A number of teensy-related fine-adjustments. Mostly comments.
This commit is contained in:
Markus Hitter
parent
8e8a3da7fb
commit
4510a02d7e
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@ -125,6 +125,7 @@ pins
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#define DIO10_PIN PINC7
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#define DIO10_PIN PINC7
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#define DIO10_RPORT PINC
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#define DIO10_RPORT PINC
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#define DIO10_WPORT PORTC
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#define DIO10_WPORT PORTC
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// pin 10/c7 is on a 8/10 bit timer 4 and share the register with inverses
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#define DIO10_PWM &OCR4A
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#define DIO10_PWM &OCR4A
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#define DIO10_DDR DDRC
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#define DIO10_DDR DDRC
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130
config.teensy.h
130
config.teensy.h
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@ -2,7 +2,7 @@
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/* attempt by drf@vims.edu 2012-01-09 to fit TeaCup into a $16 teensy from htpp://www.pjrc.com/teensy/ */
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/* attempt by drf@vims.edu 2012-01-09 to fit TeaCup into a $16 teensy from htpp://www.pjrc.com/teensy/ */
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/** \file
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/** \file
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\brief Teensy configuration.
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\brief Teensy 2.0 configuration.
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*/
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*/
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/*
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/*
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@ -73,43 +73,16 @@ MXL 2.032 mm/tooth, 29
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Z 200*2 / 1 / 1 * 1000 = 400000 # half-step for noise
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Z 200*2 / 1 / 1 * 1000 = 400000 # half-step for noise
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Extrude through a Wades' 10:43 with a M8 hobbed bolt:
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Extrude through a Wades' 10:43 with a M8 hobbed bolt:
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steps/revM * revM/revO / (dia * circ/rev) * mm/m
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steps/revM * revM/revO / (dia * circ/rev) * mm/m
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E 200*1*16 *43/10 / (8 * 3.14159) * 1000 = 547493.5
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E 200*1*4 * 43/10 / (8 * 3.14159) * 1000 = 136873.4
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mm/m / (mm/rev ext) (rev mot/rev ext) step/revmot
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mm/m / (mm/rev ext) (rev mot/rev ext) step/revmot
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E 1000 / (8 * 3.14159) * 43/10 * 200 * 16 = 547494
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E 1000 / (8 * 3.14159) * 43/10 * 200 * 4 = 136873.4
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w/o microstepping
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X,Y: 3393
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Z: 200000
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E: 34218
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Steps/sec at max feeds:
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c(9900,9900,1400,1900)/60*c(13576,13576,400000,547494)/1000 == 2240.040 2240.040 9333.333 17337.310
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Resolution in mm per step:
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1/c(13576,13576,400000,547494)*1000 == 0.073659399 0.073659399 0.002500000 0.001826504
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*/
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*/
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#define MICROSTEPPING 1
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#ifdef MICROSTEPPING
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#define STEPS_PER_M_X 13576
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#define STEPS_PER_M_X 13576
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#define STEPS_PER_M_Y 13576
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#define STEPS_PER_M_Y 13576
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#define STEPS_PER_M_Z 400000
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#define STEPS_PER_M_Z 400000
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/// http://blog.arcol.hu/?p=157 may help with this one
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/// http://blog.arcol.hu/?p=157 may help with this one
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#define STEPS_PER_M_E 547494
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#define STEPS_PER_M_E 160423
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#else
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#define STEPS_PER_M_X 3393
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#define STEPS_PER_M_Y 3393
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#define STEPS_PER_M_Z 200000
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/// http://blog.arcol.hu/?p=157 may help with this one
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#define STEPS_PER_M_E 34218
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#endif
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/*
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/*
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Values depending on the capabilities of your stepper motors and other mechanics.
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Values depending on the capabilities of your stepper motors and other mechanics.
