Merged multiple extruder support.
Soft PWM. (Sanguinololu can also have PID temperature control) Interrupt save WRITE for addresses > 0x0FF
This commit is contained in:
Erik van der Zalm
parent
3664ed6aad
commit
e017228569
@ -4,11 +4,11 @@
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// This determines the communication speed of the printer
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//#define BAUDRATE 250000
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#define BAUDRATE 115200
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#define BAUDRATE 250000
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//#define BAUDRATE 115200
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//#define BAUDRATE 230400
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#define EXTRUDERS 2
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#define EXTRUDERS 1
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// Frequency limit
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// See nophead's blog for more info
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@ -32,7 +32,7 @@
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// Sanguinololu 1.2 and above = 62
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// Ultimaker = 7,
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// Teensylu = 8
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#define MOTHERBOARD 33
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#define MOTHERBOARD 7
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//===========================================================================
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//=============================Thermal Settings ============================
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@ -46,16 +46,21 @@
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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 1
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#define THERMISTORHEATER_1 1
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#define HEATER_0_USES_THERMISTOR
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#define HEATER_1_USES_THERMISTOR
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//#define HEATER_0_USES_AD595
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//#define THERMISTORHEATER_0 3
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//#define THERMISTORHEATER_1 1
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//#define THERMISTORHEATER_2 1
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//#define HEATER_0_USES_THERMISTOR
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//#define HEATER_1_USES_THERMISTOR
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//#define HEATER_2_USES_THERMISTOR
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#define HEATER_0_USES_AD595
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//#define HEATER_1_USES_AD595
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//#define HEATER_2_USES_AD595
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// Select one of these only to define how the bed temp is read.
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#define THERMISTORBED 1
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#define BED_USES_THERMISTOR
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//#define THERMISTORBED 1
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//#define BED_USES_THERMISTOR
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//#define BED_USES_AD595
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#define BED_CHECK_INTERVAL 5000 //ms
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@ -73,7 +78,8 @@
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//// The minimal temperature defines the temperature below which the heater will not be enabled
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#define HEATER_0_MINTEMP 5
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//#define HEATER_1_MINTEMP 5
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#define BED_MINTEMP 5
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//#define HEATER_2_MINTEMP 5
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//#define BED_MINTEMP 5
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// When temperature exceeds max temp, your heater will be switched off.
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@ -81,7 +87,8 @@
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// You should use MINTEMP for thermistor short/failure protection.
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#define HEATER_0_MAXTEMP 275
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//#define HEATER_1_MAXTEMP 275
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#define BED_MAXTEMP 150
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//#define HEATER_2_MAXTEMP 275
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//#define BED_MAXTEMP 150
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// Wait for Cooldown
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@ -92,21 +99,17 @@
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// Heating is finished if a temperature close to this degree shift is reached
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#define HEATING_EARLY_FINISH_DEG_OFFSET 1 //Degree
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// PID settings:
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// Uncomment the following line to enable PID support.
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#define PIDTEMP
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#define PID_MAX 255 // limits current to nozzle; 255=full current
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#ifdef PIDTEMP
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#if MOTHERBOARD == 62
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#error Sanguinololu does not support PID, sorry. Please disable it.
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#endif
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//#define PID_DEBUG // Sends debug data to the serial port.
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//#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %
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#define PID_MAX 255 // limits current to nozzle; 255=full current
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#define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term
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#define K1 0.95 //smoothing factor withing the PID
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#define PID_dT 0.1 //sampling period of the PID
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#define PID_dT 0.128 //sampling period of the PID
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//To develop some PID settings for your machine, you can initiall follow
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// the Ziegler-Nichols method.
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@ -130,14 +133,14 @@
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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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#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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// Makergear
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#define DEFAULT_Kp 7.0
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#define DEFAULT_Ki 0.1
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#define DEFAULT_Kd 12
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// #define DEFAULT_Kp 7.0
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// #define DEFAULT_Ki 0.1
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// #define DEFAULT_Kd 12
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// Mendel Parts V9 on 12V
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// #define DEFAULT_Kp 63.0
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@ -170,12 +173,12 @@
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#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors
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// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
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const bool X_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
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const bool Y_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
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const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
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const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
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// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false
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//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
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#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
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// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
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#define X_ENABLE_ON 0
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@ -186,7 +189,7 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
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// Disables axis when it's not being used.
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#define DISABLE_X false
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#define DISABLE_Y false
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#define DISABLE_Z true
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#define DISABLE_Z false
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#define DISABLE_E false // For all extruders
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// Inverting axis direction
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@ -195,11 +198,11 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
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//#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true
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//#define INVERT_E*_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false, used for all extruders
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#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
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#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
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#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
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#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E1_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
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//// ENDSTOP SETTINGS:
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@ -208,15 +211,15 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
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#define Y_HOME_DIR -1
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#define Z_HOME_DIR -1
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#define min_software_endstops false //If true, axis won't move to coordinates less than zero.
