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Merge branch 'Development' into marlin_configurator

Browse Source 
Latest upstream changes
master
Scott Lahteine 10 years ago
parent 352aa3f4c5 bb4cb1b15a
commit 4b50205f11
24 changed files with 805 additions and 947 deletions
Show Stats Download Patch File Download Diff File

9
Marlin/Configuration.h
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@ -362,6 +362,15 @@ const bool Z_MAX_ENDSTOP_INVERTING = false; // set to true to invert the logic o
#define Y_MAX_LENGTH (Y_MAX_POS - Y_MIN_POS)
#define Z_MAX_LENGTH (Z_MAX_POS - Z_MIN_POS)
//===========================================================================
//============================= Filament Runout Sensor ======================
//===========================================================================
//#define FILAMENT_RUNOUT_SENSOR // Uncomment for defining a filament runout sensor such as a mechanical or opto endstop to check the existence of filament
// In RAMPS uses servo pin 2. Can be changed in pins file. For other boards pin definition should be made.
// It is assumed that when logic high = filament available
// when logic low = filament ran out
//const bool FIL_RUNOUT_INVERTING = true; // Should be uncommented and true or false should assigned
//#define ENDSTOPPULLUP_FIL_RUNOUT // Uncomment to use internal pullup for filament runout pins if the sensor is defined.
//===========================================================================
//============================= Bed Auto Leveling ===========================

7
Marlin/Marlin.h
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@ -32,6 +32,9 @@
#include "WProgram.h"
#endif
#define BIT(b) (1<<(b))
#define TEST(n,b) ((n)&BIT(b)!=0)
// Arduino < 1.0.0 does not define this, so we need to do it ourselves
#ifndef analogInputToDigitalPin
#define analogInputToDigitalPin(p) ((p) + 0xA0)
@ -199,6 +202,10 @@ void prepare_move();
void kill();
void Stop();
#ifdef FILAMENT_RUNOUT_SENSOR
void filrunout();
#endif
bool IsStopped();
bool enquecommand(const char *cmd); //put a single ASCII command at the end of the current buffer or return false when it is full

4
Marlin/Marlin.ino
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@ -47,8 +47,8 @@
#endif
#endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h>
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
#if defined(DIGIPOT_I2C)

4
Marlin/Marlin.pde
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@ -47,8 +47,8 @@
#endif
#endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h>
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
#if defined(DIGIPOT_I2C)

2
Marlin/MarlinSerial.cpp
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@ -76,7 +76,7 @@ void MarlinSerial::begin(long baud) {
#endif
if (useU2X) {
M_UCSRxA = 1 << M_U2Xx;
M_UCSRxA = BIT(M_U2Xx);
baud_setting = (F_CPU / 4 / baud - 1) / 2;
} else {
M_UCSRxA = 0;

4
Marlin/MarlinSerial.h
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@ -97,14 +97,14 @@ class MarlinSerial { //: public Stream
}
FORCE_INLINE void write(uint8_t c) {
while (!((M_UCSRxA) & (1 << M_UDREx)))
while (!TEST(M_UCSRxA, M_UDREx))
;
M_UDRx = c;
}
FORCE_INLINE void checkRx(void) {
if ((M_UCSRxA & (1<<M_RXCx)) != 0) {
if (TEST(M_UCSRxA, M_RXCx)) {
unsigned char c = M_UDRx;
int i = (unsigned int)(rx_buffer.head + 1) % RX_BUFFER_SIZE;

66
Marlin/Marlin_main.cpp
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@ -62,7 +62,7 @@
#include "Servo.h"
#endif
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
@ -370,6 +370,10 @@ bool cancel_heatup = false;
int meas_delay_cm = MEASUREMENT_DELAY_CM; //distance delay setting
#endif
#ifdef FILAMENT_RUNOUT_SENSOR
static bool filrunoutEnqued = false;
#endif
const char errormagic[] PROGMEM = "Error:";
const char echomagic[] PROGMEM = "echo:";
@ -529,6 +533,16 @@ void setup_killpin()
#endif
}
void setup_filrunoutpin()
{
#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
pinMode(FILRUNOUT_PIN,INPUT);
#if defined(ENDSTOPPULLUP_FIL_RUNOUT)
WRITE(FILLRUNOUT_PIN,HIGH);
#endif
#endif
}
// Set home pin
void setup_homepin(void)
{
@ -605,6 +619,7 @@ void servo_init()
void setup()
{
setup_killpin();
setup_filrunoutpin();
setup_powerhold();
MYSERIAL.begin(BAUDRATE);
SERIAL_PROTOCOLLNPGM("start");
@ -2015,14 +2030,15 @@ inline void gcode_G28() {
if (verbose_level) {
SERIAL_PROTOCOLPGM("Eqn coefficients: a: ");
SERIAL_PROTOCOL(plane_equation_coefficients[0] + 0.0001);
SERIAL_PROTOCOL_F(plane_equation_coefficients[0], 8);
SERIAL_PROTOCOLPGM(" b: ");
SERIAL_PROTOCOL(plane_equation_coefficients[1] + 0.0001);
SERIAL_PROTOCOL_F(plane_equation_coefficients[1], 8);
SERIAL_PROTOCOLPGM(" d: ");
SERIAL_PROTOCOLLN(plane_equation_coefficients[2] + 0.0001);
SERIAL_PROTOCOL_F(plane_equation_coefficients[2], 8);
SERIAL_EOL;
if (verbose_level > 2) {
SERIAL_PROTOCOLPGM("Mean of sampled points: ");
SERIAL_PROTOCOL_F(mean, 6);
SERIAL_PROTOCOL_F(mean, 8);
SERIAL_EOL;
}
}
@ -2033,15 +2049,20 @@ inline void gcode_G28() {
SERIAL_PROTOCOLPGM(" \nBed Height Topography: \n");
#if TOPO_ORIGIN == OriginFrontLeft
SERIAL_PROTOCOLPGM("+-----------+\n");
SERIAL_PROTOCOLPGM("|...Back....|\n");
SERIAL_PROTOCOLPGM("|Left..Right|\n");
SERIAL_PROTOCOLPGM("|...Front...|\n");
SERIAL_PROTOCOLPGM("+-----------+\n");
for (yy = auto_bed_leveling_grid_points - 1; yy >= 0; yy--)
#else
for (yy = 0; yy < auto_bed_leveling_grid_points; yy++)
#endif
{
#if TOPO_ORIGIN == OriginBackRight
for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
#else
for (xx = 0; xx < auto_bed_leveling_grid_points; xx++)
#else
for (xx = auto_bed_leveling_grid_points - 1; xx >= 0; xx--)
#endif
{
int ind =
@ -4130,6 +4151,11 @@ inline void gcode_M503() {
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], target[E_AXIS], fr60, active_extruder); //move z back
plan_buffer_line(lastpos[X_AXIS], lastpos[Y_AXIS], lastpos[Z_AXIS], lastpos[E_AXIS], fr60, active_extruder); //final untretract
#endif
#ifdef FILAMENT_RUNOUT_SENSOR
filrunoutEnqued = false;
#endif
}
#endif // FILAMENTCHANGEENABLE
@ -4184,7 +4210,7 @@ inline void gcode_M503() {
* M907: Set digital trimpot motor current using axis codes X, Y, Z, E, B, S
*/
inline void gcode_M907() {
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#if HAS_DIGIPOTSS
for (int i=0;i<NUM_AXIS;i++)
if (code_seen(axis_codes[i])) digipot_current(i, code_value());
if (code_seen('B')) digipot_current(4, code_value());
@ -4207,7 +4233,7 @@ inline void gcode_M907() {
#endif
}
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#if HAS_DIGIPOTSS
/**
* M908: Control digital trimpot directly (M908 P<pin> S<current>)
@ -4219,7 +4245,7 @@ inline void gcode_M907() {
);
}
#endif // DIGIPOTSS_PIN
#endif // HAS_DIGIPOTSS
// M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
inline void gcode_M350() {
@ -4806,11 +4832,11 @@ void process_commands() {
gcode_M907();
break;
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#if HAS_DIGIPOTSS
case 908: // M908 Control digital trimpot directly.
gcode_M908();
break;
#endif // DIGIPOTSS_PIN
#endif // HAS_DIGIPOTSS
case 350: // M350 Set microstepping mode. Warning: Steps per unit remains unchanged. S code sets stepping mode for all drivers.
gcode_M350();
@ -5269,6 +5295,12 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) //default argument s
const int KILL_DELAY = 10000;
#endif
#if defined(FILRUNOUT_PIN) && FILRUNOUT_PIN > -1
if(card.sdprinting) {
if(!(READ(FILRUNOUT_PIN))^FIL_RUNOUT_INVERTING)
filrunout(); }
#endif
#if defined(HOME_PIN) && HOME_PIN > -1
static int homeDebounceCount = 0; // poor man's debouncing count
const int HOME_DEBOUNCE_DELAY = 10000;
@ -5417,6 +5449,16 @@ void kill()
while(1) { /* Intentionally left empty */ } // Wait for reset
}
#ifdef FILAMENT_RUNOUT_SENSOR
void filrunout()
{
if filrunoutEnqued == false {
filrunoutEnqued = true;
enquecommand("M600");
}
}
#endif
void Stop()
{
disable_heater();

18
Marlin/Sd2Card.cpp
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@ -35,14 +35,14 @@
*/
static void spiInit(uint8_t spiRate) {
// See avr processor documentation
SPCR = (1 << SPE) | (1 << MSTR) | (spiRate >> 1);
SPSR = spiRate & 1 || spiRate == 6 ? 0 : 1 << SPI2X;
SPCR = BIT(SPE) | BIT(MSTR) | (spiRate >> 1);
SPSR = spiRate & 1 || spiRate == 6 ? 0 : BIT(SPI2X);
}
//------------------------------------------------------------------------------
/** SPI receive a byte */
static uint8_t spiRec() {
SPDR = 0XFF;
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
return SPDR;
}
//------------------------------------------------------------------------------
@ -52,18 +52,18 @@ void spiRead(uint8_t* buf, uint16_t nbyte) {
if (nbyte-- == 0) return;
SPDR = 0XFF;
for (uint16_t i = 0; i < nbyte; i++) {
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
buf[i] = SPDR;
SPDR = 0XFF;
}
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
buf[nbyte] = SPDR;
}
//------------------------------------------------------------------------------
/** SPI send a byte */
static void spiSend(uint8_t b) {
SPDR = b;
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
}
//------------------------------------------------------------------------------
/** SPI send block - only one call so force inline */
@ -71,12 +71,12 @@ static inline __attribute__((always_inline))
void spiSendBlock(uint8_t token, const uint8_t* buf) {
SPDR = token;
for (uint16_t i = 0; i < 512; i += 2) {
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
SPDR = buf[i];
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
SPDR = buf[i + 1];
}
while (!(SPSR & (1 << SPIF))) { /* Intentionally left empty */ }
while (!TEST(SPSR, SPIF)) { /* Intentionally left empty */ }
}
//------------------------------------------------------------------------------
#else // SOFTWARE_SPI

8
Marlin/Sd2PinMap.h
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@ -334,9 +334,9 @@ static inline __attribute__((always_inline))
void setPinMode(uint8_t pin, uint8_t mode) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) {
if (mode) {
*digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit;
*digitalPinMap[pin].ddr |= BIT(digitalPinMap[pin].bit);
} else {
*digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit);
*digitalPinMap[pin].ddr &= ~BIT(digitalPinMap[pin].bit);
}
} else {
badPinNumber();
@ -354,9 +354,9 @@ static inline __attribute__((always_inline))
void fastDigitalWrite(uint8_t pin, uint8_t value) {
if (__builtin_constant_p(pin) && pin < digitalPinCount) {
if (value) {
*digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit;
*digitalPinMap[pin].port |= BIT(digitalPinMap[pin].bit);
} else {
*digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit);
*digitalPinMap[pin].port &= ~BIT(digitalPinMap[pin].bit);
}
} else {
badPinNumber();

