first-commit

2011-08-13 10:09:54 +02:00 · 2011-08-13 10:09:54 +02:00 · 26bf57e22c
commit 26bf57e22c
parent f850af5c1c
3 changed files with 111 additions and 57 deletions
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@ -13,26 +13,6 @@
 // 3 is mendel-parts thermistor
 #define THERMISTORHEATER 3

-// extruder advance constant (s2/mm3)
-//
-// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
-//
-// hooke's law says:		force = k * distance
-// bernoulli's priniciple says:	v ^ 2 / 2 + g . h + pressure / density = constant
-// so: v ^ 2 is proportional to number of steps we advance the extruder
-//#define ADVANCE
-
-#ifdef ADVANCE
-#define EXTRUDER_ADVANCE_K 0.02
-
-#define D_FILAMENT 1.7
-#define STEPS_MM_E 65
-//#define D_FILAMENT 2.85
-//#define STEPS_MM_E 367.35
-#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
-#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
-
-#endif // ADVANCE

 //// Calibration variables
 // X, Y, Z, E steps per unit - Metric Prusa Mendel with V9 extruder:
@ -94,10 +74,10 @@ bool axis_relative_modes[] = {false, false, false, false};

 //// Acceleration settings
 // 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.
-float acceleration = 3000;         // Normal acceleration mm/s^2
+float acceleration = 2000;         // Normal acceleration mm/s^2
 float retract_acceleration = 7000; // Normal acceleration mm/s^2
 float max_jerk = 20*60;
-long max_acceleration_units_per_sq_second[] = {7000,7000,20,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
+long max_acceleration_units_per_sq_second[] = {7000,7000,100,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
 // Not used long max_travel_acceleration_units_per_sq_second[] = {500,500,50,500}; // X, Y, Z max acceleration in mm/s^2 for travel moves


@ -130,4 +110,23 @@ double Kd = 80/PID_dT;
 #endif // PIDTEMP


+// extruder advance constant (s2/mm3)
+//
+// advance (steps) = STEPS_PER_CUBIC_MM_E * EXTUDER_ADVANCE_K * cubic mm per second ^ 2
+//
+// hooke's law says:		force = k * distance
+// bernoulli's priniciple says:	v ^ 2 / 2 + g . h + pressure / density = constant
+// so: v ^ 2 is proportional to number of steps we advance the extruder
+//#define ADVANCE
+
+#ifdef ADVANCE
+#define EXTRUDER_ADVANCE_K 0.02
+
+#define D_FILAMENT 1.7
+#define STEPS_MM_E 65
+#define EXTRUTION_AREA (0.25 * D_FILAMENT * D_FILAMENT * 3.14159)
+#define STEPS_PER_CUBIC_MM_E (axis_steps_per_unit[E_AXIS]/ EXTRUTION_AREA)
+
+#endif // ADVANCE
+
 #endif
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@ -18,10 +18,12 @@

 /*
 This firmware is a mashup between Sprinter and grbl.
+  (https://github.com/kliment/Sprinter)
+  (https://github.com/simen/grbl/tree)
+ 
 It has preliminary support for Matthew Roberts advance algorithm 
    http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
- (https://github.com/kliment/Sprinter)
- (https://github.com/simen/grbl/tree)
+
 This firmware is optimized for gen6 electronics.
 */

@ -35,12 +37,12 @@ char version_string[] = "0.9.0";

 #ifdef SDSUPPORT
 #include "SdFat.h"
-#endif
+#endif //SDSUPPORT

 #ifndef CRITICAL_SECTION_START
 #define CRITICAL_SECTION_START  unsigned char _sreg = SREG; cli()
 #define CRITICAL_SECTION_END    SREG = _sreg
-#endif
+#endif //CRITICAL_SECTION_START

 // look here for descriptions of gcodes: http://linuxcnc.org/handbook/gcode/g-code.html
 // http://objects.reprap.org/wiki/Mendel_User_Manual:_RepRapGCodes
@ -138,18 +140,18 @@ unsigned char temp_meas_ready = false;
  double pid_input;
  double pid_output;
  bool pid_reset;
-#endif
+#endif //PIDTEMP

 #ifdef WATCHPERIOD
 int watch_raw = -1000;
 unsigned long watchmillis = 0;
-#endif
+#endif //WATCHPERIOD
 #ifdef MINTEMP
 int minttemp = temp2analogh(MINTEMP);
-#endif
+#endif //MINTEMP
 #ifdef MAXTEMP
 int maxttemp = temp2analogh(MAXTEMP);
-#endif
+#endif //MAXTEMP

