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Major overhaul of machine.h. All those calculations were confusing 

complex and made for one type of machine, only.
This commit is contained in:
Markus Hitter 2010-07-04 17:48:48 +02:00
parent 884fdf5c25
commit e79c7c4759
3 changed files with 65 additions and 87 deletions
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32
mendel/gcode.c
View File

@ -391,7 +391,7 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
// G0 - rapid, unsynchronised motion
// since it would be a major hassle to force the dda to not synchronise, just provide a fast feedrate and hope it's close enough to what host expects
case 0:
gcmd->target.F = FEEDRATE_FAST_XY;
gcmd->target.F = MAXIMUM_FEEDRATE_X;
enqueue(&gcmd->target);
break;
@ -442,15 +442,15 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
Home XY first
*/
// hit endstops, no acceleration- we don't care about skipped steps
startpoint.F = FEEDRATE_FAST_XY;
SpecialMoveXY(-250L * STEPS_PER_MM_X, -250L * STEPS_PER_MM_Y, FEEDRATE_FAST_XY);
startpoint.F = MAXIMUM_FEEDRATE_X;
SpecialMoveXY(-250L * STEPS_PER_MM_X, -250L * STEPS_PER_MM_Y, MAXIMUM_FEEDRATE_X);
startpoint.X = startpoint.Y = 0;
// move forward a bit
SpecialMoveXY(5 * STEPS_PER_MM_X, 5 * STEPS_PER_MM_Y, FEEDRATE_SLOW_XY);
SpecialMoveXY(5 * STEPS_PER_MM_X, 5 * STEPS_PER_MM_Y, SEARCH_FEEDRATE_X);
// move back in to endstops slowly
SpecialMoveXY(-20 * STEPS_PER_MM_X, -20 * STEPS_PER_MM_Y, FEEDRATE_SLOW_XY);
SpecialMoveXY(-20 * STEPS_PER_MM_X, -20 * STEPS_PER_MM_Y, SEARCH_FEEDRATE_X);
// wait for queue to complete
for (;!queue_empty(););
@ -462,15 +462,15 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
Home Z
*/
// hit endstop, no acceleration- we don't care about skipped steps
startpoint.F = FEEDRATE_FAST_Z;
SpecialMoveZ(-250L * STEPS_PER_MM_Z, FEEDRATE_FAST_Z);
startpoint.F = MAXIMUM_FEEDRATE_Z;
SpecialMoveZ(-250L * STEPS_PER_MM_Z, MAXIMUM_FEEDRATE_Z);
startpoint.Z = 0;
// move forward a bit
SpecialMoveZ(5 * STEPS_PER_MM_Z, FEEDRATE_SLOW_Z);
SpecialMoveZ(5 * STEPS_PER_MM_Z, SEARCH_FEEDRATE_Z);
// move back into endstop slowly
SpecialMoveZ(-20L * STEPS_PER_MM_Z, FEEDRATE_SLOW_Z);
SpecialMoveZ(-20L * STEPS_PER_MM_Z, SEARCH_FEEDRATE_Z);
// wait for queue to complete
for (;queue_empty(););
@ -488,9 +488,9 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
Home F
*/
// F has been left at FEEDRATE_SLOW_Z by the last move, this is a usable "home"
// F has been left at SEARCH_FEEDRATE_Z by the last move, this is a usable "home"
// uncomment the following or substitute if you prefer a different default feedrate
// startpoint.F = FEEDRATE_SLOW_XY
// startpoint.F = SEARCH_FEEDRATE_Z
break;
@ -509,7 +509,7 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
startpoint.X = startpoint.Y = startpoint.Z = startpoint.E =
current_position.X = current_position.Y = current_position.Z = current_position.E = 0;
startpoint.F =
current_position.F = FEEDRATE_SLOW_Z;
current_position.F = SEARCH_FEEDRATE_Z;
break;
// unknown gcode: spit an error
@ -538,8 +538,8 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
do {
// backup feedrate, move E very quickly then restore feedrate
uint32_t f = startpoint.F;
startpoint.F = FEEDRATE_FAST_E;
SpecialMoveE(E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
startpoint.F = MAXIMUM_FEEDRATE_E;
SpecialMoveE(E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E);
startpoint.F = f;
} while (0);
break;
@ -551,8 +551,8 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
do {
// backup feedrate, move E very quickly then restore feedrate
uint32_t f = startpoint.F;
startpoint.F = FEEDRATE_FAST_E;
SpecialMoveE(-E_STARTSTOP_STEPS, FEEDRATE_FAST_E);
startpoint.F = MAXIMUM_FEEDRATE_E;
SpecialMoveE(-E_STARTSTOP_STEPS, MAXIMUM_FEEDRATE_E);
startpoint.F = f;
} while (0);
break;

