MPCNC/Firmware2
1
0
Fork 0
Code Issues 1 Pull Requests Releases Wiki Activity

Latest upstream commits, mostly

Browse Source
This commit is contained in:
Scott Lahteine 2015-04-03 21:58:48 -07:00
commit c185912c19
8 changed files with 233 additions and 202 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

106
Marlin/ConfigurationStore.cpp
View File

@ -3,7 +3,21 @@
* *
* Configuration and EEPROM storage * Configuration and EEPROM storage
* *
* V16 EEPROM Layout: * IMPORTANT: Whenever there are changes made to the variables stored in EEPROM
* in the functions below, also increment the version number. This makes sure that
* the default values are used whenever there is a change to the data, to prevent
* wrong data being written to the variables.
*
* ALSO: Variables in the Store and Retrieve sections must be in the same order.
* If a feature is disabled, some data must still be written that, when read,
* either sets a Sane Default, or results in No Change to the existing value.
*
*/
#define EEPROM_VERSION "V19"
/**
* V19 EEPROM Layout:
* *
* ver * ver
* axis_steps_per_unit (x4) * axis_steps_per_unit (x4)
@ -47,6 +61,9 @@
* Kp[2], Ki[2], Kd[2], Kc[2] * Kp[2], Ki[2], Kd[2], Kc[2]
* Kp[3], Ki[3], Kd[3], Kc[3] * Kp[3], Ki[3], Kd[3], Kc[3]
* *
* PIDTEMPBED:
* bedKp, bedKi, bedKd
*
* DOGLCD: * DOGLCD:
* lcd_contrast * lcd_contrast
* *
@ -111,15 +128,6 @@ void _EEPROM_readData(int &pos, uint8_t* value, uint8_t size) {
#define EEPROM_OFFSET 100 #define EEPROM_OFFSET 100
// IMPORTANT: Whenever there are changes made to the variables stored in EEPROM
// in the functions below, also increment the version number. This makes sure that
// the default values are used whenever there is a change to the data, to prevent
// wrong data being written to the variables.
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
#define EEPROM_VERSION "V18"
#ifdef EEPROM_SETTINGS #ifdef EEPROM_SETTINGS
void Config_StoreSettings() { void Config_StoreSettings() {
@ -194,7 +202,6 @@ void Config_StoreSettings() {
EEPROM_WRITE_VAR(i, absPreheatHPBTemp); EEPROM_WRITE_VAR(i, absPreheatHPBTemp);
EEPROM_WRITE_VAR(i, absPreheatFanSpeed); EEPROM_WRITE_VAR(i, absPreheatFanSpeed);
for (int e = 0; e < 4; e++) { for (int e = 0; e < 4; e++) {
#ifdef PIDTEMP #ifdef PIDTEMP
@ -209,12 +216,10 @@ void Config_StoreSettings() {
EEPROM_WRITE_VAR(i, dummy); EEPROM_WRITE_VAR(i, dummy);
#endif #endif
} }
else { else
#else // !PIDTEMP
{
#endif // !PIDTEMP #endif // !PIDTEMP
{
dummy = DUMMY_PID_VALUE; dummy = DUMMY_PID_VALUE; // When read, will not change the existing value
EEPROM_WRITE_VAR(i, dummy); EEPROM_WRITE_VAR(i, dummy);
dummy = 0.0f; dummy = 0.0f;
for (int q = 3; q--;) EEPROM_WRITE_VAR(i, dummy); for (int q = 3; q--;) EEPROM_WRITE_VAR(i, dummy);
@ -222,6 +227,14 @@ void Config_StoreSettings() {
} // Extruders Loop } // Extruders Loop
#ifndef PIDTEMPBED
float bedKp = DUMMY_PID_VALUE, bedKi = DUMMY_PID_VALUE, bedKd = DUMMY_PID_VALUE;
#endif
EEPROM_WRITE_VAR(i, bedKp);
EEPROM_WRITE_VAR(i, bedKi);
EEPROM_WRITE_VAR(i, bedKd);
#ifndef DOGLCD #ifndef DOGLCD
int lcd_contrast = 32; int lcd_contrast = 32;
#endif #endif
@ -364,7 +377,7 @@ void Config_RetrieveSettings() {
#ifdef PIDTEMP #ifdef PIDTEMP
for (int e = 0; e < 4; e++) { // 4 = max extruders currently supported by Marlin for (int e = 0; e < 4; e++) { // 4 = max extruders currently supported by Marlin
EEPROM_READ_VAR(i, dummy); EEPROM_READ_VAR(i, dummy); // Kp
if (e < EXTRUDERS && dummy != DUMMY_PID_VALUE) { if (e < EXTRUDERS && dummy != DUMMY_PID_VALUE) {
// do not need to scale PID values as the values in EEPROM are already scaled // do not need to scale PID values as the values in EEPROM are already scaled
PID_PARAM(Kp, e) = dummy; PID_PARAM(Kp, e) = dummy;
@ -385,6 +398,20 @@ void Config_RetrieveSettings() {
for (int q=16; q--;) EEPROM_READ_VAR(i, dummy); // 4x Kp, Ki, Kd, Kc for (int q=16; q--;) EEPROM_READ_VAR(i, dummy); // 4x Kp, Ki, Kd, Kc
#endif // !PIDTEMP #endif // !PIDTEMP
#ifndef PIDTEMPBED
float bedKp, bedKi, bedKd;
#endif
EEPROM_READ_VAR(i, dummy); // bedKp
if (dummy != DUMMY_PID_VALUE) {
bedKp = dummy;
EEPROM_READ_VAR(i, bedKi);
EEPROM_READ_VAR(i, bedKd);
}
else {
for (int q=2; q--;) EEPROM_READ_VAR(i, dummy); // bedKi, bedKd
}
#ifndef DOGLCD #ifndef DOGLCD
int lcd_contrast; int lcd_contrast;
#endif #endif
@ -517,6 +544,12 @@ void Config_ResetDefault() {
updatePID(); updatePID();
