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[reprap-commits] SF.net SVN: reprap:[4124] trunk/software/firmware/Tonokip_Firmware
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From: <adr...@us...> - 2011-05-08 17:05:23
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Revision: 4124
http://reprap.svn.sourceforge.net/reprap/?rev=4124&view=rev
Author: adrian-bowyer
Date: 2011-05-08 17:05:16 +0000 (Sun, 08 May 2011)
Log Message:
-----------
Tonkip firmware wip.
Modified Paths:
--------------
trunk/software/firmware/Tonokip_Firmware/Tonokip_Firmware.pde
trunk/software/firmware/Tonokip_Firmware/configuration.h
trunk/software/firmware/Tonokip_Firmware/pins.h
Modified: trunk/software/firmware/Tonokip_Firmware/Tonokip_Firmware.pde
===================================================================
--- trunk/software/firmware/Tonokip_Firmware/Tonokip_Firmware.pde 2011-05-05 11:21:54 UTC (rev 4123)
+++ trunk/software/firmware/Tonokip_Firmware/Tonokip_Firmware.pde 2011-05-08 17:05:16 UTC (rev 4124)
@@ -116,7 +116,7 @@
float destination_x =0.0, destination_y = 0.0, destination_z = 0.0, destination_e = 0.0;
float current_x = 0.0, current_y = 0.0, current_z = 0.0, current_e = 0.0;
long x_interval, y_interval, z_interval, e_interval; // for speed delay
-float feedrate = 1500, next_feedrate, saved_feedrate;
+float feedrate = 1500, next_feedrate, saved_feedrate, current_feedrate=1500;
float time_for_move;
long gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
@@ -126,9 +126,7 @@
long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
#endif
-float current_feedrate;
-
// comm variables
#define MAX_CMD_SIZE 256
#define BUFSIZE 8
@@ -490,64 +488,62 @@
#endif
}
-
-
inline void home_x()
{
- saved_feedrate = feedrate;
- feedrate = 1500;
- current_to_dest();
- destination_x = -2*X_MAX_LENGTH;
- setup_move();
-#ifdef REPRAP_ACC
- linear_move();
-#else
- linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
-#endif
- previous_millis_cmd = millis();
- current_x = 0;
- feedrate = saved_feedrate;
+ saved_feedrate = current_feedrate;
+ current_feedrate = 1500.0;
+ current_to_dest();
+ destination_x = -2.0*X_MAX_LENGTH;
+ setup_move();
+ #ifdef REPRAP_ACC
+ linear_move();
+ #else
+ linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
+ #endif
+ current_x = 0;
+ current_feedrate = saved_feedrate;
}
-
+
inline void home_y()
{
- saved_feedrate = feedrate;
- feedrate = 1500;
- current_to_dest();
- destination_y = -2*Y_MAX_LENGTH;
- setup_move();
-#ifdef REPRAP_ACC
- linear_move();
-#else
- linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
-#endif
- previous_millis_cmd = millis();
- current_y = 0;
- feedrate = saved_feedrate;
+ saved_feedrate = current_feedrate;
+ current_feedrate = 1500.0;
+ current_to_dest();
+ destination_y = -2.0*Y_MAX_LENGTH;
+ setup_move();
+ #ifdef REPRAP_ACC
+ linear_move();
+ #else
+ linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
+ #endif
+ current_y = 0;
+ current_feedrate = saved_feedrate;
}
-
+
inline void home_z()
{
- saved_feedrate = feedrate;
- feedrate = 50;
- current_to_dest();
- destination_z = -2*Z_MAX_LENGTH;
- setup_move();
-#ifdef REPRAP_ACC
- linear_move();
-#else
- linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
-#endif
- previous_millis_cmd = millis();
- current_z = 0;
- feedrate = saved_feedrate;
-}
+ saved_feedrate = current_feedrate;
+ current_feedrate = 100.0;
+ current_to_dest();
+ destination_z = -2.0*Z_MAX_LENGTH;
+ setup_move();
+ #ifdef REPRAP_ACC
+ linear_move();
+ #else
+ linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
+ #endif
+ current_z = 0;
+ current_feedrate = saved_feedrate;
+ }
+
+
+
inline void process_commands()
{
unsigned long codenum; //throw away variable
char *starpos=NULL;
- bool done;
+ boolean done;
if(code_seen('G'))
{
switch((int)code_value())
