loko u
A port of the Sprinter Firmware to the mbed.
Diff: Sprinter.cpp
- Revision:
- 0:1e3ffdfd19ec
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sprinter.cpp Sun Jul 08 16:17:09 2012 +0000
@@ -0,0 +1,1467 @@
+//https://github.com/kliment/Sprinter/tree/master/Sprinter
+#include "mbed.h"
+#include "configuration.h"
+#include "pins.h"
+#include "Sprinter.h"
+
+#include "SerialBuffered.h"
+
+DigitalOut heat0_led(LED1);//x
+DigitalOut heat1_led(LED2);//y
+//DigitalOut led3(LED3);//z
+DigitalOut p_led(LED_PIN);//e
+
+DigitalOut p_fan(FAN_PIN);
+
+//DigitalOut p_x_enable(X_ENABLE_PIN);
+DigitalOut p_x_dir(X_DIR_PIN);
+DigitalOut p_x_step(X_STEP_PIN);
+//DigitalIn p_x_min(X_MIN_PIN);
+//DigitalIn p_x_max(X_MAX_PIN);
+
+//DigitalOut p_y_enable(Y_ENABLE_PIN);
+DigitalOut p_y_dir(Y_DIR_PIN);
+DigitalOut p_y_step(Y_STEP_PIN);
+//DigitalIn p_y_min(Y_MIN_PIN);
+//DigitalIn p_y_max(Y_MAX_PIN);
+
+//DigitalOut p_z_enable(Z_ENABLE_PIN);
+DigitalOut p_z_dir(Z_DIR_PIN);
+DigitalOut p_z_step(Z_STEP_PIN);
+//DigitalIn p_z_min(Z_MIN_PIN);
+//DigitalIn p_z_max(Z_MAX_PIN);
+
+//DigitalOut p_e_enable(E_ENABLE_PIN);
+DigitalOut p_e_dir(E_DIR_PIN);
+DigitalOut p_e_step(E_STEP_PIN);
+
+DigitalOut p_heater0(HEATER_0_PIN);
+DigitalOut p_heater1(HEATER_1_PIN);//heated-build-platform
+
+AnalogIn p_temp0(TEMP_0_PIN);
+AnalogIn p_temp1(TEMP_1_PIN);//heated-build-platform thermistor
+
+SerialBuffered pc( 4096, USBTX, USBRX);
+char print_buffer[100];
+
+Timer timer;
+
+void print_string(char * s) {
+ while (*s) {
+ pc.putc(*s);
+ s++;
+ }
+}
+
+void print_int(int var) {
+ sprintf(print_buffer,"%d",var);
+ print_string(print_buffer);
+}
+
+void print_long(long var) {
+ sprintf(print_buffer,"%ld", var);
+ print_string(print_buffer);
+}
+
+void print_float(float var) {
+ sprintf(print_buffer,"%f",var);
+ print_string(print_buffer);
+}
+
+int micros() {
+ static long long current_us = 0;
+ current_us += timer.read_us();
+ timer.reset();
+ return current_us;
+}
+
+int millis() {
+ return int(micros()/1000);
+}
+
+// look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
+// http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
+
+//Stepper Movement Variables
+
+char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
+bool move_direction[NUM_AXIS];
+unsigned long axis_previous_micros[NUM_AXIS];
+unsigned long previous_micros = 0, previous_millis_heater, previous_millis_bed_heater;
+unsigned long move_steps_to_take[NUM_AXIS];
+#ifdef RAMP_ACCELERATION
+unsigned long axis_max_interval[NUM_AXIS];
+unsigned long axis_steps_per_sqr_second[NUM_AXIS];
+unsigned long axis_travel_steps_per_sqr_second[NUM_AXIS];
+unsigned long max_interval;
+unsigned long steps_per_sqr_second, plateau_steps;
+#endif
+bool acceleration_enabled = false, accelerating = false;
+unsigned long interval;
+float destination[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
+float current_position[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
+unsigned long steps_taken[NUM_AXIS];
+long axis_interval[NUM_AXIS]; // for speed delay
+bool home_all_axis = false;//true;
+int feedrate = 1500, next_feedrate, saved_feedrate;
+float time_for_move;
+long gcode_N, gcode_LastN;
+bool relative_mode = false; //Determines Absolute or Relative Coordinates
+bool relative_mode_e = false; //Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
+long timediff = 0;
+//experimental feedrate calc
+float d = 0;
+float axis_diff[NUM_AXIS] = {0, 0, 0, 0};
+#ifdef STEP_DELAY_RATIO
+long long_step_delay_ratio = STEP_DELAY_RATIO * 100;
+#endif
+
+// comm variables
+#define MAX_CMD_SIZE 96
+#define BUFSIZE 8
+char cmdbuffer[BUFSIZE][MAX_CMD_SIZE];
+bool fromsd[BUFSIZE];
+int bufindr = 0;
+int bufindw = 0;
+int buflen = 0;
+int i = 0;
+char serial_char;
+int serial_count = 0;
+bool comment_mode = false;
+char *strchr_pointer; // just a pointer to find chars in the cmd string like X, Y, Z, E, etc
+
+// Manage heater variables. For a thermistor or AD595 thermocouple, raw values refer to the
+// reading from the analog pin. For a MAX6675 thermocouple, the raw value is the temperature in 0.25
+// degree increments (i.e. 100=25 deg).
+
+int target_raw = 0;
+int target_temp = 0;
+int current_raw = 0;
+int target_bed_raw = 0;
+int current_bed_raw = 0;
+int tt = 0, bt = 0;
+#ifdef PIDTEMP
+int temp_iState = 0;
+int prev_temp = 0;
+int pTerm;
+int iTerm;
+int dTerm;
+//int output;
+int error;
+int heater_duty = 0;
+const int temp_iState_min = 256L * -PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
+const int temp_iState_max = 256L * PID_INTEGRAL_DRIVE_MAX / PID_IGAIN;
+#endif
+#ifndef HEATER_CURRENT
+#define HEATER_CURRENT 255
+#endif
+#ifdef SMOOTHING
+uint32_t nma = 0;
+#endif
+#ifdef WATCHPERIOD
+int watch_raw = -1000;
+unsigned long watchmillis = 0;
+#endif
+#ifdef MINTEMP
+int minttemp = temp2analogh(MINTEMP);
+#endif
+#ifdef MAXTEMP
+int maxttemp = temp2analogh(MAXTEMP);
+#endif
+
+//Inactivity shutdown variables
+unsigned long previous_millis_cmd = 0;
+unsigned long max_inactive_time = 0;
+unsigned long stepper_inactive_time = 0;
+
+void setup() {
+ pc.baud(BAUDRATE);
+ print_string("start\r\n");
+ for (int i = 0; i < BUFSIZE; i++) {
+ fromsd[i] = false;
+ }
+ //Initialize Enable Pins - steppers default to disabled.
