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New Version Sprinter V2

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- Look Vorward Funktion -
- Stepper Control with Timer 1
- SOFT PWM for Extruder heating --> Free Timer 1
- G2 / G3 Command for arc real arc
- Baudrate 250 kbaud
- M30 Command delete file on SD Card
- Text moved to flash to free RAM
- M203 Command for Temp debugging
This commit is contained in:
midopple 2012-01-29 00:18:21 +01:00
parent 8d17b09475
commit 76bbfb39ae
9 changed files with 2912 additions and 1061 deletions
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141
Sprinter/Configuration.h
View file

@ -9,11 +9,12 @@
// Gen6 = 5,
// Sanguinololu up to 1.1 = 6
// Sanguinololu 1.2 and above = 62
// Gen 7 @ 16MHZ only= 7
// Teensylu (at90usb) = 8
// Gen 3 Plus = 21
// gen 3 Monolithic Electronics = 22
// Gen3 PLUS for TechZone Gen3 Remix Motherboard = 23
#define MOTHERBOARD 62
#define MOTHERBOARD 62
//// Thermistor settings:
// 1 is 100k thermistor
@ -26,14 +27,16 @@
#define THERMISTORHEATER 1
#define THERMISTORBED 1
//// Calibration variables
// X, Y, Z, E steps per unit - Metric Prusa Mendel with Wade extruder:
float axis_steps_per_unit[] = {80, 80, 3200/1.25,700};
// Metric Prusa Mendel with Makergear geared stepper extruder:
//float axis_steps_per_unit[] = {80,80,3200/1.25,1380};
//// Calibration variables --> CHECK THIS VALUES FOR YOUR PRINTER !!!
// X, Y, Z, E steps per unit - Metric Prusa Mendel with Wade extruder and alu pulleys:
#define _AXIS_STEP_PER_UNIT {64, 64, 3200/1.25,766}
// Metric Prusa Mendel with Makergear geared stepper extruder and printet pulleys:
//#define _AXIS_STEP_PER_UNIT {80,80,3200/1.25,1380}
// MakerGear Hybrid Prusa Mendel:
// Z axis value is for .9 stepper(if you have 1.8 steppers for Z, you need to use 2272.7272)
//float axis_steps_per_unit[] = {104.987, 104.987, 4545.4544, 1487};
//#define _AXIS_STEP_PER_UNIT {104.987, 104.987, 4545.4544, 1487}
//// Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
@ -45,17 +48,18 @@ const bool Y_ENDSTOP_INVERT = false;
const bool Z_ENDSTOP_INVERT = false;
// This determines the communication speed of the printer
#define BAUDRATE 115200
//#define BAUDRATE 115200
#define BAUDRATE 250000
// Comment out (using // at the start of the line) to disable SD support:
#define SDSUPPORT
// Uncomment to make Sprinter run init.g from SD on boot
// Uncomment to make run init.g from SD on boot
//#define SDINITFILE
//-----------------------------------------------------------------------
//// ADVANCED SETTINGS - to tweak parameters
#include "thermistortables.h"
//-----------------------------------------------------------------------
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
@ -70,10 +74,10 @@ const bool DISABLE_Z = true;
const bool DISABLE_E = false;
// Inverting axis direction
const bool INVERT_X_DIR = false;
const bool INVERT_X_DIR = true;
const bool INVERT_Y_DIR = false;
const bool INVERT_Z_DIR = true;
const bool INVERT_E_DIR = false;
const bool INVERT_E_DIR = true;
//// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
@ -83,15 +87,19 @@ const bool INVERT_E_DIR = false;
const bool min_software_endstops = false; //If true, axis won't move to coordinates less than zero.
const bool max_software_endstops = true; //If true, axis won't move to coordinates greater than the defined lengths below.
const int X_MAX_LENGTH = 200;
const int Y_MAX_LENGTH = 200;
const int Z_MAX_LENGTH = 100;
//Max Length for Prusa Mendel, check the ways of your axis and set this Values
const int X_MAX_LENGTH = 165;
const int Y_MAX_LENGTH = 181;
const int Z_MAX_LENGTH = 90;
//// MOVEMENT SETTINGS
const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E
float max_feedrate[] = {200000, 200000, 240, 500000};
float homing_feedrate[] = {1500,1500,120};
bool axis_relative_modes[] = {false, false, false, false};
#define _MAX_FEEDRATE {24000, 24000, 180, 2700} // (400,400,3,45) mm/sec --> Array Unit = mm / min
#define _HOMING_FEEDRATE {1500,1500,120} // ( 25, 25,2) mm/sec --> Array Unit = mm / min
#define _AXIS_RELATIVE_MODES {false, false, false, false}
// Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this
// If you enable this, make sure STEP_DELAY_RATIO is disabled.
@ -107,29 +115,88 @@ bool axis_relative_modes[] = {false, false, false, false};
//// Acceleration settings
#ifdef RAMP_ACCELERATION
// X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
float max_start_speed_units_per_second[] = {25.0,25.0,0.2,10.0};
long max_acceleration_units_per_sq_second[] = {1000,1000,50,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
long max_travel_acceleration_units_per_sq_second[] = {500,500,50,500}; // X, Y, Z max acceleration in mm/s^2 for travel moves
#define _ACCELERATION 2000 // Normal acceleration mm/s^2
#define _RETRACT_ACCELERATION 7000 // Normal acceleration mm/s^2
#define _MAX_XY_JERK (20.0*60)
#define _MAX_Z_JERK (0.4*60)
#define _MAX_START_SPEED_UNITS_PER_SECOND {25.0,25.0,0.2,10.0}
#define _MAX_ACCELERATION_UNITS_PER_SQ_SECOND {500,500,50,500} // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
#define _MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND {500,500,50,500} // X, Y, Z max acceleration in mm/s^2 for travel moves
#endif
// Machine UUID
// This may be useful if you have multiple machines and wish to identify them by using the M115 command.
