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Merged multiple extruder support.
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Soft PWM. (Sanguinololu can also have PID temperature control)
Interrupt save WRITE for addresses > 0x0FF
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@ErikZalm
ErikZalm committed Dec 12, 2011
1 parent 3664ed6 commit e017228
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Showing 11 changed files with 5,525 additions and 5,413 deletions.
95 changes: 49 additions & 46 deletions Marlin/Configuration.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,11 @@


// This determines the communication speed of the printer
//#define BAUDRATE 250000
#define BAUDRATE 115200
#define BAUDRATE 250000
//#define BAUDRATE 115200
//#define BAUDRATE 230400

#define EXTRUDERS 2
#define EXTRUDERS 1

// Frequency limit
// See nophead's blog for more info
Expand All @@ -32,7 +32,7 @@
// Sanguinololu 1.2 and above = 62
// Ultimaker = 7,
// Teensylu = 8
#define MOTHERBOARD 33
#define MOTHERBOARD 7

//===========================================================================
//=============================Thermal Settings ============================
Expand All @@ -46,16 +46,21 @@
// 5 is ParCan supplied 104GT-2 100K
// 6 is EPCOS 100k
// 7 is 100k Honeywell thermistor 135-104LAG-J01
#define THERMISTORHEATER_0 1
#define THERMISTORHEATER_1 1
#define HEATER_0_USES_THERMISTOR
#define HEATER_1_USES_THERMISTOR
//#define HEATER_0_USES_AD595

//#define THERMISTORHEATER_0 3
//#define THERMISTORHEATER_1 1
//#define THERMISTORHEATER_2 1

//#define HEATER_0_USES_THERMISTOR
//#define HEATER_1_USES_THERMISTOR
//#define HEATER_2_USES_THERMISTOR
#define HEATER_0_USES_AD595
//#define HEATER_1_USES_AD595
//#define HEATER_2_USES_AD595

// Select one of these only to define how the bed temp is read.
#define THERMISTORBED 1
#define BED_USES_THERMISTOR
//#define THERMISTORBED 1
//#define BED_USES_THERMISTOR
//#define BED_USES_AD595

#define BED_CHECK_INTERVAL 5000 //ms
Expand All @@ -73,15 +78,17 @@
//// The minimal temperature defines the temperature below which the heater will not be enabled
#define HEATER_0_MINTEMP 5
//#define HEATER_1_MINTEMP 5
#define BED_MINTEMP 5
//#define HEATER_2_MINTEMP 5
//#define BED_MINTEMP 5


// When temperature exceeds max temp, your heater will be switched off.
// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
// You should use MINTEMP for thermistor short/failure protection.
#define HEATER_0_MAXTEMP 275
//#define HEATER_1_MAXTEMP 275
#define BED_MAXTEMP 150
//#define HEATER_2_MAXTEMP 275
//#define BED_MAXTEMP 150


// Wait for Cooldown
Expand All @@ -92,21 +99,17 @@

// Heating is finished if a temperature close to this degree shift is reached
#define HEATING_EARLY_FINISH_DEG_OFFSET 1 //Degree

// PID settings:
// Uncomment the following line to enable PID support.

#define PIDTEMP
#define PID_MAX 255 // limits current to nozzle; 255=full current
#ifdef PIDTEMP
#if MOTHERBOARD == 62
#error Sanguinololu does not support PID, sorry. Please disable it.
#endif
//#define PID_DEBUG // Sends debug data to the serial port.
//#define PID_OPENLOOP 1 // Puts PID in open loop. M104 sets the output power in %

#define PID_MAX 255 // limits current to nozzle; 255=full current
#define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term
#define K1 0.95 //smoothing factor withing the PID
#define PID_dT 0.1 //sampling period of the PID
#define PID_dT 0.128 //sampling period of the PID

//To develop some PID settings for your machine, you can initiall follow
// the Ziegler-Nichols method.
Expand All @@ -130,14 +133,14 @@
// #define DEFAULT_Kd (PID_SWING_AT_CRITIAL/8./PID_dT)

// Ultitmaker
// #define DEFAULT_Kp 22.2
// #define DEFAULT_Ki (1.25*PID_dT)
// #define DEFAULT_Kd (99/PID_dT)
#define DEFAULT_Kp 22.2
#define DEFAULT_Ki (1.25*PID_dT)
#define DEFAULT_Kd (99/PID_dT)

// Makergear
#define DEFAULT_Kp 7.0
#define DEFAULT_Ki 0.1
#define DEFAULT_Kd 12
// #define DEFAULT_Kp 7.0
// #define DEFAULT_Ki 0.1
// #define DEFAULT_Kd 12

