Merge remote-tracking branch 'upstream/experimental'
Conflicts: Sprinter/pins.h
This commit is contained in:
Greg Dahlman
commit
09d5247ba2
5 changed files with 229 additions and 29 deletions
2
README
2
README
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@ -32,6 +32,8 @@ From a fresh Ubuntu install how to update the firmware of your Prusa Mendel ?
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This version uses the http://reprap.org/wiki/Sanguinololu.
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Some details may not fit your hardware, be sure to check what you are doing)
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Steps 3,10,11 are hardware-specific to the Sanguinololu and Bath Prusa and should be skipped or modified accordingly for other hardware such as the Arduino Mega 2560
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Software installation
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----------------------
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@ -9,6 +9,7 @@
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// Gen6 = 5,
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// Sanguinololu up to 1.1 = 6
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// Sanguinololu 1.2 and above = 62
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// Gen 7 = 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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@ -50,9 +51,13 @@ const bool Z_ENDSTOP_INVERT = false;
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// Comment out (using // at the start of the line) to disable SD support:
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#define SDSUPPORT
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//// ADVANCED SETTINGS - to tweak parameters
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#ifdef SDSUPPORT
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//Fast transfer chunk size (> 1024 is unstable, change at your own risk).
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#define SD_FAST_XFER_CHUNK_SIZE 1024
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#endif
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#include "thermistortables.h"
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// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
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@ -99,6 +104,12 @@ bool axis_relative_modes[] = {false, false, false, false};
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// If you enable this, make sure STEP_DELAY_MICROS is disabled. (except for Gen6: both need to be enabled.)
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//#define STEP_DELAY_RATIO 0.25
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///Oscillation reduction. Forces x,y,or z axis to be stationary for ## ms before allowing axis to switch direcitons. Alternative method to prevent skipping steps. Uncomment the line below to activate.
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//#define RAPID_OSCILLATION_REDUCTION
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#ifdef RAPID_OSCILLATION_REDUCTION
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long min_time_before_dir_change = 30; //milliseconds
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#endif
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// Comment this to disable ramp acceleration
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#define RAMP_ACCELERATION
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@ -91,7 +91,12 @@ float axis_diff[NUM_AXIS] = {0, 0, 0, 0};
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#ifdef STEP_DELAY_RATIO
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long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
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#endif
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///oscillation reduction
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ifdef RAPID_OSCILLATION_REDUCTION
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float cumm_wait_time_in_dir[NUM_AXIS]={0.0,0.0,0.0,0.0};
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bool prev_move_direction[NUM_AXIS]={1,1,1,1};
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float osc_wait_remainder = 0.0;
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#endif
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// comm variables
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#define MAX_CMD_SIZE 96
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@ -162,6 +167,9 @@ unsigned long stepper_inactive_time = 0;
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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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char fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE + 1];
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int lastxferchar;
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long xferbytes;
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void initsd(){
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sdactive = false;
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@ -200,6 +208,102 @@ unsigned long stepper_inactive_time = 0;
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Serial.println("error writing to file");
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}
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}
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void fast_xfer()
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{
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char *pstr;
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boolean done = false;
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//force heater pins low
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if(HEATER_0_PIN > -1) WRITE(HEATER_0_PIN,LOW);
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if(HEATER_1_PIN > -1) WRITE(HEATER_1_PIN,LOW);
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lastxferchar = 1;
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xferbytes = 0;
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pstr = strstr(strchr_pointer+4, " ");
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if(pstr == NULL)
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{
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Serial.println("invalid command");
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return;
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}
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*pstr = '\0';
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//check mode (currently only RAW is supported
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if(strcmp(strchr_pointer+4, "RAW") != 0)
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{
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Serial.println("Invalid transfer codec");
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return;
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}else{
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Serial.print("Selected codec: ");
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Serial.println(strchr_pointer+4);
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}
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if (!file.open(&root, pstr+1, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
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{
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Serial.print("open failed, File: ");
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Serial.print(pstr+1);
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Serial.print(".");
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}else{
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Serial.print("Writing to file: ");
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Serial.println(pstr+1);
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}
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Serial.println("ok");
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//RAW transfer codec
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//Host sends \0 then up to SD_FAST_XFER_CHUNK_SIZE then \0
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//when host is done, it sends \0\0.
