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https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-23 12:04:19 +00:00
Merge branch 'Marlin_v1' of https://github.com/ErikZalm/Marlin into Marlin_v1
This commit is contained in:
Bernhard
commit
12e8edcac3
@ -170,6 +170,7 @@ const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false
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//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
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// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
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#define X_ENABLE_ON 0
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@ -279,8 +280,8 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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#ifdef ADVANCE
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#define EXTRUDER_ADVANCE_K .3
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#define D_FILAMENT 1.7
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#define STEPS_MM_E 65
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#define D_FILAMENT 2.85
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#define STEPS_MM_E 836
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#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
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#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
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@ -529,6 +529,8 @@ FORCE_INLINE void process_commands()
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saved_feedmultiply = feedmultiply;
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feedmultiply = 100;
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enable_endstops(true);
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for(int8_t i=0; i < NUM_AXIS; i++) {
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destination[i] = current_position[i];
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}
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@ -564,6 +566,9 @@ FORCE_INLINE void process_commands()
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HOMEAXIS(Z);
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current_position[2]=code_value()+add_homeing[2];
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}
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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enable_endstops(false);
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#endif
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feedrate = saved_feedrate;
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feedmultiply = saved_feedmultiply;
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@ -200,7 +200,6 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
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// block->accelerate_until = accelerate_steps;
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// block->decelerate_after = accelerate_steps+plateau_steps;
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CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
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if(block->busy == false) { // Don't update variables if block is busy.
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block->accelerate_until = accelerate_steps;
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@ -725,7 +724,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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else {
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long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
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float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
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(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
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(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
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block->advance = advance;
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if(acc_dist == 0) {
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block->advance_rate = 0;
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@ -734,6 +733,13 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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block->advance_rate = advance / (float)acc_dist;
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}
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}
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/*
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SERIAL_ECHO_START;
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SERIAL_ECHOPGM("advance :");
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SERIAL_ECHO(block->advance/256.0);
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SERIAL_ECHOPGM("advance rate :");
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SERIAL_ECHOLN(block->advance_rate/256.0);
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*/
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#endif // ADVANCE
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@ -56,9 +56,9 @@ static long counter_x, // Counter variables for the bresenham line tracer
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volatile static unsigned long step_events_completed; // The number of step events executed in the current block
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#ifdef ADVANCE
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static long advance_rate, advance, final_advance = 0;
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static short old_advance = 0;
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static long old_advance = 0;
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#endif
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static short e_steps;
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static long e_steps;
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static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
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static long acceleration_time, deceleration_time;
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//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
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@ -79,6 +79,8 @@ static bool old_y_max_endstop=false;
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static bool old_z_min_endstop=false;
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static bool old_z_max_endstop=false;
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static bool check_endstops = true;
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volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
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volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
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@ -86,6 +88,11 @@ volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
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//=============================functions ============================
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//===========================================================================
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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#define CHECK_ENDSTOPS if(check_endstops)
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#else
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#define CHECK_ENDSTOPS
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#endif
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// intRes = intIn1 * intIn2 >> 16
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// uses:
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@ -191,6 +198,11 @@ void endstops_hit_on_purpose()
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endstop_z_hit=false;
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}
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void enable_endstops(bool check)
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{
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check_endstops = check;
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}
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// __________________________
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// /| |\ _________________ ^
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// / | | \ /| |\ |
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@ -254,6 +266,9 @@ FORCE_INLINE void trapezoid_generator_reset() {
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#ifdef ADVANCE
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advance = current_block->initial_advance;
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final_advance = current_block->final_advance;
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// Do E steps + advance steps
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e_steps += ((advance >>8) - old_advance);
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old_advance = advance >>8;
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#endif
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deceleration_time = 0;
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// step_rate to timer interval
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@ -261,6 +276,17 @@ FORCE_INLINE void trapezoid_generator_reset() {
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acceleration_time = calc_timer(acc_step_rate);
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OCR1A = acceleration_time;
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OCR1A_nominal = calc_timer(current_block->nominal_rate);
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// SERIAL_ECHO_START;
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// SERIAL_ECHOPGM("advance :");
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// SERIAL_ECHO(current_block->advance/256.0);
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// SERIAL_ECHOPGM("advance rate :");
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// SERIAL_ECHO(current_block->advance_rate/256.0);
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// SERIAL_ECHOPGM("initial advance :");
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// SERIAL_ECHO(current_block->initial_advance/256.0);
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// SERIAL_ECHOPGM("final advance :");
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// SERIAL_ECHOLN(current_block->final_advance/256.0);
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}
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
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@ -295,6 +321,8 @@ ISR(TIMER1_COMPA_vect)
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if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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count_direction[X_AXIS]=-1;
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CHECK_ENDSTOPS
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{
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#if X_MIN_PIN > -1
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bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
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if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
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@ -305,9 +333,12 @@ ISR(TIMER1_COMPA_vect)
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old_x_min_endstop = x_min_endstop;
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#endif
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}
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}
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else { // +direction
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WRITE(X_DIR_PIN,!INVERT_X_DIR);
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count_direction[X_AXIS]=1;