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#define max_software_endstops false //If true, axis won't move to coordinates greater than the defined lengths below.
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#define X_MAX_LENGTH 210
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#define Y_MAX_LENGTH 210
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#define Z_MAX_LENGTH 210
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#define min_software_endstops true //If true, axis won't move to coordinates less than zero.
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#define max_software_endstops true //If true, axis won't move to coordinates greater than the defined lengths below.
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#define X_MAX_LENGTH 205
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#define Y_MAX_LENGTH 205
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#define Z_MAX_LENGTH 200
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//// MOVEMENT SETTINGS
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#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
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#define HOMING_FEEDRATE {30*60, 30*60, 2*60, 0} // set the homing speeds (mm/min)
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#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
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//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
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#define X_HOME_RETRACT_MM 5
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@ -230,9 +233,9 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
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// default settings
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//#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200*8/3,760*1.1} // default steps per unit for ultimaker
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//#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 67} //sells mendel with v9 extruder
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#define DEFAULT_AXIS_STEPS_PER_UNIT {80.3232, 80.8900, 2284.7651, 757.2218} // SAE Prusa w/ Wade extruder
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#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200*8/3,760*1.1} // default steps per unit for ultimaker
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//#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 360} //sells mendel with v9 extruder
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//#define DEFAULT_AXIS_STEPS_PER_UNIT {80.3232, 80.8900, 2284.7651, 757.2218} // SAE Prusa w/ Wade extruder
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#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 45} // (mm/sec)
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#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.
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@ -283,10 +286,10 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
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// hooke's law says: force = k * distance
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// bernoulli's priniciple says: v ^ 2 / 2 + g . h + pressure / density = constant
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// so: v ^ 2 is proportional to number of steps we advance the extruder
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//#define ADVANCE
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#define ADVANCE
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#ifdef ADVANCE
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#define EXTRUDER_ADVANCE_K .3
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#define EXTRUDER_ADVANCE_K .0
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#define D_FILAMENT 2.85
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#define STEPS_MM_E 836
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@ -298,10 +301,10 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
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//LCD and SD support
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//#define ULTRA_LCD //general lcd support, also 16x2
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#define SDSUPPORT // Enable SD Card Support in Hardware Console
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//#define SDSUPPORT // Enable SD Card Support in Hardware Console
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#define SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers?
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//#define ULTIPANEL
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#define ULTIPANEL
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#ifdef ULTIPANEL
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//#define NEWPANEL //enable this if you have a click-encoder panel
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#define SDSUPPORT
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@ -57,8 +57,6 @@ const prog_char echomagic[] PROGMEM ="echo:";
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#define SERIAL_ECHOPAIR(name,value) {SERIAL_ECHOPGM(name);SERIAL_ECHO(value);}
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// Macro for getting current active extruder
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#define ACTIVE_EXTRUDER (active_extruder)