118
mendel/machine.h
View File

@ -1,85 +1,56 @@
#ifndef _MACHINE_H
#define _MACHINE_H
/*
move buffer size, in number of moves
note that each move takes a fair chunk of ram (69 bytes as of this writing) so don't make the buffer too big - a bigger serial readbuffer may help more than increasing this unless your gcodes are more than 70 characters long on average.
however, a larger movebuffer will probably help with lots of short consecutive moves, as each move takes a bunch of math (hence time) to set up
*/
#define MOVEBUFFER_SIZE 8
// --------------------------------------------------------------------------
// values reflecting the gearing of your machine
// all numbers are integers, so no decimals, please :-)
/*
axis calculations, adjust as necessary
*/
// XY can have lots of precision and still move speedily, so microstepping is helpful
#define X_STEPS_PER_REV 3200.0
#define Y_STEPS_PER_REV X_STEPS_PER_REV
// we need far more speed than precision on Z due to the threaded rod drive, maybe just half stepping
#define Z_STEPS_PER_REV 400.0
#define X_COG_CIRCUMFERENCE (4.77 * 16.0)
#define Y_COG_CIRCUMFERENCE X_COG_CIRCUMFERENCE
// also try:
// #define XY_COG_RADIUS 9.5
// #define XY_COG_CIRCUMFERENCE (XY_COG_RADIUS * PI * 2)
// this is the ratio between number of teeth on the Z motor gear, and teeth on the Z leadscrew base gear.
#define Z_GEAR_RATIO 1.0
// we need more torque and smoothness at very low speeds on E, maximum microstepping
#define E_STEPS_PER_REV 3200.0
#define EXTRUDER_SHAFT_RADIUS 5.0
#define EXTRUDER_INLET_DIAMETER 3.0
#define EXTRUDER_NOZZLE_DIAMETER 0.8
// these feedrates are used during homing and G0 rapid moves
#define FEEDRATE_FAST_XY 6000
#define FEEDRATE_SLOW_XY 300
#define FEEDRATE_FAST_Z 6000
#define FEEDRATE_SLOW_Z 300
#define FEEDRATE_FAST_E 1200
// this is how many steps to suck back the filament by when we stop
#define E_STARTSTOP_STEPS 20
// extruder settings
#define TEMP_HYSTERESIS 20
#define TEMP_RESIDENCY_TIME 60
/*
calculated values - you shouldn't need to touch these
however feel free to put in your own values if they can be more precise than the calculated approximations, remembering that they must end up being integers- floating point by preprocessor only thanks!
*/
#define STEPS_PER_MM_X ((uint32_t) ((X_STEPS_PER_REV / X_COG_CIRCUMFERENCE) + 0.5))
#define STEPS_PER_MM_Y ((uint32_t) ((Y_STEPS_PER_REV / Y_COG_CIRCUMFERENCE) + 0.5))
#define STEPS_PER_MM_Z ((uint32_t) ((Z_STEPS_PER_REV * Z_GEAR_RATIO) + 0.5))
// calculate these values appropriate for your machine
#define STEPS_PER_MM_X 320
#define STEPS_PER_MM_Y 320
#define STEPS_PER_MM_Z 320
// http://blog.arcol.hu/?p=157 may help with this next one
// I haven't tuned this at all- it's just a placeholder until I read the above carefully enough
// does this refer to filament or extrudate? extrudate depends on XY distance vs E distance.. hm lets go with filament
// #define STEPS_PER_MM_E ((uint32_t) ((E_STEPS_PER_REV / (EXTRUDER_SHAFT_RADIUS * PI * EXTRUDER_INLET_DIAMETER / EXTRUDER_NOZZLE_DIAMETER)) + 0.5))
#define STEPS_PER_MM_E 320
#define STEPS_PER_MM_E ((uint32_t) ((E_STEPS_PER_REV * EXTRUDER_NOZZLE_DIAMETER / EXTRUDER_SHAFT_RADIUS / PI / EXTRUDER_INLET_DIAMETER) + 0.5))
