bissen21/Marlin_Firmware
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This commit is contained in:
Erik van der Zalm
2011-08-13 10:09:54 +02:00
parent f850af5c1c
commit 26bf57e22c
3 changed files with 111 additions and 57 deletions
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43
Marlin/Configuration.h
View File

@ -13,26 +13,6 @@
// 3 is mendel-parts thermistor
#define THERMISTORHEATER 3
// extruder advance constant (s2/mm3)
//
// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
//
// hooke's law says: force = k * distance
// bernoulli's priniciple says: v ^ 2 / 2 + g . h + pressure / density = constant
// so: v ^ 2 is proportional to number of steps we advance the extruder
//#define ADVANCE
#ifdef ADVANCE
#define EXTRUDER_ADVANCE_K 0.02
#define D_FILAMENT 1.7
#define STEPS_MM_E 65
//#define D_FILAMENT 2.85
//#define STEPS_MM_E 367.35
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
#endif // ADVANCE
//// Calibration variables
// X, Y, Z, E steps per unit - Metric Prusa Mendel with V9 extruder:
@ -94,10 +74,10 @@ bool axis_relative_modes[] = {false, false, false, false};
//// Acceleration settings
// X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
float acceleration = 3000; // Normal acceleration mm/s^2
float acceleration = 2000; // Normal acceleration mm/s^2
float retract_acceleration = 7000; // Normal acceleration mm/s^2
float max_jerk = 20*60;
long max_acceleration_units_per_sq_second[] = {7000,7000,20,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
long max_acceleration_units_per_sq_second[] = {7000,7000,100,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
// Not used long max_travel_acceleration_units_per_sq_second[] = {500,500,50,500}; // X, Y, Z max acceleration in mm/s^2 for travel moves
@ -130,4 +110,23 @@ double Kd = 80/PID_dT;
#endif // PIDTEMP
// extruder advance constant (s2/mm3)
//
// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
//
// hooke's law says: force = k * distance
// bernoulli's priniciple says: v ^ 2 / 2 + g . h + pressure / density = constant
// so: v ^ 2 is proportional to number of steps we advance the extruder
//#define ADVANCE
#ifdef ADVANCE
#define EXTRUDER_ADVANCE_K 0.02
#define D_FILAMENT 1.7
#define STEPS_MM_E 65
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
#endif // ADVANCE
#endif

