Added support for Gen3+ (Pins file only)
Added late z enable. (blddk request) Only calculate look ahead if >2 moves in buffer. Removed some FORCE_INLINE to save memory. Signed-off-by: Erik van der Zalm <erik@vdzalm.eu>
This commit is contained in:
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7c6141ebc4
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@ -28,7 +28,8 @@
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// Gen6 = 5,
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// Gen6 = 5,
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// Sanguinololu 1.2 and above = 62
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// Sanguinololu 1.2 and above = 62
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// Ultimaker = 7,
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// Ultimaker = 7,
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// Teensylu = 8
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// Teensylu = 8,
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// Gen3+ =9
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#define MOTHERBOARD 7
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#define MOTHERBOARD 7
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//===========================================================================
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//===========================================================================
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@ -201,6 +202,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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#define DISABLE_Y false
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#define DISABLE_Y false
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#define DISABLE_Z false
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#define DISABLE_Z false
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#define DISABLE_E false // For all extruders
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#define DISABLE_E false // For all extruders
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//#define Z_LATE_ENABLE // Enable Z the last moment. Needed if your Z driver overheats.
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// Inverting axis direction
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// Inverting axis direction
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//#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
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//#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
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@ -327,7 +327,7 @@ void loop()
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}
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}
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FORCE_INLINE void get_command()
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void get_command()
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{
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{
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while( MSerial.available() > 0 && buflen < BUFSIZE) {
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while( MSerial.available() > 0 && buflen < BUFSIZE) {
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serial_char = MSerial.read();
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serial_char = MSerial.read();
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@ -474,20 +474,20 @@ FORCE_INLINE void get_command()
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}
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}
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FORCE_INLINE float code_value()
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float code_value()
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{
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{
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return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
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return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
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}
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}
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FORCE_INLINE long code_value_long()
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long code_value_long()
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{
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{
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return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
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return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
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}
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}
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FORCE_INLINE bool code_seen(char code_string[]) //Return True if the string was found
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bool code_seen(char code_string[]) //Return True if the string was found
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{
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{
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return (strstr(cmdbuffer[bufindr], code_string) != NULL);
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return (strstr(cmdbuffer[bufindr], code_string) != NULL);
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}
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}
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FORCE_INLINE bool code_seen(char code)
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bool code_seen(char code)
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{
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{
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strchr_pointer = strchr(cmdbuffer[bufindr], code);
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strchr_pointer = strchr(cmdbuffer[bufindr], code);
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return (strchr_pointer != NULL); //Return True if a character was found
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return (strchr_pointer != NULL); //Return True if a character was found
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@ -519,7 +519,7 @@ FORCE_INLINE bool code_seen(char code)
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endstops_hit_on_purpose();\
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endstops_hit_on_purpose();\
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}
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}
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FORCE_INLINE void process_commands()
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void process_commands()
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{
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{
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unsigned long codenum; //throw away variable
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unsigned long codenum; //throw away variable
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char *starpos = NULL;
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char *starpos = NULL;
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@ -1235,7 +1235,7 @@ void ClearToSend()
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SERIAL_PROTOCOLLNPGM("ok");
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SERIAL_PROTOCOLLNPGM("ok");
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}
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}
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FORCE_INLINE void get_coordinates()
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void get_coordinates()
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{
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{
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for(int8_t i=0; i < NUM_AXIS; i++) {
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for(int8_t i=0; i < NUM_AXIS; i++) {
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if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
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if(code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
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@ -1247,7 +1247,7 @@ FORCE_INLINE void get_coordinates()
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}
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}
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}
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}
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FORCE_INLINE void get_arc_coordinates()
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void get_arc_coordinates()
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{
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{
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get_coordinates();
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get_coordinates();
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if(code_seen('I')) offset[0] = code_value();
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if(code_seen('I')) offset[0] = code_value();
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125
Marlin/pins.h
125
Marlin/pins.h
@ -470,7 +470,7 @@
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#define X_STEP_PIN 15
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#define X_STEP_PIN 15
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#define X_DIR_PIN 21
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#define X_DIR_PIN 21
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#define X_MIN_PIN 18
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#define X_MIN_PIN 18
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#define X_MAX_PIN -2
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#define X_MAX_PIN -1
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#define Y_STEP_PIN 22
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#define Y_STEP_PIN 22
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#define Y_DIR_PIN 23
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#define Y_DIR_PIN 23
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@ -653,6 +653,73 @@
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#endif
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#endif
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#if MOTHERBOARD == 71
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#define KNOWN_BOARD
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/*****************************************************************
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* Ultimaker pin assignment (Old electronics)
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******************************************************************/
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#ifndef __AVR_ATmega1280__
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#ifndef __AVR_ATmega2560__
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#error Oops! Make sure you have 'Arduino Mega' selected from the 'Tools -> Boards' menu.
