Fixed AD595 define

13 years ago · b67dacdc8f
3 changed files with 261 additions and 213 deletions
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@ -16,7 +16,7 @@
 
 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. */

@ -49,7 +49,7 @@
 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 "Marlin.h"
 #include "planner.h"
@ -83,10 +83,10 @@ static float previous_nominal_speed; // Nominal speed of previous path line segm
 extern volatile int extrudemultiply; // Sets extrude multiply factor (in percent)

 #ifdef AUTOTEMP
-    float autotemp_max=250;
-    float autotemp_min=210;
-    float autotemp_factor=0.1;
-    bool autotemp_enabled=false;
+float autotemp_max=250;
+float autotemp_min=210;
+float autotemp_factor=0.1;
+bool autotemp_enabled=false;
 #endif

 //===========================================================================
@ -100,27 +100,33 @@ volatile unsigned char block_buffer_tail;           // Index of the block to pro
 //=============================private variables ============================
 //===========================================================================
 #ifdef PREVENT_DANGEROUS_EXTRUDE
-  bool allow_cold_extrude=false;
+bool allow_cold_extrude=false;
 #endif
 #ifdef XY_FREQUENCY_LIMIT
-  // Used for the frequency limit
-  static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
-  static long x_segment_time[3]={0,0,0};                     // Segment times (in us). Used for speed calculations
-  static long y_segment_time[3]={0,0,0};
+// Used for the frequency limit
+static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
+static long x_segment_time[3]={
+  0,0,0};                     // Segment times (in us). Used for speed calculations
+static long y_segment_time[3]={
+  0,0,0};
 #endif

 // Returns the index of the next block in the ring buffer
 // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
 static int8_t next_block_index(int8_t block_index) {
  block_index++;
-  if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
+  if (block_index == BLOCK_BUFFER_SIZE) { 
+    block_index = 0; 
+  }
  return(block_index);
 }


 // Returns the index of the previous block in the ring buffer
 static int8_t prev_block_index(int8_t block_index) {
-  if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
+  if (block_index == 0) { 
+    block_index = BLOCK_BUFFER_SIZE; 
+  }
  block_index--;
  return(block_index);
 }
@ -165,8 +171,12 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
  unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)

  // Limit minimal step rate (Otherwise the timer will overflow.)
-  if(initial_rate <120) {initial_rate=120; }
-  if(final_rate < 120) {final_rate=120;  }
+  if(initial_rate <120) {
+    initial_rate=120; 
+  }
+  if(final_rate < 120) {
+    final_rate=120;  
+  }

  long acceleration = block->acceleration_st;
  int32_t accelerate_steps =
@ -188,10 +198,10 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
    plateau_steps = 0;
  }

-  #ifdef ADVANCE
+#ifdef ADVANCE
  volatile long initial_advance = block->advance*entry_factor*entry_factor; 
  volatile long final_advance = block->advance*exit_factor*exit_factor;
-  #endif // ADVANCE
+#endif // ADVANCE

  // block->accelerate_until = accelerate_steps;
  // block->decelerate_after = accelerate_steps+plateau_steps;
@ -201,10 +211,10 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
    block->decelerate_after = accelerate_steps+plateau_steps;
    block->initial_rate = initial_rate;
    block->final_rate = final_rate;
-  #ifdef ADVANCE
+#ifdef ADVANCE
    block->initial_advance = initial_advance;
    block->final_advance = final_advance;
-  #endif //ADVANCE
+#endif //ADVANCE
  }
  CRITICAL_SECTION_END;
 }                    
@ -226,7 +236,9 @@ FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity

 // 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; }
+  if(!current) { 
+    return; 
+  }

  if (next) {
    // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
@ -239,7 +251,8 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
      if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
        current->entry_speed = min( current->max_entry_speed,
        max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
-      } else {
+      } 
+      else {
        current->entry_speed = current->max_entry_speed;
      }
      current->recalculate_flag = true;
@ -252,10 +265,17 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
 // implements the reverse pass.
 void planner_reverse_pass() {
  uint8_t block_index = block_buffer_head;
-  if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
+  
+  //Make a local copy of block_buffer_tail, because the interrupt can alter it
+  CRITICAL_SECTION_START;
+  unsigned char tail = block_buffer_tail;
+  CRITICAL_SECTION_END
+  
+  if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
    block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
-    block_t *block[3] = { NULL, NULL, NULL };
-    while(block_index != block_buffer_tail) { 
+    block_t *block[3] = { 
+      NULL, NULL, NULL         };
+    while(block_index != tail) { 
      block_index = prev_block_index(block_index); 
      block[2]= block[1];
      block[1]= block[0];
@ -267,7 +287,9 @@ void planner_reverse_pass() {

 // 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(!previous) { return; }
+  if(!previous) { 
+    return; 
+  }

  // 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 the entry speed accordingly. Entry
@ -291,7 +313,8 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
 // implements the forward pass.
 void planner_forward_pass() {
  uint8_t block_index = block_buffer_tail;
-  block_t *block[3] = { NULL, NULL, NULL };
+  block_t *block[3] = { 
+    NULL, NULL, NULL   };

  while(block_index != block_buffer_head) {
    block[0] = block[1];
@ -436,17 +459,21 @@ void check_axes_activity() {
    }
  }
  else {
-    #if FAN_PIN > -1
+#if FAN_PIN > -1
    if (FanSpeed != 0){
      analogWrite(FAN_PIN,FanSpeed); // If buffer is empty use current fan speed
    }
-    #endif
+#endif
  }
  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_e0();disable_e1();disable_e2(); }
-  #if FAN_PIN > -1
+  if((DISABLE_E) && (e_active == 0)) { 
+    disable_e0();
+    disable_e1();
+    disable_e2(); 
+  }
+#if FAN_PIN > -1
  if((FanSpeed == 0) && (fan_speed ==0)) {
    analogWrite(FAN_PIN, 0);
  }
@ -454,10 +481,10 @@ void check_axes_activity() {
  if (FanSpeed != 0 && tail_fan_speed !=0) { 
    analogWrite(FAN_PIN,tail_fan_speed);
  }
-  #endif
-  #ifdef AUTOTEMP
+#endif
+#ifdef AUTOTEMP
  getHighESpeed();
-  #endif
+#endif
 }


@ -487,7 +514,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);     
  target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);

-  #ifdef PREVENT_DANGEROUS_EXTRUDE
+#ifdef PREVENT_DANGEROUS_EXTRUDE
  if(target[E_AXIS]!=position[E_AXIS])
    if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
    {
@ -495,15 +522,15 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
      SERIAL_ECHO_START;
      SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
    }
-    #ifdef PREVENT_LENGTHY_EXTRUDE
+#ifdef PREVENT_LENGTHY_EXTRUDE
  if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
  {
    position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
    SERIAL_ECHO_START;
    SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  }
-    #endif
-  #endif
+#endif
+#endif

  // Prepare to set up new block
  block_t *block = &block_buffer[block_buffer_head];
@ -521,28 +548,42 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  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; };
+  if (block->step_event_count <= dropsegments) { 
+    return; 
+  };

  block->fan_speed = FanSpeed;

  // 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); }
+  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); 
+  }

  block->active_extruder = extruder;

  //enable active axes
  if(block->steps_x != 0) enable_x();
  if(block->steps_y != 0) enable_y();
-  #ifndef Z_LATE_ENABLE
+#ifndef Z_LATE_ENABLE
  if(block->steps_z != 0) enable_z();
-  #endif
+#endif

  // Enable all
-  if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
+  if(block->steps_e != 0) { 
+    enable_e0();
+    enable_e1();
+    enable_e2(); 
+  }

  if (block->steps_e == 0) {
    if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
@ -558,7 +599,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
  if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) {
    block->millimeters = fabs(delta_mm[E_AXIS]);
-  } else {
+  } 
+  else {
    block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
  }
  float inverse_millimeters = 1.0/block->millimeters;  // Inverse millimeters to remove multiple divides 
@ -569,11 +611,11 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);

  // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
-  #ifdef OLD_SLOWDOWN
+#ifdef OLD_SLOWDOWN
  if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); 
-  #endif
+#endif

