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Merge branch 'Marlin_v1' of https://github.com/ErikZalm/Marlin into Marlin_v1

pull/1/head
Daid 13 years ago
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279d00da9f e31bef31ad
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7244aa7eb7
9 changed files with 96 additions and 74 deletions
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  1. 1
      Marlin/Configuration.h
  2. 5
      Marlin/Marlin.pde
  3. 14
      Marlin/pins.h
  4. 22
      Marlin/planner.cpp
  5. 8
      Marlin/planner.h
  6. 10
      Marlin/temperature.cpp
  7. 10
      Marlin/ultralcd.h
  8. 97
      Marlin/ultralcd.pde
  9. 3
      README.md

1
Marlin/Configuration.h
View File

@ -26,6 +26,7 @@
// Gen6 = 5
// Gen6 deluxe = 51
// Sanguinololu 1.2 and above = 62
// Melzi = 63
// Ultimaker = 7
// Teensylu = 8
// Gen3+ =9

5
Marlin/Marlin.pde
View File

@ -300,6 +300,8 @@ void setup()
st_init(); // Initialize stepper;
wd_init();
setup_photpin();
LCD_INIT;
}
@ -687,7 +689,6 @@ void process_commands()
st_synchronize();
for(int8_t i=0; i < NUM_AXIS; i++) {
if(code_seen(axis_codes[i])) {
current_position[i] = code_value()+add_homeing[i];
if(i == E_AXIS) {
current_position[i] = code_value();
plan_set_e_position(current_position[E_AXIS]);
@ -1246,7 +1247,7 @@ void process_commands()
}
break;
case 302: // finish all moves
case 302: // allow cold extrudes
{
allow_cold_extrudes(true);
}

14
Marlin/pins.h
View File

@ -554,7 +554,10 @@
* Sanguinololu pin assignment
*
****************************************************************************************/
#if MOTHERBOARD == 62
#if MOTHERBOARD == 63
#define MELZI
#endif
#if MOTHERBOARD == 62 || MOTHERBOARD == 63
#undef MOTHERBOARD
#define MOTHERBOARD 6
#define SANGUINOLOLU_V_1_2
@ -589,6 +592,11 @@
#define FAN_PIN -1
#ifdef MELZI
#define LED_PIN 28
#define FAN_PIN 4
#endif
#define PS_ON_PIN -1
#define KILL_PIN -1
@ -621,6 +629,10 @@
#define SDPOWER -1
#define SDSS 31
#ifdef MELZI
#define SDSS 24
#endif
#endif

22
Marlin/planner.cpp
View File

@ -556,8 +556,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
if ( block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0 ) {
block->millimeters = abs(delta_mm[E_AXIS]);
if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) {
block->millimeters = fabs(delta_mm[E_AXIS]);
} else {
block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
}
@ -593,8 +593,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
float speed_factor = 1.0; //factor <=1 do decrease speed
for(int i=0; i < 4; i++) {
current_speed[i] = delta_mm[i] * inverse_second;
if(abs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
if(fabs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
}
// Max segement time in us.
@ -698,25 +698,25 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
#endif
// Start with a safe speed
float vmax_junction = max_xy_jerk/2;
if(abs(current_speed[Z_AXIS]) > max_z_jerk/2)
if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
vmax_junction = max_z_jerk/2;
vmax_junction = min(vmax_junction, block->nominal_speed);
if(abs(current_speed[E_AXIS]) > max_e_jerk/2)
if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
vmax_junction = min(vmax_junction, max_e_jerk/2);
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
if((abs(previous_speed[X_AXIS]) > 0.0001) || (abs(previous_speed[Y_AXIS]) > 0.0001)) {
if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->nominal_speed;
}
if (jerk > max_xy_jerk) {
vmax_junction *= (max_xy_jerk/jerk);
}
if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
}
if(abs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
vmax_junction *= (max_e_jerk/abs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
}
}
block->max_entry_speed = vmax_junction;

8
Marlin/planner.h
View File

@ -45,10 +45,10 @@ typedef struct {
#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 entry_speed; // Entry speed at previous-current junction in mm/min
float max_entry_speed; // Maximum allowable junction entry speed in mm/min
// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
float nominal_speed; // The nominal speed for this block in mm/sec
float entry_speed; // Entry speed at previous-current junction in mm/sec
float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
float millimeters; // The total travel of this block in mm
float acceleration; // acceleration mm/sec^2
unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction

10
Marlin/temperature.cpp
View File

@ -134,8 +134,8 @@ void PID_autotune(float temp)
long t_high;
long t_low;
long bias=127;
long d = 127;
long bias=PID_MAX/2;
long d = PID_MAX/2;
float Ku, Tu;
float Kp, Ki, Kd;
float max, min;
@ -144,7 +144,7 @@ void PID_autotune(float temp)
disable_heater(); // switch off all heaters.
soft_pwm[0] = 255>>1;
soft_pwm[0] = PID_MAX/2;
for(;;) {
@ -172,8 +172,8 @@ void PID_autotune(float temp)
t_low=t2 - t1;
if(cycles > 0) {
bias += (d*(t_high - t_low))/(t_low + t_high);
bias = constrain(bias, 20 ,235);
if(bias > 127) d = 254 - bias;
bias = constrain(bias, 20 ,PID_MAX-20);
if(bias > PID_MAX/2) d = PID_MAX - 1 - bias;
else d = bias;
SERIAL_PROTOCOLPGM(" bias: "); SERIAL_PROTOCOL(bias);

10
Marlin/ultralcd.h
View File

@ -7,6 +7,7 @@
void lcd_init();
void lcd_status(const char* message);
void beep();
void buttons_init();
void buttons_check();
#define LCD_UPDATE_INTERVAL 100
@ -69,7 +70,7 @@
void showAxisMove();
void showSD();
bool force_lcd_update;
int lastencoderpos;
long lastencoderpos;
int8_t lineoffset;
int8_t lastlineoffset;
@ -78,11 +79,11 @@
bool tune;
private:
FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile int &encoderpos)
FORCE_INLINE void updateActiveLines(const uint8_t &maxlines,volatile long &encoderpos)
{
if(linechanging) return; // an item is changint its value, do not switch lines hence
lastlineoffset=lineoffset;
int curencoderpos=encoderpos;
long curencoderpos=encoderpos;
force_lcd_update=false;
if( (abs(curencoderpos-lastencoderpos)<lcdslow) )
{
@ -134,11 +135,12 @@
char *ftostr3(const float &x);
#define LCD_INIT lcd_init();
#define LCD_MESSAGE(x) lcd_status(x);
#define LCD_MESSAGEPGM(x) lcd_statuspgm(MYPGM(x));
#define LCD_STATUS lcd_status()
#else //no lcd
#define LCD_INIT
#define LCD_STATUS
#define LCD_MESSAGE(x)
#define LCD_MESSAGEPGM(x)

97
Marlin/ultralcd.pde
View File

@ -3,6 +3,9 @@
#include "ultralcd.h"
#ifdef ULTRA_LCD
#include "Marlin.h"
#include "language.h"
#include "temperature.h"
#include "EEPROMwrite.h"
#include <LiquidCrystal.h>
//===========================================================================
//=============================imported variables============================
@ -15,6 +18,7 @@ extern volatile int extrudemultiply;
extern long position[4];
#ifdef SDSUPPORT
#include "cardreader.h"
extern CardReader card;
#endif
@ -22,7 +26,7 @@ extern CardReader card;
//=============================public variables============================
//===========================================================================
volatile char buttons=0; //the last checked buttons in a bit array.
int encoderpos=0;
long encoderpos=0;
short lastenc=0;
@ -97,6 +101,9 @@ FORCE_INLINE void clear()
void lcd_init()
{
//beep();
#ifdef ULTIPANEL
buttons_init();
#endif
byte Degree[8] =
{
@ -304,10 +311,6 @@ MainMenu::MainMenu()
displayStartingRow=0;
activeline=0;
force_lcd_update=true;
#ifdef ULTIPANEL
buttons_init();
#endif
lcd_init();
linechanging=false;
tune=false;
}
@ -884,7 +887,7 @@ void MainMenu::showTune()
if(force_lcd_update)
{
lcd.setCursor(0,line);lcdprintPGM(MSG_FLOW);
lcd.setCursor(13,line);lcd.print(itostr4(axis_steps_per_unit[3]));
lcd.setCursor(13,line);lcd.print(ftostr52(axis_steps_per_unit[E_AXIS]));
}
if((activeline!=line) )
@ -895,14 +898,14 @@ void MainMenu::showTune()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)axis_steps_per_unit[3];
encoderpos=(long)(axis_steps_per_unit[E_AXIS]*100.0);
}
else
{
float factor=float(encoderpos)/float(axis_steps_per_unit[3]);
float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[E_AXIS]);
position[E_AXIS]=lround(position[E_AXIS]*factor);
//current_position[3]*=factor;
axis_steps_per_unit[E_AXIS]= encoderpos;
//current_position[E_AXIS]*=factor;
axis_steps_per_unit[E_AXIS]= encoderpos/100.0;
encoderpos=activeline*lcdslow;
}
@ -912,8 +915,8 @@ void MainMenu::showTune()
if(linechanging)
{
if(encoderpos<5) encoderpos=5;
if(encoderpos>9999) encoderpos=9999;
lcd.setCursor(13,line);lcd.print(itostr4(encoderpos));
if(encoderpos>999999) encoderpos=999999;
lcd.setCursor(13,line);lcd.print(ftostr52(encoderpos/100.0));
}
}break;
@ -1296,7 +1299,7 @@ void MainMenu::showControlTemp()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)Kp;
encoderpos=(long)Kp;
}
else
{
@ -1331,7 +1334,7 @@ void MainMenu::showControlTemp()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)(Ki*10/PID_dT);
encoderpos=(long)(Ki*10/PID_dT);
}
else
{
@ -1367,7 +1370,7 @@ void MainMenu::showControlTemp()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)(Kd/5./PID_dT);
encoderpos=(long)(Kd/5./PID_dT);
}
else
{
@ -1403,7 +1406,7 @@ void MainMenu::showControlTemp()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)Kc;
encoderpos=(long)Kc;
}
else
{
@ -1476,7 +1479,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)acceleration/100;
encoderpos=(long)acceleration/100;
}
else
{
@ -1510,7 +1513,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)max_xy_jerk;
encoderpos=(long)max_xy_jerk;
}
else
{
@ -1553,7 +1556,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)max_feedrate[i-ItemCM_vmaxx];
encoderpos=(long)max_feedrate[i-ItemCM_vmaxx];
}
else
{
@ -1589,7 +1592,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)(minimumfeedrate);
encoderpos=(long)(minimumfeedrate);
}
else
{
@ -1624,7 +1627,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)mintravelfeedrate;
encoderpos=(long)mintravelfeedrate;
}
else
{
@ -1667,7 +1670,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100;
encoderpos=(long)max_acceleration_units_per_sq_second[i-ItemCM_amaxx]/100;
}
else
{
@ -1701,7 +1704,7 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)retract_acceleration/100;
encoderpos=(long)retract_acceleration/100;
}
else
{
@ -1725,7 +1728,7 @@ void MainMenu::showControlMotion()
if(force_lcd_update)
{
lcd.setCursor(0,line);lcdprintPGM(MSG_XSTEPS);
lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[0]));
lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[X_AXIS]));
}
if((activeline!=line) )
@ -1736,13 +1739,13 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)(axis_steps_per_unit[0]*100.0);
encoderpos=(long)(axis_steps_per_unit[X_AXIS]*100.0);
}
else
{
float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[0]);
float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[X_AXIS]);
position[X_AXIS]=lround(position[X_AXIS]*factor);
//current_position[3]*=factor;
//current_position[X_AXIS]*=factor;
axis_steps_per_unit[X_AXIS]= encoderpos/100.0;