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//things to write to serial from Programmemory. saves 400 to 2k of RAM.
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#define SerialprintPGM(x) serialprintPGM(MYPGM(x))
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@ -465,16 +465,16 @@ FORCE_INLINE bool code_seen(char code)
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
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destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
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feedrate = homing_feedrate[LETTER##_AXIS]; \
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prepare_move(); \
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
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\
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current_position[LETTER##_AXIS] = 0;\
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
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destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
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prepare_move(); \
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
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\
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destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
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feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
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prepare_move(); \
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plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
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\
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current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
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@ -541,6 +541,7 @@ FORCE_INLINE void process_commands()
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if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //first diagonal move
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{
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current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;
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plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
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destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
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destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
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@ -723,7 +724,7 @@ FORCE_INLINE void process_commands()
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if (code_seen('S')) setTargetBed(code_value());
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break;
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case 105 : // M105
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tmp_extruder = ACTIVE_EXTRUDER;
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tmp_extruder = active_extruder;
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if(code_seen('T')) {
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tmp_extruder = code_value();
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if(tmp_extruder >= EXTRUDERS) {
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@ -743,6 +744,10 @@ FORCE_INLINE void process_commands()
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#else
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SERIAL_ERROR_START;
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SERIAL_ERRORLNPGM("No thermistors - no temp");
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#endif
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#ifdef PIDTEMP
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SERIAL_PROTOCOLPGM(" @:");
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SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
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#endif
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SERIAL_PROTOCOLLN("");
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return;
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@ -793,9 +798,10 @@ FORCE_INLINE void process_commands()
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if( (millis() - codenum) > 1000 )
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{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
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SERIAL_PROTOCOLPGM("T:");
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SERIAL_PROTOCOLLN( degHotend(tmp_extruder) );
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SERIAL_PROTOCOL( degHotend(tmp_extruder) );
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SERIAL_PROTOCOLPGM(" E:");
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SERIAL_PROTOCOLLN( (int)tmp_extruder );
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#ifdef TEMP_RESIDENCY_TIME
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SERIAL_PROTOCOLPGM(" W:");
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if(residencyStart > -1)
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{
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@ -806,6 +812,7 @@ FORCE_INLINE void process_commands()
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{
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SERIAL_PROTOCOLLN( "?" );
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}
