MPCNC/Firmware2
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This commit is contained in:
Erik van der Zalm 2011-12-12 20:35:46 +01:00
commit 84d9cf7339
12 changed files with 358 additions and 203 deletions
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32
Marlin/Configuration.h
View File

@ -20,9 +20,6 @@
// if unwanted behavior is observed on a user's machine when running at very slow speeds. // if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec) #define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN
// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration // BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
//// The following define selects which electronics board you have. Please choose the one that matches your setup //// The following define selects which electronics board you have. Please choose the one that matches your setup
@ -65,11 +62,11 @@
#define BED_CHECK_INTERVAL 5000 //ms #define BED_CHECK_INTERVAL 5000 //ms
//// Experimental watchdog and minimal temp //// Heating sanity check:
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature // This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109 // If the temperature has not increased at the end of that period, the target temperature is set to zero.
/// CURRENTLY NOT IMPLEMENTED AND UNUSEABLE // It can be reset with another M104/M109
//#define WATCHPERIOD 5000 //5 seconds //#define WATCHPERIOD 20000 //20 seconds
// Actual temperature must be close to target for this long before M109 returns success // Actual temperature must be close to target for this long before M109 returns success
#define TEMP_RESIDENCY_TIME 30 // (seconds) #define TEMP_RESIDENCY_TIME 30 // (seconds)
@ -163,6 +160,14 @@
#endif #endif
#endif // PIDTEMP #endif // PIDTEMP
// extruder run-out prevention.
//if the machine is idle, and the temperature over MINTEMP, every couple of SECONDS some filament is extruded
//#define EXTRUDER_RUNOUT_PREVENT
#define EXTRUDER_RUNOUT_MINTEMP 190
#define EXTRUDER_RUNOUT_SECONDS 30.
#define EXTRUDER_RUNOUT_ESTEPS 14. //mm filament
#define EXTRUDER_RUNOUT_SPEED 1500. //extrusion speed
//=========================================================================== //===========================================================================
//=============================Mechanical Settings=========================== //=============================Mechanical Settings===========================
@ -250,7 +255,12 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define DEFAULT_XYJERK 20.0 // (mm/sec) #define DEFAULT_XYJERK 20.0 // (mm/sec)
#define DEFAULT_ZJERK 0.4 // (mm/sec) #define DEFAULT_ZJERK 0.4 // (mm/sec)
// If defined the movements slow down when the look ahead buffer is only half full
#define SLOWDOWN
//default stepper release if idle
#define DEFAULT_STEPPER_DEACTIVE_TIME 60
#define DEFAULT_STEPPER_DEACTIVE_COMMAND "M84 X Y E" //z stays powered
//=========================================================================== //===========================================================================
@ -303,6 +313,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
//#define ULTRA_LCD //general lcd support, also 16x2 //#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 SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers?
#define SD_FINISHED_RELEASECOMMAND "M84 X Y E" // no z because of layer shift.
#define ULTIPANEL #define ULTIPANEL
#ifdef ULTIPANEL #ifdef ULTIPANEL
@ -339,6 +350,11 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#define AUTOTEMP_OLDWEIGHT 0.98 #define AUTOTEMP_OLDWEIGHT 0.98
#endif #endif
//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit
//can be software-disabled for whatever purposes by
#define PREVENT_DANGEROUS_EXTRUDE
#define EXTRUDE_MINTEMP 190
#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances.
const int dropsegments=5; //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

2
Marlin/Marlin.h
View File

@ -4,6 +4,7 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL // Licence: GPL
#define HardwareSerial_h // trick to disable the standard HWserial #define HardwareSerial_h // trick to disable the standard HWserial
#include <stdio.h>
#include <math.h> #include <math.h>
#if ARDUINO >= 100 #if ARDUINO >= 100
#include "Arduino.h" #include "Arduino.h"
@ -147,6 +148,7 @@ extern float homing_feedrate[];
extern bool axis_relative_modes[]; extern bool axis_relative_modes[];
extern float current_position[NUM_AXIS] ; extern float current_position[NUM_AXIS] ;
extern float add_homeing[3]; extern float add_homeing[3];
extern bool stop_heating_wait;
// Handling multiple extruders pins // Handling multiple extruders pins
extern uint8_t active_extruder; extern uint8_t active_extruder;