+#if (X_ENABLE_PIN > -1)
+ if (!X_ENABLE_ON) p_x_enable = 1;
+#endif
+#if (Y_ENABLE_PIN > -1)
+ if (!Y_ENABLE_ON) p_y_enable = 1;
+#endif
+#if (Z_ENABLE_PIN > -1)
+ if (!Z_ENABLE_ON) p_z_enable = 1;
+#endif
+#if (E_ENABLE_PIN > -1)
+ if (!E_ENABLE_ON) p_e_enable = 1;
+#endif
+
+#if (HEATER_0_PIN > -1)
+ p_heater0 = 0; //WRITE(HEATER_0_PIN,LOW);
+ heat0_led = 0;
+#endif
+#if (HEATER_1_PIN > -1)
+ p_heater1 = 0; //WRITE(HEATER_1_PIN,LOW);
+ heat1_led = 0;
+#endif
+
+ //Initialize Alarm Pin
+#if (ALARM_PIN > -1)
+ p_alarm = 0; //WRITE(ALARM_PIN,LOW);
+#endif
+
+ //Initialize LED Pin
+#if (LED_PIN > -1)
+ p_led = 0; //WRITE(LED_PIN,LOW);
+#endif
+
+#ifdef RAMP_ACCELERATION
+ setup_acceleration();
+#endif
+}
+
+void loop() {
+ if (buflen<3)
+ get_command();
+
+ if (buflen) {
+ process_commands();
+ buflen = (buflen-1);
+ bufindr = (bufindr + 1)%BUFSIZE;
+ }
+ //check heater every n milliseconds
+ manage_heater();
+ manage_inactivity(1);
+}
+
+int main() {
+ timer.start();
+ setup();
+ while (1) {
+ loop();
+ }
+}
+
+inline void get_command() {
+ while ( pc.readable() != 0 && buflen < BUFSIZE) {
+ serial_char = pc.getc();
+ if (serial_char == '\n' || serial_char == '\r' || serial_char == ':' || serial_count >= (MAX_CMD_SIZE - 1) ) {
+ if (!serial_count) { //if empty line
+ comment_mode = false; // for new command
+ return;
+ }
+ cmdbuffer[bufindw][serial_count] = 0; //terminate string
+ fromsd[bufindw] = false;
+ if (strstr(cmdbuffer[bufindw], "N") != NULL) {
+ strchr_pointer = strchr(cmdbuffer[bufindw], 'N');
+ gcode_N = (strtol(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL, 10));
+ if (gcode_N != gcode_LastN+1 && (strstr(cmdbuffer[bufindw], "M110") == NULL) ) {
+ print_string("Serial Error: Line Number is not Last Line Number+1, Last Line:");
+ print_long(gcode_LastN);
+ print_string("\r\n");
+ //print_long(gcode_N);
+ FlushSerialRequestResend();
+ serial_count = 0;
+ return;
+ }
+
+ if (strstr(cmdbuffer[bufindw], "*") != NULL) {
+ int checksum = 0;
+ int count = 0;
+ while (cmdbuffer[bufindw][count] != '*') checksum = checksum^cmdbuffer[bufindw][count++];
+ strchr_pointer = strchr(cmdbuffer[bufindw], '*');
+
+ if ( (int)(strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)) != checksum) {
+ print_string("Error: checksum mismatch, Last Line:");
+ print_long(gcode_LastN);
+ print_string("\r\n");
+ FlushSerialRequestResend();
+ serial_count = 0;
+ return;
+ }
+ //if no errors, continue parsing
+ } else {
+ print_string("Error: No Checksum with line number, Last Line:");
+ print_long(gcode_LastN);
+ print_string("\r\n");
+ FlushSerialRequestResend();
+ serial_count = 0;
+ return;
+ }
+
+ gcode_LastN = gcode_N;
+ //if no errors, continue parsing
+ } else { // if we don't receive 'N' but still see '*'
+ if ((strstr(cmdbuffer[bufindw], "*") != NULL)) {
+ print_string("Error: No Line Number with checksum, Last Line:");
+ print_long(gcode_LastN);
+ print_string("\r\n");
+ serial_count = 0;
+ return;
+ }
+ }
+ if ((strstr(cmdbuffer[bufindw], "G") != NULL)) {
+ strchr_pointer = strchr(cmdbuffer[bufindw], 'G');
+ switch ((int)((strtod(&cmdbuffer[bufindw][strchr_pointer - cmdbuffer[bufindw] + 1], NULL)))) {
+ case 0:
+ case 1:
+ print_string("ok\r\n");
+ break;
+ default:
+ break;
+ }
+
+ }
+ bufindw = (bufindw + 1)%BUFSIZE;
+ buflen += 1;
+
+ comment_mode = false; //for new command
+ serial_count = 0; //clear buffer
+ } else {
+ if (serial_char == ';') comment_mode = true;
+ if (!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
+ }
+ }
+}
+
+inline float code_value() {
+ return (strtod(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL));
+}
+inline long code_value_long() {
+ return (strtol(&cmdbuffer[bufindr][strchr_pointer - cmdbuffer[bufindr] + 1], NULL, 10));
+}
+inline bool code_seen(char code_string[]) {
+ return (strstr(cmdbuffer[bufindr], code_string) != NULL); //Return True if the string was found
+}
+
+inline bool code_seen(char code) {
+ strchr_pointer = strchr(cmdbuffer[bufindr], code);
+ return (strchr_pointer != NULL); //Return True if a character was found
+}
+
+inline void process_commands() {
+ unsigned long codenum; //throw away variable
+ //char *starpos = NULL;
+
+ if (code_seen('G')) {
+ switch ((int)code_value()) {
+ case 0: // G0 -> G1
+ case 1: // G1
+#if (defined DISABLE_CHECK_DURING_ACC) || (defined DISABLE_CHECK_DURING_MOVE) || (defined DISABLE_CHECK_DURING_TRAVEL)
+ manage_heater();
+#endif
+ get_coordinates(); // For X Y Z E F
+ prepare_move();
+ previous_millis_cmd = millis();
+ //ClearToSend();
+ return;
+ //break;
+ case 4: // G4 dwell
+ codenum = 0;
+ if (code_seen('P')) codenum = code_value(); // milliseconds to wait
+ if (code_seen('S')) codenum = code_value() * 1000; // seconds to wait
+ codenum += millis(); // keep track of when we started waiting
+ while (millis() < codenum ) {
+ manage_heater();
+ }
+ break;
+ case 28: //G28 Home all Axis one at a time
+ saved_feedrate = feedrate;
+ for (int i=0; i < NUM_AXIS; i++) {
+ destination[i] = current_position[i];
+ }
+ feedrate = 0;
+
+ home_all_axis = !((code_seen(axis_codes[0])) || (code_seen(axis_codes[1])) || (code_seen(axis_codes[2])));
+
+ if ((home_all_axis) || (code_seen(axis_codes[0]))) {
+ if ((X_MIN_PIN > -1 && X_HOME_DIR==-1) || (X_MAX_PIN > -1 && X_HOME_DIR==1)) {
+ current_position[0] = -1.5 * X_MAX_LENGTH * X_HOME_DIR;
+ destination[0] = 0;