@@ -576,27 +572,28 @@
break;
case 28: // Home axis or axes
done = false;
- if(code_seen('X'))
- {
- home_x();
- done = true;
- }
- if(code_seen('Y'))
- {
- home_y();
- done = true;
- }
- if(code_seen('Z'))
- {
- home_z();
- done = true;
- }
- if(!done)
- {
- home_x();
- home_y();
- home_z();
- }
+ if(code_seen('X'))
+ {
+ home_x();
+ done = true;
+ }
+ if(code_seen('Y'))
+ {
+ home_y();
+ done = true;
+ }
+ if(code_seen('Z'))
+ {
+ home_z();
+ done = true;
+ }
+ if(!done)
+ {
+ home_x();
+ home_y();
+ home_z();
+ }
+ previous_millis_cmd = millis();
break;
case 90: // G90
relative_mode = false;
@@ -780,8 +777,8 @@
if( (millis()-previous_millis_heater) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
tt=analog2temp(current_raw);
- Serial.print("T:");
- Serial.println( tt );
+ //Serial.print("T:");
+ //Serial.println( tt );
Serial.print("ok T:");
Serial.print( tt );
Serial.print(" B:");
@@ -850,7 +847,7 @@
Serial.print(current_z);
Serial.print(" E:");
Serial.println(current_e);
- break;
+ return;
}
}
@@ -1232,24 +1229,36 @@
bool nullmove, real_move;
bool direction_f;
bool x_can_step, y_can_step, z_can_step, e_can_step, f_can_step;
-unsigned long total_steps, t_scale;
+long total_steps, t_scale;
long dda_counter_x, dda_counter_y, dda_counter_z, dda_counter_e, dda_counter_f;
long current_steps_x, current_steps_y, current_steps_z, current_steps_e, current_steps_f;
long target_steps_x, target_steps_y, target_steps_z, target_steps_e, target_steps_f;
long delta_steps_x, delta_steps_y, delta_steps_z, delta_steps_e, delta_steps_f;
float position, target, diff, distance;
-unsigned long integer_distance;
-unsigned long step_time, time_increment;
+long integer_distance;
+long step_time, time_increment;
-inline unsigned long calculate_feedrate_delay(const unsigned long& feedrate_now)
-{
- // Calculate delay between steps in microseconds. Here it is in English:
- // (feedrate_now is in mm/minute, distance is in mm, integer_distance is 60000000.0*distance)
- // 60000000.0*distance/feedrate_now = move duration in microseconds
- // move duration/total_steps = time between steps for master axis.
+/*
- //return integer_distance/(feedrate_now*total_steps);
-return 500;
+Calculate delay between steps in microseconds. Here it is in English:
+
+60000000.0*distance/feedrate_now = move duration in microseconds
+move duration/total_steps = time between steps for master axis.
+
+feedrate_now is in mm/minute,
+distance is in mm,
+integer_distance is 3000000.0*distance
+
+To prevent long overflow, we work in increments of 20 microseconds; hence
+the 3,000,000 rather than 60,000,000.
+*/
+
+#define DISTANCE_MULTIPLIER 3000000.0
+#define MICRO_RES 20
+
+inline long calculate_feedrate_delay(const long& feedrate_now)
+{
+ return MICRO_RES*(integer_distance/(feedrate_now*total_steps));
}
inline void do_x_step()
@@ -1276,8 +1285,42 @@
digitalWrite(E_STEP_PIN, LOW);
}
+#define ALWAYS_UPDATE 1
+#define CONDITIONAL_UPDATE 2
+#define NEVER_UPDATE 3
+
+inline void coord_to_steps(const float& current, const float& destination, long& current_steps, const long& steps_per_unit,
+ long& target_steps, long& delta_steps, bool& dir, unsigned char dist_check)
+{
+ position = current;
+ current_steps = lround(position*steps_per_unit);
+ target = destination;
+ target_steps = lround(target*steps_per_unit);
+ delta_steps = target_steps - current_steps;
+ if(delta_steps >= 0) dir = 1;
+ else
+ {
+ dir = 0;
+ delta_steps = -delta_steps;
+ }
+ switch(dist_check)
+ {
+ case CONDITIONAL_UPDATE:
+ if(distance > SMALL_DISTANCE2)
+ return;
+ case ALWAYS_UPDATE:
+ diff = target - position;
+ distance += diff*diff;
+ break;
+ case NEVER_UPDATE:
+ default:
+ break;
+ }
+}
+
inline void setup_move()
{
+
if(feedrate > max_feedrate) feedrate = max_feedrate;
if(feedrate<10) feedrate=10;
