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Added a few spaces here and there.

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This commit is contained in:
MrAlvin 2011-05-14 07:57:01 -07:00
parent 41a2fa5c62
commit 1974f2116e
1 changed files with 191 additions and 191 deletions
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382
Tonokip_Firmware/Tonokip_Firmware.pde
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@ -14,7 +14,7 @@
//Implemented Codes
//-------------------
// G0 -> G1
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G4 - Dwell S<seconds> or P<milliseconds>
// G28 - Home all Axis
@ -59,7 +59,7 @@
//Stepper Movement Variables
bool direction_x, direction_y, direction_z, direction_e;
unsigned long previous_micros=0, previous_micros_x=0, previous_micros_y=0, previous_micros_z=0, previous_micros_e=0, previous_millis_heater, previous_millis_bed_heater;
unsigned long previous_micros = 0, previous_micros_x = 0, previous_micros_y = 0, previous_micros_z = 0, previous_micros_e = 0, previous_millis_heater, previous_millis_bed_heater;
unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take;
#ifdef RAMP_ACCELERATION
unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
@ -80,9 +80,9 @@ unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take
unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit,
y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps;
#endif
boolean acceleration_enabled=false ,accelerating=false;
boolean acceleration_enabled = false, accelerating = false;
unsigned long interval;
float destination_x =0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0;
float destination_x = 0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0;
float current_x = 0.0, current_y = 0.0, current_z = 0.0, current_e = 0.0;
long x_interval, y_interval, z_interval, e_interval; // for speed delay
float feedrate = 1500, next_feedrate, z_feedrate, saved_feedrate;
@ -90,7 +90,7 @@ float time_for_move;
long gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
long timediff=0;
long timediff = 0;
#ifdef STEP_DELAY_RATIO
long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
#endif
@ -101,10 +101,10 @@ long timediff=0;
#define BUFSIZE 8
char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
bool fromsd[BUFSIZE];
int bufindr=0;
int bufindw=0;
int buflen=0;
int i=0;
int bufindr = 0;
int bufindw = 0;
int buflen = 0;
int i = 0;
char serial_char;
int serial_count = 0;
boolean comment_mode = false;
@ -115,37 +115,37 @@ char *strchr_pointer; // just a pointer to find chars in the cmd string like X,
// degree increments (i.e. 100=25 deg).
int target_raw = 0;
int current_raw =0;
int current_raw = 0;
int target_bed_raw = 0;
int current_bed_raw=0;
float tt=0,bt=0;
int current_bed_raw = 0;
float tt = 0, bt = 0;
#ifdef PIDTEMP
int temp_iState=0;
int temp_dState=0;
int temp_iState = 0;
int temp_dState = 0;
int pTerm;
int iTerm;
int dTerm;
//int output;
int error;
int temp_iState_min = 100*-PID_INTEGRAL_DRIVE_MAX/PID_IGAIN;
int temp_iState_max = 100*PID_INTEGRAL_DRIVE_MAX/PID_IGAIN;
int temp_iState_min = 100 * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
int temp_iState_max = 100 * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
#endif
#ifdef SMOOTHING
uint32_t nma=SMOOTHFACTOR*analogRead(TEMP_0_PIN);
uint32_t nma = SMOOTHFACTOR * analogRead(TEMP_0_PIN);
#endif
#ifdef WATCHPERIOD
int watch_raw=-1000;
unsigned long watchmillis=0;
int watch_raw = -1000;
unsigned long watchmillis = 0;
#endif
#ifdef MINTEMP
int minttemp=temp2analog(MINTEMP);
