Erik van der Zalm
14 years ago
22 changed files with 4802 additions and 2043 deletions
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#include "planner.h" |
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#include "temperature.h" |
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//======================================================================================
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template <class T> int EEPROM_writeAnything(int &ee, const T& value) |
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{ |
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const byte* p = (const byte*)(const void*)&value; |
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int i; |
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for (i = 0; i < sizeof(value); i++) |
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EEPROM.write(ee++, *p++); |
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return i; |
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} |
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//======================================================================================
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template <class T> int EEPROM_readAnything(int &ee, T& value) |
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{ |
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byte* p = (byte*)(void*)&value; |
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int i; |
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for (i = 0; i < sizeof(value); i++) |
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*p++ = EEPROM.read(ee++); |
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return i; |
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} |
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//======================================================================================
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#define EEPROM_OFFSET 100 |
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#define EEPROM_VERSION "V04" // IMPORTANT: Whenever there are changes made to the variables stored in EEPROM
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// in the functions below, also increment the version number. This makes sure that
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// the default values are used whenever there is a change to the data, to prevent
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// wrong data being written to the variables.
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// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
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void StoreSettings() { |
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char ver[4]= "000"; |
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int i=EEPROM_OFFSET; |
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EEPROM_writeAnything(i,ver); // invalidate data first
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EEPROM_writeAnything(i,axis_steps_per_unit); |
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EEPROM_writeAnything(i,max_feedrate); |
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EEPROM_writeAnything(i,max_acceleration_units_per_sq_second); |
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EEPROM_writeAnything(i,acceleration); |
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EEPROM_writeAnything(i,retract_acceleration); |
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EEPROM_writeAnything(i,minimumfeedrate); |
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EEPROM_writeAnything(i,mintravelfeedrate); |
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EEPROM_writeAnything(i,minsegmenttime); |
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EEPROM_writeAnything(i,max_xy_jerk); |
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EEPROM_writeAnything(i,max_z_jerk); |
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#ifdef PIDTEMP |
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EEPROM_writeAnything(i,Kp); |
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EEPROM_writeAnything(i,Ki); |
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EEPROM_writeAnything(i,Kd); |
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#else |
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EEPROM_writeAnything(i,3000); |
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EEPROM_writeAnything(i,0); |
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EEPROM_writeAnything(i,0); |
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#endif |
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char ver2[4]=EEPROM_VERSION; |
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i=EEPROM_OFFSET; |
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EEPROM_writeAnything(i,ver2); // validate data
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ECHOLN("Settings Stored"); |
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} |
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void RetrieveSettings(bool def=false){ // if def=true, the default values will be used
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int i=EEPROM_OFFSET; |
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char stored_ver[4]; |
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char ver[4]=EEPROM_VERSION; |
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EEPROM_readAnything(i,stored_ver); //read stored version
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// ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
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if ((!def)&&(strncmp(ver,stored_ver,3)==0)) { // version number match
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EEPROM_readAnything(i,axis_steps_per_unit); |
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EEPROM_readAnything(i,max_feedrate); |
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EEPROM_readAnything(i,max_acceleration_units_per_sq_second); |
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EEPROM_readAnything(i,acceleration); |
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EEPROM_readAnything(i,retract_acceleration); |
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EEPROM_readAnything(i,minimumfeedrate); |
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EEPROM_readAnything(i,mintravelfeedrate); |
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EEPROM_readAnything(i,minsegmenttime); |
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EEPROM_readAnything(i,max_xy_jerk); |
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EEPROM_readAnything(i,max_z_jerk); |
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#ifndef PIDTEMP |
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float Kp,Ki,Kd; |
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#endif |
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EEPROM_readAnything(i,Kp); |
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EEPROM_readAnything(i,Ki); |
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EEPROM_readAnything(i,Kd); |
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ECHOLN("Stored settings retreived:"); |
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} |
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else { |
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float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT; |
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float tmp2[]=DEFAULT_MAX_FEEDRATE; |
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long tmp3[]=DEFAULT_MAX_ACCELERATION; |
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for (int i=0;i<4;i++) { |
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axis_steps_per_unit[i]=tmp1[i]; |
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max_feedrate[i]=tmp2[i]; |
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max_acceleration_units_per_sq_second[i]=tmp3[i]; |
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} |
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acceleration=DEFAULT_ACCELERATION; |
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retract_acceleration=DEFAULT_RETRACT_ACCELERATION; |
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minimumfeedrate=DEFAULT_MINIMUMFEEDRATE; |
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minsegmenttime=DEFAULT_MINSEGMENTTIME; |
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mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE; |
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max_xy_jerk=DEFAULT_XYJERK; |
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max_z_jerk=DEFAULT_ZJERK; |
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ECHOLN("Using Default settings:"); |
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} |
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ECHOLN("Steps per unit:"); |
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ECHOLN(" M92 X" <<_FLOAT(axis_steps_per_unit[0],3) << " Y" << _FLOAT(axis_steps_per_unit[1],3) << " Z" << _FLOAT(axis_steps_per_unit[2],3) << " E" << _FLOAT(axis_steps_per_unit[3],3)); |
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ECHOLN("Maximum feedrates (mm/s):"); |
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ECHOLN(" M203 X" <<_FLOAT(max_feedrate[0]/60,2)<<" Y" << _FLOAT(max_feedrate[1]/60,2) << " Z" << _FLOAT(max_feedrate[2]/60,2) << " E" << _FLOAT(max_feedrate[3]/60,2)); |
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ECHOLN("Maximum Acceleration (mm/s2):"); |
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ECHOLN(" M201 X" <<_FLOAT(max_acceleration_units_per_sq_second[0],0) << " Y" << _FLOAT(max_acceleration_units_per_sq_second[1],0) << " Z" << _FLOAT(max_acceleration_units_per_sq_second[2],0) << " E" << _FLOAT(max_acceleration_units_per_sq_second[3],0)); |
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ECHOLN("Acceleration: S=acceleration, T=retract acceleration"); |
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ECHOLN(" M204 S" <<_FLOAT(acceleration,2) << " T" << _FLOAT(retract_acceleration,2)); |
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ECHOLN("Advanced variables: S=Min feedrate (mm/s), T=Min travel feedrate (mm/s), B=minimum segment time (ms), X=maximum xY jerk (mm/s), Z=maximum Z jerk (mm/s)"); |
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ECHOLN(" M205 S" <<_FLOAT(minimumfeedrate/60,2) << " T" << _FLOAT(mintravelfeedrate/60,2) << " B" << _FLOAT(minsegmenttime,2) << " X" << _FLOAT(max_xy_jerk/60,2) << " Z" << _FLOAT(max_z_jerk/60,2)); |
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#ifdef PIDTEMP |
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ECHOLN("PID settings:"); |
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ECHOLN(" M301 P" << _FLOAT(Kp,3) << " I" << _FLOAT(Ki,3) << " D" << _FLOAT(Kd,3)); |
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#endif |
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} |
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@ -1,247 +1,274 @@ |
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# Marlin Arduino Project Makefile
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#
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# Makefile Based on:
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# Arduino 0011 Makefile
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# Arduino adaptation by mellis, eighthave, oli.keller
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#
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#
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# This has been tested with Arduino 0022.
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# Arduino 0022 Makefile
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#
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# Uno with DOGS102 Shield
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# This makefile allows you to build sketches from the command line
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# without the Arduino environment (or Java).
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#
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#
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# Detailed instructions for using the makefile:
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# written by olikraus@gmail.com
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#
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#
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# 1. Modify the line containg "INSTALL_DIR" to point to the directory that
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# Features:
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# contains the Arduino installation (for example, under Mac OS X, this
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# - boards.txt is used to derive parameters
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# might be /Applications/arduino-0012).
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# - All intermediate files are put into a separate directory (TMPDIRNAME)
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# - Simple use: Copy Makefile into the same directory of the .pde file
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#
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#
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# 2. Modify the line containing "PORT" to refer to the filename
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# Limitations:
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# representing the USB or serial connection to your Arduino board
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# - requires UNIX environment
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# (e.g. PORT = /dev/tty.USB0). If the exact name of this file
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# - TMPDIRNAME must be subdirectory of the current directory.
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# changes, you can use * as a wildcard (e.g. PORT = /dev/tty.usb*).
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#
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#
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# 3. Set the line containing "MCU" to match your board's processor.
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# Targets
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# Older one's are atmega8 based, newer ones like Arduino Mini, Bluetooth
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# all build everything
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# or Diecimila have the atmega168. If you're using a LilyPad Arduino,
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# upload build and upload to arduino
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# change F_CPU to 8000000.
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# clean remove all temporary files (includes final hex file)
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#
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#
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# 4. Type "make" and press enter to compile/verify your program.
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# History
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# 001 28 Apr 2010 first release
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# 002 05 Oct 2010 added 'uno'
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#
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#
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# 5. Type "make upload", reset your Arduino board, and press enter to
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# upload your program to the Arduino board.
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#
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# $Id$
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TARGET = Marlin |
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INSTALL_DIR = ../../Desktop/arduino-0018/ |
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UPLOAD_RATE = 38400 |
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AVRDUDE_PROGRAMMER = stk500v1 |
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PORT = /dev/ttyUSB0 |
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#MCU = atmega2560
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#For "old" Arduino Mega
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#MCU = atmega1280
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#For Sanguinololu
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MCU = atmega644p |
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F_CPU = 16000000 |
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############################################################################
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# Below here nothing should be changed...
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ARDUINO = $(INSTALL_DIR)/hardware/Sanguino/cores/arduino |
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AVR_TOOLS_PATH = $(INSTALL_DIR)/hardware/tools/avr/bin |
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SRC = $(ARDUINO)/pins_arduino.c wiring.c wiring_serial.c \
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$(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \ |
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$(ARDUINO)/wiring_pulse.c \ |
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$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c |
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CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \
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$(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp |
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FORMAT = ihex |
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# Name of this Makefile (used for "make depend").
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MAKEFILE = Makefile |
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# Debugging format.
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# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
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# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
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DEBUG = stabs |
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OPT = s |
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# Place -D or -U options here
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CDEFS = -DF_CPU=$(F_CPU) |
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CXXDEFS = -DF_CPU=$(F_CPU) |
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# Place -I options here
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CINCS = -I$(ARDUINO) |
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CXXINCS = -I$(ARDUINO) |
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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# gnu89 - c89 plus GCC extensions
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# c99 - ISO C99 standard (not yet fully implemented)
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# gnu99 - c99 plus GCC extensions
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#CSTANDARD = -std=gnu99
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CDEBUG = -g$(DEBUG) |
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CWARN = -Wall -Wunused-variable |
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CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -w -ffunction-sections -fdata-sections -DARDUINO=22 |
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#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
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CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CEXTRA) $(CTUNING) |
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CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) -Wall $(CEXTRA) $(CTUNING) |
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#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
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LDFLAGS = -lm |
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# Programming support using avrdude. Settings and variables.
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AVRDUDE_PORT = $(PORT) |
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AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex:i |
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AVRDUDE_FLAGS = -D -C $(INSTALL_DIR)/hardware/tools/avrdude.conf \
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-p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) \ |
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-b $(UPLOAD_RATE) |
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# Program settings
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CC = $(AVR_TOOLS_PATH)/avr-gcc |
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CXX = $(AVR_TOOLS_PATH)/avr-g++ |
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OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy |
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OBJDUMP = $(AVR_TOOLS_PATH)/avr-objdump |
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AR = $(AVR_TOOLS_PATH)/avr-ar |
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SIZE = $(AVR_TOOLS_PATH)/avr-size |
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NM = $(AVR_TOOLS_PATH)/avr-nm |
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AVRDUDE = $(INSTALL_DIR)/hardware/tools/avrdude |
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REMOVE = rm -f |
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MV = mv -f |
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# Define all object files.
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OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o) |
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# Define all listing files.
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LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst) |
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# Combine all necessary flags and optional flags.
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# Add target processor to flags.
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ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
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ALL_CXXFLAGS = -mmcu=$(MCU) -I. $(CXXFLAGS) |
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ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
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# Default target.
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all: applet_files_ez build sizeafter |
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build: elf hex |
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applet_files_ez: $(TARGET).pde |
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# Here is the "preprocessing". |
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# It creates a .cpp file based with the same name as the .pde file. |
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# On top of the new .cpp file comes the WProgram.h header. |
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# At the end there is a generic main() function attached. |
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# Then the .cpp file will be compiled. Errors during compile will |
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# refer to this new, automatically generated, file. |
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# Not the original .pde file you actually edit... |
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test -d applet || mkdir applet |
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echo '#include "WProgram.h"' > applet/$(TARGET).cpp |
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cat $(TARGET).pde >> applet/$(TARGET).cpp |
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cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp |
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elf: applet/$(TARGET).elf |
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hex: applet/$(TARGET).hex |
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eep: applet/$(TARGET).eep |
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lss: applet/$(TARGET).lss |
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sym: applet/$(TARGET).sym |
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# Program the device.
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#=== user configuration ===
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upload: applet/$(TARGET).hex |
# All ...PATH variables must have a '/' at the end
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$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) |
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# Board (and prozessor) information: see $(ARDUINO_PATH)hardware/arduino/boards.txt
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# Some examples:
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# BOARD DESCRIPTION
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# uno Arduino Uno
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# atmega328 Arduino Duemilanove or Nano w/ ATmega328
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# diecimila Arduino Diecimila, Duemilanove, or Nano w/ ATmega168
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# mega Arduino Mega
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# mini Arduino Mini
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# lilypad328 LilyPad Arduino w/ ATmega328
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BOARD:=mega |
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# Display size of file. |
# additional (comma separated) defines
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HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex |
# -DDOGM128_HW board is connected to DOGM128 display
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ELFSIZE = $(SIZE) applet/$(TARGET).elf |
# -DDOGM132_HW board is connected to DOGM132 display
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sizebefore: |
# -DDOGS102_HW board is connected to DOGS102 display
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@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi |
# -DDOG_REVERSE 180 degree rotation
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# -DDOG_SPI_SW_ARDUINO force SW shiftOut
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DEFS=-DDOGS102_HW -DDOG_DOUBLE_MEMORY -DDOG_SPI_SW_ARDUINO |
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sizeafter: |
# The location where the avr tools (e.g. avr-gcc) are located. Requires a '/' at the end.
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@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(HEXSIZE); echo; fi |
# Can be empty if all tools are accessable through the search path
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AVR_TOOLS_PATH:=/usr/bin/ |
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# Install path of the arduino software. Requires a '/' at the end.
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ARDUINO_PATH:=/home/bkubicek/software/arduino-0022/ |
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# Install path for avrdude. Requires a '/' at the end. Can be empty if avrdude is in the search path.
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AVRDUDE_PATH:= |
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# The unix device where we can reach the arduino board
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# Uno: /dev/ttyACM0
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# Duemilanove: /dev/ttyUSB0
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AVRDUDE_PORT:=/dev/ttyACM0 |
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# List of all libaries which should be included.
