Transform if into #if, move axis aviable assignments to loops in startup
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kliment
parent
8c812e5c01
commit
c128fd74d9
2 changed files with 137 additions and 72 deletions
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@ -33,6 +33,34 @@ int analog2tempu(int raw, const short table[][2], int numtemps, int source);
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#define temp2analogBed( c ) temp2analogu((c),bedtemptable,BNUMTEMPS,BEDSOURCE)
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#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS,HEATERSOURCE)
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#define analog2tempBed( c ) analog2tempu((c),bedtemptable,BNUMTEMPS,BEDSOURCE)
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#if X_ENABLE_PIN > -1
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#define enable_x() digitalWrite(X_ENABLE_PIN, X_ENABLE_ON)
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#define disable_x() digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON)
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#else
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#define enable_x() ;
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#define disable_x() ;
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#endif
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#if Y_ENABLE_PIN > -1
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#define enable_y() digitalWrite(Y_ENABLE_PIN, Y_ENABLE_ON)
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#define disable_y() digitalWrite(Y_ENABLE_PIN,!Y_ENABLE_ON)
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#else
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#define enable_y() ;
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#define disable_y() ;
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#endif
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#if Z_ENABLE_PIN > -1
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#define enable_z() digitalWrite(Z_ENABLE_PIN, Z_ENABLE_ON)
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#define disable_z() digitalWrite(Z_ENABLE_PIN,!Z_ENABLE_ON)
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#else
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#define enable_z() ;
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#define disable_z() ;
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#endif
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#if E_ENABLE_PIN > -1
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#define enable_e() digitalWrite(E_ENABLE_PIN, E_ENABLE_ON)
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#define disable_e() digitalWrite(E_ENABLE_PIN,!E_ENABLE_ON)
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#else
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#define enable_e() ;
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#define disable_e() ;
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#endif
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void FlushSerialRequestResend();
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void ClearToSend();
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@ -40,18 +68,6 @@ void ClearToSend();
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void get_coordinates();
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void prepare_move();
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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 do_step(int axis);
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void kill(byte debug);
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@ -57,6 +57,7 @@
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//Stepper Movement Variables
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char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
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bool move_direction[NUM_AXIS];
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const int STEP_PIN[NUM_AXIS] = {X_STEP_PIN, Y_STEP_PIN, Z_STEP_PIN, E_STEP_PIN};
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@ -64,19 +65,11 @@ unsigned long axis_previous_micros[NUM_AXIS];
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unsigned long previous_micros = 0, previous_millis_heater, previous_millis_bed_heater;
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unsigned long move_steps_to_take[NUM_AXIS];
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#ifdef RAMP_ACCELERATION
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unsigned long axis_max_interval[] = {100000000.0 / (max_start_speed_units_per_second[0] * axis_steps_per_unit[0]),
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100000000.0 / (max_start_speed_units_per_second[1] * axis_steps_per_unit[1]),
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100000000.0 / (max_start_speed_units_per_second[2] * axis_steps_per_unit[2]),
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100000000.0 / (max_start_speed_units_per_second[3] * axis_steps_per_unit[3])}; //TODO: refactor all things like this in a function, or move to setup()
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// in a for loop
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unsigned long max_interval;
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unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0],
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max_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2],
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max_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]};
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unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0],
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max_travel_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_travel_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2],
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max_travel_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]};
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unsigned long steps_per_sqr_second, plateau_steps;
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unsigned long axis_max_interval[NUM_AXIS];
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unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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unsigned long axis_travel_steps_per_sqr_second[NUM_AXIS];
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unsigned long max_interval;
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unsigned long steps_per_sqr_second, plateau_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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@ -211,51 +204,116 @@ void setup()
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fromsd[i] = false;
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}
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//Initialize Step Pins
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for(int i=0; i < NUM_AXIS; i++) if(STEP_PIN[i] > -1) pinMode(STEP_PIN[i],OUTPUT);
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//Initialize Dir Pins
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if(X_DIR_PIN > -1) pinMode(X_DIR_PIN,OUTPUT);
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if(Y_DIR_PIN > -1) pinMode(Y_DIR_PIN,OUTPUT);
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if(Z_DIR_PIN > -1) pinMode(Z_DIR_PIN,OUTPUT);
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if(E_DIR_PIN > -1) pinMode(E_DIR_PIN,OUTPUT);
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//Steppers default to disabled.
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if(X_ENABLE_PIN > -1) if(!X_ENABLE_ON) digitalWrite(X_ENABLE_PIN,HIGH);
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if(Y_ENABLE_PIN > -1) if(!Y_ENABLE_ON) digitalWrite(Y_ENABLE_PIN,HIGH);
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if(Z_ENABLE_PIN > -1) if(!Z_ENABLE_ON) digitalWrite(Z_ENABLE_PIN,HIGH);
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if(E_ENABLE_PIN > -1) if(!E_ENABLE_ON) digitalWrite(E_ENABLE_PIN,HIGH);
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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_DIR_PIN > -1
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pinMode(X_DIR_PIN,OUTPUT);
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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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if(Y_ENABLE_PIN > -1) pinMode(Y_ENABLE_PIN,OUTPUT);
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if(Z_ENABLE_PIN > -1) pinMode(Z_ENABLE_PIN,OUTPUT);
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if(E_ENABLE_PIN > -1) pinMode(E_ENABLE_PIN,OUTPUT);
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if(HEATER_0_PIN > -1) pinMode(HEATER_0_PIN,OUTPUT);
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if(HEATER_1_PIN > -1) pinMode(HEATER_1_PIN,OUTPUT);
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#if Y_DIR_PIN > -1
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pinMode(Y_DIR_PIN,OUTPUT);
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#endif
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#if Z_DIR_PIN > -1
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pinMode(Z_DIR_PIN,OUTPUT);
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#endif
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#if E_DIR_PIN > -1
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pinMode(E_DIR_PIN,OUTPUT);
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#endif
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//Initialize Enable Pins - steppers default to disabled.
