diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 6f40bbb7333b696d24f3be52d843ea2580326122..e8b960f788843264afdb34289bfd4e7178d6fa24 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -170,6 +170,7 @@ const bool Y_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
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
// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1
#define X_ENABLE_ON 0
@@ -279,8 +280,8 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
#ifdef ADVANCE
#define EXTRUDER_ADVANCE_K .3
- #define D_FILAMENT 1.7
- #define STEPS_MM_E 65
+ #define D_FILAMENT 2.85
+ #define STEPS_MM_E 836
#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)
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index 9985471b72406afd92d2bf27f80907f264b81750..226a7d35df89973b382e4e36f270109772b60864 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -529,6 +529,8 @@ FORCE_INLINE void process_commands()
saved_feedmultiply = feedmultiply;
feedmultiply = 100;
+ enable_endstops(true);
+
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i];
}
@@ -564,6 +566,9 @@ FORCE_INLINE void process_commands()
HOMEAXIS(Z);
current_position[2]=code_value()+add_homeing[2];
}
+ #ifdef ENDSTOPS_ONLY_FOR_HOMING
+ enable_endstops(false);
+ #endif
feedrate = saved_feedrate;
feedmultiply = saved_feedmultiply;
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 61f27fc2286aa8c0082db99c83cdcd4704601dda..a8f41d3532edc4957fa5c48c012093e0f072fc99 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -200,7 +200,6 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
// block->accelerate_until = accelerate_steps;
// block->decelerate_after = accelerate_steps+plateau_steps;
-
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if(block->busy == false) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
@@ -484,7 +483,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
// Bail if this is a zero-length block
if (block->step_event_count <=dropsegments) { return; };
- // Compute direction bits for this block
+ // Compute direction bits for this block
block->direction_bits = 0;
if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); }
if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); }
@@ -725,7 +724,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
else {
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
- (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
+ (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
block->advance = advance;
if(acc_dist == 0) {
block->advance_rate = 0;
@@ -734,6 +733,13 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
block->advance_rate = advance / (float)acc_dist;
}
}
+ /*
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM("advance :");
+ SERIAL_ECHO(block->advance/256.0);
+ SERIAL_ECHOPGM("advance rate :");
+ SERIAL_ECHOLN(block->advance_rate/256.0);
+ */
#endif // ADVANCE
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index e0b76788510379d036608698f7881758cc8cc94c..9cf8ddd17650bdb7b271a2900532f269a913fc17 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -56,9 +56,9 @@ static long counter_x, // Counter variables for the bresenham line tracer
volatile static unsigned long step_events_completed; // The number of step events executed in the current block
#ifdef ADVANCE
static long advance_rate, advance, final_advance = 0;
- static short old_advance = 0;
+ static long old_advance = 0;
#endif
-static short e_steps;
+static long e_steps;
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;
@@ -79,13 +79,20 @@ static bool old_y_max_endstop=false;
static bool old_z_min_endstop=false;
static bool old_z_max_endstop=false;
+static bool check_endstops = true;
+
volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
volatile char count_direction[NUM_AXIS] = { 1, 1, 1, 1};
//===========================================================================
//=============================functions ============================
//===========================================================================
-
+
+#ifdef ENDSTOPS_ONLY_FOR_HOMING
+ #define CHECK_ENDSTOPS if(check_endstops)
+#else
+ #define CHECK_ENDSTOPS
+#endif
// intRes = intIn1 * intIn2 >> 16
// uses:
@@ -191,6 +198,11 @@ void endstops_hit_on_purpose()
endstop_z_hit=false;
}
+void enable_endstops(bool check)
+{
+ check_endstops = check;
+}
+
// __________________________
// /| |\ _________________ ^
// / | | \ /| |\ |
@@ -254,6 +266,9 @@ FORCE_INLINE void trapezoid_generator_reset() {
#ifdef ADVANCE
advance = current_block->initial_advance;
final_advance = current_block->final_advance;
+ // Do E steps + advance steps
+ e_steps += ((advance >>8) - old_advance);
+ old_advance = advance >>8;
#endif
deceleration_time = 0;
// step_rate to timer interval
@@ -261,6 +276,17 @@ FORCE_INLINE void trapezoid_generator_reset() {
acceleration_time = calc_timer(acc_step_rate);
OCR1A = acceleration_time;
OCR1A_nominal = calc_timer(current_block->nominal_rate);
+
+// SERIAL_ECHO_START;
+// SERIAL_ECHOPGM("advance :");
+// SERIAL_ECHO(current_block->advance/256.0);
+// SERIAL_ECHOPGM("advance rate :");
+// SERIAL_ECHO(current_block->advance_rate/256.0);
+// SERIAL_ECHOPGM("initial advance :");