// Mendel Parts V9 on 12V
// #define DEFAULT_Kp 63.0
Expand Down Expand Up @@ -170,12 +173,12 @@
#define ENDSTOPPULLUPS // Comment this out (using // at the start of the line) to disable the endstop pullup resistors

// The pullups are needed if you directly connect a mechanical endswitch between the signal and ground pins.
const bool X_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
const bool Y_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of the endstops.
const bool X_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of the endstops.
// For optos H21LOB set to true, for Mendel-Parts newer optos TCST2103 set to false

//#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing
#define ENDSTOPS_ONLY_FOR_HOMING // If defined the endstops will only be used for homing

// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
Expand All @@ -186,7 +189,7 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
// Disables axis when it's not being used.
#define DISABLE_X false
#define DISABLE_Y false
#define DISABLE_Z true
#define DISABLE_Z false
#define DISABLE_E false // For all extruders

// Inverting axis direction
Expand All @@ -195,11 +198,11 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
//#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true
//#define INVERT_E*_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false, used for all extruders

#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_E0_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E1_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E1_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_E2_DIR false // for direct drive extruder v9 set to true, for geared extruder set to false

//// ENDSTOP SETTINGS:
Expand All @@ -208,15 +211,15 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
#define Y_HOME_DIR -1
#define Z_HOME_DIR -1

#define min_software_endstops false //If true, axis won't move to coordinates less than zero.
#define max_software_endstops false //If true, axis won't move to coordinates greater than the defined lengths below.
#define X_MAX_LENGTH 210
#define Y_MAX_LENGTH 210
#define Z_MAX_LENGTH 210
#define min_software_endstops true //If true, axis won't move to coordinates less than zero.
#define max_software_endstops true //If true, axis won't move to coordinates greater than the defined lengths below.
#define X_MAX_LENGTH 205
#define Y_MAX_LENGTH 205
#define Z_MAX_LENGTH 200

//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
#define HOMING_FEEDRATE {30*60, 30*60, 2*60, 0} // set the homing speeds (mm/min)
#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)

//homing hits the endstop, then retracts by this distance, before it tries to slowly bump again:
#define X_HOME_RETRACT_MM 5
Expand All @@ -230,9 +233,9 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t

// default settings

//#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200*8/3,760*1.1} // default steps per unit for ultimaker
//#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 67} //sells mendel with v9 extruder
#define DEFAULT_AXIS_STEPS_PER_UNIT {80.3232, 80.8900, 2284.7651, 757.2218} // SAE Prusa w/ Wade extruder
#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200*8/3,760*1.1} // default steps per unit for ultimaker
//#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 360} //sells mendel with v9 extruder
//#define DEFAULT_AXIS_STEPS_PER_UNIT {80.3232, 80.8900, 2284.7651, 757.2218} // SAE Prusa w/ Wade extruder
#define DEFAULT_MAX_FEEDRATE {500, 500, 5, 45} // (mm/sec)
#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.

Expand Down Expand Up @@ -283,10 +286,10 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t
// 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
#define ADVANCE

#ifdef ADVANCE
#define EXTRUDER_ADVANCE_K .3
#define EXTRUDER_ADVANCE_K .0

#define D_FILAMENT 2.85
#define STEPS_MM_E 836
Expand All @@ -298,10 +301,10 @@ const bool Z_ENDSTOPS_INVERTING = false; // set to true to invert the logic of t

//LCD and SD support
//#define ULTRA_LCD //general lcd support, also 16x2
#define SDSUPPORT // Enable SD Card Support in Hardware Console
//#define SDSUPPORT // Enable SD Card Support in Hardware Console
#define SD_FINISHED_STEPPERRELEASE true //if sd support and the file is finished: disable steppers?

//#define ULTIPANEL
#define ULTIPANEL
#ifdef ULTIPANEL
//#define NEWPANEL //enable this if you have a click-encoder panel
#define SDSUPPORT
Expand Down
2 changes: 0 additions & 2 deletions Marlin/Marlin.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,8 +57,6 @@ const prog_char echomagic[] PROGMEM ="echo:";

#define SERIAL_ECHOPAIR(name,value) {SERIAL_ECHOPGM(name);SERIAL_ECHO(value);}

// Macro for getting current active extruder
#define ACTIVE_EXTRUDER (active_extruder)

