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Merge branch 'master' of github.com:kliment/Sprinter

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This commit is contained in:
Nils 2011-05-12 14:26:59 +02:00
commit 5ba9e2683c
3 changed files with 319 additions and 225 deletions
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36
Tonokip_Firmware/Tonokip_Firmware.h Normal file
View file

@ -0,0 +1,36 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
#include <WProgram.h>
void get_command();
void process_commands();
void manage_inactivity(byte debug);
void manage_heater();
float temp2analog(int celsius);
float temp2analogBed(int celsius);
float analog2temp(int raw);
float analog2tempBed(int raw);
void FlushSerialRequestResend();
void ClearToSend();
void get_coordinates();
void prepare_move();
void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining);
void disable_x();
void disable_y();
void disable_z();
void disable_e();
void enable_x();
void enable_y();
void enable_z();
void enable_e();
void do_x_step();
void do_y_step();
void do_z_step();
void do_e_step();
void kill(byte debug);

460
Tonokip_Firmware/Tonokip_Firmware.pde
View file

@ -1,6 +1,7 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
#include "Tonokip_Firmware.h"
#include "configuration.h"
#include "pins.h"
@ -8,39 +9,6 @@
#include "SdFat.h"
#endif
void get_command();
void process_commands();
void manage_inactivity(byte debug);
void manage_heater();
float temp2analog(int celsius);
float temp2analogBed(int celsius);
float analog2temp(int raw);
float analog2tempBed(int raw);
void FlushSerialRequestResend();
void ClearToSend();
void get_coordinates();
void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining);
void disable_x();
void disable_y();
void disable_z();
void disable_e();
void enable_x();
void enable_y();
void enable_z();
void enable_e();
void do_x_step();
void do_y_step();
void do_z_step();
void do_e_step();
void kill(byte debug);
// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
@ -49,6 +17,7 @@ void kill(byte debug);
// G0 -> G1
// G1 - Coordinated Movement X Y Z E
// G4 - Dwell S<seconds> or P<milliseconds>
// G28 - Home all Axis
// G90 - Use Absolute Coordinates
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
@ -85,7 +54,8 @@ void kill(byte debug);
// M140 - Set bed target temp
// M143 - Set maximum hot-end temperature
// M190 - Wait for bed current temp to reach target temp.
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000)
//Stepper Movement Variables
@ -93,37 +63,37 @@ 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 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);
unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
unsigned long max_interval;
unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
unsigned long steps_per_sqr_second, plateau_steps;
unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
unsigned long max_interval;
unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
unsigned long steps_per_sqr_second, plateau_steps;
#endif
#ifdef EXP_ACCELERATION
unsigned long long_full_velocity_units = full_velocity_units * 100;
unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
unsigned long max_interval;
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;
unsigned long long_full_velocity_units = full_velocity_units * 100;
unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
unsigned long max_interval;
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;
unsigned long interval;
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;
float feedrate = 1500, next_feedrate, z_feedrate, saved_feedrate;
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;
#ifdef STEP_DELAY_RATIO
long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
#endif
@ -151,25 +121,25 @@ int target_bed_raw = 0;
int current_bed_raw=0;
float tt=0,bt=0;
#ifdef PIDTEMP
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=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;
#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);
@ -181,56 +151,54 @@ unsigned long max_inactive_time = 0;
unsigned long stepper_inactive_time = 0;
#ifdef SDSUPPORT
Sd2Card card;
SdVolume volume;
SdFile root;
SdFile file;
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
if(root.isOpen())
root.close();
if (!card.init(SPI_FULL_SPEED,SDSS)){
if (!card.init(SPI_HALF_SPEED,SDSS))
Serial.println("SD init fail");
}
else if (!volume.init(&card))
Serial.println("volume.init failed");
else if (!root.openRoot(&volume))
Serial.println("openRoot failed");
else
sdactive=true;
#endif
}
inline void write_command(char *buf){
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;
Sd2Card card;
SdVolume volume;
SdFile root;
SdFile file;
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
if(root.isOpen())
root.close();
if (!card.init(SPI_FULL_SPEED,SDSS)){
//if (!card.init(SPI_HALF_SPEED,SDSS))
Serial.println("SD init fail");
}
end[1]='\r';
end[2]='\n';
end[3]='\0';
//Serial.println(begin);
file.write(begin);
if (file.writeError){
Serial.println("error writing to file");
}
}
else if (!volume.init(&card))
Serial.println("volume.init failed");
else if (!root.openRoot(&volume))
Serial.println("openRoot failed");
else
sdactive=true;
#endif
}
inline void write_command(char *buf){
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;
}
end[1]='\r';
end[2]='\n';
end[3]='\0';
//Serial.println(begin);
file.write(begin);
if (file.writeError){
Serial.println("error writing to file");
}
}
#endif
@ -261,12 +229,12 @@ void setup()
//endstop pullups
#ifdef ENDSTOPPULLUPS
if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);}
if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);}
if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);}
if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);}
if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);}
if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);}
if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);}
if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);}
if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);}
if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);}
if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);}
if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);}
#endif
//Initialize Enable Pins
if(X_ENABLE_PIN > -1) pinMode(X_ENABLE_PIN,OUTPUT);
@ -293,23 +261,19 @@ void setup()
#ifdef SDSUPPORT
//power to SD reader
#if SDPOWER > -1
pinMode(SDPOWER,OUTPUT);
digitalWrite(SDPOWER,HIGH);
#endif
initsd();
//power to SD reader
#if SDPOWER > -1
pinMode(SDPOWER,OUTPUT);
digitalWrite(SDPOWER,HIGH);
#endif
