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Merge pull request #209 from ijackson/for-upstream

Browse Source 
M206 fixes, and ancillary improvements
master
ErikZalm 13 years ago
parent 538189cc19 adee81170d
commit 22aae62ccd
8 changed files with 140 additions and 70 deletions
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5
.gitignore vendored
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@ -0,0 +1,5 @@
*.o
applet/
*~
*.orig
*.rej

2
Marlin/.gitignore vendored
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@ -1,2 +0,0 @@
*.o
applet/

12
Marlin/EEPROMwrite.h
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@ -38,7 +38,7 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
// the default values are used whenever there is a change to the data, to prevent
// wrong data being written to the variables.
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
#define EEPROM_VERSION "V05"
#define EEPROM_VERSION "V06"
inline void EEPROM_StoreSettings()
{
@ -57,6 +57,7 @@ inline void EEPROM_StoreSettings()
EEPROM_writeAnything(i,max_xy_jerk);
EEPROM_writeAnything(i,max_z_jerk);
EEPROM_writeAnything(i,max_e_jerk);
EEPROM_writeAnything(i,add_homeing);
#ifdef PIDTEMP
EEPROM_writeAnything(i,Kp);
EEPROM_writeAnything(i,Ki);
@ -119,6 +120,13 @@ inline void EEPROM_printSettings()
SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
SERIAL_ECHOPAIR(" E" ,max_e_jerk);
SERIAL_ECHOLN("");
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("Home offset (mm):");
SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M206 X",add_homeing[0] );
SERIAL_ECHOPAIR(" Y" ,add_homeing[1] );
SERIAL_ECHOPAIR(" Z" ,add_homeing[2] );
SERIAL_ECHOLN("");
#ifdef PIDTEMP
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM("PID settings:");
@ -153,6 +161,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
EEPROM_readAnything(i,max_xy_jerk);
EEPROM_readAnything(i,max_z_jerk);
EEPROM_readAnything(i,max_e_jerk);
EEPROM_readAnything(i,add_homeing);
#ifndef PIDTEMP
float Kp,Ki,Kd;
#endif
@ -183,6 +192,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
max_xy_jerk=DEFAULT_XYJERK;
max_z_jerk=DEFAULT_ZJERK;
max_e_jerk=DEFAULT_EJERK;
add_homeing[0] = add_homeing[1] = add_homeing[2] = 0;
SERIAL_ECHO_START;
SERIAL_ECHOLN("Using Default settings:");
}

51
Marlin/Makefile
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@ -170,6 +170,14 @@ ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS)
ALL_CXXFLAGS = -mmcu=$(MCU) $(CXXFLAGS)
ALL_ASFLAGS = -mmcu=$(MCU) -x assembler-with-cpp $(ASFLAGS)
# set V=1 (eg, "make V=1") to print the full commands etc.
ifneq ($V,1)
Pecho=@echo
P=@
else
Pecho=@:
P=
endif
# Default target.
all: sizeafter
@ -178,7 +186,7 @@ build: applet elf hex
# Creates the object directory
applet:
@mkdir -p applet
$P mkdir -p applet
# the .cpp for Marlin depends on the .pde
#applet/$(TARGET).cpp: $(TARGET).pde
@ -189,10 +197,10 @@ applet/%.cpp: %.pde $(MAKEFILE)
# Here is the "preprocessing".
# It creates a .cpp file based with the same name as the .pde file.
# On top of the new .cpp file comes the WProgram.h header.
@echo " WR $@"
@echo '#include "WProgram.h"' > $@
@echo '#include "$<"' >>$@
@echo '#include "$(ARDUINO)/main.cpp"' >> $@
$(Pecho) " WR $@"
$P echo '#include "WProgram.h"' > $@
$P echo '#include "$<"' >>$@
$P echo '#include "$(ARDUINO)/main.cpp"' >> $@
elf: applet/$(TARGET).elf
hex: applet/$(TARGET).hex
@ -213,12 +221,13 @@ endif
# Display size of file.
HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex
ELFSIZE = $(SIZE) applet/$(TARGET).elf
ELFSIZE = $(SIZE) --mcu=$(MCU) -C applet/$(TARGET).elf; \
$(SIZE) applet/$(TARGET).elf
sizebefore:
@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
$P if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
sizeafter: build
@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
$P if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi
# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
@ -241,8 +250,8 @@ extcoff: $(TARGET).elf
.PRECIOUS: .o
.elf.hex:
@echo " COPY $@"
@$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
$(Pecho) " COPY $@"
$P $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
.elf.eep:
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
@ -258,29 +267,29 @@ extcoff: $(TARGET).elf
# Link: create ELF output file from library.
applet/$(TARGET).elf: applet/$(TARGET).cpp applet/core.a Configuration.h
@echo " CXX $@"
@$(CC) $(ALL_CXXFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
$(Pecho) " CXX $@"
$P $(CC) $(ALL_CXXFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
applet/core.a: $(OBJ)
@for i in $(OBJ); do echo " AR $$i"; $(AR) rcs applet/core.a $$i; done
$P for i in $(OBJ); do echo " AR $$i"; $(AR) rcs applet/core.a $$i; done
applet/%.o: %.c Configuration.h Configuration_adv.h $(MAKEFILE)
@echo " CC $@"
@$(CC) -MMD -c $(ALL_CFLAGS) $< -o $@
$(Pecho) " CC $@"
$P $(CC) -MMD -c $(ALL_CFLAGS) $< -o $@
applet/%.o: %.cpp Configuration.h Configuration_adv.h $(MAKEFILE)
@echo " CXX $@"
@$(CXX) -MMD -c $(ALL_CXXFLAGS) $< -o $@
$(Pecho) " CXX $@"
$P $(CXX) -MMD -c $(ALL_CXXFLAGS) $< -o $@
# Target: clean project.
clean:
@echo " RM applet/*"
@$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
$(Pecho) " RM applet/*"
$P $(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/$(TARGET).cpp applet/core.a \
$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
@echo " RMDIR applet/"
@rm -rf applet
$(Pecho) " RMDIR applet/"
$P rm -rf applet
.PHONY: all build elf hex eep lss sym program coff extcoff clean depend applet_files sizebefore sizeafter

