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merge from the branch bkubicek/Marlin/zalmmerge

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Bernhard Kubicek 2011-11-05 14:13:20 +01:00
parent d7c4f0780b
commit 00674af3a8
20 changed files with 4030 additions and 3832 deletions
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463
Marlin/Configuration.h
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@ -1,220 +1,243 @@
#ifndef CONFIGURATION_H #ifndef CONFIGURATION_H
#define CONFIGURATION_H #define CONFIGURATION_H
//#define DEBUG_STEPS //#define DEBUG_STEPS
// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration // BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
//// The following define selects which electronics board you have. Please choose the one that matches your setup //// The following define selects which electronics board you have. Please choose the one that matches your setup
// MEGA/RAMPS up to 1.2 = 3, // MEGA/RAMPS up to 1.2 = 3,
// RAMPS 1.3 = 33 // RAMPS 1.3 = 33
// Gen6 = 5, // Gen6 = 5,
// Sanguinololu 1.2 and above = 62 // Sanguinololu 1.2 and above = 62
// Ultimaker = 7, // Ultimaker = 7,
#define MOTHERBOARD 7 #define MOTHERBOARD 7
//#define MOTHERBOARD 5 //#define MOTHERBOARD 5
//// Thermistor settings: //// Thermistor settings:
// 1 is 100k thermistor // 1 is 100k thermistor
// 2 is 200k thermistor // 2 is 200k thermistor
// 3 is mendel-parts thermistor // 3 is mendel-parts thermistor
// 4 is 10k thermistor // 4 is 10k thermistor
// 5 is ParCan supplied 104GT-2 100K // 5 is ParCan supplied 104GT-2 100K
// 6 is EPCOS 100k // 6 is EPCOS 100k
// 7 is 100k Honeywell thermistor 135-104LAG-J01 // 7 is 100k Honeywell thermistor 135-104LAG-J01
#define THERMISTORHEATER_1 3 #define THERMISTORHEATER_1 3
#define THERMISTORHEATER_2 3 #define THERMISTORHEATER_2 3
#define THERMISTORBED 3 #define THERMISTORBED 3
//#define HEATER_1_USES_THERMISTOR //#define HEATER_1_USES_THERMISTOR
//#define HEATER_2_USES_THERMISTOR //#define HEATER_2_USES_THERMISTOR
#define HEATER_1_USES_AD595 #define HEATER_1_USES_AD595
//#define HEATER_2_USES_AD595 //#define HEATER_2_USES_AD595
// Select one of these only to define how the bed temp is read. // Select one of these only to define how the bed temp is read.
//#define BED_USES_THERMISTOR //#define BED_USES_THERMISTOR
//#define BED_USES_AD595 //#define BED_USES_AD595
#define HEATER_CHECK_INTERVAL 50 #define HEATER_CHECK_INTERVAL 50
#define BED_CHECK_INTERVAL 5000 #define BED_CHECK_INTERVAL 5000
//// Endstop Settings //// Endstop Settings
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors #define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins. // The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops. const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false // For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false
// This determines the communication speed of the printer // This determines the communication speed of the printer
//#define BAUDRATE 250000 //#define BAUDRATE 250000
#define BAUDRATE 115200 #define BAUDRATE 115200
//#define BAUDRATE 230400 //#define BAUDRATE 230400
// Comment out (using // at the start of the line) to disable SD support: // Comment out (using // at the start of the line) to disable SD support:
// #define ULTRA_LCD //any lcd // #define ULTRA_LCD //any lcd
#define LCD_WIDTH 16
#define LCD_HEIGHT 2
#define ULTIPANEL
//#define ULTIPANEL #ifdef ULTIPANEL
#ifdef ULTIPANEL //#define NEWPANEL //enable this if you have a click-encoder panel
//#define NEWPANEL //enable this if you have a click-encoder panel #define SDSUPPORT
#define SDSUPPORT #define ULTRA_LCD
#define ULTRA_LCD #define LCD_WIDTH 20
#define LCD_WIDTH 20 #define LCD_HEIGHT 4
#define LCD_HEIGHT 4 #else //no panel but just lcd
#endif #ifdef ULTRA_LCD
#define LCD_WIDTH 16
#define LCD_HEIGHT 2
//#define SDSUPPORT // Enable SD Card Support in Hardware Console #endif
#endif
const int dropsegments=5; //everything with this number of steps will be ignored as move //#define SDSUPPORT // Enable SD Card Support in Hardware Console
//// ADVANCED SETTINGS - to tweak parameters
#include "thermistortables.h" const int dropsegments=5; //everything with this number of steps will be ignored as move
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 //// ADVANCED SETTINGS - to tweak parameters
#define X_ENABLE_ON 0
#define Y_ENABLE_ON 0 #include "thermistortables.h"
#define Z_ENABLE_ON 0
#define E_ENABLE_ON 0 // For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
// Disables axis when it's not being used. #define Y_ENABLE_ON 0
#define DISABLE_X false #define Z_ENABLE_ON 0
#define DISABLE_Y false #define E_ENABLE_ON 0
#define DISABLE_Z false
#define DISABLE_E false // Disables axis when it's not being used.
#define DISABLE_X false
// Inverting axis direction #define DISABLE_Y false
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true #define DISABLE_Z false
#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false #define DISABLE_E false
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_E_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false // Inverting axis direction
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
//// ENDSTOP SETTINGS: #define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
// Sets direction of endstops when homing; 1=MAX, -1=MIN #define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
#define X_HOME_DIR -1 #define INVERT_E_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1 //// ENDSTOP SETTINGS:
// Sets direction of endstops when homing; 1=MAX, -1=MIN
#define min_software_endstops false //If true, axis won't move to coordinates less than zero. #define X_HOME_DIR -1
#define max_software_endstops false //If true, axis won't move to coordinates greater than the defined lengths below. #define Y_HOME_DIR -1
#define X_MAX_LENGTH 210 #define Z_HOME_DIR -1
#define Y_MAX_LENGTH 210
#define Z_MAX_LENGTH 210 #define min_software_endstops false //If true, axis won't move to coordinates less than zero.
#define max_software_endstops false //If true, axis won't move to coordinates greater than the defined lengths below.
//// MOVEMENT SETTINGS #define X_MAX_LENGTH 210
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E #define Y_MAX_LENGTH 210
//note: on bernhards ultimaker 200 200 12 are working well. #define Z_MAX_LENGTH 210
#define HOMING_FEEDRATE {50*60, 50*60, 12*60, 0} // set the homing speeds
//the followint checks if an extrusion is existent in the move. if _not_, the speed of the move is set to the maximum speed. //// MOVEMENT SETTINGS
//!!!!!!Use only if you know that your printer works at the maximum declared speeds. #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
// works around the skeinforge cool-bug. There all moves are slowed to have a minimum layer time. However slow travel moves= ooze //note: on bernhards ultimaker 200 200 12 are working well.
#define TRAVELING_AT_MAXSPEED #define HOMING_FEEDRATE {50*60, 50*60, 12*60, 0} // set the homing speeds
#define AXIS_RELATIVE_MODES {false, false, false, false} //the followint checks if an extrusion is existent in the move. if _not_, the speed of the move is set to the maximum speed.
//!!!!!!Use only if you know that your printer works at the maximum declared speeds.
#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step) // works around the skeinforge cool-bug. There all moves are slowed to have a minimum layer time. However slow travel moves= ooze
#define TRAVELING_AT_MAXSPEED
// default settings #define AXIS_RELATIVE_MODES {false, false, false, false}
#define DEFAULT_AXIS_STEPS_PER_UNIT {79.87220447,79.87220447,200*8/3,14} // default steps per unit for ultimaker #define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
#define DEFAULT_MAX_FEEDRATE {160*60, 160*60, 10*60, 500000}
#define DEFAULT_MAX_ACCELERATION {9000,9000,150,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. // default settings
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves #define DEFAULT_AXIS_STEPS_PER_UNIT {79.87220447,79.87220447,200*8/3,14} // default steps per unit for ultimaker
#define DEFAULT_RETRACT_ACCELERATION 7000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts #define DEFAULT_MAX_FEEDRATE {160*60, 160*60, 10*60, 500000}
#define DEFAULT_MAX_ACCELERATION {9000,9000,150,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_MINIMUMFEEDRATE 10 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 10 #define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 7000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
#define DEFAULT_MINSEGMENTTIME 20000 #define DEFAULT_MINIMUMFEEDRATE 10 // minimum feedrate
#define DEFAULT_XYJERK 30.0*60 #define DEFAULT_MINTRAVELFEEDRATE 10
#define DEFAULT_ZJERK 10.0*60
// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
#define DEFAULT_MINSEGMENTTIME 20000
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature #define DEFAULT_XYJERK 30.0*60
//this enables the watchdog interrupt. #define DEFAULT_ZJERK 10.0*60
#define USE_WATCHDOG
//you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
#define RESET_MANUAL // The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
//this enables the watchdog interrupt.
#define WATCHDOG_TIMEOUT 4 #define USE_WATCHDOG
//you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
#define RESET_MANUAL
//// Experimental watchdog and minimal temp #define WATCHDOG_TIMEOUT 4
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
// If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
//#define WATCHPERIOD 5000 //5 seconds
//// Experimental watchdog and minimal temp
// Actual temperature must be close to target for this long before M109 returns success // The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
//#define TEMP_RESIDENCY_TIME 20 // (seconds) // If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109
//#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one //#define WATCHPERIOD 5000 //5 seconds
//// The minimal temperature defines the temperature below which the heater will not be enabled // Actual temperature must be close to target for this long before M109 returns success
#define MINTEMP 5 //#define TEMP_RESIDENCY_TIME 20 // (seconds)
#define BED_MINTEMP 5 //#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one
//// The minimal temperature defines the temperature below which the heater will not be enabled
// When temperature exceeds max temp, your heater will be switched off. #define MINTEMP 5
// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure! #define BED_MINTEMP 5
// You should use MINTEMP for thermistor short/failure protection.
#define MAXTEMP 275
#define BED_MAXTEMP 150 // When temperature exceeds max temp, your heater will be switched off.
// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
/// PID settings: // You should use MINTEMP for thermistor short/failure protection.
// Uncomment the following line to enable PID support. #define MAXTEMP 275
//#define SMOOTHING #define BED_MAXTEMP 150
//#define SMOOTHFACTOR 5.0
//float current_raw_average=0;
#define PIDTEMP
#ifdef PIDTEMP
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
#define PID_MAX 255 // limits current to nozzle #define PIDTEMP
#define PID_INTEGRAL_DRIVE_MAX 255 #ifdef PIDTEMP
#define PID_dT 0.10 // 100ms sample time /// PID settings:
#define DEFAULT_Kp 20.0 // Uncomment the following line to enable PID support.
#define DEFAULT_Ki 1.5*PID_dT //#define SMOOTHING
#define DEFAULT_Kd 80/PID_dT //#define SMOOTHFACTOR 5.0
#define DEFAULT_Kc 0 //float current_raw_average=0;
#endif // PIDTEMP #define K1 0.95 //smoothing of the PID
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
// extruder advance constant (s2/mm3) #define PID_MAX 255 // limits current to nozzle
// #define PID_INTEGRAL_DRIVE_MAX 255
// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2 #define PID_dT 0.1
// //machine with red silicon: 1950:45 second ; with fan fully blowin 3000:47
// hooke's law says: force = k * distance
// bernoulli's priniciple says: v ^ 2 / 2 + g . h + pressure / density = constant #define PID_CRITIAL_GAIN 3000
// so: v ^ 2 is proportional to number of steps we advance the extruder #define PID_SWING_AT_CRITIAL 45 //seconds
//#define ADVANCE #define PIDIADD 5
/*
#ifdef ADVANCE //PID according to Ziegler-Nichols method
#define EXTRUDER_ADVANCE_K .3 float Kp = 0.6*PID_CRITIAL_GAIN;
float Ki =PIDIADD+2*Kp/PID_SWING_AT_CRITIAL*PID_dT;
#define D_FILAMENT 1.7 float Kd = Kp*PID_SWING_AT_CRITIAL/8./PID_dT;
#define STEPS_MM_E 65 */
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159) //PI according to Ziegler-Nichols method
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA) #define DEFAULT_Kp (PID_CRITIAL_GAIN/2.2)
#define DEFAULT_Ki (1.2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
#endif // ADVANCE #define DEFAULT_Kd (0)
#if defined SDSUPPORT #define PID_ADD_EXTRUSION_RATE
// The number of linear motions that can be in the plan at any give time. #ifdef PID_ADD_EXTRUSION_RATE
#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller #define DEFAULT_Kc (5) //heatingpower=Kc*(e_speed)
#else #endif
#define BLOCK_BUFFER_SIZE 16 // maximize block buffer #endif // PIDTEMP
#endif
// extruder advance constant (s2/mm3)
#ifdef SIMPLE_LCD //
#define BLOCK_BUFFER_SIZE 16 // A little less buffer for just a simple LCD // advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
#endif //
// hooke's law says: force = k * distance
#endif // bernoulli's priniciple says: v ^ 2 / 2 + g . h + pressure / density = constant
// so: v ^ 2 is proportional to number of steps we advance the extruder
//#define ADVANCE
#ifdef ADVANCE
#define EXTRUDER_ADVANCE_K .3
#define D_FILAMENT 1.7
#define STEPS_MM_E 65
#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
#endif // ADVANCE
// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, e.g. 8,16,32
#if defined SDSUPPORT
// The number of linear motions that can be in the plan at any give time.
#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
#else
#define BLOCK_BUFFER_SIZE 16 // maximize block buffer
#endif
#endif