-  #ifdef SLOWDOWN
+#ifdef SLOWDOWN
  //  segment time im micro seconds
  unsigned long segment_time = lround(1000000.0/inverse_second);
  if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
@ -581,7 +623,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
      inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
    }
  }
-  #endif
+#endif
  //  END OF SLOW DOWN SECTION    


@ -597,7 +639,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
      speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
  }

-// Max segement time in us.
+  // Max segement time in us.
 #ifdef XY_FREQUENCY_LIMIT
 #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)

@ -698,26 +740,29 @@ 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; 
+  float vmax_junction_factor = 1.0; 
  if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) 
-    vmax_junction = max_z_jerk/2;
-  vmax_junction = min(vmax_junction, block->nominal_speed);
+    vmax_junction = min(vmax_junction, max_z_jerk/2);
  if(fabs(current_speed[E_AXIS]) > max_e_jerk/2) 
    vmax_junction = min(vmax_junction, max_e_jerk/2);
+  vmax_junction = min(vmax_junction, block->nominal_speed);
+  float safe_speed = vmax_junction;

  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((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(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);
+      vmax_junction_factor = (max_xy_jerk/jerk);
    } 
    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]));
+      vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_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]));
+      vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
    } 
+    vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
  }
  block->max_entry_speed = vmax_junction;

@ -733,8 +778,12 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
  // the reverse and forward planners, the corresponding block junction speed will always be at the
  // the maximum junction speed and may always be ignored for any speed reduction checks.
-  if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
-  else { block->nominal_length_flag = false; }
+  if (block->nominal_speed <= v_allowable) { 
+    block->nominal_length_flag = true; 
+  }
+  else { 
+    block->nominal_length_flag = false; 
+  }
  block->recalculate_flag = true; // Always calculate trapezoid for new block

  // Update previous path unit_vector and nominal speed
@ -742,7 +791,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
  previous_nominal_speed = block->nominal_speed;


-  #ifdef ADVANCE
+#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;
@ -767,10 +816,10 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   SERIAL_ECHOPGM("advance rate :");
   SERIAL_ECHOLN(block->advance_rate/256.0);
   */
-  #endif // ADVANCE
+#endif // ADVANCE

  calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
-    MINIMUM_PLANNER_SPEED/block->nominal_speed);
+  safe_speed/block->nominal_speed);

  // Move buffer head
  block_buffer_head = next_buffer_head;
@ -810,7 +859,8 @@ uint8_t movesplanned()

 void allow_cold_extrudes(bool allow)
 {
-  #ifdef PREVENT_DANGEROUS_EXTRUDE
+#ifdef PREVENT_DANGEROUS_EXTRUDE
  allow_cold_extrude=allow;
-  #endif
+#endif
 }
+
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@ -261,12 +261,10 @@ FORCE_INLINE void trapezoid_generator_reset() {
  #endif
  deceleration_time = 0;
  // step_rate to timer interval
+  OCR1A_nominal = calc_timer(current_block->nominal_rate);
  acc_step_rate = current_block->initial_rate;
  acceleration_time = calc_timer(acc_step_rate);
  OCR1A = acceleration_time;
-  OCR1A_nominal = calc_timer(current_block->nominal_rate);
-  
-
  
 //    SERIAL_ECHO_START;
 //    SERIAL_ECHOPGM("advance :");
--- a/Marlin/ultralcd.pde
+++ b/Marlin/ultralcd.pde
@ -957,7 +957,7 @@ enum {
 #if EXTRUDERS > 2
  ItemCT_nozzle2,
 #endif
-#if defined BED_USES_THERMISTOR || BED_USES_AD595
+#if defined BED_USES_THERMISTOR || defined BED_USES_AD595
 ItemCT_bed,
 #endif  
  ItemCT_fan,
@ -1212,7 +1212,7 @@ void MainMenu::showControlTemp()
        
      }break;  
    #endif //autotemp
-    #if defined BED_USES_THERMISTOR || BED_USES_AD595
+    #if defined BED_USES_THERMISTOR || defined BED_USES_AD595
    case ItemCT_bed:
      {
        if(force_lcd_update)