#endif // PIDTEMP #endif // PIDTEMP
#ifdef PIDTEMPBED
bedKp = DEFAULT_bedKp;
bedKi = scalePID_i(DEFAULT_bedKi);
bedKd = scalePID_d(DEFAULT_bedKd);
#endif
#ifdef FWRETRACT #ifdef FWRETRACT
autoretract_enabled = false; autoretract_enabled = false;
retract_length = RETRACT_LENGTH; retract_length = RETRACT_LENGTH;
@ -660,17 +693,28 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_EOL; SERIAL_EOL;
#endif // DELTA #endif // DELTA
#ifdef PIDTEMP #if defined(PIDTEMP) || defined(PIDTEMPBED)
SERIAL_ECHO_START; SERIAL_ECHO_START;
if (!forReplay) { if (!forReplay) {
SERIAL_ECHOLNPGM("PID settings:"); SERIAL_ECHOLNPGM("PID settings:");
SERIAL_ECHO_START; SERIAL_ECHO_START;
} }
SERIAL_ECHOPAIR(" M301 P", PID_PARAM(Kp, 0)); // for compatibility with hosts, only echos values for E0 #if defined(PIDTEMP) && defined(PIDTEMPBED)
SERIAL_ECHOPAIR(" I", unscalePID_i(PID_PARAM(Ki, 0))); SERIAL_EOL;
SERIAL_ECHOPAIR(" D", unscalePID_d(PID_PARAM(Kd, 0))); #endif
SERIAL_EOL; #ifdef PIDTEMP
#endif // PIDTEMP SERIAL_ECHOPAIR(" M301 P", PID_PARAM(Kp, 0)); // for compatibility with hosts, only echos values for E0
SERIAL_ECHOPAIR(" I", unscalePID_i(PID_PARAM(Ki, 0)));
SERIAL_ECHOPAIR(" D", unscalePID_d(PID_PARAM(Kd, 0)));
SERIAL_EOL;
#endif
#ifdef PIDTEMPBED
SERIAL_ECHOPAIR(" M304 P", bedKp); // for compatibility with hosts, only echos values for E0
SERIAL_ECHOPAIR(" I", unscalePID_i(bedKi));
SERIAL_ECHOPAIR(" D", unscalePID_d(bedKd));
SERIAL_EOL;
#endif
#endif
#ifdef FWRETRACT #ifdef FWRETRACT
@ -679,7 +723,7 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_ECHOLNPGM("Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)"); SERIAL_ECHOLNPGM("Retract: S=Length (mm) F:Speed (mm/m) Z: ZLift (mm)");
SERIAL_ECHO_START; SERIAL_ECHO_START;
} }
SERIAL_ECHOPAIR(" M207 S", retract_length); SERIAL_ECHOPAIR(" M207 S", retract_length);
SERIAL_ECHOPAIR(" F", retract_feedrate*60); SERIAL_ECHOPAIR(" F", retract_feedrate*60);
SERIAL_ECHOPAIR(" Z", retract_zlift); SERIAL_ECHOPAIR(" Z", retract_zlift);
SERIAL_EOL; SERIAL_EOL;
@ -688,7 +732,7 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_ECHOLNPGM("Recover: S=Extra length (mm) F:Speed (mm/m)"); SERIAL_ECHOLNPGM("Recover: S=Extra length (mm) F:Speed (mm/m)");
SERIAL_ECHO_START; SERIAL_ECHO_START;
} }
SERIAL_ECHOPAIR(" M208 S", retract_recover_length); SERIAL_ECHOPAIR(" M208 S", retract_recover_length);
SERIAL_ECHOPAIR(" F", retract_recover_feedrate*60); SERIAL_ECHOPAIR(" F", retract_recover_feedrate*60);
SERIAL_EOL; SERIAL_EOL;
SERIAL_ECHO_START; SERIAL_ECHO_START;
@ -696,7 +740,7 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_ECHOLNPGM("Auto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries"); SERIAL_ECHOLNPGM("Auto-Retract: S=0 to disable, 1 to interpret extrude-only moves as retracts or recoveries");
SERIAL_ECHO_START; SERIAL_ECHO_START;
} }
SERIAL_ECHOPAIR(" M209 S", (unsigned long)(autoretract_enabled ? 1 : 0)); SERIAL_ECHOPAIR(" M209 S", (unsigned long)(autoretract_enabled ? 1 : 0));
SERIAL_EOL; SERIAL_EOL;
#if EXTRUDERS > 1 #if EXTRUDERS > 1
@ -720,20 +764,20 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_ECHOLNPGM("Filament settings:"); SERIAL_ECHOLNPGM("Filament settings:");
SERIAL_ECHO_START; SERIAL_ECHO_START;
} }
SERIAL_ECHOPAIR(" M200 D", filament_size[0]); SERIAL_ECHOPAIR(" M200 D", filament_size[0]);
SERIAL_EOL; SERIAL_EOL;
#if EXTRUDERS > 1 #if EXTRUDERS > 1
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M200 T1 D", filament_size[1]); SERIAL_ECHOPAIR(" M200 T1 D", filament_size[1]);
SERIAL_EOL; SERIAL_EOL;
#if EXTRUDERS > 2 #if EXTRUDERS > 2
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M200 T2 D", filament_size[2]); SERIAL_ECHOPAIR(" M200 T2 D", filament_size[2]);
SERIAL_EOL; SERIAL_EOL;
#if EXTRUDERS > 3 #if EXTRUDERS > 3
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOPAIR(" M200 T3 D", filament_size[3]); SERIAL_ECHOPAIR(" M200 T3 D", filament_size[3]);
SERIAL_EOL; SERIAL_EOL;
#endif #endif
#endif #endif
@ -752,7 +796,7 @@ void Config_PrintSettings(bool forReplay) {
SERIAL_ECHOLNPGM("Z-Probe Offset (mm):"); SERIAL_ECHOLNPGM("Z-Probe Offset (mm):");
SERIAL_ECHO_START; SERIAL_ECHO_START;
} }
SERIAL_ECHOPAIR(" M", (unsigned long)CUSTOM_M_CODE_SET_Z_PROBE_OFFSET); SERIAL_ECHOPAIR(" M", (unsigned long)CUSTOM_M_CODE_SET_Z_PROBE_OFFSET);
SERIAL_ECHOPAIR(" Z", -zprobe_zoffset); SERIAL_ECHOPAIR(" Z", -zprobe_zoffset);
#else #else
if (!forReplay) { if (!forReplay) {