+ feedrate = homing_feedrate[0];
+ prepare_move();
+
+ current_position[0] = 5 * X_HOME_DIR;
+ destination[0] = 0;
+ prepare_move();
+
+ current_position[0] = -10 * X_HOME_DIR;
+ destination[0] = 0;
+ prepare_move();
+
+ current_position[0] = (X_HOME_DIR == -1) ? 0 : X_MAX_LENGTH;
+ destination[0] = current_position[0];
+ feedrate = 0;
+ }
+ }
+
+ if ((home_all_axis) || (code_seen(axis_codes[1]))) {
+ if ((Y_MIN_PIN > -1 && Y_HOME_DIR==-1) || (Y_MAX_PIN > -1 && Y_HOME_DIR==1)) {
+ current_position[1] = -1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
+ destination[1] = 0;
+
+ feedrate = homing_feedrate[1];
+ prepare_move();
+
+ current_position[1] = 5 * Y_HOME_DIR;
+ destination[1] = 0;
+ prepare_move();
+
+ current_position[1] = -10 * Y_HOME_DIR;
+ destination[1] = 0;
+ prepare_move();
+
+ current_position[1] = (Y_HOME_DIR == -1) ? 0 : Y_MAX_LENGTH;
+ destination[1] = current_position[1];
+ feedrate = 0;
+ }
+ }
+
+ if ((home_all_axis) || (code_seen(axis_codes[2]))) {
+ if ((Z_MIN_PIN > -1 && Z_HOME_DIR==-1) || (Z_MAX_PIN > -1 && Z_HOME_DIR==1)) {
+ current_position[2] = -1.5 * Z_MAX_LENGTH * Z_HOME_DIR;
+ destination[2] = 0;
+ feedrate = homing_feedrate[2];
+ prepare_move();
+
+ current_position[2] = 2 * Z_HOME_DIR;
+ destination[2] = 0;
+ prepare_move();
+
+ current_position[2] = -5 * Z_HOME_DIR;
+ destination[2] = 0;
+ prepare_move();
+
+ current_position[2] = (Z_HOME_DIR == -1) ? 0 : Z_MAX_LENGTH;
+ destination[2] = current_position[2];
+ feedrate = 0;
+ }
+ }
+ feedrate = saved_feedrate;
+ previous_millis_cmd = millis();
+ break;
+ case 90: // G90
+ relative_mode = false;
+ break;
+ case 91: // G91
+ relative_mode = true;
+ break;
+ case 92: // G92
+ for (int i=0; i < NUM_AXIS; i++) {
+ if (code_seen(axis_codes[i])) current_position[i] = code_value();
+ }
+ break;
+ }
+ }
+
+ else if (code_seen('M')) {
+ switch ( (int)code_value() ) {
+ case 42: //M42 -Change pin status via gcode
+ print_string("not supported!\n");
+ /* if (code_seen('S')) {
+ int pin_status = code_value();
+ if (code_seen('P') && pin_status >= 0 && pin_status <= 255) {
+ int pin_number = code_value();
+ for (int i = 0; i < sizeof(sensitive_pins); i++) {
+ if (sensitive_pins[i] == pin_number) {
+ pin_number = -1;
+ break;
+ }
+ }
+
+ if (pin_number > -1) {
+ pinMode(pin_number, OUTPUT);
+ digitalWrite(pin_number, pin_status);
+ analogWrite(pin_number, pin_status);
+ }
+ }
+ }*/
+ break;
+ case 104: // M104
+ if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value());
+#ifdef WATCHPERIOD
+ if (target_raw > current_raw) {
+ watchmillis = max(1,millis());
+ watch_raw = current_raw;
+ } else {
+ watchmillis = 0;
+ }
+#endif
+ break;
+ case 140: // M140 set bed temp
+#if TEMP_1_PIN > -1
+ if (code_seen('S')) target_bed_raw = temp2analogBed(code_value());
+#endif
+ break;
+ case 105: // M105
+#if (TEMP_0_PIN > -1)
+ tt = analog2temp(current_raw);
+#endif
+#if TEMP_1_PIN > -1
+ bt = analog2tempBed(current_bed_raw);
+#endif
+#if (TEMP_0_PIN > -1)
+ print_string("ok T:");
+ print_int(tt);
+#ifdef PIDTEMP
+ print_string(" @:");
+ print_int(heater_duty);
+ print_string("\r\n,");
+ print_int(iTerm);
+ print_string("\r\n");
+#endif
+#if TEMP_1_PIN > -1
+ print_string(" B:");
+ print_int(bt);
+#else
+#endif
+ print_string("\r\n");
+
+#else
+#error No temperature source available
+#endif
+ return;
+ //break;
+ case 109: { // M109 - Wait for extruder heater to reach target.
+ if (code_seen('S')) target_raw = temp2analogh(target_temp = code_value());
+#ifdef WATCHPERIOD
+ if (target_raw>current_raw) {
+ watchmillis = max(1,millis());
+ watch_raw = current_raw;
+ } else {
+ watchmillis = 0;
+ }
+#endif
+ codenum = millis();
+
+ /* See if we are heating up or cooling down */
+ bool target_direction = (current_raw < target_raw); // true if heating, false if cooling
+
+#ifdef TEMP_RESIDENCY_TIME
+ long residencyStart;
+ residencyStart = -1;
+ /* continue to loop until we have reached the target temp
+ _and_ until TEMP_RESIDENCY_TIME hasn't passed since we reached it */
+ while ( (target_direction ? (current_raw < target_raw) : (current_raw > target_raw))
+ || (residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
+#else
+ while ( target_direction ? (current_raw < target_raw) : (current_raw > target_raw) ) {
+#endif
+ if ( (millis() - codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up/cooling down
+ print_string("T:");
+ print_float(analog2temp(current_raw) );
+ print_string("\r\n");
+ codenum = millis();
+ }
+ manage_heater();
+#ifdef TEMP_RESIDENCY_TIME
+ /* start/restart the TEMP_RESIDENCY_TIME timer whenever we reach target temp for the first time
+ or when current temp falls outside the hysteresis after target temp was reached */
+ if ( (residencyStart == -1 && target_direction && current_raw >= target_raw)
+ || (residencyStart == -1 && !target_direction && current_raw <= target_raw)
+ || (residencyStart > -1 && labs(analog2temp(current_raw) - analog2temp(target_raw)) > TEMP_HYSTERESIS) ) {
+ residencyStart = millis();
+ }
+#endif
+ }
+ }
+ break;
+ case 190: // M190 - Wait bed for heater to reach target.
+#if TEMP_1_PIN > -1
+ if (code_seen('S')) target_bed_raw = temp2analogh(code_value());
+ codenum = millis();
+ while (current_bed_raw < target_bed_raw) {
+ if ( (millis()-codenum) > 1000 ) { //Print Temp Reading every 1 second while heating up.