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Marlin/EEPROM.h → Marlin/EEPROMwrite.h
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@ -1,123 +1,129 @@
#ifndef __EEPROMH
#include "planner.h" #define __EEPROMH
#include "temperature.h" #include "planner.h"
#include "temperature.h"
//====================================================================================== #include <EEPROM.h>
template <class T> int EEPROM_writeAnything(int &ee, const T& value) #include "Marlin.h"
{ #include "streaming.h"
const byte* p = (const byte*)(const void*)&value;
int i; //======================================================================================
for (i = 0; i < sizeof(value); i++) template <class T> int EEPROM_writeAnything(int &ee, const T& value)
EEPROM.write(ee++, *p++); {
return i; const byte* p = (const byte*)(const void*)&value;
} int i;
//====================================================================================== for (i = 0; i < (int)sizeof(value); i++)
template <class T> int EEPROM_readAnything(int &ee, T& value) EEPROM.write(ee++, *p++);
{ return i;
byte* p = (byte*)(void*)&value; }
int i; //======================================================================================
for (i = 0; i < sizeof(value); i++) template <class T> int EEPROM_readAnything(int &ee, T& value)
*p++ = EEPROM.read(ee++); {
return i; byte* p = (byte*)(void*)&value;
} int i;
//====================================================================================== for (i = 0; i < (int)sizeof(value); i++)
*p++ = EEPROM.read(ee++);
#define EEPROM_OFFSET 100 return i;
}
#define EEPROM_VERSION "V04" // IMPORTANT: Whenever there are changes made to the variables stored in EEPROM //======================================================================================
// in the functions below, also increment the version number. This makes sure that
// the default values are used whenever there is a change to the data, to prevent #define EEPROM_OFFSET 100
// wrong data being written to the variables.
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order. #define EEPROM_VERSION "V04" // IMPORTANT: Whenever there are changes made to the variables stored in EEPROM
void StoreSettings() { // in the functions below, also increment the version number. This makes sure that
char ver[4]= "000"; // the default values are used whenever there is a change to the data, to prevent
int i=EEPROM_OFFSET; // wrong data being written to the variables.
EEPROM_writeAnything(i,ver); // invalidate data first // ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
EEPROM_writeAnything(i,axis_steps_per_unit); void StoreSettings() {
EEPROM_writeAnything(i,max_feedrate); char ver[4]= "000";
EEPROM_writeAnything(i,max_acceleration_units_per_sq_second); int i=EEPROM_OFFSET;
EEPROM_writeAnything(i,acceleration); EEPROM_writeAnything(i,ver); // invalidate data first
EEPROM_writeAnything(i,retract_acceleration); EEPROM_writeAnything(i,axis_steps_per_unit);
EEPROM_writeAnything(i,minimumfeedrate); EEPROM_writeAnything(i,max_feedrate);
EEPROM_writeAnything(i,mintravelfeedrate); EEPROM_writeAnything(i,max_acceleration_units_per_sq_second);
EEPROM_writeAnything(i,minsegmenttime); EEPROM_writeAnything(i,acceleration);
EEPROM_writeAnything(i,max_xy_jerk); EEPROM_writeAnything(i,retract_acceleration);
EEPROM_writeAnything(i,max_z_jerk); EEPROM_writeAnything(i,minimumfeedrate);
#ifdef PIDTEMP EEPROM_writeAnything(i,mintravelfeedrate);
EEPROM_writeAnything(i,Kp); EEPROM_writeAnything(i,minsegmenttime);
EEPROM_writeAnything(i,Ki); EEPROM_writeAnything(i,max_xy_jerk);
EEPROM_writeAnything(i,Kd); EEPROM_writeAnything(i,max_z_jerk);
#else #ifdef PIDTEMP
EEPROM_writeAnything(i,3000); EEPROM_writeAnything(i,Kp);
EEPROM_writeAnything(i,0); EEPROM_writeAnything(i,Ki);
EEPROM_writeAnything(i,0); EEPROM_writeAnything(i,Kd);
#endif #else
char ver2[4]=EEPROM_VERSION; EEPROM_writeAnything(i,3000);
i=EEPROM_OFFSET; EEPROM_writeAnything(i,0);
EEPROM_writeAnything(i,ver2); // validate data EEPROM_writeAnything(i,0);
ECHOLN("Settings Stored"); #endif
char ver2[4]=EEPROM_VERSION;
} i=EEPROM_OFFSET;
EEPROM_writeAnything(i,ver2); // validate data
void RetrieveSettings(bool def=false){ // if def=true, the default values will be used ECHOLN("Settings Stored");
int i=EEPROM_OFFSET;
char stored_ver[4]; }
char ver[4]=EEPROM_VERSION;
EEPROM_readAnything(i,stored_ver); //read stored version void RetrieveSettings(bool def=false){ // if def=true, the default values will be used
// ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]"); int i=EEPROM_OFFSET;
if ((!def)&&(strncmp(ver,stored_ver,3)==0)) { // version number match char stored_ver[4];
EEPROM_readAnything(i,axis_steps_per_unit); char ver[4]=EEPROM_VERSION;
EEPROM_readAnything(i,max_feedrate); EEPROM_readAnything(i,stored_ver); //read stored version
EEPROM_readAnything(i,max_acceleration_units_per_sq_second); // ECHOLN("Version: [" << ver << "] Stored version: [" << stored_ver << "]");
EEPROM_readAnything(i,acceleration); if ((!def)&&(strncmp(ver,stored_ver,3)==0)) { // version number match
EEPROM_readAnything(i,retract_acceleration); EEPROM_readAnything(i,axis_steps_per_unit);
EEPROM_readAnything(i,minimumfeedrate); EEPROM_readAnything(i,max_feedrate);
EEPROM_readAnything(i,mintravelfeedrate); EEPROM_readAnything(i,max_acceleration_units_per_sq_second);
EEPROM_readAnything(i,minsegmenttime); EEPROM_readAnything(i,acceleration);
EEPROM_readAnything(i,max_xy_jerk); EEPROM_readAnything(i,retract_acceleration);
EEPROM_readAnything(i,max_z_jerk); EEPROM_readAnything(i,minimumfeedrate);
#ifndef PIDTEMP EEPROM_readAnything(i,mintravelfeedrate);
float Kp,Ki,Kd; EEPROM_readAnything(i,minsegmenttime);
#endif EEPROM_readAnything(i,max_xy_jerk);
EEPROM_readAnything(i,Kp); EEPROM_readAnything(i,max_z_jerk);
EEPROM_readAnything(i,Ki); #ifndef PIDTEMP
EEPROM_readAnything(i,Kd); float Kp,Ki,Kd;
#endif
ECHOLN("Stored settings retreived:"); EEPROM_readAnything(i,Kp);
} EEPROM_readAnything(i,Ki);
else { EEPROM_readAnything(i,Kd);
float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
float tmp2[]=DEFAULT_MAX_FEEDRATE; ECHOLN("Stored settings retreived:");
long tmp3[]=DEFAULT_MAX_ACCELERATION; }
for (int i=0;i<4;i++) { else {
axis_steps_per_unit[i]=tmp1[i]; float tmp1[]=DEFAULT_AXIS_STEPS_PER_UNIT;
max_feedrate[i]=tmp2[i]; float tmp2[]=DEFAULT_MAX_FEEDRATE;
max_acceleration_units_per_sq_second[i]=tmp3[i]; long tmp3[]=DEFAULT_MAX_ACCELERATION;
} for (int i=0;i<4;i++) {
acceleration=DEFAULT_ACCELERATION; axis_steps_per_unit[i]=tmp1[i];
retract_acceleration=DEFAULT_RETRACT_ACCELERATION; max_feedrate[i]=tmp2[i];
minimumfeedrate=DEFAULT_MINIMUMFEEDRATE; max_acceleration_units_per_sq_second[i]=tmp3[i];
minsegmenttime=DEFAULT_MINSEGMENTTIME; }
mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE; acceleration=DEFAULT_ACCELERATION;
max_xy_jerk=DEFAULT_XYJERK; retract_acceleration=DEFAULT_RETRACT_ACCELERATION;
max_z_jerk=DEFAULT_ZJERK; minimumfeedrate=DEFAULT_MINIMUMFEEDRATE;
ECHOLN("Using Default settings:"); minsegmenttime=DEFAULT_MINSEGMENTTIME;
} mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
ECHOLN("Steps per unit:"); max_xy_jerk=DEFAULT_XYJERK;
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)); max_z_jerk=DEFAULT_ZJERK;
ECHOLN("Maximum feedrates (mm/s):"); ECHOLN("Using Default settings:");
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)); }
ECHOLN("Maximum Acceleration (mm/s2):"); ECHOLN("Steps per unit:");
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)); 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));
ECHOLN("Acceleration: S=acceleration, T=retract acceleration"); ECHOLN("Maximum feedrates (mm/s):");
ECHOLN(" M204 S" <<_FLOAT(acceleration,2) << " T" << _FLOAT(retract_acceleration,2)); 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));
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)"); ECHOLN("Maximum Acceleration (mm/s2):");
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)); 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));
#ifdef PIDTEMP ECHOLN("Acceleration: S=acceleration, T=retract acceleration");
ECHOLN("PID settings:"); ECHOLN(" M204 S" <<_FLOAT(acceleration,2) << " T" << _FLOAT(retract_acceleration,2));
ECHOLN(" M301 P" << _FLOAT(Kp,3) << " I" << _FLOAT(Ki,3) << " D" << _FLOAT(Kd,3)); 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)");
#endif 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));
#ifdef PIDTEMP
} ECHOLN("PID settings:");
ECHOLN(" M301 P" << _FLOAT(Kp,3) << " I" << _FLOAT(Ki,3) << " D" << _FLOAT(Kd,3));
#endif
}
#endif

