diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 3b0cfacfeb..7cbb66cf74 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -11,7 +11,7 @@
// Frequency limit
// See nophead's blog for more info
-// Not working OK
+// Not working O
//#define XY_FREQUENCY_LIMIT 15
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
@@ -31,7 +31,7 @@
// Sanguinololu 1.2 and above = 62
// Ultimaker = 7,
// Teensylu = 8
-#define MOTHERBOARD 7
+#define MOTHERBOARD 5
//===========================================================================
//=============================Thermal Settings ============================
@@ -45,9 +45,9 @@
// 5 is ParCan supplied 104GT-2 100K
// 6 is EPCOS 100k
// 7 is 100k Honeywell thermistor 135-104LAG-J01
-#define THERMISTORHEATER_0 3
-#define THERMISTORHEATER_1 3
-#define THERMISTORBED 3
+//#define THERMISTORHEATER_0 3
+//#define THERMISTORHEATER_1 3
+//#define THERMISTORBED 3
//#define HEATER_0_USES_THERMISTOR
//#define HEATER_1_USES_THERMISTOR
@@ -120,9 +120,15 @@
// #define DEFAULT_Ki (2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
// #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)
+
+// Mendel Parts V9 on 12V
+// #define DEFAULT_Kp 63.0
+// #define DEFAULT_Ki (2.25*PID_dT)
+// #define DEFAULT_Kd (440/PID_dT)
#endif
#ifdef PID_PI
@@ -141,13 +147,6 @@
#endif // PIDTEMP
-
-
-
-
-
-
-
//===========================================================================
//=============================Mechanical Settings===========================
//===========================================================================
@@ -178,10 +177,10 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
//#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
-#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_E_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
+//#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_E_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
//// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
@@ -243,13 +242,10 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
// this enables the watchdog interrupt.
-#define USE_WATCHDOG
+//#define USE_WATCHDOG
// you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
-#define RESET_MANUAL
-#define WATCHDOG_TIMEOUT 4 //seconds
-
-
-
+//#define RESET_MANUAL
+//#define WATCHDOG_TIMEOUT 4 //seconds
// extruder advance constant (s2/mm3)
//
@@ -275,7 +271,7 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
//#define ULTRA_LCD //general lcd support, also 16x2
//#define SDSUPPORT // Enable SD Card Support in Hardware Console
-#define ULTIPANEL
+//#define ULTIPANEL
#ifdef ULTIPANEL
// #define NEWPANEL //enable this if you have a click-encoder panel
#define SDSUPPORT
@@ -307,8 +303,7 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
#define AUTOTEMP_FACTOR 1000. //current target temperature= min+largest buffered espeeds)*FACTOR
-
-const int dropsegments=0; //everything with less than this number of steps will be ignored as move and joined with the next movement
+const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
//===========================================================================
//=============================Buffers ============================
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index 9f84f6c33d..3a6d4e6724 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -232,10 +232,9 @@ void setup()
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
-
+ tp_init(); // Initialize temperature loop
plan_init(); // Initialize planner;
st_init(); // Initialize stepper;
- tp_init(); // Initialize temperature loop
}
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 2e232201bf..b08e61ae45 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -56,8 +56,8 @@ static unsigned long step_events_completed; // The number of step events execute
#ifdef ADVANCE
static long advance_rate, advance, final_advance = 0;
static short old_advance = 0;
- static short e_steps;
#endif
+static short e_steps;
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;
@@ -156,7 +156,7 @@ asm volatile ( \
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
-void endstops_triggered(const unsigned long &stepstaken)
+inline void endstops_triggered(const unsigned long &stepstaken)
{
//this will only work if there is no bufferig
//however, if you perform a move at which the endstops should be triggered, and wait for it to complete, i.e. by blocking command, it should work
@@ -296,9 +296,9 @@ ISR(TIMER1_COMPA_vect)
counter_z = counter_x;
counter_e = counter_x;
step_events_completed = 0;
- #ifdef ADVANCE
+ // #ifdef ADVANCE
e_steps = 0;
- #endif
+// #endif
}
else {
// DISABLE_STEPPER_DRIVER_INTERRUPT();
@@ -309,29 +309,6 @@ 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;
- #ifdef ADVANCE
- // Calculate E early.