+ tt=analog2temp(current_raw);
+ print_string("T:");
+ print_int(tt);
+ print_string("\r\n B:");
+ print_int(analog2temp(current_bed_raw));
+ print_string("\r\n");
+ codenum = millis();
+ }
+ manage_heater();
+ }
+#endif
+ break;
+#if FAN_PIN > -1
+ case 106: //M106 Fan On
+ if (code_seen('S')) {
+ p_fan = 1; //WRITE(FAN_PIN, HIGH);
+ // analogWrite(FAN_PIN, constrain(code_value(),0,255) );
+ } else {
+ p_fan = 1; //WRITE(FAN_PIN, HIGH);
+ //analogWrite(FAN_PIN, 255 );
+ }
+ break;
+ case 107: //M107 Fan Off
+ //analogWrite(FAN_PIN, 0);
+ p_fan = 0; //WRITE(FAN_PIN, LOW);
+ break;
+#endif
+#if (PS_ON_PIN > -1)
+ case 80: // M81 - ATX Power On
+ SET_OUTPUT(PS_ON_PIN); //GND
+ break;
+ case 81: // M81 - ATX Power Off
+ SET_INPUT(PS_ON_PIN); //Floating
+ break;
+#endif
+ case 82:
+ axis_relative_modes[3] = false;
+ break;
+ case 83:
+ axis_relative_modes[3] = true;
+ break;
+ case 84:
+ if (code_seen('S')) {
+ stepper_inactive_time = code_value() * 1000;
+ } else {
+ disable_x();
+ disable_y();
+ disable_z();
+ disable_e();
+ }
+ break;
+ case 85: // M85
+ code_seen('S');
+ max_inactive_time = code_value() * 1000;
+ break;
+ case 92: // M92
+ for (int i=0; i < NUM_AXIS; i++) {
+ if (code_seen(axis_codes[i])) axis_steps_per_unit[i] = code_value();
+ }
+
+#ifdef RAMP_ACCELERATION
+ setup_acceleration();
+#endif
+
+ break;
+ case 115: // M115
+ print_string("FIRMWARE_NAME:Sprinter FIRMWARE_URL:http%%3A/github.com/kliment/Sprinter/ PROTOCOL_VERSION:1.0 MACHINE_TYPE:Mendel EXTRUDER_COUNT:1 UUID:");
+ print_string(uuid);
+ print_string("\r\n");
+ break;
+ case 114: // M114
+ print_string("ok C: X:");
+ print_float(current_position[0]);
+ print_string(" Y:");
+ print_float(current_position[1]);
+ print_string(" Z:");
+ print_float(current_position[2]);
+ print_string(" E:");
+ print_float(current_position[3]);
+ print_string("\r\n");
+ return;
+ case 119: // M119
+#if (X_MIN_PIN > -1)
+ print_string("x_min:");
+ pc.printf((p_x_min.read()^X_ENDSTOP_INVERT)?"H \r\n":"L \r\n");
+#endif
+#if (X_MAX_PIN > -1)
+ print_string("x_max:");
+ pc.printf((p_x_max.read()^X_ENDSTOP_INVERT)?"H \r\n":"L \r\n");
+#endif
+#if (Y_MIN_PIN > -1)
+ print_string("y_min:");
+ pc.printf((p_y_min.read()^Y_ENDSTOP_INVERT)?"H \r\n":"L \r\n");
+#endif
+#if (Y_MAX_PIN > -1)
+ print_string("y_max:");
+ pc.printf((p_y_max.read()^Y_ENDSTOP_INVERT)?"H \r\n":"L \r\n");
+#endif
+#if (Z_MIN_PIN > -1)
+ print_string("z_min:");
+ pc.printf((p_z_min.read()^Z_ENDSTOP_INVERT)?"H \r\n":"L \r\n");
+#endif
+#if (Z_MAX_PIN > -1)
+ print_string("z_max:");
+ pc.printf((p_z_max.read()^Z_ENDSTOP_INVERT)?"H \r\n":"L \r\n");
+#endif
+ print_string("\r\n");
+ break;
+#ifdef RAMP_ACCELERATION
+ //TODO: update for all axis, use for loop
+ case 201: // M201
+ for (int i=0; i < NUM_AXIS; i++) {
+ if (code_seen(axis_codes[i])) axis_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
+ }
+ break;
+ case 202: // M202
+ for (int i=0; i < NUM_AXIS; i++) {
+ if (code_seen(axis_codes[i])) axis_travel_steps_per_sqr_second[i] = code_value() * axis_steps_per_unit[i];
+ }
+ break;
+#endif
+ }
+ }
+ else {
+ print_string("Unknown command:\r\n");
+ print_string(cmdbuffer[bufindr]);
+ print_string("\r\n");
+ }
+ ClearToSend();
+}
+
+void FlushSerialRequestResend() {
+ //char cmdbuffer[bufindr][100]="Resend:";
+ //while (pc.txIsBusy()); //FLUSH!//pc.flush();
+ wait_ms(200); //dont know
+ print_string("Resend:");
+ print_long(gcode_LastN + 1);
+ print_string("\r\n");
+ ClearToSend();
+}
+
+void ClearToSend() {
+ previous_millis_cmd = millis();
+ print_string("ok\r\n");
+ wait_ms(10); //ACHTUNG
+}
+
+inline void get_coordinates() {
+ for (int i=0; i < NUM_AXIS; i++) {
+ if (code_seen(axis_codes[i])) destination[i] = (float)code_value() + (axis_relative_modes[i] || relative_mode)*current_position[i];
+ else destination[i] = current_position[i]; //Are these else lines really needed?
+ }
+ if (code_seen('F')) {
+ next_feedrate = code_value();
+ if (next_feedrate > 0.0) feedrate = next_feedrate;
+ }
+}
+
+void prepare_move() {
+ //Find direction
+ for (int i=0; i < NUM_AXIS; i++) {
+ if (destination[i] >= current_position[i]) move_direction[i] = 1;
+ else move_direction[i] = 0;
+ }
+
+ if (min_software_endstops) {
+ if (destination[0] < 0) destination[0] = 0.0;
+ if (destination[1] < 0) destination[1] = 0.0;
+ if (destination[2] < 0) destination[2] = 0.0;
+ }
+
+ if (max_software_endstops) {
+ if (destination[0] > X_MAX_LENGTH) destination[0] = X_MAX_LENGTH;
+ if (destination[1] > Y_MAX_LENGTH) destination[1] = Y_MAX_LENGTH;
+ if (destination[2] > Z_MAX_LENGTH) destination[2] = Z_MAX_LENGTH;
+ }
+
+ for (int i=0; i < NUM_AXIS; i++) {
+ axis_diff[i] = destination[i] - current_position[i];
+ move_steps_to_take[i] = abs(axis_diff[i]) * axis_steps_per_unit[i];
+ }
+ if (feedrate < 10)
+ feedrate = 10;
+
+ //Feedrate calc based on XYZ travel distance
+ float xy_d;
+ //Check for cases where only one axis is moving - handle those without float sqrt
+ if (abs(axis_diff[0]) > 0 && abs(axis_diff[1]) == 0 && abs(axis_diff[2])==0)
+ d=abs(axis_diff[0]);
+ else if (abs(axis_diff[0]) == 0 && abs(axis_diff[1]) > 0 && abs(axis_diff[2])==0)
+ d=abs(axis_diff[1]);
+ else if (abs(axis_diff[0]) == 0 && abs(axis_diff[1]) == 0 && abs(axis_diff[2])>0)
+ d=abs(axis_diff[2]);
+ //two or three XYZ axes moving
+ else if (abs(axis_diff[0]) > 0 || abs(axis_diff[1]) > 0) { //X or Y or both
+ xy_d = sqrt(axis_diff[0] * axis_diff[0] + axis_diff[1] * axis_diff[1]);
+ //check if Z involved - if so interpolate that too