int minttemp = temp2analog(MINTEMP);
#endif
#ifdef MAXTEMP
int maxttemp=temp2analog(MAXTEMP);
int maxttemp = temp2analog(MAXTEMP);
#endif
//Inactivity shutdown variables
unsigned long previous_millis_cmd=0;
unsigned long previous_millis_cmd = 0;
unsigned long max_inactive_time = 0;
unsigned long stepper_inactive_time = 0;
@ -154,16 +154,16 @@ unsigned long stepper_inactive_time = 0;
SdVolume volume;
SdFile root;
SdFile file;
uint32_t filesize=0;
uint32_t sdpos=0;
bool sdmode=false;
bool sdactive=false;
bool savetosd=false;
uint32_t filesize = 0;
uint32_t sdpos = 0;
bool sdmode = false;
bool sdactive = false;
bool savetosd = false;
int16_t n;
void initsd(){
sdactive=false;
#if SDSS>-1
sdactive = false;
#if SDSS >- 1
if(root.isOpen())
root.close();
if (!card.init(SPI_FULL_SPEED,SDSS)){
@ -175,23 +175,23 @@ unsigned long stepper_inactive_time = 0;
else if (!root.openRoot(&volume))
Serial.println("openRoot failed");
else
sdactive=true;
sdactive = true;
#endif
}
inline void write_command(char *buf){
char* begin=buf;
char* npos=0;
char* end=buf+strlen(buf)-1;
char* begin = buf;
char* npos = 0;
char* end = buf + strlen(buf) - 1;
file.writeError = false;
if((npos=strchr(buf, 'N')) != NULL){
begin = strchr(npos,' ')+1;
end =strchr(npos, '*')-1;
if((npos = strchr(buf, 'N')) != NULL){
begin = strchr(npos, ' ') + 1;
end = strchr(npos, '*') - 1;
}
end[1]='\r';
end[2]='\n';
end[3]='\0';
end[1] = '\r';
end[2] = '\n';
end[3] = '\0';
//Serial.println(begin);
file.write(begin);
if (file.writeError){
@ -205,8 +205,8 @@ void setup()
{
Serial.begin(BAUDRATE);
Serial.println("start");
for(int i=0;i<BUFSIZE;i++){
fromsd[i]=false;
for(int i = 0; i < BUFSIZE; i++){
fromsd[i] = false;
}
//Initialize Step Pins
if(X_STEP_PIN > -1) pinMode(X_STEP_PIN,OUTPUT);
@ -279,13 +279,13 @@ void loop()
if(buflen){
#ifdef SDSUPPORT
if(savetosd){
if(strstr(cmdbuffer[bufindr],"M29")==NULL){
if(strstr(cmdbuffer[bufindr],"M29") == NULL){
write_command(cmdbuffer[bufindr]);
Serial.println("ok");
}else{
file.sync();
file.close();
savetosd=false;
savetosd = false;
Serial.println("Done saving file.");
}
}else{
@ -294,8 +294,8 @@ void loop()
#else
process_commands();
#endif
buflen=(buflen-1);
bufindr=(bufindr+1)%BUFSIZE;
buflen = (buflen-1);
bufindr = (bufindr + 1)%BUFSIZE;
}
manage_heater();
@ -306,14 +306,14 @@ void loop()
inline void get_command()
{
while( Serial.available() > 0 && buflen<BUFSIZE) {
serial_char=Serial.read();
while( Serial.available() > 0 && buflen < BUFSIZE) {
serial_char = Serial.read();
if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
{
if(!serial_count) return; //if empty line
cmdbuffer[bufindw][serial_count] = 0; //terminate string
if(!comment_mode){
fromsd[bufindw]=false;
fromsd[bufindw] = false;
if(strstr(cmdbuffer[bufindw], "N") != NULL)
{
strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
@ -330,7 +330,7 @@ inline void get_command()
if(strstr(cmdbuffer[bufindw], "*") != NULL)
{
byte checksum = 0;
byte count=0;
byte count = 0;
while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
strchr_pointer = strchr(cmdbuffer[bufindw], '*');
@ -338,7 +338,7 @@ inline void get_command()
Serial.print("Error: checksum mismatch, Last Line:");
Serial.println(gcode_LastN);
FlushSerialRequestResend();
serial_count=0;
serial_count = 0;
return;
}
//if no errors, continue parsing
@ -348,7 +348,7 @@ inline void get_command()
Serial.print("Error: No Checksum with line number, Last Line:");
Serial.println(gcode_LastN);
FlushSerialRequestResend();
serial_count=0;
serial_count = 0;
return;
}
@ -361,7 +361,7 @@ inline void get_command()
{
