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Merge github.com:ErikZalm/Marlin into Marlin_v1

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This commit is contained in:
Guillaume Seguin
2013-07-23 21:33:52 +02:00
parent 16b9239a26 a105e10075
commit 18199ff960
32 changed files with 2592 additions and 1559 deletions
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321
Marlin/Marlin_main.cpp
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@ -67,17 +67,9 @@
// G91 - Use Relative Coordinates
// G92 - Set current position to cordinates given
//RepRap M Codes
// M Codes
// M0 - Unconditional stop - Wait for user to press a button on the LCD (Only if ULTRA_LCD is enabled)
// M1 - Same as M0
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Wait for extruder current temp to reach target temp.
// M114 - Display current position
//Custom M Codes
// M17 - Enable/Power all stepper motors
// M18 - Disable all stepper motors; same as M84
// M20 - List SD card
@ -92,6 +84,7 @@
// M29 - Stop SD write
// M30 - Delete file from SD (M30 filename.g)
// M31 - Output time since last M109 or SD card start to serial
// M32 - Select file and start SD print (Can be used when printing from SD card)
// M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
// M80 - Turn on Power Supply
// M81 - Turn off Power Supply
@ -101,6 +94,12 @@
// or use S<seconds> to specify an inactivity timeout, after which the steppers will be disabled. S0 to disable the timeout.
// M85 - Set inactivity shutdown timer with parameter S<seconds>. To disable set zero (default)
// M92 - Set axis_steps_per_unit - same syntax as G92
// M104 - Set extruder target temp
// M105 - Read current temp
// M106 - Fan on
// M107 - Fan off
// M109 - Sxxx Wait for extruder current temp to reach target temp. Waits only when heating
// Rxxx Wait for extruder current temp to reach target temp. Waits when heating and cooling
// M114 - Output current position to serial port
// M115 - Capabilities string
// M117 - display message
@ -110,7 +109,8 @@
// M128 - EtoP Open (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M129 - EtoP Closed (BariCUDA EtoP = electricity to air pressure transducer by jmil)
// M140 - Set bed target temp
// M190 - Wait for bed current temp to reach target temp.
// M190 - Sxxx Wait for bed current temp to reach target temp. Waits only when heating
// Rxxx Wait for bed current temp to reach target temp. Waits when heating and cooling
// M200 - Set filament diameter
// M201 - Set max acceleration in units/s^2 for print moves (M201 X1000 Y1000)
// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
@ -125,10 +125,11 @@
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
// M240 - Trigger a camera to take a photograph
// M250 - Set LCD contrast C<contrast value> (value 0..63)
// M280 - set servo position absolute. P: servo index, S: angle or microseconds
// M300 - Play beepsound S<frequency Hz> P<duration ms>
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes
// M302 - Allow cold extrudes, or set the minimum extrude S<temperature>.
// M303 - PID relay autotune S<temperature> sets the target temperature. (default target temperature = 150C)
// M304 - Set bed PID parameters P I and D
// M400 - Finish all moves
@ -177,6 +178,10 @@ float extruder_offset[2][EXTRUDERS] = {
#endif
uint8_t active_extruder = 0;
int fanSpeed=0;
#ifdef SERVO_ENDSTOPS
int servo_endstops[] = SERVO_ENDSTOPS;
int servo_endstop_angles[] = SERVO_ENDSTOP_ANGLES;
#endif
#ifdef BARICUDA
int ValvePressure=0;
int EtoPPressure=0;
@ -194,6 +199,9 @@ int EtoPPressure=0;
//===========================================================================
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
#ifdef DELTA
static float delta[3] = {0.0, 0.0, 0.0};
#endif
static float offset[3] = {0.0, 0.0, 0.0};
static bool home_all_axis = true;
static float feedrate = 1500.0, next_feedrate, saved_feedrate;
@ -234,6 +242,9 @@ bool Stopped=false;
Servo servos[NUM_SERVOS];
#endif
bool CooldownNoWait = true;
bool target_direction;
//===========================================================================
//=============================ROUTINES=============================
//===========================================================================
@ -351,6 +362,16 @@ void servo_init()
#if (NUM_SERVOS >= 5)
#error "TODO: enter initalisation code for more servos"
#endif
// Set position of Servo Endstops that are defined
#ifdef SERVO_ENDSTOPS
for(int8_t i = 0; i < 3; i++)
{
if(servo_endstops[i] > -1) {
servos[servo_endstops[i]].write(servo_endstop_angles[i * 2 + 1]);
}
}
#endif
}
void setup()
@ -404,6 +425,7 @@ void setup()
servo_init();
lcd_init();
_delay_ms(1000); // wait 1sec to display the splash screen
#if defined(CONTROLLERFAN_PIN) && CONTROLLERFAN_PIN > -1
SET_OUTPUT(CONTROLLERFAN_PIN); //Set pin used for driver cooling fan
@ -655,7 +677,44 @@ XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH);
XYZ_CONSTS_FROM_CONFIG(float, home_retract_mm, HOME_RETRACT_MM);
XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR);
#ifdef DUAL_X_CARRIAGE
#if EXTRUDERS == 1 || defined(COREXY) \
|| !defined(X2_ENABLE_PIN) || !defined(X2_STEP_PIN) || !defined(X2_DIR_PIN) \
|| !defined(X2_HOME_POS) || !defined(X2_MIN_POS) || !defined(X2_MAX_POS) \
|| !defined(X_MAX_PIN) || X_MAX_PIN < 0
#error "Missing or invalid definitions for DUAL_X_CARRIAGE mode."
#endif
#if X_HOME_DIR != -1 || X2_HOME_DIR != 1
#error "Please use canonical x-carriage assignment" // the x-carriages are defined by their homing directions
#endif
static float x_home_pos(int extruder) {
if (extruder == 0)
return base_home_pos(X_AXIS) + add_homeing[X_AXIS];
else
// In dual carriage mode the extruder offset provides an override of the
// second X-carriage offset when homed - otherwise X2_HOME_POS is used.
// This allow soft recalibration of the second extruder offset position without firmware reflash
// (through the M218 command).
return (extruder_offset[X_AXIS][1] > 0) ? extruder_offset[X_AXIS][1] : X2_HOME_POS;
}
static int x_home_dir(int extruder) {
return (extruder == 0) ? X_HOME_DIR : X2_HOME_DIR;
}
static float inactive_x_carriage_pos = X2_MAX_POS;
#endif
static void axis_is_at_home(int axis) {
#ifdef DUAL_X_CARRIAGE
if (axis == X_AXIS && active_extruder != 0) {
current_position[X_AXIS] = x_home_pos(active_extruder);
min_pos[X_AXIS] = X2_MIN_POS;
max_pos[X_AXIS] = max(extruder_offset[X_AXIS][1], X2_MAX_POS);
return;
}
#endif
current_position[axis] = base_home_pos(axis) + add_homeing[axis];
min_pos[axis] = base_min_pos(axis) + add_homeing[axis];
max_pos[axis] = base_max_pos(axis) + add_homeing[axis];
@ -669,20 +728,33 @@ static void homeaxis(int axis) {
axis==Y_AXIS ? HOMEAXIS_DO(Y) :
axis==Z_AXIS ? HOMEAXIS_DO(Z) :
0) {
int axis_home_dir = home_dir(axis);
#ifdef DUAL_X_CARRIAGE
if (axis == X_AXIS)
axis_home_dir = x_home_dir(active_extruder);
#endif
// Engage Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (SERVO_ENDSTOPS[axis] > -1) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2]);
}
#endif
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = 1.5 * max_length(axis) * home_dir(axis);
destination[axis] = 1.5 * max_length(axis) * axis_home_dir;
feedrate = homing_feedrate[axis];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
current_position[axis] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[axis] = -home_retract_mm(axis) * home_dir(axis);
destination[axis] = -home_retract_mm(axis) * axis_home_dir;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
destination[axis] = 2*home_retract_mm(axis) * home_dir(axis);
destination[axis] = 2*home_retract_mm(axis) * axis_home_dir;
feedrate = homing_feedrate[axis]/2 ;
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
@ -691,6 +763,13 @@ static void homeaxis(int axis) {
destination[axis] = current_position[axis];
feedrate = 0.0;
endstops_hit_on_purpose();
// Retract Servo endstop if enabled
#ifdef SERVO_ENDSTOPS
if (SERVO_ENDSTOPS[axis] > -1) {
servos[servo_endstops[axis]].write(servo_endstop_angles[axis * 2 + 1]);
}
#endif
}
}
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
@ -781,7 +860,40 @@ void process_commands()
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i];
}
feedrate = 0.0;
feedrate = 0.0;
#ifdef DELTA
// A delta can only safely home all axis at the same time
// all axis have to home at the same time
// Move all carriages up together until the first endstop is hit.
current_position[X_AXIS] = 0;
current_position[Y_AXIS] = 0;
current_position[Z_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 3 * Z_MAX_LENGTH;
destination[Y_AXIS] = 3 * Z_MAX_LENGTH;
destination[Z_AXIS] = 3 * Z_MAX_LENGTH;
feedrate = 1.732 * homing_feedrate[X_AXIS];
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
endstops_hit_on_purpose();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
current_position[Z_AXIS] = destination[Z_AXIS];
// take care of back off and rehome now we are all at the top
HOMEAXIS(X);
HOMEAXIS(Y);
HOMEAXIS(Z);
calculate_delta(current_position);
plan_set_position(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
#else // NOT DELTA
home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
#if Z_HOME_DIR > 0 // If homing away from BED do Z first
@ -795,8 +907,14 @@ void process_commands()
{
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
#ifndef DUAL_X_CARRIAGE
int x_axis_home_dir = home_dir(X_AXIS);
#else
int x_axis_home_dir = x_home_dir(active_extruder);
#endif
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
destination[X_AXIS] = 1.5 * max_length(X_AXIS) * x_axis_home_dir;destination[Y_AXIS] = 1.5 * max_length(Y_AXIS) * home_dir(Y_AXIS);
feedrate = homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS]<feedrate)
feedrate =homing_feedrate[Y_AXIS];
@ -812,11 +930,22 @@ void process_commands()
feedrate = 0.0;
st_synchronize();
endstops_hit_on_purpose();
current_position[X_AXIS] = destination[X_AXIS];
current_position[Y_AXIS] = destination[Y_AXIS];
current_position[Z_AXIS] = destination[Z_AXIS];
}
#endif
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{
#ifdef DUAL_X_CARRIAGE
int tmp_extruder = active_extruder;
active_extruder = !active_extruder;
HOMEAXIS(X);
inactive_x_carriage_pos = current_position[X_AXIS];
active_extruder = tmp_extruder;
#endif
HOMEAXIS(X);
}
@ -849,7 +978,8 @@ void process_commands()
}
}
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
#endif // else DELTA
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
@ -988,6 +1118,19 @@ void process_commands()
card.removeFile(strchr_pointer + 4);
}
break;
case 32: //M32 - Select file and start SD print
if(card.sdprinting) {
st_synchronize();
card.closefile();
card.sdprinting = false;
}
starpos = (strchr(strchr_pointer + 4,'*'));
if(starpos!=NULL)
*(starpos-1)='\0';
card.openFile(strchr_pointer + 4,true);
card.startFileprint();
starttime=millis();
break;
case 928: //M928 - Start SD write
starpos = (strchr(strchr_pointer + 5,'*'));
if(starpos != NULL){
@ -1055,7 +1198,7 @@ void process_commands()
case 105 : // M105
if(setTargetedHotend(105)){
break;
}
}
#if defined(TEMP_0_PIN) && TEMP_0_PIN > -1
SERIAL_PROTOCOLPGM("ok T:");
SERIAL_PROTOCOL_F(degHotend(tmp_extruder),1);
@ -1098,7 +1241,13 @@ void process_commands()
#ifdef AUTOTEMP
autotemp_enabled=false;
#endif
if (code_seen('S')) setTargetHotend(code_value(), tmp_extruder);
if (code_seen('S')) {
setTargetHotend(code_value(), tmp_extruder);
CooldownNoWait = true;
} else if (code_seen('R')) {
setTargetHotend(code_value(), tmp_extruder);
CooldownNoWait = false;
}
#ifdef AUTOTEMP
if (code_seen('S')) autotemp_min=code_value();
if (code_seen('B')) autotemp_max=code_value();
@ -1113,7 +1262,7 @@ void process_commands()
codenum = millis();
/* See if we are heating up or cooling down */
bool target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
target_direction = isHeatingHotend(tmp_extruder); // true if heating, false if cooling
#ifdef TEMP_RESIDENCY_TIME
long residencyStart;
@ -1169,9 +1318,18 @@ void process_commands()
case 190: // M190 - Wait for bed heater to reach target.
#if defined(TEMP_BED_PIN) && TEMP_BED_PIN > -1
LCD_MESSAGEPGM(MSG_BED_HEATING);
if (code_seen('S')) setTargetBed(code_value());
if (code_seen('S')) {
setTargetBed(code_value());
CooldownNoWait = true;
} else if (code_seen('R')) {
setTargetBed(code_value());
CooldownNoWait = false;
}
codenum = millis();
while(isHeatingBed())
target_direction = isHeatingBed(); // true if heating, false if cooling
while ( target_direction ? (isHeatingBed()) : (isCoolingBed()&&(CooldownNoWait==false)) )
{
if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
@ -1550,17 +1708,22 @@ void process_commands()
#if LARGE_FLASH == true && ( BEEPER > 0 || defined(ULTRALCD) )
case 300: // M300
{
int beepS = 400;
int beepP = 1000;
if(code_seen('S')) beepS = code_value();
if(code_seen('P')) beepP = code_value();
#if BEEPER > 0
tone(BEEPER, beepS);
int beepS = code_seen('S') ? code_value() : 110;
int beepP = code_seen('P') ? code_value() : 1000;
if (beepS > 0)
{
#if BEEPER > 0
tone(BEEPER, beepS);
delay(beepP);
noTone(BEEPER);
#elif defined(ULTRALCD)
lcd_buzz(beepS, beepP);
#endif
}
else
{
delay(beepP);
noTone(BEEPER);
#elif defined(ULTRALCD)
lcd_buzz(beepS, beepP);
#endif
}
}
break;
#endif // M300
@ -1633,12 +1796,27 @@ void process_commands()
#endif
}
break;
case 302: // allow cold extrudes
#ifdef DOGLCD
case 250: // M250 Set LCD contrast value: C<value> (value 0..63)
{
if (code_seen('C')) {
lcd_setcontrast( ((int)code_value())&63 );
}
SERIAL_PROTOCOLPGM("lcd contrast value: ");
SERIAL_PROTOCOL(lcd_contrast);
SERIAL_PROTOCOLLN("");
}
break;
#endif
#ifdef PREVENT_DANGEROUS_EXTRUDE
case 302: // allow cold extrudes, or set the minimum extrude temperature
{
allow_cold_extrudes(true);
float temp = .0;
if (code_seen('S')) temp=code_value();
set_extrude_min_temp(temp);
}
break;
#endif
case 303: // M303 PID autotune
{
float temp = 150.0;
@ -1887,6 +2065,20 @@ void process_commands()
if(tmp_extruder != active_extruder) {
// Save current position to return to after applying extruder offset
memcpy(destination, current_position, sizeof(destination));
#ifdef DUAL_X_CARRIAGE
// only apply Y extruder offset in dual x carriage mode (x offset is already used in determining home pos)
current_position[Y_AXIS] = current_position[Y_AXIS] -
extruder_offset[Y_AXIS][active_extruder] +
extruder_offset[Y_AXIS][tmp_extruder];
float tmp_x_pos = current_position[X_AXIS];
// Set the new active extruder and position
active_extruder = tmp_extruder;
axis_is_at_home(X_AXIS); //this function updates X min/max values.