+ d = (abs(axis_diff[2])>0)?sqrt(xy_d * xy_d + axis_diff[2] * axis_diff[2]):xy_d;
+ } else if (abs(axis_diff[3]) > 0)
+ d = abs(axis_diff[3]);
+ else { //zero length move
+#ifdef DEBUG_PREPARE_MOVE
+ log_message("_PREPARE_MOVE - No steps to take!");
+#endif
+ return;
+ }
+ time_for_move = (d / (feedrate / 60000000.0) );
+ //Check max feedrate for each axis is not violated, update time_for_move if necessary
+ for (int i = 0; i < NUM_AXIS; i++) {
+ if (move_steps_to_take[i] && abs(axis_diff[i]) / (time_for_move / 60000000.0) > max_feedrate[i]) {
+ time_for_move = time_for_move / max_feedrate[i] * (abs(axis_diff[i]) / (time_for_move / 60000000.0));
+ }
+ }
+ //Calculate the full speed stepper interval for each axis
+ for (int i=0; i < NUM_AXIS; i++) {
+ if (move_steps_to_take[i]) axis_interval[i] = time_for_move / move_steps_to_take[i] * 100;
+ }
+
+#ifdef DEBUG_PREPARE_MOVE
+ log_float("_PREPARE_MOVE - Move distance on the XY plane", xy_d);
+ log_float("_PREPARE_MOVE - Move distance on the XYZ space", d);
+ log_int("_PREPARE_MOVE - Commanded feedrate", feedrate);
+ log_float("_PREPARE_MOVE - Constant full speed move time", time_for_move);
+ log_float_array("_PREPARE_MOVE - Destination", destination, NUM_AXIS);
+ log_float_array("_PREPARE_MOVE - Current position", current_position, NUM_AXIS);
+ log_ulong_array("_PREPARE_MOVE - Steps to take", move_steps_to_take, NUM_AXIS);
+ log_long_array("_PREPARE_MOVE - Axes full speed intervals", axis_interval, NUM_AXIS);
+#endif
+
+ unsigned long move_steps[NUM_AXIS];
+ for (int i=0; i < NUM_AXIS; i++)
+ move_steps[i] = move_steps_to_take[i];
+ linear_move(move_steps); // make the move
+}
+
+int max(int a, int b) {
+ if (a > b)
+ return a;
+ return b;
+}
+
+inline void linear_move(unsigned long axis_steps_remaining[]) { // make linear move with preset speeds and destinations, see G0 and G1
+ //Determine direction of movement
+ if (destination[0] > current_position[0]) p_x_dir =!INVERT_X_DIR; //WRITE(X_DIR_PIN,!INVERT_X_DIR);
+ else p_x_dir = INVERT_X_DIR; //WRITE(X_DIR_PIN,INVERT_X_DIR);
+ if (destination[1] > current_position[1]) p_y_dir =!INVERT_Y_DIR; // WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
+ else p_y_dir = INVERT_Y_DIR; // WRITE(Y_DIR_PIN,INVERT_Y_DIR);
+ if (destination[2] > current_position[2]) p_z_dir =!INVERT_Z_DIR; //WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
+ else p_z_dir = INVERT_Z_DIR; //WRITE(Z_DIR_PIN,INVERT_Z_DIR);
+ if (destination[3] > current_position[3]) p_e_dir =!INVERT_E_DIR; //WRITE(E_DIR_PIN,!INVERT_E_DIR);
+ else p_e_dir = INVERT_E_DIR; //WRITE(E_DIR_PIN,INVERT_E_DIR);
+
+#if (X_MIN_PIN > -1)
+ if (!move_direction[0]) if (p_x_min.read() != X_ENDSTOP_INVERT) axis_steps_remaining[0]=0;
+#endif
+#if (Y_MIN_PIN > -1)
+ if (!move_direction[1]) if (p_y_min.read() != Y_ENDSTOP_INVERT) axis_steps_remaining[1]=0;
+#endif
+#if (Z_MIN_PIN > -1)
+ if (!move_direction[2]) if (p_z_min.read() != Z_ENDSTOP_INVERT) axis_steps_remaining[2]=0;
+#endif
+#if (X_MAX_PIN > -1)
+ if (move_direction[0]) if (p_x_max.read() != X_ENDSTOP_INVERT) axis_steps_remaining[0]=0;
+#endif
+#if (Y_MAX_PIN > -1)
+ if (move_direction[1]) if (p_y_max.read() != Y_ENDSTOP_INVERT) axis_steps_remaining[1]=0;
+#endif
+# if(Z_MAX_PIN > -1)
+ if (move_direction[2]) if (p_z_max.read() != Z_ENDSTOP_INVERT) axis_steps_remaining[2]=0;
+#endif
+
+
+ //Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
+ // TODO: maybe it's better to refactor into a generic enable(int axis) function, that will probably take more ram,
+ // but will reduce code size
+ if (axis_steps_remaining[0]) enable_x();
+ if (axis_steps_remaining[1]) enable_y();
+ if (axis_steps_remaining[2]) enable_z();
+ if (axis_steps_remaining[3]) enable_e();
+
+ //Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
+ unsigned long delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes
+ long axis_error[NUM_AXIS];
+ int primary_axis;
+ if (delta[1] > delta[0] && delta[1] > delta[2] && delta[1] > delta[3]) primary_axis = 1;
+ else if (delta[0] >= delta[1] && delta[0] > delta[2] && delta[0] > delta[3]) primary_axis = 0;
+ else if (delta[2] >= delta[0] && delta[2] >= delta[1] && delta[2] > delta[3]) primary_axis = 2;
+ else primary_axis = 3;
+ unsigned long steps_remaining = delta[primary_axis];
+ unsigned long steps_to_take = steps_remaining;
+ for (int i=0; i < NUM_AXIS; i++) {
+ if (i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
+ steps_taken[i]=0;
+ }
+ interval = axis_interval[primary_axis];
+ bool is_print_move = delta[3] > 0;
+#ifdef DEBUG_BRESENHAM
+ log_int("_BRESENHAM - Primary axis", primary_axis);
+ log_int("_BRESENHAM - Primary axis full speed interval", interval);
+ log_ulong_array("_BRESENHAM - Deltas", delta, NUM_AXIS);
+ log_long_array("_BRESENHAM - Errors", axis_error, NUM_AXIS);
+#endif
+
+ //If acceleration is enabled, do some Bresenham calculations depending on which axis will lead it.
+#ifdef RAMP_ACCELERATION
+ long max_speed_steps_per_second;
+ long min_speed_steps_per_second;
+ max_interval = axis_max_interval[primary_axis];
+#ifdef DEBUG_RAMP_ACCELERATION
+ log_ulong_array("_RAMP_ACCELERATION - Teoric step intervals at move start", axis_max_interval, NUM_AXIS);
+#endif
+ unsigned long new_axis_max_intervals[NUM_AXIS];
+ max_speed_steps_per_second = 100000000 / interval;
+ min_speed_steps_per_second = 100000000 / max_interval; //TODO: can this be deleted?
+ //Calculate start speeds based on moving axes max start speed constraints.