9
Marlin/Marlin.h
View File

@ -97,10 +97,10 @@ void serial_echopair_P(const char *s_P, unsigned long v);
// Things to write to serial from Program memory. Saves 400 to 2k of RAM. // Things to write to serial from Program memory. Saves 400 to 2k of RAM.
FORCE_INLINE void serialprintPGM(const char *str) { FORCE_INLINE void serialprintPGM(const char *str) {
char ch = pgm_read_byte(str); char ch;
while(ch) { while ((ch = pgm_read_byte(str))) {
MYSERIAL.write(ch); MYSERIAL.write(ch);
ch = pgm_read_byte(++str); str++;
} }
} }
@ -191,6 +191,9 @@ void manage_inactivity(bool ignore_stepper_queue=false);
*/ */
enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5}; enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
void enable_all_steppers();
void disable_all_steppers();
void FlushSerialRequestResend(); void FlushSerialRequestResend();
void ClearToSend(); void ClearToSend();

91
Marlin/Marlin_main.cpp
View File

@ -110,6 +110,7 @@
// Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include). // Call gcode file : "M32 P !filename#" and return to caller file after finishing (similar to #include).
// The '#' is necessary when calling from within sd files, as it stops buffer prereading // The '#' is necessary when calling from within sd files, as it stops buffer prereading
// M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used. // M42 - Change pin status via gcode Use M42 Px Sy to set pin x to value y, when omitting Px the onboard led will be used.
// M48 - Measure Z_Probe repeatability. M48 [n # of points] [X position] [Y position] [V_erboseness #] [E_ngage Probe] [L # of legs of travel]
// M80 - Turn on Power Supply // M80 - Turn on Power Supply
// M81 - Turn off Power Supply // M81 - Turn off Power Supply
// M82 - Set E codes absolute (default) // M82 - Set E codes absolute (default)
@ -1814,7 +1815,7 @@ inline void gcode_G28() {
// Raise Z before homing any other axes // Raise Z before homing any other axes
if (home_all_axis || homeZ) { if (home_all_axis || homeZ) {
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS]; feedrate = max_feedrate[Z_AXIS] * 60;
line_to_destination(); line_to_destination();
st_synchronize(); st_synchronize();
} }
@ -1947,7 +1948,7 @@ inline void gcode_G28() {
current_position[Z_AXIS] = 0; current_position[Z_AXIS] = 0;
plan_set_position(cpx, cpy, 0, current_position[E_AXIS]); plan_set_position(cpx, cpy, 0, current_position[E_AXIS]);
destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed destination[Z_AXIS] = -Z_RAISE_BEFORE_HOMING * home_dir(Z_AXIS); // Set destination away from bed
feedrate = max_feedrate[Z_AXIS]; feedrate = max_feedrate[Z_AXIS] * 60; // max_feedrate is in mm/s. line_to_destination is feedrate/60.
line_to_destination(); line_to_destination();
st_synchronize(); st_synchronize();
HOMEAXIS(Z); HOMEAXIS(Z);
@ -2571,13 +2572,7 @@ inline void gcode_G92() {
*/ */
inline void gcode_M17() { inline void gcode_M17() {
LCD_MESSAGEPGM(MSG_NO_MOVE); LCD_MESSAGEPGM(MSG_NO_MOVE);
enable_x(); enable_all_steppers();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
enable_e3();
} }
#ifdef SDSUPPORT #ifdef SDSUPPORT
@ -3060,26 +3055,29 @@ inline void gcode_M104() {
inline void gcode_M105() { inline void gcode_M105() {
if (setTargetedHotend(105)) return; if (setTargetedHotend(105)) return;
#if HAS_TEMP_0 #if HAS_TEMP_0 || HAS_TEMP_BED
SERIAL_PROTOCOLPGM("ok T:"); SERIAL_PROTOCOLPGM("ok");
SERIAL_PROTOCOL_F(degHotend(target_extruder),1); #if HAS_TEMP_0
SERIAL_PROTOCOLPGM(" /"); SERIAL_PROTOCOLPGM(" T:");
SERIAL_PROTOCOL_F(degTargetHotend(target_extruder),1); SERIAL_PROTOCOL_F(degHotend(tmp_extruder), 1);
SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(tmp_extruder), 1);
#endif