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#EXTRA_DIRS=$(ARDUINO_PATH)libraries/LiquidCrystal/
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#EXTRA_DIRS+=$(ARDUINO_PATH)libraries/Dogm/
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#EXTRA_DIRS+=/home/kraus/src/arduino/dogm128/hg/libraries/Dogm/
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#=== fetch parameter from boards.txt processor parameter ===
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# the basic idea is to get most of the information from boards.txt
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BOARDS_TXT:=$(ARDUINO_PATH)hardware/arduino/boards.txt |
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# get the MCU value from the $(BOARD).build.mcu variable. For the atmega328 board this is atmega328p
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MCU:=$(shell sed -n -e "s/$(BOARD).build.mcu=\(.*\)/\1/p" $(BOARDS_TXT)) |
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# get the F_CPU value from the $(BOARD).build.f_cpu variable. For the atmega328 board this is 16000000
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F_CPU:=$(shell sed -n -e "s/$(BOARD).build.f_cpu=\(.*\)/\1/p" $(BOARDS_TXT)) |
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# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
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# avrdude
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COFFCONVERT=$(OBJCOPY) --debugging \
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# get the AVRDUDE_UPLOAD_RATE value from the $(BOARD).upload.speed variable. For the atmega328 board this is 57600
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--change-section-address .data-0x800000 \ |
AVRDUDE_UPLOAD_RATE:=$(shell sed -n -e "s/$(BOARD).upload.speed=\(.*\)/\1/p" $(BOARDS_TXT)) |
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--change-section-address .bss-0x800000 \ |
# get the AVRDUDE_PROGRAMMER value from the $(BOARD).upload.protocol variable. For the atmega328 board this is stk500
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||||
--change-section-address .noinit-0x800000 \ |
# AVRDUDE_PROGRAMMER:=$(shell sed -n -e "s/$(BOARD).upload.protocol=\(.*\)/\1/p" $(BOARDS_TXT))
|
||||
--change-section-address .eeprom-0x810000 |
# use stk500v1, because stk500 will default to stk500v2
|
||||
|
AVRDUDE_PROGRAMMER:=stk500v1 |
||||
|
|
||||
|
#=== identify user files ===
|
||||
|
PDESRC:=$(shell ls *.pde) |
||||
|
TARGETNAME=$(basename $(PDESRC)) |
||||
|
|
||||
coff: applet/$(TARGET).elf |
CDIRS:=$(EXTRA_DIRS) $(addsuffix utility/,$(EXTRA_DIRS)) |
||||
$(COFFCONVERT) -O coff-avr applet/$(TARGET).elf $(TARGET).cof |
CDIRS:=*.c utility/*.c $(addsuffix *.c,$(CDIRS)) $(ARDUINO_PATH)hardware/arduino/cores/arduino/*.c |
||||
|
CSRC:=$(shell ls $(CDIRS) 2>/dev/null) |
||||
|
|
||||
|
CCSRC:=$(shell ls *.cc 2>/dev/null) |
||||
|
|
||||
extcoff: $(TARGET).elf |
CPPDIRS:=$(EXTRA_DIRS) $(addsuffix utility/,$(EXTRA_DIRS)) |
||||
$(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf $(TARGET).cof |
CPPDIRS:=*.cpp utility/*.cpp $(addsuffix *.cpp,$(CPPDIRS)) $(ARDUINO_PATH)hardware/arduino/cores/arduino/*.cpp |
||||
|
CPPSRC:=$(shell ls $(CPPDIRS) 2>/dev/null) |
||||
|
|
||||
|
#=== build internal variables ===
|
||||
|
|
||||
.SUFFIXES: .elf .hex .eep .lss .sym |
# the name of the subdirectory where everything is stored
|
||||
|
TMPDIRNAME:=tmp |
||||
|
TMPDIRPATH:=$(TMPDIRNAME)/ |
||||
|
|
||||
|
AVRTOOLSPATH:=$(AVR_TOOLS_PATH) |
||||
|
|
||||
|
OBJCOPY:=$(AVRTOOLSPATH)avr-objcopy |
||||
|
OBJDUMP:=$(AVRTOOLSPATH)avr-objdump |
||||
|
SIZE:=$(AVRTOOLSPATH)avr-size |
||||
|
|
||||
|
CPPSRC:=$(addprefix $(TMPDIRPATH),$(PDESRC:.pde=.cpp)) $(CPPSRC) |
||||
|
|
||||
|
COBJ:=$(CSRC:.c=.o) |
||||
|
CCOBJ:=$(CCSRC:.cc=.o) |
||||
|
CPPOBJ:=$(CPPSRC:.cpp=.o) |
||||
|
|
||||
|
OBJFILES:=$(COBJ) $(CCOBJ) $(CPPOBJ) |
||||
|
DIRS:= $(dir $(OBJFILES)) |
||||
|
|
||||
|
DEPFILES:=$(OBJFILES:.o=.d) |
||||
|
# assembler files from avr-gcc -S
|
||||
|
ASSFILES:=$(OBJFILES:.o=.s) |
||||
|
# disassembled object files with avr-objdump -S
|
||||
|
DISFILES:=$(OBJFILES:.o=.dis) |
||||
|
|
||||
.elf.hex: |
|
||||
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
|
||||
|
|
||||
.elf.eep: |
LIBNAME:=$(TMPDIRPATH)$(TARGETNAME).a |
||||
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
|
ELFNAME:=$(TMPDIRPATH)$(TARGETNAME).elf |
||||
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
HEXNAME:=$(TMPDIRPATH)$(TARGETNAME).hex |
||||
|
|
||||
# Create extended listing file from ELF output file.
|
AVRDUDE_FLAGS = -V -F |
||||
.elf.lss: |
AVRDUDE_FLAGS += -C $(ARDUINO_PATH)/hardware/tools/avrdude.conf |
||||
$(OBJDUMP) -h -S $< > $@ |
AVRDUDE_FLAGS += -p $(MCU) |
||||
|
AVRDUDE_FLAGS += -P $(AVRDUDE_PORT) |
||||
|
AVRDUDE_FLAGS += -c $(AVRDUDE_PROGRAMMER) |
||||
|
AVRDUDE_FLAGS += -b $(AVRDUDE_UPLOAD_RATE) |
||||
|
AVRDUDE_FLAGS += -U flash:w:$(HEXNAME) |
||||
|
|
||||
# Create a symbol table from ELF output file.
|
AVRDUDE = avrdude |
||||
.elf.sym: |
|
||||
$(NM) -n $< > $@ |
|
||||
|
|
||||
# Link: create ELF output file from library. |
#=== predefined variable override ===
|
||||
applet/$(TARGET).elf: $(TARGET).pde applet/core.a |
# use "make -p -f/dev/null" to see the default rules and definitions
|
||||
$(CC) $(ALL_CFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS) |
|
||||
|
|
||||
applet/core.a: $(OBJ) |
# Build C and C++ flags. Include path information must be placed here
|
||||
@for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done |
COMMON_FLAGS = -DF_CPU=$(F_CPU) -mmcu=$(MCU) $(DEFS) |
||||
|
# COMMON_FLAGS += -gdwarf-2
|
||||
|
COMMON_FLAGS += -Os |
||||
|
COMMON_FLAGS += -Wall -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums |
||||
|
COMMON_FLAGS += -I. |
||||
|
COMMON_FLAGS += -I$(ARDUINO_PATH)hardware/arduino/cores/arduino |
||||
|
COMMON_FLAGS += $(addprefix -I,$(EXTRA_DIRS)) |
||||
|
COMMON_FLAGS += -ffunction-sections -fdata-sections -Wl,--gc-sections |
||||
|
COMMON_FLAGS += -Wl,--relax |
||||
|
COMMON_FLAGS += -mcall-prologues |
||||
|
|
||||
|
CFLAGS = $(COMMON_FLAGS) -std=gnu99 -Wstrict-prototypes |
||||
|
CXXFLAGS = $(COMMON_FLAGS) |
||||
|
|
||||
|
# Replace standard build tools by avr tools
|
||||
|
CC = $(AVRTOOLSPATH)avr-gcc |
||||
|
CXX = $(AVRTOOLSPATH)avr-g++ |
||||
|
AR = @$(AVRTOOLSPATH)avr-ar |
||||
|
|
||||
# Compile: create object files from C++ source files.
|
|
||||
.cpp.o: |
|
||||
$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ |
|
||||
|
|
||||
# Compile: create object files from C source files.
|
# "rm" must be able to delete a directory tree
|
||||
.c.o: |
RM = rm -rf |
||||
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
|
||||
|
|
||||
|
#=== rules ===
|
||||
|
|
||||
# Compile: create assembler files from C source files.
|
# add rules for the C/C++ files where the .o file is placed in the TMPDIRPATH
|
||||
.c.s: |
# reuse existing variables as far as possible
|
||||
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
|
||||
|
|
||||
|
$(TMPDIRPATH)%.o: %.c |
||||
|
@echo compile $< |
||||
|
@$(COMPILE.c) $(OUTPUT_OPTION) $< |
||||
|
|
||||
|
$(TMPDIRPATH)%.o: %.cc |
||||
|
@echo compile $< |
||||
|
@$(COMPILE.cc) $(OUTPUT_OPTION) $< |
||||
|
|
||||
|
$(TMPDIRPATH)%.o: %.cpp |
||||
|
@echo compile $< |
||||
|
@$(COMPILE.cpp) $(OUTPUT_OPTION) $< |
||||
|
|
||||
|
$(TMPDIRPATH)%.s: %.c |
||||
|
@$(COMPILE.c) $(OUTPUT_OPTION) -S $< |
||||
|
|
||||
|
$(TMPDIRPATH)%.s: %.cc |
||||
|
@$(COMPILE.cc) $(OUTPUT_OPTION) -S $< |
||||
|
|
||||
|
$(TMPDIRPATH)%.s: %.cpp |
||||
|
@$(COMPILE.cpp) $(OUTPUT_OPTION) -S $< |
||||
|
|
||||
|
$(TMPDIRPATH)%.dis: $(TMPDIRPATH)%.o |
||||
|
@$(OBJDUMP) -S $< > $@ |
||||
|
|
||||
|
.SUFFIXES: .elf .hex .pde |
||||
|
|
||||
|
.elf.hex: |
||||
|
@$(OBJCOPY) -O ihex -R .eeprom $< $@ |
||||
|
|
||||
|
$(TMPDIRPATH)%.cpp: %.pde |
||||
|
@cat $(ARDUINO_PATH)hardware/arduino/cores/arduino/main.cpp > $@ |
||||
|
@cat $< >> $@ |
||||
|
@echo >> $@ |
||||
|
@echo 'extern "C" void __cxa_pure_virtual() { while (1); }' >> $@ |
||||
|
|
||||
# Assemble: create object files from assembler source files.
|
|
||||
.S.o: |
|
||||
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
|
||||
|
|
||||
|
.PHONY: all |
||||
|
all: tmpdir $(HEXNAME) assemblersource showsize |
||||
|
ls -al $(HEXNAME) $(ELFNAME) |
||||
|
|
||||
|
$(ELFNAME): $(LIBNAME)($(addprefix $(TMPDIRPATH),$(OBJFILES))) |
||||
|
$(LINK.o) $(COMMON_FLAGS) $(LIBNAME) $(LOADLIBES) $(LDLIBS) -o $@ |
||||
|
|
||||
# Target: clean project.
|
$(LIBNAME)(): $(addprefix $(TMPDIRPATH),$(OBJFILES)) |
||||
|
|
||||
|
#=== create temp directory ===
|
||||
|
# not really required, because it will be also created during the dependency handling
|
||||
|
.PHONY: tmpdir |
||||
|
tmpdir: |
||||
|
@test -d $(TMPDIRPATH) || mkdir $(TMPDIRPATH) |
||||
|
|
||||
|
#=== create assembler files for each C/C++ file ===
|
||||
|
.PHONY: assemblersource |
||||
|
assemblersource: $(addprefix $(TMPDIRPATH),$(ASSFILES)) $(addprefix $(TMPDIRPATH),$(DISFILES)) |
||||
|
|
||||
|
|
||||
|
#=== show the section sizes of the ELF file ===
|
||||
|
.PHONY: showsize |
||||
|
showsize: $(ELFNAME) |
||||
|
$(SIZE) $< |
||||
|
|
||||
|
#=== clean up target ===
|
||||
|
# this is simple: the TMPDIRPATH is removed
|
||||
|
.PHONY: clean |
||||
clean: |
clean: |
||||
$(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
|
$(RM) $(TMPDIRPATH) |
||||
applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/core.a \
|
|
||||
$(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d) |
# Program the device.
|
||||
|
# step 1: reset the arduino board with the stty command
|
||||
depend: |
# step 2: user avrdude to upload the software
|
||||
if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
|
.PHONY: upload |
||||
then \
|
upload: $(HEXNAME) |
||||
sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
|
stty -F $(AVRDUDE_PORT) hupcl |
||||
$(MAKEFILE).$$$$ && \
|
$(AVRDUDE) $(AVRDUDE_FLAGS) |
||||
$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
|
|
||||
fi |
|
||||
echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
|
# === dependency handling ===
|
||||
>> $(MAKEFILE); \
|
# From the gnu make manual (section 4.14, Generating Prerequisites Automatically)
|
||||
$(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) $(ASRC) >> $(MAKEFILE) |
# Additionally (because this will be the first executed rule) TMPDIRPATH is created here.
|
||||
|
# Instead of "sed" the "echo" command is used
|
||||
.PHONY: all build elf hex eep lss sym program coff extcoff clean depend applet_files sizebefore sizeafter |
# cd $(TMPDIRPATH); mkdir -p $(DIRS) 2> /dev/null; cd ..
|
||||
|
DEPACTION=test -d $(TMPDIRPATH) || mkdir $(TMPDIRPATH);\
|
||||
|
mkdir -p $(addprefix $(TMPDIRPATH),$(DIRS));\ |
||||
|
set -e; echo -n $@ $(dir $@) > $@; $(CC) -MM $(COMMON_FLAGS) $< >> $@ |
||||
|
|
||||
|
|
||||
|
$(TMPDIRPATH)%.d: %.c |
||||
|
@$(DEPACTION) |
||||
|
|
||||
|
$(TMPDIRPATH)%.d: %.cc |
||||
|
@$(DEPACTION) |
||||
|
|
||||
|
|
||||
|
$(TMPDIRPATH)%.d: %.cpp |
||||
|
@$(DEPACTION) |
||||
|
|
||||
|
# Include dependency files. If a .d file is missing, a warning is created and the .d file is created
|
||||
|
# This warning is not a problem (gnu make manual, section 3.3 Including Other Makefiles)
|
||||
|
-include $(addprefix $(TMPDIRPATH),$(DEPFILES)) |
||||
|
|
||||
|
|
||||
|
|||||
File diff suppressed because it is too large
@ -0,0 +1,10 @@ |
|||||
|
#ifndef __LCDH |
||||
|
#define __LCDH |
||||
|
|
||||
|
|
||||
|
|
||||
|
|
||||
|
|
||||
|
|
||||
|
|
||||
|
#endif |
||||
@ -0,0 +1 @@ |
|||||
|
|
||||
@ -0,0 +1,584 @@ |
|||||
|
/*
|
||||
|
planner.c - buffers movement commands and manages the acceleration profile plan |
||||
|
Part of Grbl |
||||
|
|
||||
|
Copyright (c) 2009-2011 Simen Svale Skogsrud |
||||
|
|
||||
|
Grbl is free software: you can redistribute it and/or modify |
||||
|
it under the terms of the GNU General Public License as published by |
||||
|
the Free Software Foundation, either version 3 of the License, or |
||||
|
(at your option) any later version. |
||||
|
|
||||
|
Grbl is distributed in the hope that it will be useful, |
||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
|
GNU General Public License for more details. |
||||
|
|
||||
|
You should have received a copy of the GNU General Public License |
||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
*/ |
||||
|
|
||||
|
/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */ |
||||
|
|
||||
|
/*
|
||||
|
Reasoning behind the mathematics in this module (in the key of 'Mathematica'): |
||||
|
|
||||
|
s == speed, a == acceleration, t == time, d == distance |
||||
|
|
||||
|
Basic definitions: |
||||
|
|
||||
|
Speed[s_, a_, t_] := s + (a*t) |
||||
|
Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t] |
||||
|
|
||||
|
Distance to reach a specific speed with a constant acceleration: |
||||
|
|
||||
|
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t] |
||||
|
d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance() |
||||
|
|
||||
|
Speed after a given distance of travel with constant acceleration: |
||||
|
|
||||
|
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t] |
||||
|
m -> Sqrt[2 a d + s^2] |
||||
|
|
||||
|
DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2] |
||||
|
|
||||
|
When to start braking (di) to reach a specified destionation speed (s2) after accelerating |
||||
|
from initial speed s1 without ever stopping at a plateau: |
||||
|
|
||||
|
Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di] |
||||
|
di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance() |
||||
|
|
||||
|
IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a) |
||||
|
*/ |
||||
|
|
||||
|
|
||||
|
//#include <inttypes.h>
|
||||
|
//#include <math.h>
|
||||
|
//#include <stdlib.h>
|
||||
|
|
||||
|
#include "Marlin.h" |
||||
|
#include "Configuration.h" |
||||
|
#include "pins.h" |
||||
|
#include "fastio.h" |
||||
|
#include "planner.h" |
||||
|
#include "stepper.h" |
||||
|
#include "temperature.h" |
||||
|
#include "ultralcd.h" |
||||
|
|
||||
|
unsigned long minsegmenttime; |
||||
|
float max_feedrate[4]; // set the max speeds
|
||||
|
float axis_steps_per_unit[4]; |
||||
|
long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
|
||||
|
float minimumfeedrate; |
||||
|
float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
|
||||
|
float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
|
||||
|
float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
|
||||
|
float max_z_jerk; |
||||
|
float mintravelfeedrate; |
||||
|
unsigned long axis_steps_per_sqr_second[NUM_AXIS]; |
||||
|
// Manage heater variables.
