Merge branch 'master' of github.com:kliment/Sprinter
This commit is contained in:
kliment
commit
b83767ec55
3 changed files with 167 additions and 146 deletions
35
Tonokip_Firmware/Tonokip_Firmware.h
Normal file
35
Tonokip_Firmware/Tonokip_Firmware.h
Normal file
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@ -0,0 +1,35 @@
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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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void manage_inactivity(byte debug);
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void manage_heater();
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float temp2analog(int celsius);
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float temp2analogBed(int celsius);
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float analog2temp(int raw);
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float analog2tempBed(int raw);
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void FlushSerialRequestResend();
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void ClearToSend();
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void get_coordinates();
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void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining);
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void disable_x();
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void disable_y();
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void disable_z();
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void disable_e();
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void enable_x();
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void enable_y();
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void enable_z();
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void enable_e();
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void do_x_step();
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void do_y_step();
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void do_z_step();
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void do_e_step();
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void kill(byte debug);
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@ -1,6 +1,7 @@
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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 "Tonokip_Firmware.h"
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#include "configuration.h"
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#include "pins.h"
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@ -8,39 +9,6 @@
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#include "SdFat.h"
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#endif
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void get_command();
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void process_commands();
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void manage_inactivity(byte debug);
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void manage_heater();
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float temp2analog(int celsius);
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float temp2analogBed(int celsius);
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float analog2temp(int raw);
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float analog2tempBed(int raw);
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void FlushSerialRequestResend();
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void ClearToSend();
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void get_coordinates();
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void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining);
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void disable_x();
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void disable_y();
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void disable_z();
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void disable_e();
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void enable_x();
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void enable_y();
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void enable_z();
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void enable_e();
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void do_x_step();
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void do_y_step();
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void do_z_step();
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void do_e_step();
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void kill(byte debug);
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// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
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// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
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@ -84,7 +52,8 @@ void kill(byte debug);
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// M115 - Capabilities string
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// M140 - Set bed target temp
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// M190 - Wait for bed current temp to reach target temp.
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// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
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// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000)
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//Stepper Movement Variables
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@ -92,23 +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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@ -122,7 +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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@ -150,25 +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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@ -177,56 +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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@ -257,12 +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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@ -289,12 +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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@ -314,9 +281,9 @@ void loop()
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if(savetosd){
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if(strstr(cmdbuffer[bufindr],"M29")==NULL){
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write_command(cmdbuffer[bufindr]);
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file.sync();
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Serial.println("ok");
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}else{
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file.sync(); // maybe this call is not needed
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file.close();
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savetosd=false;
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Serial.println("Done saving file.");
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@ -496,7 +463,8 @@ inline void process_commands()
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e_steps_to_take = abs(ediff)*e_steps_per_unit;
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if(feedrate<10)
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feedrate=10;
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/*//experimental feedrate calc
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/*
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//experimental feedrate calc
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if(abs(xdiff)>0.1 && abs(ydiff)>0.1)
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d=sqrt(xdiff*xdiff+ydiff*ydiff);
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else if(abs(xdiff)>0.1)
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@ -813,6 +781,16 @@ inline void process_commands()
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Serial.print("E:");
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Serial.println(current_e);
|
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break;
|
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#ifdef RAMP_ACCELERATION
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case 201: // M201
|
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if(code_seen('X')) x_steps_per_sqr_second = code_value() * x_steps_per_unit;
|
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if(code_seen('Y')) x_steps_per_sqr_second = code_value() * y_steps_per_unit;
|
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break;
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case 202: // M202
|
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if(code_seen('X')) x_travel_steps_per_sqr_second = code_value() * x_steps_per_unit;
|
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if(code_seen('Y')) x_travel_steps_per_sqr_second = code_value() * y_steps_per_unit;
|
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break;
|
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#endif
|
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}
|
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|
||||
}
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||||
|
|
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|||
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|
@ -210,51 +210,59 @@
|
|||
#define X_DIR_PIN 28
|
||||
#define X_ENABLE_PIN 24
|
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#define X_MIN_PIN 3
|
||||
#define X_MAX_PIN -2 //2
|
||||
#define X_MAX_PIN -2 //2
|
||||
|
||||
#define Y_STEP_PIN 38
|
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#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
|
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#define Z_DIR_PIN 46
|
||||
#define Z_ENABLE_PIN 42
|
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#define Z_MIN_PIN 18
|
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#define Z_MAX_PIN -1 //19
|
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#define Z_MAX_PIN -1 //19
|
||||
|
||||
#define E_STEP_PIN 32
|
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#define E_DIR_PIN 34
|
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#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
|
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#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
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue