bissen21/Marlin_Firmware
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added a m400, that finished all moves,

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and the mechanism so that if an endstop is hit it the ISR, the steps_to_be_taken are stored, and some current_block data that will be deleted in the next move
If the normal loop() then finds such an event, the position is calculated (floats would have taken too long in the ISR) A serial message is generated.
This commit is contained in:
Bernhard Kubicek
2011-11-13 19:58:09 +01:00
parent ff592b056a
commit 9980ceb4a3
4 changed files with 77 additions and 4 deletions
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20
Marlin/Marlin.pde
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@ -39,7 +39,7 @@
#include "cardreader.h"
char version_string[] = "1.0.0 Alpha 1";
#define VERSION_STRING "1.0.0 Alpha 1"
@ -99,6 +99,7 @@ char version_string[] = "1.0.0 Alpha 1";
// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
// M220 - set speed factor override percentage S:factor in percent
// M301 - Set PID parameters P I and D
// M400 - Finish all moves
// M500 - stores paramters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
@ -120,13 +121,14 @@ bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
volatile int feedmultiply=100; //100->1 200->2
int saved_feedmultiply;
volatile bool feedmultiplychanged=false;
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
//===========================================================================
//=============================private variables=============================
//===========================================================================
const char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
static float destination[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
static float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0};
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;
@ -211,7 +213,7 @@ void setup()
{
Serial.begin(BAUDRATE);
SERIAL_ECHO_START;
SERIAL_ECHOLN(version_string);
SERIAL_ECHOLNPGM(VERSION_STRING);
SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Free Memory:");
@ -269,6 +271,7 @@ void loop()
//check heater every n milliseconds
manage_heater();
manage_inactivity(1);
checkHitEndstops();
LCD_STATUS;
}
@ -443,20 +446,25 @@ inline bool code_seen(char code)
destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
feedrate = homing_feedrate[LETTER##_AXIS]; \
prepare_move(); \
st_synchronize();\
\
current_position[LETTER##_AXIS] = 0;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
destination[LETTER##_AXIS] = -5 * LETTER##_HOME_DIR;\
prepare_move(); \
st_synchronize();\
\
destination[LETTER##_AXIS] = 10 * LETTER##_HOME_DIR;\
feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
prepare_move(); \
st_synchronize();\
\
current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
feedrate = 0.0;\
st_synchronize();\
endstops_hit_on_purpose();\
}
inline void process_commands()
@ -522,6 +530,7 @@ inline void process_commands()
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
previous_millis_cmd = millis();
endstops_hit_on_purpose();
break;
case 90: // G90
relative_mode = false;
@ -909,6 +918,11 @@ inline void process_commands()
break;
#endif //PIDTEMP
case 400: // finish all moves
{
st_synchronize();
}
break;
case 500: // Store settings in EEPROM
{
StoreSettings();