|
||||
|
|
||||
|
static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
|
||||
|
static volatile unsigned char block_buffer_head; // Index of the next block to be pushed
|
||||
|
static volatile unsigned char block_buffer_tail; // Index of the block to process now
|
||||
|
|
||||
|
// The current position of the tool in absolute steps
|
||||
|
long position[4]; |
||||
|
|
||||
|
#define ONE_MINUTE_OF_MICROSECONDS 60000000.0 |
||||
|
|
||||
|
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
|
||||
|
// given acceleration:
|
||||
|
inline float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) { |
||||
|
if (acceleration!=0) { |
||||
|
return((target_rate*target_rate-initial_rate*initial_rate)/ |
||||
|
(2.0*acceleration)); |
||||
|
} |
||||
|
else { |
||||
|
return 0.0; // acceleration was 0, set acceleration distance to 0
|
||||
|
} |
||||
|
} |
||||
|
|
||||
|
// This function gives you the point at which you must start braking (at the rate of -acceleration) if
|
||||
|
// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
|
||||
|
// a total travel of distance. This can be used to compute the intersection point between acceleration and
|
||||
|
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
|
||||
|
|
||||
|
inline float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) { |
||||
|
if (acceleration!=0) { |
||||
|
return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/ |
||||
|
(4.0*acceleration) ); |
||||
|
} |
||||
|
else { |
||||
|
return 0.0; // acceleration was 0, set intersection distance to 0
|
||||
|
} |
||||
|
} |
||||
|
|
||||
|
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
|
||||
|
|
||||
|
void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed) { |
||||
|
if(block->busy == true) return; // If block is busy then bail out.
|
||||
|
float entry_factor = entry_speed / block->nominal_speed; |
||||
|
float exit_factor = exit_speed / block->nominal_speed; |
||||
|
long initial_rate = ceil(block->nominal_rate*entry_factor); |
||||
|
long final_rate = ceil(block->nominal_rate*exit_factor); |
||||
|
|
||||
|
#ifdef ADVANCE |
||||
|
long initial_advance = block->advance*entry_factor*entry_factor; |
||||
|
long final_advance = block->advance*exit_factor*exit_factor; |
||||
|
#endif // ADVANCE
|
||||
|
|
||||
|
// Limit minimal step rate (Otherwise the timer will overflow.)
|
||||
|
if(initial_rate <120) initial_rate=120; |
||||
|
if(final_rate < 120) final_rate=120; |
||||
|
|
||||
|
// Calculate the acceleration steps
|
||||
|
long acceleration = block->acceleration_st; |
||||
|
long accelerate_steps = estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration); |
||||
|
long decelerate_steps = estimate_acceleration_distance(final_rate, block->nominal_rate, acceleration); |
||||
|
// Calculate the size of Plateau of Nominal Rate.
|
||||
|
long plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps; |
||||
|
|
||||
|
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
|
||||
|
// have to use intersection_distance() to calculate when to abort acceleration and start braking
|
||||
|
// in order to reach the final_rate exactly at the end of this block.
|
||||
|
if (plateau_steps < 0) { |
||||
|
accelerate_steps = intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count); |
||||
|
plateau_steps = 0; |
||||
|
} |
||||
|
|
||||
|
long decelerate_after = accelerate_steps+plateau_steps; |
||||
|
|
||||
|
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
|
||||
|
if(block->busy == false) { // Don't update variables if block is busy.
|
||||
|
block->accelerate_until = accelerate_steps; |
||||
|
block->decelerate_after = decelerate_after; |
||||
|
block->initial_rate = initial_rate; |
||||
|
block->final_rate = final_rate; |
||||
|
#ifdef ADVANCE |
||||
|
block->initial_advance = initial_advance; |
||||
|
block->final_advance = final_advance; |
||||
|
#endif //ADVANCE
|
||||
|
} |
||||
|
CRITICAL_SECTION_END; |
||||
|
} |
||||
|
|
||||
|
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
|
||||
|
// acceleration within the allotted distance.
|
||||
|
inline float max_allowable_speed(float acceleration, float target_velocity, float distance) { |
||||
|
return( |
||||
|
sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance) |
||||
|
); |
||||
|
} |
||||
|
|
||||
|
// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
|
||||
|
// This method will calculate the junction jerk as the euclidean distance between the nominal
|
||||
|
// velocities of the respective blocks.
|
||||
|
inline float junction_jerk(block_t *before, block_t *after) { |
||||
|
return(sqrt( |
||||
|
pow((before->speed_x-after->speed_x), 2)+ |
||||
|
pow((before->speed_y-after->speed_y), 2))); |
||||
|
} |
||||
|
|
||||
|
// Return the safe speed which is max_jerk/2, e.g. the
|
||||
|
// speed under which you cannot exceed max_jerk no matter what you do.
|
||||
|
float safe_speed(block_t *block) { |
||||
|
float safe_speed; |
||||
|
safe_speed = max_xy_jerk/2; |
||||
|
if(abs(block->speed_z) > max_z_jerk/2) safe_speed = max_z_jerk/2; |
||||
|
if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed; |
||||
|
return safe_speed; |
||||
|
} |
||||
|
|
||||
|
// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
|
||||
|
void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) { |
||||
|
if(!current) { |
||||
|
return; |
||||
|
} |
||||
|
|
||||
|
float entry_speed = current->nominal_speed; |
||||
|
float exit_factor; |
||||
|
float exit_speed; |
||||
|
if (next) { |
||||
|
exit_speed = next->entry_speed; |
||||
|
} |
||||
|
else { |
||||
|
exit_speed = safe_speed(current); |
||||
|
} |
||||
|
|
||||
|
// Calculate the entry_factor for the current block.
|
||||
|
if (previous) { |
||||
|
// Reduce speed so that junction_jerk is within the maximum allowed
|
||||
|
float jerk = junction_jerk(previous, current); |
||||
|
if((previous->steps_x == 0) && (previous->steps_y == 0)) { |
||||
|
entry_speed = safe_speed(current); |
||||
|
} |
||||
|
else if (jerk > max_xy_jerk) { |
||||
|
entry_speed = (max_xy_jerk/jerk) * entry_speed; |
||||
|
} |
||||
|
if(abs(previous->speed_z - current->speed_z) > max_z_jerk) { |
||||
|
entry_speed = (max_z_jerk/abs(previous->speed_z - current->speed_z)) * entry_speed; |
||||
|
} |
||||
|
// If the required deceleration across the block is too rapid, reduce the entry_factor accordingly.
|
||||
|
if (entry_speed > exit_speed) { |
||||
|
float max_entry_speed = max_allowable_speed(-current->acceleration,exit_speed, current->millimeters); |
||||
|
if (max_entry_speed < entry_speed) { |
||||
|
entry_speed = max_entry_speed; |
||||
|
} |
||||
|
} |
||||
|
} |
||||
|
else { |
||||
|
entry_speed = safe_speed(current); |
||||
|
} |
||||
|
// Store result
|
||||
|
current->entry_speed = entry_speed; |
||||
|
} |
||||
|
|
||||
|
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
|
||||
|
// implements the reverse pass.
|
||||
|
void planner_reverse_pass() { |
||||
|
char block_index = block_buffer_head; |
||||
|
if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) { |
||||
|
block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1); |
||||
|
block_t *block[5] = { |
||||
|
NULL, NULL, NULL, NULL, NULL }; |
||||
|
while(block_index != block_buffer_tail) { |
||||
|
block_index = (block_index-1) & (BLOCK_BUFFER_SIZE -1); |
||||
|
block[2]= block[1]; |
||||
|
block[1]= block[0]; |
||||
|
block[0] = &block_buffer[block_index]; |
||||
|
planner_reverse_pass_kernel(block[0], block[1], block[2]); |
||||
|
} |
||||
|
planner_reverse_pass_kernel(NULL, block[0], block[1]); |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
|
||||
|
void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) { |
||||
|
if(!current) { |
||||
|
return; |
||||
|
} |
||||
|
if(previous) { |
||||
|
// If the previous block is an acceleration block, but it is not long enough to
|
||||
|
// complete the full speed change within the block, we need to adjust out entry
|
||||
|
// speed accordingly. Remember current->entry_factor equals the exit factor of
|
||||
|
// the previous block.
|
||||
|
if(previous->entry_speed < current->entry_speed) { |
||||
|
float max_entry_speed = max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters); |
||||
|
if (max_entry_speed < current->entry_speed) { |
||||
|
current->entry_speed = max_entry_speed; |
||||
|
} |
||||
|
} |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
|
||||
|
// implements the forward pass.
|
||||
|
void planner_forward_pass() { |
||||
|
char block_index = block_buffer_tail; |
||||
|
block_t *block[3] = { |
||||
|
NULL, NULL, NULL }; |
||||
|
|
||||
|
while(block_index != block_buffer_head) { |
||||
|
block[0] = block[1]; |
||||
|
block[1] = block[2]; |
||||
|
block[2] = &block_buffer[block_index]; |
||||
|
planner_forward_pass_kernel(block[0],block[1],block[2]); |
||||
|
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); |
||||
|
} |
||||
|
planner_forward_pass_kernel(block[1], block[2], NULL); |
||||
|
} |
||||
|
|
||||
|
// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
|
||||
|
// entry_factor for each junction. Must be called by planner_recalculate() after
|
||||
|
// updating the blocks.
|
||||
|
void planner_recalculate_trapezoids() { |
||||
|
char block_index = block_buffer_tail; |
||||
|
block_t *current; |
||||
|
block_t *next = NULL; |
||||
|
while(block_index != block_buffer_head) { |
||||
|
current = next; |
||||
|
next = &block_buffer[block_index]; |
||||
|
if (current) { |
||||
|
calculate_trapezoid_for_block(current, current->entry_speed, next->entry_speed); |
||||
|
} |
||||
|
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); |
||||
|
} |
||||
|
calculate_trapezoid_for_block(next, next->entry_speed, safe_speed(next)); |
||||
|
} |
||||
|
|
||||
|
// Recalculates the motion plan according to the following algorithm:
|
||||
|
//
|
||||
|
// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
|
||||
|
// so that:
|
||||
|
// a. The junction jerk is within the set limit
|
||||
|
// b. No speed reduction within one block requires faster deceleration than the one, true constant
|
||||
|
// acceleration.
|
||||
|
// 2. Go over every block in chronological order and dial down junction speed reduction values if
|
||||
|
// a. The speed increase within one block would require faster accelleration than the one, true
|
||||
|
// constant acceleration.
|
||||
|
//
|
||||
|
// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
|
||||
|
// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
|
||||
|
// the set limit. Finally it will:
|
||||
|
//
|
||||
|
// 3. Recalculate trapezoids for all blocks.
|
||||
|
|
||||
|
void planner_recalculate() { |
||||
|
planner_reverse_pass(); |
||||
|
planner_forward_pass(); |
||||
|
planner_recalculate_trapezoids(); |
||||
|
} |
||||
|
|
||||
|
void plan_init() { |
||||
|
block_buffer_head = 0; |
||||
|
block_buffer_tail = 0; |
||||
|
memset(position, 0, sizeof(position)); // clear position
|
||||
|
} |
||||
|
|
||||
|
|
||||
|
void plan_discard_current_block() { |
||||
|
if (block_buffer_head != block_buffer_tail) { |
||||
|
block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1); |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
block_t *plan_get_current_block() { |
||||
|
if (block_buffer_head == block_buffer_tail) { |
||||
|
return(NULL); |
||||
|
} |
||||
|
block_t *block = &block_buffer[block_buffer_tail]; |
||||
|
block->busy = true; |
||||
|
return(block); |
||||
|
} |
||||
|
|
||||
|
void check_axes_activity() { |
||||
|
unsigned char x_active = 0; |
||||
|
unsigned char y_active = 0; |
||||
|
unsigned char z_active = 0; |
||||
|
unsigned char e_active = 0; |
||||
|
block_t *block; |
||||
|
|
||||
|
if(block_buffer_tail != block_buffer_head) { |
||||
|
char block_index = block_buffer_tail; |
||||
|
while(block_index != block_buffer_head) { |
||||
|
block = &block_buffer[block_index]; |
||||
|
if(block->steps_x != 0) x_active++; |
||||
|
if(block->steps_y != 0) y_active++; |
||||
|
if(block->steps_z != 0) z_active++; |
||||
|
if(block->steps_e != 0) e_active++; |
||||
|
block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); |
||||
|
} |
||||
|
} |
||||
|
if((DISABLE_X) && (x_active == 0)) disable_x(); |
||||
|
if((DISABLE_Y) && (y_active == 0)) disable_y(); |
||||
|
if((DISABLE_Z) && (z_active == 0)) disable_z(); |
||||
|
if((DISABLE_E) && (e_active == 0)) disable_e(); |
||||
|
} |
||||
|
|
||||
|
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
|
||||
|
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
|
||||
|
// calculation the caller must also provide the physical length of the line in millimeters.
|
||||
|
void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { |
||||
|
|
||||
|
// The target position of the tool in absolute steps
|
||||
|
// Calculate target position in absolute steps
|
||||
|
long target[4]; |
||||
|
target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); |
||||
|
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); |
||||
|
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); |
||||
|
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); |
||||
|
|
||||
|
// Calculate the buffer head after we push this byte
|
||||
|
int next_buffer_head = (block_buffer_head + 1) & (BLOCK_BUFFER_SIZE - 1); |
||||
|
|
||||
|
// If the buffer is full: good! That means we are well ahead of the robot.
|
||||
|
// Rest here until there is room in the buffer.
|
||||
|
while(block_buffer_tail == next_buffer_head) { |
||||
|
manage_heater(); |
||||
|
manage_inactivity(1); |
||||
|
LCD_STATUS; |
||||
|
} |
||||
|
|
||||
|
// Prepare to set up new block
|
||||
|
block_t *block = &block_buffer[block_buffer_head]; |
||||
|
|
||||
|
// Mark block as not busy (Not executed by the stepper interrupt)
|
||||
|
block->busy = false; |
||||
|
|
||||
|
// Number of steps for each axis
|
||||
|
block->steps_x = labs(target[X_AXIS]-position[X_AXIS]); |
||||
|
block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]); |
||||
|
block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); |
||||
|
block->steps_e = labs(target[E_AXIS]-position[E_AXIS]); |
||||
|
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e))); |
||||
|
|
||||
|
// Bail if this is a zero-length block
|
||||
|
if (block->step_event_count <=dropsegments) { |
||||
|
return; |
||||
|
}; |
||||
|
|
||||
|
//enable active axes
|
||||
|
if(block->steps_x != 0) enable_x(); |
||||
|
if(block->steps_y != 0) enable_y(); |
||||
|
if(block->steps_z != 0) enable_z(); |
||||
|
if(block->steps_e != 0) enable_e(); |
||||
|
|
||||
|
float delta_x_mm = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS]; |
||||
|
float delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]; |
||||
|
float delta_z_mm = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; |
||||
|
float delta_e_mm = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS]; |
||||
|
block->millimeters = sqrt(square(delta_x_mm) + square(delta_y_mm) + square(delta_z_mm) + square(delta_e_mm)); |
||||
|
|
||||
|
unsigned long microseconds; |
||||
|
|
||||
|
if (block->steps_e == 0) { |
||||
|
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate; |
||||
|
} |
||||
|
else { |
||||
|
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate; |
||||
|
} |
||||
|
|
||||
|
microseconds = lround((block->millimeters/feed_rate)*1000000); |
||||
|
|
||||
|
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
|
||||
|
// reduces/removes corner blobs as the machine won't come to a full stop.
|
||||
|
int blockcount=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); |
||||
|
|
||||
|
if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) { |
||||
|
if (microseconds<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
|
||||
|
microseconds=microseconds+lround(2*(minsegmenttime-microseconds)/blockcount); |
||||
|
} |
||||
|
} |
||||
|
else { |
||||
|
if (microseconds<minsegmenttime) microseconds=minsegmenttime; |
||||
|
} |
||||
|
// END OF SLOW DOWN SECTION
|
||||
|
|
||||
|
|
||||
|
// Calculate speed in mm/minute for each axis
|
||||
|
float multiplier = 60.0*1000000.0/microseconds; |
||||
|
block->speed_z = delta_z_mm * multiplier; |
||||
|
block->speed_x = delta_x_mm * multiplier; |
||||
|
block->speed_y = delta_y_mm * multiplier; |
||||
|
block->speed_e = delta_e_mm * multiplier; |
||||
|
|
||||
|
|
||||
|
// Limit speed per axis
|
||||
|
float speed_factor = 1; //factor <=1 do decrease speed
|
||||
|
if(abs(block->speed_x) > max_feedrate[X_AXIS]) { |
||||
|
//// [ErikDeBruijn] IS THIS THE BUG WE'RE LOOING FOR????
|
||||
|
//// [bernhard] No its not, according to Zalm.