// this is how many steps to suck back the filament by when we stop
#define E_STARTSTOP_STEPS 20
// --------------------------------------------------------------------------
// values depending on the capabilities of your stepper motors and other mechanics
// again, all numbers are integers
// used for G0 rapid moves and as a cap for all other feedrates
#define MAXIMUM_FEEDRATE_X 200
#define MAXIMUM_FEEDRATE_Y 200
#define MAXIMUM_FEEDRATE_Z 200
#define MAXIMUM_FEEDRATE_E 200
// used when searching endstops and similar
#define SEARCH_FEEDRATE_X 50
#define SEARCH_FEEDRATE_Y 50
#define SEARCH_FEEDRATE_Z 50
#define SEARCH_FEEDRATE_E 50
// extruder settings
#define TEMP_HYSTERESIS 20
#define TEMP_RESIDENCY_TIME 60
// --------------------------------------------------------------------------
// you shouldn't need to edit something below this line
// same as above with 25.4 scale factor
#define STEPS_PER_IN_X ((uint32_t) ((25.4 * X_STEPS_PER_REV / X_COG_CIRCUMFERENCE) + 0.5))
#define STEPS_PER_IN_Y ((uint32_t) ((25.4 * Y_STEPS_PER_REV / Y_COG_CIRCUMFERENCE) + 0.5))
#define STEPS_PER_IN_Z ((uint32_t) ((25.4 * Z_STEPS_PER_REV * Z_GEAR_RATIO) + 0.5))
#define STEPS_PER_IN_E ((uint32_t) ((25.4 * E_STEPS_PER_REV * EXTRUDER_NOZZLE_DIAMETER / (EXTRUDER_SHAFT_RADIUS * PI * EXTRUDER_INLET_DIAMETER)) + 0.5))
#define STEPS_PER_IN_X ((uint32_t) ((25.4 * STEPS_PER_MM_X) + 0.5))
#define STEPS_PER_IN_Y ((uint32_t) ((25.4 * STEPS_PER_MM_Y) + 0.5))
#define STEPS_PER_IN_Z ((uint32_t) ((25.4 * STEPS_PER_MM_Z) + 0.5))
#define STEPS_PER_IN_E ((uint32_t) ((25.4 * STEPS_PER_MM_E) + 0.5))
// inverse, used in distance calculation during DDA setup
#define UM_PER_STEP_X ((uint32_t) ((1000.0 / STEPS_PER_MM_X) + 0.5))
#define UM_PER_STEP_Y ((uint32_t) ((1000.0 / STEPS_PER_MM_Y) + 0.5))
#define UM_PER_STEP_Z ((uint32_t) ((1000.0 / STEPS_PER_MM_Z) + 0.5))
#define UM_PER_STEP_E ((uint32_t) ((1000.0 / STEPS_PER_MM_E) + 0.5))
#define UM_PER_STEP_X ((uint32_t) ((1000.0 / STEPS_PER_MM_X) + 0.5))
#define UM_PER_STEP_Y ((uint32_t) ((1000.0 / STEPS_PER_MM_Y) + 0.5))
#define UM_PER_STEP_Z ((uint32_t) ((1000.0 / STEPS_PER_MM_Z) + 0.5))
#define UM_PER_STEP_E ((uint32_t) ((1000.0 / STEPS_PER_MM_E) + 0.5))
// should be the same for all machines! ;)
#define PI 3.1415926535
/*
firmware build options
@ -92,4 +63,11 @@
// Xon/Xoff flow control. Should be redundant
// #define XONXOFF
/*
move buffer size, in number of moves
note that each move takes a fair chunk of ram (69 bytes as of this writing) so don't make the buffer too big - a bigger serial readbuffer may help more than increasing this unless your gcodes are more than 70 characters long on average.
however, a larger movebuffer will probably help with lots of short consecutive moves, as each move takes a bunch of math (hence time) to set up
*/
#define MOVEBUFFER_SIZE 8
#endif /* _MACHINE_H */

2
mendel/mendel.c
View File

@ -95,7 +95,7 @@ void init(void) {
temp_init();
// set up default feedrate
current_position.F = startpoint.F = next_target.target.F = FEEDRATE_SLOW_Z;
current_position.F = startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z;
// enable interrupts
sei();