4
Marlin/SdBaseFile.h
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@ -171,9 +171,9 @@ static inline uint8_t FAT_SECOND(uint16_t fatTime) {
return 2*(fatTime & 0X1F);
}
/** Default date for file timestamps is 1 Jan 2000 */
uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1;
uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | BIT(5) | 1;
/** Default time for file timestamp is 1 am */
uint16_t const FAT_DEFAULT_TIME = (1 << 11);
uint16_t const FAT_DEFAULT_TIME = BIT(11);
//------------------------------------------------------------------------------
/**
* \class SdBaseFile

2
Marlin/SdVolume.cpp
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@ -360,7 +360,7 @@ bool SdVolume::init(Sd2Card* dev, uint8_t part) {
blocksPerCluster_ = fbs->sectorsPerCluster;
// determine shift that is same as multiply by blocksPerCluster_
clusterSizeShift_ = 0;
while (blocksPerCluster_ != (1 << clusterSizeShift_)) {
while (blocksPerCluster_ != BIT(clusterSizeShift_)) {
// error if not power of 2
if (clusterSizeShift_++ > 7) goto fail;
}

6
Marlin/dogm_lcd_implementation.h
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@ -24,9 +24,9 @@
#define BLEN_A 0
#define BLEN_B 1
#define BLEN_C 2
#define EN_A (1<<BLEN_A)
#define EN_B (1<<BLEN_B)
#define EN_C (1<<BLEN_C)
#define EN_A BIT(BLEN_A)
#define EN_B BIT(BLEN_B)
#define EN_C BIT(BLEN_C)
#define LCD_CLICKED (buttons&EN_C)
#endif

3
Marlin/fastio.h
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@ -13,8 +13,7 @@
*/
#ifndef MASK
/// MASKING- returns \f$2^PIN\f$
#define MASK(PIN) (1 << PIN)
#define MASK(PIN) (1 << PIN)
#endif
/*

2
Marlin/pins.h
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@ -184,4 +184,6 @@
analogInputToDigitalPin(TEMP_BED_PIN) \
}
#define HAS_DIGIPOTSS (DIGIPOTSS_PIN >= 0)
#endif //__PINS_H

5
Marlin/pins_RAMPS_13.h
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@ -61,6 +61,11 @@
#define FILWIDTH_PIN 5
#endif
#if defined(FILAMENT_RUNOUT_SENSOR)
// define digital pin 4 for the filament runout sensor. Use the RAMPS 1.4 digital input 4 on the servos connector
#define FILRUNOUT_PIN 4
#endif
#if MB(RAMPS_13_EFB) || MB(RAMPS_13_EFF)
#define FAN_PIN 9 // (Sprinter config)
#if MB(RAMPS_13_EFF)

22
Marlin/planner.cpp
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@ -59,7 +59,7 @@
#include "language.h"
//===========================================================================
//=============================public variables ============================
//============================= public variables ============================
//===========================================================================
unsigned long minsegmenttime;
@ -623,37 +623,37 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
#ifndef COREXY
if (target[X_AXIS] < position[X_AXIS])
{
block->direction_bits |= (1<<X_AXIS);
block->direction_bits |= BIT(X_AXIS);
}
if (target[Y_AXIS] < position[Y_AXIS])
{
block->direction_bits |= (1<<Y_AXIS);
block->direction_bits |= BIT(Y_AXIS);
}
#else
if (target[X_AXIS] < position[X_AXIS])
{
block->direction_bits |= (1<<X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
block->direction_bits |= BIT(X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
}
if (target[Y_AXIS] < position[Y_AXIS])
{
block->direction_bits |= (1<<Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
block->direction_bits |= BIT(Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
}
if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
{
block->direction_bits |= (1<<X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
block->direction_bits |= BIT(X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
}
if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
{
block->direction_bits |= (1<<Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
block->direction_bits |= BIT(Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
}
#endif
if (target[Z_AXIS] < position[Z_AXIS])
{
block->direction_bits |= (1<<Z_AXIS);
block->direction_bits |= BIT(Z_AXIS);
}
if (target[E_AXIS] < position[E_AXIS])
{
block->direction_bits |= (1<<E_AXIS);
block->direction_bits |= BIT(E_AXIS);
}
block->active_extruder = extruder;
@ -864,7 +864,7 @@ Having the real displacement of the head, we can calculate the total movement le
old_direction_bits = block->direction_bits;
segment_time = lround((float)segment_time / speed_factor);
if((direction_change & (1<<X_AXIS)) == 0)
if((direction_change & BIT(X_AXIS)) == 0)
{
x_segment_time[0] += segment_time;
}
@ -874,7 +874,7 @@ Having the real displacement of the head, we can calculate the total movement le
x_segment_time[1] = x_segment_time[0];
x_segment_time[0] = segment_time;
}
if((direction_change & (1<<Y_AXIS)) == 0)
if((direction_change & BIT(Y_AXIS)) == 0)
{
y_segment_time[0] += segment_time;
}