+// SERIAL_ECHO(current_block->initial_advance/256.0);
+// SERIAL_ECHOPGM("final advance :");
+// SERIAL_ECHOLN(current_block->final_advance/256.0);
+
}
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
@@ -295,82 +321,100 @@ ISR(TIMER1_COMPA_vect)
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
WRITE(X_DIR_PIN, INVERT_X_DIR);
count_direction[X_AXIS]=-1;
- #if X_MIN_PIN > -1
- bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
- if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
- endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
- endstop_x_hit=true;
- step_events_completed = current_block->step_event_count;
- }
- old_x_min_endstop = x_min_endstop;
- #endif
+ CHECK_ENDSTOPS
+ {
+ #if X_MIN_PIN > -1
+ bool x_min_endstop=(READ(X_MIN_PIN) != X_ENDSTOPS_INVERTING);
+ if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
+ endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
+ endstop_x_hit=true;
+ step_events_completed = current_block->step_event_count;
+ }
+ old_x_min_endstop = x_min_endstop;
+ #endif
+ }
}
else { // +direction
WRITE(X_DIR_PIN,!INVERT_X_DIR);
count_direction[X_AXIS]=1;
- #if X_MAX_PIN > -1
- bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
- if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
- endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
- endstop_x_hit=true;
- step_events_completed = current_block->step_event_count;
- }
- old_x_max_endstop = x_max_endstop;
- #endif
+ CHECK_ENDSTOPS
+ {
+ #if X_MAX_PIN > -1
+ bool x_max_endstop=(READ(X_MAX_PIN) != X_ENDSTOPS_INVERTING);
+ if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
+ endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
+ endstop_x_hit=true;
+ step_events_completed = current_block->step_event_count;
+ }
+ old_x_max_endstop = x_max_endstop;
+ #endif
+ }
}
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
WRITE(Y_DIR_PIN,INVERT_Y_DIR);
count_direction[Y_AXIS]=-1;
- #if Y_MIN_PIN > -1
- bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
- if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
- endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
- endstop_y_hit=true;
- step_events_completed = current_block->step_event_count;
- }
- old_y_min_endstop = y_min_endstop;
- #endif
+ CHECK_ENDSTOPS
+ {
+ #if Y_MIN_PIN > -1
+ bool y_min_endstop=(READ(Y_MIN_PIN) != Y_ENDSTOPS_INVERTING);
+ if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
+ endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
+ endstop_y_hit=true;
+ step_events_completed = current_block->step_event_count;
+ }
+ old_y_min_endstop = y_min_endstop;
+ #endif
+ }
}
else { // +direction
WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
count_direction[Y_AXIS]=1;
- #if Y_MAX_PIN > -1
- bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
- if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
- endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
- endstop_y_hit=true;
- step_events_completed = current_block->step_event_count;
- }
- old_y_max_endstop = y_max_endstop;
- #endif
+ CHECK_ENDSTOPS
+ {
+ #if Y_MAX_PIN > -1
+ bool y_max_endstop=(READ(Y_MAX_PIN) != Y_ENDSTOPS_INVERTING);
+ if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
+ endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
+ endstop_y_hit=true;
+ step_events_completed = current_block->step_event_count;
+ }
+ old_y_max_endstop = y_max_endstop;
+ #endif
+ }
}
if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
WRITE(Z_DIR_PIN,INVERT_Z_DIR);
count_direction[Z_AXIS]=-1;
- #if Z_MIN_PIN > -1
- bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
- if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
- endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_z_hit=true;
- step_events_completed = current_block->step_event_count;
- }
- old_z_min_endstop = z_min_endstop;
- #endif
+ CHECK_ENDSTOPS
+ {
+ #if Z_MIN_PIN > -1
+ bool z_min_endstop=(READ(Z_MIN_PIN) != Z_ENDSTOPS_INVERTING);
+ if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
+ endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+ endstop_z_hit=true;
+ step_events_completed = current_block->step_event_count;
+ }
+ old_z_min_endstop = z_min_endstop;
+ #endif
+ }
}
else { // +direction
WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
- count_direction[Z_AXIS]=1;
- #if Z_MAX_PIN > -1
- bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
- if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
- endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
- endstop_z_hit=true;
- step_events_completed = current_block->step_event_count;
- }
- old_z_max_endstop = z_max_endstop;
- #endif
+ count_direction[Z_AXIS]=1;
+ CHECK_ENDSTOPS
+ {
+ #if Z_MAX_PIN > -1
+ bool z_max_endstop=(READ(Z_MAX_PIN) != Z_ENDSTOPS_INVERTING);
+ if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
+ endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
+ endstop_z_hit=true;
+ step_events_completed = current_block->step_event_count;
+ }
+ old_z_max_endstop = z_max_endstop;
+ #endif
+ }
}
#ifndef ADVANCE
@@ -383,6 +427,9 @@ ISR(TIMER1_COMPA_vect)
count_direction[E_AXIS]=-1;
}
#endif //!ADVANCE
+
+
+
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
MSerial.checkRx(); // Check for serial chars.