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#endif
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codenum = millis();
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}
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manage_heater();
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@ -834,11 +841,11 @@ FORCE_INLINE void process_commands()
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{
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if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
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{
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float tt=degHotend(ACTIVE_EXTRUDER);
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float tt=degHotend(active_extruder);
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SERIAL_PROTOCOLPGM("T:");
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SERIAL_PROTOCOL(tt);
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SERIAL_PROTOCOLPGM(" E:");
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SERIAL_PROTOCOLLN( (int)tmp_extruder );
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SERIAL_PROTOCOLLN( (int)active_extruder );
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SERIAL_PROTOCOLPGM(" B:");
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SERIAL_PROTOCOLLN(degBed());
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codenum = millis();
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@ -1191,6 +1198,7 @@ void manage_inactivity(byte debug)
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void kill()
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{
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cli(); // Stop interrupts
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disable_heater();
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disable_x();
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@ -14,20 +14,36 @@
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#ifndef MASK
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/// MASKING- returns \f$2^PIN\f$
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#define MASK(PIN) (1 << PIN)
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#define MASK(PIN) (1 << PIN)
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#endif
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/*
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magic I/O routines
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now you can simply SET_OUTPUT(STEP); WRITE(STEP, 1); WRITE(STEP, 0);
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*/
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/// Read a pin
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#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & MASK(DIO ## IO ## _PIN)))
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/// write to a pin
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#define _WRITE(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0)
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//#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)
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// On some boards pins > 0x100 are used. These are not converted to atomic actions. An critical section is needed.
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#define _WRITE_NC(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0)
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#define _WRITE_C(IO, v) do { if (v) { \
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CRITICAL_SECTION_START; \
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{DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); }\
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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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{DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }\
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CRITICAL_SECTION_END; \
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}\
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}\
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while (0)
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#define _WRITE(IO, v) do { if (&(DIO ## IO ## _RPORT) >= (uint8_t *)0x100) {_WRITE_C(IO, v); } else {_WRITE_NC(IO, v); }; } while (0)
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/// toggle a pin
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#define _TOGGLE(IO) do {DIO ## IO ## _RPORT = MASK(DIO ## IO ## _PIN); } while (0)
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@ -41,25 +57,15 @@
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/// check if pin is an output
|
||||
#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) != 0)
|
||||
|
||||
/// check if pin is an timer
|
||||
#define _GET_TIMER(IO) ((DIO ## IO ## _PWM)
|
||||
|
||||
// why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
|
||||
|
||||
/// Read a pin wrapper
|
||||
#define READ(IO) _READ(IO)
|
||||
/// Write to a pin wrapper
|
||||
#define WRITE(IO, v) _WRITE(IO, v)
|
||||
#if EXTRUDERS > 2
|
||||
#define WRITE_E_STEP(v) { if(ACTIVE_EXTRUDER == 2) { WRITE(E2_STEP_PIN, v); } else { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
|
||||
#define NORM_E_DIR() { if(ACTIVE_EXTRUDER == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
|
||||
#define REV_E_DIR() { if(ACTIVE_EXTRUDER == 2) { WRITE(E2_DIR_PIN, !INVERT_E2_DIR); } else { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
