zaubentrucker/muele-marlin
1
0
Fork 0
Code Issues Pull requests Actions Packages Projects Releases Wiki Activity

A lot of changes in the planner code

Browse source
This commit is contained in:
Erik van der Zalm 2011-11-13 20:42:08 +01:00
parent 72ace55e6a
commit 65934eee9c
7 changed files with 2019 additions and 1877 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

37
Marlin/Configuration.h
View file

@ -6,6 +6,15 @@
#define MM_PER_ARC_SEGMENT 1 #define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25 #define N_ARC_CORRECTION 25
// Frequency limit
// See nophead's blog for more info
#define XY_FREQUENCY_LIMIT 15
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
// 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
@ -97,6 +106,11 @@ const int dropsegments=5; //everything with this number of steps will be ignore
#define DISABLE_E false #define DISABLE_E false
// Inverting axis direction // Inverting axis direction
//#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
//#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false
//#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true
//#define INVERT_E_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true #define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false #define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true #define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
@ -117,7 +131,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore
//// MOVEMENT SETTINGS //// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E #define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
//note: on bernhards ultimaker 200 200 12 are working well. //note: on bernhards ultimaker 200 200 12 are working well.
#define HOMING_FEEDRATE {50*60, 50*60, 12*60, 0} // set the homing speeds #define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
#define AXIS_RELATIVE_MODES {false, false, false, false} #define AXIS_RELATIVE_MODES {false, false, false, false}
@ -126,19 +140,20 @@ const int dropsegments=5; //everything with this number of steps will be ignore
// default settings // default settings
#define DEFAULT_AXIS_STEPS_PER_UNIT {79.87220447,79.87220447,200*8/3,14} // default steps per unit for ultimaker #define DEFAULT_AXIS_STEPS_PER_UNIT {79.87220447,79.87220447,200*8/3,14} // default steps per unit for ultimaker
#define DEFAULT_MAX_FEEDRATE {160*60, 160*60, 10*60, 500000} //#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 67}
#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_MAX_FEEDRATE {500, 500, 10, 500000} // (mm/min)
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // 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_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves #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 #define DEFAULT_RETRACT_ACCELERATION 7000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
#define DEFAULT_MINIMUMFEEDRATE 10 // minimum feedrate #define DEFAULT_MINIMUMFEEDRATE 0 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 10 #define DEFAULT_MINTRAVELFEEDRATE 0
// 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. // 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_MINSEGMENTTIME 20000
#define DEFAULT_XYJERK 30.0*60 #define DEFAULT_XYJERK 30.0 // (mm/sec)
#define DEFAULT_ZJERK 10.0*60 #define DEFAULT_ZJERK 0.4 // (mm/sec)
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature // The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
@ -162,7 +177,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore
//#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one //#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 //// The minimal temperature defines the temperature below which the heater will not be enabled
#define HEATER_0_MINTEMP 5 //#define HEATER_0_MINTEMP 5
//#define HEATER_1_MINTEMP 5 //#define HEATER_1_MINTEMP 5
//#define BED_MINTEMP 5 //#define BED_MINTEMP 5
@ -170,7 +185,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore
// When temperature exceeds max temp, your heater will be switched off. // 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! // This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
// You should use MINTEMP for thermistor short/failure protection. // You should use MINTEMP for thermistor short/failure protection.
#define HEATER_0_MAXTEMP 275 //#define HEATER_0_MAXTEMP 275
//#define_HEATER_1_MAXTEMP 275 //#define_HEATER_1_MAXTEMP 275
//#define BED_MAXTEMP 150 //#define BED_MAXTEMP 150
@ -246,9 +261,9 @@ const int dropsegments=5; //everything with this number of steps will be ignore
// The number of linear motions that can be in the plan at any give time. // The number of linear motions that can be in the plan at any give time.
// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering. // THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
#if defined SDSUPPORT #if defined SDSUPPORT
#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller #define BLOCK_BUFFER_SIZE 8 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
#else #else
#define BLOCK_BUFFER_SIZE 16 // maximize block buffer #define BLOCK_BUFFER_SIZE 8 // maximize block buffer
#endif #endif
//The ASCII buffer for recieving from the serial: //The ASCII buffer for recieving from the serial:

