From 83cfc56c5e71a9e6c0da94c259e3286ca3800039 Mon Sep 17 00:00:00 2001 From: Michel Pollet Date: Mon, 14 May 2012 10:33:16 +0100 Subject: [PATCH] reprap: Some more updates, also a Marlin binary to test Added a marlin binary that works, to help repsnapper's Signed-off-by: Michel Pollet --- examples/board_reprap/marlin/Configuration.h | 249 ++ .../board_reprap/marlin/Configuration_adv.h | 242 ++ examples/board_reprap/marlin/Marlin.hex | 2877 +++++++++++++++++ examples/board_reprap/src/reprap.c | 33 +- examples/board_reprap/src/stepper.c | 2 +- 5 files changed, 3391 insertions(+), 12 deletions(-) create mode 100644 examples/board_reprap/marlin/Configuration.h create mode 100644 examples/board_reprap/marlin/Configuration_adv.h create mode 100644 examples/board_reprap/marlin/Marlin.hex diff --git a/examples/board_reprap/marlin/Configuration.h b/examples/board_reprap/marlin/Configuration.h new file mode 100644 index 0000000..a84c46e --- /dev/null +++ b/examples/board_reprap/marlin/Configuration.h @@ -0,0 +1,249 @@ +#ifndef __CONFIGURATION_H +#define __CONFIGURATION_H + +// This configurtion file contains the basic settings. +// Advanced settings can be found in Configuration_adv.h +// BASIC SETTINGS: select your board type, temperature sensor type, axis scaling, and endstop configuration + +//User specified version info of THIS file to display in [Pronterface, etc] terminal window during startup. +//Implementation of an idea by Prof Braino to inform user that any changes made +//to THIS file by the user have been successfully uploaded into firmware. +#define STRING_VERSION_CONFIG_H "2012-02-25" //Personal revision number for changes to THIS file. +#define STRING_CONFIG_H_AUTHOR "erik" //Who made the changes. + +// This determines the communication speed of the printer +//#define BAUDRATE 250000 +#define BAUDRATE 115200 + +//// The following define selects which electronics board you have. Please choose the one that matches your setup +// Gen7 custom (Alfons3 Version) = 10 "https://github.com/Alfons3/Generation_7_Electronics" +// Gen7 v1.1, v1.2 = 11 +// Gen7 v1.3 = 12 +// Gen7 v1.4 = 13 +// MEGA/RAMPS up to 1.2 = 3 +// RAMPS 1.3 = 33 (Power outputs: Extruder, Bed, Fan) +// RAMPS 1.3 = 34 (Power outputs: Extruder0, Extruder1, Bed) +// Gen6 = 5 +// Gen6 deluxe = 51 +// Sanguinololu 1.2 and above = 62 +// Ultimaker = 7 +// Teensylu = 8 +// Gen3+ =9 + +#ifndef MOTHERBOARD +#define MOTHERBOARD 7 +#endif + +//=========================================================================== +//=============================Thermal Settings ============================ +//=========================================================================== + +//// Temperature sensor settings: +// -2 is thermocouple with MAX6675 (only for sensor 0) +// -1 is thermocouple with AD595 +// 0 is not used +// 1 is 100k thermistor +// 2 is 200k thermistor +// 3 is mendel-parts thermistor +// 4 is 10k thermistor !! do not use it for a hotend. It gives bad resolution at high temp. !! +// 5 is ParCan supplied 104GT-2 100K +// 6 is EPCOS 100k +// 7 is 100k Honeywell thermistor 135-104LAG-J01 + +#define TEMP_SENSOR_0 5 +#define TEMP_SENSOR_1 0 +#define TEMP_SENSOR_2 0 +#define TEMP_SENSOR_BED 5 + +// Actual temperature must be close to target for this long before M109 returns success +#define TEMP_RESIDENCY_TIME 10 // (seconds) +#define