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#if (X_ENABLE_PIN > -1)
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pinMode(X_ENABLE_PIN,OUTPUT);
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if(!X_ENABLE_ON) digitalWrite(X_ENABLE_PIN,HIGH);
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#endif
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#if (Y_ENABLE_PIN > -1)
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pinMode(Y_ENABLE_PIN,OUTPUT);
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if(!Y_ENABLE_ON) digitalWrite(Y_ENABLE_PIN,HIGH);
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#endif
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#if (Z_ENABLE_PIN > -1)
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pinMode(Z_ENABLE_PIN,OUTPUT);
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if(!Z_ENABLE_ON) digitalWrite(Z_ENABLE_PIN,HIGH);
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#endif
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#if (E_ENABLE_PIN > -1)
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pinMode(E_ENABLE_PIN,OUTPUT);
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if(!E_ENABLE_ON) digitalWrite(E_ENABLE_PIN,HIGH);
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#endif
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//endstops and pullups
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#ifdef ENDSTOPPULLUPS
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#if X_MIN_PIN > -1
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pinMode(X_MIN_PIN,INPUT);
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digitalWrite(X_MIN_PIN,HIGH);
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#endif
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#if X_MAX_PIN > -1
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pinMode(X_MAX_PIN,INPUT);
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digitalWrite(X_MAX_PIN,HIGH);
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#endif
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#if Y_MIN_PIN > -1
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pinMode(Y_MIN_PIN,INPUT);
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digitalWrite(Y_MIN_PIN,HIGH);
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#endif
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#if Y_MAX_PIN > -1
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pinMode(Y_MAX_PIN,INPUT);
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digitalWrite(Y_MAX_PIN,HIGH);
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#endif
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#if Z_MIN_PIN > -1
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pinMode(Z_MIN_PIN,INPUT);
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digitalWrite(Z_MIN_PIN,HIGH);
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#endif
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#if Z_MAX_PIN > -1
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pinMode(Z_MAX_PIN,INPUT);
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digitalWrite(Z_MAX_PIN,HIGH);
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#endif
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#else
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#if X_MIN_PIN > -1
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pinMode(X_MIN_PIN,INPUT);
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#endif
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#if X_MAX_PIN > -1
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pinMode(X_MAX_PIN,INPUT);
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#endif
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#if Y_MIN_PIN > -1
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pinMode(Y_MIN_PIN,INPUT);
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#endif
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#if Y_MAX_PIN > -1
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pinMode(Y_MAX_PIN,INPUT);
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#endif
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#if Z_MIN_PIN > -1
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pinMode(Z_MIN_PIN,INPUT);
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#endif
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#if Z_MAX_PIN > -1
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pinMode(Z_MAX_PIN,INPUT);
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#endif
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#endif
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#if (HEATER_0_PIN > -1)
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pinMode(HEATER_0_PIN,OUTPUT);
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#endif
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#if (HEATER_1_PIN > -1)
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pinMode(HEATER_1_PIN,OUTPUT);
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#endif
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//Initialize Step Pins
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for(int i=0; i < NUM_AXIS; i++){
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if(STEP_PIN[i] > -1) pinMode(STEP_PIN[i],OUTPUT);
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#ifdef RAMP_ACCELERATION
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axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
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axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
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axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
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#endif
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}
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#ifdef HEATER_USES_MAX6675
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digitalWrite(SCK_PIN,0);
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pinMode(SCK_PIN,OUTPUT);
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digitalWrite(MOSI_PIN,1);
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digitalWrite(SCK_PIN,0);
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pinMode(MOSI_PIN,OUTPUT);
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digitalWrite(MISO_PIN,1);
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digitalWrite(MOSI_PIN,1);
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pinMode(MISO_PIN,INPUT);
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digitalWrite(MAX6675_SS,1);
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digitalWrite(MISO_PIN,1);
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pinMode(MAX6675_SS,OUTPUT);
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digitalWrite(MAX6675_SS,1);
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#endif
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#ifdef SDSUPPORT
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@ -682,7 +740,7 @@ inline void process_commands()
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Serial.println();
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#endif
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#else
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Serial.println("No thermistors - no temp");
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#error No temperature source available
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#endif
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return;
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//break;
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@ -1150,15 +1208,6 @@ inline void do_step(int axis) {
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digitalWrite(STEP_PIN[axis], LOW);
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}
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inline void disable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON); }
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inline void disable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN,!Y_ENABLE_ON); }
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inline void disable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN,!Z_ENABLE_ON); }
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inline void disable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN,!E_ENABLE_ON); }
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inline void enable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN, X_ENABLE_ON); }
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inline void enable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN, Y_ENABLE_ON); }
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inline void enable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN, Z_ENABLE_ON); }
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inline void enable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN, E_ENABLE_ON); }
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#define HEAT_INTERVAL 250
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#ifdef HEATER_USES_MAX6675
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unsigned long max6675_previous_millis = 0;
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