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//if a non \0 character is recieved at the beginning, host has failed somehow, kill the transfer.
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//read SD_FAST_XFER_CHUNK_SIZE bytes (or until \0 is recieved)
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while(!done)
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{
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while(!Serial.available())
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{
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}
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if(Serial.peek() != 0)
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{
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//host has failed, this isn't a RAW chunk, it's an actual command
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file.sync();
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file.close();
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return;
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}
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//clear the initial 0
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Serial.read();
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for(int i=0;i<SD_FAST_XFER_CHUNK_SIZE+1;i++)
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{
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while(!Serial.available())
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{
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}
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lastxferchar = Serial.read();
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//buffer the data...
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fastxferbuffer[i] = lastxferchar;
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xferbytes++;
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if(lastxferchar == 0)
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break;
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}
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if(fastxferbuffer[0] != 0)
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{
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fastxferbuffer[SD_FAST_XFER_CHUNK_SIZE] = 0;
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file.write(fastxferbuffer);
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Serial.println("ok");
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}else{
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Serial.print("Wrote ");
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Serial.print(xferbytes);
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Serial.println(" bytes.");
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done = true;
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}
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}
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file.sync();
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file.close();
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}
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#endif
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@ -745,6 +849,13 @@ inline void process_commands()
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//processed in write to file routine above
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//savetosd = false;
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break;
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case 30: //M30 - fast SD transfer
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fast_xfer();
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break;
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case 31: //M31 - high speed xfer capabilities
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Serial.print("RAW:");
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Serial.println(SD_FAST_XFER_CHUNK_SIZE);
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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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@ -1081,11 +1192,46 @@ void prepare_move()
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time_for_move = time_for_move / max_feedrate[i] * (abs(axis_diff[i]) / (time_for_move / 60000000.0));
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}
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}
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#ifdef RAPID_OSCILLATION_REDUCTION //VERBOSE commenting for peer review. tested on multiple prints--works!
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for(int i=0; i < NUM_AXIS-1; i++) { //do for each axis, except for extruder (refer to the -1 value)
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if(prev_move_direction[i] != move_direction[i]){ //check if we've changed direcitons
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osc_wait_remainder=min_time_before_dir_change; //if we changed directions, then shit the bed! We better make sure to wait & chill out time before jerkin' over in the opposite direction!
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if(cumm_wait_time_in_dir[i]<min_time_before_dir_change){ //if so, check if we've sat @ the current position long enough for this axis
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if((min_time_before_dir_change-cumm_wait_time_in_dir[i])>osc_wait_remainder){ //if not, dont overwrite the remaining wait time if we already have to wait LONGER for a different axis
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osc_wait_remainder=min_time_before_dir_change-cumm_wait_time_in_dir[i];
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}
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}
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cumm_wait_time_in_dir[i] = 0.0; //we've changed directions! now that we've either set a wait period, or we had already waited long enough after a direction change, let's reset our wait variable for this axis
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}
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else{ //we haven't changed directions! so, lets make sure to increase our wait time for the time we have not been moving back on the same axis
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if(cumm_wait_time_in_dir[i]==0.0){
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cumm_wait_time_in_dir[i] = 0.001; //if the cumm wait variable = 0.0, that means we've just completed our first move after a dir change. we really haven't waited at all. so, let's increment the wait value insignifcant value so that we may proceed, but not hit this line again.