9
Marlin/Marlin.h
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@ -84,7 +84,11 @@ const char echomagic[] PROGMEM ="echo:";
#define SERIAL_ECHOLN(x) SERIAL_PROTOCOLLN(x)
#define SERIAL_ECHOLNPGM(x) SERIAL_PROTOCOLLNPGM(x)
#define SERIAL_ECHOPAIR(name,value) {SERIAL_ECHOPGM(name);SERIAL_ECHO(value);}
#define SERIAL_ECHOPAIR(name,value) (serial_echopair_P(PSTR(name),(value)))
void serial_echopair_P(const char *s_P, float v);
void serial_echopair_P(const char *s_P, double v);
void serial_echopair_P(const char *s_P, unsigned long v);
//things to write to serial from Programmemory. saves 400 to 2k of RAM.
@ -169,6 +173,7 @@ bool IsStopped();
void enquecommand(const char *cmd); //put an ascii command at the end of the current buffer.
void prepare_arc_move(char isclockwise);
void clamp_to_software_endstops(float target[3]);
#ifdef FAST_PWM_FAN
void setPwmFrequency(uint8_t pin, int val);
@ -183,6 +188,8 @@ extern float homing_feedrate[];
extern bool axis_relative_modes[];
extern float current_position[NUM_AXIS] ;
extern float add_homeing[3];
extern float min_pos[3];
extern float max_pos[3];
extern unsigned char FanSpeed;
// Handling multiple extruders pins