initsd();
#endif
}
void loop()
{
if(buflen<3)
get_command();
@ -318,9 +282,9 @@ void loop()
if(savetosd){
if(strstr(cmdbuffer[bufindr],"M29")==NULL){
write_command(cmdbuffer[bufindr]);
file.sync();
Serial.println("ok");
}else{
file.sync();
file.close();
savetosd=false;
Serial.println("Done saving file.");
@ -358,7 +322,7 @@ inline void get_command()
if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
Serial.print("Serial Error: Line Number is not Last Line Number+1, Last Line:");
Serial.println(gcode_LastN);
Serial.println(gcode_N);
//Serial.println(gcode_N);
FlushSerialRequestResend();
serial_count = 0;
return;
@ -490,77 +454,7 @@ inline void process_commands()
case 0: // G0 -> G1
case 1: // G1
get_coordinates(); // For X Y Z E F
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)
*/
#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);
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
if(0) {
Serial.print("destination_x: "); Serial.println(destination_x);
Serial.print("current_x: "); Serial.println(current_x);
Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take);
Serial.print("X_TIME_FOR_MVE: "); Serial.println(X_TIME_FOR_MOVE);
Serial.print("x_interval: "); Serial.println(x_interval);
Serial.println("");
Serial.print("destination_y: "); Serial.println(destination_y);
Serial.print("current_y: "); Serial.println(current_y);
Serial.print("y_steps_to_take: "); Serial.println(y_steps_to_take);
Serial.print("Y_TIME_FOR_MVE: "); Serial.println(Y_TIME_FOR_MOVE);
Serial.print("y_interval: "); Serial.println(y_interval);
Serial.println("");
Serial.print("destination_z: "); Serial.println(destination_z);
Serial.print("current_z: "); Serial.println(current_z);
Serial.print("z_steps_to_take: "); Serial.println(z_steps_to_take);
Serial.print("Z_TIME_FOR_MVE: "); Serial.println(Z_TIME_FOR_MOVE);
Serial.print("z_interval: "); Serial.println(z_interval);
Serial.println("");
Serial.print("destination_e: "); Serial.println(destination_e);
Serial.print("current_e: "); Serial.println(current_e);
Serial.print("e_steps_to_take: "); Serial.println(e_steps_to_take);
Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE);
Serial.print("e_interval: "); Serial.println(e_interval);
Serial.println("");
}
#endif
linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
prepare_move();
previous_millis_cmd = millis();
//ClearToSend();
return;
@ -572,6 +466,75 @@ inline void process_commands()
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;
case 28: //G28 Home all Axis one at a time
saved_feedrate = feedrate;
destination_x = 0;
current_x = 0;
destination_y = 0;
current_y = 0;
destination_z = 0;
current_z = 0;
destination_e = 0;
current_e = 0;
feedrate = 0;
if(X_MIN_PIN > -1) {
current_x = 0;
destination_x = -1.5 * X_MAX_LENGTH;
feedrate = min_units_per_second*60;
prepare_move();
current_x = 0;
destination_x = 1;
prepare_move();
destination_x = -10;
prepare_move();
current_x = 0;
destination_x = 0;
feedrate = 0;
}
if(Y_MIN_PIN > -1) {
current_y = 0;
destination_y = -1.5 * Y_MAX_LENGTH;
feedrate = min_units_per_second*60;
prepare_move();
current_y = 0;
destination_y = 1;
prepare_move();
destination_y = -10;
prepare_move();
current_y = 0;
destination_y = 0;
feedrate = 0;
}
if(Z_MIN_PIN > -1) {
current_z = 0;
destination_z = -1.5 * Z_MAX_LENGTH;
feedrate = max_z_feedrate/2;
prepare_move();
current_z = 0;
destination_z = 1;
prepare_move();
destination_z = -10;
prepare_move();
current_z = 0;
destination_z = 0;
feedrate = 0;
}
feedrate = saved_feedrate;
previous_millis_cmd = millis();
break;
case 90: // G90
relative_mode = false;
break;
@ -820,6 +783,16 @@ inline void process_commands()
Serial.print("E:");
Serial.println(current_e);
break;
#ifdef RAMP_ACCELERATION
case 201: // M201
if(code_seen('X')) x_steps_per_sqr_second = code_value() * x_steps_per_unit;
if(code_seen('Y')) x_steps_per_sqr_second = code_value() * y_steps_per_unit;
break;
case 202: // M202
if(code_seen('X')) x_travel_steps_per_sqr_second = code_value() * x_steps_per_unit;
if(code_seen('Y')) x_travel_steps_per_sqr_second = code_value() * y_steps_per_unit;
break;
#endif
}
}
@ -865,7 +838,10 @@ inline void get_coordinates()
next_feedrate = code_value();
if(next_feedrate > 0.0) feedrate = next_feedrate;
}
}
inline void prepare_move()
{
//Find direction
if(destination_x >= current_x) direction_x=1;
else direction_x=0;
@ -893,6 +869,80 @@ inline void get_coordinates()
if(feedrate > max_z_feedrate) z_feedrate = max_z_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;
/*
//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)
*/
#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);
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
if(0) {
Serial.print("destination_x: "); Serial.println(destination_x);
Serial.print("current_x: "); Serial.println(current_x);
Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take);
Serial.print("X_TIME_FOR_MVE: "); Serial.println(X_TIME_FOR_MOVE);
Serial.print("x_interval: "); Serial.println(x_interval);
Serial.println("");
Serial.print("destination_y: "); Serial.println(destination_y);
Serial.print("current_y: "); Serial.println(current_y);
Serial.print("y_steps_to_take: "); Serial.println(y_steps_to_take);
Serial.print("Y_TIME_FOR_MVE: "); Serial.println(Y_TIME_FOR_MOVE);
Serial.print("y_interval: "); Serial.println(y_interval);
Serial.println("");
Serial.print("destination_z: "); Serial.println(destination_z);
Serial.print("current_z: "); Serial.println(current_z);
Serial.print("z_steps_to_take: "); Serial.println(z_steps_to_take);
Serial.print("Z_TIME_FOR_MVE: "); Serial.println(Z_TIME_FOR_MOVE);
Serial.print("z_interval: "); Serial.println(z_interval);
Serial.println("");
Serial.print("destination_e: "); Serial.println(destination_e);
Serial.print("current_e: "); Serial.println(current_e);
Serial.print("e_steps_to_take: "); Serial.println(e_steps_to_take);
Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE);
Serial.print("e_interval: "); Serial.println(e_interval);
Serial.println("");
}
#endif
linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
}
void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining) // make linear move with preset speeds and destinations, see G0 and G1
@ -1177,8 +1227,8 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
}
//If more that half second is passed since previous heating check, manage it
if(!accelerating && (millis() - previous_millis_heater) >= 500 ) {
//If more that 50ms have passed since previous heating check, adjust temp
if(!accelerating && (millis() - previous_millis_heater) >= 50 ) {
manage_heater();
previous_millis_heater = millis();