8
Marlin/Marlin.pde
View file

@ -114,7 +114,9 @@ extern float HeaterPower;
//=========================================================================== //===========================================================================
//=============================public variables============================= //=============================public variables=============================
//=========================================================================== //===========================================================================
#ifdef SDSUPPORT
CardReader card; CardReader card;
#endif
float homing_feedrate[] = HOMING_FEEDRATE; float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES; bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
volatile int feedmultiply=100; //100->1 200->2 volatile int feedmultiply=100; //100->1 200->2
@ -215,7 +217,9 @@ void loop()
{ {
if(buflen<3) if(buflen<3)
get_command(); get_command();
#ifdef SDSUPPORT
card.checkautostart(false); card.checkautostart(false);
#endif
if(buflen) if(buflen)
{ {
#ifdef SDSUPPORT #ifdef SDSUPPORT
@ -933,7 +937,7 @@ inline void get_arc_coordinates()
void prepare_move() void prepare_move()
{ {
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60.0/100.0); plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0);
for(int8_t i=0; i < NUM_AXIS; i++) { for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i]; current_position[i] = destination[i];
} }
@ -943,7 +947,7 @@ void prepare_arc_move(char isclockwise) {
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
// Trace the arc // Trace the arc
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60.0/100.0, r, isclockwise); mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise);
// As far as the parser is concerned, the position is now == target. In reality the // As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position // motion control system might still be processing the action and the real tool position

1297
Marlin/planner.cpp
View file

File diff suppressed because it is too large Load diff

187
Marlin/planner.h
View file

@ -1,93 +1,96 @@
/* /*
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
#include "Configuration.h" #include "Configuration.h"
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in // This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// the source g-code and may never actually be reached if acceleration management is active. // the source g-code and may never actually be reached if acceleration management is active.
typedef struct { typedef struct {
// Fields used by the bresenham algorithm for tracing the line // Fields used by the bresenham algorithm for tracing the line
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
long step_event_count; // The number of step events required to complete this block long step_event_count; // The number of step events required to complete this block
volatile long accelerate_until; // The index of the step event on which to stop acceleration volatile long accelerate_until; // The index of the step event on which to stop acceleration
volatile long decelerate_after; // The index of the step event on which to start decelerating volatile long decelerate_after; // The index of the step event on which to start decelerating
volatile long acceleration_rate; // The acceleration rate used for acceleration calculation volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
#ifdef ADVANCE #ifdef ADVANCE
long advance_rate; // long advance_rate;
volatile long initial_advance; // volatile long initial_advance;
volatile long final_advance; // volatile long final_advance;
float advance; // float advance;
#endif #endif
// Fields used by the motion planner to manage acceleration // Fields used by the motion planner to manage acceleration
float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis // float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
float nominal_speed; // The nominal speed for this block in mm/min float nominal_speed; // The nominal speed for this block in mm/min
float millimeters; // The total travel of this block in mm float entry_speed; // Entry speed at previous-current junction in mm/min
float entry_speed; float max_entry_speed; // Maximum allowable junction entry speed in mm/min
float acceleration; // acceleration mm/sec^2 float millimeters; // The total travel of this block in mm
float acceleration; // acceleration mm/sec^2
// Settings for the trapezoid generator unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
long nominal_rate; // The nominal step rate for this block in step_events/sec unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
volatile long initial_rate; // The jerk-adjusted step rate at start of block
volatile long final_rate; // The minimal rate at exit // Settings for the trapezoid generator
long acceleration_st; // acceleration steps/sec^2 long nominal_rate; // The nominal step rate for this block in step_events/sec
volatile char busy; volatile long initial_rate; // The jerk-adjusted step rate at start of block
} block_t; volatile long final_rate; // The minimal rate at exit
long acceleration_st; // acceleration steps/sec^2
// Initialize the motion plan subsystem volatile char busy;
void plan_init(); } block_t;
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in // Initialize the motion plan subsystem
// millimaters. Feed rate specifies the speed of the motion. void plan_init();
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
// Set position. Used for G92 instructions. // millimaters. Feed rate specifies the speed of the motion.
void plan_set_position(const float &x, const float &y, const float &z, const float &e); void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
// 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(const float &x, const float &y, const float &z, const 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
// Gets the current block. Returns NULL if buffer empty // availible for new blocks.
block_t *plan_get_current_block(); void plan_discard_current_block();
void check_axes_activity(); // Gets the current block. Returns NULL if buffer empty
block_t *plan_get_current_block();
extern unsigned long minsegmenttime;
extern float max_feedrate[4]; // set the max speeds void check_axes_activity();
extern float axis_steps_per_unit[4];
extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software extern unsigned long minsegmenttime;
extern float minimumfeedrate; extern float max_feedrate[4]; // set the max speeds
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX extern float axis_steps_per_unit[4];
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly. extern float minimumfeedrate;
extern float max_z_jerk; extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
extern float mintravelfeedrate; extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
extern float max_z_jerk;
extern float mintravelfeedrate;
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
#endif #endif