1082
Marlin/stepper.cpp
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@ -29,33 +29,34 @@
#include "language.h"
#include "cardreader.h"
#include "speed_lookuptable.h"
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
#include <SPI.h>
#if HAS_DIGIPOTSS
#include <SPI.h>
#endif
//===========================================================================
//=============================public variables ============================
//============================= public variables ============================
//===========================================================================
block_t *current_block; // A pointer to the block currently being traced
//===========================================================================
//=============================private variables ============================
//============================= private variables ===========================
//===========================================================================
//static makes it impossible to be called from outside of this file by extern.!
// Variables used by The Stepper Driver Interrupt
static unsigned char out_bits; // The next stepping-bits to be output
static long counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z,
counter_e;
// Counter variables for the bresenham line tracer
static long counter_x, counter_y, counter_z, counter_e;
volatile static unsigned long step_events_completed; // The number of step events executed in the current block
#ifdef ADVANCE
static long advance_rate, advance, final_advance = 0;
static long old_advance = 0;
static long e_steps[4];
#endif
static long acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deccelaration start point
@ -63,137 +64,184 @@ static char step_loops;
static unsigned short OCR1A_nominal;
static unsigned short step_loops_nominal;
volatile long endstops_trigsteps[3]={0,0,0};
volatile long endstops_stepsTotal,endstops_stepsDone;
static volatile bool endstop_x_hit=false;
static volatile bool endstop_y_hit=false;
static volatile bool endstop_z_hit=false;
volatile long endstops_trigsteps[3] = { 0 };
volatile long endstops_stepsTotal, endstops_stepsDone;
static volatile bool endstop_x_hit = false;
static volatile bool endstop_y_hit = false;
static volatile bool endstop_z_hit = false;
#ifdef ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
bool abort_on_endstop_hit = false;
bool abort_on_endstop_hit = false;
#endif
#ifdef MOTOR_CURRENT_PWM_XY_PIN
int motor_current_setting[3] = DEFAULT_PWM_MOTOR_CURRENT;
#endif
static bool old_x_min_endstop=false;
static bool old_x_max_endstop=false;
static bool old_y_min_endstop=false;
static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false;
static bool old_x_min_endstop = false,
old_x_max_endstop = false,
old_y_min_endstop = false,
old_y_max_endstop = false,
old_z_min_endstop = false,
old_z_max_endstop = false;
static bool check_endstops = true;
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile signed char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
volatile long count_position[NUM_AXIS] = { 0 };
volatile signed char count_direction[NUM_AXIS] = { 1 };
//===========================================================================
//=============================functions ============================
//================================ functions ================================
//===========================================================================
#define CHECK_ENDSTOPS if(check_endstops)
#ifdef DUAL_X_CARRIAGE
#define X_APPLY_DIR(v,ALWAYS) \
if (extruder_duplication_enabled || ALWAYS) { \
X_DIR_WRITE(v); \
X2_DIR_WRITE(v); \
} \
else{ \
if (current_block->active_extruder) \
X2_DIR_WRITE(v); \
else \
X_DIR_WRITE(v); \
}
#define X_APPLY_STEP(v,ALWAYS) \
if (extruder_duplication_enabled || ALWAYS) { \
X_STEP_WRITE(v); \
X2_STEP_WRITE(v); \
} \
else { \
if (current_block->active_extruder != 0) \
X2_STEP_WRITE(v); \
else \
X_STEP_WRITE(v); \
}
#else
#define X_APPLY_DIR(v,Q) X_DIR_WRITE(v)
#define X_APPLY_STEP(v,Q) X_STEP_WRITE(v)
#endif
#ifdef Y_DUAL_STEPPER_DRIVERS
#define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v), Y2_DIR_WRITE((v) != INVERT_Y2_VS_Y_DIR)
#define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v), Y2_STEP_WRITE(v)
#else
#define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v)
#define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v)
#endif
#ifdef Z_DUAL_STEPPER_DRIVERS
#define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v), Z2_DIR_WRITE(v)
#define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v), Z2_STEP_WRITE(v)
#else
#define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v)
#define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
#endif
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(v)
// intRes = intIn1 * intIn2 >> 16
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 24 bit result
#define MultiU16X8toH16(intRes, charIn1, intIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %A1, %A2 \n\t" \
"add %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r0 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (charIn1), \
"d" (intIn2) \
: \
"r26" \
)
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %A1, %A2 \n\t" \
"add %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r0 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (charIn1), \
"d" (intIn2) \
: \
"r26" \
)
// intRes = longIn1 * longIn2 >> 24
// uses:
// r26 to store 0
// r27 to store the byte 1 of the 48bit result
#define MultiU24X24toH16(intRes, longIn1, longIn2) \
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"mov r27, r1 \n\t" \
"mul %B1, %C2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %C1, %C2 \n\t" \
"add %B0, r0 \n\t" \
"mul %C1, %B2 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %A1, %C2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %B2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %C1, %A2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %A2 \n\t" \
"add r27, r1 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r27 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (longIn1), \
"d" (longIn2) \
: \
"r26" , "r27" \
)
asm volatile ( \
"clr r26 \n\t" \
"mul %A1, %B2 \n\t" \
"mov r27, r1 \n\t" \
"mul %B1, %C2 \n\t" \
"movw %A0, r0 \n\t" \
"mul %C1, %C2 \n\t" \
"add %B0, r0 \n\t" \
"mul %C1, %B2 \n\t" \
"add %A0, r0 \n\t" \
"adc %B0, r1 \n\t" \
"mul %A1, %C2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %B2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %C1, %A2 \n\t" \
"add r27, r0 \n\t" \
"adc %A0, r1 \n\t" \
"adc %B0, r26 \n\t" \
"mul %B1, %A2 \n\t" \
"add r27, r1 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"lsr r27 \n\t" \
"adc %A0, r26 \n\t" \
"adc %B0, r26 \n\t" \
"clr r1 \n\t" \
: \
"=&r" (intRes) \
: \
"d" (longIn1), \
"d" (longIn2) \
: \
"r26" , "r27" \
)
// Some useful constants
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= BIT(OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~BIT(OCIE1A)
void endstops_hit_on_purpose() {
endstop_x_hit = endstop_y_hit = endstop_z_hit = false;
}
void checkHitEndstops()
{
if( endstop_x_hit || endstop_y_hit || endstop_z_hit) {
void checkHitEndstops() {
if (endstop_x_hit || endstop_y_hit || endstop_z_hit) {
SERIAL_ECHO_START;
SERIAL_ECHOPGM(MSG_ENDSTOPS_HIT);
if(endstop_x_hit) {
SERIAL_ECHOPAIR(" X:",(float)endstops_trigsteps[X_AXIS]/axis_steps_per_unit[X_AXIS]);
if (endstop_x_hit) {
SERIAL_ECHOPAIR(" X:", (float)endstops_trigsteps[X_AXIS] / axis_steps_per_unit[X_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "X");
}
if(endstop_y_hit) {
SERIAL_ECHOPAIR(" Y:",(float)endstops_trigsteps[Y_AXIS]/axis_steps_per_unit[Y_AXIS]);
if (endstop_y_hit) {
SERIAL_ECHOPAIR(" Y:", (float)endstops_trigsteps[Y_AXIS] / axis_steps_per_unit[Y_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Y");
}
if(endstop_z_hit) {
SERIAL_ECHOPAIR(" Z:",(float)endstops_trigsteps[Z_AXIS]/axis_steps_per_unit[Z_AXIS]);
if (endstop_z_hit) {
SERIAL_ECHOPAIR(" Z:", (float)endstops_trigsteps[Z_AXIS] / axis_steps_per_unit[Z_AXIS]);
LCD_MESSAGEPGM(MSG_ENDSTOPS_HIT "Z");
}
SERIAL_EOL;
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit)
{
endstops_hit_on_purpose();
#if defined(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED) && defined(SDSUPPORT)
if (abort_on_endstop_hit) {
card.sdprinting = false;
card.closefile();
quickStop();
@ -203,21 +251,11 @@ void checkHitEndstops()
setTargetHotend3(0);
setTargetBed(0);
}
#endif
#endif
}
}
void endstops_hit_on_purpose()
{
endstop_x_hit=false;
endstop_y_hit=false;
endstop_z_hit=false;
}
void enable_endstops(bool check)
{
check_endstops = check;
}
void enable_endstops(bool check) { check_endstops = check; }
// __________________________
// /| |\ _________________ ^
@ -242,23 +280,23 @@ void st_wake_up() {
FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer;
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
if (step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
step_rate = (step_rate >> 2)&0x3fff;
if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
step_rate = (step_rate >> 2) & 0x3fff;
step_loops = 4;
}
else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times
step_rate = (step_rate >> 1)&0x7fff;
else if (step_rate > 10000) { // If steprate > 10kHz >> step 2 times
step_rate = (step_rate >> 1) & 0x7fff;
step_loops = 2;
}
else {
step_loops = 1;
}
if(step_rate < (F_CPU/500000)) step_rate = (F_CPU/500000);
step_rate -= (F_CPU/500000); // Correct for minimal speed
if(step_rate >= (8*256)){ // higher step rate
if (step_rate < (F_CPU / 500000)) step_rate = (F_CPU / 500000);
step_rate -= (F_CPU / 500000); // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00ff);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
@ -271,7 +309,7 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
}
if(timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
if (timer < 100) { timer = 100; MYSERIAL.print(MSG_STEPPER_TOO_HIGH); MYSERIAL.println(step_rate); }//(20kHz this should never happen)
return timer;
}
@ -294,49 +332,45 @@ FORCE_INLINE void trapezoid_generator_reset() {
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
// SERIAL_ECHO_START;
// SERIAL_ECHOPGM("advance :");
// SERIAL_ECHO(current_block->advance/256.0);
// SERIAL_ECHOPGM("advance rate :");
// SERIAL_ECHO(current_block->advance_rate/256.0);
// SERIAL_ECHOPGM("initial advance :");
// SERIAL_ECHO(current_block->initial_advance/256.0);
// SERIAL_ECHOPGM("final advance :");
// SERIAL_ECHOLN(current_block->final_advance/256.0);
// SERIAL_ECHO_START;
// SERIAL_ECHOPGM("advance :");
// SERIAL_ECHO(current_block->advance/256.0);
// SERIAL_ECHOPGM("advance rate :");
// SERIAL_ECHO(current_block->advance_rate/256.0);
// SERIAL_ECHOPGM("initial advance :");
