_ON_PIN 14
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
/****************************************************************************************
|
||||
* Arduino Mega pin assignment
|
||||
*
|
||||
|
|
@ -379,12 +447,13 @@
|
|||
#define FAN_PIN 9
|
||||
#define PS_ON_PIN 12
|
||||
#define KILL_PIN -1
|
||||
#define ALARM_PIN -1
|
||||
|
||||
#define HEATER_0_PIN 10
|
||||
#define HEATER_1_PIN 8
|
||||
#define TEMP_0_PIN 13 // ANALOG NUMBERING
|
||||
#define TEMP_1_PIN 14 // ANALOG NUMBERING
|
||||
|
||||
#define TEMP_2_PIN 15 // ANALOG NUMBERING
|
||||
|
||||
#else // RAMPS_V_1_1 or RAMPS_V_1_2 as default
|
||||
|
||||
|
|
@ -415,7 +484,7 @@
|
|||
#define LED_PIN 13
|
||||
#define PS_ON_PIN -1
|
||||
#define KILL_PIN -1
|
||||
|
||||
#define ALARM_PIN -1
|
||||
|
||||
|
||||
#ifdef RAMPS_V_1_0 // RAMPS_V_1_0
|
||||
|
|
@ -486,6 +555,7 @@
|
|||
#define FAN_PIN 5
|
||||
#define PS_ON_PIN -1
|
||||
#define KILL_PIN -1
|
||||
#define ALARM_PIN -1
|
||||
|
||||
#define HEATER_0_PIN 6
|
||||
#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
|
||||
|
|
@ -587,6 +657,7 @@
|
|||
|
||||
#define PS_ON_PIN -1
|
||||
#define KILL_PIN -1
|
||||
#define ALARM_PIN -1
|
||||
|
||||
#define HEATER_0_PIN 13 // (extruder)
|
||||
|
||||
|
|
@ -619,6 +690,9 @@
|
|||
|
||||
#endif
|
||||
|
||||
//List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those!
|
||||
const int sensitive_pins[] = {0, 1, X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, E_STEP_PIN, E_DIR_PIN, E_ENABLE_PIN, LED_PIN, PS_ON_PIN, HEATER_0_PIN, HEATER_1_PIN, FAN_PIN, TEMP_0_PIN, TEMP_1_PIN};
|
||||
|
||||
#endif
|
||||
|
||||
/****************************************************************************************
|
||||
|
|
|
|||
Loading…
Reference in a new issue