|
||||
#elif EXTRUDERS > 1
|
||||
#define WRITE_E_STEP(v) { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
|
||||
#define NORM_E_DIR() { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
|
||||
#define REV_E_DIR() { if(ACTIVE_EXTRUDER == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
|
||||
#else
|
||||
#define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
|
||||
#define NORM_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
|
||||
#define REV_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
|
||||
#endif
|
||||
|
||||
/// toggle a pin wrapper
|
||||
#define TOGGLE(IO) _TOGGLE(IO)
|
||||
@ -74,6 +80,9 @@
|
||||
/// check if pin is an output wrapper
|
||||
#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
|
||||
|
||||
/// check if pin is an timer wrapper
|
||||
#define GET_TIMER(IO) _GET_TIMER(IO)
|
||||
|
||||
/*
|
||||
ports and functions
|
||||
|
||||
@ -470,13 +479,13 @@ pins
|
||||
#define DIO3_RPORT PINB
|
||||
#define DIO3_WPORT PORTB
|
||||
#define DIO3_DDR DDRB
|
||||
#define DIO3_PWM &OCR0A
|
||||
#define DIO3_PWM OCR0A
|
||||
|
||||
#define DIO4_PIN PINB4
|
||||
#define DIO4_RPORT PINB
|
||||
#define DIO4_WPORT PORTB
|
||||
#define DIO4_DDR DDRB
|
||||
#define DIO4_PWM &OCR0B
|
||||
#define DIO4_PWM OCR0B
|
||||
|
||||
#define DIO5_PIN PINB5
|
||||
#define DIO5_RPORT PINB
|
||||
@ -524,25 +533,25 @@ pins
|
||||
#define DIO12_RPORT PIND
|
||||
#define DIO12_WPORT PORTD
|
||||
#define DIO12_DDR DDRD
|
||||
#define DIO12_PWM NULL
|
||||
#define DIO12_PWM OCR1B
|
||||
|
||||
#define DIO13_PIN PIND5
|
||||
#define DIO13_RPORT PIND
|
||||
#define DIO13_WPORT PORTD
|
||||
#define DIO13_DDR DDRD
|
||||
#define DIO13_PWM NULL
|
||||
#define DIO13_PWM OCR1A
|
||||
|
||||
#define DIO14_PIN PIND6
|
||||
#define DIO14_RPORT PIND
|
||||
#define DIO14_WPORT PORTD
|
||||
#define DIO14_DDR DDRD
|
||||
#define DIO14_PWM &OCR2B
|
||||
#define DIO14_PWM OCR2B
|
||||
|
||||
#define DIO15_PIN PIND7
|
||||
#define DIO15_RPORT PIND
|
||||
#define DIO15_WPORT PORTD
|
||||
#define DIO15_DDR DDRD
|
||||
#define DIO15_PWM &OCR2A
|
||||
#define DIO15_PWM OCR2A
|
||||
|
||||
#define DIO16_PIN PINC0
|
||||
#define DIO16_RPORT PINC
|
||||
@ -773,14 +782,14 @@ pins
|
||||
#define PB3_RPORT PINB
|
||||
#define PB3_WPORT PORTB
|
||||
#define PB3_DDR DDRB
|
||||
#define PB3_PWM &OCR0A
|
||||
#define PB3_PWM OCR0A
|
||||
|
||||
#undef PB4
|
||||
#define PB4_PIN PINB4
|
||||
#define PB4_RPORT PINB
|
||||
#define PB4_WPORT PORTB
|
||||
#define PB4_DDR DDRB
|
||||
#define PB4_PWM &OCR0B
|
||||
#define PB4_PWM OCR0B
|
||||
|
||||
#undef PB5
|
||||
#define PB5_PIN PINB5
|
||||
@ -908,14 +917,14 @@ pins
|
||||
#define PD6_RPORT PIND
|
||||
#define PD6_WPORT PORTD
|
||||
#define PD6_DDR DDRD
|
||||
#define PD6_PWM &OCR2B
|
||||
#define PD6_PWM OCR2B
|
||||
|
||||
#undef PD7
|
||||
#define PD7_PIN PIND7
|
||||
#define PD7_RPORT PIND
|
||||
#define PD7_WPORT PORTD
|
||||
#define PD7_DDR DDRD
|
||||
#define PD7_PWM &OCR2A
|
||||
#define PD7_PWM OCR2A
|
||||
#endif /* _AVR_ATmega{644,644P,644PA}__ */
|
||||
|
||||
#if defined (__AVR_ATmega1280__) || defined (__AVR_ATmega2560__)
|
||||
|
||||
@ -557,25 +557,24 @@
|
||||
#define HEATER_BED_PIN 4
|
||||
#define TEMP_BED_PIN 11
|
||||
|
||||
#define EXTRUDER_0_STEP_PIN 43
|
||||
#define EXTRUDER_0_DIR_PIN 45
|
||||
#define EXTRUDER_0_ENABLE_PIN 41
|
||||
#define HEATER_0_PIN 2
|
||||
#define TEMP_0_PIN 8
|
||||
|
||||
#define EXTRUDER_1_STEP_PIN 49
|
||||
#define EXTRUDER_1_DIR_PIN 47
|
||||
#define EXTRUDER_1_ENABLE_PIN 51
|
||||
#define EXTRUDER_1_HEATER_PIN 3
|
||||
#define EXTRUDER_1_TEMPERATURE_PIN 10
|
||||
#define HEATER_1_PIN 51
|
||||
#define TEMP_1_PIN 3
|
||||
|
||||
#define HEATER_2_PIN -1
|
||||
#define TEMP_2_PIN -1
|
||||
|
||||
#define E0_STEP_PIN 43
|
||||
#define E0_DIR_PIN 45
|
||||
#define E0_ENABLE_PIN 41
|
||||
|
||||
#define E0_STEP_PIN EXTRUDER_0_STEP_PIN
|
||||
#define E0_DIR_PIN EXTRUDER_0_DIR_PIN
|
||||
#define E0_ENABLE_PIN EXTRUDER_0_ENABLE_PIN
|
||||
#define E1_STEP_PIN 49
|
||||
#define E1_DIR_PIN 47
|
||||
#define E1_ENABLE_PIN 51
|
||||
|
||||
#define SDPOWER -1
|
||||
#define SDSS 53
|
||||
|
||||
@ -191,8 +191,8 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
|
||||
}
|
||||
|
||||
#ifdef ADVANCE
|
||||
long initial_advance = block->advance*entry_factor*entry_factor;
|
||||
long final_advance = block->advance*exit_factor*exit_factor;
|
||||
volatile long initial_advance = block->advance*entry_factor*entry_factor;
|
||||
volatile long final_advance = block->advance*exit_factor*exit_factor;
|
||||
#endif // ADVANCE
|
||||
|
||||
// block->accelerate_until = accelerate_steps;
|
||||
|
||||
@ -57,7 +57,7 @@ volatile static unsigned long step_events_completed; // The number of step event
|
||||
static long advance_rate, advance, final_advance = 0;
|
||||
static long old_advance = 0;
|
||||
#endif
|
||||
static long e_steps;
|
||||
static long e_steps[3];
|
||||
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
|
||||
static long acceleration_time, deceleration_time;
|
||||
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
|
||||
@ -266,7 +266,7 @@ FORCE_INLINE void trapezoid_generator_reset() {
|
||||
advance = current_block->initial_advance;
|
||||
final_advance = current_block->final_advance;
|
||||
// Do E steps + advance steps
|
||||
e_steps += ((advance >>8) - old_advance);
|
||||
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