Serial.print("Error: No Line Number with checksum, Last Line:");
Serial.println(gcode_LastN);
serial_count=0;
serial_count = 0;
return;
}
}
@ -381,8 +381,8 @@ inline void get_command()
}
}
bufindw=(bufindw+1)%BUFSIZE;
buflen+=1;
bufindw = (bufindw + 1)%BUFSIZE;
buflen += 1;
}
comment_mode = false; //for new command
@ -398,22 +398,22 @@ inline void get_command()
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)
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;
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;
fromsd[bufindw] = true;
buflen += 1;
bufindw = (bufindw + 1)%BUFSIZE;
}
comment_mode = false; //for new command
serial_count = 0; //clear buffer
@ -439,13 +439,13 @@ inline bool code_seen(char code)
return (strchr_pointer != NULL); //Return True if a character was found
}
//experimental feedrate calc
float d=0;
float xdiff=0,ydiff=0,zdiff=0,ediff=0;
float d = 0;
float xdiff = 0, ydiff = 0, zdiff = 0, ediff = 0;
inline void process_commands()
{
unsigned long codenum; //throw away variable
char *starpos=NULL;
char *starpos = NULL;
if(code_seen('G'))
{
switch((int)code_value())
@ -461,7 +461,7 @@ inline void process_commands()
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
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
previous_millis_heater = millis(); // keep track of when we started waiting
while((millis() - previous_millis_heater) < codenum ) manage_heater(); //manage heater until time is up
break;
@ -480,7 +480,7 @@ inline void process_commands()
if(X_MIN_PIN > -1) {
current_x = 0;
destination_x = -1.5 * X_MAX_LENGTH;
feedrate = min_units_per_second*60;
feedrate = min_units_per_second * 60;
prepare_move();
current_x = 0;
@ -498,7 +498,7 @@ inline void process_commands()
if(Y_MIN_PIN > -1) {
current_y = 0;
destination_y = -1.5 * Y_MAX_LENGTH;
feedrate = min_units_per_second*60;
feedrate = min_units_per_second * 60;
prepare_move();
current_y = 0;
@ -563,27 +563,27 @@ inline void process_commands()
Serial.println("End file list");
break;
case 21: // M21 - init SD card
sdmode=false;
sdmode = false;
initsd();
break;
case 22: //M22 - release SD card
sdmode=false;
sdactive=false;
sdmode = false;
sdactive = false;
break;
case 23: //M23 - Select file
if(sdactive){
sdmode=false;
sdmode = false;
file.close();
starpos=(strchr(strchr_pointer+4,'*'));
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos!=NULL)
*(starpos-1)='\0';
if (file.open(&root, strchr_pointer+4, O_READ)) {
if (file.open(&root, strchr_pointer + 4, O_READ)) {
Serial.print("File opened:");
Serial.print(strchr_pointer+4);
Serial.print(strchr_pointer + 4);
Serial.print(" Size:");
Serial.println(file.fileSize());
sdpos=0;
filesize=file.fileSize();
sdpos = 0;
filesize = file.fileSize();
Serial.println("File selected");
}
else{
@ -593,17 +593,17 @@ inline void process_commands()
break;
case 24: //M24 - Start SD print
if(sdactive){
sdmode=true;
sdmode = true;
}
break;
case 25: //M25 - Pause SD print
if(sdmode){
sdmode=false;
sdmode = false;
}
break;
case 26: //M26 - Set SD index
if(sdactive && code_seen('S')){
sdpos=code_value_long();
sdpos = code_value_long();
file.seekSet(sdpos);
}
break;
@ -619,40 +619,40 @@ inline void process_commands()
break;
case 28: //M28 - Start SD write
if(sdactive){
char* npos=0;
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';
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(strchr_pointer + 4);
Serial.print(".");
}else{
savetosd = true;
Serial.print("Writing to file: ");
Serial.println(strchr_pointer+4);
Serial.println(strchr_pointer + 4);
}
}
break;
case 29: //M29 - Stop SD write
