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Merged multiple extruder support.

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Soft PWM. (Sanguinololu can also have PID temperature control)
Interrupt save WRITE for addresses > 0x0FF
master
Erik van der Zalm 13 years ago
parent 3664ed6aad
commit e017228569
11 changed files with 5525 additions and 5413 deletions
Show Stats Download Patch File Download Diff File

95
Marlin/Configuration.h
Unescape View File

@ -4,11 +4,11 @@
// This determines the communication speed of the printer
//#define BAUDRATE 250000
#define BAUDRATE 115200
#define BAUDRATE 250000
//#define BAUDRATE 115200
//#define BAUDRATE 230400
#define EXTRUDERS 2
#define EXTRUDERS 1
// Frequency limit
// See nophead's blog for more info
@ -32,7 +32,7 @@
// Sanguinololu 1.2 and above = 62
// Ultimaker = 7,
// Teensylu = 8
#define MOTHERBOARD 33
#define MOTHERBOARD 7
//===========================================================================
//=============================Thermal Settings ============================
@ -46,16 +46,21 @@
// 5 is ParCan supplied 104GT-2 100K
// 6 is EPCOS 100k
// 7 is 100k Honeywell thermistor 135-104LAG-J01
#define THERMISTORHEATER_0 1
#define THERMISTORHEATER_1 1
#define HEATER_0_USES_THERMISTOR
#define HEATER_1_USES_THERMISTOR
//#define HEATER_0_USES_AD595
//#define THERMISTORHEATER_0 3
//#define THERMISTORHEATER_1 1
//#define THERMISTORHEATER_2 1
//#define HEATER_0_USES_THERMISTOR
//#define HEATER_1_USES_THERMISTOR
//#define HEATER_2_USES_THERMISTOR
#define HEATER_0_USES_AD595
//#define HEATER_1_USES_AD595
//#define HEATER_2_USES_AD595
// Select one of these only to define how the bed temp is read.
#define THERMISTORBED 1
#define BED_USES_THERMISTOR
//#define THERMISTORBED 1
//#define BED_USES_THERMISTOR
//#define BED_USES_AD595
#define BED_CHECK_INTERVAL 5000 //ms
@ -73,7 +78,8 @@
//// The minimal temperature defines the temperature below which the heater will not be enabled
#define HEATER_0_MINTEMP 5
//#define HEATER_1_MINTEMP 5
#define BED_MINTEMP 5
//#define HEATER_2_MINTEMP 5
//#define BED_MINTEMP 5
// When temperature exceeds max temp, your heater will be switched off.
@ -81,7 +87,8 @@
// You should use MINTEMP for thermistor short/failure protection.
#define HEATER_0_MAXTEMP 275
//#define HEATER_1_MAXTEMP 275
#define BED_MAXTEMP 150
//#define HEATER_2_MAXTEMP 275
//#define BED_MAXTEMP 150
// Wait for Cooldown
@ -92,21 +99,17 @@
// Heating is finished if a temperature close to this degree shift is reached
#define HEATING_EARLY_FINISH_DEG_OFFSET 1 //Degree
// PID settings:
// Uncomment the following line to enable PID support.
#define PIDTEMP
#define PID_MAX 255 // limits current to nozzle; 255=full current
#ifdef PIDTEMP
#if MOTHERBOARD == 62
#error Sanguinololu does not support PID, sorry. Please disable it.
#endif
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
#define PID_MAX 255 // limits current to nozzle; 255=full current
#define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term
#define K1 0.95 //smoothing factor withing the PID
#define PID_dT 0.1 //sampling period of the PID
#define PID_dT 0.128 //sampling period of the PID
//To develop some PID settings for your machine, you can initiall follow
// the Ziegler-Nichols method.
@ -130,14 +133,14 @@
// #define DEFAULT_Kd (PID_SWING_AT_CRITIAL/8./PID_dT)
// Ultitmaker
// #define DEFAULT_Kp 22.2
// #define DEFAULT_Ki (1.25*PID_dT)
// #define DEFAULT_Kd (99/PID_dT)
#define DEFAULT_Kp 22.2
#define DEFAULT_Ki (1.25*PID_dT)
#define DEFAULT_Kd (99/PID_dT)
// Makergear
#define DEFAULT_Kp 7.0
#define DEFAULT_Ki 0.1
#define DEFAULT_Kd 12
// #define DEFAULT_Kp 7.0
// #define DEFAULT_Ki 0.1
// #define DEFAULT_Kd 12
// Mendel Parts V9 on 12V
// #define DEFAULT_Kp 63.0
@ -170,12 +173,12 @@
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool X_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
const bool Y_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false
//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
@ -186,7 +189,7 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
// Disables axis when it's not being used.
#define DISABLE_X false
#define DISABLE_Y false
#define DISABLE_Z true
#define DISABLE_Z false
#define DISABLE_E false // For all extruders
// Inverting axis direction
@ -195,11 +198,11 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
//#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true
//#define INVERT_E*_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false, used for all extruders
#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E1_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
//// ENDSTOP SETTINGS:
@ -208,15 +211,15 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1
#define min_software_endstops false //If true, axis won't move to coordinates less than zero.
#define max_software_endstops false //If true, axis won't move to coordinates greater than the defined lengths below.
#define X_MAX_LENGTH 210
#define Y_MAX_LENGTH 210
#define Z_MAX_LENGTH 210
#define min_software_endstops true //If true, axis won't move to coordinates less than zero.
#define max_software_endstops true //If true, axis won't move to coordinates greater than the defined lengths below.
#define X_MAX_LENGTH 205
#define Y_MAX_LENGTH 205
#define Z_MAX_LENGTH 200
//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {30*60, 30*60, 2*60, 0} // set the homing speeds (mm/min)
#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
#define X_HOME_RETRACT_MM 5
@ -230,9 +233,9 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
// default settings
//#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200*8/3,760*1.1} // default steps per unit for ultimaker
//#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 67} //sells mendel with v9 extruder
#define DEFAULT_AXIS_STEPS_PER_UNIT {80.3232, 80.8900, 2284.7651, 757.2218} // SAE Prusa w/ Wade extruder
#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200*8/3,760*1.1} // default steps per unit for ultimaker
//#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 360} //sells mendel with v9 extruder
//#define DEFAULT_AXIS_STEPS_PER_UNIT {80.3232, 80.8900, 2284.7651, 757.2218} // SAE Prusa w/ Wade extruder
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 45} // (mm/sec)
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
@ -283,10 +286,10 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
// hooke's law says: force = k * distance
// bernoulli's priniciple says: v ^ 2 / 2 + g . h + pressure / density = constant
// so: v ^ 2 is proportional to number of steps we advance the extruder
//#define ADVANCE
#define ADVANCE
#ifdef ADVANCE
#define EXTRUDER_ADVANCE_K .3
#define EXTRUDER_ADVANCE_K .0
#define D_FILAMENT 2.85
#define STEPS_MM_E 836
@ -298,10 +301,10 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
//LCD and SD support
//#define ULTRA_LCD //general lcd support, also 16x2
#define SDSUPPORT // Enable SD Card Support in Hardware Console
//#define SDSUPPORT // Enable SD Card Support in Hardware Console
#define SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers?
//#define ULTIPANEL
#define ULTIPANEL
#ifdef ULTIPANEL
//#define NEWPANEL //enable this if you have a click-encoder panel
#define SDSUPPORT