|
||||
|
//// the if would always be true, since tmp_speedfactor <=0 due the inial if, so its safe to set. the next lines actually compare.
|
||||
|
speed_factor = max_feedrate[X_AXIS] / abs(block->speed_x); |
||||
|
//if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
|
||||
|
} |
||||
|
if(abs(block->speed_y) > max_feedrate[Y_AXIS]){ |
||||
|
float tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y); |
||||
|
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; |
||||
|
} |
||||
|
if(abs(block->speed_z) > max_feedrate[Z_AXIS]){ |
||||
|
float tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z); |
||||
|
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; |
||||
|
} |
||||
|
if(abs(block->speed_e) > max_feedrate[E_AXIS]){ |
||||
|
float tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e); |
||||
|
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor; |
||||
|
} |
||||
|
multiplier = multiplier * speed_factor; |
||||
|
block->speed_z = delta_z_mm * multiplier; |
||||
|
block->speed_x = delta_x_mm * multiplier; |
||||
|
block->speed_y = delta_y_mm * multiplier; |
||||
|
block->speed_e = delta_e_mm * multiplier; |
||||
|
block->nominal_speed = block->millimeters * multiplier; |
||||
|
block->nominal_rate = ceil(block->step_event_count * multiplier / 60); |
||||
|
|
||||
|
if(block->nominal_rate < 120) block->nominal_rate = 120; |
||||
|
block->entry_speed = safe_speed(block); |
||||
|
|
||||
|
// Compute the acceleration rate for the trapezoid generator.
|
||||
|
float travel_per_step = block->millimeters/block->step_event_count; |
||||
|
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) { |
||||
|
block->acceleration_st = ceil( (retract_acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
|
||||
|
} |
||||
|
else { |
||||
|
block->acceleration_st = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
|
||||
|
float tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count; |
||||
|
// Limit acceleration per axis
|
||||
|
if((tmp_acceleration * block->steps_x) > axis_steps_per_sqr_second[X_AXIS]) { |
||||
|
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; |
||||
|
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count; |
||||
|
} |
||||
|
if((tmp_acceleration * block->steps_y) > axis_steps_per_sqr_second[Y_AXIS]) { |
||||
|
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; |
||||
|
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count; |
||||
|
} |
||||
|
if((tmp_acceleration * block->steps_e) > axis_steps_per_sqr_second[E_AXIS]) { |
||||
|
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; |
||||
|
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count; |
||||
|
} |
||||
|
if((tmp_acceleration * block->steps_z) > axis_steps_per_sqr_second[Z_AXIS]) { |
||||
|
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; |
||||
|
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count; |
||||
|
} |
||||
|
} |
||||
|
block->acceleration = block->acceleration_st * travel_per_step; |
||||
|
block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608); |
||||
|
|
||||
|
#ifdef ADVANCE |
||||
|
// Calculate advance rate
|
||||
|
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) { |
||||
|
block->advance_rate = 0; |
||||
|
block->advance = 0; |
||||
|
} |
||||
|
else { |
||||
|
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st); |
||||
|
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * |
||||
|
(block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536; |
||||
|
block->advance = advance; |
||||
|
if(acc_dist == 0) { |
||||
|
block->advance_rate = 0; |
||||
|
} |
||||
|
else { |
||||
|
block->advance_rate = advance / (float)acc_dist; |
||||
|
} |
||||
|
} |
||||
|
#endif // ADVANCE
|
||||
|
|
||||
|
// compute a preliminary conservative acceleration trapezoid
|
||||
|
float safespeed = safe_speed(block); |
||||
|
calculate_trapezoid_for_block(block, safespeed, safespeed); |
||||
|
|
||||
|
// Compute direction bits for this block
|
||||
|
block->direction_bits = 0; |
||||
|
if (target[X_AXIS] < position[X_AXIS]) { |
||||
|
block->direction_bits |= (1<<X_AXIS); |
||||
|
} |
||||
|
if (target[Y_AXIS] < position[Y_AXIS]) { |
||||
|
block->direction_bits |= (1<<Y_AXIS); |
||||
|
} |
||||
|
if (target[Z_AXIS] < position[Z_AXIS]) { |
||||
|
block->direction_bits |= (1<<Z_AXIS); |
||||
|
} |
||||
|
if (target[E_AXIS] < position[E_AXIS]) { |
||||
|
block->direction_bits |= (1<<E_AXIS); |
||||
|
} |
||||
|
|
||||
|
// Move buffer head
|
||||
|
block_buffer_head = next_buffer_head; |
||||
|
|
||||
|
// Update position
|
||||
|
memcpy(position, target, sizeof(target)); // position[] = target[]
|
||||
|
|
||||
|
planner_recalculate(); |
||||
|
st_wake_up(); |
||||
|
} |
||||
|
|
||||
|
void plan_set_position(float x, float y, float z, float e) |
||||
|
{ |
||||
|
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); |
||||
|
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); |
||||
|
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); |
||||
|
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); |
||||
|
} |
||||
|
|
||||
@ -0,0 +1,90 @@ |
|||||
|
/*
|
||||
|
planner.h - buffers movement commands and manages the acceleration profile plan |
||||
|
Part of Grbl |
||||
|
|
||||
|
Copyright (c) 2009-2011 Simen Svale Skogsrud |
||||
|
|
||||
|
Grbl is free software: you can redistribute it and/or modify |
||||
|
it under the terms of the GNU General Public License as published by |
||||
|
the Free Software Foundation, either version 3 of the License, or |
||||
|
(at your option) any later version. |
||||
|
|
||||
|
Grbl is distributed in the hope that it will be useful, |
||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
|
GNU General Public License for more details. |
||||
|
|
||||
|
You should have received a copy of the GNU General Public License |
||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
*/ |
||||
|
|
||||
|
// This module is to be considered a sub-module of stepper.c. Please don't include
|
||||
|
// this file from any other module.
|
||||
|
|
||||
|
#ifndef planner_h |
||||
|
#define planner_h |
||||
|
|
||||
|
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
|
||||
|
// the source g-code and may never actually be reached if acceleration management is active.
|
||||
|
typedef struct { |
||||
|
// Fields used by the bresenham algorithm for tracing the line
|
||||
|
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
|
||||
|
long step_event_count; // The number of step events required to complete this block
|
||||
|
volatile long accelerate_until; // The index of the step event on which to stop acceleration
|
||||
|
volatile long decelerate_after; // The index of the step event on which to start decelerating
|
||||
|
volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
|
||||
|
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
|
||||
|
#ifdef ADVANCE |
||||
|
long advance_rate; |
||||
|
volatile long initial_advance; |
||||
|
volatile long final_advance; |
||||
|
float advance; |
||||
|
#endif |
||||
|
|
||||
|
// Fields used by the motion planner to manage acceleration
|
||||
|
float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
|
||||
|
float nominal_speed; // The nominal speed for this block in mm/min
|
||||
|
float millimeters; // The total travel of this block in mm
|
||||
|
float entry_speed; |
||||
|
float acceleration; // acceleration mm/sec^2
|
||||
|
|
||||
|
// Settings for the trapezoid generator
|
||||
|
long nominal_rate; // The nominal step rate for this block in step_events/sec
|
||||
|
volatile long initial_rate; // The jerk-adjusted step rate at start of block
|
||||
|
volatile long final_rate; // The minimal rate at exit
|
||||
|
long acceleration_st; // acceleration steps/sec^2
|
||||
|
volatile char busy; |
||||
|
} block_t; |
||||
|
|
||||
|
// Initialize the motion plan subsystem
|
||||
|
void plan_init(); |
||||
|
|
||||
|
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
|
||||
|
// millimaters. Feed rate specifies the speed of the motion.
|
||||
|
void plan_buffer_line(float x, float y, float z, float e, float feed_rate); |
||||
|
|
||||
|
// Set position. Used for G92 instructions.
|
||||
|
void plan_set_position(float x, float y, float z, float e); |
||||
|
|
||||
|
// Called when the current block is no longer needed. Discards the block and makes the memory
|
||||
|
// availible for new blocks.
|
||||
|
void plan_discard_current_block(); |
||||
|
|
||||
|
// Gets the current block. Returns NULL if buffer empty
|
||||
|
block_t *plan_get_current_block(); |
||||
|
|
||||
|
void check_axes_activity(); |
||||
|
|
||||
|
extern unsigned long minsegmenttime; |
||||
|
extern float max_feedrate[4]; // set the max speeds
|
||||
|
extern float axis_steps_per_unit[4]; |
||||
|
extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
|
||||
|
extern float minimumfeedrate; |
||||
|
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
|
||||
|
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
|
||||
|
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
|
||||
|
extern float max_z_jerk; |
||||
|
extern float mintravelfeedrate; |
||||
|
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; |
||||
|
|
||||
|
#endif |
||||
@ -0,0 +1,592 @@ |
|||||
|
/*
|
||||
|
stepper.c - stepper motor driver: executes motion plans using stepper motors |
||||
|
Part of Grbl |
||||
|
|
||||
|
Copyright (c) 2009-2011 Simen Svale Skogsrud |
||||
|
|
||||
|
Grbl is free software: you can redistribute it and/or modify |
||||
|
it under the terms of the GNU General Public License as published by |
||||
|
the Free Software Foundation, either version 3 of the License, or |
||||
|
(at your option) any later version. |
||||
|
|
||||
|
Grbl is distributed in the hope that it will be useful, |
||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
|
GNU General Public License for more details. |
||||
|
|
||||
|
You should have received a copy of the GNU General Public License |
||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
*/ |
||||
|
|
||||
|
/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
|
||||
|
and Philipp Tiefenbacher. */ |
||||
|
|
||||
|
#include "stepper.h" |
||||
|
#include "Configuration.h" |
||||
|
#include "Marlin.h" |
||||
|
#include "planner.h" |
||||
|
#include "pins.h" |
||||
|
#include "fastio.h" |
||||
|
#include "temperature.h" |
||||
|
#include "ultralcd.h" |
||||
|
|
||||
|
#include "speed_lookuptable.h" |
||||
|
|
||||
|
// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
|
||||
|
// for debugging purposes only, should be disabled by default
|
||||
|
#ifdef DEBUG_STEPS |
||||
|
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0}; |
||||
|
volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1}; |
||||
|
#endif |
||||
|
|
||||
|
|
||||
|
// intRes = intIn1 * intIn2 >> 16
|
||||
|
// uses:
|
||||
|
// r26 to store 0
|
||||
|
// r27 to store the byte 1 of the 24 bit result
|
||||
|
#define MultiU16X8toH16(intRes, charIn1, intIn2) \ |
||||
|
asm volatile ( \ |
||||
|
"clr r26 \n\t" \ |
||||
|
"mul %A1, %B2 \n\t" \ |
||||
|
"movw %A0, r0 \n\t" \ |
||||
|
"mul %A1, %A2 \n\t" \ |
||||
|
"add %A0, r1 \n\t" \ |
||||
|
"adc %B0, r26 \n\t" \ |
||||
|
"lsr r0 \n\t" \ |
||||
|
"adc %A0, r26 \n\t" \ |
||||
|
"adc %B0, r26 \n\t" \ |
||||
|
"clr r1 \n\t" \ |
||||
|
: \ |
||||
|
"=&r" (intRes) \ |
||||
|
: \ |
||||
|
"d" (charIn1), \ |
||||
|
"d" (intIn2) \ |
||||
|
: \ |
||||
|
"r26" \ |
||||
|
) |
||||
|
|
||||
|
// intRes = longIn1 * longIn2 >> 24
|
||||
|
// uses:
|
||||
|
// r26 to store 0
|
||||
|
// r27 to store the byte 1 of the 48bit result
|
||||
|
#define MultiU24X24toH16(intRes, longIn1, longIn2) \ |
||||
|
asm volatile ( \ |
||||
|
"clr r26 \n\t" \ |
||||
|
"mul %A1, %B2 \n\t" \ |
||||
|
"mov r27, r1 \n\t" \ |
||||
|
"mul %B1, %C2 \n\t" \ |
||||
|
"movw %A0, r0 \n\t" \ |
||||
|
"mul %C1, %C2 \n\t" \ |
||||
|
"add %B0, r0 \n\t" \ |
||||
|
"mul %C1, %B2 \n\t" \ |
||||
|
"add %A0, r0 \n\t" \ |
||||
|
"adc %B0, r1 \n\t" \ |
||||
|
"mul %A1, %C2 \n\t" \ |
||||
|
"add r27, r0 \n\t" \ |
||||
|
"adc %A0, r1 \n\t" \ |
||||
|
"adc %B0, r26 \n\t" \ |
||||
|
"mul %B1, %B2 \n\t" \ |
||||
|
"add r27, r0 \n\t" \ |
||||
|
"adc %A0, r1 \n\t" \ |
||||
|
"adc %B0, r26 \n\t" \ |
||||
|
"mul %C1, %A2 \n\t" \ |
||||
|
"add r27, r0 \n\t" \ |
||||
|
"adc %A0, r1 \n\t" \ |
||||
|
"adc %B0, r26 \n\t" \ |
||||
|
"mul %B1, %A2 \n\t" \ |
||||
|
"add r27, r1 \n\t" \ |
||||
|
"adc %A0, r26 \n\t" \ |
||||
|
"adc %B0, r26 \n\t" \ |
||||
|
"lsr r27 \n\t" \ |
||||
|
"adc %A0, r26 \n\t" \ |
||||
|
"adc %B0, r26 \n\t" \ |
||||
|
"clr r1 \n\t" \ |
||||
|
: \ |
||||
|
"=&r" (intRes) \ |
||||
|
: \ |
||||
|
"d" (longIn1), \ |
||||
|
"d" (longIn2) \ |
||||
|
: \ |
||||
|
"r26" , "r27" \ |
||||
|
) |
||||
|
|
||||
|
// Some useful constants
|
||||
|
|
||||
|
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A) |
||||
|
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A) |
||||
|
|
||||
|
static block_t *current_block; // A pointer to the block currently being traced
|
||||
|
|
||||
|
// Variables used by The Stepper Driver Interrupt
|
||||
|
static unsigned char out_bits; // The next stepping-bits to be output
|
||||
|
static long counter_x, // Counter variables for the bresenham line tracer
|
||||
|
counter_y, |
||||
|
counter_z, |
||||
|
counter_e; |
||||
|
static unsigned long step_events_completed; // The number of step events executed in the current block
|
||||
|
#ifdef ADVANCE |
||||
|
static long advance_rate, advance, final_advance = 0; |
||||
|
static short old_advance = 0; |
||||
|
static short e_steps; |
||||
|
#endif |
||||
|
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
|
||||
|
static long acceleration_time, deceleration_time; |
||||
|
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
|
||||
|
static unsigned short acc_step_rate; // needed for deccelaration start point
|
||||
|
static char step_loops; |
||||
|
|
||||
|
|
||||
|
// __________________________
|
||||
|
// /| |\ _________________ ^
|
||||
|
// / | | \ /| |\ |
|
||||
|
// / | | \ / | | \ s
|
||||
|
// / | | | | | \ p
|
||||
|
// / | | | | | \ e
|
||||
|
// +-----+------------------------+---+--+---------------+----+ e
|
||||
|
// | BLOCK 1 | BLOCK 2 | d
|
||||
|
//
|
||||
|
// time ----->
|
||||
|
//
|
||||
|
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
|
||||
|
// first block->accelerate_until step_events_completed, then keeps going at constant speed until
|
||||
|
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
|
||||
|
// The slope of acceleration is calculated with the leib ramp alghorithm.
|
||||
|
|
||||
|
void st_wake_up() { |
||||
|
// TCNT1 = 0;
|
||||
|
ENABLE_STEPPER_DRIVER_INTERRUPT(); |
||||
|
} |
||||
|
|
||||
|
inline unsigned short calc_timer(unsigned short step_rate) { |
||||
|
unsigned short timer; |
||||
|
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY; |
||||
|
|
||||
|
if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
|
||||
|
step_rate = step_rate >> 2; |
||||
|
step_loops = 4; |
||||
|
} |
||||
|
else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times
|
||||
|
step_rate = step_rate >> 1; |
||||
|
step_loops = 2; |
||||
|
} |
||||
|
else { |
||||
|
step_loops = 1; |
||||
|
} |
||||
|
|
||||
|
if(step_rate < 32) step_rate = 32; |
||||
|
step_rate -= 32; // Correct for minimal speed
|
||||
|
if(step_rate >= (8*256)){ // higher step rate
|
||||
|
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0]; |
||||
|
unsigned char tmp_step_rate = (step_rate & 0x00ff); |
||||
|
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2); |
||||
|
MultiU16X8toH16(timer, tmp_step_rate, gain); |
||||
|
timer = (unsigned short)pgm_read_word_near(table_address) - timer; |
||||
|
} |
||||
|
else { // lower step rates
|
||||
|
unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0]; |
||||
|
table_address += ((step_rate)>>1) & 0xfffc; |
||||
|
timer = (unsigned short)pgm_read_word_near(table_address); |
||||
|
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3); |
||||
|
} |
||||
|
if(timer < 100) timer = 100; |
||||
|
return timer; |
||||
|
} |
||||
|
|
||||
|
// Initializes the trapezoid generator from the current block. Called whenever a new
|
||||
|
// block begins.