TEMP_HYSTERESIS 3 // (degC) range of +/- temperatures considered "close" to the target one + +// The minimal temperature defines the temperature below which the heater will not be enabled It is used +// to check that the wiring to the thermistor is not broken. +// Otherwise this would lead to the heater being powered on all the time. +#define HEATER_0_MINTEMP 5 +#define HEATER_1_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 HEATER_2_MAXTEMP 275 +#define BED_MAXTEMP 150 + +#define CONFIG_STEPPERS_TOSHIBA 1 + +// PID settings: +// Comment the following line to disable PID and enable bang-bang. +//#define PIDTEMP +#define PID_MAX 255 // limits current to nozzle; 255=full current +#ifdef PIDTEMP + //#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_INTEGRAL_DRIVE_MAX 255 //limit for the integral term + #define K1 0.95 //smoothing factor withing the PID + #define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the + +// If you are using a preconfigured hotend then you can use one of the value sets by uncommenting it +// Ultimaker + #define DEFAULT_Kp 22.2 + #define DEFAULT_Ki 1.08 + #define DEFAULT_Kd 114 + +// Makergear +// #define DEFAULT_Kp 7.0 +// #define DEFAULT_Ki 0.1 +// #define DEFAULT_Kd 12 + +// Mendel Parts V9 on 12V +// #define DEFAULT_Kp 63.0 +// #define DEFAULT_Ki 2.25 +// #define DEFAULT_Kd 440 +#endif // PIDTEMP + +/* + * Use M303 to find suitable values for your hotend. + * + */ +#define PIDTEMP + #define PID_INTEGRAL_DRIVE_MAX 255 //limit for the integral term + #define K1 0.95 //smoothing factor withing the PID + #define PID_dT ((16.0 * 8.0)/(F_CPU / 64.0 / 256.0)) //sampling period of the + #define DEFAULT_Kp 29.03 + #define DEFAULT_Ki 1.83 + #define DEFAULT_Kd 115.24 + +//this prevents dangerous Extruder moves, i.e. if the temperature is under the limit +//can be software-disabled for whatever purposes by +#define PREVENT_DANGEROUS_EXTRUDE +#define EXTRUDE_MINTEMP 150 +#define EXTRUDE_MAXLENGTH (X_MAX_LENGTH+Y_MAX_LENGTH) //prevent extrusion of very large distances. + +//=========================================================================== +//=============================Mechanical Settings=========================== +//=========================================================================== + +// Endstop Settings +#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 = 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. +#define DISABLE_MAX_ENDSTOPS + +// For Inverting Stepper Enable Pins (Active Low) use 0, Non Inverting (Active High) use 1 +#define X_ENABLE_ON 1 +#define Y_ENABLE_ON 1 +#define Z_ENABLE_ON 1 +#define E_ENABLE_ON 1 // For all extruders + +// Disables axis when it's not being used. +#define DISABLE_X false +#define DISABLE_Y false +#define DISABLE_Z false +#define DISABLE_E false // For all extruders + +#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true +#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false +#define INVERT_Z_DIR false // 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 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: +// Sets direction of endstops when homing; 1=MAX, -1=MIN +#define X_HOME_DIR -1 +#define Y_HOME_DIR -1 +#define Z_HOME_DIR -1 + +#define min_software_endstops true //If true, axis won't move to coordinates less than HOME_POS. +#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 