508
Marlin/Makefile
View file

@ -1,274 +1,320 @@
TARGET = $(notdir $(CURDIR))
# CHANGE BELOW:
#~ INSTALL_DIR = /Applications/Arduino.app/Contents/Resources/Java
INSTALL_DIR = /home/bkubicek/software/arduino-0022
#~ PORT = /dev/cu.usbserial*
PORT = /dev/ttyACM0
# Get these values from:
# $(INSTALL_DIR)/hardware/boards.txt
# (arduino-0022/hardware/arduino/boards.txt)
# The values below are for the "Arduino Duemilanove or Nano w/ ATmega328"
# now for "Arduino Mega 2560"
UPLOAD_SPEED = 115200
UPLOAD_PROTOCOL = stk500v2
BUILD_MCU = atmega2560
BUILD_F_CPU = 16000000L
# getting undefined reference to `__cxa_pure_virtual'
#~ [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1254180518 Arduino Forum - Makefile]
#~ http://www.arduino.cc/playground/OpenBSD/CLI
#~ [http://arduino.cc/forum/index.php?topic=52041.0 A "simple" makefile for Arduino]
#~ [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1275488191 Arduino Forum - Configuring avr-gcc options in arduino IDE]
# found in /usr/lib/gcc/avr/4.3.5/cc1plus; fixed with -Wl,--gc-section
############################################################################
# Below here nothing should be changed...
ARDUINO = $(INSTALL_DIR)/hardware/arduino/cores/arduino
# #
# Arduino 0022 Makefile #~ AVR_TOOLS_PATH = $(INSTALL_DIR)/hardware/tools/avr/bin
# Uno with DOGS102 Shield # in Ubuntu, avr-gcc is installed separate;
# # only avrdude comes with the IDE
# written by olikraus@gmail.com AVR_TOOLS_PATH = /usr/bin
# AVR_DUDE_PATH = $(INSTALL_DIR)/hardware/tools
# Features:
# - boards.txt is used to derive parameters
# - All intermediate files are put into a separate directory (TMPDIRNAME)
# - Simple use: Copy Makefile into the same directory of the .pde file
#
# Limitations:
# - requires UNIX environment
# - TMPDIRNAME must be subdirectory of the current directory.
#
# Targets
# all build everything
# upload build and upload to arduino
# clean remove all temporary files (includes final hex file)
#
# History
# 001 28 Apr 2010 first release
# 002 05 Oct 2010 added 'uno'
# #
SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
$(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
$(ARDUINO)/wiring_pulse.c \
$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
# added applet/$(TARGET).cpp as in IDE 0022
CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \
$(ARDUINO)/Print.cpp \
$(ARDUINO)/main.cpp
# applet/$(TARGET).cpp # no need, having a rule now for applet/$(TARGET).cpp.o
# added main.cpp, as in 0022
FORMAT = ihex
#=== user configuration === # Name of this Makefile (used for "make depend").
# All ...PATH variables must have a '/' at the end MAKEFILE = Makefile
# Board (and prozessor) information: see $(ARDUINO_PATH)hardware/arduino/boards.txt # Debugging format.
# Some examples: # Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
# BOARD DESCRIPTION # AVR (extended) COFF requires stabs, plus an avr-objcopy run.
# uno Arduino Uno DEBUG = stabs
# atmega328 Arduino Duemilanove or Nano w/ ATmega328
# diecimila Arduino Diecimila, Duemilanove, or Nano w/ ATmega168
# mega Arduino Mega
# mini Arduino Mini
# lilypad328 LilyPad Arduino w/ ATmega328
BOARD:=mega
# additional (comma separated) defines OPT = 2
# -DDOGM128_HW board is connected to DOGM128 display
# -DDOGM132_HW board is connected to DOGM132 display
# -DDOGS102_HW board is connected to DOGS102 display
# -DDOG_REVERSE 180 degree rotation
# -DDOG_SPI_SW_ARDUINO force SW shiftOut
DEFS=-DDOGS102_HW -DDOG_DOUBLE_MEMORY -DDOG_SPI_SW_ARDUINO
# The location where the avr tools (e.g. avr-gcc) are located. Requires a '/' at the end. # Place -D or -U options here
# Can be empty if all tools are accessable through the search path #~ CDEFS = -DBUILD_F_CPU=$(BUILD_F_CPU)
AVR_TOOLS_PATH:=/usr/bin/ #~ CXXDEFS = -DBUILD_F_CPU=$(BUILD_F_CPU)
# now called DF_CPU
CDEFS = -DF_CPU=$(BUILD_F_CPU) -DARDUINO=22
CXXDEFS = -DF_CPU=$(BUILD_F_CPU) -DARDUINO=22
# Install path of the arduino software. Requires a '/' at the end. # Place -I options here
ARDUINO_PATH:=/home/bkubicek/software/arduino-0022/ CINCS = -I$(ARDUINO) -I$(INSTALL_DIR)/libraries/LiquidCrystal/ -I$(INSTALL_DIR)/libraries/EEPROM/
CXXINCS = -I$(ARDUINO)
# Install path for avrdude. Requires a '/' at the end. Can be empty if avrdude is in the search path. # Compiler flag to set the C Standard level.
AVRDUDE_PATH:= # c89 - "ANSI" C
# gnu89 - c89 plus GCC extensions
# c99 - ISO C99 standard (not yet fully implemented)
# gnu99 - c99 plus GCC extensions
CSTANDARD = -std=gnu99
CDEBUG = -g$(DEBUG)
# note that typically, IDE 0022 uses -w to suppress warnings (both in cpp and c)!
CWARN = -Wall
#~ CWARN = -w
# "-Wstrict-prototypes" is valid for Ada/C/ObjC but not for C++:
CCWARN = -Wstrict-prototypes
CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
# The unix device where we can reach the arduino board # to eliminate pins_ardiuno warnings:
# Uno: /dev/ttyACM0 # http://arduino.cc/pipermail/developers_arduino.cc/2010-December/004005.html
# Duemilanove: /dev/ttyUSB0
AVRDUDE_PORT:=/dev/ttyACM0
# List of all libaries which should be included. # [http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1254180518 Arduino Forum - Makefile]
#EXTRA_DIRS=$(ARDUINO_PATH)libraries/LiquidCrystal/ #~ For building the objects files "-ffunction-sections -fdata-sections" was missing
#EXTRA_DIRS+=$(ARDUINO_PATH)libraries/Dogm/ #~ and the final avr-gcc call needs "-Wl,--gc-section".
#EXTRA_DIRS+=/home/kraus/src/arduino/dogm128/hg/libraries/Dogm/ CXSECTF = -fno-exceptions -ffunction-sections -fdata-sections
CFINALF = -Wl,--gc-section
#=== fetch parameter from boards.txt processor parameter === CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CCWARN) $(CSTANDARD) $(CEXTRA)
# the basic idea is to get most of the information from boards.txt # added CWARN also to .cpp
CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CXSECTF)
#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
LDFLAGS = -lm
BOARDS_TXT:=$(ARDUINO_PATH)hardware/arduino/boards.txt # Programming support using avrdude. Settings and variables.
AVRDUDE_PORT = $(PORT)
AVRDUDE_WRITE_FLASH = -U flash:w:applet/$(TARGET).hex
AVRDUDE_FLAGS = -V -F \
-p $(BUILD_MCU) -P $(AVRDUDE_PORT) -c $(UPLOAD_PROTOCOL) \
-b $(UPLOAD_SPEED) -C $(INSTALL_DIR)/hardware/tools/avrdude.conf
# -b $(UPLOAD_SPEED) -C $(INSTALL_DIR)/hardware/tools/avr/etc/avrdude.conf
# get the MCU value from the $(BOARD).build.mcu variable. For the atmega328 board this is atmega328p # Program settings
MCU:=$(shell sed -n -e "s/$(BOARD).build.mcu=\(.*\)/\1/p" $(BOARDS_TXT)) CC = $(AVR_TOOLS_PATH)/avr-gcc
# get the F_CPU value from the $(BOARD).build.f_cpu variable. For the atmega328 board this is 16000000 CXX = $(AVR_TOOLS_PATH)/avr-g++
F_CPU:=$(shell sed -n -e "s/$(BOARD).build.f_cpu=\(.*\)/\1/p" $(BOARDS_TXT)) OBJCOPY = $(AVR_TOOLS_PATH)/avr-objcopy
OBJDUMP = $(AVR_TOOLS_PATH)/avr-objdump
AR = $(AVR_TOOLS_PATH)/avr-ar
SIZE = $(AVR_TOOLS_PATH)/avr-size
NM = $(AVR_TOOLS_PATH)/avr-nm
#~ AVRDUDE = $(AVR_TOOLS_PATH)/avrdude
AVRDUDE = $(AVR_DUDE_PATH)/avrdude
REMOVE = rm -f
MV = mv -f
# avrdude # Define all object files.
# get the AVRDUDE_UPLOAD_RATE value from the $(BOARD).upload.speed variable. For the atmega328 board this is 57600 # NOTE: obj files will be created in respective src directories (libraries or $(INSTALL_DIR));
AVRDUDE_UPLOAD_RATE:=$(shell sed -n -e "s/$(BOARD).upload.speed=\(.*\)/\1/p" $(BOARDS_TXT)) # make clean deletes them fine
# get the AVRDUDE_PROGRAMMER value from the $(BOARD).upload.protocol variable. For the atmega328 board this is stk500 # note that srcs are in libraries or other directories;
# AVRDUDE_PROGRAMMER:=$(shell sed -n -e "s/$(BOARD).upload.protocol=\(.*\)/\1/p" $(BOARDS_TXT)) # $(CXXSRC:.cpp=.o) will cause obj files to be in same loc as src files
# use stk500v1, because stk500 will default to stk500v2 #~ OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
AVRDUDE_PROGRAMMER:=stk500v1 # to change the output directory for object files;
# must change the obj list here!
# and then, match to corresponding rule somehow?
# or leave this - and parse in rule (auth automatic variable $(@F))?
# "Suffix Replacement"
OBJ = $(SRC:.c=.o) $(CXXSRC:.cpp=.o) $(ASRC:.S=.o)
#=== identify user files === # added - OBJ list, transformed into applet/
PDESRC:=$(shell ls *.pde) OBJT = $(addprefix applet/,$(notdir $(OBJ)))
TARGETNAME=$(basename $(PDESRC)) ALLSRC = $(SRC) $(CXXSRC) $(ASRC)
CDIRS:=$(EXTRA_DIRS) $(addsuffix utility/,$(EXTRA_DIRS)) # Define all listing files.
CDIRS:=*.c utility/*.c $(addsuffix *.c,$(CDIRS)) $(ARDUINO_PATH)hardware/arduino/cores/arduino/*.c LST = $(ASRC:.S=.lst) $(CXXSRC:.cpp=.lst) $(SRC:.c=.lst)
CSRC:=$(shell ls $(CDIRS) 2>/dev/null)
CCSRC:=$(shell ls *.cc 2>/dev/null) # Combine all necessary flags and optional flags.
# Add target processor to flags.
ALL_CFLAGS = -mmcu=$(BUILD_MCU) -I. $(CFLAGS)
ALL_CXXFLAGS = -mmcu=$(BUILD_MCU) -I. $(CXXFLAGS)
ALL_ASFLAGS = -mmcu=$(BUILD_MCU) -I. -x assembler-with-cpp $(ASFLAGS)
CPPDIRS:=$(EXTRA_DIRS) $(addsuffix utility/,$(EXTRA_DIRS)) # depended libraries of .pde need to be added from
CPPDIRS:=*.cpp utility/*.cpp $(addsuffix *.cpp,$(CPPDIRS)) $(ARDUINO_PATH)hardware/arduino/cores/arduino/*.cpp # $(INSTALL_DIR)/libraries (TODO: and/or ~/sketchbook/libraries)
CPPSRC:=$(shell ls $(CPPDIRS) 2>/dev/null) # grep for 'include', test if exists, add...