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}
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else{
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//Serial.print("It is will take [ESTIMATED] this many seconds to perform this move:"); Serial.println(time_for_move/1000000);
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cumm_wait_time_in_dir[i] = cumm_wait_time_in_dir[i] + time_for_move/1000; //increment the time we've waited in this axis
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}
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}
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}
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//update prev_moves for next move. again, excluded extruder
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for(int i=0; i < NUM_AXIS-1; i++) {
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prev_move_direction[i]=move_direction[i];
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}
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//now WAIT if you are oscillating back & forth too fast in any given axis
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if(osc_wait_remainder>0.0){
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delay(osc_wait_remainder);
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osc_wait_remainder=0.0;
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}
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#endif
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//Calculate the full speed stepper interval for each axis
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for(int i=0; i < NUM_AXIS; i++) {
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if(move_steps_to_take[i]) axis_interval[i] = time_for_move / move_steps_to_take[i] * 100;
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}
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#ifdef DEBUG_PREPARE_MOVE
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log_float("_PREPARE_MOVE - Move distance on the XY plane", xy_d);
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log_float("_PREPARE_MOVE - Move distance on the XYZ space", d);
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@ -143,7 +143,6 @@
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#endif
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/****************************************************************************************
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* RepRap Motherboard ****---NOOOOOO RS485/EXTRUDER CONTROLLER!!!!!!!!!!!!!!!!!---*******
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*
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@ -694,7 +693,7 @@
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#if MOTHERBOARD == 7
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#define KNOWN_BOARD 1
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#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__)
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#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__) && !defined(__AVR_ATmega644__)
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#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
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#endif
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@ -737,7 +736,6 @@
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#endif
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/****************************************************************************************
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* Teensylu 0.7 pin assingments (ATMEGA90USB)
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* Requires the Teensyduino software with Teensy2.0++ selected in arduino IDE!
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@ -69,30 +69,73 @@ const short temptable_1[NUMTEMPS_1][2] = {
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{ 1008 , 0 } //safety
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};
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#endif
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#if (THERMISTORHEATER == 2) || (THERMISTORBED == 2) //200k bed thermistor
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#define NUMTEMPS_2 21
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#if (THERMISTORHEATER == 2) || (THERMISTORBED == 2) //200k bed thermistor verified by arcol
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#define NUMTEMPS_2 64
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const short temptable_2[NUMTEMPS_2][2] = {
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{1, 848},
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{54, 275},
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{107, 228},
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{160, 202},
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{213, 185},
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{266, 171},
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{319, 160},
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{372, 150},
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{425, 141},
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{478, 133},
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{531, 125},
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{584, 118},
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{637, 110},
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{690, 103},
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{743, 95},
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{796, 86},
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{849, 77},
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{902, 65},
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{955, 49},
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{1008, 17},
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{1020, 0} //safety
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{ 16, 315},
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{ 17, 310},
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{ 18, 305},
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{ 19, 300},
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{ 20, 295},
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{ 21, 290},
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{ 22, 285},
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{ 23, 280},
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{ 24, 275},
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{ 25, 270},
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{ 29, 265},
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{ 30, 260},
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{ 35, 255},
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{ 40, 250},
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{ 45, 245},
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{ 50, 240},
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{ 55, 235},
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{ 60, 230},
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{ 65, 225},
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{ 70, 220},
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{ 90, 215},
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{ 95, 210},
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{ 103, 205},
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{ 105, 200},
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{ 115, 195},
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{ 130, 190},
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{ 150, 185},
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{ 167, 180},
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{ 190, 175},
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{ 200, 170},
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{ 230, 165},
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{ 250, 160},
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{ 270, 155},
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{ 300, 150},
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{ 330, 145},
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{ 360, 140},
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{ 380, 135},
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{ 408, 130},
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{ 450, 125},
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{ 500, 120},
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{ 530, 115},
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{ 550, 110},
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{ 570, 105},
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{ 595, 100},
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{ 615, 95},
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{ 640, 90},
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{ 665, 85},
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{ 700, 80},
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{ 740, 75},
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{ 780, 70},
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{ 810, 65},
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{ 840, 60},
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{ 880, 55},
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{ 920, 50},
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{ 960, 45},
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{ 980, 40},
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{ 990, 35},
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{1000, 30},
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{1005, 25},
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{1006, 20},
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{1009, 15},
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{1010, 10},
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{1020, 5},
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{1023, 0} //safety
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};
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#endif
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