 //Inactivity shutdown variables
 unsigned long previous_millis_cmd = 0;
@ -183,7 +185,7 @@ void initsd(){
    Serial.println("openRoot failed");
  else 
    sdactive = true;
-#endif
+#endif //SDSS
 }

 inline void write_command(char *buf){
@ -205,7 +207,7 @@ inline void write_command(char *buf){
    Serial.println("error writing to file");
  }
 }
-#endif
+#endif //SDSUPPORT


 void setup()
@ -278,7 +280,7 @@ void setup()
  SET_INPUT(Z_MAX_PIN); 
  WRITE(Z_MAX_PIN,HIGH);
 #endif
-#else
+#else //ENDSTOPPULLUPS
 #if X_MIN_PIN > -1
  SET_INPUT(X_MIN_PIN); 
 #endif
@ -297,7 +299,7 @@ void setup()
 #if Z_MAX_PIN > -1
  SET_INPUT(Z_MAX_PIN); 
 #endif
-#endif
+#endif //ENDSTOPPULLUPS

 #if (HEATER_0_PIN > -1) 
  SET_OUTPUT(HEATER_0_PIN);
@ -333,10 +335,10 @@ void setup()
 #if SDPOWER > -1
  SET_OUTPUT(SDPOWER); 
  WRITE(SDPOWER,HIGH);
-#endif
+#endif //SDPOWER
  initsd();

-#endif
+#endif //SDSUPPORT
  plan_init();  // Initialize planner;
  st_init();    // Initialize stepper;
  tp_init();    // Initialize temperature loop
@ -367,7 +369,7 @@ void loop()
    }
 #else
    process_commands();
-#endif
+#endif //SDSUPPORT
    buflen = (buflen-1);
    bufindr = (bufindr + 1)%BUFSIZE;
  }
@ -446,7 +448,7 @@ inline void get_command()
 #ifdef SDSUPPORT
            if(savetosd)
              break;
-#endif
+#endif //SDSUPPORT
            Serial.println("ok"); 
            break;
          default:
@ -497,7 +499,7 @@ inline void get_command()
      if(!comment_mode) cmdbuffer[bufindw][serial_count++] = serial_char;
    }
  }
-#endif
+#endif //SDSUPPORT

 }

@ -751,7 +753,7 @@ inline void process_commands()
      //processed in write to file routine above
      //savetosd = false;
      break;
-#endif
+#endif //SDSUPPORT
    case 104: // M104
 #ifdef PID_OPENLOOP
      if (code_seen('S')) PidTemp_Output = code_value() * (PID_MAX/100.0);
@ -790,7 +792,7 @@ inline void process_commands()
      else{
        watchmillis = 0;
      }
-#endif
+#endif //WATCHERPERIOD
      codenum = millis(); 
      while(current_raw < target_raw) {
        if( (millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
@ -922,7 +924,7 @@ void ClearToSend()
 #ifdef SDSUPPORT
  if(fromsd[bufindr])
    return;
-#endif
+#endif //SDSUPPORT
  Serial.println("ok"); 
 }

@ -958,7 +960,7 @@ CRITICAL_SECTION_START;
 CRITICAL_SECTION_END;

 #ifdef PIDTEMP
-  pid_input = analog2temp(current_raw);//ACT
+  pid_input = analog2temp(current_raw);

 #ifndef PID_OPENLOOP
  pid_error = pid_setpoint - pid_input;
@ -1000,7 +1002,7 @@ CRITICAL_SECTION_END;
   Serial.println();
 #endif //PID_DEBUG
  OCR2B = pid_output;
-#endif
+#endif //PIDTEMP
 }


@ -1051,7 +1053,7 @@ inline void kill()
  target_raw=0;
 #ifdef PIDTEMP
  pid_setpoint = 0.0;
-#endif PIDTEMP
+#endif //PIDTEMP
  OCR2B = 0;
  WRITE(HEATER_0_PIN,LOW);