encoderpos=activeline*lcdslow;
}
@ -1752,7 +1755,7 @@ void MainMenu::showControlMotion()
if(linechanging)
{
if(encoderpos<5) encoderpos=5;
if(encoderpos>32000) encoderpos=32000;//TODO: This is a problem, encoderpos is 16bit, but steps_per_unit for e can be wel over 800
if(encoderpos>999999) encoderpos=999999;
lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
}
@ -1762,7 +1765,7 @@ void MainMenu::showControlMotion()
if(force_lcd_update)
{
lcd.setCursor(0,line);lcdprintPGM(MSG_YSTEPS);
lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[1]));
lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[Y_AXIS]));
}
if((activeline!=line) )
@ -1773,13 +1776,13 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)(axis_steps_per_unit[1]*100.0);
encoderpos=(long)(axis_steps_per_unit[Y_AXIS]*100.0);
}
else
{
float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[1]);
float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[Y_AXIS]);
position[Y_AXIS]=lround(position[Y_AXIS]*factor);
//current_position[3]*=factor;
//current_position[Y_AXIS]*=factor;
axis_steps_per_unit[Y_AXIS]= encoderpos/100.0;
encoderpos=activeline*lcdslow;
@ -1790,7 +1793,7 @@ void MainMenu::showControlMotion()
if(linechanging)
{
if(encoderpos<5) encoderpos=5;
if(encoderpos>9999) encoderpos=9999;
if(encoderpos>999999) encoderpos=999999;
lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
}
@ -1800,7 +1803,7 @@ void MainMenu::showControlMotion()
if(force_lcd_update)
{
lcd.setCursor(0,line);lcdprintPGM(MSG_ZSTEPS);
lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[2]));
lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[Z_AXIS]));
}
if((activeline!=line) )
@ -1811,13 +1814,13 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)(axis_steps_per_unit[2]*100.0);
encoderpos=(long)(axis_steps_per_unit[Z_AXIS]*100.0);
}
else
{
float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[2]);
float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[Z_AXIS]);
position[Z_AXIS]=lround(position[Z_AXIS]*factor);
//current_position[3]*=factor;
//current_position[Z_AXIS]*=factor;
axis_steps_per_unit[Z_AXIS]= encoderpos/100.0;
encoderpos=activeline*lcdslow;
@ -1828,7 +1831,7 @@ void MainMenu::showControlMotion()
if(linechanging)
{
if(encoderpos<5) encoderpos=5;
if(encoderpos>9999) encoderpos=9999;
if(encoderpos>999999) encoderpos=999999;
lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
}
@ -1839,7 +1842,7 @@ void MainMenu::showControlMotion()
if(force_lcd_update)
{
lcd.setCursor(0,line);lcdprintPGM(MSG_ESTEPS);
lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[3]));
lcd.setCursor(11,line);lcd.print(ftostr52(axis_steps_per_unit[E_AXIS]));
}
if((activeline!=line) )
@ -1850,13 +1853,13 @@ void MainMenu::showControlMotion()
linechanging=!linechanging;
if(linechanging)
{
encoderpos=(int)(axis_steps_per_unit[3]*100.0);
encoderpos=(long)(axis_steps_per_unit[E_AXIS]*100.0);
}
else
{
float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[3]);
float factor=float(encoderpos)/100.0/float(axis_steps_per_unit[E_AXIS]);
position[E_AXIS]=lround(position[E_AXIS]*factor);
//current_position[3]*=factor;
//current_position[E_AXIS]*=factor;
axis_steps_per_unit[E_AXIS]= encoderpos/100.0;
encoderpos=activeline*lcdslow;
@ -1867,7 +1870,7 @@ void MainMenu::showControlMotion()
if(linechanging)
{
if(encoderpos<5) encoderpos=5;
if(encoderpos>9999) encoderpos=9999;
if(encoderpos>999999) encoderpos=999999;
lcd.setCursor(11,line);lcd.print(ftostr52(encoderpos/100.0));
}
@ -2108,9 +2111,10 @@ void MainMenu::showMainMenu()
}
}
clearIfNecessary();
for(int8_t line=0;line<LCD_HEIGHT;line++)
uint8_t line=0;
for(int8_t i=lineoffset;i<lineoffset+LCD_HEIGHT;i++)
{
switch(line)
switch(i)
{
case ItemM_watch:
MENUITEM( lcdprintPGM(MSG_WATCH) , BLOCK;status=Main_Status;beepshort(); ) ;
@ -2164,6 +2168,7 @@ void MainMenu::showMainMenu()
SERIAL_ERRORLNPGM(MSG_SERIAL_ERROR_MENU_STRUCTURE);
break;
}
line++;
}
updateActiveLines(3,encoderpos);
}
@ -2381,4 +2386,4 @@ char *ftostr52(const float &x)
#endif //ULTRA_LCD

3
README.md
View File

@ -161,7 +161,8 @@ Advance:
EEPROM:
* M500 - stores paramters in EEPROM
* M500 - stores paramters in EEPROM. This parameters are stored: axis_steps_per_unit, max_feedrate, max_acceleration ,acceleration,retract_acceleration,
minimumfeedrate,mintravelfeedrate,minsegmenttime, jerk velocities, PID
* M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily).
* M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to.
* M503 - print the current settings (from memory not from eeprom)

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