|
||||
old_advance = advance >>8;
|
||||
#endif
|
||||
deceleration_time = 0;
|
||||
@ -303,8 +303,8 @@ ISR(TIMER1_COMPA_vect)
|
||||
counter_z = counter_x;
|
||||
counter_e = counter_x;
|
||||
step_events_completed = 0;
|
||||
// #ifdef ADVANCE
|
||||
e_steps = 0;
|
||||
// #ifdef ADVANCE
|
||||
// e_steps[current_block->active_extruder] = 0;
|
||||
// #endif
|
||||
}
|
||||
else {
|
||||
@ -418,11 +418,11 @@ ISR(TIMER1_COMPA_vect)
|
||||
|
||||
#ifndef ADVANCE
|
||||
if ((out_bits & (1<<E_AXIS)) != 0) { // -direction
|
||||
NORM_E_DIR();
|
||||
REV_E_DIR();
|
||||
count_direction[E_AXIS]=-1;
|
||||
}
|
||||
else { // +direction
|
||||
REV_E_DIR();
|
||||
NORM_E_DIR();
|
||||
count_direction[E_AXIS]=-1;
|
||||
}
|
||||
#endif //!ADVANCE
|
||||
@ -437,10 +437,10 @@ ISR(TIMER1_COMPA_vect)
|
||||
if (counter_e > 0) {
|
||||
counter_e -= current_block->step_event_count;
|
||||
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
|
||||
e_steps--;
|
||||
e_steps[current_block->active_extruder]--;
|
||||
}
|
||||
else {
|
||||
e_steps++;
|
||||
e_steps[current_block->active_extruder]++;
|
||||
}
|
||||
}
|
||||
#endif //ADVANCE
|
||||
@ -503,7 +503,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
}
|
||||
//if(advance > current_block->advance) advance = current_block->advance;
|
||||
// Do E steps + advance steps
|
||||
e_steps += ((advance >>8) - old_advance);
|
||||
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
|
||||
old_advance = advance >>8;
|
||||
|
||||
#endif
|
||||
@ -532,7 +532,7 @@ ISR(TIMER1_COMPA_vect)
|
||||
}
|
||||
if(advance < final_advance) advance = final_advance;
|
||||
// Do E steps + advance steps
|
||||
e_steps += ((advance >>8) - old_advance);
|
||||
e_steps[current_block->active_extruder] += ((advance >>8) - old_advance);
|
||||
old_advance = advance >>8;
|
||||
#endif //ADVANCE
|
||||
}
|
||||
@ -557,21 +557,51 @@ ISR(TIMER1_COMPA_vect)
|
||||
old_OCR0A += 52; // ~10kHz interrupt (250000 / 26 = 9615kHz)
|
||||
OCR0A = old_OCR0A;
|
||||
// Set E direction (Depends on E direction + advance)
|
||||
for(unsigned char i=0; i<4;) {
|
||||
WRITE_E_STEP(LOW);
|
||||
if (e_steps == 0) break;
|
||||
i++;
|
||||
if (e_steps < 0) {
|
||||
WRITE_E_DIR(INVERT_E_DIR);
|
||||
e_steps++;
|
||||
WRITE_E_STEP(HIGH);
|
||||
for(unsigned char i=0; i<4;i++) {
|
||||
if (e_steps[0] != 0) {
|
||||
WRITE(E0_STEP_PIN, LOW);
|
||||
if (e_steps[0] < 0) {
|
||||
WRITE(E0_DIR_PIN, INVERT_E0_DIR);
|
||||
e_steps[0]++;
|
||||
WRITE(E0_STEP_PIN, HIGH);
|
||||
}
|
||||
else if (e_steps > 0) {
|
||||
WRITE_E_DIR(!INVERT_E_DIR);
|
||||
e_steps--;
|
||||
WRITE_E_STEP(HIGH);
|
||||
else if (e_steps[0] > 0) {
|
||||
WRITE(E0_DIR_PIN, !INVERT_E0_DIR);
|
||||
e_steps[0]--;
|
||||
WRITE(E0_STEP_PIN, HIGH);
|
||||
}
|
||||
}
|
||||
#if EXTRUDERS > 1
|
||||
if (e_steps[1] != 0) {
|
||||
WRITE(E1_STEP_PIN, LOW);
|
||||
if (e_steps[1] < 0) {
|
||||
WRITE(E1_DIR_PIN, INVERT_E1_DIR);
|
||||
e_steps[1]++;
|
||||
WRITE(E1_STEP_PIN, HIGH);
|
||||
}
|
||||
else if (e_steps[1] > 0) {
|
||||
WRITE(E1_DIR_PIN, !INVERT_E1_DIR);
|
||||
e_steps[1]--;
|
||||
WRITE(E1_STEP_PIN, HIGH);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
#if EXTRUDERS > 2
|
||||
if (e_steps[2] != 0) {
|
||||
WRITE(E2_STEP_PIN, LOW);
|
||||
if (e_steps[2] < 0) {
|
||||
WRITE(E2_DIR_PIN, INVERT_E2_DIR);
|
||||
e_steps[2]++;
|
||||
WRITE(E2_STEP_PIN, HIGH);
|
||||
}
|
||||
else if (e_steps[2] > 0) {
|
||||
WRITE(E2_DIR_PIN, !INVERT_E2_DIR);
|
||||
e_steps[2]--;
|
||||
WRITE(E2_STEP_PIN, HIGH);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
}
|
||||
#endif // ADVANCE
|
||||
|
||||
@ -712,7 +742,9 @@ void st_init()
|
||||
TCCR0A &= ~(1<<WGM01);
|
||||
TCCR0A &= ~(1<<WGM00);
|
||||
#endif
|
||||
e_steps = 0;
|
||||
e_steps[0] = 0;
|
||||
e_steps[1] = 0;
|
||||
e_steps[2] = 0;
|
||||
TIMSK0 |= (1<<OCIE0A);
|
||||
#endif //ADVANCE
|
||||
|
||||
|
||||
@ -23,6 +23,21 @@
|
||||
|
||||
#include "planner.h"
|
||||
|
||||
#if EXTRUDERS > 2
|
||||
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 2) { WRITE(E2_STEP_PIN, v); } else { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}}
|
||||
#define NORM_E_DIR() { if(current_block->active_extruder == 2) { WRITE(!E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(!E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}}
|
||||
#define REV_E_DIR() { if(current_block->active_extruder == 2) { WRITE(E2_DIR_PIN, INVERT_E2_DIR); } else { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}}
|
||||
#elif EXTRUDERS > 1
|
||||
#define WRITE_E_STEP(v) { if(current_block->active_extruder == 1) { WRITE(E1_STEP_PIN, v); } else { WRITE(E0_STEP_PIN, v); }}
|
||||
#define NORM_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, !INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, !INVERT_E0_DIR); }}
|
||||
#define REV_E_DIR() { if(current_block->active_extruder == 1) { WRITE(E1_DIR_PIN, INVERT_E1_DIR); } else { WRITE(E0_DIR_PIN, INVERT_E0_DIR); }}
|
||||
#else
|
||||
#define WRITE_E_STEP(v) WRITE(E0_STEP_PIN, v)
|
||||
#define NORM_E_DIR() WRITE(E0_DIR_PIN, !INVERT_E0_DIR)
|
||||
#define REV_E_DIR() WRITE(E0_DIR_PIN, INVERT_E0_DIR)
|
||||
#endif
|
||||
|
||||
|
||||
// Initialize and start the stepper motor subsystem
|
||||
void st_init();
|
||||
|
||||
|
||||
@ -26,7 +26,6 @@
|
||||
It has preliminary support for Matthew Roberts advance algorithm
|
||||
http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
|
||||
|
||||
This firmware is optimized for gen6 electronics.