141
Marlin/Marlin.pde
View File

@ -27,6 +27,8 @@
#include <math.h> #include <math.h>
#include <EEPROM.h> #include <EEPROM.h>
#include <stdio.h>
#include "EEPROMwrite.h" #include "EEPROMwrite.h"
#include "fastio.h" #include "fastio.h"
#include "Configuration.h" #include "Configuration.h"
@ -39,7 +41,7 @@
#include "motion_control.h" #include "motion_control.h"
#include "cardreader.h" #include "cardreader.h"
#include "watchdog.h" #include "watchdog.h"
#include <stdio.h>
#define VERSION_STRING "1.0.0 Beta 1" #define VERSION_STRING "1.0.0 Beta 1"
@ -108,6 +110,7 @@
// M206 - set additional homeing offset // M206 - set additional homeing offset
// M220 - set speed factor override percentage S:factor in percent // M220 - set speed factor override percentage S:factor in percent
// M301 - Set PID parameters P I and D // M301 - Set PID parameters P I and D
// M302 - Allow cold extrudes
// M400 - Finish all moves // M400 - Finish all moves
// M500 - stores paramters in EEPROM // M500 - stores paramters in EEPROM
// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). // M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
@ -135,7 +138,7 @@ volatile bool feedmultiplychanged=false;
float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 }; float current_position[NUM_AXIS] = { 0.0, 0.0, 0.0, 0.0 };
float add_homeing[3]={0,0,0}; float add_homeing[3]={0,0,0};
uint8_t active_extruder = 0; uint8_t active_extruder = 0;
bool stop_heating_wait=false;
//=========================================================================== //===========================================================================
//=============================private variables============================= //=============================private variables=============================
@ -175,7 +178,8 @@ const int sensitive_pins[] = SENSITIVE_PINS; // Sensitive pin list for M42
//Inactivity shutdown variables //Inactivity shutdown variables
static unsigned long previous_millis_cmd = 0; static unsigned long previous_millis_cmd = 0;
static unsigned long max_inactive_time = 0; static unsigned long max_inactive_time = 0;
static unsigned long stepper_inactive_time = 0; static unsigned long stepper_inactive_time = DEFAULT_STEPPER_DEACTIVE_TIME*1000;
static unsigned long last_stepperdisabled_time=30*1000; //first release check after 30 seconds
static unsigned long starttime=0; static unsigned long starttime=0;
static unsigned long stoptime=0; static unsigned long stoptime=0;
@ -232,7 +236,9 @@ void setup()
SERIAL_PROTOCOLLNPGM("start"); SERIAL_PROTOCOLLNPGM("start");
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOPGM("Free Memory:"); SERIAL_ECHOPGM("Free Memory:");
SERIAL_ECHOLN(freeMemory()); SERIAL_ECHO(freeMemory());
SERIAL_ECHOPGM(" PlannerBufferBytes:");
SERIAL_ECHOLN((int)sizeof(block_t)*BLOCK_BUFFER_SIZE);
for(int8_t i = 0; i < BUFSIZE; i++) for(int8_t i = 0; i < BUFSIZE; i++)
{ {
fromsd[i] = false; fromsd[i] = false;
@ -498,19 +504,16 @@ FORCE_INLINE void process_commands()
case 1: // G1 case 1: // G1
get_coordinates(); // For X Y Z E F get_coordinates(); // For X Y Z E F
prepare_move(); prepare_move();
previous_millis_cmd = millis();
//ClearToSend(); //ClearToSend();
return; return;
//break; //break;
case 2: // G2 - CW ARC case 2: // G2 - CW ARC
get_arc_coordinates(); get_arc_coordinates();
prepare_arc_move(true); prepare_arc_move(true);
previous_millis_cmd = millis();
return; return;
case 3: // G3 - CCW ARC case 3: // G3 - CCW ARC
get_arc_coordinates(); get_arc_coordinates();
prepare_arc_move(false); prepare_arc_move(false);
previous_millis_cmd = millis();
return; return;
case 4: // G4 dwell case 4: // G4 dwell
LCD_MESSAGEPGM("DWELL..."); LCD_MESSAGEPGM("DWELL...");
@ -520,7 +523,7 @@ FORCE_INLINE void process_commands()
st_synchronize(); st_synchronize();
