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Merge branch 'experimental' of github.com:kliment/Sprinter into experimental

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This commit is contained in:
Kliment Yanev 2011-08-31 11:56:18 +02:00
commit b882d80fea
3 changed files with 70 additions and 30 deletions
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1
Sprinter/Sprinter.h
View file

@ -8,6 +8,7 @@ void get_command();
void process_commands();
void manage_inactivity(byte debug);
void setup_acceleration();
void manage_heater();
int temp2analogu(int celsius, const short table[][2], int numtemps, int source);

96
Sprinter/Sprinter.pde
View file

@ -43,6 +43,7 @@
// M27 - Report SD print status
// M28 - Start SD write (M28 filename.g)
// M29 - Stop SD write
// M42 - Set output on free pins, on a non pwm pin (over pin 13 on an arduino mega) use S255 to turn it on and S0 to turn it off. Use P to decide the pin (M42 P23 S255) would turn pin 23 on
// M81 - Turn off Power Supply
// M82 - Set E codes absolute (default)
// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
@ -310,11 +311,7 @@ void setup()
SET_OUTPUT(E_STEP_PIN);
#endif
#ifdef RAMP_ACCELERATION
for(int i=0; i < NUM_AXIS; i++){
axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
setup_acceleration();
#endif
#ifdef HEATER_USES_MAX6675
@ -724,6 +721,31 @@ inline void process_commands()
//savetosd = false;
break;
#endif
case 42: //M42 -Change pin status via gcode
if (code_seen('S'))
{
int pin_status = code_value();
if (code_seen('P') && pin_status >= 0 && pin_status <= 255)
{
int pin_number = code_value();
for(int i = 0; i < sizeof(sensitive_pins); i++)
{
if (sensitive_pins[i] == pin_number)
{
pin_number = -1;
break;
}
}
if (pin_number > -1)
{
pinMode(pin_number, OUTPUT);
digitalWrite(pin_number, pin_status);
analogWrite(pin_number, pin_status);
}
}
}
break;
case 104: // M104
if (code_seen('S')) target_raw = temp2analogh(code_value());
#ifdef WATCHPERIOD
@ -761,7 +783,7 @@ inline void process_commands()
#endif
return;
//break;
case 109: // M109 - Wait for extruder heater to reach target.
case 109: { // M109 - Wait for extruder heater to reach target.
if (code_seen('S')) target_raw = temp2analogh(code_value());
#ifdef WATCHPERIOD
if(target_raw>current_raw){
@ -772,34 +794,39 @@ inline void process_commands()
}
#endif
codenum = millis();
#ifdef TEMP_RESIDENCY_TIME
long residencyStart;
residencyStart = -1;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
while( current_raw < target_raw
|| (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
#else
while(current_raw < target_raw) {
#endif
if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
/* See if we are heating up or cooling down */
bool target_direction = (current_raw < target_raw); // true if heating, false if cooling
#ifdef TEMP_RESIDENCY_TIME
long residencyStart;
residencyStart = -1;
/* continue to loop until we have reached the target temp
_and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
while( (target_direction ? (current_raw < target_raw) : (current_raw > target_raw))
|| (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
#else
while ( target_direction ? (current_raw < target_raw) : (current_raw > target_raw) ) {
#endif
if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up/cooling down
{
Serial.print("T:");
Serial.println( analog2temp(current_raw) );
codenum = millis();
Serial.println( analog2temp(current_raw) );
codenum = millis();
}
manage_heater();
#ifdef TEMP_RESIDENCY_TIME
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
or when current temp falls outside the hysteresis after target temp was reached */
if ( (residencyStart == -1 && current_raw >= target_raw)
if ( (residencyStart == -1 && target_direction && current_raw >= target_raw)
|| (residencyStart == -1 && !target_direction && current_raw <= target_raw)
|| (residencyStart > -1 && labs(analog2temp(current_raw) - analog2temp(target_raw)) > TEMP_HYSTERESIS) ) {
residencyStart = millis();
}
#endif
}
break;
}
}
break;
case 190: // M190 - Wait bed for heater to reach target.
#if TEMP_1_PIN > -1
if (code_seen('S')) target_bed_raw = temp2analogh(code_value());
@ -860,15 +887,10 @@ inline void process_commands()
if(code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value();
}
//Update start speed intervals and axis order. TODO: refactor axis_max_interval[] calculation into a function, as it
// should also be used in setup() as well
#ifdef RAMP_ACCELERATION
long temp_max_intervals[NUM_AXIS];
for(int i=0; i < NUM_AXIS; i++) {
axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);//TODO: do this for
// all steps_per_unit related variables
}
setup_acceleration();
#endif
break;
case 115: // M115
Serial.print("FIRMWARE_NAME:Sprinter FIRMWARE_URL:http%%3A/github.com/kliment/Sprinter/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 UUID:");
@ -1496,7 +1518,11 @@ void manage_heater()
#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);
}
@ -1603,6 +1629,16 @@ if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time)
if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); }
}
#ifdef RAMP_ACCELERATION
void setup_acceleration() {
for (int i=0; i < NUM_AXIS; i++) {
axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
}
#endif
#ifdef DEBUG
void log_message(char* message) {
Serial.print("DEBUG"); Serial.println(message);

3
Sprinter/pins.h
View file

@ -618,4 +618,7 @@
#endif
//List of pins which to ignore when asked to change by gcode, 0 and 1 are RX and TX, do not mess with those!
const int sensitive_pins[] = {0, 1, X_STEP_PIN, X_DIR_PIN, X_ENABLE_PIN, X_MIN_PIN, X_MAX_PIN, Y_STEP_PIN, Y_DIR_PIN, Y_ENABLE_PIN, Y_MIN_PIN, Y_MAX_PIN, Z_STEP_PIN, Z_DIR_PIN, Z_ENABLE_PIN, Z_MIN_PIN, Z_MAX_PIN, E_STEP_PIN, E_DIR_PIN, E_ENABLE_PIN, LED_PIN, PS_ON_PIN, HEATER_0_PIN, HEATER_1_PIN, FAN_PIN, TEMP_0_PIN, TEMP_1_PIN};
#endif