#if HAS_TEMP_BED #if HAS_TEMP_BED
SERIAL_PROTOCOLPGM(" B:"); SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(),1); SERIAL_PROTOCOL_F(degBed(), 1);
SERIAL_PROTOCOLPGM(" /"); SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetBed(),1); SERIAL_PROTOCOL_F(degTargetBed(), 1);
#endif // HAS_TEMP_BED #endif
for (int8_t cur_extruder = 0; cur_extruder < EXTRUDERS; ++cur_extruder) { for (int8_t e = 0; e < EXTRUDERS; ++e) {
SERIAL_PROTOCOLPGM(" T"); SERIAL_PROTOCOLPGM(" T");
SERIAL_PROTOCOL(cur_extruder); SERIAL_PROTOCOL(e);
SERIAL_PROTOCOLCHAR(':'); SERIAL_PROTOCOLCHAR(':');
SERIAL_PROTOCOL_F(degHotend(cur_extruder),1); SERIAL_PROTOCOL_F(degHotend(e), 1);
SERIAL_PROTOCOLPGM(" /"); SERIAL_PROTOCOLPGM(" /");
SERIAL_PROTOCOL_F(degTargetHotend(cur_extruder),1); SERIAL_PROTOCOL_F(degTargetHotend(e), 1);
} }
#else // !HAS_TEMP_0 #else // !HAS_TEMP_0 && !HAS_TEMP_BED
SERIAL_ERROR_START; SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS); SERIAL_ERRORLNPGM(MSG_ERR_NO_THERMISTORS);
#endif #endif
@ -3117,7 +3115,7 @@ inline void gcode_M105() {
} }
#endif #endif
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
} }
#if HAS_FAN #if HAS_FAN
@ -3132,7 +3130,7 @@ inline void gcode_M105() {
*/ */
inline void gcode_M107() { fanSpeed = 0; } inline void gcode_M107() { fanSpeed = 0; }
#endif //FAN_PIN #endif // HAS_FAN
/** /**
* M109: Wait for extruder(s) to reach temperature * M109: Wait for extruder(s) to reach temperature
@ -3191,10 +3189,10 @@ inline void gcode_M109() {
SERIAL_PROTOCOLLN( timetemp ); SERIAL_PROTOCOLLN( timetemp );
} }
else { else {
SERIAL_PROTOCOLLN( "?" ); SERIAL_PROTOCOLLNPGM("?");
} }
#else #else
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
#endif #endif
timetemp = millis(); timetemp = millis();
} }
@ -3246,7 +3244,7 @@ inline void gcode_M109() {
SERIAL_PROTOCOL((int)active_extruder); SERIAL_PROTOCOL((int)active_extruder);
SERIAL_PROTOCOLPGM(" B:"); SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOL_F(degBed(), 1); SERIAL_PROTOCOL_F(degBed(), 1);
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
} }
manage_heater(); manage_heater();
manage_inactivity(); manage_inactivity();
@ -3447,27 +3445,26 @@ inline void gcode_M114() {
SERIAL_PROTOCOLPGM(" Z:"); SERIAL_PROTOCOLPGM(" Z:");
SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]); SERIAL_PROTOCOL(float(st_get_position(Z_AXIS))/axis_steps_per_unit[Z_AXIS]);
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
#ifdef SCARA #ifdef SCARA
SERIAL_PROTOCOLPGM("SCARA Theta:"); SERIAL_PROTOCOLPGM("SCARA Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]); SERIAL_PROTOCOL(delta[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:"); SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL(delta[Y_AXIS]); SERIAL_PROTOCOL(delta[Y_AXIS]);
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
SERIAL_PROTOCOLPGM("SCARA Cal - Theta:"); SERIAL_PROTOCOLPGM("SCARA Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]+home_offset[X_AXIS]); SERIAL_PROTOCOL(delta[X_AXIS]+home_offset[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta (90):"); SERIAL_PROTOCOLPGM(" Psi+Theta (90):");
SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+home_offset[Y_AXIS]); SERIAL_PROTOCOL(delta[Y_AXIS]-delta[X_AXIS]-90+home_offset[Y_AXIS]);
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:"); SERIAL_PROTOCOLPGM("SCARA step Cal - Theta:");
SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]); SERIAL_PROTOCOL(delta[X_AXIS]/90*axis_steps_per_unit[X_AXIS]);
SERIAL_PROTOCOLPGM(" Psi+Theta:"); SERIAL_PROTOCOLPGM(" Psi+Theta:");
SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]); SERIAL_PROTOCOL((delta[Y_AXIS]-delta[X_AXIS])/90*axis_steps_per_unit[Y_AXIS]);