codenum += millis(); // keep track of when we started waiting codenum += millis(); // keep track of when we started waiting
previous_millis_cmd = millis();
while(millis() < codenum ){ while(millis() < codenum ){
manage_heater(); manage_heater();
} }
@ -540,34 +543,53 @@ FORCE_INLINE void process_commands()
#ifdef QUICK_HOME #ifdef QUICK_HOME
if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //first diagonal move if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //first diagonal move
{ {
current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0; 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]); 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[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR; feedrate = homing_feedrate[X_AXIS];
feedrate =homing_feedrate[X_AXIS];
if(homing_feedrate[Y_AXIS]<feedrate) if(homing_feedrate[Y_AXIS]<feedrate)
feedrate =homing_feedrate[Y_AXIS]; feedrate =homing_feedrate[Y_AXIS];
prepare_move(); prepare_move();
current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
current_position[X_AXIS] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
current_position[Y_AXIS] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
feedrate = 0.0;
st_synchronize();
plan_set_position(0, 0, current_position[Z_AXIS], current_position[E_AXIS]);
current_position[X_AXIS] = 0;current_position[Y_AXIS] = 0;
endstops_hit_on_purpose();
} }
#endif #endif
if((home_all_axis) || (code_seen(axis_codes[X_AXIS]))) if((home_all_axis) || (code_seen(axis_codes[X_AXIS])))
{ {
HOMEAXIS(X); HOMEAXIS(X);
current_position[0]=code_value()+add_homeing[0];
} }
if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) { if((home_all_axis) || (code_seen(axis_codes[Y_AXIS]))) {
HOMEAXIS(Y); HOMEAXIS(Y);
current_position[1]=code_value()+add_homeing[1];
} }
if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) { if((home_all_axis) || (code_seen(axis_codes[Z_AXIS]))) {
HOMEAXIS(Z); HOMEAXIS(Z);
current_position[2]=code_value()+add_homeing[2]; }
}
if(code_seen(axis_codes[X_AXIS]))
{
current_position[0]=code_value()+add_homeing[0];
}
if(code_seen(axis_codes[Y_AXIS])) {
current_position[1]=code_value()+add_homeing[1];
}
if(code_seen(axis_codes[Z_AXIS])) {
current_position[2]=code_value()+add_homeing[2];
}
#ifdef ENDSTOPS_ONLY_FOR_HOMING #ifdef ENDSTOPS_ONLY_FOR_HOMING
enable_endstops(false); enable_endstops(false);
#endif #endif
@ -817,6 +839,7 @@ FORCE_INLINE void process_commands()
} }
manage_heater(); manage_heater();
LCD_STATUS; LCD_STATUS;
if(stop_heating_wait) break;
#ifdef TEMP_RESIDENCY_TIME #ifdef TEMP_RESIDENCY_TIME
/* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
or when current temp falls outside the hysteresis after target temp was reached */ or when current temp falls outside the hysteresis after target temp was reached */
@ -830,6 +853,7 @@ FORCE_INLINE void process_commands()
} }
LCD_MESSAGEPGM("Heating done."); LCD_MESSAGEPGM("Heating done.");
starttime=millis(); starttime=millis();
previous_millis_cmd = millis();
} }
break; break;
case 190: // M190 - Wait for bed heater to reach target. case 190: // M190 - Wait for bed heater to reach target.
@ -853,6 +877,7 @@ FORCE_INLINE void process_commands()
manage_heater(); manage_heater();
} }
LCD_MESSAGEPGM("Bed done."); LCD_MESSAGEPGM("Bed done.");
previous_millis_cmd = millis();
#endif #endif
break; break;
@ -896,20 +921,25 @@ FORCE_INLINE void process_commands()
} }
else else
{ {
#if ((E_ENABLE_PIN != X_ENABLE_PIN) && (E_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS bool all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2]))|| (code_seen(axis_codes[3])));
if(code_seen('E')) { if(all_axis)
st_synchronize(); {
LCD_MESSAGEPGM("Free Move");
disable_e0(); disable_e0();
disable_e1(); disable_e1();
disable_e2(); disable_e2();
}
else {
finishAndDisableSteppers(); finishAndDisableSteppers();
} }
#else else
finishAndDisableSteppers(); {