+ int slowest_start_axis = primary_axis;
+ unsigned long slowest_start_axis_max_interval = max_interval;
+ for (int i = 0; i < NUM_AXIS; i++)
+ if (axis_steps_remaining[i] >0 &&
+ i != primary_axis &&
+ axis_max_interval[i] * axis_steps_remaining[i]/ axis_steps_remaining[slowest_start_axis] > slowest_start_axis_max_interval) {
+ slowest_start_axis = i;
+ slowest_start_axis_max_interval = axis_max_interval[i];
+ }
+ for (int i = 0; i < NUM_AXIS; i++)
+ if (axis_steps_remaining[i] >0) {
+ // multiplying slowest_start_axis_max_interval by axis_steps_remaining[slowest_start_axis]
+ // could lead to overflows when we have long distance moves (say, 390625*390625 > sizeof(unsigned long))
+ float steps_remaining_ratio = (float) axis_steps_remaining[slowest_start_axis] / axis_steps_remaining[i];
+ new_axis_max_intervals[i] = slowest_start_axis_max_interval * steps_remaining_ratio;
+
+ if (i == primary_axis) {
+ max_interval = new_axis_max_intervals[i];
+ min_speed_steps_per_second = 100000000 / max_interval;
+ }
+ }
+ //Calculate slowest axis plateau time
+ float slowest_axis_plateau_time = 0;
+ for (int i=0; i < NUM_AXIS ; i++) {
+ if (axis_steps_remaining[i] > 0) {
+ if (is_print_move && axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time,
+ (100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_steps_per_sqr_second[i]);
+ else if (axis_steps_remaining[i] > 0) slowest_axis_plateau_time = max(slowest_axis_plateau_time,
+ (100000000.0 / axis_interval[i] - 100000000.0 / new_axis_max_intervals[i]) / (float) axis_travel_steps_per_sqr_second[i]);
+ }
+ }
+ //Now we can calculate the new primary axis acceleration, so that the slowest axis max acceleration is not violated
+ steps_per_sqr_second = (100000000.0 / axis_interval[primary_axis] - 100000000.0 / new_axis_max_intervals[primary_axis]) / slowest_axis_plateau_time;
+ plateau_steps = (long) ((steps_per_sqr_second / 2.0 * slowest_axis_plateau_time + min_speed_steps_per_second) * slowest_axis_plateau_time);
+#ifdef DEBUG_RAMP_ACCELERATION
+ log_int("_RAMP_ACCELERATION - Start speed limiting axis", slowest_start_axis);
+ log_ulong("_RAMP_ACCELERATION - Limiting axis start interval", slowest_start_axis_max_interval);
+ log_ulong_array("_RAMP_ACCELERATION - Actual step intervals at move start", new_axis_max_intervals, NUM_AXIS);
+#endif
+#endif
+
+ unsigned long steps_done = 0;
+#ifdef RAMP_ACCELERATION
+ plateau_steps *= 1.01; // This is to compensate we use discrete intervals
+ acceleration_enabled = true;
+ unsigned long full_interval = interval;
+ if (interval > max_interval) acceleration_enabled = false;
+ bool decelerating = false;
+#endif
+
+ unsigned long start_move_micros = micros();
+ for (int i = 0; i < NUM_AXIS; i++) {
+ axis_previous_micros[i] = start_move_micros * 100;
+ }
+
+#ifdef DISABLE_CHECK_DURING_TRAVEL
+ //If the move time is more than allowed in DISABLE_CHECK_DURING_TRAVEL, let's
+ // consider this a print move and perform heat management during it
+ if (time_for_move / 1000 > DISABLE_CHECK_DURING_TRAVEL) is_print_move = true;
+ //else, if the move is a retract, consider it as a travel move for the sake of this feature
+ else if (delta[3]>0 && delta[0] + delta[1] + delta[2] == 0) is_print_move = false;
+#ifdef DEBUG_DISABLE_CHECK_DURING_TRAVEL
+ log_bool("_DISABLE_CHECK_DURING_TRAVEL - is_print_move", is_print_move);
+#endif
+#endif
+
+#ifdef DEBUG_MOVE_TIME
+ unsigned long startmove = micros();
+#endif
+
+ //move until no more steps remain
+ while (axis_steps_remaining[0] + axis_steps_remaining[1] + axis_steps_remaining[2] + axis_steps_remaining[3] > 0) {
+#if defined RAMP_ACCELERATION && defined DISABLE_CHECK_DURING_ACC
+ if (!accelerating && !decelerating) {
+ //If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp
+#ifdef DISABLE_CHECK_DURING_TRAVEL
+ if (is_print_move)
+#endif
+ manage_heater();
+ }
+#else
+#ifdef DISABLE_CHECK_DURING_MOVE
+ {} //Do nothing
+#else
+ //If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp
+#ifdef DISABLE_CHECK_DURING_TRAVEL
+ if (is_print_move)
+#endif
+ manage_heater();
+#endif
+#endif
+#ifdef RAMP_ACCELERATION
+ //If acceleration is enabled on this move and we are in the acceleration segment, calculate the current interval
+ if (acceleration_enabled && steps_done == 0) {
+ interval = max_interval;
+ } else if (acceleration_enabled && steps_done <= plateau_steps) {
+ long current_speed = (long) ((((long) steps_per_sqr_second) / 100)
+ * ((micros() - start_move_micros) / 100)/100 + (long) min_speed_steps_per_second);
+ interval = 100000000 / current_speed;
+ if (interval < full_interval) {
+ accelerating = false;
+ interval = full_interval;
+ }
+ if (steps_done >= steps_to_take / 2) {
+ plateau_steps = steps_done;
+ max_speed_steps_per_second = 100000000 / interval;
+ accelerating = false;
+ }
+ } else if (acceleration_enabled && steps_remaining <= plateau_steps) { //(interval > minInterval * 100) {
+ if (!accelerating) {
+ start_move_micros = micros();
+ accelerating = true;
+ decelerating = true;
+ }
+ long current_speed = (long) ((long) max_speed_steps_per_second - ((((long) steps_per_sqr_second) / 100)
+ * ((micros() - start_move_micros) / 100)/100));
+ interval = 100000000 / current_speed;
+ if (interval > max_interval)
+ interval = max_interval;
+ } else {
+ //Else, we are just use the full speed interval as current interval
+ interval = full_interval;
+ accelerating = false;
+ }
+#endif
+
+ //If there are x or y steps remaining, perform Bresenham algorithm
+ if (axis_steps_remaining[primary_axis]) {
+#if (X_MIN_PIN > -1)
+ if (!move_direction[0]) if (p_x_min.read() != X_ENDSTOP_INVERT) if (primary_axis==0) break;
+ else if (axis_steps_remaining[0]) axis_steps_remaining[0]=0;
+#endif
+#if (Y_MIN_PIN > -1)
+ if (!move_direction[1]) if (p_y_min.read() != Y_ENDSTOP_INVERT) if (primary_axis==1) break;
+ else if (axis_steps_remaining[1]) axis_steps_remaining[1]=0;
+#endif
+#if (X_MAX_PIN > -1)
+ if (move_direction[0]) if (p_x_max.read() != X_ENDSTOP_INVERT) if (primary_axis==0) break;
+ else if (axis_steps_remaining[0]) axis_steps_remaining[0]=0;
+#endif
+#if (Y_MAX_PIN > -1)
+ if (move_direction[1]) if (p_y_max.read() != Y_ENDSTOP_INVERT) if (primary_axis==1) break;
+ else if (axis_steps_remaining[1]) axis_steps_remaining[1]=0;
+#endif
+#if (Z_MIN_PIN > -1)
+ if (!move_direction[2]) if (p_z_min.read() != Z_ENDSTOP_INVERT) if (primary_axis==2) break;
+ else if (axis_steps_remaining[2]) axis_steps_remaining[2]=0;
+#endif
+#if (Z_MAX_PIN > -1)
+ if (move_direction[2]) if (p_z_max.read() != Z_ENDSTOP_INVERT) if (primary_axis==2) break;
+ else if (axis_steps_remaining[2]) axis_steps_remaining[2]=0;
+#endif
+ timediff = micros() * 100 - axis_previous_micros[primary_axis];
+ if (timediff<0) {//check for overflow
+ axis_previous_micros[primary_axis]=micros()*100;
+ timediff=interval/2; //approximation
+ }
+ while (((unsigned long)timediff) >= interval && axis_steps_remaining[primary_axis] > 0) {
+ steps_done++;
+ steps_remaining--;
+ axis_steps_remaining[primary_axis]--;
+ timediff -= interval;
+ do_step(primary_axis);
+ axis_previous_micros[primary_axis] += interval;
+ for (int i=0; i < NUM_AXIS; i++) if (i != primary_axis && axis_steps_remaining[i] > 0) {
+ axis_error[i] = axis_error[i] - delta[i];
+ if (axis_error[i] < 0) {
+ do_step(i);
+ axis_steps_remaining[i]--;
+ axis_error[i] = axis_error[i] + delta[primary_axis];
+ }
+ }
+#ifdef STEP_DELAY_RATIO
+ if (timediff >= interval) delayMicroseconds(long_step_delay_ratio * interval / 10000);
+#endif
+#ifdef STEP_DELAY_MICROS
+ if (timediff >= interval) delayMicroseconds(STEP_DELAY_MICROS);
+#endif
+ }
+ }
+ }
+#ifdef DEBUG_MOVE_TIME
+ log_ulong("_MOVE_TIME - This move took", micros()-startmove);
+#endif
+
+ if (DISABLE_X) disable_x();
+ if (DISABLE_Y) disable_y();
+ if (DISABLE_Z) disable_z();
+ if (DISABLE_E) disable_e();
+
+ // Update current position partly based on direction, we probably can combine this with the direction code above...