// SERIAL_ECHO(current_block->initial_advance/256.0);
// SERIAL_ECHOPGM("final advance :");
// SERIAL_ECHOLN(current_block->final_advance/256.0);
}
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
ISR(TIMER1_COMPA_vect)
{
ISR(TIMER1_COMPA_vect) {
// If there is no current block, attempt to pop one from the buffer
if (current_block == NULL) {
if (!current_block) {
// Anything in the buffer?
current_block = plan_get_current_block();
if (current_block != NULL) {
if (current_block) {
current_block->busy = true;
trapezoid_generator_reset();
counter_x = -(current_block->step_event_count >> 1);
counter_y = counter_x;
counter_z = counter_x;
counter_e = counter_x;
counter_y = counter_z = counter_e = counter_x;
step_events_completed = 0;
#ifdef Z_LATE_ENABLE
if(current_block->steps_z > 0) {
if (current_block->steps_z > 0) {
enable_z();
OCR1A = 2000; //1ms wait
return;
}
#endif
// #ifdef ADVANCE
// e_steps[current_block->active_extruder] = 0;
// #endif
// #ifdef ADVANCE
// e_steps[current_block->active_extruder] = 0;
// #endif
}
else {
OCR1A=2000; // 1kHz.
OCR1A = 2000; // 1kHz.
}
}
@ -344,68 +378,42 @@ ISR(TIMER1_COMPA_vect)
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits;
// Set the direction bits (X_AXIS=A_AXIS and Y_AXIS=B_AXIS for COREXY)
if((out_bits & (1<<X_AXIS))!=0){
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
X_DIR_WRITE(INVERT_X_DIR);
X2_DIR_WRITE(INVERT_X_DIR);
}
else{
if (current_block->active_extruder != 0)
X2_DIR_WRITE(INVERT_X_DIR);
else
X_DIR_WRITE(INVERT_X_DIR);
if (TEST(out_bits, X_AXIS)) {
X_APPLY_DIR(INVERT_X_DIR,0);
count_direction[X_AXIS] = -1;
}
#else
X_DIR_WRITE(INVERT_X_DIR);
#endif
count_direction[X_AXIS]=-1;
}
else{
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
X_DIR_WRITE(!INVERT_X_DIR);
X2_DIR_WRITE( !INVERT_X_DIR);
}
else{
if (current_block->active_extruder != 0)
X2_DIR_WRITE(!INVERT_X_DIR);
else
X_DIR_WRITE(!INVERT_X_DIR);
}
#else
X_DIR_WRITE(!INVERT_X_DIR);
#endif
count_direction[X_AXIS]=1;
else {
X_APPLY_DIR(!INVERT_X_DIR,0);
count_direction[X_AXIS] = 1;
}
if((out_bits & (1<<Y_AXIS))!=0){
Y_DIR_WRITE(INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS
Y2_DIR_WRITE(!(INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif
count_direction[Y_AXIS]=-1;
if (TEST(out_bits, Y_AXIS)) {
Y_APPLY_DIR(INVERT_Y_DIR,0);
count_direction[Y_AXIS] = -1;
}
else{
Y_DIR_WRITE(!INVERT_Y_DIR);
#ifdef Y_DUAL_STEPPER_DRIVERS
Y2_DIR_WRITE((INVERT_Y_DIR == INVERT_Y2_VS_Y_DIR));
#endif
count_direction[Y_AXIS]=1;
else {
Y_APPLY_DIR(!INVERT_Y_DIR,0);
count_direction[Y_AXIS] = 1;
}
if(check_endstops) // check X and Y Endstops
{
#define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
bool axis ##_## minmax ##_endstop = (READ(AXIS ##_## MINMAX ##_PIN) != AXIS ##_## MINMAX ##_ENDSTOP_INVERTING); \
if (axis ##_## minmax ##_endstop && old_## axis ##_## minmax ##_endstop && (current_block->steps_## axis > 0)) { \
endstops_trigsteps[AXIS ##_AXIS] = count_position[AXIS ##_AXIS]; \
endstop_## axis ##_hit = true; \
step_events_completed = current_block->step_event_count; \
} \
old_## axis ##_## minmax ##_endstop = axis ##_## minmax ##_endstop;
// Check X and Y endstops
if (check_endstops) {
#ifndef COREXY
if ((out_bits & (1<<X_AXIS)) != 0) // stepping along -X axis (regular cartesians bot)
if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular cartesians bot)
#else
if (!((current_block->steps_x == current_block->steps_y) && ((out_bits & (1<<X_AXIS))>>X_AXIS != (out_bits & (1<<Y_AXIS))>>Y_AXIS))) // AlexBorro: If DeltaX == -DeltaY, the movement is only in Y axis
if ((out_bits & (1<<X_HEAD)) != 0) //AlexBorro: Head direction in -X axis for CoreXY bots.
// Head direction in -X axis for CoreXY bots.
// If DeltaX == -DeltaY, the movement is only in Y axis
if (TEST(out_bits, X_HEAD) && (current_block->steps_x != current_block->steps_y || (TEST(out_bits, X_AXIS) == TEST(out_bits, Y_AXIS))))
#endif
{ // -direction
#ifdef DUAL_X_CARRIAGE
@ -413,117 +421,71 @@ ISR(TIMER1_COMPA_vect)
if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
#endif
{
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
bool x_min_endstop=(READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0))
{
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
old_x_min_endstop = x_min_endstop;
#if defined(X_MIN_PIN) && X_MIN_PIN >= 0
UPDATE_ENDSTOP(x, X, min, MIN);
#endif
}
}
else
{ // +direction
else { // +direction
#ifdef DUAL_X_CARRIAGE
// with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
#endif
{
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
bool x_max_endstop=(READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0))
{
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
}
old_x_max_endstop = x_max_endstop;
#if defined(X_MAX_PIN) && X_MAX_PIN >= 0
UPDATE_ENDSTOP(x, X, max, MAX);
#endif
}
}
#ifndef COREXY
if ((out_bits & (1<<Y_AXIS)) != 0) // -direction
if (TEST(out_bits, Y_AXIS)) // -direction
#else
if (!((current_block->steps_x == current_block->steps_y) && ((out_bits & (1<<X_AXIS))>>X_AXIS == (out_bits & (1<<Y_AXIS))>>Y_AXIS))) // AlexBorro: If DeltaX == DeltaY, the movement is only in X axis
if ((out_bits & (1<<Y_HEAD)) != 0) //AlexBorro: Head direction in -Y axis for CoreXY bots.
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
if (TEST(out_bits, Y_HEAD) && (current_block->steps_x != current_block->steps_y || (TEST(out_bits, X_AXIS) != TEST(out_bits, Y_AXIS))))
#endif
{ // -direction
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
bool y_min_endstop=(READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0))
{
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
old_y_min_endstop = y_min_endstop;
#if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
UPDATE_ENDSTOP(y, Y, min, MIN);
#endif
}
else
{ // +direction
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
bool y_max_endstop=(READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0))
{
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
}
old_y_max_endstop = y_max_endstop;
else { // +direction
#if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
UPDATE_ENDSTOP(y, Y, max, MAX);
#endif
}
}
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
if (TEST(out_bits, Z_AXIS)) { // -direction
Z_DIR_WRITE(INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS
Z2_DIR_WRITE(INVERT_Z_DIR);
#endif
count_direction[Z_AXIS]=-1;
CHECK_ENDSTOPS
{
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
bool z_min_endstop=(READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
old_z_min_endstop = z_min_endstop;
count_direction[Z_AXIS] = -1;
if (check_endstops) {
#if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0
UPDATE_ENDSTOP(z, Z, min, MIN);
#endif
}
}
else { // +direction
Z_DIR_WRITE(!INVERT_Z_DIR);
#ifdef Z_DUAL_STEPPER_DRIVERS
Z2_DIR_WRITE(!INVERT_Z_DIR);
#endif
count_direction[Z_AXIS]=1;
CHECK_ENDSTOPS
{
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
bool z_max_endstop=(READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
}
old_z_max_endstop = z_max_endstop;
count_direction[Z_AXIS] = 1;
if (check_endstops) {
#if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
UPDATE_ENDSTOP(z, Z, max, MAX);
#endif
}
}
#ifndef ADVANCE
if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
if (TEST(out_bits, E_AXIS)) { // -direction
REV_E_DIR();
count_direction[E_AXIS]=-1;
}
@ -533,9 +495,8 @@ ISR(TIMER1_COMPA_vect)
}
#endif //!ADVANCE
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
// Take multiple steps per interrupt (For high speed moves)
for (int8_t i=0; i < step_loops; i++) {
#ifndef AT90USB
MSerial.checkRx(); // Check for serial chars.
#endif
@ -544,140 +505,63 @@ ISR(TIMER1_COMPA_vect)
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
e_steps[current_block->active_extruder]--;
}
else {
e_steps[current_block->active_extruder]++;
}
e_steps[current_block->active_extruder] += TEST(out_bits, E_AXIS) ? -1 : 1;
}
#endif //ADVANCE
counter_x += current_block->steps_x;
#ifdef CONFIG_STEPPERS_TOSHIBA
/* The Toshiba stepper controller require much longer pulses.
#ifdef CONFIG_STEPPERS_TOSHIBA
/**
* The Toshiba stepper controller require much longer pulses.
* So we 'stage' decompose the pulses between high and low
* instead of doing each in turn. The extra tests add enough
* lag to allow it work with without needing NOPs
*/
counter_x += current_block->steps_x;
if (counter_x > 0) X_STEP_WRITE(HIGH);
counter_y += current_block->steps_y;
if (counter_y > 0) Y_STEP_WRITE(HIGH);
counter_z += current_block->steps_z;
if (counter_z > 0) Z_STEP_WRITE(HIGH);
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) WRITE_E_STEP(HIGH);
#endif //!ADVANCE
if (counter_x > 0) {
counter_x -= current_block->step_event_count;
count_position[X_AXIS] += count_direction[X_AXIS];
X_STEP_WRITE(LOW);
}
if (counter_y > 0) {
counter_y -= current_block->step_event_count;
count_position[Y_AXIS] += count_direction[Y_AXIS];
Y_STEP_WRITE( LOW);
}
if (counter_e > 0) E_STEP_WRITE(HIGH);
#endif
if (counter_z > 0) {
counter_z -= current_block->step_event_count;
count_position[Z_AXIS] += count_direction[Z_AXIS];
Z_STEP_WRITE(LOW);
#define STEP_IF_COUNTER(axis, AXIS) \
if (counter_## axis > 0) {
counter_## axis -= current_block->step_event_count; \
count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
AXIS ##_STEP_WRITE(LOW);
}
STEP_IF_COUNTER(x, X);
STEP_IF_COUNTER(y, Y);
STEP_IF_COUNTER(z, Z);
#ifndef ADVANCE
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
count_position[E_AXIS] += count_direction[E_AXIS];
WRITE_E_STEP(LOW);
}
#endif //!ADVANCE
#else
if (counter_x > 0) {
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
X_STEP_WRITE(!INVERT_X_STEP_PIN);
X2_STEP_WRITE( !INVERT_X_STEP_PIN);
}
else {
if (current_block->active_extruder != 0)
X2_STEP_WRITE( !INVERT_X_STEP_PIN);
else
X_STEP_WRITE(!INVERT_X_STEP_PIN);
}
#else
X_STEP_WRITE(!INVERT_X_STEP_PIN);
STEP_IF_COUNTER(e, E);
#endif
counter_x -= current_block->step_event_count;
count_position[X_AXIS] += count_direction[X_AXIS];
#ifdef DUAL_X_CARRIAGE
if (extruder_duplication_enabled){
X_STEP_WRITE(INVERT_X_STEP_PIN);
X2_STEP_WRITE(INVERT_X_STEP_PIN);
}
else {
if (current_block->active_extruder != 0)
X2_STEP_WRITE(INVERT_X_STEP_PIN);
else
X_STEP_WRITE(INVERT_X_STEP_PIN);
}
#else
X_STEP_WRITE(INVERT_X_STEP_PIN);
#endif
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS
Y2_STEP_WRITE( !INVERT_Y_STEP_PIN);
#endif
#else // !CONFIG_STEPPERS_TOSHIBA
counter_y -= current_block->step_event_count;
count_position[Y_AXIS] += count_direction[Y_AXIS];
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#ifdef Y_DUAL_STEPPER_DRIVERS
Y2_STEP_WRITE( INVERT_Y_STEP_PIN);
#endif
#define APPLY_MOVEMENT(axis, AXIS) \
counter_## axis += current_block->steps_## axis; \
if (counter_## axis > 0) { \
AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN,0); \