#endif st_synchronize();
if(code_seen('X')) disable_x();
if(code_seen('Y')) disable_y();
if(code_seen('Z')) disable_z();
#if ((E_ENABLE_PIN != X_ENABLE_PIN) && (E_ENABLE_PIN != Y_ENABLE_PIN)) // Only enable on boards that have seperate ENABLE_PINS
if(code_seen('E')) disable_e();
#endif
LCD_MESSAGEPGM("Partial Release");
}
} }
break; break;
case 85: // M85 case 85: // M85
@ -979,7 +1009,11 @@ FORCE_INLINE void process_commands()
case 201: // M201 case 201: // M201
for(int8_t i=0; i < NUM_AXIS; i++) for(int8_t i=0; i < NUM_AXIS; i++)
{ {
if(code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i]; if(code_seen(axis_codes[i]))
{
max_acceleration_units_per_sq_second[i] = code_value();
axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
}
} }
break; break;
#if 0 // Not used for Sprinter/grbl gen6 #if 0 // Not used for Sprinter/grbl gen6
@ -1049,6 +1083,12 @@ FORCE_INLINE void process_commands()
} }
break; break;
#endif //PIDTEMP #endif //PIDTEMP
case 302: // finish all moves
{
allow_cold_extrudes(true);
}
break;
case 400: // finish all moves case 400: // finish all moves
{ {
st_synchronize(); st_synchronize();
@ -1146,6 +1186,7 @@ FORCE_INLINE void get_arc_coordinates()
void prepare_move() void prepare_move()
{ {
if (min_software_endstops) { if (min_software_endstops) {
if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0; if (destination[X_AXIS] < 0) destination[X_AXIS] = 0.0;
if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0; if (destination[Y_AXIS] < 0) destination[Y_AXIS] = 0.0;
@ -1162,6 +1203,7 @@ void prepare_move()
for(int8_t i=0; i < NUM_AXIS; i++) { for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i]; current_position[i] = destination[i];
} }
previous_millis_cmd = millis();
} }
void prepare_arc_move(char isclockwise) { void prepare_arc_move(char isclockwise) {
@ -1176,6 +1218,7 @@ void prepare_arc_move(char isclockwise) {
for(int8_t i=0; i < NUM_AXIS; i++) { for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i]; current_position[i] = destination[i];
} }
previous_millis_cmd = millis();
} }
void manage_inactivity(byte debug) void manage_inactivity(byte debug)
@ -1183,16 +1226,38 @@ void manage_inactivity(byte debug)
if( (millis()-previous_millis_cmd) > max_inactive_time ) if( (millis()-previous_millis_cmd) > max_inactive_time )
if(max_inactive_time) if(max_inactive_time)
kill(); kill();
if( (millis()-previous_millis_cmd) > stepper_inactive_time ) if(stepper_inactive_time)
if(stepper_inactive_time) if( (millis()-last_stepperdisabled_time) > stepper_inactive_time )
{ {
disable_x(); if(previous_millis_cmd>last_stepperdisabled_time)
disable_y(); last_stepperdisabled_time=previous_millis_cmd;
disable_z(); else
disable_e0(); {
disable_e1(); if( (X_ENABLE_ON && (READ(X_ENABLE_PIN)!=0)) || (!X_ENABLE_ON && READ(X_ENABLE_PIN)==0) )
disable_e2(); enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
last_stepperdisabled_time=millis();
} }
}
#ifdef EXTRUDER_RUNOUT_PREVENT
if( (millis()-previous_millis_cmd) > EXTRUDER_RUNOUT_SECONDS*1000 )
if(degHotend(active_extruder)>EXTRUDER_RUNOUT_MINTEMP)
{
bool oldstatus=READ(E_ENABLE_PIN);
enable_e();
float oldepos=current_position[E_AXIS];
float oldedes=destination[E_AXIS];
plan_buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS],
current_position[E_AXIS]+EXTRUDER_RUNOUT_EXTRUDE*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS],
EXTRUDER_RUNOUT_SPEED/60.*EXTRUDER_RUNOUT_ESTEPS/axis_steps_per_unit[E_AXIS], active_extruder);
current_position[E_AXIS]=oldepos;
destination[E_AXIS]=oldedes;
plan_set_e_position(oldepos);
previous_millis_cmd=millis();
//enquecommand(DEFAULT_STEPPER_DEACTIVE_COMMAND);
st_synchronize();
WRITE(E_ENABLE_PIN,oldstatus);
}
#endif
check_axes_activity(); check_axes_activity();
} }
@ -1215,4 +1280,4 @@ void kill()
while(1); // Wait for reset while(1); // Wait for reset
} }