2
Marlin/Marlin.h
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@ -57,8 +57,6 @@ const prog_char echomagic[] PROGMEM ="echo:";
#define SERIAL_ECHOPAIR(name,value) {SERIAL_ECHOPGM(name);SERIAL_ECHO(value);}
// Macro for getting current active extruder
#define ACTIVE_EXTRUDER (active_extruder)
//things to write to serial from Programmemory. saves 400 to 2k of RAM.
#define SerialprintPGM(x) serialprintPGM(MYPGM(x))

22
Marlin/Marlin.pde
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@ -465,16 +465,16 @@ FORCE_INLINE bool code_seen(char code)
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]; \
prepare_move(); \
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
\
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;\
prepare_move(); \
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
\
destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
prepare_move(); \
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
\
current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
@ -541,6 +541,7 @@ FORCE_INLINE void process_commands()
if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //first diagonal move
{
current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
@ -723,7 +724,7 @@ FORCE_INLINE void process_commands()
if (code_seen('S')) setTargetBed(code_value());
break;
case 105 : // M105
tmp_extruder = ACTIVE_EXTRUDER;
tmp_extruder = active_extruder;
if(code_seen('T')) {
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
@ -743,6 +744,10 @@ FORCE_INLINE void process_commands()
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("No thermistors - no temp");
#endif
#ifdef PIDTEMP
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
#endif
SERIAL_PROTOCOLLN("");
return;
@ -793,9 +798,10 @@ FORCE_INLINE void process_commands()
if( (millis() - codenum) > 1000 )
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOLLN( degHotend(tmp_extruder) );
SERIAL_PROTOCOL( degHotend(tmp_extruder) );
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOLLN( (int)tmp_extruder );
#ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM(" W:");
if(residencyStart > -1)
{
@ -806,6 +812,7 @@ FORCE_INLINE void process_commands()
{
SERIAL_PROTOCOLLN( "?" );
}
#endif
codenum = millis();
}
manage_heater();
@ -834,11 +841,11 @@ FORCE_INLINE void process_commands()
{
if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
float tt=degHotend(ACTIVE_EXTRUDER);
float tt=degHotend(active_extruder);
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOLLN( (int)tmp_extruder );
SERIAL_PROTOCOLLN( (int)active_extruder );
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOLLN(degBed());
codenum = millis();
@ -1191,6 +1198,7 @@ void manage_inactivity(byte debug)
void kill()
{
cli(); // Stop interrupts
disable_heater();
disable_x();

61
Marlin/fastio.h
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@ -19,15 +19,31 @@
/*
magic I/O routines
now you can simply SET_OUTPUT(STEP); WRITE(STEP, 1); WRITE(STEP, 0);
*/
/// Read a pin
#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & MASK(DIO ## IO ## _PIN)))
/// write to a pin
#define _WRITE(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0)
//#define _WRITE(IO, v) do { #if (DIO ## IO ## _WPORT >= 0x100) CRITICAL_SECTION_START; if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); };#if (DIO ## IO ## _WPORT >= 0x100) CRITICAL_SECTION_END; } while (0)
// On some boards pins > 0x100 are used. These are not converted to atomic actions. An critical section is needed.
#define _WRITE_NC(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0)
#define _WRITE_C(IO, v) do { if (v) { \