counter_## axis -= current_block->step_event_count; \
count_position[AXIS ##_AXIS] += count_direction[AXIS ##_AXIS]; \
AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN,0); \
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
Z_STEP_WRITE( !INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
Z2_STEP_WRITE(!INVERT_Z_STEP_PIN);
#endif
counter_z -= current_block->step_event_count;
count_position[Z_AXIS] += count_direction[Z_AXIS];
Z_STEP_WRITE( INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
APPLY_MOVEMENT(x, X);
APPLY_MOVEMENT(y, Y);
APPLY_MOVEMENT(z, Z);
#ifndef ADVANCE
APPLY_MOVEMENT(e, E);
#endif
}
#ifndef ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
WRITE_E_STEP(!INVERT_E_STEP_PIN);
counter_e -= current_block->step_event_count;
count_position[E_AXIS] += count_direction[E_AXIS];
WRITE_E_STEP(INVERT_E_STEP_PIN);
}
#endif //!ADVANCE
#endif // CONFIG_STEPPERS_TOSHIBA
step_events_completed += 1;
if(step_events_completed >= current_block->step_event_count) break;
#endif // CONFIG_STEPPERS_TOSHIBA
step_events_completed++;
if (step_events_completed >= current_block->step_event_count) break;
}
// Calculare new timer value
unsigned short timer;
@ -688,7 +572,7 @@ ISR(TIMER1_COMPA_vect)
acc_step_rate += current_block->initial_rate;
// upper limit
if(acc_step_rate > current_block->nominal_rate)
if (acc_step_rate > current_block->nominal_rate)
acc_step_rate = current_block->nominal_rate;
// step_rate to timer interval
@ -699,7 +583,7 @@ ISR(TIMER1_COMPA_vect)
for(int8_t i=0; i < step_loops; i++) {
advance += advance_rate;
}
//if(advance > current_block->advance) advance = current_block->advance;
//if (advance > current_block->advance) advance = current_block->advance;
// Do E steps + advance steps
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
@ -709,7 +593,7 @@ ISR(TIMER1_COMPA_vect)
else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if(step_rate > acc_step_rate) { // Check step_rate stays positive
if (step_rate > acc_step_rate) { // Check step_rate stays positive
step_rate = current_block->final_rate;
}
else {
@ -717,7 +601,7 @@ ISR(TIMER1_COMPA_vect)
}
// lower limit
if(step_rate < current_block->final_rate)
if (step_rate < current_block->final_rate)
step_rate = current_block->final_rate;
// step_rate to timer interval
@ -728,7 +612,7 @@ ISR(TIMER1_COMPA_vect)
for(int8_t i=0; i < step_loops; i++) {
advance -= advance_rate;
}
if(advance < final_advance) advance = final_advance;
if (advance < final_advance) advance = final_advance;
// Do E steps + advance steps
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
@ -759,7 +643,7 @@ ISR(TIMER1_COMPA_vect)
// Set E direction (Depends on E direction + advance)
for(unsigned char i=0; i<4;i++) {
if (e_steps[0] != 0) {
E0_STEP_WRITE( INVERT_E_STEP_PIN);
E0_STEP_WRITE(INVERT_E_STEP_PIN);
if (e_steps[0] < 0) {
E0_DIR_WRITE(INVERT_E0_DIR);
e_steps[0]++;
@ -821,8 +705,7 @@ ISR(TIMER1_COMPA_vect)
}
#endif // ADVANCE
void st_init()
{
void st_init() {
digipot_init(); //Initialize Digipot Motor Current
microstep_init(); //Initialize Microstepping Pins
@ -835,186 +718,173 @@ void st_init()
L6470_init();
#endif
//Initialize Dir Pins
#if defined(X_DIR_PIN) && X_DIR_PIN > -1
// Initialize Dir Pins
#if defined(X_DIR_PIN) && X_DIR_PIN >= 0
X_DIR_INIT;
#endif
#if defined(X2_DIR_PIN) && X2_DIR_PIN > -1
#if defined(X2_DIR_PIN) && X2_DIR_PIN >= 0
X2_DIR_INIT;
#endif
#if defined(Y_DIR_PIN) && Y_DIR_PIN > -1
#if defined(Y_DIR_PIN) && Y_DIR_PIN >= 0
Y_DIR_INIT;
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && (Y2_DIR_PIN > -1)
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_DIR_PIN) && Y2_DIR_PIN >= 0
Y2_DIR_INIT;
#endif
#endif
#if defined(Z_DIR_PIN) && Z_DIR_PIN > -1
#if defined(Z_DIR_PIN) && Z_DIR_PIN >= 0
Z_DIR_INIT;
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && (Z2_DIR_PIN > -1)
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_DIR_PIN) && Z2_DIR_PIN >= 0
Z2_DIR_INIT;
#endif
#endif
#if defined(E0_DIR_PIN) && E0_DIR_PIN > -1
#if defined(E0_DIR_PIN) && E0_DIR_PIN >= 0
E0_DIR_INIT;
#endif
#if defined(E1_DIR_PIN) && (E1_DIR_PIN > -1)
#if defined(E1_DIR_PIN) && E1_DIR_PIN >= 0
E1_DIR_INIT;
#endif
#if defined(E2_DIR_PIN) && (E2_DIR_PIN > -1)
#if defined(E2_DIR_PIN) && E2_DIR_PIN >= 0
E2_DIR_INIT;
#endif
#if defined(E3_DIR_PIN) && (E3_DIR_PIN > -1)
#if defined(E3_DIR_PIN) && E3_DIR_PIN >= 0
E3_DIR_INIT;
#endif
//Initialize Enable Pins - steppers default to disabled.
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN > -1
#if defined(X_ENABLE_PIN) && X_ENABLE_PIN >= 0
X_ENABLE_INIT;
if(!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH);
#endif
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN > -1
#if defined(X2_ENABLE_PIN) && X2_ENABLE_PIN >= 0
X2_ENABLE_INIT;
if(!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH);
#endif
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN > -1
#if defined(Y_ENABLE_PIN) && Y_ENABLE_PIN >= 0
Y_ENABLE_INIT;
if(!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && (Y2_ENABLE_PIN > -1)
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_ENABLE_PIN) && Y2_ENABLE_PIN >= 0
Y2_ENABLE_INIT;
if(!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH);
#endif
#endif
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN > -1
#if defined(Z_ENABLE_PIN) && Z_ENABLE_PIN >= 0
Z_ENABLE_INIT;
if(!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && (Z2_ENABLE_PIN > -1)
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_ENABLE_PIN) && Z2_ENABLE_PIN >= 0
Z2_ENABLE_INIT;
if(!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH);
#endif
#endif
#if defined(E0_ENABLE_PIN) && (E0_ENABLE_PIN > -1)
#if defined(E0_ENABLE_PIN) && E0_ENABLE_PIN >= 0
E0_ENABLE_INIT;
if(!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH);
#endif
#if defined(E1_ENABLE_PIN) && (E1_ENABLE_PIN > -1)
#if defined(E1_ENABLE_PIN) && E1_ENABLE_PIN >= 0
E1_ENABLE_INIT;
if(!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
if (!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH);
#endif
#if defined(E2_ENABLE_PIN) && (E2_ENABLE_PIN > -1)
#if defined(E2_ENABLE_PIN) && E2_ENABLE_PIN >= 0
E2_ENABLE_INIT;
if(!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
if (!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH);
#endif
#if defined(E3_ENABLE_PIN) && (E3_ENABLE_PIN > -1)
#if defined(E3_ENABLE_PIN) && E3_ENABLE_PIN >= 0
E3_ENABLE_INIT;
if(!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH);
#endif
//endstops and pullups
#if defined(X_MIN_PIN) && X_MIN_PIN > -1
#if defined(X_MIN_PIN) && X_MIN_PIN >= 0
SET_INPUT(X_MIN_PIN);
#ifdef ENDSTOPPULLUP_XMIN
WRITE(X_MIN_PIN,HIGH);
#endif
#endif
#if defined(Y_MIN_PIN) && Y_MIN_PIN > -1
#if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
SET_INPUT(Y_MIN_PIN);
#ifdef ENDSTOPPULLUP_YMIN
WRITE(Y_MIN_PIN,HIGH);
#endif
#endif
#if defined(Z_MIN_PIN) && Z_MIN_PIN > -1
#if defined(Z_MIN_PIN) && Z_MIN_PIN >= 0
SET_INPUT(Z_MIN_PIN);
#ifdef ENDSTOPPULLUP_ZMIN
WRITE(Z_MIN_PIN,HIGH);
#endif
#endif
#if defined(X_MAX_PIN) && X_MAX_PIN > -1
#if defined(X_MAX_PIN) && X_MAX_PIN >= 0
SET_INPUT(X_MAX_PIN);
#ifdef ENDSTOPPULLUP_XMAX
WRITE(X_MAX_PIN,HIGH);
#endif
#endif
#if defined(Y_MAX_PIN) && Y_MAX_PIN > -1
#if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
SET_INPUT(Y_MAX_PIN);
#ifdef ENDSTOPPULLUP_YMAX
WRITE(Y_MAX_PIN,HIGH);
#endif
#endif
#if defined(Z_MAX_PIN) && Z_MAX_PIN > -1
#if defined(Z_MAX_PIN) && Z_MAX_PIN >= 0
SET_INPUT(Z_MAX_PIN);
#ifdef ENDSTOPPULLUP_ZMAX
WRITE(Z_MAX_PIN,HIGH);
#endif
#endif
#define AXIS_INIT(axis, AXIS, PIN) \
AXIS ##_STEP_INIT; \
AXIS ##_STEP_WRITE(INVERT_## PIN ##_STEP_PIN); \
disable_## axis()
//Initialize Step Pins
#if defined(X_STEP_PIN) && (X_STEP_PIN > -1)
X_STEP_INIT;
X_STEP_WRITE(INVERT_X_STEP_PIN);
disable_x();
#define E_AXIS_INIT(NUM) AXIS_INIT(e## NUM, E## NUM, E)
// Initialize Step Pins
#if defined(X_STEP_PIN) && X_STEP_PIN >= 0
AXIS_INIT(x, X, X);
#endif
#if defined(X2_STEP_PIN) && (X2_STEP_PIN > -1)
X2_STEP_INIT;
X2_STEP_WRITE(INVERT_X_STEP_PIN);
disable_x();
#if defined(X2_STEP_PIN) && X2_STEP_PIN >= 0
AXIS_INIT(x, X2, X);
#endif
#if defined(Y_STEP_PIN) && (Y_STEP_PIN > -1)
Y_STEP_INIT;
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && (Y2_STEP_PIN > -1)
#if defined(Y_STEP_PIN) && Y_STEP_PIN >= 0
#if defined(Y_DUAL_STEPPER_DRIVERS) && defined(Y2_STEP_PIN) && Y2_STEP_PIN >= 0
Y2_STEP_INIT;
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif
disable_y();
AXIS_INIT(y, Y, Y);
#endif
#if defined(Z_STEP_PIN) && (Z_STEP_PIN > -1)
Z_STEP_INIT;
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && (Z2_STEP_PIN > -1)
#if defined(Z_STEP_PIN) && Z_STEP_PIN >= 0
#if defined(Z_DUAL_STEPPER_DRIVERS) && defined(Z2_STEP_PIN) && Z2_STEP_PIN >= 0
Z2_STEP_INIT;
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
disable_z();
AXIS_INIT(z, Z, Z);
#endif
#if defined(E0_STEP_PIN) && (E0_STEP_PIN > -1)
E0_STEP_INIT;
E0_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e0();
#if defined(E0_STEP_PIN) && E0_STEP_PIN >= 0
E_AXIS_INIT(0);
#endif
#if defined(E1_STEP_PIN) && (E1_STEP_PIN > -1)
E1_STEP_INIT;
E1_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e1();
#if defined(E1_STEP_PIN) && E1_STEP_PIN >= 0
E_AXIS_INIT(1);
#endif
#if defined(E2_STEP_PIN) && (E2_STEP_PIN > -1)
E2_STEP_INIT;
E2_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e2();
#if defined(E2_STEP_PIN) && E2_STEP_PIN >= 0
E_AXIS_INIT(2);
#endif
#if defined(E3_STEP_PIN) && (E3_STEP_PIN > -1)
E3_STEP_INIT;
E3_STEP_WRITE(INVERT_E_STEP_PIN);
disable_e3();
#if defined(E3_STEP_PIN) && E3_STEP_PIN >= 0
E_AXIS_INIT(3);
#endif
// waveform generation = 0100 = CTC
TCCR1B &= ~(1<<WGM13);
TCCR1B |= (1<<WGM12);
TCCR1A &= ~(1<<WGM11);
TCCR1A &= ~(1<<WGM10);
TCCR1B &= ~BIT(WGM13);
TCCR1B |= BIT(WGM12);
TCCR1A &= ~BIT(WGM11);
TCCR1A &= ~BIT(WGM10);
// output mode = 00 (disconnected)
TCCR1A &= ~(3<<COM1A0);
@ -1033,14 +903,14 @@ void st_init()
#ifdef ADVANCE
#if defined(TCCR0A) && defined(WGM01)
TCCR0A &= ~(1<<WGM01);
TCCR0A &= ~(1<<WGM00);
TCCR0A &= ~BIT(WGM01);
TCCR0A &= ~BIT(WGM00);
#endif
e_steps[0] = 0;
e_steps[1] = 0;
e_steps[2] = 0;
e_steps[3] = 0;
TIMSK0 |= (1<<OCIE0A);
TIMSK0 |= BIT(OCIE0A);
#endif //ADVANCE
enable_endstops(true); // Start with endstops active. After homing they can be disabled
@ -1049,17 +919,15 @@ void st_init()
// Block until all buffered steps are executed
void st_synchronize()
{
while( blocks_queued()) {
void st_synchronize() {
while (blocks_queued()) {
manage_heater();
manage_inactivity();
lcd_update();
}
}
void st_set_position(const long &x, const long &y, const long &z, const long &e)
{
void st_set_position(const long &x, const long &y, const long &z, const long &e) {
CRITICAL_SECTION_START;
count_position[X_AXIS] = x;
count_position[Y_AXIS] = y;
