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Change behaviour on endstop hit.

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This commit is contained in:
kliment 2011-07-07 22:08:31 +02:00
parent 545a2ee492
commit c97109b25d
2 changed files with 45 additions and 23 deletions
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10
Sprinter/Makefile
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@ -82,14 +82,14 @@ CXXINCS = -I$(ARDUINO)
# gnu89 - c89 plus GCC extensions
# c99 - ISO C99 standard (not yet fully implemented)
# gnu99 - c99 plus GCC extensions
CSTANDARD = -std=gnu99
#CSTANDARD = -std=gnu99
CDEBUG = -g$(DEBUG)
CWARN = -Wall -Wstrict-prototypes
CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -w -ffunction-sections -fdata-sections -DARDUINO=22
#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT)
CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CEXTRA) $(CTUNING)
CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) -Wall $(CEXTRA) $(CTUNING)
#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
LDFLAGS = -lm
@ -200,7 +200,7 @@ extcoff: $(TARGET).elf
# Link: create ELF output file from library.
applet/$(TARGET).elf: $(TARGET).pde applet/core.a
$(CC) $(ALL_CFLAGS) -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
$(CC) $(ALL_CFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
applet/core.a: $(OBJ)
@for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done

58
Sprinter/Sprinter.pde
View file

@ -75,9 +75,10 @@ boolean acceleration_enabled = false, accelerating = false;
unsigned long interval;
float destination[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
float current_position[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
unsigned long steps_taken[NUM_AXIS];
long axis_interval[NUM_AXIS]; // for speed delay
bool home_all_axis = true;
float feedrate = 1500, next_feedrate, saved_feedrate;
int feedrate = 1500, next_feedrate, saved_feedrate;
float time_for_move;
long gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
@ -113,7 +114,7 @@ int target_raw = 0;
int current_raw = 0;
int target_bed_raw = 0;
int current_bed_raw = 0;
float tt = 0, bt = 0;
int tt = 0, bt = 0;
#ifdef PIDTEMP
int temp_iState = 0;
int temp_dState = 0;
@ -930,17 +931,29 @@ inline void prepare_move()
//Feedrate calc based on XYZ travel distance
float xy_d;
if(abs(axis_diff[0]) > 0 || abs(axis_diff[1]) > 0 || abs(axis_diff[2])) {
//Check for cases where only one axis is moving - handle those without float sqrt
if(abs(axis_diff[0]) > 0 && abs(axis_diff[1]) == 0 && abs(axis_diff[2])==0)
d=abs(axis_diff[0]);
else if(abs(axis_diff[0]) == 0 && abs(axis_diff[1]) > 0 && abs(axis_diff[2])==0)
d=abs(axis_diff[1]);
else if(abs(axis_diff[0]) == 0 && abs(axis_diff[1]) == 0 && abs(axis_diff[2])>0)
d=abs(axis_diff[2]);
//two or three XYZ axes moving
else if(abs(axis_diff[0]) > 0 || abs(axis_diff[1]) > 0) { //X or Y or both
xy_d = sqrt(axis_diff[0] * axis_diff[0] + axis_diff[1] * axis_diff[1]);
d = sqrt(xy_d * xy_d + axis_diff[2] * axis_diff[2]);
//check if Z involved - if so interpolate that too
d = (abs(axis_diff[2]>0))?sqrt(xy_d * xy_d + axis_diff[2] * axis_diff[2]):xy_d;
}
else if(abs(axis_diff[3]) > 0)
d = abs(axis_diff[3]);
else{ //zero length move
#ifdef DEBUG_PREPARE_MOVE
else {
log_message("_PREPARE_MOVE - No steps to take!");
}
#endif
return;
}
time_for_move = (d / (feedrate / 60000000.0) );
//Check max feedrate for each axis is not violated, update time_for_move if necessary
for(int i = 0; i < NUM_AXIS; i++) {
@ -956,7 +969,7 @@ inline void prepare_move()
#ifdef DEBUG_PREPARE_MOVE
log_float("_PREPARE_MOVE - Move distance on the XY plane", xy_d);
log_float("_PREPARE_MOVE - Move distance on the XYZ space", d);