- 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
- CRITICAL_SECTION_START;
- e_steps--;
- CRITICAL_SECTION_END;
- }
- else {
- CRITICAL_SECTION_START;
- e_steps++;
- CRITICAL_SECTION_END;
- }
- }
- // Do E steps + advance steps
- CRITICAL_SECTION_START;
- e_steps += ((advance >> 16) - old_advance);
- CRITICAL_SECTION_END;
- old_advance = advance >> 16;
- #endif //ADVANCE
-
// Set direction en check limit switches
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
WRITE(X_DIR_PIN, INVERT_X_DIR);
@@ -339,10 +316,10 @@ ISR(TIMER1_COMPA_vect)
count_direction[X_AXIS]=-1;
#endif
#if X_MIN_PIN > -1
- if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
- // endstops_triggered(step_events_completed);
- step_events_completed = current_block->step_event_count;
- }
+ if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
+ // endstops_triggered(step_events_completed);
+ step_events_completed = current_block->step_event_count;
+ }
#endif
}
else { // +direction
@@ -355,7 +332,7 @@ ISR(TIMER1_COMPA_vect)
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
- #endif
+ #endif
}
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
@@ -365,7 +342,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Y_MIN_PIN > -1
if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
- // endstops_triggered(step_events_completed);
+// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@@ -390,7 +367,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Z_MIN_PIN > -1
if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
- endstops_triggered(step_events_completed);
+ // endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@@ -416,6 +393,30 @@ ISR(TIMER1_COMPA_vect)
#endif //!ADVANCE
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
+ /*
+ 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
+ CRITICAL_SECTION_START;
+ e_steps--;
+ CRITICAL_SECTION_END;
+ }
+ else {
+ CRITICAL_SECTION_START;
+ e_steps++;
+ CRITICAL_SECTION_END;
+ }
+ }
+ */
+ /*
+ // Do E steps + advance steps
+ CRITICAL_SECTION_START;
+ e_steps += ((advance >> 16) - old_advance);
+ CRITICAL_SECTION_END;
+ old_advance = advance >> 16;
+ */
+
counter_x += current_block->steps_x;
if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH);
@@ -649,7 +650,8 @@ void st_init()
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
OCR1A = 0x4000;
- DISABLE_STEPPER_DRIVER_INTERRUPT();
+ TCNT1 = 0;
+ ENABLE_STEPPER_DRIVER_INTERRUPT();
#ifdef ADVANCE
e_steps = 0;
diff --git a/Marlin/watchdog.pde b/Marlin/watchdog.pde
index 9cf710a0c7..be10f5876f 100644
--- a/Marlin/watchdog.pde
+++ b/Marlin/watchdog.pde
@@ -19,15 +19,15 @@ void(* ctrlaltdelete) (void) = 0; //does not work on my atmega2560
/// intialise watch dog with a 1 sec interrupt time
void wd_init()
{
- WDTCSR = (1<<WDCE )|(1<<WDE ); //allow changes
- WDTCSR = (1<<WDIF)|(1<<WDIE)| (1<<WDCE )|(1<<WDE )| (1<<WDP2 )|(1<<WDP1)|(0<<WDP0);
+ WDTCSR |= (1<<WDCE )|(1<<WDE ); //allow changes
+ WDTCSR = (1<<WDCE )|(1<<WDE )|(1<<WDP3 )|(1<<WDP0); // Reset after 8 sec.
+// WDTCSR = (1<<WDIF)|(1<<WDIE)| (1<<WDCE )|(1<<WDE )| (1<<WDP3) | (1<<WDP0);
}
/// reset watchdog. MUST be called every 1s after init or avr will reset.
void wd_reset()
{
wdt_reset();
- timeout_seconds=0; //reset counter for resets
}
//===========================================================================