@ -1068,15 +936,13 @@ void st_set_position(const long &x, const long &y, const long &z, const long &e)
CRITICAL_SECTION_END;
}
void st_set_e_position(const long &e)
{
void st_set_e_position(const long &e) {
CRITICAL_SECTION_START;
count_position[E_AXIS] = e;
CRITICAL_SECTION_END;
}
long st_get_position(uint8_t axis)
{
long st_get_position(uint8_t axis) {
long count_pos;
CRITICAL_SECTION_START;
count_pos = count_position[axis];
@ -1085,15 +951,15 @@ long st_get_position(uint8_t axis)
}
#ifdef ENABLE_AUTO_BED_LEVELING
float st_get_position_mm(uint8_t axis)
{
float st_get_position_mm(uint8_t axis) {
float steper_position_in_steps = st_get_position(axis);
return steper_position_in_steps / axis_steps_per_unit[axis];
}
}
#endif // ENABLE_AUTO_BED_LEVELING
void finishAndDisableSteppers()
{
void finishAndDisableSteppers() {
st_synchronize();
disable_x();
disable_y();
@ -1104,162 +970,85 @@ void finishAndDisableSteppers()
disable_e3();
}
void quickStop()
{
void quickStop() {
DISABLE_STEPPER_DRIVER_INTERRUPT();
while(blocks_queued())
plan_discard_current_block();
while (blocks_queued()) plan_discard_current_block();
current_block = NULL;
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
#ifdef BABYSTEPPING
// MUST ONLY BE CALLED BY AN ISR,
// No other ISR should ever interrupt this!
void babystep(const uint8_t axis, const bool direction) {
void babystep(const uint8_t axis,const bool direction)
{
//MUST ONLY BE CALLED BY A ISR, it depends on that no other ISR interrupts this
//store initial pin states
switch(axis)
{
case X_AXIS:
{
enable_x();
uint8_t old_x_dir_pin= X_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step
X_DIR_WRITE((INVERT_X_DIR)^direction);
#ifdef DUAL_X_CARRIAGE
X2_DIR_WRITE((INVERT_X_DIR)^direction);
#endif
//perform step
X_STEP_WRITE(!INVERT_X_STEP_PIN);
#ifdef DUAL_X_CARRIAGE
X2_STEP_WRITE(!INVERT_X_STEP_PIN);
#endif
_delay_us(1U); // wait 1 microsecond
X_STEP_WRITE(INVERT_X_STEP_PIN);
#ifdef DUAL_X_CARRIAGE
X2_STEP_WRITE(INVERT_X_STEP_PIN);
#endif
//get old pin state back.
X_DIR_WRITE(old_x_dir_pin);
#ifdef DUAL_X_CARRIAGE
X2_DIR_WRITE(old_x_dir_pin);
#endif
#define BABYSTEP_AXIS(axis, AXIS, INVERT) { \
enable_## axis(); \
uint8_t old_pin = AXIS ##_DIR_READ; \
AXIS ##_APPLY_DIR(INVERT_## AXIS ##_DIR^direction^INVERT, true); \
AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN, true); \
_delay_us(1U); \
AXIS ##_APPLY_STEP(INVERT_## AXIS ##_STEP_PIN, true); \
AXIS ##_APPLY_DIR(old_pin, true); \
}
break;
case Y_AXIS:
{
enable_y();
uint8_t old_y_dir_pin= Y_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step
Y_DIR_WRITE((INVERT_Y_DIR)^direction);
#ifdef DUAL_Y_CARRIAGE
Y2_DIR_WRITE((INVERT_Y_DIR)^direction);
#endif
//perform step
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
#ifdef DUAL_Y_CARRIAGE
Y2_STEP_WRITE( !INVERT_Y_STEP_PIN);
#endif
switch(axis) {
_delay_us(1U); // wait 1 microsecond
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
#ifdef DUAL_Y_CARRIAGE
Y2_STEP_WRITE(INVERT_Y_STEP_PIN);
#endif
//get old pin state back.
Y_DIR_WRITE(old_y_dir_pin);
#ifdef DUAL_Y_CARRIAGE
Y2_DIR_WRITE(old_y_dir_pin);
#endif
case X_AXIS:
BABYSTEP_AXIS(x, X, false);
break;
}
case Y_AXIS:
BABYSTEP_AXIS(y, Y, false);
break;
#ifndef DELTA
case Z_AXIS:
{
enable_z();
uint8_t old_z_dir_pin= Z_DIR_READ; //if dualzstepper, both point to same direction.
//setup new step
Z_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#ifdef Z_DUAL_STEPPER_DRIVERS
Z2_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
#endif
//perform step
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
Z2_STEP_WRITE( !INVERT_Z_STEP_PIN);
#endif
case Z_AXIS: {
_delay_us(1U); // wait 1 microsecond
#ifndef DELTA
Z_STEP_WRITE( INVERT_Z_STEP_PIN);
#ifdef Z_DUAL_STEPPER_DRIVERS
Z2_STEP_WRITE(INVERT_Z_STEP_PIN);
#endif
BABYSTEP_AXIS(z, Z, BABYSTEP_INVERT_Z);
//get old pin state back.
Z_DIR_WRITE(old_z_dir_pin);
#ifdef Z_DUAL_STEPPER_DRIVERS
Z2_DIR_WRITE(old_z_dir_pin);
#endif
#else // DELTA
bool z_direction = direction ^ BABYSTEP_INVERT_Z;
}
break;
#else //DELTA
case Z_AXIS:
{
enable_x();
enable_y();
enable_z();
uint8_t old_x_dir_pin= X_DIR_READ;
uint8_t old_y_dir_pin= Y_DIR_READ;
uint8_t old_z_dir_pin= Z_DIR_READ;
uint8_t old_x_dir_pin = X_DIR_READ,
old_y_dir_pin = Y_DIR_READ,
old_z_dir_pin = Z_DIR_READ;
//setup new step
X_DIR_WRITE((INVERT_X_DIR)^direction^BABYSTEP_INVERT_Z);
Y_DIR_WRITE((INVERT_Y_DIR)^direction^BABYSTEP_INVERT_Z);
Z_DIR_WRITE((INVERT_Z_DIR)^direction^BABYSTEP_INVERT_Z);
X_DIR_WRITE(INVERT_X_DIR^z_direction);
Y_DIR_WRITE(INVERT_Y_DIR^z_direction);
Z_DIR_WRITE(INVERT_Z_DIR^z_direction);
//perform step
X_STEP_WRITE( !INVERT_X_STEP_PIN);
X_STEP_WRITE(!INVERT_X_STEP_PIN);
Y_STEP_WRITE(!INVERT_Y_STEP_PIN);
Z_STEP_WRITE(!INVERT_Z_STEP_PIN);
_delay_us(1U); // wait 1 microsecond
_delay_us(1U);
X_STEP_WRITE(INVERT_X_STEP_PIN);
Y_STEP_WRITE(INVERT_Y_STEP_PIN);
Z_STEP_WRITE(INVERT_Z_STEP_PIN);
//get old pin state back.
X_DIR_WRITE(old_x_dir_pin);
Y_DIR_WRITE(old_y_dir_pin);
Z_DIR_WRITE(old_z_dir_pin);
}
break;
#endif
#endif
} break;
default: break;
}
}
}
#endif //BABYSTEPPING
void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl example
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
// From Arduino DigitalPotControl example
void digitalPotWrite(int address, int value) {
#if HAS_DIGIPOTSS
digitalWrite(DIGIPOTSS_PIN,LOW); // take the SS pin low to select the chip
SPI.transfer(address); // send in the address and value via SPI:
SPI.transfer(value);
@ -1268,16 +1057,17 @@ void digitalPotWrite(int address, int value) // From Arduino DigitalPotControl e
#endif
}
void digipot_init() //Initialize Digipot Motor Current
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
// Initialize Digipot Motor Current
void digipot_init() {
#if HAS_DIGIPOTSS
const uint8_t digipot_motor_current[] = DIGIPOT_MOTOR_CURRENT;
SPI.begin();
pinMode(DIGIPOTSS_PIN, OUTPUT);
for(int i=0;i<=4;i++)
for (int i = 0; i <= 4; i++) {
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
digipot_current(i,digipot_motor_current[i]);
}
#endif
#ifdef MOTOR_CURRENT_PWM_XY_PIN
pinMode(MOTOR_CURRENT_PWM_XY_PIN, OUTPUT);
@ -1291,29 +1081,29 @@ void digipot_init() //Initialize Digipot Motor Current
#endif
}
void digipot_current(uint8_t driver, int current)
{
#if defined(DIGIPOTSS_PIN) && DIGIPOTSS_PIN > -1
void digipot_current(uint8_t driver, int current) {
#if HAS_DIGIPOTSS
const uint8_t digipot_ch[] = DIGIPOT_CHANNELS;
digitalPotWrite(digipot_ch[driver], current);
#endif
#ifdef MOTOR_CURRENT_PWM_XY_PIN
if (driver == 0) analogWrite(MOTOR_CURRENT_PWM_XY_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE);
if (driver == 1) analogWrite(MOTOR_CURRENT_PWM_Z_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE);
if (driver == 2) analogWrite(MOTOR_CURRENT_PWM_E_PIN, (long)current * 255L / (long)MOTOR_CURRENT_PWM_RANGE);
switch(driver) {
case 0: analogWrite(MOTOR_CURRENT_PWM_XY_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
case 1: analogWrite(MOTOR_CURRENT_PWM_Z_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
case 2: analogWrite(MOTOR_CURRENT_PWM_E_PIN, 255L * current / MOTOR_CURRENT_PWM_RANGE); break;
}
#endif
}
void microstep_init()
{
void microstep_init() {
const uint8_t microstep_modes[] = MICROSTEP_MODES;
#if defined(E1_MS1_PIN) && E1_MS1_PIN > -1
#if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0
pinMode(E1_MS1_PIN,OUTPUT);
pinMode(E1_MS2_PIN,OUTPUT);
#endif
#if defined(X_MS1_PIN) && X_MS1_PIN > -1
#if defined(X_MS1_PIN) && X_MS1_PIN >= 0
pinMode(X_MS1_PIN,OUTPUT);
pinMode(X_MS2_PIN,OUTPUT);
pinMode(Y_MS1_PIN,OUTPUT);
@ -1322,38 +1112,33 @@ void microstep_init()
pinMode(Z_MS2_PIN,OUTPUT);
pinMode(E0_MS1_PIN,OUTPUT);
pinMode(E0_MS2_PIN,OUTPUT);
for(int i=0;i<=4;i++) microstep_mode(i,microstep_modes[i]);
for (int i = 0; i <= 4; i++) microstep_mode(i, microstep_modes[i]);
#endif
}
void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2)
{
if(ms1 > -1) switch(driver)
{
case 0: digitalWrite( X_MS1_PIN,ms1); break;
case 1: digitalWrite( Y_MS1_PIN,ms1); break;
case 2: digitalWrite( Z_MS1_PIN,ms1); break;
case 3: digitalWrite(E0_MS1_PIN,ms1); break;
#if defined(E1_MS1_PIN) && E1_MS1_PIN > -1
case 4: digitalWrite(E1_MS1_PIN,ms1); break;
void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2) {
if (ms1 >= 0) switch(driver) {
case 0: digitalWrite(X_MS1_PIN, ms1); break;
case 1: digitalWrite(Y_MS1_PIN, ms1); break;
case 2: digitalWrite(Z_MS1_PIN, ms1); break;
case 3: digitalWrite(E0_MS1_PIN, ms1); break;
#if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0
case 4: digitalWrite(E1_MS1_PIN, ms1); break;
#endif
}
if(ms2 > -1) switch(driver)
{
case 0: digitalWrite( X_MS2_PIN,ms2); break;
case 1: digitalWrite( Y_MS2_PIN,ms2); break;
case 2: digitalWrite( Z_MS2_PIN,ms2); break;
case 3: digitalWrite(E0_MS2_PIN,ms2); break;
#if defined(E1_MS2_PIN) && E1_MS2_PIN > -1
case 4: digitalWrite(E1_MS2_PIN,ms2); break;
if (ms2 >= 0) switch(driver) {
case 0: digitalWrite(X_MS2_PIN, ms2); break;
case 1: digitalWrite(Y_MS2_PIN, ms2); break;
case 2: digitalWrite(Z_MS2_PIN, ms2); break;
case 3: digitalWrite(E0_MS2_PIN, ms2); break;
#if defined(E1_MS2_PIN) && E1_MS2_PIN >= 0
case 4: digitalWrite(E1_MS2_PIN, ms2); break;
#endif
}
}
void microstep_mode(uint8_t driver, uint8_t stepping_mode)
{
switch(stepping_mode)
{
void microstep_mode(uint8_t driver, uint8_t stepping_mode) {
switch(stepping_mode) {
case 1: microstep_ms(driver,MICROSTEP1); break;
case 2: microstep_ms(driver,MICROSTEP2); break;
case 4: microstep_ms(driver,MICROSTEP4); break;
@ -1362,24 +1147,23 @@ void microstep_mode(uint8_t driver, uint8_t stepping_mode)
}
}
void microstep_readings()
{
void microstep_readings() {
SERIAL_PROTOCOLPGM("MS1,MS2 Pins\n");
SERIAL_PROTOCOLPGM("X: ");
SERIAL_PROTOCOL( digitalRead(X_MS1_PIN));
SERIAL_PROTOCOLLN( digitalRead(X_MS2_PIN));
SERIAL_PROTOCOL(digitalRead(X_MS1_PIN));
SERIAL_PROTOCOLLN(digitalRead(X_MS2_PIN));
SERIAL_PROTOCOLPGM("Y: ");
SERIAL_PROTOCOL( digitalRead(Y_MS1_PIN));
SERIAL_PROTOCOLLN( digitalRead(Y_MS2_PIN));
SERIAL_PROTOCOL(digitalRead(Y_MS1_PIN));
SERIAL_PROTOCOLLN(digitalRead(Y_MS2_PIN));
SERIAL_PROTOCOLPGM("Z: ");
SERIAL_PROTOCOL( digitalRead(Z_MS1_PIN));
SERIAL_PROTOCOLLN( digitalRead(Z_MS2_PIN));
SERIAL_PROTOCOL(digitalRead(Z_MS1_PIN));
SERIAL_PROTOCOLLN(digitalRead(Z_MS2_PIN));
SERIAL_PROTOCOLPGM("E0: ");
SERIAL_PROTOCOL( digitalRead(E0_MS1_PIN));
SERIAL_PROTOCOLLN( digitalRead(E0_MS2_PIN));
#if defined(E1_MS1_PIN) && E1_MS1_PIN > -1
SERIAL_PROTOCOL(digitalRead(E0_MS1_PIN));
SERIAL_PROTOCOLLN(digitalRead(E0_MS2_PIN));
#if defined(E1_MS1_PIN) && E1_MS1_PIN >= 0
SERIAL_PROTOCOLPGM("E1: ");
SERIAL_PROTOCOL( digitalRead(E1_MS1_PIN));
SERIAL_PROTOCOLLN( digitalRead(E1_MS2_PIN));
SERIAL_PROTOCOL(digitalRead(E1_MS1_PIN));
SERIAL_PROTOCOLLN(digitalRead(E1_MS2_PIN));
#endif
}