+ for (int i=0; i < NUM_AXIS; i++) {
+ if (destination[i] > current_position[i]) current_position[i] = current_position[i] + steps_taken[i] / axis_steps_per_unit[i];
+ else current_position[i] = current_position[i] - steps_taken[i] / axis_steps_per_unit[i];
+ }
+}
+
+void do_step(int axis) {
+ switch (axis) {
+ case 0:
+ p_x_step = 1; //WRITE(X_STEP_PIN, HIGH);
+ break;
+ case 1:
+ p_y_step = 1; //WRITE(Y_STEP_PIN, HIGH);
+ break;
+ case 2:
+ p_z_step = 1; //WRITE(Z_STEP_PIN, HIGH);
+ break;
+ case 3:
+ p_e_step = 1; //WRITE(E_STEP_PIN, HIGH);
+ break;
+ }
+ steps_taken[axis]+=1;
+ p_x_step = 0; //WRITE(X_STEP_PIN, LOW);
+ p_y_step = 0; //WRITE(Y_STEP_PIN, LOW);
+ p_z_step = 0; //WRITE(Z_STEP_PIN, LOW);
+ p_e_step = 0; //WRITE(E_STEP_PIN, LOW);
+}
+
+#define HEAT_INTERVAL 250
+
+#ifdef CONTROLLERFAN_PIN
+unsigned long lastMotor = 0; //Save the time for when a motor was turned on last
+unsigned long lastMotorCheck = 0;
+
+void controllerFan() {
+ if ((millis() - lastMotorCheck) >= 2500) { //Not a time critical function, so we only check every 2500ms
+ lastMotorCheck = millis();
+
+ if (!READ(X_ENABLE_PIN) || !READ(Y_ENABLE_PIN) || !READ(Z_ENABLE_PIN) || !READ(E_ENABLE_PIN)) { //If any of the drivers are enabled...
+ lastMotor = millis(); //... set time to NOW so the fan will turn on
+ }
+
+ if ((millis() - lastMotor) >= (CONTROLLERFAN_SEC*1000UL) || lastMotor == 0) { //If the last time any driver was enabled, is longer since than CONTROLLERSEC...
+ WRITE(CONTROLLERFAN_PIN, LOW); //... turn the fan off
+ } else {
+ WRITE(CONTROLLERFAN_PIN, HIGH); //... turn the fan on
+ }
+ }
+}
+#endif
+
+void manage_heater() {
+ if ((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL )
+ return;
+ previous_millis_heater = millis();
+#ifdef HEATER_USES_THERMISTOR
+ current_raw = (int) (p_temp0.read()*1023.0f) ; ///analogRead(TEMP_0_PIN);
+ //printf("temp0 = %f, temp1 = %f",p_temp0.read(), p_temp1.read());
+ // printf("current_raw == %i\r\n", current_raw);
+
+#ifdef DEBUG_HEAT_MGMT
+ log_int("_HEAT_MGMT - analogRead(TEMP_0_PIN)", current_raw);
+ log_int("_HEAT_MGMT - NUMTEMPS", NUMTEMPS);
+#endif
+ // When using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target,
+ // this switches it up so that the reading appears lower than target for the control logic.
+ current_raw = 1023 - current_raw;
+#endif
+#ifdef SMOOTHING
+ if (!nma) nma = SMOOTHFACTOR * current_raw;
+ nma = (nma + current_raw) - (nma / SMOOTHFACTOR);
+ current_raw = nma / SMOOTHFACTOR;
+#endif
+#ifdef WATCHPERIOD
+ if (watchmillis && millis() - watchmillis > WATCHPERIOD) {
+ if (watch_raw + 1 >= current_raw) {
+ target_temp = target_raw = 0;
+ WRITE(HEATER_0_PIN,LOW);
+ analogWrite(HEATER_0_PIN, 0);
+#if LED_PIN >- 1
+ p_led = 0;//WRITE(LED_PIN,LOW);
+#endif
+ } else {
+ watchmillis = 0;
+ }
+ }
+#endif
+#ifdef MINTEMP
+ if (current_raw <= minttemp)
+ target_temp = target_raw = 0;
+#endif
+#ifdef MAXTEMP
+ if (current_raw >= maxttemp) {
+ target_temp = target_raw = 0;
+#if (ALARM_PIN > -1)
+ WRITE(ALARM_PIN,HIGH);
+#endif
+ }
+#endif
+#if (TEMP_0_PIN > -1)
+#ifdef PIDTEMP
+ int current_temp = analog2temp(current_raw);
+ error = target_temp - current_temp;
+ int delta_temp = current_temp - prev_temp;
+ prev_temp = current_temp;
+ pTerm = ((long)PID_PGAIN * error) / 256;
+ const int H0 = min(HEATER_DUTY_FOR_SETPOINT(target_temp),HEATER_CURRENT);
+ heater_duty = H0 + pTerm;
+ if (error < 20) {
+ temp_iState += error;
+ temp_iState = constrain(temp_iState, temp_iState_min, temp_iState_max);
+ iTerm = ((long)PID_IGAIN * temp_iState) / 256;
+ heater_duty += iTerm;
+ }
+ int prev_error = abs(target_temp - prev_temp);
+ int log3 = 1; // discrete logarithm base 3, plus 1
+ if (prev_error > 81) {
+ prev_error /= 81;
+ log3 += 4;
+ }
+ if (prev_error > 9) {
+ prev_error /= 9;
+ log3 += 2;
+ }
+ if (prev_error > 3) {
+ prev_error /= 3;
+ log3 ++;
+ }
+ dTerm = ((long)PID_DGAIN * delta_temp) / (256*log3);
+ heater_duty += dTerm;
+ heater_duty = constrain(heater_duty, 0, HEATER_CURRENT);
+ analogWrite(HEATER_0_PIN, heater_duty);
+#if LED_PIN > -1
+ p_led = 1;//analogWrite(LED_PIN, constrain(LED_PWM_FOR_BRIGHTNESS(heater_duty),0,255));
+#endif
+#else
+ if (current_raw >= target_raw) {
+ p_heater0 = 0; //WRITE(HEATER_0_PIN,LOW);
+ heat0_led = 0;
+ //analogWrite(HEATER_0_PIN, 0);
+#if LED_PIN > -1
+ p_led = 0; //WRITE(LED_PIN,LOW);
+#endif
+ } else {
+ p_heater0 = 1; //WRITE(HEATER_0_PIN,HIGH);
+ heat0_led = 1;
+ // analogWrite(HEATER_0_PIN, HEATER_CURRENT);
+#if LED_PIN > -1
+ p_led = 1; //WRITE(LED_PIN,HIGH);
+#endif
+ }
+#endif
+#endif
+ if (millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
+ return;
+ previous_millis_bed_heater = millis();
+#ifndef TEMP_1_PIN
+ return;
+#endif
+#if TEMP_1_PIN == -1
+ return;
+#else
+
+#ifdef BED_USES_THERMISTOR
+ current_bed_raw = (int)(p_temp1.read()*1023.0f);///analogRead(TEMP_0_PIN);
+
+//analogRead(TEMP_1_PIN);
+#ifdef DEBUG_HEAT_MGMT
+ log_int("_HEAT_MGMT - analogRead(TEMP_1_PIN)", current_bed_raw);
+ log_int("_HEAT_MGMT - BNUMTEMPS", BNUMTEMPS);
+#endif
+
+ // If using thermistor, when the heater is colder than targer temp, we get a higher analog reading than target,
+ // this switches it up so that the reading appears lower than target for the control logic.