|
||||
|
inline void trapezoid_generator_reset() { |
||||
|
#ifdef ADVANCE |
||||
|
advance = current_block->initial_advance; |
||||
|
final_advance = current_block->final_advance; |
||||
|
#endif |
||||
|
deceleration_time = 0; |
||||
|
// advance_rate = current_block->advance_rate;
|
||||
|
// step_rate to timer interval
|
||||
|
acc_step_rate = current_block->initial_rate; |
||||
|
acceleration_time = calc_timer(acc_step_rate); |
||||
|
OCR1A = acceleration_time; |
||||
|
} |
||||
|
|
||||
|
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
|
||||
|
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
|
||||
|
ISR(TIMER1_COMPA_vect) |
||||
|
{ |
||||
|
if(busy){ Serial.print(*(unsigned short *)OCR1A); Serial.println(" BUSY"); |
||||
|
return; |
||||
|
} // The busy-flag is used to avoid reentering this interrupt
|
||||
|
|
||||
|
busy = true; |
||||
|
sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
|
||||
|
|
||||
|
// If there is no current block, attempt to pop one from the buffer
|
||||
|
if (current_block == NULL) { |
||||
|
// Anything in the buffer?
|
||||
|
current_block = plan_get_current_block(); |
||||
|
if (current_block != NULL) { |
||||
|
trapezoid_generator_reset(); |
||||
|
counter_x = -(current_block->step_event_count >> 1); |
||||
|
counter_y = counter_x; |
||||
|
counter_z = counter_x; |
||||
|
counter_e = counter_x; |
||||
|
step_events_completed = 0; |
||||
|
#ifdef ADVANCE |
||||
|
e_steps = 0; |
||||
|
#endif |
||||
|
} |
||||
|
else { |
||||
|
// DISABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
|
} |
||||
|
} |
||||
|
|
||||
|
if (current_block != NULL) { |
||||
|
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
|
||||
|
out_bits = current_block->direction_bits; |
||||
|
|
||||
|
#ifdef ADVANCE |
||||
|
// Calculate E early.
|
||||
|
counter_e += current_block->steps_e; |
||||
|
if (counter_e > 0) { |
||||
|
counter_e -= current_block->step_event_count; |
||||
|
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
|
||||
|
CRITICAL_SECTION_START; |
||||
|
e_steps--; |
||||
|
CRITICAL_SECTION_END; |
||||
|
} |
||||
|
else { |
||||
|
CRITICAL_SECTION_START; |
||||
|
e_steps++; |
||||
|
CRITICAL_SECTION_END; |
||||
|
} |
||||
|
} |
||||
|
// Do E steps + advance steps
|
||||
|
CRITICAL_SECTION_START; |
||||
|
e_steps += ((advance >> 16) - old_advance); |
||||
|
CRITICAL_SECTION_END; |
||||
|
old_advance = advance >> 16; |
||||
|
#endif //ADVANCE
|
||||
|
|
||||
|
// Set direction en check limit switches
|
||||
|
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
|
||||
|
WRITE(X_DIR_PIN, INVERT_X_DIR); |
||||
|
#ifdef DEBUG_STEPS |
||||
|
count_direction[X_AXIS]=-1; |
||||
|
#endif |
||||
|
#if X_MIN_PIN > -1 |
||||
|
if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) { |
||||
|
step_events_completed = current_block->step_event_count; |
||||
|
} |
||||
|
#endif |
||||
|
} |
||||
|
else { // +direction
|
||||
|
WRITE(X_DIR_PIN,!INVERT_X_DIR); |
||||
|
#ifdef DEBUG_STEPS |
||||
|
count_direction[X_AXIS]=1; |
||||
|
#endif |
||||
|
#if X_MAX_PIN > -1 |
||||
|
if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){ |
||||
|
step_events_completed = current_block->step_event_count; |
||||
|
} |
||||
|
#endif |
||||
|
} |
||||
|
|
||||
|
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
|
||||
|
WRITE(Y_DIR_PIN,INVERT_Y_DIR); |
||||
|
#ifdef DEBUG_STEPS |
||||
|
count_direction[Y_AXIS]=-1; |
||||
|
#endif |
||||
|
#if Y_MIN_PIN > -1 |
||||
|
if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) { |
||||
|
step_events_completed = current_block->step_event_count; |
||||
|
} |
||||
|
#endif |
||||
|
} |
||||
|
else { // +direction
|
||||
|
WRITE(Y_DIR_PIN,!INVERT_Y_DIR); |
||||
|
#ifdef DEBUG_STEPS |
||||
|
count_direction[Y_AXIS]=1; |
||||
|
#endif |
||||
|
#if Y_MAX_PIN > -1 |
||||
|
if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){ |
||||
|
step_events_completed = current_block->step_event_count; |
||||
|
} |
||||
|
#endif |
||||
|
} |
||||
|
|
||||
|
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
|
||||
|
WRITE(Z_DIR_PIN,INVERT_Z_DIR); |
||||
|
#ifdef DEBUG_STEPS |
||||
|
count_direction[Z_AXIS]=-1; |
||||
|
#endif |
||||
|
#if Z_MIN_PIN > -1 |
||||
|
if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) { |
||||
|
step_events_completed = current_block->step_event_count; |
||||
|
} |
||||
|
#endif |
||||
|
} |
||||
|
else { // +direction
|
||||
|
WRITE(Z_DIR_PIN,!INVERT_Z_DIR); |
||||
|
#ifdef DEBUG_STEPS |
||||
|
count_direction[Z_AXIS]=1; |
||||
|
#endif |
||||
|
#if Z_MAX_PIN > -1 |
||||
|
if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){ |
||||
|
step_events_completed = current_block->step_event_count; |
||||
|
} |
||||
|
#endif |
||||
|
} |
||||
|
|
||||
|
#ifndef ADVANCE |
||||
|
if ((out_bits & (1<<E_AXIS)) != 0) // -direction
|
||||
|
WRITE(E_DIR_PIN,INVERT_E_DIR); |
||||
|
else // +direction
|
||||
|
WRITE(E_DIR_PIN,!INVERT_E_DIR); |
||||
|
#endif //!ADVANCE
|
||||
|
|
||||
|
for(char i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
|
||||
|
counter_x += current_block->steps_x; |
||||
|
if (counter_x > 0) { |
||||
|
WRITE(X_STEP_PIN, HIGH); |
||||
|
counter_x -= current_block->step_event_count; |
||||
|
WRITE(X_STEP_PIN, LOW); |
||||
|
#ifdef DEBUG_STEPS |
||||
|
count_position[X_AXIS]+=count_direction[X_AXIS]; |
||||
|
#endif |
||||
|
} |
||||
|
|
||||
|
counter_y += current_block->steps_y; |
||||
|
if (counter_y > 0) { |
||||
|
WRITE(Y_STEP_PIN, HIGH); |
||||
|
counter_y -= current_block->step_event_count; |
||||
|
WRITE(Y_STEP_PIN, LOW); |
||||
|
#ifdef DEBUG_STEPS |
||||
|
count_position[Y_AXIS]+=count_direction[Y_AXIS]; |
||||
|
#endif |
||||
|
} |
||||
|
|
||||
|
counter_z += current_block->steps_z; |
||||
|
if (counter_z > 0) { |
||||
|
WRITE(Z_STEP_PIN, HIGH); |
||||
|
counter_z -= current_block->step_event_count; |
||||
|
WRITE(Z_STEP_PIN, LOW); |
||||
|
#ifdef DEBUG_STEPS |
||||
|
count_position[Z_AXIS]+=count_direction[Z_AXIS]; |
||||
|
#endif |
||||
|
} |
||||
|
|
||||
|
#ifndef ADVANCE |
||||
|
counter_e += current_block->steps_e; |
||||
|
if (counter_e > 0) { |
||||
|
WRITE(E_STEP_PIN, HIGH); |
||||
|
counter_e -= current_block->step_event_count; |
||||
|
WRITE(E_STEP_PIN, LOW); |
||||
|
} |
||||
|
#endif //!ADVANCE
|
||||
|
step_events_completed += 1; |
||||
|
if(step_events_completed >= current_block->step_event_count) break; |
||||
|
} |
||||
|
// Calculare new timer value
|
||||
|
unsigned short timer; |
||||
|
unsigned short step_rate; |
||||
|
if (step_events_completed <= current_block->accelerate_until) { |
||||
|
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate); |
||||
|
acc_step_rate += current_block->initial_rate; |
||||
|
|
||||
|
// upper limit
|
||||
|
if(acc_step_rate > current_block->nominal_rate) |
||||
|
acc_step_rate = current_block->nominal_rate; |
||||
|
|
||||
|
// step_rate to timer interval
|
||||
|
timer = calc_timer(acc_step_rate); |
||||
|
#ifdef ADVANCE |
||||
|
advance += advance_rate; |
||||
|
#endif |
||||
|
acceleration_time += timer; |
||||
|
OCR1A = timer; |
||||
|
} |
||||
|
else if (step_events_completed > current_block->decelerate_after) { |
||||
|
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate); |
||||
|
|
||||
|
if(step_rate > acc_step_rate) { // Check step_rate stays positive
|
||||
|
step_rate = current_block->final_rate; |
||||
|
} |
||||
|
else { |
||||
|
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
|
||||
|
} |
||||
|
|
||||
|
// lower limit
|
||||
|
if(step_rate < current_block->final_rate) |
||||
|
step_rate = current_block->final_rate; |
||||
|
|
||||
|
// step_rate to timer interval
|
||||
|
timer = calc_timer(step_rate); |
||||
|
#ifdef ADVANCE |
||||
|
advance -= advance_rate; |
||||
|
if(advance < final_advance) |
||||
|
advance = final_advance; |
||||
|
#endif //ADVANCE
|
||||
|
deceleration_time += timer; |
||||
|
OCR1A = timer; |
||||
|
} |
||||
|
// If current block is finished, reset pointer
|
||||
|
if (step_events_completed >= current_block->step_event_count) { |
||||
|
current_block = NULL; |
||||
|
plan_discard_current_block(); |
||||
|
} |
||||
|
} |
||||
|
cli(); // disable interrupts
|
||||
|
busy=false; |
||||
|
} |
||||
|
|
||||
|
#ifdef ADVANCE |
||||
|
|
||||
|
unsigned char old_OCR0A; |
||||
|
// Timer interrupt for E. e_steps is set in the main routine;
|
||||
|
// Timer 0 is shared with millies
|
||||
|
ISR(TIMER0_COMPA_vect) |
||||
|
{ |
||||
|
// Critical section needed because Timer 1 interrupt has higher priority.
|
||||
|
// The pin set functions are placed on trategic position to comply with the stepper driver timing.
|
||||
|
WRITE(E_STEP_PIN, LOW); |
||||
|
// Set E direction (Depends on E direction + advance)
|
||||
|
if (e_steps < 0) { |
||||
|
WRITE(E_DIR_PIN,INVERT_E_DIR); |
||||
|
e_steps++; |
||||
|
WRITE(E_STEP_PIN, HIGH); |
||||
|
} |
||||
|
if (e_steps > 0) { |
||||
|
WRITE(E_DIR_PIN,!INVERT_E_DIR); |
||||
|
e_steps--; |
||||
|
WRITE(E_STEP_PIN, HIGH); |
||||
|
} |
||||
|
old_OCR0A += 25; // 10kHz interrupt
|
||||
|
OCR0A = old_OCR0A; |
||||
|
} |
||||
|
#endif // ADVANCE
|
||||
|
|
||||
|
void st_init() |
||||
|
{ |
||||
|
//Initialize Dir Pins
|
||||
|
#if X_DIR_PIN > -1 |
||||
|
SET_OUTPUT(X_DIR_PIN); |
||||
|
#endif |
||||
|
#if Y_DIR_PIN > -1 |
||||
|
SET_OUTPUT(Y_DIR_PIN); |
||||
|
#endif |
||||
|
#if Z_DIR_PIN > -1 |
||||
|
SET_OUTPUT(Z_DIR_PIN); |
||||
|
#endif |
||||
|
#if E_DIR_PIN > -1 |
||||
|
SET_OUTPUT(E_DIR_PIN); |
||||
|
#endif |
||||
|
|
||||
|
//Initialize Enable Pins - steppers default to disabled.
|
||||
|
|
||||
|
#if (X_ENABLE_PIN > -1) |
||||
|
SET_OUTPUT(X_ENABLE_PIN); |
||||
|
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH); |
||||
|
#endif |
||||
|
#if (Y_ENABLE_PIN > -1) |
||||
|
SET_OUTPUT(Y_ENABLE_PIN); |
||||
|
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH); |
||||
|
#endif |
||||
|
#if (Z_ENABLE_PIN > -1) |
||||
|
SET_OUTPUT(Z_ENABLE_PIN); |
||||
|
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH); |
||||
|
#endif |
||||
|
#if (E_ENABLE_PIN > -1) |
||||
|
SET_OUTPUT(E_ENABLE_PIN); |
||||
|
if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH); |
||||
|
#endif |
||||
|
|
||||
|
//endstops and pullups
|
||||
|
#ifdef ENDSTOPPULLUPS |
||||
|
#if X_MIN_PIN > -1 |
||||
|
SET_INPUT(X_MIN_PIN); |
||||
|
WRITE(X_MIN_PIN,HIGH); |
||||
|
#endif |
||||
|
#if X_MAX_PIN > -1 |
||||
|
SET_INPUT(X_MAX_PIN); |
||||
|
WRITE(X_MAX_PIN,HIGH); |
||||
|
#endif |
||||
|
#if Y_MIN_PIN > -1 |
||||
|
SET_INPUT(Y_MIN_PIN); |
||||
|
WRITE(Y_MIN_PIN,HIGH); |
||||
|
#endif |
||||
|
#if Y_MAX_PIN > -1 |
||||
|
SET_INPUT(Y_MAX_PIN); |
||||
|
WRITE(Y_MAX_PIN,HIGH); |
||||
|
#endif |
||||
|
#if Z_MIN_PIN > -1 |
||||
|
SET_INPUT(Z_MIN_PIN); |
||||
|
WRITE(Z_MIN_PIN,HIGH); |
||||
|
#endif |
||||
|
#if Z_MAX_PIN > -1 |
||||
|
SET_INPUT(Z_MAX_PIN); |
||||
|
WRITE(Z_MAX_PIN,HIGH); |
||||
|
#endif |
||||
|
#else //ENDSTOPPULLUPS
|
||||
|
#if X_MIN_PIN > -1 |
||||
|
SET_INPUT(X_MIN_PIN); |
||||
|
#endif |
||||
|
#if X_MAX_PIN > -1 |
||||
|
SET_INPUT(X_MAX_PIN); |
||||
|
#endif |
||||
|
#if Y_MIN_PIN > -1 |
||||
|
SET_INPUT(Y_MIN_PIN); |
||||
|
#endif |
||||
|
#if Y_MAX_PIN > -1 |
||||
|
SET_INPUT(Y_MAX_PIN); |
||||
|
#endif |
||||
|
#if Z_MIN_PIN > -1 |
||||
|
SET_INPUT(Z_MIN_PIN); |
||||
|
#endif |
||||
|
#if Z_MAX_PIN > -1 |
||||
|
SET_INPUT(Z_MAX_PIN); |
||||
|
#endif |
||||
|
#endif //ENDSTOPPULLUPS
|
||||
|
|
||||
|
|
||||
|
//Initialize Step Pins
|
||||
|
#if (X_STEP_PIN > -1) |
||||
|
SET_OUTPUT(X_STEP_PIN); |
||||
|
#endif |
||||
|
#if (Y_STEP_PIN > -1) |
||||
|
SET_OUTPUT(Y_STEP_PIN); |
||||
|
#endif |
||||
|
#if (Z_STEP_PIN > -1) |
||||
|
SET_OUTPUT(Z_STEP_PIN); |
||||
|
#endif |
||||
|
#if (E_STEP_PIN > -1) |
||||
|
SET_OUTPUT(E_STEP_PIN); |
||||
|
#endif |
||||
|
|
||||
|
// waveform generation = 0100 = CTC
|
||||
|
TCCR1B &= ~(1<<WGM13); |
||||
|
TCCR1B |= (1<<WGM12); |
||||
|
TCCR1A &= ~(1<<WGM11); |
||||
|
TCCR1A &= ~(1<<WGM10); |
||||
|
|
||||
|
// output mode = 00 (disconnected)
|
||||
|
TCCR1A &= ~(3<<COM1A0); |
||||
|
TCCR1A &= ~(3<<COM1B0); |
||||
|
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
|
||||
|
|
||||
|
OCR1A = 0x4000; |
||||
|
DISABLE_STEPPER_DRIVER_INTERRUPT(); |
||||
|
|
||||
|
#ifdef ADVANCE |
||||
|
e_steps = 0; |
||||
|
TIMSK0 |= (1<<OCIE0A); |
||||
|
#endif //ADVANCE
|
||||
|
sei(); |
||||
|
} |
||||
|
|
||||
|
// Block until all buffered steps are executed
|
||||
|
void st_synchronize() |
||||
|
{ |
||||
|
while(plan_get_current_block()) { |
||||
|
manage_heater(); |
||||
|
manage_inactivity(1); |
||||
|
LCD_STATUS; |
||||
|
} |
||||
|
} |
||||
@ -0,0 +1,40 @@ |
|||||
|
/*
|
||||
|
stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors |
||||
|
Part of Grbl |
||||
|
|
||||
|
Copyright (c) 2009-2011 Simen Svale Skogsrud |
||||
|
|
||||
|
Grbl is free software: you can redistribute it and/or modify |
||||
|
it under the terms of the GNU General Public License as published by |
||||
|
the Free Software Foundation, either version 3 of the License, or |
||||
|
(at your option) any later version. |
||||
|
|
||||
|
Grbl is distributed in the hope that it will be useful, |
||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
|
GNU General Public License for more details. |
||||
|
|
||||
|
You should have received a copy of the GNU General Public License |
||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
*/ |
||||
|
|
||||
|
#ifndef stepper_h |
||||
|
#define stepper_h |
||||
|
// Initialize and start the stepper motor subsystem
|
||||
|
void st_init(); |
||||
|
|
||||
|
// Block until all buffered steps are executed
|
||||
|
void st_synchronize(); |
||||
|
|
||||
|
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
|
||||
|
// to notify the subsystem that it is time to go to work.