// By default we set it to zeros.
char uuid[] = "00000000-0000-0000-0000-000000000000";
//#define _DEF_CHAR_UUID "00000000-0000-0000-0000-000000000000"
#define _DEF_CHAR_UUID "55841315-4681-1640-0000-260479000000"
//-----------------------------------------------------------------------
//// Planner buffer Size
//-----------------------------------------------------------------------
// The number of linear motions that can be in the plan at any give time
// if the SD Card need to much memory reduce the Values for Plannerpuffer (base of 2)
#ifdef SDSUPPORT
#define BLOCK_BUFFER_SIZE 16
#define BLOCK_BUFFER_MASK 0x0f
#else
#define BLOCK_BUFFER_SIZE 16
#define BLOCK_BUFFER_MASK 0x0f
#endif
//-----------------------------------------------------------------------
//// SETTINGS FOR ARC FUNCTION (Command G2/G2)
//-----------------------------------------------------------------------
// Arc interpretation settings:
//Step to split a cirrcle in small Lines
#define MM_PER_ARC_SEGMENT 1
//After this count of steps a new SIN / COS caluclation is startet to correct the circle interpolation
#define N_ARC_CORRECTION 25
//-----------------------------------------------------------------------
//// HEATERCONTROL AND PID PARAMETERS
//-----------------------------------------------------------------------
//Testfunction to adjust the Hotend temperatur in case of Printingspeed
//If the Printer print slow the Temp is going to AUTO_TEMP_MIN
//At the moment this Value dont change the targettemp from the Hotend
//The result of this function is only send with the Temperaturerequest to the host
//#define AUTOTEMP
#ifdef AUTOTEMP
#define AUTO_TEMP_MAX 240
#define AUTO_TEMP_MIN 205
#define AUTO_TEMP_FACTOR 0.025
#define AUTOTEMP_OLDWEIGHT 0.98
#endif
//// AD595 THERMOCOUPLE SUPPORT UNTESTED... USE WITH CAUTION!!!!
//// PID settings:
// Uncomment the following line to enable PID support. This is untested and could be disastrous. Be careful.
//#define PIDTEMP 1
#define PIDTEMP 1
#ifdef PIDTEMP
//Sanguinololu 1.2 and above, the PWM Output Hotend Timer 1 is used for the Hardware PWM
//but in this Software use Timer1 for the Stepperfunction so it is not possible to use the "analogWrite" function.
//This Soft PWM use Timer 2 with 400 Hz to drive the PWM for the hotend
#define PID_SOFT_PWM
//Measure the MIN/MAX Value of the Hotend Temp and show it with
//Command M601 / Command M602 Reset the MIN/MAX Value
//#define DEBUG_HEATER_TEMP
//PID Controler Settings
#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
#define PID_PGAIN 2560 //256 is 1.0 // value of X means that error of 1 degree is changing PWM duty by X, probably no need to go over 25
#define PID_PGAIN 2048 //256 is 1.0 // value of X means that error of 1 degree is changing PWM duty by X, probably no need to go over 25
#define PID_IGAIN 64 //256 is 1.0 // value of X (e.g 0.25) means that each degree error over 1 sec (2 measurements) changes duty cycle by 2X (=0.5) units (verify?)
#define PID_DGAIN 4096 //256 is 1.0 // value of X means that around reached setpoint, each degree change over one measurement (half second) adjusts PWM by X units to compensate
#define PID_DGAIN 2048 //256 is 1.0 // value of X means that around reached setpoint, each degree change over one measurement (half second) adjusts PWM by X units to compensate
// magic formula 1, to get approximate "zero error" PWM duty. Take few measurements with low PWM duty and make linear fit to get the formula
#define HEATER_DUTY_FOR_SETPOINT(setpoint) ((int)((187L*(long)setpoint)>>8)-27) // for my makergear hot-end: linear fit {50,10},{60,20},{80,30},{105,50},{176,100},{128,64},{208,128}
// for my makergear hot-end: linear fit {50,10},{60,20},{80,30},{105,50},{176,100},{128,64},{208,128}
#define HEATER_DUTY_FOR_SETPOINT(setpoint) ((int)((187L*(long)setpoint)>>8)-27)
// magic formula 2, to make led brightness approximately linear
#define LED_PWM_FOR_BRIGHTNESS(brightness) ((64*brightness-1384)/(300-brightness))
#endif
@ -140,20 +207,23 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
// How often should the heater check for new temp readings, in milliseconds
#define HEATER_CHECK_INTERVAL 500
#define BED_CHECK_INTERVAL 5000
// Comment the following line to enable heat management during acceleration
#define DISABLE_CHECK_DURING_ACC
#ifndef DISABLE_CHECK_DURING_ACC
// Uncomment the following line to disable heat management during moves
//#define DISABLE_CHECK_DURING_MOVE
#endif
// Uncomment the following line to disable heat management during travel moves (and extruder-only moves, eg: retracts), strongly recommended if you are missing steps mid print.
// Probably this should remain commented if are using PID.
// It also defines the max milliseconds interval after which a travel move is not considered so for the sake of this feature.
#define DISABLE_CHECK_DURING_TRAVEL 1000
//// Temperature smoothing - only uncomment this if your temp readings are noisy (Gen6 without EvdZ's 5V hack)
//#define SMOOTHING
#define SMOOTHING
//#define SMOOTHFACTOR 16 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm
#define SMOOTHFACTOR 2 //best to use a power of two here - determines how many values are averaged together by the smoothing algorithm
//// Experimental watchdog and minimal temp
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
@ -188,13 +258,22 @@ char uuid[] = "00000000-0000-0000-0000-000000000000";
//#define CONTROLLERFAN_PIN 23 //Pin used for the fan to cool controller, comment out to disable this function
#define CONTROLLERFAN_SEC 60 //How many seconds, after all motors were disabled, the fan should run
//-----------------------------------------------------------------------
// DEBUGING
//-----------------------------------------------------------------------
//Uncomment this to see on the host if a wrong or unknown Command is recived
//Only for Testing !!!
//#define SEND_WRONG_CMD_INFO
// Uncomment the following line to enable debugging. You can better control debugging below the following line
//#define DEBUG
#ifdef DEBUG
//#define DEBUG_PREPARE_MOVE //Enable this to debug prepare_move() function
//#define DEBUG_BRESENHAM //Enable this to debug the Bresenham algorithm
//#define DEBUG_RAMP_ACCELERATION //Enable this to debug all constant acceleration info
//#define DEBUG_MOVE_TIME //Enable this to time each move and print the result
//#define DEBUG_MOVE_TIME //Enable this to time each move and print the result
//#define DEBUG_HEAT_MGMT //Enable this to debug heat management. WARNING, this will cause axes to jitter!