log_float("_PREPARE_MOVE - Commanded feedrate", feedrate);
log_int("_PREPARE_MOVE - Commanded feedrate", feedrate);
log_float("_PREPARE_MOVE - Constant full speed move time", time_for_move);
log_float_array("_PREPARE_MOVE - Destination", destination, NUM_AXIS);
log_float_array("_PREPARE_MOVE - Current position", current_position, NUM_AXIS);
@ -981,7 +994,6 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
else digitalWrite(Z_DIR_PIN,INVERT_Z_DIR);
if (destination[3] > current_position[3]) digitalWrite(E_DIR_PIN,!INVERT_E_DIR);
else digitalWrite(E_DIR_PIN,INVERT_E_DIR);
if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
@ -1008,7 +1020,10 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
else primary_axis = 3;
unsigned long steps_remaining = delta[primary_axis];
unsigned long steps_to_take = steps_remaining;
for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
for(int i=0; i < NUM_AXIS; i++){
if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
steps_taken[i]=0;
}
interval = axis_interval[primary_axis];
bool is_print_move = delta[3] > 0;
#ifdef DEBUG_BRESENHAM
@ -1033,8 +1048,9 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
int slowest_start_axis = primary_axis;
unsigned long slowest_start_axis_max_interval = max_interval;
for(int i = 0; i < NUM_AXIS; i++)
if (axis_steps_remaining[i] >0 && i != primary_axis && axis_max_interval[i] * axis_steps_remaining[i]
/ axis_steps_remaining[slowest_start_axis] > slowest_start_axis_max_interval) {
if (axis_steps_remaining[i] >0 &&
i != primary_axis &&
axis_max_interval[i] * axis_steps_remaining[i]/ axis_steps_remaining[slowest_start_axis] > slowest_start_axis_max_interval) {
slowest_start_axis = i;
slowest_start_axis_max_interval = axis_max_interval[i];
}
@ -1160,7 +1176,11 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
timediff = micros() * 100 - axis_previous_micros[primary_axis];
while(timediff >= interval && axis_steps_remaining[primary_axis] > 0) {
if(timediff<0){//check for overflow
axis_previous_micros[primary_axis]=micros()*100;
timediff=interval/2; //approximation
}
while(((unsigned long)timediff) >= interval && axis_steps_remaining[primary_axis] > 0) {
steps_done++;
steps_remaining--;
axis_steps_remaining[primary_axis]--; timediff -= interval;
@ -1192,20 +1212,22 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
// Update current position partly based on direction, we probably can combine this with the direction code above...
for(int i=0; i < NUM_AXIS; i++) {
if (destination[i] > current_position[i]) current_position[i] = current_position[i] + move_steps_to_take[i] / axis_steps_per_unit[i];
else current_position[i] = current_position[i] - move_steps_to_take[i] / axis_steps_per_unit[i];
if (destination[i] > current_position[i]) current_position[i] = current_position[i] + steps_taken[i] / axis_steps_per_unit[i];
else current_position[i] = current_position[i] - steps_taken[i] / axis_steps_per_unit[i];
}
}
inline void do_step_update_micros(int axis) {
void do_step_update_micros(int axis) {
digitalWrite(STEP_PIN[axis], HIGH);
axis_previous_micros[axis] += interval;
digitalWrite(STEP_PIN[axis], LOW);
steps_taken[axis]+=1;
}
inline void do_step(int axis) {
void do_step(int axis) {
digitalWrite(STEP_PIN[axis], HIGH);
digitalWrite(STEP_PIN[axis], LOW);
steps_taken[axis]+=1;
}
#define HEAT_INTERVAL 250
@ -1213,7 +1235,7 @@ inline void do_step(int axis) {
unsigned long max6675_previous_millis = 0;
int max6675_temp = 2000;
inline int read_max6675()
int read_max6675()
{
if (millis() - max6675_previous_millis < HEAT_INTERVAL)
return max6675_temp;
@ -1265,7 +1287,7 @@ inline int read_max6675()
#endif
inline void manage_heater()
void manage_heater()
{
if((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL )
return;