69
Marlin/Marlin.pde
View File

@ -18,10 +18,12 @@
/*
This firmware is a mashup between Sprinter and grbl.
(https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree)
It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
(https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree)
This firmware is optimized for gen6 electronics.
*/
@ -35,12 +37,12 @@ char version_string[] = "0.9.0";
#ifdef SDSUPPORT
#include "SdFat.h"
#endif
#endif //SDSUPPORT
#ifndef CRITICAL_SECTION_START
#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli()
#define CRITICAL_SECTION_END SREG = _sreg
#endif
#endif //CRITICAL_SECTION_START
// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
@ -138,18 +140,18 @@ unsigned char temp_meas_ready = false;
double pid_input;
double pid_output;
bool pid_reset;
#endif
#endif //PIDTEMP
#ifdef WATCHPERIOD
int watch_raw = -1000;
unsigned long watchmillis = 0;
#endif
#endif //WATCHPERIOD
#ifdef MINTEMP
int minttemp = temp2analogh(MINTEMP);
#endif
#endif //MINTEMP
#ifdef MAXTEMP
int maxttemp = temp2analogh(MAXTEMP);
#endif
#endif //MAXTEMP
//Inactivity shutdown variables
unsigned long previous_millis_cmd = 0;
@ -183,7 +185,7 @@ void initsd(){
Serial.println("openRoot failed");
else
sdactive = true;
#endif
#endif //SDSS
}
inline void write_command(char *buf){
@ -205,7 +207,7 @@ inline void write_command(char *buf){
Serial.println("error writing to file");
}
}
#endif
#endif //SDSUPPORT
void setup()
@ -278,7 +280,7 @@ void setup()
SET_INPUT(Z_MAX_PIN);
WRITE(Z_MAX_PIN,HIGH);
#endif
#else
#else //ENDSTOPPULLUPS
#if X_MIN_PIN > -1
SET_INPUT(X_MIN_PIN);
#endif
@ -297,7 +299,7 @@ void setup()
#if Z_MAX_PIN > -1
SET_INPUT(Z_MAX_PIN);
#endif
#endif
#endif //ENDSTOPPULLUPS
#if (HEATER_0_PIN > -1)
SET_OUTPUT(HEATER_0_PIN);
@ -333,10 +335,10 @@ void setup()
#if SDPOWER > -1
SET_OUTPUT(SDPOWER);
WRITE(SDPOWER,HIGH);
#endif
#endif //SDPOWER
initsd();
#endif
#endif //SDSUPPORT
plan_init(); // Initialize planner;
st_init(); // Initialize stepper;
tp_init(); // Initialize temperature loop
@ -367,7 +369,7 @@ void loop()
}
#else
process_commands();
#endif
#endif //SDSUPPORT
buflen = (buflen-1);
bufindr = (bufindr + 1)%BUFSIZE;
}
@ -446,7 +448,7 @@ inline void get_command()
#ifdef SDSUPPORT
if(savetosd)
break;
#endif
#endif //SDSUPPORT
Serial.println("ok");
break;
default:
@ -497,7 +499,7 @@ inline void get_command()
if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
}
}
#endif
#endif //SDSUPPORT
}
@ -751,7 +753,7 @@ inline void process_commands()
//processed in write to file routine above
//savetosd = false;
break;
#endif
#endif //SDSUPPORT
case 104: // M104
#ifdef PID_OPENLOOP
if (code_seen('S')) PidTemp_Output = code_value() * (PID_MAX/100.0);
@ -790,7 +792,7 @@ inline void process_commands()
else{
watchmillis = 0;
}
#endif
#endif //WATCHERPERIOD
codenum = millis();
while(current_raw < target_raw) {
if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
@ -922,7 +924,7 @@ void ClearToSend()
#ifdef SDSUPPORT
if(fromsd[bufindr])
return;
#endif
#endif //SDSUPPORT
Serial.println("ok");
}
@ -958,7 +960,7 @@ CRITICAL_SECTION_START;
CRITICAL_SECTION_END;
#ifdef PIDTEMP
pid_input = analog2temp(current_raw);//ACT
pid_input = analog2temp(current_raw);
#ifndef PID_OPENLOOP
pid_error = pid_setpoint - pid_input;
@ -1000,7 +1002,7 @@ CRITICAL_SECTION_END;
Serial.println();
#endif //PID_DEBUG
OCR2B = pid_output;
#endif
#endif //PIDTEMP
}
@ -1051,7 +1053,7 @@ inline void kill()
target_raw=0;
#ifdef PIDTEMP
pid_setpoint = 0.0;
#endif PIDTEMP
#endif //PIDTEMP
OCR2B = 0;
WRITE(HEATER_0_PIN,LOW);
@ -1465,7 +1467,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
float speed_factor = 1;
float tmp_speed_factor;
if(abs(block->speed_x) > max_feedrate[X_AXIS]) {
speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_x);
speed_factor = max_feedrate[X_AXIS] / abs(block->speed_x);
}
if(abs(block->speed_y) > max_feedrate[Y_AXIS]){
tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y);
@ -1473,11 +1475,11 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
}
if(abs(block->speed_z) > max_feedrate[Z_AXIS]){
tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z);
if(tmp_speed_factor < speed_factor) speed_factor = tmp_speed_factor;
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
}
if(abs(block->speed_e) > max_feedrate[E_AXIS]){
tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e);
if(tmp_speed_factor < speed_factor) speed_factor = tmp_speed_factor;
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
}
multiplier = multiplier * speed_factor;
block->speed_z = delta_z_mm * multiplier;
@ -1910,8 +1912,6 @@ ISR(TIMER0_COMPA_vect)
// Critical section needed because Timer 1 interrupt has higher priority.
// The pin set functions are placed on trategic position to comply with the stepper driver timing.
WRITE(E_STEP_PIN, LOW);
// e_steps is changed in timer 1 interrupt
CRITICAL_SECTION_START;
// Set E direction (Depends on E direction + advance)
if (e_steps < 0) {
WRITE(E_DIR_PIN,INVERT_E_DIR);
@ -1923,7 +1923,6 @@ ISR(TIMER0_COMPA_vect)
e_steps--;
WRITE(E_STEP_PIN, HIGH);
}
CRITICAL_SECTION_END;
old_OCR0A += 25; // 10kHz interrupt
OCR0A = old_OCR0A;
}
@ -1974,7 +1973,7 @@ void tp_init()
TCCR2A = 0x23; //OC2A disable; FastPWM noninverting; FastPWM mode 7
#else
TCCR2A = 0x03; //OC2A disable; FastPWM noninverting; FastPWM mode 7
#endif
#endif //PIDTEMP
OCR2A = 156; //Period is ~10ms
OCR2B = 0; //Duty Cycle for heater pin is 0 (startup)
TIMSK2 = 0x01; //Enable overflow interrupt
@ -2009,9 +2008,9 @@ ISR(TIMER2_OVF_vect)
OCR2B = 0;
#else
WRITE(HEATER_0_PIN,LOW);
#endif
#endif //PIDTEMP
}
#endif
#endif //MAXTEMP
#ifdef MINTEMP
if(current_raw <= minttemp) {
target_raw = 0;
@ -2019,9 +2018,9 @@ ISR(TIMER2_OVF_vect)
OCR2B = 0;
#else
WRITE(HEATER_0_PIN,LOW);
#endif
#endif //PIDTEMP
}
#endif
#endif //MAXTEMP
#ifndef PIDTEMP
if(current_raw >= target_raw)
{
@ -2031,7 +2030,7 @@ ISR(TIMER2_OVF_vect)
{
WRITE(HEATER_0_PIN,HIGH);
}
#endif
#endif //PIDTEMP
}
}