@@ -391,19 +438,12 @@ ISR(TIMER1_COMPA_vect)
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
- CRITICAL_SECTION_START;
e_steps--;
- CRITICAL_SECTION_END;
}
else {
- CRITICAL_SECTION_START;
e_steps++;
- CRITICAL_SECTION_END;
}
}
- // Do E steps + advance steps
- e_steps += ((advance >> 16) - old_advance);
- old_advance = advance >> 16;
#endif //ADVANCE
counter_x += current_block->steps_x;
@@ -462,6 +502,11 @@ ISR(TIMER1_COMPA_vect)
for(int8_t i=0; i < step_loops; i++) {
advance += advance_rate;
}
+ //if(advance > current_block->advance) advance = current_block->advance;
+ // Do E steps + advance steps
+ e_steps += ((advance >>8) - old_advance);
+ old_advance = advance >>8;
+
#endif
}
else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
@@ -486,8 +531,10 @@ ISR(TIMER1_COMPA_vect)
for(int8_t i=0; i < step_loops; i++) {
advance -= advance_rate;
}
- if(advance < final_advance)
- advance = final_advance;
+ if(advance < final_advance) advance = final_advance;
+ // Do E steps + advance steps
+ e_steps += ((advance >>8) - old_advance);
+ old_advance = advance >>8;
#endif //ADVANCE
}
else {
@@ -508,7 +555,7 @@ ISR(TIMER1_COMPA_vect)
// Timer 0 is shared with millies
ISR(TIMER0_COMPA_vect)
{
- old_OCR0A += 25; // ~10kHz interrupt
+ 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;) {
@@ -520,7 +567,7 @@ ISR(TIMER1_COMPA_vect)
e_steps++;
WRITE(E_STEP_PIN, HIGH);
}
- if (e_steps > 0) {
+ else if (e_steps > 0) {
WRITE(E_DIR_PIN,!INVERT_E_DIR);
e_steps--;
WRITE(E_STEP_PIN, HIGH);
@@ -649,6 +696,13 @@ void st_init()
e_steps = 0;
TIMSK0 |= (1<<OCIE0A);
#endif //ADVANCE
+
+ #ifdef ENDSTOPS_ONLY_FOR_HOMING
+ enable_endstops(false);
+ #else
+ enable_endstops(true);
+ #endif
+
sei();
}
diff --git a/Marlin/stepper.h b/Marlin/stepper.h
index e11f5e5a92a38ca9732fba9add70f5e62baede81..fd388ca68bd5b338a9928cb2682dfd482ae7e8fe 100644
--- a/Marlin/stepper.h
+++ b/Marlin/stepper.h
@@ -44,6 +44,8 @@ void st_wake_up();
void checkHitEndstops(); //call from somwhere to create an serial error message with the locations the endstops where hit, in case they were triggered
void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homeing and before a routine call of checkHitEndstops();
+void enable_endstops(bool check); // Enable/disable endstop checking
+
void checkStepperErrors(); //Print errors detected by the stepper
void finishAndDisableSteppers();