//#define DEBUG_DISABLE_CHECK_DURING_TRAVEL //Debug the namesake feature, see above in this file
#endif

115
Sprinter/Sprinter.h
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@ -2,52 +2,9 @@
// Licence: GPL
#include <WProgram.h>
#include "fastio.h"
extern "C" void __cxa_pure_virtual();
void __cxa_pure_virtual(){};
void get_command();
void process_commands();
void manage_inactivity(byte debug);
void setup_acceleration();
void manage_heater();
#if defined HEATER_USES_THERMISTOR
#define temp2analogh( c ) temp2analog_thermistor(c,temptable,NUMTEMPS)
#define analog2temp( c ) analog2temp_thermistor(c,temptable,NUMTEMPS)
#elif defined HEATER_USES_AD595
#define temp2analogh( c ) temp2analog_ad595(c)
#define analog2temp( c ) analog2temp_ad595(c)
#elif defined HEATER_USES_MAX6675
#define temp2analogh( c ) temp2analog_max6675(c)
#define analog2temp( c ) analog2temp_max6675(c)
#endif
#if defined BED_USES_THERMISTOR
#define temp2analogBed( c ) temp2analog_thermistor((c),bedtemptable,BNUMTEMPS)
#define analog2tempBed( c ) analog2temp_thermistor((c),bedtemptable,BNUMTEMPS)
#elif defined BED_USES_AD595
#define temp2analogBed( c ) temp2analog_ad595(c)
#define analog2tempBed( c ) analog2temp_ad595(c)
#elif defined BED_USES_MAX6675
#define temp2analogBed( c ) temp2analog_max6675(c)
#define analog2tempBed( c ) analog2temp_max6675(c)
#endif
#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
int temp2analog_thermistor(int celsius, const short table[][2], int numtemps);
int analog2temp_thermistor(int raw,const short table[][2], int numtemps);
#endif
#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
int temp2analog_ad595(int celsius);
int analog2temp_ad595(int raw);
#endif
#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
int temp2analog_max6675(int celsius);
int analog2temp_max6675(int raw);
#endif
#if X_ENABLE_PIN > -1
#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
@ -78,12 +35,78 @@ int analog2temp_max6675(int raw);
#define disable_e() ;
#endif
#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2
#define E_AXIS 3
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct {
// Fields used by the bresenham algorithm for tracing the line
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
long step_event_count; // The number of step events required to complete this block
volatile long accelerate_until; // The index of the step event on which to stop acceleration
volatile long decelerate_after; // The index of the step event on which to start decelerating
volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
#ifdef ADVANCE
long advance_rate;
volatile long initial_advance;
volatile long final_advance;
float advance;
#endif
// Fields used by the motion planner to manage acceleration
float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
float nominal_speed; // The nominal speed for this block in mm/min
float millimeters; // The total travel of this block in mm
float entry_speed;
float acceleration; // acceleration mm/sec^2
// Settings for the trapezoid generator
long nominal_rate; // The nominal step rate for this block in step_events/sec
volatile long initial_rate; // The jerk-adjusted step rate at start of block
volatile long final_rate; // The minimal rate at exit
long acceleration_st; // acceleration steps/sec^2
volatile char busy;
} block_t;
void FlushSerialRequestResend();
void ClearToSend();
void showString (PGM_P s);
void manage_inactivity(byte debug);
void get_coordinates();
void prepare_move();
void linear_move(unsigned long steps_remaining[]);
void do_step(int axis);
void prepare_arc_move(char isclockwise);
void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
void kill(byte debug);
void check_axes_activity();
void plan_init();
void st_init();
void tp_init();
void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
void plan_set_position(float x, float y, float z, float e);
void st_wake_up();
void st_synchronize();
#ifdef DEBUG
void log_message(char* message);
void log_bool(char* message, bool value);
void log_int(char* message, int value);
void log_long(char* message, long value);
void log_float(char* message, float value);
void log_uint(char* message, unsigned int value);
void log_ulong(char* message, unsigned long value);
#endif

2682
Sprinter/Sprinter.pde
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143
Sprinter/arc_func.cpp Normal file
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@ -0,0 +1,143 @@
/*
arc_func.c - high level interface for issuing motion commands
Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#include <avr/pgmspace.h>
#include <math.h>
#include "Configuration.h"
#include "Sprinter.h"
// The arc is approximated by generating a huge number of tiny, linear segments. The length of each
// segment is configured in settings.mm_per_arc_segment.
void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8_t axis_1,
uint8_t axis_linear, float feed_rate, float radius, uint8_t isclockwise)
{
// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
float center_axis0 = position[axis_0] + offset[axis_0];
float center_axis1 = position[axis_1] + offset[axis_1];
float linear_travel = target[axis_linear] - position[axis_linear];
float extruder_travel = target[E_AXIS] - position[E_AXIS];
float r_axis0 = -offset[axis_0]; // Radius vector from center to current location
float r_axis1 = -offset[axis_1];
float rt_axis0 = target[axis_0] - center_axis0;
float rt_axis1 = target[axis_1] - center_axis1;
// CCW angle between position and target from circle center. Only one atan2() trig computation required.
float angular_travel = atan2(r_axis0*rt_axis1-r_axis1*rt_axis0, r_axis0*rt_axis0+r_axis1*rt_axis1);
if (angular_travel < 0) { angular_travel += 2*M_PI; }
if (isclockwise) { angular_travel -= 2*M_PI; }
float millimeters_of_travel = hypot(angular_travel*radius, fabs(linear_travel));
if (millimeters_of_travel == 0.0) { return; }
uint16_t segments = floor(millimeters_of_travel/MM_PER_ARC_SEGMENT);
/*
// Multiply inverse feed_rate to compensate for the fact that this movement is approximated
// by a number of discrete segments. The inverse feed_rate should be correct for the sum of
// all segments.
if (invert_feed_rate) { feed_rate *= segments; }
*/
float theta_per_segment = angular_travel/segments;
float linear_per_segment = linear_travel/segments;
float extruder_per_segment = extruder_travel/segments;
/* Vector rotation by transformation matrix: r is the original vector, r_T is the rotated vector,
and phi is the angle of rotation. Based on the solution approach by Jens Geisler.
r_T = [cos(phi) -sin(phi);
sin(phi) cos(phi] * r ;
For arc generation, the center of the circle is the axis of rotation and the radius vector is
defined from the circle center to the initial position. Each line segment is formed by successive
vector rotations. This requires only two cos() and sin() computations to form the rotation
matrix for the duration of the entire arc. Error may accumulate from numerical round-off, since
all double numbers are single precision on the Arduino. (True double precision will not have
round off issues for CNC applications.) Single precision error can accumulate to be greater than
tool precision in some cases. Therefore, arc path correction is implemented.