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@ -118,23 +91,11 @@ Resolution in mm per step:
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Units are mm/min
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Units are mm/min
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*/
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*/
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/* R code for calculating mac feed rates:
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stepsPerSec <- 16e6 / 1028 /2
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distsPerM <- c(13576,13576,400000,547494)
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maxFeedPerMin <- stepsPerSec / distsPerM * 1000 *60
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*/
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// 16MHz / 1028 cyc/step = 15570 step/sec
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// 1666 / 547.494 step/mmE *60 = 182 mm/min E
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// 1666 /c(13576,13576,400000,547494)*1000*60
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// my build at 4x X,Y, 2xZ 16xE 2012-02-26
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/// used for G0 rapid moves and as a cap for all other feedrates
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/// used for G0 rapid moves and as a cap for all other feedrates
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#define MAXIMUM_FEEDRATE_X 6881
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#define MAXIMUM_FEEDRATE_X 6881
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#define MAXIMUM_FEEDRATE_Y 6881
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#define MAXIMUM_FEEDRATE_Y 6881
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#define MAXIMUM_FEEDRATE_Z 233
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#define MAXIMUM_FEEDRATE_Z 233
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#define MAXIMUM_FEEDRATE_E 170
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#define MAXIMUM_FEEDRATE_E 680
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/// used when searching endstops and as default feedrate
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/// used when searching endstops and as default feedrate
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#define SEARCH_FEEDRATE_X 50
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#define SEARCH_FEEDRATE_X 50
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@ -231,28 +192,33 @@ maxFeedPerMin <- stepsPerSec / distsPerM * 1000 *60
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Teensy http://www.pjrc.com/teensy ATMega64U4 carrier:
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Teensy http://www.pjrc.com/teensy ATMega64U4 carrier:
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New plan:
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DaveX plan for Wallace:
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USB
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USB
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GND |-----#####-----| +5V
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GND GND |-----#####-----| +5V ATX +5SB
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X0end 0 |b0 ##### F0| 21 A0 Extruder TC
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ATX PS_ON 0 |b0 ##### F0| 21 A0 Extruder TC
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Y0end 1 |b1 f1| 20 A1 Bed TC
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X_MIN 1 |b1 f1| 20 A1 Bed TC
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Z0end 2 |b2 /=e6 f4| 19 A2 Stepper -ENable
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Y_MIN 2 |b2 /=e6 f4| 19 A2 Stepper -ENABLE (or -SLEEP)
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Z_ENABLE 3 |b3 * * f5| 18 A3 STEP X
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Z_MIN 3 |b3 * * f5| 18 A3 STEP X
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Bed Heat PWM 4 |b7 aref=/ f6| 17 A4 DIR X
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PWM 4 |b7 aref=/ f6| 17 A4 DIR X
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Extruder Heat PWM 5 |d0 f7| 16 A5 STEP Y
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PWM 5 |d0 f7| 16 A5 STEP Y
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6 |d1 b6| 15 A6 PWM DIR Y
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6 |d1 b6| 15 A6 PWM DIR Y
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7 |d2 V G R b5| 14 A7 PWM STEP Z
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7 |d2 V G R b5| 14 A7 STEP Z
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8 |d3 d c n S d b4| 13 A8 DIR Z
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Fan 8 |d3 d c n S d b4| 13 A8 DIR Z
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PWM 9 |d6 5 c d T 4 d7| 12 A9 PWM STEP E
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Bed Heat PWM 9 |d6 5 c d T 4 d7| 12 A9 PWM STEP E
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PWM 10 |d7 * * * * * d6| 11 A10 (led) DIR E
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Extruder Heat PWM 10 |d7 * * * * * d6| 11 A10 (led) DIR E
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--------------------
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--------------------
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23 ^ \ \22 A11
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23 ^ \ \----22 A11
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\- RST
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\------ RST
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Interior E6: 22 A11
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Interior E6: 24, AIN0, INT6
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Interior Aref : Aref
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Interior Aref : Aref
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End d5 : 23
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End d5 : 23
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End d4 : 22
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End d4 : 22, A1
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PWM might be possible on pins PB5/DIO14/AIO7 and PD6/DIO11/AIO10 pins but they
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are complementary to the PWMs on the successive pins, if you reserve
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timer/counter1 for Teacup. Avoid trying to use these two inverse PWMs, and try
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to use the other 6 PWMs instead.