CRITICAL_SECTION_START; \
{DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); }\
CRITICAL_SECTION_END; \
}\
else {\
CRITICAL_SECTION_START; \
{DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }\
CRITICAL_SECTION_END; \
}\
}\
while (0)
#define _WRITE(IO, v) do { if (&(DIO ## IO ## _RPORT) >= (uint8_t *)0x100) {_WRITE_C(IO, v); } else {_WRITE_NC(IO, v); }; } while (0)
/// toggle a pin
#define _TOGGLE(IO) do {DIO ## IO ## _RPORT = MASK(DIO ## IO ## _PIN); } while (0)
@ -41,25 +57,15 @@
/// check if pin is an output
#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) != 0)
/// check if pin is an timer
#define _GET_TIMER(IO) ((DIO ## IO ## _PWM)
// why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
/// Read a pin wrapper
#define READ(IO) _READ(IO)
/// Write to a pin wrapper
#define WRITE(IO, v) _WRITE(IO, v)
#if EXTRUDERS > 2
#define WRITE_E_STEP(v) { if(ACTIVE_EXTRUDER == 2) { WRITE(E2_STEP_PIN, v); } else { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
#define NORM_E_DIR() { if(ACTIVE_EXTRUDER == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
#define REV_E_DIR() { if(ACTIVE_EXTRUDER == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
#elif EXTRUDERS > 1
#define WRITE_E_STEP(v) { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
#define NORM_E_DIR() { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
#define REV_E_DIR() { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
#else
#define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
#define NORM_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
#define REV_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
#endif
/// toggle a pin wrapper
#define TOGGLE(IO) _TOGGLE(IO)
@ -74,6 +80,9 @@
/// check if pin is an output wrapper
#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
/// check if pin is an timer wrapper
#define GET_TIMER(IO) _GET_TIMER(IO)
/*
ports and functions
@ -470,13 +479,13 @@ pins
#define DIO3_RPORT PINB
#define DIO3_WPORT PORTB
#define DIO3_DDR DDRB
#define DIO3_PWM &OCR0A
#define DIO3_PWM OCR0A
#define DIO4_PIN PINB4
#define DIO4_RPORT PINB
#define DIO4_WPORT PORTB
#define DIO4_DDR DDRB
#define DIO4_PWM &OCR0B
#define DIO4_PWM OCR0B
#define DIO5_PIN PINB5
#define DIO5_RPORT PINB
@ -524,25 +533,25 @@ pins
#define DIO12_RPORT PIND
#define DIO12_WPORT PORTD
#define DIO12_DDR DDRD
#define DIO12_PWM NULL
#define DIO12_PWM OCR1B
#define DIO13_PIN PIND5
#define DIO13_RPORT PIND
#define DIO13_WPORT PORTD
#define DIO13_DDR DDRD
#define DIO13_PWM NULL
#define DIO13_PWM OCR1A
#define DIO14_PIN PIND6
#define DIO14_RPORT PIND
#define DIO14_WPORT PORTD
#define DIO14_DDR DDRD
#define DIO14_PWM &OCR2B
#define DIO14_PWM OCR2B
#define DIO15_PIN PIND7
#define DIO15_RPORT PIND
#define DIO15_WPORT PORTD
#define DIO15_DDR DDRD
#define DIO15_PWM &OCR2A
#define DIO15_PWM OCR2A
#define DIO16_PIN PINC0
#define DIO16_RPORT PINC
@ -773,14 +782,14 @@ pins
#define PB3_RPORT PINB
#define PB3_WPORT PORTB
#define PB3_DDR DDRB
#define PB3_PWM &OCR0A
#define PB3_PWM OCR0A
#undef PB4
#define PB4_PIN PINB4
#define PB4_RPORT PINB
#define PB4_WPORT PORTB
#define PB4_DDR DDRB
#define PB4_PWM &OCR0B
#define PB4_PWM OCR0B
#undef PB5
#define PB5_PIN PINB5
@ -908,14 +917,14 @@ pins
#define PD6_RPORT PIND
#define PD6_WPORT PORTD
#define PD6_DDR DDRD
#define PD6_PWM &OCR2B
#define PD6_PWM OCR2B
#undef PD7
#define PD7_PIN PIND7
#define PD7_RPORT PIND
#define PD7_WPORT PORTD
#define PD7_DDR DDRD
#define PD7_PWM &OCR2A
#define PD7_PWM OCR2A
#endif /* _AVR_ATmega{644,644P,644PA}__ */
#if defined (__AVR_ATmega1280__) || defined (__AVR_ATmega2560__)