SERIAL_PROTOCOLLN(""); SERIAL_EOL; SERIAL_EOL;
SERIAL_PROTOCOLLN("");
#endif #endif
} }
@ -3909,7 +3906,7 @@ inline void gcode_M226() {
SERIAL_PROTOCOL(servo_index); SERIAL_PROTOCOL(servo_index);
SERIAL_PROTOCOL(": "); SERIAL_PROTOCOL(": ");
SERIAL_PROTOCOL(servos[servo_index].read()); SERIAL_PROTOCOL(servos[servo_index].read());
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
} }
} }
@ -3977,7 +3974,7 @@ inline void gcode_M226() {
//Kc does not have scaling applied above, or in resetting defaults //Kc does not have scaling applied above, or in resetting defaults
SERIAL_PROTOCOL(PID_PARAM(Kc, e)); SERIAL_PROTOCOL(PID_PARAM(Kc, e));
#endif #endif
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
} }
else { else {
SERIAL_ECHO_START; SERIAL_ECHO_START;
@ -4002,7 +3999,7 @@ inline void gcode_M226() {
SERIAL_PROTOCOL(unscalePID_i(bedKi)); SERIAL_PROTOCOL(unscalePID_i(bedKi));
SERIAL_PROTOCOL(" d:"); SERIAL_PROTOCOL(" d:");
SERIAL_PROTOCOL(unscalePID_d(bedKd)); SERIAL_PROTOCOL(unscalePID_d(bedKd));
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
} }
#endif // PIDTEMPBED #endif // PIDTEMPBED
@ -4052,7 +4049,7 @@ inline void gcode_M226() {
if (code_seen('C')) lcd_setcontrast(code_value_short() & 0x3F); if (code_seen('C')) lcd_setcontrast(code_value_short() & 0x3F);
SERIAL_PROTOCOLPGM("lcd contrast value: "); SERIAL_PROTOCOLPGM("lcd contrast value: ");
SERIAL_PROTOCOL(lcd_contrast); SERIAL_PROTOCOL(lcd_contrast);
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
} }
#endif // DOGLCD #endif // DOGLCD
@ -4325,7 +4322,7 @@ inline void gcode_M503() {
zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp zprobe_zoffset = -value; // compare w/ line 278 of ConfigurationStore.cpp
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK); SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " " MSG_OK);
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
} }
else { else {
SERIAL_ECHO_START; SERIAL_ECHO_START;
@ -4334,14 +4331,14 @@ inline void gcode_M503() {
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN); SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MIN);
SERIAL_ECHOPGM(MSG_Z_MAX); SERIAL_ECHOPGM(MSG_Z_MAX);
SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX); SERIAL_ECHO(Z_PROBE_OFFSET_RANGE_MAX);
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
} }
} }
else { else {
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : "); SERIAL_ECHOLNPGM(MSG_ZPROBE_ZOFFSET " : ");
SERIAL_ECHO(-zprobe_zoffset); SERIAL_ECHO(-zprobe_zoffset);
SERIAL_PROTOCOLLN(""); SERIAL_EOL;
} }
} }
@ -5700,7 +5697,17 @@ void handle_status_leds(void) {
} }
#endif #endif
void disable_all_axes() { void enable_all_steppers() {
enable_x();
enable_y();
enable_z();
enable_e0();
enable_e1();
enable_e2();
enable_e3();
}
void disable_all_steppers() {
disable_x(); disable_x();
disable_y(); disable_y();
disable_z(); disable_z();
@ -5728,7 +5735,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) {
if (stepper_inactive_time && ms > previous_millis_cmd + stepper_inactive_time if (stepper_inactive_time && ms > previous_millis_cmd + stepper_inactive_time
&& !ignore_stepper_queue && !blocks_queued()) && !ignore_stepper_queue && !blocks_queued())
disable_all_axes(); disable_all_steppers();
#ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH #ifdef CHDK //Check if pin should be set to LOW after M240 set it to HIGH
if (chdkActive && ms > chdkHigh + CHDK_DELAY) { if (chdkActive && ms > chdkHigh + CHDK_DELAY) {
@ -5816,7 +5823,7 @@ void kill()
cli(); // Stop interrupts cli(); // Stop interrupts
disable_heater(); disable_heater();
disable_all_axes(); disable_all_steppers();
#if HAS_POWER_SWITCH #if HAS_POWER_SWITCH
pinMode(PS_ON_PIN, INPUT); pinMode(PS_ON_PIN, INPUT);