//processed in write to file routine above
//savetosd=false;
//savetosd = false;
break;
#endif
case 104: // M104
if (code_seen('S')) target_raw = temp2analog(code_value());
#ifdef WATCHPERIOD
if(target_raw>current_raw){
watchmillis=max(1,millis());
watch_raw=current_raw;
if(target_raw > current_raw){
watchmillis = max(1,millis());
watch_raw = current_raw;
}else{
watchmillis=0;
watchmillis = 0;
}
#endif
break;
@ -660,16 +660,16 @@ inline void process_commands()
if (code_seen('S')) target_bed_raw = temp2analogBed(code_value());
break;
case 105: // M105
#if (TEMP_0_PIN>-1) || defined (HEATER_USES_MAX6675)
tt=analog2temp(current_raw);
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675)
tt = analog2temp(current_raw);
#endif
#if TEMP_1_PIN>-1
bt=analog2tempBed(current_bed_raw);
#if TEMP_1_PIN > -1
bt = analog2tempBed(current_bed_raw);
#endif
#if (TEMP_0_PIN>-1) || defined (HEATER_USES_MAX6675)
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675)
Serial.print("T:");
Serial.println(tt);
#if TEMP_1_PIN>-1
#if TEMP_1_PIN > -1
Serial.print("ok T:");
Serial.print(tt);
@ -685,15 +685,15 @@ inline void process_commands()
if (code_seen('S')) target_raw = temp2analog(code_value());
#ifdef WATCHPERIOD
if(target_raw>current_raw){
watchmillis=max(1,millis());
watch_raw=current_raw;
watchmillis = max(1,millis());
watch_raw = current_raw;
}else{
watchmillis=0;
watchmillis = 0;
}
#endif
previous_millis_heater = millis();
while(current_raw < target_raw) {
if( (millis()-previous_millis_heater) > 1000 ) //Print Temp Reading every 1 second while heating up.
if( (millis() - previous_millis_heater) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
Serial.print("T:");
Serial.println( analog2temp(current_raw) );
@ -703,7 +703,7 @@ inline void process_commands()
}
break;
case 190: // M190 - Wait bed for heater to reach target.
#if TEMP_1_PIN>-1
#if TEMP_1_PIN > -1
if (code_seen('S')) target_bed_raw = temp2analog(code_value());
previous_millis_heater = millis();
while(current_bed_raw < target_bed_raw) {
@ -725,7 +725,7 @@ inline void process_commands()
case 106: //M106 Fan On
if (code_seen('S')){
digitalWrite(FAN_PIN, HIGH);
analogWrite(FAN_PIN,constrain(code_value(),0,255));
analogWrite(FAN_PIN, constrain(code_value(),0,255) );
}
else
digitalWrite(FAN_PIN, HIGH);
@ -748,12 +748,12 @@ inline void process_commands()
relative_mode_e = true;
break;
case 84:
if(code_seen('S')){ stepper_inactive_time = code_value()*1000; }
if(code_seen('S')){ stepper_inactive_time = code_value() * 1000; }
else{ disable_x(); disable_y(); disable_z(); disable_e(); }
break;
case 85: // M85
code_seen('S');
max_inactive_time = code_value()*1000;
max_inactive_time = code_value() * 1000;
break;
case 86: // M86 If Endstop is Not Activated then Abort Print
if(code_seen('X')) if( digitalRead(X_MIN_PIN) == ENDSTOPS_INVERTING ) kill(3);
@ -806,7 +806,7 @@ inline void FlushSerialRequestResend()
//char cmdbuffer[bufindr][100]="Resend:";
Serial.flush();
Serial.print("Resend:");
Serial.println(gcode_LastN+1);
Serial.println(gcode_LastN + 1);
ClearToSend();
}
@ -839,14 +839,14 @@ inline void get_coordinates()
inline void prepare_move()
{
//Find direction
if(destination_x >= current_x) direction_x=1;
else direction_x=0;
if(destination_y >= current_y) direction_y=1;
else direction_y=0;
if(destination_z >= current_z) direction_z=1;
else direction_z=0;
if(destination_e >= current_e) direction_e=1;
else direction_e=0;
if(destination_x >= current_x) direction_x = 1;
else direction_x = 0;
if(destination_y >= current_y) direction_y = 1;
