bissen21/Marlin_Firmware
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This commit is contained in:
Erik van der Zalm
2011-12-12 20:35:46 +01:00
parent e017228569 3320a5b37d
commit 84d9cf7339
12 changed files with 358 additions and 203 deletions
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141
Marlin/Marlin.pde
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@ -27,6 +27,8 @@
#include <math.h>
#include <EEPROM.h>
#include <stdio.h>
#include "EEPROMwrite.h"
#include "fastio.h"
#include "Configuration.h"
@ -39,7 +41,7 @@
#include "motion_control.h"
#include "cardreader.h"
#include "watchdog.h"
#include <stdio.h>
#define VERSION_STRING "1.0.0 Beta 1"
@ -108,6 +110,7 @@
// M206 - set additional homeing offset
// M220 - set speed factor override percentage S:factor in percent
// M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes
// M400 - Finish all moves
// M500 - stores paramters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
@ -135,7 +138,7 @@ volatile bool feedmultiplychanged=false;
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homeing[3]={0,0,0};
uint8_t active_extruder = 0;
bool stop_heating_wait=false;
//===========================================================================
//=============================private variables=============================
@ -175,7 +178,8 @@ const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
//Inactivity shutdown variables
static unsigned long previous_millis_cmd = 0;
static unsigned long max_inactive_time = 0;
static unsigned long stepper_inactive_time = 0;
static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000;
static unsigned long last_stepperdisabled_time=30*1000; //first release check after 30 seconds
static unsigned long starttime=0;
static unsigned long stoptime=0;
@ -232,7 +236,9 @@ void setup()
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Free Memory:");
SERIAL_ECHOLN(freeMemory());
SERIAL_ECHO(freeMemory());
SERIAL_ECHOPGM(" PlannerBufferBytes:");
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
for(int8_t i = 0; i < BUFSIZE; i++)
{
fromsd[i] = false;
@ -498,19 +504,16 @@ FORCE_INLINE void process_commands()
case 1: // G1
get_coordinates(); // For X Y Z E F
prepare_move();
previous_millis_cmd = millis();
//ClearToSend();
return;
//break;
case 2: // G2 - CW ARC
get_arc_coordinates();
prepare_arc_move(true);
previous_millis_cmd = millis();
return;
case 3: // G3 - CCW ARC
get_arc_coordinates();
prepare_arc_move(false);
previous_millis_cmd = millis();
return;
case 4: // G4 dwell
LCD_MESSAGEPGM("DWELL...");
@ -520,7 +523,7 @@ FORCE_INLINE void process_commands()
st_synchronize();
codenum += millis(); // keep track of when we started waiting
previous_millis_cmd = millis();
while(millis() < codenum ){
manage_heater();
}
@ -540,34 +543,53 @@ FORCE_INLINE void process_commands()
#ifdef QUICK_HOME
if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //first diagonal move
{
current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
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;
feedrate =homing_feedrate[X_AXIS];
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
feedrate = homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS]<feedrate)
feedrate =homing_feedrate[Y_AXIS];
prepare_move();
current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
prepare_move();
current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
feedrate = 0.0;
st_synchronize();
plan_set_position(0, 0, current_position[Z_AXIS], current_position[E_AXIS]);
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
endstops_hit_on_purpose();
}
#endif
if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{
HOMEAXIS(X);
current_position[0]=code_value()+add_homeing[0];
}
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
HOMEAXIS(Y);
current_position[1]=code_value()+add_homeing[1];
}
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z);
current_position[2]=code_value()+add_homeing[2];
}
}
if(code_seen(axis_codes[X_AXIS]))
{
current_position[0]=code_value()+add_homeing[0];
}
if(code_seen(axis_codes[Y_AXIS])) {
current_position[1]=code_value()+add_homeing[1];
}
if(code_seen(axis_codes[Z_AXIS])) {
current_position[2]=code_value()+add_homeing[2];
}
#ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false);
#endif
@ -817,6 +839,7 @@ FORCE_INLINE void process_commands()
}
manage_heater();
LCD_STATUS;
if(stop_heating_wait) break;
#ifdef TEMP_RESIDENCY_TIME
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
or when current temp falls outside the hysteresis after target temp was reached */
@ -830,6 +853,7 @@ FORCE_INLINE void process_commands()
}
LCD_MESSAGEPGM("Heating done.");
starttime=millis();
previous_millis_cmd = millis();
}
break;
case 190: // M190 - Wait for bed heater to reach target.
