- changed homing function to not conflict with min_software_endstops/max_software_endstops (thanks rGlory)
- Corrected distance calculation. (thanks jv4779)
This commit is contained in:
midopple
parent
bb38d646d3
commit
ee764635a3
1 changed files with 46 additions and 28 deletions
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@ -39,7 +39,7 @@
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- move string to flash to free RAM vor forward planner
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- M203 Temperature monitor for Repetier
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Version 1.3.04T
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- Implement Plannercode from Marlin V1 big thanks to Erik
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- Stepper interrupt with Step loops
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- Stepperfrequenz 30 Khz
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@ -53,6 +53,13 @@
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- Option to deaktivate ARC (G2/G3) function (save flash)
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- Removed modulo (%) operator, which uses an expensive divide
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Version 1.3.05T
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- changed homing function to not conflict with min_software_endstops/max_software_endstops (thanks rGlory)
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- Changed check in arc_func
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- Corrected distance calculation. (thanks jv4779)
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- MAX Feed Rate for Z-Axis reduced to 2 mm/s some Printers had problems with 4 mm/s
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*/
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#include <avr/pgmspace.h>
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@ -142,13 +149,13 @@ void __cxa_pure_virtual(){};
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// M603 - Show Free Ram
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#define _VERSION_TEXT "1.3.04T / 04.02.2012"
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#define _VERSION_TEXT "1.3.05T / 15.02.2012"
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//Stepper Movement Variables
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char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
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float axis_steps_per_unit[] = _AXIS_STEP_PER_UNIT;
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float axis_steps_per_unit[4] = _AXIS_STEP_PER_UNIT;
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float max_feedrate[] = _MAX_FEEDRATE;
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float max_feedrate[4] = _MAX_FEEDRATE;
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float homing_feedrate[] = _HOMING_FEEDRATE;
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bool axis_relative_modes[] = _AXIS_RELATIVE_MODES;
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@ -157,7 +164,7 @@ float retract_acceleration = _RETRACT_ACCELERATION; // Normal acceleration mm/s^
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float max_xy_jerk = _MAX_XY_JERK;
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float max_z_jerk = _MAX_Z_JERK;
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long max_acceleration_units_per_sq_second[] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
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long max_acceleration_units_per_sq_second[4] = _MAX_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
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//float max_start_speed_units_per_second[] = _MAX_START_SPEED_UNITS_PER_SECOND;
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//long max_travel_acceleration_units_per_sq_second[] = _MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND; // X, Y, Z max acceleration in mm/s^2 for travel moves
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@ -517,7 +524,7 @@ void setup()
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{
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Serial.begin(BAUDRATE);
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showString(PSTR("SprinterV2\r\n"));
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showString(PSTR("Sprinter\r\n"));
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showString(PSTR(_VERSION_TEXT));
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showString(PSTR("\r\n"));
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showString(PSTR("start\r\n"));
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@ -997,20 +1004,22 @@ FORCE_INLINE void process_commands()
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if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1))
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{
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st_synchronize();
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current_position[X_AXIS] = 0;
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current_position[X_AXIS] = -1.5 * X_MAX_LENGTH * X_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
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destination[X_AXIS] = 0;
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feedrate = homing_feedrate[X_AXIS];
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prepare_move();
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st_synchronize();
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current_position[X_AXIS] = 0;
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current_position[X_AXIS] = 5 * X_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = -5 * X_HOME_DIR;
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destination[X_AXIS] = 0;
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prepare_move();
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st_synchronize();
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destination[X_AXIS] = 10 * X_HOME_DIR;
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st_synchronize();
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current_position[X_AXIS] = -10 * X_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = 0;
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feedrate = homing_feedrate[X_AXIS]/2 ;
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prepare_move();
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st_synchronize();
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@ -1027,20 +1036,22 @@ FORCE_INLINE void process_commands()
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{
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if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1))
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{
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current_position[Y_AXIS] = 0;
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current_position[Y_AXIS] = -1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
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destination[Y_AXIS] = 0;
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feedrate = homing_feedrate[Y_AXIS];
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prepare_move();
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st_synchronize();
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current_position[Y_AXIS] = 0;
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current_position[Y_AXIS] = 5 * Y_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Y_AXIS] = -5 * Y_HOME_DIR;
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destination[Y_AXIS] = 0;
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prepare_move();
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st_synchronize();
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destination[Y_AXIS] = 10 * Y_HOME_DIR;
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current_position[Y_AXIS] = -10 * Y_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Y_AXIS] = 0;
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feedrate = homing_feedrate[Y_AXIS]/2;
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prepare_move();
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st_synchronize();
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@ -1057,20 +1068,22 @@ FORCE_INLINE void process_commands()
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{
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if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1))
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{
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current_position[Z_AXIS] = 0;
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current_position[Z_AXIS] = -1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Z_AXIS] = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
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destination[Z_AXIS] = 0;
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feedrate = homing_feedrate[Z_AXIS];
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prepare_move();
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st_synchronize();
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current_position[Z_AXIS] = 0;
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current_position[Z_AXIS] = 2 * Z_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Z_AXIS] = -2 * Z_HOME_DIR;
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destination[Z_AXIS] = 0;
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prepare_move();
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st_synchronize();
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destination[Z_AXIS] = 3 * Z_HOME_DIR;
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current_position[Z_AXIS] = -3 * Z_HOME_DIR;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[Z_AXIS] = 0;
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feedrate = homing_feedrate[Z_AXIS]/2;
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prepare_move();
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st_synchronize();
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@ -1470,7 +1483,7 @@ FORCE_INLINE void process_commands()
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// }
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break;
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case 115: // M115
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showString(PSTR("FIRMWARE_NAME: SprinterV2 PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\r\n"));
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showString(PSTR("FIRMWARE_NAME: Sprinter Experimental PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1\r\n"));
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//Serial.println(uuid);
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showString(PSTR(_DEF_CHAR_UUID));
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showString(PSTR("\r\n"));
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@ -2185,8 +2198,13 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
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delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
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delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
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delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
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block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
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square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
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if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) {
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block->millimeters = fabs(delta_mm[E_AXIS]);
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} else {
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block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
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}
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float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
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// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
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@ -2205,10 +2223,10 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
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if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
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}
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#ifdef SLOWDOWN
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// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
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int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
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#ifdef SLOWDOWN
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if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
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#endif
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@ -2326,7 +2344,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate)
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vmax_junction = max_z_jerk/2;
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vmax_junction = min(vmax_junction, block->nominal_speed);
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if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
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if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) {
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float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
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if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
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vmax_junction = block->nominal_speed;
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