@@ -1297,86 +1340,29 @@
nullmove = false;
- position = current_x;
- current_steps_x = round(position*x_steps_per_unit);
- target = destination_x;
- target_steps_x = round(target*x_steps_per_unit);
- delta_steps_x = target_steps_x - current_steps_x;
- if(delta_steps_x >= 0) direction_x = 1;
- else
- {
- direction_x = 0;
- delta_steps_x = -delta_steps_x;
- }
- diff = target - position;
- distance = diff*diff;
-
- position = current_y;
- current_steps_y = round(position*y_steps_per_unit);
- target = destination_y;
- target_steps_y = round(target*y_steps_per_unit);
- delta_steps_y = target_steps_y - current_steps_y;
- if(delta_steps_y >= 0) direction_y = 1;
- else
- {
- direction_y = 0;
- delta_steps_y = -delta_steps_y;
- }
- diff = target - position;
- distance += diff*diff;
-
- position = current_z;
- current_steps_z = round(position*z_steps_per_unit);
- target = destination_z;
- target_steps_z = round(target*z_steps_per_unit);
- delta_steps_z = target_steps_z - current_steps_z;
- if(delta_steps_z >= 0) direction_z = 1;
- else
- {
- direction_z = 0;
- delta_steps_z = -delta_steps_z;
- }
- diff = target - position;
- distance += diff*diff;
-
- position = current_e;
- current_steps_e = round(position*e_steps_per_unit);
- target = destination_e;
- target_steps_e = round(target*e_steps_per_unit);
- delta_steps_e = target_steps_e - current_steps_e;
- if(delta_steps_e >= 0) direction_e = 1;
- else
- {
- direction_e = 0;
- delta_steps_e = -delta_steps_e;
- }
- if(distance < SMALL_DISTANCE2) // Only consider E if it's the only thing that's moving
- {
- diff = target - position;
- distance += diff*diff;
- }
-
+ distance = 0.0;
+
+ coord_to_steps(current_x, destination_x, current_steps_x, x_steps_per_unit,
+ target_steps_x, delta_steps_x, direction_x, ALWAYS_UPDATE);
+ coord_to_steps(current_y, destination_y, current_steps_y, y_steps_per_unit,
+ target_steps_y, delta_steps_y, direction_y, ALWAYS_UPDATE);
+ coord_to_steps(current_z, destination_z, current_steps_z, z_steps_per_unit,
+ target_steps_z, delta_steps_z, direction_z, ALWAYS_UPDATE);
+ coord_to_steps(current_e, destination_e, current_steps_e, e_steps_per_unit,
+ target_steps_e, delta_steps_e, direction_e, CONDITIONAL_UPDATE);
+
if(distance < SMALL_DISTANCE2) // If only F changes, do it in one shot
{
nullmove = true;
current_feedrate = feedrate;
return;
}
-
- position = current_feedrate;
- current_steps_f = round(position*f_steps_per_unit);
- target = feedrate;
- target_steps_f = round(target*f_steps_per_unit);
- delta_steps_f = target_steps_f - current_steps_f;
- if(delta_steps_f >= 0) direction_f = 1;
- else
- {
- direction_f = 0;
- delta_steps_f = -delta_steps_f;
- }
+ coord_to_steps(current_feedrate, feedrate, current_steps_f, f_steps_per_unit,
+ target_steps_f, delta_steps_f, direction_f, NEVER_UPDATE);
+
distance = sqrt(distance);
- integer_distance = round(distance*60000000.0);
+ integer_distance = lround(distance*DISTANCE_MULTIPLIER);
total_steps = max(delta_steps_x, delta_steps_y);
total_steps = max(total_steps, delta_steps_z);
@@ -1392,7 +1378,7 @@
}
// Rescale the feedrate so it doesn't take lots of steps to do
-
+
t_scale = 1;
if(delta_steps_f > total_steps)
{
@@ -1418,7 +1404,7 @@
dda_counter_f = dda_counter_x;
time_increment = calculate_feedrate_delay(t_scale*current_steps_f);
-
+
if(delta_steps_x) enable_x();
if(delta_steps_y) enable_y();
if(delta_steps_z) enable_z();
@@ -1431,39 +1417,13 @@
if (direction_z) digitalWrite(Z_DIR_PIN,!INVERT_Z_DIR);
else digitalWrite(Z_DIR_PIN,INVERT_Z_DIR);
if (direction_e) digitalWrite(E_DIR_PIN,!INVERT_E_DIR);
- else digitalWrite(E_DIR_PIN,INVERT_E_DIR);
-
-#if 0
+ else digitalWrite(E_DIR_PIN,INVERT_E_DIR);
- Serial.print("destination_x: "); Serial.println(destination_x);
- Serial.print("current_x: "); Serial.println(current_x);