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#endif
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#endif
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#define X_STEP_PIN 25
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#define X_DIR_PIN 23
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#define X_MIN_PIN 15
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#define X_MAX_PIN 14
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#define X_ENABLE_PIN 27
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#define Y_STEP_PIN 31
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#define Y_DIR_PIN 33
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#define Y_MIN_PIN 17
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#define Y_MAX_PIN 16
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#define Y_ENABLE_PIN 29
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#define Z_STEP_PIN 37
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#define Z_DIR_PIN 39
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#define Z_MIN_PIN 19
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#define Z_MAX_PIN 18
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#define Z_ENABLE_PIN 35
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#define HEATER_BED_PIN -1
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#define TEMP_BED_PIN -1
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#define HEATER_0_PIN 2
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#define TEMP_0_PIN 8
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#define HEATER_1_PIN 1
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#define TEMP_1_PIN 1
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#define HEATER_2_PIN -1
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#define TEMP_2_PIN -1
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#define E0_STEP_PIN 43
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#define E0_DIR_PIN 45
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#define E0_ENABLE_PIN 41
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#define E1_STEP_PIN -1
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#define E1_DIR_PIN -1
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#define E1_ENABLE_PIN -1
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#define SDPOWER -1
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#define SDSS -1
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#define LED_PIN -1
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#define FAN_PIN -1
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#define PS_ON_PIN -1
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#define KILL_PIN -1
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#define SUICIDE_PIN -1 //PIN that has to be turned on right after start, to keep power flowing.
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#define LCD_PINS_RS 24
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#define LCD_PINS_ENABLE 22
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#define LCD_PINS_D4 36
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#define LCD_PINS_D5 34
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#define LCD_PINS_D6 32
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#define LCD_PINS_D7 30
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#endif
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/****************************************************************************************
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/****************************************************************************************
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* Teensylu 0.7 pin assingments (ATMEGA90USB)
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* Teensylu 0.7 pin assingments (ATMEGA90USB)
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* Requires the Teensyduino software with Teensy2.0++ selected in arduino IDE!
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* Requires the Teensyduino software with Teensy2.0++ selected in arduino IDE!
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@ -712,6 +779,62 @@
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#endif
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#endif
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#endif
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#endif
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/****************************************************************************************
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* Gen3+ pin assignment
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*
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****************************************************************************************/
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#if MOTHERBOARD == 9
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#define MOTHERBOARD 6
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#define KNOWN_BOARD 1
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#ifndef __AVR_ATmega644P__
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#error Oops! Make sure you have 'Sanguino' selected from the 'Tools -> Boards' menu.
