1606 lines
56 KiB
Text
1606 lines
56 KiB
Text
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
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// Licence: GPL
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#include "Tonokip_Firmware.h"
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#include "configuration.h"
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#include "pins.h"
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#ifdef SDSUPPORT
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#include "SdFat.h"
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#endif
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// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
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// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
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//Implemented Codes
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//-------------------
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// G0 -> G1
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// G1 - Coordinated Movement X Y Z E
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// G4 - Dwell S<seconds> or P<milliseconds>
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// G28 - Home all Axis
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// G90 - Use Absolute Coordinates
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// G91 - Use Relative Coordinates
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// G92 - Set current position to cordinates given
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//RepRap M Codes
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// M104 - Set extruder target temp
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// M105 - Read current temp
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// M106 - Fan on
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// M107 - Fan off
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// M109 - Wait for extruder current temp to reach target temp.
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// M114 - Display current position
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//Custom M Codes
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// M80 - Turn on Power Supply
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// M20 - List SD card
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// M21 - Init SD card
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// M22 - Release SD card
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// M23 - Select SD file (M23 filename.g)
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// M24 - Start/resume SD print
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// M25 - Pause SD print
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// M26 - Set SD position in bytes (M26 S12345)
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// M27 - Report SD print status
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// M28 - Start SD write (M28 filename.g)
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// M29 - Stop SD write
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// M81 - Turn off Power Supply
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// M82 - Set E codes absolute (default)
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// M83 - Set E codes relative while in Absolute Coordinates (G90) mode
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// M84 - Disable steppers until next move,
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// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
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// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
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// M92 - Set axis_steps_per_unit - same syntax as G92
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// M115 - Capabilities string
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// M140 - Set bed target temp
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// M190 - Wait for bed current temp to reach target temp.
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// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
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// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000)
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//Stepper Movement Variables
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bool direction_x, direction_y, direction_z, direction_e;
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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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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 x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take;
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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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#endif
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#ifdef EXP_ACCELERATION
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unsigned long axis_virtual_full_velocity_steps[] = {full_velocity_units * axis_steps_per_unit[0], full_velocity_units * axis_steps_per_unit[1]};
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unsigned long axis_travel_virtual_full_velocity_steps[] = {travel_move_full_velocity_units * axis_steps_per_unit[0],
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travel_move_full_velocity_units * axis_steps_per_unit[1]};
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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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unsigned long max_interval;
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unsigned long axis_min_constant_speed_steps[] = {min_constant_speed_units * axis_steps_per_unit[0], min_constant_speed_units * axis_steps_per_unit[1]};
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unsigned long min_constant_speed_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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float destination_x = 0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0;
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float current_x = 0.0, current_y = 0.0, current_z = 0.0, current_e = 0.0;
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long axis_interval[NUM_AXIS]; // for speed delay
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float feedrate = 1500, next_feedrate, z_feedrate, saved_feedrate;
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float time_for_move;
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long gcode_N, gcode_LastN;
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bool relative_mode = false; //Determines Absolute or Relative Coordinates
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bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
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long timediff = 0;
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#ifdef STEP_DELAY_RATIO
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long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
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#endif
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// comm variables
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#define MAX_CMD_SIZE 96
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#define BUFSIZE 8
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char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
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bool fromsd[BUFSIZE];
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int bufindr = 0;
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int bufindw = 0;
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int buflen = 0;
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int i = 0;
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char serial_char;
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int serial_count = 0;
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boolean comment_mode = false;
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char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
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// Manage heater variables. For a thermistor or AD595 thermocouple, raw values refer to the
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// reading from the analog pin. For a MAX6675 thermocouple, the raw value is the temperature in 0.25
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// degree increments (i.e. 100=25 deg).
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int target_raw = 0;
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int current_raw = 0;
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int target_bed_raw = 0;
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int current_bed_raw = 0;
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float tt = 0, bt = 0;
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#ifdef PIDTEMP
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int temp_iState = 0;
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int temp_dState = 0;
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int pTerm;
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int iTerm;