17
Marlin/pins.h
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@ -557,25 +557,24 @@
#define HEATER_BED_PIN 4
#define TEMP_BED_PIN 11
#define EXTRUDER_0_STEP_PIN 43
#define EXTRUDER_0_DIR_PIN 45
#define EXTRUDER_0_ENABLE_PIN 41
#define HEATER_0_PIN 2
#define TEMP_0_PIN 8
#define EXTRUDER_1_STEP_PIN 49
#define EXTRUDER_1_DIR_PIN 47
#define EXTRUDER_1_ENABLE_PIN 51
#define EXTRUDER_1_HEATER_PIN 3
#define EXTRUDER_1_TEMPERATURE_PIN 10
#define HEATER_1_PIN 51
#define TEMP_1_PIN 3
#define HEATER_2_PIN -1
#define TEMP_2_PIN -1
#define E0_STEP_PIN 43
#define E0_DIR_PIN 45
#define E0_ENABLE_PIN 41
#define E0_STEP_PIN EXTRUDER_0_STEP_PIN
#define E0_DIR_PIN EXTRUDER_0_DIR_PIN
#define E0_ENABLE_PIN EXTRUDER_0_ENABLE_PIN
#define E1_STEP_PIN 49
#define E1_DIR_PIN 47
#define E1_ENABLE_PIN 51
#define SDPOWER -1
#define SDSS 53