10
Marlin/stepper.h
Unescape View File

@ -25,26 +25,26 @@
#include "stepper_indirection.h"
#if EXTRUDERS > 3
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
#define E_STEP_WRITE(v) { if(current_block->active_extruder == 3) { E3_STEP_WRITE(v); } else { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}}
#define NORM_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE( !INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}}
#define REV_E_DIR() { if(current_block->active_extruder == 3) { E3_DIR_WRITE(INVERT_E3_DIR); } else { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}}
#elif EXTRUDERS > 2
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
#define E_STEP_WRITE(v) { if(current_block->active_extruder == 2) { E2_STEP_WRITE(v); } else { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}}
#define NORM_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(!INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}}
#define REV_E_DIR() { if(current_block->active_extruder == 2) { E2_DIR_WRITE(INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}}
#elif EXTRUDERS > 1
#ifndef DUAL_X_CARRIAGE
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define E_STEP_WRITE(v) { if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define NORM_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
#define REV_E_DIR() { if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
#else
extern bool extruder_duplication_enabled;
#define WRITE_E_STEP(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define E_STEP_WRITE(v) { if(extruder_duplication_enabled) { E0_STEP_WRITE(v); E1_STEP_WRITE(v); } else if(current_block->active_extruder == 1) { E1_STEP_WRITE(v); } else { E0_STEP_WRITE(v); }}
#define NORM_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(!INVERT_E0_DIR); E1_DIR_WRITE(!INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(!INVERT_E1_DIR); } else { E0_DIR_WRITE(!INVERT_E0_DIR); }}
#define REV_E_DIR() { if(extruder_duplication_enabled) { E0_DIR_WRITE(INVERT_E0_DIR); E1_DIR_WRITE(INVERT_E1_DIR); } else if(current_block->active_extruder == 1) { E1_DIR_WRITE(INVERT_E1_DIR); } else { E0_DIR_WRITE(INVERT_E0_DIR); }}
#endif
#else
#define WRITE_E_STEP(v) E0_STEP_WRITE(v)
#define E_STEP_WRITE(v) E0_STEP_WRITE(v)
#define NORM_E_DIR() E0_DIR_WRITE(!INVERT_E0_DIR)
#define REV_E_DIR() E0_DIR_WRITE(INVERT_E0_DIR)
#endif

160
Marlin/temperature.cpp
Unescape View File

@ -75,6 +75,10 @@
//============================= public variables ============================
//===========================================================================
#ifdef K1 // Defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
#endif
// Sampling period of the temperature routine
#ifdef PID_dT
#undef PID_dT
@ -127,8 +131,6 @@ static volatile bool temp_meas_ready = false;
static float pid_error[EXTRUDERS];
static float temp_iState_min[EXTRUDERS];
static float temp_iState_max[EXTRUDERS];
// static float pid_input[EXTRUDERS];
// static float pid_output[EXTRUDERS];
static bool pid_reset[EXTRUDERS];
#endif //PIDTEMP
#ifdef PIDTEMPBED
@ -546,34 +548,11 @@ void bed_max_temp_error(void) {
_temp_error(-1, MSG_MAXTEMP_BED_OFF, MSG_ERR_MAXTEMP_BED);
}
void manage_heater() {
if (!temp_meas_ready) return;
float pid_input, pid_output;
updateTemperaturesFromRawValues();
#ifdef HEATER_0_USES_MAX6675
float ct = current_temperature[0];
if (ct > min(HEATER_0_MAXTEMP, 1023)) max_temp_error(0);
if (ct < max(HEATER_0_MINTEMP, 0.01)) min_temp_error(0);
#endif //HEATER_0_USES_MAX6675
unsigned long ms = millis();
// Loop through all extruders
for (int e = 0; e < EXTRUDERS; e++) {
#if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0
thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS);
#endif
float get_pid_output(int e) {
float pid_output;
#ifdef PIDTEMP
pid_input = current_temperature[e];
#ifndef PID_OPENLOOP
pid_error[e] = target_temperature[e] - pid_input;
pid_error[e] = target_temperature[e] - current_temperature[e];
if (pid_error[e] > PID_FUNCTIONAL_RANGE) {
pid_output = BANG_MAX;
pid_reset[e] = true;
@ -583,7 +562,7 @@ void manage_heater() {
pid_reset[e] = true;
}
else {
if (pid_reset[e] == true) {
if (pid_reset[e]) {
temp_iState[e] = 0.0;
pid_reset[e] = false;
}
@ -592,9 +571,7 @@ void manage_heater() {
temp_iState[e] = constrain(temp_iState[e], temp_iState_min[e], temp_iState_max[e]);
iTerm[e] = PID_PARAM(Ki,e) * temp_iState[e];
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm[e] = (PID_PARAM(Kd,e) * (pid_input - temp_dState[e])) * K2 + (K1 * dTerm[e]);
dTerm[e] = K2 * PID_PARAM(Kd,e) * (current_temperature[e] - temp_dState[e]) + K1 * dTerm[e];
pid_output = pTerm[e] + iTerm[e] - dTerm[e];
if (pid_output > PID_MAX) {
if (pid_error[e] > 0) temp_iState[e] -= pid_error[e]; // conditional un-integration
@ -605,7 +582,7 @@ void manage_heater() {
pid_output = 0;
}
}
temp_dState[e] = pid_input;
temp_dState[e] = current_temperature[e];
#else
pid_output = constrain(target_temperature[e], 0, PID_MAX);
#endif //PID_OPENLOOP
@ -615,7 +592,7 @@ void manage_heater() {
SERIAL_ECHO(MSG_PID_DEBUG);
SERIAL_ECHO(e);
SERIAL_ECHO(MSG_PID_DEBUG_INPUT);
SERIAL_ECHO(pid_input);
SERIAL_ECHO(current_temperature[e]);
SERIAL_ECHO(MSG_PID_DEBUG_OUTPUT);
SERIAL_ECHO(pid_output);
SERIAL_ECHO(MSG_PID_DEBUG_PTERM);
@ -627,12 +604,65 @@ void manage_heater() {
#endif //PID_DEBUG
#else /* PID off */
pid_output = (current_temperature[e] < target_temperature[e]) ? PID_MAX : 0;
#endif
return pid_output;
}
#ifdef PIDTEMPBED
float get_pid_output_bed() {
float pid_output;
#ifndef PID_OPENLOOP
pid_error_bed = target_temperature_bed - current_temperature_bed;
pTerm_bed = bedKp * pid_error_bed;
temp_iState_bed += pid_error_bed;
temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
iTerm_bed = bedKi * temp_iState_bed;
dTerm_bed = K2 * bedKd * (current_temperature_bed - temp_dState_bed) + K1 * dTerm_bed;
temp_dState_bed = current_temperature_bed;
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
if (pid_output > MAX_BED_POWER) {
if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = MAX_BED_POWER;
}
else if (pid_output < 0) {
if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = 0;
if (current_temperature[e] < target_temperature[e]) pid_output = PID_MAX;
}
#else
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
#endif // PID_OPENLOOP
return pid_output;
}
#endif
void manage_heater() {
if (!temp_meas_ready) return;
updateTemperaturesFromRawValues();
#ifdef HEATER_0_USES_MAX6675
float ct = current_temperature[0];
if (ct > min(HEATER_0_MAXTEMP, 1023)) max_temp_error(0);
if (ct < max(HEATER_0_MINTEMP, 0.01)) min_temp_error(0);
#endif //HEATER_0_USES_MAX6675
unsigned long ms = millis();
// Loop through all extruders
for (int e = 0; e < EXTRUDERS; e++) {
#if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0
thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS);
#endif
float pid_output = get_pid_output(e);
// Check if temperature is within the correct range
soft_pwm[e] = current_temperature[e] > minttemp[e] && current_temperature[e] < maxttemp[e] ? (int)pid_output >> 1 : 0;
@ -678,33 +708,7 @@ void manage_heater() {
#endif
#ifdef PIDTEMPBED
pid_input = current_temperature_bed;
#ifndef PID_OPENLOOP
pid_error_bed = target_temperature_bed - pid_input;
pTerm_bed = bedKp * pid_error_bed;
temp_iState_bed += pid_error_bed;
temp_iState_bed = constrain(temp_iState_bed, temp_iState_min_bed, temp_iState_max_bed);
iTerm_bed = bedKi * temp_iState_bed;
//K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1)
dTerm_bed = (bedKd * (pid_input - temp_dState_bed))*K2 + (K1 * dTerm_bed);
temp_dState_bed = pid_input;
pid_output = pTerm_bed + iTerm_bed - dTerm_bed;
if (pid_output > MAX_BED_POWER) {
if (pid_error_bed > 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = MAX_BED_POWER;
}
else if (pid_output < 0) {
if (pid_error_bed < 0) temp_iState_bed -= pid_error_bed; // conditional un-integration
pid_output = 0;
}
#else
pid_output = constrain(target_temperature_bed, 0, MAX_BED_POWER);
#endif //PID_OPENLOOP
float pid_output = get_pid_output_bed();
soft_pwm_bed = current_temperature_bed > BED_MINTEMP && current_temperature_bed < BED_MAXTEMP ? (int)pid_output >> 1 : 0;
@ -878,8 +882,8 @@ void tp_init()
{
#if MB(RUMBA) && ((TEMP_SENSOR_0==-1)||(TEMP_SENSOR_1==-1)||(TEMP_SENSOR_2==-1)||(TEMP_SENSOR_BED==-1))
//disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector
MCUCR=(1<<JTD);
MCUCR=(1<<JTD);
MCUCR=BIT(JTD);
MCUCR=BIT(JTD);
#endif
// Finish init of mult extruder arrays
@ -937,13 +941,13 @@ void tp_init()
#endif //HEATER_0_USES_MAX6675
#ifdef DIDR2
#define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= 1 << pin; else DIDR2 |= 1 << (pin - 8); }while(0)
#define ANALOG_SELECT(pin) do{ if (pin < 8) DIDR0 |= BIT(pin); else DIDR2 |= BIT(pin - 8); }while(0)
#else
#define ANALOG_SELECT(pin) do{ DIDR0 |= 1 << pin; }while(0)
#define ANALOG_SELECT(pin) do{ DIDR0 |= BIT(pin); }while(0)
#endif
// Set analog inputs
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07;
ADCSRA = BIT(ADEN) | BIT(ADSC) | BIT(ADIF) | 0x07;
DIDR0 = 0;
#ifdef DIDR2
DIDR2 = 0;
@ -970,7 +974,7 @@ void tp_init()
// Use timer0 for temperature measurement
// Interleave temperature interrupt with millies interrupt
OCR0B = 128;
TIMSK0 |= (1<<OCIE0B);
TIMSK0 |= BIT(OCIE0B);
// Wait for temperature measurement to settle
delay(250);
@ -1174,12 +1178,12 @@ void disable_heater() {
max6675_temp = 0;
#ifdef PRR
PRR &= ~(1<<PRSPI);
PRR &= ~BIT(PRSPI);
#elif defined(PRR0)
PRR0 &= ~(1<<PRSPI);
PRR0 &= ~BIT(PRSPI);
#endif
SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0);
SPCR = BIT(MSTR) | BIT(SPE) | BIT(SPR0);
// enable TT_MAX6675
WRITE(MAX6675_SS, 0);
@ -1190,13 +1194,13 @@ void disable_heater() {
// read MSB
SPDR = 0;
for (;(SPSR & (1<<SPIF)) == 0;);
for (;(SPSR & BIT(SPIF)) == 0;);
max6675_temp = SPDR;
max6675_temp <<= 8;
// read LSB
SPDR = 0;
for (;(SPSR & (1<<SPIF)) == 0;);
for (;(SPSR & BIT(SPIF)) == 0;);
max6675_temp |= SPDR;
// disable TT_MAX6675
@ -1246,7 +1250,7 @@ ISR(TIMER0_COMPB_vect) {
static unsigned long raw_temp_3_value = 0;
static unsigned long raw_temp_bed_value = 0;
static TempState temp_state = StartupDelay;
static unsigned char pwm_count = (1 << SOFT_PWM_SCALE);
static unsigned char pwm_count = BIT(SOFT_PWM_SCALE);
// Static members for each heater
#ifdef SLOW_PWM_HEATERS
@ -1331,7 +1335,7 @@ ISR(TIMER0_COMPB_vect) {
if (soft_pwm_fan < pwm_count) WRITE_FAN(0);
#endif
pwm_count += (1 << SOFT_PWM_SCALE);
pwm_count += BIT(SOFT_PWM_SCALE);
pwm_count &= 0x7f;
#else // SLOW_PWM_HEATERS
@ -1412,7 +1416,7 @@ ISR(TIMER0_COMPB_vect) {
if (soft_pwm_fan < pwm_count) WRITE_FAN(0);
#endif //FAN_SOFT_PWM
pwm_count += (1 << SOFT_PWM_SCALE);
pwm_count += BIT(SOFT_PWM_SCALE);
pwm_count &= 0x7f;
// increment slow_pwm_count only every 64 pwm_count circa 65.5ms
@ -1438,9 +1442,9 @@ ISR(TIMER0_COMPB_vect) {
#endif // SLOW_PWM_HEATERS
#define SET_ADMUX_ADCSRA(pin) ADMUX = (1 << REFS0) | (pin & 0x07); ADCSRA |= 1<<ADSC
#define SET_ADMUX_ADCSRA(pin) ADMUX = BIT(REFS0) | (pin & 0x07); ADCSRA |= BIT(ADSC)
#ifdef MUX5
#define START_ADC(pin) if (pin > 7) ADCSRB = 1 << MUX5; else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#define START_ADC(pin) if (pin > 7) ADCSRB = BIT(MUX5); else ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#else
#define START_ADC(pin) ADCSRB = 0; SET_ADMUX_ADCSRA(pin)
#endif