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CHECK_ENDSTOPS
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{
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#if X_MAX_PIN > -1
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bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
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if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
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@ -318,10 +349,13 @@ ISR(TIMER1_COMPA_vect)
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old_x_max_endstop = x_max_endstop;
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#endif
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}
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}
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if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
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WRITE(Y_DIR_PIN,INVERT_Y_DIR);
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count_direction[Y_AXIS]=-1;
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CHECK_ENDSTOPS
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{
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#if Y_MIN_PIN > -1
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bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
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if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
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@ -332,9 +366,12 @@ ISR(TIMER1_COMPA_vect)
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old_y_min_endstop = y_min_endstop;
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#endif
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}
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}
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else { // +direction
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WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
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count_direction[Y_AXIS]=1;
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CHECK_ENDSTOPS
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{
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#if Y_MAX_PIN > -1
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bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
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if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
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@ -345,10 +382,13 @@ ISR(TIMER1_COMPA_vect)
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old_y_max_endstop = y_max_endstop;
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#endif
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}
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}
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if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
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WRITE(Z_DIR_PIN,INVERT_Z_DIR);
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count_direction[Z_AXIS]=-1;
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CHECK_ENDSTOPS
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{
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#if Z_MIN_PIN > -1
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bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
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if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
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@ -359,9 +399,12 @@ ISR(TIMER1_COMPA_vect)
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old_z_min_endstop = z_min_endstop;
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#endif
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}
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}
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else { // +direction
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WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
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count_direction[Z_AXIS]=1;
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CHECK_ENDSTOPS
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{
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#if Z_MAX_PIN > -1
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bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
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if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
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@ -372,6 +415,7 @@ ISR(TIMER1_COMPA_vect)
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old_z_max_endstop = z_max_endstop;
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#endif
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}
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}
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#ifndef ADVANCE
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if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
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@ -383,6 +427,9 @@ ISR(TIMER1_COMPA_vect)
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count_direction[E_AXIS]=-1;
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}
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#endif //!ADVANCE
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for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
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MSerial.checkRx(); // Check for serial chars.
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@ -391,19 +438,12 @@ ISR(TIMER1_COMPA_vect)
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if (counter_e > 0) {
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counter_e -= current_block->step_event_count;
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if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
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CRITICAL_SECTION_START;
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e_steps--;
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CRITICAL_SECTION_END;
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}
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else {
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CRITICAL_SECTION_START;
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e_steps++;
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CRITICAL_SECTION_END;
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}
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}
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// Do E steps + advance steps
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e_steps += ((advance >> 16) - old_advance);
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old_advance = advance >> 16;
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#endif //ADVANCE
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counter_x += current_block->steps_x;
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@ -462,6 +502,11 @@ ISR(TIMER1_COMPA_vect)
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for(int8_t i=0; i < step_loops; i++) {
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advance += advance_rate;
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}
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//if(advance > current_block->advance) advance = current_block->advance;
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// Do E steps + advance steps
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e_steps += ((advance >>8) - old_advance);
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old_advance = advance >>8;
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#endif
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}
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else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
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@ -486,8 +531,10 @@ ISR(TIMER1_COMPA_vect)
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for(int8_t i=0; i < step_loops; i++) {
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advance -= advance_rate;
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}
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if(advance < final_advance)
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advance = final_advance;
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if(advance < final_advance) advance = final_advance;
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// Do E steps + advance steps
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e_steps += ((advance >>8) - old_advance);
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old_advance = advance >>8;
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#endif //ADVANCE
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}
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else {
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@ -508,7 +555,7 @@ ISR(TIMER1_COMPA_vect)
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// Timer 0 is shared with millies
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ISR(TIMER0_COMPA_vect)
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{
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old_OCR0A += 25; // ~10kHz interrupt
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old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
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OCR0A = old_OCR0A;
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// Set E direction (Depends on E direction + advance)
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for(unsigned char i=0; i<4;) {
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@ -520,7 +567,7 @@ ISR(TIMER1_COMPA_vect)
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e_steps++;
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WRITE(E_STEP_PIN, HIGH);
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}
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if (e_steps > 0) {
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else if (e_steps > 0) {
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WRITE(E_DIR_PIN,!INVERT_E_DIR);
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e_steps--;
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WRITE(E_STEP_PIN, HIGH);
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@ -649,6 +696,13 @@ void st_init()
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e_steps = 0;
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TIMSK0 |= (1<<OCIE0A);
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#endif //ADVANCE
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#ifdef ENDSTOPS_ONLY_FOR_HOMING
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enable_endstops(false);
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#else
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enable_endstops(true);
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#endif
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sei();
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}
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@ -44,6 +44,8 @@ void st_wake_up();
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void checkHitEndstops(); //call from somwhere to create an serial error message with the locations the endstops where hit, in case they were triggered
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void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homeing and before a routine call of checkHitEndstops();
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void enable_endstops(bool check); // Enable/disable endstop checking
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void checkStepperErrors(); //Print errors detected by the stepper
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void finishAndDisableSteppers();
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