- Implement Plannercode from Marlin V1 --> big thanks to Erik
- Stepper interrupt with Step loops
- Stepperfrequenz 30 Khz
- New Command
* M202 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
* M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2
* M205 - advanced settings: minimum travel speed S=while printing T=travel only, X= maximum xy jerk, Z=maximum Z jerk
- Remove unused Variables
- Check Uart Puffer while circle processing (CMD: G2 / G3)
- Fast Xfer Function --> move Text to Flash
- Option to deaktivate ARC (G2/G3) function (save flash)
- Removed modulo (%) operator, which uses an expensive divide
This commit is contained in:
midopple
parent
0953453911
commit
e74587a1b4
3 changed files with 912 additions and 502 deletions
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@ -56,8 +56,13 @@ const bool Z_ENDSTOP_INVERT = false;
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// Uncomment to make run init.g from SD on boot
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//#define SDINITFILE
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//Only work with Atmega1284 you need +1 kb ram
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//#define SD_FAST_XFER_AKTIV
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//Uncomment to aktivate the arc (circle) function (G2/G3 Command)
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//Without SD function an ARC function the used Flash is smaller 31 kb
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#define USE_ARC_FUNCTION
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//-----------------------------------------------------------------------
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//// ADVANCED SETTINGS - to tweak parameters
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//-----------------------------------------------------------------------
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@ -69,8 +74,9 @@ const bool Z_ENDSTOP_INVERT = false;
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#endif
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#endif
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//-----------------------------------------------------------------------
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// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
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//-----------------------------------------------------------------------
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#define X_ENABLE_ON 0
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#define Y_ENABLE_ON 0
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#define Z_ENABLE_ON 0
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@ -79,40 +85,57 @@ const bool Z_ENDSTOP_INVERT = false;
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//Uncomment if you have problems with a stepper driver enabeling too late, this will also set how many microseconds delay there will be after enabeling the driver
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//#define DELAY_ENABLE 15
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//-----------------------------------------------------------------------
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// Disables axis when it's not being used.
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//-----------------------------------------------------------------------
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const bool DISABLE_X = false;
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const bool DISABLE_Y = false;
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const bool DISABLE_Z = true;
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const bool DISABLE_E = false;
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//-----------------------------------------------------------------------
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// Inverting axis direction
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//-----------------------------------------------------------------------
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const bool INVERT_X_DIR = false;
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const bool INVERT_Y_DIR = false;
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const bool INVERT_Z_DIR = true;
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const bool INVERT_E_DIR = false;
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//-----------------------------------------------------------------------
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//// ENDSTOP SETTINGS:
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//-----------------------------------------------------------------------
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// Sets direction of endstops when homing; 1=MAX, -1=MIN
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#define X_HOME_DIR -1
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#define Y_HOME_DIR -1
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#define Z_HOME_DIR -1
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//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
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const bool min_software_endstops = false; //If true, axis won't move to coordinates less than zero.
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const bool max_software_endstops = true; //If true, axis won't move to coordinates greater than the defined lengths below.
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//-----------------------------------------------------------------------
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//Max Length for Prusa Mendel, check the ways of your axis and set this Values
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//-----------------------------------------------------------------------
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const int X_MAX_LENGTH = 200;
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const int Y_MAX_LENGTH = 200;
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const int Z_MAX_LENGTH = 100;
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//-----------------------------------------------------------------------
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//// MOVEMENT SETTINGS
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//-----------------------------------------------------------------------
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const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z, E
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#define _MAX_FEEDRATE {200000, 200000, 240, 500000}
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#define _HOMING_FEEDRATE {1500,1500,120}
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#define _MAX_FEEDRATE {400, 400, 4, 45} // (mm/sec)
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#define _HOMING_FEEDRATE {1500,1500,120} // (mm/min) !!
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#define _AXIS_RELATIVE_MODES {false, false, false, false}
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#define MAX_STEP_FREQUENCY 30000 // Max step frequency
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//-----------------------------------------------------------------------
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//// Not used at the Moment
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//-----------------------------------------------------------------------
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// Min step delay in microseconds. If you are experiencing missing steps, try to raise the delay microseconds, but be aware this
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// If you enable this, make sure STEP_DELAY_RATIO is disabled.