//things to write to serial from Programmemory. saves 400 to 2k of RAM.
#define SerialprintPGM(x) serialprintPGM(MYPGM(x))
Expand Down
46 changes: 27 additions & 19 deletions Marlin/Marlin.pde
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Original file line number Diff line number Diff line change
Expand Up @@ -465,16 +465,16 @@ FORCE_INLINE bool code_seen(char code)
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); \
destination[LETTER##_AXIS] = 1.5 * LETTER##_MAX_LENGTH * LETTER##_HOME_DIR; \
feedrate = homing_feedrate[LETTER##_AXIS]; \
prepare_move(); \
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
\
current_position[LETTER##_AXIS] = 0;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
destination[LETTER##_AXIS] = -LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
prepare_move(); \
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
\
destination[LETTER##_AXIS] = 2*LETTER##_HOME_RETRACT_MM * LETTER##_HOME_DIR;\
feedrate = homing_feedrate[LETTER##_AXIS]/2 ; \
prepare_move(); \
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate/60, active_extruder); \
\
current_position[LETTER##_AXIS] = (LETTER##_HOME_DIR == -1) ? 0 : LETTER##_MAX_LENGTH;\
plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);\
Expand Down Expand Up @@ -541,6 +541,7 @@ FORCE_INLINE void process_commands()
if( code_seen(axis_codes[0]) && code_seen(axis_codes[1]) ) //first diagonal move
{
current_position[X_AXIS] = 0; current_position[Y_AXIS] = 0;

plan_set_position(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
destination[X_AXIS] = 1.5 * X_MAX_LENGTH * X_HOME_DIR;
destination[Y_AXIS] = 1.5 * Y_MAX_LENGTH * Y_HOME_DIR;
Expand Down Expand Up @@ -723,7 +724,7 @@ FORCE_INLINE void process_commands()
if (code_seen('S')) setTargetBed(code_value());
break;
case 105 : // M105
tmp_extruder = ACTIVE_EXTRUDER;
tmp_extruder = active_extruder;
if(code_seen('T')) {
tmp_extruder = code_value();
if(tmp_extruder >= EXTRUDERS) {
Expand All @@ -743,6 +744,10 @@ FORCE_INLINE void process_commands()
#else
SERIAL_ERROR_START;
SERIAL_ERRORLNPGM("No thermistors - no temp");
#endif
#ifdef PIDTEMP
SERIAL_PROTOCOLPGM(" @:");
SERIAL_PROTOCOL(getHeaterPower(tmp_extruder));
#endif
SERIAL_PROTOCOLLN("");
return;
Expand Down Expand Up @@ -788,24 +793,26 @@ FORCE_INLINE void process_commands()
while((residencyStart == -1) ||
(residencyStart > -1 && (millis() - residencyStart) < TEMP_RESIDENCY_TIME*1000) ) {
#else
while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
while ( target_direction ? (isHeatingHotend(tmp_extruder)) : (isCoolingHotend(tmp_extruder)&&(CooldownNoWait==false)) ) {
#endif //TEMP_RESIDENCY_TIME
if( (millis() - codenum) > 1000 )
{ //Print Temp Reading and remaining time every 1 second while heating up/cooling down
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOLLN( degHotend(tmp_extruder) );
SERIAL_PROTOCOL( degHotend(tmp_extruder) );
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOLLN( (int)tmp_extruder );
SERIAL_PROTOCOLPGM(" W:");
if(residencyStart > -1)
{
codenum = TEMP_RESIDENCY_TIME - ((millis() - residencyStart) / 1000);
SERIAL_PROTOCOLLN( codenum );
}
else
{
SERIAL_PROTOCOLLN( "?" );
}
#ifdef TEMP_RESIDENCY_TIME
SERIAL_PROTOCOLPGM(" W:");
if(residencyStart > -1)
{
codenum = TEMP_RESIDENCY_TIME - ((millis() - residencyStart) / 1000);
SERIAL_PROTOCOLLN( codenum );
}
else
{
SERIAL_PROTOCOLLN( "?" );
}
#endif
codenum = millis();
}
manage_heater();
Expand Down Expand Up @@ -834,11 +841,11 @@ FORCE_INLINE void process_commands()
{
if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
{
float tt=degHotend(ACTIVE_EXTRUDER);
float tt=degHotend(active_extruder);
SERIAL_PROTOCOLPGM("T:");
SERIAL_PROTOCOL(tt);
SERIAL_PROTOCOLPGM(" E:");
SERIAL_PROTOCOLLN( (int)tmp_extruder );
SERIAL_PROTOCOLLN( (int)active_extruder );
SERIAL_PROTOCOLPGM(" B:");
SERIAL_PROTOCOLLN(degBed());
codenum = millis();
Expand Down Expand Up @@ -1191,6 +1198,7 @@ void manage_inactivity(byte debug)

void kill()
{
cli(); // Stop interrupts
disable_heater();

disable_x();
Expand All @@ -1207,4 +1215,4 @@ void kill()
while(1); // Wait for reset
}



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