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int dTerm;
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//int output;
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int error;
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int temp_iState_min = 100 * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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int temp_iState_max = 100 * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
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#endif
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#ifdef SMOOTHING
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uint32_t nma = SMOOTHFACTOR * analogRead(TEMP_0_PIN);
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#endif
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#ifdef WATCHPERIOD
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int watch_raw = -1000;
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unsigned long watchmillis = 0;
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#endif
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#ifdef MINTEMP
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int minttemp = temp2analog(MINTEMP);
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#endif
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#ifdef MAXTEMP
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int maxttemp = temp2analog(MAXTEMP);
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#endif
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//Inactivity shutdown variables
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unsigned long previous_millis_cmd = 0;
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unsigned long max_inactive_time = 0;
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unsigned long stepper_inactive_time = 0;
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#ifdef SDSUPPORT
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Sd2Card card;
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SdVolume volume;
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SdFile root;
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SdFile file;
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uint32_t filesize = 0;
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uint32_t sdpos = 0;
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bool sdmode = false;
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bool sdactive = false;
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bool savetosd = false;
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int16_t n;
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void initsd(){
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sdactive = false;
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#if SDSS >- 1
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if(root.isOpen())
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root.close();
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if (!card.init(SPI_FULL_SPEED,SDSS)){
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//if (!card.init(SPI_HALF_SPEED,SDSS))
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Serial.println("SD init fail");
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}
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else if (!volume.init(&card))
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Serial.println("volume.init failed");
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else if (!root.openRoot(&volume))
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Serial.println("openRoot failed");
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else
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sdactive = true;
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#endif
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}
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inline void write_command(char *buf){
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char* begin = buf;
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char* npos = 0;
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char* end = buf + strlen(buf) - 1;
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file.writeError = false;
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if((npos = strchr(buf, 'N')) != NULL){
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begin = strchr(npos, ' ') + 1;
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end = strchr(npos, '*') - 1;
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}
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end[1] = '\r';
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end[2] = '\n';
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end[3] = '\0';
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//Serial.println(begin);
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file.write(begin);
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if (file.writeError){
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Serial.println("error writing to file");
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}
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}
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#endif
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void setup()
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{
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Serial.begin(BAUDRATE);
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Serial.println("start");
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for(int i = 0; i < BUFSIZE; i++){
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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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#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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#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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pinMode(MOSI_PIN,OUTPUT);
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digitalWrite(MISO_PIN,1);
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pinMode(MISO_PIN,INPUT);
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digitalWrite(MAX6675_SS,1);
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pinMode(MAX6675_SS,OUTPUT);
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#endif
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#ifdef SDSUPPORT
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//power to SD reader
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#if SDPOWER > -1
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pinMode(SDPOWER,OUTPUT);
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digitalWrite(SDPOWER,HIGH);
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#endif
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initsd();
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#endif
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}
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void loop()
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{
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if(buflen<3)
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get_command();
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if(buflen){
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#ifdef SDSUPPORT
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if(savetosd){
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if(strstr(cmdbuffer[bufindr],"M29") == NULL){
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write_command(cmdbuffer[bufindr]);
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Serial.println("ok");
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}else{
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file.sync();
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file.close();
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savetosd = false;
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Serial.println("Done saving file.");
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}
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}else{
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process_commands();
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}
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#else
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process_commands();
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#endif
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buflen = (buflen-1);
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bufindr = (bufindr + 1)%BUFSIZE;
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}
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//check heater every n milliseconds
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manage_heater();
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manage_inactivity(1);
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}
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inline void get_command()
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{
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while( Serial.available() > 0 && buflen < BUFSIZE) {
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serial_char = Serial.read();
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if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) )