Small angle approximation may be used to reduce computation overhead further. This approximation
holds for everything, but very small circles and large mm_per_arc_segment values. In other words,
theta_per_segment would need to be greater than 0.1 rad and N_ARC_CORRECTION would need to be large
to cause an appreciable drift error. N_ARC_CORRECTION~=25 is more than small enough to correct for
numerical drift error. N_ARC_CORRECTION may be on the order a hundred(s) before error becomes an
issue for CNC machines with the single precision Arduino calculations.
This approximation also allows mc_arc to immediately insert a line segment into the planner
without the initial overhead of computing cos() or sin(). By the time the arc needs to be applied
a correction, the planner should have caught up to the lag caused by the initial mc_arc overhead.
This is important when there are successive arc motions.
*/
// Vector rotation matrix values
float cos_T = 1-0.5*theta_per_segment*theta_per_segment; // Small angle approximation
float sin_T = theta_per_segment;
float arc_target[4];
float sin_Ti;
float cos_Ti;
float r_axisi;
uint16_t i;
int8_t count = 0;
// Initialize the linear axis
arc_target[axis_linear] = position[axis_linear];
// Initialize the extruder axis
arc_target[E_AXIS] = position[E_AXIS];
for (i = 1; i<segments; i++)
{ // Increment (segments-1)
if (count < N_ARC_CORRECTION) //25 pieces
{
// Apply vector rotation matrix
r_axisi = r_axis0*sin_T + r_axis1*cos_T;
r_axis0 = r_axis0*cos_T - r_axis1*sin_T;
r_axis1 = r_axisi;
count++;
}
else
{
// Arc correction to radius vector. Computed only every N_ARC_CORRECTION increments.
// Compute exact location by applying transformation matrix from initial radius vector(=-offset).
cos_Ti = cos(i*theta_per_segment);
sin_Ti = sin(i*theta_per_segment);
r_axis0 = -offset[axis_0]*cos_Ti + offset[axis_1]*sin_Ti;
r_axis1 = -offset[axis_0]*sin_Ti - offset[axis_1]*cos_Ti;
count = 0;
}
// Update arc_target location
arc_target[axis_0] = center_axis0 + r_axis0;
arc_target[axis_1] = center_axis1 + r_axis1;
arc_target[axis_linear] += linear_per_segment;
arc_target[E_AXIS] += extruder_per_segment;
//showString(PSTR("sec:"));
//Serial.println(i);
plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate);
}
// Ensure last segment arrives at target location.
//showString(PSTR("Last sec\r\n"));
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], target[E_AXIS], feed_rate);
// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
}

32
Sprinter/arc_func.h Normal file
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/*
arc_func.h - high level interface for issuing motion commands
Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef arc_func_h
#define arc_func_h
// Execute an arc in offset mode format. position == current xyz, target == target xyz,
// offset == offset from current xyz, axis_XXX defines circle plane in tool space, axis_linear is
// the direction of helical travel, radius == circle radius, isclockwise boolean. Used
// for vector transformation direction.
void mc_arc(float *position, float *target, float *offset, unsigned char axis_0, unsigned char axis_1,
unsigned char axis_linear, float feed_rate, float radius, unsigned char isclockwise);
#endif

574
Sprinter/heater.cpp Normal file
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/*
Reprap heater funtions based on Sprinter
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>. */
/*
This softwarepart for Heatercontrol is based on Sprinter
big thanks to kliment (https://github.com/kliment/Sprinter)
*/
#include <avr/pgmspace.h>
#include "heater.h"
#include "fastio.h"
#include "pins.h"
#include "Sprinter.h"
// Manage heater variables. For a thermistor or AD595 thermocouple, raw values refer to the
// reading from the analog pin. For a MAX6675 thermocouple, the raw value is the temperature in 0.25
// degree increments (i.e. 100=25 deg).