|
||||
|
void st_wake_up(); |
||||
|
|
||||
|
// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
|
||||
|
// for debugging purposes only, should be disabled by default
|
||||
|
#ifdef DEBUG_STEPS |
||||
|
extern volatile long count_position[NUM_AXIS]; |
||||
|
extern volatile int count_direction[NUM_AXIS]; |
||||
|
#endif |
||||
|
|
||||
|
#endif |
||||
@ -0,0 +1,84 @@ |
|||||
|
/*
|
||||
|
Streaming.h - Arduino library for supporting the << streaming operator |
||||
|
Copyright (c) 2010 Mikal Hart. All rights reserved. |
||||
|
|
||||
|
This library is free software; you can redistribute it and/or |
||||
|
modify it under the terms of the GNU Lesser General Public |
||||
|
License as published by the Free Software Foundation; either |
||||
|
version 2.1 of the License, or (at your option) any later version. |
||||
|
|
||||
|
This library is distributed in the hope that it will be useful, |
||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
||||
|
Lesser General Public License for more details. |
||||
|
|
||||
|
You should have received a copy of the GNU Lesser General Public |
||||
|
License along with this library; if not, write to the Free Software |
||||
|
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
||||
|
*/ |
||||
|
|
||||
|
#ifndef ARDUINO_STREAMING |
||||
|
#define ARDUINO_STREAMING |
||||
|
|
||||
|
//#include <WProgram.h>
|
||||
|
|
||||
|
#define STREAMING_LIBRARY_VERSION 4 |
||||
|
|
||||
|
// Generic template
|
||||
|
template<class T> |
||||
|
inline Print &operator <<(Print &stream, T arg) |
||||
|
{ stream.print(arg); return stream; } |
||||
|
|
||||
|
struct _BASED |
||||
|
{ |
||||
|
long val; |
||||
|
int base; |
||||
|
_BASED(long v, int b): val(v), base(b) |
||||
|
{} |
||||
|
}; |
||||
|
|
||||
|
#define _HEX(a) _BASED(a, HEX) |
||||
|
#define _DEC(a) _BASED(a, DEC) |
||||
|
#define _OCT(a) _BASED(a, OCT) |
||||
|
#define _BIN(a) _BASED(a, BIN) |
||||
|
#define _BYTE(a) _BASED(a, BYTE) |
||||
|
|
||||
|
// Specialization for class _BASED
|
||||
|
// Thanks to Arduino forum user Ben Combee who suggested this
|
||||
|
// clever technique to allow for expressions like
|
||||
|
// Serial << _HEX(a);
|
||||
|
|
||||
|
inline Print &operator <<(Print &obj, const _BASED &arg) |
||||
|
{ obj.print(arg.val, arg.base); return obj; } |
||||
|
|
||||
|
#if ARDUINO >= 18 |
||||
|
// Specialization for class _FLOAT
|
||||
|
// Thanks to Michael Margolis for suggesting a way
|
||||
|
// to accommodate Arduino 0018's floating point precision
|
||||
|
// feature like this:
|
||||
|
// Serial << _FLOAT(gps_latitude, 6); // 6 digits of precision
|
||||
|
|
||||
|
struct _FLOAT |
||||
|
{ |
||||
|
float val; |
||||
|
int digits; |
||||
|
_FLOAT(double v, int d): val(v), digits(d) |
||||
|
{} |
||||
|
}; |
||||
|
|
||||
|
inline Print &operator <<(Print &obj, const _FLOAT &arg) |
||||
|
{ obj.print(arg.val, arg.digits); return obj; } |
||||
|
#endif |
||||
|
|
||||
|
// Specialization for enum _EndLineCode
|
||||
|
// Thanks to Arduino forum user Paul V. who suggested this
|
||||
|
// clever technique to allow for expressions like
|
||||
|
// Serial << "Hello!" << endl;
|
||||
|
|
||||
|
enum _EndLineCode { endl }; |
||||
|
|
||||
|
inline Print &operator <<(Print &obj, _EndLineCode arg) |
||||
|
{ obj.println(); return obj; } |
||||
|
|
||||
|
#endif |
||||
|
|
||||
@ -0,0 +1,476 @@ |
|||||
|
/*
|
||||
|
temperature.c - temperature control |
||||
|
Part of Marlin |
||||
|
|
||||
|
Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm |
||||
|
|
||||
|
This program is free software: you can redistribute it and/or modify |
||||
|
it under the terms of the GNU General Public License as published by |
||||
|
the Free Software Foundation, either version 3 of the License, or |
||||
|
(at your option) any later version. |
||||
|
|
||||
|
This program is distributed in the hope that it will be useful, |
||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
|
GNU General Public License for more details. |
||||
|
|
||||
|
You should have received a copy of the GNU General Public License |
||||
|
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
|
||||
|
|
||||
|
This firmware is optimized for gen6 electronics. |
||||
|
*/ |
||||
|
|
||||
|
#include "fastio.h" |
||||
|
#include "Configuration.h" |
||||
|
#include "pins.h" |
||||
|
#include "Marlin.h" |
||||
|
#include "ultralcd.h" |
||||
|
#include "streaming.h" |
||||
|
#include "temperature.h" |
||||
|
|
||||
|
int target_bed_raw = 0; |
||||
|
int current_bed_raw = 0; |
||||
|
|
||||
|
int target_raw[3] = {0, 0, 0}; |
||||
|
int current_raw[3] = {0, 0, 0}; |
||||
|
unsigned char temp_meas_ready = false; |
||||
|
|
||||
|
unsigned long previous_millis_heater, previous_millis_bed_heater; |
||||
|
|
||||
|
#ifdef PIDTEMP |
||||
|
double temp_iState = 0; |
||||
|
double temp_dState = 0; |
||||
|
double pTerm; |
||||
|
double iTerm; |
||||
|
double dTerm; |
||||
|
//int output;
|
||||
|
double pid_error; |
||||
|
double temp_iState_min; |
||||
|
double temp_iState_max; |
||||
|
double pid_setpoint = 0.0; |
||||
|
double pid_input; |
||||
|
double pid_output; |
||||
|
bool pid_reset; |
||||
|
float HeaterPower; |
||||
|
|
||||
|
float Kp=DEFAULT_Kp; |
||||
|
float Ki=DEFAULT_Ki; |
||||
|
float Kd=DEFAULT_Kd; |
||||
|
float Kc=DEFAULT_Kc; |
||||
|
#endif //PIDTEMP
|
||||
|
|
||||
|
#ifdef MINTEMP |
||||
|
int minttemp = temp2analog(MINTEMP); |
||||
|
#endif //MINTEMP
|
||||
|
#ifdef MAXTEMP |
||||
|
int maxttemp = temp2analog(MAXTEMP); |
||||
|
#endif //MAXTEMP
|
||||
|
|
||||
|
#ifdef BED_MINTEMP |
||||
|
int bed_minttemp = temp2analog(BED_MINTEMP); |
||||
|
#endif //BED_MINTEMP
|
||||
|
#ifdef BED_MAXTEMP |
||||
|
int bed_maxttemp = temp2analog(BED_MAXTEMP); |
||||
|
#endif //BED_MAXTEMP
|
||||
|
|
||||
|
void manage_heater() |
||||
|
{ |
||||
|
#ifdef USE_WATCHDOG |
||||
|
wd_reset(); |
||||
|
#endif |
||||
|
|
||||
|
float pid_input; |
||||
|
float pid_output; |
||||
|
if(temp_meas_ready == true) { |
||||
|
|
||||
|
CRITICAL_SECTION_START; |
||||
|
temp_meas_ready = false; |
||||
|
CRITICAL_SECTION_END; |
||||
|
|
||||
|
#ifdef PIDTEMP |
||||
|
pid_input = analog2temp(current_raw[0]); |
||||
|
|
||||
|
#ifndef PID_OPENLOOP |
||||
|
pid_error = pid_setpoint - pid_input; |
||||
|
if(pid_error > 10){ |
||||
|
pid_output = PID_MAX; |
||||
|
pid_reset = true; |
||||
|
} |
||||
|
else if(pid_error < -10) { |
||||
|
pid_output = 0; |
||||
|
pid_reset = true; |
||||
|
} |
||||
|
else { |
||||
|
if(pid_reset == true) { |
||||
|
temp_iState = 0.0; |
||||
|
pid_reset = false; |
||||
|
} |
||||
|
pTerm = Kp * pid_error; |
||||
|
temp_iState += pid_error; |
||||
|
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); |
||||
|
iTerm = Ki * temp_iState; |
||||
|
#define K1 0.95 |
||||
|
#define K2 (1.0-K1) |
||||
|
dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm); |
||||
|
temp_dState = pid_input; |
||||
|
pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX); |
||||
|
} |
||||
|
#endif //PID_OPENLOOP
|
||||
|
#ifdef PID_DEBUG |
||||
|
Serial.print(" Input "); |
||||
|
Serial.print(pid_input); |
||||
|
Serial.print(" Output "); |
||||
|
Serial.print(pid_output); |
||||
|
Serial.print(" pTerm "); |
||||
|
Serial.print(pTerm); |
||||
|
Serial.print(" iTerm "); |
||||
|
Serial.print(iTerm); |
||||
|
Serial.print(" dTerm "); |
||||
|
Serial.print(dTerm); |
||||
|
Serial.println(); |
||||
|
#endif //PID_DEBUG
|
||||
|
analogWrite(HEATER_0_PIN, pid_output); |
||||
|
#endif //PIDTEMP
|
||||
|
|
||||
|
#ifndef PIDTEMP |
||||
|
if(current_raw[0] >= target_raw[0]) |
||||
|
{ |
||||
|
WRITE(HEATER_0_PIN,LOW); |
||||
|
} |
||||
|
else |
||||
|
{ |
||||
|
WRITE(HEATER_0_PIN,HIGH); |
||||
|
} |
||||
|
#endif |
||||
|
|
||||
|
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL) |
||||
|
return; |
||||
|
previous_millis_bed_heater = millis(); |
||||
|
|
||||
|
#if TEMP_1_PIN > -1 |
||||
|
if(current_raw[1] >= target_raw[1]) |
||||
|
{ |
||||
|
WRITE(HEATER_1_PIN,LOW); |
||||
|
} |
||||
|
else |
||||
|
{ |
||||
|
WRITE(HEATER_1_PIN,HIGH); |
||||
|
} |
||||
|
#endif |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
// Takes hot end temperature value as input and returns corresponding raw value.
|
||||
|
// For a thermistor, it uses the RepRap thermistor temp table.
|
||||
|
// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
|
||||
|
// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
|
||||
|
float temp2analog(int celsius) { |
||||
|
#ifdef HEATER_USES_THERMISTOR |
||||
|
int raw = 0; |
||||
|
byte i; |
||||
|
|
||||
|
for (i=1; i<NUMTEMPS; i++) |
||||
|
{ |
||||
|
if (temptable[i][1] < celsius) |
||||
|
{ |
||||
|
raw = temptable[i-1][0] + |
||||
|
(celsius - temptable[i-1][1]) * |
||||
|
(temptable[i][0] - temptable[i-1][0]) / |
||||
|
(temptable[i][1] - temptable[i-1][1]); |
||||
|
|
||||
|
break; |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
// Overflow: Set to last value in the table
|
||||
|
if (i == NUMTEMPS) raw = temptable[i-1][0]; |
||||
|
|
||||
|
return (1023 * OVERSAMPLENR) - raw; |
||||
|
#elif defined HEATER_USES_AD595 |
||||
|
return celsius * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR; |
||||
|
#endif |
||||
|
} |
||||
|
|
||||
|
// Takes bed temperature value as input and returns corresponding raw value.
|
||||
|
// For a thermistor, it uses the RepRap thermistor temp table.
|
||||
|
// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
|
||||
|
// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
|
||||
|
float temp2analogBed(int celsius) { |
||||
|
#ifdef BED_USES_THERMISTOR |
||||
|
|
||||
|
int raw = 0; |
||||
|
byte i; |
||||
|
|
||||
|
for (i=1; i<BNUMTEMPS; i++) |
||||
|
{ |
||||
|
if (bedtemptable[i][1] < celsius) |
||||
|
{ |
||||
|
raw = bedtemptable[i-1][0] + |
||||
|
(celsius - bedtemptable[i-1][1]) * |
||||
|
(bedtemptable[i][0] - bedtemptable[i-1][0]) / |
||||
|
(bedtemptable[i][1] - bedtemptable[i-1][1]); |
||||
|
|
||||
|
break; |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
// Overflow: Set to last value in the table
|
||||
|
if (i == BNUMTEMPS) raw = bedtemptable[i-1][0]; |
||||
|
|
||||
|
return (1023 * OVERSAMPLENR) - raw; |
||||
|
#elif defined BED_USES_AD595 |
||||
|
return celsius * (1024.0 / (5.0 * 100.0) ) * OVERSAMPLENR; |
||||
|
#endif |
||||
|
} |
||||
|
|
||||
|
// Derived from RepRap FiveD extruder::getTemperature()
|
||||
|
// For hot end temperature measurement.
|
||||
|
float analog2temp(int raw) { |
||||
|
#ifdef HEATER_USES_THERMISTOR |
||||
|
int celsius = 0; |
||||
|
byte i; |
||||
|
raw = (1023 * OVERSAMPLENR) - raw; |
||||
|
for (i=1; i<NUMTEMPS; i++) |
||||
|
{ |
||||
|
if (temptable[i][0] > raw) |
||||
|
{ |
||||
|
celsius = temptable[i-1][1] + |
||||
|
(raw - temptable[i-1][0]) * |
||||
|
(temptable[i][1] - temptable[i-1][1]) / |
||||
|
(temptable[i][0] - temptable[i-1][0]); |
||||
|
|
||||
|
break; |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
// Overflow: Set to last value in the table
|
||||
|
if (i == NUMTEMPS) celsius = temptable[i-1][1]; |
||||
|
|
||||
|
return celsius; |
||||
|
#elif defined HEATER_USES_AD595 |
||||
|
return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR; |
||||
|
#endif |
||||
|
} |
||||
|
|
||||
|
// Derived from RepRap FiveD extruder::getTemperature()
|
||||
|
// For bed temperature measurement.