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{
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if(!serial_count) return; //if empty line
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cmdbuffer[bufindw][serial_count] = 0; //terminate string
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if(!comment_mode){
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fromsd[bufindw] = false;
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if(strstr(cmdbuffer[bufindw], "N") != NULL)
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{
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strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
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gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
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if(gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
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Serial.print("Serial Error: Line Number is not Last Line Number+1, Last Line:");
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Serial.println(gcode_LastN);
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//Serial.println(gcode_N);
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FlushSerialRequestResend();
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serial_count = 0;
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return;
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}
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if(strstr(cmdbuffer[bufindw], "*") != NULL)
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{
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byte checksum = 0;
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byte count = 0;
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while(cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
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strchr_pointer = strchr(cmdbuffer[bufindw], '*');
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if( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
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Serial.print("Error: checksum mismatch, Last Line:");
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Serial.println(gcode_LastN);
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FlushSerialRequestResend();
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serial_count = 0;
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return;
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}
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//if no errors, continue parsing
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}
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else
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{
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Serial.print("Error: No Checksum with line number, Last Line:");
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Serial.println(gcode_LastN);
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FlushSerialRequestResend();
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serial_count = 0;
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return;
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}
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gcode_LastN = gcode_N;
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//if no errors, continue parsing
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}
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else // if we don't receive 'N' but still see '*'
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{
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if((strstr(cmdbuffer[bufindw], "*") != NULL))
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{
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Serial.print("Error: No Line Number with checksum, Last Line:");
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Serial.println(gcode_LastN);
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serial_count = 0;
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return;
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}
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}
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if((strstr(cmdbuffer[bufindw], "G") != NULL)){
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strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
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switch((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))){
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case 0:
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case 1:
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#ifdef SDSUPPORT
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if(savetosd)
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break;
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#endif
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Serial.println("ok");
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break;
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default:
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break;
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}
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}
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bufindw = (bufindw + 1)%BUFSIZE;
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buflen += 1;
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}
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comment_mode = false; //for new command
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serial_count = 0; //clear buffer
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}
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else
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{
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if(serial_char == ';') comment_mode = true;
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if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
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}
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}
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#ifdef SDSUPPORT
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if(!sdmode || serial_count!=0){
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return;
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}
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while( filesize > sdpos && buflen < BUFSIZE) {
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n = file.read();
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serial_char = (char)n;
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if(serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) || n == -1)
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{
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sdpos = file.curPosition();
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if(sdpos >= filesize){
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sdmode = false;
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Serial.println("Done printing file");
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}
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if(!serial_count) return; //if empty line
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cmdbuffer[bufindw][serial_count] = 0; //terminate string
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if(!comment_mode){
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fromsd[bufindw] = true;
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buflen += 1;
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bufindw = (bufindw + 1)%BUFSIZE;
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}
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comment_mode = false; //for new command
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serial_count = 0; //clear buffer
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}
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else
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{
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if(serial_char == ';') comment_mode = true;
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if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
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}
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}
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#endif
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}
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inline float code_value() { return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL)); }
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inline long code_value_long() { return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10)); }
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inline bool code_seen(char code_string[]) { return (strstr(cmdbuffer[bufindr], code_string) != NULL); } //Return True if the string was found
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inline bool code_seen(char code)
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{
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strchr_pointer = strchr(cmdbuffer[bufindr], code);
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return (strchr_pointer != NULL); //Return True if a character was found