@ -1465,7 +1467,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
  float speed_factor = 1;
  float tmp_speed_factor;
  if(abs(block->speed_x) > max_feedrate[X_AXIS]) {
-    speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_x);
+    speed_factor = max_feedrate[X_AXIS] / abs(block->speed_x);
  }
  if(abs(block->speed_y) > max_feedrate[Y_AXIS]){
    tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y);
@ -1473,11 +1475,11 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
  }
  if(abs(block->speed_z) > max_feedrate[Z_AXIS]){
    tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z);
-    if(tmp_speed_factor < speed_factor) speed_factor = tmp_speed_factor;
+    if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
  }
  if(abs(block->speed_e) > max_feedrate[E_AXIS]){
    tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e);
-    if(tmp_speed_factor < speed_factor) speed_factor = tmp_speed_factor;
+    if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
  }
  multiplier = multiplier * speed_factor;
  block->speed_z = delta_z_mm * multiplier; 
@ -1910,8 +1912,6 @@ ISR(TIMER0_COMPA_vect)
  // Critical section needed because Timer 1 interrupt has higher priority. 
  // The pin set functions are placed on trategic position to comply with the stepper driver timing.
  WRITE(E_STEP_PIN, LOW);
-  // e_steps is changed in timer 1 interrupt
-  CRITICAL_SECTION_START;
  // Set E direction (Depends on E direction + advance)
  if (e_steps < 0) {
    WRITE(E_DIR_PIN,INVERT_E_DIR);    
@ -1923,7 +1923,6 @@ ISR(TIMER0_COMPA_vect)
    e_steps--;
    WRITE(E_STEP_PIN, HIGH);
  }
-  CRITICAL_SECTION_END;
  old_OCR0A += 25; // 10kHz interrupt
  OCR0A = old_OCR0A;
 }
@ -1974,7 +1973,7 @@ void tp_init()
  TCCR2A = 0x23;  //OC2A disable; FastPWM noninverting; FastPWM mode 7
 #else
  TCCR2A = 0x03;  //OC2A disable; FastPWM noninverting; FastPWM mode 7
-#endif
+#endif //PIDTEMP
  OCR2A = 156;    //Period is ~10ms
  OCR2B = 0;      //Duty Cycle for heater pin is 0 (startup)
  TIMSK2 = 0x01;  //Enable overflow interrupt
@ -2009,9 +2008,9 @@ ISR(TIMER2_OVF_vect)
      OCR2B = 0;
 #else
      WRITE(HEATER_0_PIN,LOW);
-#endif
+#endif //PIDTEMP
    }
-#endif
+#endif //MAXTEMP
 #ifdef MINTEMP
    if(current_raw <= minttemp) {
      target_raw = 0;
@ -2019,9 +2018,9 @@ ISR(TIMER2_OVF_vect)
      OCR2B = 0;
 #else
      WRITE(HEATER_0_PIN,LOW);
-#endif
+#endif //PIDTEMP
    }
-#endif
+#endif //MAXTEMP
 #ifndef PIDTEMP
    if(current_raw >= target_raw)
    {
@ -2031,7 +2030,7 @@ ISR(TIMER2_OVF_vect)
    {
      WRITE(HEATER_0_PIN,HIGH);
    }
-#endif
+#endif //PIDTEMP
  }
 }

--- a/56
+++ b/56
@ -0,0 +1,56 @@
+This firmware is a mashup between Sprinter, grbl and many original parts.
+ (https://github.com/kliment/Sprinter)
+ (https://github.com/simen/grbl/tree)
+
+Features:
+ - Interrupt based movement with real linear acceleration
+ - High steprate
+ - Look ahead (Keep the speed high when possible. High cornering speed)
+ - Interrupt based temperature protection
+ - preliminary support for Matthew Roberts advance algorithm 
+   For more info see: http://reprap.org/pipermail/reprap-dev/2011-May/003323.html
+
+This firmware is optimized for gen6 electronics.
+
+The default baudrate is 250000. 
+This gives less communication errors then regular baudrates.
+
+========================================================================================
+
+Configuring and compilation
+
+
+Install the arduino software version 0018
+   http://www.arduino.cc/en/Main/Software
+
+Install the sanguino software, version 0018
+   http://sanguino.cc/useit
+
+Install pronterface
+   https://github.com/kliment/Printrun
+
+Copy the Marlin firmware
+   https:/github.com/ErikZalm/Marlin
+   (Use the download button)
+
+Start the arduino IDE.
+Select Tools -> Board -> Sanguino 
+Select the correct serial port in Tools ->Serial Port
+Open Marlin.pde
+
+Change the printer specific setting in Configuration.h to the correct values.
+
+The following values are the most important:
+ - float axis_steps_per_unit[]....         // Set the correct steps / mm in the corresponding field
+ - const bool ENDSTOPS_INVERTING = false;  // Change if only positive moves are executed
+ - #define INVERT_x_DIR true               // Change if the motor direction is wrong
+
+Click the Upload button
+If all goes well the firmware is uploading
+
+Start pronterface
+
+Select the correct Serial Port. Type 250000 in the baudrate field.
+Press the Connect button.
+
+