+ current_bed_raw = 1023 - current_bed_raw;
+// printf("current_bed_raw == %i\r\n", current_bed_raw);
+#endif
+
+#ifdef MINTEMP
+ if (current_bed_raw >= target_bed_raw || current_bed_raw < minttemp)
+#else
+ if (current_bed_raw >= target_bed_raw)
+#endif
+ {
+#if HEATER_1_PIN > -1
+ p_heater1 = 0; //WRITE(HEATER_1_PIN,LOW);
+ heat1_led = 0;
+#endif
+ } else {
+#if HEATER_1_PIN > -1
+ p_heater1 = 1; //WRITE(HEATER_1_PIN,HIGH);
+ heat1_led = 1;
+#endif
+ }
+#endif
+
+#ifdef CONTROLLERFAN_PIN
+ controllerFan(); //Check if fan should be turned on to cool stepper drivers down
+#endif
+}
+
+#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
+int temp2analog_thermistor(int celsius, const short table[][2], int numtemps) {
+ int raw = 0;
+ int i;
+
+ for (i=1; i<numtemps; i++) {
+ if (table[i][1] < celsius) {
+ raw = table[i-1][0] +
+ (celsius - table[i-1][1]) *
+ (table[i][0] - table[i-1][0]) /
+ (table[i][1] - table[i-1][1]);
+
+ break;
+ }
+ }
+
+ // Overflow: Set to last value in the table
+ if (i == numtemps) raw = table[i-1][0];
+
+ return 1023 - raw;
+}
+#endif
+
+#if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
+int analog2temp_thermistor(int raw,const short table[][2], int numtemps) {
+ int celsius = 0;
+ int i;
+
+ raw = 1023 - raw;
+
+ for (i=1; i<numtemps; i++) {
+ if (table[i][0] > raw) {
+ celsius = table[i-1][1] +
+ (raw - table[i-1][0]) *
+ (table[i][1] - table[i-1][1]) /
+ (table[i][0] - table[i-1][0]);
+ break;
+ }
+ }
+
+ // Overflow: Set to last value in the table
+ if (i == numtemps) celsius = table[i-1][1];
+
+ return celsius;
+}
+#endif
+
+inline void kill() {
+#if TEMP_0_PIN > -1
+ target_raw=0;
+ p_heater0 = 0; //WRITE(HEATER_0_PIN,LOW);
+ heat0_led = 0;
+#endif
+#if TEMP_1_PIN > -1
+ target_bed_raw=0;
+#if (HEATER_1_PIN > -1)
+ p_heater1 = 0; // WRITE(HEATER_1_PIN,LOW);
+ heat1_led = 0;
+
+#endif
+#endif
+ disable_x();
+ disable_y();
+ disable_z();
+ disable_e();
+
+#if (PS_ON_PIN > -1)
+ pinMode(PS_ON_PIN,INPUT);
+#endif
+}
+
+inline void manage_inactivity(int debug) {
+ if ( (millis()-previous_millis_cmd) > max_inactive_time ) if (max_inactive_time) kill();
+ if ( (millis()-previous_millis_cmd) > stepper_inactive_time ) if (stepper_inactive_time) {
+ disable_x();
+ disable_y();
+ disable_z();
+ disable_e();
+ }
+}
+
+#ifdef RAMP_ACCELERATION
+void setup_acceleration() {
+ for (int i=0; i < NUM_AXIS; i++) {
+ axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
+ axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
+ axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
+ }
+}
+#endif
+
+#ifdef DEBUG
+void log_message(char* message) {
+ print_string("DEBUG");
+ print_string(message);
+}
+
+void log_bool(char* message, int value) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": %i", value);
+}
+
+void log_int(char* message, int value) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": %i", value);
+}
+
+void log_long(char* message, long value) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": %l", value);
+}
+
+void log_float(char* message, float value) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": %f", value);
+}
+
+void log_uint(char* message, unsigned int value) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": %i", value);
+}
+
+void log_ulong(char* message, unsigned long value) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": %l", value);
+}
+
+void log_int_array(char* message, int value[], int array_lenght) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": {");
+ for (int i=0; i < array_lenght; i++) {
+ print_string("%i",value[i]);
+ if (i != array_lenght-1) print_string(", ");
+ }
+ print_string("}\r\n");
+}
+
+void log_long_array(char* message, long value[], int array_lenght) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": {");
+ for (int i=0; i < array_lenght; i++) {
+ print_string("%l",value[i]);
+ if (i != array_lenght-1) print_string(", ");
+ }
+ print_string("}\r\n");
+}
+
+void log_float_array(char* message, float value[], int array_lenght) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": {");
+ for (int i=0; i < array_lenght; i++) {
+ print_string("%f",value[i]);
+ if (i != array_lenght-1) print_string(", ");
+ }
+ print_string("}\r\n");
+}
+
+void log_uint_array(char* message, unsigned int value[], int array_lenght) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": {");
+ for (int i=0; i < array_lenght; i++) {
+ print_string("%i", value[i]);
+ if (i != array_lenght-1) print_string(", ");
+ }
+ print_string("}\r\n");
+}
+
+void log_ulong_array(char* message, unsigned long value[], int array_lenght) {
+ print_string("DEBUG");
+ print_string(message);
+ print_string(": {");
+ for (int i=0; i < array_lenght; i++) {
+ print_string("%l",value[i]);
+ if (i != array_lenght-1) print_string(", ");
+ }
+ print_string("}\r\n");
+}
+#endif