# note: prefix "a real tab character" http://www.delorie.com/djgpp/doc/ug/larger/makefiles.html
# $$ to escape $ for shell;
# note: must NOT put comments # inside bash execution;
# those would get removed by make; making shell see "EOF in backquote substitution"
# echo $$ix ; \
# 'shell' twice - for each subprocess! Backtick doesn't get expanded?
GREPRES:=$(shell for ix in $(shell grep include $(TARGET).pde | sed 's/.*[<"]\(.*\).h[>"].*/\1/'); do \
if [ -d $(INSTALL_DIR)/libraries/$$ix ] ; then \
LINCS="$$LINCS -I$(INSTALL_DIR)/libraries/$$ix" ;\
fi; \
done; \
echo $$LINCS)
# append includes:
CINCS += $(GREPRES)
CXXINCS += $(GREPRES)
# append library source .cpp files too (CXXSRC)
GREPRESB:=$(shell for ix in $(shell grep include $(TARGET).pde | sed 's/.*[<"]\(.*\).h[>"].*/\1/'); do \
if [ -d $(INSTALL_DIR)/libraries/$$ix ] ; then \
CPPSRCS="$$CPPSRCS $(INSTALL_DIR)/libraries/$$ix/*.cpp" ;\
fi; \
done; \
echo $$CPPSRCS)
CXXSRC += $(GREPRESB)
# added - only CXX obj from libraries:
CXXLIBOBJ = $(GREPRESB:.cpp=.o)
#=== build internal variables === # Default target.
all: applet_files build sizeafter
# the name of the subdirectory where everything is stored build: elf hex
TMPDIRNAME:=tmp
TMPDIRPATH:=$(TMPDIRNAME)/
AVRTOOLSPATH:=$(AVR_TOOLS_PATH) applet_files: $(TARGET).pde
# Here is the "preprocessing".
OBJCOPY:=$(AVRTOOLSPATH)avr-objcopy # It creates a .cpp file based with the same name as the .pde file.
OBJDUMP:=$(AVRTOOLSPATH)avr-objdump # On top of the new .cpp file comes the WProgram.h header.
SIZE:=$(AVRTOOLSPATH)avr-size # At the end there is a generic main() function attached.
# Then the .cpp file will be compiled. Errors during compile will
CPPSRC:=$(addprefix $(TMPDIRPATH),$(PDESRC:.pde=.cpp)) $(CPPSRC) # refer to this new, automatically generated, file.
# Not the original .pde file you actually edit...
COBJ:=$(CSRC:.c=.o) test -d applet || mkdir applet
CCOBJ:=$(CCSRC:.cc=.o) # @ supresses printout of the cmdline itself; so only the out of echo is printed
CPPOBJ:=$(CPPSRC:.cpp=.o) @echo ALL OBJT: $(OBJT)
@echo ALL CXXLIBOBJ: $(CXXLIBOBJ)
OBJFILES:=$(COBJ) $(CCOBJ) $(CPPOBJ) # echo '#include "WProgram.h"' > applet/$(TARGET).cpp
DIRS:= $(dir $(OBJFILES)) @echo "#include \"WProgram.h\"\nvoid setup();\nvoid loop();\n" > applet/$(TARGET).cpp
cat $(TARGET).pde >> applet/$(TARGET).cpp
DEPFILES:=$(OBJFILES:.o=.d) # no more need to cat main.cpp (v0022) - now it is compiled in
# assembler files from avr-gcc -S # cat $(ARDUINO)/main.cpp >> applet/$(TARGET).cpp
ASSFILES:=$(OBJFILES:.o=.s)
# disassembled object files with avr-objdump -S
DISFILES:=$(OBJFILES:.o=.dis)
LIBNAME:=$(TMPDIRPATH)$(TARGETNAME).a elf: applet/$(TARGET).elf
ELFNAME:=$(TMPDIRPATH)$(TARGETNAME).elf hex: applet/$(TARGET).hex
HEXNAME:=$(TMPDIRPATH)$(TARGETNAME).hex eep: applet/$(TARGET).eep
lss: applet/$(TARGET).lss
sym: applet/$(TARGET).sym
AVRDUDE_FLAGS = -V -F # Program the device.
AVRDUDE_FLAGS += -C $(ARDUINO_PATH)/hardware/tools/avrdude.conf upload: applet/$(TARGET).hex
AVRDUDE_FLAGS += -p $(MCU) $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH)
AVRDUDE_FLAGS += -P $(AVRDUDE_PORT)
AVRDUDE_FLAGS += -c $(AVRDUDE_PROGRAMMER)
AVRDUDE_FLAGS += -b $(AVRDUDE_UPLOAD_RATE)
AVRDUDE_FLAGS += -U flash:w:$(HEXNAME)
AVRDUDE = avrdude # Display size of file.
HEXSIZE = $(SIZE) --target=$(FORMAT) applet/$(TARGET).hex
ELFSIZE = $(SIZE) applet/$(TARGET).elf
sizebefore:
@if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(HEXSIZE); echo; fi
#=== predefined variable override === sizeafter:
# use "make -p -f/dev/null" to see the default rules and definitions @if [ -f applet/$(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(HEXSIZE); echo; fi
# Build C and C++ flags. Include path information must be placed here # Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
COMMON_FLAGS = -DF_CPU=$(F_CPU) -mmcu=$(MCU) $(DEFS) COFFCONVERT=$(OBJCOPY) --debugging \
# COMMON_FLAGS += -gdwarf-2 --change-section-address .data-0x800000 \
COMMON_FLAGS += -Os --change-section-address .bss-0x800000 \
COMMON_FLAGS += -Wall -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums --change-section-address .noinit-0x800000 \
COMMON_FLAGS += -I. --change-section-address .eeprom-0x810000
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 = $(COMMON_FLAGS) -std=gnu99 -Wstrict-prototypes coff: applet/$(TARGET).elf
CXXFLAGS = $(COMMON_FLAGS) $(COFFCONVERT) -O coff-avr applet/$(TARGET).elf $(TARGET).cof
# Replace standard build tools by avr tools extcoff: $(TARGET).elf
CC = $(AVRTOOLSPATH)avr-gcc $(COFFCONVERT) -O coff-ext-avr applet/$(TARGET).elf $(TARGET).cof
CXX = $(AVRTOOLSPATH)avr-g++
AR = @$(AVRTOOLSPATH)avr-ar
.SUFFIXES: .elf .hex .eep .lss .sym
# "rm" must be able to delete a directory tree
RM = rm -rf
#=== rules ===
# add rules for the C/C++ files where the .o file is placed in the TMPDIRPATH
# reuse existing variables as far as possible
$(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 $< > $@
.SUFFIXES: .elf .hex .pde
.elf.hex: .elf.hex:
@$(OBJCOPY) -O ihex -R .eeprom $< $@ $(OBJCOPY) -O $(FORMAT) -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); }' >> $@
.elf.eep:
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
.PHONY: all # Create extended listing file from ELF output file.
all: tmpdir $(HEXNAME) assemblersource showsize .elf.lss:
ls -al $(HEXNAME) $(ELFNAME) $(OBJDUMP) -h -S $< > $@
$(ELFNAME): $(LIBNAME)($(addprefix $(TMPDIRPATH),$(OBJFILES))) # Create a symbol table from ELF output file.
$(LINK.o) $(COMMON_FLAGS) $(LIBNAME) $(LOADLIBES) $(LDLIBS) -o $@ .elf.sym:
$(NM) -n $< > $@
$(LIBNAME)(): $(addprefix $(TMPDIRPATH),$(OBJFILES)) # Link: create ELF output file from library.
# NOTE: applet/$(TARGET).cpp.o MUST BE BEFORE applet/core.a
# in the dependency list, so its rule runs first!
applet/$(TARGET).elf: $(TARGET).pde applet/$(TARGET).cpp.o applet/core.a
# $(CC) $(ALL_CFLAGS) -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
# changed as in IDE v0022: link cpp obj files
@echo $$(tput bold)$$(tput setaf 2) $(CC) $$(tput sgr0) $(ALL_CFLAGS) $(CFINALF) -o $@ applet/$(TARGET).cpp.o $(CXXOBJ) -L. applet/core.a $(LDFLAGS)
@$(CC) $(ALL_CFLAGS) $(CFINALF) -o $@ applet/$(TARGET).cpp.o $(CXXOBJ) -L. applet/core.a $(LDFLAGS)
#=== create temp directory === # added: cpp.o depends on cpp (and .pde which generates it)
# not really required, because it will be also created during the dependency handling # $< "first item in the dependencies list"; $@ "left side of the :"; $^ "right side of the :"
.PHONY: tmpdir # http://www.cs.colby.edu/maxwell/courses/tutorials/maketutor/
tmpdir: applet/$(TARGET).cpp.o: applet/$(TARGET).cpp
@test -d $(TMPDIRPATH) || mkdir $(TMPDIRPATH) @echo $$(tput bold) $(CXX) $$(tput sgr0) -c $(ALL_CXXFLAGS) $< -o $@
@$(CXX) -c $(ALL_CXXFLAGS) $< -o $@
#=== create assembler files for each C/C++ file === #~ applet/core.a: $(OBJ)
.PHONY: assemblersource #~ @for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
assemblersource: $(addprefix $(TMPDIRPATH),$(ASSFILES)) $(addprefix $(TMPDIRPATH),$(DISFILES))
applet/core.a: $(OBJT)
@for i in $(OBJT); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
#=== show the section sizes of the ELF file === # iterate through OBJ to find the original location; then build depending on source extension
.PHONY: showsize # TODO: add handling of assembler files
showsize: $(ELFNAME) applet/%.o:
$(SIZE) $< @for iob in $(OBJ); do \
if [ "`basename $$iob`" = "`basename $@`" ]; then \
for ios in $(ALLSRC); do \
if [ "$${iob%%.*}" = "$${ios%%.*}" ]; then \
case $${ios##*.} in \
"cpp") \
echo "$$(tput bold)$$(tput setaf 1) $(CXX) $$(tput sgr0) -c $(ALL_CXXFLAGS) $$ios -o $@"; \
$(CXX) -c $(ALL_CXXFLAGS) $$ios -o $@;; \
"c") \
echo "$$(tput bold)$$(tput setaf 1) $(CC) $$(tput sgr0) -c $(ALL_CFLAGS) $$ios -o $@"; \
$(CC) -c $(ALL_CFLAGS) $$ios -o $@;; \
esac; \
fi; \
done; \
fi; \
done;
#=== clean up target === #~ # Compile: create object files from C++ source files.
# this is simple: the TMPDIRPATH is removed #~ .cpp.o:
.PHONY: clean #~ $(CXX) -c $(ALL_CXXFLAGS) $< -o $@
#~ # Compile: create object files from C source files.
#~ .c.o:
#~ $(CC) -c $(ALL_CFLAGS) $< -o $@
#~ # Compile: create assembler files from C source files.
#~ .c.s:
#~ $(CC) -S $(ALL_CFLAGS) $< -o $@
#~ # Assemble: create object files from assembler source files.
#~ .S.o:
#~ $(CC) -c $(ALL_ASFLAGS) $< -o $@
#~ # Automatic dependencies
#~ %.d: %.c
#~ $(CC) -M $(ALL_CFLAGS) $< | sed "s;$(notdir $*).o:;$*.o $*.d:;" > $@
#~ %.d: %.cpp
#~ $(CXX) -M $(ALL_CXXFLAGS) $< | sed "s;$(notdir $*).o:;$*.o $*.d:;" > $@
# Target: clean project.
clean: clean:
$(RM) $(TMPDIRPATH) $(REMOVE) applet/$(TARGET).hex applet/$(TARGET).eep applet/$(TARGET).cof applet/$(TARGET).elf \
applet/$(TARGET).map applet/$(TARGET).sym applet/$(TARGET).lss applet/core.a \
# Program the device. $(OBJT) applet/$(TARGET).cpp.o \
# step 1: reset the arduino board with the stty command $(OBJ) $(LST) $(SRC:.c=.s) $(SRC:.c=.d) $(CXXSRC:.cpp=.s) $(CXXSRC:.cpp=.d)
# step 2: user avrdude to upload the software
.PHONY: upload
upload: $(HEXNAME)
stty -F $(AVRDUDE_PORT) hupcl
$(AVRDUDE) $(AVRDUDE_FLAGS)
# === dependency handling ===
# From the gnu make manual (section 4.14, Generating Prerequisites Automatically)
# Additionally (because this will be the first executed rule) TMPDIRPATH is created here.
# Instead of "sed" the "echo" command is used
# 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))
.PHONY: all build elf hex eep lss sym program coff extcoff clean applet_files sizebefore sizeafter