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*/
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*/
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#include "arduino.h"
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#include "arduino.h"
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@ -276,11 +242,11 @@ New plan:
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//#define PS_ON_PIN DIO0
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//#define PS_ON_PIN DIO0
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#define STEPPER_ENABLE_PIN DIO19
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#define STEPPER_ENABLE_PIN DIO19
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//#define STEPPER_INVERT_ENABLE
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#define STEPPER_INVERT_ENABLE
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#define X_STEP_PIN DIO18
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#define X_STEP_PIN DIO18
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#define X_DIR_PIN DIO17
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#define X_DIR_PIN DIO17
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#define X_MIN_PIN DIO0
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#define X_MIN_PIN DIO1
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//#define X_MAX_PIN xxxx
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//#define X_MAX_PIN xxxx
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//#define X_ENABLE_PIN xxxx
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//#define X_ENABLE_PIN xxxx
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//#define X_INVERT_DIR
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//#define X_INVERT_DIR
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@ -290,7 +256,7 @@ New plan:
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#define Y_STEP_PIN DIO16
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#define Y_STEP_PIN DIO16
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#define Y_DIR_PIN DIO15
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#define Y_DIR_PIN DIO15
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#define Y_MIN_PIN DIO1
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#define Y_MIN_PIN DIO3
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//#define Y_MAX_PIN xxxx
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//#define Y_MAX_PIN xxxx
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//#define Y_ENABLE_PIN xxxx
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//#define Y_ENABLE_PIN xxxx
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//#define Y_INVERT_DIR
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//#define Y_INVERT_DIR
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@ -409,9 +375,6 @@ DEFINE_TEMP_SENSOR(bed, TT_THERMISTOR, AIO1, THERMISTOR_EXTRUDER)
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* *
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* *
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* Define your heaters here. *
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* Define your heaters here. *
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* *
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* *
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* Currently, heaters work on PWM-able pins, only. See the end of this file *
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* for PWM-able pin mappings. *
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* *
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* To attach a heater to a temp sensor above, simply use exactly the same *
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* To attach a heater to a temp sensor above, simply use exactly the same *
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* name - copy+paste is your friend. Some common names are 'extruder', *
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* name - copy+paste is your friend. Some common names are 'extruder', *
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* 'bed', 'fan', 'motor', ... names with special meaning can be found *
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* 'bed', 'fan', 'motor', ... names with special meaning can be found *
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@ -424,16 +387,23 @@ DEFINE_TEMP_SENSOR(bed, TT_THERMISTOR, AIO1, THERMISTOR_EXTRUDER)
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* temperature sensor of TT_NONE, then you can control the spindle's rpm *
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* temperature sensor of TT_NONE, then you can control the spindle's rpm *
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* via temperature commands. M104 S1..255 for spindle on, M104 S0 for off. *
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* via temperature commands. M104 S1..255 for spindle on, M104 S0 for off. *
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* *
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* *
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* Set 'pwm' to ... *
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* 1 for using PWM on a PWM-able pin and on/off on other pins. *
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* 0 for using on/off on a PWM-able pin, too. *
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* Using PWM usually gives smoother temperature control but can conflict *
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* with slow switches, like solid state relays. PWM frequency can be *
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* influenced globally with FAST_PWM, see below. *
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* *
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\***************************************************************************/
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\***************************************************************************/
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#ifndef DEFINE_HEATER
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#ifndef DEFINE_HEATER
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#define DEFINE_HEATER(...)
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#define DEFINE_HEATER(...)
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#endif
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#endif
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// name port
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// name port pwm
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DEFINE_HEATER(extruder, DIO6)
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DEFINE_HEATER(extruder, DIO10, 1)
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DEFINE_HEATER(bed, DIO4)
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DEFINE_HEATER(bed, DIO9, 1)
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// DEFINE_HEATER(fan, PINB4)
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DEFINE_HEATER(fan, DIO8, 0)
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// DEFINE_HEATER(chamber, PIND7)
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// DEFINE_HEATER(chamber, PIND7)
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// DEFINE_HEATER(motor, PIND6)
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// DEFINE_HEATER(motor, PIND6)
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@ -445,7 +415,7 @@ DEFINE_HEATER(bed, DIO4)
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#define HEATER_EXTRUDER HEATER_extruder
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#define HEATER_EXTRUDER HEATER_extruder
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#define HEATER_BED HEATER_bed
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#define HEATER_BED HEATER_bed
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// #define HEATER_FAN HEATER_fan
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#define HEATER_FAN HEATER_fan
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// #define HEATER_CHAMBER HEATER_chamber
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// #define HEATER_CHAMBER HEATER_chamber
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// #define HEATER_MOTOR HEATER_motor
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// #define HEATER_MOTOR HEATER_motor
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@ -501,17 +471,17 @@ BANG_BANG
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drops PID loop from heater control, reduces code size significantly (1300 bytes!)