int target_raw = 0;
int target_temp = 0;
int current_raw = 0;
int current_raw_maxval = -32000;
int current_raw_minval = 32000;
int tt_maxval;
int tt_minval;
int target_bed_raw = 0;
int current_bed_raw = 0;
unsigned long previous_millis_heater, previous_millis_bed_heater, previous_millis_monitor;
#ifdef PIDTEMP
int g_heater_pwm_val = 0;
unsigned char PWM_off_time = 0;
unsigned char PWM_out_on = 0;
int temp_iState = 0;
int temp_dState = 0;
int prev_temp = 0;
int pTerm;
int iTerm;
int dTerm;
//int output;
int error;
int heater_duty = 0;
const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
#endif
#ifdef AUTOTEMP
float autotemp_max=AUTO_TEMP_MAX;
float autotemp_min=AUTO_TEMP_MIN;
float autotemp_factor=AUTO_TEMP_FACTOR;
int autotemp_setpoint=0;
bool autotemp_enabled=true;
#endif
#ifndef HEATER_CURRENT
#define HEATER_CURRENT 255
#endif
#ifdef SMOOTHING
uint32_t nma = 0;
#endif
#ifdef WATCHPERIOD
int watch_raw = -1000;
unsigned long watchmillis = 0;
#endif
#ifdef MINTEMP
int minttemp = temp2analogh(MINTEMP);
#endif
#ifdef MAXTEMP
int maxttemp = temp2analogh(MAXTEMP);
#endif
#define HEAT_INTERVAL 250
#ifdef HEATER_USES_MAX6675
unsigned long max6675_previous_millis = 0;
int max6675_temp = 2000;
int read_max6675()
{
if (millis() - max6675_previous_millis < HEAT_INTERVAL)
return max6675_temp;
max6675_previous_millis = millis();
max6675_temp = 0;
#ifdef PRR
PRR &= ~(1<<PRSPI);
#elif defined PRR0
PRR0 &= ~(1<<PRSPI);
#endif
SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0);
// enable TT_MAX6675
WRITE(MAX6675_SS, 0);
// ensure 100ns delay - a bit extra is fine
delay(1);
// read MSB
SPDR = 0;
for (;(SPSR & (1<<SPIF)) == 0;);
max6675_temp = SPDR;
max6675_temp <<= 8;
// read LSB
SPDR = 0;
for (;(SPSR & (1<<SPIF)) == 0;);
max6675_temp |= SPDR;
// disable TT_MAX6675
WRITE(MAX6675_SS, 1);
if (max6675_temp & 4)
{
// thermocouple open
max6675_temp = 2000;
}
else
{
max6675_temp = max6675_temp >> 3;
}
return max6675_temp;
}
#endif
#ifdef PID_SOFT_PWM
void init_Timer2_softpwm(void)
{
// This is a simple SOFT PWM with 500 Hz for Extruder Heating
TIFR2 = (1 << TOV2); // clear interrupt flag
TCCR2B = (1 << CS22) | (1 << CS20); // start timer (ck/128 prescalar)
TCCR2A = (1 << WGM21); // CTC mode
OCR2A = 128; // We want to have at least 30Hz or else it gets choppy
TIMSK2 = (1 << OCIE2A); // enable timer2 output compare match interrupt
}
ISR(TIMER2_COMPA_vect)
{
if(g_heater_pwm_val < 2)
{
#if LED_PIN > -1
WRITE(LED_PIN,LOW);
#endif
WRITE(HEATER_0_PIN,LOW);
PWM_out_on = 0;
OCR2A = 128;
}
else if(g_heater_pwm_val > 253)
{
#if LED_PIN > -1
WRITE(LED_PIN,HIGH);
#endif
WRITE(HEATER_0_PIN,HIGH);
PWM_out_on = 1;
OCR2A = 128;
}
else
{
if(PWM_out_on == 1)
{
#if LED_PIN > -1
WRITE(LED_PIN,LOW);
#endif
WRITE(HEATER_0_PIN,LOW);
PWM_out_on = 0;
OCR2A = PWM_off_time;
}
else
{
#if LED_PIN > -1
WRITE(LED_PIN,HIGH);
#endif
WRITE(HEATER_0_PIN,HIGH);
PWM_out_on = 1;
if(g_heater_pwm_val > 253)
{
OCR2A = 253;
PWM_off_time = 2;
}
else if(g_heater_pwm_val < 2)
{
OCR2A = 2;
PWM_off_time = 253;
}
else
{
OCR2A = g_heater_pwm_val;
PWM_off_time = 255 - g_heater_pwm_val;
}
}
}
}
#endif
void manage_heater()
{
//Temperatur Monitor for repetier
if((millis() - previous_millis_monitor) > 250 )
{
previous_millis_monitor = millis();
if(manage_monitor <= 1)
{
showString(PSTR("MTEMP:"));
Serial.print(millis());
if(manage_monitor<1)
{
showString(PSTR(" "));
Serial.print(analog2temp(current_raw));
showString(PSTR(" "));
Serial.print(target_temp);
showString(PSTR(" "));
Serial.println(heater_duty);
}
#if THERMISTORBED!=0
else
{
showString(PSTR(" "));
Serial.print(analog2tempBed(current_bed_raw));
showString(PSTR(" "));
Serial.print(analog2tempBed(target_bed_raw));
showString(PSTR(" "));
if(READ(HEATER_1_PIN))
Serial.println(255);
else
Serial.println(0);
}
#endif
}
}
// ENDE Temperatur Monitor for repetier
if((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL )
return;
previous_millis_heater = millis();
#ifdef HEATER_USES_THERMISTOR
current_raw = analogRead(TEMP_0_PIN);
#ifdef DEBUG_HEAT_MGMT
log_int("_HEAT_MGMT - analogRead(TEMP_0_PIN)", current_raw);
log_int("_HEAT_MGMT - NUMTEMPS", NUMTEMPS);
#endif
// When using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target,
// this switches it up so that the reading appears lower than target for the control logic.
current_raw = 1023 - current_raw;
#elif defined HEATER_USES_AD595
current_raw = analogRead(TEMP_0_PIN);
#elif defined HEATER_USES_MAX6675
current_raw = read_max6675();
#endif
//MIN / MAX save to display the jitter of Heaterbarrel
if(current_raw > current_raw_maxval)
current_raw_maxval = current_raw;
if(current_raw < current_raw_minval)
current_raw_minval = current_raw;
#ifdef SMOOTHING
if (!nma) nma = SMOOTHFACTOR * current_raw;
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_temp = target_raw = 0;
WRITE(HEATER_0_PIN,LOW);
#ifdef PID_SOFT_PWM
g_heater_pwm_val = 0;
#else
analogWrite(HEATER_0_PIN, 0);
#if LED_PIN>-1
WRITE(LED_PIN,LOW);
#endif
#endif
}
else
{
watchmillis = 0;
}
}
#endif
//If tmp is lower then MINTEMP stop the Heater
//or it os better to deaktivate the uutput PIN or PWM ?
#ifdef MINTEMP
if(current_raw <= minttemp)
target_temp = target_raw = 0;
#endif
#ifdef MAXTEMP
if(current_raw >= maxttemp)
{
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
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 < 30)
{
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);
#ifdef PID_SOFT_PWM
g_heater_pwm_val = heater_duty;
#else
analogWrite(HEATER_0_PIN, heater_duty);
#if LED_PIN>-1
analogWrite(LED_PIN, constrain(LED_PWM_FOR_BRIGHTNESS(heater_duty),0,255));
#endif
#endif
#else
if(current_raw >= target_raw)
{
WRITE(HEATER_0_PIN,LOW);
#if LED_PIN>-1
WRITE(LED_PIN,LOW);
#endif
}
else
{
WRITE(HEATER_0_PIN,HIGH);
#if LED_PIN > -1
WRITE(LED_PIN,HIGH);
#endif
}
#endif
#endif
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
return;
previous_millis_bed_heater = millis();
#ifndef TEMP_1_PIN
return;
#endif
#if TEMP_1_PIN == -1
return;
#else
#ifdef BED_USES_THERMISTOR
current_bed_raw = analogRead(TEMP_1_PIN);
#ifdef DEBUG_HEAT_MGMT
log_int("_HEAT_MGMT - analogRead(TEMP_1_PIN)", current_bed_raw);
log_int("_HEAT_MGMT - BNUMTEMPS", BNUMTEMPS);
#endif
// If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target,
// this switches it up so that the reading appears lower than target for the control logic.