165
Marlin/Marlin.h
View file

@ -1,83 +1,82 @@
#ifndef __MARLINH #ifndef __MARLINH
#define __MARLINH #define __MARLINH
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware. // Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL // Licence: GPL
#include <WProgram.h> #include <WProgram.h>
#include "fastio.h" #include "fastio.h"
#define ECHO(x) Serial << "echo: " << x; #define ECHO(x) Serial << "echo: " << x;
#define ECHOLN(x) Serial << "echo: "<<x<<endl; #define ECHOLN(x) Serial << "echo: "<<x<<endl;
void get_command(); void get_command();
void process_commands(); void process_commands();
void manage_inactivity(byte debug); void manage_inactivity(byte debug);
#if X_ENABLE_PIN > -1 #if X_ENABLE_PIN > -1
#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON) #define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON) #define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
#else #else
#define enable_x() ; #define enable_x() ;
#define disable_x() ; #define disable_x() ;
#endif #endif
#if Y_ENABLE_PIN > -1 #if Y_ENABLE_PIN > -1
#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON) #define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON) #define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
#else #else
#define enable_y() ; #define enable_y() ;
#define disable_y() ; #define disable_y() ;
#endif #endif
#if Z_ENABLE_PIN > -1 #if Z_ENABLE_PIN > -1
#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON) #define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON) #define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
#else #else
#define enable_z() ; #define enable_z() ;
#define disable_z() ; #define disable_z() ;
#endif #endif
#if E_ENABLE_PIN > -1 #if E_ENABLE_PIN > -1
#define enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON) #define enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON) #define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
#else #else
#define enable_e() ; #define enable_e() ;
#define disable_e() ; #define disable_e() ;
#endif #endif
#define X_AXIS 0 #define X_AXIS 0
#define Y_AXIS 1 #define Y_AXIS 1
#define Z_AXIS 2 #define Z_AXIS 2
#define E_AXIS 3 #define E_AXIS 3
void FlushSerialRequestResend(); void FlushSerialRequestResend();
void ClearToSend(); void ClearToSend();
void get_coordinates(); void get_coordinates();
void prepare_move(); void prepare_move();
void kill(byte debug); void kill();
//void check_axes_activity(); //void check_axes_activity();
//void plan_init(); //void plan_init();
//void st_init(); //void st_init();
//void tp_init(); //void tp_init();
//void plan_buffer_line(float x, float y, float z, float e, float feed_rate); //void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
//void plan_set_position(float x, float y, float z, float e); //void plan_set_position(float x, float y, float z, float e);
//void st_wake_up(); //void st_wake_up();
//void st_synchronize(); //void st_synchronize();
void enquecommand(const char *cmd); void enquecommand(const char *cmd);
void wd_reset();
#ifndef CRITICAL_SECTION_START #ifndef CRITICAL_SECTION_START
#define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli(); #define CRITICAL_SECTION_START unsigned char _sreg = SREG; cli();
#define CRITICAL_SECTION_END SREG = _sreg; #define CRITICAL_SECTION_END SREG = _sreg;
#endif //CRITICAL_SECTION_START #endif //CRITICAL_SECTION_START
extern float homing_feedrate[]; extern float homing_feedrate[];
extern bool axis_relative_modes[]; extern bool axis_relative_modes[];
void manage_inactivity(byte debug); void wd_reset() ;
#endif
#endif

2466
Marlin/Marlin.pde
View file

File diff suppressed because it is too large Load diff

10
Marlin/fastio.h
View file

@ -24,12 +24,12 @@
*/ */
/// Read a pin /// Read a pin
#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & MASK(DIO ## IO ## _PIN))) #define _READ(IO) ((bool)(DIO ## IO ## _RPORT & MASK(DIO ## IO ## _PIN)))
/// write to a pin /// write to a pin
#define _WRITE(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0) #define _WRITE(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0)
//#define _WRITE(IO, v) do { #if (DIO ## IO ## _WPORT >= 0x100) CRITICAL_SECTION_START; if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); };#if (DIO ## IO ## _WPORT >= 0x100) CRITICAL_SECTION_END; } while (0) //#define _WRITE(IO, v) do { #if (DIO ## IO ## _WPORT >= 0x100) CRITICAL_SECTION_START; if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); };#if (DIO ## IO ## _WPORT >= 0x100) CRITICAL_SECTION_END; } while (0)
/// toggle a pin /// toggle a pin
#define _TOGGLE(IO) do {DIO ## IO ## _RPORT = MASK(DIO ## IO ## _PIN); } while (0) #define _TOGGLE(IO) do {DIO ## IO ## _RPORT = MASK(DIO ## IO ## _PIN); } while (0)
/// set pin as input /// set pin as input
#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~MASK(DIO ## IO ## _PIN); } while (0) #define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~MASK(DIO ## IO ## _PIN); } while (0)
@ -2556,4 +2556,4 @@ pins
#error pins for this chip not defined in arduino.h! If you write an appropriate pin definition and have this firmware work on your chip, please submit a pull request #error pins for this chip not defined in arduino.h! If you write an appropriate pin definition and have this firmware work on your chip, please submit a pull request
#endif #endif
#endif /* _ARDUINO_H */ #endif /* _ARDUINO_H */