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drops PID loop from heater control, reduces code size significantly (1300 bytes!)
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may allow DEBUG on '168
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may allow DEBUG on '168
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*/
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*/
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// #define BANG_BANG
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#define BANG_BANG
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/** \def BANG_BANG_ON
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/** \def BANG_BANG_ON
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BANG_BANG_ON
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BANG_BANG_ON
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PWM value for 'on'
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PWM value for 'on'
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*/
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*/
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// #define BANG_BANG_ON 200
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#define BANG_BANG_ON 200
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/** \def BANG_BANG_OFF
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/** \def BANG_BANG_OFF
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BANG_BANG_OFF
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BANG_BANG_OFF
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PWM value for 'off'
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PWM value for 'off'
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*/
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*/
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// #define BANG_BANG_OFF 45
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#define BANG_BANG_OFF 45
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/**
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/**
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move buffer size, in number of moves
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move buffer size, in number of moves
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@ -614,13 +584,15 @@ PWM value for 'off'
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* OCR5BL - PL4 - DIO45 *
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* OCR5BL - PL4 - DIO45 *
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* OCR5CL - PL5 - DIO44 *
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* OCR5CL - PL5 - DIO44 *
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* *
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* *
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* For the Teensy atmega32U, timer pin/mappings are as follows *
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* For the atmega32U, timer pin/mappings are as follows *
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* *
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* *
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* Timer 1 is used for stepping, so OC1A and OC1B aren't good PWMs *
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* OCR0A - PB7 - DIO4 *
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* OCR0A - PB7 - DIO4 *
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* OCR0B - PD0 - DIO5 *
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* OCR0B - PD0 - DIO5 *
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* OCR3A - PC6 - DIO9 *
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* OCR3A - PC6 - DIO9 *
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* OCR4A - PC7 - DIO10 *
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* OCR4A - PC7 - DIO10 *
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*~OCRAD - PD6 - DIO11 - AIO10 *** inverse of OCR4D (avoid it) *** *
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* OCR4D - PD7 - DIO12 - AIO9 *
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* OCR4D - PD7 - DIO12 - AIO9 *
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*~OCRAB - PB5 - DIO14 - AIO7 *** inverse of OCR4B (avoid it) *** *
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* OCR4B - PB6 - DIO15 - AIO6 *
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* *
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* *
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\***************************************************************************/
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\***************************************************************************/
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4
heater.c
4
heater.c
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@ -134,7 +134,7 @@ void heater_init() {
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#ifdef TCCR4A
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#ifdef TCCR4A
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#ifdef TIMER4_IS_10_BIT
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#ifdef TIMER4_IS_10_BIT
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// ATmega16/32U4 fourth timer is a 10 special bit timer
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// ATmega16/32U4 fourth timer is a special 10 bit timer
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TCCR4A = MASK(PWM4A) | MASK(PWM4B) ; // enable A and B
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TCCR4A = MASK(PWM4A) | MASK(PWM4B) ; // enable A and B
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TCCR4C = MASK(PWM4D); // and D
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TCCR4C = MASK(PWM4D); // and D
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TCCR4D = MASK(WGM40); // Phase correct
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TCCR4D = MASK(WGM40); // Phase correct
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@ -352,7 +352,7 @@ void heater_tick(heater_t h, temp_type_t type, uint16_t current_temp, uint16_t t
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#else
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#else
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if (current_temp >= target_temp)
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if (current_temp >= target_temp)
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pid_output = BANG_BANG_OFF;
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pid_output = BANG_BANG_OFF;
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else
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else //BANG_BANG
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pid_output = BANG_BANG_ON;
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pid_output = BANG_BANG_ON;
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#endif
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#endif
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