|
||||
|
float analog2tempBed(int raw) { |
||||
|
#ifdef BED_USES_THERMISTOR |
||||
|
int celsius = 0; |
||||
|
byte i; |
||||
|
|
||||
|
raw = (1023 * OVERSAMPLENR) - raw; |
||||
|
|
||||
|
for (i=1; i<NUMTEMPS; i++) |
||||
|
{ |
||||
|
if (bedtemptable[i][0] > raw) |
||||
|
{ |
||||
|
celsius = bedtemptable[i-1][1] + |
||||
|
(raw - bedtemptable[i-1][0]) * |
||||
|
(bedtemptable[i][1] - bedtemptable[i-1][1]) / |
||||
|
(bedtemptable[i][0] - bedtemptable[i-1][0]); |
||||
|
|
||||
|
break; |
||||
|
} |
||||
|
} |
||||
|
|
||||
|
// Overflow: Set to last value in the table
|
||||
|
if (i == NUMTEMPS) celsius = bedtemptable[i-1][1]; |
||||
|
|
||||
|
return celsius; |
||||
|
|
||||
|
#elif defined BED_USES_AD595 |
||||
|
return raw * ((5.0 * 100.0) / 1024.0) / OVERSAMPLENR; |
||||
|
#endif |
||||
|
} |
||||
|
|
||||
|
void tp_init() |
||||
|
{ |
||||
|
#if (HEATER_0_PIN > -1) |
||||
|
SET_OUTPUT(HEATER_0_PIN); |
||||
|
#endif |
||||
|
#if (HEATER_1_PIN > -1) |
||||
|
SET_OUTPUT(HEATER_1_PIN); |
||||
|
#endif |
||||
|
#if (HEATER_2_PIN > -1) |
||||
|
SET_OUTPUT(HEATER_2_PIN); |
||||
|
#endif |
||||
|
|
||||
|
#ifdef PIDTEMP |
||||
|
temp_iState_min = 0.0; |
||||
|
temp_iState_max = PID_INTEGRAL_DRIVE_MAX / Ki; |
||||
|
#endif //PIDTEMP
|
||||
|
|
||||
|
// Set analog inputs
|
||||
|
ADCSRA = 1<<ADEN | 1<<ADSC | 1<<ADIF | 0x07; |
||||
|
|
||||
|
// Use timer0 for temperature measurement
|
||||
|
// Interleave temperature interrupt with millies interrupt
|
||||
|
OCR0B = 128; |
||||
|
TIMSK0 |= (1<<OCIE0B); |
||||
|
} |
||||
|
|
||||
|
static unsigned char temp_count = 0; |
||||
|
static unsigned long raw_temp_0_value = 0; |
||||
|
static unsigned long raw_temp_1_value = 0; |
||||
|
static unsigned long raw_temp_2_value = 0; |
||||
|
static unsigned char temp_state = 0; |
||||
|
|
||||
|
// Timer 0 is shared with millies
|
||||
|
ISR(TIMER0_COMPB_vect) |
||||
|
{ |
||||
|
switch(temp_state) { |
||||
|
case 0: // Prepare TEMP_0
|
||||
|
#if (TEMP_0_PIN > -1) |
||||
|
#if TEMP_0_PIN < 8 |
||||
|
DIDR0 = 1 << TEMP_0_PIN; |
||||
|
#else |
||||
|
DIDR2 = 1<<(TEMP_0_PIN - 8); |
||||
|
ADCSRB = 1<<MUX5; |
||||
|
#endif |
||||
|
ADMUX = ((1 << REFS0) | (TEMP_0_PIN & 0x07)); |
||||
|
ADCSRA |= 1<<ADSC; // Start conversion
|
||||
|
#endif |
||||
|
#ifdef ULTIPANEL |
||||
|
buttons_check(); |
||||
|
#endif |
||||
|
temp_state = 1; |
||||
|
break; |
||||
|
case 1: // Measure TEMP_0
|
||||
|
#if (TEMP_0_PIN > -1) |
||||
|
raw_temp_0_value += ADC; |
||||
|
#endif |
||||
|
temp_state = 2; |
||||
|
break; |
||||
|
case 2: // Prepare TEMP_1
|
||||
|
#if (TEMP_1_PIN > -1) |
||||
|
#if TEMP_1_PIN < 7 |
||||
|
DIDR0 = 1<<TEMP_1_PIN; |
||||
|
#else |
||||
|
DIDR2 = 1<<(TEMP_1_PIN - 8); |
||||
|
ADCSRB = 1<<MUX5; |
||||
|
#endif |
||||
|
ADMUX = ((1 << REFS0) | (TEMP_1_PIN & 0x07)); |
||||
|
ADCSRA |= 1<<ADSC; // Start conversion
|
||||
|
#endif |
||||
|
#ifdef ULTIPANEL |
||||
|
buttons_check(); |
||||
|
#endif |
||||
|
temp_state = 3; |
||||
|
break; |
||||
|
case 3: // Measure TEMP_1
|
||||
|
#if (TEMP_1_PIN > -1) |
||||
|
raw_temp_1_value += ADC; |
||||
|
#endif |
||||
|
temp_state = 4; |
||||
|
break; |
||||
|
case 4: // Prepare TEMP_2
|
||||
|
#if (TEMP_2_PIN > -1) |
||||
|
#if TEMP_2_PIN < 7 |
||||
|
DIDR0 = 1 << TEMP_2_PIN; |
||||
|
#else |
||||
|
DIDR2 = 1<<(TEMP_2_PIN - 8); |
||||
|
ADCSRB = 1<<MUX5; |
||||
|
#endif |
||||
|
ADMUX = ((1 << REFS0) | (TEMP_2_PIN & 0x07)); |
||||
|
ADCSRA |= 1<<ADSC; // Start conversion
|
||||
|
#endif |
||||
|
#ifdef ULTIPANEL |
||||
|
buttons_check(); |
||||
|
#endif |
||||
|
temp_state = 5; |
||||
|
break; |
||||
|
case 5: // Measure TEMP_2
|
||||
|
#if (TEMP_2_PIN > -1) |
||||
|
raw_temp_2_value += ADC; |
||||
|
#endif |
||||
|
temp_state = 0; |
||||
|
temp_count++; |
||||
|
break; |
||||
|
default: |
||||
|
Serial.println("!! Temp measurement error !!"); |
||||
|
break; |
||||
|
} |
||||
|
|
||||
|
if(temp_count >= 16) // 6 ms * 16 = 96ms.
|
||||
|
{ |
||||
|
#ifdef HEATER_USES_AD595 |
||||
|
current_raw[0] = raw_temp_0_value; |
||||
|
current_raw[2] = raw_temp_2_value; |
||||
|
#else |
||||
|
current_raw[0] = 16383 - raw_temp_0_value; |
||||
|
current_raw[2] = 16383 - raw_temp_2_value; |
||||
|
#endif |
||||
|
|
||||
|
#ifdef BED_USES_AD595 |
||||
|
current_raw[1] = raw_temp_1_value; |
||||
|
#else |
||||
|
current_raw[1] = 16383 - raw_temp_1_value; |
||||
|
#endif |
||||
|
|
||||
|
temp_meas_ready = true; |
||||
|
temp_count = 0; |
||||
|
raw_temp_0_value = 0; |
||||
|
raw_temp_1_value = 0; |
||||
|
raw_temp_2_value = 0; |
||||
|
#ifdef MAXTEMP |
||||
|
#if (HEATER_0_PIN > -1) |
||||
|
if(current_raw[0] >= maxttemp) { |
||||
|
target_raw[0] = 0; |
||||
|
analogWrite(HEATER_0_PIN, 0); |
||||
|
Serial.println("!! Temperature extruder 0 switched off. MAXTEMP triggered !!"); |
||||
|
} |
||||
|
#endif |
||||
|
#if (HEATER_2_PIN > -1) |
||||
|
if(current_raw[2] >= maxttemp) { |
||||
|
target_raw[2] = 0; |
||||
|
analogWrite(HEATER_2_PIN, 0); |
||||
|
Serial.println("!! Temperature extruder 1 switched off. MAXTEMP triggered !!"); |
||||
|
} |
||||
|
#endif |
||||
|
#endif //MAXTEMP
|
||||
|
#ifdef MINTEMP |
||||
|
#if (HEATER_0_PIN > -1) |
||||
|
if(current_raw[0] <= minttemp) { |
||||
|
target_raw[0] = 0; |
||||
|
analogWrite(HEATER_0_PIN, 0); |
||||
|
Serial.println("!! Temperature extruder 0 switched off. MINTEMP triggered !!"); |
||||
|
} |
||||
|
#endif |
||||
|
#if (HEATER_2_PIN > -1) |
||||
|
if(current_raw[2] <= minttemp) { |
||||
|
target_raw[2] = 0; |
||||
|
analogWrite(HEATER_2_PIN, 0); |
||||
|
Serial.println("!! Temperature extruder 1 switched off. MINTEMP triggered !!"); |
||||
|
} |
||||
|
#endif |
||||
|
#endif //MAXTEMP
|
||||
|
#ifdef BED_MINTEMP |
||||
|
#if (HEATER_1_PIN > -1) |
||||
|
if(current_raw[1] <= bed_minttemp) { |
||||
|
target_raw[1] = 0; |
||||
|
WRITE(HEATER_1_PIN, 0); |
||||
|
Serial.println("!! Temperatur heated bed switched off. MINTEMP triggered !!"); |
||||
|
} |
||||
|
#endif |
||||
|
#endif |
||||
|
#ifdef BED_MAXTEMP |
||||
|
#if (HEATER_1_PIN > -1) |
||||
|
if(current_raw[1] >= bed_maxttemp) { |
||||
|
target_raw[1] = 0; |
||||
|
WRITE(HEATER_1_PIN, 0); |
||||
|
Serial.println("!! Temperature heated bed switched off. MAXTEMP triggered !!"); |
||||
|
} |
||||
|
#endif |
||||
|
#endif |
||||
|
} |
||||
|
} |
||||
@ -0,0 +1,55 @@ |
|||||
|
/*
|
||||
|
temperature.h - temperature controller |
||||
|
Part of Marlin |
||||
|
|
||||
|
Copyright (c) 2011 Erik van der Zalm |
||||
|
|
||||
|
Grbl is free software: you can redistribute it and/or modify |
||||
|
it under the terms of the GNU General Public License as published by |
||||
|
the Free Software Foundation, either version 3 of the License, or |
||||
|
(at your option) any later version. |
||||
|
|
||||
|
Grbl is distributed in the hope that it will be useful, |
||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of |
||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
||||
|
GNU General Public License for more details. |
||||
|
|
||||
|
You should have received a copy of the GNU General Public License |
||||
|
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
|
||||
|
*/ |
||||
|
|
||||
|
#ifndef temperature_h |
||||
|
#define temperature_h |
||||
|
|
||||
|
void manage_inactivity(byte debug); |
||||
|
|
||||
|
void tp_init(); |
||||
|
void manage_heater(); |
||||
|
//int temp2analogu(int celsius, const short table[][2], int numtemps);
|
||||
|
//float analog2tempu(int raw, const short table[][2], int numtemps);
|
||||
|
float temp2analog(int celsius); |
||||
|
float temp2analogBed(int celsius); |
||||
|
float analog2temp(int raw); |
||||
|
float analog2tempBed(int raw); |
||||
|
|
||||
|
#ifdef HEATER_USES_THERMISTOR |
||||
|
#define HEATERSOURCE 1 |
||||
|
#endif |
||||
|
#ifdef BED_USES_THERMISTOR |
||||
|
#define BEDSOURCE 1 |
||||
|
#endif |
||||
|
|
||||
|
//#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS)
|
||||
|
//#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS
|
||||
|
|
||||
|
|
||||
|
extern float Kp; |
||||
|
extern float Ki; |
||||
|
extern float Kd; |
||||
|
extern float Kc; |
||||
|
|
||||
|
extern int target_raw[3]; |
||||
|
extern int current_raw[3]; |
||||
|
extern double pid_setpoint; |
||||
|
|
||||
|
#endif |
||||
@ -0,0 +1,156 @@ |
|||||
|
#ifndef __ULTRALCDH |
||||
|
#define __ULTRALCDH |
||||
|
#include "Configuration.h" |
||||
|
|
||||
|
#ifdef ULTRA_LCD |
||||
|
|
||||
|
void lcd_status(); |
||||
|
void lcd_init(); |
||||
|
void lcd_status(const char* message); |
||||
|
void beep(); |
||||
|
void buttons_check(); |
||||
|
#define LCDSTATUSRIGHT |
||||
|
|
||||
|
#define LCD_UPDATE_INTERVAL 100 |
||||
|
#define STATUSTIMEOUT 15000 |
||||
|
|
||||
|
#include "Configuration.h" |
||||
|
|
||||
|
#include <LiquidCrystal.h> |
||||
|
extern LiquidCrystal lcd; |
||||
|
|
||||
|
//lcd display size
|
||||
|
|
||||
|
#ifdef NEWPANEL |
||||
|
//arduino pin witch triggers an piezzo beeper
|
||||
|
#define BEEPER 18 |
||||
|
|
||||
|
#define LCD_PINS_RS 20 |
||||
|
#define LCD_PINS_ENABLE 17 |
||||
|
#define LCD_PINS_D4 16 |
||||
|
#define LCD_PINS_D5 21 |
||||
|
#define LCD_PINS_D6 5 |
||||
|
#define LCD_PINS_D7 6 |
||||
|
|
||||
|
//buttons are directly attached
|
||||
|
#define BTN_EN1 40 |
||||
|
#define BTN_EN2 42 |
||||
|
#define BTN_ENC 19 //the click
|
||||
|
|
||||
|
#define BLEN_C 2 |
||||
|
#define BLEN_B 1 |
||||
|
#define BLEN_A 0 |
||||
|
|
||||
|
#define SDCARDDETECT 38 |
||||
|
|
||||
|
#define EN_C (1<<BLEN_C) |
||||
|
#define EN_B (1<<BLEN_B) |
||||
|
#define EN_A (1<<BLEN_A) |
||||
|
|
||||
|
//encoder rotation values
|
||||
|
#define encrot0 0 |
||||
|
#define encrot1 2 |
||||
|
#define encrot2 3 |
||||
|
#define encrot3 1 |
||||
|
|
||||
|
|
||||
|
#define CLICKED (buttons&EN_C) |
||||
|
#define BLOCK {blocking=millis()+blocktime;} |
||||
|
#define CARDINSERTED (READ(SDCARDDETECT)==0) |
||||
|
|
||||
|
#else |
||||
|
//arduino pin witch triggers an piezzo beeper
|
||||
|
#define BEEPER 18 |
||||
|
|
||||
|
//buttons are attached to a shift register
|
||||
|
#define SHIFT_CLK 38 |
||||
|
#define SHIFT_LD 42 |
||||
|
#define SHIFT_OUT 40 |
||||
|
#define SHIFT_EN 17 |
||||
|
|
||||
|
#define LCD_PINS_RS 16 |
||||
|
#define LCD_PINS_ENABLE 5 |
||||
|
#define LCD_PINS_D4 6 |
||||
|
#define LCD_PINS_D5 21 |
||||
|
#define LCD_PINS_D6 20 |
||||
|
#define LCD_PINS_D7 19 |
||||
|
|
||||
|
//bits in the shift register that carry the buttons for:
|
||||
|
// left up center down right red
|
||||
|
#define BL_LE 7 |
||||
|
#define BL_UP 6 |
||||
|
#define BL_MI 5 |
||||
|
#define BL_DW 4 |
||||
|
#define BL_RI 3 |
||||
|
#define BL_ST 2 |
||||
|
|
||||
|
#define BLEN_B 1 |
||||
|
#define BLEN_A 0 |
||||
|
|
||||
|
//encoder rotation values
|
||||
|
#define encrot0 0 |
||||
|
#define encrot1 2 |
||||
|
#define encrot2 3 |
||||
|
#define encrot3 1 |
||||
|
|
||||
|
//atomatic, do not change
|
||||
|
#define B_LE (1<<BL_LE) |
||||
|
#define B_UP (1<<BL_UP) |
||||
|
#define B_MI (1<<BL_MI) |
||||
|
#define B_DW (1<<BL_DW) |
||||
|
#define B_RI (1<<BL_RI) |
||||
|
#define B_ST (1<<BL_ST) |
||||
|
#define EN_B (1<<BLEN_B) |
||||
|
#define EN_A (1<<BLEN_A) |
||||
|
|
||||
|
#define CLICKED ((buttons&B_MI)||(buttons&B_ST)) |
||||
|
#define BLOCK {blocking[BL_MI]=millis()+blocktime;blocking[BL_ST]=millis()+blocktime;} |
||||
|
|
||||
|
#endif |
||||
|
// blocking time for recognizing a new keypress of one key, ms
|
||||
|
#define blocktime 500 |
||||
|
#define lcdslow 5 |
||||
|
enum MainStatus{Main_Status, Main_Menu, Main_Prepare, Main_Control, Main_SD}; |
||||
|
|
||||
|
class MainMenu{ |
||||
|
public: |
||||
|
MainMenu(); |
||||
|
void update(); |
||||
|
void getfilename(const uint8_t nr); |
||||
|
uint8_t activeline; |
||||
|
MainStatus status; |
||||
|
uint8_t displayStartingRow; |
||||
|
|
||||
|
void showStatus(); |
||||
|
void showMainMenu(); |
||||
|
void showPrepare(); |
||||
|
void showControl(); |
||||
|
void showSD(); |
||||
|
bool force_lcd_update; |
||||
|
int lastencoderpos; |
||||
|
int8_t lineoffset; |
||||
|
int8_t lastlineoffset; |
||||
|
char filename[11]; |
||||
|
bool linechanging; |
||||
|
}; |
||||
|
|
||||
|
char *fillto(int8_t n,char *c); |
||||
|
char *ftostr51(const float &x); |
||||
|
char *ftostr31(const float &x); |
||||
|
char *ftostr3(const float &x); |
||||
|
|
||||
|
|
||||
|
|
||||
|
#define LCD_MESSAGE(x) lcd_status(x); |
||||
|
#define LCD_STATUS lcd_status() |
||||
|
#else //no lcd
|
||||
|
#define LCD_STATUS |
||||
|
#define LCD_MESSAGE(x) |
||||
|
#endif |
||||
|
|
||||
|
#ifndef ULTIPANEL |
||||
|
#define CLICKED false |
||||
|
#define BLOCK ; |
||||
|
#endif |
||||
|
#endif //ULTRALCD
|
||||
|
|
||||
File diff suppressed because it is too large
@ -1,176 +0,0 @@ |
|||||
/*
|
|
||||
wiring.c - Partial implementation of the Wiring API for the ATmega8. |
|
||||
Part of Arduino - http://www.arduino.cc/
|
|
||||
|
|
||||
Copyright (c) 2005-2006 David A. Mellis |
|
||||
|
|
||||
This library is free software; you can redistribute it and/or |
|
||||
modify it under the terms of the GNU Lesser General Public |
|
||||
License as published by the Free Software Foundation; either |
|
||||
version 2.1 of the License, or (at your option) any later version. |
|
||||
|
|
||||
This library is distributed in the hope that it will be useful, |
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
|
||||
Lesser General Public License for more details. |
|
||||
|
|
||||
You should have received a copy of the GNU Lesser General |
|
||||
Public License along with this library; if not, write to the |
|
||||
Free Software Foundation, Inc., 59 Temple Place, Suite 330, |
|
||||
Boston, MA 02111-1307 USA |
|
||||
|
|
||||
$Id: wiring.c 388 2008-03-08 22:05:23Z mellis $ |
|
||||
*/ |
|
||||
|
|
||||
#include "wiring_private.h" |
|
||||
|
|
||||
volatile unsigned long timer0_millis = 0; |
|
||||
|
|
||||
SIGNAL(TIMER0_OVF_vect) |
|
||||
{ |
|
||||
// timer 0 prescale factor is 64 and the timer overflows at 256
|
|
||||
timer0_millis++; |
|
||||
} |
|
||||
|
|
||||
unsigned long millis() |
|
||||
{ |
|
||||
unsigned long m; |
|
||||
uint8_t oldSREG = SREG; |
|
||||
|
|
||||
// disable interrupts while we read timer0_millis or we might get an
|
|
||||
// inconsistent value (e.g. in the middle of the timer0_millis++)
|
|
||||
cli(); |
|
||||
m = timer0_millis; |
|
||||
SREG = oldSREG; |
|
||||
|
|
||||
return m; |
|
||||
} |
|
||||
|
|
||||
void delay(unsigned long ms) |
|
||||
{ |
|
||||
unsigned long start = millis(); |
|
||||
|
|
||||
while (millis() - start <= ms) |
|
||||
; |
|
||||
} |
|
||||
|
|
||||
/* Delay for the given number of microseconds. Assumes a 8 or 16 MHz clock.