10
Marlin/lcd.h
View file

@ -1,10 +0,0 @@
#ifndef __LCDH
#define __LCDH
#endif

1
Marlin/lcd.pde
View file

@ -1 +0,0 @@

18
Marlin/planner.cpp
View file

@ -381,13 +381,6 @@ void check_axes_activity() {
// calculation the caller must also provide the physical length of the line in millimeters. // 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) { 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 // Calculate the buffer head after we push this byte
int next_buffer_head = (block_buffer_head + 1) & (BLOCK_BUFFER_SIZE - 1); int next_buffer_head = (block_buffer_head + 1) & (BLOCK_BUFFER_SIZE - 1);
@ -400,6 +393,15 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
LCD_STATUS; LCD_STATUS;
} }
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
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]);
// Prepare to set up new block // Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head]; block_t *block = &block_buffer[block_buffer_head];
@ -433,7 +435,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
unsigned long microseconds; unsigned long microseconds;
if (block->steps_e == 0) { if (block->steps_e == 0) {
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate; if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
} }
else { else {
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate; if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;

182
Marlin/planner.h
View file

@ -1,90 +1,92 @@
/* /*
planner.h - buffers movement commands and manages the acceleration profile plan planner.h - buffers movement commands and manages the acceleration profile plan
Part of Grbl Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. (at your option) any later version.
Grbl is distributed in the hope that it will be useful, Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/ */
// This module is to be considered a sub-module of stepper.c. Please don't include // This module is to be considered a sub-module of stepper.c. Please don't include
// this file from any other module. // this file from any other module.
#ifndef planner_h #ifndef planner_h
#define planner_h #define planner_h
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in #include "Configuration.h"
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct { // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// Fields used by the bresenham algorithm for tracing the line // the source g-code and may never actually be reached if acceleration management is active.
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis typedef struct {
long step_event_count; // The number of step events required to complete this block // Fields used by the bresenham algorithm for tracing the line
volatile long accelerate_until; // The index of the step event on which to stop acceleration long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
volatile long decelerate_after; // The index of the step event on which to start decelerating long step_event_count; // The number of step events required to complete this block
volatile long acceleration_rate; // The acceleration rate used for acceleration calculation volatile long accelerate_until; // The index of the step event on which to stop acceleration
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) volatile long decelerate_after; // The index of the step event on which to start decelerating
#ifdef ADVANCE volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
long advance_rate; unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
volatile long initial_advance; #ifdef ADVANCE
volatile long final_advance; long advance_rate;
float advance; volatile long initial_advance;
#endif volatile long final_advance;
float advance;
// Fields used by the motion planner to manage acceleration #endif
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 // Fields used by the motion planner to manage acceleration
float millimeters; // The total travel of this block in mm float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
float entry_speed; float nominal_speed; // The nominal speed for this block in mm/min
float acceleration; // acceleration mm/sec^2 float millimeters; // The total travel of this block in mm
float entry_speed;
// Settings for the trapezoid generator float acceleration; // acceleration mm/sec^2
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 // Settings for the trapezoid generator
volatile long final_rate; // The minimal rate at exit long nominal_rate; // The nominal step rate for this block in step_events/sec
long acceleration_st; // acceleration steps/sec^2 volatile long initial_rate; // The jerk-adjusted step rate at start of block
volatile char busy; volatile long final_rate; // The minimal rate at exit
} block_t; long acceleration_st; // acceleration steps/sec^2
volatile char busy;
// Initialize the motion plan subsystem } block_t;
void plan_init();
// Initialize the motion plan subsystem
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in void plan_init();
// millimaters. Feed rate specifies the speed of the motion.
void plan_buffer_line(float x, float y, float z, float e, float feed_rate); // 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.
// Set position. Used for G92 instructions. void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
void plan_set_position(float x, float y, float z, float e);
// Set position. Used for G92 instructions.
// Called when the current block is no longer needed. Discards the block and makes the memory void plan_set_position(float x, float y, float z, float e);
// availible for new blocks.
void plan_discard_current_block(); // Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks.
// Gets the current block. Returns NULL if buffer empty void plan_discard_current_block();
block_t *plan_get_current_block();
// Gets the current block. Returns NULL if buffer empty
void check_axes_activity(); block_t *plan_get_current_block();
extern unsigned long minsegmenttime; void check_axes_activity();
extern float max_feedrate[4]; // set the max speeds
extern float axis_steps_per_unit[4]; extern unsigned long minsegmenttime;
extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software extern float max_feedrate[4]; // set the max speeds
extern float minimumfeedrate; extern float axis_steps_per_unit[4];
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX extern float minimumfeedrate;
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly. extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
extern float max_z_jerk; extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
extern float mintravelfeedrate; extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; extern float max_z_jerk;
extern float mintravelfeedrate;
#endif extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
#endif

2
Marlin/stepper.cpp
View file

@ -115,7 +115,7 @@ asm volatile ( \
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A) #define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_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 block_t *current_block; // A pointer to the block currently being traced
// Variables used by The Stepper Driver Interrupt // Variables used by The Stepper Driver Interrupt
static unsigned char out_bits; // The next stepping-bits to be output static unsigned char out_bits; // The next stepping-bits to be output

84
Marlin/stepper.h
View file

@ -1,40 +1,44 @@
/* /*
stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
Part of Grbl Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. (at your option) any later version.
Grbl is distributed in the hope that it will be useful, Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/ */
#ifndef stepper_h #ifndef stepper_h
#define stepper_h #define stepper_h
// Initialize and start the stepper motor subsystem
void st_init(); #include "planner.h"
// Block until all buffered steps are executed // Initialize and start the stepper motor subsystem
void st_synchronize(); void st_init();
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this // Block until all buffered steps are executed
// to notify the subsystem that it is time to go to work. void st_synchronize();
void st_wake_up();
// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer. // to notify the subsystem that it is time to go to work.
// for debugging purposes only, should be disabled by default void st_wake_up();
#ifdef DEBUG_STEPS
extern volatile long count_position[NUM_AXIS]; // if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
extern volatile int count_direction[NUM_AXIS]; // for debugging purposes only, should be disabled by default
#endif #ifdef DEBUG_STEPS
extern volatile long count_position[NUM_AXIS];
#endif extern volatile int count_direction[NUM_AXIS];
#endif
extern block_t *current_block; // A pointer to the block currently being traced
#endif

29
Marlin/temperature.cpp
View file

@ -90,14 +90,15 @@ void manage_heater()
float pid_input; float pid_input;
float pid_output; float pid_output;
if(temp_meas_ready == true) { if(temp_meas_ready != true) //better readability
return;
CRITICAL_SECTION_START; CRITICAL_SECTION_START;
temp_meas_ready = false; temp_meas_ready = false;
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
#ifdef PIDTEMP #ifdef PIDTEMP
pid_input = analog2temp(current_raw[0]); pid_input = analog2temp(current_raw[TEMPSENSOR_HOTEND]);
#ifndef PID_OPENLOOP #ifndef PID_OPENLOOP
pid_error = pid_setpoint - pid_input; pid_error = pid_setpoint - pid_input;
@ -118,10 +119,13 @@ CRITICAL_SECTION_END;
temp_iState += pid_error; temp_iState += pid_error;
temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max); temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
iTerm = Ki * temp_iState; iTerm = Ki * temp_iState;
#define K1 0.95 //K1 defined in Configuration.h in the PID settings
#define K2 (1.0-K1) #define K2 (1.0-K1)
dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm); dTerm = (Kd * (pid_input - temp_dState))*K2 + (K1 * dTerm);
temp_dState = pid_input; temp_dState = pid_input;
#ifdef PID_ADD_EXTRUSION_RATE
pTerm+=Kc*current_block->speed_e; //additional heating if extrusion speed is high
#endif
pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX); pid_output = constrain(pTerm + iTerm - dTerm, 0, PID_MAX);
} }
#endif //PID_OPENLOOP #endif //PID_OPENLOOP
@ -157,7 +161,7 @@ CRITICAL_SECTION_END;
previous_millis_bed_heater = millis(); previous_millis_bed_heater = millis();
#if TEMP_1_PIN > -1 #if TEMP_1_PIN > -1
if(current_raw[1] >= target_raw[1]) if(current_raw[TEMPSENSOR_BED] >= target_raw[TEMPSENSOR_BED])
{ {
WRITE(HEATER_1_PIN,LOW); WRITE(HEATER_1_PIN,LOW);
} }
@ -167,7 +171,6 @@ CRITICAL_SECTION_END;
} }
#endif #endif
} }
}
// Takes hot end temperature value as input and returns corresponding raw value. // Takes hot end temperature value as input and returns corresponding raw value.
// For a thermistor, it uses the RepRap thermistor temp table. // For a thermistor, it uses the RepRap thermistor temp table.
@ -428,15 +431,15 @@ ISR(TIMER0_COMPB_vect)
raw_temp_2_value = 0; raw_temp_2_value = 0;
#ifdef MAXTEMP #ifdef MAXTEMP
#if (HEATER_0_PIN > -1) #if (HEATER_0_PIN > -1)
if(current_raw[0] >= maxttemp) { if(current_raw[TEMPSENSOR_HOTEND] >= maxttemp) {
target_raw[0] = 0; target_raw[TEMPSENSOR_HOTEND] = 0;
analogWrite(HEATER_0_PIN, 0); analogWrite(HEATER_0_PIN, 0);
Serial.println("!! Temperature extruder 0 switched off. MAXTEMP triggered !!"); Serial.println("!! Temperature extruder 0 switched off. MAXTEMP triggered !!");
} }
#endif #endif
#if (HEATER_2_PIN > -1) #if (HEATER_2_PIN > -1)
if(current_raw[2] >= maxttemp) { if(current_raw[TEMPSENSOR_AUX] >= maxttemp) {
target_raw[2] = 0; target_raw[TEMPSENSOR_AUX] = 0;
analogWrite(HEATER_2_PIN, 0); analogWrite(HEATER_2_PIN, 0);
Serial.println("!! Temperature extruder 1 switched off. MAXTEMP triggered !!"); Serial.println("!! Temperature extruder 1 switched off. MAXTEMP triggered !!");
} }
@ -444,15 +447,15 @@ ISR(TIMER0_COMPB_vect)
#endif //MAXTEMP #endif //MAXTEMP
#ifdef MINTEMP #ifdef MINTEMP
#if (HEATER_0_PIN > -1) #if (HEATER_0_PIN > -1)
if(current_raw[0] <= minttemp) { if(current_raw[TEMPSENSOR_HOTEND] <= minttemp) {
target_raw[0] = 0; target_raw[TEMPSENSOR_HOTEND] = 0;
analogWrite(HEATER_0_PIN, 0); analogWrite(HEATER_0_PIN, 0);
Serial.println("!! Temperature extruder 0 switched off. MINTEMP triggered !!"); Serial.println("!! Temperature extruder 0 switched off. MINTEMP triggered !!");
} }
#endif #endif
#if (HEATER_2_PIN > -1) #if (HEATER_2_PIN > -1)
if(current_raw[2] <= minttemp) { if(current_raw[TEMPSENSOR_AUX] <= minttemp) {
target_raw[2] = 0; target_raw[TEMPSENSOR_AUX] = 0;
analogWrite(HEATER_2_PIN, 0); analogWrite(HEATER_2_PIN, 0);
Serial.println("!! Temperature extruder 1 switched off. MINTEMP triggered !!"); Serial.println("!! Temperature extruder 1 switched off. MINTEMP triggered !!");
} }