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}
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//experimental feedrate calc
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float d = 0;
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float xdiff = 0, ydiff = 0, zdiff = 0, ediff = 0;
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inline void process_commands()
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{
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unsigned long codenum; //throw away variable
|
|
char *starpos = NULL;
|
|
|
|
if(code_seen('G'))
|
|
{
|
|
switch((int)code_value())
|
|
{
|
|
case 0: // G0 -> G1
|
|
case 1: // G1
|
|
get_coordinates(); // For X Y Z E F
|
|
prepare_move();
|
|
previous_millis_cmd = millis();
|
|
//ClearToSend();
|
|
return;
|
|
//break;
|
|
case 4: // G4 dwell
|
|
codenum = 0;
|
|
if(code_seen('P')) codenum = code_value(); // milliseconds to wait
|
|
if(code_seen('S')) codenum = code_value() * 1000; // seconds to wait
|
|
codenum += millis(); // keep track of when we started waiting
|
|
while(millis() < codenum ){
|
|
manage_heater();
|
|
}
|
|
break;
|
|
case 28: //G28 Home all Axis one at a time
|
|
saved_feedrate = feedrate;
|
|
destination_x = 0;
|
|
current_x = 0;
|
|
destination_y = 0;
|
|
current_y = 0;
|
|
destination_z = 0;
|
|
current_z = 0;
|
|
destination_e = 0;
|
|
current_e = 0;
|
|
feedrate = 0;
|
|
|
|
|
|
if((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) {
|
|
current_x = 0;
|
|
destination_x = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
|
|
feedrate = max_start_speed_units_per_second[0] * 60;
|
|
prepare_move();
|
|
|
|
current_x = 0;
|
|
destination_x = -1 * X_HOME_DIR;
|
|
prepare_move();
|
|
|
|
destination_x = 10 * X_HOME_DIR;
|
|
prepare_move();
|
|
|
|
current_x = 0;
|
|
destination_x = 0;
|
|
feedrate = 0;
|
|
}
|
|
|
|
if((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) {
|
|
current_y = 0;
|
|
destination_y = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
|
|
feedrate = max_start_speed_units_per_second[1] * 60;
|
|
prepare_move();
|
|
|
|
current_y = 0;
|
|
destination_y = -1 * Y_HOME_DIR;
|
|
prepare_move();
|
|
|
|
destination_y = 10 * Y_HOME_DIR;
|
|
prepare_move();
|
|
|
|
current_y = 0;
|
|
destination_y = 0;
|
|
feedrate = 0;
|
|
}
|
|
|
|
if((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) {
|
|
current_z = 0;
|
|
destination_z = 1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
|
|
feedrate = max_z_feedrate/2;
|
|
prepare_move();
|
|
|
|
current_z = 0;
|
|
destination_z = -1 * Z_HOME_DIR;
|
|
prepare_move();
|
|
|
|
destination_z = 10 * Z_HOME_DIR;
|
|
prepare_move();
|
|
|
|
current_z = 0;
|
|
destination_z = 0;
|
|
feedrate = 0;
|
|
}
|
|
|
|
feedrate = saved_feedrate;
|
|
previous_millis_cmd = millis();
|
|
break;
|
|
case 90: // G90
|
|
relative_mode = false;
|
|
break;
|
|
case 91: // G91
|
|
relative_mode = true;
|
|
break;
|
|
case 92: // G92
|
|
if(code_seen('X')) current_x = code_value();
|
|
if(code_seen('Y')) current_y = code_value();
|
|
if(code_seen('Z')) current_z = code_value();
|
|
if(code_seen('E')) current_e = code_value();
|
|
break;
|
|
|
|
}
|
|
}
|
|
|
|
else if(code_seen('M'))
|
|
{
|
|
|
|
switch( (int)code_value() )
|
|
{
|
|
#ifdef SDSUPPORT
|
|
|
|
case 20: // M20 - list SD card
|
|
Serial.println("Begin file list");
|
|
root.ls();
|
|
Serial.println("End file list");
|
|
break;
|
|
case 21: // M21 - init SD card
|
|
sdmode = false;
|
|
initsd();
|
|
break;
|
|
case 22: //M22 - release SD card
|
|
sdmode = false;
|
|
sdactive = false;
|
|
break;
|
|
case 23: //M23 - Select file
|
|
if(sdactive){
|
|
sdmode = false;
|
|
file.close();
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
if(starpos!=NULL)
|
|
*(starpos-1)='\0';
|
|
if (file.open(&root, strchr_pointer + 4, O_READ)) {
|
|
Serial.print("File opened:");
|
|
Serial.print(strchr_pointer + 4);
|
|
Serial.print(" Size:");
|
|
Serial.println(file.fileSize());
|
|
sdpos = 0;
|
|
filesize = file.fileSize();
|
|
Serial.println("File selected");
|
|
}
|
|
else{
|
|
Serial.println("file.open failed");
|
|
}
|
|
}
|
|
break;
|
|
case 24: //M24 - Start SD print
|
|
if(sdactive){
|
|
sdmode = true;
|
|
}
|
|
break;
|
|
case 25: //M25 - Pause SD print
|
|
if(sdmode){
|
|
sdmode = false;
|
|
}
|
|
break;
|
|
case 26: //M26 - Set SD index
|
|
if(sdactive && code_seen('S')){
|
|
sdpos = code_value_long();
|
|
file.seekSet(sdpos);
|
|
}
|
|
break;
|
|
case 27: //M27 - Get SD status
|
|
if(sdactive){
|
|
Serial.print("SD printing byte ");
|
|
Serial.print(sdpos);
|
|
Serial.print("/");
|
|
Serial.println(filesize);
|
|
}else{
|
|
Serial.println("Not SD printing");
|
|
}
|
|
break;
|
|
case 28: //M28 - Start SD write
|
|
if(sdactive){
|
|
char* npos = 0;
|
|
file.close();
|
|
sdmode = false;
|
|
starpos = (strchr(strchr_pointer + 4,'*'));
|
|
if(starpos != NULL){
|
|
npos = strchr(cmdbuffer[bufindr], 'N');
|
|
strchr_pointer = strchr(npos,' ') + 1;
|
|
*(starpos-1) = '\0';
|
|
}
|
|
if (!file.open(&root, strchr_pointer+4, O_CREAT | O_APPEND | O_WRITE | O_TRUNC))
|
|
{
|
|
Serial.print("open failed, File: ");
|
|
Serial.print(strchr_pointer + 4);
|
|
Serial.print(".");
|
|
}else{
|
|
savetosd = true;
|
|
Serial.print("Writing to file: ");
|
|
Serial.println(strchr_pointer + 4);
|
|
}
|
|
}
|
|
break;
|
|
case 29: //M29 - Stop SD write
|
|
//processed in write to file routine above
|
|
//savetosd = false;
|
|
break;
|
|
#endif
|
|
case 104: // M104
|
|
if (code_seen('S')) target_raw = temp2analog(code_value());
|
|
#ifdef WATCHPERIOD
|
|
if(target_raw > current_raw){
|
|
watchmillis = max(1,millis());
|
|
watch_raw = current_raw;
|
|
}else{
|
|
watchmillis = 0;
|
|
}
|
|
#endif
|
|
break;
|
|
case 140: // M140 set bed temp
|
|
if (code_seen('S')) target_bed_raw = temp2analogBed(code_value());
|
|
break;
|
|
case 105: // M105
|
|
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675)
|
|
tt = analog2temp(current_raw);
|
|
#endif
|
|
#if TEMP_1_PIN > -1
|
|
bt = analog2tempBed(current_bed_raw);
|
|
#endif
|
|
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX6675)
|
|
Serial.print("T:");
|
|
Serial.println(tt);
|
|
#if TEMP_1_PIN > -1
|
|
|
|
Serial.print("ok T:");
|
|
Serial.print(tt);
|
|
Serial.print(" B:");
|
|
Serial.println(bt);
|
|
#endif
|
|
#else
|
|
Serial.println("No thermistors - no temp");
|
|
#endif
|
|
return;
|
|
//break;
|
|
case 109: // M109 - Wait for extruder heater to reach target.
|
|
if (code_seen('S')) target_raw = temp2analog(code_value());
|
|
#ifdef WATCHPERIOD
|
|
if(target_raw>current_raw){
|
|
watchmillis = max(1,millis());
|
|
watch_raw = current_raw;
|
|
}else{
|
|
watchmillis = 0;
|
|
}
|
|
#endif
|
|
codenum = millis();
|
|
while(current_raw < target_raw) {
|
|
if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
|
|
{
|
|
Serial.print("T:");
|
|
Serial.println( analog2temp(current_raw) );
|
|
codenum = millis();
|
|
}
|
|
manage_heater();
|
|
}
|
|
break;
|
|
case 190: // M190 - Wait bed for heater to reach target.
|
|
#if TEMP_1_PIN > -1
|
|
if (code_seen('S')) target_bed_raw = temp2analog(code_value());
|
|
codenum = millis();
|
|
while(current_bed_raw < target_bed_raw) {
|
|
if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
|
|
{
|
|
tt=analog2temp(current_raw);
|
|
Serial.print("T:");
|
|
Serial.println( tt );
|
|
Serial.print("ok T:");
|
|
Serial.print( tt );
|
|
Serial.print(" B:");
|
|
Serial.println( analog2temp(current_bed_raw) );
|
|
codenum = millis();
|
|
}
|
|
manage_heater();
|
|
}
|
|
#endif
|
|
break;
|
|
case 106: //M106 Fan On
|
|
if (code_seen('S')){
|
|
digitalWrite(FAN_PIN, HIGH);
|
|
analogWrite(FAN_PIN, constrain(code_value(),0,255) );
|
|
}
|
|
else
|
|
digitalWrite(FAN_PIN, HIGH);
|
|
break;
|
|
case 107: //M107 Fan Off
|
|
analogWrite(FAN_PIN, 0);
|
|
|
|
digitalWrite(FAN_PIN, LOW);
|
|
break;
|
|
case 80: // M81 - ATX Power On
|
|
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,OUTPUT); //GND
|
|
break;
|
|
case 81: // M81 - ATX Power Off
|
|
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); //Floating
|
|
break;
|
|
case 82:
|
|
relative_mode_e = false;
|
|
break;
|
|
case 83:
|
|
relative_mode_e = true;
|
|
break;
|
|
case 84:
|
|
if(code_seen('S')){ stepper_inactive_time = code_value() * 1000; }
|
|
else{ disable_x(); disable_y(); disable_z(); disable_e(); }
|
|
break;
|
|
case 85: // M85
|
|
code_seen('S');
|
|
max_inactive_time = code_value() * 1000;
|
|
break;
|
|
case 92: // M92
|
|
if(code_seen('X')) axis_steps_per_unit[0] = code_value();
|
|
if(code_seen('Y')) axis_steps_per_unit[1] = code_value();
|
|
if(code_seen('Z')) axis_steps_per_unit[2] = code_value();
|
|
if(code_seen('E')) axis_steps_per_unit[3] = 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
|
|
}
|
|
#endif
|
|
break;
|
|
case 115: // M115
|
|
Serial.println("FIRMWARE_NAME:Sprinter FIRMWARE_URL:http%%3A/github.com/kliment/Sprinter/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1");
|
|
break;
|
|
case 114: // M114
|
|
Serial.print("X:");
|
|
Serial.print(current_x);
|
|
Serial.print("Y:");
|
|
Serial.print(current_y);
|
|
Serial.print("Z:");
|
|
Serial.print(current_z);
|
|
Serial.print("E:");
|
|
Serial.println(current_e);
|
|
break;
|
|
#ifdef RAMP_ACCELERATION
|
|
//TODO: update for all axis, use for loop
|
|
case 201: // M201
|
|
if(code_seen('X')) axis_steps_per_sqr_second[0] = code_value() * axis_steps_per_unit[0];
|
|