|
||||
*/
|
||||
#include <avr/pgmspace.h>
|
||||
|
||||
@ -82,6 +81,7 @@ static unsigned long previous_millis_bed_heater;
|
||||
// static float pid_output[EXTRUDERS];
|
||||
static bool pid_reset[EXTRUDERS];
|
||||
#endif //PIDTEMP
|
||||
static unsigned char soft_pwm[EXTRUDERS];
|
||||
|
||||
#ifdef WATCHPERIOD
|
||||
static int watch_raw[EXTRUDERS] = { -1000 }; // the first value used for all
|
||||
@ -140,6 +140,10 @@ void updatePID()
|
||||
#endif
|
||||
}
|
||||
|
||||
int getHeaterPower(int heater) {
|
||||
return soft_pwm[heater];
|
||||
}
|
||||
|
||||
void manage_heater()
|
||||
{
|
||||
#ifdef USE_WATCHDOG
|
||||
@ -201,12 +205,13 @@ void manage_heater()
|
||||
// Check if temperature is within the correct range
|
||||
if((current_raw[e] > minttemp[e]) && (current_raw[e] < maxttemp[e]))
|
||||
{
|
||||
analogWrite(heater_pin_map[e], pid_output);
|
||||
//analogWrite(heater_pin_map[e], pid_output);
|
||||
soft_pwm[e] = (int)pid_output >> 1;
|
||||
}
|
||||
else {
|
||||
analogWrite(heater_pin_map[e], 0);
|
||||
//analogWrite(heater_pin_map[e], 0);
|
||||
soft_pwm[e] = 0;
|
||||
}
|
||||
|
||||
} // End extruder for loop
|
||||
|
||||
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
|
||||
@ -418,7 +423,6 @@ void tp_init()
|
||||
DIDR0 |= 1 << TEMP_0_PIN;
|
||||
#else
|
||||
DIDR2 |= 1<<(TEMP_0_PIN - 8);
|
||||
ADCSRB = 1<<MUX5;
|
||||
#endif
|
||||
#endif
|
||||
#if (TEMP_1_PIN > -1)
|
||||
@ -426,7 +430,6 @@ void tp_init()
|
||||
DIDR0 |= 1<<TEMP_1_PIN;
|
||||
#else
|
||||
DIDR2 |= 1<<(TEMP_1_PIN - 8);
|
||||
ADCSRB = 1<<MUX5;
|
||||
#endif
|
||||
#endif
|
||||
#if (TEMP_2_PIN > -1)
|
||||
@ -434,7 +437,6 @@ void tp_init()
|
||||
DIDR0 |= 1 << TEMP_2_PIN;
|
||||
#else
|
||||
DIDR2 = 1<<(TEMP_2_PIN - 8);
|
||||
ADCSRB = 1<<MUX5;
|
||||
#endif
|
||||
#endif
|
||||
#if (TEMP_BED_PIN > -1)
|
||||
@ -442,7 +444,6 @@ void tp_init()
|
||||
DIDR0 |= 1<<TEMP_BED_PIN;
|
||||
#else
|
||||
DIDR2 |= 1<<(TEMP_BED_PIN - 8);
|
||||
ADCSRB = 1<<MUX5;
|
||||
#endif
|
||||
#endif
|
||||
|
||||
@ -506,6 +507,7 @@ void disable_heater()
|
||||
{
|
||||
#if TEMP_0_PIN > -1
|
||||
target_raw[0]=0;
|
||||
soft_pwm[0]=0;
|
||||
#if HEATER_0_PIN > -1
|
||||
digitalWrite(HEATER_0_PIN,LOW);
|
||||
#endif
|
||||
@ -513,6 +515,7 @@ void disable_heater()
|
||||
|
||||
#if TEMP_1_PIN > -1
|
||||
target_raw[1]=0;
|
||||
soft_pwm[1]=0;
|
||||
#if HEATER_1_PIN > -1
|
||||
digitalWrite(HEATER_1_PIN,LOW);
|
||||
#endif
|
||||
@ -520,6 +523,7 @@ void disable_heater()
|
||||
|
||||
#if TEMP_2_PIN > -1
|
||||
target_raw[2]=0;
|
||||
soft_pwm[2]=0;
|
||||
#if HEATER_2_PIN > -1
|
||||
digitalWrite(HEATER_2_PIN,LOW);
|
||||
#endif
|
||||
@ -533,6 +537,26 @@ void disable_heater()
|
||||
#endif
|
||||
}
|
||||
|
||||
void max_temp_error(uint8_t e) {
|
||||
digitalWrite(heater_pin_map[e], 0);
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLN(e);
|
||||
SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !");
|
||||
}
|
||||
|
||||
void min_temp_error(uint8_t e) {
|
||||
digitalWrite(heater_pin_map[e], 0);
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLN(e);
|
||||
SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !");
|
||||
}
|
||||
|
||||
void bed_max_temp_error(void) {
|
||||
digitalWrite(HEATER_BED_PIN, 0);
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
|
||||
}
|
||||
|
||||
// Timer 0 is shared with millies
|
||||
ISR(TIMER0_COMPB_vect)
|
||||
{
|
||||
@ -543,6 +567,33 @@ ISR(TIMER0_COMPB_vect)