113
Marlin/temperature.h
View file

@ -1,55 +1,58 @@
/* /*
temperature.h - temperature controller temperature.h - temperature controller
Part of Marlin Part of Marlin
Copyright (c) 2011 Erik van der Zalm Copyright (c) 2011 Erik van der Zalm
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or the Free Software Foundation, either version 3 of the License, or
(at your option) any later version. (at your option) any later version.
Grbl is distributed in the hope that it will be useful, Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. GNU General Public License for more details.
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/ */
#ifndef temperature_h #ifndef temperature_h
#define temperature_h #define temperature_h
void manage_inactivity(byte debug); #include "Marlin.h"
#ifdef PID_ADD_EXTRUSION_RATE
void tp_init(); #include "stepper.h"
void manage_heater(); #endif
//int temp2analogu(int celsius, const short table[][2], int numtemps); void tp_init();
//float analog2tempu(int raw, const short table[][2], int numtemps); void manage_heater();
float temp2analog(int celsius); //int temp2analogu(int celsius, const short table[][2], int numtemps);
float temp2analogBed(int celsius); //float analog2tempu(int raw, const short table[][2], int numtemps);
float analog2temp(int raw); float temp2analog(int celsius);
float analog2tempBed(int raw); float temp2analogBed(int celsius);
float analog2temp(int raw);
#ifdef HEATER_USES_THERMISTOR float analog2tempBed(int raw);
#define HEATERSOURCE 1
#endif #ifdef HEATER_USES_THERMISTOR
#ifdef BED_USES_THERMISTOR #define HEATERSOURCE 1
#define BEDSOURCE 1 #endif
#endif #ifdef BED_USES_THERMISTOR
#define BEDSOURCE 1
//#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS) #endif
//#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS
//#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 Kp;
extern float Kc; extern float Ki;
extern float Kd;
extern int target_raw[3]; extern float Kc;
extern int current_raw[3];
extern double pid_setpoint; enum {TEMPSENSOR_HOTEND=0,TEMPSENSOR_BED=1, TEMPSENSOR_AUX=2};
extern int target_raw[3];
#endif extern int current_raw[3];
extern double pid_setpoint;
#endif

180
Marlin/thermistortables.h
View file

@ -7,67 +7,67 @@
#define NUMTEMPS_1 61 #define NUMTEMPS_1 61
const short temptable_1[NUMTEMPS_1][2] = { const short temptable_1[NUMTEMPS_1][2] = {
{ 23*OVERSAMPLENR , 300 }, { 23*OVERSAMPLENR , 300 },
{ 25*OVERSAMPLENR , 295 }, { 25*OVERSAMPLENR , 295 },
{ 27*OVERSAMPLENR , 290 }, { 27*OVERSAMPLENR , 290 },
{ 28*OVERSAMPLENR , 285 }, { 28*OVERSAMPLENR , 285 },
{ 31*OVERSAMPLENR , 280 }, { 31*OVERSAMPLENR , 280 },
{ 33*OVERSAMPLENR , 275 }, { 33*OVERSAMPLENR , 275 },
{ 35*OVERSAMPLENR , 270 }, { 35*OVERSAMPLENR , 270 },
{ 38*OVERSAMPLENR , 265 }, { 38*OVERSAMPLENR , 265 },
{ 41*OVERSAMPLENR , 260 }, { 41*OVERSAMPLENR , 260 },
{ 44*OVERSAMPLENR , 255 }, { 44*OVERSAMPLENR , 255 },
{ 48*OVERSAMPLENR , 250 }, { 48*OVERSAMPLENR , 250 },
{ 52*OVERSAMPLENR , 245 }, { 52*OVERSAMPLENR , 245 },
{ 56*OVERSAMPLENR , 240 }, { 56*OVERSAMPLENR , 240 },
{ 61*OVERSAMPLENR , 235 }, { 61*OVERSAMPLENR , 235 },
{ 66*OVERSAMPLENR , 230 }, { 66*OVERSAMPLENR , 230 },
{ 71*OVERSAMPLENR , 225 }, { 71*OVERSAMPLENR , 225 },
{ 78*OVERSAMPLENR , 220 }, { 78*OVERSAMPLENR , 220 },
{ 84*OVERSAMPLENR , 215 }, { 84*OVERSAMPLENR , 215 },
{ 92*OVERSAMPLENR , 210 }, { 92*OVERSAMPLENR , 210 },
{ 100*OVERSAMPLENR , 205 }, { 100*OVERSAMPLENR , 205 },
{ 109*OVERSAMPLENR , 200 }, { 109*OVERSAMPLENR , 200 },
{ 120*OVERSAMPLENR , 195 }, { 120*OVERSAMPLENR , 195 },
{ 131*OVERSAMPLENR , 190 }, { 131*OVERSAMPLENR , 190 },
{ 143*OVERSAMPLENR , 185 }, { 143*OVERSAMPLENR , 185 },
{ 156*OVERSAMPLENR , 180 }, { 156*OVERSAMPLENR , 180 },
{ 171*OVERSAMPLENR , 175 }, { 171*OVERSAMPLENR , 175 },
{ 187*OVERSAMPLENR , 170 }, { 187*OVERSAMPLENR , 170 },
{ 205*OVERSAMPLENR , 165 }, { 205*OVERSAMPLENR , 165 },
{ 224*OVERSAMPLENR , 160 }, { 224*OVERSAMPLENR , 160 },
{ 245*OVERSAMPLENR , 155 }, { 245*OVERSAMPLENR , 155 },
{ 268*OVERSAMPLENR , 150 }, { 268*OVERSAMPLENR , 150 },
{ 293*OVERSAMPLENR , 145 }, { 293*OVERSAMPLENR , 145 },
{ 320*OVERSAMPLENR , 140 }, { 320*OVERSAMPLENR , 140 },
{ 348*OVERSAMPLENR , 135 }, { 348*OVERSAMPLENR , 135 },
{ 379*OVERSAMPLENR , 130 }, { 379*OVERSAMPLENR , 130 },
{ 411*OVERSAMPLENR , 125 }, { 411*OVERSAMPLENR , 125 },
{ 445*OVERSAMPLENR , 120 }, { 445*OVERSAMPLENR , 120 },
{ 480*OVERSAMPLENR , 115 }, { 480*OVERSAMPLENR , 115 },
{ 516*OVERSAMPLENR , 110 }, { 516*OVERSAMPLENR , 110 },
{ 553*OVERSAMPLENR , 105 }, { 553*OVERSAMPLENR , 105 },
{ 591*OVERSAMPLENR , 100 }, { 591*OVERSAMPLENR , 100 },
{ 628*OVERSAMPLENR , 95 }, { 628*OVERSAMPLENR , 95 },
{ 665*OVERSAMPLENR , 90 }, { 665*OVERSAMPLENR , 90 },
{ 702*OVERSAMPLENR , 85 }, { 702*OVERSAMPLENR , 85 },
{ 737*OVERSAMPLENR , 80 }, { 737*OVERSAMPLENR , 80 },
{ 770*OVERSAMPLENR , 75 }, { 770*OVERSAMPLENR , 75 },
{ 801*OVERSAMPLENR , 70 }, { 801*OVERSAMPLENR , 70 },
{ 830*OVERSAMPLENR , 65 }, { 830*OVERSAMPLENR , 65 },
{ 857*OVERSAMPLENR , 60 }, { 857*OVERSAMPLENR , 60 },
{ 881*OVERSAMPLENR , 55 }, { 881*OVERSAMPLENR , 55 },
{ 903*OVERSAMPLENR , 50 }, { 903*OVERSAMPLENR , 50 },
{ 922*OVERSAMPLENR , 45 }, { 922*OVERSAMPLENR , 45 },
{ 939*OVERSAMPLENR , 40 }, { 939*OVERSAMPLENR , 40 },
{ 954*OVERSAMPLENR , 35 }, { 954*OVERSAMPLENR , 35 },
{ 966*OVERSAMPLENR , 30 }, { 966*OVERSAMPLENR , 30 },
{ 977*OVERSAMPLENR , 25 }, { 977*OVERSAMPLENR , 25 },
{ 985*OVERSAMPLENR , 20 }, { 985*OVERSAMPLENR , 20 },
{ 993*OVERSAMPLENR , 15 }, { 993*OVERSAMPLENR , 15 },
{ 999*OVERSAMPLENR , 10 }, { 999*OVERSAMPLENR , 10 },
{ 1004*OVERSAMPLENR , 5 }, { 1004*OVERSAMPLENR , 5 },
{ 1008*OVERSAMPLENR , 0 } //safety { 1008*OVERSAMPLENR , 0 } //safety
}; };
#endif #endif
#if (THERMISTORHEATER_1 == 2) || (THERMISTORHEATER_2 == 2) || (THERMISTORBED == 2) //200k bed thermistor #if (THERMISTORHEATER_1 == 2) || (THERMISTORHEATER_2 == 2) || (THERMISTORBED == 2) //200k bed thermistor
@ -100,35 +100,35 @@ const short temptable_2[NUMTEMPS_2][2] = {
#if (THERMISTORHEATER_1 == 3) || (THERMISTORHEATER_2 == 3) || (THERMISTORBED == 3) //mendel-parts #if (THERMISTORHEATER_1 == 3) || (THERMISTORHEATER_2 == 3) || (THERMISTORBED == 3) //mendel-parts
#define NUMTEMPS_3 28 #define NUMTEMPS_3 28
const short temptable_3[NUMTEMPS_3][2] = { const short temptable_3[NUMTEMPS_3][2] = {
{1*OVERSAMPLENR,864}, {1*OVERSAMPLENR,864},
{21*OVERSAMPLENR,300}, {21*OVERSAMPLENR,300},
{25*OVERSAMPLENR,290}, {25*OVERSAMPLENR,290},
{29*OVERSAMPLENR,280}, {29*OVERSAMPLENR,280},
{33*OVERSAMPLENR,270}, {33*OVERSAMPLENR,270},
{39*OVERSAMPLENR,260}, {39*OVERSAMPLENR,260},
{46*OVERSAMPLENR,250}, {46*OVERSAMPLENR,250},
{54*OVERSAMPLENR,240}, {54*OVERSAMPLENR,240},
{64*OVERSAMPLENR,230}, {64*OVERSAMPLENR,230},
{75*OVERSAMPLENR,220}, {75*OVERSAMPLENR,220},
{90*OVERSAMPLENR,210}, {90*OVERSAMPLENR,210},
{107*OVERSAMPLENR,200}, {107*OVERSAMPLENR,200},
{128*OVERSAMPLENR,190}, {128*OVERSAMPLENR,190},
{154*OVERSAMPLENR,180}, {154*OVERSAMPLENR,180},
{184*OVERSAMPLENR,170}, {184*OVERSAMPLENR,170},
{221*OVERSAMPLENR,160}, {221*OVERSAMPLENR,160},
{265*OVERSAMPLENR,150}, {265*OVERSAMPLENR,150},
{316*OVERSAMPLENR,140}, {316*OVERSAMPLENR,140},
{375*OVERSAMPLENR,130}, {375*OVERSAMPLENR,130},
{441*OVERSAMPLENR,120}, {441*OVERSAMPLENR,120},
{513*OVERSAMPLENR,110}, {513*OVERSAMPLENR,110},
{588*OVERSAMPLENR,100}, {588*OVERSAMPLENR,100},
{734*OVERSAMPLENR,80}, {734*OVERSAMPLENR,80},
{856*OVERSAMPLENR,60}, {856*OVERSAMPLENR,60},
{938*OVERSAMPLENR,40}, {938*OVERSAMPLENR,40},
{986*OVERSAMPLENR,20}, {986*OVERSAMPLENR,20},
{1008*OVERSAMPLENR,0}, {1008*OVERSAMPLENR,0},
{1018*OVERSAMPLENR,-20} {1018*OVERSAMPLENR,-20}
}; };
#endif #endif
#if (THERMISTORHEATER_1 == 4) || (THERMISTORHEATER_2 == 4) || (THERMISTORBED == 4) //10k thermistor #if (THERMISTORHEATER_1 == 4) || (THERMISTORHEATER_2 == 4) || (THERMISTORBED == 4) //10k thermistor