current_bed_raw = 1023 - current_bed_raw;
#elif defined BED_USES_AD595
current_bed_raw = analogRead(TEMP_1_PIN);
#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);
}
else
{
WRITE(HEATER_1_PIN,HIGH);
}
#endif
#ifdef CONTROLLERFAN_PIN
controllerFan(); //Check if fan should be turned on to cool stepper drivers down
#endif
}
#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;
for (i=1; i<numtemps; i++)
{
if (table[i][1] < celsius)
{
raw = table[i-1][0] +
(celsius - table[i-1][1]) *
(table[i][0] - table[i-1][0]) /
(table[i][1] - table[i-1][1]);
break;
}
}
// Overflow: Set to last value in the table
if (i == numtemps) raw = table[i-1][0];
return 1023 - raw;
}
#endif
#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;
raw = 1023 - raw;
for (i=1; i<numtemps; i++)
{
if (table[i][0] > raw)
{
celsius = table[i-1][1] +
(raw - table[i-1][0]) *
(table[i][1] - table[i-1][1]) /
(table[i][0] - table[i-1][0]);
break;
}
}
// Overflow: Set to last value in the table
if (i == numtemps) celsius = table[i-1][1];
return celsius;
}
#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
#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

119
Sprinter/heater.h Normal file
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@ -0,0 +1,119 @@
/*
Reprap heater funtions based on Sprinter
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>. */
/*
This softwarepart for Heatercontrol is based on Sprinter
big thanks to kliment (https://github.com/kliment/Sprinter)
*/
#include "Configuration.h"
#include "thermistortables.h"
#if defined HEATER_USES_THERMISTOR
#define temp2analogh( c ) temp2analog_thermistor(c,temptable,NUMTEMPS)
#define analog2temp( c ) analog2temp_thermistor(c,temptable,NUMTEMPS)
#elif defined HEATER_USES_AD595
#define temp2analogh( c ) temp2analog_ad595(c)
#define analog2temp( c ) analog2temp_ad595(c)
#elif defined HEATER_USES_MAX6675
#define temp2analogh( c ) temp2analog_max6675(c)
#define analog2temp( c ) analog2temp_max6675(c)
#endif
#if defined BED_USES_THERMISTOR
#define temp2analogBed( c ) temp2analog_thermistor((c),bedtemptable,BNUMTEMPS)
#define analog2tempBed( c ) analog2temp_thermistor((c),bedtemptable,BNUMTEMPS)
#elif defined BED_USES_AD595
#define temp2analogBed( c ) temp2analog_ad595(c)
#define analog2tempBed( c ) analog2temp_ad595(c)
#elif defined BED_USES_MAX6675
#define temp2analogBed( c ) temp2analog_max6675(c)
#define analog2tempBed( c ) analog2temp_max6675(c)
#endif
#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
int temp2analog_thermistor(int celsius, const short table[][2], int numtemps);
int analog2temp_thermistor(int raw,const short table[][2], int numtemps);
#endif
#if defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
int temp2analog_ad595(int celsius);
int analog2temp_ad595(int raw);
#endif
#if defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
int temp2analog_max6675(int celsius);
int analog2temp_max6675(int raw);
#endif
extern int target_raw;
extern int target_temp;
extern int current_raw;
extern int current_raw_maxval;
extern int current_raw_minval;
extern int tt_maxval;
extern int tt_minval;
extern int target_bed_raw;
extern int current_bed_raw;
extern unsigned long previous_millis_heater, previous_millis_bed_heater;
extern unsigned char manage_monitor;
#ifdef PIDTEMP
extern int g_heater_pwm_val;
extern unsigned char PWM_off_time;
extern unsigned char PWM_out_on;
extern int temp_iState;
extern int temp_dState;
extern int prev_temp;
extern int pTerm;
extern int iTerm;
extern int dTerm;
extern int error;
extern int heater_duty;
#endif
#ifdef AUTOTEMP
extern float autotemp_max;
extern float autotemp_min;
extern float autotemp_factor;
extern int autotemp_setpoint;
extern bool autotemp_enabled;
#endif
#ifdef SMOOTHING
extern uint32_t nma;
#endif
#ifdef WATCHPERIOD
extern int watch_raw;
extern unsigned long watchmillis;
#endif
#ifdef PID_SOFT_PWM
void init_Timer2_softpwm(void);
#endif
void manage_heater();

91
Sprinter/pins.h
View file

@ -637,20 +637,20 @@
#define X_STEP_PIN 15
#define X_DIR_PIN 21
#define X_MIN_PIN 18
#define X_MAX_PIN -2
#define X_MAX_PIN -2
#define Y_STEP_PIN 22
#define Y_DIR_PIN 23
#define Y_MIN_PIN 19
#define Y_MAX_PIN -1
#define Z_STEP_PIN 3
#define Z_DIR_PIN 2
#define Z_STEP_PIN 3
