Merge branch 'Marlin_v1' of https://github.com/ErikZalm/Marlin into Marlin_v1
This commit is contained in:
Bernhard Kubicek
commit
1e5e141ac9
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@ -11,7 +11,7 @@
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// Frequency limit
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// See nophead's blog for more info
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// Not working OK
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// Not working O
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//#define XY_FREQUENCY_LIMIT 15
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// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
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@ -45,9 +45,9 @@
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// 5 is ParCan supplied 104GT-2 100K
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// 6 is EPCOS 100k
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// 7 is 100k Honeywell thermistor 135-104LAG-J01
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#define THERMISTORHEATER_0 3
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#define THERMISTORHEATER_1 3
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#define THERMISTORBED 3
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//#define THERMISTORHEATER_0 3
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//#define THERMISTORHEATER_1 3
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//#define THERMISTORBED 3
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//#define HEATER_0_USES_THERMISTOR
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//#define HEATER_1_USES_THERMISTOR
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@ -119,9 +119,15 @@
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// #define DEFAULT_Ki (2*Kp/PID_SWING_AT_CRITIAL*PID_dT)
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// #define DEFAULT_Kd (PID_SWING_AT_CRITIAL/8./PID_dT)
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// Ultitmaker
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#define DEFAULT_Kp 22.2
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#define DEFAULT_Ki (1.25*PID_dT)
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#define DEFAULT_Kd (99/PID_dT)
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// Mendel Parts V9 on 12V
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// #define DEFAULT_Kp 63.0
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// #define DEFAULT_Ki (2.25*PID_dT)
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// #define DEFAULT_Kd (440/PID_dT)
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#endif
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#ifdef PID_PI
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@ -140,13 +146,6 @@
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#endif // PIDTEMP
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//===========================================================================
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//=============================Mechanical Settings===========================
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//===========================================================================
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@ -243,13 +242,11 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
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// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
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// this enables the watchdog interrupt.
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//#define USE_WATCHDOG
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#ifdef USE_WATCHDOG
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//#ifdef USE_WATCHDOG
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// you cannot reboot on a mega2560 due to a bug in he bootloader. Hence, you have to reset manually, and this is done hereby:
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#define RESET_MANUAL
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#define WATCHDOG_TIMEOUT 4 //seconds
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#endif
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//#define RESET_MANUAL
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//#define WATCHDOG_TIMEOUT 4 //seconds
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//#endif
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// extruder advance constant (s2/mm3)
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//
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@ -307,8 +304,7 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
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#define AUTOTEMP_FACTOR 1000. //current target temperature= min+largest buffered espeeds)*FACTOR
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const int dropsegments=0; //everything with less than this number of steps will be ignored as move and joined with the next movement
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const int dropsegments=5; //everything with less than this number of steps will be ignored as move and joined with the next movement
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//===========================================================================
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//=============================Buffers ============================
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@ -240,10 +240,9 @@ void setup()
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axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
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}
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tp_init(); // Initialize temperature loop
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plan_init(); // Initialize planner;
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st_init(); // Initialize stepper;
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tp_init(); // Initialize temperature loop
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wd_init();
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}
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@ -56,8 +56,8 @@ static unsigned long step_events_completed; // The number of step events execute
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#ifdef ADVANCE
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static long advance_rate, advance, final_advance = 0;
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static short old_advance = 0;
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static short e_steps;
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#endif
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static short e_steps;
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static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
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static long acceleration_time, deceleration_time;
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//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
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@ -156,7 +156,7 @@ asm volatile ( \
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
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void endstops_triggered(const unsigned long &stepstaken)
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inline void endstops_triggered(const unsigned long &stepstaken)
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{
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//this will only work if there is no bufferig
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//however, if you perform a move at which the endstops should be triggered, and wait for it to complete, i.e. by blocking command, it should work
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@ -296,9 +296,9 @@ ISR(TIMER1_COMPA_vect)
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counter_z = counter_x;
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counter_e = counter_x;
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step_events_completed = 0;
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#ifdef ADVANCE
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// #ifdef ADVANCE
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e_steps = 0;
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#endif
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// #endif
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}
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else {
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// DISABLE_STEPPER_DRIVER_INTERRUPT();
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@ -309,29 +309,6 @@ ISR(TIMER1_COMPA_vect)
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// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
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out_bits = current_block->direction_bits;
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#ifdef ADVANCE
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// Calculate E early.