if(code_seen('Y')) axis_steps_per_sqr_second[1] = code_value() * axis_steps_per_unit[1];
|
|
if(code_seen('Z')) axis_steps_per_sqr_second[2] = code_value() * axis_steps_per_unit[2];
|
|
if(code_seen('E')) axis_steps_per_sqr_second[3] = code_value() * axis_steps_per_unit[3];
|
|
break;
|
|
case 202: // M202
|
|
if(code_seen('X')) axis_travel_steps_per_sqr_second[0] = code_value() * axis_steps_per_unit[0];
|
|
if(code_seen('Y')) axis_travel_steps_per_sqr_second[1] = code_value() * axis_steps_per_unit[1];
|
|
if(code_seen('Z')) axis_travel_steps_per_sqr_second[2] = code_value() * axis_steps_per_unit[2];
|
|
if(code_seen('E')) axis_travel_steps_per_sqr_second[3] = code_value() * axis_steps_per_unit[3];
|
|
break;
|
|
#endif
|
|
}
|
|
|
|
}
|
|
else{
|
|
Serial.println("Unknown command:");
|
|
Serial.println(cmdbuffer[bufindr]);
|
|
}
|
|
|
|
ClearToSend();
|
|
|
|
}
|
|
|
|
inline void FlushSerialRequestResend()
|
|
{
|
|
//char cmdbuffer[bufindr][100]="Resend:";
|
|
Serial.flush();
|
|
Serial.print("Resend:");
|
|
Serial.println(gcode_LastN + 1);
|
|
ClearToSend();
|
|
}
|
|
|
|
inline void ClearToSend()
|
|
{
|
|
previous_millis_cmd = millis();
|
|
#ifdef SDSUPPORT
|
|
if(fromsd[bufindr])
|
|
return;
|
|
#endif
|
|
Serial.println("ok");
|
|
}
|
|
|
|
inline void get_coordinates()
|
|
{
|
|
if(code_seen('X')) destination_x = (float)code_value() + relative_mode*current_x;
|
|
else destination_x = current_x; //Are these else lines really needed?
|
|
if(code_seen('Y')) destination_y = (float)code_value() + relative_mode*current_y;
|
|
else destination_y = current_y;
|
|
if(code_seen('Z')) destination_z = (float)code_value() + relative_mode*current_z;
|
|
else destination_z = current_z;
|
|
if(code_seen('E')) destination_e = (float)code_value() + (relative_mode_e || relative_mode)*current_e;
|
|
else destination_e = current_e;
|
|
if(code_seen('F')) {
|
|
next_feedrate = code_value();
|
|
if(next_feedrate > 0.0) feedrate = next_feedrate;
|
|
}
|
|
}
|
|
|
|
inline void prepare_move()
|
|
{
|
|
//Find direction
|
|
if(destination_x >= current_x) direction_x = 1;
|
|
else direction_x = 0;
|
|
if(destination_y >= current_y) direction_y = 1;
|
|
else direction_y = 0;
|
|
if(destination_z >= current_z) direction_z = 1;
|
|
else direction_z = 0;
|
|
if(destination_e >= current_e) direction_e = 1;
|
|
else direction_e = 0;
|
|
|
|
|
|
if (min_software_endstops) {
|
|
if (destination_x < 0) destination_x = 0.0;
|
|
if (destination_y < 0) destination_y = 0.0;
|
|
if (destination_z < 0) destination_z = 0.0;
|
|
}
|
|
|
|
if (max_software_endstops) {
|
|
if (destination_x > X_MAX_LENGTH) destination_x = X_MAX_LENGTH;
|
|
if (destination_y > Y_MAX_LENGTH) destination_y = Y_MAX_LENGTH;
|
|
if (destination_z > Z_MAX_LENGTH) destination_z = Z_MAX_LENGTH;
|
|
}
|
|
|
|
if(feedrate > max_feedrate) feedrate = max_feedrate;
|
|
|
|
if(feedrate > max_z_feedrate) z_feedrate = max_z_feedrate;
|
|
else z_feedrate = feedrate;
|
|
|
|
xdiff = (destination_x - current_x);
|
|
ydiff = (destination_y - current_y);
|
|
zdiff = (destination_z - current_z);
|
|
ediff = (destination_e - current_e);
|
|
x_steps_to_take = abs(xdiff) * axis_steps_per_unit[0];
|
|
y_steps_to_take = abs(ydiff) * axis_steps_per_unit[1];
|
|
z_steps_to_take = abs(zdiff) * axis_steps_per_unit[2];
|
|
e_steps_to_take = abs(ediff) * axis_steps_per_unit[3];
|
|
if(feedrate < 10)
|
|
feedrate = 10;
|
|
/*
|
|
//experimental feedrate calc
|
|
if(abs(xdiff) > 0.1 && abs(ydiff) > 0.1)
|
|
d = sqrt(xdiff * xdiff + ydiff * ydiff);
|
|
else if(abs(xdiff) > 0.1)
|
|
d = abs(xdiff);
|
|
else if(abs(ydiff) > 0.1)
|
|
d = abs(ydiff);
|
|
else if(abs(zdiff) > 0.05)
|
|
d = abs(zdiff);
|
|
else if(abs(ediff) > 0.1)
|
|
d = abs(ediff);
|
|
else d = 1; //extremely slow move, should be okay for moves under 0.1mm
|
|
time_for_move = (xdiff / (feedrate / 60000000) );
|
|
//time = 60000000 * dist / feedrate
|
|
//int feedz = (60000000 * zdiff) / time_for_move;
|
|
//if(feedz > maxfeed)
|
|
*/
|
|
#define X_TIME_FOR_MOVE ((float)x_steps_to_take / (axis_steps_per_unit[0]*feedrate/60000000))
|
|
#define Y_TIME_FOR_MOVE ((float)y_steps_to_take / (axis_steps_per_unit[1]*feedrate/60000000))
|
|
#define Z_TIME_FOR_MOVE ((float)z_steps_to_take / (axis_steps_per_unit[2]*z_feedrate/60000000))
|
|
#define E_TIME_FOR_MOVE ((float)e_steps_to_take / (axis_steps_per_unit[3]*feedrate/60000000))
|
|
|
|
time_for_move = max(X_TIME_FOR_MOVE, Y_TIME_FOR_MOVE);
|
|
time_for_move = max(time_for_move, Z_TIME_FOR_MOVE);
|
|
if(time_for_move <= 0) time_for_move = max(time_for_move, E_TIME_FOR_MOVE);
|
|
|
|
if(x_steps_to_take) axis_interval[0] = time_for_move / x_steps_to_take * 100;
|
|
if(y_steps_to_take) axis_interval[1] = time_for_move / y_steps_to_take * 100;
|
|
if(z_steps_to_take) axis_interval[2] = time_for_move / z_steps_to_take * 100;
|
|
if(e_steps_to_take && (x_steps_to_take + y_steps_to_take <= 0) ) axis_interval[3] = time_for_move / e_steps_to_take * 100;
|
|
|
|
#ifdef DEBUG_PREPARE_MOVE
|
|
Serial.print("destination_x: "); Serial.println(destination_x);
|
|
Serial.print("current_x: "); Serial.println(current_x);
|
|
Serial.print("x_steps_to_take: "); Serial.println(x_steps_to_take);
|
|
Serial.print("X_TIME_FOR_MVE: "); Serial.println(X_TIME_FOR_MOVE);
|
|
Serial.print("axis_interval[0]: "); Serial.println(axis_interval[0]);
|
|
Serial.println("");
|
|
Serial.print("destination_y: "); Serial.println(destination_y);
|
|
Serial.print("current_y: "); Serial.println(current_y);
|
|
Serial.print("y_steps_to_take: "); Serial.println(y_steps_to_take);
|
|
Serial.print("Y_TIME_FOR_MVE: "); Serial.println(Y_TIME_FOR_MOVE);
|
|
Serial.print("axis_interval[1]: "); Serial.println(axis_interval[1]);
|
|
Serial.println("");
|
|
Serial.print("destination_z: "); Serial.println(destination_z);
|
|
Serial.print("current_z: "); Serial.println(current_z);
|
|
Serial.print("z_steps_to_take: "); Serial.println(z_steps_to_take);
|
|
Serial.print("Z_TIME_FOR_MVE: "); Serial.println(Z_TIME_FOR_MOVE);
|
|
Serial.print("axis_interval[2]: "); Serial.println(axis_interval[2]);
|
|
Serial.println("");
|
|
Serial.print("destination_e: "); Serial.println(destination_e);
|
|
Serial.print("current_e: "); Serial.println(current_e);
|
|
Serial.print("e_steps_to_take: "); Serial.println(e_steps_to_take);
|
|
Serial.print("E_TIME_FOR_MVE: "); Serial.println(E_TIME_FOR_MOVE);
|
|
Serial.print("axis_interval[3]: "); Serial.println(axis_interval[3]);
|
|
Serial.println("");
|
|
#endif
|
|
unsigned long axis_steps_to_take[NUM_AXIS] = {x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take};
|
|
linear_move(axis_steps_to_take); // make the move
|
|
}
|
|
|
|
void linear_move(unsigned long axis_steps_remaining[]) // make linear move with preset speeds and destinations, see G0 and G1
|
|
{
|
|
//Determine direction of movement
|
|
if (destination_x > current_x) digitalWrite(X_DIR_PIN,!INVERT_X_DIR);
|
|
else digitalWrite(X_DIR_PIN,INVERT_X_DIR);
|
|
if (destination_y > current_y) digitalWrite(Y_DIR_PIN,!INVERT_Y_DIR);
|
|
else digitalWrite(Y_DIR_PIN,INVERT_Y_DIR);
|
|
if (destination_z > current_z) digitalWrite(Z_DIR_PIN,!INVERT_Z_DIR);
|
|
else digitalWrite(Z_DIR_PIN,INVERT_Z_DIR);
|
|
if (destination_e > current_e) digitalWrite(E_DIR_PIN,!INVERT_E_DIR);
|
|
else digitalWrite(E_DIR_PIN,INVERT_E_DIR);
|
|
|
|
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
|
|
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
|
|
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
|
|
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
|
|
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
|
|
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
|
|
|
|
|
|
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
|
|
// TODO: maybe it's better to refactor into a generic enable(int axis) function, that will probably take more ram,
|
|
// but will reduce code size
|
|
if(axis_steps_remaining[0]) enable_x();
|
|
if(axis_steps_remaining[1]) enable_y();
|
|
if(axis_steps_remaining[2]) enable_z();
|
|
if(axis_steps_remaining[3]) enable_e();
|
|
|
|
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
|
|
unsigned int delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes
|
|
int axis_error[NUM_AXIS];
|
|
unsigned int primary_axis;
|
|
if(delta[1] > delta[0] && delta[1] > delta[2] && delta[1] > delta[3]) primary_axis = 1;
|
|
else if (delta[0] >= delta[1] && delta[0] > delta[2] && delta[0] > delta[3]) primary_axis = 0;
|
|
else if (delta[2] >= delta[0] && delta[2] >= delta[1] && delta[2] > delta[3]) primary_axis = 2;
|
|
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;
|
|
interval = axis_interval[primary_axis];
|
|
#ifdef DEBUG_BRESENHAM
|
|
log_int("_BRESENHAM - Primary axis", primary_axis);
|
|
log_int("_BRESENHAM - Primary axis full speed interval", interval);
|
|
#endif
|
|
|
|
//If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it.
|
|
#ifdef RAMP_ACCELERATION
|
|
long max_speed_steps_per_second;
|
|
long min_speed_steps_per_second;
|
|
max_interval = axis_max_interval[primary_axis];
|
|
#ifdef DEBUG_RAMP_ACCELERATION
|
|
log_ulong_array("_RAMP_ACCELERATION - Teoric step intervals at move start", axis_max_interval, NUM_AXIS);
|
|
#endif
|
|
unsigned long new_axis_max_intervals[NUM_AXIS];
|
|
max_speed_steps_per_second = 100000000 / interval;
|
|
min_speed_steps_per_second = 100000000 / max_interval; //TODO: can this be deleted?
|
|
//Calculate start speeds based on moving axes max start speed constraints.