#define Z_DIR_PIN 2
#define Z_MIN_PIN 20
#define Z_MAX_PIN -1
#define E_STEP_PIN 1
#define E_DIR_PIN 0
#define E_STEP_PIN 1
#define E_DIR_PIN 0
#define LED_PIN -1
@ -663,30 +663,79 @@
#define HEATER_0_PIN 13 // (extruder)
#ifdef SANGUINOLOLU_V_1_2
#define HEATER_1_PIN 12 // (bed)
#define X_ENABLE_PIN 14
#define Y_ENABLE_PIN 14
#define Z_ENABLE_PIN 26
#define E_ENABLE_PIN 14
#define HEATER_1_PIN 12 // (bed)
#define X_ENABLE_PIN 14
#define Y_ENABLE_PIN 14
#define Z_ENABLE_PIN 26
#define E_ENABLE_PIN 14
#else
#define HEATER_1_PIN 14 // (bed)
#define X_ENABLE_PIN -1
#define Y_ENABLE_PIN -1
#define Z_ENABLE_PIN -1
#define E_ENABLE_PIN -1
#define HEATER_1_PIN 14 // (bed)
#define X_ENABLE_PIN -1
#define Y_ENABLE_PIN -1
#define Z_ENABLE_PIN -1
#define E_ENABLE_PIN -1
#endif
#define TEMP_0_PIN 7 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder)
#define TEMP_1_PIN 6 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
#define SDPOWER -1
#define SDSS 31
#define SDPOWER -1
#define SDSS 31
#endif
/****************************************************************************************
* Gen7 pin assignment
*
****************************************************************************************/
#if MOTHERBOARD == 7
#define KNOWN_BOARD 1
#if !defined(__AVR_ATmega644P__) && !defined(__AVR_ATmega1284P__) && !defined(__AVR_ATmega644__)
#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
#endif
//x axis pins
#define X_STEP_PIN 19
#define X_DIR_PIN 18
#define X_ENABLE_PIN -1
#define X_MIN_PIN 7
#define X_MAX_PIN 6
//y axis pins
#define Y_STEP_PIN 23
#define Y_DIR_PIN 22
#define Y_ENABLE_PIN -1
#define Y_MIN_PIN 5
#define Y_MAX_PIN 2
//z axis pins
#define Z_STEP_PIN 26
#define Z_DIR_PIN 25
#define Z_ENABLE_PIN 24
#define Z_MIN_PIN 1
#define Z_MAX_PIN 0
//extruder pins
#define E_STEP_PIN 28
#define E_DIR_PIN 27
#define E_ENABLE_PIN -1
#define TEMP_0_PIN 1 // Extruder
#define HEATER_0_PIN 4 // Extruder
#define HEATER_1_PIN 3 // Bed
#define SDPOWER -1
#define SDSS -1
#define LED_PIN -1
#define TEMP_1_PIN 2 //Bed
#define FAN_PIN -1
#define PS_ON_PIN 15
#endif
/****************************************************************************************
* Teensylu 0.7 pin assingments (ATMEGA90USB)
* Requires the Teensyduino software with Teensy2.0++ selected in arduino IDE!

76
Sprinter/speed_lookuptable.h Normal file
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@ -0,0 +1,76 @@
#ifndef SPEED_LOOKUPTABLE_H
#define SPEED_LOOKUPTABLE_H
#include <avr/pgmspace.h>
uint16_t speed_lookuptable_fast[256][2] PROGMEM = {
{ 62500, 55556}, { 6944, 3268}, { 3676, 1176}, { 2500, 607}, { 1893, 369}, { 1524, 249}, { 1275, 179}, { 1096, 135},
{ 961, 105}, { 856, 85}, { 771, 69}, { 702, 58}, { 644, 49}, { 595, 42}, { 553, 37}, { 516, 32},
{ 484, 28}, { 456, 25}, { 431, 23}, { 408, 20}, { 388, 19}, { 369, 16}, { 353, 16}, { 337, 14},
{ 323, 13}, { 310, 11}, { 299, 11}, { 288, 11}, { 277, 9}, { 268, 9}, { 259, 8}, { 251, 8},
{ 243, 8}, { 235, 7}, { 228, 6}, { 222, 6}, { 216, 6}, { 210, 6}, { 204, 5}, { 199, 5},
{ 194, 5}, { 189, 4}, { 185, 4}, { 181, 4}, { 177, 4}, { 173, 4}, { 169, 4}, { 165, 3},
{ 162, 3}, { 159, 4}, { 155, 3}, { 152, 3}, { 149, 2}, { 147, 3}, { 144, 3}, { 141, 2},
{ 139, 3}, { 136, 2}, { 134, 2}, { 132, 3}, { 129, 2}, { 127, 2}, { 125, 2}, { 123, 2},
{ 121, 2}, { 119, 1}, { 118, 2}, { 116, 2}, { 114, 1}, { 113, 2}, { 111, 2}, { 109, 1},
{ 108, 2}, { 106, 1}, { 105, 2}, { 103, 1}, { 102, 1}, { 101, 1}, { 100, 2}, { 98, 1},
{ 97, 1}, { 96, 1}, { 95, 2}, { 93, 1}, { 92, 1}, { 91, 1}, { 90, 1}, { 89, 1},
{ 88, 1}, { 87, 1}, { 86, 1}, { 85, 1}, { 84, 1}, { 83, 0}, { 83, 1}, { 82, 1},
{ 81, 1}, { 80, 1}, { 79, 1}, { 78, 0}, { 78, 1}, { 77, 1}, { 76, 1}, { 75, 0},
{ 75, 1}, { 74, 1}, { 73, 1}, { 72, 0}, { 72, 1}, { 71, 1}, { 70, 0}, { 70, 1},
{ 69, 0}, { 69, 1}, { 68, 1}, { 67, 0}, { 67, 1}, { 66, 0}, { 66, 1}, { 65, 0},
{ 65, 1}, { 64, 1}, { 63, 0}, { 63, 1}, { 62, 0}, { 62, 1}, { 61, 0}, { 61, 1},
{ 60, 0}, { 60, 0}, { 60, 1}, { 59, 0}, { 59, 1}, { 58, 0}, { 58, 1}, { 57, 0},
{ 57, 1}, { 56, 0}, { 56, 0}, { 56, 1}, { 55, 0}, { 55, 1}, { 54, 0}, { 54, 0},
{ 54, 1}, { 53, 0}, { 53, 0}, { 53, 1}, { 52, 0}, { 52, 0}, { 52, 1}, { 51, 0},