1
Marlin/cardreader.h
View File

@ -44,6 +44,7 @@ public:
bool cardOK ; bool cardOK ;
char filename[11]; char filename[11];
bool filenameIsDir; bool filenameIsDir;
int lastnr; //last number of the autostart;
private: private:
SdFile root,*curDir,workDir,workDirParent,workDirParentParent; SdFile root,*curDir,workDir,workDirParent,workDirParentParent;
Sd2Card card; Sd2Card card;

8
Marlin/cardreader.pde
View File

@ -14,6 +14,7 @@ CardReader::CardReader()
autostart_atmillis=0; autostart_atmillis=0;
autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware. autostart_stilltocheck=true; //the sd start is delayed, because otherwise the serial cannot answer fast enought to make contact with the hostsoftware.
lastnr=0;
//power to SD reader //power to SD reader
#if SDPOWER > -1 #if SDPOWER > -1
SET_OUTPUT(SDPOWER); SET_OUTPUT(SDPOWER);
@ -334,7 +335,7 @@ void CardReader::checkautostart(bool force)
if(!cardOK) //fail if(!cardOK) //fail
return; return;
} }
static int lastnr=0;
char autoname[30]; char autoname[30];
sprintf(autoname,"auto%i.g",lastnr); sprintf(autoname,"auto%i.g",lastnr);
for(int8_t i=0;i<(int)strlen(autoname);i++) for(int8_t i=0;i<(int)strlen(autoname);i++)
@ -431,10 +432,13 @@ void CardReader::updir()
void CardReader::printingHasFinished() void CardReader::printingHasFinished()
{ {
quickStop();
sdprinting = false; sdprinting = false;
stop_heating_wait=true;
if(SD_FINISHED_STEPPERRELEASE) if(SD_FINISHED_STEPPERRELEASE)
{ {
finishAndDisableSteppers(); //finishAndDisableSteppers();
enquecommand(SD_FINISHED_RELEASECOMMAND);
} }
autotempShutdown(); autotempShutdown();
} }

28
Marlin/planner.cpp
View File

@ -103,7 +103,9 @@ volatile unsigned char block_buffer_tail; // Index of the block to pro
//=========================================================================== //===========================================================================
//=============================private variables ============================ //=============================private variables ============================
//=========================================================================== //===========================================================================
#ifdef PREVENT_DANGEROUS_EXTRUDE
bool allow_cold_extrude=false;
#endif
#ifdef XY_FREQUENCY_LIMIT #ifdef XY_FREQUENCY_LIMIT
// Used for the frequency limit // Used for the frequency limit
static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
@ -462,7 +464,23 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
#ifdef PREVENT_DANGEROUS_EXTRUDE
if(target[E_AXIS]!=position[E_AXIS])
if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
{
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(" cold extrusion prevented");
}
if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
{
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(" too long extrusion prevented");
}
#endif
// Prepare to set up new block // Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head]; block_t *block = &block_buffer[block_buffer_head];
@ -778,3 +796,9 @@ uint8_t movesplanned()
return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
} }
void allow_cold_extrudes(bool allow)
{
#ifdef PREVENT_DANGEROUS_EXTRUDE
allow_cold_extrude=allow;
#endif
}

12
Marlin/planner.h
View File

@ -128,4 +128,16 @@ FORCE_INLINE block_t *plan_get_current_block()
block->busy = true; block->busy = true;
return(block); return(block);
} }
// Gets the current block. Returns NULL if buffer empty
FORCE_INLINE bool blocks_queued()
{
if (block_buffer_head == block_buffer_tail) {
return false;
}
else
return true;
}
void allow_cold_extrudes(bool allow);
#endif #endif

14
Marlin/stepper.cpp
View File

@ -757,14 +757,15 @@ void st_init()
sei(); sei();
} }
// Block until all buffered steps are executed // Block until all buffered steps are executed
void st_synchronize() void st_synchronize()
{ {
while(plan_get_current_block()) { while( blocks_queued()) {
manage_heater(); manage_heater();
manage_inactivity(1); manage_inactivity(1);
LCD_STATUS; LCD_STATUS;
} }
} }
void st_set_position(const long &x, const long &y, const long &z, const long &e) void st_set_position(const long &x, const long &y, const long &z, const long &e)
@ -804,3 +805,12 @@ void finishAndDisableSteppers()
disable_e1(); disable_e1();
disable_e2(); disable_e2();
} }
void quickStop()
{
DISABLE_STEPPER_DRIVER_INTERRUPT();
while(blocks_queued())
plan_discard_current_block();
ENABLE_STEPPER_DRIVER_INTERRUPT();
}