2
Marlin/planner.cpp
View File

@ -67,7 +67,7 @@
//=========================================================================== //===========================================================================
unsigned long minsegmenttime; unsigned long minsegmenttime;
float max_feedrate[NUM_AXIS]; // set the max speeds float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
float axis_steps_per_unit[NUM_AXIS]; float axis_steps_per_unit[NUM_AXIS];
unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
float minimumfeedrate; float minimumfeedrate;

8
Marlin/stepper.cpp
View File

@ -1127,13 +1127,7 @@ long st_get_position(uint8_t axis) {
void finishAndDisableSteppers() { void finishAndDisableSteppers() {
st_synchronize(); st_synchronize();
disable_x(); disable_all_steppers();
disable_y();
disable_z();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
} }
void quickStop() { void quickStop() {

161
Marlin/temperature.cpp
View File

@ -1,5 +1,5 @@
/* /*
temperature.c - temperature control temperature.cpp - temperature control
Part of Marlin Part of Marlin
Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
@ -16,18 +16,7 @@
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 this program. If not, see <http://www.gnu.org/licenses/>. along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
/*
This firmware is a mashup between Sprinter and grbl.
(https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree)
It has preliminary support for Matthew Roberts advance algorithm
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
*/
#include "Marlin.h" #include "Marlin.h"
#include "ultralcd.h" #include "ultralcd.h"
@ -87,14 +76,15 @@ unsigned char soft_pwm_bed;
#define HAS_HEATER_THERMAL_PROTECTION (defined(THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0) #define HAS_HEATER_THERMAL_PROTECTION (defined(THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0)
#define HAS_BED_THERMAL_PROTECTION (defined(THERMAL_RUNAWAY_PROTECTION_BED_PERIOD) && THERMAL_RUNAWAY_PROTECTION_BED_PERIOD > 0 && TEMP_SENSOR_BED != 0) #define HAS_BED_THERMAL_PROTECTION (defined(THERMAL_RUNAWAY_PROTECTION_BED_PERIOD) && THERMAL_RUNAWAY_PROTECTION_BED_PERIOD > 0 && TEMP_SENSOR_BED != 0)
#if HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION #if HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION
enum TRState { TRInactive, TRFirstHeating, TRStable };
static bool thermal_runaway = false; static bool thermal_runaway = false;
void thermal_runaway_protection(int *state, unsigned long *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc); void thermal_runaway_protection(TRState *state, unsigned long *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc);
#if HAS_HEATER_THERMAL_PROTECTION #if HAS_HEATER_THERMAL_PROTECTION
static int thermal_runaway_state_machine[4]; // = {0,0,0,0}; static TRState thermal_runaway_state_machine[4] = { TRInactive, TRInactive, TRInactive, TRInactive };
static unsigned long thermal_runaway_timer[4]; // = {0,0,0,0}; static unsigned long thermal_runaway_timer[4]; // = {0,0,0,0};
#endif #endif
#if HAS_BED_THERMAL_PROTECTION #if HAS_BED_THERMAL_PROTECTION
static int thermal_runaway_bed_state_machine; static TRState thermal_runaway_bed_state_machine = { TRInactive, TRInactive, TRInactive, TRInactive };
static unsigned long thermal_runaway_bed_timer; static unsigned long thermal_runaway_bed_timer;
#endif #endif
#endif #endif
@ -238,7 +228,7 @@ void PID_autotune(float temp, int extruder, int ncycles)
soft_pwm[extruder] = bias = d = PID_MAX / 2; soft_pwm[extruder] = bias = d = PID_MAX / 2;
// PID Tuning loop // PID Tuning loop
for(;;) { for (;;) {
unsigned long ms = millis(); unsigned long ms = millis();
@ -609,7 +599,7 @@ void manage_heater() {
// Loop through all extruders // Loop through all extruders
for (int e = 0; e < EXTRUDERS; e++) { for (int e = 0; e < EXTRUDERS; e++) {
#if defined (THERMAL_RUNAWAY_PROTECTION_PERIOD) && THERMAL_RUNAWAY_PROTECTION_PERIOD > 0 #if HAS_HEATER_THERMAL_PROTECTION
thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS); thermal_runaway_protection(&thermal_runaway_state_machine[e], &thermal_runaway_timer[e], current_temperature[e], target_temperature[e], e, THERMAL_RUNAWAY_PROTECTION_PERIOD, THERMAL_RUNAWAY_PROTECTION_HYSTERESIS);
#endif #endif
@ -637,7 +627,7 @@ void manage_heater() {
disable_heater(); disable_heater();
_temp_error(0, PSTR(MSG_EXTRUDER_SWITCHED_OFF), PSTR(MSG_ERR_REDUNDANT_TEMP)); _temp_error(0, PSTR(MSG_EXTRUDER_SWITCHED_OFF), PSTR(MSG_ERR_REDUNDANT_TEMP));