4
Marlin/ultralcd.cpp
Unescape View File

@ -1426,7 +1426,7 @@ void lcd_buttons_update() {
WRITE(SHIFT_LD, HIGH);
for(int8_t i = 0; i < 8; i++) {
newbutton_reprapworld_keypad >>= 1;
if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= (1 << 7);
if (READ(SHIFT_OUT)) newbutton_reprapworld_keypad |= BIT(7);
WRITE(SHIFT_CLK, HIGH);
WRITE(SHIFT_CLK, LOW);
}
@ -1439,7 +1439,7 @@ void lcd_buttons_update() {
unsigned char tmp_buttons = 0;
for(int8_t i=0; i<8; i++) {
newbutton >>= 1;
if (READ(SHIFT_OUT)) newbutton |= (1 << 7);
if (READ(SHIFT_OUT)) newbutton |= BIT(7);
WRITE(SHIFT_CLK, HIGH);
WRITE(SHIFT_CLK, LOW);
}

38
Marlin/ultralcd.h
Unescape View File

@ -57,20 +57,20 @@
void lcd_ignore_click(bool b=true);
#ifdef NEWPANEL
#define EN_C (1<<BLEN_C)
#define EN_B (1<<BLEN_B)
#define EN_A (1<<BLEN_A)
#define EN_C BIT(BLEN_C)
#define EN_B BIT(BLEN_B)
#define EN_A BIT(BLEN_A)
#define LCD_CLICKED (buttons&EN_C)
#ifdef REPRAPWORLD_KEYPAD
#define EN_REPRAPWORLD_KEYPAD_F3 (1<<BLEN_REPRAPWORLD_KEYPAD_F3)
#define EN_REPRAPWORLD_KEYPAD_F2 (1<<BLEN_REPRAPWORLD_KEYPAD_F2)
#define EN_REPRAPWORLD_KEYPAD_F1 (1<<BLEN_REPRAPWORLD_KEYPAD_F1)
#define EN_REPRAPWORLD_KEYPAD_UP (1<<BLEN_REPRAPWORLD_KEYPAD_UP)
#define EN_REPRAPWORLD_KEYPAD_RIGHT (1<<BLEN_REPRAPWORLD_KEYPAD_RIGHT)
#define EN_REPRAPWORLD_KEYPAD_MIDDLE (1<<BLEN_REPRAPWORLD_KEYPAD_MIDDLE)
#define EN_REPRAPWORLD_KEYPAD_DOWN (1<<BLEN_REPRAPWORLD_KEYPAD_DOWN)
#define EN_REPRAPWORLD_KEYPAD_LEFT (1<<BLEN_REPRAPWORLD_KEYPAD_LEFT)
#define EN_REPRAPWORLD_KEYPAD_F3 BIT(BLEN_REPRAPWORLD_KEYPAD_F3)
#define EN_REPRAPWORLD_KEYPAD_F2 BIT(BLEN_REPRAPWORLD_KEYPAD_F2)
#define EN_REPRAPWORLD_KEYPAD_F1 BIT(BLEN_REPRAPWORLD_KEYPAD_F1)
#define EN_REPRAPWORLD_KEYPAD_UP BIT(BLEN_REPRAPWORLD_KEYPAD_UP)
#define EN_REPRAPWORLD_KEYPAD_RIGHT BIT(BLEN_REPRAPWORLD_KEYPAD_RIGHT)
#define EN_REPRAPWORLD_KEYPAD_MIDDLE BIT(BLEN_REPRAPWORLD_KEYPAD_MIDDLE)
#define EN_REPRAPWORLD_KEYPAD_DOWN BIT(BLEN_REPRAPWORLD_KEYPAD_DOWN)
#define EN_REPRAPWORLD_KEYPAD_LEFT BIT(BLEN_REPRAPWORLD_KEYPAD_LEFT)
#define LCD_CLICKED ((buttons&EN_C) || (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F1))
#define REPRAPWORLD_KEYPAD_MOVE_Z_UP (buttons_reprapworld_keypad&EN_REPRAPWORLD_KEYPAD_F2)
@ -83,14 +83,14 @@
#endif //REPRAPWORLD_KEYPAD
#else
//atomic, do not change
#define B_LE (1<<BL_LE)
#define B_UP (1<<BL_UP)
#define B_MI (1<<BL_MI)
#define B_DW (1<<BL_DW)
#define B_RI (1<<BL_RI)
#define B_ST (1<<BL_ST)
#define EN_B (1<<BLEN_B)
#define EN_A (1<<BLEN_A)
#define B_LE BIT(BL_LE)
#define B_UP BIT(BL_UP)
#define B_MI BIT(BL_MI)
#define B_DW BIT(BL_DW)
#define B_RI BIT(BL_RI)
#define B_ST BIT(BL_ST)
#define EN_B BIT(BLEN_B)
#define EN_A BIT(BLEN_A)
#define LCD_CLICKED ((buttons&B_MI)||(buttons&B_ST))
#endif//NEWPANEL

34
Marlin/ultralcd_implementation_hitachi_HD44780.h
Unescape View File

@ -24,13 +24,13 @@
#define BLEN_B 1
#define BLEN_A 0
#define EN_B (1<<BLEN_B) // The two encoder pins are connected through BTN_EN1 and BTN_EN2
#define EN_A (1<<BLEN_A)
#define EN_B BIT(BLEN_B) // The two encoder pins are connected through BTN_EN1 and BTN_EN2
#define EN_A BIT(BLEN_A)
#if defined(BTN_ENC) && BTN_ENC > -1
// encoder click is directly connected
#define BLEN_C 2
#define EN_C (1<<BLEN_C)
#define EN_C BIT(BLEN_C)
#endif
//
@ -85,14 +85,14 @@
#define REPRAPWORLD_BTN_OFFSET 3 // bit offset into buttons for shift register values
#define EN_REPRAPWORLD_KEYPAD_F3 (1<<(BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F2 (1<<(BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F1 (1<<(BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_UP (1<<(BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_RIGHT (1<<(BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_MIDDLE (1<<(BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_DOWN (1<<(BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_LEFT (1<<(BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F3 BIT((BLEN_REPRAPWORLD_KEYPAD_F3+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F2 BIT((BLEN_REPRAPWORLD_KEYPAD_F2+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_F1 BIT((BLEN_REPRAPWORLD_KEYPAD_F1+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_UP BIT((BLEN_REPRAPWORLD_KEYPAD_UP+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_RIGHT BIT((BLEN_REPRAPWORLD_KEYPAD_RIGHT+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_MIDDLE BIT((BLEN_REPRAPWORLD_KEYPAD_MIDDLE+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_DOWN BIT((BLEN_REPRAPWORLD_KEYPAD_DOWN+REPRAPWORLD_BTN_OFFSET))
#define EN_REPRAPWORLD_KEYPAD_LEFT BIT((BLEN_REPRAPWORLD_KEYPAD_LEFT+REPRAPWORLD_BTN_OFFSET))
#define LCD_CLICKED ((buttons&EN_C) || (buttons&EN_REPRAPWORLD_KEYPAD_F1))
#define REPRAPWORLD_KEYPAD_MOVE_Y_DOWN (buttons&EN_REPRAPWORLD_KEYPAD_DOWN)
@ -113,12 +113,12 @@
#define BL_ST 2
//automatic, do not change
#define B_LE (1<<BL_LE)
#define B_UP (1<<BL_UP)
#define B_MI (1<<BL_MI)
#define B_DW (1<<BL_DW)
#define B_RI (1<<BL_RI)
#define B_ST (1<<BL_ST)
#define B_LE BIT(BL_LE)
#define B_UP BIT(BL_UP)
#define B_MI BIT(BL_MI)
#define B_DW BIT(BL_DW)
#define B_RI BIT(BL_RI)
#define B_ST BIT(BL_ST)
#define LCD_CLICKED (buttons&(B_MI|B_ST))
#endif

6
Marlin/ultralcd_st7920_u8glib_rrd.h
Unescape View File

@ -27,9 +27,15 @@ static void ST7920_SWSPI_SND_8BIT(uint8_t val)
for( i=0; i<8; i++ )
{
WRITE(ST7920_CLK_PIN,0);
#if F_CPU == 20000000
__asm__("nop\n\t");
#endif
WRITE(ST7920_DAT_PIN,val&0x80);
val<<=1;
WRITE(ST7920_CLK_PIN,1);
#if F_CPU == 20000000
__asm__("nop\n\t""nop\n\t");
#endif
}
}

8
Marlin/vector_3.cpp
Unescape View File

@ -79,11 +79,11 @@ void vector_3::debug(char* title)
{
SERIAL_PROTOCOL(title);
SERIAL_PROTOCOLPGM(" x: ");
SERIAL_PROTOCOL(x);
SERIAL_PROTOCOL_F(x, 6);
SERIAL_PROTOCOLPGM(" y: ");
SERIAL_PROTOCOL(y);
SERIAL_PROTOCOL_F(y, 6);
SERIAL_PROTOCOLPGM(" z: ");
SERIAL_PROTOCOL(z);
SERIAL_PROTOCOL_F(z, 6);
SERIAL_EOL;
}
@ -150,7 +150,7 @@ void matrix_3x3::debug(char* title) {
int count = 0;
for(int i=0; i<3; i++) {
for(int j=0; j<3; j++) {
SERIAL_PROTOCOL(matrix[count] + 0.0001);
SERIAL_PROTOCOL_F(matrix[count], 6);
SERIAL_PROTOCOLPGM(" ");
count++;
}

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