2
Marlin/stepper.h
View File

@ -67,5 +67,5 @@ void finishAndDisableSteppers();
extern block_t *current_block; // A pointer to the block currently being traced extern block_t *current_block; // A pointer to the block currently being traced
void quickStop();
#endif #endif

17
Marlin/temperature.cpp
View File

@ -85,6 +85,7 @@ static unsigned long previous_millis_bed_heater;
#ifdef WATCHPERIOD #ifdef WATCHPERIOD
static int watch_raw[EXTRUDERS] = { -1000 }; // the first value used for all static int watch_raw[EXTRUDERS] = { -1000 }; // the first value used for all
static int watch_oldtemp[3] = {0,0,0};
static unsigned long watchmillis = 0; static unsigned long watchmillis = 0;
#endif //WATCHPERIOD #endif //WATCHPERIOD
@ -213,7 +214,20 @@ void manage_heater()
soft_pwm[e] = 0; soft_pwm[e] = 0;
} }
} // End extruder for loop } // End extruder for loop
#ifdef WATCHPERIOD
if(watchmillis && millis() - watchmillis > WATCHPERIOD){
if(watch_oldtemp[TEMPSENSOR_HOTEND_0] >= degHotend(active_extruder)){
setTargetHotend(0,active_extruder);
LCD_MESSAGEPGM("Heating failed");
SERIAL_ECHO_START;
SERIAL_ECHOLN("Heating failed");
}else{
watchmillis = 0;
}
}
#endif
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
return; return;
previous_millis_bed_heater = millis(); previous_millis_bed_heater = millis();
@ -493,6 +507,7 @@ void setWatch()
for (int e = 0; e < EXTRUDERS; e++) for (int e = 0; e < EXTRUDERS; e++)
{ {
if(isHeatingHotend(e)) if(isHeatingHotend(e))
watch_oldtemp[TEMPSENSOR_HOTEND_0] = degHotend(0);
{ {
t = max(t,millis()); t = max(t,millis());
watch_raw[e] = current_raw[e]; watch_raw[e] = current_raw[e];