else direction_y = 0;
if(destination_z >= current_z) direction_z = 1;
else direction_z = 0;
if(destination_e >= current_e) direction_e = 1;
else direction_e = 0;
if (min_software_endstops) {
@ -864,49 +864,49 @@ inline void prepare_move()
if(feedrate > max_feedrate) feedrate = max_feedrate;
if(feedrate > max_z_feedrate) z_feedrate = max_z_feedrate;
else z_feedrate=feedrate;
else z_feedrate = feedrate;
xdiff=(destination_x - current_x);
ydiff=(destination_y - current_y);
zdiff=(destination_z - current_z);
ediff=(destination_e - current_e);
x_steps_to_take = abs(xdiff)*x_steps_per_unit;
y_steps_to_take = abs(ydiff)*y_steps_per_unit;
z_steps_to_take = abs(zdiff)*z_steps_per_unit;
e_steps_to_take = abs(ediff)*e_steps_per_unit;
if(feedrate<10)
feedrate=10;
xdiff = (destination_x - current_x);
ydiff = (destination_y - current_y);
zdiff = (destination_z - current_z);
ediff = (destination_e - current_e);
x_steps_to_take = abs(xdiff) * x_steps_per_unit;
y_steps_to_take = abs(ydiff) * y_steps_per_unit;
z_steps_to_take = abs(zdiff) * z_steps_per_unit;
e_steps_to_take = abs(ediff) * e_steps_per_unit;
if(feedrate < 10)
feedrate = 10;
/*
//experimental feedrate calc
if(abs(xdiff)>0.1 && abs(ydiff)>0.1)
d=sqrt(xdiff*xdiff+ydiff*ydiff);
else if(abs(xdiff)>0.1)
d=abs(xdiff);
else if(abs(ydiff)>0.1)
d=abs(ydiff);
else if(abs(zdiff)>0.05)
d=abs(zdiff);
else if(abs(ediff)>0.1)
d=abs(ediff);
else d=1; //extremely slow move, should be okay for moves under 0.1mm
time_for_move=(xdiff/(feedrate/60000000));
//time=60000000*dist/feedrate
//int feedz=(60000000*zdiff)/time_for_move;
//if(feedz>maxfeed)
if(abs(xdiff) > 0.1 && abs(ydiff) > 0.1)
d = sqrt(xdiff * xdiff + ydiff * ydiff);
else if(abs(xdiff) > 0.1)
d = abs(xdiff);
else if(abs(ydiff) > 0.1)
d = abs(ydiff);
else if(abs(zdiff) > 0.05)
d = abs(zdiff);
else if(abs(ediff) > 0.1)
d = abs(ediff);
else d = 1; //extremely slow move, should be okay for moves under 0.1mm
time_for_move = (xdiff / (feedrate / 60000000) );
//time = 60000000 * dist / feedrate
//int feedz = (60000000 * zdiff) / time_for_move;
//if(feedz > maxfeed)
*/
#define X_TIME_FOR_MOVE ((float)x_steps_to_take / (x_steps_per_unit*feedrate/60000000))
#define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (y_steps_per_unit*feedrate/60000000))
#define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (z_steps_per_unit*z_feedrate/60000000))
#define E_TIME_FOR_MOVE ((float)e_steps_to_take / (e_steps_per_unit*feedrate/60000000))
time_for_move = max(X_TIME_FOR_MOVE,Y_TIME_FOR_MOVE);
time_for_move = max(time_for_move,Z_TIME_FOR_MOVE);
if(time_for_move <= 0) time_for_move = max(time_for_move,E_TIME_FOR_MOVE);
time_for_move = max(X_TIME_FOR_MOVE, Y_TIME_FOR_MOVE);
time_for_move = max(time_for_move, Z_TIME_FOR_MOVE);
if(time_for_move <= 0) time_for_move = max(time_for_move, E_TIME_FOR_MOVE);
if(x_steps_to_take) x_interval = time_for_move/x_steps_to_take*100;
if(y_steps_to_take) y_interval = time_for_move/y_steps_to_take*100;
if(z_steps_to_take) z_interval = time_for_move/z_steps_to_take*100;
if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0)) e_interval = time_for_move/e_steps_to_take*100;
if(x_steps_to_take) x_interval = time_for_move / x_steps_to_take * 100;
if(y_steps_to_take) y_interval = time_for_move / y_steps_to_take * 100;
if(z_steps_to_take) z_interval = time_for_move / z_steps_to_take * 100;
if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0) ) e_interval = time_for_move / e_steps_to_take * 100;
//#define DEBUGGING false
#if 0
@ -964,8 +964,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