@ -853,6 +877,7 @@ FORCE_INLINE void process_commands()
manage_heater();
}
LCD_MESSAGEPGM("Bed done.");
previous_millis_cmd = millis();
#endif
break;
@ -896,20 +921,25 @@ FORCE_INLINE void process_commands()
}
else
{
#if ((E_ENABLE_PIN != X_ENABLE_PIN) && (E_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if(code_seen('E')) {
st_synchronize();
LCD_MESSAGEPGM("Free Move");
bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
if(all_axis)
{
disable_e0();
disable_e1();
disable_e2();
}
else {
finishAndDisableSteppers();
}
#else
finishAndDisableSteppers();
#endif
else
{
st_synchronize();
if(code_seen('X')) disable_x();
if(code_seen('Y')) disable_y();
if(code_seen('Z')) disable_z();
#if ((E_ENABLE_PIN != X_ENABLE_PIN) && (E_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if(code_seen('E')) disable_e();
#endif
LCD_MESSAGEPGM("Partial Release");
}
}
break;
case 85: // M85
@ -979,7 +1009,11 @@ FORCE_INLINE void process_commands()
case 201: // M201
for(int8_t i=0; i < NUM_AXIS; i++)
{
if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
if(code_seen(axis_codes[i]))
{
max_acceleration_units_per_sq_second[i] = code_value();
axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
}
break;
#if 0 // Not used for Sprinter/grbl gen6
@ -1049,6 +1083,12 @@ FORCE_INLINE void process_commands()
}
break;
#endif //PIDTEMP
case 302: // finish all moves
{
allow_cold_extrudes(true);
}
break;
case 400: // finish all moves
{
st_synchronize();
@ -1146,6 +1186,7 @@ FORCE_INLINE void get_arc_coordinates()
void prepare_move()
{
if (min_software_endstops) {
if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
@ -1162,6 +1203,7 @@ void prepare_move()
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
previous_millis_cmd = millis();
}
void prepare_arc_move(char isclockwise) {
@ -1176,6 +1218,7 @@ void prepare_arc_move(char isclockwise) {
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
previous_millis_cmd = millis();
}
void manage_inactivity(byte debug)
@ -1183,16 +1226,38 @@ 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_e0();
disable_e1();
disable_e2();
if(stepper_inactive_time)
if( (millis()-last_stepperdisabled_time) > stepper_inactive_time )
{
if(previous_millis_cmd>last_stepperdisabled_time)
last_stepperdisabled_time=previous_millis_cmd;
else
{
if( (X_ENABLE_ON && (READ(X_ENABLE_PIN)!=0)) || (!X_ENABLE_ON && READ(X_ENABLE_PIN)==0) )
enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
last_stepperdisabled_time=millis();
}
}
#ifdef EXTRUDER_RUNOUT_PREVENT
if( (millis()-previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
{
bool oldstatus=READ(E_ENABLE_PIN);
enable_e();
float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS];
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
current_position[E_AXIS]=oldepos;
destination[E_AXIS]=oldedes;
plan_set_e_position(oldepos);
previous_millis_cmd=millis();
//enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
st_synchronize();
WRITE(E_ENABLE_PIN,oldstatus);
}
#endif
check_axes_activity();
}
@ -1215,4 +1280,4 @@ void kill()
while(1); // Wait for reset
}