} }
#endif //TEMP_SENSOR_1_AS_REDUNDANT #endif // TEMP_SENSOR_1_AS_REDUNDANT
} // Extruders Loop } // Extruders Loop
@ -656,7 +646,7 @@ void manage_heater() {
#if TEMP_SENSOR_BED != 0 #if TEMP_SENSOR_BED != 0
#if HAS_BED_THERMAL_PROTECTION #if HAS_BED_THERMAL_PROTECTION
thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, 9, THERMAL_RUNAWAY_PROTECTION_BED_PERIOD, THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS); thermal_runaway_protection(&thermal_runaway_bed_state_machine, &thermal_runaway_bed_timer, current_temperature_bed, target_temperature_bed, -1, THERMAL_RUNAWAY_PROTECTION_BED_PERIOD, THERMAL_RUNAWAY_PROTECTION_BED_HYSTERESIS);
#endif #endif
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
@ -1014,69 +1004,76 @@ void setWatch() {
} }
#if HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION #if HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION
void thermal_runaway_protection(int *state, unsigned long *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc)
{
/*
SERIAL_ECHO_START;
SERIAL_ECHO("Thermal Thermal Runaway Running. Heater ID:");
SERIAL_ECHO(heater_id);
SERIAL_ECHO(" ; State:");
SERIAL_ECHO(*state);
SERIAL_ECHO(" ; Timer:");
SERIAL_ECHO(*timer);
SERIAL_ECHO(" ; Temperature:");
SERIAL_ECHO(temperature);
SERIAL_ECHO(" ; Target Temp:");
SERIAL_ECHO(target_temperature);
SERIAL_ECHOLN("");
*/
if ((target_temperature == 0) || thermal_runaway)
{
*state = 0;
*timer = 0;
return;
}
switch (*state)
{
case 0: // "Heater Inactive" state
if (target_temperature > 0) *state = 1;
break;
case 1: // "First Heating" state
if (temperature >= target_temperature) *state = 2;
break;
case 2: // "Temperature Stable" state
{
unsigned long ms = millis();
if (temperature >= (target_temperature - hysteresis_degc))
{
*timer = ms;
}
else if ( (ms - *timer) > ((unsigned long) period_seconds) * 1000)
{
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_THERMAL_RUNAWAY_STOP);
SERIAL_ERRORLN((int)heater_id);
LCD_ALERTMESSAGEPGM(MSG_THERMAL_RUNAWAY); // translatable
thermal_runaway = true;
while(1)
{
disable_heater();
disable_x();
disable_y();
disable_z();
disable_e0();
disable_e1();
disable_e2();
disable_e3();
manage_heater();
lcd_update();
}
}
} break;
}
}
#endif //THERMAL_RUNAWAY_PROTECTION_PERIOD
void thermal_runaway_protection(TRState *state, unsigned long *timer, float temperature, float target_temperature, int heater_id, int period_seconds, int hysteresis_degc) {
static int tr_target_temperature[EXTRUDERS+1];
/*
SERIAL_ECHO_START;
SERIAL_ECHOPGM("Thermal Thermal Runaway Running. Heater ID: ");
if (heater_id < 0) SERIAL_ECHOPGM("bed"); else SERIAL_ECHOPGM(heater_id);
SERIAL_ECHOPGM(" ; State:");
SERIAL_ECHOPGM(*state);
SERIAL_ECHOPGM(" ; Timer:");
SERIAL_ECHOPGM(*timer);
SERIAL_ECHOPGM(" ; Temperature:");
SERIAL_ECHOPGM(temperature);
SERIAL_ECHOPGM(" ; Target Temp:");
SERIAL_ECHOPGM(target_temperature);
SERIAL_EOL;
*/
if (target_temperature == 0 || thermal_runaway) {
*state = TRInactive;
*timer = 0;
return;
}
int heater_index = heater_id >= 0 ? heater_id : EXTRUDERS;
switch (*state) {
// Inactive state waits for a target temperature to be set
case TRInactive:
if (target_temperature > 0) {
*state = TRFirstHeating;
tr_target_temperature[heater_index] = target_temperature;
}
break;
// When first heating, wait for the temperature to be reached then go to Stable state
case TRFirstHeating:
if (temperature >= tr_target_temperature[heater_index]) *state = TRStable;
break;
// While the temperature is stable watch for a bad temperature
case TRStable:
{
// If the target temperature changes, restart
if (tr_target_temperature[heater_index] != target_temperature) {
*state = TRInactive;
break;
}
// If the temperature is over the target (-hysteresis) restart the timer
if (temperature >= tr_target_temperature[heater_index] - hysteresis_degc) *timer = millis();
// If the timer goes too long without a reset, trigger shutdown
else if (millis() > *timer + period_seconds * 1000UL) {
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM(MSG_THERMAL_RUNAWAY_STOP);
if (heater_id < 0) SERIAL_ERRORLNPGM("bed"); else SERIAL_ERRORLN(heater_id);
LCD_ALERTMESSAGEPGM(MSG_THERMAL_RUNAWAY);
thermal_runaway = true;
for (;;) {
disable_heater();
disable_all_steppers();
manage_heater();
lcd_update();
}
}
} break;
}
}
#endif // HAS_HEATER_THERMAL_PROTECTION || HAS_BED_THERMAL_PROTECTION
void disable_heater() { void disable_heater() {
for (int i=0; i<EXTRUDERS; i++) setTargetHotend(0, i); for (int i=0; i<EXTRUDERS; i++) setTargetHotend(0, i);