if(x_steps_remaining) enable_x();
if(y_steps_remaining) enable_y();
if(z_steps_remaining) { enable_z(); do_z_step(); z_steps_remaining--;}
if(e_steps_remaining) {enable_e(); do_e_step(); e_steps_remaining--;}
if(z_steps_remaining) { enable_z(); do_z_step(); z_steps_remaining--; }
if(e_steps_remaining) { enable_e(); do_e_step(); e_steps_remaining--; }
previous_millis_heater = millis();
@ -1062,10 +1062,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
#endif
unsigned long start_move_micros = micros();
previous_micros_x=start_move_micros*100;
previous_micros_y=previous_micros_x;
previous_micros_z=previous_micros_x;
previous_micros_e=previous_micros_x;
previous_micros_x = start_move_micros*100;
previous_micros_y = previous_micros_x;
previous_micros_z = previous_micros_x;
previous_micros_e = previous_micros_x;
//move until no more steps remain
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
@ -1134,10 +1134,10 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(steep_y) {
timediff = micros() * 100 - previous_micros_y;
while(timediff >= interval && y_steps_remaining>0) {
while(timediff >= interval && y_steps_remaining > 0) {
steps_done++;
steps_remaining--;
y_steps_remaining--; timediff-=interval;
y_steps_remaining--; timediff -= interval;
error_x = error_x - delta_x;
do_y_step();
if(error_x < 0) {
@ -1159,7 +1159,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
while(timediff >= interval && x_steps_remaining>0) {
steps_done++;
steps_remaining--;
x_steps_remaining--; timediff-=interval;
x_steps_remaining--; timediff -= interval;
error_y = error_y - delta_y;
do_x_step();
if(error_y < 0) {
@ -1179,18 +1179,18 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
}
#ifdef RAMP_ACCELERATION
if (steps_to_take>0 && (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating))) continue;
if (steps_to_take > 0 && (steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating))) continue;
#endif
//If there are z steps remaining, check if z steps must be taken
if(z_steps_remaining) {
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
timediff=micros() * 100-previous_micros_z;
timediff = micros() * 100-previous_micros_z;
while(timediff >= z_interval && z_steps_remaining) {
do_z_step();
z_steps_remaining--;
timediff-=z_interval;
timediff -= z_interval;
#ifdef STEP_DELAY_RATIO
if(timediff >= z_interval) delayMicroseconds(long_step_delay_ratio * z_interval / 10000);
#endif
@ -1202,7 +1202,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
//If there are e steps remaining, check if e steps must be taken
if(e_steps_remaining){
if (x_steps_to_take + y_steps_to_take <= 0) timediff=micros() * 100-previous_micros_e;
if (x_steps_to_take + y_steps_to_take <= 0) timediff = micros() * 100-previous_micros_e;
unsigned int final_e_steps_remaining = 0;
if (steep_x && x_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * x_steps_remaining / x_steps_to_take;
else if (steep_y && y_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * y_steps_remaining / y_steps_to_take;
@ -1213,7 +1213,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
else while (timediff >= e_interval && e_steps_remaining) {
do_e_step();
e_steps_remaining--;
timediff-=e_interval;
timediff -= e_interval;
#ifdef STEP_DELAY_RATIO
if(timediff >= e_interval) delayMicroseconds(long_step_delay_ratio * e_interval / 10000);
#endif
@ -1238,14 +1238,14 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
if(DISABLE_E) disable_e();
// Update current position partly based on direction, we probably can combine this with the direction code above...