4
Marlin/planner.cpp
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@ -191,8 +191,8 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
}
#ifdef ADVANCE
long initial_advance = block->advance*entry_factor*entry_factor;
long final_advance = block->advance*exit_factor*exit_factor;
volatile long initial_advance = block->advance*entry_factor*entry_factor;
volatile long final_advance = block->advance*exit_factor*exit_factor;
#endif // ADVANCE
// block->accelerate_until = accelerate_steps;

76
Marlin/stepper.cpp
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@ -57,7 +57,7 @@ volatile static unsigned long step_events_completed; // The number of step event
static long advance_rate, advance, final_advance = 0;
static long old_advance = 0;
#endif
static long e_steps;
static long e_steps[3];
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
static long acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
@ -266,7 +266,7 @@ FORCE_INLINE void trapezoid_generator_reset() {
advance = current_block->initial_advance;
final_advance = current_block->final_advance;
// Do E steps + advance steps
e_steps += ((advance >>8) - old_advance);
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif
deceleration_time = 0;
@ -304,7 +304,7 @@ ISR(TIMER1_COMPA_vect)
counter_e = counter_x;
step_events_completed = 0;
// #ifdef ADVANCE
e_steps = 0;
// e_steps[current_block->active_extruder] = 0;
// #endif
}
else {
@ -418,11 +418,11 @@ ISR(TIMER1_COMPA_vect)
#ifndef ADVANCE
if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
NORM_E_DIR();
REV_E_DIR();
count_direction[E_AXIS]=-1;
}
else { // +direction
REV_E_DIR();
NORM_E_DIR();
count_direction[E_AXIS]=-1;
}
#endif //!ADVANCE
@ -437,10 +437,10 @@ ISR(TIMER1_COMPA_vect)
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
e_steps--;
e_steps[current_block->active_extruder]--;
}
else {
e_steps++;
e_steps[current_block->active_extruder]++;
}
}
#endif //ADVANCE
@ -503,7 +503,7 @@ ISR(TIMER1_COMPA_vect)
}
//if(advance > current_block->advance) advance = current_block->advance;
// Do E steps + advance steps
e_steps += ((advance >>8) - old_advance);
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif
@ -532,7 +532,7 @@ ISR(TIMER1_COMPA_vect)
}
if(advance < final_advance) advance = final_advance;
// Do E steps + advance steps
e_steps += ((advance >>8) - old_advance);
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
old_advance = advance >>8;
#endif //ADVANCE
}
@ -557,20 +557,50 @@ ISR(TIMER1_COMPA_vect)
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
OCR0A = old_OCR0A;
// Set E direction (Depends on E direction + advance)
for(unsigned char i=0; i<4;) {
WRITE_E_STEP(LOW);
if (e_steps == 0) break;
i++;
if (e_steps < 0) {
WRITE_E_DIR(INVERT_E_DIR);
e_steps++;
WRITE_E_STEP(HIGH);
for(unsigned char i=0; i<4;i++) {
if (e_steps[0] != 0) {
WRITE(E0_STEP_PIN, LOW);
if (e_steps[0] < 0) {
WRITE(E0_DIR_PIN, INVERT_E0_DIR);
e_steps[0]++;
WRITE(E0_STEP_PIN, HIGH);
}
else if (e_steps[0] > 0) {
WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
e_steps[0]--;
WRITE(E0_STEP_PIN, HIGH);
}
else if (e_steps > 0) {
WRITE_E_DIR(!INVERT_E_DIR);
e_steps--;
WRITE_E_STEP(HIGH);
}
#if EXTRUDERS > 1
if (e_steps[1] != 0) {
WRITE(E1_STEP_PIN, LOW);
if (e_steps[1] < 0) {
WRITE(E1_DIR_PIN, INVERT_E1_DIR);
e_steps[1]++;
WRITE(E1_STEP_PIN, HIGH);
}
else if (e_steps[1] > 0) {
WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
e_steps[1]--;
WRITE(E1_STEP_PIN, HIGH);
}
}
#endif
#if EXTRUDERS > 2
if (e_steps[2] != 0) {
WRITE(E2_STEP_PIN, LOW);
if (e_steps[2] < 0) {
WRITE(E2_DIR_PIN, INVERT_E2_DIR);
e_steps[2]++;
WRITE(E2_STEP_PIN, HIGH);
}
else if (e_steps[2] > 0) {
WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
e_steps[2]--;
WRITE(E2_STEP_PIN, HIGH);
}
}
#endif
}
}
#endif // ADVANCE
@ -712,7 +742,9 @@ void st_init()
TCCR0A &= ~(1<<WGM01);
TCCR0A &= ~(1<<WGM00);
#endif
e_steps = 0;
e_steps[0] = 0;
e_steps[1] = 0;
e_steps[2] = 0;
TIMSK0 |= (1<<OCIE0A);
#endif //ADVANCE