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#endif
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#define X_STEP_PIN 15
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#define X_DIR_PIN 18
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#define X_MIN_PIN 20
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#define X_MAX_PIN -1
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#define Y_STEP_PIN 23
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#define Y_DIR_PIN 22
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#define Y_MIN_PIN 25
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#define Y_MAX_PIN -1
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#define Z_STEP_PIN 27
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#define Z_DIR_PIN 28
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#define Z_MIN_PIN 30
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#define Z_MAX_PIN -1
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#define E_STEP_PIN 17
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#define E_DIR_PIN 21
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#define LED_PIN -1
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#define FAN_PIN -1
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#define PS_ON_PIN 14
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#define KILL_PIN -1
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#define HEATER_0_PIN 12 // (extruder)
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#define HEATER_1_PIN 16 // (bed)
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#define X_ENABLE_PIN 19
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#define Y_ENABLE_PIN 24
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#define Z_ENABLE_PIN 29
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#define E_ENABLE_PIN 13
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#define TEMP_0_PIN 0 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 33 extruder)
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#define TEMP_1_PIN 5 // MUST USE ANALOG INPUT NUMBERING NOT DIGITAL OUTPUT NUMBERING!!!!!!!!! (pin 34 bed)
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#define TEMP_2_PIN -1
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#define SDPOWER -1
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#define SDSS 4
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#define HEATER_2_PIN -1
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#endif
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#ifndef KNOWN_BOARD
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#ifndef KNOWN_BOARD
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#error Unknown MOTHERBOARD value in configuration.h
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#error Unknown MOTHERBOARD value in configuration.h
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#endif
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#endif
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@ -430,7 +430,9 @@ void check_axes_activity() {
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}
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}
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if((DISABLE_X) && (x_active == 0)) disable_x();
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if((DISABLE_X) && (x_active == 0)) disable_x();
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if((DISABLE_Y) && (y_active == 0)) disable_y();
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if((DISABLE_Y) && (y_active == 0)) disable_y();
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#ifndef Z_LATE_ENABLE
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if((DISABLE_Z) && (z_active == 0)) disable_z();
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if((DISABLE_Z) && (z_active == 0)) disable_z();
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#endif
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if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); }
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if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); }
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}
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}
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@ -505,7 +507,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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//enable active axes
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//enable active axes
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if(block->steps_x != 0) enable_x();
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if(block->steps_x != 0) enable_x();
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if(block->steps_y != 0) enable_y();
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if(block->steps_y != 0) enable_y();
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if(block->steps_z != 0) enable_z();
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// if(block->steps_z != 0) enable_z();
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// Enable all
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// Enable all
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if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
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if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
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@ -535,10 +537,10 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
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if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
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}
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}
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#ifdef SLOWDOWN
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// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
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// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
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int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
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int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
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#ifdef SLOWDOWN
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if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
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if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
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#endif
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#endif
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@ -686,7 +688,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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vmax_junction = max_z_jerk/2;
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vmax_junction = max_z_jerk/2;
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vmax_junction = min(vmax_junction, block->nominal_speed);
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vmax_junction = min(vmax_junction, block->nominal_speed);
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if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
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if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) {
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float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
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float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
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if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
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if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
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vmax_junction = block->nominal_speed;
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vmax_junction = block->nominal_speed;
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@ -274,6 +274,9 @@ FORCE_INLINE void trapezoid_generator_reset() {
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acceleration_time = calc_timer(acc_step_rate);
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acceleration_time = calc_timer(acc_step_rate);
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OCR1A = acceleration_time;
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OCR1A = acceleration_time;
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OCR1A_nominal = calc_timer(current_block->nominal_rate);
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OCR1A_nominal = calc_timer(current_block->nominal_rate);
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#ifdef Z_LATE_ENABLE
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if(current_block->steps_z > 0) enable_z();
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#endif
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// SERIAL_ECHO_START;
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// SERIAL_ECHO_START;
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// SERIAL_ECHOPGM("advance :");
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// SERIAL_ECHOPGM("advance :");
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@ -59,7 +59,7 @@ void lcdProgMemprint(const char *str)
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//=============================functions ============================
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//=============================functions ============================
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//===========================================================================
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//===========================================================================
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FORCE_INLINE int intround(const float &x){return int(0.5+x);}
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int intround(const float &x){return int(0.5+x);}
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void lcd_status(const char* message)
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void lcd_status(const char* message)
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{
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{
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