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counter_e += current_block->steps_e;
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if (counter_e > 0) {
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counter_e -= current_block->step_event_count;
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if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
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CRITICAL_SECTION_START;
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e_steps--;
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CRITICAL_SECTION_END;
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}
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else {
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CRITICAL_SECTION_START;
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e_steps++;
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CRITICAL_SECTION_END;
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}
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}
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// Do E steps + advance steps
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CRITICAL_SECTION_START;
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e_steps += ((advance >> 16) - old_advance);
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CRITICAL_SECTION_END;
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old_advance = advance >> 16;
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#endif //ADVANCE
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// Set direction en check limit switches
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if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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@ -365,7 +342,7 @@ ISR(TIMER1_COMPA_vect)
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#endif
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#if Y_MIN_PIN > -1
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if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
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// endstops_triggered(step_events_completed);
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// endstops_triggered(step_events_completed);
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step_events_completed = current_block->step_event_count;
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}
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#endif
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@ -390,7 +367,7 @@ ISR(TIMER1_COMPA_vect)
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#endif
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#if Z_MIN_PIN > -1
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if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
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endstops_triggered(step_events_completed);
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// endstops_triggered(step_events_completed);
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step_events_completed = current_block->step_event_count;
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}
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#endif
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@ -416,6 +393,30 @@ ISR(TIMER1_COMPA_vect)
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#endif //!ADVANCE
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for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
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/*
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counter_e += current_block->steps_e;
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if (counter_e > 0) {
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counter_e -= current_block->step_event_count;
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if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
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CRITICAL_SECTION_START;
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e_steps--;
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CRITICAL_SECTION_END;
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}
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else {
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CRITICAL_SECTION_START;
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e_steps++;
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CRITICAL_SECTION_END;
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}
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}
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*/
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/*
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// Do E steps + advance steps
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CRITICAL_SECTION_START;
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e_steps += ((advance >> 16) - old_advance);
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CRITICAL_SECTION_END;
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old_advance = advance >> 16;
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*/
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counter_x += current_block->steps_x;
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if (counter_x > 0) {
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WRITE(X_STEP_PIN, HIGH);
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@ -649,7 +650,8 @@ void st_init()
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TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
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OCR1A = 0x4000;
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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TCNT1 = 0;
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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#ifdef ADVANCE
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e_steps = 0;
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@ -19,15 +19,15 @@ void(* ctrlaltdelete) (void) = 0; //does not work on my atmega2560
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/// intialise watch dog with a 1 sec interrupt time
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void wd_init()
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{
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WDTCSR = (1<<WDCE )|(1<<WDE ); //allow changes
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WDTCSR = (1<<WDIF)|(1<<WDIE)| (1<<WDCE )|(1<<WDE )| (1<<WDP2 )|(1<<WDP1)|(0<<WDP0);
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WDTCSR |= (1<<WDCE )|(1<<WDE ); //allow changes
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WDTCSR = (1<<WDCE )|(1<<WDE )|(1<<WDP3 )|(1<<WDP0); // Reset after 8 sec.
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// WDTCSR = (1<<WDIF)|(1<<WDIE)| (1<<WDCE )|(1<<WDE )| (1<<WDP3) | (1<<WDP0);
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}
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/// reset watchdog. MUST be called every 1s after init or avr will reset.
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void wd_reset()
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{
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wdt_reset();
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timeout_seconds=0; //reset counter for resets
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}
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//===========================================================================
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