|
||||
static unsigned long raw_temp_2_value = 0;
|
||||
static unsigned long raw_temp_bed_value = 0;
|
||||
static unsigned char temp_state = 0;
|
||||
static unsigned char pwm_count = 1;
|
||||
static unsigned char soft_pwm_0;
|
||||
static unsigned char soft_pwm_1;
|
||||
static unsigned char soft_pwm_2;
|
||||
|
||||
if(pwm_count == 0){
|
||||
soft_pwm_0 = soft_pwm[0];
|
||||
if(soft_pwm_0 > 0) WRITE(HEATER_0_PIN,1);
|
||||
#if EXTRUDERS > 1
|
||||
soft_pwm_1 = soft_pwm[1];
|
||||
if(soft_pwm_1 > 0) WRITE(HEATER_1_PIN,1);
|
||||
#endif
|
||||
#if EXTRUDERS > 2
|
||||
soft_pwm_2 = soft_pwm[2];
|
||||
if(soft_pwm_2 > 0) WRITE(HEATER_2_PIN,1);
|
||||
#endif
|
||||
}
|
||||
if(soft_pwm_0 <= pwm_count) WRITE(HEATER_0_PIN,0);
|
||||
#if EXTRUDERS > 1
|
||||
if(soft_pwm_1 <= pwm_count) WRITE(HEATER_1_PIN,0);
|
||||
#endif
|
||||
#if EXTRUDERS > 2
|
||||
if(soft_pwm_2 <= pwm_count) WRITE(HEATER_2_PIN,0);
|
||||
#endif
|
||||
|
||||
pwm_count++;
|
||||
pwm_count &= 0x7f;
|
||||
|
||||
switch(temp_state) {
|
||||
case 0: // Prepare TEMP_0
|
||||
@ -628,10 +679,10 @@ ISR(TIMER0_COMPB_vect)
|
||||
temp_state = 0;
|
||||
temp_count++;
|
||||
break;
|
||||
default:
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLNPGM("Temp measurement error!");
|
||||
break;
|
||||
// default:
|
||||
// SERIAL_ERROR_START;
|
||||
// SERIAL_ERRORLNPGM("Temp measurement error!");
|
||||
// break;
|
||||
}
|
||||
|
||||
if(temp_count >= 16) // 8 ms * 16 = 128ms.
|
||||
@ -671,21 +722,15 @@ ISR(TIMER0_COMPB_vect)
|
||||
raw_temp_2_value = 0;
|
||||
raw_temp_bed_value = 0;
|
||||
|
||||
for(int e = 0; e < EXTRUDERS; e++) {
|
||||
for(unsigned char e = 0; e < EXTRUDERS; e++) {
|
||||
if(current_raw[e] >= maxttemp[e]) {
|
||||
target_raw[e] = 0;
|
||||
digitalWrite(heater_pin_map[e], 0);
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLN((int)e);
|
||||
SERIAL_ERRORLNPGM(": Extruder switched off. MAXTEMP triggered !");
|
||||
kill();
|
||||
max_temp_error(e);
|
||||
kill();;
|
||||
}
|
||||
if(current_raw[e] <= minttemp[e]) {
|
||||
target_raw[e] = 0;
|
||||
digitalWrite(heater_pin_map[e], 0);
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLN(e);
|
||||
SERIAL_ERRORLNPGM(": Extruder switched off. MINTEMP triggered !");
|
||||
min_temp_error(e);
|
||||
kill();
|
||||
}
|
||||
}
|
||||
@ -693,9 +738,7 @@ ISR(TIMER0_COMPB_vect)
|
||||
#if defined(BED_MAXTEMP) && (HEATER_BED_PIN > -1)
|
||||
if(current_raw_bed >= bed_maxttemp) {
|
||||
target_raw_bed = 0;
|
||||
digitalWrite(HEATER_BED_PIN, 0);
|
||||
SERIAL_ERROR_START;
|
||||
SERIAL_ERRORLNPGM("Temperature heated bed switched off. MAXTEMP triggered !!");
|
||||
bed_max_temp_error();
|
||||
kill();
|
||||
}
|
||||
#endif
|
||||
|
||||
@ -135,6 +135,7 @@ FORCE_INLINE void autotempShutdown(){
|
||||
#endif
|
||||
}
|
||||
|
||||
int getHeaterPower(int heater);
|
||||
void disable_heater();
|
||||
void setWatch();
|
||||
void updatePID();
|
||||
|
||||
@ -163,7 +163,11 @@ void lcd_status()
|
||||
//static long previous_lcdinit=0;
|
||||
// buttons_check(); // Done in temperature interrupt
|
||||
//previous_millis_buttons=millis();
|
||||
|
||||
long ms=millis();
|
||||
for(int8_t i=0; i<8; i++) {
|
||||
if((blocking[i]>ms))
|
||||
buttons &= ~(1<<i);
|
||||
}
|
||||
if((buttons==oldbuttons) && ((millis() - previous_millis_lcd) < LCD_UPDATE_INTERVAL) )
|
||||
return;
|
||||
oldbuttons=buttons;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user