|
|
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) {
|
|
slowest_start_axis = i;
|
|
slowest_start_axis_max_interval = axis_max_interval[i];
|
|
}
|
|
for(int i = 0; i < NUM_AXIS; i++)
|
|
if(axis_steps_remaining[i] >0) {
|
|
new_axis_max_intervals[i] = slowest_start_axis_max_interval * axis_steps_remaining[i] / axis_steps_remaining[slowest_start_axis];
|
|
if(i == primary_axis) {
|
|
max_interval = new_axis_max_intervals[i];
|
|
min_speed_steps_per_second = 100000000 / max_interval;
|
|
}
|
|
}
|
|
#ifdef DEBUG_RAMP_ACCELERATION
|
|
log_ulong_array("_RAMP_ACCELERATION - Actual step intervals at move start", new_axis_max_intervals, NUM_AXIS);
|
|
#endif
|
|
//Calculate slowest axis plateau time
|
|
float slowest_axis_plateau_time = 0;
|
|
for(int i=0; i < NUM_AXIS ; i++) {
|
|
if(axis_steps_remaining[i] > 0) {
|
|
if(e_steps_to_take > 0 && axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time,
|
|
(100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_steps_per_sqr_second[i]);
|
|
else if(axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time,
|
|
(100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_travel_steps_per_sqr_second[i]);
|
|
}
|
|
}
|
|
//Now we can calculate the new primary axis acceleration, so that the slowest axis max acceleration is not violated
|
|
steps_per_sqr_second = (100000000.0 / axis_interval[primary_axis] - 100000000.0 / new_axis_max_intervals[primary_axis]) / slowest_axis_plateau_time;
|
|
plateau_steps = (long) ((steps_per_sqr_second / 2.0 * slowest_axis_plateau_time + min_speed_steps_per_second) * slowest_axis_plateau_time);
|
|
#endif
|
|
#ifdef EXP_ACCELERATION
|
|
unsigned long virtual_full_velocity_steps;
|
|
unsigned long full_velocity_steps;
|
|
if(e_steps_to_take > 0) virtual_full_velocity_steps = axis_virtual_full_velocity_steps[primary_axis];
|
|
else virtual_full_velocity_steps = axis_travel_virtual_full_velocity_steps[primary_axis];
|
|
full_velocity_steps = min(virtual_full_velocity_steps, (delta[primary_axis] - axis_min_constant_speed_steps[primary_axis]) / 2);
|
|
max_interval = axis_max_interval[primary_axis];
|
|
min_constant_speed_steps = axis_min_constant_speed_steps[primary_axis];
|
|
#endif
|
|
|
|
unsigned long steps_done = 0;
|
|
#ifdef RAMP_ACCELERATION
|
|
plateau_steps *= 1.01; // This is to compensate we use discrete intervals
|
|
acceleration_enabled = true;
|
|
long full_interval = interval;
|
|
if(interval > max_interval) acceleration_enabled = false;
|
|
boolean decelerating = false;
|
|
#endif
|
|
#ifdef EXP_ACCELERATION
|
|
acceleration_enabled = true;
|
|
if(full_velocity_steps == 0) full_velocity_steps++;
|
|
if(interval > max_interval) acceleration_enabled = false;
|
|
unsigned long full_interval = interval;
|
|
if(min_constant_speed_steps >= steps_to_take) {
|
|
acceleration_enabled = false;
|
|
full_interval = max(max_interval, interval); // choose the min speed between feedrate and acceleration start speed
|
|
}
|
|
if(full_velocity_steps < virtual_full_velocity_steps && acceleration_enabled) full_interval = max(interval,
|
|
max_interval - ((max_interval - full_interval) * full_velocity_steps / virtual_full_velocity_steps)); // choose the min speed between feedrate and speed at full steps
|
|
unsigned int steps_acceleration_check = 1;
|
|
accelerating = acceleration_enabled;
|
|
#endif
|
|
|
|
unsigned long start_move_micros = micros();
|
|
for(int i = 0; i < NUM_AXIS; i++) {
|
|
axis_previous_micros[i] = start_move_micros * 100;
|
|
}
|
|
|
|
#ifdef DEBUG_MOVE_TIME
|
|
unsigned long startmove = micros();
|
|
#endif
|
|
|
|
//move until no more steps remain
|
|
while(axis_steps_remaining[0] + axis_steps_remaining[1] + axis_steps_remaining[2] + axis_steps_remaining[3] > 0) {
|
|
#ifdef DISABLE_CHECK_DURING_ACC
|
|
if(!accelerating && !decelerating) {
|
|
//If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp
|
|
manage_heater();
|
|
}
|
|
#else
|
|
#ifdef DISABLE_CHECK_DURING_MOVE
|
|
{} //Do nothing
|
|
#else
|
|
//If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp
|
|
manage_heater();
|
|
#endif
|
|
#endif
|
|
#ifdef RAMP_ACCELERATION
|
|
//If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval
|
|
if (acceleration_enabled && steps_done == 0) {
|
|
interval = max_interval;
|
|
} else if (acceleration_enabled && steps_done <= plateau_steps) {
|
|
long current_speed = (long) ((((long) steps_per_sqr_second) / 10000)
|
|
* ((micros() - start_move_micros) / 100) + (long) min_speed_steps_per_second);
|
|
interval = 100000000 / current_speed;
|
|
if (interval < full_interval) {
|
|
accelerating = false;
|
|
interval = full_interval;
|
|
}
|
|
if (steps_done >= steps_to_take / 2) {
|
|
plateau_steps = steps_done;
|
|
max_speed_steps_per_second = 100000000 / interval;
|
|
accelerating = false;
|
|
}
|
|
} else if (acceleration_enabled && steps_remaining <= plateau_steps) { //(interval > minInterval * 100) {
|
|
if (!accelerating) {
|
|
start_move_micros = micros();
|
|
accelerating = true;
|
|
decelerating = true;
|
|
}
|
|
long current_speed = (long) ((long) max_speed_steps_per_second - ((((long) steps_per_sqr_second) / 10000)
|
|
* ((micros() - start_move_micros) / 100)));
|
|
interval = 100000000 / current_speed;
|
|
if (interval > max_interval)
|
|
interval = max_interval;
|
|
} else {
|
|
//Else, we are just use the full speed interval as current interval
|
|
interval = full_interval;
|
|
accelerating = false;
|
|
}
|
|
#endif
|
|
#ifdef EXP_ACCELERATION
|
|
//If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval
|
|
// TODO: is this any useful? -> steps_done % steps_acceleration_check == 0
|
|
if (acceleration_enabled && steps_done < full_velocity_steps && steps_done / full_velocity_steps < 1 && (steps_done % steps_acceleration_check == 0)) {
|
|
if(steps_done == 0) {
|
|
interval = max_interval;
|
|
} else {
|
|
interval = max_interval - ((max_interval - full_interval) * steps_done / virtual_full_velocity_steps);
|
|
}
|
|
} else if (acceleration_enabled && steps_remaining < full_velocity_steps) {
|
|
//Else, if acceleration is enabled on this move and we are in the deceleration segment, calculate the current interval
|
|
if(steps_remaining == 0) {
|
|
interval = max_interval;
|
|
} else {
|
|
interval = max_interval - ((max_interval - full_interval) * steps_remaining / virtual_full_velocity_steps);
|
|
}
|
|
accelerating = true;
|
|
} else if (steps_done - full_velocity_steps >= 1 || !acceleration_enabled){
|
|
//Else, we are just use the full speed interval as current interval
|
|
interval = full_interval;
|
|
accelerating = false;
|
|
}
|
|
#endif
|
|
|
|
//If there are x or y steps remaining, perform Bresenham algorithm
|
|
if(axis_steps_remaining[primary_axis]) {
|
|
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
|
|
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
|
|
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
|
|
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
|
|
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
|
|
if(Z_MAX_PIN > -1) if(direction_z) 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) {
|
|
steps_done++;
|
|
steps_remaining--;
|
|
axis_steps_remaining[primary_axis]--; timediff -= interval;
|
|
do_step_update_micros(primary_axis);
|
|
for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis && axis_steps_remaining[i] > 0) {
|
|
axis_error[i] = axis_error[i] - delta[i];
|
|
if(axis_error[i] < 0) {
|
|
do_step(i); axis_steps_remaining[i]--;
|
|
axis_error[i] = axis_error[i] + delta[primary_axis];
|
|
}
|
|
}
|
|
#ifdef STEP_DELAY_RATIO
|
|
if(timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000);
|
|
#endif
|
|
#ifdef STEP_DELAY_MICROS
|
|
if(timediff >= interval) delayMicroseconds(STEP_DELAY_MICROS);
|
|
#endif
|
|
}
|
|
}
|
|
}
|
|
#ifdef DEBUG_MOVE_TIME
|
|
log_ulong("_MOVE_TIME - This move took", micros()-startmove);
|
|
#endif
|
|
|
|
if(DISABLE_X) disable_x();
|
|
if(DISABLE_Y) disable_y();
|
|
if(DISABLE_Z) disable_z();
|
|
if(DISABLE_E) disable_e();
|
|
|
|
// Update current position partly based on direction, we probably can combine this with the direction code above...