2
Marlin/ultralcd.h
View file

@ -153,4 +153,4 @@
#define BLOCK ; #define BLOCK ;
#endif #endif
#endif //ULTRALCD #endif //ULTRALCD

3186
Marlin/ultralcd.pde
View file

File diff suppressed because it is too large Load diff

64
README
View file

@ -1,7 +1,14 @@
This firmware is a mashup between Sprinter, grbl and many original parts. This RepRap firmware is a mashup between Sprinter, grbl and many original parts.
(https://github.com/kliment/Sprinter) (https://github.com/kliment/Sprinter)
(https://github.com/simen/grbl/tree) (https://github.com/simen/grbl/tree)
Derived from Sprinter and Grbl by Erik van der Zalm.
Sprinters lead developers are Kliment and caru.
Grbls lead developer is Simen Svale Skogsrud.
It has been adapted to the Ultimaker Printer by:
Bernhard Kubicek, Matthijs Keuper, Bradley Feldman, and others...
Features: Features:
- Interrupt based movement with real linear acceleration - Interrupt based movement with real linear acceleration
- High steprate - High steprate
@ -9,62 +16,49 @@ Features:
- Interrupt based temperature protection - Interrupt based temperature protection
- preliminary support for Matthew Roberts advance algorithm - preliminary support for Matthew Roberts advance algorithm
For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- Full endstop support
- Simple LCD support (16x2)
- SD Card support
- Provisions for Bernhard Kubicek's new hardware control console and 20x4 lcd
This firmware is optimized for gen6 electronics. This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560).
The default baudrate is 115200.
The default baudrate is 250000.
This gives less communication errors then regular baudrates.
======================================================================================== ========================================================================================
Configuring and compilation Configuring and compilation
Install the arduino software version 0018 Install the latest arduino software IDE/toolset (currently 0022)
http://www.arduino.cc/en/Main/Software http://www.arduino.cc/en/Main/Software
Install the sanguino software, version 0018 Install Ultimaker's RepG 25 build
http://sanguino.cc/useit http://software.ultimaker.com
(or alternatively install Kliment's printrun/pronterface https://github.com/kliment/Printrun_)
Install pronterface Copy the Ultimaker Marlin firmware
https://github.com/kliment/Printrun https:/github.com/bkubicek/Marlin
Copy the Marlin firmware
https:/github.com/ErikZalm/Marlin
(Use the download button) (Use the download button)
Start the arduino IDE. Start the arduino IDE.
Select Tools -> Board -> Sanguino Select Tools -> Board -> Arduino Mega 2560
Select the correct serial port in Tools ->Serial Port Select the correct serial port in Tools ->Serial Port
Open Marlin.pde Open Marlin.pde
Change the printer specific setting in Configuration.h to the correct values. Click the Verify/Compile button
The following values are the most important:
- float axis_steps_per_unit[].... // Set the correct steps / mm in the corresponding field
- const bool ENDSTOPS_INVERTING = false; // Change if only positive moves are executed
- #define INVERT_x_DIR true // Change if the motor direction is wrong
Click the Upload button Click the Upload button
If all goes well the firmware is uploading If all goes well the firmware is uploading
Start pronterface Start Ultimaker's Custom RepG 25
Make sure Show Experimental Profiles is enabled in Preferences
Select the correct Serial Port. Type 250000 in the baudrate field. Select Sprinter as the Driver
Press the Connect button
===============================================================================================
Known issues
On some systems we get compilation errors.
This is caused by the "wiring_serial.c" and "wiring.c".
The simple fix is to delete these files but this may have a performance impact.
The best workaround is to move these files to sanguino directory.
(".../arduino-0018/hardware/Sanguino/cores/arduino/" on windows systems)
Press the Connect button.
KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z
That's ok. Enjoy Silky Smooth Printing.

69
README.md Normal file
View file

@ -0,0 +1,69 @@
WARNING: THIS IN A PROCESS OF HEAVY OVERWORKING.
DO NOT USE THIS ON YOUR MACHINE UNTIL FURTHER NOTICE!!!
===========================================
This RepRap firmware is a mashup between <a href="https://github.com/kliment/Sprinter">Sprinter</a>, <a href="https://github.com/simen/grbl/tree">grbl</a> and many original parts.
Derived from Sprinter and Grbl by Erik van der Zalm.
Sprinters lead developers are Kliment and caru.
Grbls lead developer is Simen Svale Skogsrud.
Some features have been added by and configuration has been added by:
Bernhard Kubicek, Matthijs Keuper, Bradley Feldman, and others...
Features:
- Interrupt based movement with real linear acceleration
- High steprate
- Look ahead (Keep the speed high when possible. High cornering speed)
- Interrupt based temperature protection
- preliminary support for Matthew Roberts advance algorithm
For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- Full endstop support
- Simple LCD support (16x2)
- SD Card support
- Provisions for Bernhard Kubicek's new hardware control console and 20x4 lcd
This firmware is optimized for Ultimaker's gen6 electronics (including the Ultimaker 1.5.x daughterboard and Arduino Mega 2560).
The default baudrate is 115200.
========================================================================================
Configuring and compilation
Install the latest arduino software IDE/toolset (currently 0022)
http://www.arduino.cc/en/Main/Software
Install Ultimaker's RepG 25 build
http://software.ultimaker.com
(or alternatively install Kliment's printrun/pronterface https://github.com/kliment/Printrun_)
Copy the Ultimaker Marlin firmware
https:/github.com/bkubicek/Marlin
(Use the download button)
Start the arduino IDE.
Select Tools -> Board -> Arduino Mega 2560
Select the correct serial port in Tools ->Serial Port
Open Marlin.pde
Click the Verify/Compile button
Click the Upload button
If all goes well the firmware is uploading
Start Ultimaker's Custom RepG 25
Make sure Show Experimental Profiles is enabled in Preferences
Select Sprinter as the Driver
Press the Connect button.
KNOWN ISSUES: RepG will display: Unknown: marlin x.y.z
That's ok. Enjoy Silky Smooth Printing.

58
merging still needs.txt Normal file
View file

@ -0,0 +1,58 @@
files to compare manually:
planner.cpp
stepper.cpp
temperature.cpp
---
things that changed:
* planner.cpp
estimate_acc_distance now works with floats.
in calculate_trapezoid:for_block
long acceleration_rate=(long)((float)acceleration*8.388608) is gone
so is block_>acceleration_rate
void planner_reverse_pass:
some stuff I don't understand right now changed
in planner_forward_pass:
done: BLOCK_BUFFER_SIZE is now necessarily power of 2 (aka 8 16, 32). Inportant to document this somewhere.
no more inline in void plan_discard_current_block()
no more inline in plan_get_current_block()
in plan_buffer_line(...)
the long target[4]; and calculations of thoose should go after the while(block_buffer_tail==..). if the axis_steps_per_unit are changed from the gcode (M92) the calculation for the currently planned buffer move will be corrupt, because Target is calculated with one value, and the stuff afterwards with another. At least this solved the problem I had with the M92 E* changes in the code. Very sure about this, I took me 20min to find this as the solution for the bug I was hunting.
around if(feed_rate<minimumfeedrate) this only should be done if it is not a pure extrusion. I think there is a bug right now.
~line 447 blockcount=
not sure if this also works if the difference is negative, as it would happen if the ringbuffer runs over the end and start at 0.
~line 507 tmp_aceleration. not sure whats going on, but a lot changed.
* stepper.cpp
~214: if (busy) should be a echoln, maybe
~331: great, The Z_M_PIN checks are in :)
*temperature.cpp
done: enum for heater, bed,
manage_heater() is seriously different.
done: if tem_meas_ready ==true->!true+return?
done #define K1 0.95 maybe in the configuration.h?
semi-done: PID-C checking needed. Untested but added.
----
still needed to finish the merge, before testin!
manage_heater
ISR
movement planner
TODO:
remove traveling at maxpseed
remove Simplelcd
remove DEBUG_STEPS?
block_t
pid_dt ->0.1 whats the changes to the PID, checking needed
----
second merge saturday morning:
done: PID_dt->0.1