if (destination_x > current_x) current_x = current_x + x_steps_to_take/x_steps_per_unit;
else current_x = current_x - x_steps_to_take/x_steps_per_unit;
if (destination_y > current_y) current_y = current_y + y_steps_to_take/y_steps_per_unit;
else current_y = current_y - y_steps_to_take/y_steps_per_unit;
if (destination_z > current_z) current_z = current_z + z_steps_to_take/z_steps_per_unit;
else current_z = current_z - z_steps_to_take/z_steps_per_unit;
if (destination_e > current_e) current_e = current_e + e_steps_to_take/e_steps_per_unit;
else current_e = current_e - e_steps_to_take/e_steps_per_unit;
if (destination_x > current_x) current_x = current_x + x_steps_to_take / x_steps_per_unit;
else current_x = current_x - x_steps_to_take / x_steps_per_unit;
if (destination_y > current_y) current_y = current_y + y_steps_to_take / y_steps_per_unit;
else current_y = current_y - y_steps_to_take / y_steps_per_unit;
if (destination_z > current_z) current_z = current_z + z_steps_to_take / z_steps_per_unit;
else current_z = current_z - z_steps_to_take / z_steps_per_unit;
if (destination_e > current_e) current_e = current_e + e_steps_to_take / e_steps_per_unit;
else current_e = current_e - e_steps_to_take / e_steps_per_unit;
}
@ -1360,26 +1360,26 @@ inline void manage_heater()
current_raw = read_max6675();
#endif
#ifdef SMOOTHING
nma=(nma+current_raw)-(nma/SMOOTHFACTOR);
current_raw=nma/SMOOTHFACTOR;
nma = (nma + current_raw) - (nma / SMOOTHFACTOR);
current_raw = nma / SMOOTHFACTOR;
#endif
#ifdef WATCHPERIOD
if(watchmillis && millis()-watchmillis>WATCHPERIOD){
if(watch_raw+1>=current_raw){
target_raw=0;
if(watchmillis && millis() - watchmillis > WATCHPERIOD){
if(watch_raw + 1 >= current_raw){
target_raw = 0;
digitalWrite(HEATER_0_PIN,LOW);
digitalWrite(LED_PIN,LOW);
}else{
watchmillis=0;
watchmillis = 0;
}
}
#endif
#ifdef MINTEMP
if(current_raw<=minttemp)
target_raw=0;
if(current_raw <= minttemp)
target_raw = 0;
#endif
#ifdef MAXTEMP
if(current_raw>maxttemp) {
if(current_raw > maxttemp) {
// We are too hot. Emergency brake to protect hotend
kill(5);
}
@ -1387,11 +1387,11 @@ inline void manage_heater()
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX66675)
#ifdef PIDTEMP
error = target_raw - current_raw;
pTerm = (PID_PGAIN * error)/100;
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;
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));
#else
@ -1408,7 +1408,7 @@ inline void manage_heater()
#endif
#endif
if(millis()-previous_millis_bed_heater<5000)
if(millis() - previous_millis_bed_heater < 5000)
return;
previous_millis_bed_heater = millis();
@ -1464,7 +1464,7 @@ float temp2analog(int celsius) {
return 1023 - raw;
#elif defined HEATER_USES_AD595
return celsius * (1024.0/(5.0 * 100.0));
return celsius * (1024.0 / (5.0 * 100.0) );
#elif defined HEATER_USES_MAX6675
return celsius * 4.0;
#endif
@ -1498,7 +1498,7 @@ float temp2analogBed(int celsius) {
return 1023 - raw;
#elif defined BED_USES_AD595
return celsius * (1024.0/(5.0 * 100.0));
return celsius * (1024.0 / (5.0 * 100.0) );
#endif
}
@ -1563,7 +1563,7 @@ float analog2tempBed(int raw) {
return celsius;
#elif defined BED_USES_AD595
return raw * ((5.0*100.0)/1024.0);
return raw * ((5.0 * 100.0) / 1024.0);
#endif
}
@ -1597,4 +1597,4 @@ inline void kill(byte debug)
inline void manage_inactivity(byte debug) {
if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill(debug);
if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); }
}
}