- Serial.print("x_steps_to_take: "); Serial.println(delta_steps_x);
- Serial.print("time increment: "); Serial.println(time_increment);
- Serial.print("total_steps: "); Serial.println(total_steps);
- Serial.println("");
- Serial.print("destination_y: "); Serial.println(destination_y);
- Serial.print("current_y: "); Serial.println(current_y);
- Serial.print("y_steps_to_take: "); Serial.println(delta_steps_y);
- Serial.println("");
- Serial.print("destination_z: "); Serial.println(destination_z);
- Serial.print("current_z: "); Serial.println(current_z);
- Serial.print("z_steps_to_take: "); Serial.println(delta_steps_z);
- Serial.println("");
- Serial.print("destination_e: "); Serial.println(destination_e);
- Serial.print("current_e: "); Serial.println(current_e);
- Serial.print("e_steps_to_take: "); Serial.println(delta_steps_e);
- Serial.println("");
- Serial.print("destination_f: "); Serial.println(feedrate);
- Serial.print("current_f: "); Serial.println(current_feedrate);
- Serial.print("f_steps_to_take: "); Serial.println(delta_steps_f);
- Serial.println("");
-#endif
-
}
-inline bool can_step_switch(const long& current, const long& target, bool direction, byte minstop, byte maxstop)
+inline bool can_step_switch(const long& here, const long& there, bool direction, int minstop, int maxstop)
{
- if(current == target)
+ if(here == there)
return false;
if(direction)
@@ -1479,9 +1439,9 @@
return true;
}
-inline bool can_step(const long& current, const long& target)
+inline bool can_step(const long& here, const long& there)
{
- return current != target;
+ return here != there;
}
void linear_move() // make linear move with preset speeds and destinations, see G0 and G1
@@ -1493,7 +1453,7 @@
}
step_time = micros();
-
+
do
{
while(step_time > micros())
@@ -1599,18 +1559,29 @@
}
if(real_move) // If only F has changed, no point in delaying
- step_time += time_increment;
+ step_time += time_increment;
} while (x_can_step || y_can_step || z_can_step || e_can_step || f_can_step);
+
if(DISABLE_X) disable_x();
if(DISABLE_Y) disable_y();
if(DISABLE_Z) disable_z();
if(DISABLE_E) disable_e();
- current_x = destination_x;
- current_y = destination_y;
- current_z = destination_z;
+ if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING)
+ current_x = 0.0;
+ else
+ current_x = destination_x;
+ if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING)
+ current_y = 0.0;
+ else
+ current_y = destination_y;
+ if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING)
+ current_z = 0.0;
+ else
+ current_z = destination_z;
+
current_e = destination_e;
current_feedrate = feedrate;
Modified: trunk/software/firmware/Tonokip_Firmware/configuration.h
===================================================================
--- trunk/software/firmware/Tonokip_Firmware/configuration.h 2011-05-05 11:21:54 UTC (rev 4123)
+++ trunk/software/firmware/Tonokip_Firmware/configuration.h 2011-05-08 17:05:16 UTC (rev 4124)
@@ -72,10 +72,12 @@
float y_steps_per_unit = 91.42;
float z_steps_per_unit = 5028.6;
float e_steps_per_unit = 30;
-float max_feedrate = 200000; //mmm, acceleration!
#ifdef REPRAP_ACC
float f_steps_per_unit = 1;
+float max_feedrate = 4000;
+#else
+float max_feedrate = 200000; //mmm, acceleration!
#endif
//float x_steps_per_unit = 10.047;
Modified: trunk/software/firmware/Tonokip_Firmware/pins.h
===================================================================
--- trunk/software/firmware/Tonokip_Firmware/pins.h 2011-05-05 11:21:54 UTC (rev 4123)
+++ trunk/software/firmware/Tonokip_Firmware/pins.h 2011-05-08 17:05:16 UTC (rev 4124)
@@ -392,7 +392,7 @@
#define X_DIR_PIN 21
#define X_ENABLE_PIN 4
#define X_MIN_PIN 18
-#define X_MAX_PIN -2 //2
+#define X_MAX_PIN -1 //2
#define Y_STEP_PIN 22
#define Y_DIR_PIN 23
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