|
|
if (destination_x > current_x) current_x = current_x + x_steps_to_take / axis_steps_per_unit[0];
|
|
else current_x = current_x - x_steps_to_take / axis_steps_per_unit[0];
|
|
if (destination_y > current_y) current_y = current_y + y_steps_to_take / axis_steps_per_unit[1];
|
|
else current_y = current_y - y_steps_to_take / axis_steps_per_unit[1];
|
|
if (destination_z > current_z) current_z = current_z + z_steps_to_take / axis_steps_per_unit[2];
|
|
else current_z = current_z - z_steps_to_take / axis_steps_per_unit[2];
|
|
if (destination_e > current_e) current_e = current_e + e_steps_to_take / axis_steps_per_unit[3];
|
|
else current_e = current_e - e_steps_to_take / axis_steps_per_unit[3];
|
|
}
|
|
|
|
inline void do_step_update_micros(int axis) {
|
|
digitalWrite(STEP_PIN[axis], HIGH);
|
|
axis_previous_micros[axis] += interval;
|
|
digitalWrite(STEP_PIN[axis], LOW);
|
|
}
|
|
|
|
inline void do_step(int axis) {
|
|
digitalWrite(STEP_PIN[axis], HIGH);
|
|
digitalWrite(STEP_PIN[axis], LOW);
|
|
}
|
|
|
|
inline void disable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON); }
|
|
inline void disable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN,!Y_ENABLE_ON); }
|
|
inline void disable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN,!Z_ENABLE_ON); }
|
|
inline void disable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN,!E_ENABLE_ON); }
|
|
inline void enable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN, X_ENABLE_ON); }
|
|
inline void enable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN, Y_ENABLE_ON); }
|
|
inline void enable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN, Z_ENABLE_ON); }
|
|
inline void enable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN, E_ENABLE_ON); }
|
|
|
|
#define HEAT_INTERVAL 250
|
|
#ifdef HEATER_USES_MAX6675
|
|
unsigned long max6675_previous_millis = 0;
|
|
int max6675_temp = 2000;
|
|
|
|
inline int read_max6675()
|
|
{
|
|
if (millis() - max6675_previous_millis < HEAT_INTERVAL)
|
|
return max6675_temp;
|
|
|
|
max6675_previous_millis = millis();
|
|
|
|
max6675_temp = 0;
|
|
|
|
#ifdef PRR
|
|
PRR &= ~(1<<PRSPI);
|
|
#elif defined PRR0
|
|
PRR0 &= ~(1<<PRSPI);
|
|
#endif
|
|
|
|
SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0);
|
|
|
|
// enable TT_MAX6675
|
|
digitalWrite(MAX6675_SS, 0);
|
|
|
|
// ensure 100ns delay - a bit extra is fine
|
|
delay(1);
|
|
|
|
// read MSB
|
|
SPDR = 0;
|
|
for (;(SPSR & (1<<SPIF)) == 0;);
|
|
max6675_temp = SPDR;
|
|
max6675_temp <<= 8;
|
|
|
|
// read LSB
|
|
SPDR = 0;
|
|
for (;(SPSR & (1<<SPIF)) == 0;);
|
|
max6675_temp |= SPDR;
|
|
|
|
// disable TT_MAX6675
|
|
digitalWrite(MAX6675_SS, 1);
|
|
|
|
if (max6675_temp & 4)
|
|
{
|
|
// thermocouple open
|
|
max6675_temp = 2000;
|
|
}
|
|
else
|
|
{
|
|
max6675_temp = max6675_temp >> 3;
|
|
}
|
|
|
|
return max6675_temp;
|
|
}
|
|
#endif
|
|
|
|
|
|
inline void manage_heater()
|
|
{
|
|
if((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL )
|
|
return;
|
|
previous_millis_heater = millis();
|
|
#ifdef HEATER_USES_THERMISTOR
|
|
current_raw = analogRead(TEMP_0_PIN);
|
|
// When using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target,
|
|
// this switches it up so that the reading appears lower than target for the control logic.
|
|
current_raw = 1023 - current_raw;
|
|
#elif defined HEATER_USES_AD595
|
|
current_raw = analogRead(TEMP_0_PIN);
|
|
#elif defined HEATER_USES_MAX6675
|
|
current_raw = read_max6675();
|
|
#endif
|
|
#ifdef SMOOTHING
|
|
nma = (nma + current_raw) - (nma / SMOOTHFACTOR);
|
|
current_raw = nma / SMOOTHFACTOR;
|
|
#endif
|
|
#ifdef WATCHPERIOD
|
|
if(watchmillis && millis() - watchmillis > WATCHPERIOD){
|
|
if(watch_raw + 1 >= current_raw){
|
|
target_raw = 0;
|
|
digitalWrite(HEATER_0_PIN,LOW);
|
|
digitalWrite(LED_PIN,LOW);
|
|
}else{
|
|
watchmillis = 0;
|
|
}
|
|
}
|
|
#endif
|
|
#ifdef MINTEMP
|
|
if(current_raw <= minttemp)
|
|
target_raw = 0;
|
|
#endif
|
|
#ifdef MAXTEMP
|
|
if(current_raw >= maxttemp) {
|
|
target_raw = 0;
|
|
}
|
|
#endif
|
|
#if (TEMP_0_PIN > -1) || defined (HEATER_USES_MAX66675)
|
|
#ifdef PIDTEMP
|
|
error = target_raw - current_raw;
|
|
pTerm = (PID_PGAIN * error) / 100;
|
|
temp_iState += error;
|
|
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
|
|
iTerm = (PID_IGAIN * temp_iState) / 100;
|
|
dTerm = (PID_DGAIN * (current_raw - temp_dState)) / 100;
|
|
temp_dState = current_raw;
|
|
analogWrite(HEATER_0_PIN, constrain(pTerm + iTerm - dTerm, 0, PID_MAX));
|
|
#else
|
|
if(current_raw >= target_raw)
|
|
{
|
|
digitalWrite(HEATER_0_PIN,LOW);
|
|
digitalWrite(LED_PIN,LOW);
|
|
}
|
|
else
|
|
{
|
|
digitalWrite(HEATER_0_PIN,HIGH);
|
|
digitalWrite(LED_PIN,HIGH);
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
|
|
return;
|
|
previous_millis_bed_heater = millis();
|
|
|
|
#ifdef BED_USES_THERMISTOR
|
|
|
|
current_bed_raw = analogRead(TEMP_1_PIN);
|
|
|
|
// If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target,
|
|
// this switches it up so that the reading appears lower than target for the control logic.
|
|
current_bed_raw = 1023 - current_bed_raw;
|
|
#elif defined BED_USES_AD595
|
|
current_bed_raw = analogRead(TEMP_1_PIN);
|
|
|
|
#endif
|
|
|
|
|
|
#if TEMP_1_PIN > -1
|
|
if(current_bed_raw >= target_bed_raw)
|
|
{
|
|
digitalWrite(HEATER_1_PIN,LOW);
|
|
}
|
|
else
|
|
{
|
|
digitalWrite(HEATER_1_PIN,HIGH);
|
|
}
|
|
#endif
|
|
}
|
|
|
|
// Takes hot end temperature value as input and returns corresponding raw value.
|
|
// For a thermistor, it uses the RepRap thermistor temp table.