48
Tonokip_Firmware/pins.h
View file

@ -210,51 +210,59 @@
#define X_DIR_PIN 28
#define X_ENABLE_PIN 24
#define X_MIN_PIN 3
#define X_MAX_PIN -2 //2
#define X_MAX_PIN -2 //2
#define Y_STEP_PIN 38
#define Y_DIR_PIN 40
#define Y_ENABLE_PIN 36
#define Y_MIN_PIN 16
#define Y_MAX_PIN -1 //17
#define Y_MAX_PIN -1 //17
#define Z_STEP_PIN 44
#define Z_DIR_PIN 46
#define Z_ENABLE_PIN 42
#define Z_MIN_PIN 18
#define Z_MAX_PIN -1 //19
#define Z_MAX_PIN -1 //19
#define E_STEP_PIN 32
#define E_DIR_PIN 34
#define E_ENABLE_PIN 30
#define SDPOWER 48
#define SDSS 53
#define SDPOWER 48
#define SDSS 53
#define LED_PIN 13
//#define FAN_PIN 11 // UNCOMMENT THIS LINE FOR V1.0
#define FAN_PIN 9 // THIS LINE FOR V1.1
#define PS_ON_PIN -1
#define KILL_PIN -1
//#define HEATER_0_PIN 12 // UNCOMMENT THIS LINE FOR V1.0
#define HEATER_0_PIN 10 // THIS LINE FOR V1.1
#define HEATER_1_PIN 8 // THIS LINE FOR V1.1
// uncomment the following line for RAMPS V1.0
// #define RAMPS_V_1_0
#define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define TEMP_1_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#ifdef RAMPS_V_1_0
#define HEATER_0_PIN 12 // RAMPS 1.0
#define HEATER_1_PIN -1 // RAMPS 1.0
#define FAN_PIN 11 // RAMPS 1.0
#else // RAMPS_V_1_1 as default
#define HEATER_0_PIN 10 // RAMPS 1.1
#define HEATER_1_PIN 8 // RAMPS 1.1
#define FAN_PIN 9 // RAMPS 1.1
#endif
#define TEMP_0_PIN 2 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
#define TEMP_1_PIN 1 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!!
// SPI for Max6675 Thermocouple
#ifndef SDSUPPORT
// SPI for Max6675 Thermocouple (these pins are defined in the SD library if building with SD support).
#define SCK_PIN 52
#define MISO_PIN 50
#define MOSI_PIN 51
#define MAX6675_SS 53
// these pins are defined in the SD library if building with SD support #define SCK_PIN 52
#define MISO_PIN 50
#define MOSI_PIN 51
#define MAX6675_SS 53
#else
#define MAX6675_SS 49
#define MAX6675_SS 49
#endif