15
Marlin/stepper.h
Unescape View File

@ -23,6 +23,21 @@
#include "planner.h"
#if EXTRUDERS > 2
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
#define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(!E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(!E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
#define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
#elif EXTRUDERS > 1
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
#define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
#define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
#else
#define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
#define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
#define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
#endif
// Initialize and start the stepper motor subsystem
void st_init();

93
Marlin/temperature.cpp
Unescape View File

@ -26,7 +26,6 @@
It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
This firmware is optimized for gen6 electronics.
*/
#include <avr/pgmspace.h>
@ -82,6 +81,7 @@ static unsigned long previous_millis_bed_heater;
// static float pid_output[EXTRUDERS];
static bool pid_reset[EXTRUDERS];
#endif //PIDTEMP
static unsigned char soft_pwm[EXTRUDERS];
#ifdef WATCHPERIOD
static int watch_raw[EXTRUDERS] = { -1000 }; // the first value used for all
@ -140,6 +140,10 @@ void updatePID()
#endif
}
int getHeaterPower(int heater) {
return soft_pwm[heater];
}
void manage_heater()
{
#ifdef USE_WATCHDOG
@ -201,12 +205,13 @@ void manage_heater()
// Check if temperature is within the correct range
if((current_raw[e] > minttemp[e]) && (current_raw[e] < maxttemp[e]))
{
analogWrite(heater_pin_map[e], pid_output);
//analogWrite(heater_pin_map[e], pid_output);
soft_pwm[e] = (int)pid_output >> 1;
}
else {
analogWrite(heater_pin_map[e], 0);
//analogWrite(heater_pin_map[e], 0);
soft_pwm[e] = 0;
}
} // End extruder for loop
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
@ -418,7 +423,6 @@ void tp_init()
DIDR0 |= 1 << TEMP_0_PIN;
#else
DIDR2 |= 1<<(TEMP_0_PIN - 8);
ADCSRB = 1<<MUX5;
#endif
#endif
#if (TEMP_1_PIN > -1)
@ -426,7 +430,6 @@ void tp_init()
DIDR0 |= 1<<TEMP_1_PIN;
#else
DIDR2 |= 1<<(TEMP_1_PIN - 8);
ADCSRB = 1<<MUX5;
#endif
#endif
#if (TEMP_2_PIN > -1)
@ -434,7 +437,6 @@ void tp_init()
DIDR0 |= 1 << TEMP_2_PIN;
#else
DIDR2 = 1<<(TEMP_2_PIN - 8);
ADCSRB = 1<<MUX5;
#endif
#endif
#if (TEMP_BED_PIN > -1)
@ -442,7 +444,6 @@ void tp_init()
DIDR0 |= 1<<TEMP_BED_PIN;
#else
DIDR2 |= 1<<(TEMP_BED_PIN - 8);
ADCSRB = 1<<MUX5;
#endif
#endif
@ -506,6 +507,7 @@ void disable_heater()
{
#if TEMP_0_PIN > -1
target_raw[0]=0;
soft_pwm[0]=0;
#if HEATER_0_PIN > -1
digitalWrite(HEATER_0_PIN,LOW);
#endif
@ -513,6 +515,7 @@ void disable_heater()
#if TEMP_1_PIN > -1
target_raw[1]=0;
soft_pwm[1]=0;
#if HEATER_1_PIN > -1
digitalWrite(HEATER_1_PIN,LOW);
#endif
@ -520,6 +523,7 @@ void disable_heater()
#if TEMP_2_PIN > -1
target_raw[2]=0;
soft_pwm[2]=0;
#if HEATER_2_PIN > -1
digitalWrite(HEATER_2_PIN,LOW);
#endif
@ -533,6 +537,26 @@ void disable_heater()
#endif
}
void max_temp_error(uint8_t e) {
digitalWrite(heater_pin_map[e], 0);
SERIAL_ERROR_START;
SERIAL_ERRORLN(e);
SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !");
}
void min_temp_error(uint8_t e) {
digitalWrite(heater_pin_map[e], 0);
SERIAL_ERROR_START;
SERIAL_ERRORLN(e);
SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !");
}
void bed_max_temp_error(void) {
digitalWrite(HEATER_BED_PIN, 0);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
}
// Timer 0 is shared with millies
ISR(TIMER0_COMPB_vect)
{
@ -543,6 +567,33 @@ ISR(TIMER0_COMPB_vect)
static unsigned long raw_temp_2_value = 0;
static unsigned long raw_temp_bed_value = 0;
static unsigned char temp_state = 0;
static unsigned char pwm_count = 1;
static unsigned char soft_pwm_0;
static unsigned char soft_pwm_1;
static unsigned char soft_pwm_2;
if(pwm_count == 0){
soft_pwm_0 = soft_pwm[0];
if(soft_pwm_0 > 0) WRITE(HEATER_0_PIN,1);
#if EXTRUDERS > 1
soft_pwm_1 = soft_pwm[1];
if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1);
#endif
#if EXTRUDERS > 2
soft_pwm_2 = soft_pwm[2];
if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1);
#endif
}
if(soft_pwm_0 <= pwm_count) WRITE(HEATER_0_PIN,0);
#if EXTRUDERS > 1
if(soft_pwm_1 <= pwm_count) WRITE(HEATER_1_PIN,0);
#endif
#if EXTRUDERS > 2
if(soft_pwm_2 <= pwm_count) WRITE(HEATER_2_PIN,0);
#endif
pwm_count++;
pwm_count &= 0x7f;
switch(temp_state) {
case 0: // Prepare TEMP_0
@ -628,10 +679,10 @@ ISR(TIMER0_COMPB_vect)
temp_state = 0;
temp_count++;
break;
default:
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Temp measurement error!");
break;
// default:
// SERIAL_ERROR_START;
// SERIAL_ERRORLNPGM("Temp measurement error!");
// break;
}
if(temp_count >= 16) // 8 ms * 16 = 128ms.
@ -671,21 +722,15 @@ ISR(TIMER0_COMPB_vect)
raw_temp_2_value = 0;
raw_temp_bed_value = 0;
for(int e = 0; e < EXTRUDERS; e++) {
for(unsigned char e = 0; e < EXTRUDERS; e++) {
if(current_raw[e] >= maxttemp[e]) {
target_raw[e] = 0;
digitalWrite(heater_pin_map[e], 0);
SERIAL_ERROR_START;
SERIAL_ERRORLN((int)e);
SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !");
kill();
max_temp_error(e);
kill();;
}
if(current_raw[e] <= minttemp[e]) {
target_raw[e] = 0;
digitalWrite(heater_pin_map[e], 0);
SERIAL_ERROR_START;
SERIAL_ERRORLN(e);
SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !");
min_temp_error(e);
kill();
}
}
@ -693,9 +738,7 @@ ISR(TIMER0_COMPB_vect)
#if defined(BED_MAXTEMP) && (HEATER_BED_PIN > -1)
if(current_raw_bed >= bed_maxttemp) {
target_raw_bed = 0;
digitalWrite(HEATER_BED_PIN, 0);
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
bed_max_temp_error();
kill();
}
#endif

1
Marlin/temperature.h
Unescape View File

@ -135,6 +135,7 @@ FORCE_INLINE void autotempShutdown(){
#endif
}
int getHeaterPower(int heater);
void disable_heater();
void setWatch();
void updatePID();

6
Marlin/ultralcd.pde
Unescape View File

@ -163,7 +163,11 @@ void lcd_status()
//static long previous_lcdinit=0;
// buttons_check(); // Done in temperature interrupt
//previous_millis_buttons=millis();
long ms=millis();
for(int8_t i=0; i<8; i++) {
if((blocking[i]>ms))
buttons &= ~(1<<i);
}
if((buttons==oldbuttons) && ((millis() - previous_millis_lcd) < LCD_UPDATE_INTERVAL) )
return;
oldbuttons=buttons;

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