Merge pull request #14 from sam-ward/master
Cleaned up some code formatting
This commit is contained in:
kliment
commit
9c93fe2a87
2 changed files with 89 additions and 90 deletions
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@ -1,5 +1,6 @@
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// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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// Licence: GPL
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#include <WProgram.h>
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void get_command();
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void process_commands();
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@ -61,23 +61,23 @@ bool direction_x, direction_y, direction_z, direction_e;
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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;
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unsigned long x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take;
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#ifdef RAMP_ACCELERATION
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unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
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unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
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unsigned long max_interval;
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unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
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unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
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unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
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unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
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unsigned long steps_per_sqr_second, plateau_steps;
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unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
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unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
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unsigned long max_interval;
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unsigned long x_steps_per_sqr_second = max_acceleration_units_per_sq_second * x_steps_per_unit;
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unsigned long y_steps_per_sqr_second = max_acceleration_units_per_sq_second * y_steps_per_unit;
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unsigned long x_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * x_steps_per_unit;
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unsigned long y_travel_steps_per_sqr_second = max_travel_acceleration_units_per_sq_second * y_steps_per_unit;
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unsigned long steps_per_sqr_second, plateau_steps;
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#endif
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#ifdef EXP_ACCELERATION
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unsigned long long_full_velocity_units = full_velocity_units * 100;
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unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
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unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
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unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
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unsigned long max_interval;
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unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit,
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y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps;
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unsigned long long_full_velocity_units = full_velocity_units * 100;
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unsigned long long_travel_move_full_velocity_units = travel_move_full_velocity_units * 100;
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unsigned long max_x_interval = 100000000.0 / (min_units_per_second * x_steps_per_unit);
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unsigned long max_y_interval = 100000000.0 / (min_units_per_second * y_steps_per_unit);
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unsigned long max_interval;
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unsigned long x_min_constant_speed_steps = min_constant_speed_units * x_steps_per_unit,
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y_min_constant_speed_steps = min_constant_speed_units * y_steps_per_unit, min_constant_speed_steps;
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#endif
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boolean acceleration_enabled=false ,accelerating=false;
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unsigned long interval;
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@ -91,7 +91,7 @@ bool relative_mode = false; //Determines Absolute or Relative Coordinates
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bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
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long timediff=0;
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#ifdef STEP_DELAY_RATIO
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long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
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long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
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#endif
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@ -119,25 +119,25 @@ int target_bed_raw = 0;
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int current_bed_raw=0;
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float tt=0,bt=0;
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#ifdef PIDTEMP
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int temp_iState=0;
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int temp_dState=0;
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int pTerm;
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int iTerm;
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int dTerm;
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//int output;
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int error;
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int temp_iState_min = 100*-PID_INTEGRAL_DRIVE_MAX/PID_IGAIN;
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int temp_iState_max = 100*PID_INTEGRAL_DRIVE_MAX/PID_IGAIN;
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int temp_iState=0;
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int temp_dState=0;
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int pTerm;
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int iTerm;
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int dTerm;
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//int output;
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int error;
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int temp_iState_min = 100*-PID_INTEGRAL_DRIVE_MAX/PID_IGAIN;
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int temp_iState_max = 100*PID_INTEGRAL_DRIVE_MAX/PID_IGAIN;
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#endif
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#ifdef SMOOTHING
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uint32_t nma=SMOOTHFACTOR*analogRead(TEMP_0_PIN);
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uint32_t nma=SMOOTHFACTOR*analogRead(TEMP_0_PIN);
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#endif
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#ifdef WATCHPERIOD
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int watch_raw=-1000;
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unsigned long watchmillis=0;
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int watch_raw=-1000;
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unsigned long watchmillis=0;
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#endif
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#ifdef MINTEMP
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int minttemp=temp2analog(MINTEMP);
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int minttemp=temp2analog(MINTEMP);
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#endif
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//Inactivity shutdown variables
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@ -146,56 +146,54 @@ unsigned long max_inactive_time = 0;
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unsigned long stepper_inactive_time = 0;
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#ifdef SDSUPPORT
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Sd2Card card;
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SdVolume volume;
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SdFile root;
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SdFile file;
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uint32_t filesize=0;
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uint32_t sdpos=0;
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bool sdmode=false;
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bool sdactive=false;
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bool savetosd=false;
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int16_t n;
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void initsd(){
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sdactive=false;
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#if SDSS>-1
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if(root.isOpen())
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root.close();
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if (!card.init(SPI_FULL_SPEED,SDSS)){
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if (!card.init(SPI_HALF_SPEED,SDSS))
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Serial.println("SD init fail");
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}
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else if (!volume.init(&card))
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Serial.println("volume.init failed");
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else if (!root.openRoot(&volume))
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Serial.println("openRoot failed");
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else
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sdactive=true;
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#endif
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}
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inline void write_command(char *buf){
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char* begin=buf;
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char* npos=0;
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char* end=buf+strlen(buf)-1;
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file.writeError = false;
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if((npos=strchr(buf, 'N')) != NULL){
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begin = strchr(npos,' ')+1;
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end =strchr(npos, '*')-1;
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Sd2Card card;
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SdVolume volume;
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SdFile root;
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SdFile file;
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uint32_t filesize=0;
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uint32_t sdpos=0;
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bool sdmode=false;
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bool sdactive=false;
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bool savetosd=false;
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int16_t n;
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void initsd(){
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sdactive=false;
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#if SDSS>-1
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if(root.isOpen())
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root.close();
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if (!card.init(SPI_FULL_SPEED,SDSS)){
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if (!card.init(SPI_HALF_SPEED,SDSS))
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Serial.println("SD init fail");
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}
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end[1]='\r';
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end[2]='\n';
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end[3]='\0';
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//Serial.println(begin);
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file.write(begin);
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if (file.writeError){
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Serial.println("error writing to file");
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}
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}
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else if (!volume.init(&card))
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Serial.println("volume.init failed");
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else if (!root.openRoot(&volume))
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Serial.println("openRoot failed");
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else
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sdactive=true;
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#endif
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}
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inline void write_command(char *buf){
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char* begin=buf;
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char* npos=0;
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char* end=buf+strlen(buf)-1;
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file.writeError = false;
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if((npos=strchr(buf, 'N')) != NULL){
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begin = strchr(npos,' ')+1;
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end =strchr(npos, '*')-1;
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}
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end[1]='\r';
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end[2]='\n';
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end[3]='\0';
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//Serial.println(begin);
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file.write(begin);
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if (file.writeError){
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Serial.println("error writing to file");
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}
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}
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#endif
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@ -226,12 +224,12 @@ void setup()
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//endstop pullups
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#ifdef ENDSTOPPULLUPS
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if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);}
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if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);}
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if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);}
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if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);}
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if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);}
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if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);}
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if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);}
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if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);}
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if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);}
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if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);}
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if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);}
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if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);}
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#endif
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//Initialize Enable Pins
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if(X_ENABLE_PIN > -1) pinMode(X_ENABLE_PIN,OUTPUT);
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@ -258,12 +256,12 @@ void setup()
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#ifdef SDSUPPORT
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//power to SD reader
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#if SDPOWER > -1
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pinMode(SDPOWER,OUTPUT);
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digitalWrite(SDPOWER,HIGH);
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#endif
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initsd();
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//power to SD reader
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#if SDPOWER > -1
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pinMode(SDPOWER,OUTPUT);
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digitalWrite(SDPOWER,HIGH);
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#endif
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initsd();
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#endif
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