118
Marlin/Marlin.pde
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@ -1,3 +1,5 @@
/* -*- c++ -*- */
/*
Reprap firmware based on Sprinter and grbl.
Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
@ -141,6 +143,8 @@ volatile bool feedmultiplychanged=false;
volatile int extrudemultiply=100; //100->1 200->2
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homeing[3]={0,0,0};
float min_pos[3] = { X_MIN_POS, Y_MIN_POS, Z_MIN_POS };
float max_pos[3] = { X_MAX_POS, Y_MAX_POS, Z_MAX_POS };
uint8_t active_extruder = 0;
unsigned char FanSpeed=0;
@ -199,6 +203,13 @@ bool Stopped=false;
void get_arc_coordinates();
void serial_echopair_P(const char *s_P, float v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char *s_P, double v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
void serial_echopair_P(const char *s_P, unsigned long v)
{ serialprintPGM(s_P); SERIAL_ECHO(v); }
extern "C"{
extern unsigned int __bss_end;
extern unsigned int __heap_start;
@ -541,32 +552,65 @@ bool code_seen(char code)
return (strchr_pointer != NULL); //Return True if a character was found
}
#define HOMEAXIS(LETTER) \
if ((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))\
{ \
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] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
feedrate = homing_feedrate[LETTER##_AXIS]; \
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
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] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
st_synchronize();\
\
destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
st_synchronize();\
\
current_position[LETTER##_AXIS] = LETTER##_HOME_POS;\
destination[LETTER##_AXIS] = current_position[LETTER##_AXIS];\
feedrate = 0.0;\
endstops_hit_on_purpose();\
#define DEFINE_PGM_READ_ANY(type, reader) \
static inline type pgm_read_any(const type *p) \
{ return pgm_read_##reader##_near(p); }
DEFINE_PGM_READ_ANY(float, float);
DEFINE_PGM_READ_ANY(signed char, byte);
#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \
static const PROGMEM type array##_P[3] = \
{ X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \
static inline type array(int axis) \
{ return pgm_read_any(&array##_P[axis]); }
XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS);
XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS);
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);
static void axis_is_at_home(int axis) {
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];
}
static void homeaxis(int axis) {
#define HOMEAXIS_DO(LETTER) \
((LETTER##_MIN_PIN > -1 && LETTER##_HOME_DIR==-1) || (LETTER##_MAX_PIN > -1 && LETTER##_HOME_DIR==1))
if (axis==X_AXIS ? HOMEAXIS_DO(X) :
axis==Y_AXIS ? HOMEAXIS_DO(Y) :
axis==Z_AXIS ? HOMEAXIS_DO(Z) :
0) {
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);
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);
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);
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();
axis_is_at_home(axis);
destination[axis] = current_position[axis];
feedrate = 0.0;
endstops_hit_on_purpose();
}
}
#define HOMEAXIS(LETTER) homeaxis(LETTER##_AXIS)
void process_commands()
{
@ -676,8 +720,8 @@ void process_commands()
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder);
st_synchronize();
current_position[X_AXIS] = X_HOME_POS;
current_position[Y_AXIS] = Y_HOME_POS;
axis_is_at_home(X_AXIS);
axis_is_at_home(Y_AXIS);
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];
@ -1539,19 +1583,25 @@ void get_arc_coordinates()
}
}
void prepare_move()
void clamp_to_software_endstops(float target[3])
{
if (min_software_endstops) {
if (destination[X_AXIS] < X_MIN_POS) destination[X_AXIS] = X_MIN_POS;
if (destination[Y_AXIS] < Y_MIN_POS) destination[Y_AXIS] = Y_MIN_POS;
if (destination[Z_AXIS] < Z_MIN_POS) destination[Z_AXIS] = Z_MIN_POS;
if (target[X_AXIS] < min_pos[X_AXIS]) target[X_AXIS] = min_pos[X_AXIS];
if (target[Y_AXIS] < min_pos[Y_AXIS]) target[Y_AXIS] = min_pos[Y_AXIS];
if (target[Z_AXIS] < min_pos[Z_AXIS]) target[Z_AXIS] = min_pos[Z_AXIS];
}
if (max_software_endstops) {
if (destination[X_AXIS] > X_MAX_POS) destination[X_AXIS] = X_MAX_POS;
if (destination[Y_AXIS] > Y_MAX_POS) destination[Y_AXIS] = Y_MAX_POS;
if (destination[Z_AXIS] > Z_MAX_POS) destination[Z_AXIS] = Z_MAX_POS;
if (target[X_AXIS] > max_pos[X_AXIS]) target[X_AXIS] = max_pos[X_AXIS];
if (target[Y_AXIS] > max_pos[Y_AXIS]) target[Y_AXIS] = max_pos[Y_AXIS];
if (target[Z_AXIS] > max_pos[Z_AXIS]) target[Z_AXIS] = max_pos[Z_AXIS];
}
}
void prepare_move()
{
clamp_to_software_endstops(destination);
previous_millis_cmd = millis();
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0, active_extruder);
for(int8_t i=0; i < NUM_AXIS; i++) {

12
Marlin/motion_control.cpp
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@ -125,17 +125,7 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
arc_target[axis_linear] += linear_per_segment;
arc_target[E_AXIS] += extruder_per_segment;
if (min_software_endstops) {
if (arc_target[X_AXIS] < X_HOME_POS) arc_target[X_AXIS] = X_HOME_POS;
if (arc_target[Y_AXIS] < Y_HOME_POS) arc_target[Y_AXIS] = Y_HOME_POS;
if (arc_target[Z_AXIS] < Z_HOME_POS) arc_target[Z_AXIS] = Z_HOME_POS;
}
if (max_software_endstops) {
if (arc_target[X_AXIS] > X_MAX_LENGTH) arc_target[X_AXIS] = X_MAX_LENGTH;
if (arc_target[Y_AXIS] > Y_MAX_LENGTH) arc_target[Y_AXIS] = Y_MAX_LENGTH;
if (arc_target[Z_AXIS] > Z_MAX_LENGTH) arc_target[Z_AXIS] = Z_MAX_LENGTH;
}
clamp_to_software_endstops(arc_target);
plan_buffer_line(arc_target[X_AXIS], arc_target[Y_AXIS], arc_target[Z_AXIS], arc_target[E_AXIS], feed_rate, extruder);
}

1
README.md
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@ -152,6 +152,7 @@ Movement variables:
* M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
* M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
* M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
* M206 - set home offsets. This sets the X,Y,Z coordinates of the endstops (and is added to the {X,Y,Z}_HOME_POS configuration options (and is also added to the coordinates, if any, provided to G82, as with earlier firmware)
* M220 - set build speed mulitplying S:factor in percent ; aka "realtime tuneing in the gcode". So you can slow down if you have islands in one height-range, and speed up otherwise.
* M221 - set the extrude multiplying S:factor in percent
* M400 - Finish all buffered moves.

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