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@ -128,23 +151,35 @@ const int NUM_AXIS = 4; // The axis order in all axis related arrays is X, Y, Z,
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long min_time_before_dir_change = 30; //milliseconds
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#endif
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// Comment this to disable ramp acceleration
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#define RAMP_ACCELERATION
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//-----------------------------------------------------------------------
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//// Acceleration settings
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#ifdef RAMP_ACCELERATION
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//-----------------------------------------------------------------------
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// X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
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#define _ACCELERATION 2000 // Normal acceleration mm/s^2
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#define _RETRACT_ACCELERATION 7000 // Normal acceleration mm/s^2
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#define _MAX_XY_JERK (20.0*60)
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#define _MAX_Z_JERK (0.4*60)
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#define _MAX_START_SPEED_UNITS_PER_SECOND {25.0,25.0,0.2,10.0}
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#define _MAX_ACCELERATION_UNITS_PER_SQ_SECOND {500,500,50,500} // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
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#define _MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND {500,500,50,500} // X, Y, Z max acceleration in mm/s^2 for travel moves
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#endif
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#define _ACCELERATION 1000 // Axis Normal acceleration mm/s^2
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#define _RETRACT_ACCELERATION 2000 // Extruder Normal acceleration mm/s^2
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#define _MAX_XY_JERK 20.0
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#define _MAX_Z_JERK 0.4
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//#define _MAX_START_SPEED_UNITS_PER_SECOND {25.0,25.0,0.2,10.0}
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#define _MAX_ACCELERATION_UNITS_PER_SQ_SECOND {5000,5000,50,5000} // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
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// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
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// of the buffer and all stops. This should not be much greater than zero and should only be changed
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// if unwanted behavior is observed on a user's machine when running at very slow speeds.
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#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
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#define DEFAULT_MINIMUMFEEDRATE 0.0 // minimum feedrate
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#define DEFAULT_MINTRAVELFEEDRATE 0.0
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// If defined the movements slow down when the look ahead buffer is only half full
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#define SLOWDOWN
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const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
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//-----------------------------------------------------------------------
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// Machine UUID
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//-----------------------------------------------------------------------
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// This may be useful if you have multiple machines and wish to identify them by using the M115 command.
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// By default we set it to zeros.
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#define _DEF_CHAR_UUID "00000000-0000-0000-0000-000000000000"
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@ -290,7 +325,6 @@ long min_time_before_dir_change = 30; //milliseconds
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//#define DEBUG
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#ifdef DEBUG
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//#define DEBUG_PREPARE_MOVE //Enable this to debug prepare_move() function
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//#define DEBUG_RAMP_ACCELERATION //Enable this to debug all constant acceleration info
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//#define DEBUG_MOVE_TIME //Enable this to time each move and print the result
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//#define DEBUG_HEAT_MGMT //Enable this to debug heat management. WARNING, this will cause axes to jitter!
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//#define DEBUG_DISABLE_CHECK_DURING_TRAVEL //Debug the namesake feature, see above in this file
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@ -1,10 +1,18 @@
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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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//Check Version of Arduino and then include the right libraries
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include <WProgram.h>
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#endif
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#include "fastio.h"
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extern "C" void __cxa_pure_virtual();
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#define FORCE_INLINE __attribute__((always_inline)) inline
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#if X_ENABLE_PIN > -1
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#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
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@ -47,10 +55,10 @@ typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
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long step_event_count; // The number of step events required to complete this block
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volatile long accelerate_until; // The index of the step event on which to stop acceleration
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volatile long decelerate_after; // The index of the step event on which to start decelerating
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volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
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unsigned long step_event_count; // The number of step events required to complete this block
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long accelerate_until; // The index of the step event on which to stop acceleration
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long decelerate_after; // The index of the step event on which to start decelerating
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long acceleration_rate; // The acceleration rate used for acceleration calculation
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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#ifdef ADVANCE
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@ -61,16 +69,20 @@ typedef struct {
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#endif
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// Fields used by the motion planner to manage acceleration
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float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
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// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
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float nominal_speed; // The nominal speed for this block in mm/min
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float entry_speed; // Entry speed at previous-current junction in mm/min
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float max_entry_speed; // Maximum allowable junction entry speed in mm/min
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float millimeters; // The total travel of this block in mm
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float entry_speed;
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float acceleration; // acceleration mm/sec^2
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unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
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unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
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// Settings for the trapezoid generator
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long nominal_rate; // The nominal step rate for this block in step_events/sec
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volatile long initial_rate; // The jerk-adjusted step rate at start of block
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volatile long final_rate; // The minimal rate at exit
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long initial_rate; // The jerk-adjusted step rate at start of block
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long final_rate; // The minimal rate at exit
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long acceleration_st; // acceleration steps/sec^2
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volatile char busy;
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} block_t;
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@ -87,7 +99,6 @@ void manage_inactivity(byte debug);
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void get_coordinates();
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void prepare_move();
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void prepare_arc_move(char isclockwise);
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void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
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void kill(byte debug);
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