287
Marlin/temperature.h
View File

@ -1,144 +1,145 @@
/* /*
temperature.h - temperature controller temperature.h - temperature controller
Part of Marlin Part of Marlin
Copyright (c) 2011 Erik van der Zalm Copyright (c) 2011 Erik van der Zalm
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. (at your option) any later version.
Grbl is distributed in the hope that it will be useful, Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/ */
#ifndef temperature_h #ifndef temperature_h
#define temperature_h #define temperature_h
#include "Marlin.h" #include "Marlin.h"
#include "fastio.h" #include "fastio.h"
#ifdef PID_ADD_EXTRUSION_RATE #include "planner.h"
#include "stepper.h" #ifdef PID_ADD_EXTRUSION_RATE
#endif #include "stepper.h"
#endif
// public functions
void tp_init(); //initialise the heating // public functions
void manage_heater(); //it is critical that this is called periodically. void tp_init(); //initialise the heating
void manage_heater(); //it is critical that this is called periodically.
//low leven conversion routines
// do not use this routines and variables outsie of temperature.cpp //low leven conversion routines
int temp2analog(int celsius, uint8_t e); // do not use this routines and variables outsie of temperature.cpp
int temp2analogBed(int celsius); int temp2analog(int celsius, uint8_t e);
float analog2temp(int raw, uint8_t e); int temp2analogBed(int celsius);
float analog2tempBed(int raw); float analog2temp(int raw, uint8_t e);
extern int target_raw[EXTRUDERS]; float analog2tempBed(int raw);
extern int heatingtarget_raw[EXTRUDERS]; extern int target_raw[EXTRUDERS];
extern int current_raw[EXTRUDERS]; extern int heatingtarget_raw[EXTRUDERS];
extern int target_raw_bed; extern int current_raw[EXTRUDERS];
extern int current_raw_bed; extern int target_raw_bed;
extern float Kp,Ki,Kd,Kc; extern int current_raw_bed;
extern float Kp,Ki,Kd,Kc;
#ifdef PIDTEMP
extern float pid_setpoint[EXTRUDERS]; #ifdef PIDTEMP
#endif extern float pid_setpoint[EXTRUDERS];
#endif
#ifdef WATCHPERIOD
extern int watch_raw[EXTRUDERS] ; // #ifdef WATCHPERIOD
extern unsigned long watchmillis; extern int watch_raw[EXTRUDERS] ;
#endif // extern unsigned long watchmillis;
// #endif
//high level conversion routines, for use outside of temperature.cpp
//inline so that there is no performance decrease. //high level conversion routines, for use outside of temperature.cpp
//deg=degreeCelsius //inline so that there is no performance decrease.
//deg=degreeCelsius
FORCE_INLINE float degHotend(uint8_t extruder) {
return analog2temp(current_raw[extruder], extruder); FORCE_INLINE float degHotend(uint8_t extruder) {
}; return analog2temp(current_raw[extruder], extruder);
};
FORCE_INLINE float degBed() {
return analog2tempBed(current_raw_bed); FORCE_INLINE float degBed() {
}; return analog2tempBed(current_raw_bed);
};
FORCE_INLINE float degTargetHotend(uint8_t extruder) {
return analog2temp(target_raw[extruder], extruder); FORCE_INLINE float degTargetHotend(uint8_t extruder) {
}; return analog2temp(target_raw[extruder], extruder);
};
FORCE_INLINE float degTargetBed() {
return analog2tempBed(target_raw_bed); FORCE_INLINE float degTargetBed() {
}; return analog2tempBed(target_raw_bed);
};
FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
target_raw[extruder] = temp2analog(celsius, extruder); FORCE_INLINE void setTargetHotend(const float &celsius, uint8_t extruder) {
#ifdef PIDTEMP target_raw[extruder] = temp2analog(celsius, extruder);
pid_setpoint[extruder] = celsius; #ifdef PIDTEMP
#endif //PIDTEMP pid_setpoint[extruder] = celsius;
}; #endif //PIDTEMP
};
FORCE_INLINE void setTargetBed(const float &celsius) {
target_raw_bed = temp2analogBed(celsius); FORCE_INLINE void setTargetBed(const float &celsius) {
}; target_raw_bed = temp2analogBed(celsius);
};
FORCE_INLINE bool isHeatingHotend(uint8_t extruder){
return target_raw[extruder] > current_raw[extruder]; FORCE_INLINE bool isHeatingHotend(uint8_t extruder){
}; return target_raw[extruder] > current_raw[extruder];
};
FORCE_INLINE bool isHeatingBed() {
return target_raw_bed > current_raw_bed; FORCE_INLINE bool isHeatingBed() {
}; return target_raw_bed > current_raw_bed;
};
FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {
return target_raw[extruder] < current_raw[extruder]; FORCE_INLINE bool isCoolingHotend(uint8_t extruder) {
}; return target_raw[extruder] < current_raw[extruder];
};
FORCE_INLINE bool isCoolingBed() {
return target_raw_bed < current_raw_bed; FORCE_INLINE bool isCoolingBed() {
}; return target_raw_bed < current_raw_bed;
};
#define degHotend0() degHotend(0)
#define degTargetHotend0() degTargetHotend(0) #define degHotend0() degHotend(0)
#define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0) #define degTargetHotend0() degTargetHotend(0)
#define isHeatingHotend0() isHeatingHotend(0) #define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0)
#define isCoolingHotend0() isCoolingHotend(0) #define isHeatingHotend0() isHeatingHotend(0)
#if EXTRUDERS > 1 #define isCoolingHotend0() isCoolingHotend(0)
#define degHotend1() degHotend(1) #if EXTRUDERS > 1
#define degTargetHotend1() degTargetHotend(1) #define degHotend1() degHotend(1)
#define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1) #define degTargetHotend1() degTargetHotend(1)
#define isHeatingHotend1() isHeatingHotend(1) #define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
#define isCoolingHotend1() isCoolingHotend(1) #define isHeatingHotend1() isHeatingHotend(1)
#endif #define isCoolingHotend1() isCoolingHotend(1)
#if EXTRUDERS > 2 #endif
#define degHotend2() degHotend(2) #if EXTRUDERS > 2
#define degTargetHotend2() degTargetHotend(2) #define degHotend2() degHotend(2)
#define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2) #define degTargetHotend2() degTargetHotend(2)
#define isHeatingHotend2() isHeatingHotend(2) #define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
#define isCoolingHotend2() isCoolingHotend(2) #define isHeatingHotend2() isHeatingHotend(2)
#endif #define isCoolingHotend2() isCoolingHotend(2)
#if EXTRUDERS > 3 #endif
#error Invalid number of extruders #if EXTRUDERS > 3
#endif #error Invalid number of extruders
#endif
FORCE_INLINE void autotempShutdown(){
#ifdef AUTOTEMP FORCE_INLINE void autotempShutdown(){
if(autotemp_enabled) #ifdef AUTOTEMP
{ if(autotemp_enabled)
autotemp_enabled=false; {
if(degTargetHotend(ACTIVE_EXTRUDER)>autotemp_min) autotemp_enabled=false;
setTargetHotend(0,ACTIVE_EXTRUDER); if(degTargetHotend(ACTIVE_EXTRUDER)>autotemp_min)
} setTargetHotend(0,ACTIVE_EXTRUDER);
#endif }
} #endif
}
int getHeaterPower(int heater);
void disable_heater(); int getHeaterPower(int heater);
void setWatch(); void disable_heater();
void updatePID(); void setWatch();
void updatePID();
#endif
#endif