{ 51, 0}, { 51, 1}, { 50, 0}, { 50, 0}, { 50, 1}, { 49, 0}, { 49, 0}, { 49, 1},
{ 48, 0}, { 48, 0}, { 48, 1}, { 47, 0}, { 47, 0}, { 47, 0}, { 47, 1}, { 46, 0},
{ 46, 0}, { 46, 1}, { 45, 0}, { 45, 0}, { 45, 0}, { 45, 1}, { 44, 0}, { 44, 0},
{ 44, 0}, { 44, 1}, { 43, 0}, { 43, 0}, { 43, 0}, { 43, 1}, { 42, 0}, { 42, 0},
{ 42, 0}, { 42, 1}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 1}, { 40, 0},
{ 40, 0}, { 40, 0}, { 40, 0}, { 40, 1}, { 39, 0}, { 39, 0}, { 39, 0}, { 39, 0},
{ 39, 1}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 1}, { 37, 0}, { 37, 0},
{ 37, 0}, { 37, 0}, { 37, 0}, { 37, 1}, { 36, 0}, { 36, 0}, { 36, 0}, { 36, 0},
{ 36, 1}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 1},
{ 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 1}, { 33, 0}, { 33, 0},
{ 33, 0}, { 33, 0}, { 33, 0}, { 33, 0}, { 33, 1}, { 32, 0}, { 32, 0}, { 32, 0},
{ 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0},
{ 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0},
};
uint16_t speed_lookuptable_slow[256][2] PROGMEM = {
{ 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894},
{ 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657},
{ 12500, 596}, { 11904, 541}, { 11363, 494}, { 10869, 453}, { 10416, 416}, { 10000, 385}, { 9615, 356}, { 9259, 331},
{ 8928, 308}, { 8620, 287}, { 8333, 269}, { 8064, 252}, { 7812, 237}, { 7575, 223}, { 7352, 210}, { 7142, 198},
{ 6944, 188}, { 6756, 178}, { 6578, 168}, { 6410, 160}, { 6250, 153}, { 6097, 145}, { 5952, 139}, { 5813, 132},
{ 5681, 126}, { 5555, 121}, { 5434, 115}, { 5319, 111}, { 5208, 106}, { 5102, 102}, { 5000, 99}, { 4901, 94},
{ 4807, 91}, { 4716, 87}, { 4629, 84}, { 4545, 81}, { 4464, 79}, { 4385, 75}, { 4310, 73}, { 4237, 71},
{ 4166, 68}, { 4098, 66}, { 4032, 64}, { 3968, 62}, { 3906, 60}, { 3846, 59}, { 3787, 56}, { 3731, 55},
{ 3676, 53}, { 3623, 52}, { 3571, 50}, { 3521, 49}, { 3472, 48}, { 3424, 46}, { 3378, 45}, { 3333, 44},
{ 3289, 43}, { 3246, 41}, { 3205, 41}, { 3164, 39}, { 3125, 39}, { 3086, 38}, { 3048, 36}, { 3012, 36},
{ 2976, 35}, { 2941, 35}, { 2906, 33}, { 2873, 33}, { 2840, 32}, { 2808, 31}, { 2777, 30}, { 2747, 30},
{ 2717, 29}, { 2688, 29}, { 2659, 28}, { 2631, 27}, { 2604, 27}, { 2577, 26}, { 2551, 26}, { 2525, 25},
{ 2500, 25}, { 2475, 25}, { 2450, 23}, { 2427, 24}, { 2403, 23}, { 2380, 22}, { 2358, 22}, { 2336, 22},
{ 2314, 21}, { 2293, 21}, { 2272, 20}, { 2252, 20}, { 2232, 20}, { 2212, 20}, { 2192, 19}, { 2173, 18},
{ 2155, 19}, { 2136, 18}, { 2118, 18}, { 2100, 17}, { 2083, 17}, { 2066, 17}, { 2049, 17}, { 2032, 16},
{ 2016, 16}, { 2000, 16}, { 1984, 16}, { 1968, 15}, { 1953, 16}, { 1937, 14}, { 1923, 15}, { 1908, 15},
{ 1893, 14}, { 1879, 14}, { 1865, 14}, { 1851, 13}, { 1838, 14}, { 1824, 13}, { 1811, 13}, { 1798, 13},
{ 1785, 12}, { 1773, 13}, { 1760, 12}, { 1748, 12}, { 1736, 12}, { 1724, 12}, { 1712, 12}, { 1700, 11},
{ 1689, 12}, { 1677, 11}, { 1666, 11}, { 1655, 11}, { 1644, 11}, { 1633, 10}, { 1623, 11}, { 1612, 10},
{ 1602, 10}, { 1592, 10}, { 1582, 10}, { 1572, 10}, { 1562, 10}, { 1552, 9}, { 1543, 10}, { 1533, 9},
{ 1524, 9}, { 1515, 9}, { 1506, 9}, { 1497, 9}, { 1488, 9}, { 1479, 9}, { 1470, 9}, { 1461, 8},
{ 1453, 8}, { 1445, 9}, { 1436, 8}, { 1428, 8}, { 1420, 8}, { 1412, 8}, { 1404, 8}, { 1396, 8},
{ 1388, 7}, { 1381, 8}, { 1373, 7}, { 1366, 8}, { 1358, 7}, { 1351, 7}, { 1344, 8}, { 1336, 7},
{ 1329, 7}, { 1322, 7}, { 1315, 7}, { 1308, 6}, { 1302, 7}, { 1295, 7}, { 1288, 6}, { 1282, 7},
{ 1275, 6}, { 1269, 7}, { 1262, 6}, { 1256, 6}, { 1250, 7}, { 1243, 6}, { 1237, 6}, { 1231, 6},
{ 1225, 6}, { 1219, 6}, { 1213, 6}, { 1207, 6}, { 1201, 5}, { 1196, 6}, { 1190, 6}, { 1184, 5},
{ 1179, 6}, { 1173, 5}, { 1168, 6}, { 1162, 5}, { 1157, 5}, { 1152, 6}, { 1146, 5}, { 1141, 5},
{ 1136, 5}, { 1131, 5}, { 1126, 5}, { 1121, 5}, { 1116, 5}, { 1111, 5}, { 1106, 5}, { 1101, 5},
{ 1096, 5}, { 1091, 5}, { 1086, 4}, { 1082, 5}, { 1077, 5}, { 1072, 4}, { 1068, 5}, { 1063, 4},
{ 1059, 5}, { 1054, 4}, { 1050, 4}, { 1046, 5}, { 1041, 4}, { 1037, 4}, { 1033, 5}, { 1028, 4},
{ 1024, 4}, { 1020, 4}, { 1016, 4}, { 1012, 4}, { 1008, 4}, { 1004, 4}, { 1000, 4}, { 996, 4},
{ 992, 4}, { 988, 4}, { 984, 4}, { 980, 4}, { 976, 4}, { 972, 4}, { 968, 3}, { 965, 3},
};
#endif