120 + +// The position of the homing switches. Use MAX_LENGTH * -0.5 if the center should be 0, 0, 0 +#define X_HOME_POS 0 +#define Y_HOME_POS 0 +#define Z_HOME_POS 0 + +//// MOVEMENT SETTINGS +#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E +#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min) + +// default settings +//#define //DEFAULT_AXIS_STEPS_PER_UNIT {79.87, 79.87, 2566, 563,78} // Al's TVRR +//#define DEFAULT_AXIS_STEPS_PER_UNIT {81.26, 80.01, 2561, 599.14} // Michel TVRR old +#define DEFAULT_AXIS_STEPS_PER_UNIT {80.00, 79.84, 2560, 599.14} // Michel TVRR + +#ifndef DEFAULT_AXIS_STEPS_PER_UNIT +#define DEFAULT_AXIS_STEPS_PER_UNIT {78.7402,78.7402,200*8/3,760*1.1} // default steps per unit for ultimaker +#endif +#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. + +/* MICHEL: This has an impact on the "ripples" in print walls */ +#define DEFAULT_ACCELERATION 500 // X, Y, Z and E max acceleration in mm/s^2 for printing moves +#define DEFAULT_RETRACT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts + +// +#define DEFAULT_XYJERK 20.0 // (mm/sec) +#define DEFAULT_ZJERK 0.4 // (mm/sec) +#define DEFAULT_EJERK 5.0 // (mm/sec) + +//=========================================================================== +//=============================Additional Features=========================== +//=========================================================================== + +// EEPROM +// the microcontroller can store settings in the EEPROM, e.g. max velocity... +// M500 - stores paramters in EEPROM +// M501 - reads parameters from EEPROM (if you need reset them after you changed them temporarily). +// M502 - reverts to the default "factory settings". You still need to store them in EEPROM afterwards if you want to. +//define this to enable eeprom support +//#define EEPROM_SETTINGS +//to disable EEPROM Serial responses and decrease program space by ~1700 byte: comment this out: +// please keep turned on if you can. +//#define EEPROM_CHITCHAT + +//LCD and SD support +//#define ULTRA_LCD //general lcd support, also 16x2 +//#define SDSUPPORT // Enable SD Card Support in Hardware Console + +//#define ULTIPANEL +#ifdef ULTIPANEL +// #define NEWPANEL //enable this if you have a click-encoder panel + #define SDSUPPORT + #define ULTRA_LCD + #define LCD_WIDTH 20 + #define LCD_HEIGHT 4 + +// Preheat Constants + #define PLA_PREHEAT_HOTEND_TEMP 180 + #define PLA_PREHEAT_HPB_TEMP 70 + #define PLA_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 + + #define ABS_PREHEAT_HOTEND_TEMP 240 + #define ABS_PREHEAT_HPB_TEMP 100 + #define ABS_PREHEAT_FAN_SPEED 255 // Insert Value between 0 and 255 + +#else //no panel but just lcd + #ifdef ULTRA_LCD + #define LCD_WIDTH 16 + #define LCD_HEIGHT 2 + #endif +#endif + +// M240 Triggers a camera by emulating a Canon RC-1 Remote +// Data from: http://www.doc-diy.net/photo/rc-1_hacked/ +// #define PHOTOGRAPH_PIN 23 + +#include "Configuration_adv.h" +#include "thermistortables.h" + +#endif //__CONFIGURATION_H diff --git a/examples/board_reprap/marlin/Configuration_adv.h b/examples/board_reprap/marlin/Configuration_adv.h new file mode 100644 index 0000000..8697194 --- /dev/null +++ b/examples/board_reprap/marlin/Configuration_adv.h @@ -0,0 +1,242 @@ +#ifndef __CONFIGURATION_ADV_H +#define __CONFIGURATION_ADV_H + +//=========================================================================== +//=============================Thermal Settings ============================ +//=========================================================================== + +// Select one of these only to define how the bed temp is read. +// +//#define BED_LIMIT_SWITCHING +#ifdef BED_LIMIT_SWITCHING + #define BED_HYSTERESIS 2 //only disable heating if T>target+BED_HYSTERESIS and enable heating if T>target-BED_HYSTERESIS +#endif +#define BED_CHECK_INTERVAL 5000 //ms + +//// Heating sanity check: +// This waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature +// If the temperature has not increased at the end of that period, the target temperature is set to zero. +// It can be reset with another M104/M109 +//#define WATCHPERIOD 20000 //20 seconds + +// Wait for Cooldown +// This defines if the M109 call should not block if it is cooling down. +// example: From a current temp of 220, you set M109 S200. +// if CooldownNoWait is defined M109 will not wait for the cooldown to finish +#define CooldownNoWait true + +#ifdef PIDTEMP + // this adds an experimental additional term to the heatingpower, proportional to the extrusion speed. + // if Kc is choosen well, the additional required power due to increased melting should be compensated. + #define PID_ADD_EXTRUSION_RATE + #ifdef PID_ADD_EXTRUSION_RATE + #define DEFAULT_Kc (1) //heatingpower=Kc*(e_speed) + #endif +#endif + + +//automatic temperature: The hot end target temperature is calculated by all the buffered lines of gcode. +//The maximum buffered steps/sec of the extruder motor are called "se". +//You enter the autotemp mode by a M109 S T F +// the target temperature is set to mintemp+factor*se[steps/sec] and limited by mintemp and maxtemp +// you exit the value by any M109 without F* +// Also, if the temperature is set to a value 0 + #define THERMISTORHEATER_0 TEMP_SENSOR_0 + #define HEATER_0_USES_THERMISTOR +#endif +#if TEMP_SENSOR_1 > 0 + #define THERMISTORHEATER_1 TEMP_SENSOR_1 + #define HEATER_1_USES_THERMISTOR +#endif +#if TEMP_SENSOR_2 > 0 + #define THERMISTORHEATER_2 TEMP_SENSOR_2 + #define HEATER_2_USES_THERMISTOR +#endif +#if TEMP_SENSOR_BED > 0 + #define THERMISTORBED TEMP_SENSOR_BED + #define BED_USES_THERMISTOR +#endif +#if TEMP_SENSOR_0 == -1 + #define 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of heat and cold to register to the heatpots @@ -114,6 +114,11 @@ ardupin_t arduidiot_644[32] = { [31] = { .ardupin = 31, .port = 'A', .pin = 0, .analog = 1, .adc = 0 }, }; +// gnu hackery to make sure the parameter is expanded +#define _TERMISTOR_TABLE(num) \ + temptable_##num +#define TERMISTOR_TABLE(num) \ + _TERMISTOR_TABLE(num) struct avr_irq_t * get_ardu_irq( @@ -235,7 +240,7 @@ int main(int argc, char *argv[]) avr->frequency = 20000000; avr->aref = avr->avcc = avr->vcc = 5 * 1000; // needed for ADC - if (1) { + if (0) { elf_firmware_t f; const char * fname = "/opt/reprap/tvrrug/Marlin.base/Marlin/applet/Marlin.elf"; elf_read_firmware(fname, &f); @@ -247,7 +252,7 @@ int main(int argc, char *argv[]) uint32_t base, size; // snprintf(path, sizeof(path), "%s/%s", pwd, "ATmegaBOOT_168_atmega328.ihex"); strcpy(path, "marlin/Marlin.hex"); - strcpy(path, "marlin/bootloader-644-20MHz.hex"); +// strcpy(path, "marlin/bootloader-644-20MHz.hex"); uint8_t * boot = read_ihex_file(path, &size, &base); if (!boot) { fprintf(stderr, "%s: Unable to load %s\n", argv[0], path); @@ -278,11 +283,16 @@ int main(int argc, char *argv[]) uart_pty_connect(&uart_pty, '0'); thermistor_init(avr, &therm_hotend, 0, - (short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2, OVERSAMPLENR, 25.0f); + (short*)TERMISTOR_TABLE(TEMP_SENSOR_0), + sizeof(TERMISTOR_TABLE(TEMP_SENSOR_0)) / sizeof(short) / 2, + OVERSAMPLENR, 25.0f); thermistor_init(avr, &therm_hotbed, 2, - (short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2, OVERSAMPLENR, 30.0f); + (short*)TERMISTOR_TABLE(TEMP_SENSOR_BED), + sizeof(TERMISTOR_TABLE(TEMP_SENSOR_BED)) / sizeof(short) / 2, + OVERSAMPLENR, 30.0f); thermistor_init(avr, &therm_spare, 1, - (short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2, OVERSAMPLENR, 10.0f); + (short*)temptable_5, sizeof(temptable_5) / sizeof(short) / 2, + OVERSAMPLENR, 10.0f); heatpot_init(avr, &hotend, "hotend", 28.0f); heatpot_init(avr, &hotbed, "hotbed", 25.0f); @@ -291,13 +301,14 @@ int main(int argc, char *argv[]) avr_connect_irq(hotend.irq + IRQ_HEATPOT_TEMP_OUT, therm_hotend.irq + IRQ_TERM_TEMP_VALUE_IN); avr_connect_irq(hotbed.irq + IRQ_HEATPOT_TEMP_OUT, therm_hotbed.irq + IRQ_TERM_TEMP_VALUE_IN); + float axis_pp_per_mm[4] = DEFAULT_AXIS_STEPS_PER_UNIT; // from Marlin! { avr_irq_t * e = get_ardu_irq(avr, X_ENABLE_PIN, arduidiot_644); avr_irq_t * s = get_ardu_irq(avr, X_STEP_PIN, arduidiot_644); avr_irq_t * d = get_ardu_irq(avr, X_DIR_PIN, arduidiot_644); avr_irq_t * m = get_ardu_irq(avr, X_MIN_PIN, arduidiot_644); - stepper_init(avr, &step_x, "X", 80.80, 100, 220, 0); + stepper_init(avr, &step_x, "X", axis_pp_per_mm[0], 100, 220, 0); stepper_connect(&step_x, s, d, e, m, stepper_endstop_inverted); } { @@ -306,7 +317,7 @@ int main(int argc, char *argv[]) avr_irq_t * d = get_ardu_irq(avr, Y_DIR_PIN, arduidiot_644); avr_irq_t * m = get_ardu_irq(avr, Y_MIN_PIN, arduidiot_644); - stepper_init(avr, &step_y, "Y", 79.79, 100, 220, 0); + stepper_init(avr, &step_y, "Y", axis_pp_per_mm[1], 100, 220, 0); stepper_connect(&step_y, s, d, e, m, stepper_endstop_inverted); } { @@ -315,7 +326,7 @@ int main(int argc, char *argv[]) avr_irq_t * d = get_ardu_irq(avr, Z_DIR_PIN, arduidiot_644); avr_irq_t * m = get_ardu_irq(avr, Z_MIN_PIN, arduidiot_644); - stepper_init(avr, &step_z, "Z", 2560, 20, 110, 0); + stepper_init(avr, &step_z, "Z", axis_pp_per_mm[2], 20, 110, 0); stepper_connect(&step_z, s, d, e, m, stepper_endstop_inverted); } { @@ -323,7 +334,7 @@ int main(int argc, char *argv[]) avr_irq_t * s = get_ardu_irq(avr, E0_STEP_PIN, arduidiot_644); avr_irq_t * d = get_ardu_irq(avr, E0_DIR_PIN, arduidiot_644); - stepper_init(avr, &step_e, "E", 599.14, 0, 0, 0); + stepper_init(avr, &step_e, "E", axis_pp_per_mm[3], 0, 0, 0); stepper_connect(&step_e, s, d, e, NULL, 0); } diff --git a/examples/board_reprap/src/stepper.c b/examples/board_reprap/src/stepper.c index 832b1f2..d047288 100644 --- a/examples/board_reprap/src/stepper.c +++ b/examples/board_reprap/src/stepper.c @@ -38,7 +38,7 @@ stepper_update_timer( float f; uint32_t i; } m = { .f = p->position / p->steps_per_mm }; - printf("%s (%s) %3.4f\n", __func__, p->name, m.f); +// printf("%s (%s) %3.4f\n", __func__, p->name, m.f); avr_raise_irq(p->irq + IRQ_STEPPER_POSITION_OUT, m.i); avr_raise_irq(p->irq + IRQ_STEPPER_ENDSTOP_OUT, p->position == p->endstop); return when + p->timer_period; -- 2.39.5