|
|
// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
|
|
// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
|
|
float temp2analog(int celsius) {
|
|
#ifdef HEATER_USES_THERMISTOR
|
|
int raw = 0;
|
|
byte i;
|
|
|
|
for (i=1; i<NUMTEMPS; i++)
|
|
{
|
|
if (temptable[i][1] < celsius)
|
|
{
|
|
raw = temptable[i-1][0] +
|
|
(celsius - temptable[i-1][1]) *
|
|
(temptable[i][0] - temptable[i-1][0]) /
|
|
(temptable[i][1] - temptable[i-1][1]);
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
// Overflow: Set to last value in the table
|
|
if (i == NUMTEMPS) raw = temptable[i-1][0];
|
|
|
|
return 1023 - raw;
|
|
#elif defined HEATER_USES_AD595
|
|
return celsius * (1024.0 / (5.0 * 100.0) );
|
|
#elif defined HEATER_USES_MAX6675
|
|
return celsius * 4.0;
|
|
#endif
|
|
}
|
|
|
|
// Takes bed temperature value as input and returns corresponding raw value.
|
|
// For a thermistor, it uses the RepRap thermistor temp table.
|
|
// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
|
|
// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
|
|
float temp2analogBed(int celsius) {
|
|
#ifdef BED_USES_THERMISTOR
|
|
|
|
int raw = 0;
|
|
byte i;
|
|
|
|
for (i=1; i<BNUMTEMPS; i++)
|
|
{
|
|
if (bedtemptable[i][1] < celsius)
|
|
{
|
|
raw = bedtemptable[i-1][0] +
|
|
(celsius - bedtemptable[i-1][1]) *
|
|
(bedtemptable[i][0] - bedtemptable[i-1][0]) /
|
|
(bedtemptable[i][1] - bedtemptable[i-1][1]);
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
// Overflow: Set to last value in the table
|
|
if (i == BNUMTEMPS) raw = bedtemptable[i-1][0];
|
|
|
|
return 1023 - raw;
|
|
#elif defined BED_USES_AD595
|
|
return celsius * (1024.0 / (5.0 * 100.0) );
|
|
#endif
|
|
}
|
|
|
|
// Derived from RepRap FiveD extruder::getTemperature()
|
|
// For hot end temperature measurement.
|
|
float analog2temp(int raw) {
|
|
#ifdef HEATER_USES_THERMISTOR
|
|
int celsius = 0;
|
|
byte i;
|
|
|
|
raw = 1023 - raw;
|
|
|
|
for (i=1; i<NUMTEMPS; i++)
|
|
{
|
|
if (temptable[i][0] > raw)
|
|
{
|
|
celsius = temptable[i-1][1] +
|
|
(raw - temptable[i-1][0]) *
|
|
(temptable[i][1] - temptable[i-1][1]) /
|
|
(temptable[i][0] - temptable[i-1][0]);
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
// Overflow: Set to last value in the table
|
|
if (i == NUMTEMPS) celsius = temptable[i-1][1];
|
|
|
|
return celsius;
|
|
#elif defined HEATER_USES_AD595
|
|
return raw * ((5.0 * 100.0) / 1024.0);
|
|
#elif defined HEATER_USES_MAX6675
|
|
return raw * 0.25;
|
|
#endif
|
|
}
|
|
|
|
// Derived from RepRap FiveD extruder::getTemperature()
|
|
// For bed temperature measurement.
|
|
float analog2tempBed(int raw) {
|
|
#ifdef BED_USES_THERMISTOR
|
|
int celsius = 0;
|
|
byte i;
|
|
|
|
raw = 1023 - raw;
|
|
|
|
for (i=1; i<NUMTEMPS; i++)
|
|
{
|
|
if (bedtemptable[i][0] > raw)
|
|
{
|
|
celsius = bedtemptable[i-1][1] +
|
|
(raw - bedtemptable[i-1][0]) *
|
|
(bedtemptable[i][1] - bedtemptable[i-1][1]) /
|
|
(bedtemptable[i][0] - bedtemptable[i-1][0]);
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
// Overflow: Set to last value in the table
|
|
if (i == NUMTEMPS) celsius = bedtemptable[i-1][1];
|
|
|
|
return celsius;
|
|
|
|
#elif defined BED_USES_AD595
|
|
return raw * ((5.0 * 100.0) / 1024.0);
|
|
#endif
|
|
}
|
|
|
|
inline void kill()
|
|
{
|
|
#if TEMP_0_PIN > -1
|
|
target_raw=0;
|
|
digitalWrite(HEATER_0_PIN,LOW);
|
|
#endif
|
|
#if TEMP_1_PIN > -1
|
|
target_bed_raw=0;
|
|
if(HEATER_1_PIN > -1) digitalWrite(HEATER_1_PIN,LOW);
|
|
#endif
|
|
disable_x();
|
|
disable_y();
|
|
disable_z();
|
|
disable_e();
|
|
|
|
if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT);
|
|
|
|
}
|
|
|
|
inline void manage_inactivity(byte debug) {
|
|
if( (millis()-previous_millis_cmd) > max_inactive_time ) if(max_inactive_time) kill();
|
|
if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time) { disable_x(); disable_y(); disable_z(); disable_e(); }
|
|
}
|
|
|
|
#ifdef DEBUG
|
|
void log_message(char* message) {
|
|
Serial.println(message);
|
|
}
|
|
|
|
void log_int(char* message, int value) {
|
|
Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value);
|
|
}
|
|
|
|
void log_long(char* message, long value) {
|
|
Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value);
|
|
}
|
|
|
|
void log_float(char* message, float value) {
|
|
Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value);
|
|
}
|
|
|
|
void log_uint(char* message, unsigned int value) {
|
|
Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value);
|
|
}
|
|
|
|
void log_ulong(char* message, unsigned long value) {
|
|
Serial.print("DEBUG"); Serial.print(message); Serial.print(": "); Serial.println(value);
|
|
}
|
|
|
|
void log_int_array(char* message, int value[], int array_lenght) {
|
|
Serial.print("DEBUG"); Serial.print(message); Serial.print(": {");
|
|
for(int i=0; i < array_lenght; i++){
|
|
Serial.print(value[i]);
|
|
if(i != array_lenght-1) Serial.print(", ");
|
|
}
|
|
Serial.println("}");
|
|
}
|
|
|
|
void log_long_array(char* message, long value[], int array_lenght) {
|
|
Serial.print("DEBUG"); Serial.print(message); Serial.print(": {");
|
|
for(int i=0; i < array_lenght; i++){
|
|
Serial.print(value[i]);
|
|
if(i != array_lenght-1) Serial.print(", ");
|
|
}
|
|
Serial.println("}");
|
|
}
|
|
|
|
void log_float_array(char* message, float value[], int array_lenght) {
|
|
Serial.print("DEBUG"); Serial.print(message); Serial.print(": {");
|
|
for(int i=0; i < array_lenght; i++){
|
|
Serial.print(value[i]);
|
|
if(i != array_lenght-1) Serial.print(", ");
|
|
}
|
|
Serial.println("}");
|
|
}
|
|
|
|
void log_uint_array(char* message, unsigned int value[], int array_lenght) {
|
|
Serial.print("DEBUG"); Serial.print(message); Serial.print(": {");
|
|
for(int i=0; i < array_lenght; i++){
|
|
Serial.print(value[i]);
|
|
if(i != array_lenght-1) Serial.print(", ");
|
|
}
|
|
Serial.println("}");
|
|
}
|
|
|
|
void log_ulong_array(char* message, unsigned long value[], int array_lenght) {
|
|
Serial.print("DEBUG"); Serial.print(message); Serial.print(": {");
|
|
for(int i=0; i < array_lenght; i++){
|
|
Serial.print(value[i]);
|
|
if(i != array_lenght-1) Serial.print(", ");
|
|
}
|
|
Serial.println("}");
|
|
}
|
|
#endif
|