current_position[X_AXIS] = inactive_x_carriage_pos;
inactive_x_carriage_pos = tmp_x_pos;
#else
// Offset extruder (only by XY)
int i;
for(i = 0; i < 2; i++) {
@ -1896,6 +2088,7 @@ void process_commands()
}
// Set the new active extruder and position
active_extruder = tmp_extruder;
#endif //else DUAL_X_CARRIAGE
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
// Move to the old position if 'F' was in the parameters
if(make_move && Stopped == false) {
@ -2032,11 +2225,64 @@ void clamp_to_software_endstops(float target[3])
}
}
#ifdef DELTA
void calculate_delta(float cartesian[3])
{
delta[X_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
- sq(DELTA_TOWER1_X-cartesian[X_AXIS])
- sq(DELTA_TOWER1_Y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Y_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
- sq(DELTA_TOWER2_X-cartesian[X_AXIS])
- sq(DELTA_TOWER2_Y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Z_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
- sq(DELTA_TOWER3_X-cartesian[X_AXIS])
- sq(DELTA_TOWER3_Y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
/*
SERIAL_ECHOPGM("cartesian x="); SERIAL_ECHO(cartesian[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(cartesian[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(cartesian[Z_AXIS]);
SERIAL_ECHOPGM("delta x="); SERIAL_ECHO(delta[X_AXIS]);
SERIAL_ECHOPGM(" y="); SERIAL_ECHO(delta[Y_AXIS]);
SERIAL_ECHOPGM(" z="); SERIAL_ECHOLN(delta[Z_AXIS]);
*/
}
#endif
void prepare_move()
{
clamp_to_software_endstops(destination);
previous_millis_cmd = millis();
#ifdef DELTA
float difference[NUM_AXIS];
for (int8_t i=0; i < NUM_AXIS; i++) {
difference[i] = destination[i] - current_position[i];
}
float cartesian_mm = sqrt(sq(difference[X_AXIS]) +
sq(difference[Y_AXIS]) +
sq(difference[Z_AXIS]));
if (cartesian_mm < 0.000001) { cartesian_mm = abs(difference[E_AXIS]); }
if (cartesian_mm < 0.000001) { return; }
float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
int steps = max(1, int(DELTA_SEGMENTS_PER_SECOND * seconds));
// SERIAL_ECHOPGM("mm="); SERIAL_ECHO(cartesian_mm);
// SERIAL_ECHOPGM(" seconds="); SERIAL_ECHO(seconds);
// SERIAL_ECHOPGM(" steps="); SERIAL_ECHOLN(steps);
for (int s = 1; s <= steps; s++) {
float fraction = float(s) / float(steps);
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i] + difference[i] * fraction;
}
calculate_delta(destination);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
active_extruder);
}
#else
// Do not use feedmultiply for E or Z only moves
if( (current_position[X_AXIS] == destination [X_AXIS]) && (current_position[Y_AXIS] == destination [Y_AXIS])) {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
@ -2044,6 +2290,7 @@ void prepare_move()
else {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
}
#endif
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
@ -2086,6 +2333,9 @@ void controllerFan()
|| !READ(E2_ENABLE_PIN)
#endif
#if EXTRUDER > 1
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
|| !READ(X2_ENABLE_PIN)
#endif
|| !READ(E1_ENABLE_PIN)
#endif
|| !READ(E0_ENABLE_PIN)) //If any of the drivers are enabled...
@ -2287,3 +2537,4 @@ bool setTargetedHotend(int code){
}
return false;
}