17
Marlin/ultralcd.pde
View File

@ -441,7 +441,7 @@ void MainMenu::showStatus()
force_lcd_update=false; force_lcd_update=false;
} }
enum {ItemP_exit, ItemP_home, ItemP_origin, ItemP_preheat, ItemP_extrude, ItemP_disstep}; enum {ItemP_exit, ItemP_autostart,ItemP_disstep,ItemP_home, ItemP_origin, ItemP_preheat, ItemP_extrude};
//any action must not contain a ',' character anywhere, or this breaks: //any action must not contain a ',' character anywhere, or this breaks:
#define MENUITEM(repaint_action, click_action) \ #define MENUITEM(repaint_action, click_action) \
@ -462,6 +462,12 @@ void MainMenu::showPrepare()
case ItemP_exit: case ItemP_exit:
MENUITEM( lcdprintPGM(" Main \003") , BLOCK;status=Main_Menu;beepshort(); ) ; MENUITEM( lcdprintPGM(" Main \003") , BLOCK;status=Main_Menu;beepshort(); ) ;
break; break;
case ItemP_autostart:
MENUITEM( lcdprintPGM(" Autostart") , BLOCK;card.lastnr=0;card.checkautostart(true);beepshort(); ) ;
break;
case ItemP_disstep:
MENUITEM( lcdprintPGM(" Disable Steppers") , BLOCK;enquecommand("M84");beepshort(); ) ;
break;
case ItemP_home: case ItemP_home:
MENUITEM( lcdprintPGM(" Auto Home") , BLOCK;enquecommand("G28 X-105 Y-105 Z0");beepshort(); ) ; MENUITEM( lcdprintPGM(" Auto Home") , BLOCK;enquecommand("G28 X-105 Y-105 Z0");beepshort(); ) ;
break; break;
@ -474,15 +480,14 @@ void MainMenu::showPrepare()
case ItemP_extrude: case ItemP_extrude:
MENUITEM( lcdprintPGM(" Extrude") , BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E50");beepshort(); ) ; MENUITEM( lcdprintPGM(" Extrude") , BLOCK;enquecommand("G92 E0");enquecommand("G1 F700 E50");beepshort(); ) ;
break; break;
case ItemP_disstep:
MENUITEM( lcdprintPGM(" Disable Steppers") , BLOCK;enquecommand("M84");beepshort(); ) ;
break;
default: default:
break; break;
} }
line++; line++;
} }
updateActiveLines(ItemP_disstep,encoderpos); updateActiveLines(ItemP_extrude,encoderpos);
} }
enum {ItemT_exit,ItemT_speed,ItemT_flow,ItemT_nozzle,ItemT_fan}; enum {ItemT_exit,ItemT_speed,ItemT_flow,ItemT_nozzle,ItemT_fan};
@ -1840,4 +1845,4 @@ char *ftostr51(const float &x)
#endif //ULTRA_LCD #endif //ULTRA_LCD