|
|
||||
* Disables interrupts, which will disrupt the millis() function if used |
|
||||
* too frequently. */ |
|
||||
void delayMicroseconds(unsigned int us) |
|
||||
{ |
|
||||
uint8_t oldSREG; |
|
||||
|
|
||||
// calling avrlib's delay_us() function with low values (e.g. 1 or
|
|
||||
// 2 microseconds) gives delays longer than desired.
|
|
||||
//delay_us(us);
|
|
||||
|
|
||||
#if F_CPU >= 16000000L |
|
||||
// for the 16 MHz clock on most Arduino boards
|
|
||||
|
|
||||
// for a one-microsecond delay, simply return. the overhead
|
|
||||
// of the function call yields a delay of approximately 1 1/8 us.
|
|
||||
if (--us == 0) |
|
||||
return; |
|
||||
|
|
||||
// the following loop takes a quarter of a microsecond (4 cycles)
|
|
||||
// per iteration, so execute it four times for each microsecond of
|
|
||||
// delay requested.
|
|
||||
us <<= 2; |
|
||||
|
|
||||
// account for the time taken in the preceeding commands.
|
|
||||
us -= 2; |
|
||||
#else |
|
||||
// for the 8 MHz internal clock on the ATmega168
|
|
||||
|
|
||||
// for a one- or two-microsecond delay, simply return. the overhead of
|
|
||||
// the function calls takes more than two microseconds. can't just
|
|
||||
// subtract two, since us is unsigned; we'd overflow.
|
|
||||
if (--us == 0) |
|
||||
return; |
|
||||
if (--us == 0) |
|
||||
return; |
|
||||
|
|
||||
// the following loop takes half of a microsecond (4 cycles)
|
|
||||
// per iteration, so execute it twice for each microsecond of
|
|
||||
// delay requested.
|
|
||||
us <<= 1; |
|
||||
|
|
||||
// partially compensate for the time taken by the preceeding commands.
|
|
||||
// we can't subtract any more than this or we'd overflow w/ small delays.
|
|
||||
us--; |
|
||||
#endif |
|
||||
|
|
||||
// disable interrupts, otherwise the timer 0 overflow interrupt that
|
|
||||
// tracks milliseconds will make us delay longer than we want.
|
|
||||
oldSREG = SREG; |
|
||||
cli(); |
|
||||
|
|
||||
// busy wait
|
|
||||
__asm__ __volatile__ ( |
|
||||
"1: sbiw %0,1" "\n\t" // 2 cycles
|
|
||||
"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
|
|
||||
); |
|
||||
|
|
||||
// reenable interrupts.
|
|
||||
SREG = oldSREG; |
|
||||
} |
|
||||
|
|
||||
void init() |
|
||||
{ |
|
||||
// this needs to be called before setup() or some functions won't
|
|
||||
// work there
|
|
||||
sei(); |
|
||||
|
|
||||
// on the ATmega168, timer 0 is also used for fast hardware pwm
|
|
||||
// (using phase-correct PWM would mean that timer 0 overflowed half as often
|
|
||||
// resulting in different millis() behavior on the ATmega8 and ATmega168)
|
|
||||
sbi(TCCR0A, WGM01); |
|
||||
sbi(TCCR0A, WGM00); |
|
||||
|
|
||||
// set timer 0 prescale factor to 64
|
|
||||
sbi(TCCR0B, CS01); |
|
||||
sbi(TCCR0B, CS00); |
|
||||
|
|
||||
// enable timer 0 overflow interrupt
|
|
||||
sbi(TIMSK0, TOIE0); |
|
||||
|
|
||||
// timers 1 and 2 are used for phase-correct hardware pwm
|
|
||||
// this is better for motors as it ensures an even waveform
|
|
||||
// note, however, that fast pwm mode can achieve a frequency of up
|
|
||||
// 8 MHz (with a 16 MHz clock) at 50% duty cycle
|
|
||||
#if 0 |
|
||||
// set timer 1 prescale factor to 64
|
|
||||
sbi(TCCR1B, CS11); |
|
||||
sbi(TCCR1B, CS10); |
|
||||
|
|
||||
// put timer 1 in 8-bit phase correct pwm mode
|
|
||||
sbi(TCCR1A, WGM10); |
|
||||
|
|
||||
// set timer 2 prescale factor to 64
|
|
||||
sbi(TCCR2B, CS22); |
|
||||
|
|
||||
// configure timer 2 for phase correct pwm (8-bit)
|
|
||||
sbi(TCCR2A, WGM20); |
|
||||
|
|
||||
// set a2d prescale factor to 128
|
|
||||
// 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range.
|
|
||||
// XXX: this will not work properly for other clock speeds, and
|
|
||||
// this code should use F_CPU to determine the prescale factor.
|
|
||||
sbi(ADCSRA, ADPS2); |
|
||||
sbi(ADCSRA, ADPS1); |
|
||||
sbi(ADCSRA, ADPS0); |
|
||||
|
|
||||
// enable a2d conversions
|
|
||||
sbi(ADCSRA, ADEN); |
|
||||
|
|
||||
// the bootloader connects pins 0 and 1 to the USART; disconnect them
|
|
||||
// here so they can be used as normal digital i/o; they will be
|
|
||||
// reconnected in Serial.begin()
|
|
||||
UCSR0B = 0; |
|
||||
#if defined(__AVR_ATmega644P__) |
|
||||
//TODO: test to see if disabling this helps?
|
|
||||
//UCSR1B = 0;
|
|
||||
#endif |
|
||||
#endif |
|
||||
} |
|
||||
@ -1,139 +0,0 @@ |
|||||
/*
|
|
||||
wiring_serial.c - serial functions. |
|
||||
Part of Arduino - http://www.arduino.cc/
|
|
||||
|
|
||||
Copyright (c) 2005-2006 David A. Mellis |
|
||||
Modified 29 January 2009, Marius Kintel for Sanguino - http://www.sanguino.cc/
|
|
||||
|
|
||||
This library is free software; you can redistribute it and/or |
|
||||
modify it under the terms of the GNU Lesser General Public |
|
||||
License as published by the Free Software Foundation; either |
|
||||
version 2.1 of the License, or (at your option) any later version. |
|
||||
|
|
||||
This library is distributed in the hope that it will be useful, |
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
|
||||
Lesser General Public License for more details. |
|
||||
|
|
||||
You should have received a copy of the GNU Lesser General |
|
||||
Public License along with this library; if not, write to the |
|
||||
Free Software Foundation, Inc., 59 Temple Place, Suite 330, |
|
||||
Boston, MA 02111-1307 USA |
|
||||
|
|
||||
$Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ |
|
||||
*/ |
|
||||
|
|
||||
|
|
||||
#include "wiring_private.h" |
|
||||
|
|
||||
// Define constants and variables for buffering incoming serial data. We're
|
|
||||
// using a ring buffer (I think), in which rx_buffer_head is the index of the
|
|
||||
// location to which to write the next incoming character and rx_buffer_tail
|
|
||||
// is the index of the location from which to read.
|
|
||||
#define RX_BUFFER_SIZE 128 |
|
||||
#define RX_BUFFER_MASK 0x7f |
|
||||
|
|
||||
#if defined(__AVR_ATmega644P__) |
|
||||
unsigned char rx_buffer[2][RX_BUFFER_SIZE]; |
|
||||
int rx_buffer_head[2] = {0, 0}; |
|
||||
int rx_buffer_tail[2] = {0, 0}; |
|
||||
#else |
|
||||
unsigned char rx_buffer[1][RX_BUFFER_SIZE]; |
|
||||
int rx_buffer_head[1] = {0}; |
|
||||
int rx_buffer_tail[1] = {0}; |
|
||||
#endif |
|
||||
|
|
||||
|
|
||||
#define BEGIN_SERIAL(uart_, baud_) \ |
|
||||
{ \ |
|
||||
UBRR##uart_##H = ((F_CPU / 16 + baud / 2) / baud - 1) >> 8; \ |
|
||||
UBRR##uart_##L = ((F_CPU / 16 + baud / 2) / baud - 1); \ |
|
||||
\ |
|
||||
/* reset config for UART */ \ |
|
||||
UCSR##uart_##A = 0; \ |
|
||||
UCSR##uart_##B = 0; \ |
|
||||
UCSR##uart_##C = 0; \ |
|
||||
\ |
|
||||
/* enable rx and tx */ \ |
|
||||
sbi(UCSR##uart_##B, RXEN##uart_);\ |
|
||||
sbi(UCSR##uart_##B, TXEN##uart_);\ |
|
||||
\ |
|
||||
/* enable interrupt on complete reception of a byte */ \ |
|
||||
sbi(UCSR##uart_##B, RXCIE##uart_); \ |
|
||||
UCSR##uart_##C = _BV(UCSZ##uart_##1)|_BV(UCSZ##uart_##0); \ |
|
||||
/* defaults to 8-bit, no parity, 1 stop bit */ \ |
|
||||
} |
|
||||
|
|
||||
void beginSerial(uint8_t uart, long baud) |
|
||||
{ |
|
||||
if (uart == 0) BEGIN_SERIAL(0, baud) |
|
||||
#if defined(__AVR_ATmega644P__) |
|
||||
else BEGIN_SERIAL(1, baud) |
|
||||
#endif |
|
||||
} |
|
||||
|
|
||||
#define SERIAL_WRITE(uart_, c_) \ |
|
||||
while (!(UCSR##uart_##A & (1 << UDRE##uart_))) \ |
|
||||
; \ |
|
||||
UDR##uart_ = c |
|
||||
|
|
||||
void serialWrite(uint8_t uart, unsigned char c) |
|
||||
{ |
|
||||
if (uart == 0) { |
|
||||
SERIAL_WRITE(0, c); |
|
||||
} |
|
||||
#if defined(__AVR_ATmega644P__) |
|
||||
else { |
|
||||
SERIAL_WRITE(1, c); |
|
||||
} |
|
||||
#endif |
|
||||
} |
|
||||
|
|
||||
int serialAvailable(uint8_t uart) |
|
||||
{ |
|
||||
return (RX_BUFFER_SIZE + rx_buffer_head[uart] - rx_buffer_tail[uart]) & RX_BUFFER_MASK; |
|
||||
} |
|
||||
|
|
||||
int serialRead(uint8_t uart) |
|
||||
{ |
|
||||
// if the head isn't ahead of the tail, we don't have any characters
|
|
||||
if (rx_buffer_head[uart] == rx_buffer_tail[uart]) { |
|
||||
return -1; |
|
||||
} else { |
|
||||
unsigned char c = rx_buffer[uart][rx_buffer_tail[uart]]; |
|
||||
rx_buffer_tail[uart] = (rx_buffer_tail[uart] + 1) & RX_BUFFER_MASK; |
|
||||
return c; |
|
||||
} |
|
||||
} |
|
||||
|
|
||||
void serialFlush(uint8_t uart) |
|
||||
{ |
|
||||
// don't reverse this or there may be problems if the RX interrupt
|
|
||||
// occurs after reading the value of rx_buffer_head but before writing
|
|
||||
// the value to rx_buffer_tail; the previous value of rx_buffer_head
|
|
||||
// may be written to rx_buffer_tail, making it appear as if the buffer
|
|
||||
// were full, not empty.
|
|
||||
rx_buffer_head[uart] = rx_buffer_tail[uart]; |
|
||||
} |
|
||||
|
|
||||
#define UART_ISR(uart_) \ |
|
||||
ISR(USART##uart_##_RX_vect) \ |
|
||||
{ \ |
|
||||
unsigned char c = UDR##uart_; \ |
|
||||
\ |
|
||||
int i = (rx_buffer_head[uart_] + 1) & RX_BUFFER_MASK; \ |
|
||||
\ |
|
||||
/* if we should be storing the received character into the location \
|
|
||||
just before the tail (meaning that the head would advance to the \ |
|
||||
current location of the tail), we're about to overflow the buffer \ |
|
||||
and so we don't write the character or advance the head. */ \ |
|
||||
if (i != rx_buffer_tail[uart_]) { \ |
|
||||
rx_buffer[uart_][rx_buffer_head[uart_]] = c; \ |
|
||||
rx_buffer_head[uart_] = i; \ |
|
||||
} \ |
|
||||
} |
|
||||
|
|
||||
UART_ISR(0) |
|
||||
#if defined(__AVR_ATmega644P__) |
|
||||
UART_ISR(1) |
|
||||
#endif |
|
||||
Loading…
Reference in new issue