1227
Marlin/stepper.cpp
View file

File diff suppressed because it is too large Load diff

1124
Marlin/temperature.cpp
View file

File diff suppressed because it is too large Load diff

16
Marlin/thermistortables.h
View file

@ -1,12 +1,14 @@
#ifndef THERMISTORTABLES_H_ #ifndef THERMISTORTABLES_H_
#define THERMISTORTABLES_H_ #define THERMISTORTABLES_H_
#include <avr/pgmspace.h>
#define OVERSAMPLENR 16 #define OVERSAMPLENR 16
#if (THERMISTORHEATER_0 == 1) || (THERMISTORHEATER_1 == 1) || (THERMISTORBED == 1) //100k bed thermistor #if (THERMISTORHEATER_0 == 1) || (THERMISTORHEATER_1 == 1) || (THERMISTORBED == 1) //100k bed thermistor
#define NUMTEMPS_1 61 #define NUMTEMPS_1 61
const short temptable_1[NUMTEMPS_1][2] = { const short temptable_1[NUMTEMPS_1][2] PROGMEM = {
{ 23*OVERSAMPLENR , 300 }, { 23*OVERSAMPLENR , 300 },
{ 25*OVERSAMPLENR , 295 }, { 25*OVERSAMPLENR , 295 },
{ 27*OVERSAMPLENR , 290 }, { 27*OVERSAMPLENR , 290 },
@ -72,7 +74,7 @@ const short temptable_1[NUMTEMPS_1][2] = {
#endif #endif
#if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORBED == 2) //200k bed thermistor #if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORBED == 2) //200k bed thermistor
#define NUMTEMPS_2 21 #define NUMTEMPS_2 21
const short temptable_2[NUMTEMPS_2][2] = { const short temptable_2[NUMTEMPS_2][2] PROGMEM = {
{1*OVERSAMPLENR, 848}, {1*OVERSAMPLENR, 848},
{54*OVERSAMPLENR, 275}, {54*OVERSAMPLENR, 275},
{107*OVERSAMPLENR, 228}, {107*OVERSAMPLENR, 228},
@ -99,7 +101,7 @@ const short temptable_2[NUMTEMPS_2][2] = {
#endif #endif
#if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORBED == 3) //mendel-parts #if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 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] PROGMEM = {
{1*OVERSAMPLENR,864}, {1*OVERSAMPLENR,864},
{21*OVERSAMPLENR,300}, {21*OVERSAMPLENR,300},
{25*OVERSAMPLENR,290}, {25*OVERSAMPLENR,290},
@ -134,7 +136,7 @@ const short temptable_3[NUMTEMPS_3][2] = {
#if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORBED == 4) //10k thermistor #if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORBED == 4) //10k thermistor
#define NUMTEMPS_4 20 #define NUMTEMPS_4 20
short temptable_4[NUMTEMPS_4][2] = { const short temptable_4[NUMTEMPS_4][2] PROGMEM = {
{1*OVERSAMPLENR, 430}, {1*OVERSAMPLENR, 430},
{54*OVERSAMPLENR, 137}, {54*OVERSAMPLENR, 137},
{107*OVERSAMPLENR, 107}, {107*OVERSAMPLENR, 107},
@ -161,7 +163,7 @@ short temptable_4[NUMTEMPS_4][2] = {
#if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2) #if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
#define NUMTEMPS_5 61 #define NUMTEMPS_5 61
const short temptable_5[NUMTEMPS_5][2] = { const short temptable_5[NUMTEMPS_5][2] PROGMEM = {
{1*OVERSAMPLENR, 713}, {1*OVERSAMPLENR, 713},
{18*OVERSAMPLENR, 316}, {18*OVERSAMPLENR, 316},
{35*OVERSAMPLENR, 266}, {35*OVERSAMPLENR, 266},
@ -228,7 +230,7 @@ const short temptable_5[NUMTEMPS_5][2] = {
#if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor #if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor
#define NUMTEMPS_6 36 #define NUMTEMPS_6 36
const short temptable_6[NUMTEMPS_6][2] = { const short temptable_6[NUMTEMPS_6][2] PROGMEM = {
{28*OVERSAMPLENR, 250}, {28*OVERSAMPLENR, 250},
{31*OVERSAMPLENR, 245}, {31*OVERSAMPLENR, 245},
{35*OVERSAMPLENR, 240}, {35*OVERSAMPLENR, 240},
@ -270,7 +272,7 @@ const short temptable_6[NUMTEMPS_6][2] = {
#if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01 #if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
#define NUMTEMPS_7 54 #define NUMTEMPS_7 54
const short temptable_7[NUMTEMPS_7][2] = { const short temptable_7[NUMTEMPS_7][2] PROGMEM = {
{46*OVERSAMPLENR, 270}, {46*OVERSAMPLENR, 270},
{50*OVERSAMPLENR, 265}, {50*OVERSAMPLENR, 265},
{54*OVERSAMPLENR, 260}, {54*OVERSAMPLENR, 260},