48
Marlin/temperature.h
View File

@ -18,8 +18,8 @@
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 "planner.h" #include "planner.h"
@ -72,11 +72,11 @@ extern float current_temperature_bed;
float unscalePID_d(float d); float unscalePID_d(float d);
#endif #endif
#ifdef PIDTEMPBED #ifdef PIDTEMPBED
extern float bedKp,bedKi,bedKd; extern float bedKp,bedKi,bedKd;
#endif #endif
#ifdef BABYSTEPPING #ifdef BABYSTEPPING
extern volatile int babystepsTodo[3]; extern volatile int babystepsTodo[3];
#endif #endif
@ -105,40 +105,27 @@ FORCE_INLINE bool isHeatingBed() { return target_temperature_bed > current_tempe
FORCE_INLINE bool isCoolingHotend(uint8_t extruder) { return target_temperature[extruder] < current_temperature[extruder]; } FORCE_INLINE bool isCoolingHotend(uint8_t extruder) { return target_temperature[extruder] < current_temperature[extruder]; }
FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; } FORCE_INLINE bool isCoolingBed() { return target_temperature_bed < current_temperature_bed; }
#define degHotend0() degHotend(0) #define HOTEND_ROUTINES(NR) \
#define degTargetHotend0() degTargetHotend(0) FORCE_INLINE float degHotend##NR() { return degHotend(NR); } \
#define setTargetHotend0(_celsius) setTargetHotend((_celsius), 0) FORCE_INLINE float degTargetHotend##NR() { return degTargetHotend(NR); } \
#define isHeatingHotend0() isHeatingHotend(0) FORCE_INLINE void setTargetHotend##NR(const float c) { setTargetHotend(c, NR); } \
#define isCoolingHotend0() isCoolingHotend(0) FORCE_INLINE bool isHeatingHotend##NR() { return isHeatingHotend(NR); } \
FORCE_INLINE bool isCoolingHotend##NR() { return isCoolingHotend(NR); }
HOTEND_ROUTINES(0);
#if EXTRUDERS > 1 #if EXTRUDERS > 1
#define degHotend1() degHotend(1) HOTEND_ROUTINES(1);
#define degTargetHotend1() degTargetHotend(1)
#define setTargetHotend1(_celsius) setTargetHotend((_celsius), 1)
#define isHeatingHotend1() isHeatingHotend(1)
#define isCoolingHotend1() isCoolingHotend(1)
#else #else
#define setTargetHotend1(_celsius) do{}while(0) #define setTargetHotend1(c) do{}while(0)
#endif #endif
#if EXTRUDERS > 2 #if EXTRUDERS > 2
#define degHotend2() degHotend(2) HOTEND_ROUTINES(2);
#define degTargetHotend2() degTargetHotend(2)
#define setTargetHotend2(_celsius) setTargetHotend((_celsius), 2)
#define isHeatingHotend2() isHeatingHotend(2)
#define isCoolingHotend2() isCoolingHotend(2)
#else #else
#define setTargetHotend2(_celsius) do{}while(0) #define setTargetHotend2(c) do{}while(0)
#endif #endif
#if EXTRUDERS > 3 #if EXTRUDERS > 3
#define degHotend3() degHotend(3) HOTEND_ROUTINES(3);
#define degTargetHotend3() degTargetHotend(3)
#define setTargetHotend3(_celsius) setTargetHotend((_celsius), 3)
#define isHeatingHotend3() isHeatingHotend(3)
#define isCoolingHotend3() isCoolingHotend(3)
#else #else
#define setTargetHotend3(_celsius) do{}while(0) #define setTargetHotend3(c) do{}while(0)
#endif
#if EXTRUDERS > 4
#error Invalid number of extruders
#endif #endif
int getHeaterPower(int heater); int getHeaterPower(int heater);
@ -161,5 +148,4 @@ FORCE_INLINE void autotempShutdown() {
#endif #endif
} }
#endif // TEMPERATURE_H
#endif

10
README.md
View File

@ -18,8 +18,8 @@
## Quick Information ## Quick Information
This is a firmware for reprap single-processor electronics setups. This is a firmware for reprap single-processor electronics setups.
It also works on the Ultimaker PCB. It supports printing from SD card+Folders, and look-ahead trajectory planning. It also works on the Ultimaker PCB. It supports printing from SD card+Folders and look-ahead trajectory planning.
This firmware is a mashup between [Sprinter](https://github.com/kliment/Sprinter), [grbl](https://github.com/simen/grbl) and many original parts. This firmware is a mashup between [Sprinter](https://github.com/kliment/Sprinter), [grbl](https://github.com/simen/grbl), and many original parts.
## Current Status: Bug Fixing ## Current Status: Bug Fixing
@ -31,7 +31,7 @@ We are actively looking for testers. So please try the current development versi
## Contact ## Contact
__IRC:__ #marlin-firmware @freenode ([WebChat Client](https://webchat.freenode.net/?channels=marlin-firmware) __IRC:__ #marlin-firmware @freenode ([WebChat Client](https://webchat.freenode.net/?channels=marlin-firmware))
## Credits ## Credits
@ -41,8 +41,8 @@ The current Marlin dev team consists of:
- [@daid](https://github.com/daid) - [@daid](https://github.com/daid)
Sprinters lead developers are Kliment and caru. Sprinters lead developers are Kliment and caru.
Grbls lead developer is Simen Svale Skogsrud. Grbl's lead developer is Simen Svale Skogsrud.
Sonney Jeon (Chamnit) improved some parts of grbl Sonney Jeon (Chamnit) improved some parts of grbl.
A fork by bkubicek for the Ultimaker was merged. A fork by bkubicek for the Ultimaker was merged.
More features have been added by: More features have been added by: