code stringlengths 1 1.05M | repo_name stringlengths 6 83 | path stringlengths 3 242 | language stringclasses 222
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|---|---|---|---|---|---|
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(USE_CONTROLLER_FAN)
#include "controllerfan.h"
#include "../module/stepper.h"
#include "../module/temperature.h"
ControllerFan controllerFan;
uint8_t ControllerFan::speed;
#if ENABLED(CONTROLLER_FAN_EDITABLE)
controllerFan_settings_t ControllerFan::settings; // {0}
#else
const controllerFan_settings_t &ControllerFan::settings = controllerFan_defaults;
#endif
#if ENABLED(FAN_SOFT_PWM)
uint8_t ControllerFan::soft_pwm_speed;
#endif
void ControllerFan::setup() {
SET_OUTPUT(CONTROLLER_FAN_PIN);
#ifdef CONTROLLER_FAN2_PIN
SET_OUTPUT(CONTROLLER_FAN2_PIN);
#endif
init();
}
void ControllerFan::set_fan_speed(const uint8_t s) {
speed = s < (CONTROLLERFAN_SPEED_MIN) ? 0 : s; // Fan OFF below minimum
}
void ControllerFan::update() {
static millis_t lastComponentOn = 0, // Last time a stepper, heater, etc. was turned on
nextFanCheck = 0; // Last time the state was checked
const millis_t ms = millis();
if (ELAPSED(ms, nextFanCheck)) {
nextFanCheck = ms + 2500UL; // Not a time critical function, so only check every 2.5s
/**
* If any triggers for the controller fan are true...
* - At least one stepper driver is enabled
* - The heated bed (MOSFET) is enabled
* - TEMP_SENSOR_BOARD is reporting >= CONTROLLER_FAN_MIN_BOARD_TEMP
* - TEMP_SENSOR_SOC is reporting >= CONTROLLER_FAN_MIN_SOC_TEMP
*/
const ena_mask_t axis_mask = TERN(CONTROLLER_FAN_USE_Z_ONLY, _BV(Z_AXIS), (ena_mask_t)~TERN0(CONTROLLER_FAN_IGNORE_Z, _BV(Z_AXIS)));
if ( (stepper.axis_enabled.bits & axis_mask)
|| TERN0(HAS_HEATED_BED, thermalManager.temp_bed.soft_pwm_amount > 0)
#ifdef CONTROLLER_FAN_MIN_BOARD_TEMP
|| thermalManager.wholeDegBoard() >= CONTROLLER_FAN_MIN_BOARD_TEMP
#endif
#ifdef CONTROLLER_FAN_MIN_SOC_TEMP
|| thermalManager.wholeDegSoc() >= CONTROLLER_FAN_MIN_SOC_TEMP
#endif
) lastComponentOn = ms; //... set time to NOW so the fan will turn on
/**
* Fan Settings. Set fan > 0:
* - If AutoMode is on and hot components have been powered for CONTROLLERFAN_IDLE_TIME seconds.
* - If System is on idle and idle fan speed settings is activated.
*/
set_fan_speed(
settings.auto_mode && lastComponentOn && PENDING(ms, lastComponentOn + SEC_TO_MS(settings.duration))
? settings.active_speed : settings.idle_speed
);
speed = CALC_FAN_SPEED(speed);
#if FAN_KICKSTART_TIME
static millis_t fan_kick_end = 0;
if (speed > FAN_OFF_PWM) {
if (!fan_kick_end) {
fan_kick_end = ms + FAN_KICKSTART_TIME; // May be longer based on slow update interval for controller fn check. Sets minimum
speed = FAN_KICKSTART_POWER;
}
else if (PENDING(ms, fan_kick_end))
speed = FAN_KICKSTART_POWER;
}
else
fan_kick_end = 0;
#endif
#if ENABLED(FAN_SOFT_PWM)
soft_pwm_speed = speed;
#else
if (PWM_PIN(CONTROLLER_FAN_PIN))
hal.set_pwm_duty(pin_t(CONTROLLER_FAN_PIN), speed);
else
WRITE(CONTROLLER_FAN_PIN, speed > 0);
#ifdef CONTROLLER_FAN2_PIN
if (PWM_PIN(CONTROLLER_FAN2_PIN))
hal.set_pwm_duty(pin_t(CONTROLLER_FAN2_PIN), speed);
else
WRITE(CONTROLLER_FAN2_PIN, speed > 0);
#endif
#endif
}
}
#endif // USE_CONTROLLER_FAN
| 2301_81045437/Marlin | Marlin/src/feature/controllerfan.cpp | C++ | agpl-3.0 | 4,289 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfigPre.h"
typedef struct {
uint8_t active_speed, // 0-255 (fullspeed); Speed with enabled stepper motors
idle_speed; // 0-255 (fullspeed); Speed after idle period with all motors are disabled
uint16_t duration; // Duration in seconds for the fan to run after all motors are disabled
bool auto_mode; // Default true
} controllerFan_settings_t;
#ifndef CONTROLLERFAN_SPEED_ACTIVE
#define CONTROLLERFAN_SPEED_ACTIVE 255
#endif
#ifndef CONTROLLERFAN_SPEED_IDLE
#define CONTROLLERFAN_SPEED_IDLE 0
#endif
#ifndef CONTROLLERFAN_IDLE_TIME
#define CONTROLLERFAN_IDLE_TIME 60
#endif
static constexpr controllerFan_settings_t controllerFan_defaults = {
CONTROLLERFAN_SPEED_ACTIVE,
CONTROLLERFAN_SPEED_IDLE,
CONTROLLERFAN_IDLE_TIME,
true
};
#if ENABLED(USE_CONTROLLER_FAN)
class ControllerFan {
private:
static uint8_t speed;
static void set_fan_speed(const uint8_t s);
public:
#if ENABLED(CONTROLLER_FAN_EDITABLE)
static controllerFan_settings_t settings;
#else
static const controllerFan_settings_t &settings;
#endif
#if ENABLED(FAN_SOFT_PWM)
static uint8_t soft_pwm_speed;
#endif
static bool state() { return speed > 0; }
static void init() { reset(); }
static void reset() { TERN_(CONTROLLER_FAN_EDITABLE, settings = controllerFan_defaults); }
static void setup();
static void update();
};
extern ControllerFan controllerFan;
#endif
| 2301_81045437/Marlin | Marlin/src/feature/controllerfan.h | C++ | agpl-3.0 | 2,374 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ANY(HAS_COOLER, LASER_COOLANT_FLOW_METER)
#include "cooler.h"
Cooler cooler;
#if HAS_COOLER
uint8_t Cooler::mode = 0;
uint16_t Cooler::capacity;
uint16_t Cooler::load;
bool Cooler::enabled = false;
#endif
#if ENABLED(LASER_COOLANT_FLOW_METER)
bool Cooler::flowmeter = false;
millis_t Cooler::flowmeter_next_ms; // = 0
volatile uint16_t Cooler::flowpulses;
float Cooler::flowrate;
#if ENABLED(FLOWMETER_SAFETY)
bool Cooler::flowsafety_enabled = true;
bool Cooler::flowfault = false;
#endif
#endif
#endif // HAS_COOLER || LASER_COOLANT_FLOW_METER
| 2301_81045437/Marlin | Marlin/src/feature/cooler.cpp | C++ | agpl-3.0 | 1,478 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfigPre.h"
#ifndef FLOWMETER_PPL
#define FLOWMETER_PPL 5880 // Pulses per liter
#endif
#ifndef FLOWMETER_INTERVAL
#define FLOWMETER_INTERVAL 1000 // milliseconds
#endif
// Cooling device
class Cooler {
public:
static uint16_t capacity; // Cooling capacity in watts
static uint16_t load; // Cooling load in watts
static bool enabled;
static void enable() { enabled = true; }
static void disable() { enabled = false; }
static void toggle() { enabled = !enabled; }
static uint8_t mode; // 0 = CO2 Liquid cooling, 1 = Laser Diode TEC Heatsink Cooling
static void set_mode(const uint8_t m) { mode = m; }
#if ENABLED(LASER_COOLANT_FLOW_METER)
static float flowrate; // Flow meter reading in liters-per-minute.
static bool flowmeter; // Flag to monitor the flow
static volatile uint16_t flowpulses; // Flowmeter IRQ pulse count
static millis_t flowmeter_next_ms; // Next time at which to calculate flow
static void set_flowmeter(const bool sflag) {
if (flowmeter != sflag) {
flowmeter = sflag;
if (sflag) {
flowpulses = 0;
flowmeter_next_ms = millis() + FLOWMETER_INTERVAL;
}
}
}
// To calculate flow we only need to count pulses
static void flowmeter_ISR() { flowpulses++; }
// Enable / Disable the flow meter interrupt
static void flowmeter_interrupt_enable() {
attachInterrupt(digitalPinToInterrupt(FLOWMETER_PIN), flowmeter_ISR, RISING);
}
static void flowmeter_interrupt_disable() {
detachInterrupt(digitalPinToInterrupt(FLOWMETER_PIN));
}
// Enable / Disable the flow meter interrupt
static void flowmeter_enable() { set_flowmeter(true); flowpulses = 0; flowmeter_interrupt_enable(); }
static void flowmeter_disable() { set_flowmeter(false); flowmeter_interrupt_disable(); flowpulses = 0; }
// Get the total flow (in liters per minute) since the last reading
static void calc_flowrate() {
// flowrate = (litres) * (seconds) = litres per minute
flowrate = (flowpulses / (float)FLOWMETER_PPL) * ((1000.0f / (float)FLOWMETER_INTERVAL) * 60.0f);
flowpulses = 0;
}
// Userland task to update the flow meter
static void flowmeter_task(const millis_t ms=millis()) {
if (!flowmeter) // !! The flow meter must always be on !!
flowmeter_enable(); // Init and prime
if (ELAPSED(ms, flowmeter_next_ms)) {
calc_flowrate();
flowmeter_next_ms = ms + FLOWMETER_INTERVAL;
}
}
#if ENABLED(FLOWMETER_SAFETY)
static bool flowfault; // Flag that the cooler is in a fault state
static bool flowsafety_enabled; // Flag to disable the cutter if flow rate is too low
static void flowsafety_toggle() { flowsafety_enabled = !flowsafety_enabled; }
static bool check_flow_too_low() {
const bool too_low = flowsafety_enabled && flowrate < (FLOWMETER_MIN_LITERS_PER_MINUTE);
flowfault = too_low;
return too_low;
}
#endif
#endif
};
extern Cooler cooler;
| 2301_81045437/Marlin | Marlin/src/feature/cooler.h | C++ | agpl-3.0 | 4,035 |
/***************************************************************
*
* External DAC for Alligator Board
*
****************************************************************/
#include "../../inc/MarlinConfig.h"
#if MB(ALLIGATOR)
#include "dac_dac084s085.h"
#include "../../MarlinCore.h"
#include "../../HAL/shared/Delay.h"
dac084s085::dac084s085() { }
void dac084s085::begin() {
uint8_t externalDac_buf[] = { 0x20, 0x00 }; // all off
// All SPI chip-select HIGH
SET_OUTPUT(DAC0_SYNC_PIN);
#if HAS_MULTI_EXTRUDER
SET_OUTPUT(DAC1_SYNC_PIN);
#endif
cshigh();
spiBegin();
//init onboard DAC
DELAY_US(2);
WRITE(DAC0_SYNC_PIN, LOW);
DELAY_US(2);
WRITE(DAC0_SYNC_PIN, HIGH);
DELAY_US(2);
WRITE(DAC0_SYNC_PIN, LOW);
spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf));
WRITE(DAC0_SYNC_PIN, HIGH);
#if HAS_MULTI_EXTRUDER
//init Piggy DAC
DELAY_US(2);
WRITE(DAC1_SYNC_PIN, LOW);
DELAY_US(2);
WRITE(DAC1_SYNC_PIN, HIGH);
DELAY_US(2);
WRITE(DAC1_SYNC_PIN, LOW);
spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf));
WRITE(DAC1_SYNC_PIN, HIGH);
#endif
return;
}
void dac084s085::setValue(const uint8_t channel, const uint8_t value) {
if (channel >= 7) return; // max channel (X,Y,Z,E0,E1,E2,E3)
const uint8_t externalDac_buf[] = {
0x10 | ((channel > 3 ? 7 : 3) - channel << 6) | (value >> 4),
0x00 | (value << 4)
};
// All SPI chip-select HIGH
cshigh();
if (channel > 3) { // DAC Piggy E1,E2,E3
WRITE(DAC1_SYNC_PIN, LOW);
DELAY_US(2);
WRITE(DAC1_SYNC_PIN, HIGH);
DELAY_US(2);
WRITE(DAC1_SYNC_PIN, LOW);
}
else { // DAC onboard X,Y,Z,E0
WRITE(DAC0_SYNC_PIN, LOW);
DELAY_US(2);
WRITE(DAC0_SYNC_PIN, HIGH);
DELAY_US(2);
WRITE(DAC0_SYNC_PIN, LOW);
}
DELAY_US(2);
spiSend(SPI_CHAN_DAC, externalDac_buf, COUNT(externalDac_buf));
}
void dac084s085::cshigh() {
WRITE(DAC0_SYNC_PIN, HIGH);
#if HAS_MULTI_EXTRUDER
WRITE(DAC1_SYNC_PIN, HIGH);
#endif
WRITE(SPI_EEPROM1_CS_PIN, HIGH);
WRITE(SPI_EEPROM2_CS_PIN, HIGH);
WRITE(SPI_FLASH_CS_PIN, HIGH);
WRITE(SD_SS_PIN, HIGH);
}
#endif // MB(ALLIGATOR)
| 2301_81045437/Marlin | Marlin/src/feature/dac/dac_dac084s085.cpp | C++ | agpl-3.0 | 2,204 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
class dac084s085 {
public:
dac084s085();
static void begin();
static void setValue(const uint8_t channel, const uint8_t value);
private:
static void cshigh();
};
| 2301_81045437/Marlin | Marlin/src/feature/dac/dac_dac084s085.h | C++ | agpl-3.0 | 1,058 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* mcp4728.cpp - Arduino library for MicroChip MCP4728 I2C D/A converter
*
* For implementation details, please take a look at the datasheet:
* https://ww1.microchip.com/downloads/en/DeviceDoc/22187a.pdf
*
* For discussion and feedback, please go to:
* https://forum.arduino.cc/index.php/topic,51842.0.html
*/
#include "../../inc/MarlinConfig.h"
#if HAS_MOTOR_CURRENT_DAC
#include "dac_mcp4728.h"
MCP4728 mcp4728;
xyze_uint_t dac_values;
/**
* Begin I2C, get current values (input register and eeprom) of mcp4728
*/
void MCP4728::init() {
Wire.begin();
Wire.requestFrom(I2C_ADDRESS(DAC_DEV_ADDRESS), uint8_t(24));
while (Wire.available()) {
char deviceID = Wire.read(),
hiByte = Wire.read(),
loByte = Wire.read();
if (!(deviceID & 0x08))
dac_values[(deviceID & 0x30) >> 4] = word((hiByte & 0x0F), loByte);
}
}
/**
* Write input resister value to specified channel using fastwrite method.
* Channel : 0-3, Values : 0-4095
*/
uint8_t MCP4728::analogWrite(const uint8_t channel, const uint16_t value) {
dac_values[channel] = value;
return fastWrite();
}
/**
* Write all input resistor values to EEPROM using SequentialWrite method.
* This will update both input register and EEPROM value
* This will also write current Vref, PowerDown, Gain settings to EEPROM
*/
uint8_t MCP4728::eepromWrite() {
Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
Wire.write(SEQWRITE);
LOOP_LOGICAL_AXES(i) {
Wire.write(DAC_STEPPER_VREF << 7 | DAC_STEPPER_GAIN << 4 | highByte(dac_values[i]));
Wire.write(lowByte(dac_values[i]));
}
return Wire.endTransmission();
}
/**
* Write Voltage reference setting to all input registers
*/
uint8_t MCP4728::setVref_all(const uint8_t value) {
Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
Wire.write(VREFWRITE | (value ? 0x0F : 0x00));
return Wire.endTransmission();
}
/**
* Write Gain setting to all input registers
*/
uint8_t MCP4728::setGain_all(const uint8_t value) {
Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
Wire.write(GAINWRITE | (value ? 0x0F : 0x00));
return Wire.endTransmission();
}
/**
* Return Input Register value
*/
uint16_t MCP4728::getValue(const uint8_t channel) { return dac_values[channel]; }
#if 0
/**
* Steph: Might be useful in the future
* Return Vout
*/
uint16_t MCP4728::getVout(const uint8_t channel) {
const uint32_t vref = 2048,
vOut = (vref * dac_values[channel] * (_DAC_STEPPER_GAIN + 1)) / 4096;
return _MIN(vOut, defaultVDD);
}
#endif
/**
* Returns DAC values as a 0-100 percentage of drive strength
*/
uint8_t MCP4728::getDrvPct(const uint8_t channel) { return uint8_t(100.0 * dac_values[channel] / (DAC_STEPPER_MAX) + 0.5); }
/**
* Receives all Drive strengths as 0-100 percent values, updates
* DAC Values array and calls fastwrite to update the DAC.
*/
void MCP4728::setDrvPct(xyze_uint_t &pct) {
dac_values = pct * (DAC_STEPPER_MAX) * 0.01f;
fastWrite();
}
/**
* FastWrite input register values - All DAC output update. refer to DATASHEET 5.6.1
* DAC Input and PowerDown bits update.
* No EEPROM update
*/
uint8_t MCP4728::fastWrite() {
Wire.beginTransmission(I2C_ADDRESS(DAC_DEV_ADDRESS));
LOOP_LOGICAL_AXES(i) {
Wire.write(highByte(dac_values[i]));
Wire.write(lowByte(dac_values[i]));
}
return Wire.endTransmission();
}
/**
* Common function for simple general commands
*/
uint8_t MCP4728::simpleCommand(const byte simpleCommand) {
Wire.beginTransmission(I2C_ADDRESS(GENERALCALL));
Wire.write(simpleCommand);
return Wire.endTransmission();
}
#endif // HAS_MOTOR_CURRENT_DAC
| 2301_81045437/Marlin | Marlin/src/feature/dac/dac_mcp4728.cpp | C++ | agpl-3.0 | 4,496 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* Arduino library for MicroChip MCP4728 I2C D/A converter.
*/
#include "../../core/types.h"
#include <Wire.h>
/**
* The following three macros are only used in this piece of code related to mcp4728.
* They are defined in the standard Arduino framework but could be undefined in 32 bits Arduino frameworks.
* (For instance not defined in Arduino lpc176x framework)
* So we have to define them if needed.
*/
#ifndef word
#define word(h, l) ((uint8_t) ((h << 8) | l))
#endif
#ifndef lowByte
#define lowByte(w) ((uint8_t) ((w) & 0xFF))
#endif
#ifndef highByte
#define highByte(w) ((uint8_t) ((w) >> 8))
#endif
#define defaultVDD DAC_STEPPER_MAX //was 5000 but differs with internal Vref
#define BASE_ADDR 0x60
#define RESET 0b00000110
#define WAKE 0b00001001
#define UPDATE 0b00001000
#define MULTIWRITE 0b01000000
#define SINGLEWRITE 0b01011000
#define SEQWRITE 0b01010000
#define VREFWRITE 0b10000000
#define GAINWRITE 0b11000000
#define POWERDOWNWRITE 0b10100000
#define GENERALCALL 0b00000000
#define GAINWRITE 0b11000000
// This is taken from the original lib, makes it easy to edit if needed
// DAC_OR_ADDRESS defined in pins_BOARD.h file
#define DAC_DEV_ADDRESS (BASE_ADDR | DAC_OR_ADDRESS)
class MCP4728 {
public:
static void init();
static uint8_t analogWrite(const uint8_t channel, const uint16_t value);
static uint8_t eepromWrite();
static uint8_t setVref_all(const uint8_t value);
static uint8_t setGain_all(const uint8_t value);
static uint16_t getValue(const uint8_t channel);
static uint8_t fastWrite();
static uint8_t simpleCommand(const byte simpleCommand);
static uint8_t getDrvPct(const uint8_t channel);
static void setDrvPct(xyze_uint_t &pct);
};
extern MCP4728 mcp4728;
| 2301_81045437/Marlin | Marlin/src/feature/dac/dac_mcp4728.h | C++ | agpl-3.0 | 2,696 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* stepper_dac.cpp - To set stepper current via DAC
*/
#include "../../inc/MarlinConfig.h"
#if HAS_MOTOR_CURRENT_DAC
#include "stepper_dac.h"
bool dac_present = false;
constexpr xyze_uint8_t dac_order = DAC_STEPPER_ORDER;
xyze_uint_t dac_channel_pct = DAC_MOTOR_CURRENT_DEFAULT;
StepperDAC stepper_dac;
int StepperDAC::init() {
#if PIN_EXISTS(DAC_DISABLE)
OUT_WRITE(DAC_DISABLE_PIN, LOW); // set pin low to enable DAC
#endif
mcp4728.init();
if (mcp4728.simpleCommand(RESET)) return -1;
dac_present = true;
mcp4728.setVref_all(DAC_STEPPER_VREF);
mcp4728.setGain_all(DAC_STEPPER_GAIN);
if (mcp4728.getDrvPct(0) < 1 || mcp4728.getDrvPct(1) < 1 || mcp4728.getDrvPct(2) < 1 || mcp4728.getDrvPct(3) < 1) {
mcp4728.setDrvPct(dac_channel_pct);
mcp4728.eepromWrite();
}
return 0;
}
void StepperDAC::set_current_value(const uint8_t channel, uint16_t val) {
if (!(dac_present && channel < LOGICAL_AXES)) return;
NOMORE(val, uint16_t(DAC_STEPPER_MAX));
mcp4728.analogWrite(dac_order[channel], val);
mcp4728.simpleCommand(UPDATE);
}
void StepperDAC::set_current_percent(const uint8_t channel, float val) {
set_current_value(channel, _MIN(val, 100.0f) * (DAC_STEPPER_MAX) / 100.0f);
}
static float dac_perc(int8_t n) { return mcp4728.getDrvPct(dac_order[n]); }
static float dac_amps(int8_t n) { return mcp4728.getValue(dac_order[n]) * 0.125 * RECIPROCAL(DAC_STEPPER_SENSE * 1000); }
uint8_t StepperDAC::get_current_percent(const AxisEnum axis) { return mcp4728.getDrvPct(dac_order[axis]); }
void StepperDAC::set_current_percents(xyze_uint8_t &pct) {
LOOP_LOGICAL_AXES(i) dac_channel_pct[i] = pct[dac_order[i]];
mcp4728.setDrvPct(dac_channel_pct);
}
void StepperDAC::print_values() {
if (!dac_present) return;
SERIAL_ECHO_MSG("Stepper current values in % (Amps):");
SERIAL_ECHO_START();
LOOP_LOGICAL_AXES(a) {
SERIAL_CHAR(' ', IAXIS_CHAR(a), ':');
SERIAL_ECHO(dac_perc(a));
SERIAL_ECHOPGM_P(PSTR(" ("), dac_amps(AxisEnum(a)), PSTR(")"));
}
#if HAS_EXTRUDERS
SERIAL_ECHOLNPGM_P(SP_E_LBL, dac_perc(E_AXIS), PSTR(" ("), dac_amps(E_AXIS), PSTR(")"));
#endif
}
void StepperDAC::commit_eeprom() {
if (!dac_present) return;
mcp4728.eepromWrite();
}
#endif // HAS_MOTOR_CURRENT_DAC
| 2301_81045437/Marlin | Marlin/src/feature/dac/stepper_dac.cpp | C++ | agpl-3.0 | 3,129 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* stepper_dac.h - To set stepper current via DAC
*/
#include "dac_mcp4728.h"
class StepperDAC {
public:
static int init();
static void set_current_percent(const uint8_t channel, float val);
static void set_current_value(const uint8_t channel, uint16_t val);
static void print_values();
static void commit_eeprom();
static uint8_t get_current_percent(const AxisEnum axis);
static void set_current_percents(xyze_uint8_t &pct);
};
extern StepperDAC stepper_dac;
| 2301_81045437/Marlin | Marlin/src/feature/dac/stepper_dac.h | C++ | agpl-3.0 | 1,360 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
//
// Header for MCP4018 and MCP4451 current control i2c devices
//
class DigipotI2C {
public:
static void init();
static void set_current(const uint8_t channel, const float current);
};
extern DigipotI2C digipot_i2c;
| 2301_81045437/Marlin | Marlin/src/feature/digipot/digipot.h | C++ | agpl-3.0 | 1,099 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(DIGIPOT_MCP4018)
#include "digipot.h"
#include <Stream.h>
#include <SlowSoftI2CMaster.h> // https://github.com/felias-fogg/SlowSoftI2CMaster
// Settings for the I2C based DIGIPOT (MCP4018) based on WT150
#ifndef DIGIPOT_A4988_Rsx
#define DIGIPOT_A4988_Rsx 0.250
#endif
#ifndef DIGIPOT_A4988_Vrefmax
#define DIGIPOT_A4988_Vrefmax 1.666
#endif
#define DIGIPOT_MCP4018_MAX_VALUE 127
#define DIGIPOT_A4988_Itripmax(Vref) ((Vref) / (8.0 * DIGIPOT_A4988_Rsx))
#define DIGIPOT_A4988_FACTOR ((DIGIPOT_MCP4018_MAX_VALUE) / DIGIPOT_A4988_Itripmax(DIGIPOT_A4988_Vrefmax))
#define DIGIPOT_A4988_MAX_CURRENT 2.0
static byte current_to_wiper(const float current) {
const int16_t value = TERN(DIGIPOT_USE_RAW_VALUES, current, CEIL(current * DIGIPOT_A4988_FACTOR));
return byte(constrain(value, 0, DIGIPOT_MCP4018_MAX_VALUE));
}
static SlowSoftI2CMaster pots[DIGIPOT_I2C_NUM_CHANNELS] = {
SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_X, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS))
#if DIGIPOT_I2C_NUM_CHANNELS > 1
, SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_Y, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS))
#if DIGIPOT_I2C_NUM_CHANNELS > 2
, SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_Z, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS))
#if DIGIPOT_I2C_NUM_CHANNELS > 3
, SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E0, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS))
#if DIGIPOT_I2C_NUM_CHANNELS > 4
, SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E1, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS))
#if DIGIPOT_I2C_NUM_CHANNELS > 5
, SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E2, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS))
#if DIGIPOT_I2C_NUM_CHANNELS > 6
, SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E3, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS))
#if DIGIPOT_I2C_NUM_CHANNELS > 7
, SlowSoftI2CMaster(DIGIPOTS_I2C_SDA_E4, DIGIPOTS_I2C_SCL, ENABLED(DIGIPOT_ENABLE_I2C_PULLUPS))
#endif
#endif
#endif
#endif
#endif
#endif
#endif
};
static void digipot_i2c_send(const uint8_t channel, const byte v) {
if (WITHIN(channel, 0, DIGIPOT_I2C_NUM_CHANNELS - 1)) {
pots[channel].i2c_start(((DIGIPOT_I2C_ADDRESS_A) << 1) | I2C_WRITE);
pots[channel].i2c_write(v);
pots[channel].i2c_stop();
}
}
// This is for the MCP4018 I2C based digipot
void DigipotI2C::set_current(const uint8_t channel, const float current) {
const float ival = _MIN(_MAX(current, 0), float(DIGIPOT_MCP4018_MAX_VALUE));
digipot_i2c_send(channel, current_to_wiper(ival));
}
void DigipotI2C::init() {
for (uint8_t i = 0; i < DIGIPOT_I2C_NUM_CHANNELS; ++i) pots[i].i2c_init();
// Init currents according to Configuration_adv.h
static const float digipot_motor_current[] PROGMEM =
#if ENABLED(DIGIPOT_USE_RAW_VALUES)
DIGIPOT_MOTOR_CURRENT
#else
DIGIPOT_I2C_MOTOR_CURRENTS
#endif
;
for (uint8_t i = 0; i < COUNT(digipot_motor_current); ++i)
set_current(i, pgm_read_float(&digipot_motor_current[i]));
}
DigipotI2C digipot_i2c;
#endif // DIGIPOT_MCP4018
| 2301_81045437/Marlin | Marlin/src/feature/digipot/digipot_mcp4018.cpp | C++ | agpl-3.0 | 4,115 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(DIGIPOT_MCP4451)
#include "digipot.h"
#include <Stream.h>
#include <Wire.h>
#if MB(MKS_SBASE)
#include "digipot_mcp4451_I2C_routines.h"
#endif
// Settings for the I2C based DIGIPOT (MCP4451) on Azteeg X3 Pro
#if MB(5DPRINT)
#define DIGIPOT_I2C_FACTOR 117.96f
#define DIGIPOT_I2C_MAX_CURRENT 1.736f
#elif MB(AZTEEG_X5_MINI, AZTEEG_X5_MINI_WIFI)
#define DIGIPOT_I2C_FACTOR 113.5f
#define DIGIPOT_I2C_MAX_CURRENT 2.0f
#elif MB(AZTEEG_X5_GT)
#define DIGIPOT_I2C_FACTOR 51.0f
#define DIGIPOT_I2C_MAX_CURRENT 3.0f
#else
#define DIGIPOT_I2C_FACTOR 106.7f
#define DIGIPOT_I2C_MAX_CURRENT 2.5f
#endif
static byte current_to_wiper(const float current) {
return byte(TERN(DIGIPOT_USE_RAW_VALUES, current, CEIL(DIGIPOT_I2C_FACTOR * current)));
}
static void digipot_i2c_send(const byte addr, const byte a, const byte b) {
#if MB(MKS_SBASE)
digipot_mcp4451_start(addr);
digipot_mcp4451_send_byte(a);
digipot_mcp4451_send_byte(b);
#else
Wire.beginTransmission(I2C_ADDRESS(addr));
Wire.write(a);
Wire.write(b);
Wire.endTransmission();
#endif
}
// This is for the MCP4451 I2C based digipot
void DigipotI2C::set_current(const uint8_t channel, const float current) {
// These addresses are specific to Azteeg X3 Pro, can be set to others.
// In this case first digipot is at address A0=0, A1=0, second one is at A0=0, A1=1
const byte addr = channel < 4 ? DIGIPOT_I2C_ADDRESS_A : DIGIPOT_I2C_ADDRESS_B; // channel 0-3 vs 4-7
// Initial setup
digipot_i2c_send(addr, 0x40, 0xFF);
digipot_i2c_send(addr, 0xA0, 0xFF);
// Set actual wiper value
byte addresses[4] = { 0x00, 0x10, 0x60, 0x70 };
digipot_i2c_send(addr, addresses[channel & 0x3], current_to_wiper(_MIN(float(_MAX(current, 0)), DIGIPOT_I2C_MAX_CURRENT)));
}
void DigipotI2C::init() {
#if MB(MKS_SBASE)
configure_i2c(16); // Set clock_option to 16 ensure I2C is initialized at 400kHz
#else
Wire.begin();
#endif
// Set up initial currents as defined in Configuration_adv.h
static const float digipot_motor_current[] PROGMEM =
#if ENABLED(DIGIPOT_USE_RAW_VALUES)
DIGIPOT_MOTOR_CURRENT
#else
DIGIPOT_I2C_MOTOR_CURRENTS
#endif
;
for (uint8_t i = 0; i < COUNT(digipot_motor_current); ++i)
set_current(i, pgm_read_float(&digipot_motor_current[i]));
}
DigipotI2C digipot_i2c;
#endif // DIGIPOT_MCP4451
| 2301_81045437/Marlin | Marlin/src/feature/digipot/digipot_mcp4451.cpp | C++ | agpl-3.0 | 3,303 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(DIRECT_STEPPING)
#include "direct_stepping.h"
#include "../MarlinCore.h"
#define CHECK_PAGE(I, R) do{ \
if (I >= sizeof(page_states) / sizeof(page_states[0])) { \
fatal_error = true; \
return R; \
} \
}while(0)
#define CHECK_PAGE_STATE(I, R, S) do { \
CHECK_PAGE(I, R); \
if (page_states[I] != S) { \
fatal_error = true; \
return R; \
} \
}while(0)
namespace DirectStepping {
template<typename Cfg>
State SerialPageManager<Cfg>::state;
template<typename Cfg>
volatile bool SerialPageManager<Cfg>::fatal_error;
template<typename Cfg>
volatile PageState SerialPageManager<Cfg>::page_states[Cfg::PAGE_COUNT];
template<typename Cfg>
volatile bool SerialPageManager<Cfg>::page_states_dirty;
template<typename Cfg>
uint8_t SerialPageManager<Cfg>::pages[Cfg::PAGE_COUNT][Cfg::PAGE_SIZE];
template<typename Cfg>
uint8_t SerialPageManager<Cfg>::checksum;
template<typename Cfg>
typename Cfg::write_byte_idx_t SerialPageManager<Cfg>::write_byte_idx;
template<typename Cfg>
typename Cfg::page_idx_t SerialPageManager<Cfg>::write_page_idx;
template<typename Cfg>
typename Cfg::write_byte_idx_t SerialPageManager<Cfg>::write_page_size;
template <typename Cfg>
void SerialPageManager<Cfg>::init() {
for (int i = 0 ; i < Cfg::PAGE_COUNT ; i++)
page_states[i] = PageState::FREE;
fatal_error = false;
state = State::NEWLINE;
page_states_dirty = false;
SERIAL_ECHOLNPGM("pages_ready");
}
template<typename Cfg>
FORCE_INLINE bool SerialPageManager<Cfg>::maybe_store_rxd_char(uint8_t c) {
switch (state) {
default:
case State::MONITOR:
switch (c) {
case '\n':
case '\r':
state = State::NEWLINE;
default:
return false;
}
case State::NEWLINE:
switch (c) {
case Cfg::CONTROL_CHAR:
state = State::ADDRESS;
return true;
case '\n':
case '\r':
state = State::NEWLINE;
return false;
default:
state = State::MONITOR;
return false;
}
case State::ADDRESS:
//TODO: 16 bit address, State::ADDRESS2
write_page_idx = c;
write_byte_idx = 0;
checksum = 0;
CHECK_PAGE(write_page_idx, true);
if (page_states[write_page_idx] == PageState::FAIL) {
// Special case for fail
state = State::UNFAIL;
return true;
}
set_page_state(write_page_idx, PageState::WRITING);
state = Cfg::DIRECTIONAL ? State::COLLECT : State::SIZE;
return true;
case State::SIZE:
// Zero means full page size
write_page_size = c;
state = State::COLLECT;
return true;
case State::COLLECT:
pages[write_page_idx][write_byte_idx++] = c;
checksum ^= c;
// check if still collecting
if (Cfg::PAGE_SIZE == 256) {
// special case for 8-bit, check if rolled back to 0
if (Cfg::DIRECTIONAL || !write_page_size) { // full 256 bytes
if (write_byte_idx) return true;
}
else if (write_byte_idx < write_page_size)
return true;
}
else if (Cfg::DIRECTIONAL) {
if (write_byte_idx != Cfg::PAGE_SIZE)
return true;
}
else if (write_byte_idx < write_page_size)
return true;
state = State::CHECKSUM;
return true;
case State::CHECKSUM: {
const PageState page_state = (checksum == c) ? PageState::OK : PageState::FAIL;
set_page_state(write_page_idx, page_state);
state = State::MONITOR;
return true;
}
case State::UNFAIL:
if (c == 0)
set_page_state(write_page_idx, PageState::FREE);
else
fatal_error = true;
state = State::MONITOR;
return true;
}
}
template <typename Cfg>
void SerialPageManager<Cfg>::write_responses() {
if (fatal_error) {
kill(GET_TEXT_F(MSG_BAD_PAGE));
return;
}
if (!page_states_dirty) return;
page_states_dirty = false;
SERIAL_CHAR(Cfg::CONTROL_CHAR);
constexpr int state_bits = 2;
constexpr int n_bytes = Cfg::PAGE_COUNT >> state_bits;
volatile uint8_t bits_b[n_bytes] = { 0 };
for (page_idx_t i = 0 ; i < Cfg::PAGE_COUNT ; i++) {
bits_b[i >> state_bits] |= page_states[i] << ((i * state_bits) & 0x7);
}
uint8_t crc = 0;
for (uint8_t i = 0 ; i < n_bytes ; i++) {
crc ^= bits_b[i];
SERIAL_CHAR(bits_b[i]);
}
SERIAL_CHAR(crc);
SERIAL_EOL();
}
template <typename Cfg>
FORCE_INLINE void SerialPageManager<Cfg>::set_page_state(const page_idx_t page_idx, const PageState page_state) {
CHECK_PAGE(page_idx,);
page_states[page_idx] = page_state;
page_states_dirty = true;
}
template <>
FORCE_INLINE uint8_t *PageManager::get_page(const page_idx_t page_idx) {
CHECK_PAGE(page_idx, nullptr);
return pages[page_idx];
}
template <>
FORCE_INLINE void PageManager::free_page(const page_idx_t page_idx) {
set_page_state(page_idx, PageState::FREE);
}
};
DirectStepping::PageManager page_manager;
const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping::Config::SEGMENT_STEPS] PROGMEM = {
#if STEPPER_PAGE_FORMAT == SP_4x4D_128
{ 1, 1, 1, 1, 1, 1, 1 }, // 0 = -7
{ 1, 1, 1, 0, 1, 1, 1 }, // 1 = -6
{ 1, 1, 1, 0, 1, 0, 1 }, // 2 = -5
{ 1, 1, 0, 1, 0, 1, 0 }, // 3 = -4
{ 1, 1, 0, 0, 1, 0, 0 }, // 4 = -3
{ 0, 0, 1, 0, 0, 0, 1 }, // 5 = -2
{ 0, 0, 0, 1, 0, 0, 0 }, // 6 = -1
{ 0, 0, 0, 0, 0, 0, 0 }, // 7 = 0
{ 0, 0, 0, 1, 0, 0, 0 }, // 8 = 1
{ 0, 0, 1, 0, 0, 0, 1 }, // 9 = 2
{ 1, 1, 0, 0, 1, 0, 0 }, // 10 = 3
{ 1, 1, 0, 1, 0, 1, 0 }, // 11 = 4
{ 1, 1, 1, 0, 1, 0, 1 }, // 12 = 5
{ 1, 1, 1, 0, 1, 1, 1 }, // 13 = 6
{ 1, 1, 1, 1, 1, 1, 1 }, // 14 = 7
{ 0 }
#elif STEPPER_PAGE_FORMAT == SP_4x2_256
{ 0, 0, 0 }, // 0
{ 0, 1, 0 }, // 1
{ 1, 0, 1 }, // 2
{ 1, 1, 1 }, // 3
#elif STEPPER_PAGE_FORMAT == SP_4x1_512
{0} // Uncompressed format, table not used
#endif
};
#endif // DIRECT_STEPPING
| 2301_81045437/Marlin | Marlin/src/feature/direct_stepping.cpp | C++ | agpl-3.0 | 7,468 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
namespace DirectStepping {
enum State : char {
MONITOR, NEWLINE, ADDRESS, SIZE, COLLECT, CHECKSUM, UNFAIL
};
enum PageState : uint8_t {
FREE, WRITING, OK, FAIL
};
// Static state used for stepping through direct stepping pages
struct page_step_state_t {
// Current page
uint8_t *page;
// Current segment
uint16_t segment_idx;
// Current steps within segment
uint8_t segment_steps;
// Segment delta
xyze_uint8_t sd;
// Block delta
xyze_int_t bd;
};
template<typename Cfg>
class SerialPageManager {
public:
typedef typename Cfg::page_idx_t page_idx_t;
static bool maybe_store_rxd_char(uint8_t c);
static void write_responses();
// common methods for page managers
static void init();
static uint8_t *get_page(const page_idx_t page_idx);
static void free_page(const page_idx_t page_idx);
protected:
typedef typename Cfg::write_byte_idx_t write_byte_idx_t;
static State state;
static volatile bool fatal_error;
static volatile PageState page_states[Cfg::PAGE_COUNT];
static volatile bool page_states_dirty;
static uint8_t pages[Cfg::PAGE_COUNT][Cfg::PAGE_SIZE];
static uint8_t checksum;
static write_byte_idx_t write_byte_idx;
static page_idx_t write_page_idx;
static write_byte_idx_t write_page_size;
static void set_page_state(const page_idx_t page_idx, const PageState page_state);
};
template <int num_pages, int num_axes, int bits_segment, bool dir, int segments>
struct config_t {
static constexpr char CONTROL_CHAR = '!';
static constexpr int PAGE_COUNT = num_pages;
static constexpr int AXIS_COUNT = num_axes;
static constexpr int BITS_SEGMENT = bits_segment;
static constexpr int DIRECTIONAL = dir ? 1 : 0;
static constexpr int SEGMENTS = segments;
static constexpr int NUM_SEGMENTS = _BV(BITS_SEGMENT);
static constexpr int SEGMENT_STEPS = _BV(BITS_SEGMENT - DIRECTIONAL) - 1;
static constexpr int TOTAL_STEPS = SEGMENT_STEPS * SEGMENTS;
static constexpr int PAGE_SIZE = (AXIS_COUNT * BITS_SEGMENT * SEGMENTS) / 8;
typedef uvalue_t(PAGE_SIZE - 1) write_byte_idx_t;
typedef uvalue_t(PAGE_COUNT - 1) page_idx_t;
};
template <uint8_t num_pages>
using SP_4x4D_128 = config_t<num_pages, 4, 4, true, 128>;
template <uint8_t num_pages>
using SP_4x2_256 = config_t<num_pages, 4, 2, false, 256>;
template <uint8_t num_pages>
using SP_4x1_512 = config_t<num_pages, 4, 1, false, 512>;
// configured types
typedef STEPPER_PAGE_FORMAT<STEPPER_PAGES> Config;
template class PAGE_MANAGER<Config>;
typedef PAGE_MANAGER<Config> PageManager;
};
#define SP_4x4D_128 1
//#define SP_4x4_128 2
//#define SP_4x2D_256 3
#define SP_4x2_256 4
#define SP_4x1_512 5
typedef typename DirectStepping::Config::page_idx_t page_idx_t;
// TODO: use config
typedef DirectStepping::page_step_state_t page_step_state_t;
extern const uint8_t segment_table[DirectStepping::Config::NUM_SEGMENTS][DirectStepping::Config::SEGMENT_STEPS];
extern DirectStepping::PageManager page_manager;
| 2301_81045437/Marlin | Marlin/src/feature/direct_stepping.h | C++ | agpl-3.0 | 4,039 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* e_parser.cpp - Intercept special commands directly in the serial stream
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(EMERGENCY_PARSER)
#include "e_parser.h"
// Static data members
bool EmergencyParser::killed_by_M112, // = false
EmergencyParser::quickstop_by_M410,
#if HAS_MEDIA
EmergencyParser::sd_abort_by_M524,
#endif
EmergencyParser::enabled;
#if ENABLED(HOST_PROMPT_SUPPORT)
#include "host_actions.h"
uint8_t EmergencyParser::M876_reason; // = 0
#endif
// Global instance
EmergencyParser emergency_parser;
// External references
extern bool wait_for_user, wait_for_heatup;
#if ENABLED(EP_BABYSTEPPING)
#include "babystep.h"
#endif
#if ENABLED(REALTIME_REPORTING_COMMANDS)
// From motion.h, which cannot be included here
void report_current_position_moving();
void quickpause_stepper();
void quickresume_stepper();
#endif
void EmergencyParser::update(EmergencyParser::State &state, const uint8_t c) {
switch (state) {
case EP_RESET:
switch (c) {
case ' ': case '\n': case '\r': break;
case 'N': state = EP_N; break;
case 'M': state = EP_M; break;
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case 'S': state = EP_S; break;
case 'P': state = EP_P; break;
case 'R': state = EP_R; break;
#endif
#if ENABLED(SOFT_RESET_VIA_SERIAL)
case '^': state = EP_ctrl; break;
case 'K': state = EP_K; break;
#endif
default: state = EP_IGNORE;
}
break;
case EP_N:
switch (c) {
case '0' ... '9':
case '-': case ' ': break;
case 'M': state = EP_M; break;
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case 'S': state = EP_S; break;
case 'P': state = EP_P; break;
case 'R': state = EP_R; break;
#endif
default: state = EP_IGNORE;
}
break;
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case EP_S: state = (c == '0') ? EP_S0 : EP_IGNORE; break;
case EP_S0: state = (c == '0') ? EP_S00 : EP_IGNORE; break;
case EP_S00: state = (c == '0') ? EP_GRBL_STATUS : EP_IGNORE; break;
case EP_R: state = (c == '0') ? EP_R0 : EP_IGNORE; break;
case EP_R0: state = (c == '0') ? EP_R00 : EP_IGNORE; break;
case EP_R00: state = (c == '0') ? EP_GRBL_RESUME : EP_IGNORE; break;
case EP_P: state = (c == '0') ? EP_P0 : EP_IGNORE; break;
case EP_P0: state = (c == '0') ? EP_P00 : EP_IGNORE; break;
case EP_P00: state = (c == '0') ? EP_GRBL_PAUSE : EP_IGNORE; break;
#endif
#if ENABLED(SOFT_RESET_VIA_SERIAL)
case EP_ctrl: state = (c == 'X') ? EP_KILL : EP_IGNORE; break;
case EP_K: state = (c == 'I') ? EP_KI : EP_IGNORE; break;
case EP_KI: state = (c == 'L') ? EP_KIL : EP_IGNORE; break;
case EP_KIL: state = (c == 'L') ? EP_KILL : EP_IGNORE; break;
#endif
case EP_M:
switch (c) {
case ' ': break;
case '1': state = EP_M1; break;
#if ENABLED(EP_BABYSTEPPING)
case '2': state = EP_M2; break;
#endif
case '4': state = EP_M4; break;
#if HAS_MEDIA
case '5': state = EP_M5; break;
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
case '8': state = EP_M8; break;
#endif
default: state = EP_IGNORE;
}
break;
case EP_M1:
switch (c) {
case '0': state = EP_M10; break;
case '1': state = EP_M11; break;
default: state = EP_IGNORE;
}
break;
case EP_M10: state = (c == '8') ? EP_M108 : EP_IGNORE; break;
case EP_M11: state = (c == '2') ? EP_M112 : EP_IGNORE; break;
case EP_M4: state = (c == '1') ? EP_M41 : EP_IGNORE; break;
case EP_M41: state = (c == '0') ? EP_M410 : EP_IGNORE; break;
#if HAS_MEDIA
case EP_M5: state = (c == '2') ? EP_M52 : EP_IGNORE; break;
case EP_M52: state = (c == '4') ? EP_M524 : EP_IGNORE; break;
#endif
#if ENABLED(EP_BABYSTEPPING)
case EP_M2:
switch (c) {
case '9': state = EP_M29; break;
default: state = EP_IGNORE;
}
break;
case EP_M29:
switch (c) {
case '3': state = EP_M293; break;
case '4': state = EP_M294; break;
default: state = EP_IGNORE;
}
break;
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
case EP_M8: state = (c == '7') ? EP_M87 : EP_IGNORE; break;
case EP_M87: state = (c == '6') ? EP_M876 : EP_IGNORE; break;
case EP_M876:
switch (c) {
case ' ': break;
case 'S': state = EP_M876S; break;
default: state = EP_IGNORE; break;
}
break;
case EP_M876S:
switch (c) {
case ' ': break;
case '0' ... '9':
state = EP_M876SN;
M876_reason = uint8_t(c - '0');
break;
}
break;
#endif
case EP_IGNORE:
if (ISEOL(c)) state = EP_RESET;
break;
default:
if (ISEOL(c)) {
if (enabled) switch (state) {
case EP_M108: wait_for_user = wait_for_heatup = false; break;
case EP_M112: killed_by_M112 = true; break;
case EP_M410: quickstop_by_M410 = true; break;
#if ENABLED(EP_BABYSTEPPING)
case EP_M293: babystep.ep_babysteps++; break;
case EP_M294: babystep.ep_babysteps--; break;
#endif
#if HAS_MEDIA
case EP_M524: sd_abort_by_M524 = true; break;
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
case EP_M876SN: hostui.handle_response(M876_reason); break;
#endif
#if ENABLED(REALTIME_REPORTING_COMMANDS)
case EP_GRBL_STATUS: report_current_position_moving(); break;
case EP_GRBL_PAUSE: quickpause_stepper(); break;
case EP_GRBL_RESUME: quickresume_stepper(); break;
#endif
#if ENABLED(SOFT_RESET_VIA_SERIAL)
case EP_KILL: hal.reboot(); break;
#endif
default: break;
}
state = EP_RESET;
}
}
}
#endif // EMERGENCY_PARSER
| 2301_81045437/Marlin | Marlin/src/feature/e_parser.cpp | C++ | agpl-3.0 | 7,129 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* e_parser.h - Intercept special commands directly in the serial stream
*/
#include "../inc/MarlinConfigPre.h"
class EmergencyParser {
public:
// Currently looking for: M108, M112, M410, M524, M876 S[0-9], S000, P000, R000
enum State : uint8_t {
EP_RESET,
EP_N,
EP_M,
EP_M1,
EP_M10, EP_M108,
EP_M11, EP_M112,
EP_M4, EP_M41, EP_M410,
#if HAS_MEDIA
EP_M5, EP_M52, EP_M524,
#endif
#if ENABLED(EP_BABYSTEPPING)
EP_M2, EP_M29, EP_M293, EP_M294,
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
EP_M8, EP_M87, EP_M876, EP_M876S, EP_M876SN,
#endif
#if ENABLED(REALTIME_REPORTING_COMMANDS)
EP_S, EP_S0, EP_S00, EP_GRBL_STATUS,
EP_R, EP_R0, EP_R00, EP_GRBL_RESUME,
EP_P, EP_P0, EP_P00, EP_GRBL_PAUSE,
#endif
#if ENABLED(SOFT_RESET_VIA_SERIAL)
EP_ctrl,
EP_K, EP_KI, EP_KIL, EP_KILL,
#endif
EP_IGNORE // to '\n'
};
static bool killed_by_M112;
static bool quickstop_by_M410;
#if HAS_MEDIA
static bool sd_abort_by_M524;
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
static uint8_t M876_reason;
#endif
EmergencyParser() { enable(); }
FORCE_INLINE static void enable() { enabled = true; }
FORCE_INLINE static void disable() { enabled = false; }
static void update(State &state, const uint8_t c);
private:
static bool enabled;
};
extern EmergencyParser emergency_parser;
| 2301_81045437/Marlin | Marlin/src/feature/e_parser.h | C++ | agpl-3.0 | 2,291 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(EASYTHREED_UI)
#include "easythreed_ui.h"
#include "pause.h"
#include "../module/temperature.h"
#include "../module/printcounter.h"
#include "../sd/cardreader.h"
#include "../gcode/queue.h"
#include "../module/motion.h"
#include "../module/planner.h"
#include "../MarlinCore.h"
EasythreedUI easythreed_ui;
#define BTN_DEBOUNCE_MS 20
void EasythreedUI::init() {
SET_INPUT_PULLUP(BTN_HOME); SET_OUTPUT(BTN_HOME_GND);
SET_INPUT_PULLUP(BTN_FEED); SET_OUTPUT(BTN_FEED_GND);
SET_INPUT_PULLUP(BTN_RETRACT); SET_OUTPUT(BTN_RETRACT_GND);
SET_INPUT_PULLUP(BTN_PRINT);
SET_OUTPUT(EASYTHREED_LED_PIN);
}
void EasythreedUI::run() {
blinkLED();
loadButton();
printButton();
}
enum LEDInterval : uint16_t {
LED_OFF = 0,
LED_ON = 4000,
LED_BLINK_0 = 2500,
LED_BLINK_1 = 1500,
LED_BLINK_2 = 1000,
LED_BLINK_3 = 800,
LED_BLINK_4 = 500,
LED_BLINK_5 = 300,
LED_BLINK_6 = 150,
LED_BLINK_7 = 50
};
uint16_t blink_interval_ms = LED_ON; // Status LED on Start button
void EasythreedUI::blinkLED() {
static millis_t prev_blink_interval_ms = 0, blink_start_ms = 0;
if (blink_interval_ms == LED_OFF) { WRITE(EASYTHREED_LED_PIN, HIGH); return; } // OFF
if (blink_interval_ms >= LED_ON) { WRITE(EASYTHREED_LED_PIN, LOW); return; } // ON
const millis_t ms = millis();
if (prev_blink_interval_ms != blink_interval_ms) {
prev_blink_interval_ms = blink_interval_ms;
blink_start_ms = ms;
}
if (PENDING(ms, blink_start_ms + blink_interval_ms))
WRITE(EASYTHREED_LED_PIN, LOW);
else if (PENDING(ms, blink_start_ms + 2 * blink_interval_ms))
WRITE(EASYTHREED_LED_PIN, HIGH);
else
blink_start_ms = ms;
}
//
// Filament Load/Unload Button
// Load/Unload buttons are a 3 position switch with a common center ground.
//
void EasythreedUI::loadButton() {
if (printingIsActive()) return;
enum FilamentStatus : uint8_t { FS_IDLE, FS_PRESS, FS_CHECK, FS_PROCEED };
static uint8_t filament_status = FS_IDLE;
static millis_t filament_time = 0;
switch (filament_status) {
case FS_IDLE:
if (!READ(BTN_RETRACT) || !READ(BTN_FEED)) { // If feed/retract switch is toggled...
filament_status++; // ...proceed to next test.
filament_time = millis();
}
break;
case FS_PRESS:
if (ELAPSED(millis(), filament_time + BTN_DEBOUNCE_MS)) { // After a short debounce delay...
if (!READ(BTN_RETRACT) || !READ(BTN_FEED)) { // ...if switch still toggled...
thermalManager.setTargetHotend(EXTRUDE_MINTEMP + 10, 0); // Start heating up
blink_interval_ms = LED_BLINK_7; // Set the LED to blink fast
filament_status++;
}
else
filament_status = FS_IDLE; // Switch not toggled long enough
}
break;
case FS_CHECK:
if (READ(BTN_RETRACT) && READ(BTN_FEED)) { // Switch in center position (stop)
blink_interval_ms = LED_ON; // LED on steady
filament_status = FS_IDLE;
thermalManager.disable_all_heaters();
}
else if (thermalManager.hotEnoughToExtrude(0)) { // Is the hotend hot enough to move material?
filament_status++; // Proceed to feed / retract.
blink_interval_ms = LED_BLINK_5; // Blink ~3 times per second
}
break;
case FS_PROCEED: {
// Feed or Retract just once. Hard abort all moves and return to idle on swicth release.
static bool flag = false;
if (READ(BTN_RETRACT) && READ(BTN_FEED)) { // Switch in center position (stop)
flag = false; // Restore flag to false
filament_status = FS_IDLE; // Go back to idle state
quickstop_stepper(); // Hard-stop all the steppers ... now!
thermalManager.disable_all_heaters(); // And disable all the heaters
blink_interval_ms = LED_ON;
}
else if (!flag) {
flag = true;
queue.inject(!READ(BTN_RETRACT) ? F("G91\nG0 E10 F180\nG0 E-120 F180\nM104 S0") : F("G91\nG0 E100 F120\nM104 S0"));
}
} break;
}
}
#if HAS_STEPPER_RESET
void disableStepperDrivers();
#endif
//
// Print Start/Pause/Resume Button
//
void EasythreedUI::printButton() {
enum KeyStatus : uint8_t { KS_IDLE, KS_PRESS, KS_PROCEED };
static uint8_t key_status = KS_IDLE;
static millis_t key_time = 0;
enum PrintFlag : uint8_t { PF_START, PF_PAUSE, PF_RESUME };
static PrintFlag print_key_flag = PF_START;
const millis_t ms = millis();
switch (key_status) {
case KS_IDLE:
if (!READ(BTN_PRINT)) { // Print/Pause/Resume button pressed?
key_time = ms; // Save start time
key_status++; // Go to debounce test
}
break;
case KS_PRESS:
if (ELAPSED(ms, key_time + BTN_DEBOUNCE_MS)) // Wait for debounce interval to expire
key_status = READ(BTN_PRINT) ? KS_IDLE : KS_PROCEED; // Proceed if still pressed
break;
case KS_PROCEED:
if (!READ(BTN_PRINT)) break; // Wait for the button to be released
key_status = KS_IDLE; // Ready for the next press
if (PENDING(ms, key_time + 1200 - BTN_DEBOUNCE_MS)) { // Register a press < 1.2 seconds
switch (print_key_flag) {
case PF_START: { // The "Print" button starts an SD card print
if (printingIsActive()) break; // Already printing? (find another line that checks for 'is planner doing anything else right now?')
blink_interval_ms = LED_BLINK_2; // Blink the indicator LED at 1 second intervals
print_key_flag = PF_PAUSE; // The "Print" button now pauses the print
card.mount(); // Force SD card to mount - now!
if (!card.isMounted) { // Failed to mount?
blink_interval_ms = LED_OFF; // Turn off LED
print_key_flag = PF_START;
return; // Bail out
}
card.ls(); // List all files to serial output
const int16_t filecnt = card.get_num_items(); // Count printable files in cwd
if (filecnt == 0) return; // None are printable?
card.selectFileByIndex(filecnt); // Select the last file according to current sort options
card.openAndPrintFile(card.filename); // Start printing it
} break;
case PF_PAUSE: { // Pause printing (not currently firing)
if (!printingIsActive()) break;
blink_interval_ms = LED_ON; // Set indicator to steady ON
queue.inject(F("M25")); // Queue Pause
print_key_flag = PF_RESUME; // The "Print" button now resumes the print
} break;
case PF_RESUME: { // Resume printing
if (printingIsActive()) break;
blink_interval_ms = LED_BLINK_2; // Blink the indicator LED at 1 second intervals
queue.inject(F("M24")); // Queue resume
print_key_flag = PF_PAUSE; // The "Print" button now pauses the print
} break;
}
}
else { // Register a longer press
if (print_key_flag == PF_START && !printingIsActive()) { // While not printing, this moves Z up 10mm
blink_interval_ms = LED_ON;
queue.inject(F("G91\nG0 Z10 F600\nG90")); // Raise Z soon after returning to main loop
}
else { // While printing, cancel print
card.abortFilePrintSoon(); // There is a delay while the current steps play out
blink_interval_ms = LED_OFF; // Turn off LED
}
planner.synchronize(); // Wait for commands already in the planner to finish
TERN_(HAS_STEPPER_RESET, disableStepperDrivers()); // Disable all steppers - now!
print_key_flag = PF_START; // The "Print" button now starts a new print
}
break;
}
}
#endif // EASYTHREED_UI
| 2301_81045437/Marlin | Marlin/src/feature/easythreed_ui.cpp | C++ | agpl-3.0 | 10,158 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
class EasythreedUI {
public:
static void init();
static void run();
private:
static void blinkLED();
static void loadButton();
static void printButton();
};
extern EasythreedUI easythreed_ui;
| 2301_81045437/Marlin | Marlin/src/feature/easythreed_ui.h | C++ | agpl-3.0 | 1,094 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
//todo: add support for multiple encoders on a single axis
//todo: add z axis auto-leveling
//todo: consolidate some of the related M codes?
//todo: add endstop-replacement mode?
//todo: try faster I2C speed; tweak TWI_FREQ (400000L, or faster?); or just TWBR = ((CPU_FREQ / 400000L) - 16) / 2;
//todo: consider Marlin-optimized Wire library; i.e. MarlinWire, like MarlinSerial
#include "../inc/MarlinConfig.h"
#if ENABLED(I2C_POSITION_ENCODERS)
#include "encoder_i2c.h"
#include "../module/stepper.h"
#include "../gcode/parser.h"
#include "../feature/babystep.h"
#include <Wire.h>
I2CPositionEncodersMgr I2CPEM;
void I2CPositionEncoder::init(const uint8_t address, const AxisEnum axis) {
encoderAxis = axis;
i2cAddress = address;
initialized = true;
SERIAL_ECHOLNPGM("Setting up encoder on ", C(AXIS_CHAR(encoderAxis)), " axis, addr = ", address);
position = get_position();
}
void I2CPositionEncoder::update() {
if (!initialized || !homed || !active) return; //check encoder is set up and active
position = get_position();
//we don't want to stop things just because the encoder missed a message,
//so we only care about responses that indicate bad magnetic strength
if (!passes_test(false)) { //check encoder data is good
lastErrorTime = millis();
/*
if (trusted) { //commented out as part of the note below
trusted = false;
SERIAL_ECHOLNPGM("Fault detected on ", C(AXIS_CHAR(encoderAxis)), " axis encoder. Disengaging error correction until module is trusted again.");
}
*/
return;
}
if (!trusted) {
/**
* This is commented out because it introduces error and can cause bad print quality.
*
* This code is intended to manage situations where the encoder has reported bad magnetic strength.
* This indicates that the magnetic strip was too far away from the sensor to reliably track position.
* When this happens, this code resets the offset based on where the printer thinks it is. This has been
* shown to introduce errors in actual position which result in drifting prints and poor print quality.
* Perhaps a better method would be to disable correction on the axis with a problem, report it to the
* user via the status leds on the encoder module and prompt the user to re-home the axis at which point
* the encoder would be re-enabled.
*/
#if 0
// If the magnetic strength has been good for a certain time, start trusting the module again
if (millis() - lastErrorTime > I2CPE_TIME_TRUSTED) {
trusted = true;
SERIAL_ECHOLNPGM("Untrusted encoder module on ", C(AXIS_CHAR(encoderAxis)), " axis has been fault-free for set duration, reinstating error correction.");
//the encoder likely lost its place when the error occurred, so we'll reset and use the printer's
//idea of where it the axis is to re-initialize
const float pos = planner.get_axis_position_mm(encoderAxis);
int32_t positionInTicks = pos * get_ticks_unit();
//shift position from previous to current position
zeroOffset -= (positionInTicks - get_position());
#ifdef I2CPE_DEBUG
SERIAL_ECHOLNPGM("Current position is ", pos);
SERIAL_ECHOLNPGM("Position in encoder ticks is ", positionInTicks);
SERIAL_ECHOLNPGM("New zero-offset of ", zeroOffset);
SERIAL_ECHOLN(F("New position reads as "), get_position(), C('('), mm_from_count(get_position()), C(')'));
#endif
}
#endif
return;
}
lastPosition = position;
const millis_t positionTime = millis();
//only do error correction if setup and enabled
if (ec && ecMethod != I2CPE_ECM_NONE) {
#ifdef I2CPE_EC_THRESH_PROPORTIONAL
const millis_t deltaTime = positionTime - lastPositionTime;
const uint32_t distance = ABS(position - lastPosition),
speed = distance / deltaTime;
const float threshold = constrain((speed / 50), 1, 50) * ecThreshold;
#else
const float threshold = get_error_correct_threshold();
#endif
//check error
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
float sum = 0, diffSum = 0;
errIdx = (errIdx >= I2CPE_ERR_ARRAY_SIZE - 1) ? 0 : errIdx + 1;
err[errIdx] = get_axis_error_steps(false);
for (uint8_t i = 0; i < I2CPE_ERR_ARRAY_SIZE; ++i) {
sum += err[i];
if (i) diffSum += ABS(err[i-1] - err[i]);
}
const int32_t error = int32_t(sum / (I2CPE_ERR_ARRAY_SIZE + 1)); //calculate average for error
#else
const int32_t error = get_axis_error_steps(false);
#endif
//SERIAL_ECHOLNPGM("Axis error steps: ", error);
#ifdef I2CPE_ERR_THRESH_ABORT
if (ABS(error) > I2CPE_ERR_THRESH_ABORT * planner.settings.axis_steps_per_mm[encoderAxis]) {
//kill(F("Significant Error"));
SERIAL_ECHOLNPGM("Axis error over threshold, aborting!", error);
safe_delay(5000);
}
#endif
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
if (errIdx == 0) {
// In order to correct for "error" but avoid correcting for noise and non-skips
// it must be > threshold and have a difference average of < 10 and be < 2000 steps
if (ABS(error) > threshold * planner.settings.axis_steps_per_mm[encoderAxis]
&& diffSum < 10 * (I2CPE_ERR_ARRAY_SIZE - 1)
&& ABS(error) < 2000
) { // Check for persistent error (skip)
errPrst[errPrstIdx++] = error; // Error must persist for I2CPE_ERR_PRST_ARRAY_SIZE error cycles. This also serves to improve the average accuracy
if (errPrstIdx >= I2CPE_ERR_PRST_ARRAY_SIZE) {
float sumP = 0;
for (uint8_t i = 0; i < I2CPE_ERR_PRST_ARRAY_SIZE; ++i) sumP += errPrst[i];
const int32_t errorP = int32_t(sumP * RECIPROCAL(I2CPE_ERR_PRST_ARRAY_SIZE));
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" : CORRECT ERR ", errorP * planner.mm_per_step[encoderAxis], "mm");
babystep.add_steps(encoderAxis, -LROUND(errorP));
errPrstIdx = 0;
}
}
else
errPrstIdx = 0;
}
#else
if (ABS(error) > threshold * planner.settings.axis_steps_per_mm[encoderAxis]) {
//SERIAL_ECHOLN(error);
//SERIAL_ECHOLN(position);
babystep.add_steps(encoderAxis, -LROUND(error / 2));
}
#endif
if (ABS(error) > I2CPE_ERR_CNT_THRESH * planner.settings.axis_steps_per_mm[encoderAxis]) {
const millis_t ms = millis();
if (ELAPSED(ms, nextErrorCountTime)) {
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" : LARGE ERR ", error, "; diffSum=", diffSum);
errorCount++;
nextErrorCountTime = ms + I2CPE_ERR_CNT_DEBOUNCE_MS;
}
}
}
lastPositionTime = positionTime;
}
void I2CPositionEncoder::set_homed() {
if (active) {
reset(); // Reset module's offset to zero (so current position is homed / zero)
delay(10);
zeroOffset = get_raw_count();
homed = trusted = true;
#ifdef I2CPE_DEBUG
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" axis encoder homed, offset of ", zeroOffset, " ticks.");
#endif
}
}
void I2CPositionEncoder::set_unhomed() {
zeroOffset = 0;
homed = trusted = false;
#ifdef I2CPE_DEBUG
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" axis encoder unhomed.");
#endif
}
bool I2CPositionEncoder::passes_test(const bool report) {
if (report) {
if (H != I2CPE_MAG_SIG_GOOD) SERIAL_ECHOPGM("Warning. ");
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
serial_ternary(F(" axis "), H == I2CPE_MAG_SIG_BAD, F("magnetic strip "), F("encoder "));
switch (H) {
case I2CPE_MAG_SIG_GOOD:
case I2CPE_MAG_SIG_MID:
SERIAL_ECHO_TERNARY(H == I2CPE_MAG_SIG_GOOD, "passes test; field strength ", "good", "fair", ".\n");
break;
default:
SERIAL_ECHOLNPGM("not detected!");
}
}
return (H == I2CPE_MAG_SIG_GOOD || H == I2CPE_MAG_SIG_MID);
}
float I2CPositionEncoder::get_axis_error_mm(const bool report) {
const float target = planner.get_axis_position_mm(encoderAxis),
actual = mm_from_count(position),
diff = actual - target,
error = ABS(diff) > 10000 ? 0 : diff; // Huge error is a bad reading
if (report) {
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" axis target=", target, "mm; actual=", actual, "mm; err=", error, "mm");
}
return error;
}
int32_t I2CPositionEncoder::get_axis_error_steps(const bool report) {
if (!active) {
if (report) {
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" axis encoder not active!");
}
return 0;
}
float stepperTicksPerUnit;
int32_t encoderTicks = position, encoderCountInStepperTicksScaled;
//int32_t stepperTicks = stepper.position(encoderAxis);
// With a rotary encoder we're concerned with ticks/rev; whereas with a linear we're concerned with ticks/mm
stepperTicksPerUnit = (type == I2CPE_ENC_TYPE_ROTARY) ? stepperTicks : planner.settings.axis_steps_per_mm[encoderAxis];
//convert both 'ticks' into same units / base
encoderCountInStepperTicksScaled = LROUND((stepperTicksPerUnit * encoderTicks) / encoderTicksPerUnit);
const int32_t target = stepper.position(encoderAxis);
int32_t error = encoderCountInStepperTicksScaled - target;
//suppress discontinuities (might be caused by bad I2C readings...?)
const bool suppressOutput = (ABS(error - errorPrev) > 100);
errorPrev = error;
if (report) {
SERIAL_CHAR(AXIS_CHAR(encoderAxis));
SERIAL_ECHOLNPGM(" axis target=", target, "; actual=", encoderCountInStepperTicksScaled, "; err=", error);
}
if (suppressOutput) {
if (report) SERIAL_ECHOLNPGM("!Discontinuity. Suppressing error.");
error = 0;
}
return error;
}
int32_t I2CPositionEncoder::get_raw_count() {
uint8_t index = 0;
i2cLong encoderCount;
encoderCount.val = 0x00;
if (Wire.requestFrom(I2C_ADDRESS(i2cAddress), uint8_t(3)) != 3) {
//houston, we have a problem...
H = I2CPE_MAG_SIG_NF;
return 0;
}
while (Wire.available())
encoderCount.bval[index++] = (uint8_t)Wire.read();
//extract the magnetic strength
H = (B00000011 & (encoderCount.bval[2] >> 6));
//extract sign bit; sign = (encoderCount.bval[2] & B00100000);
//set all upper bits to the sign value to overwrite H
encoderCount.val = (encoderCount.bval[2] & B00100000) ? (encoderCount.val | 0xFFC00000) : (encoderCount.val & 0x003FFFFF);
if (invert) encoderCount.val *= -1;
return encoderCount.val;
}
bool I2CPositionEncoder::test_axis() {
// Only works on XYZ Cartesian machines for the time being
if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) return false;
const float startPosition = soft_endstop.min[encoderAxis] + 10,
endPosition = soft_endstop.max[encoderAxis] - 10;
const feedRate_t fr_mm_s = FLOOR(homing_feedrate(encoderAxis));
ec = false;
xyze_pos_t startCoord, endCoord;
LOOP_NUM_AXES(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
startCoord[encoderAxis] = startPosition;
endCoord[encoderAxis] = endPosition;
planner.synchronize();
#if HAS_EXTRUDERS
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
#endif
// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
if (!trusted) {
int32_t startWaitingTime = millis();
while (!trusted && millis() - startWaitingTime < I2CPE_TIME_TRUSTED)
safe_delay(500);
}
if (trusted) { // if trusted, commence test
TERN_(HAS_EXTRUDERS, endCoord.e = planner.get_axis_position_mm(E_AXIS));
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
}
return trusted;
}
void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
if (type != I2CPE_ENC_TYPE_LINEAR) {
SERIAL_ECHOLNPGM("Steps/mm calibration requires linear encoder.");
return;
}
if (!(encoderAxis == X_AXIS || encoderAxis == Y_AXIS || encoderAxis == Z_AXIS)) {
SERIAL_ECHOLNPGM("Steps/mm calibration not supported for this axis.");
return;
}
float old_steps_mm, new_steps_mm,
startDistance, endDistance,
travelDistance, travelledDistance, total = 0;
int32_t startCount, stopCount;
const feedRate_t fr_mm_s = homing_feedrate(encoderAxis);
bool oldec = ec;
ec = false;
startDistance = 20;
endDistance = soft_endstop.max[encoderAxis] - 20;
travelDistance = endDistance - startDistance;
xyze_pos_t startCoord, endCoord;
LOOP_NUM_AXES(a) {
startCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
endCoord[a] = planner.get_axis_position_mm((AxisEnum)a);
}
startCoord[encoderAxis] = startDistance;
endCoord[encoderAxis] = endDistance;
planner.synchronize();
for (uint8_t i = 0; i < iter; ++i) {
TERN_(HAS_EXTRUDERS, startCoord.e = planner.get_axis_position_mm(E_AXIS));
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
delay(250);
startCount = get_position();
//do_blocking_move_to(endCoord);
TERN_(HAS_EXTRUDERS, endCoord.e = planner.get_axis_position_mm(E_AXIS));
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
//Read encoder distance
delay(250);
stopCount = get_position();
travelledDistance = mm_from_count(ABS(stopCount - startCount));
SERIAL_ECHOLNPGM("Attempted travel: ", travelDistance, "mm");
SERIAL_ECHOLNPGM(" Actual travel: ", travelledDistance, "mm");
// Calculate new axis steps per unit
old_steps_mm = planner.settings.axis_steps_per_mm[encoderAxis];
new_steps_mm = (old_steps_mm * travelDistance) / travelledDistance;
SERIAL_ECHOLNPGM("Old steps/mm: ", old_steps_mm);
SERIAL_ECHOLNPGM("New steps/mm: ", new_steps_mm);
// Save new value
planner.settings.axis_steps_per_mm[encoderAxis] = new_steps_mm;
if (iter > 1) {
total += new_steps_mm;
// Swap start and end points so next loop runs from current position
const float tempCoord = startCoord[encoderAxis];
startCoord[encoderAxis] = endCoord[encoderAxis];
endCoord[encoderAxis] = tempCoord;
}
}
if (iter > 1) {
total /= (float)iter;
SERIAL_ECHOLNPGM("Average steps/mm: ", total);
}
ec = oldec;
SERIAL_ECHOLNPGM("Calculated steps/mm set. Use M500 to save to EEPROM.");
}
void I2CPositionEncoder::reset() {
Wire.beginTransmission(I2C_ADDRESS(i2cAddress));
Wire.write(I2CPE_RESET_COUNT);
Wire.endTransmission();
TERN_(I2CPE_ERR_ROLLING_AVERAGE, ZERO(err));
}
bool I2CPositionEncodersMgr::I2CPE_anyaxis;
uint8_t I2CPositionEncodersMgr::I2CPE_addr,
I2CPositionEncodersMgr::I2CPE_idx;
I2CPositionEncoder I2CPositionEncodersMgr::encoders[I2CPE_ENCODER_CNT];
void I2CPositionEncodersMgr::init() {
Wire.begin();
#if I2CPE_ENCODER_CNT > 0
uint8_t i = 0;
encoders[i].init(I2CPE_ENC_1_ADDR, I2CPE_ENC_1_AXIS);
#ifdef I2CPE_ENC_1_TYPE
encoders[i].set_type(I2CPE_ENC_1_TYPE);
#endif
#ifdef I2CPE_ENC_1_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_1_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_1_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_1_TICKS_REV);
#endif
#ifdef I2CPE_ENC_1_INVERT
encoders[i].set_inverted(ENABLED(I2CPE_ENC_1_INVERT));
#endif
#ifdef I2CPE_ENC_1_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_1_EC_METHOD);
#endif
#ifdef I2CPE_ENC_1_EC_THRESH
encoders[i].set_ec_threshold(I2CPE_ENC_1_EC_THRESH);
#endif
encoders[i].set_active(encoders[i].passes_test(true));
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_1_AXIS == E_AXIS) encoders[i].set_homed());
#endif
#if I2CPE_ENCODER_CNT > 1
i++;
encoders[i].init(I2CPE_ENC_2_ADDR, I2CPE_ENC_2_AXIS);
#ifdef I2CPE_ENC_2_TYPE
encoders[i].set_type(I2CPE_ENC_2_TYPE);
#endif
#ifdef I2CPE_ENC_2_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_2_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_2_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_2_TICKS_REV);
#endif
#ifdef I2CPE_ENC_2_INVERT
encoders[i].set_inverted(ENABLED(I2CPE_ENC_2_INVERT));
#endif
#ifdef I2CPE_ENC_2_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_2_EC_METHOD);
#endif
#ifdef I2CPE_ENC_2_EC_THRESH
encoders[i].set_ec_threshold(I2CPE_ENC_2_EC_THRESH);
#endif
encoders[i].set_active(encoders[i].passes_test(true));
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_2_AXIS == E_AXIS) encoders[i].set_homed());
#endif
#if I2CPE_ENCODER_CNT > 2
i++;
encoders[i].init(I2CPE_ENC_3_ADDR, I2CPE_ENC_3_AXIS);
#ifdef I2CPE_ENC_3_TYPE
encoders[i].set_type(I2CPE_ENC_3_TYPE);
#endif
#ifdef I2CPE_ENC_3_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_3_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_3_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_3_TICKS_REV);
#endif
#ifdef I2CPE_ENC_3_INVERT
encoders[i].set_inverted(ENABLED(I2CPE_ENC_3_INVERT));
#endif
#ifdef I2CPE_ENC_3_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_3_EC_METHOD);
#endif
#ifdef I2CPE_ENC_3_EC_THRESH
encoders[i].set_ec_threshold(I2CPE_ENC_3_EC_THRESH);
#endif
encoders[i].set_active(encoders[i].passes_test(true));
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_3_AXIS == E_AXIS) encoders[i].set_homed());
#endif
#if I2CPE_ENCODER_CNT > 3
i++;
encoders[i].init(I2CPE_ENC_4_ADDR, I2CPE_ENC_4_AXIS);
#ifdef I2CPE_ENC_4_TYPE
encoders[i].set_type(I2CPE_ENC_4_TYPE);
#endif
#ifdef I2CPE_ENC_4_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_4_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_4_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_4_TICKS_REV);
#endif
#ifdef I2CPE_ENC_4_INVERT
encoders[i].set_inverted(ENABLED(I2CPE_ENC_4_INVERT));
#endif
#ifdef I2CPE_ENC_4_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_4_EC_METHOD);
#endif
#ifdef I2CPE_ENC_4_EC_THRESH
encoders[i].set_ec_threshold(I2CPE_ENC_4_EC_THRESH);
#endif
encoders[i].set_active(encoders[i].passes_test(true));
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_4_AXIS == E_AXIS) encoders[i].set_homed());
#endif
#if I2CPE_ENCODER_CNT > 4
i++;
encoders[i].init(I2CPE_ENC_5_ADDR, I2CPE_ENC_5_AXIS);
#ifdef I2CPE_ENC_5_TYPE
encoders[i].set_type(I2CPE_ENC_5_TYPE);
#endif
#ifdef I2CPE_ENC_5_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_5_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_5_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_5_TICKS_REV);
#endif
#ifdef I2CPE_ENC_5_INVERT
encoders[i].set_inverted(ENABLED(I2CPE_ENC_5_INVERT));
#endif
#ifdef I2CPE_ENC_5_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_5_EC_METHOD);
#endif
#ifdef I2CPE_ENC_5_EC_THRESH
encoders[i].set_ec_threshold(I2CPE_ENC_5_EC_THRESH);
#endif
encoders[i].set_active(encoders[i].passes_test(true));
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_5_AXIS == E_AXIS) encoders[i].set_homed());
#endif
#if I2CPE_ENCODER_CNT > 5
i++;
encoders[i].init(I2CPE_ENC_6_ADDR, I2CPE_ENC_6_AXIS);
#ifdef I2CPE_ENC_6_TYPE
encoders[i].set_type(I2CPE_ENC_6_TYPE);
#endif
#ifdef I2CPE_ENC_6_TICKS_UNIT
encoders[i].set_ticks_unit(I2CPE_ENC_6_TICKS_UNIT);
#endif
#ifdef I2CPE_ENC_6_TICKS_REV
encoders[i].set_stepper_ticks(I2CPE_ENC_6_TICKS_REV);
#endif
#ifdef I2CPE_ENC_6_INVERT
encoders[i].set_inverted(ENABLED(I2CPE_ENC_6_INVERT));
#endif
#ifdef I2CPE_ENC_6_EC_METHOD
encoders[i].set_ec_method(I2CPE_ENC_6_EC_METHOD);
#endif
#ifdef I2CPE_ENC_6_EC_THRESH
encoders[i].set_ec_threshold(I2CPE_ENC_6_EC_THRESH);
#endif
encoders[i].set_active(encoders[i].passes_test(true));
TERN_(HAS_EXTRUDERS, if (I2CPE_ENC_6_AXIS == E_AXIS) encoders[i].set_homed());
#endif
}
void I2CPositionEncodersMgr::report_position(const int8_t idx, const bool units, const bool noOffset) {
CHECK_IDX();
if (units)
SERIAL_ECHOLN(noOffset ? encoders[idx].mm_from_count(encoders[idx].get_raw_count()) : encoders[idx].get_position_mm());
else {
if (noOffset) {
const int32_t raw_count = encoders[idx].get_raw_count();
SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()], ' ');
for (uint8_t j = 31; j > 0; j--)
SERIAL_ECHO((bool)(0x00000001 & (raw_count >> j)));
SERIAL_ECHO((bool)(0x00000001 & raw_count));
SERIAL_CHAR(' ');
SERIAL_ECHOLN(raw_count);
}
else
SERIAL_ECHOLN(encoders[idx].get_position());
}
}
void I2CPositionEncodersMgr::change_module_address(const uint8_t oldaddr, const uint8_t newaddr) {
// First check 'new' address is not in use
Wire.beginTransmission(I2C_ADDRESS(newaddr));
if (!Wire.endTransmission()) {
SERIAL_ECHOLNPGM("?There is already a device with that address on the I2C bus! (", newaddr, ")");
return;
}
// Now check that we can find the module on the oldaddr address
Wire.beginTransmission(I2C_ADDRESS(oldaddr));
if (Wire.endTransmission()) {
SERIAL_ECHOLNPGM("?No module detected at this address! (", oldaddr, ")");
return;
}
SERIAL_ECHOLNPGM("Module found at ", oldaddr, ", changing address to ", newaddr);
// Change the modules address
Wire.beginTransmission(I2C_ADDRESS(oldaddr));
Wire.write(I2CPE_SET_ADDR);
Wire.write(newaddr);
Wire.endTransmission();
SERIAL_ECHOLNPGM("Address changed, resetting and waiting for confirmation..");
// Wait for the module to reset (can probably be improved by polling address with a timeout).
safe_delay(I2CPE_REBOOT_TIME);
// Look for the module at the new address.
Wire.beginTransmission(I2C_ADDRESS(newaddr));
if (Wire.endTransmission()) {
SERIAL_ECHOLNPGM("Address change failed! Check encoder module.");
return;
}
SERIAL_ECHOLNPGM("Address change successful!");
// Now, if this module is configured, find which encoder instance it's supposed to correspond to
// and enable it (it will likely have failed initialization on power-up, before the address change).
const int8_t idx = idx_from_addr(newaddr);
if (idx >= 0 && !encoders[idx].get_active()) {
SERIAL_CHAR(AXIS_CHAR(encoders[idx).get_axis()]);
SERIAL_ECHOLNPGM(" axis encoder was not detected on printer startup. Trying again.");
encoders[idx].set_active(encoders[idx].passes_test(true));
}
}
void I2CPositionEncodersMgr::report_module_firmware(const uint8_t address) {
// First check there is a module
Wire.beginTransmission(I2C_ADDRESS(address));
if (Wire.endTransmission()) {
SERIAL_ECHOLNPGM("?No module detected at this address! (", address, ")");
return;
}
SERIAL_ECHOLNPGM("Requesting version info from module at address ", address, ":");
Wire.beginTransmission(I2C_ADDRESS(address));
Wire.write(I2CPE_SET_REPORT_MODE);
Wire.write(I2CPE_REPORT_VERSION);
Wire.endTransmission();
// Read value
if (Wire.requestFrom(I2C_ADDRESS(address), uint8_t(32))) {
char c;
while (Wire.available() > 0 && (c = (char)Wire.read()) > 0)
SERIAL_CHAR(c);
SERIAL_EOL();
}
// Set module back to normal (distance) mode
Wire.beginTransmission(I2C_ADDRESS(address));
Wire.write(I2CPE_SET_REPORT_MODE);
Wire.write(I2CPE_REPORT_DISTANCE);
Wire.endTransmission();
}
int8_t I2CPositionEncodersMgr::parse() {
I2CPE_addr = 0;
if (parser.seen('A')) {
if (!parser.has_value()) {
SERIAL_ECHOLNPGM("?A seen, but no address specified! [30-200]");
return I2CPE_PARSE_ERR;
}
I2CPE_addr = parser.value_byte();
if (!WITHIN(I2CPE_addr, 30, 200)) { // reserve the first 30 and last 55
SERIAL_ECHOLNPGM("?Address out of range. [30-200]");
return I2CPE_PARSE_ERR;
}
I2CPE_idx = idx_from_addr(I2CPE_addr);
if (I2CPE_idx >= I2CPE_ENCODER_CNT) {
SERIAL_ECHOLNPGM("?No device with this address!");
return I2CPE_PARSE_ERR;
}
}
else if (parser.seenval('I')) {
if (!parser.has_value()) {
SERIAL_ECHOLNPGM("?I seen, but no index specified! [0-", I2CPE_ENCODER_CNT - 1, "]");
return I2CPE_PARSE_ERR;
}
I2CPE_idx = parser.value_byte();
if (I2CPE_idx >= I2CPE_ENCODER_CNT) {
SERIAL_ECHOLNPGM("?Index out of range. [0-", I2CPE_ENCODER_CNT - 1, "]");
return I2CPE_PARSE_ERR;
}
I2CPE_addr = encoders[I2CPE_idx].get_address();
}
else
I2CPE_idx = 0xFF;
I2CPE_anyaxis = parser.seen_axis();
return I2CPE_PARSE_OK;
}
/**
* M860: Report the position(s) of position encoder module(s).
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1]
* O Include homed zero-offset in returned position.
* U Units in mm or raw step count.
*
* If A or I not specified:
* X Report on X axis encoder, if present.
* Y Report on Y axis encoder, if present.
* Z Report on Z axis encoder, if present.
* E Report on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M860() {
if (parse()) return;
const bool hasU = parser.seen_test('U'), hasO = parser.seen_test('O');
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen_test(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_position(idx, hasU, hasO);
}
}
}
else
report_position(I2CPE_idx, hasU, hasO);
}
/**
* M861: Report the status of position encoder modules.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1]
*
* If A or I not specified:
* X Report on X axis encoder, if present.
* Y Report on Y axis encoder, if present.
* Z Report on Z axis encoder, if present.
* E Report on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M861() {
if (parse()) return;
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_status(idx);
}
}
}
else
report_status(I2CPE_idx);
}
/**
* M862: Perform an axis continuity test for position encoder
* modules.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1]
*
* If A or I not specified:
* X Report on X axis encoder, if present.
* Y Report on Y axis encoder, if present.
* Z Report on Z axis encoder, if present.
* E Report on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M862() {
if (parse()) return;
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) test_axis(idx);
}
}
}
else
test_axis(I2CPE_idx);
}
/**
* M863: Perform steps-per-mm calibration for
* position encoder modules.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1]
* P Number of rePeats/iterations.
*
* If A or I not specified:
* X Report on X axis encoder, if present.
* Y Report on Y axis encoder, if present.
* Z Report on Z axis encoder, if present.
* E Report on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M863() {
if (parse()) return;
const uint8_t iterations = constrain(parser.byteval('P', 1), 1, 10);
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) calibrate_steps_mm(idx, iterations);
}
}
}
else
calibrate_steps_mm(I2CPE_idx, iterations);
}
/**
* M864: Change position encoder module I2C address.
*
* A<addr> Module current/old I2C address. If not present,
* assumes default address (030). [30, 200].
* S<addr> Module new I2C address. [30, 200].
*
* If S is not specified:
* X Use I2CPE_PRESET_ADDR_X (030).
* Y Use I2CPE_PRESET_ADDR_Y (031).
* Z Use I2CPE_PRESET_ADDR_Z (032).
* E Use I2CPE_PRESET_ADDR_E (033).
*/
void I2CPositionEncodersMgr::M864() {
uint8_t newAddress;
if (parse()) return;
if (!I2CPE_addr) I2CPE_addr = I2CPE_PRESET_ADDR_X;
if (parser.seen('S')) {
if (!parser.has_value()) {
SERIAL_ECHOLNPGM("?S seen, but no address specified! [30-200]");
return;
}
newAddress = parser.value_byte();
if (!WITHIN(newAddress, 30, 200)) {
SERIAL_ECHOLNPGM("?New address out of range. [30-200]");
return;
}
}
else if (!I2CPE_anyaxis) {
SERIAL_ECHOLNPGM("?You must specify S or [XYZE].");
return;
}
else {
if (parser.seen_test('X')) newAddress = I2CPE_PRESET_ADDR_X;
else if (parser.seen_test('Y')) newAddress = I2CPE_PRESET_ADDR_Y;
else if (parser.seen_test('Z')) newAddress = I2CPE_PRESET_ADDR_Z;
else if (parser.seen_test('E')) newAddress = I2CPE_PRESET_ADDR_E;
else return;
}
SERIAL_ECHOLNPGM("Changing module at address ", I2CPE_addr, " to address ", newAddress);
change_module_address(I2CPE_addr, newAddress);
}
/**
* M865: Check position encoder module firmware version.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
*
* If A or I not specified:
* X Check X axis encoder, if present.
* Y Check Y axis encoder, if present.
* Z Check Z axis encoder, if present.
* E Check E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M865() {
if (parse()) return;
if (!I2CPE_addr) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_module_firmware(encoders[idx].get_address());
}
}
}
else
report_module_firmware(I2CPE_addr);
}
/**
* M866: Report or reset position encoder module error
* count.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
* R Reset error counter.
*
* If A or I not specified:
* X Act on X axis encoder, if present.
* Y Act on Y axis encoder, if present.
* Z Act on Z axis encoder, if present.
* E Act on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M866() {
if (parse()) return;
const bool hasR = parser.seen_test('R');
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
if (hasR)
reset_error_count(idx, AxisEnum(i));
else
report_error_count(idx, AxisEnum(i));
}
}
}
}
else if (hasR)
reset_error_count(I2CPE_idx, encoders[I2CPE_idx].get_axis());
else
report_error_count(I2CPE_idx, encoders[I2CPE_idx].get_axis());
}
/**
* M867: Enable/disable or toggle error correction for position encoder modules.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
* S<1|0> Enable/disable error correction. 1 enables, 0 disables. If not
* supplied, toggle.
*
* If A or I not specified:
* X Act on X axis encoder, if present.
* Y Act on Y axis encoder, if present.
* Z Act on Z axis encoder, if present.
* E Act on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M867() {
if (parse()) return;
const int8_t onoff = parser.seenval('S') ? parser.value_int() : -1;
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff;
enable_ec(idx, ena, AxisEnum(i));
}
}
}
}
else {
const bool ena = onoff == -1 ? !encoders[I2CPE_idx].get_ec_enabled() : !!onoff;
enable_ec(I2CPE_idx, ena, encoders[I2CPE_idx].get_axis());
}
}
/**
* M868: Report or set position encoder module error correction
* threshold.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
* T New error correction threshold.
*
* If A not specified:
* X Act on X axis encoder, if present.
* Y Act on Y axis encoder, if present.
* Z Act on Z axis encoder, if present.
* E Act on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M868() {
if (parse()) return;
const float newThreshold = parser.seenval('T') ? parser.value_float() : -9999;
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) {
if (newThreshold != -9999)
set_ec_threshold(idx, newThreshold, encoders[idx].get_axis());
else
get_ec_threshold(idx, encoders[idx].get_axis());
}
}
}
}
else if (newThreshold != -9999)
set_ec_threshold(I2CPE_idx, newThreshold, encoders[I2CPE_idx].get_axis());
else
get_ec_threshold(I2CPE_idx, encoders[I2CPE_idx].get_axis());
}
/**
* M869: Report position encoder module error.
*
* A<addr> Module I2C address. [30, 200].
* I<index> Module index. [0, I2CPE_ENCODER_CNT - 1].
*
* If A not specified:
* X Act on X axis encoder, if present.
* Y Act on Y axis encoder, if present.
* Z Act on Z axis encoder, if present.
* E Act on E axis encoder, if present.
*/
void I2CPositionEncodersMgr::M869() {
if (parse()) return;
if (I2CPE_idx == 0xFF) {
LOOP_LOGICAL_AXES(i) {
if (!I2CPE_anyaxis || parser.seen(AXIS_CHAR(i))) {
const uint8_t idx = idx_from_axis(AxisEnum(i));
if ((int8_t)idx >= 0) report_error(idx);
}
}
}
else
report_error(I2CPE_idx);
}
#endif // I2C_POSITION_ENCODERS
| 2301_81045437/Marlin | Marlin/src/feature/encoder_i2c.cpp | C++ | agpl-3.0 | 35,507 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
#include "../module/planner.h"
#include <Wire.h>
//=========== Advanced / Less-Common Encoder Configuration Settings ==========
#define I2CPE_EC_THRESH_PROPORTIONAL // if enabled adjusts the error correction threshold
// proportional to the current speed of the axis allows
// for very small error margin at low speeds without
// stuttering due to reading latency at high speeds
#define I2CPE_DEBUG // enable encoder-related debug serial echos
#define I2CPE_REBOOT_TIME 5000 // time we wait for an encoder module to reboot
// after changing address.
#define I2CPE_MAG_SIG_GOOD 0
#define I2CPE_MAG_SIG_MID 1
#define I2CPE_MAG_SIG_BAD 2
#define I2CPE_MAG_SIG_NF 255
#define I2CPE_REQ_REPORT 0
#define I2CPE_RESET_COUNT 1
#define I2CPE_SET_ADDR 2
#define I2CPE_SET_REPORT_MODE 3
#define I2CPE_CLEAR_EEPROM 4
#define I2CPE_LED_PAR_MODE 10
#define I2CPE_LED_PAR_BRT 11
#define I2CPE_LED_PAR_RATE 14
#define I2CPE_REPORT_DISTANCE 0
#define I2CPE_REPORT_STRENGTH 1
#define I2CPE_REPORT_VERSION 2
// Default I2C addresses
#define I2CPE_PRESET_ADDR_X 30
#define I2CPE_PRESET_ADDR_Y 31
#define I2CPE_PRESET_ADDR_Z 32
#define I2CPE_PRESET_ADDR_E 33
#define I2CPE_DEF_AXIS X_AXIS
#define I2CPE_DEF_ADDR I2CPE_PRESET_ADDR_X
// Error event counter; tracks how many times there is an error exceeding a certain threshold
#define I2CPE_ERR_CNT_THRESH 3.00
#define I2CPE_ERR_CNT_DEBOUNCE_MS 2000
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
#define I2CPE_ERR_ARRAY_SIZE 32
#define I2CPE_ERR_PRST_ARRAY_SIZE 10
#endif
// Error Correction Methods
#define I2CPE_ECM_NONE 0
#define I2CPE_ECM_MICROSTEP 1
#define I2CPE_ECM_PLANNER 2
#define I2CPE_ECM_STALLDETECT 3
// Encoder types
#define I2CPE_ENC_TYPE_ROTARY 0
#define I2CPE_ENC_TYPE_LINEAR 1
// Parser
#define I2CPE_PARSE_ERR 1
#define I2CPE_PARSE_OK 0
#define LOOP_PE(VAR) for (uint8_t VAR = 0; VAR < I2CPE_ENCODER_CNT; ++VAR)
#define CHECK_IDX() do{ if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return; }while(0)
typedef union {
volatile int32_t val = 0;
uint8_t bval[4];
} i2cLong;
class I2CPositionEncoder {
private:
AxisEnum encoderAxis = I2CPE_DEF_AXIS;
uint8_t i2cAddress = I2CPE_DEF_ADDR,
ecMethod = I2CPE_DEF_EC_METHOD,
type = I2CPE_DEF_TYPE,
H = I2CPE_MAG_SIG_NF; // Magnetic field strength
int encoderTicksPerUnit = I2CPE_DEF_ENC_TICKS_UNIT,
stepperTicks = I2CPE_DEF_TICKS_REV,
errorCount = 0,
errorPrev = 0;
float ecThreshold = I2CPE_DEF_EC_THRESH;
bool homed = false,
trusted = false,
initialized = false,
active = false,
invert = false,
ec = true;
int32_t zeroOffset = 0,
lastPosition = 0,
position;
millis_t lastPositionTime = 0,
nextErrorCountTime = 0,
lastErrorTime;
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
uint8_t errIdx = 0, errPrstIdx = 0;
int err[I2CPE_ERR_ARRAY_SIZE] = { 0 },
errPrst[I2CPE_ERR_PRST_ARRAY_SIZE] = { 0 };
#endif
public:
void init(const uint8_t address, const AxisEnum axis);
void reset();
void update();
void set_homed();
void set_unhomed();
int32_t get_raw_count();
FORCE_INLINE float mm_from_count(const int32_t count) {
switch (type) {
default: return -1;
case I2CPE_ENC_TYPE_LINEAR:
return count / encoderTicksPerUnit;
case I2CPE_ENC_TYPE_ROTARY:
return (count * stepperTicks) / (encoderTicksPerUnit * planner.settings.axis_steps_per_mm[encoderAxis]);
}
}
FORCE_INLINE float get_position_mm() { return mm_from_count(get_position()); }
FORCE_INLINE int32_t get_position() { return get_raw_count() - zeroOffset; }
int32_t get_axis_error_steps(const bool report);
float get_axis_error_mm(const bool report);
void calibrate_steps_mm(const uint8_t iter);
bool passes_test(const bool report);
bool test_axis();
FORCE_INLINE int get_error_count() { return errorCount; }
FORCE_INLINE void set_error_count(const int newCount) { errorCount = newCount; }
FORCE_INLINE uint8_t get_address() { return i2cAddress; }
FORCE_INLINE void set_address(const uint8_t addr) { i2cAddress = addr; }
FORCE_INLINE bool get_active() { return active; }
FORCE_INLINE void set_active(const bool a) { active = a; }
FORCE_INLINE void set_inverted(const bool i) { invert = i; }
FORCE_INLINE AxisEnum get_axis() { return encoderAxis; }
FORCE_INLINE bool get_ec_enabled() { return ec; }
FORCE_INLINE void set_ec_enabled(const bool enabled) { ec = enabled; }
FORCE_INLINE uint8_t get_ec_method() { return ecMethod; }
FORCE_INLINE void set_ec_method(const byte method) { ecMethod = method; }
FORCE_INLINE float get_ec_threshold() { return ecThreshold; }
FORCE_INLINE void set_ec_threshold(const_float_t newThreshold) { ecThreshold = newThreshold; }
FORCE_INLINE int get_encoder_ticks_mm() {
switch (type) {
default: return 0;
case I2CPE_ENC_TYPE_LINEAR:
return encoderTicksPerUnit;
case I2CPE_ENC_TYPE_ROTARY:
return (int)((encoderTicksPerUnit / stepperTicks) * planner.settings.axis_steps_per_mm[encoderAxis]);
}
}
FORCE_INLINE int get_ticks_unit() { return encoderTicksPerUnit; }
FORCE_INLINE void set_ticks_unit(const int ticks) { encoderTicksPerUnit = ticks; }
FORCE_INLINE uint8_t get_type() { return type; }
FORCE_INLINE void set_type(const byte newType) { type = newType; }
FORCE_INLINE int get_stepper_ticks() { return stepperTicks; }
FORCE_INLINE void set_stepper_ticks(const int ticks) { stepperTicks = ticks; }
};
class I2CPositionEncodersMgr {
private:
static bool I2CPE_anyaxis;
static uint8_t I2CPE_addr, I2CPE_idx;
public:
static void init();
// consider only updating one endoder per call / tick if encoders become too time intensive
static void update() { LOOP_PE(i) encoders[i].update(); }
static void homed(const AxisEnum axis) {
LOOP_PE(i)
if (encoders[i].get_axis() == axis) encoders[i].set_homed();
}
static void unhomed(const AxisEnum axis) {
LOOP_PE(i)
if (encoders[i].get_axis() == axis) encoders[i].set_unhomed();
}
static void report_position(const int8_t idx, const bool units, const bool noOffset);
static void report_status(const int8_t idx) {
CHECK_IDX();
SERIAL_ECHOLNPGM("Encoder ", idx, ": ");
encoders[idx].get_raw_count();
encoders[idx].passes_test(true);
}
static void report_error(const int8_t idx) {
CHECK_IDX();
encoders[idx].get_axis_error_steps(true);
}
static void test_axis(const int8_t idx) {
CHECK_IDX();
encoders[idx].test_axis();
}
static void calibrate_steps_mm(const int8_t idx, const int iterations) {
CHECK_IDX();
encoders[idx].calibrate_steps_mm(iterations);
}
static void change_module_address(const uint8_t oldaddr, const uint8_t newaddr);
static void report_module_firmware(const uint8_t address);
static void report_error_count(const int8_t idx, const AxisEnum axis) {
CHECK_IDX();
SERIAL_ECHOLNPGM("Error count on ", C(AXIS_CHAR(axis)), " axis is ", encoders[idx].get_error_count());
}
static void reset_error_count(const int8_t idx, const AxisEnum axis) {
CHECK_IDX();
encoders[idx].set_error_count(0);
SERIAL_ECHOLNPGM("Error count on ", C(AXIS_CHAR(axis)), " axis has been reset.");
}
static void enable_ec(const int8_t idx, const bool enabled, const AxisEnum axis) {
CHECK_IDX();
encoders[idx].set_ec_enabled(enabled);
SERIAL_ECHOPGM("Error correction on ", C(AXIS_CHAR(axis)));
SERIAL_ECHO_TERNARY(encoders[idx].get_ec_enabled(), " axis is ", "en", "dis", "abled.\n");
}
static void set_ec_threshold(const int8_t idx, const float newThreshold, const AxisEnum axis) {
CHECK_IDX();
encoders[idx].set_ec_threshold(newThreshold);
SERIAL_ECHOLNPGM("Error correct threshold for ", C(AXIS_CHAR(axis)), " axis set to ", newThreshold, "mm.");
}
static void get_ec_threshold(const int8_t idx, const AxisEnum axis) {
CHECK_IDX();
const float threshold = encoders[idx].get_ec_threshold();
SERIAL_ECHOLNPGM("Error correct threshold for ", C(AXIS_CHAR(axis)), " axis is ", threshold, "mm.");
}
static int8_t idx_from_axis(const AxisEnum axis) {
LOOP_PE(i)
if (encoders[i].get_axis() == axis) return i;
return -1;
}
static int8_t idx_from_addr(const uint8_t addr) {
LOOP_PE(i)
if (encoders[i].get_address() == addr) return i;
return -1;
}
static int8_t parse();
static void M860();
static void M861();
static void M862();
static void M863();
static void M864();
static void M865();
static void M866();
static void M867();
static void M868();
static void M869();
static I2CPositionEncoder encoders[I2CPE_ENCODER_CNT];
};
extern I2CPositionEncodersMgr I2CPEM;
| 2301_81045437/Marlin | Marlin/src/feature/encoder_i2c.h | C++ | agpl-3.0 | 10,938 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfigPre.h"
#if HAS_ETHERNET
#include "ethernet.h"
#include "../core/serial.h"
#define DEBUG_OUT ENABLED(DEBUG_ETHERNET)
#include "../core/debug_out.h"
bool MarlinEthernet::hardware_enabled, // = false
MarlinEthernet::have_telnet_client; // = false
IPAddress MarlinEthernet::ip,
MarlinEthernet::myDns,
MarlinEthernet::gateway,
MarlinEthernet::subnet;
EthernetClient MarlinEthernet::telnetClient; // connected client
MarlinEthernet ethernet;
EthernetServer server(23); // telnet server
enum linkStates { UNLINKED, LINKING, LINKED, CONNECTING, CONNECTED, NO_HARDWARE } linkState;
#ifdef __IMXRT1062__
static void teensyMAC(uint8_t * const mac) {
const uint32_t m1 = HW_OCOTP_MAC1, m2 = HW_OCOTP_MAC0;
mac[0] = m1 >> 8;
mac[1] = m1 >> 0;
mac[2] = m2 >> 24;
mac[3] = m2 >> 16;
mac[4] = m2 >> 8;
mac[5] = m2 >> 0;
}
#else
byte mac[] = MAC_ADDRESS;
#endif
void ethernet_cable_error() { SERIAL_ERROR_MSG("Ethernet cable is not connected."); }
void MarlinEthernet::init() {
if (!hardware_enabled) return;
SERIAL_ECHO_MSG("Starting network...");
// Init the Ethernet device
#ifdef __IMXRT1062__
uint8_t mac[6];
teensyMAC(mac);
#endif
if (!ip) {
Ethernet.begin(mac); // use DHCP
}
else {
if (!gateway) {
gateway = ip;
gateway[3] = 1;
myDns = gateway;
subnet = IPAddress(255,255,255,0);
}
if (!myDns) myDns = gateway;
if (!subnet) subnet = IPAddress(255,255,255,0);
Ethernet.begin(mac, ip, myDns, gateway, subnet);
}
// Check for Ethernet hardware present
if (Ethernet.hardwareStatus() == EthernetNoHardware) {
SERIAL_ERROR_MSG("No Ethernet hardware found.");
linkState = NO_HARDWARE;
return;
}
linkState = UNLINKED;
if (Ethernet.linkStatus() == LinkOFF)
ethernet_cable_error();
}
void MarlinEthernet::check() {
if (!hardware_enabled) return;
switch (linkState) {
case NO_HARDWARE:
break;
case UNLINKED:
if (Ethernet.linkStatus() == LinkOFF) break;
SERIAL_ECHOLNPGM("Ethernet cable connected");
server.begin();
linkState = LINKING;
break;
case LINKING:
if (!Ethernet.localIP()) break;
SERIAL_ECHOPGM("Successfully started telnet server with IP ");
MYSERIAL1.println(Ethernet.localIP());
linkState = LINKED;
break;
case LINKED:
if (Ethernet.linkStatus() == LinkOFF) {
ethernet_cable_error();
linkState = UNLINKED;
break;
}
telnetClient = server.accept();
if (telnetClient) linkState = CONNECTING;
break;
case CONNECTING:
telnetClient.println("Marlin " SHORT_BUILD_VERSION);
#if defined(STRING_DISTRIBUTION_DATE) && defined(STRING_CONFIG_H_AUTHOR)
telnetClient.println(
" Last Updated: " STRING_DISTRIBUTION_DATE
" | Author: " STRING_CONFIG_H_AUTHOR
);
#endif
telnetClient.println(" Compiled: " __DATE__);
SERIAL_ECHOLNPGM("Client connected");
have_telnet_client = true;
linkState = CONNECTED;
break;
case CONNECTED:
if (telnetClient && !telnetClient.connected()) {
SERIAL_ECHOLNPGM("Client disconnected");
telnetClient.stop();
have_telnet_client = false;
linkState = LINKED;
}
if (Ethernet.linkStatus() == LinkOFF) {
ethernet_cable_error();
if (telnetClient) telnetClient.stop();
linkState = UNLINKED;
}
break;
default: break;
}
}
#endif // HAS_ETHERNET
| 2301_81045437/Marlin | Marlin/src/feature/ethernet.cpp | C++ | agpl-3.0 | 4,462 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#ifdef __IMXRT1062__
#include <NativeEthernet.h>
#endif
// Teensy 4.1 uses internal MAC Address
class MarlinEthernet {
public:
static bool hardware_enabled, have_telnet_client;
static IPAddress ip, myDns, gateway, subnet;
static EthernetClient telnetClient;
static void init();
static void check();
};
extern MarlinEthernet ethernet;
| 2301_81045437/Marlin | Marlin/src/feature/ethernet.h | C++ | agpl-3.0 | 1,237 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* fancheck.cpp - fan tachometer check
*/
#include "../inc/MarlinConfig.h"
#if HAS_FANCHECK
#include "fancheck.h"
#include "../module/temperature.h"
#if HAS_AUTO_FAN && EXTRUDER_AUTO_FAN_SPEED != 255 && DISABLED(FOURWIRES_FANS)
bool FanCheck::measuring = false;
#endif
Flags<TACHO_COUNT> FanCheck::tacho_state;
uint16_t FanCheck::edge_counter[TACHO_COUNT];
uint8_t FanCheck::rps[TACHO_COUNT];
FanCheck::TachoError FanCheck::error = FanCheck::TachoError::NONE;
bool FanCheck::enabled;
void FanCheck::init() {
#define _TACHINIT(N) TERN(E##N##_FAN_TACHO_PULLUP, SET_INPUT_PULLUP, TERN(E##N##_FAN_TACHO_PULLDOWN, SET_INPUT_PULLDOWN, SET_INPUT))(E##N##_FAN_TACHO_PIN)
#if HAS_E0_FAN_TACHO
_TACHINIT(0);
#endif
#if HAS_E1_FAN_TACHO
_TACHINIT(1);
#endif
#if HAS_E2_FAN_TACHO
_TACHINIT(2);
#endif
#if HAS_E3_FAN_TACHO
_TACHINIT(3);
#endif
#if HAS_E4_FAN_TACHO
_TACHINIT(4);
#endif
#if HAS_E5_FAN_TACHO
_TACHINIT(5);
#endif
#if HAS_E6_FAN_TACHO
_TACHINIT(6);
#endif
#if HAS_E7_FAN_TACHO
_TACHINIT(7);
#endif
}
void FanCheck::update_tachometers() {
bool status;
#define _TACHO_CASE(N) case N: status = READ(E##N##_FAN_TACHO_PIN); break;
for (uint8_t f = 0; f < TACHO_COUNT; ++f) {
switch (f) {
#if HAS_E0_FAN_TACHO
_TACHO_CASE(0)
#endif
#if HAS_E1_FAN_TACHO
_TACHO_CASE(1)
#endif
#if HAS_E2_FAN_TACHO
_TACHO_CASE(2)
#endif
#if HAS_E3_FAN_TACHO
_TACHO_CASE(3)
#endif
#if HAS_E4_FAN_TACHO
_TACHO_CASE(4)
#endif
#if HAS_E5_FAN_TACHO
_TACHO_CASE(5)
#endif
#if HAS_E6_FAN_TACHO
_TACHO_CASE(6)
#endif
#if HAS_E7_FAN_TACHO
_TACHO_CASE(7)
#endif
default: continue;
}
if (status != tacho_state[f]) {
if (measuring) ++edge_counter[f];
tacho_state.set(f, status);
}
}
}
void FanCheck::compute_speed(uint16_t elapsedTime) {
static uint8_t errors_count[TACHO_COUNT];
static uint8_t fan_reported_errors_msk = 0;
uint8_t fan_error_msk = 0;
for (uint8_t f = 0; f < TACHO_COUNT; ++f) {
switch (f) {
TERN_(HAS_E0_FAN_TACHO, case 0:)
TERN_(HAS_E1_FAN_TACHO, case 1:)
TERN_(HAS_E2_FAN_TACHO, case 2:)
TERN_(HAS_E3_FAN_TACHO, case 3:)
TERN_(HAS_E4_FAN_TACHO, case 4:)
TERN_(HAS_E5_FAN_TACHO, case 5:)
TERN_(HAS_E6_FAN_TACHO, case 6:)
TERN_(HAS_E7_FAN_TACHO, case 7:)
// Compute fan speed
rps[f] = edge_counter[f] * float(250) / elapsedTime;
edge_counter[f] = 0;
// Check fan speed
constexpr int8_t max_extruder_fan_errors = TERN(HAS_PWMFANCHECK, 10000, 5000) / Temperature::fan_update_interval_ms;
if (rps[f] >= 20 || TERN0(HAS_AUTO_FAN, thermalManager.autofan_speed[f] == 0))
errors_count[f] = 0;
else if (errors_count[f] < max_extruder_fan_errors)
++errors_count[f];
else if (enabled)
SBI(fan_error_msk, f);
break;
}
}
// Drop the error when all fans are ok
if (!fan_error_msk && error == TachoError::REPORTED) error = TachoError::FIXED;
if (error == TachoError::FIXED && !printJobOngoing() && !printingIsPaused()) {
error = TachoError::NONE; // if the issue has been fixed while the printer is idle, reenable immediately
ui.reset_alert_level();
}
if (fan_error_msk & ~fan_reported_errors_msk) {
// Handle new faults only
for (uint8_t f = 0; f < TACHO_COUNT; ++f) if (TEST(fan_error_msk, f)) report_speed_error(f);
}
fan_reported_errors_msk = fan_error_msk;
}
void FanCheck::report_speed_error(uint8_t fan) {
if (printJobOngoing()) {
if (error == TachoError::NONE) {
if (thermalManager.degTargetHotend(fan) != 0) {
kill(GET_TEXT_F(MSG_FAN_SPEED_FAULT));
error = TachoError::REPORTED;
}
else
error = TachoError::DETECTED; // Plans error for next processed command
}
}
else if (!printingIsPaused()) {
thermalManager.setTargetHotend(0, fan); // Always disable heating
if (error == TachoError::NONE) error = TachoError::REPORTED;
}
SERIAL_ERROR_MSG(STR_ERR_FANSPEED, fan);
LCD_ALERTMESSAGE(MSG_FAN_SPEED_FAULT);
}
void FanCheck::print_fan_states() {
for (uint8_t s = 0; s < 2; ++s) {
for (uint8_t f = 0; f < TACHO_COUNT; ++f) {
switch (f) {
TERN_(HAS_E0_FAN_TACHO, case 0:)
TERN_(HAS_E1_FAN_TACHO, case 1:)
TERN_(HAS_E2_FAN_TACHO, case 2:)
TERN_(HAS_E3_FAN_TACHO, case 3:)
TERN_(HAS_E4_FAN_TACHO, case 4:)
TERN_(HAS_E5_FAN_TACHO, case 5:)
TERN_(HAS_E6_FAN_TACHO, case 6:)
TERN_(HAS_E7_FAN_TACHO, case 7:)
SERIAL_ECHOPGM("E", f);
if (s == 0)
SERIAL_ECHOPGM(":", 60 * rps[f], " RPM ");
else
SERIAL_ECHOPGM("@:", TERN(HAS_AUTO_FAN, thermalManager.autofan_speed[f], 255), " ");
break;
}
}
}
SERIAL_EOL();
}
#if ENABLED(AUTO_REPORT_FANS)
AutoReporter<FanCheck::AutoReportFan> FanCheck::auto_reporter;
void FanCheck::AutoReportFan::report() { print_fan_states(); }
#endif
#endif // HAS_FANCHECK
| 2301_81045437/Marlin | Marlin/src/feature/fancheck.cpp | C++ | agpl-3.0 | 6,046 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
#if HAS_FANCHECK
#include "../MarlinCore.h"
#include "../lcd/marlinui.h"
#if ENABLED(AUTO_REPORT_FANS)
#include "../libs/autoreport.h"
#endif
#if ENABLED(PARK_HEAD_ON_PAUSE)
#include "../gcode/queue.h"
#endif
/**
* fancheck.h
*/
#define TACHO_COUNT TERN(HAS_E7_FAN_TACHO, 8, TERN(HAS_E6_FAN_TACHO, 7, TERN(HAS_E5_FAN_TACHO, 6, TERN(HAS_E4_FAN_TACHO, 5, TERN(HAS_E3_FAN_TACHO, 4, TERN(HAS_E2_FAN_TACHO, 3, TERN(HAS_E1_FAN_TACHO, 2, 1)))))))
class FanCheck {
private:
enum class TachoError : uint8_t { NONE, DETECTED, REPORTED, FIXED };
#if HAS_PWMFANCHECK
static bool measuring; // For future use (3 wires PWM controlled fans)
#else
static constexpr bool measuring = true;
#endif
static Flags<TACHO_COUNT> tacho_state;
static uint16_t edge_counter[TACHO_COUNT];
static uint8_t rps[TACHO_COUNT];
static TachoError error;
static void report_speed_error(uint8_t fan);
public:
static bool enabled;
static void init();
static void update_tachometers();
static void compute_speed(uint16_t elapsedTime);
static void print_fan_states();
#if HAS_PWMFANCHECK
static void toggle_measuring() { measuring = !measuring; }
static bool is_measuring() { return measuring; }
#endif
static void check_deferred_error() {
if (error == TachoError::DETECTED) {
error = TachoError::REPORTED;
TERN(PARK_HEAD_ON_PAUSE, queue.inject(F("M125")), kill(GET_TEXT_F(MSG_FAN_SPEED_FAULT)));
}
}
#if ENABLED(AUTO_REPORT_FANS)
struct AutoReportFan { static void report(); };
static AutoReporter<AutoReportFan> auto_reporter;
#endif
};
extern FanCheck fan_check;
#endif // HAS_FANCHECK
| 2301_81045437/Marlin | Marlin/src/feature/fancheck.h | C++ | agpl-3.0 | 2,629 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* feature/pause.cpp - Pause feature support functions
* This may be combined with related G-codes if features are consolidated.
*/
#include "../inc/MarlinConfig.h"
#if HAS_FANMUX
#include "fanmux.h"
void fanmux_switch(const uint8_t e) {
WRITE(FANMUX0_PIN, TEST(e, 0) ? HIGH : LOW);
#if PIN_EXISTS(FANMUX1)
WRITE(FANMUX1_PIN, TEST(e, 1) ? HIGH : LOW);
#if PIN_EXISTS(FANMUX2)
WRITE(FANMUX2_PIN, TEST(e, 2) ? HIGH : LOW);
#endif
#endif
}
void fanmux_init() {
SET_OUTPUT(FANMUX0_PIN);
#if PIN_EXISTS(FANMUX1)
SET_OUTPUT(FANMUX1_PIN);
#if PIN_EXISTS(FANMUX2)
SET_OUTPUT(FANMUX2_PIN);
#endif
#endif
fanmux_switch(0);
}
#endif // HAS_FANMUX
| 2301_81045437/Marlin | Marlin/src/feature/fanmux.cpp | C++ | agpl-3.0 | 1,561 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* feature/fanmux.h - Cooling Fan Multiplexer support functions
*/
void fanmux_switch(const uint8_t e);
void fanmux_init();
| 2301_81045437/Marlin | Marlin/src/feature/fanmux.h | C | agpl-3.0 | 1,006 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(FILAMENT_WIDTH_SENSOR)
#include "filwidth.h"
FilamentWidthSensor filwidth;
bool FilamentWidthSensor::enabled; // = false; // (M405-M406) Filament Width Sensor ON/OFF.
uint32_t FilamentWidthSensor::accum; // = 0 // ADC accumulator
uint16_t FilamentWidthSensor::raw; // = 0 // Measured filament diameter - one extruder only
float FilamentWidthSensor::nominal_mm = DEFAULT_NOMINAL_FILAMENT_DIA, // (M104) Nominal filament width
FilamentWidthSensor::measured_mm = DEFAULT_MEASURED_FILAMENT_DIA, // Measured filament diameter
FilamentWidthSensor::e_count = 0,
FilamentWidthSensor::delay_dist = 0;
uint8_t FilamentWidthSensor::meas_delay_cm = MEASUREMENT_DELAY_CM; // Distance delay setting
int8_t FilamentWidthSensor::ratios[MAX_MEASUREMENT_DELAY + 1], // Ring buffer to delay measurement. (Extruder factor minus 100)
FilamentWidthSensor::index_r, // Indexes into ring buffer
FilamentWidthSensor::index_w;
void FilamentWidthSensor::init() {
const int8_t ratio = sample_to_size_ratio();
for (uint8_t i = 0; i < COUNT(ratios); ++i) ratios[i] = ratio;
index_r = index_w = 0;
}
#endif // FILAMENT_WIDTH_SENSOR
| 2301_81045437/Marlin | Marlin/src/feature/filwidth.cpp | C++ | agpl-3.0 | 2,187 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
#include "../module/planner.h"
#include "../module/thermistor/thermistors.h"
class FilamentWidthSensor {
public:
static constexpr int MMD_CM = MAX_MEASUREMENT_DELAY + 1, MMD_MM = MMD_CM * 10;
static bool enabled; // (M405-M406) Filament Width Sensor ON/OFF.
static uint32_t accum; // ADC accumulator
static uint16_t raw; // Measured filament diameter - one extruder only
static float nominal_mm, // (M104) Nominal filament width
measured_mm, // Measured filament diameter
e_count, delay_dist;
static uint8_t meas_delay_cm; // Distance delay setting
static int8_t ratios[MMD_CM], // Ring buffer to delay measurement. (Extruder factor minus 100)
index_r, index_w; // Indexes into ring buffer
FilamentWidthSensor() { init(); }
static void init();
static void enable(const bool ena) { enabled = ena; }
static void set_delay_cm(const uint8_t cm) {
meas_delay_cm = _MIN(cm, MAX_MEASUREMENT_DELAY);
}
/**
* Convert Filament Width (mm) to an extrusion ratio
* and reduce to an 8 bit value.
*
* A nominal width of 1.75 and measured width of 1.73
* gives (100 * 1.75 / 1.73) for a ratio of 101 and
* a return value of 1.
*/
static int8_t sample_to_size_ratio() {
return ABS(nominal_mm - measured_mm) <= FILWIDTH_ERROR_MARGIN
? int(100.0f * nominal_mm / measured_mm) - 100 : 0;
}
// Apply a single ADC reading to the raw value
static void accumulate(const uint16_t adc) {
if (adc > 102) // Ignore ADC under 0.5 volts
accum += (uint32_t(adc) << 7) - (accum >> 7);
}
// Convert raw measurement to mm
static float raw_to_mm(const uint16_t v) { return v * (float(ADC_VREF_MV) / 1000.0f) * RECIPROCAL(float(MAX_RAW_THERMISTOR_VALUE)); }
static float raw_to_mm() { return raw_to_mm(raw); }
// A scaled reading is ready
// Divide to get to 0-16384 range since we used 1/128 IIR filter approach
static void reading_ready() { raw = accum >> 10; }
// Update mm from the raw measurement
static void update_measured_mm() { measured_mm = raw_to_mm(); }
// Update ring buffer used to delay filament measurements
static void advance_e(const_float_t e_move) {
// Increment counters with the E distance
e_count += e_move;
delay_dist += e_move;
// Only get new measurements on forward E movement
if (!UNEAR_ZERO(e_count)) {
// Loop the delay distance counter (modulus by the mm length)
while (delay_dist >= MMD_MM) delay_dist -= MMD_MM;
// Convert into an index (cm) into the measurement array
index_r = int8_t(delay_dist * 0.1f);
// If the ring buffer is not full...
if (index_r != index_w) {
e_count = 0; // Reset the E movement counter
const int8_t meas_sample = sample_to_size_ratio();
do {
if (++index_w >= MMD_CM) index_w = 0; // The next unused slot
ratios[index_w] = meas_sample; // Store the measurement
} while (index_r != index_w); // More slots to fill?
}
}
}
// Dynamically set the volumetric multiplier based on the delayed width measurement.
static void update_volumetric() {
if (enabled) {
int8_t read_index = index_r - meas_delay_cm;
if (read_index < 0) read_index += MMD_CM; // Loop around buffer if needed
LIMIT(read_index, 0, MAX_MEASUREMENT_DELAY);
planner.apply_filament_width_sensor(ratios[read_index]);
}
}
};
extern FilamentWidthSensor filwidth;
| 2301_81045437/Marlin | Marlin/src/feature/filwidth.h | C++ | agpl-3.0 | 4,488 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* fwretract.cpp - Implement firmware-based retraction
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(FWRETRACT)
#include "fwretract.h"
FWRetract fwretract; // Single instance - this calls the constructor
#include "../module/motion.h"
#include "../module/planner.h"
#include "../gcode/gcode.h"
#if ENABLED(RETRACT_SYNC_MIXING)
#include "mixing.h"
#endif
// private:
#if HAS_MULTI_EXTRUDER
Flags<EXTRUDERS> FWRetract::retracted_swap; // Which extruders are swap-retracted
#endif
// public:
fwretract_settings_t FWRetract::settings; // M207 S F Z W, M208 S F W R
#if ENABLED(FWRETRACT_AUTORETRACT)
bool FWRetract::autoretract_enabled; // M209 S - Autoretract switch
#endif
Flags<EXTRUDERS> FWRetract::retracted; // Which extruders are currently retracted
float FWRetract::current_retract[EXTRUDERS], // Retract value used by planner
FWRetract::current_hop;
void FWRetract::reset() {
TERN_(FWRETRACT_AUTORETRACT, autoretract_enabled = false);
settings.retract_length = RETRACT_LENGTH;
settings.retract_feedrate_mm_s = RETRACT_FEEDRATE;
settings.retract_zraise = RETRACT_ZRAISE;
settings.retract_recover_extra = RETRACT_RECOVER_LENGTH;
settings.retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE;
settings.swap_retract_length = RETRACT_LENGTH_SWAP;
settings.swap_retract_recover_extra = RETRACT_RECOVER_LENGTH_SWAP;
settings.swap_retract_recover_feedrate_mm_s = RETRACT_RECOVER_FEEDRATE_SWAP;
current_hop = 0.0;
retracted.reset();
EXTRUDER_LOOP() {
E_TERN_(retracted_swap.clear(e));
current_retract[e] = 0.0;
}
}
/**
* Retract or recover according to firmware settings
*
* This function handles retract/recover moves for G10 and G11,
* plus auto-retract moves sent from G0/G1 when E-only moves are done.
*
* To simplify the logic, doubled retract/recover moves are ignored.
*
* Note: Auto-retract will apply the set Z hop in addition to any Z hop
* included in the G-code. Use M207 Z0 to to prevent double hop.
*/
void FWRetract::retract(const bool retracting E_OPTARG(bool swapping/*=false*/)) {
// Prevent two retracts or recovers in a row
if (retracted[active_extruder] == retracting) return;
// Prevent two swap-retract or recovers in a row
#if HAS_MULTI_EXTRUDER
// Allow G10 S1 only after G11
if (swapping && retracted_swap[active_extruder] == retracting) return;
// G11 priority to recover the long retract if activated
if (!retracting) swapping = retracted_swap[active_extruder];
#else
constexpr bool swapping = false;
#endif
/* // debugging
SERIAL_ECHOLNPGM(
"retracting ", AS_DIGIT(retracting),
" swapping ", swapping,
" active extruder ", active_extruder
);
EXTRUDER_LOOP() {
SERIAL_ECHOLNPGM("retracted[", e, "] ", AS_DIGIT(retracted[e]));
#if HAS_MULTI_EXTRUDER
SERIAL_ECHOLNPGM("retracted_swap[", e, "] ", AS_DIGIT(retracted_swap[e]));
#endif
}
SERIAL_ECHOLNPGM("current_position.z ", current_position.z);
SERIAL_ECHOLNPGM("current_position.e ", current_position.e);
SERIAL_ECHOLNPGM("current_hop ", current_hop);
//*/
const float base_retract = TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS))
* (swapping ? settings.swap_retract_length : settings.retract_length);
// The current position will be the destination for E and Z moves
destination = current_position;
#if ENABLED(RETRACT_SYNC_MIXING)
const uint8_t old_mixing_tool = mixer.get_current_vtool();
mixer.T(MIXER_AUTORETRACT_TOOL);
#endif
const feedRate_t fr_max_z = planner.settings.max_feedrate_mm_s[Z_AXIS];
if (retracting) {
// Retract by moving from a faux E position back to the current E position
current_retract[active_extruder] = base_retract;
prepare_internal_move_to_destination( // set current from destination
settings.retract_feedrate_mm_s * TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS))
);
// Is a Z hop set, and has the hop not yet been done?
if (!current_hop && settings.retract_zraise > 0.01f) { // Apply hop only once
current_hop += settings.retract_zraise; // Add to the hop total (again, only once)
// Raise up, set_current_to_destination. Maximum Z feedrate
prepare_internal_move_to_destination(fr_max_z);
}
}
else {
// If a hop was done and Z hasn't changed, undo the Z hop
if (current_hop) {
current_hop = 0;
// Lower Z, set_current_to_destination. Maximum Z feedrate
prepare_internal_move_to_destination(fr_max_z);
}
const float extra_recover = swapping ? settings.swap_retract_recover_extra : settings.retract_recover_extra;
if (extra_recover) {
current_position.e -= extra_recover; // Adjust the current E position by the extra amount to recover
sync_plan_position_e(); // Sync the planner position so the extra amount is recovered
}
current_retract[active_extruder] = 0;
// Recover E, set_current_to_destination
prepare_internal_move_to_destination(
(swapping ? settings.swap_retract_recover_feedrate_mm_s : settings.retract_recover_feedrate_mm_s)
* TERN1(RETRACT_SYNC_MIXING, (MIXING_STEPPERS))
);
}
TERN_(RETRACT_SYNC_MIXING, mixer.T(old_mixing_tool)); // Restore original mixing tool
retracted.set(active_extruder, retracting); // Active extruder now retracted / recovered
// If swap retract/recover update the retracted_swap flag too
#if HAS_MULTI_EXTRUDER
if (swapping) retracted_swap.set(active_extruder, retracting);
#endif
/* // debugging
SERIAL_ECHOLNPGM("retracting ", AS_DIGIT(retracting));
SERIAL_ECHOLNPGM("swapping ", AS_DIGIT(swapping));
SERIAL_ECHOLNPGM("active_extruder ", active_extruder);
EXTRUDER_LOOP() {
SERIAL_ECHOLNPGM("retracted[", e, "] ", AS_DIGIT(retracted[e]));
#if HAS_MULTI_EXTRUDER
SERIAL_ECHOLNPGM("retracted_swap[", e, "] ", AS_DIGIT(retracted_swap[e]));
#endif
}
SERIAL_ECHOLNPGM("current_position.z ", current_position.z);
SERIAL_ECHOLNPGM("current_position.e ", current_position.e);
SERIAL_ECHOLNPGM("current_hop ", current_hop);
//*/
}
/**
* M207: Set firmware retraction values
*
* S[+units] retract_length
* W[+units] swap_retract_length (multi-extruder)
* F[units/min] retract_feedrate_mm_s
* Z[units] retract_zraise
*/
void FWRetract::M207() {
if (!parser.seen("FSWZ")) return M207_report();
if (parser.seenval('S')) settings.retract_length = parser.value_axis_units(E_AXIS);
if (parser.seenval('F')) settings.retract_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
if (parser.seenval('Z')) settings.retract_zraise = parser.value_linear_units();
if (parser.seenval('W')) settings.swap_retract_length = parser.value_axis_units(E_AXIS);
}
void FWRetract::M207_report() {
TERN_(MARLIN_SMALL_BUILD, return);
SERIAL_ECHOLNPGM_P(
PSTR(" M207 S"), LINEAR_UNIT(settings.retract_length)
, PSTR(" W"), LINEAR_UNIT(settings.swap_retract_length)
, PSTR(" F"), LINEAR_UNIT(MMS_TO_MMM(settings.retract_feedrate_mm_s))
, SP_Z_STR, LINEAR_UNIT(settings.retract_zraise)
);
}
/**
* M208: Set firmware un-retraction values
*
* S[+units] retract_recover_extra (in addition to M207 S*)
* W[+units] swap_retract_recover_extra (multi-extruder)
* F[units/min] retract_recover_feedrate_mm_s
* R[units/min] swap_retract_recover_feedrate_mm_s
*/
void FWRetract::M208() {
if (!parser.seen("FSRW")) return M208_report();
if (parser.seen('S')) settings.retract_recover_extra = parser.value_axis_units(E_AXIS);
if (parser.seen('F')) settings.retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
if (parser.seen('R')) settings.swap_retract_recover_feedrate_mm_s = MMM_TO_MMS(parser.value_axis_units(E_AXIS));
if (parser.seen('W')) settings.swap_retract_recover_extra = parser.value_axis_units(E_AXIS);
}
void FWRetract::M208_report() {
TERN_(MARLIN_SMALL_BUILD, return);
SERIAL_ECHOLNPGM(
" M208 S", LINEAR_UNIT(settings.retract_recover_extra)
, " W", LINEAR_UNIT(settings.swap_retract_recover_extra)
, " F", LINEAR_UNIT(MMS_TO_MMM(settings.retract_recover_feedrate_mm_s))
);
}
#if ENABLED(FWRETRACT_AUTORETRACT)
/**
* M209: Enable automatic retract (M209 S1)
* For slicers that don't support G10/11, reversed extrude-only
* moves will be classified as retraction.
*/
void FWRetract::M209() {
if (!parser.seen('S')) return M209_report();
if (MIN_AUTORETRACT <= MAX_AUTORETRACT)
enable_autoretract(parser.value_bool());
}
void FWRetract::M209_report() {
TERN_(MARLIN_SMALL_BUILD, return);
SERIAL_ECHOLNPGM(" M209 S", AS_DIGIT(autoretract_enabled));
}
#endif // FWRETRACT_AUTORETRACT
#endif // FWRETRACT
| 2301_81045437/Marlin | Marlin/src/feature/fwretract.cpp | C++ | agpl-3.0 | 9,827 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* fwretract.h - Define firmware-based retraction interface
*/
#include "../inc/MarlinConfigPre.h"
typedef struct {
float retract_length; // M207 S - G10 Retract length
feedRate_t retract_feedrate_mm_s; // M207 F - G10 Retract feedrate
float retract_zraise, // M207 Z - G10 Retract hop size
retract_recover_extra; // M208 S - G11 Recover length
feedRate_t retract_recover_feedrate_mm_s; // M208 F - G11 Recover feedrate
float swap_retract_length, // M207 W - G10 Swap Retract length
swap_retract_recover_extra; // M208 W - G11 Swap Recover length
feedRate_t swap_retract_recover_feedrate_mm_s; // M208 R - G11 Swap Recover feedrate
} fwretract_settings_t;
#if ENABLED(FWRETRACT)
class FWRetract {
private:
#if HAS_MULTI_EXTRUDER
static Flags<EXTRUDERS> retracted_swap; // Which extruders are swap-retracted
#endif
public:
static fwretract_settings_t settings;
#if ENABLED(FWRETRACT_AUTORETRACT)
static bool autoretract_enabled; // M209 S - Autoretract switch
#else
static constexpr bool autoretract_enabled = false;
#endif
static Flags<EXTRUDERS> retracted; // Which extruders are currently retracted
static float current_retract[EXTRUDERS], // Retract value used by planner
current_hop; // Hop value used by planner
FWRetract() { reset(); }
static void reset();
static void refresh_autoretract() { retracted.reset(); }
static void enable_autoretract(const bool enable) {
#if ENABLED(FWRETRACT_AUTORETRACT)
autoretract_enabled = enable;
refresh_autoretract();
#endif
}
static void retract(const bool retracting E_OPTARG(bool swapping=false));
static void M207_report();
static void M207();
static void M208_report();
static void M208();
#if ENABLED(FWRETRACT_AUTORETRACT)
static void M209_report();
static void M209();
#endif
};
extern FWRetract fwretract;
#endif // FWRETRACT
| 2301_81045437/Marlin | Marlin/src/feature/fwretract.h | C++ | agpl-3.0 | 2,989 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(HOST_ACTION_COMMANDS)
//#define DEBUG_HOST_ACTIONS
#include "host_actions.h"
#if ENABLED(ADVANCED_PAUSE_FEATURE)
#include "pause.h"
#include "../gcode/queue.h"
#endif
#if HAS_FILAMENT_SENSOR
#include "runout.h"
#endif
HostUI hostui;
void HostUI::action(FSTR_P const fstr, const bool eol) {
PORT_REDIRECT(SerialMask::All);
SERIAL_ECHOPGM("//action:", fstr);
if (eol) SERIAL_EOL();
}
#ifdef ACTION_ON_KILL
void HostUI::kill() { action(F(ACTION_ON_KILL)); }
#endif
#ifdef ACTION_ON_PAUSE
void HostUI::pause(const bool eol/*=true*/) { action(F(ACTION_ON_PAUSE), eol); }
#endif
#ifdef ACTION_ON_PAUSED
void HostUI::paused(const bool eol/*=true*/) { action(F(ACTION_ON_PAUSED), eol); }
#endif
#ifdef ACTION_ON_RESUME
void HostUI::resume() { action(F(ACTION_ON_RESUME)); }
#endif
#ifdef ACTION_ON_RESUMED
void HostUI::resumed() { action(F(ACTION_ON_RESUMED)); }
#endif
#ifdef ACTION_ON_CANCEL
void HostUI::cancel() { action(F(ACTION_ON_CANCEL)); }
#endif
#ifdef ACTION_ON_START
void HostUI::start() { action(F(ACTION_ON_START)); }
#endif
#if ENABLED(G29_RETRY_AND_RECOVER)
#ifdef ACTION_ON_G29_RECOVER
void HostUI::g29_recover() { action(F(ACTION_ON_G29_RECOVER)); }
#endif
#ifdef ACTION_ON_G29_FAILURE
void HostUI::g29_failure() { action(F(ACTION_ON_G29_FAILURE)); }
#endif
#endif
#ifdef SHUTDOWN_ACTION
void HostUI::shutdown() { action(F(SHUTDOWN_ACTION)); }
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
PromptReason HostUI::host_prompt_reason = PROMPT_NOT_DEFINED;
PGMSTR(CONTINUE_STR, "Continue");
PGMSTR(DISMISS_STR, "Dismiss");
#if HAS_RESUME_CONTINUE
extern bool wait_for_user;
#endif
void HostUI::notify(const char * const cstr) {
PORT_REDIRECT(SerialMask::All);
action(F("notification "), false);
SERIAL_ECHOLN(cstr);
}
void HostUI::notify_P(PGM_P const pstr) {
PORT_REDIRECT(SerialMask::All);
action(F("notification "), false);
SERIAL_ECHOLNPGM_P(pstr);
}
void HostUI::prompt(FSTR_P const ptype, const bool eol/*=true*/) {
PORT_REDIRECT(SerialMask::All);
action(F("prompt_"), false);
SERIAL_ECHO(ptype);
if (eol) SERIAL_EOL();
}
void HostUI::prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char/*='\0'*/) {
prompt(ptype, false);
PORT_REDIRECT(SerialMask::All);
SERIAL_CHAR(' ');
if (pgm)
SERIAL_ECHOPGM_P(str);
else
SERIAL_ECHO(str);
if (extra_char != '\0') SERIAL_CHAR(extra_char);
SERIAL_EOL();
}
void HostUI::prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char/*='\0'*/) {
prompt_end();
host_prompt_reason = reason;
prompt_plus(F("begin"), fstr, extra_char);
}
void HostUI::prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char/*='\0'*/) {
prompt_end();
host_prompt_reason = reason;
prompt_plus(F("begin"), cstr, extra_char);
}
void HostUI::prompt_end() { prompt(F("end")); }
void HostUI::prompt_show() { prompt(F("show")); }
void HostUI::_prompt_show(FSTR_P const btn1, FSTR_P const btn2) {
if (btn1) prompt_button(btn1);
if (btn2) prompt_button(btn2);
prompt_show();
}
void HostUI::prompt_button(FSTR_P const fstr) { prompt_plus(F("button"), fstr); }
void HostUI::prompt_button(const char * const cstr) { prompt_plus(F("button"), cstr); }
void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
prompt_begin(reason, fstr);
_prompt_show(btn1, btn2);
}
void HostUI::prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
prompt_begin(reason, cstr);
_prompt_show(btn1, btn2);
}
void HostUI::prompt_do(const PromptReason reason, FSTR_P const fstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
prompt_begin(reason, fstr, extra_char);
_prompt_show(btn1, btn2);
}
void HostUI::prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1/*=nullptr*/, FSTR_P const btn2/*=nullptr*/) {
prompt_begin(reason, cstr, extra_char);
_prompt_show(btn1, btn2);
}
#if ENABLED(ADVANCED_PAUSE_FEATURE)
void HostUI::filament_load_prompt() {
const bool disable_to_continue = TERN0(HAS_FILAMENT_SENSOR, runout.filament_ran_out);
prompt_do(PROMPT_FILAMENT_RUNOUT, F("Paused"), F("PurgeMore"),
disable_to_continue ? F("DisableRunout") : FPSTR(CONTINUE_STR)
);
}
#endif
//
// Handle responses from the host, such as:
// - Filament runout responses: Purge More, Continue
// - General "Continue" response
// - Resume Print response
// - Dismissal of info
//
void HostUI::handle_response(const uint8_t response) {
const PromptReason hpr = host_prompt_reason;
host_prompt_reason = PROMPT_NOT_DEFINED; // Reset now ahead of logic
switch (hpr) {
case PROMPT_FILAMENT_RUNOUT:
switch (response) {
case 0: // "Purge More" button
#if ENABLED(M600_PURGE_MORE_RESUMABLE)
pause_menu_response = PAUSE_RESPONSE_EXTRUDE_MORE; // Simulate menu selection (menu exits, doesn't extrude more)
#endif
break;
case 1: // "Continue" / "Disable Runout" button
#if ENABLED(M600_PURGE_MORE_RESUMABLE)
pause_menu_response = PAUSE_RESPONSE_RESUME_PRINT; // Simulate menu selection
#endif
#if HAS_FILAMENT_SENSOR
if (runout.filament_ran_out) { // Disable a triggered sensor
runout.enabled = false;
runout.reset();
}
#endif
break;
}
break;
case PROMPT_USER_CONTINUE:
TERN_(HAS_RESUME_CONTINUE, wait_for_user = false);
break;
case PROMPT_PAUSE_RESUME:
#if ALL(ADVANCED_PAUSE_FEATURE, HAS_MEDIA)
extern const char M24_STR[];
queue.inject_P(M24_STR);
#endif
break;
case PROMPT_INFO:
break;
default: break;
}
}
#endif // HOST_PROMPT_SUPPORT
#endif // HOST_ACTION_COMMANDS
| 2301_81045437/Marlin | Marlin/src/feature/host_actions.cpp | C++ | agpl-3.0 | 7,168 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfigPre.h"
#include "../HAL/shared/Marduino.h"
#if ENABLED(HOST_PROMPT_SUPPORT)
enum PromptReason : uint8_t {
PROMPT_NOT_DEFINED,
PROMPT_FILAMENT_RUNOUT,
PROMPT_USER_CONTINUE,
PROMPT_FILAMENT_RUNOUT_REHEAT,
PROMPT_PAUSE_RESUME,
PROMPT_INFO
};
extern const char CONTINUE_STR[], DISMISS_STR[];
#endif
class HostUI {
public:
static void action(FSTR_P const fstr, const bool eol=true);
#ifdef ACTION_ON_KILL
static void kill();
#endif
#ifdef ACTION_ON_PAUSE
static void pause(const bool eol=true);
#endif
#ifdef ACTION_ON_PAUSED
static void paused(const bool eol=true);
#endif
#ifdef ACTION_ON_RESUME
static void resume();
#endif
#ifdef ACTION_ON_RESUMED
static void resumed();
#endif
#ifdef ACTION_ON_CANCEL
static void cancel();
#endif
#ifdef ACTION_ON_START
static void start();
#endif
#ifdef SHUTDOWN_ACTION
static void shutdown();
#endif
#if ENABLED(G29_RETRY_AND_RECOVER)
#ifdef ACTION_ON_G29_RECOVER
static void g29_recover();
#endif
#ifdef ACTION_ON_G29_FAILURE
static void g29_failure();
#endif
#endif
#if ENABLED(HOST_PROMPT_SUPPORT)
private:
static void prompt(FSTR_P const ptype, const bool eol=true);
static void prompt_plus(const bool pgm, FSTR_P const ptype, const char * const str, const char extra_char='\0');
static void prompt_plus(FSTR_P const ptype, FSTR_P const fstr, const char extra_char='\0') {
prompt_plus(true, ptype, FTOP(fstr), extra_char);
}
static void prompt_plus(FSTR_P const ptype, const char * const cstr, const char extra_char='\0') {
prompt_plus(false, ptype, cstr, extra_char);
}
static void prompt_show();
static void _prompt_show(FSTR_P const btn1, FSTR_P const btn2);
public:
static PromptReason host_prompt_reason;
static void handle_response(const uint8_t response);
static void notify_P(PGM_P const message);
static void notify(FSTR_P const fmsg) { notify_P(FTOP(fmsg)); }
static void notify(const char * const message);
static void prompt_begin(const PromptReason reason, FSTR_P const fstr, const char extra_char='\0');
static void prompt_begin(const PromptReason reason, const char * const cstr, const char extra_char='\0');
static void prompt_end();
static void prompt_button(FSTR_P const fstr);
static void prompt_button(const char * const cstr);
static void prompt_do(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
static void prompt_do(const PromptReason reason, const char * const cstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
static void prompt_do(const PromptReason reason, FSTR_P const pstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
static void prompt_do(const PromptReason reason, const char * const cstr, const char extra_char, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr);
static void continue_prompt(FSTR_P const fstr) { prompt_do(PROMPT_USER_CONTINUE, fstr, FPSTR(CONTINUE_STR)); }
static void continue_prompt(const char * const cstr) { prompt_do(PROMPT_USER_CONTINUE, cstr, FPSTR(CONTINUE_STR)); }
static void prompt_open(const PromptReason reason, FSTR_P const pstr, FSTR_P const btn1=nullptr, FSTR_P const btn2=nullptr) {
if (host_prompt_reason == PROMPT_NOT_DEFINED) prompt_do(reason, pstr, btn1, btn2);
}
#if ENABLED(ADVANCED_PAUSE_FEATURE)
static void filament_load_prompt();
#endif
#endif
};
extern HostUI hostui;
| 2301_81045437/Marlin | Marlin/src/feature/host_actions.h | C++ | agpl-3.0 | 4,492 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* Hotend Idle Timeout
* Prevent filament in the nozzle from charring and causing a critical jam.
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(HOTEND_IDLE_TIMEOUT)
#include "hotend_idle.h"
#include "../gcode/gcode.h"
#include "../module/temperature.h"
#include "../module/motion.h"
#include "../module/planner.h"
#include "../lcd/marlinui.h"
HotendIdleProtection hotend_idle;
millis_t HotendIdleProtection::next_protect_ms = 0;
hotend_idle_settings_t HotendIdleProtection::cfg; // Initialized by settings.load()
void HotendIdleProtection::check_hotends(const millis_t &ms) {
const bool busy = (TERN0(HAS_RESUME_CONTINUE, wait_for_user) || planner.has_blocks_queued());
bool do_prot = false;
if (!busy && cfg.timeout != 0) {
HOTEND_LOOP() {
if (thermalManager.degHotend(e) >= cfg.trigger) {
do_prot = true; break;
}
}
}
if (!do_prot)
next_protect_ms = 0; // No hotends are hot so cancel timeout
else if (!next_protect_ms) // Timeout is possible?
next_protect_ms = ms + 1000UL * cfg.timeout; // Start timeout if not already set
}
void HotendIdleProtection::check_e_motion(const millis_t &ms) {
static float old_e_position = 0;
if (old_e_position != current_position.e) {
old_e_position = current_position.e; // Track filament motion
if (next_protect_ms) // If some heater is on then...
next_protect_ms = ms + 1000UL * cfg.timeout; // ...delay the timeout till later
}
}
void HotendIdleProtection::check() {
const millis_t ms = millis(); // Shared millis
check_hotends(ms); // Any hotends need protection?
check_e_motion(ms); // Motion will protect them
// Hot and not moving for too long...
if (next_protect_ms && ELAPSED(ms, next_protect_ms))
timed_out();
}
// Lower (but don't raise) hotend / bed temperatures
void HotendIdleProtection::timed_out() {
next_protect_ms = 0;
SERIAL_ECHOLNPGM("Hotend Idle Timeout");
LCD_MESSAGE(MSG_HOTEND_IDLE_TIMEOUT);
HOTEND_LOOP() {
if (cfg.nozzle_target < thermalManager.degTargetHotend(e))
thermalManager.setTargetHotend(cfg.nozzle_target, e);
}
#if HAS_HEATED_BED
if (cfg.bed_target < thermalManager.degTargetBed())
thermalManager.setTargetBed(cfg.bed_target);
#endif
}
#endif // HOTEND_IDLE_TIMEOUT
| 2301_81045437/Marlin | Marlin/src/feature/hotend_idle.cpp | C++ | agpl-3.0 | 3,299 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
typedef struct {
int16_t timeout, trigger, nozzle_target;
#if HAS_HEATED_BED
int16_t bed_target;
#endif
void set_defaults() {
timeout = HOTEND_IDLE_TIMEOUT_SEC;
trigger = HOTEND_IDLE_MIN_TRIGGER;
nozzle_target = HOTEND_IDLE_NOZZLE_TARGET;
#if HAS_HEATED_BED
bed_target = HOTEND_IDLE_BED_TARGET;
#endif
}
} hotend_idle_settings_t;
class HotendIdleProtection {
public:
static void check();
static hotend_idle_settings_t cfg;
private:
static millis_t next_protect_ms;
static void check_hotends(const millis_t &ms);
static void check_e_motion(const millis_t &ms);
static void timed_out();
};
extern HotendIdleProtection hotend_idle;
| 2301_81045437/Marlin | Marlin/src/feature/hotend_idle.h | C++ | agpl-3.0 | 1,606 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* joystick.cpp - joystick input / jogging
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(JOYSTICK)
#include "joystick.h"
#include "../inc/MarlinConfig.h" // for pins
#include "../module/planner.h"
Joystick joystick;
#if ENABLED(EXTENSIBLE_UI)
#include "../lcd/extui/ui_api.h"
#endif
#if HAS_JOY_ADC_X
temp_info_t Joystick::x; // = { 0 }
#if ENABLED(INVERT_JOY_X)
#define JOY_X(N) (16383 - (N))
#else
#define JOY_X(N) (N)
#endif
#endif
#if HAS_JOY_ADC_Y
temp_info_t Joystick::y; // = { 0 }
#if ENABLED(INVERT_JOY_Y)
#define JOY_Y(N) (16383 - (N))
#else
#define JOY_Y(N) (N)
#endif
#endif
#if HAS_JOY_ADC_Z
temp_info_t Joystick::z; // = { 0 }
#if ENABLED(INVERT_JOY_Z)
#define JOY_Z(N) (16383 - (N))
#else
#define JOY_Z(N) (N)
#endif
#endif
#if ENABLED(JOYSTICK_DEBUG)
void Joystick::report() {
SERIAL_ECHOPGM("Joystick");
#if HAS_JOY_ADC_X
SERIAL_ECHOPGM_P(SP_X_STR, JOY_X(x.getraw()));
#endif
#if HAS_JOY_ADC_Y
SERIAL_ECHOPGM_P(SP_Y_STR, JOY_Y(y.getraw()));
#endif
#if HAS_JOY_ADC_Z
SERIAL_ECHOPGM_P(SP_Z_STR, JOY_Z(z.getraw()));
#endif
#if HAS_JOY_ADC_EN
SERIAL_ECHO_TERNARY(READ(JOY_EN_PIN), " EN=", "HIGH (dis", "LOW (en", "abled)");
#endif
SERIAL_EOL();
}
#endif
#if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z
void Joystick::calculate(xyz_float_t &norm_jog) {
// Do nothing if enable pin (active-low) is not LOW
#if HAS_JOY_ADC_EN
if (READ(JOY_EN_PIN)) return;
#endif
auto _normalize_joy = [](float &axis_jog, const raw_adc_t raw, const raw_adc_t (&joy_limits)[4]) {
if (WITHIN(raw, joy_limits[0], joy_limits[3])) {
// within limits, check deadzone
if (raw > joy_limits[2])
axis_jog = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
else if (raw < joy_limits[1])
axis_jog = int16_t(raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value
// Map normal to jog value via quadratic relationship
axis_jog = SIGN(axis_jog) * sq(axis_jog);
}
};
#if HAS_JOY_ADC_X
static constexpr raw_adc_t joy_x_limits[4] = JOY_X_LIMITS;
_normalize_joy(norm_jog.x, JOY_X(x.getraw()), joy_x_limits);
#endif
#if HAS_JOY_ADC_Y
static constexpr raw_adc_t joy_y_limits[4] = JOY_Y_LIMITS;
_normalize_joy(norm_jog.y, JOY_Y(y.getraw()), joy_y_limits);
#endif
#if HAS_JOY_ADC_Z
static constexpr raw_adc_t joy_z_limits[4] = JOY_Z_LIMITS;
_normalize_joy(norm_jog.z, JOY_Z(z.getraw()), joy_z_limits);
#endif
}
#endif
#if ENABLED(POLL_JOG)
void Joystick::inject_jog_moves() {
// Recursion barrier
static bool injecting_now; // = false;
if (injecting_now) return;
#if ENABLED(NO_MOTION_BEFORE_HOMING)
if (TERN0(HAS_JOY_ADC_X, axis_should_home(X_AXIS)) || TERN0(HAS_JOY_ADC_Y, axis_should_home(Y_AXIS)) || TERN0(HAS_JOY_ADC_Z, axis_should_home(Z_AXIS)))
return;
#endif
static constexpr int QUEUE_DEPTH = 5; // Insert up to this many movements
static constexpr float target_lag = 0.25f, // Aim for 1/4 second lag
seg_time = target_lag / QUEUE_DEPTH; // 0.05 seconds, short segments inserted every 1/20th of a second
static constexpr millis_t timer_limit_ms = millis_t(seg_time * 500); // 25 ms minimum delay between insertions
// The planner can merge/collapse small moves, so the movement queue is unreliable to control the lag
static millis_t next_run = 0;
if (PENDING(millis(), next_run)) return;
next_run = millis() + timer_limit_ms;
// Only inject a command if the planner has fewer than 5 moves and there are no unparsed commands
if (planner.movesplanned() >= QUEUE_DEPTH || queue.has_commands_queued())
return;
// Normalized jog values are 0 for no movement and -1 or +1 for as max feedrate (nonlinear relationship)
// Jog are initialized to zero and handling input can update values but doesn't have to
// You could use a two-axis joystick and a one-axis keypad and they might work together
xyz_float_t norm_jog{0};
// Use ADC values and defined limits. The active zone is normalized: -1..0 (dead) 0..1
#if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z
joystick.calculate(norm_jog);
#endif
// Other non-joystick poll-based jogging could be implemented here
// with "jogging" encapsulated as a more general class.
TERN_(EXTENSIBLE_UI, ExtUI::_joystick_update(norm_jog));
// norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate]
xyz_float_t move_dist{0};
float hypot2 = 0;
LOOP_NUM_AXES(i) if (norm_jog[i]) {
move_dist[i] = seg_time * norm_jog[i] * TERN(EXTENSIBLE_UI, manual_feedrate_mm_s, planner.settings.max_feedrate_mm_s)[i];
hypot2 += sq(move_dist[i]);
}
if (!UNEAR_ZERO(hypot2)) {
current_position += move_dist;
apply_motion_limits(current_position);
const float length = sqrt(hypot2);
PlannerHints hints(length);
injecting_now = true;
planner.buffer_line(current_position, length / seg_time, active_extruder, hints);
injecting_now = false;
}
}
#endif // POLL_JOG
#endif // JOYSTICK
| 2301_81045437/Marlin | Marlin/src/feature/joystick.cpp | C++ | agpl-3.0 | 6,205 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* joystick.h - joystick input / jogging
*/
#include "../inc/MarlinConfigPre.h"
#include "../core/types.h"
#include "../module/temperature.h"
class Joystick {
friend class Temperature;
private:
#if HAS_JOY_ADC_X
static temp_info_t x;
#endif
#if HAS_JOY_ADC_Y
static temp_info_t y;
#endif
#if HAS_JOY_ADC_Z
static temp_info_t z;
#endif
public:
#if ENABLED(JOYSTICK_DEBUG)
static void report();
#endif
static void calculate(xyz_float_t &norm_jog);
static void inject_jog_moves();
};
extern Joystick joystick;
| 2301_81045437/Marlin | Marlin/src/feature/joystick.h | C++ | agpl-3.0 | 1,461 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* blinkm.cpp - Control a BlinkM over i2c
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(BLINKM)
#include "blinkm.h"
#include "leds.h"
#include <Wire.h>
void blinkm_set_led_color(const LEDColor &color) {
Wire.begin();
Wire.beginTransmission(I2C_ADDRESS(0x09));
Wire.write('o'); //to disable ongoing script, only needs to be used once
Wire.write('n');
Wire.write(color.r);
Wire.write(color.g);
Wire.write(color.b);
Wire.endTransmission();
}
#endif // BLINKM
| 2301_81045437/Marlin | Marlin/src/feature/leds/blinkm.cpp | C++ | agpl-3.0 | 1,369 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* blinkm.h - Control a BlinkM over i2c
*/
struct LEDColor;
typedef LEDColor LEDColor;
void blinkm_set_led_color(const LEDColor &color);
| 2301_81045437/Marlin | Marlin/src/feature/leds/blinkm.h | C | agpl-3.0 | 1,020 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* leds.cpp - Marlin RGB LED general support
*/
#include "../../inc/MarlinConfig.h"
#if HAS_COLOR_LEDS
#include "leds.h"
#if ANY(CASE_LIGHT_USE_RGB_LED, CASE_LIGHT_USE_NEOPIXEL)
#include "../../feature/caselight.h"
#endif
#if ENABLED(LED_COLOR_PRESETS)
const LEDColor LEDLights::defaultLEDColor = LEDColor(
LED_USER_PRESET_RED, LED_USER_PRESET_GREEN, LED_USER_PRESET_BLUE
OPTARG(HAS_WHITE_LED, LED_USER_PRESET_WHITE)
OPTARG(NEOPIXEL_LED, LED_USER_PRESET_BRIGHTNESS)
);
#endif
#if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS, CASE_LIGHT_IS_COLOR_LED)
LEDColor LEDLights::color;
bool LEDLights::lights_on;
#endif
LEDLights leds;
void LEDLights::setup() {
#if ANY(RGB_LED, RGBW_LED)
if (PWM_PIN(RGB_LED_R_PIN)) SET_PWM(RGB_LED_R_PIN); else SET_OUTPUT(RGB_LED_R_PIN);
if (PWM_PIN(RGB_LED_G_PIN)) SET_PWM(RGB_LED_G_PIN); else SET_OUTPUT(RGB_LED_G_PIN);
if (PWM_PIN(RGB_LED_B_PIN)) SET_PWM(RGB_LED_B_PIN); else SET_OUTPUT(RGB_LED_B_PIN);
#if ENABLED(RGBW_LED)
if (PWM_PIN(RGB_LED_W_PIN)) SET_PWM(RGB_LED_W_PIN); else SET_OUTPUT(RGB_LED_W_PIN);
#endif
#if ENABLED(RGB_STARTUP_TEST)
int8_t led_pin_count = 0;
if (PWM_PIN(RGB_LED_R_PIN) && PWM_PIN(RGB_LED_G_PIN) && PWM_PIN(RGB_LED_B_PIN)) led_pin_count = 3;
#if ENABLED(RGBW_LED)
if (PWM_PIN(RGB_LED_W_PIN) && led_pin_count) led_pin_count++;
#endif
// Startup animation
if (led_pin_count) {
// blackout
if (PWM_PIN(RGB_LED_R_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_R_PIN), 0); else WRITE(RGB_LED_R_PIN, LOW);
if (PWM_PIN(RGB_LED_G_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_G_PIN), 0); else WRITE(RGB_LED_G_PIN, LOW);
if (PWM_PIN(RGB_LED_B_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_B_PIN), 0); else WRITE(RGB_LED_B_PIN, LOW);
#if ENABLED(RGBW_LED)
if (PWM_PIN(RGB_LED_W_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_W_PIN), 0);
else WRITE(RGB_LED_W_PIN, LOW);
#endif
delay(200);
for (uint8_t i = 0; i < led_pin_count; ++i) {
for (uint8_t b = 0; b <= 200; ++b) {
const uint16_t led_pwm = b <= 100 ? b : 200 - b;
if (i == 0 && PWM_PIN(RGB_LED_R_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_R_PIN), led_pwm); else WRITE(RGB_LED_R_PIN, b < 100 ? HIGH : LOW);
if (i == 1 && PWM_PIN(RGB_LED_G_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_G_PIN), led_pwm); else WRITE(RGB_LED_G_PIN, b < 100 ? HIGH : LOW);
if (i == 2 && PWM_PIN(RGB_LED_B_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_B_PIN), led_pwm); else WRITE(RGB_LED_B_PIN, b < 100 ? HIGH : LOW);
#if ENABLED(RGBW_LED)
if (i == 3){
if (PWM_PIN(RGB_LED_W_PIN)) hal.set_pwm_duty(pin_t(RGB_LED_W_PIN), led_pwm);
else WRITE(RGB_LED_W_PIN, b < 100 ? HIGH : LOW);
delay(RGB_STARTUP_TEST_INNER_MS);//More slowing for ending
}
#endif
delay(RGB_STARTUP_TEST_INNER_MS);
}
}
delay(500);
}
#endif // RGB_STARTUP_TEST
#elif ALL(PCA9632, RGB_STARTUP_TEST) // PCA9632 RGB_STARTUP_TEST
constexpr int8_t led_pin_count = TERN(HAS_WHITE_LED, 4, 3);
// Startup animation
LEDColor curColor = LEDColorOff();
PCA9632_set_led_color(curColor); // blackout
delay(200);
/**
* LED Pin Counter steps -> events
* | 0-100 | 100-200 | 200-300 | 300-400 |
* fade in steady | fade out
* start next pin fade in
*/
uint16_t led_pin_counters[led_pin_count] = { 1, 0, 0 };
bool canEnd = false;
while (led_pin_counters[0] != 99 || !canEnd) {
if (led_pin_counters[0] == 99) // End loop next time pin0 counter is 99
canEnd = true;
for (uint8_t i = 0; i < led_pin_count; ++i) {
if (led_pin_counters[i] > 0) {
if (++led_pin_counters[i] == 400) // turn off current pin counter in led_pin_counters
led_pin_counters[i] = 0;
else if (led_pin_counters[i] == 201) { // start next pin pwm
led_pin_counters[i + 1 == led_pin_count ? 0 : i + 1] = 1;
i++; // skip next pin in this loop so it doesn't increment twice
}
}
}
uint16_t r, g, b;
r = led_pin_counters[0]; curColor.r = r <= 100 ? r : r <= 300 ? 100 : 400 - r;
g = led_pin_counters[1]; curColor.g = g <= 100 ? g : g <= 300 ? 100 : 400 - g;
b = led_pin_counters[2]; curColor.b = b <= 100 ? b : b <= 300 ? 100 : 400 - b;
#if HAS_WHITE_LED
const uint16_t w = led_pin_counters[3]; curColor.w = w <= 100 ? w : w <= 300 ? 100 : 400 - w;
#endif
PCA9632_set_led_color(curColor);
delay(RGB_STARTUP_TEST_INNER_MS);
}
// Fade to white
for (uint8_t led_pwm = 0; led_pwm <= 100; ++led_pwm) {
NOLESS(curColor.r, led_pwm);
NOLESS(curColor.g, led_pwm);
NOLESS(curColor.b, led_pwm);
TERN_(HAS_WHITE_LED, NOLESS(curColor.w, led_pwm));
PCA9632_set_led_color(curColor);
delay(RGB_STARTUP_TEST_INNER_MS);
}
#endif // PCA9632 && RGB_STARTUP_TEST
TERN_(NEOPIXEL_LED, neo.init());
TERN_(PCA9533, PCA9533_init());
TERN_(LED_USER_PRESET_STARTUP, set_default());
}
void LEDLights::set_color(const LEDColor &incol
OPTARG(NEOPIXEL_IS_SEQUENTIAL, bool isSequence/*=false*/)
) {
#if ENABLED(NEOPIXEL_LED)
const uint32_t neocolor = LEDColorWhite() == incol
? neo.Color(NEO_WHITE)
: neo.Color(incol.r, incol.g, incol.b OPTARG(HAS_WHITE_LED, incol.w));
#if ENABLED(NEOPIXEL_IS_SEQUENTIAL)
static uint16_t nextLed = 0;
#ifdef NEOPIXEL_BKGD_INDEX_FIRST
while (WITHIN(nextLed, NEOPIXEL_BKGD_INDEX_FIRST, NEOPIXEL_BKGD_INDEX_LAST)) {
neo.reset_background_color();
if (++nextLed >= neo.pixels()) { nextLed = 0; return; }
}
#endif
#endif
#if ALL(CASE_LIGHT_MENU, CASE_LIGHT_USE_NEOPIXEL)
// Update brightness only if caselight is ON or switching leds off
if (caselight.on || incol.is_off())
#endif
neo.set_brightness(incol.i);
#if ENABLED(NEOPIXEL_IS_SEQUENTIAL)
if (isSequence) {
neo.set_pixel_color(nextLed, neocolor);
neo.show();
if (++nextLed >= neo.pixels()) nextLed = 0;
return;
}
#endif
#if ALL(CASE_LIGHT_MENU, CASE_LIGHT_USE_NEOPIXEL)
// Update color only if caselight is ON or switching leds off
if (caselight.on || incol.is_off())
#endif
neo.set_color(neocolor);
#endif
#if ENABLED(BLINKM)
// This variant uses i2c to send the RGB components to the device.
blinkm_set_led_color(incol);
#endif
#if ANY(RGB_LED, RGBW_LED)
// This variant uses 3-4 separate pins for the RGB(W) components.
// If the pins can do PWM then their intensity will be set.
#define _UPDATE_RGBW(C,c) do { \
if (PWM_PIN(RGB_LED_##C##_PIN)) \
hal.set_pwm_duty(pin_t(RGB_LED_##C##_PIN), c); \
else \
WRITE(RGB_LED_##C##_PIN, c ? HIGH : LOW); \
}while(0)
#define UPDATE_RGBW(C,c) _UPDATE_RGBW(C, TERN1(CASE_LIGHT_USE_RGB_LED, caselight.on) ? incol.c : 0)
UPDATE_RGBW(R,r); UPDATE_RGBW(G,g); UPDATE_RGBW(B,b);
#if ENABLED(RGBW_LED)
UPDATE_RGBW(W,w);
#endif
#endif
// Update I2C LED driver
TERN_(PCA9632, PCA9632_set_led_color(incol));
TERN_(PCA9533, PCA9533_set_rgb(incol.r, incol.g, incol.b));
#if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS)
// Don't update the color when OFF
lights_on = !incol.is_off();
if (lights_on) color = incol;
#endif
}
#if ENABLED(LED_CONTROL_MENU)
void LEDLights::toggle() { if (lights_on) set_off(); else update(); }
#endif
#if LED_POWEROFF_TIMEOUT > 0
millis_t LEDLights::led_off_time; // = 0
void LEDLights::update_timeout(const bool power_on) {
if (lights_on) {
const millis_t ms = millis();
if (power_on)
reset_timeout(ms);
else if (ELAPSED(ms, led_off_time))
set_off();
}
}
#endif
#if ENABLED(NEOPIXEL2_SEPARATE)
#if ENABLED(NEO2_COLOR_PRESETS)
const LEDColor LEDLights2::defaultLEDColor = LEDColor(
NEO2_USER_PRESET_RED, NEO2_USER_PRESET_GREEN, NEO2_USER_PRESET_BLUE
OPTARG(HAS_WHITE_LED2, NEO2_USER_PRESET_WHITE)
OPTARG(NEOPIXEL_LED, NEO2_USER_PRESET_BRIGHTNESS)
);
#endif
#if ENABLED(LED_CONTROL_MENU)
LEDColor LEDLights2::color;
bool LEDLights2::lights_on;
#endif
LEDLights2 leds2;
void LEDLights2::setup() {
neo2.init();
TERN_(NEO2_USER_PRESET_STARTUP, set_default());
}
void LEDLights2::set_color(const LEDColor &incol) {
const uint32_t neocolor = LEDColorWhite() == incol
? neo2.Color(NEO2_WHITE)
: neo2.Color(incol.r, incol.g, incol.b OPTARG(HAS_WHITE_LED2, incol.w));
neo2.set_brightness(incol.i);
neo2.set_color(neocolor);
#if ENABLED(LED_CONTROL_MENU)
// Don't update the color when OFF
lights_on = !incol.is_off();
if (lights_on) color = incol;
#endif
}
#if ENABLED(LED_CONTROL_MENU)
void LEDLights2::toggle() { if (lights_on) set_off(); else update(); }
#endif
#endif // NEOPIXEL2_SEPARATE
#endif // HAS_COLOR_LEDS
| 2301_81045437/Marlin | Marlin/src/feature/leds/leds.cpp | C++ | agpl-3.0 | 10,193 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* leds.h - Marlin general RGB LED support
*/
#include "../../inc/MarlinConfigPre.h"
#include <string.h>
// A white component can be passed
#if ANY(RGBW_LED, PCA9632_RGBW)
#define HAS_WHITE_LED 1
#endif
#if ENABLED(NEOPIXEL_LED)
#define _NEOPIXEL_INCLUDE_
#include "neopixel.h"
#undef _NEOPIXEL_INCLUDE_
#endif
#if ENABLED(BLINKM)
#include "blinkm.h"
#endif
#if ENABLED(PCA9533)
#include "pca9533.h"
#endif
#if ENABLED(PCA9632)
#include "pca9632.h"
#endif
/**
* LEDcolor type for use with leds.set_color
*/
typedef struct LEDColor {
uint8_t r, g, b
OPTARG(HAS_WHITE_LED, w)
OPTARG(NEOPIXEL_LED, i)
;
LEDColor() : r(255), g(255), b(255)
OPTARG(HAS_WHITE_LED, w(255))
OPTARG(NEOPIXEL_LED, i(NEOPIXEL_BRIGHTNESS))
{}
LEDColor(const LEDColor&) = default;
LEDColor(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED, uint8_t w=0) OPTARG(NEOPIXEL_LED, uint8_t i=NEOPIXEL_BRIGHTNESS))
: r(r), g(g), b(b) OPTARG(HAS_WHITE_LED, w(w)) OPTARG(NEOPIXEL_LED, i(i)) {}
LEDColor(const uint8_t (&rgbw)[4]) : r(rgbw[0]), g(rgbw[1]), b(rgbw[2])
OPTARG(HAS_WHITE_LED, w(rgbw[3]))
OPTARG(NEOPIXEL_LED, i(NEOPIXEL_BRIGHTNESS))
{}
LEDColor& operator=(const uint8_t (&rgbw)[4]) {
r = rgbw[0]; g = rgbw[1]; b = rgbw[2];
TERN_(HAS_WHITE_LED, w = rgbw[3]);
return *this;
}
bool operator==(const LEDColor &right) {
if (this == &right) return true;
return 0 == memcmp(this, &right, sizeof(LEDColor));
}
bool operator!=(const LEDColor &right) { return !operator==(right); }
bool is_off() const {
return 3 > r + g + b + TERN0(HAS_WHITE_LED, w);
}
} LEDColor;
/**
* Color presets
*/
#define LEDColorOff() LEDColor( 0, 0, 0)
#define LEDColorRed() LEDColor(255, 0, 0)
#if ENABLED(LED_COLORS_REDUCE_GREEN)
#define LEDColorOrange() LEDColor(255, 25, 0)
#define LEDColorYellow() LEDColor(255, 75, 0)
#else
#define LEDColorOrange() LEDColor(255, 80, 0)
#define LEDColorYellow() LEDColor(255, 255, 0)
#endif
#define LEDColorGreen() LEDColor( 0, 255, 0)
#define LEDColorBlue() LEDColor( 0, 0, 255)
#define LEDColorIndigo() LEDColor( 0, 255, 255)
#define LEDColorViolet() LEDColor(255, 0, 255)
#if HAS_WHITE_LED && DISABLED(RGB_LED)
#define LEDColorWhite() LEDColor( 0, 0, 0, 255)
#else
#define LEDColorWhite() LEDColor(255, 255, 255)
#endif
class LEDLights {
public:
#if ANY(LED_CONTROL_MENU, PRINTER_EVENT_LEDS, CASE_LIGHT_IS_COLOR_LED)
static LEDColor color; // last non-off color
static bool lights_on; // the last set color was "on"
#else
static constexpr bool lights_on = true;
#endif
LEDLights() {} // ctor
static void setup(); // init()
static void set_color(const LEDColor &color
OPTARG(NEOPIXEL_IS_SEQUENTIAL, bool isSequence=false)
);
static void set_color(uint8_t r, uint8_t g, uint8_t b
OPTARG(HAS_WHITE_LED, uint8_t w=0)
OPTARG(NEOPIXEL_LED, uint8_t i=NEOPIXEL_BRIGHTNESS)
OPTARG(NEOPIXEL_IS_SEQUENTIAL, bool isSequence=false)
) {
set_color(LEDColor(r, g, b OPTARG(HAS_WHITE_LED, w) OPTARG(NEOPIXEL_LED, i)) OPTARG(NEOPIXEL_IS_SEQUENTIAL, isSequence));
}
static void set_off() { set_color(LEDColorOff()); }
static void set_green() { set_color(LEDColorGreen()); }
static void set_white() { set_color(LEDColorWhite()); }
#if ENABLED(LED_COLOR_PRESETS)
static const LEDColor defaultLEDColor;
static void set_default() { set_color(defaultLEDColor); }
static void set_red() { set_color(LEDColorRed()); }
static void set_orange() { set_color(LEDColorOrange()); }
static void set_yellow() { set_color(LEDColorYellow()); }
static void set_blue() { set_color(LEDColorBlue()); }
static void set_indigo() { set_color(LEDColorIndigo()); }
static void set_violet() { set_color(LEDColorViolet()); }
#endif
#if ENABLED(PRINTER_EVENT_LEDS)
static LEDColor get_color() { return lights_on ? color : LEDColorOff(); }
#endif
#if ENABLED(LED_CONTROL_MENU)
static void toggle(); // swap "off" with color
#endif
#if ANY(LED_CONTROL_MENU, CASE_LIGHT_USE_RGB_LED) || LED_POWEROFF_TIMEOUT > 0
static void update() { set_color(color); }
#endif
#if LED_POWEROFF_TIMEOUT > 0
private:
static millis_t led_off_time;
public:
static void reset_timeout(const millis_t &ms) {
led_off_time = ms + LED_POWEROFF_TIMEOUT;
if (!lights_on) update();
}
static void update_timeout(const bool power_on);
#endif
};
extern LEDLights leds;
#if ENABLED(NEOPIXEL2_SEPARATE)
class LEDLights2 {
public:
LEDLights2() {}
static void setup(); // init()
static void set_color(const LEDColor &color);
static void set_color(uint8_t r, uint8_t g, uint8_t b
OPTARG(HAS_WHITE_LED, uint8_t w=0)
OPTARG(NEOPIXEL_LED, uint8_t i=NEOPIXEL_BRIGHTNESS)
) {
set_color(LEDColor(r, g, b
OPTARG(HAS_WHITE_LED, w)
OPTARG(NEOPIXEL_LED, i)
));
}
static void set_off() { set_color(LEDColorOff()); }
static void set_green() { set_color(LEDColorGreen()); }
static void set_white() { set_color(LEDColorWhite()); }
#if ENABLED(NEO2_COLOR_PRESETS)
static const LEDColor defaultLEDColor;
static void set_default() { set_color(defaultLEDColor); }
static void set_red() { set_color(LEDColorRed()); }
static void set_orange() { set_color(LEDColorOrange()); }
static void set_yellow() { set_color(LEDColorYellow()); }
static void set_blue() { set_color(LEDColorBlue()); }
static void set_indigo() { set_color(LEDColorIndigo()); }
static void set_violet() { set_color(LEDColorViolet()); }
#endif
#if ENABLED(NEOPIXEL2_SEPARATE)
static LEDColor color; // last non-off color
static bool lights_on; // the last set color was "on"
static void toggle(); // swap "off" with color
static void update() { set_color(color); }
#endif
};
extern LEDLights2 leds2;
#endif // NEOPIXEL2_SEPARATE
| 2301_81045437/Marlin | Marlin/src/feature/leds/leds.h | C++ | agpl-3.0 | 7,028 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* Marlin RGB LED general support
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(NEOPIXEL_LED)
#include "leds.h"
#if ANY(NEOPIXEL_STARTUP_TEST, NEOPIXEL2_STARTUP_TEST)
#include "../../core/utility.h"
#endif
Marlin_NeoPixel neo;
pixel_index_t Marlin_NeoPixel::neoindex;
Adafruit_NeoPixel Marlin_NeoPixel::adaneo1(NEOPIXEL_PIXELS, NEOPIXEL_PIN, NEOPIXEL_TYPE + NEO_KHZ800);
#if CONJOINED_NEOPIXEL
Adafruit_NeoPixel Marlin_NeoPixel::adaneo2(NEOPIXEL_PIXELS, NEOPIXEL2_PIN, NEOPIXEL2_TYPE + NEO_KHZ800);
#endif
#ifdef NEOPIXEL_BKGD_INDEX_FIRST
void Marlin_NeoPixel::set_background_color(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t w) {
for (int background_led = NEOPIXEL_BKGD_INDEX_FIRST; background_led <= NEOPIXEL_BKGD_INDEX_LAST; background_led++)
set_pixel_color(background_led, adaneo1.Color(r, g, b, w));
}
void Marlin_NeoPixel::reset_background_color() {
constexpr uint8_t background_color[4] = NEOPIXEL_BKGD_COLOR;
set_background_color(background_color);
}
void Marlin_NeoPixel::set_background_off() {
#ifndef NEOPIXEL_BKGD_TIMEOUT_COLOR
#define NEOPIXEL_BKGD_TIMEOUT_COLOR { 0, 0, 0, 0 }
#endif
constexpr uint8_t background_color_off[4] = NEOPIXEL_BKGD_TIMEOUT_COLOR;
set_background_color(background_color_off);
}
#endif // NEOPIXEL_BKGD_INDEX_FIRST
void Marlin_NeoPixel::set_color(const uint32_t color) {
if (neoindex >= 0) {
set_pixel_color(neoindex, color);
neoindex = -1;
}
else {
for (uint16_t i = 0; i < pixels(); ++i) {
#ifdef NEOPIXEL_BKGD_INDEX_FIRST
if (i == NEOPIXEL_BKGD_INDEX_FIRST && TERN(NEOPIXEL_BKGD_ALWAYS_ON, true, color != 0x000000)) {
reset_background_color();
i += NEOPIXEL_BKGD_INDEX_LAST - (NEOPIXEL_BKGD_INDEX_FIRST);
continue;
}
#endif
set_pixel_color(i, color);
}
}
show();
}
void Marlin_NeoPixel::set_color_startup(const uint32_t color) {
for (uint16_t i = 0; i < pixels(); ++i)
set_pixel_color(i, color);
show();
}
void Marlin_NeoPixel::init() {
neoindex = -1; // -1 .. NEOPIXEL_PIXELS-1 range
set_brightness(NEOPIXEL_BRIGHTNESS); // 0 .. 255 range
begin();
show(); // initialize to all off
#if ENABLED(NEOPIXEL_STARTUP_TEST)
set_color_startup(adaneo1.Color(255, 0, 0, 0)); // red
safe_delay(500);
set_color_startup(adaneo1.Color(0, 255, 0, 0)); // green
safe_delay(500);
set_color_startup(adaneo1.Color(0, 0, 255, 0)); // blue
safe_delay(500);
#if HAS_WHITE_LED
set_color_startup(adaneo1.Color(0, 0, 0, 255)); // white
safe_delay(500);
#endif
#endif
#ifdef NEOPIXEL_BKGD_INDEX_FIRST
reset_background_color();
#endif
set_color(adaneo1.Color
TERN(LED_USER_PRESET_STARTUP,
(LED_USER_PRESET_RED, LED_USER_PRESET_GREEN, LED_USER_PRESET_BLUE, LED_USER_PRESET_WHITE),
(0, 0, 0, 0))
);
}
#if ENABLED(NEOPIXEL2_SEPARATE)
Marlin_NeoPixel2 neo2;
pixel_index_t Marlin_NeoPixel2::neoindex;
Adafruit_NeoPixel Marlin_NeoPixel2::adaneo(NEOPIXEL2_PIXELS, NEOPIXEL2_PIN, NEOPIXEL2_TYPE);
void Marlin_NeoPixel2::set_color(const uint32_t color) {
if (neoindex >= 0) {
set_pixel_color(neoindex, color);
neoindex = -1;
}
else {
for (uint16_t i = 0; i < pixels(); ++i)
set_pixel_color(i, color);
}
show();
}
void Marlin_NeoPixel2::set_color_startup(const uint32_t color) {
for (uint16_t i = 0; i < pixels(); ++i)
set_pixel_color(i, color);
show();
}
void Marlin_NeoPixel2::init() {
neoindex = -1; // -1 .. NEOPIXEL2_PIXELS-1 range
set_brightness(NEOPIXEL2_BRIGHTNESS); // 0 .. 255 range
begin();
show(); // initialize to all off
#if ENABLED(NEOPIXEL2_STARTUP_TEST)
set_color_startup(adaneo.Color(255, 0, 0, 0)); // red
safe_delay(500);
set_color_startup(adaneo.Color(0, 255, 0, 0)); // green
safe_delay(500);
set_color_startup(adaneo.Color(0, 0, 255, 0)); // blue
safe_delay(500);
#if HAS_WHITE_LED2
set_color_startup(adaneo.Color(0, 0, 0, 255)); // white
safe_delay(500);
#endif
#endif
set_color(adaneo.Color
TERN(NEO2_USER_PRESET_STARTUP,
(NEO2_USER_PRESET_RED, NEO2_USER_PRESET_GREEN, NEO2_USER_PRESET_BLUE, NEO2_USER_PRESET_WHITE),
(0, 0, 0, 0))
);
}
#endif // NEOPIXEL2_SEPARATE
#endif // NEOPIXEL_LED
| 2301_81045437/Marlin | Marlin/src/feature/leds/neopixel.cpp | C++ | agpl-3.0 | 5,330 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* NeoPixel support
*/
#ifndef _NEOPIXEL_INCLUDE_
#error "Always include 'leds.h' and not 'neopixel.h' directly."
#endif
// ------------------------
// Includes
// ------------------------
#include "../../inc/MarlinConfig.h"
#include <Adafruit_NeoPixel.h>
#include <stdint.h>
// ------------------------
// Defines
// ------------------------
#define _NEO_IS_RGB(N) (N == NEO_RGB || N == NEO_RBG || N == NEO_GRB || N == NEO_GBR || N == NEO_BRG || N == NEO_BGR)
#if !_NEO_IS_RGB(NEOPIXEL_TYPE)
#define HAS_WHITE_LED 1
#endif
#if HAS_WHITE_LED
#define NEO_WHITE 0, 0, 0, 255
#else
#define NEO_WHITE 255, 255, 255
#endif
#if defined(NEOPIXEL2_TYPE) && NEOPIXEL2_TYPE != NEOPIXEL_TYPE && DISABLED(NEOPIXEL2_SEPARATE)
#define MULTIPLE_NEOPIXEL_TYPES 1
#endif
#if ANY(MULTIPLE_NEOPIXEL_TYPES, NEOPIXEL2_INSERIES)
#define CONJOINED_NEOPIXEL 1
#endif
// ------------------------
// Types
// ------------------------
typedef value_t(TERN0(NEOPIXEL_LED, NEOPIXEL_PIXELS)) pixel_index_t;
// ------------------------
// Classes
// ------------------------
class Marlin_NeoPixel {
private:
static Adafruit_NeoPixel adaneo1;
#if CONJOINED_NEOPIXEL
static Adafruit_NeoPixel adaneo2;
#endif
public:
static pixel_index_t neoindex;
static void init();
static void set_color_startup(const uint32_t c);
static void set_color(const uint32_t c);
#ifdef NEOPIXEL_BKGD_INDEX_FIRST
static void set_background_color(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t w);
static void set_background_color(const uint8_t (&rgbw)[4]) { set_background_color(rgbw[0], rgbw[1], rgbw[2], rgbw[3]); }
static void reset_background_color();
static void set_background_off();
#endif
static void begin() {
adaneo1.begin();
TERN_(CONJOINED_NEOPIXEL, adaneo2.begin());
}
static void set_pixel_color(const uint16_t n, const uint32_t c) {
#if ENABLED(NEOPIXEL2_INSERIES)
if (n >= NEOPIXEL_PIXELS) adaneo2.setPixelColor(n - (NEOPIXEL_PIXELS), c);
else adaneo1.setPixelColor(n, c);
#else
adaneo1.setPixelColor(n, c);
TERN_(MULTIPLE_NEOPIXEL_TYPES, adaneo2.setPixelColor(n, c));
#endif
}
static void set_brightness(const uint8_t b) {
adaneo1.setBrightness(b);
TERN_(CONJOINED_NEOPIXEL, adaneo2.setBrightness(b));
}
static void show() {
// Some platforms cannot maintain PWM output when NeoPixel disables interrupts for long durations.
TERN_(HAS_PAUSE_SERVO_OUTPUT, PAUSE_SERVO_OUTPUT());
adaneo1.show();
#if PIN_EXISTS(NEOPIXEL2)
#if CONJOINED_NEOPIXEL
adaneo2.show();
#else
adaneo1.show();
adaneo1.setPin(NEOPIXEL_PIN);
#endif
#endif
TERN_(HAS_PAUSE_SERVO_OUTPUT, RESUME_SERVO_OUTPUT());
}
// Accessors
static uint16_t pixels() { return adaneo1.numPixels() * TERN1(NEOPIXEL2_INSERIES, 2); }
static uint32_t pixel_color(const uint16_t n) {
#if ENABLED(NEOPIXEL2_INSERIES)
if (n >= NEOPIXEL_PIXELS) return adaneo2.getPixelColor(n - (NEOPIXEL_PIXELS));
#endif
return adaneo1.getPixelColor(n);
}
static uint8_t brightness() { return adaneo1.getBrightness(); }
static uint32_t Color(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED, uint8_t w)) {
return adaneo1.Color(r, g, b OPTARG(HAS_WHITE_LED, w));
}
};
extern Marlin_NeoPixel neo;
// Neo pixel channel 2
#if ENABLED(NEOPIXEL2_SEPARATE)
#if _NEO_IS_RGB(NEOPIXEL2_TYPE)
#define NEOPIXEL2_IS_RGB 1
#define NEO2_WHITE 255, 255, 255
#else
#define NEOPIXEL2_IS_RGBW 1
#define HAS_WHITE_LED2 1 // A white component can be passed for NEOPIXEL2
#define NEO2_WHITE 0, 0, 0, 255
#endif
class Marlin_NeoPixel2 {
private:
static Adafruit_NeoPixel adaneo;
public:
static pixel_index_t neoindex;
static void init();
static void set_color_startup(const uint32_t c);
static void set_color(const uint32_t c);
static void begin() { adaneo.begin(); }
static void set_pixel_color(const uint16_t n, const uint32_t c) { adaneo.setPixelColor(n, c); }
static void set_brightness(const uint8_t b) { adaneo.setBrightness(b); }
static void show() {
adaneo.show();
adaneo.setPin(NEOPIXEL2_PIN);
}
// Accessors
static uint16_t pixels() { return adaneo.numPixels();}
static uint32_t pixel_color(const uint16_t n) { return adaneo.getPixelColor(n); }
static uint8_t brightness() { return adaneo.getBrightness(); }
static uint32_t Color(uint8_t r, uint8_t g, uint8_t b OPTARG(HAS_WHITE_LED2, uint8_t w)) {
return adaneo.Color(r, g, b OPTARG(HAS_WHITE_LED2, w));
}
};
extern Marlin_NeoPixel2 neo2;
#endif // NEOPIXEL2_SEPARATE
#undef _NEO_IS_RGB
| 2301_81045437/Marlin | Marlin/src/feature/leds/neopixel.h | C++ | agpl-3.0 | 5,596 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* PCA9533 LED controller driver (MightyBoard, FlashForge Creator Pro, etc.)
* by @grauerfuchs - 1 Apr 2020
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(PCA9533)
#include "pca9533.h"
#include <Wire.h>
void PCA9533_init() {
Wire.begin();
PCA9533_reset();
}
static void PCA9533_writeAllRegisters(uint8_t psc0, uint8_t pwm0, uint8_t psc1, uint8_t pwm1, uint8_t ls0) {
uint8_t data[6] = { PCA9533_REG_PSC0 | PCA9533_REGM_AI, psc0, pwm0, psc1, pwm1, ls0 };
Wire.beginTransmission(PCA9533_Addr >> 1);
Wire.write(data, 6);
Wire.endTransmission();
delayMicroseconds(1);
}
static void PCA9533_writeRegister(uint8_t reg, uint8_t val) {
uint8_t data[2] = { reg, val };
Wire.beginTransmission(PCA9533_Addr >> 1);
Wire.write(data, 2);
Wire.endTransmission();
delayMicroseconds(1);
}
// Reset (clear) all registers
void PCA9533_reset() {
PCA9533_writeAllRegisters(0, 0, 0, 0, 0);
}
// Turn all LEDs off
void PCA9533_setOff() {
PCA9533_writeRegister(PCA9533_REG_SEL, 0);
}
void PCA9533_set_rgb(uint8_t red, uint8_t green, uint8_t blue) {
uint8_t r_pwm0 = 0; // Register data - PWM value
uint8_t r_pwm1 = 0; // Register data - PWM value
uint8_t op_g = 0, op_r = 0, op_b = 0; // Opcodes - Green, Red, Blue
// Light theory! GREEN takes priority because
// it's the most visible to the human eye.
if (green == 0) op_g = PCA9533_LED_OP_OFF;
else if (green == 255) op_g = PCA9533_LED_OP_ON;
else { r_pwm0 = green; op_g = PCA9533_LED_OP_PWM0; }
// RED
if (red == 0) op_r = PCA9533_LED_OP_OFF;
else if (red == 255) op_r = PCA9533_LED_OP_ON;
else if (r_pwm0 == 0 || r_pwm0 == red) {
r_pwm0 = red; op_r = PCA9533_LED_OP_PWM0;
}
else {
r_pwm1 = red; op_r = PCA9533_LED_OP_PWM1;
}
// BLUE
if (blue == 0) op_b = PCA9533_LED_OP_OFF;
else if (blue == 255) op_b = PCA9533_LED_OP_ON;
else if (r_pwm0 == 0 || r_pwm0 == blue) {
r_pwm0 = blue; op_b = PCA9533_LED_OP_PWM0;
}
else if (r_pwm1 == 0 || r_pwm1 == blue) {
r_pwm1 = blue; op_b = PCA9533_LED_OP_PWM1;
}
else {
/**
* Conflict. 3 values are requested but only 2 channels exist.
* G is on channel 0 and R is on channel 1, so work from there.
* Find the closest match, average the values, then use the free channel.
*/
uint8_t dgb = ABS(green - blue),
dgr = ABS(green - red),
dbr = ABS(blue - red);
if (dgb < dgr && dgb < dbr) { // Mix with G on channel 0.
op_b = PCA9533_LED_OP_PWM0;
r_pwm0 = uint8_t(((uint16_t)green + (uint16_t)blue) / 2);
}
else if (dbr <= dgr && dbr <= dgb) { // Mix with R on channel 1.
op_b = PCA9533_LED_OP_PWM1;
r_pwm1 = uint8_t(((uint16_t)red + (uint16_t)blue) / 2);
}
else { // Mix R+G on 0 and put B on 1.
op_r = PCA9533_LED_OP_PWM0;
r_pwm0 = uint8_t(((uint16_t)green + (uint16_t)red) / 2);
op_b = PCA9533_LED_OP_PWM1;
r_pwm1 = blue;
}
}
// Write the changes to the hardware
PCA9533_writeAllRegisters(0, r_pwm0, 0, r_pwm1,
(op_g << PCA9533_LED_OFS_GRN) | (op_r << PCA9533_LED_OFS_RED) | (op_b << PCA9533_LED_OFS_BLU)
);
}
#endif // PCA9533
| 2301_81045437/Marlin | Marlin/src/feature/leds/pca9533.cpp | C++ | agpl-3.0 | 4,108 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* Driver for the PCA9533 LED controller found on the MightyBoard
* used by FlashForge Creator Pro, MakerBot, etc.
* Written 2020 APR 01 by grauerfuchs
*/
#include <Arduino.h>
#define ENABLE_I2C_PULLUPS
// Chip address (for Wire)
#define PCA9533_Addr 0xC4
// Control registers
#define PCA9533_REG_READ 0x00
#define PCA9533_REG_PSC0 0x01
#define PCA9533_REG_PWM0 0x02
#define PCA9533_REG_PSC1 0x03
#define PCA9533_REG_PWM1 0x04
#define PCA9533_REG_SEL 0x05
#define PCA9533_REGM_AI 0x10
// LED selector operation
#define PCA9533_LED_OP_OFF 0B00
#define PCA9533_LED_OP_ON 0B01
#define PCA9533_LED_OP_PWM0 0B10
#define PCA9533_LED_OP_PWM1 0B11
// Select register bit offsets for LED colors
#define PCA9533_LED_OFS_RED 0
#define PCA9533_LED_OFS_GRN 2
#define PCA9533_LED_OFS_BLU 4
void PCA9533_init();
void PCA9533_reset();
void PCA9533_set_rgb(uint8_t red, uint8_t green, uint8_t blue);
void PCA9533_setOff();
| 2301_81045437/Marlin | Marlin/src/feature/leds/pca9533.h | C | agpl-3.0 | 1,828 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* Driver for the Philips PCA9632 LED driver.
* Written by Robert Mendon Feb 2017.
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(PCA9632)
#include "pca9632.h"
#include "leds.h"
#include <Wire.h>
#define PCA9632_MODE1_VALUE 0b00000001 //(ALLCALL)
#define PCA9632_MODE2_VALUE 0b00010101 //(DIMMING, INVERT, CHANGE ON STOP,TOTEM)
#define PCA9632_LEDOUT_VALUE 0b00101010
/* Register addresses */
#define PCA9632_MODE1 0x00
#define PCA9632_MODE2 0x01
#define PCA9632_PWM0 0x02
#define PCA9632_PWM1 0x03
#define PCA9632_PWM2 0x04
#define PCA9632_PWM3 0x05
#define PCA9632_GRPPWM 0x06
#define PCA9632_GRPFREQ 0x07
#define PCA9632_LEDOUT 0x08
#define PCA9632_SUBADR1 0x09
#define PCA9632_SUBADR2 0x0A
#define PCA9632_SUBADR3 0x0B
#define PCA9632_ALLCALLADDR 0x0C
#define PCA9632_NO_AUTOINC 0x00
#define PCA9632_AUTO_ALL 0x80
#define PCA9632_AUTO_IND 0xA0
#define PCA9632_AUTOGLO 0xC0
#define PCA9632_AUTOGI 0xE0
// Red=LED0 Green=LED1 Blue=LED2 White=LED3
#ifndef PCA9632_RED
#define PCA9632_RED 0x00
#endif
#ifndef PCA9632_GRN
#define PCA9632_GRN 0x02
#endif
#ifndef PCA9632_BLU
#define PCA9632_BLU 0x04
#endif
#if HAS_WHITE_LED && !defined(PCA9632_WHT)
#define PCA9632_WHT 0x06
#endif
// If any of the color indexes are greater than 0x04 they can't use auto increment
#if !defined(PCA9632_NO_AUTO_INC) && (PCA9632_RED > 0x04 || PCA9632_GRN > 0x04 || PCA9632_BLU > 0x04 || PCA9632_WHT > 0x04)
#define PCA9632_NO_AUTO_INC
#endif
#define LED_OFF 0x00
#define LED_ON 0x01
#define LED_PWM 0x02
#define PCA9632_ADDRESS 0b01100000
byte PCA_init = 0;
static void PCA9632_WriteRegister(const byte addr, const byte regadd, const byte value) {
Wire.beginTransmission(I2C_ADDRESS(addr));
Wire.write(regadd);
Wire.write(value);
Wire.endTransmission();
}
static void PCA9632_WriteAllRegisters(const byte addr, const byte regadd, const byte vr, const byte vg, const byte vb
OPTARG(PCA9632_RGBW, const byte vw)
) {
#if DISABLED(PCA9632_NO_AUTO_INC)
uint8_t data[4];
data[0] = PCA9632_AUTO_IND | regadd;
data[1 + (PCA9632_RED >> 1)] = vr;
data[1 + (PCA9632_GRN >> 1)] = vg;
data[1 + (PCA9632_BLU >> 1)] = vb;
Wire.beginTransmission(I2C_ADDRESS(addr));
Wire.write(data, sizeof(data));
Wire.endTransmission();
#else
PCA9632_WriteRegister(addr, regadd + (PCA9632_RED >> 1), vr);
PCA9632_WriteRegister(addr, regadd + (PCA9632_GRN >> 1), vg);
PCA9632_WriteRegister(addr, regadd + (PCA9632_BLU >> 1), vb);
#if ENABLED(PCA9632_RGBW)
PCA9632_WriteRegister(addr, regadd + (PCA9632_WHT >> 1), vw);
#endif
#endif
}
#if 0
static byte PCA9632_ReadRegister(const byte addr, const byte regadd) {
Wire.beginTransmission(I2C_ADDRESS(addr));
Wire.write(regadd);
const byte value = Wire.read();
Wire.endTransmission();
return value;
}
#endif
void PCA9632_set_led_color(const LEDColor &color) {
Wire.begin();
if (!PCA_init) {
PCA_init = 1;
PCA9632_WriteRegister(PCA9632_ADDRESS,PCA9632_MODE1, PCA9632_MODE1_VALUE);
PCA9632_WriteRegister(PCA9632_ADDRESS,PCA9632_MODE2, PCA9632_MODE2_VALUE);
}
const byte LEDOUT = (color.r ? LED_PWM << PCA9632_RED : 0)
| (color.g ? LED_PWM << PCA9632_GRN : 0)
| (color.b ? LED_PWM << PCA9632_BLU : 0)
#if ENABLED(PCA9632_RGBW)
| (color.w ? LED_PWM << PCA9632_WHT : 0)
#endif
;
PCA9632_WriteAllRegisters(PCA9632_ADDRESS,PCA9632_PWM0, color.r, color.g, color.b
OPTARG(PCA9632_RGBW, color.w)
);
PCA9632_WriteRegister(PCA9632_ADDRESS,PCA9632_LEDOUT, LEDOUT);
}
#if ENABLED(PCA9632_BUZZER)
void PCA9632_buzz(const long, const uint16_t=0) {
uint8_t data[] = PCA9632_BUZZER_DATA;
Wire.beginTransmission(I2C_ADDRESS(PCA9632_ADDRESS));
Wire.write(data, sizeof(data));
Wire.endTransmission();
}
#endif // PCA9632_BUZZER
#endif // PCA9632
| 2301_81045437/Marlin | Marlin/src/feature/leds/pca9632.cpp | C++ | agpl-3.0 | 4,891 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* Driver for the Philips PCA9632 LED driver.
* Written by Robert Mendon Feb 2017.
*/
struct LEDColor;
typedef LEDColor LEDColor;
void PCA9632_set_led_color(const LEDColor &color);
#if ENABLED(PCA9632_BUZZER)
#include <stdint.h>
void PCA9632_buzz(const long, const uint16_t=0);
#endif
| 2301_81045437/Marlin | Marlin/src/feature/leds/pca9632.h | C | agpl-3.0 | 1,174 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* feature/leds/printer_event_leds.cpp - LED color changing based on printer status
*/
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(PRINTER_EVENT_LEDS)
#include "printer_event_leds.h"
PrinterEventLEDs printerEventLEDs;
#if HAS_LEDS_OFF_FLAG
bool PrinterEventLEDs::leds_off_after_print; // = false
#endif
#if HAS_TEMP_HOTEND || HAS_HEATED_BED
uint8_t PrinterEventLEDs::old_intensity = 0;
inline uint8_t pel_intensity(const celsius_t start, const celsius_t current, const celsius_t target) {
if (start == target) return 255;
return (uint8_t)map(constrain(current, start, target), start, target, 0, 255);
}
inline void pel_set_rgb(const uint8_t r, const uint8_t g, const uint8_t b OPTARG(HAS_WHITE_LED, const uint8_t w=0)) {
leds.set_color(
LEDColor(r, g, b OPTARG(HAS_WHITE_LED, w) OPTARG(NEOPIXEL_LED, neo.brightness()))
OPTARG(NEOPIXEL_IS_SEQUENTIAL, true)
);
}
#endif
#if HAS_TEMP_HOTEND
void PrinterEventLEDs::onHotendHeating(const celsius_t start, const celsius_t current, const celsius_t target) {
const uint8_t blue = pel_intensity(start, current, target);
if (blue != old_intensity) {
old_intensity = blue;
pel_set_rgb(255, 0, 255 - blue);
}
}
#endif
#if HAS_HEATED_BED
void PrinterEventLEDs::onBedHeating(const celsius_t start, const celsius_t current, const celsius_t target) {
const uint8_t red = pel_intensity(start, current, target);
if (red != old_intensity) {
old_intensity = red;
pel_set_rgb(red, 0, 255);
}
}
#endif
#if HAS_HEATED_CHAMBER
void PrinterEventLEDs::onChamberHeating(const celsius_t start, const celsius_t current, const celsius_t target) {
const uint8_t green = pel_intensity(start, current, target);
if (green != old_intensity) {
old_intensity = green;
pel_set_rgb(255, green, 255);
}
}
#endif
#endif // PRINTER_EVENT_LEDS
| 2301_81045437/Marlin | Marlin/src/feature/leds/printer_event_leds.cpp | C++ | agpl-3.0 | 2,770 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* feature/leds/printer_event_leds.h - LED color changing based on printer status
*/
#include "leds.h"
#include "../../inc/MarlinConfig.h"
class PrinterEventLEDs {
private:
static uint8_t old_intensity;
#if HAS_LEDS_OFF_FLAG
static bool leds_off_after_print;
#endif
static void set_done() { TERN(LED_COLOR_PRESETS, leds.set_default(), leds.set_off()); }
public:
#if HAS_TEMP_HOTEND
static LEDColor onHotendHeatingStart() { old_intensity = 0; return leds.get_color(); }
static void onHotendHeating(const celsius_t start, const celsius_t current, const celsius_t target);
#endif
#if HAS_HEATED_BED
static LEDColor onBedHeatingStart() { old_intensity = 127; return leds.get_color(); }
static void onBedHeating(const celsius_t start, const celsius_t current, const celsius_t target);
#endif
#if HAS_HEATED_CHAMBER
static LEDColor onChamberHeatingStart() { old_intensity = 127; return leds.get_color(); }
static void onChamberHeating(const celsius_t start, const celsius_t current, const celsius_t target);
#endif
#if HAS_TEMP_HOTEND || HAS_HEATED_BED || HAS_HEATED_CHAMBER
static void onHeatingDone() { leds.set_white(); }
static void onPIDTuningDone(LEDColor c) { leds.set_color(c); }
#endif
#if HAS_MEDIA
static void onPrintCompleted() {
leds.set_green();
#if HAS_LEDS_OFF_FLAG
leds_off_after_print = true;
#else
safe_delay(2000);
set_done();
#endif
}
static void onResumeAfterWait() {
#if HAS_LEDS_OFF_FLAG
if (leds_off_after_print) {
set_done();
leds_off_after_print = false;
}
#endif
}
#endif // HAS_MEDIA
};
extern PrinterEventLEDs printerEventLEDs;
| 2301_81045437/Marlin | Marlin/src/feature/leds/printer_event_leds.h | C++ | agpl-3.0 | 2,634 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* Marlin RGB LED general support
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(TEMP_STAT_LEDS)
#include "tempstat.h"
#include "../../module/temperature.h"
void handle_status_leds() {
static int8_t old_red = -1; // Invalid value to force LED initialization
static millis_t next_status_led_update_ms = 0;
if (ELAPSED(millis(), next_status_led_update_ms)) {
next_status_led_update_ms += 500; // Update every 0.5s
celsius_t max_temp = TERN0(HAS_HEATED_BED, _MAX(thermalManager.degTargetBed(), thermalManager.wholeDegBed()));
HOTEND_LOOP()
max_temp = _MAX(max_temp, thermalManager.wholeDegHotend(e), thermalManager.degTargetHotend(e));
const int8_t new_red = (max_temp > 55) ? HIGH : (max_temp < 54 || old_red < 0) ? LOW : old_red;
if (new_red != old_red) {
old_red = new_red;
#if PIN_EXISTS(STAT_LED_RED)
WRITE(STAT_LED_RED_PIN, new_red);
#endif
#if PIN_EXISTS(STAT_LED_BLUE)
WRITE(STAT_LED_BLUE_PIN, !new_red);
#endif
}
}
}
#endif // TEMP_STAT_LEDS
| 2301_81045437/Marlin | Marlin/src/feature/leds/tempstat.cpp | C++ | agpl-3.0 | 1,910 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* Marlin general RGB LED support
*/
void handle_status_leds();
| 2301_81045437/Marlin | Marlin/src/feature/leds/tempstat.h | C | agpl-3.0 | 946 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* This module is off by default, but can be enabled to facilitate the display of
* extra debug information during code development.
*
* Just connect up 5V and GND to give it power, then connect up the pins assigned
* in Configuration_adv.h. For example, on the Re-ARM you could use:
*
* #define MAX7219_CLK_PIN 77
* #define MAX7219_DIN_PIN 78
* #define MAX7219_LOAD_PIN 79
*
* send() is called automatically at startup, and then there are a number of
* support functions available to control the LEDs in the 8x8 grid.
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(MAX7219_DEBUG)
#define MAX7219_ERRORS // Requires ~400 bytes of flash
#include "max7219.h"
#include "../module/planner.h"
#include "../module/stepper.h"
#include "../MarlinCore.h"
#include "../HAL/shared/Delay.h"
#if ENABLED(MAX7219_SIDE_BY_SIDE) && MAX7219_NUMBER_UNITS > 1
#define HAS_SIDE_BY_SIDE 1
#endif
#define _ROT ((MAX7219_ROTATE + 360) % 360)
#if _ROT == 0 || _ROT == 180
#define MAX7219_X_LEDS TERN(HAS_SIDE_BY_SIDE, 8, MAX7219_LINES)
#define MAX7219_Y_LEDS TERN(HAS_SIDE_BY_SIDE, MAX7219_LINES, 8)
#elif _ROT == 90 || _ROT == 270
#define MAX7219_X_LEDS TERN(HAS_SIDE_BY_SIDE, MAX7219_LINES, 8)
#define MAX7219_Y_LEDS TERN(HAS_SIDE_BY_SIDE, 8, MAX7219_LINES)
#else
#error "MAX7219_ROTATE must be a multiple of +/- 90°."
#endif
#ifdef MAX7219_DEBUG_PROFILE
CodeProfiler::Mode CodeProfiler::mode = ACCUMULATE_AVERAGE;
uint8_t CodeProfiler::instance_count = 0;
uint32_t CodeProfiler::last_calc_time = micros();
uint8_t CodeProfiler::time_fraction = 0;
uint32_t CodeProfiler::total_time = 0;
uint16_t CodeProfiler::call_count = 0;
#endif
#if defined(MAX7219_DEBUG_PLANNER_HEAD) && defined(MAX7219_DEBUG_PLANNER_TAIL) && MAX7219_DEBUG_PLANNER_HEAD == MAX7219_DEBUG_PLANNER_TAIL
static int16_t last_head_cnt = 0xF, last_tail_cnt = 0xF;
#else
#ifdef MAX7219_DEBUG_PLANNER_HEAD
static int16_t last_head_cnt = 0x1;
#endif
#ifdef MAX7219_DEBUG_PLANNER_TAIL
static int16_t last_tail_cnt = 0x1;
#endif
#endif
#ifdef MAX7219_DEBUG_PLANNER_QUEUE
static int16_t last_depth = 0;
#endif
#ifdef MAX7219_DEBUG_PROFILE
static uint8_t last_time_fraction = 0;
#endif
#ifdef MAX7219_DEBUG_MULTISTEPPING
static uint8_t last_multistepping = 0;
#endif
Max7219 max7219;
uint8_t Max7219::led_line[MAX7219_LINES]; // = { 0 };
uint8_t Max7219::suspended; // = 0;
#define LINE_REG(Q) (max7219_reg_digit0 + ((Q) & 0x7))
#if (_ROT == 0 || _ROT == 270) == DISABLED(MAX7219_REVERSE_EACH)
#define _LED_BIT(Q) (7 - ((Q) & 0x7))
#else
#define _LED_BIT(Q) ((Q) & 0x7)
#endif
#if _ROT == 0 || _ROT == 180
#define LED_BIT(X,Y) _LED_BIT(X)
#else
#define LED_BIT(X,Y) _LED_BIT(Y)
#endif
#if _ROT == 0 || _ROT == 90
#define _LED_IND(P,Q) (_LED_TOP(P) + ((Q) & 0x7))
#else
#define _LED_IND(P,Q) (_LED_TOP(P) + (7 - ((Q) & 0x7)))
#endif
#if HAS_SIDE_BY_SIDE
#if (_ROT == 0 || _ROT == 90) == DISABLED(MAX7219_REVERSE_ORDER)
#define _LED_TOP(Q) ((MAX7219_NUMBER_UNITS - 1 - ((Q) >> 3)) << 3)
#else
#define _LED_TOP(Q) ((Q) & ~0x7)
#endif
#if _ROT == 0 || _ROT == 180
#define LED_IND(X,Y) _LED_IND(Y,Y)
#elif _ROT == 90 || _ROT == 270
#define LED_IND(X,Y) _LED_IND(X,X)
#endif
#else
#if (_ROT == 0 || _ROT == 270) == DISABLED(MAX7219_REVERSE_ORDER)
#define _LED_TOP(Q) ((Q) & ~0x7)
#else
#define _LED_TOP(Q) ((MAX7219_NUMBER_UNITS - 1 - ((Q) >> 3)) << 3)
#endif
#if _ROT == 0 || _ROT == 180
#define LED_IND(X,Y) _LED_IND(X,Y)
#elif _ROT == 90 || _ROT == 270
#define LED_IND(X,Y) _LED_IND(Y,X)
#endif
#endif
#define XOR_7219(X,Y) do{ led_line[LED_IND(X,Y)] ^= _BV(LED_BIT(X,Y)); }while(0)
#define SET_7219(X,Y) do{ led_line[LED_IND(X,Y)] |= _BV(LED_BIT(X,Y)); }while(0)
#define CLR_7219(X,Y) do{ led_line[LED_IND(X,Y)] &= ~_BV(LED_BIT(X,Y)); }while(0)
#define BIT_7219(X,Y) TEST(led_line[LED_IND(X,Y)], LED_BIT(X,Y))
#ifdef CPU_32_BIT
#define SIG_DELAY() DELAY_US(1) // Approximate a 1µs delay on 32-bit ARM
#undef CRITICAL_SECTION_START
#undef CRITICAL_SECTION_END
#define CRITICAL_SECTION_START() NOOP
#define CRITICAL_SECTION_END() NOOP
#else
#define SIG_DELAY() DELAY_NS(250)
#endif
void Max7219::error(FSTR_P const func, const int32_t v1, const int32_t v2/*=-1*/) {
#if ENABLED(MAX7219_ERRORS)
SERIAL_ECHO(F("??? Max7219::"), func, C('('), v1);
if (v2 > 0) SERIAL_ECHOPGM(", ", v2);
SERIAL_CHAR(')');
SERIAL_EOL();
#else
UNUSED(func); UNUSED(v1); UNUSED(v2);
#endif
}
/**
* Flip the lowest n_bytes of the supplied bits:
* flipped(x, 1) flips the low 8 bits of x.
* flipped(x, 2) flips the low 16 bits of x.
* flipped(x, 3) flips the low 24 bits of x.
* flipped(x, 4) flips the low 32 bits of x.
*/
inline uint32_t flipped(const uint32_t bits, const uint8_t n_bytes) {
uint32_t mask = 1, outbits = 0;
for (uint8_t b = 0; b < n_bytes * 8; ++b) {
outbits <<= 1;
if (bits & mask) outbits |= 1;
mask <<= 1;
}
return outbits;
}
void Max7219::noop() {
CRITICAL_SECTION_START();
SIG_DELAY();
WRITE(MAX7219_DIN_PIN, LOW);
for (uint8_t i = 16; i--;) {
SIG_DELAY();
WRITE(MAX7219_CLK_PIN, LOW);
SIG_DELAY();
SIG_DELAY();
WRITE(MAX7219_CLK_PIN, HIGH);
SIG_DELAY();
}
CRITICAL_SECTION_END();
}
void Max7219::putbyte(uint8_t data) {
CRITICAL_SECTION_START();
for (uint8_t i = 8; i--;) {
SIG_DELAY();
WRITE(MAX7219_CLK_PIN, LOW); // tick
SIG_DELAY();
WRITE(MAX7219_DIN_PIN, (data & 0x80) ? HIGH : LOW); // send 1 or 0 based on data bit
SIG_DELAY();
WRITE(MAX7219_CLK_PIN, HIGH); // tock
SIG_DELAY();
data <<= 1;
}
CRITICAL_SECTION_END();
}
void Max7219::pulse_load() {
SIG_DELAY();
WRITE(MAX7219_LOAD_PIN, LOW); // tell the chip to load the data
SIG_DELAY();
WRITE(MAX7219_LOAD_PIN, HIGH);
SIG_DELAY();
}
void Max7219::send(const uint8_t reg, const uint8_t data) {
SIG_DELAY();
CRITICAL_SECTION_START();
SIG_DELAY();
putbyte(reg); // specify register
SIG_DELAY();
putbyte(data); // put data
CRITICAL_SECTION_END();
}
// Send out a single native row of bits to just one unit
void Max7219::refresh_unit_line(const uint8_t line) {
if (suspended) return;
#if MAX7219_NUMBER_UNITS == 1
send(LINE_REG(line), led_line[line]);
#else
for (uint8_t u = MAX7219_NUMBER_UNITS; u--;)
if (u == (line >> 3)) send(LINE_REG(line), led_line[line]); else noop();
#endif
pulse_load();
}
// Send out a single native row of bits to all units
void Max7219::refresh_line(const uint8_t line) {
if (suspended) return;
#if MAX7219_NUMBER_UNITS == 1
refresh_unit_line(line);
#else
for (uint8_t u = MAX7219_NUMBER_UNITS; u--;)
send(LINE_REG(line), led_line[(u << 3) | (line & 0x7)]);
#endif
pulse_load();
}
void Max7219::set(const uint8_t line, const uint8_t bits) {
led_line[line] = bits;
refresh_unit_line(line);
}
#if ENABLED(MAX7219_NUMERIC)
// Draw an integer with optional leading zeros and optional decimal point
void Max7219::print(const uint8_t start, int16_t value, uint8_t size, const bool leadzero=false, bool dec=false) {
if (suspended) return;
constexpr uint8_t led_numeral[10] = { 0x7E, 0x60, 0x6D, 0x79, 0x63, 0x5B, 0x5F, 0x70, 0x7F, 0x7A },
led_decimal = 0x80, led_minus = 0x01;
bool blank = false, neg = value < 0;
if (neg) value *= -1;
while (size--) {
const bool minus = neg && blank;
if (minus) neg = false;
send(
max7219_reg_digit0 + start + size,
minus ? led_minus : blank ? 0x00 : led_numeral[value % 10] | (dec ? led_decimal : 0x00)
);
pulse_load(); // tell the chips to load the clocked out data
value /= 10;
if (!value && !leadzero) blank = true;
dec = false;
}
}
// Draw a float with a decimal point and optional digits
void Max7219::print(const uint8_t start, const_float_t value, const uint8_t pre_size, const uint8_t post_size, const bool leadzero=false) {
if (pre_size) print(start, value, pre_size, leadzero, !!post_size);
if (post_size) {
const int16_t after = ABS(value) * (10 ^ post_size);
print(start + pre_size, after, post_size, true);
}
}
#endif // MAX7219_NUMERIC
// Modify a single LED bit and send the changed line
void Max7219::led_set(const uint8_t x, const uint8_t y, const bool on, uint8_t * const rcm/*=nullptr*/) {
if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_set"), x, y);
if (BIT_7219(x, y) == on) return;
XOR_7219(x, y);
refresh_unit_line(LED_IND(x, y));
if (rcm != nullptr) *rcm |= _BV(LED_IND(x, y) & 0x07);
}
void Max7219::led_on(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) {
if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_on"), x, y);
led_set(x, y, true, rcm);
}
void Max7219::led_off(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) {
if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_off"), x, y);
led_set(x, y, false, rcm);
}
void Max7219::led_toggle(const uint8_t x, const uint8_t y, uint8_t * const rcm/*=nullptr*/) {
if (x >= MAX7219_X_LEDS || y >= MAX7219_Y_LEDS) return error(F("led_toggle"), x, y);
led_set(x, y, !BIT_7219(x, y), rcm);
}
void Max7219::send_row(const uint8_t row) {
if (suspended) return;
#if _ROT == 0 || _ROT == 180 // Native Lines are horizontal too
#if MAX7219_X_LEDS <= 8
refresh_unit_line(LED_IND(0, row)); // A single unit line
#else
refresh_line(LED_IND(0, row)); // Same line, all units
#endif
#else // Native lines are vertical
UNUSED(row);
refresh(); // Actually a column
#endif
}
void Max7219::send_column(const uint8_t col) {
if (suspended) return;
#if _ROT == 90 || _ROT == 270 // Native Lines are vertical too
#if MAX7219_Y_LEDS <= 8
refresh_unit_line(LED_IND(col, 0)); // A single unit line
#else
refresh_line(LED_IND(col, 0)); // Same line, all units
#endif
#else // Native lines are horizontal
UNUSED(col);
refresh(); // Actually a row
#endif
}
void Max7219::clear() {
ZERO(led_line);
refresh();
}
void Max7219::fill() {
memset(led_line, 0xFF, sizeof(led_line));
refresh();
}
void Max7219::clear_row(const uint8_t row) {
if (row >= MAX7219_Y_LEDS) return error(F("clear_row"), row);
for (uint8_t x = 0; x < MAX7219_X_LEDS; ++x) CLR_7219(x, row);
send_row(row);
}
void Max7219::clear_column(const uint8_t col) {
if (col >= MAX7219_X_LEDS) return error(F("set_column"), col);
for (uint8_t y = 0; y < MAX7219_Y_LEDS; ++y) CLR_7219(col, y);
send_column(col);
}
/**
* Plot the low order bits of val to the specified row of the matrix.
* With 4 Max7219 units in the chain, it's possible to set 32 bits at
* once with a single call to the function (if rotated 90° or 270°).
*/
void Max7219::set_row(const uint8_t row, const uint32_t val) {
if (row >= MAX7219_Y_LEDS) return error(F("set_row"), row);
uint32_t mask = _BV32(MAX7219_X_LEDS - 1);
for (uint8_t x = 0; x < MAX7219_X_LEDS; ++x) {
if (val & mask) SET_7219(x, row); else CLR_7219(x, row);
mask >>= 1;
}
send_row(row);
}
/**
* Plot the low order bits of val to the specified column of the matrix.
* With 4 Max7219 units in the chain, it's possible to set 32 bits at
* once with a single call to the function (if rotated 0° or 180°).
*/
void Max7219::set_column(const uint8_t col, const uint32_t val) {
if (col >= MAX7219_X_LEDS) return error(F("set_column"), col);
uint32_t mask = _BV32(MAX7219_Y_LEDS - 1);
for (uint8_t y = 0; y < MAX7219_Y_LEDS; ++y) {
if (val & mask) SET_7219(col, y); else CLR_7219(col, y);
mask >>= 1;
}
send_column(col);
}
void Max7219::set_rows_16bits(const uint8_t y, uint32_t val) {
#if MAX7219_X_LEDS == 8
if (y > MAX7219_Y_LEDS - 2) return error(F("set_rows_16bits"), y, val);
set_row(y + 1, val); val >>= 8;
set_row(y + 0, val);
#else // at least 16 bits on each row
if (y > MAX7219_Y_LEDS - 1) return error(F("set_rows_16bits"), y, val);
set_row(y, val);
#endif
}
void Max7219::set_rows_32bits(const uint8_t y, uint32_t val) {
#if MAX7219_X_LEDS == 8
if (y > MAX7219_Y_LEDS - 4) return error(F("set_rows_32bits"), y, val);
set_row(y + 3, val); val >>= 8;
set_row(y + 2, val); val >>= 8;
set_row(y + 1, val); val >>= 8;
set_row(y + 0, val);
#elif MAX7219_X_LEDS == 16
if (y > MAX7219_Y_LEDS - 2) return error(F("set_rows_32bits"), y, val);
set_row(y + 1, val); val >>= 16;
set_row(y + 0, val);
#else // at least 24 bits on each row. In the 3 matrix case, just display the low 24 bits
if (y > MAX7219_Y_LEDS - 1) return error(F("set_rows_32bits"), y, val);
set_row(y, val);
#endif
}
void Max7219::set_columns_16bits(const uint8_t x, uint32_t val) {
#if MAX7219_Y_LEDS == 8
if (x > MAX7219_X_LEDS - 2) return error(F("set_columns_16bits"), x, val);
set_column(x + 0, val); val >>= 8;
set_column(x + 1, val);
#else // at least 16 bits in each column
if (x > MAX7219_X_LEDS - 1) return error(F("set_columns_16bits"), x, val);
set_column(x, val);
#endif
}
void Max7219::set_columns_32bits(const uint8_t x, uint32_t val) {
#if MAX7219_Y_LEDS == 8
if (x > MAX7219_X_LEDS - 4) return error(F("set_rows_32bits"), x, val);
set_column(x + 3, val); val >>= 8;
set_column(x + 2, val); val >>= 8;
set_column(x + 1, val); val >>= 8;
set_column(x + 0, val);
#elif MAX7219_Y_LEDS == 16
if (x > MAX7219_X_LEDS - 2) return error(F("set_rows_32bits"), x, val);
set_column(x + 1, val); val >>= 16;
set_column(x + 0, val);
#else // at least 24 bits on each row. In the 3 matrix case, just display the low 24 bits
if (x > MAX7219_X_LEDS - 1) return error(F("set_rows_32bits"), x, val);
set_column(x, val);
#endif
}
// Initialize the Max7219
void Max7219::register_setup() {
for (uint8_t i = 0; i < MAX7219_NUMBER_UNITS; ++i)
send(max7219_reg_scanLimit, 0x07);
pulse_load(); // Tell the chips to load the clocked out data
for (uint8_t i = 0; i < MAX7219_NUMBER_UNITS; ++i)
send(max7219_reg_decodeMode, 0x00); // Using an led matrix (not digits)
pulse_load(); // Tell the chips to load the clocked out data
for (uint8_t i = 0; i < MAX7219_NUMBER_UNITS; ++i)
send(max7219_reg_shutdown, 0x01); // Not in shutdown mode
pulse_load(); // Tell the chips to load the clocked out data
for (uint8_t i = 0; i < MAX7219_NUMBER_UNITS; ++i)
send(max7219_reg_displayTest, 0x00); // No display test
pulse_load(); // Tell the chips to load the clocked out data
for (uint8_t i = 0; i < MAX7219_NUMBER_UNITS; ++i)
send(max7219_reg_intensity, 0x01 & 0x0F); // The first 0x0F is the value you can set
// Range: 0x00 to 0x0F
pulse_load(); // Tell the chips to load the clocked out data
}
#if MAX7219_INIT_TEST
uint8_t test_mode = 0;
millis_t next_patt_ms;
bool patt_on;
#if MAX7219_INIT_TEST == 2
#define MAX7219_LEDS (MAX7219_X_LEDS * MAX7219_Y_LEDS)
constexpr millis_t pattern_delay = 4;
int8_t spiralx, spiraly, spiral_dir;
uvalue_t(MAX7219_LEDS) spiral_count;
void Max7219::test_pattern() {
constexpr int8_t way[][2] = { { 1, 0 }, { 0, 1 }, { -1, 0 }, { 0, -1 } };
led_set(spiralx, spiraly, patt_on);
const int8_t x = spiralx + way[spiral_dir][0], y = spiraly + way[spiral_dir][1];
if (!WITHIN(x, 0, MAX7219_X_LEDS - 1) || !WITHIN(y, 0, MAX7219_Y_LEDS - 1) || BIT_7219(x, y) == patt_on)
spiral_dir = (spiral_dir + 1) & 0x3;
spiralx += way[spiral_dir][0];
spiraly += way[spiral_dir][1];
if (!spiral_count--) {
if (!patt_on)
test_mode = 0;
else {
spiral_count = MAX7219_LEDS;
spiralx = spiraly = spiral_dir = 0;
patt_on = false;
}
}
}
#else
constexpr millis_t pattern_delay = 20;
int8_t sweep_count, sweepx, sweep_dir;
void Max7219::test_pattern() {
set_column(sweepx, patt_on ? 0xFFFFFFFF : 0x00000000);
sweepx += sweep_dir;
if (!WITHIN(sweepx, 0, MAX7219_X_LEDS - 1)) {
if (!patt_on) {
sweep_dir *= -1;
sweepx += sweep_dir;
}
else
sweepx -= MAX7219_X_LEDS * sweep_dir;
patt_on ^= true;
next_patt_ms += 100;
if (++test_mode > 4) test_mode = 0;
}
}
#endif
void Max7219::run_test_pattern() {
const millis_t ms = millis();
if (PENDING(ms, next_patt_ms)) return;
next_patt_ms = ms + pattern_delay;
test_pattern();
}
void Max7219::start_test_pattern() {
clear();
test_mode = 1;
patt_on = true;
#if MAX7219_INIT_TEST == 2
spiralx = spiraly = spiral_dir = 0;
spiral_count = MAX7219_LEDS;
#else
sweep_dir = 1;
sweepx = 0;
sweep_count = MAX7219_X_LEDS;
#endif
}
#endif // MAX7219_INIT_TEST
void Max7219::init() {
SET_OUTPUT(MAX7219_DIN_PIN);
SET_OUTPUT(MAX7219_CLK_PIN);
OUT_WRITE(MAX7219_LOAD_PIN, HIGH);
delay(1);
register_setup();
clear();
#if MAX7219_INIT_TEST
start_test_pattern();
#endif
#ifdef MAX7219_REINIT_ON_POWERUP
#if defined(MAX7219_DEBUG_PLANNER_HEAD) && defined(MAX7219_DEBUG_PLANNER_TAIL) && MAX7219_DEBUG_PLANNER_HEAD == MAX7219_DEBUG_PLANNER_TAIL
last_head_cnt = 0xF;
last_tail_cnt = 0xF;
#else
#ifdef MAX7219_DEBUG_PLANNER_HEAD
last_head_cnt = 0x1;
#endif
#ifdef MAX7219_DEBUG_PLANNER_TAIL
last_tail_cnt = 0x1;
#endif
#endif
#ifdef MAX7219_DEBUG_PLANNER_QUEUE
last_depth = 0;
#endif
#ifdef MAX7219_DEBUG_PROFILE
last_time_fraction = 0;
#endif
#ifdef MAX7219_DEBUG_MULTISTEPPING
last_multistepping = 0;
#endif
#endif
}
/**
* This code demonstrates some simple debugging using a single 8x8 LED Matrix. If your feature could
* benefit from matrix display, add its code here. Very little processing is required, so the 7219 is
* ideal for debugging when realtime feedback is important but serial output can't be used.
*/
// Apply changes to update a marker
void Max7219::mark16(const uint8_t pos, const uint8_t v1, const uint8_t v2, uint8_t * const rcm/*=nullptr*/) {
#if MAX7219_X_LEDS > 8 // At least 16 LEDs on the X-Axis. Use single line.
led_off(v1 & 0xF, pos, rcm);
led_on(v2 & 0xF, pos, rcm);
#elif MAX7219_Y_LEDS > 8 // At least 16 LEDs on the Y-Axis. Use a single column.
led_off(pos, v1 & 0xF, rcm);
led_on(pos, v2 & 0xF, rcm);
#else // Single 8x8 LED matrix. Use two lines to get 16 LEDs.
led_off(v1 & 0x7, pos + (v1 >= 8), rcm);
led_on(v2 & 0x7, pos + (v2 >= 8), rcm);
#endif
}
// Apply changes to update a tail-to-head range
void Max7219::range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh,
const uint8_t nh, uint8_t * const rcm/*=nullptr*/) {
#if MAX7219_X_LEDS > 8 // At least 16 LEDs on the X-Axis. Use single line.
if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF)
led_off(n & 0xF, y, rcm);
if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF)
led_on(n & 0xF, y, rcm);
#elif MAX7219_Y_LEDS > 8 // At least 16 LEDs on the Y-Axis. Use a single column.
if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF)
led_off(y, n & 0xF, rcm);
if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF)
led_on(y, n & 0xF, rcm);
#else // Single 8x8 LED matrix. Use two lines to get 16 LEDs.
if (ot != nt) for (uint8_t n = ot & 0xF; n != (nt & 0xF) && n != (nh & 0xF); n = (n + 1) & 0xF)
led_off(n & 0x7, y + (n >= 8), rcm);
if (oh != nh) for (uint8_t n = (oh + 1) & 0xF; n != ((nh + 1) & 0xF); n = (n + 1) & 0xF)
led_on(n & 0x7, y + (n >= 8), rcm);
#endif
}
// Apply changes to update a quantity
void Max7219::quantity(const uint8_t pos, const uint8_t ov, const uint8_t nv, uint8_t * const rcm/*=nullptr*/) {
for (uint8_t i = _MIN(nv, ov); i < _MAX(nv, ov); i++)
led_set(
#if MAX7219_X_LEDS >= MAX7219_Y_LEDS
i, pos // Single matrix or multiple matrices in Landscape
#else
pos, i // Multiple matrices in Portrait
#endif
, nv >= ov
, rcm
);
}
void Max7219::quantity16(const uint8_t pos, const uint8_t ov, const uint8_t nv, uint8_t * const rcm/*=nullptr*/) {
for (uint8_t i = _MIN(nv, ov); i < _MAX(nv, ov); i++)
led_set(
#if MAX7219_X_LEDS > 8 // At least 16 LEDs on the X-Axis. Use single line.
i, pos
#elif MAX7219_Y_LEDS > 8 // At least 16 LEDs on the Y-Axis. Use a single column.
pos, i
#else // Single 8x8 LED matrix. Use two lines to get 16 LEDs.
i >> 1, pos + (i & 1)
#endif
, nv >= ov
, rcm
);
}
void Max7219::idle_tasks() {
#define MAX7219_USE_HEAD (defined(MAX7219_DEBUG_PLANNER_HEAD) || defined(MAX7219_DEBUG_PLANNER_QUEUE))
#define MAX7219_USE_TAIL (defined(MAX7219_DEBUG_PLANNER_TAIL) || defined(MAX7219_DEBUG_PLANNER_QUEUE))
#if MAX7219_USE_HEAD || MAX7219_USE_TAIL
CRITICAL_SECTION_START();
#if MAX7219_USE_HEAD
const uint8_t head = planner.block_buffer_head;
#endif
#if MAX7219_USE_TAIL
const uint8_t tail = planner.block_buffer_tail;
#endif
CRITICAL_SECTION_END();
#endif
#if ENABLED(MAX7219_DEBUG_PRINTER_ALIVE)
static uint8_t refresh_cnt; // = 0
constexpr uint16_t refresh_limit = 5;
static millis_t next_blink = 0;
const millis_t ms = millis();
const bool do_blink = ELAPSED(ms, next_blink);
#else
static uint16_t refresh_cnt; // = 0
constexpr bool do_blink = true;
constexpr uint16_t refresh_limit = 50000;
#endif
// Some Max7219 units are vulnerable to electrical noise, especially
// with long wires next to high current wires. If the display becomes
// corrupted, this will fix it within a couple seconds.
if (do_blink && ++refresh_cnt >= refresh_limit) {
refresh_cnt = 0;
register_setup();
}
#if MAX7219_INIT_TEST
if (test_mode) {
run_test_pattern();
return;
}
#endif
// suspend updates and record which lines have changed for batching later
suspended++;
uint8_t row_change_mask = 0x00;
#if ENABLED(MAX7219_DEBUG_PRINTER_ALIVE)
if (do_blink) {
led_toggle(MAX7219_X_LEDS - 1, MAX7219_Y_LEDS - 1, &row_change_mask);
next_blink = ms + 1000;
}
#endif
#if defined(MAX7219_DEBUG_PLANNER_HEAD) && defined(MAX7219_DEBUG_PLANNER_TAIL) && MAX7219_DEBUG_PLANNER_HEAD == MAX7219_DEBUG_PLANNER_TAIL
if (last_head_cnt != head || last_tail_cnt != tail) {
range16(MAX7219_DEBUG_PLANNER_HEAD, last_tail_cnt, tail, last_head_cnt, head, &row_change_mask);
last_head_cnt = head;
last_tail_cnt = tail;
}
#else
#ifdef MAX7219_DEBUG_PLANNER_HEAD
if (last_head_cnt != head) {
mark16(MAX7219_DEBUG_PLANNER_HEAD, last_head_cnt, head, &row_change_mask);
last_head_cnt = head;
}
#endif
#ifdef MAX7219_DEBUG_PLANNER_TAIL
if (last_tail_cnt != tail) {
mark16(MAX7219_DEBUG_PLANNER_TAIL, last_tail_cnt, tail, &row_change_mask);
last_tail_cnt = tail;
}
#endif
#endif
#ifdef MAX7219_DEBUG_PLANNER_QUEUE
static int16_t last_depth = 0;
const int16_t current_depth = BLOCK_MOD(head - tail + (BLOCK_BUFFER_SIZE)) & 0xF;
if (current_depth != last_depth) {
quantity16(MAX7219_DEBUG_PLANNER_QUEUE, last_depth, current_depth, &row_change_mask);
last_depth = current_depth;
}
#endif
#ifdef MAX7219_DEBUG_PROFILE
const uint8_t current_time_fraction = (uint16_t(CodeProfiler::get_time_fraction()) * MAX7219_NUMBER_UNITS + 8) / 16;
if (current_time_fraction != last_time_fraction) {
quantity(MAX7219_DEBUG_PROFILE, last_time_fraction, current_time_fraction, &row_change_mask);
last_time_fraction = current_time_fraction;
}
#endif
#ifdef MAX7219_DEBUG_MULTISTEPPING
static uint8_t last_multistepping = 0;
const uint8_t multistepping = Stepper::steps_per_isr;
if (multistepping != last_multistepping) {
static uint8_t log2_old = 0;
uint8_t log2_new = 0;
for (uint8_t val = multistepping; val > 1; val >>= 1) log2_new++;
mark16(MAX7219_DEBUG_MULTISTEPPING, log2_old, log2_new, &row_change_mask);
last_multistepping = multistepping;
log2_old = log2_new;
}
#endif
#ifdef MAX7219_DEBUG_SLOWDOWN
static uint8_t last_slowdown_count = 0;
const uint8_t slowdown_count = Planner::slowdown_count;
if (slowdown_count != last_slowdown_count) {
mark16(MAX7219_DEBUG_SLOWDOWN, last_slowdown_count, slowdown_count, &row_change_mask);
last_slowdown_count = slowdown_count;
}
#endif
// batch line updates
suspended--;
if (!suspended)
for (uint8_t i = 0; i < 8; ++i) if (row_change_mask & _BV(i))
refresh_line(i);
// After resume() automatically do a refresh()
if (suspended == 0x80) {
suspended = 0;
refresh();
}
}
#endif // MAX7219_DEBUG
| 2301_81045437/Marlin | Marlin/src/feature/max7219.cpp | C++ | agpl-3.0 | 26,498 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* This module is off by default, but can be enabled to facilitate the display of
* extra debug information during code development.
*
* Just connect up 5V and GND to give it power, then connect up the pins assigned
* in Configuration_adv.h. For example, on the Re-ARM you could use:
*
* #define MAX7219_CLK_PIN 77
* #define MAX7219_DIN_PIN 78
* #define MAX7219_LOAD_PIN 79
*
* max7219.init() is called automatically at startup, and then there are a number of
* support functions available to control the LEDs in the 8x8 grid.
*
* If you are using the Max7219 matrix for firmware debug purposes in time sensitive
* areas of the code, please be aware that the orientation (rotation) of the display can
* affect the speed. The Max7219 can update a single column fairly fast. It is much
* faster to do a Max7219_Set_Column() with a rotation of 90 or 270 degrees than to do
* a Max7219_Set_Row(). The opposite is true for rotations of 0 or 180 degrees.
*/
#include "../inc/MarlinConfig.h"
#ifndef MAX7219_ROTATE
#define MAX7219_ROTATE 0
#endif
#ifndef MAX7219_NUMBER_UNITS
#define MAX7219_NUMBER_UNITS 1
#endif
#define MAX7219_LINES (8 * (MAX7219_NUMBER_UNITS))
//
// MAX7219 registers
//
#define max7219_reg_noop 0x00
#define max7219_reg_digit0 0x01
#define max7219_reg_digit1 0x02
#define max7219_reg_digit2 0x03
#define max7219_reg_digit3 0x04
#define max7219_reg_digit4 0x05
#define max7219_reg_digit5 0x06
#define max7219_reg_digit6 0x07
#define max7219_reg_digit7 0x08
#define max7219_reg_decodeMode 0x09
#define max7219_reg_intensity 0x0A
#define max7219_reg_scanLimit 0x0B
#define max7219_reg_shutdown 0x0C
#define max7219_reg_displayTest 0x0F
#ifdef MAX7219_DEBUG_PROFILE
// This class sums up the amount of time for which its instances exist.
// By default there is one instantiated for the duration of the idle()
// function. But an instance can be created in any code block to measure
// the time spent from the point of instantiation until the CPU leaves
// block. Be careful about having multiple instances of CodeProfiler as
// it does not guard against double counting. In general mixing ISR and
// non-ISR use will require critical sections but note that mode setting
// is atomic so the total or average times can safely be read if you set
// mode to FREEZE first.
class CodeProfiler {
public:
enum Mode : uint8_t { ACCUMULATE_AVERAGE, ACCUMULATE_TOTAL, FREEZE };
private:
static Mode mode;
static uint8_t instance_count;
static uint32_t last_calc_time;
static uint32_t total_time;
static uint8_t time_fraction;
static uint16_t call_count;
uint32_t start_time;
public:
CodeProfiler() : start_time(micros()) { instance_count++; }
~CodeProfiler() {
instance_count--;
if (mode == FREEZE) return;
call_count++;
const uint32_t now = micros();
total_time += now - start_time;
if (mode == ACCUMULATE_TOTAL) return;
// update time_fraction every hundred milliseconds
if (instance_count == 0 && ELAPSED(now, last_calc_time + 100000)) {
time_fraction = total_time * 128 / (now - last_calc_time);
last_calc_time = now;
total_time = 0;
}
}
static void set_mode(Mode _mode) { mode = _mode; }
static void reset() {
time_fraction = 0;
last_calc_time = micros();
total_time = 0;
call_count = 0;
}
// returns fraction of total time which was measured, scaled from 0 to 128
static uint8_t get_time_fraction() { return time_fraction; }
// returns total time in microseconds
static uint32_t get_total_time() { return total_time; }
static uint16_t get_call_count() { return call_count; }
};
#endif
class Max7219 {
public:
static uint8_t led_line[MAX7219_LINES];
Max7219() {}
static void init();
static void register_setup();
static void putbyte(uint8_t data);
static void pulse_load();
// Set a single register (e.g., a whole native row)
static void send(const uint8_t reg, const uint8_t data);
// Refresh all units
static void refresh() { for (uint8_t i = 0; i < 8; i++) refresh_line(i); }
// Suspend / resume updates to the LED unit
// Use these methods to speed up multiple changes
// or to apply updates from interrupt context.
static void suspend() { suspended++; }
static void resume() { suspended--; suspended |= 0x80; }
// Update a single native line on all units
static void refresh_line(const uint8_t line);
// Update a single native line on just one unit
static void refresh_unit_line(const uint8_t line);
#if ENABLED(MAX7219_NUMERIC)
// Draw an integer with optional leading zeros and optional decimal point
void print(const uint8_t start, int16_t value, uint8_t size, const bool leadzero=false, bool dec=false);
// Draw a float with a decimal point and optional digits
void print(const uint8_t start, const_float_t value, const uint8_t pre_size, const uint8_t post_size, const bool leadzero=false);
#endif
// Set a single LED by XY coordinate
static void led_set(const uint8_t x, const uint8_t y, const bool on, uint8_t * const rcm=nullptr);
static void led_on(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr);
static void led_off(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr);
static void led_toggle(const uint8_t x, const uint8_t y, uint8_t * const rcm=nullptr);
// Set all LEDs in a single column
static void set_column(const uint8_t col, const uint32_t val);
static void clear_column(const uint8_t col);
// Set all LEDs in a single row
static void set_row(const uint8_t row, const uint32_t val);
static void clear_row(const uint8_t row);
// 16 and 32 bit versions of Row and Column functions
// Multiple rows and columns will be used to display the value if
// the array of matrix LED's is too narrow to accomplish the goal
static void set_rows_16bits(const uint8_t y, uint32_t val);
static void set_rows_32bits(const uint8_t y, uint32_t val);
static void set_columns_16bits(const uint8_t x, uint32_t val);
static void set_columns_32bits(const uint8_t x, uint32_t val);
// Quickly clear the whole matrix
static void clear();
// Quickly fill the whole matrix
static void fill();
// Apply custom code to update the matrix
static void idle_tasks();
private:
static uint8_t suspended;
static void error(FSTR_P const func, const int32_t v1, const int32_t v2=-1);
static void noop();
static void set(const uint8_t line, const uint8_t bits);
static void send_row(const uint8_t row);
static void send_column(const uint8_t col);
static void mark16(const uint8_t y, const uint8_t v1, const uint8_t v2, uint8_t * const rcm=nullptr);
static void range16(const uint8_t y, const uint8_t ot, const uint8_t nt, const uint8_t oh, const uint8_t nh, uint8_t * const rcm=nullptr);
static void quantity(const uint8_t y, const uint8_t ov, const uint8_t nv, uint8_t * const rcm=nullptr);
static void quantity16(const uint8_t y, const uint8_t ov, const uint8_t nv, uint8_t * const rcm=nullptr);
#if MAX7219_INIT_TEST
static void test_pattern();
static void run_test_pattern();
static void start_test_pattern();
#endif
};
extern Max7219 max7219;
| 2301_81045437/Marlin | Marlin/src/feature/max7219.h | C++ | agpl-3.0 | 8,218 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* MeatPack G-code Compression
*
* Algorithm & Implementation: Scott Mudge - mail@scottmudge.com
* Date: Dec. 2020
*
* Character Frequencies from ~30 MB of comment-stripped G-code:
* '1' -> 4451136 '4' -> 1353273 '\n' -> 1087683 '-' -> 90242
* '0' -> 4253577 '9' -> 1352147 'G' -> 1075806 'Z' -> 34109
* ' ' -> 3053297 '3' -> 1262929 'X' -> 975742 'M' -> 11879
* '.' -> 3035310 '5' -> 1189871 'E' -> 965275 'S' -> 9910
* '2' -> 1523296 '6' -> 1127900 'Y' -> 965274
* '8' -> 1366812 '7' -> 1112908 'F' -> 99416
*
* When space is omitted the letter 'E' is used in its place
*/
#include "../inc/MarlinConfig.h"
#if HAS_MEATPACK
#include "meatpack.h"
#define MeatPack_ProtocolVersion "PV01"
//#define MP_DEBUG
#define DEBUG_OUT ENABLED(MP_DEBUG)
#include "../core/debug_out.h"
// The 15 most-common characters used in G-code, ~90-95% of all G-code uses these characters
// Stored in SRAM for performance.
uint8_t meatPackLookupTable[16] = {
'0', '1', '2', '3', '4', '5', '6', '7', '8', '9',
'.', ' ', '\n', 'G', 'X',
'\0' // Unused. 0b1111 indicates a literal character
};
#if ENABLED(MP_DEBUG)
uint8_t chars_decoded = 0; // Log the first 64 bytes after each reset
#endif
void MeatPack::reset_state() {
state = 0;
cmd_is_next = false;
second_char = 0;
cmd_count = full_char_count = char_out_count = 0;
TERN_(MP_DEBUG, chars_decoded = 0);
}
/**
* Unpack one or two characters from a packed byte into a buffer.
* Return flags indicating whether any literal bytes follow.
*/
uint8_t MeatPack::unpack_chars(const uint8_t pk, uint8_t* __restrict const chars_out) {
uint8_t out = 0;
// If lower nybble is 1111, the higher nybble is unused, and next char is full.
if ((pk & kFirstNotPacked) == kFirstNotPacked)
out = kFirstCharIsLiteral;
else {
const uint8_t chr = pk & 0x0F;
chars_out[0] = meatPackLookupTable[chr]; // Set the first char
}
// Check if upper nybble is 1111... if so, we don't need the second char.
if ((pk & kSecondNotPacked) == kSecondNotPacked)
out |= kSecondCharIsLiteral;
else {
const uint8_t chr = (pk >> 4) & 0x0F;
chars_out[1] = meatPackLookupTable[chr]; // Set the second char
}
return out;
}
/**
* Interpret a single (non-command) character
* according to the current MeatPack state.
*/
void MeatPack::handle_rx_char_inner(const uint8_t c) {
if (TEST(state, MPConfig_Bit_Active)) { // Is MeatPack active?
if (!full_char_count) { // No literal characters to fetch?
uint8_t buf[2] = { 0, 0 };
const uint8_t res = unpack_chars(c, buf); // Decode the byte into one or two characters.
if (res & kFirstCharIsLiteral) { // The 1st character couldn't be packed.
++full_char_count; // So the next stream byte is a full character.
if (res & kSecondCharIsLiteral) ++full_char_count; // The 2nd character couldn't be packed. Another stream byte is a full character.
else second_char = buf[1]; // Retain the unpacked second character.
}
else {
handle_output_char(buf[0]); // Send the unpacked first character out.
if (buf[0] != '\n') { // After a newline the next char won't be set
if (res & kSecondCharIsLiteral) ++full_char_count; // The 2nd character couldn't be packed. The next stream byte is a full character.
else handle_output_char(buf[1]); // Send the unpacked second character out.
}
}
}
else {
handle_output_char(c); // Pass through the character that couldn't be packed...
if (second_char) {
handle_output_char(second_char); // ...and send an unpacked 2nd character, if set.
second_char = 0;
}
--full_char_count; // One literal character was consumed
}
}
else // Packing not enabled, just copy character to output
handle_output_char(c);
}
/**
* Buffer a single output character which will be picked up in
* GCodeQueue::get_serial_commands via calls to get_result_char
*/
void MeatPack::handle_output_char(const uint8_t c) {
char_out_buf[char_out_count++] = c;
#if ENABLED(MP_DEBUG)
if (chars_decoded < 1024) {
++chars_decoded;
DEBUG_ECHOLNPGM("RB: ", C(c));
}
#endif
}
/**
* Process a MeatPack command byte to update the state.
* Report the new state to serial.
*/
void MeatPack::handle_command(const MeatPack_Command c) {
switch (c) {
case MPCommand_QueryConfig: break;
case MPCommand_EnablePacking: SBI(state, MPConfig_Bit_Active); DEBUG_ECHOLNPGM("[MPDBG] ENA REC"); break;
case MPCommand_DisablePacking: CBI(state, MPConfig_Bit_Active); DEBUG_ECHOLNPGM("[MPDBG] DIS REC"); break;
case MPCommand_ResetAll: reset_state(); DEBUG_ECHOLNPGM("[MPDBG] RESET REC"); break;
case MPCommand_EnableNoSpaces:
SBI(state, MPConfig_Bit_NoSpaces);
meatPackLookupTable[kSpaceCharIdx] = kSpaceCharReplace; DEBUG_ECHOLNPGM("[MPDBG] ENA NSP"); break;
case MPCommand_DisableNoSpaces:
CBI(state, MPConfig_Bit_NoSpaces);
meatPackLookupTable[kSpaceCharIdx] = ' '; DEBUG_ECHOLNPGM("[MPDBG] DIS NSP"); break;
default: DEBUG_ECHOLNPGM("[MPDBG] UNK CMD REC");
}
report_state();
}
void MeatPack::report_state() {
// NOTE: if any configuration vars are added below, the outgoing sync text for host plugin
// should not contain the "PV' substring, as this is used to indicate protocol version
SERIAL_ECHOPGM("[MP] " MeatPack_ProtocolVersion " ");
serialprint_onoff(TEST(state, MPConfig_Bit_Active));
SERIAL_ECHO(TEST(state, MPConfig_Bit_NoSpaces) ? F(" NSP\n") : F(" ESP\n"));
}
/**
* Interpret a single character received from serial
* according to the current meatpack state.
*/
void MeatPack::handle_rx_char(const uint8_t c, const serial_index_t serial_ind) {
if (c == kCommandByte) { // A command (0xFF) byte?
if (cmd_count) { // In fact, two in a row?
cmd_is_next = true; // Then a MeatPack command follows
cmd_count = 0;
}
else
++cmd_count; // cmd_count = 1 // One command byte received so far...
return;
}
if (cmd_is_next) { // Were two command bytes received?
PORT_REDIRECT(SERIAL_PORTMASK(serial_ind));
handle_command((MeatPack_Command)c); // Then the byte is a MeatPack command
cmd_is_next = false;
return;
}
if (cmd_count) { // Only a single 0xFF was received
handle_rx_char_inner(kCommandByte); // A single 0xFF is passed on literally so it can be interpreted as kFirstNotPacked|kSecondNotPacked
cmd_count = 0;
}
handle_rx_char_inner(c); // Other characters are passed on for MeatPack decoding
}
uint8_t MeatPack::get_result_char(char * const __restrict out) {
uint8_t res = 0;
if (char_out_count) {
res = char_out_count;
char_out_count = 0;
for (uint8_t i = 0; i < res; ++i)
out[i] = (char)char_out_buf[i];
}
return res;
}
#endif // HAS_MEATPACK
| 2301_81045437/Marlin | Marlin/src/feature/meatpack.cpp | C++ | agpl-3.0 | 8,317 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* MeatPack G-code Compression
*
* Algorithm & Implementation: Scott Mudge - mail@scottmudge.com
* Date: Dec. 2020
*
* Specifically optimized for 3D printing G-Code, this is a zero-cost data compression method
* which packs ~180-190% more data into the same amount of bytes going to the CNC controller.
* As a majority of G-Code can be represented by a restricted alphabet, I performed histogram
* analysis on a wide variety of 3D printing G-code samples, and found ~93% of all G-code could
* be represented by the same 15-character alphabet.
*
* This allowed me to design a system of packing 2 8-bit characters into a single byte, assuming
* they fall within this limited 15-character alphabet. Using a 4-bit lookup table, these 8-bit
* characters can be represented by a 4-bit index.
*
* Combined with some logic to allow commingling of full-width characters outside of this 15-
* character alphabet (at the cost of an extra 8-bits per full-width character), and by stripping
* out unnecessary comments, the end result is G-code which is roughly half the original size.
*
* Why did I do this? I noticed micro-stuttering and other data-bottleneck issues while printing
* objects with high curvature, especially at high speeds. There is also the issue of the limited
* baud rate provided by Prusa's Atmega2560-based boards, over the USB serial connection. So soft-
* ware like OctoPrint would also suffer this same micro-stuttering and poor print quality issue.
*
*/
#pragma once
#include <stdint.h>
#include "../core/serial_hook.h"
/**
* Commands sent to MeatPack to control its behavior.
* They are sent by first sending 2x MeatPack_CommandByte (0xFF) in sequence,
* followed by one of the command bytes below.
* Provided that 0xFF is an exceedingly rare character that is virtually never
* present in G-code naturally, it is safe to assume 2 in sequence should never
* happen naturally, and so it is used as a signal here.
*
* 0xFF *IS* used in "packed" G-code (used to denote that the next 2 characters are
* full-width), however 2 in a row will never occur, as the next 2 bytes will always
* some non-0xFF character.
*/
enum MeatPack_Command : uint8_t {
MPCommand_None = 0,
MPCommand_EnablePacking = 0xFB,
MPCommand_DisablePacking = 0xFA,
MPCommand_ResetAll = 0xF9,
MPCommand_QueryConfig = 0xF8,
MPCommand_EnableNoSpaces = 0xF7,
MPCommand_DisableNoSpaces = 0xF6
};
enum MeatPack_ConfigStateBits : uint8_t {
MPConfig_Bit_Active = 0,
MPConfig_Bit_NoSpaces = 1
};
class MeatPack {
// Utility definitions
static const uint8_t kCommandByte = 0b11111111,
kFirstNotPacked = 0b00001111,
kSecondNotPacked = 0b11110000,
kFirstCharIsLiteral = 0b00000001,
kSecondCharIsLiteral = 0b00000010;
static const uint8_t kSpaceCharIdx = 11;
static const char kSpaceCharReplace = 'E';
bool cmd_is_next; // A command is pending
uint8_t state; // Configuration state
uint8_t second_char; // Buffers a character if dealing with out-of-sequence pairs
uint8_t cmd_count, // Counter of command bytes received (need 2)
full_char_count, // Counter for full-width characters to be received
char_out_count; // Stores number of characters to be read out.
uint8_t char_out_buf[2]; // Output buffer for caching up to 2 characters
public:
// Pass in a character rx'd by SD card or serial. Automatically parses command/ctrl sequences,
// and will control state internally.
void handle_rx_char(const uint8_t c, const serial_index_t serial_ind);
/**
* After passing in rx'd char using above method, call this to get characters out.
* Can return from 0 to 2 characters at once.
* @param out [in] Output pointer for unpacked/processed data.
* @return Number of characters returned. Range from 0 to 2.
*/
uint8_t get_result_char(char * const __restrict out);
void reset_state();
void report_state();
uint8_t unpack_chars(const uint8_t pk, uint8_t* __restrict const chars_out);
void handle_command(const MeatPack_Command c);
void handle_output_char(const uint8_t c);
void handle_rx_char_inner(const uint8_t c);
MeatPack() : cmd_is_next(false), state(0), second_char(0), cmd_count(0), full_char_count(0), char_out_count(0) {}
};
// Implement the MeatPack serial class so it's transparent to rest of the code
template <typename SerialT>
struct MeatpackSerial : public SerialBase <MeatpackSerial < SerialT >> {
typedef SerialBase< MeatpackSerial<SerialT> > BaseClassT;
SerialT & out;
MeatPack meatpack;
char serialBuffer[2];
uint8_t charCount;
uint8_t readIndex;
NO_INLINE void write(uint8_t c) { out.write(c); }
void flush() { out.flush(); }
void begin(long br) { out.begin(br); readIndex = 0; }
void end() { out.end(); }
void msgDone() { out.msgDone(); }
// Existing instances implement Arduino's operator bool, so use that if it's available
bool connected() { return Private::HasMember_connected<SerialT>::value ? CALL_IF_EXISTS(bool, &out, connected) : (bool)out; }
void flushTX() { CALL_IF_EXISTS(void, &out, flushTX); }
SerialFeature features(serial_index_t index) const { return SerialFeature::MeatPack | CALL_IF_EXISTS(SerialFeature, &out, features, index); }
int available(serial_index_t index) {
if (charCount) return charCount; // The buffer still has data
if (out.available(index) <= 0) return 0; // No data to read
// Don't read in read method, instead do it here, so we can make progress in the read method
const int r = out.read(index);
if (r == -1) return 0; // This is an error from the underlying serial code
meatpack.handle_rx_char((uint8_t)r, index);
charCount = meatpack.get_result_char(serialBuffer);
readIndex = 0;
return charCount;
}
int readImpl(const serial_index_t index) {
// Not enough char to make progress?
if (charCount == 0 && available(index) == 0) return -1;
charCount--;
return serialBuffer[readIndex++];
}
int read(serial_index_t index) { return readImpl(index); }
int available() { return available(0); }
int read() { return readImpl(0); }
MeatpackSerial(const bool e, SerialT & out) : BaseClassT(e), out(out) {}
};
| 2301_81045437/Marlin | Marlin/src/feature/meatpack.h | C++ | agpl-3.0 | 7,383 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(MIXING_EXTRUDER)
#include "mixing.h"
Mixer mixer;
#ifdef MIXER_NORMALIZER_DEBUG
#include "../core/serial.h"
#endif
// Used up to Planner level
uint_fast8_t Mixer::selected_vtool = 0;
float Mixer::collector[MIXING_STEPPERS]; // mix proportion. 0.0 = off, otherwise <= COLOR_A_MASK.
mixer_comp_t Mixer::color[NR_MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
// Used in Stepper
int_fast8_t Mixer::runner = 0;
mixer_comp_t Mixer::s_color[MIXING_STEPPERS];
mixer_accu_t Mixer::accu[MIXING_STEPPERS] = { 0 };
#if ANY(HAS_DUAL_MIXING, GRADIENT_MIX)
mixer_perc_t Mixer::mix[MIXING_STEPPERS];
#endif
void Mixer::normalize(const uint8_t tool_index) {
float cmax = 0;
#ifdef MIXER_NORMALIZER_DEBUG
float csum = 0;
#endif
MIXER_STEPPER_LOOP(i) {
const float v = collector[i];
NOLESS(cmax, v);
#ifdef MIXER_NORMALIZER_DEBUG
csum += v;
#endif
}
#ifdef MIXER_NORMALIZER_DEBUG
SERIAL_ECHOPGM("Mixer: Old relation : [ ");
MIXER_STEPPER_LOOP(i) SERIAL_ECHO(collector[i] / csum, C(' '));
SERIAL_ECHOLNPGM("]");
#endif
// Scale all values so their maximum is COLOR_A_MASK
const float scale = float(COLOR_A_MASK) / cmax;
MIXER_STEPPER_LOOP(i) color[tool_index][i] = collector[i] * scale;
#ifdef MIXER_NORMALIZER_DEBUG
csum = 0;
SERIAL_ECHOPGM("Mixer: Normalize to : [ ");
MIXER_STEPPER_LOOP(i) {
SERIAL_ECHO(uint16_t(color[tool_index][i]), C(' '));
csum += color[tool_index][i];
}
SERIAL_ECHOLNPGM("]");
SERIAL_ECHOPGM("Mixer: New relation : [ ");
MIXER_STEPPER_LOOP(i) SERIAL_ECHO(p_float_t(uint16_t(color[tool_index][i]) / csum, 3), C(' '));
SERIAL_ECHOLNPGM("]");
#endif
TERN_(GRADIENT_MIX, refresh_gradient());
}
void Mixer::reset_vtools() {
// Virtual Tools 0, 1, 2, 3 = Filament 1, 2, 3, 4, etc.
// Every virtual tool gets a pure filament
for (uint8_t t = 0; t < _MIN(MIXING_VIRTUAL_TOOLS, MIXING_STEPPERS); ++t)
MIXER_STEPPER_LOOP(i)
color[t][i] = (t == i) ? COLOR_A_MASK : 0;
// Remaining virtual tools are 100% filament 1
#if MIXING_VIRTUAL_TOOLS > MIXING_STEPPERS
for (uint8_t t = MIXING_STEPPERS; t < MIXING_VIRTUAL_TOOLS; ++t)
MIXER_STEPPER_LOOP(i)
color[t][i] = (i == 0) ? COLOR_A_MASK : 0;
#endif
// MIXING_PRESETS: Set a variety of obvious mixes as presets
#if ENABLED(MIXING_PRESETS) && WITHIN(MIXING_STEPPERS, 2, 3)
#if MIXING_STEPPERS == 2
if (MIXING_VIRTUAL_TOOLS > 2) { collector[0] = 1; collector[1] = 1; mixer.normalize(2); } // 1:1
if (MIXING_VIRTUAL_TOOLS > 3) { collector[0] = 3; mixer.normalize(3); } // 3:1
if (MIXING_VIRTUAL_TOOLS > 4) { collector[0] = 1; collector[1] = 3; mixer.normalize(4); } // 1:3
if (MIXING_VIRTUAL_TOOLS > 5) { collector[1] = 2; mixer.normalize(5); } // 1:2
if (MIXING_VIRTUAL_TOOLS > 6) { collector[0] = 2; collector[1] = 1; mixer.normalize(6); } // 2:1
if (MIXING_VIRTUAL_TOOLS > 7) { collector[0] = 3; collector[1] = 2; mixer.normalize(7); } // 3:2
#else
if (MIXING_VIRTUAL_TOOLS > 3) { collector[0] = 1; collector[1] = 1; collector[2] = 1; mixer.normalize(3); } // 1:1:1
if (MIXING_VIRTUAL_TOOLS > 4) { collector[1] = 3; collector[2] = 0; mixer.normalize(4); } // 1:3:0
if (MIXING_VIRTUAL_TOOLS > 5) { collector[0] = 0; collector[2] = 1; mixer.normalize(5); } // 0:3:1
if (MIXING_VIRTUAL_TOOLS > 6) { collector[1] = 1; mixer.normalize(6); } // 0:1:1
if (MIXING_VIRTUAL_TOOLS > 7) { collector[0] = 1; collector[2] = 0; mixer.normalize(7); } // 1:1:0
#endif
ZERO(collector);
#endif
}
// called at boot
void Mixer::init() {
ZERO(collector);
reset_vtools();
#if HAS_MIXER_SYNC_CHANNEL
// AUTORETRACT_TOOL gets the same amount of all filaments
MIXER_STEPPER_LOOP(i)
color[MIXER_AUTORETRACT_TOOL][i] = COLOR_A_MASK;
#endif
#if ANY(HAS_DUAL_MIXING, GRADIENT_MIX)
update_mix_from_vtool();
#endif
TERN_(GRADIENT_MIX, update_gradient_for_planner_z());
}
void Mixer::refresh_collector(const float proportion/*=1.0*/, const uint8_t t/*=selected_vtool*/, float (&c)[MIXING_STEPPERS]/*=collector*/) {
float csum = 0, cmax = 0;
MIXER_STEPPER_LOOP(i) {
const float v = color[t][i];
cmax = _MAX(cmax, v);
csum += v;
}
//SERIAL_ECHOPGM("Mixer::refresh_collector(", proportion, ", ", t, ") cmax=", cmax, " csum=", csum, " color");
const float inv_prop = proportion / csum;
MIXER_STEPPER_LOOP(i) {
c[i] = color[t][i] * inv_prop;
//SERIAL_ECHOPGM(" [", t, "][", i, "] = ", color[t][i], " (", c[i], ") ");
}
//SERIAL_EOL();
}
#if ENABLED(GRADIENT_MIX)
#include "../module/motion.h"
#include "../module/planner.h"
gradient_t Mixer::gradient = {
false, // enabled
{0}, // color (array)
0, 0, // start_z, end_z
0, 1, // start_vtool, end_vtool
{0}, {0} // start_mix[], end_mix[]
OPTARG(GRADIENT_VTOOL, -1) // vtool_index
};
float Mixer::prev_z; // = 0
void Mixer::update_gradient_for_z(const_float_t z) {
if (z == prev_z) return;
prev_z = z;
const float slice = gradient.end_z - gradient.start_z;
float pct = (z - gradient.start_z) / slice;
NOLESS(pct, 0.0f); NOMORE(pct, 1.0f);
MIXER_STEPPER_LOOP(i) {
const mixer_perc_t sm = gradient.start_mix[i];
mix[i] = sm + (gradient.end_mix[i] - sm) * pct;
}
copy_mix_to_color(gradient.color);
}
void Mixer::update_gradient_for_planner_z() {
#if ENABLED(DELTA)
get_cartesian_from_steppers();
update_gradient_for_z(cartes.z);
#else
update_gradient_for_z(planner.get_axis_position_mm(Z_AXIS));
#endif
}
#endif // GRADIENT_MIX
#endif // MIXING_EXTRUDER
| 2301_81045437/Marlin | Marlin/src/feature/mixing.cpp | C++ | agpl-3.0 | 6,810 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
//#define MIXER_NORMALIZER_DEBUG
#ifndef __AVR__ // || HAS_DUAL_MIXING
// Use 16-bit (or fastest) data for the integer mix factors
typedef uint_fast16_t mixer_comp_t;
typedef uint_fast16_t mixer_accu_t;
#define COLOR_A_MASK 0x8000
#define COLOR_MASK 0x7FFF
#else
// Use 8-bit data for the integer mix factors
// Exactness is sacrificed for speed
#define MIXER_ACCU_SIGNED
typedef uint8_t mixer_comp_t;
typedef int8_t mixer_accu_t;
#define COLOR_A_MASK 0x80
#define COLOR_MASK 0x7F
#endif
typedef int8_t mixer_perc_t;
enum MixTool {
FIRST_USER_VIRTUAL_TOOL = 0
, LAST_USER_VIRTUAL_TOOL = MIXING_VIRTUAL_TOOLS - 1
, NR_USER_VIRTUAL_TOOLS
, MIXER_DIRECT_SET_TOOL = NR_USER_VIRTUAL_TOOLS
#if HAS_MIXER_SYNC_CHANNEL
, MIXER_AUTORETRACT_TOOL
#endif
, NR_MIXING_VIRTUAL_TOOLS
};
#define MAX_VTOOLS TERN(HAS_MIXER_SYNC_CHANNEL, 254, 255)
static_assert(NR_MIXING_VIRTUAL_TOOLS <= MAX_VTOOLS, "MIXING_VIRTUAL_TOOLS must be <= " STRINGIFY(MAX_VTOOLS) "!");
#define MIXER_STEPPER_LOOP(VAR) for (uint_fast8_t VAR = 0; VAR < MIXING_STEPPERS; VAR++)
#if ENABLED(GRADIENT_MIX)
typedef struct {
bool enabled; // This gradient is enabled
mixer_comp_t color[MIXING_STEPPERS]; // The current gradient color
float start_z, end_z; // Region for gradient
int8_t start_vtool, end_vtool; // Start and end virtual tools
mixer_perc_t start_mix[MIXING_STEPPERS], // Start and end mixes from those tools
end_mix[MIXING_STEPPERS];
#if ENABLED(GRADIENT_VTOOL)
int8_t vtool_index; // Use this virtual tool number as index
#endif
} gradient_t;
#endif
/**
* @brief Mixer class
* @details Contains data and behaviors for a Mixing Extruder
*/
class Mixer {
public:
static float collector[MIXING_STEPPERS]; // M163 components, also editable from LCD
static void init(); // Populate colors at boot time
static void reset_vtools();
static void refresh_collector(const float proportion=1.0, const uint8_t t=selected_vtool, float (&c)[MIXING_STEPPERS]=collector);
// Used up to Planner level
FORCE_INLINE static void set_collector(const uint8_t c, const float f) { collector[c] = _MAX(f, 0.0f); }
static void normalize(const uint8_t tool_index);
FORCE_INLINE static void normalize() { normalize(selected_vtool); }
FORCE_INLINE static uint8_t get_current_vtool() { return selected_vtool; }
FORCE_INLINE static void T(const uint_fast8_t c) {
selected_vtool = c;
TERN_(GRADIENT_VTOOL, refresh_gradient());
TERN_(HAS_DUAL_MIXING, update_mix_from_vtool());
}
// Used when dealing with blocks
FORCE_INLINE static void populate_block(mixer_comp_t (&b_color)[MIXING_STEPPERS]) {
#if ENABLED(GRADIENT_MIX)
if (gradient.enabled) {
MIXER_STEPPER_LOOP(i) b_color[i] = gradient.color[i];
return;
}
#endif
MIXER_STEPPER_LOOP(i) b_color[i] = color[selected_vtool][i];
}
FORCE_INLINE static void stepper_setup(mixer_comp_t (&b_color)[MIXING_STEPPERS]) {
MIXER_STEPPER_LOOP(i) s_color[i] = b_color[i];
}
#if ANY(HAS_DUAL_MIXING, GRADIENT_MIX)
static mixer_perc_t mix[MIXING_STEPPERS]; // Scratch array for the Mix in proportion to 100
static void copy_mix_to_color(mixer_comp_t (&tcolor)[MIXING_STEPPERS]) {
// Scale each component to the largest one in terms of COLOR_A_MASK
// So the largest component will be COLOR_A_MASK and the other will be in proportion to it
const float scale = (COLOR_A_MASK) * RECIPROCAL(_MAX(
LIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5])
));
// Scale all values so their maximum is COLOR_A_MASK
MIXER_STEPPER_LOOP(i) tcolor[i] = mix[i] * scale;
#ifdef MIXER_NORMALIZER_DEBUG
SERIAL_ECHOLN(
F("Mix [ "), LIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]),
F(" ] to Color [ "), LIST_N(MIXING_STEPPERS, tcolor[0], tcolor[1], tcolor[2], tcolor[3], tcolor[4], tcolor[5]),
F(" ]")
);
#endif
}
static void update_mix_from_vtool(const uint8_t j=selected_vtool) {
float ctot = 0;
MIXER_STEPPER_LOOP(i) ctot += color[j][i];
MIXER_STEPPER_LOOP(i) mix[i] = mixer_perc_t(100.0f * color[j][i] / ctot + 0.5f);
#ifdef MIXER_NORMALIZER_DEBUG
SERIAL_ECHOLN(F("V-tool "), j,
F(" [ "), LIST_N(MIXING_STEPPERS, color[j][0], color[j][1], color[j][2], color[j][3], color[j][4], color[j][5]),
F(" ] to Mix [ "), LIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]), F(" ]")
);
#endif
}
#endif // HAS_DUAL_MIXING || GRADIENT_MIX
#if HAS_DUAL_MIXING
// Update the virtual tool from an edited mix
static void update_vtool_from_mix() {
copy_mix_to_color(color[selected_vtool]);
TERN_(GRADIENT_MIX, refresh_gradient());
// MIXER_STEPPER_LOOP(i) collector[i] = mix[i];
// normalize();
}
#endif // HAS_DUAL_MIXING
#if ENABLED(GRADIENT_MIX)
static gradient_t gradient;
static float prev_z;
// Update the current mix from the gradient for a given Z
static void update_gradient_for_z(const_float_t z);
static void update_gradient_for_planner_z();
static void gradient_control(const_float_t z) {
if (gradient.enabled) {
if (z >= gradient.end_z)
T(gradient.end_vtool);
else
update_gradient_for_z(z);
}
}
static void update_mix_from_gradient() {
float ctot = 0;
MIXER_STEPPER_LOOP(i) ctot += gradient.color[i];
MIXER_STEPPER_LOOP(i) mix[i] = (mixer_perc_t)CEIL(100.0f * gradient.color[i] / ctot);
#ifdef MIXER_NORMALIZER_DEBUG
SERIAL_ECHOLN(
F("Gradient [ "), LIST_N(MIXING_STEPPERS, gradient.color[0], gradient.color[1], gradient.color[2], gradient.color[3], gradient.color[4], gradient.color[5]),
F(" ] to Mix [ "), LIST_N(MIXING_STEPPERS, mix[0], mix[1], mix[2], mix[3], mix[4], mix[5]), F(" ]")
);
#endif
}
// Refresh the gradient after a change
static void refresh_gradient() {
#if ENABLED(GRADIENT_VTOOL)
const bool is_grd = (gradient.vtool_index == -1 || selected_vtool == (uint8_t)gradient.vtool_index);
#else
constexpr bool is_grd = true;
#endif
gradient.enabled = is_grd && gradient.start_vtool != gradient.end_vtool && gradient.start_z < gradient.end_z;
if (gradient.enabled) {
mixer_perc_t mix_bak[MIXING_STEPPERS];
COPY(mix_bak, mix);
update_mix_from_vtool(gradient.start_vtool);
COPY(gradient.start_mix, mix);
update_mix_from_vtool(gradient.end_vtool);
COPY(gradient.end_mix, mix);
update_gradient_for_planner_z();
COPY(mix, mix_bak);
prev_z = -1;
}
}
#endif // GRADIENT_MIX
// Used in Stepper
FORCE_INLINE static uint8_t get_stepper() { return runner; }
FORCE_INLINE static uint8_t get_next_stepper() {
for (;;) {
if (--runner < 0) runner = MIXING_STEPPERS - 1;
accu[runner] += s_color[runner];
if (TERN(MIXER_ACCU_SIGNED, accu[runner] < 0, accu[runner] & COLOR_A_MASK)) {
accu[runner] &= COLOR_MASK;
return runner;
}
}
}
private:
// Used up to Planner level
static uint_fast8_t selected_vtool;
static mixer_comp_t color[NR_MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
// Used in Stepper
static int_fast8_t runner;
static mixer_comp_t s_color[MIXING_STEPPERS];
static mixer_accu_t accu[MIXING_STEPPERS];
};
extern Mixer mixer;
| 2301_81045437/Marlin | Marlin/src/feature/mixing.h | C++ | agpl-3.0 | 8,544 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if HAS_PRUSA_MMU1
#include "../../MarlinCore.h"
#include "../../module/planner.h"
#include "../../module/stepper.h"
void mmu_init() {
SET_OUTPUT(E_MUX0_PIN);
SET_OUTPUT(E_MUX1_PIN);
SET_OUTPUT(E_MUX2_PIN);
}
void select_multiplexed_stepper(const uint8_t e) {
planner.synchronize();
stepper.disable_e_steppers();
WRITE(E_MUX0_PIN, TEST(e, 0) ? HIGH : LOW);
WRITE(E_MUX1_PIN, TEST(e, 1) ? HIGH : LOW);
WRITE(E_MUX2_PIN, TEST(e, 2) ? HIGH : LOW);
safe_delay(100);
}
#endif // HAS_PRUSA_MMU1
| 2301_81045437/Marlin | Marlin/src/feature/mmu/mmu.cpp | C++ | agpl-3.0 | 1,411 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
void mmu_init();
void select_multiplexed_stepper(const uint8_t e);
| 2301_81045437/Marlin | Marlin/src/feature/mmu/mmu.h | C | agpl-3.0 | 943 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if HAS_PRUSA_MMU2
#include "mmu2.h"
#include "../../lcd/menu/menu_mmu2.h"
MMU2 mmu2;
#include "../../gcode/gcode.h"
#include "../../lcd/marlinui.h"
#include "../../libs/buzzer.h"
#include "../../libs/nozzle.h"
#include "../../module/temperature.h"
#include "../../module/planner.h"
#include "../../module/stepper.h"
#include "../../MarlinCore.h"
#if ENABLED(HOST_PROMPT_SUPPORT)
#include "../../feature/host_actions.h"
#endif
#if ENABLED(EXTENSIBLE_UI)
#include "../../lcd/extui/ui_api.h"
#endif
#define DEBUG_OUT ENABLED(MMU2_DEBUG)
#include "../../core/debug_out.h"
#define MMU_TODELAY 100
#define MMU_TIMEOUT 10
#define MMU_CMD_TIMEOUT 45000UL // 45s timeout for mmu commands (except P0)
#define MMU_P0_TIMEOUT 3000UL // Timeout for P0 command: 3seconds
#define MMU2_SEND(S) tx_str(F(S "\n"))
#define MMU2_RECV(S) rx_str(F(S "\n"))
#if ENABLED(MMU_EXTRUDER_SENSOR)
uint8_t mmu_idl_sens = 0;
static bool mmu_loading_flag = false;
#endif
#define MMU_CMD_NONE 0
#define MMU_CMD_T0 0x10 // up to supported filaments
#define MMU_CMD_L0 0x20 // up to supported filaments
#define MMU_CMD_C0 0x30
#define MMU_CMD_U0 0x40
#define MMU_CMD_E0 0x50 // up to supported filaments
#define MMU_CMD_R0 0x60
#define MMU_CMD_F0 0x70 // up to supported filaments
#define MMU_REQUIRED_FW_BUILDNR TERN(MMU2_MODE_12V, 132, 126)
#define MMU2_NO_TOOL 99
#define MMU_BAUD 115200
bool MMU2::_enabled, MMU2::ready;
#if HAS_PRUSA_MMU2S
bool MMU2::mmu2s_triggered;
#endif
uint8_t MMU2::cmd, MMU2::cmd_arg, MMU2::last_cmd, MMU2::extruder;
int8_t MMU2::state = 0;
volatile int8_t MMU2::finda = 1;
volatile bool MMU2::finda_runout_valid;
millis_t MMU2::prev_request, MMU2::prev_P0_request;
char MMU2::rx_buffer[MMU_RX_SIZE], MMU2::tx_buffer[MMU_TX_SIZE];
struct E_Step {
float extrude; //!< extrude distance in mm
feedRate_t feedRate; //!< feed rate in mm/s
};
inline void unscaled_mmu2_e_move(const float &dist, const feedRate_t fr_mm_s, const bool sync=true) {
current_position.e += dist / planner.e_factor[active_extruder];
line_to_current_position(fr_mm_s);
if (sync) planner.synchronize();
}
MMU2::MMU2() {
rx_buffer[0] = '\0';
}
void MMU2::init() {
set_runout_valid(false);
#if PIN_EXISTS(MMU2_RST)
WRITE(MMU2_RST_PIN, HIGH);
SET_OUTPUT(MMU2_RST_PIN);
#endif
MMU2_SERIAL.begin(MMU_BAUD);
extruder = MMU2_NO_TOOL;
safe_delay(10);
reset();
rx_buffer[0] = '\0';
state = -1;
}
void MMU2::reset() {
DEBUG_ECHOLNPGM("MMU <= reset");
#if PIN_EXISTS(MMU2_RST)
WRITE(MMU2_RST_PIN, LOW);
safe_delay(20);
WRITE(MMU2_RST_PIN, HIGH);
#else
MMU2_SEND("X0"); // Send soft reset
#endif
}
int8_t MMU2::get_current_tool() { return extruder == MMU2_NO_TOOL ? -1 : extruder; }
#if ANY(HAS_PRUSA_MMU2S, MMU_EXTRUDER_SENSOR)
#define FILAMENT_PRESENT() (READ(FIL_RUNOUT1_PIN) != FIL_RUNOUT1_STATE)
#else
#define FILAMENT_PRESENT() true
#endif
void mmu2_attn_buzz(const bool two=false) {
BUZZ(200, 404);
if (two) { BUZZ(10, 0); BUZZ(200, 404); }
}
// Avoiding sscanf significantly reduces build size
void MMU2::mmu_loop() {
switch (state) {
case 0: break;
case -1:
if (rx_start()) {
prev_P0_request = millis(); // Initialize finda sensor timeout
DEBUG_ECHOLNPGM("MMU => 'start'");
DEBUG_ECHOLNPGM("MMU <= 'S1'");
MMU2_SEND("S1"); // Read Version
state = -2;
}
else if (ELAPSED(millis(), prev_request + 30000)) { // 30sec after reset disable MMU
SERIAL_ECHOLNPGM("MMU not responding - DISABLED");
state = 0;
}
break;
case -2:
if (rx_ok()) {
const uint16_t version = uint16_t(strtoul(rx_buffer, nullptr, 10));
DEBUG_ECHOLNPGM("MMU => ", version, "\nMMU <= 'S2'");
MMU2_SEND("S2"); // Read Build Number
state = -3;
}
break;
case -3:
if (rx_ok()) {
const uint16_t buildnr = uint16_t(strtoul(rx_buffer, nullptr, 10));
DEBUG_ECHOLNPGM("MMU => ", buildnr);
check_version(buildnr);
#if ENABLED(MMU2_MODE_12V)
DEBUG_ECHOLNPGM("MMU <= 'M1'");
MMU2_SEND("M1"); // Stealth Mode
state = -5;
#else
DEBUG_ECHOLNPGM("MMU <= 'P0'");
MMU2_SEND("P0"); // Read FINDA
state = -4;
#endif
}
break;
#if ENABLED(MMU2_MODE_12V)
case -5:
// response to M1
if (rx_ok()) {
DEBUG_ECHOLNPGM("MMU => ok");
DEBUG_ECHOLNPGM("MMU <= 'P0'");
MMU2_SEND("P0"); // Read FINDA
state = -4;
}
break;
#endif
case -4:
if (rx_ok()) {
const uint8_t findex = uint8_t(rx_buffer[0] - '0');
if (findex <= 1) finda = findex;
DEBUG_ECHOLNPGM("MMU => ", finda, "\nMMU - ENABLED");
_enabled = true;
state = 1;
TERN_(HAS_PRUSA_MMU2S, mmu2s_triggered = false);
}
break;
case 1:
if (cmd) {
if (WITHIN(cmd, MMU_CMD_T0, MMU_CMD_T0 + EXTRUDERS - 1)) {
// tool change
const int filament = cmd - MMU_CMD_T0;
DEBUG_ECHOLNPGM("MMU <= T", filament);
tx_printf(F("T%d\n"), filament);
TERN_(MMU_EXTRUDER_SENSOR, mmu_idl_sens = 1); // enable idler sensor, if any
state = 3; // wait for response
}
else if (WITHIN(cmd, MMU_CMD_L0, MMU_CMD_L0 + EXTRUDERS - 1)) {
// load
const int filament = cmd - MMU_CMD_L0;
DEBUG_ECHOLNPGM("MMU <= L", filament);
tx_printf(F("L%d\n"), filament);
state = 3; // wait for response
}
else if (cmd == MMU_CMD_C0) {
// continue loading
DEBUG_ECHOLNPGM("MMU <= 'C0'");
MMU2_SEND("C0");
state = 3; // wait for response
}
else if (cmd == MMU_CMD_U0) {
// unload current
DEBUG_ECHOLNPGM("MMU <= 'U0'");
MMU2_SEND("U0");
state = 3; // wait for response
}
else if (WITHIN(cmd, MMU_CMD_E0, MMU_CMD_E0 + EXTRUDERS - 1)) {
// eject filament
const int filament = cmd - MMU_CMD_E0;
DEBUG_ECHOLNPGM("MMU <= E", filament);
tx_printf(F("E%d\n"), filament);
state = 3; // wait for response
}
else if (cmd == MMU_CMD_R0) {
// recover after eject
DEBUG_ECHOLNPGM("MMU <= 'R0'");
MMU2_SEND("R0");
state = 3; // wait for response
}
else if (WITHIN(cmd, MMU_CMD_F0, MMU_CMD_F0 + EXTRUDERS - 1)) {
// filament type
const int filament = cmd - MMU_CMD_F0;
DEBUG_ECHOLNPGM("MMU <= F", filament, " ", cmd_arg);
tx_printf(F("F%d %d\n"), filament, cmd_arg);
state = 3; // wait for response
}
last_cmd = cmd;
cmd = MMU_CMD_NONE;
}
else if (ELAPSED(millis(), prev_P0_request + 300)) {
MMU2_SEND("P0"); // Read FINDA
state = 2; // wait for response
}
TERN_(HAS_PRUSA_MMU2S, check_filament());
break;
case 2: // response to command P0
if (rx_ok()) {
const uint8_t findex = uint8_t(rx_buffer[0] - '0');
if (findex <= 1) finda = findex;
// This is super annoying. Only activate if necessary
//if (finda_runout_valid) DEBUG_ECHOLNPGM("MMU <= 'P0'\nMMU => ", p_float_t(finda, 6));
if (!finda && finda_runout_valid) filament_runout();
if (cmd == MMU_CMD_NONE) ready = true;
state = 1;
}
else if (ELAPSED(millis(), prev_request + MMU_P0_TIMEOUT)) // Resend request after timeout (3s)
state = 1;
TERN_(HAS_PRUSA_MMU2S, check_filament());
break;
case 3: // response to mmu commands
#if ENABLED(MMU_EXTRUDER_SENSOR)
if (mmu_idl_sens) {
if (FILAMENT_PRESENT() && mmu_loading_flag) {
DEBUG_ECHOLNPGM("MMU <= 'A'");
MMU2_SEND("A"); // send 'abort' request
mmu_idl_sens = 0;
DEBUG_ECHOLNPGM("MMU IDLER_SENSOR = 0 - ABORT");
}
}
#endif
if (rx_ok()) {
#if HAS_PRUSA_MMU2S
// Respond to C0 MMU command in MMU2S model
const bool keep_trying = !mmu2s_triggered && last_cmd == MMU_CMD_C0;
if (keep_trying) {
// MMU ok received but filament sensor not triggered, retrying...
DEBUG_ECHOLNPGM("MMU => 'ok' (no filament in gears)");
DEBUG_ECHOLNPGM("MMU <= 'C0' (keep trying)");
MMU2_SEND("C0");
}
#else
constexpr bool keep_trying = false;
#endif
if (!keep_trying) {
DEBUG_ECHOLNPGM("MMU => 'ok'");
ready = true;
state = 1;
last_cmd = MMU_CMD_NONE;
}
}
else if (ELAPSED(millis(), prev_request + MMU_CMD_TIMEOUT)) {
// resend request after timeout
if (last_cmd) {
DEBUG_ECHOLNPGM("MMU retry");
cmd = last_cmd;
last_cmd = MMU_CMD_NONE;
}
state = 1;
}
TERN_(HAS_PRUSA_MMU2S, check_filament());
break;
}
}
/**
* Check if MMU was started
*/
bool MMU2::rx_start() {
// check for start message
return MMU2_RECV("start");
}
/**
* Check if the data received ends with the given string.
*/
bool MMU2::rx_str(FSTR_P fstr) {
PGM_P pstr = FTOP(fstr);
uint8_t i = strlen(rx_buffer);
while (MMU2_SERIAL.available()) {
rx_buffer[i++] = MMU2_SERIAL.read();
if (i == sizeof(rx_buffer) - 1) {
DEBUG_ECHOLNPGM("rx buffer overrun");
break;
}
}
rx_buffer[i] = '\0';
uint8_t len = strlen_P(pstr);
if (i < len) return false;
pstr += len;
while (len--) {
char c0 = pgm_read_byte(pstr--), c1 = rx_buffer[i--];
if (c0 == c1) continue;
if (c0 == '\r' && c1 == '\n') continue; // match cr as lf
if (c0 == '\n' && c1 == '\r') continue; // match lf as cr
return false;
}
return true;
}
/**
* Transfer data to MMU, no argument
*/
void MMU2::tx_str(FSTR_P fstr) {
clear_rx_buffer();
PGM_P pstr = FTOP(fstr);
while (const char c = pgm_read_byte(pstr)) { MMU2_SERIAL.write(c); pstr++; }
prev_request = millis();
}
/**
* Transfer data to MMU, single argument
*/
void MMU2::tx_printf(FSTR_P format, int argument = -1) {
clear_rx_buffer();
const uint8_t len = sprintf_P(tx_buffer, FTOP(format), argument);
for (uint8_t i = 0; i < len; ++i) MMU2_SERIAL.write(tx_buffer[i]);
prev_request = millis();
}
/**
* Transfer data to MMU, two arguments
*/
void MMU2::tx_printf(FSTR_P format, int argument1, int argument2) {
clear_rx_buffer();
const uint8_t len = sprintf_P(tx_buffer, FTOP(format), argument1, argument2);
for (uint8_t i = 0; i < len; ++i) MMU2_SERIAL.write(tx_buffer[i]);
prev_request = millis();
}
/**
* Empty the rx buffer
*/
void MMU2::clear_rx_buffer() {
while (MMU2_SERIAL.available()) MMU2_SERIAL.read();
rx_buffer[0] = '\0';
}
/**
* Check if we received 'ok' from MMU
*/
bool MMU2::rx_ok() {
if (MMU2_RECV("ok")) {
prev_P0_request = millis();
return true;
}
return false;
}
/**
* Check if MMU has compatible firmware
*/
void MMU2::check_version(const uint16_t buildnr) {
if (buildnr < MMU_REQUIRED_FW_BUILDNR) {
SERIAL_ERROR_MSG("Invalid MMU2 firmware. Version >= " STRINGIFY(MMU_REQUIRED_FW_BUILDNR) " required.");
kill(GET_TEXT_F(MSG_KILL_MMU2_FIRMWARE));
}
}
static void mmu2_not_responding() {
LCD_MESSAGE(MSG_MMU2_NOT_RESPONDING);
BUZZ(100, 659);
BUZZ(200, 698);
BUZZ(100, 659);
BUZZ(300, 440);
BUZZ(100, 659);
}
inline void beep_bad_cmd() { BUZZ(400, 40); }
#if HAS_PRUSA_MMU2S
/**
* Load filament until the sensor at the gears is triggered
* and give up after a number of attempts set with MMU2_C0_RETRY.
* Each try has a timeout before returning a fail state.
*/
bool MMU2::load_to_gears() {
command(MMU_CMD_C0);
manage_response(true, true);
for (uint8_t i = 0; i < MMU2_C0_RETRY; ++i) { // Keep loading until filament reaches gears
if (mmu2s_triggered) break;
command(MMU_CMD_C0);
manage_response(true, true);
check_filament();
}
const bool success = mmu2s_triggered && can_load();
if (!success) mmu2_not_responding();
return success;
}
/**
* Handle tool change
*/
void MMU2::tool_change(const uint8_t index) {
if (!_enabled) return;
set_runout_valid(false);
if (index != extruder) {
if (ENABLED(MMU_IR_UNLOAD_MOVE) && FILAMENT_PRESENT()) {
DEBUG_ECHOLNPGM("Unloading\n");
while (FILAMENT_PRESENT()) // Filament present? Keep unloading.
unscaled_mmu2_e_move(-0.25, MMM_TO_MMS(120)); // 0.25mm is a guessed value. Adjust to preference.
}
stepper.disable_extruder();
ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
command(MMU_CMD_T0 + index);
manage_response(true, true);
if (load_to_gears()) {
extruder = index; // filament change is finished
active_extruder = 0;
stepper.enable_extruder();
SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder);
}
ui.reset_status();
}
set_runout_valid(true);
}
/**
* Handle special T?/Tx/Tc commands
*
* T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
* Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
* Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
*/
void MMU2::tool_change(const char *special) {
if (!_enabled) return;
set_runout_valid(false);
switch (*special) {
case '?': {
#if ENABLED(MMU2_MENUS)
const uint8_t index = mmu2_choose_filament();
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
load_to_nozzle(index);
#else
beep_bad_cmd();
#endif
} break;
case 'x': {
#if ENABLED(MMU2_MENUS)
planner.synchronize();
const uint8_t index = mmu2_choose_filament();
stepper.disable_extruder();
command(MMU_CMD_T0 + index);
manage_response(true, true);
if (load_to_gears()) {
mmu_loop();
stepper.enable_extruder();
extruder = index;
active_extruder = 0;
}
#else
beep_bad_cmd();
#endif
} break;
case 'c': {
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
load_to_nozzle_sequence();
} break;
}
set_runout_valid(true);
}
#elif ENABLED(MMU_EXTRUDER_SENSOR)
/**
* Handle tool change
*/
void MMU2::tool_change(const uint8_t index) {
if (!_enabled) return;
set_runout_valid(false);
if (index != extruder) {
stepper.disable_extruder();
if (FILAMENT_PRESENT()) {
DEBUG_ECHOLNPGM("Unloading\n");
mmu_loading_flag = false;
command(MMU_CMD_U0);
manage_response(true, true);
}
ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
mmu_loading_flag = true;
command(MMU_CMD_T0 + index);
manage_response(true, true);
mmu_continue_loading();
//command(MMU_CMD_C0);
extruder = index;
active_extruder = 0;
stepper.enable_extruder();
SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder);
ui.reset_status();
}
set_runout_valid(true);
}
/**
* Handle special T?/Tx/Tc commands
*
* T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
* Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
* Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
*/
void MMU2::tool_change(const char *special) {
if (!_enabled) return;
set_runout_valid(false);
switch (*special) {
case '?': {
DEBUG_ECHOLNPGM("case ?\n");
#if ENABLED(MMU2_MENUS)
uint8_t index = mmu2_choose_filament();
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
load_to_nozzle(index);
#else
beep_bad_cmd();
#endif
} break;
case 'x': {
DEBUG_ECHOLNPGM("case x\n");
#if ENABLED(MMU2_MENUS)
planner.synchronize();
uint8_t index = mmu2_choose_filament();
stepper.disable_extruder();
command(MMU_CMD_T0 + index);
manage_response(true, true);
mmu_continue_loading();
command(MMU_CMD_C0);
mmu_loop();
stepper.enable_extruder();
extruder = index;
active_extruder = 0;
#else
beep_bad_cmd();
#endif
} break;
case 'c': {
DEBUG_ECHOLNPGM("case c\n");
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
load_to_nozzle_sequence();
} break;
}
set_runout_valid(true);
}
void MMU2::mmu_continue_loading() {
// Try to load the filament a limited number of times
bool fil_present = 0;
for (uint8_t i = 0; i < MMU_LOADING_ATTEMPTS_NR; i++) {
DEBUG_ECHOLNPGM("Load attempt #", i + 1);
// Done as soon as filament is present
fil_present = FILAMENT_PRESENT();
if (fil_present) break;
// Attempt to load the filament, 1mm at a time, for 3s
command(MMU_CMD_C0);
stepper.enable_extruder();
const millis_t expire_ms = millis() + 3000;
do {
current_position.e += 1;
line_to_current_position(MMU_LOAD_FEEDRATE);
planner.synchronize();
// When (T0 rx->ok) load is ready, but in fact it did not load
// successfully or an overload created pressure in the extruder.
// Send (C0) to load more and move E_AXIS a little to release pressure.
if ((fil_present = FILAMENT_PRESENT())) MMU2_SEND("A");
} while (!fil_present && PENDING(millis(), expire_ms));
stepper.disable_extruder();
manage_response(true, true);
}
// Was the filament still missing in the last check?
if (!fil_present) {
DEBUG_ECHOLNPGM("Filament never reached sensor, runout");
filament_runout();
}
mmu_idl_sens = 0;
}
#else // !HAS_PRUSA_MMU2S && !MMU_EXTRUDER_SENSOR
/**
* Handle tool change
*/
void MMU2::tool_change(const uint8_t index) {
if (!_enabled) return;
set_runout_valid(false);
if (index != extruder) {
stepper.disable_extruder();
ui.status_printf(0, GET_TEXT_F(MSG_MMU2_LOADING_FILAMENT), int(index + 1));
command(MMU_CMD_T0 + index);
manage_response(true, true);
command(MMU_CMD_C0);
extruder = index; // Filament change is finished
active_extruder = 0;
stepper.enable_extruder();
SERIAL_ECHO_MSG(STR_ACTIVE_EXTRUDER, extruder);
ui.reset_status();
}
set_runout_valid(true);
}
/**
* Handle special T?/Tx/Tc commands
*
* T? Gcode to extrude shouldn't have to follow, load to extruder wheels is done automatically
* Tx Same as T?, except nozzle doesn't have to be preheated. Tc must be placed after extruder nozzle is preheated to finish filament load.
* Tc Load to nozzle after filament was prepared by Tx and extruder nozzle is already heated.
*/
void MMU2::tool_change(const char *special) {
if (!_enabled) return;
set_runout_valid(false);
switch (*special) {
case '?': {
DEBUG_ECHOLNPGM("case ?\n");
#if ENABLED(MMU2_MENUS)
uint8_t index = mmu2_choose_filament();
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
load_to_nozzle(index);
#else
beep_bad_cmd();
#endif
} break;
case 'x': {
DEBUG_ECHOLNPGM("case x\n");
#if ENABLED(MMU2_MENUS)
planner.synchronize();
uint8_t index = mmu2_choose_filament();
stepper.disable_extruder();
command(MMU_CMD_T0 + index);
manage_response(true, true);
command(MMU_CMD_C0);
mmu_loop();
stepper.enable_extruder();
extruder = index;
active_extruder = 0;
#else
beep_bad_cmd();
#endif
} break;
case 'c': {
DEBUG_ECHOLNPGM("case c\n");
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(100);
load_to_nozzle_sequence();
} break;
}
set_runout_valid(true);
}
#endif // HAS_PRUSA_MMU2S
/**
* Set next command
*/
void MMU2::command(const uint8_t mmu_cmd) {
if (!_enabled) return;
cmd = mmu_cmd;
ready = false;
}
/**
* Wait for response from MMU
*/
bool MMU2::get_response() {
while (cmd != MMU_CMD_NONE) idle();
while (!ready) {
idle();
if (state != 3) break;
}
const bool ret = ready;
ready = false;
return ret;
}
/**
* Wait for response and deal with timeout if necessary
*/
void MMU2::manage_response(const bool move_axes, const bool turn_off_nozzle) {
constexpr xyz_pos_t park_point = NOZZLE_PARK_POINT;
bool response = false, mmu_print_saved = false;
xyz_pos_t resume_position;
celsius_t resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
KEEPALIVE_STATE(PAUSED_FOR_USER);
while (!response) {
response = get_response(); // wait for "ok" from mmu
if (!response) { // No "ok" was received in reserved time frame, user will fix the issue on mmu unit
if (!mmu_print_saved) { // First occurrence. Save current position, park print head, disable nozzle heater.
planner.synchronize();
mmu_print_saved = true;
SERIAL_ECHOLNPGM("MMU not responding");
resume_hotend_temp = thermalManager.degTargetHotend(active_extruder);
resume_position = current_position;
if (move_axes && all_axes_homed()) nozzle.park(0, park_point);
if (turn_off_nozzle) thermalManager.setTargetHotend(0, active_extruder);
mmu2_not_responding();
}
}
else if (mmu_print_saved) {
SERIAL_ECHOLNPGM("\nMMU starts responding");
if (turn_off_nozzle && resume_hotend_temp) {
thermalManager.setTargetHotend(resume_hotend_temp, active_extruder);
LCD_MESSAGE(MSG_HEATING);
ERR_BUZZ();
while (!thermalManager.wait_for_hotend(active_extruder, false)) safe_delay(1000);
}
LCD_MESSAGE(MSG_MMU2_RESUMING);
mmu2_attn_buzz(true);
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
if (move_axes && all_axes_homed()) {
// Move XY to starting position, then Z
do_blocking_move_to_xy(resume_position, feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
// Move Z_AXIS to saved position
do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
}
#pragma GCC diagnostic pop
}
}
}
void MMU2::set_filament_type(const uint8_t index, const uint8_t filamentType) {
if (!_enabled) return;
cmd_arg = filamentType;
command(MMU_CMD_F0 + index);
manage_response(true, true);
}
void MMU2::filament_runout() {
queue.inject(F(MMU2_FILAMENT_RUNOUT_SCRIPT));
planner.synchronize();
}
#if HAS_PRUSA_MMU2S
void MMU2::check_filament() {
const bool present = FILAMENT_PRESENT();
if (cmd == MMU_CMD_NONE && last_cmd == MMU_CMD_C0) {
if (present && !mmu2s_triggered) {
DEBUG_ECHOLNPGM("MMU <= 'A'");
MMU2_SEND("A");
}
// Slowly spin the extruder during C0
else {
while (planner.movesplanned() < 3)
unscaled_mmu2_e_move(0.25, MMM_TO_MMS(120), false);
}
}
mmu2s_triggered = present;
}
bool MMU2::can_load() {
static const E_Step can_load_sequence[] PROGMEM = { MMU2_CAN_LOAD_SEQUENCE },
can_load_increment_sequence[] PROGMEM = { MMU2_CAN_LOAD_INCREMENT_SEQUENCE };
execute_extruder_sequence(can_load_sequence, COUNT(can_load_sequence));
int filament_detected_count = 0;
const int steps = (MMU2_CAN_LOAD_RETRACT) / (MMU2_CAN_LOAD_INCREMENT);
DEBUG_ECHOLNPGM("MMU can_load:");
for (uint8_t i = 0; i < steps; ++i) {
execute_extruder_sequence(can_load_increment_sequence, COUNT(can_load_increment_sequence));
check_filament(); // Don't trust the idle function
DEBUG_CHAR(mmu2s_triggered ? 'O' : 'o');
if (mmu2s_triggered) ++filament_detected_count;
}
if (filament_detected_count <= steps - (MMU2_CAN_LOAD_DEVIATION) / (MMU2_CAN_LOAD_INCREMENT)) {
DEBUG_ECHOLNPGM(" failed.");
return false;
}
DEBUG_ECHOLNPGM(" succeeded.");
return true;
}
#endif
// Load filament into MMU2
void MMU2::load_to_feeder(const uint8_t index) {
if (!_enabled) return;
command(MMU_CMD_L0 + index);
manage_response(false, false);
mmu2_attn_buzz();
}
/**
* Switch material and load to nozzle
*/
bool MMU2::load_to_nozzle(const uint8_t index) {
if (!_enabled) return false;
if (thermalManager.tooColdToExtrude(active_extruder)) {
mmu2_attn_buzz();
LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD);
return false;
}
if (TERN0(MMU_IR_UNLOAD_MOVE, index != extruder) && FILAMENT_PRESENT()) {
DEBUG_ECHOLNPGM("Unloading\n");
ramming_sequence(); // Unloading instructions from printer side when operating LCD
while (FILAMENT_PRESENT()) // Filament present? Keep unloading.
unscaled_mmu2_e_move(-0.25, MMM_TO_MMS(120)); // 0.25mm is a guessed value. Adjust to preference.
}
stepper.disable_extruder();
command(MMU_CMD_T0 + index);
manage_response(true, true);
const bool success = load_to_gears();
if (success) {
mmu_loop();
extruder = index;
active_extruder = 0;
load_to_nozzle_sequence();
mmu2_attn_buzz();
}
return success;
}
bool MMU2::eject_filament(const uint8_t index, const bool recover) {
if (!_enabled) return false;
if (thermalManager.tooColdToExtrude(active_extruder)) {
mmu2_attn_buzz();
LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD);
return false;
}
LCD_MESSAGE(MSG_MMU2_EJECTING_FILAMENT);
unscaled_mmu2_e_move(-(MMU2_FILAMENTCHANGE_EJECT_FEED), MMM_TO_MMS(2500));
command(MMU_CMD_E0 + index);
manage_response(false, false);
if (recover) {
LCD_MESSAGE(MSG_MMU2_REMOVE_AND_CLICK);
mmu2_attn_buzz();
TERN_(HOST_PROMPT_SUPPORT, hostui.continue_prompt(GET_TEXT_F(MSG_MMU2_EJECT_RECOVER)));
TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_MMU2_EJECT_RECOVER)));
TERN_(HAS_RESUME_CONTINUE, wait_for_user_response());
mmu2_attn_buzz();
command(MMU_CMD_R0);
manage_response(false, false);
}
ui.reset_status();
// no active tool
extruder = MMU2_NO_TOOL;
set_runout_valid(false);
mmu2_attn_buzz();
stepper.disable_extruder();
return true;
}
/**
* Unload from hotend and retract to MMU
*/
bool MMU2::unload() {
if (!_enabled) return false;
if (thermalManager.tooColdToExtrude(active_extruder)) {
mmu2_attn_buzz();
LCD_ALERTMESSAGE(MSG_HOTEND_TOO_COLD);
return false;
}
// Unload sequence to optimize shape of the tip of the unloaded filament
ramming_sequence();
command(MMU_CMD_U0);
manage_response(false, true);
mmu2_attn_buzz();
// no active tool
extruder = MMU2_NO_TOOL;
set_runout_valid(false);
return true;
}
void MMU2::ramming_sequence() {
static const E_Step sequence[] PROGMEM = { MMU2_RAMMING_SEQUENCE };
execute_extruder_sequence(sequence, COUNT(sequence));
}
void MMU2::load_to_nozzle_sequence() {
static const E_Step sequence[] PROGMEM = { MMU2_LOAD_TO_NOZZLE_SEQUENCE };
execute_extruder_sequence(sequence, COUNT(sequence));
}
void MMU2::execute_extruder_sequence(const E_Step * sequence, int steps) {
planner.synchronize();
const E_Step *step = sequence;
for (uint8_t i = 0; i < steps; ++i) {
const float es = pgm_read_float(&(step->extrude));
const feedRate_t fr_mm_m = pgm_read_float(&(step->feedRate));
DEBUG_ECHO_MSG("E step ", es, "/", fr_mm_m);
unscaled_mmu2_e_move(es, MMM_TO_MMS(fr_mm_m));
step++;
}
stepper.disable_extruder();
}
#endif // HAS_PRUSA_MMU2
| 2301_81045437/Marlin | Marlin/src/feature/mmu/mmu2.cpp | C++ | agpl-3.0 | 29,499 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../../inc/MarlinConfig.h"
#if HAS_FILAMENT_SENSOR
#include "../runout.h"
#endif
#if SERIAL_USB
#define MMU_RX_SIZE 256
#define MMU_TX_SIZE 256
#else
#define MMU_RX_SIZE 16
#define MMU_TX_SIZE 16
#endif
struct E_Step;
class MMU2 {
public:
MMU2();
static void init();
static void reset();
static bool enabled() { return _enabled; }
static void mmu_loop();
static void tool_change(const uint8_t index);
static void tool_change(const char *special);
static int8_t get_current_tool();
static void set_filament_type(const uint8_t index, const uint8_t type);
static bool unload();
static void load_to_feeder(const uint8_t index);
static bool load_to_nozzle(const uint8_t index);
static bool eject_filament(const uint8_t index, const bool recover);
private:
static bool rx_str(FSTR_P fstr);
static void tx_str(FSTR_P fstr);
static void tx_printf(FSTR_P ffmt, const int argument);
static void tx_printf(FSTR_P ffmt, const int argument1, const int argument2);
static void clear_rx_buffer();
static bool rx_ok();
static bool rx_start();
static void check_version(const uint16_t buildnr);
static void command(const uint8_t cmd);
static bool get_response();
static void manage_response(const bool move_axes, const bool turn_off_nozzle);
static void execute_extruder_sequence(const E_Step * sequence, int steps);
static void ramming_sequence();
static void load_to_nozzle_sequence();
static void filament_runout();
#if HAS_PRUSA_MMU2S
static bool mmu2s_triggered;
static void check_filament();
static bool can_load();
static bool load_to_gears();
#else
FORCE_INLINE static bool load_to_gears() { return true; }
#endif
#if ENABLED(MMU_EXTRUDER_SENSOR)
#define MMU_LOAD_FEEDRATE 19.02f // (mm/s)
static void mmu_continue_loading();
#endif
static bool _enabled, ready;
static uint8_t cmd, cmd_arg, last_cmd, extruder;
static int8_t state;
static volatile int8_t finda;
static volatile bool finda_runout_valid;
static millis_t prev_request, prev_P0_request;
static char rx_buffer[MMU_RX_SIZE], tx_buffer[MMU_TX_SIZE];
static void set_runout_valid(const bool valid) {
finda_runout_valid = valid;
#if HAS_FILAMENT_SENSOR
if (valid) runout.reset();
#endif
}
};
extern MMU2 mmu2;
| 2301_81045437/Marlin | Marlin/src/feature/mmu/mmu2.h | C++ | agpl-3.0 | 3,204 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(PASSWORD_FEATURE)
#include "password.h"
#include "../../gcode/gcode.h"
#include "../../core/serial.h"
Password password;
// public:
bool Password::is_set, Password::is_locked, Password::did_first_run; // = false
uint32_t Password::value, Password::value_entry;
//
// Authenticate user with password.
// Called from Setup, after SD Prinitng Stops/Aborts, and M510
//
void Password::lock_machine() {
is_locked = true;
TERN_(HAS_MARLINUI_MENU, authenticate_user(ui.status_screen, screen_password_entry));
}
//
// Authentication check
//
void Password::authentication_check() {
if (value_entry == value) {
is_locked = false;
did_first_run = true;
}
else {
is_locked = true;
SERIAL_ECHOLNPGM(STR_WRONG_PASSWORD);
}
TERN_(HAS_MARLINUI_MENU, authentication_done());
}
#endif // PASSWORD_FEATURE
| 2301_81045437/Marlin | Marlin/src/feature/password/password.cpp | C++ | agpl-3.0 | 1,743 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../../lcd/marlinui.h"
class Password {
public:
static bool is_set, is_locked, did_first_run;
static uint32_t value, value_entry;
Password() {}
static void lock_machine();
static void authentication_check();
#if HAS_MARLINUI_MENU
static void access_menu_password();
static void authentication_done();
static void media_gatekeeper();
private:
static void authenticate_user(const screenFunc_t, const screenFunc_t);
static void menu_password();
static void menu_password_entry();
static void screen_password_entry();
static void screen_set_password();
static void start_over();
static void digit_entered();
static void set_password_done(const bool with_set=true);
static void menu_password_report();
static void remove_password();
#endif
};
extern Password password;
| 2301_81045437/Marlin | Marlin/src/feature/password/password.h | C++ | agpl-3.0 | 1,727 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* feature/pause.cpp - Pause feature support functions
* This may be combined with related G-codes if features are consolidated.
*
* Note: Calls to ui.pause_show_message are passed to either ExtUI or MarlinUI.
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(ADVANCED_PAUSE_FEATURE)
//#define DEBUG_PAUSE_RESUME
#include "../MarlinCore.h"
#include "../gcode/gcode.h"
#include "../module/motion.h"
#include "../module/planner.h"
#include "../module/printcounter.h"
#include "../module/temperature.h"
#if HAS_EXTRUDERS
#include "../module/stepper.h"
#endif
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "bedlevel/bedlevel.h"
#endif
#if ENABLED(FWRETRACT)
#include "fwretract.h"
#endif
#if HAS_FILAMENT_SENSOR
#include "runout.h"
#endif
#if ENABLED(HOST_ACTION_COMMANDS)
#include "host_actions.h"
#endif
#if ENABLED(EXTENSIBLE_UI)
#include "../lcd/extui/ui_api.h"
#endif
#include "../lcd/marlinui.h"
#if HAS_SOUND
#include "../libs/buzzer.h"
#endif
#if ENABLED(POWER_LOSS_RECOVERY)
#include "powerloss.h"
#endif
#include "../libs/nozzle.h"
#include "pause.h"
#define DEBUG_OUT ENABLED(DEBUG_PAUSE_RESUME)
#include "../core/debug_out.h"
// private:
static xyze_pos_t resume_position;
#if M600_PURGE_MORE_RESUMABLE
PauseMenuResponse pause_menu_response;
PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT;
#endif
#if ENABLED(CONFIGURE_FILAMENT_CHANGE)
fil_change_settings_t fc_settings[EXTRUDERS];
#endif
#if HAS_MEDIA
#include "../sd/cardreader.h"
#endif
#if ENABLED(EMERGENCY_PARSER)
#define _PMSG(L) L##_M108
#else
#define _PMSG(L) L##_LCD
#endif
#if HAS_SOUND
static void impatient_beep(const int8_t max_beep_count, const bool restart=false) {
if (TERN0(HAS_MARLINUI_MENU, pause_mode == PAUSE_MODE_PAUSE_PRINT)) return;
static millis_t next_buzz = 0;
static int8_t runout_beep = 0;
if (restart) next_buzz = runout_beep = 0;
const bool always = max_beep_count < 0;
const millis_t ms = millis();
if (ELAPSED(ms, next_buzz)) {
if (always || runout_beep < max_beep_count + 5) { // Only beep as long as we're supposed to
next_buzz = ms + ((always || runout_beep < max_beep_count) ? 1000 : 500);
BUZZ(50, 880 - (runout_beep & 1) * 220);
runout_beep++;
}
}
}
inline void first_impatient_beep(const int8_t max_beep_count) { impatient_beep(max_beep_count, true); }
#else
inline void impatient_beep(const int8_t, const bool=false) {}
inline void first_impatient_beep(const int8_t) {}
#endif
/**
* Ensure a safe temperature for extrusion
*
* - Fail if the TARGET temperature is too low
* - Display LCD placard with temperature status
* - Return when heating is done or aborted
*
* Returns 'true' if heating was completed, 'false' for abort
*/
static bool ensure_safe_temperature(const bool wait=true, const PauseMode mode=PAUSE_MODE_SAME) {
DEBUG_SECTION(est, "ensure_safe_temperature", true);
DEBUG_ECHOLNPGM("... wait:", wait, " mode:", mode);
#if ENABLED(PREVENT_COLD_EXTRUSION)
if (!DEBUGGING(DRYRUN) && thermalManager.targetTooColdToExtrude(active_extruder))
thermalManager.setTargetHotend(thermalManager.extrude_min_temp, active_extruder);
#endif
ui.pause_show_message(PAUSE_MESSAGE_HEATING, mode);
if (wait) return thermalManager.wait_for_hotend(active_extruder);
// Allow interruption by Emergency Parser M108
wait_for_heatup = TERN1(PREVENT_COLD_EXTRUSION, !thermalManager.allow_cold_extrude);
while (wait_for_heatup && ABS(thermalManager.wholeDegHotend(active_extruder) - thermalManager.degTargetHotend(active_extruder)) > (TEMP_WINDOW))
idle();
wait_for_heatup = false;
#if ENABLED(PREVENT_COLD_EXTRUSION)
// A user can cancel wait-for-heating with M108
if (!DEBUGGING(DRYRUN) && thermalManager.targetTooColdToExtrude(active_extruder)) {
SERIAL_ECHO_MSG(STR_ERR_HOTEND_TOO_COLD);
return false;
}
#endif
return true;
}
/**
* Load filament into the hotend
*
* - Fail if the a safe temperature was not reached
* - If pausing for confirmation, wait for a click or M108
* - Show "wait for load" placard
* - Load and purge filament
* - Show "Purge more" / "Continue" menu
* - Return when "Continue" is selected
*
* Returns 'true' if load was completed, 'false' for abort
*/
bool load_filament(const_float_t slow_load_length/*=0*/, const_float_t fast_load_length/*=0*/, const_float_t purge_length/*=0*/, const int8_t max_beep_count/*=0*/,
const bool show_lcd/*=false*/, const bool pause_for_user/*=false*/,
const PauseMode mode/*=PAUSE_MODE_PAUSE_PRINT*/
DXC_ARGS
) {
DEBUG_SECTION(lf, "load_filament", true);
DEBUG_ECHOLNPGM("... slowlen:", slow_load_length, " fastlen:", fast_load_length, " purgelen:", purge_length, " maxbeep:", max_beep_count, " showlcd:", show_lcd, " pauseforuser:", pause_for_user, " pausemode:", mode DXC_SAY);
if (!ensure_safe_temperature(false, mode)) {
if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_STATUS, mode);
return false;
}
if (pause_for_user) {
if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_INSERT, mode);
SERIAL_ECHO_MSG(_PMSG(STR_FILAMENT_CHANGE_INSERT));
first_impatient_beep(max_beep_count);
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = true; // LCD click or M108 will clear this
TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_FILAMENTLOAD)));
#if ENABLED(HOST_PROMPT_SUPPORT)
const char tool = '0' + TERN0(MULTI_FILAMENT_SENSOR, active_extruder);
hostui.prompt_do(PROMPT_USER_CONTINUE, F("Load Filament T"), tool, FPSTR(CONTINUE_STR));
#endif
while (wait_for_user) {
impatient_beep(max_beep_count);
#if ALL(FILAMENT_CHANGE_RESUME_ON_INSERT, FILAMENT_RUNOUT_SENSOR)
#if MULTI_FILAMENT_SENSOR
#define _CASE_INSERTED(N) case N-1: if (READ(FIL_RUNOUT##N##_PIN) != FIL_RUNOUT##N##_STATE) wait_for_user = false; break;
switch (active_extruder) {
REPEAT_1(NUM_RUNOUT_SENSORS, _CASE_INSERTED)
}
#else
if (READ(FIL_RUNOUT_PIN) != FIL_RUNOUT_STATE) wait_for_user = false;
#endif
#endif
idle_no_sleep();
}
}
if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_LOAD, mode);
#if ENABLED(DUAL_X_CARRIAGE)
const int8_t saved_ext = active_extruder;
const bool saved_ext_dup_mode = extruder_duplication_enabled;
set_duplication_enabled(false, DXC_ext);
#endif
TERN_(BELTPRINTER, do_blocking_move_to_xy(0.00, 50.00));
TERN_(MPCTEMP, MPC::e_paused = true);
// Slow Load filament
if (slow_load_length) unscaled_e_move(slow_load_length, FILAMENT_CHANGE_SLOW_LOAD_FEEDRATE);
// Fast Load Filament
if (fast_load_length) {
#if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
const float saved_acceleration = planner.settings.retract_acceleration;
planner.settings.retract_acceleration = FILAMENT_CHANGE_FAST_LOAD_ACCEL;
#endif
unscaled_e_move(fast_load_length, FILAMENT_CHANGE_FAST_LOAD_FEEDRATE);
#if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
planner.settings.retract_acceleration = saved_acceleration;
#endif
}
#if ENABLED(DUAL_X_CARRIAGE) // Tie the two extruders movement back together.
set_duplication_enabled(saved_ext_dup_mode, saved_ext);
#endif
#if ENABLED(ADVANCED_PAUSE_CONTINUOUS_PURGE)
if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_PURGE);
TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_FILAMENT_CHANGE_PURGE)));
TERN_(HOST_PROMPT_SUPPORT, hostui.continue_prompt(GET_TEXT_F(MSG_FILAMENT_CHANGE_PURGE)));
wait_for_user = true; // A click or M108 breaks the purge_length loop
for (float purge_count = purge_length; purge_count > 0 && wait_for_user; --purge_count)
unscaled_e_move(1, ADVANCED_PAUSE_PURGE_FEEDRATE);
wait_for_user = false;
#else
do {
if (purge_length > 0) {
// "Wait for filament purge"
if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_PURGE);
// Extrude filament to get into hotend
unscaled_e_move(purge_length, ADVANCED_PAUSE_PURGE_FEEDRATE);
}
TERN_(HOST_PROMPT_SUPPORT, hostui.filament_load_prompt()); // Initiate another host prompt.
#if M600_PURGE_MORE_RESUMABLE
if (show_lcd) {
// Show "Purge More" / "Resume" menu and wait for reply
KEEPALIVE_STATE(PAUSED_FOR_USER);
wait_for_user = false;
#if ANY(HAS_MARLINUI_MENU, EXTENSIBLE_UI)
ui.pause_show_message(PAUSE_MESSAGE_OPTION); // MarlinUI and MKS UI also set PAUSE_RESPONSE_WAIT_FOR
#else
pause_menu_response = PAUSE_RESPONSE_WAIT_FOR;
#endif
while (pause_menu_response == PAUSE_RESPONSE_WAIT_FOR) idle_no_sleep();
}
#endif
// Keep looping if "Purge More" was selected
} while (TERN0(M600_PURGE_MORE_RESUMABLE, pause_menu_response == PAUSE_RESPONSE_EXTRUDE_MORE));
#endif
TERN_(MPCTEMP, MPC::e_paused = false);
TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_end());
return true;
}
/**
* Disabling E steppers for manual filament change should be fine
* as long as users don't spin the E motor ridiculously fast and
* send current back to their board, potentially frying it.
*/
inline void disable_active_extruder() {
#if HAS_EXTRUDERS
stepper.DISABLE_EXTRUDER(active_extruder);
safe_delay(100);
#endif
}
/**
* Unload filament from the hotend
*
* - Fail if the a safe temperature was not reached
* - Show "wait for unload" placard
* - Retract, pause, then unload filament
* - Disable E stepper (on most machines)
*
* Returns 'true' if unload was completed, 'false' for abort
*/
bool unload_filament(const_float_t unload_length, const bool show_lcd/*=false*/,
const PauseMode mode/*=PAUSE_MODE_PAUSE_PRINT*/
#if ALL(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER)
, const_float_t mix_multiplier/*=1.0*/
#endif
) {
DEBUG_SECTION(uf, "unload_filament", true);
DEBUG_ECHOLNPGM("... unloadlen:", unload_length, " showlcd:", show_lcd, " mode:", mode
#if ALL(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER)
, " mixmult:", mix_multiplier
#endif
);
#if !ALL(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER)
constexpr float mix_multiplier = 1.0f;
#endif
if (!ensure_safe_temperature(false, mode)) {
if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_STATUS);
return false;
}
if (show_lcd) ui.pause_show_message(PAUSE_MESSAGE_UNLOAD, mode);
// Retract filament
unscaled_e_move(-(FILAMENT_UNLOAD_PURGE_RETRACT) * mix_multiplier, (PAUSE_PARK_RETRACT_FEEDRATE) * mix_multiplier);
// Wait for filament to cool
safe_delay(FILAMENT_UNLOAD_PURGE_DELAY);
// Quickly purge
unscaled_e_move((FILAMENT_UNLOAD_PURGE_RETRACT + FILAMENT_UNLOAD_PURGE_LENGTH) * mix_multiplier,
(FILAMENT_UNLOAD_PURGE_FEEDRATE) * mix_multiplier);
// Unload filament
#if FILAMENT_CHANGE_UNLOAD_ACCEL > 0
const float saved_acceleration = planner.settings.retract_acceleration;
planner.settings.retract_acceleration = FILAMENT_CHANGE_UNLOAD_ACCEL;
#endif
unscaled_e_move(unload_length * mix_multiplier, (FILAMENT_CHANGE_UNLOAD_FEEDRATE) * mix_multiplier);
#if FILAMENT_CHANGE_FAST_LOAD_ACCEL > 0
planner.settings.retract_acceleration = saved_acceleration;
#endif
// Disable the Extruder for manual change
disable_active_extruder();
return true;
}
// public:
/**
* Pause procedure
*
* - Abort if already paused
* - Send host action for pause, if configured
* - Abort if TARGET temperature is too low
* - Display "wait for start of filament change" (if a length was specified)
* - Initial retract, if current temperature is hot enough
* - Park the nozzle at the given position
* - Call unload_filament (if a length was specified)
*
* Return 'true' if pause was completed, 'false' for abort
*/
uint8_t did_pause_print = 0;
bool pause_print(const_float_t retract, const xyz_pos_t &park_point, const bool show_lcd/*=false*/, const_float_t unload_length/*=0*/ DXC_ARGS) {
DEBUG_SECTION(pp, "pause_print", true);
DEBUG_ECHOLNPGM("... park.x:", park_point.x, " y:", park_point.y, " z:", park_point.z, " unloadlen:", unload_length, " showlcd:", show_lcd DXC_SAY);
if (did_pause_print) return false; // already paused
#if ENABLED(HOST_ACTION_COMMANDS)
#ifdef ACTION_ON_PAUSED
hostui.paused();
#elif defined(ACTION_ON_PAUSE)
hostui.pause();
#endif
#endif
TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_open(PROMPT_INFO, F("Pause"), FPSTR(DISMISS_STR)));
// Indicate that the printer is paused
++did_pause_print;
// Pause the print job and timer
#if HAS_MEDIA
const bool was_sd_printing = IS_SD_PRINTING();
if (was_sd_printing) {
card.pauseSDPrint();
++did_pause_print; // Indicate SD pause also
}
#endif
print_job_timer.pause();
// Save current position
resume_position = current_position;
// Will the nozzle be parking?
const bool do_park = !axes_should_home();
#if ENABLED(POWER_LOSS_RECOVERY)
// Save PLR info in case the power goes out while parked
const float park_raise = do_park ? nozzle.park_mode_0_height(park_point.z) - current_position.z : POWER_LOSS_ZRAISE;
if (was_sd_printing && recovery.enabled) recovery.save(true, park_raise, do_park);
#endif
// Wait for buffered blocks to complete
planner.synchronize();
#if ALL(ADVANCED_PAUSE_FANS_PAUSE, HAS_FAN)
thermalManager.set_fans_paused(true);
#endif
// Initial retract before move to filament change position
if (retract && thermalManager.hotEnoughToExtrude(active_extruder)) {
DEBUG_ECHOLNPGM("... retract:", retract);
#if ENABLED(AUTO_BED_LEVELING_UBL)
const bool leveling_was_enabled = planner.leveling_active; // save leveling state
set_bed_leveling_enabled(false); // turn off leveling
#endif
unscaled_e_move(retract, PAUSE_PARK_RETRACT_FEEDRATE);
TERN_(AUTO_BED_LEVELING_UBL, set_bed_leveling_enabled(leveling_was_enabled)); // restore leveling
}
// If axes don't need to home then the nozzle can park
if (do_park) nozzle.park(0, park_point); // Park the nozzle by doing a Minimum Z Raise followed by an XY Move
if (!do_park) LCD_MESSAGE(MSG_PARK_FAILED);
#if ENABLED(DUAL_X_CARRIAGE)
const int8_t saved_ext = active_extruder;
const bool saved_ext_dup_mode = extruder_duplication_enabled;
set_duplication_enabled(false, DXC_ext);
#endif
// Unload the filament, if specified
if (unload_length)
unload_filament(unload_length, show_lcd, PAUSE_MODE_CHANGE_FILAMENT);
TERN_(DUAL_X_CARRIAGE, set_duplication_enabled(saved_ext_dup_mode, saved_ext));
// Disable the Extruder for manual change
disable_active_extruder();
return true;
}
/**
* For Paused Print:
* - Show "Press button (or M108) to resume"
*
* For Filament Change:
* - Show "Insert filament and press button to continue"
*
* - Wait for a click before returning
* - Heaters can time out and must reheat before continuing
*
* Used by M125 and M600
*/
void show_continue_prompt(const bool is_reload) {
DEBUG_SECTION(scp, "pause_print", true);
DEBUG_ECHOLNPGM("... is_reload:", is_reload);
ui.pause_show_message(is_reload ? PAUSE_MESSAGE_INSERT : PAUSE_MESSAGE_WAITING);
SERIAL_ECHO_START();
SERIAL_ECHO(is_reload ? F(_PMSG(STR_FILAMENT_CHANGE_INSERT) "\n") : F(_PMSG(STR_FILAMENT_CHANGE_WAIT) "\n"));
}
void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep_count/*=0*/ DXC_ARGS) {
DEBUG_SECTION(wfc, "wait_for_confirmation", true);
DEBUG_ECHOLNPGM("... is_reload:", is_reload, " maxbeep:", max_beep_count DXC_SAY);
bool nozzle_timed_out = false;
show_continue_prompt(is_reload);
first_impatient_beep(max_beep_count);
// Start the heater idle timers
const millis_t nozzle_timeout = SEC_TO_MS(PAUSE_PARK_NOZZLE_TIMEOUT);
HOTEND_LOOP() thermalManager.heater_idle[e].start(nozzle_timeout);
#if ENABLED(DUAL_X_CARRIAGE)
const int8_t saved_ext = active_extruder;
const bool saved_ext_dup_mode = extruder_duplication_enabled;
set_duplication_enabled(false, DXC_ext);
#endif
// Wait for filament insert by user and press button
KEEPALIVE_STATE(PAUSED_FOR_USER);
TERN_(HOST_PROMPT_SUPPORT, hostui.continue_prompt(GET_TEXT_F(MSG_NOZZLE_PARKED)));
TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_NOZZLE_PARKED)));
wait_for_user = true; // LCD click or M108 will clear this
while (wait_for_user) {
impatient_beep(max_beep_count);
// If the nozzle has timed out...
if (!nozzle_timed_out)
HOTEND_LOOP() nozzle_timed_out |= thermalManager.heater_idle[e].timed_out;
// Wait for the user to press the button to re-heat the nozzle, then
// re-heat the nozzle, re-show the continue prompt, restart idle timers, start over
if (nozzle_timed_out) {
ui.pause_show_message(PAUSE_MESSAGE_HEAT);
SERIAL_ECHO_MSG(_PMSG(STR_FILAMENT_CHANGE_HEAT));
TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_USER_CONTINUE, GET_TEXT_F(MSG_HEATER_TIMEOUT), GET_TEXT_F(MSG_REHEAT)));
#if ENABLED(TOUCH_UI_FTDI_EVE)
ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_FTDI_HEATER_TIMEOUT));
#elif ENABLED(EXTENSIBLE_UI)
ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_HEATER_TIMEOUT));
#endif
TERN_(HAS_RESUME_CONTINUE, wait_for_user_response(0, true)); // Wait for LCD click or M108
TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_do(PROMPT_INFO, GET_TEXT_F(MSG_REHEATING)));
LCD_MESSAGE(MSG_REHEATING);
// Re-enable the heaters if they timed out
HOTEND_LOOP() thermalManager.reset_hotend_idle_timer(e);
// Wait for the heaters to reach the target temperatures
ensure_safe_temperature(false);
// Show the prompt to continue
show_continue_prompt(is_reload);
// Start the heater idle timers
const millis_t nozzle_timeout = SEC_TO_MS(PAUSE_PARK_NOZZLE_TIMEOUT);
HOTEND_LOOP() thermalManager.heater_idle[e].start(nozzle_timeout);
TERN_(HOST_PROMPT_SUPPORT, hostui.continue_prompt(GET_TEXT_F(MSG_REHEATDONE)));
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onUserConfirmRequired(GET_TEXT_F(MSG_REHEATDONE));
#else
LCD_MESSAGE(MSG_REHEATDONE);
#endif
IF_DISABLED(PAUSE_REHEAT_FAST_RESUME, wait_for_user = true);
nozzle_timed_out = false;
first_impatient_beep(max_beep_count);
}
idle_no_sleep();
}
TERN_(DUAL_X_CARRIAGE, set_duplication_enabled(saved_ext_dup_mode, saved_ext));
}
/**
* Resume or Start print procedure
*
* - If not paused, do nothing and return
* - Reset heater idle timers
* - Load filament if specified, but only if:
* - a nozzle timed out, or
* - the nozzle is already heated.
* - Display "wait for print to resume"
* - Retract to prevent oozing
* - Move the nozzle back to resume_position
* - Unretract
* - Re-prime the nozzle...
* - FWRETRACT: Recover/prime from the prior G10.
* - !FWRETRACT: Retract by resume_position.e, if negative.
* Not sure how this logic comes into use.
* - Sync the planner E to resume_position.e
* - Send host action for resume, if configured
* - Resume the current SD print job, if any
*/
void resume_print(const_float_t slow_load_length/*=0*/, const_float_t fast_load_length/*=0*/, const_float_t purge_length/*=ADVANCED_PAUSE_PURGE_LENGTH*/, const int8_t max_beep_count/*=0*/, const celsius_t targetTemp/*=0*/ DXC_ARGS) {
DEBUG_SECTION(rp, "resume_print", true);
DEBUG_ECHOLNPGM("... slowlen:", slow_load_length, " fastlen:", fast_load_length, " purgelen:", purge_length, " maxbeep:", max_beep_count, " targetTemp:", targetTemp DXC_SAY);
/*
SERIAL_ECHOLNPGM(
"start of resume_print()\ndual_x_carriage_mode:", dual_x_carriage_mode,
"\nextruder_duplication_enabled:", extruder_duplication_enabled,
"\nactive_extruder:", active_extruder,
"\n"
);
//*/
if (!did_pause_print) return;
// Re-enable the heaters if they timed out
bool nozzle_timed_out = false;
HOTEND_LOOP() {
nozzle_timed_out |= thermalManager.heater_idle[e].timed_out;
thermalManager.reset_hotend_idle_timer(e);
}
if (targetTemp > thermalManager.degTargetHotend(active_extruder))
thermalManager.setTargetHotend(targetTemp, active_extruder);
// Load the new filament
load_filament(slow_load_length, fast_load_length, purge_length, max_beep_count, true, nozzle_timed_out, PAUSE_MODE_SAME DXC_PASS);
if (targetTemp > 0) {
thermalManager.setTargetHotend(targetTemp, active_extruder);
thermalManager.wait_for_hotend(active_extruder, false);
}
ui.pause_show_message(PAUSE_MESSAGE_RESUME);
// Check Temperature before moving hotend
ensure_safe_temperature(DISABLED(BELTPRINTER));
// Retract to prevent oozing
unscaled_e_move(-(PAUSE_PARK_RETRACT_LENGTH), feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE));
if (!axes_should_home()) {
// Move XY back to saved position
destination.set(resume_position.x, resume_position.y, current_position.z, current_position.e);
prepare_internal_move_to_destination(NOZZLE_PARK_XY_FEEDRATE);
// Move Z back to saved position
destination.z = resume_position.z;
prepare_internal_move_to_destination(NOZZLE_PARK_Z_FEEDRATE);
}
#if ENABLED(AUTO_BED_LEVELING_UBL)
const bool leveling_was_enabled = planner.leveling_active; // save leveling state
set_bed_leveling_enabled(false); // turn off leveling
#endif
// Unretract
unscaled_e_move(PAUSE_PARK_RETRACT_LENGTH, feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE));
TERN_(AUTO_BED_LEVELING_UBL, set_bed_leveling_enabled(leveling_was_enabled)); // restore leveling
// Intelligent resuming
#if ENABLED(FWRETRACT)
// If retracted before goto pause
if (fwretract.retracted[active_extruder])
unscaled_e_move(-fwretract.settings.retract_length, fwretract.settings.retract_feedrate_mm_s);
#endif
// If resume_position is negative
if (resume_position.e < 0) unscaled_e_move(resume_position.e, feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE));
#ifdef ADVANCED_PAUSE_RESUME_PRIME
if (ADVANCED_PAUSE_RESUME_PRIME != 0)
unscaled_e_move(ADVANCED_PAUSE_RESUME_PRIME, feedRate_t(ADVANCED_PAUSE_PURGE_FEEDRATE));
#endif
// Now all extrusion positions are resumed and ready to be confirmed
// Set extruder to saved position
planner.set_e_position_mm((destination.e = current_position.e = resume_position.e));
ui.pause_show_message(PAUSE_MESSAGE_STATUS);
#ifdef ACTION_ON_RESUMED
hostui.resumed();
#elif defined(ACTION_ON_RESUME)
hostui.resume();
#endif
--did_pause_print;
TERN_(HOST_PROMPT_SUPPORT, hostui.prompt_open(PROMPT_INFO, F("Resuming"), FPSTR(DISMISS_STR)));
// Resume the print job timer if it was running
if (print_job_timer.isPaused()) print_job_timer.start();
#if HAS_MEDIA
if (did_pause_print) {
--did_pause_print;
card.startOrResumeFilePrinting();
// Write PLR now to update the z axis value
TERN_(POWER_LOSS_RECOVERY, if (recovery.enabled) recovery.save(true));
}
#endif
#if ENABLED(ADVANCED_PAUSE_FANS_PAUSE) && HAS_FAN
thermalManager.set_fans_paused(false);
#endif
TERN_(HAS_FILAMENT_SENSOR, runout.reset());
ui.reset_status();
ui.return_to_status();
}
#endif // ADVANCED_PAUSE_FEATURE
| 2301_81045437/Marlin | Marlin/src/feature/pause.cpp | C++ | agpl-3.0 | 24,339 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* feature/pause.h - Pause feature support functions
* This may be combined with related G-codes if features are consolidated.
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(ADVANCED_PAUSE_FEATURE)
#include "../libs/nozzle.h"
enum PauseMode : char {
PAUSE_MODE_SAME,
PAUSE_MODE_PAUSE_PRINT,
PAUSE_MODE_CHANGE_FILAMENT,
PAUSE_MODE_LOAD_FILAMENT,
PAUSE_MODE_UNLOAD_FILAMENT
};
enum PauseMessage : char {
PAUSE_MESSAGE_PARKING,
PAUSE_MESSAGE_CHANGING,
PAUSE_MESSAGE_WAITING,
PAUSE_MESSAGE_INSERT,
PAUSE_MESSAGE_LOAD,
PAUSE_MESSAGE_UNLOAD,
PAUSE_MESSAGE_PURGE,
PAUSE_MESSAGE_OPTION,
PAUSE_MESSAGE_RESUME,
PAUSE_MESSAGE_HEAT,
PAUSE_MESSAGE_HEATING,
PAUSE_MESSAGE_STATUS,
PAUSE_MESSAGE_COUNT
};
#if M600_PURGE_MORE_RESUMABLE
// Input methods can Purge More, Resume, or request input
enum PauseMenuResponse : char {
PAUSE_RESPONSE_WAIT_FOR,
PAUSE_RESPONSE_EXTRUDE_MORE,
PAUSE_RESPONSE_RESUME_PRINT
};
extern PauseMenuResponse pause_menu_response;
extern PauseMode pause_mode;
#endif
typedef struct FilamentChangeSettings {
#if ENABLED(CONFIGURE_FILAMENT_CHANGE)
float load_length, unload_length;
#else
static constexpr float load_length = FILAMENT_CHANGE_FAST_LOAD_LENGTH,
unload_length = FILAMENT_CHANGE_UNLOAD_LENGTH;
#endif
} fil_change_settings_t;
#if ENABLED(CONFIGURE_FILAMENT_CHANGE)
extern fil_change_settings_t fc_settings[EXTRUDERS];
#else
constexpr fil_change_settings_t fc_settings[EXTRUDERS];
#endif
extern uint8_t did_pause_print;
#define DXC_PARAMS OPTARG(DUAL_X_CARRIAGE, const int8_t DXC_ext=-1)
#define DXC_ARGS OPTARG(DUAL_X_CARRIAGE, const int8_t DXC_ext)
#define DXC_PASS OPTARG(DUAL_X_CARRIAGE, DXC_ext)
#define DXC_SAY OPTARG(DUAL_X_CARRIAGE, " dxc:", int(DXC_ext))
// Pause the print. If unload_length is set, do a Filament Unload
bool pause_print(
const_float_t retract, // (mm) Retraction length
const xyz_pos_t &park_point, // Parking XY Position and Z Raise
const bool show_lcd=false, // Set LCD status messages?
const_float_t unload_length=0 // (mm) Filament Change Unload Length - 0 to skip
DXC_PARAMS // Dual-X-Carriage extruder index
);
void wait_for_confirmation(
const bool is_reload=false, // Reload Filament? (otherwise Resume Print)
const int8_t max_beep_count=0 // Beep alert for attention
DXC_PARAMS // Dual-X-Carriage extruder index
);
void resume_print(
const_float_t slow_load_length=0, // (mm) Slow Load Length for finishing move
const_float_t fast_load_length=0, // (mm) Fast Load Length for initial move
const_float_t purge_length=ADVANCED_PAUSE_PURGE_LENGTH, // (mm) Purge length
const int8_t max_beep_count=0, // Beep alert for attention
const celsius_t targetTemp=0 // (°C) A target temperature for the hotend
DXC_PARAMS // Dual-X-Carriage extruder index
);
bool load_filament(
const_float_t slow_load_length=0, // (mm) Slow Load Length for finishing move
const_float_t fast_load_length=0, // (mm) Fast Load Length for initial move
const_float_t purge_length=0, // (mm) Purge length
const int8_t max_beep_count=0, // Beep alert for attention
const bool show_lcd=false, // Set LCD status messages?
const bool pause_for_user=false, // Pause for user before returning?
const PauseMode mode=PAUSE_MODE_PAUSE_PRINT // Pause Mode to apply
DXC_PARAMS // Dual-X-Carriage extruder index
);
bool unload_filament(
const_float_t unload_length, // (mm) Filament Unload Length - 0 to skip
const bool show_lcd=false, // Set LCD status messages?
const PauseMode mode=PAUSE_MODE_PAUSE_PRINT // Pause Mode to apply
#if ALL(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER)
, const_float_t mix_multiplier=1.0f // Extrusion multiplier (for a Mixing Extruder)
#endif
);
#else // !ADVANCED_PAUSE_FEATURE
constexpr uint8_t did_pause_print = 0;
#endif // !ADVANCED_PAUSE_FEATURE
| 2301_81045437/Marlin | Marlin/src/feature/pause.h | C++ | agpl-3.0 | 5,563 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* power.cpp - power control
*/
#include "../inc/MarlinConfigPre.h"
#if ANY(PSU_CONTROL, AUTO_POWER_CONTROL)
#include "power.h"
#include "../module/planner.h"
#include "../module/stepper/indirection.h" // for restore_stepper_drivers
#include "../module/temperature.h"
#include "../MarlinCore.h"
#if ENABLED(MAX7219_REINIT_ON_POWERUP)
#include "max7219.h"
#endif
#if ENABLED(PS_OFF_SOUND)
#include "../libs/buzzer.h"
#endif
#if defined(PSU_POWERUP_GCODE) || defined(PSU_POWEROFF_GCODE)
#include "../gcode/gcode.h"
#endif
Power powerManager;
bool Power::psu_on;
#if ENABLED(AUTO_POWER_CONTROL)
#include "../module/stepper.h"
#include "../module/temperature.h"
#if ALL(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN)
#include "controllerfan.h"
#endif
#if ANY(LASER_FEATURE, SPINDLE_FEATURE)
#include "spindle_laser.h"
#endif
millis_t Power::lastPowerOn;
#endif
#if PSU_TRACK_STATE_MS
millis_t Power::last_state_change_ms = 0;
#endif
/**
* Initialize pins & state for the power manager.
*
*/
void Power::init() {
psu_on = ENABLED(PSU_DEFAULT_OFF); // Set opposite state to get full power_off/on
TERN(PSU_DEFAULT_OFF, power_off(), power_on());
}
/**
* Power on if the power is currently off.
* Restores stepper drivers and processes any PSU_POWERUP_GCODE.
*
*/
void Power::power_on() {
#if ENABLED(AUTO_POWER_CONTROL)
const millis_t now = millis();
lastPowerOn = now + !now;
#endif
if (psu_on) return;
#if ANY(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN)
cancelAutoPowerOff();
#endif
OUT_WRITE(PS_ON_PIN, PSU_ACTIVE_STATE);
#if ENABLED(PSU_OFF_REDUNDANT)
OUT_WRITE(PS_ON1_PIN, TERN_(PSU_OFF_REDUNDANT_INVERTED, !)PSU_ACTIVE_STATE);
#endif
TERN_(PSU_TRACK_STATE_MS, last_state_change_ms = millis());
psu_on = true;
safe_delay(PSU_POWERUP_DELAY);
restore_stepper_drivers();
TERN_(MAX7219_REINIT_ON_POWERUP, max7219.init());
TERN_(HAS_TRINAMIC_CONFIG, safe_delay(PSU_POWERUP_DELAY));
#ifdef PSU_POWERUP_GCODE
gcode.process_subcommands_now(F(PSU_POWERUP_GCODE));
#endif
}
/**
* Power off if the power is currently on.
* Processes any PSU_POWEROFF_GCODE and makes a PS_OFF_SOUND if enabled.
*/
void Power::power_off() {
TERN_(HAS_SUICIDE, suicide());
if (!psu_on) return;
SERIAL_ECHOLNPGM(STR_POWEROFF);
#ifdef PSU_POWEROFF_GCODE
gcode.process_subcommands_now(F(PSU_POWEROFF_GCODE));
#endif
#if ENABLED(PS_OFF_SOUND)
BUZZ(1000, 659);
#endif
OUT_WRITE(PS_ON_PIN, !PSU_ACTIVE_STATE);
#if ENABLED(PSU_OFF_REDUNDANT)
OUT_WRITE(PS_ON1_PIN, IF_DISABLED(PSU_OFF_REDUNDANT_INVERTED, !)PSU_ACTIVE_STATE);
#endif
TERN_(PSU_TRACK_STATE_MS, last_state_change_ms = millis());
psu_on = false;
#if ANY(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN)
cancelAutoPowerOff();
#endif
}
#if ANY(AUTO_POWER_CONTROL, POWER_OFF_WAIT_FOR_COOLDOWN)
bool Power::is_cooling_needed() {
#if HAS_HOTEND && AUTO_POWER_E_TEMP
HOTEND_LOOP() if (thermalManager.degHotend(e) >= (AUTO_POWER_E_TEMP)) return true;
#endif
#if HAS_HEATED_CHAMBER && AUTO_POWER_CHAMBER_TEMP
if (thermalManager.degChamber() >= (AUTO_POWER_CHAMBER_TEMP)) return true;
#endif
#if HAS_COOLER && AUTO_POWER_COOLER_TEMP
if (thermalManager.degCooler() >= (AUTO_POWER_COOLER_TEMP)) return true;
#endif
return false;
}
#endif
#if ANY(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN)
#if ENABLED(POWER_OFF_TIMER)
millis_t Power::power_off_time = 0;
void Power::setPowerOffTimer(const millis_t delay_ms) { power_off_time = millis() + delay_ms; }
#endif
#if ENABLED(POWER_OFF_WAIT_FOR_COOLDOWN)
bool Power::power_off_on_cooldown = false;
void Power::setPowerOffOnCooldown(const bool ena) { power_off_on_cooldown = ena; }
#endif
void Power::cancelAutoPowerOff() {
TERN_(POWER_OFF_TIMER, power_off_time = 0);
TERN_(POWER_OFF_WAIT_FOR_COOLDOWN, power_off_on_cooldown = false);
}
void Power::checkAutoPowerOff() {
if (TERN1(POWER_OFF_TIMER, !power_off_time) && TERN1(POWER_OFF_WAIT_FOR_COOLDOWN, !power_off_on_cooldown)) return;
if (TERN0(POWER_OFF_WAIT_FOR_COOLDOWN, power_off_on_cooldown && is_cooling_needed())) return;
if (TERN0(POWER_OFF_TIMER, power_off_time && PENDING(millis(), power_off_time))) return;
power_off();
}
#endif // POWER_OFF_TIMER || POWER_OFF_WAIT_FOR_COOLDOWN
#if ENABLED(AUTO_POWER_CONTROL)
#ifndef POWER_TIMEOUT
#define POWER_TIMEOUT 0
#endif
/**
* Check all conditions that would signal power needing to be on.
*
* @returns bool if power is needed
*/
bool Power::is_power_needed() {
// If any of the stepper drivers are enabled...
if (stepper.axis_enabled.bits) return true;
if (printJobOngoing() || printingIsPaused()) return true;
#if ENABLED(AUTO_POWER_FANS)
FANS_LOOP(i) if (thermalManager.fan_speed[i]) return true;
#endif
#if ENABLED(AUTO_POWER_E_FANS)
HOTEND_LOOP() if (thermalManager.autofan_speed[e]) return true;
#endif
#if ALL(USE_CONTROLLER_FAN, AUTO_POWER_CONTROLLERFAN)
if (controllerFan.state()) return true;
#endif
#if ANY(LASER_FEATURE, SPINDLE_FEATURE)
if (TERN0(AUTO_POWER_SPINDLE_LASER, cutter.enabled())) return true;
#endif
if (TERN0(AUTO_POWER_CHAMBER_FAN, thermalManager.chamberfan_speed))
return true;
if (TERN0(AUTO_POWER_COOLER_FAN, thermalManager.coolerfan_speed))
return true;
#if HAS_HOTEND
HOTEND_LOOP() if (thermalManager.degTargetHotend(e) > 0 || thermalManager.temp_hotend[e].soft_pwm_amount > 0) return true;
#endif
if (TERN0(HAS_HEATED_BED, thermalManager.degTargetBed() > 0 || thermalManager.temp_bed.soft_pwm_amount > 0)) return true;
return is_cooling_needed();
}
/**
* Check if we should power off automatically (POWER_TIMEOUT elapsed, !is_power_needed).
*
* @param pause pause the 'timer'
*/
void Power::check(const bool pause) {
static millis_t nextPowerCheck = 0;
const millis_t now = millis();
#if POWER_TIMEOUT > 0
static bool _pause = false;
if (pause != _pause) {
lastPowerOn = now + !now;
_pause = pause;
}
if (pause) return;
#endif
if (ELAPSED(now, nextPowerCheck)) {
nextPowerCheck = now + 2500UL;
if (is_power_needed())
power_on();
else if (!lastPowerOn || (POWER_TIMEOUT > 0 && ELAPSED(now, lastPowerOn + SEC_TO_MS(POWER_TIMEOUT))))
power_off();
}
}
#if POWER_OFF_DELAY > 0
/**
* Power off with a delay. Power off is triggered by check() after the delay.
*/
void Power::power_off_soon() {
lastPowerOn = millis() - SEC_TO_MS(POWER_TIMEOUT) + SEC_TO_MS(POWER_OFF_DELAY);
}
#endif
#endif // AUTO_POWER_CONTROL
#endif // PSU_CONTROL || AUTO_POWER_CONTROL
| 2301_81045437/Marlin | Marlin/src/feature/power.cpp | C++ | agpl-3.0 | 7,715 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* power.h - power control
*/
#if PIN_EXISTS(PS_ON_EDM) || (PIN_EXISTS(PS_ON1_EDM) && ENABLED(PSU_OFF_REDUNDANT))
#define PSU_TRACK_STATE_MS 1
#endif
#if ANY(AUTO_POWER_CONTROL, POWER_OFF_TIMER, PSU_TRACK_STATE_MS)
#include "../core/millis_t.h"
#endif
class Power {
public:
static bool psu_on;
static void init();
static void power_on();
static void power_off();
#if PSU_TRACK_STATE_MS
static millis_t last_state_change_ms;
#endif
#if ANY(POWER_OFF_TIMER, POWER_OFF_WAIT_FOR_COOLDOWN)
#if ENABLED(POWER_OFF_TIMER)
static millis_t power_off_time;
static void setPowerOffTimer(const millis_t delay_ms);
#endif
#if ENABLED(POWER_OFF_WAIT_FOR_COOLDOWN)
static bool power_off_on_cooldown;
static void setPowerOffOnCooldown(const bool ena);
#endif
static void cancelAutoPowerOff();
static void checkAutoPowerOff();
#endif
#if ENABLED(AUTO_POWER_CONTROL) && POWER_OFF_DELAY > 0
static void power_off_soon();
#else
static void power_off_soon() { power_off(); }
#endif
#if ENABLED(AUTO_POWER_CONTROL)
static void check(const bool pause);
private:
static millis_t lastPowerOn;
static bool is_power_needed();
static bool is_cooling_needed();
#elif ENABLED(POWER_OFF_WAIT_FOR_COOLDOWN)
private:
static bool is_cooling_needed();
#endif
};
extern Power powerManager;
| 2301_81045437/Marlin | Marlin/src/feature/power.h | C++ | agpl-3.0 | 2,341 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfigPre.h"
#if HAS_POWER_MONITOR
#include "power_monitor.h"
#if HAS_MARLINUI_MENU
#include "../lcd/marlinui.h"
#include "../lcd/lcdprint.h"
#endif
#include "../libs/numtostr.h"
uint8_t PowerMonitor::flags; // = 0
#if ENABLED(POWER_MONITOR_CURRENT)
pm_lpf_t<PowerMonitor::amps_adc_scale, PM_K_VALUE, PM_K_SCALE> PowerMonitor::amps;
#endif
#if ENABLED(POWER_MONITOR_VOLTAGE)
pm_lpf_t<PowerMonitor::volts_adc_scale, PM_K_VALUE, PM_K_SCALE> PowerMonitor::volts;
#endif
millis_t PowerMonitor::display_item_ms;
uint8_t PowerMonitor::display_item;
PowerMonitor power_monitor; // Single instance - this calls the constructor
#if HAS_MARLINUI_U8GLIB
#if ENABLED(POWER_MONITOR_CURRENT)
void PowerMonitor::draw_current() {
const float amps = getAmps();
lcd_put_u8str(amps < 100 ? ftostr31ns(amps) : ui16tostr4rj((uint16_t)amps));
lcd_put_u8str(F("A"));
}
#endif
#if ENABLED(POWER_MONITOR_VOLTAGE)
void PowerMonitor::draw_voltage() {
const float volts = getVolts();
lcd_put_u8str(volts < 100 ? ftostr31ns(volts) : ui16tostr4rj((uint16_t)volts));
lcd_put_u8str(F("V"));
}
#endif
#if HAS_POWER_MONITOR_WATTS
void PowerMonitor::draw_power() {
const float power = getPower();
lcd_put_u8str(power < 100 ? ftostr31ns(power) : ui16tostr4rj((uint16_t)power));
lcd_put_u8str(F("W"));
}
#endif
#endif // HAS_MARLINUI_U8GLIB
#endif // HAS_POWER_MONITOR
| 2301_81045437/Marlin | Marlin/src/feature/power_monitor.cpp | C++ | agpl-3.0 | 2,330 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
#define PM_SAMPLE_RANGE HAL_ADC_RANGE
#define PM_K_VALUE 6
#define PM_K_SCALE 6
template <const float & SCALE, int K_VALUE, int K_SCALE>
struct pm_lpf_t {
uint32_t filter_buf;
float value;
void add_sample(const uint16_t sample) {
filter_buf += (uint32_t(sample) << K_SCALE) - (filter_buf >> K_VALUE);
}
void capture() {
value = filter_buf * (SCALE * (1.0f / (1UL << (PM_K_VALUE + PM_K_SCALE))));
}
void reset(uint16_t reset_value = 0) {
filter_buf = uint32_t(reset_value) << (K_VALUE + K_SCALE);
capture();
}
};
class PowerMonitor {
private:
#if ENABLED(POWER_MONITOR_CURRENT)
static constexpr float amps_adc_scale = (float(ADC_VREF_MV) / 1000.0f) / (POWER_MONITOR_VOLTS_PER_AMP * PM_SAMPLE_RANGE);
static pm_lpf_t<amps_adc_scale, PM_K_VALUE, PM_K_SCALE> amps;
#endif
#if ENABLED(POWER_MONITOR_VOLTAGE)
static constexpr float volts_adc_scale = (float(ADC_VREF_MV) / 1000.0f) / (POWER_MONITOR_VOLTS_PER_VOLT * PM_SAMPLE_RANGE);
static pm_lpf_t<volts_adc_scale, PM_K_VALUE, PM_K_SCALE> volts;
#endif
public:
static uint8_t flags; // M430 flags to display current
static millis_t display_item_ms;
static uint8_t display_item;
PowerMonitor() { reset(); }
enum PM_Display_Bit : uint8_t {
PM_DISP_BIT_I, // Current display enable bit
PM_DISP_BIT_V, // Voltage display enable bit
PM_DISP_BIT_P // Power display enable bit
};
#if ENABLED(POWER_MONITOR_CURRENT)
FORCE_INLINE static float getAmps() { return amps.value + (POWER_MONITOR_CURRENT_OFFSET); }
void add_current_sample(const uint16_t value) { amps.add_sample(value); }
#endif
#if ENABLED(POWER_MONITOR_VOLTAGE)
FORCE_INLINE static float getVolts() { return volts.value + (POWER_MONITOR_VOLTAGE_OFFSET); }
void add_voltage_sample(const uint16_t value) { volts.add_sample(value); }
#else
FORCE_INLINE static float getVolts() { return POWER_MONITOR_FIXED_VOLTAGE; }
#endif
#if HAS_POWER_MONITOR_WATTS
FORCE_INLINE static float getPower() { return getAmps() * getVolts(); }
#endif
#if HAS_WIRED_LCD
#if HAS_MARLINUI_U8GLIB && DISABLED(LIGHTWEIGHT_UI)
FORCE_INLINE static bool display_enabled() { return flags != 0x00; }
#endif
#if ENABLED(POWER_MONITOR_CURRENT)
static void draw_current();
FORCE_INLINE static bool current_display_enabled() { return TEST(flags, PM_DISP_BIT_I); }
FORCE_INLINE static void set_current_display(const bool b) { SET_BIT_TO(flags, PM_DISP_BIT_I, b); }
FORCE_INLINE static void toggle_current_display() { TBI(flags, PM_DISP_BIT_I); }
#endif
#if ENABLED(POWER_MONITOR_VOLTAGE)
static void draw_voltage();
FORCE_INLINE static bool voltage_display_enabled() { return TEST(flags, PM_DISP_BIT_V); }
FORCE_INLINE static void set_voltage_display(const bool b) { SET_BIT_TO(flags, PM_DISP_BIT_V, b); }
FORCE_INLINE static void toggle_voltage_display() { TBI(flags, PM_DISP_BIT_V); }
#endif
#if HAS_POWER_MONITOR_WATTS
static void draw_power();
FORCE_INLINE static bool power_display_enabled() { return TEST(flags, PM_DISP_BIT_P); }
FORCE_INLINE static void set_power_display(const bool b) { SET_BIT_TO(flags, PM_DISP_BIT_P, b); }
FORCE_INLINE static void toggle_power_display() { TBI(flags, PM_DISP_BIT_P); }
#endif
#endif
static void reset() {
flags = 0x00;
#if ENABLED(POWER_MONITOR_CURRENT)
amps.reset();
#endif
#if ENABLED(POWER_MONITOR_VOLTAGE)
volts.reset();
#endif
#if HAS_MEDIA
display_item_ms = 0;
display_item = 0;
#endif
}
static void capture_values() {
#if ENABLED(POWER_MONITOR_CURRENT)
amps.capture();
#endif
#if ENABLED(POWER_MONITOR_VOLTAGE)
volts.capture();
#endif
}
};
extern PowerMonitor power_monitor;
| 2301_81045437/Marlin | Marlin/src/feature/power_monitor.h | C++ | agpl-3.0 | 4,744 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* feature/powerloss.cpp - Resume an SD print after power-loss
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(POWER_LOSS_RECOVERY)
#include "powerloss.h"
#include "../core/macros.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../lcd/extui/ui_api.h"
#endif
bool PrintJobRecovery::enabled; // Initialized by settings.load()
#if HAS_PLR_BED_THRESHOLD
celsius_t PrintJobRecovery::bed_temp_threshold; // Initialized by settings.load()
#endif
MediaFile PrintJobRecovery::file;
job_recovery_info_t PrintJobRecovery::info;
const char PrintJobRecovery::filename[5] = "/PLR";
uint8_t PrintJobRecovery::queue_index_r;
uint32_t PrintJobRecovery::cmd_sdpos, // = 0
PrintJobRecovery::sdpos[BUFSIZE];
#if HAS_PLR_UI_FLAG
bool PrintJobRecovery::ui_flag_resume; // = false
#endif
#include "../sd/cardreader.h"
#include "../lcd/marlinui.h"
#include "../gcode/queue.h"
#include "../gcode/gcode.h"
#include "../module/motion.h"
#include "../module/planner.h"
#include "../module/printcounter.h"
#include "../module/temperature.h"
#include "../core/serial.h"
#if HOMING_Z_WITH_PROBE
#include "../module/probe.h"
#endif
#if ENABLED(FWRETRACT)
#include "fwretract.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_POWER_LOSS_RECOVERY)
#include "../core/debug_out.h"
PrintJobRecovery recovery;
#if DISABLED(BACKUP_POWER_SUPPLY)
#undef POWER_LOSS_RETRACT_LEN // No retract at outage without backup power
#endif
#ifndef POWER_LOSS_RETRACT_LEN
#define POWER_LOSS_RETRACT_LEN 0
#endif
#ifndef POWER_LOSS_PURGE_LEN
#define POWER_LOSS_PURGE_LEN 0
#endif
// Allow power-loss recovery to be aborted
#define PLR_CAN_ABORT
#define PROCESS_SUBCOMMANDS_NOW(cmd) do{ \
if (TERN0(PLR_CAN_ABORT, card.flag.abort_sd_printing)) return; \
gcode.process_subcommands_now(cmd); \
}while(0)
/**
* Clear the recovery info
*/
void PrintJobRecovery::init() { memset(&info, 0, sizeof(info)); }
/**
* Enable or disable then call changed()
*/
void PrintJobRecovery::enable(const bool onoff) {
enabled = onoff;
changed();
}
/**
* The enabled state was changed:
* - Enabled: Purge the job recovery file
* - Disabled: Write the job recovery file
*/
void PrintJobRecovery::changed() {
if (!enabled)
purge();
else if (IS_SD_PRINTING())
save(true);
TERN_(EXTENSIBLE_UI, ExtUI::onSetPowerLoss(enabled));
}
/**
* Check for Print Job Recovery during setup()
*
* If a saved state exists send 'M1000 S' to initiate job recovery.
*/
bool PrintJobRecovery::check() {
//if (!card.isMounted()) card.mount();
bool success = false;
if (card.isMounted()) {
load();
success = valid();
if (!success)
cancel();
else
queue.inject(F("M1000S"));
}
return success;
}
/**
* Delete the recovery file and clear the recovery data
*/
void PrintJobRecovery::purge() {
init();
card.removeJobRecoveryFile();
}
/**
* Load the recovery data, if it exists
*/
void PrintJobRecovery::load() {
if (exists()) {
open(true);
(void)file.read(&info, sizeof(info));
close();
}
debug(F("Load"));
}
/**
* Set info fields that won't change
*/
void PrintJobRecovery::prepare() {
card.getAbsFilenameInCWD(info.sd_filename); // SD filename
cmd_sdpos = 0;
}
/**
* Save the current machine state to the power-loss recovery file
*/
void PrintJobRecovery::save(const bool force/*=false*/, const float zraise/*=POWER_LOSS_ZRAISE*/, const bool raised/*=false*/) {
// We don't check IS_SD_PRINTING here so a save may occur during a pause
#if SAVE_INFO_INTERVAL_MS > 0
static millis_t next_save_ms; // = 0
millis_t ms = millis();
#endif
#ifndef POWER_LOSS_MIN_Z_CHANGE
#define POWER_LOSS_MIN_Z_CHANGE 0.05 // Vase-mode-friendly out of the box
#endif
// Did Z change since the last call?
if (force
#if DISABLED(SAVE_EACH_CMD_MODE) // Always save state when enabled
#if SAVE_INFO_INTERVAL_MS > 0 // Save if interval is elapsed
|| ELAPSED(ms, next_save_ms)
#endif
// Save if Z is above the last-saved position by some minimum height
|| current_position.z > info.current_position.z + POWER_LOSS_MIN_Z_CHANGE
#endif
) {
#if SAVE_INFO_INTERVAL_MS > 0
next_save_ms = ms + SAVE_INFO_INTERVAL_MS;
#endif
// Set Head and Foot to matching non-zero values
if (!++info.valid_head) ++info.valid_head; // non-zero in sequence
//if (!IS_SD_PRINTING()) info.valid_head = 0;
info.valid_foot = info.valid_head;
// Machine state
// info.sdpos and info.current_position are pre-filled from the Stepper ISR
info.feedrate = uint16_t(MMS_TO_MMM(feedrate_mm_s));
info.zraise = zraise;
info.flag.raised = raised; // Was Z raised before power-off?
TERN_(GCODE_REPEAT_MARKERS, info.stored_repeat = repeat);
TERN_(HAS_HOME_OFFSET, info.home_offset = home_offset);
TERN_(HAS_WORKSPACE_OFFSET, info.workspace_offset = workspace_offset);
E_TERN_(info.active_extruder = active_extruder);
#if DISABLED(NO_VOLUMETRICS)
info.flag.volumetric_enabled = parser.volumetric_enabled;
#if HAS_MULTI_EXTRUDER
EXTRUDER_LOOP() info.filament_size[e] = planner.filament_size[e];
#else
if (parser.volumetric_enabled) info.filament_size[0] = planner.filament_size[active_extruder];
#endif
#endif
#if HAS_HOTEND
HOTEND_LOOP() info.target_temperature[e] = thermalManager.degTargetHotend(e);
#endif
TERN_(HAS_HEATED_BED, info.target_temperature_bed = thermalManager.degTargetBed());
TERN_(HAS_HEATED_CHAMBER, info.target_temperature_chamber = thermalManager.degTargetChamber());
TERN_(HAS_FAN, COPY(info.fan_speed, thermalManager.fan_speed));
#if HAS_LEVELING
info.flag.leveling = planner.leveling_active;
info.fade = TERN0(ENABLE_LEVELING_FADE_HEIGHT, planner.z_fade_height);
#endif
TERN_(GRADIENT_MIX, memcpy(&info.gradient, &mixer.gradient, sizeof(info.gradient)));
#if ENABLED(FWRETRACT)
COPY(info.retract, fwretract.current_retract);
info.retract_hop = fwretract.current_hop;
#endif
// Elapsed print job time
info.print_job_elapsed = print_job_timer.duration();
// Relative axis modes
info.axis_relative = gcode.axis_relative;
// Misc. Marlin flags
info.flag.dryrun = !!(marlin_debug_flags & MARLIN_DEBUG_DRYRUN);
info.flag.allow_cold_extrusion = TERN0(PREVENT_COLD_EXTRUSION, thermalManager.allow_cold_extrude);
write();
}
}
#if PIN_EXISTS(POWER_LOSS)
#if ENABLED(BACKUP_POWER_SUPPLY)
void PrintJobRecovery::retract_and_lift(const_float_t zraise) {
#if POWER_LOSS_RETRACT_LEN || POWER_LOSS_ZRAISE
gcode.set_relative_mode(true); // Use relative coordinates
#if POWER_LOSS_RETRACT_LEN
// Retract filament now
gcode.process_subcommands_now(F("G1 F3000 E-" STRINGIFY(POWER_LOSS_RETRACT_LEN)));
#endif
#if POWER_LOSS_ZRAISE
// Raise the Z axis now
if (zraise)
gcode.process_subcommands_now(TS(F("G0Z"), p_float_t(zraise, 3)));
#else
UNUSED(zraise);
#endif
//gcode.axis_relative = info.axis_relative;
planner.synchronize();
#endif
}
#endif
#endif // POWER_LOSS_PIN
#if PIN_EXISTS(POWER_LOSS) || ENABLED(DEBUG_POWER_LOSS_RECOVERY)
/**
* An outage was detected by a sensor pin.
* - If not SD printing, let the machine turn off on its own with no "KILL" screen
* - Disable all heaters first to save energy
* - Save the recovery data for the current instant
* - If backup power is available Retract E and Raise Z
* - Go to the KILL screen
*/
void PrintJobRecovery::_outage(TERN_(DEBUG_POWER_LOSS_RECOVERY, const bool simulated/*=false*/)) {
#if ENABLED(BACKUP_POWER_SUPPLY)
static bool lock = false;
if (lock) return; // No re-entrance from idle() during retract_and_lift()
lock = true;
#endif
#if POWER_LOSS_ZRAISE
// Get the limited Z-raise to do now or on resume
const float zraise = _MAX(0, _MIN(current_position.z + POWER_LOSS_ZRAISE, Z_MAX_POS - 1) - current_position.z);
#else
constexpr float zraise = 0;
#endif
// Save the current position, distance that Z was (or should be) raised,
// and a flag whether the raise was already done here.
if (IS_SD_PRINTING()) save(true, zraise, ENABLED(BACKUP_POWER_SUPPLY));
// Tell the LCD about the outage, even though it is about to die
TERN_(EXTENSIBLE_UI, ExtUI::onPowerLoss());
// Disable all heaters to reduce power loss
thermalManager.disable_all_heaters();
#if ENABLED(BACKUP_POWER_SUPPLY)
// Do a hard-stop of the steppers (with possibly a loud thud)
quickstop_stepper();
// With backup power a retract and raise can be done now
retract_and_lift(zraise);
#endif
if (TERN0(DEBUG_POWER_LOSS_RECOVERY, simulated)) {
card.fileHasFinished();
current_position.reset();
sync_plan_position();
}
else
kill(GET_TEXT_F(MSG_OUTAGE_RECOVERY));
}
#endif // POWER_LOSS_PIN || DEBUG_POWER_LOSS_RECOVERY
/**
* Save the recovery info the recovery file
*/
void PrintJobRecovery::write() {
debug(F("Write"));
open(false);
file.seekSet(0);
const int16_t ret = file.write(&info, sizeof(info));
if (ret == -1) DEBUG_ECHOLNPGM("Power-loss file write failed.");
if (!file.close()) DEBUG_ECHOLNPGM("Power-loss file close failed.");
}
/**
* Resume the saved print job
*/
void PrintJobRecovery::resume() {
// Get these fields before any moves because stepper.cpp overwrites them
const xyze_pos_t resume_pos = info.current_position;
const uint32_t resume_sdpos = info.sdpos;
// Apply the dry-run flag if enabled
if (info.flag.dryrun) marlin_debug_flags |= MARLIN_DEBUG_DRYRUN;
#if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
struct OnExit {
uint8_t old_flags;
OnExit() {
old_flags = marlin_debug_flags;
marlin_debug_flags |= MARLIN_DEBUG_ECHO;
}
~OnExit() { marlin_debug_flags = old_flags; }
} on_exit;
#endif
// Restore cold extrusion permission
TERN_(PREVENT_COLD_EXTRUSION, thermalManager.allow_cold_extrude = info.flag.allow_cold_extrusion);
#if HAS_LEVELING
// Make sure leveling is off before any G92 and G28
PROCESS_SUBCOMMANDS_NOW(F("M420S0"));
#endif
#if HAS_HEATED_CHAMBER
// Restore the chamber temperature
const celsius_t ct = info.target_temperature_chamber;
if (ct) PROCESS_SUBCOMMANDS_NOW(TS(F("M191S"), ct));
#endif
#if HAS_HEATED_BED
// Restore the bed temperature
const celsius_t bt = info.target_temperature_bed;
if (bt) PROCESS_SUBCOMMANDS_NOW(TS(F("M190S"), bt));
#endif
// Heat hotend enough to soften material
#if HAS_HOTEND
HOTEND_LOOP() {
const celsius_t et = _MAX(info.target_temperature[e], 180);
if (et) {
TERN_(HAS_MULTI_HOTEND, PROCESS_SUBCOMMANDS_NOW(TS('T', e, 'S')));
PROCESS_SUBCOMMANDS_NOW(TS(F("M109S"), et));
}
}
#endif
// Interpret the saved Z according to flags
const float z_print = resume_pos.z,
z_raised = z_print + info.zraise;
//
// Home the axes that can safely be homed, and
// establish the current position as best we can.
//
PROCESS_SUBCOMMANDS_NOW(F("G92.9E0")); // Reset E to 0
#if Z_HOME_TO_MAX
float z_now = z_raised;
// If Z homing goes to max then just move back to the "raised" position
PROCESS_SUBCOMMANDS_NOW(TS(
F( "G28R0\n" // Home all axes (no raise)
"G1F1200Z") // Move Z down to (raised) height
, p_float_t(z_now, 3)
));
#elif DISABLED(BELTPRINTER)
#if ENABLED(POWER_LOSS_RECOVER_ZHOME) && defined(POWER_LOSS_ZHOME_POS)
#define HOMING_Z_DOWN 1
#endif
float z_now = info.flag.raised ? z_raised : z_print;
#if !HOMING_Z_DOWN
// Set Z to the real position
PROCESS_SUBCOMMANDS_NOW(TS(F("G92.9Z"), p_float_t(z_now, 3)));
#endif
// Does Z need to be raised now? It should be raised before homing XY.
if (z_raised > z_now) {
z_now = z_raised;
PROCESS_SUBCOMMANDS_NOW(TS(F("G1F600Z"), p_float_t(z_now, 3)));
}
// Home XY with no Z raise
PROCESS_SUBCOMMANDS_NOW(F("G28R0XY")); // No raise during G28
#endif
#if HOMING_Z_DOWN
// Move to a safe XY position and home Z while avoiding the print.
const xy_pos_t p = xy_pos_t(POWER_LOSS_ZHOME_POS) TERN_(HOMING_Z_WITH_PROBE, - probe.offset_xy);
PROCESS_SUBCOMMANDS_NOW(TS(F("G1F1000X"), p_float_t(p.x, 3), 'Y', p_float_t(p.y, 3), F("\nG28HZ")));
#endif
// Mark all axes as having been homed (no effect on current_position)
set_all_homed();
#if HAS_LEVELING
// Restore Z fade and possibly re-enable bed leveling compensation.
// Leveling may already be enabled due to the ENABLE_LEVELING_AFTER_G28 option.
// TODO: Add a G28 parameter to leave leveling disabled.
PROCESS_SUBCOMMANDS_NOW(TS(F("M420S"), '0' + (char)info.flag.leveling, 'Z', p_float_t(info.fade, 1)));
#if !HOMING_Z_DOWN
// The physical Z was adjusted at power-off so undo the M420S1 correction to Z with G92.9.
PROCESS_SUBCOMMANDS_NOW(TS(F("G92.9Z"), p_float_t(z_now, 1)));
#endif
#endif
#if ENABLED(POWER_LOSS_RECOVER_ZHOME)
// Z was homed down to the bed, so move up to the raised height.
z_now = z_raised;
PROCESS_SUBCOMMANDS_NOW(TS(F("G1F600Z"), p_float_t(z_now, 3)));
#endif
// Recover volumetric extrusion state
#if DISABLED(NO_VOLUMETRICS)
#if HAS_MULTI_EXTRUDER
EXTRUDER_LOOP()
PROCESS_SUBCOMMANDS_NOW(TS(F("M200T"), e, F("D"), p_float_t(info.filament_size[e], 3)));
if (!info.flag.volumetric_enabled)
PROCESS_SUBCOMMANDS_NOW(TS(F("M200D0T"), info.active_extruder));
#else
if (info.flag.volumetric_enabled)
PROCESS_SUBCOMMANDS_NOW(TS(F("M200D"), p_float_t(info.filament_size[0], 3)));
#endif
#endif
// Restore all hotend temperatures
#if HAS_HOTEND
HOTEND_LOOP() {
const celsius_t et = info.target_temperature[e];
if (et) {
TERN_(HAS_MULTI_HOTEND, PROCESS_SUBCOMMANDS_NOW(TS('T', e, 'S')));
PROCESS_SUBCOMMANDS_NOW(TS(F("M109S"), et));
}
}
#endif
// Restore the previously active tool (with no_move)
#if HAS_MULTI_EXTRUDER || HAS_MULTI_HOTEND
PROCESS_SUBCOMMANDS_NOW(TS('T', info.active_extruder, 'S'));
#endif
// Restore print cooling fan speeds
#if HAS_FAN
FANS_LOOP(i) {
const int f = info.fan_speed[i];
if (f) PROCESS_SUBCOMMANDS_NOW(TS(F("M106P"), i, 'S', f));
}
#endif
// Restore retract and hop state from an active `G10` command
#if ENABLED(FWRETRACT)
EXTRUDER_LOOP() {
if (info.retract[e] != 0.0) {
fwretract.current_retract[e] = info.retract[e];
fwretract.retracted.set(e);
}
}
fwretract.current_hop = info.retract_hop;
#endif
#if ENABLED(GRADIENT_MIX)
memcpy(&mixer.gradient, &info.gradient, sizeof(info.gradient));
#endif
// Un-retract if there was a retract at outage
#if ENABLED(BACKUP_POWER_SUPPLY) && POWER_LOSS_RETRACT_LEN > 0
PROCESS_SUBCOMMANDS_NOW(F("G1F3000E" STRINGIFY(POWER_LOSS_RETRACT_LEN)));
#endif
// Additional purge on resume if configured
#if POWER_LOSS_PURGE_LEN
PROCESS_SUBCOMMANDS_NOW(TS(F("G1F3000E"), (POWER_LOSS_PURGE_LEN) + (POWER_LOSS_RETRACT_LEN)));
#endif
#if ENABLED(NOZZLE_CLEAN_FEATURE)
PROCESS_SUBCOMMANDS_NOW(F("G12"));
#endif
// Move back over to the saved XY
PROCESS_SUBCOMMANDS_NOW(TS(
F("G1F3000X"), p_float_t(resume_pos.x, 3), 'Y', p_float_t(resume_pos.y, 3)
));
// Move back down to the saved Z for printing
PROCESS_SUBCOMMANDS_NOW(TS(F("G1F600Z"), p_float_t(z_print, 3)));
// Restore the feedrate
PROCESS_SUBCOMMANDS_NOW(TS(F("G1F"), info.feedrate));
// Restore E position with G92.9
PROCESS_SUBCOMMANDS_NOW(TS(F("G92.9E"), p_float_t(resume_pos.e, 3)));
TERN_(GCODE_REPEAT_MARKERS, repeat = info.stored_repeat);
TERN_(HAS_HOME_OFFSET, home_offset = info.home_offset);
TERN_(HAS_WORKSPACE_OFFSET, workspace_offset = info.workspace_offset);
// Relative axis modes
gcode.axis_relative = info.axis_relative;
// Continue to apply PLR when a file is resumed!
enable(true);
// Resume the SD file from the last position
PROCESS_SUBCOMMANDS_NOW(MString<MAX_CMD_SIZE>(F("M23 "), info.sd_filename));
PROCESS_SUBCOMMANDS_NOW(TS(F("M24S"), resume_sdpos, 'T', info.print_job_elapsed));
}
#if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
void PrintJobRecovery::debug(FSTR_P const prefix) {
DEBUG_ECHOLN(prefix, F(" Job Recovery Info...\nvalid_head:"), info.valid_head, F(" valid_foot:"), info.valid_foot);
if (info.valid_head) {
if (info.valid_head == info.valid_foot) {
DEBUG_ECHOPGM("current_position: ");
LOOP_LOGICAL_AXES(i) {
if (i) DEBUG_CHAR(',');
DEBUG_ECHO(info.current_position[i]);
}
DEBUG_EOL();
DEBUG_ECHOLNPGM("feedrate: ", info.feedrate);
DEBUG_ECHOLNPGM("zraise: ", info.zraise, " ", info.flag.raised ? "(before)" : "");
#if ENABLED(GCODE_REPEAT_MARKERS)
const uint8_t ind = info.stored_repeat.count();
DEBUG_ECHOLNPGM("repeat markers: ", ind);
for (uint8_t i = ind; i--;)
DEBUG_ECHOLNPGM("...", i, " sdpos: ", info.stored_repeat.get_marker_sdpos(i), " count: ", info.stored_repeat.get_marker_counter(i));
#endif
#if HAS_HOME_OFFSET
DEBUG_ECHOPGM("home_offset: ");
LOOP_NUM_AXES(i) {
if (i) DEBUG_CHAR(',');
DEBUG_ECHO(info.home_offset[i]);
}
DEBUG_EOL();
#endif
#if HAS_WORKSPACE_OFFSET
DEBUG_ECHOPGM("workspace_offset: ");
LOOP_NUM_AXES(i) {
if (i) DEBUG_CHAR(',');
DEBUG_ECHO(info.workspace_offset[i]);
}
DEBUG_EOL();
#endif
#if HAS_MULTI_EXTRUDER
DEBUG_ECHOLNPGM("active_extruder: ", info.active_extruder);
#endif
#if DISABLED(NO_VOLUMETRICS)
DEBUG_ECHOPGM("filament_size:");
EXTRUDER_LOOP() DEBUG_ECHOLNPGM(" ", info.filament_size[e]);
DEBUG_EOL();
#endif
#if HAS_HOTEND
DEBUG_ECHOPGM("target_temperature: ");
HOTEND_LOOP() {
DEBUG_ECHO(info.target_temperature[e]);
if (e < HOTENDS - 1) DEBUG_CHAR(',');
}
DEBUG_EOL();
#endif
#if HAS_HEATED_BED
DEBUG_ECHOLNPGM("target_temperature_bed: ", info.target_temperature_bed);
#endif
#if HAS_HEATED_CHAMBER
DEBUG_ECHOLNPGM("target_temperature_chamber: ", info.target_temperature_chamber);
#endif
#if HAS_FAN
DEBUG_ECHOPGM("fan_speed: ");
FANS_LOOP(i) {
DEBUG_ECHO(info.fan_speed[i]);
if (i < FAN_COUNT - 1) DEBUG_CHAR(',');
}
DEBUG_EOL();
#endif
#if HAS_LEVELING
DEBUG_ECHOLNPGM("leveling: ", info.flag.leveling ? "ON" : "OFF", " fade: ", info.fade);
#endif
#if ENABLED(FWRETRACT)
DEBUG_ECHOPGM("retract: ");
EXTRUDER_LOOP() {
DEBUG_ECHO(info.retract[e]);
if (e < EXTRUDERS - 1) DEBUG_CHAR(',');
}
DEBUG_EOL();
DEBUG_ECHOLNPGM("retract_hop: ", info.retract_hop);
#endif
// Mixing extruder and gradient
#if ALL(MIXING_EXTRUDER, GRADIENT_MIX)
DEBUG_ECHOLNPGM("gradient: ", info.gradient.enabled ? "ON" : "OFF");
#endif
DEBUG_ECHOLNPGM("sd_filename: ", info.sd_filename);
DEBUG_ECHOLNPGM("sdpos: ", info.sdpos);
DEBUG_ECHOLNPGM("print_job_elapsed: ", info.print_job_elapsed);
DEBUG_ECHOPGM("axis_relative:");
if (TEST(info.axis_relative, REL_X)) DEBUG_ECHOPGM(" REL_X");
if (TEST(info.axis_relative, REL_Y)) DEBUG_ECHOPGM(" REL_Y");
if (TEST(info.axis_relative, REL_Z)) DEBUG_ECHOPGM(" REL_Z");
if (TEST(info.axis_relative, REL_E)) DEBUG_ECHOPGM(" REL_E");
if (TEST(info.axis_relative, E_MODE_ABS)) DEBUG_ECHOPGM(" E_MODE_ABS");
if (TEST(info.axis_relative, E_MODE_REL)) DEBUG_ECHOPGM(" E_MODE_REL");
DEBUG_EOL();
DEBUG_ECHOLNPGM("flag.dryrun: ", AS_DIGIT(info.flag.dryrun));
DEBUG_ECHOLNPGM("flag.allow_cold_extrusion: ", AS_DIGIT(info.flag.allow_cold_extrusion));
#if DISABLED(NO_VOLUMETRICS)
DEBUG_ECHOLNPGM("flag.volumetric_enabled: ", AS_DIGIT(info.flag.volumetric_enabled));
#endif
}
else
DEBUG_ECHOLNPGM("INVALID DATA");
}
DEBUG_ECHOLNPGM("---");
}
#endif // DEBUG_POWER_LOSS_RECOVERY
#endif // POWER_LOSS_RECOVERY
| 2301_81045437/Marlin | Marlin/src/feature/powerloss.cpp | C++ | agpl-3.0 | 21,669 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* feature/powerloss.h - Resume an SD print after power-loss
*/
#include "../sd/cardreader.h"
#include "../gcode/gcode.h"
#include "../inc/MarlinConfig.h"
#if ENABLED(GCODE_REPEAT_MARKERS)
#include "../feature/repeat.h"
#endif
#if ENABLED(MIXING_EXTRUDER)
#include "../feature/mixing.h"
#endif
#if !defined(POWER_LOSS_STATE) && PIN_EXISTS(POWER_LOSS)
#define POWER_LOSS_STATE HIGH
#endif
#if DISABLED(BACKUP_POWER_SUPPLY)
#undef POWER_LOSS_ZRAISE // No Z raise at outage without backup power
#endif
#ifndef POWER_LOSS_ZRAISE
#define POWER_LOSS_ZRAISE 2 // Default Z-raise on outage or resume
#endif
//#define DEBUG_POWER_LOSS_RECOVERY
//#define SAVE_EACH_CMD_MODE
//#define SAVE_INFO_INTERVAL_MS 0
typedef struct {
uint8_t valid_head;
// Machine state
xyze_pos_t current_position;
uint16_t feedrate;
float zraise;
// Repeat information
#if ENABLED(GCODE_REPEAT_MARKERS)
Repeat stored_repeat;
#endif
#if HAS_HOME_OFFSET
xyz_pos_t home_offset;
#endif
#if HAS_WORKSPACE_OFFSET
xyz_pos_t workspace_offset;
#endif
#if HAS_MULTI_EXTRUDER
uint8_t active_extruder;
#endif
#if DISABLED(NO_VOLUMETRICS)
float filament_size[EXTRUDERS];
#endif
#if HAS_HOTEND
celsius_t target_temperature[HOTENDS];
#endif
#if HAS_HEATED_BED
celsius_t target_temperature_bed;
#endif
#if HAS_HEATED_CHAMBER
celsius_t target_temperature_chamber;
#endif
#if HAS_FAN
uint8_t fan_speed[FAN_COUNT];
#endif
#if HAS_LEVELING
float fade;
#endif
#if ENABLED(FWRETRACT)
float retract[EXTRUDERS], retract_hop;
#endif
// Mixing extruder and gradient
#if ENABLED(MIXING_EXTRUDER)
//uint_fast8_t selected_vtool;
//mixer_comp_t color[NR_MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS];
#if ENABLED(GRADIENT_MIX)
gradient_t gradient;
#endif
#endif
// SD Filename and position
char sd_filename[MAXPATHNAMELENGTH];
volatile uint32_t sdpos;
// Job elapsed time
millis_t print_job_elapsed;
// Relative axis modes
relative_t axis_relative;
// Misc. Marlin flags
struct {
bool raised:1; // Raised before saved
bool dryrun:1; // M111 S8
bool allow_cold_extrusion:1; // M302 P1
#if HAS_LEVELING
bool leveling:1; // M420 S
#endif
#if DISABLED(NO_VOLUMETRICS)
bool volumetric_enabled:1; // M200 S D
#endif
} flag;
uint8_t valid_foot;
bool valid() { return valid_head && valid_head == valid_foot; }
} job_recovery_info_t;
class PrintJobRecovery {
public:
static const char filename[5];
static MediaFile file;
static job_recovery_info_t info;
static uint8_t queue_index_r; //!< Queue index of the active command
static uint32_t cmd_sdpos, //!< SD position of the next command
sdpos[BUFSIZE]; //!< SD positions of queued commands
#if HAS_PLR_UI_FLAG
static bool ui_flag_resume; //!< Flag the UI to show a dialog to Resume (M1000) or Cancel (M1000C)
#endif
static void init();
static void prepare();
static void setup() {
#if PIN_EXISTS(OUTAGECON)
OUT_WRITE(OUTAGECON_PIN, HIGH);
#endif
#if PIN_EXISTS(POWER_LOSS)
#if ENABLED(POWER_LOSS_PULLUP)
SET_INPUT_PULLUP(POWER_LOSS_PIN);
#elif ENABLED(POWER_LOSS_PULLDOWN)
SET_INPUT_PULLDOWN(POWER_LOSS_PIN);
#else
SET_INPUT(POWER_LOSS_PIN);
#endif
#endif
}
// Track each command's file offsets
static uint32_t command_sdpos() { return sdpos[queue_index_r]; }
static void commit_sdpos(const uint8_t index_w) { sdpos[index_w] = cmd_sdpos; }
static bool enabled;
static void enable(const bool onoff);
static void changed();
#if HAS_PLR_BED_THRESHOLD
static celsius_t bed_temp_threshold;
#endif
static bool exists() { return card.jobRecoverFileExists(); }
static void open(const bool read) { card.openJobRecoveryFile(read); }
static void close() { file.close(); }
static bool check();
static void resume();
static void purge();
static void cancel() { purge(); }
static void load();
static void save(const bool force=ENABLED(SAVE_EACH_CMD_MODE), const float zraise=POWER_LOSS_ZRAISE, const bool raised=false);
#if PIN_EXISTS(POWER_LOSS)
static void outage() {
static constexpr uint8_t OUTAGE_THRESHOLD = 3;
static uint8_t outage_counter = 0;
if (enabled && READ(POWER_LOSS_PIN) == POWER_LOSS_STATE) {
outage_counter++;
if (outage_counter >= OUTAGE_THRESHOLD) _outage();
}
else
outage_counter = 0;
}
#endif
// The referenced file exists
static bool interrupted_file_exists() { return card.fileExists(info.sd_filename); }
static bool valid() { return info.valid() && interrupted_file_exists(); }
#if ENABLED(DEBUG_POWER_LOSS_RECOVERY)
static void debug(FSTR_P const prefix);
#else
static void debug(FSTR_P const) {}
#endif
private:
static void write();
#if ENABLED(BACKUP_POWER_SUPPLY)
static void retract_and_lift(const_float_t zraise);
#endif
#if PIN_EXISTS(POWER_LOSS) || ENABLED(DEBUG_POWER_LOSS_RECOVERY)
friend class GcodeSuite;
static void _outage(TERN_(DEBUG_POWER_LOSS_RECOVERY, const bool simulated=false));
#endif
};
extern PrintJobRecovery recovery;
| 2301_81045437/Marlin | Marlin/src/feature/powerloss.h | C++ | agpl-3.0 | 6,324 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfigPre.h"
#if HAS_PTC
//#define DEBUG_PTC // Print extra debug output with 'M871'
#include "probe_temp_comp.h"
#include <math.h>
#include "../module/temperature.h"
ProbeTempComp ptc;
#if ENABLED(PTC_PROBE)
constexpr int16_t z_offsets_probe_default[PTC_PROBE_COUNT] = PTC_PROBE_ZOFFS;
int16_t ProbeTempComp::z_offsets_probe[PTC_PROBE_COUNT] = PTC_PROBE_ZOFFS;
#endif
#if ENABLED(PTC_BED)
constexpr int16_t z_offsets_bed_default[PTC_BED_COUNT] = PTC_BED_ZOFFS;
int16_t ProbeTempComp::z_offsets_bed[PTC_BED_COUNT] = PTC_BED_ZOFFS;
#endif
#if ENABLED(PTC_HOTEND)
constexpr int16_t z_offsets_hotend_default[PTC_HOTEND_COUNT] = PTC_HOTEND_ZOFFS;
int16_t ProbeTempComp::z_offsets_hotend[PTC_HOTEND_COUNT] = PTC_HOTEND_ZOFFS;
#endif
int16_t *ProbeTempComp::sensor_z_offsets[TSI_COUNT] = {
#if ENABLED(PTC_PROBE)
ProbeTempComp::z_offsets_probe,
#endif
#if ENABLED(PTC_BED)
ProbeTempComp::z_offsets_bed,
#endif
#if ENABLED(PTC_HOTEND)
ProbeTempComp::z_offsets_hotend,
#endif
};
constexpr temp_calib_t ProbeTempComp::cali_info[TSI_COUNT];
uint8_t ProbeTempComp::calib_idx; // = 0
float ProbeTempComp::init_measurement; // = 0.0
bool ProbeTempComp::enabled = true;
void ProbeTempComp::reset() {
TERN_(PTC_PROBE, for (uint8_t i = 0; i < PTC_PROBE_COUNT; ++i) z_offsets_probe[i] = z_offsets_probe_default[i]);
TERN_(PTC_BED, for (uint8_t i = 0; i < PTC_BED_COUNT; ++i) z_offsets_bed[i] = z_offsets_bed_default[i]);
TERN_(PTC_HOTEND, for (uint8_t i = 0; i < PTC_HOTEND_COUNT; ++i) z_offsets_hotend[i] = z_offsets_hotend_default[i]);
}
void ProbeTempComp::clear_offsets(const TempSensorID tsi) {
for (uint8_t i = 0; i < cali_info[tsi].measurements; ++i)
sensor_z_offsets[tsi][i] = 0;
calib_idx = 0;
}
bool ProbeTempComp::set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset) {
if (idx >= cali_info[tsi].measurements) return false;
sensor_z_offsets[tsi][idx] = offset;
return true;
}
void ProbeTempComp::print_offsets() {
for (uint8_t s = 0; s < TSI_COUNT; ++s) {
celsius_t temp = cali_info[s].start_temp;
for (int16_t i = -1; i < cali_info[s].measurements; ++i) {
SERIAL_ECHOLN(
TERN_(PTC_BED, s == TSI_BED ? F("Bed") :) TERN_(PTC_HOTEND, s == TSI_EXT ? F("Extruder") :) F("Probe"),
F(" temp: "), temp, F("C; Offset: "), i < 0 ? 0.0f : sensor_z_offsets[s][i], F(" um")
);
temp += cali_info[s].temp_resolution;
}
}
#if ENABLED(DEBUG_PTC)
float meas[4] = { 0, 0, 0, 0 };
compensate_measurement(TSI_PROBE, 27.5, meas[0]);
compensate_measurement(TSI_PROBE, 32.5, meas[1]);
compensate_measurement(TSI_PROBE, 77.5, meas[2]);
compensate_measurement(TSI_PROBE, 82.5, meas[3]);
SERIAL_ECHOLNPGM("DEBUG_PTC 27.5:", meas[0], " 32.5:", meas[1], " 77.5:", meas[2], " 82.5:", meas[3]);
#endif
}
void ProbeTempComp::prepare_new_calibration(const_float_t init_meas_z) {
calib_idx = 0;
init_measurement = init_meas_z;
}
void ProbeTempComp::push_back_new_measurement(const TempSensorID tsi, const_float_t meas_z) {
if (calib_idx >= cali_info[tsi].measurements) return;
sensor_z_offsets[tsi][calib_idx++] = static_cast<int16_t>((meas_z - init_measurement) * 1000.0f);
}
bool ProbeTempComp::finish_calibration(const TempSensorID tsi) {
if (!calib_idx) {
SERIAL_ECHOLNPGM("!No measurements.");
clear_offsets(tsi);
return false;
}
const uint8_t measurements = cali_info[tsi].measurements;
const celsius_t start_temp = cali_info[tsi].start_temp,
res_temp = cali_info[tsi].temp_resolution;
int16_t * const data = sensor_z_offsets[tsi];
// Extrapolate
float k, d;
if (calib_idx < measurements) {
SERIAL_ECHOLNPGM("Got ", calib_idx, " measurements. ");
if (linear_regression(tsi, k, d)) {
SERIAL_ECHOPGM("Applying linear extrapolation");
for (; calib_idx < measurements; ++calib_idx) {
const celsius_float_t temp = start_temp + float(calib_idx + 1) * res_temp;
data[calib_idx] = static_cast<int16_t>(k * temp + d);
}
}
else {
// Simply use the last measured value for higher temperatures
SERIAL_ECHOPGM("Failed to extrapolate");
const int16_t last_val = data[calib_idx-1];
for (; calib_idx < measurements; ++calib_idx)
data[calib_idx] = last_val;
}
SERIAL_ECHOLNPGM(" for higher temperatures.");
}
// Sanity check
for (calib_idx = 0; calib_idx < measurements; ++calib_idx) {
// Restrict the max. offset
if (ABS(data[calib_idx]) > 2000) {
SERIAL_ECHOLNPGM("!Invalid Z-offset detected (0-2).");
clear_offsets(tsi);
return false;
}
// Restrict the max. offset difference between two probings
if (calib_idx > 0 && ABS(data[calib_idx - 1] - data[calib_idx]) > 800) {
SERIAL_ECHOLNPGM("!Invalid Z-offset between two probings detected (0-0.8).");
clear_offsets(tsi);
return false;
}
}
return true;
}
void ProbeTempComp::apply_compensation(float &meas_z) {
if (!enabled) return;
TERN_(PTC_BED, compensate_measurement(TSI_BED, thermalManager.degBed(), meas_z));
TERN_(PTC_PROBE, compensate_measurement(TSI_PROBE, thermalManager.degProbe(), meas_z));
TERN_(PTC_HOTEND, compensate_measurement(TSI_EXT, thermalManager.degHotend(0), meas_z));
}
void ProbeTempComp::compensate_measurement(const TempSensorID tsi, const celsius_t temp, float &meas_z) {
const uint8_t measurements = cali_info[tsi].measurements;
const celsius_t start_temp = cali_info[tsi].start_temp,
res_temp = cali_info[tsi].temp_resolution,
end_temp = start_temp + measurements * res_temp;
const int16_t * const data = sensor_z_offsets[tsi];
// Given a data index, return { celsius, zoffset } in the form { x, y }
auto tpoint = [&](uint8_t i) -> xy_float_t {
return xy_float_t({ static_cast<float>(start_temp) + i * res_temp, i ? static_cast<float>(data[i - 1]) : 0.0f });
};
// Interpolate Z based on a temperature being within a given range
auto linear_interp = [](const_float_t x, xy_float_t p1, xy_float_t p2) {
// zoffs1 + zoffset_per_toffset * toffset
return p1.y + (p2.y - p1.y) / (p2.x - p1.x) * (x - p1.x);
};
// offset in µm
float offset = 0.0f;
#if PTC_LINEAR_EXTRAPOLATION
if (temp < start_temp)
offset = linear_interp(temp, tpoint(0), tpoint(PTC_LINEAR_EXTRAPOLATION));
else if (temp >= end_temp)
offset = linear_interp(temp, tpoint(measurements - PTC_LINEAR_EXTRAPOLATION), tpoint(measurements));
#else
if (temp < start_temp)
offset = 0.0f;
else if (temp >= end_temp)
offset = static_cast<float>(data[measurements - 1]);
#endif
else {
// Linear interpolation
const int8_t idx = static_cast<int8_t>((temp - start_temp) / res_temp);
offset = linear_interp(temp, tpoint(idx), tpoint(idx + 1));
}
// convert offset to mm and apply it
meas_z -= offset / 1000.0f;
}
bool ProbeTempComp::linear_regression(const TempSensorID tsi, float &k, float &d) {
if (!WITHIN(calib_idx, 1, cali_info[tsi].measurements)) return false;
const celsius_t start_temp = cali_info[tsi].start_temp,
res_temp = cali_info[tsi].temp_resolution;
const int16_t * const data = sensor_z_offsets[tsi];
float sum_x = start_temp,
sum_x2 = sq(start_temp),
sum_xy = 0, sum_y = 0;
float xi = static_cast<float>(start_temp);
for (uint8_t i = 0; i < calib_idx; ++i) {
const float yi = static_cast<float>(data[i]);
xi += res_temp;
sum_x += xi;
sum_x2 += sq(xi);
sum_xy += xi * yi;
sum_y += yi;
}
const float denom = static_cast<float>(calib_idx + 1) * sum_x2 - sq(sum_x);
if (fabs(denom) <= 10e-5) {
// Singularity - unable to solve
k = d = 0.0;
return false;
}
k = (static_cast<float>(calib_idx + 1) * sum_xy - sum_x * sum_y) / denom;
d = (sum_y - k * sum_x) / static_cast<float>(calib_idx + 1);
return true;
}
#endif // HAS_PTC
| 2301_81045437/Marlin | Marlin/src/feature/probe_temp_comp.cpp | C++ | agpl-3.0 | 8,890 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
enum TempSensorID : uint8_t {
#if ENABLED(PTC_PROBE)
TSI_PROBE,
#endif
#if ENABLED(PTC_BED)
TSI_BED,
#endif
#if ENABLED(PTC_HOTEND)
TSI_EXT,
#endif
TSI_COUNT
};
typedef struct {
uint8_t measurements; // Max. number of measurements to be stored (35 - 80°C)
celsius_t temp_resolution, // Resolution in °C between measurements
start_temp; // Base measurement; z-offset == 0
} temp_calib_t;
/**
* Probe temperature compensation implementation.
* Z-probes like the P.I.N.D.A V2 allow for compensation of
* measurement errors/shifts due to changed temperature.
*/
class ProbeTempComp {
public:
static constexpr temp_calib_t cali_info[TSI_COUNT] = {
#if ENABLED(PTC_PROBE)
{ PTC_PROBE_COUNT, PTC_PROBE_RES, PTC_PROBE_START }, // Probe
#endif
#if ENABLED(PTC_BED)
{ PTC_BED_COUNT, PTC_BED_RES, PTC_BED_START }, // Bed
#endif
#if ENABLED(PTC_HOTEND)
{ PTC_HOTEND_COUNT, PTC_HOTEND_RES, PTC_HOTEND_START }, // Extruder
#endif
};
static int16_t *sensor_z_offsets[TSI_COUNT];
#if ENABLED(PTC_PROBE)
static int16_t z_offsets_probe[PTC_PROBE_COUNT]; // (µm)
#endif
#if ENABLED(PTC_BED)
static int16_t z_offsets_bed[PTC_BED_COUNT]; // (µm)
#endif
#if ENABLED(PTC_HOTEND)
static int16_t z_offsets_hotend[PTC_HOTEND_COUNT]; // (µm)
#endif
static void reset_index() { calib_idx = 0; };
static uint8_t get_index() { return calib_idx; }
static void reset();
static void clear_all_offsets() {
TERN_(PTC_PROBE, clear_offsets(TSI_PROBE));
TERN_(PTC_BED, clear_offsets(TSI_BED));
TERN_(PTC_HOTEND, clear_offsets(TSI_EXT));
}
static bool set_offset(const TempSensorID tsi, const uint8_t idx, const int16_t offset);
static void print_offsets();
static void prepare_new_calibration(const_float_t init_meas_z);
static void push_back_new_measurement(const TempSensorID tsi, const_float_t meas_z);
static bool finish_calibration(const TempSensorID tsi);
static void set_enabled(const bool ena) { enabled = ena; }
// Apply all temperature compensation adjustments
static void apply_compensation(float &meas_z);
private:
static uint8_t calib_idx;
static bool enabled;
static void clear_offsets(const TempSensorID tsi);
/**
* Base value. Temperature compensation values will be deltas
* to this value, set at first probe.
*/
static float init_measurement;
/**
* Fit a linear function in measured temperature offsets
* to allow generating values of higher temperatures.
*/
static bool linear_regression(const TempSensorID tsi, float &k, float &d);
static void compensate_measurement(const TempSensorID tsi, const celsius_t temp, float &meas_z);
};
extern ProbeTempComp ptc;
| 2301_81045437/Marlin | Marlin/src/feature/probe_temp_comp.h | C++ | agpl-3.0 | 3,785 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(GCODE_REPEAT_MARKERS)
//#define DEBUG_GCODE_REPEAT_MARKERS
#include "repeat.h"
#include "../gcode/gcode.h"
#include "../sd/cardreader.h"
#define DEBUG_OUT ENABLED(DEBUG_GCODE_REPEAT_MARKERS)
#include "../core/debug_out.h"
repeat_marker_t Repeat::marker[MAX_REPEAT_NESTING];
uint8_t Repeat::index;
void Repeat::add_marker(const uint32_t sdpos, const uint16_t count) {
if (index >= MAX_REPEAT_NESTING)
SERIAL_ECHO_MSG("!Too many markers.");
else {
marker[index].sdpos = sdpos;
marker[index].counter = count ? count - 1 : -1;
index++;
DEBUG_ECHOLNPGM("Add Marker ", index, " at ", sdpos, " (", count, ")");
}
}
void Repeat::loop() {
if (!index) // No marker?
SERIAL_ECHO_MSG("!No marker set."); // Inform the user.
else {
const uint8_t ind = index - 1; // Active marker's index
if (!marker[ind].counter) { // Did its counter run out?
DEBUG_ECHOLNPGM("Pass Marker ", index);
index--; // Carry on. Previous marker on the next 'M808'.
}
else {
card.setIndex(marker[ind].sdpos); // Loop back to the marker.
if (marker[ind].counter > 0) // Ignore a negative (or zero) counter.
--marker[ind].counter; // Decrement the counter. If zero this 'M808' will be skipped next time.
DEBUG_ECHOLNPGM("Goto Marker ", index, " at ", marker[ind].sdpos, " (", marker[ind].counter, ")");
}
}
}
void Repeat::cancel() { for (uint8_t i = 0; i < index; ++i) marker[i].counter = 0; }
void Repeat::early_parse_M808(char * const cmd) {
if (is_command_M808(cmd)) {
DEBUG_ECHOLNPGM("Parsing \"", cmd, "\"");
parser.parse(cmd);
if (parser.seen('L'))
add_marker(card.getIndex(), parser.value_ushort());
else
Repeat::loop();
}
}
#endif // GCODE_REPEAT_MARKERS
| 2301_81045437/Marlin | Marlin/src/feature/repeat.cpp | C++ | agpl-3.0 | 2,749 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfigPre.h"
#include "../gcode/parser.h"
#include <stdint.h>
#define MAX_REPEAT_NESTING 10
typedef struct {
uint32_t sdpos; // The repeat file position
int16_t counter; // The counter for looping
} repeat_marker_t;
class Repeat {
private:
static repeat_marker_t marker[MAX_REPEAT_NESTING];
static uint8_t index;
public:
static void reset() { index = 0; }
static bool is_active() {
for (uint8_t i = 0; i < index; ++i) if (marker[i].counter) return true;
return false;
}
static bool is_command_M808(char * const cmd) { return cmd[0] == 'M' && cmd[1] == '8' && cmd[2] == '0' && cmd[3] == '8' && !NUMERIC(cmd[4]); }
static void early_parse_M808(char * const cmd);
static void add_marker(const uint32_t sdpos, const uint16_t count);
static void loop();
static void cancel();
static uint8_t count() { return index; }
static int16_t get_marker_counter(const uint8_t i) { return marker[i].counter; }
static uint32_t get_marker_sdpos(const uint8_t i) { return marker[i].sdpos; }
};
extern Repeat repeat;
| 2301_81045437/Marlin | Marlin/src/feature/repeat.h | C++ | agpl-3.0 | 1,941 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* feature/runout.cpp - Runout sensor support
*/
#include "../inc/MarlinConfigPre.h"
#if HAS_FILAMENT_SENSOR
#include "runout.h"
FilamentMonitor runout;
bool FilamentMonitorBase::enabled = true,
FilamentMonitorBase::filament_ran_out; // = false
#if ENABLED(HOST_ACTION_COMMANDS)
bool FilamentMonitorBase::host_handling; // = false
#endif
#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
#include "../module/tool_change.h"
#define DEBUG_OUT ENABLED(DEBUG_TOOLCHANGE_MIGRATION_FEATURE)
#include "../core/debug_out.h"
#endif
#if HAS_FILAMENT_RUNOUT_DISTANCE
float RunoutResponseDelayed::runout_distance_mm = FILAMENT_RUNOUT_DISTANCE_MM;
countdown_t RunoutResponseDelayed::mm_countdown;
#if ENABLED(FILAMENT_MOTION_SENSOR)
uint8_t FilamentSensorEncoder::motion_detected;
#endif
#else
int8_t RunoutResponseDebounced::runout_count[NUM_RUNOUT_SENSORS]; // = 0
#endif
//
// Filament Runout event handler
//
#include "../MarlinCore.h"
#include "../feature/pause.h"
#include "../gcode/queue.h"
#if ENABLED(HOST_ACTION_COMMANDS)
#include "host_actions.h"
#endif
#if ENABLED(EXTENSIBLE_UI)
#include "../lcd/extui/ui_api.h"
#endif
void event_filament_runout(const uint8_t extruder) {
if (did_pause_print) return; // Action already in progress. Purge triggered repeated runout.
#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE)
if (migration.in_progress) {
DEBUG_ECHOLNPGM("Migration Already In Progress");
return; // Action already in progress. Purge triggered repeated runout.
}
if (migration.automode) {
DEBUG_ECHOLNPGM("Migration Starting");
if (extruder_migration()) return;
}
#endif
TERN_(EXTENSIBLE_UI, ExtUI::onFilamentRunout(ExtUI::getTool(extruder)));
#if ANY(HOST_PROMPT_SUPPORT, HOST_ACTION_COMMANDS, MULTI_FILAMENT_SENSOR)
const char tool = '0' + TERN0(MULTI_FILAMENT_SENSOR, extruder);
#endif
//action:out_of_filament
#if ENABLED(HOST_PROMPT_SUPPORT)
hostui.prompt_do(PROMPT_FILAMENT_RUNOUT, F("FilamentRunout T"), tool); //action:out_of_filament
#endif
const bool run_runout_script = !runout.host_handling;
#if ENABLED(HOST_ACTION_COMMANDS)
const bool park_or_pause = (false
#ifdef FILAMENT_RUNOUT_SCRIPT
|| strstr(FILAMENT_RUNOUT_SCRIPT, "M600")
|| strstr(FILAMENT_RUNOUT_SCRIPT, "M125")
|| TERN0(ADVANCED_PAUSE_FEATURE, strstr(FILAMENT_RUNOUT_SCRIPT, "M25"))
#endif
);
if (run_runout_script && park_or_pause) {
hostui.paused(false);
}
else {
// Legacy Repetier command for use until newer version supports standard dialog
// To be removed later when pause command also triggers dialog
#ifdef ACTION_ON_FILAMENT_RUNOUT
hostui.action(F(ACTION_ON_FILAMENT_RUNOUT " T"), false);
SERIAL_CHAR(tool);
SERIAL_EOL();
#endif
hostui.pause(false);
}
SERIAL_ECHOPGM(" " ACTION_REASON_ON_FILAMENT_RUNOUT " ");
SERIAL_CHAR(tool);
SERIAL_EOL();
#endif // HOST_ACTION_COMMANDS
#ifdef FILAMENT_RUNOUT_SCRIPT
if (run_runout_script) {
#if MULTI_FILAMENT_SENSOR
MString<strlen(FILAMENT_RUNOUT_SCRIPT)> script;
script.setf(F(FILAMENT_RUNOUT_SCRIPT), C(tool));
#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
SERIAL_ECHOLNPGM("Runout Command: ", &script);
#endif
queue.inject(&script);
#else
#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
SERIAL_ECHOPGM("Runout Command: ");
SERIAL_ECHOLNPGM(FILAMENT_RUNOUT_SCRIPT);
#endif
queue.inject(F(FILAMENT_RUNOUT_SCRIPT));
#endif
}
#endif
}
#endif // HAS_FILAMENT_SENSOR
| 2301_81045437/Marlin | Marlin/src/feature/runout.cpp | C++ | agpl-3.0 | 4,522 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* feature/runout.h - Runout sensor support
*/
#include "../sd/cardreader.h"
#include "../module/printcounter.h"
#include "../module/planner.h"
#include "../module/stepper.h" // for block_t
#include "../gcode/queue.h"
#include "../feature/pause.h" // for did_pause_print
#include "../MarlinCore.h" // for printingIsActive()
#include "../inc/MarlinConfig.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../lcd/extui/ui_api.h"
#endif
//#define FILAMENT_RUNOUT_SENSOR_DEBUG
#ifndef FILAMENT_RUNOUT_THRESHOLD
#define FILAMENT_RUNOUT_THRESHOLD 5
#endif
#if ENABLED(FILAMENT_MOTION_SENSOR)
#define HAS_FILAMENT_MOTION 1
#endif
#if DISABLED(FILAMENT_MOTION_SENSOR) || ENABLED(FILAMENT_SWITCH_AND_MOTION)
#define HAS_FILAMENT_SWITCH 1
#endif
typedef Flags<
#if NUM_MOTION_SENSORS > NUM_RUNOUT_SENSORS
NUM_MOTION_SENSORS
#else
NUM_RUNOUT_SENSORS
#endif
> runout_flags_t;
void event_filament_runout(const uint8_t extruder);
inline bool should_monitor_runout() { return did_pause_print || printingIsActive(); }
template<class RESPONSE_T, class SENSOR_T>
class TFilamentMonitor;
class FilamentSensor;
class RunoutResponseDelayed;
class RunoutResponseDebounced;
/********************************* TEMPLATE SPECIALIZATION *********************************/
typedef TFilamentMonitor<
TERN(HAS_FILAMENT_RUNOUT_DISTANCE, RunoutResponseDelayed, RunoutResponseDebounced),
FilamentSensor
> FilamentMonitor;
extern FilamentMonitor runout;
/*******************************************************************************************/
class FilamentMonitorBase {
public:
static bool enabled, filament_ran_out;
#if ENABLED(HOST_ACTION_COMMANDS)
static bool host_handling;
#else
static constexpr bool host_handling = false;
#endif
};
template<class RESPONSE_T, class SENSOR_T>
class TFilamentMonitor : public FilamentMonitorBase {
private:
typedef RESPONSE_T response_t;
typedef SENSOR_T sensor_t;
static response_t response;
static sensor_t sensor;
public:
static void setup() {
sensor.setup();
reset();
}
static void reset() {
filament_ran_out = false;
response.reset();
}
// Call this method when filament is present,
// so the response can reset its counter.
static void filament_present(const uint8_t extruder) {
response.filament_present(extruder);
}
#if ENABLED(FILAMENT_SWITCH_AND_MOTION)
static void filament_motion_present(const uint8_t extruder) {
response.filament_motion_present(extruder);
}
#endif
#if HAS_FILAMENT_RUNOUT_DISTANCE
static float& runout_distance() { return response.runout_distance_mm; }
static void set_runout_distance(const_float_t mm) { response.runout_distance_mm = mm; }
#endif
// Handle a block completion. RunoutResponseDelayed uses this to
// add up the length of filament moved while the filament is out.
static void block_completed(const block_t * const b) {
if (enabled) {
response.block_completed(b);
sensor.block_completed(b);
}
}
// Give the response a chance to update its counter.
static void run() {
if (enabled && !filament_ran_out && should_monitor_runout()) {
TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, cli()); // Prevent RunoutResponseDelayed::block_completed from accumulating here
response.run();
sensor.run();
const runout_flags_t runout_flags = response.has_run_out();
TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, sei());
#if MULTI_FILAMENT_SENSOR
#if ENABLED(WATCH_ALL_RUNOUT_SENSORS)
const bool ran_out = bool(runout_flags); // any sensor triggers
uint8_t extruder = 0;
if (ran_out) while (!runout_flags.test(extruder)) extruder++;
#else
const bool ran_out = runout_flags[active_extruder]; // suppress non active extruders
uint8_t extruder = active_extruder;
#endif
#else
const bool ran_out = bool(runout_flags);
uint8_t extruder = active_extruder;
#endif
if (ran_out) {
#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
SERIAL_ECHOPGM("Runout Sensors: ");
for (uint8_t i = 0; i < 8; ++i) SERIAL_CHAR('0' + char(runout_flags[i]));
SERIAL_ECHOLNPGM(" -> ", extruder, " RUN OUT");
#endif
filament_ran_out = true;
event_filament_runout(extruder);
planner.synchronize();
}
}
}
};
/*************************** FILAMENT PRESENCE SENSORS ***************************/
class FilamentSensorBase {
protected:
/**
* Called by FilamentSensorSwitch::run when filament is detected.
* Called by FilamentSensorEncoder::block_completed when motion is detected.
*/
static void filament_present(const uint8_t extruder) {
runout.filament_present(extruder); // ...which calls response.filament_present(extruder)
}
#if ENABLED(FILAMENT_SWITCH_AND_MOTION)
static void filament_motion_present(const uint8_t extruder) {
runout.filament_motion_present(extruder); // ...which calls response.filament_motion_present(extruder)
}
#endif
public:
static void setup() {
#define _INIT_RUNOUT_PIN(P,S,U,D) do{ if (ENABLED(U)) SET_INPUT_PULLUP(P); else if (ENABLED(D)) SET_INPUT_PULLDOWN(P); else SET_INPUT(P); }while(0);
#define INIT_RUNOUT_PIN(N) _INIT_RUNOUT_PIN(FIL_RUNOUT##N##_PIN, FIL_RUNOUT##N##_STATE, FIL_RUNOUT##N##_PULLUP, FIL_RUNOUT##N##_PULLDOWN);
REPEAT_1(NUM_RUNOUT_SENSORS, INIT_RUNOUT_PIN)
#undef INIT_RUNOUT_PIN
#if ENABLED(FILAMENT_SWITCH_AND_MOTION)
#define INIT_MOTION_PIN(N) _INIT_RUNOUT_PIN(FIL_MOTION##N##_PIN, FIL_MOTION##N##_STATE, FIL_MOTION##N##_PULLUP, FIL_MOTION##N##_PULLDOWN);
REPEAT_1(NUM_MOTION_SENSORS, INIT_MOTION_PIN)
#undef INIT_MOTION_PIN
#endif
#undef _INIT_RUNOUT_PIN
}
// Return a bitmask of runout pin states
static uint8_t poll_runout_pins() {
#define _OR_RUNOUT(N) | (READ(FIL_RUNOUT##N##_PIN) ? _BV((N) - 1) : 0)
return (0 REPEAT_1(NUM_RUNOUT_SENSORS, _OR_RUNOUT));
#undef _OR_RUNOUT
}
// Return a bitmask of runout flag states (1 bits always indicates runout)
static uint8_t poll_runout_states() {
#define _INVERT_BIT(N) | (FIL_RUNOUT##N##_STATE ? 0 : _BV(N - 1))
return poll_runout_pins() ^ uint8_t(0 REPEAT_1(NUM_RUNOUT_SENSORS, _INVERT_BIT));
#undef _INVERT_BIT
}
#if ENABLED(FILAMENT_SWITCH_AND_MOTION)
// Return a bitmask of motion pin states
static uint8_t poll_motion_pins() {
#define _OR_MOTION(N) | (READ(FIL_MOTION##N##_PIN) ? _BV((N) - 1) : 0)
return (0 REPEAT_1(NUM_MOTION_SENSORS, _OR_MOTION));
#undef _OR_MOTION
}
// Return a bitmask of motion flag states (1 bits always indicates runout)
static uint8_t poll_motion_states() {
#define _OR_MOTION(N) | (FIL_MOTION##N##_STATE ? 0 : _BV(N - 1))
return poll_motion_pins() ^ uint8_t(0 REPEAT_1(NUM_MOTION_SENSORS, _OR_MOTION));
#undef _OR_MOTION
}
#endif
};
#if HAS_FILAMENT_MOTION
/**
* This sensor uses a magnetic encoder disc and a Hall effect
* sensor (or a slotted disc and optical sensor). The state
* will toggle between 0 and 1 on filament movement. It can detect
* filament runout and stripouts or jams.
*/
class FilamentSensorEncoder : public FilamentSensorBase {
private:
static uint8_t motion_detected;
static void poll_motion_sensor() {
static uint8_t old_state;
const uint8_t new_state = TERN(FILAMENT_SWITCH_AND_MOTION, poll_motion_pins, poll_runout_pins)(),
change = old_state ^ new_state;
old_state = new_state;
#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
if (change) {
SERIAL_ECHOPGM("Motion detected:");
for (uint8_t e = 0; e < TERN(FILAMENT_SWITCH_AND_MOTION, NUM_MOTION_SENSORS, NUM_RUNOUT_SENSORS); ++e)
if (TEST(change, e)) SERIAL_CHAR(' ', '0' + e);
SERIAL_EOL();
}
#endif
motion_detected |= change;
}
public:
static void block_completed(const block_t * const b) {
// If the sensor wheel has moved since the last call to
// this method reset the runout counter for the extruder.
if (TEST(motion_detected, b->extruder))
TERN(FILAMENT_SWITCH_AND_MOTION, filament_motion_present, filament_present)(b->extruder);
// Clear motion triggers for next block
motion_detected = 0;
}
static void run() { poll_motion_sensor(); }
};
#endif // HAS_FILAMENT_MOTION
#if HAS_FILAMENT_SWITCH
/**
* This is a simple endstop switch in the path of the filament.
* It can detect filament runout, but not stripouts or jams.
*/
class FilamentSensorSwitch : public FilamentSensorBase {
private:
static bool poll_runout_state(const uint8_t extruder) {
const uint8_t runout_states = poll_runout_states();
#if MULTI_FILAMENT_SENSOR
if ( !TERN0(DUAL_X_CARRIAGE, idex_is_duplicating())
&& !TERN0(MULTI_NOZZLE_DUPLICATION, extruder_duplication_enabled)
) return TEST(runout_states, extruder); // A specific extruder ran out
#else
UNUSED(extruder);
#endif
return !!runout_states; // Any extruder ran out
}
public:
static void block_completed(const block_t * const) {}
static void run() {
for (uint8_t s = 0; s < NUM_RUNOUT_SENSORS; ++s) {
const bool out = poll_runout_state(s);
if (!out) filament_present(s);
#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
static uint8_t was_out; // = 0
if (out != TEST(was_out, s)) {
TBI(was_out, s);
SERIAL_ECHOLN(F("Filament Sensor "), AS_DIGIT(s), out ? F(" OUT") : F(" IN"));
}
#endif
}
}
};
#endif // HAS_FILAMENT_SWITCH
/**
* This is a simple endstop switch in the path of the filament.
* It can detect filament runout, but not stripouts or jams.
*/
class FilamentSensor : public FilamentSensorBase {
private:
TERN_(HAS_FILAMENT_MOTION, static FilamentSensorEncoder encoder_sensor);
TERN_(HAS_FILAMENT_SWITCH, static FilamentSensorSwitch switch_sensor);
public:
static void block_completed(const block_t * const b) {
TERN_(HAS_FILAMENT_MOTION, encoder_sensor.block_completed(b));
TERN_(HAS_FILAMENT_SWITCH, switch_sensor.block_completed(b));
}
static void run() {
TERN_(HAS_FILAMENT_MOTION, encoder_sensor.run());
TERN_(HAS_FILAMENT_SWITCH, switch_sensor.run());
}
};
/********************************* RESPONSE TYPE *********************************/
#if HAS_FILAMENT_RUNOUT_DISTANCE
typedef struct {
float runout[NUM_RUNOUT_SENSORS];
Flags<NUM_RUNOUT_SENSORS> runout_reset; // Reset runout later
#if ENABLED(FILAMENT_SWITCH_AND_MOTION)
float motion[NUM_MOTION_SENSORS];
Flags<NUM_MOTION_SENSORS> motion_reset; // Reset motion later
#endif
} countdown_t;
// RunoutResponseDelayed triggers a runout event only if the length
// of filament specified by FILAMENT_RUNOUT_DISTANCE_MM has been fed
// during a runout condition.
class RunoutResponseDelayed {
private:
static countdown_t mm_countdown;
public:
static float runout_distance_mm;
static void reset() {
for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) filament_present(i);
#if ENABLED(FILAMENT_SWITCH_AND_MOTION)
for (uint8_t i = 0; i < NUM_MOTION_SENSORS; ++i) filament_motion_present(i);
#endif
}
static void run() {
#if ENABLED(FILAMENT_RUNOUT_SENSOR_DEBUG)
static millis_t t = 0;
const millis_t ms = millis();
if (ELAPSED(ms, t)) {
t = millis() + 1000UL;
for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i)
SERIAL_ECHO(i ? F(", ") : F("Runout remaining mm: "), mm_countdown.runout[i]);
#if ENABLED(FILAMENT_SWITCH_AND_MOTION)
for (uint8_t i = 0; i < NUM_MOTION_SENSORS; ++i)
SERIAL_ECHO(i ? F(", ") : F("Motion remaining mm: "), mm_countdown.motion[i]);
#endif
SERIAL_EOL();
}
#endif
}
static runout_flags_t has_run_out() {
runout_flags_t runout_flags{0};
for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) if (mm_countdown.runout[i] < 0) runout_flags.set(i);
#if ENABLED(FILAMENT_SWITCH_AND_MOTION)
for (uint8_t i = 0; i < NUM_MOTION_SENSORS; ++i) if (mm_countdown.motion[i] < 0) runout_flags.set(i);
#endif
return runout_flags;
}
static void filament_present(const uint8_t extruder) {
if (mm_countdown.runout[extruder] < runout_distance_mm || did_pause_print) {
// Reset runout only if it is smaller than runout_distance or printing is paused.
// On Bowden systems retract may be larger than runout_distance_mm, so if retract
// was added leave it in place, or the following unretract will cause runout event.
mm_countdown.runout[extruder] = runout_distance_mm;
mm_countdown.runout_reset.clear(extruder);
}
else {
// If runout is larger than runout distance, we cannot reset right now, as Bowden and retract
// distance larger than runout_distance_mm leads to negative runout right after unretract.
// But we cannot ignore filament_present event. After unretract, runout will become smaller
// than runout_distance_mm and should be reset after that. So activate delayed reset.
mm_countdown.runout_reset.set(extruder);
}
}
#if ENABLED(FILAMENT_SWITCH_AND_MOTION)
static void filament_motion_present(const uint8_t extruder) {
// Same logic as filament_present
if (mm_countdown.motion[extruder] < runout_distance_mm || did_pause_print) {
mm_countdown.motion[extruder] = runout_distance_mm;
mm_countdown.motion_reset.clear(extruder);
}
else
mm_countdown.motion_reset.set(extruder);
}
#endif
static void block_completed(const block_t * const b) {
const int32_t esteps = b->steps.e;
if (!esteps) return;
// No calculation unless paused or printing
if (!should_monitor_runout()) return;
// No need to ignore retract/unretract movement since they complement each other
const uint8_t e = b->extruder;
const float mm = (b->direction_bits.e ? esteps : -esteps) * planner.mm_per_step[E_AXIS_N(e)];
if (e < NUM_RUNOUT_SENSORS) {
mm_countdown.runout[e] -= mm;
if (mm_countdown.runout_reset[e]) filament_present(e); // Reset pending. Try to reset.
}
#if ENABLED(FILAMENT_SWITCH_AND_MOTION)
if (e < NUM_MOTION_SENSORS) {
mm_countdown.motion[e] -= mm;
if (mm_countdown.motion_reset[e]) filament_motion_present(e); // Reset pending. Try to reset.
}
#endif
}
};
#else // !HAS_FILAMENT_RUNOUT_DISTANCE
// RunoutResponseDebounced triggers a runout event after a runout
// condition has been detected runout_threshold times in a row.
class RunoutResponseDebounced {
private:
static constexpr int8_t runout_threshold = FILAMENT_RUNOUT_THRESHOLD;
static int8_t runout_count[NUM_RUNOUT_SENSORS];
public:
static void reset() {
for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) filament_present(i);
}
static void run() {
for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) if (runout_count[i] >= 0) runout_count[i]--;
}
static runout_flags_t has_run_out() {
runout_flags_t runout_flags{0};
for (uint8_t i = 0; i < NUM_RUNOUT_SENSORS; ++i) if (runout_count[i] < 0) runout_flags.set(i);
return runout_flags;
}
static void block_completed(const block_t * const) { }
static void filament_present(const uint8_t extruder) {
runout_count[extruder] = runout_threshold;
}
};
#endif // !HAS_FILAMENT_RUNOUT_DISTANCE
| 2301_81045437/Marlin | Marlin/src/feature/runout.h | C++ | agpl-3.0 | 17,399 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ANY(EXT_SOLENOID, MANUAL_SOLENOID_CONTROL)
#include "solenoid.h"
#include "../module/motion.h" // for active_extruder
#include "../module/tool_change.h" // for parking_extruder_set_parked
// Used primarily with MANUAL_SOLENOID_CONTROL
static void set_solenoid(const uint8_t num, const uint8_t state) {
#define _SOL_CASE(N) case N: TERN_(HAS_SOLENOID_##N, OUT_WRITE(SOL##N##_PIN, state)); break;
switch (num) {
REPEAT(8, _SOL_CASE)
default: SERIAL_ECHO_MSG(STR_INVALID_SOLENOID); break;
}
#if ENABLED(PARKING_EXTRUDER)
if (state == LOW && active_extruder == num) // If active extruder's solenoid is disabled, carriage is considered parked
parking_extruder_set_parked(true);
#endif
}
// PARKING_EXTRUDER options alter the default behavior of solenoids to ensure compliance of M380-381
void enable_solenoid(const uint8_t num) { set_solenoid(num, TERN1(PARKING_EXTRUDER, PE_MAGNET_ON_STATE)); }
void disable_solenoid(const uint8_t num) { set_solenoid(num, TERN0(PARKING_EXTRUDER, !PE_MAGNET_ON_STATE)); }
void disable_all_solenoids() {
#define _SOL_DISABLE(N) TERN_(HAS_SOLENOID_##N, disable_solenoid(N));
REPEAT(8, _SOL_DISABLE)
}
#endif // EXT_SOLENOID || MANUAL_SOLENOID_CONTROL
| 2301_81045437/Marlin | Marlin/src/feature/solenoid.cpp | C++ | agpl-3.0 | 2,120 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
void disable_all_solenoids();
void enable_solenoid(const uint8_t num);
void disable_solenoid(const uint8_t num);
| 2301_81045437/Marlin | Marlin/src/feature/solenoid.h | C | agpl-3.0 | 989 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* feature/spindle_laser.cpp
*/
#include "../inc/MarlinConfig.h"
#if HAS_CUTTER
#include "spindle_laser.h"
#if ENABLED(SPINDLE_SERVO)
#include "../module/servo.h"
#endif
#if ENABLED(I2C_AMMETER)
#include "../feature/ammeter.h"
#endif
SpindleLaser cutter;
bool SpindleLaser::enable_state; // Virtual enable state, controls enable pin if present and or apply power if > 0
uint8_t SpindleLaser::power, // Actual power output 0-255 ocr or "0 = off" > 0 = "on"
SpindleLaser::last_power_applied; // = 0 // Basic power state tracking
#if ENABLED(LASER_FEATURE)
cutter_test_pulse_t SpindleLaser::testPulse = 50; // (ms) Test fire pulse default duration
uint8_t SpindleLaser::last_block_power; // = 0 // Track power changes for dynamic inline power
feedRate_t SpindleLaser::feedrate_mm_m = 1500,
SpindleLaser::last_feedrate_mm_m; // = 0 // (mm/min) Track feedrate changes for dynamic power
#endif
bool SpindleLaser::isReadyForUI = false; // Ready to apply power setting from the UI to OCR
CutterMode SpindleLaser::cutter_mode = CUTTER_MODE_STANDARD; // Default is standard mode
constexpr cutter_cpower_t SpindleLaser::power_floor;
cutter_power_t SpindleLaser::menuPower = 0, // Power value via LCD menu in PWM, PERCENT, or RPM based on configured format set by CUTTER_POWER_UNIT.
SpindleLaser::unitPower = 0; // Unit power is in PWM, PERCENT, or RPM based on CUTTER_POWER_UNIT.
cutter_frequency_t SpindleLaser::frequency; // PWM frequency setting; range: 2K - 50K
#define SPINDLE_LASER_PWM_OFF TERN(SPINDLE_LASER_PWM_INVERT, 255, 0)
/**
* Init the cutter to a safe OFF state
*/
void SpindleLaser::init() {
#if ENABLED(SPINDLE_SERVO)
servo[SPINDLE_SERVO_NR].move(SPINDLE_SERVO_MIN);
#elif PIN_EXISTS(SPINDLE_LASER_ENA)
OUT_WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Init spindle to off
#endif
#if ENABLED(SPINDLE_CHANGE_DIR)
OUT_WRITE(SPINDLE_DIR_PIN, SPINDLE_INVERT_DIR); // Init rotation to clockwise (M3)
#endif
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
frequency = SPINDLE_LASER_FREQUENCY;
hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_FREQUENCY);
#endif
#if ENABLED(SPINDLE_LASER_USE_PWM)
SET_PWM(SPINDLE_LASER_PWM_PIN);
hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), SPINDLE_LASER_PWM_OFF); // Set to lowest speed
#endif
#if ENABLED(AIR_EVACUATION)
OUT_WRITE(AIR_EVACUATION_PIN, !AIR_EVACUATION_ACTIVE); // Init Vacuum/Blower OFF
#endif
#if ENABLED(AIR_ASSIST)
OUT_WRITE(AIR_ASSIST_PIN, !AIR_ASSIST_ACTIVE); // Init Air Assist OFF
#endif
TERN_(I2C_AMMETER, ammeter.init()); // Init I2C Ammeter
}
#if ENABLED(SPINDLE_LASER_USE_PWM)
/**
* Set the cutter PWM directly to the given ocr value
*
* @param ocr Power value
*/
void SpindleLaser::_set_ocr(const uint8_t ocr) {
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency);
#endif
hal.set_pwm_duty(pin_t(SPINDLE_LASER_PWM_PIN), ocr ^ SPINDLE_LASER_PWM_OFF);
}
void SpindleLaser::set_ocr(const uint8_t ocr) {
#if PIN_EXISTS(SPINDLE_LASER_ENA)
WRITE(SPINDLE_LASER_ENA_PIN, SPINDLE_LASER_ACTIVE_STATE); // Cutter ON
#endif
_set_ocr(ocr);
}
void SpindleLaser::ocr_off() {
#if PIN_EXISTS(SPINDLE_LASER_ENA)
WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE); // Cutter OFF
#endif
_set_ocr(0);
}
#endif // SPINDLE_LASER_USE_PWM
/**
* Apply power for Laser or Spindle
*
* Apply cutter power value for PWM, Servo, and on/off pin.
*
* @param opwr Power value. Range 0 to MAX.
*/
void SpindleLaser::apply_power(const uint8_t opwr) {
if (enabled() || opwr == 0) { // 0 check allows us to disable where no ENA pin exists
// Test and set the last power used to improve performance
if (opwr == last_power_applied) return;
last_power_applied = opwr;
// Handle PWM driven or just simple on/off
#if ENABLED(SPINDLE_LASER_USE_PWM)
if (CUTTER_UNIT_IS(RPM) && unitPower == 0)
ocr_off();
else if (ENABLED(CUTTER_POWER_RELATIVE) || enabled() || opwr == 0) {
set_ocr(opwr);
isReadyForUI = true;
}
else
ocr_off();
#elif ENABLED(SPINDLE_SERVO)
servo[SPINDLE_SERVO_NR].move(opwr);
#else
WRITE(SPINDLE_LASER_ENA_PIN, enabled() ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
isReadyForUI = true;
#endif
}
else {
#if PIN_EXISTS(SPINDLE_LASER_ENA)
WRITE(SPINDLE_LASER_ENA_PIN, !SPINDLE_LASER_ACTIVE_STATE);
#endif
isReadyForUI = false; // Only used for UI display updates.
TERN_(SPINDLE_LASER_USE_PWM, ocr_off());
}
}
#if ENABLED(SPINDLE_CHANGE_DIR)
/**
* Set the spindle direction and apply immediately
* Stop on direction change if SPINDLE_STOP_ON_DIR_CHANGE is enabled
*/
void SpindleLaser::set_reverse(const bool reverse) {
const bool dir_state = (reverse == SPINDLE_INVERT_DIR); // Forward (M3) HIGH when not inverted
if (TERN0(SPINDLE_STOP_ON_DIR_CHANGE, enabled()) && READ(SPINDLE_DIR_PIN) != dir_state) disable();
WRITE(SPINDLE_DIR_PIN, dir_state);
}
#endif
#if ENABLED(AIR_EVACUATION)
// Enable / disable Cutter Vacuum or Laser Blower motor
void SpindleLaser::air_evac_enable() { WRITE(AIR_EVACUATION_PIN, AIR_EVACUATION_ACTIVE); } // Turn ON
void SpindleLaser::air_evac_disable() { WRITE(AIR_EVACUATION_PIN, !AIR_EVACUATION_ACTIVE); } // Turn OFF
void SpindleLaser::air_evac_toggle() { TOGGLE(AIR_EVACUATION_PIN); } // Toggle state
#endif
#if ENABLED(AIR_ASSIST)
// Enable / disable air assist
void SpindleLaser::air_assist_enable() { WRITE(AIR_ASSIST_PIN, AIR_ASSIST_ACTIVE); } // Turn ON
void SpindleLaser::air_assist_disable() { WRITE(AIR_ASSIST_PIN, !AIR_ASSIST_ACTIVE); } // Turn OFF
void SpindleLaser::air_assist_toggle() { TOGGLE(AIR_ASSIST_PIN); } // Toggle state
#endif
#endif // HAS_CUTTER
| 2301_81045437/Marlin | Marlin/src/feature/spindle_laser.cpp | C++ | agpl-3.0 | 7,232 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* feature/spindle_laser.h
* Support for Laser Power or Spindle Power & Direction
*/
#include "../inc/MarlinConfig.h"
#include "spindle_laser_types.h"
#include "../libs/buzzer.h"
// Inline laser power
#include "../module/planner.h"
#define PCT_TO_PWM(X) ((X) * 255 / 100)
#define PCT_TO_SERVO(X) ((X) * 180 / 100)
// Laser/Cutter operation mode
enum CutterMode : int8_t {
CUTTER_MODE_ERROR = -1,
CUTTER_MODE_STANDARD, // M3 power is applied directly and waits for planner moves to sync.
CUTTER_MODE_CONTINUOUS, // M3 or G1/2/3 move power is controlled within planner blocks, set with 'M3 I', cleared with 'M5 I'.
CUTTER_MODE_DYNAMIC // M4 laser power is proportional to the feed rate, set with 'M4 I', cleared with 'M5 I'.
};
class SpindleLaser {
public:
static CutterMode cutter_mode;
static constexpr uint8_t pct_to_ocr(const_float_t pct) { return uint8_t(PCT_TO_PWM(pct)); }
// cpower = configured values (e.g., SPEED_POWER_MAX)
// Convert configured power range to a percentage
static constexpr cutter_cpower_t power_floor = TERN(CUTTER_POWER_RELATIVE, SPEED_POWER_MIN, 0);
static constexpr uint8_t cpwr_to_pct(const cutter_cpower_t cpwr) {
return cpwr ? round(100.0f * (cpwr - power_floor) / (SPEED_POWER_MAX - power_floor)) : 0;
}
// Convert config defines from RPM to %, angle or PWM when in Spindle mode
// and convert from PERCENT to PWM when in Laser mode
static constexpr cutter_power_t cpwr_to_upwr(const cutter_cpower_t cpwr) { // STARTUP power to Unit power
return (
#if ENABLED(SPINDLE_FEATURE)
// Spindle configured define values are in RPM
#if CUTTER_UNIT_IS(RPM)
cpwr // to same
#elif CUTTER_UNIT_IS(PERCENT)
cpwr_to_pct(cpwr) // to Percent
#elif CUTTER_UNIT_IS(SERVO)
PCT_TO_SERVO(cpwr_to_pct(cpwr)) // to SERVO angle
#else
PCT_TO_PWM(cpwr_to_pct(cpwr)) // to PWM
#endif
#else
// Laser configured define values are in Percent
#if CUTTER_UNIT_IS(PWM255)
PCT_TO_PWM(cpwr) // to PWM
#else
cpwr // to same
#endif
#endif
);
}
static constexpr cutter_power_t mpower_min() { return cpwr_to_upwr(SPEED_POWER_MIN); }
static constexpr cutter_power_t mpower_max() { return cpwr_to_upwr(SPEED_POWER_MAX); }
#if ENABLED(LASER_FEATURE)
static cutter_test_pulse_t testPulse; // (ms) Test fire pulse duration
static uint8_t last_block_power; // Track power changes for dynamic power
static feedRate_t feedrate_mm_m, last_feedrate_mm_m; // (mm/min) Track feedrate changes for dynamic power
static bool laser_feedrate_changed() {
const bool changed = last_feedrate_mm_m != feedrate_mm_m;
if (changed) last_feedrate_mm_m = feedrate_mm_m;
return changed;
}
#endif
static bool isReadyForUI; // Ready to apply power setting from the UI to OCR
static bool enable_state;
static uint8_t power,
last_power_applied; // Basic power state tracking
static cutter_frequency_t frequency; // Set PWM frequency; range: 2K-50K
static cutter_power_t menuPower, // Power as set via LCD menu in PWM, Percentage or RPM
unitPower; // Power as displayed status in PWM, Percentage or RPM
static void init();
#if ENABLED(HAL_CAN_SET_PWM_FREQ) && SPINDLE_LASER_FREQUENCY
static void refresh_frequency() { hal.set_pwm_frequency(pin_t(SPINDLE_LASER_PWM_PIN), frequency); }
#endif
// Modifying this function should update everywhere
static bool enabled(const cutter_power_t opwr) { return opwr > 0; }
static bool enabled() { return enable_state; }
static void apply_power(const uint8_t inpow);
FORCE_INLINE static void refresh() { apply_power(power); }
#if ENABLED(SPINDLE_LASER_USE_PWM)
private:
static void _set_ocr(const uint8_t ocr);
public:
static void set_ocr(const uint8_t ocr);
static void ocr_off();
/**
* Update output for power->OCR translation
*/
static uint8_t upower_to_ocr(const cutter_power_t upwr) {
return uint8_t(
#if CUTTER_UNIT_IS(PWM255)
upwr
#elif CUTTER_UNIT_IS(PERCENT)
pct_to_ocr(upwr)
#else
pct_to_ocr(cpwr_to_pct(upwr))
#endif
);
}
#endif // SPINDLE_LASER_USE_PWM
/**
* Correct power to configured range
*/
static cutter_power_t power_to_range(const cutter_power_t pwr, const uint8_t pwrUnit=_CUTTER_POWER(CUTTER_POWER_UNIT)) {
static constexpr float
min_pct = TERN(CUTTER_POWER_RELATIVE, 0, TERN(SPINDLE_FEATURE, round(100.0f * (SPEED_POWER_MIN) / (SPEED_POWER_MAX)), SPEED_POWER_MIN)),
max_pct = TERN(SPINDLE_FEATURE, 100, SPEED_POWER_MAX);
if (pwr <= 0) return 0;
cutter_power_t upwr;
switch (pwrUnit) {
case _CUTTER_POWER_PWM255: { // PWM
const uint8_t pmin = pct_to_ocr(min_pct), pmax = pct_to_ocr(max_pct);
upwr = cutter_power_t(constrain(pwr, pmin, pmax));
} break;
case _CUTTER_POWER_PERCENT: // Percent
upwr = cutter_power_t(constrain(pwr, min_pct, max_pct));
break;
case _CUTTER_POWER_RPM: // Calculate OCR value
upwr = cutter_power_t(constrain(pwr, SPEED_POWER_MIN, SPEED_POWER_MAX));
break;
default: break;
}
return upwr;
}
/**
* Enable Laser or Spindle output.
* It's important to prevent changing the power output value during inline cutter operation.
* Inline power is adjusted in the planner to support LASER_TRAP_POWER and CUTTER_MODE_DYNAMIC mode.
*
* This method accepts one of the following control states:
*
* - For CUTTER_MODE_STANDARD the cutter power is either full on/off or ocr-based and it will apply
* SPEED_POWER_STARTUP if no value is assigned.
*
* - For CUTTER_MODE_CONTINUOUS inline and power remains where last set and the cutter output enable flag is set.
*
* - CUTTER_MODE_DYNAMIC is also inline-based and it just sets the enable output flag.
*
* - For CUTTER_MODE_ERROR set the output enable_state flag directly and set power to 0 for any mode.
* This mode allows a global power shutdown action to occur.
*/
static void set_enabled(bool enable) {
switch (cutter_mode) {
case CUTTER_MODE_STANDARD:
apply_power(enable ? TERN(SPINDLE_LASER_USE_PWM, (power ?: (unitPower ? upower_to_ocr(cpwr_to_upwr(SPEED_POWER_STARTUP)) : 0)), 255) : 0);
break;
case CUTTER_MODE_CONTINUOUS:
case CUTTER_MODE_DYNAMIC:
TERN_(LASER_FEATURE, set_inline_enabled(enable));
break;
case CUTTER_MODE_ERROR: // Error mode, no enable and kill power.
enable = false;
apply_power(0);
}
#if PIN_EXISTS(SPINDLE_LASER_ENA)
WRITE(SPINDLE_LASER_ENA_PIN, enable ? SPINDLE_LASER_ACTIVE_STATE : !SPINDLE_LASER_ACTIVE_STATE);
#endif
enable_state = enable;
}
static void disable() { isReadyForUI = false; set_enabled(false); }
// Wait for spindle/laser to startup or shutdown
static void power_delay(const bool on) {
safe_delay(on ? SPINDLE_LASER_POWERUP_DELAY : SPINDLE_LASER_POWERDOWN_DELAY);
}
#if ENABLED(SPINDLE_CHANGE_DIR)
static void set_reverse(const bool reverse);
static bool is_reverse() { return READ(SPINDLE_DIR_PIN) == SPINDLE_INVERT_DIR; }
#else
static void set_reverse(const bool) {}
static bool is_reverse() { return false; }
#endif
#if ENABLED(AIR_EVACUATION)
static void air_evac_enable(); // Turn On Cutter Vacuum or Laser Blower motor
static void air_evac_disable(); // Turn Off Cutter Vacuum or Laser Blower motor
static void air_evac_toggle(); // Toggle Cutter Vacuum or Laser Blower motor
static bool air_evac_state() { // Get current state
return (READ(AIR_EVACUATION_PIN) == AIR_EVACUATION_ACTIVE);
}
#endif
#if ENABLED(AIR_ASSIST)
static void air_assist_enable(); // Turn on air assist
static void air_assist_disable(); // Turn off air assist
static void air_assist_toggle(); // Toggle air assist
static bool air_assist_state() { // Get current state
return (READ(AIR_ASSIST_PIN) == AIR_ASSIST_ACTIVE);
}
#endif
#if HAS_MARLINUI_MENU
#if ENABLED(SPINDLE_FEATURE)
static void enable_with_dir(const bool reverse) {
isReadyForUI = true;
const uint8_t ocr = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255);
if (menuPower)
power = ocr;
else
menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
unitPower = menuPower;
set_reverse(reverse);
set_enabled(true);
}
FORCE_INLINE static void enable_forward() { enable_with_dir(false); }
FORCE_INLINE static void enable_reverse() { enable_with_dir(true); }
FORCE_INLINE static void enable_same_dir() { enable_with_dir(is_reverse()); }
#endif // SPINDLE_FEATURE
#if ENABLED(SPINDLE_LASER_USE_PWM)
static void update_from_mpower() {
if (isReadyForUI) power = upower_to_ocr(menuPower);
unitPower = menuPower;
}
#endif
#if ENABLED(LASER_FEATURE)
// Toggle the laser on/off with menuPower. Apply SPEED_POWER_STARTUP if it was 0 on entry.
static void menu_set_enabled(const bool state) {
set_enabled(state);
if (state) {
if (!menuPower) menuPower = cpwr_to_upwr(SPEED_POWER_STARTUP);
power = TERN(SPINDLE_LASER_USE_PWM, upower_to_ocr(menuPower), 255);
apply_power(power);
} else
apply_power(0);
}
/**
* Test fire the laser using the testPulse ms duration
* Also fires with any PWM power that was previous set
* If not set defaults to 80% power
*/
static void test_fire_pulse() {
BUZZ(30, 3000);
cutter_mode = CUTTER_MODE_STANDARD; // Menu needs standard mode.
menu_set_enabled(true); // Laser On
delay(testPulse); // Delay for time set by user in pulse ms menu screen.
menu_set_enabled(false); // Laser Off
}
#endif // LASER_FEATURE
#endif // HAS_MARLINUI_MENU
#if ENABLED(LASER_FEATURE)
// Dynamic mode rate calculation
static uint8_t calc_dynamic_power() {
if (feedrate_mm_m > 65535) return 255; // Too fast, go always on
uint16_t rate = uint16_t(feedrate_mm_m); // 16 bits from the G-code parser float input
rate >>= 8; // Take the G-code input e.g. F40000 and shift off the lower bits to get an OCR value from 1-255
return uint8_t(rate);
}
// Inline modes of all other functions; all enable planner inline power control
static void set_inline_enabled(const bool enable) { planner.laser_inline.status.isEnabled = enable; }
// Set the power for subsequent movement blocks
static void inline_power(const cutter_power_t cpwr) {
TERN(SPINDLE_LASER_USE_PWM, power = planner.laser_inline.power = cpwr, planner.laser_inline.power = cpwr > 0 ? 255 : 0);
}
#endif // LASER_FEATURE
static void kill() { disable(); }
};
extern SpindleLaser cutter;
| 2301_81045437/Marlin | Marlin/src/feature/spindle_laser.h | C++ | agpl-3.0 | 12,219 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* feature/spindle_laser_types.h
* Support for Laser Power or Spindle Power & Direction
*/
#include "../inc/MarlinConfigPre.h"
#define MSG_CUTTER(M) _MSG_CUTTER(M)
#ifndef SPEED_POWER_INTERCEPT
#define SPEED_POWER_INTERCEPT 0
#endif
#if ENABLED(SPINDLE_FEATURE)
#define _MSG_CUTTER(M) MSG_SPINDLE_##M
#ifndef SPEED_POWER_MIN
#define SPEED_POWER_MIN 5000
#endif
#ifndef SPEED_POWER_MAX
#define SPEED_POWER_MAX 30000
#endif
#ifndef SPEED_POWER_STARTUP
#define SPEED_POWER_STARTUP 25000
#endif
#else
#define _MSG_CUTTER(M) MSG_LASER_##M
#ifndef SPEED_POWER_MIN
#define SPEED_POWER_MIN 0
#endif
#ifndef SPEED_POWER_MAX
#define SPEED_POWER_MAX 255
#endif
#ifndef SPEED_POWER_STARTUP
#define SPEED_POWER_STARTUP 255
#endif
#endif
typedef uvalue_t(SPEED_POWER_MAX) cutter_cpower_t;
#if CUTTER_UNIT_IS(RPM) && SPEED_POWER_MAX > 255
typedef uint16_t cutter_power_t;
#define CUTTER_MENU_POWER_TYPE uint16_5
#define cutter_power2str ui16tostr5rj
#else
typedef uint8_t cutter_power_t;
#if CUTTER_UNIT_IS(PERCENT)
#define CUTTER_MENU_POWER_TYPE percent_3
#define cutter_power2str pcttostrpctrj
#else
#define CUTTER_MENU_POWER_TYPE uint8
#define cutter_power2str ui8tostr3rj
#endif
#endif
typedef uint16_t cutter_frequency_t;
#if ENABLED(LASER_FEATURE)
typedef uint16_t cutter_test_pulse_t;
#define CUTTER_MENU_PULSE_TYPE uint16_3
#define CUTTER_MENU_FREQUENCY_TYPE uint16_5
#endif
| 2301_81045437/Marlin | Marlin/src/feature/spindle_laser_types.h | C | agpl-3.0 | 2,394 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#include "../lcd/marlinui.h"
#if HAS_DRIVER_SAFE_POWER_PROTECT
#include "stepper_driver_safety.h"
static uint32_t axis_plug_backward = 0;
void stepper_driver_backward_error(FSTR_P const fstr) {
SERIAL_ERROR_START();
SERIAL_ECHOLN(fstr, F(" driver is backward!"));
ui.status_printf(2, F(S_FMT S_FMT), FTOP(fstr), GET_TEXT_F(MSG_DRIVER_BACKWARD));
}
void stepper_driver_backward_check() {
OUT_WRITE(SAFE_POWER_PIN, LOW);
#define _TEST_BACKWARD(AXIS, BIT) do { \
SET_INPUT(AXIS##_ENABLE_PIN); \
OUT_WRITE(AXIS##_STEP_PIN, false); \
delay(20); \
if (READ(AXIS##_ENABLE_PIN) == LOW) { \
SBI(axis_plug_backward, BIT); \
stepper_driver_backward_error(F(STRINGIFY(AXIS))); \
} \
}while(0)
#define TEST_BACKWARD(AXIS, BIT) TERN_(HAS_##AXIS##_ENABLE, _TEST_BACKWARD(AXIS, BIT))
TEST_BACKWARD(X, 0);
TEST_BACKWARD(X2, 1);
TEST_BACKWARD(Y, 2);
TEST_BACKWARD(Y2, 3);
TEST_BACKWARD(Z, 4);
TEST_BACKWARD(Z2, 5);
TEST_BACKWARD(Z3, 6);
TEST_BACKWARD(Z4, 7);
TEST_BACKWARD(I, 8);
TEST_BACKWARD(J, 9);
TEST_BACKWARD(K, 10);
TEST_BACKWARD(U, 11);
TEST_BACKWARD(V, 12);
TEST_BACKWARD(W, 13);
TEST_BACKWARD(E0, 14);
TEST_BACKWARD(E1, 15);
TEST_BACKWARD(E2, 16);
TEST_BACKWARD(E3, 17);
TEST_BACKWARD(E4, 18);
TEST_BACKWARD(E5, 19);
TEST_BACKWARD(E6, 20);
TEST_BACKWARD(E7, 21);
if (!axis_plug_backward)
WRITE(SAFE_POWER_PIN, HIGH);
}
void stepper_driver_backward_report() {
if (!axis_plug_backward) return;
auto _report_if_backward = [](FSTR_P const axis, uint8_t bit) {
if (TEST(axis_plug_backward, bit))
stepper_driver_backward_error(axis);
};
#define REPORT_BACKWARD(axis, bit) TERN_(HAS_##axis##_ENABLE, _report_if_backward(F(STRINGIFY(axis)), bit))
REPORT_BACKWARD(X, 0);
REPORT_BACKWARD(X2, 1);
REPORT_BACKWARD(Y, 2);
REPORT_BACKWARD(Y2, 3);
REPORT_BACKWARD(Z, 4);
REPORT_BACKWARD(Z2, 5);
REPORT_BACKWARD(Z3, 6);
REPORT_BACKWARD(Z4, 7);
REPORT_BACKWARD(I, 8);
REPORT_BACKWARD(J, 9);
REPORT_BACKWARD(K, 10);
REPORT_BACKWARD(U, 11);
REPORT_BACKWARD(V, 12);
REPORT_BACKWARD(W, 13);
REPORT_BACKWARD(E0, 14);
REPORT_BACKWARD(E1, 15);
REPORT_BACKWARD(E2, 16);
REPORT_BACKWARD(E3, 17);
REPORT_BACKWARD(E4, 18);
REPORT_BACKWARD(E5, 19);
REPORT_BACKWARD(E6, 20);
REPORT_BACKWARD(E7, 21);
}
#endif // HAS_DRIVER_SAFE_POWER_PROTECT
| 2301_81045437/Marlin | Marlin/src/feature/stepper_driver_safety.cpp | C++ | agpl-3.0 | 3,334 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfigPre.h"
void stepper_driver_backward_check();
void stepper_driver_backward_report();
| 2301_81045437/Marlin | Marlin/src/feature/stepper_driver_safety.h | C | agpl-3.0 | 990 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if HAS_TRINAMIC_CONFIG
#include "tmc_util.h"
#include "../MarlinCore.h"
#include "../module/stepper/indirection.h"
#include "../module/printcounter.h"
#include "../libs/duration_t.h"
#include "../gcode/gcode.h"
#if ENABLED(TMC_DEBUG)
#include "../libs/hex_print.h"
#if ENABLED(MONITOR_DRIVER_STATUS)
static uint16_t report_tmc_status_interval; // = 0
#endif
#endif
/**
* Check for over temperature or short to ground error flags.
* Report and log warning of overtemperature condition.
* Reduce driver current in a persistent otpw condition.
* Keep track of otpw counter so we don't reduce current on a single instance,
* and so we don't repeatedly report warning before the condition is cleared.
*/
#if ENABLED(MONITOR_DRIVER_STATUS)
struct TMC_driver_data {
uint32_t drv_status;
bool is_otpw:1,
is_ot:1,
is_s2g:1,
is_error:1
#if ENABLED(TMC_DEBUG)
, is_stall:1
, is_stealth:1
, is_standstill:1
#if HAS_STALLGUARD
, sg_result_reasonable:1
#endif
#endif
;
#if ENABLED(TMC_DEBUG)
#if HAS_TMCX1X0 || HAS_TMC220x
uint8_t cs_actual;
#endif
#if HAS_STALLGUARD
uint16_t sg_result;
#endif
#endif
};
#if HAS_TMCX1X0
#if ENABLED(TMC_DEBUG)
static uint32_t get_pwm_scale(TMC2130Stepper &st) { return st.PWM_SCALE(); }
#endif
static TMC_driver_data get_driver_data(TMC2130Stepper &st) {
constexpr uint8_t OT_bp = 25, OTPW_bp = 26;
constexpr uint32_t S2G_bm = 0x18000000;
#if ENABLED(TMC_DEBUG)
constexpr uint16_t SG_RESULT_bm = 0x3FF; // 0:9
constexpr uint8_t STEALTH_bp = 14;
constexpr uint32_t CS_ACTUAL_bm = 0x1F0000; // 16:20
constexpr uint8_t STALL_GUARD_bp = 24;
constexpr uint8_t STST_bp = 31;
#endif
TMC_driver_data data;
const auto ds = data.drv_status = st.DRV_STATUS();
#ifdef __AVR__
// 8-bit optimization saves up to 70 bytes of PROGMEM per axis
uint8_t spart;
#if ENABLED(TMC_DEBUG)
data.sg_result = ds & SG_RESULT_bm;
spart = ds >> 8;
data.is_stealth = TEST(spart, STEALTH_bp - 8);
spart = ds >> 16;
data.cs_actual = spart & (CS_ACTUAL_bm >> 16);
#endif
spart = ds >> 24;
data.is_ot = TEST(spart, OT_bp - 24);
data.is_otpw = TEST(spart, OTPW_bp - 24);
data.is_s2g = !!(spart & (S2G_bm >> 24));
#if ENABLED(TMC_DEBUG)
data.is_stall = TEST(spart, STALL_GUARD_bp - 24);
data.is_standstill = TEST(spart, STST_bp - 24);
data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill
#endif
#else // !__AVR__
data.is_ot = TEST(ds, OT_bp);
data.is_otpw = TEST(ds, OTPW_bp);
data.is_s2g = !!(ds & S2G_bm);
#if ENABLED(TMC_DEBUG)
constexpr uint8_t CS_ACTUAL_sb = 16;
data.sg_result = ds & SG_RESULT_bm;
data.is_stealth = TEST(ds, STEALTH_bp);
data.cs_actual = (ds & CS_ACTUAL_bm) >> CS_ACTUAL_sb;
data.is_stall = TEST(ds, STALL_GUARD_bp);
data.is_standstill = TEST(ds, STST_bp);
data.sg_result_reasonable = !data.is_standstill; // sg_result has no reasonable meaning while standstill
#endif
#endif // !__AVR__
return data;
}
#endif // HAS_TMCX1X0
#if HAS_TMC220x
#if ENABLED(TMC_DEBUG)
static uint32_t get_pwm_scale(TMC2208Stepper &st) { return st.pwm_scale_sum(); }
#endif
static TMC_driver_data get_driver_data(TMC2208Stepper &st) {
constexpr uint8_t OTPW_bp = 0, OT_bp = 1;
constexpr uint8_t S2G_bm = 0b111100; // 2..5
TMC_driver_data data;
const auto ds = data.drv_status = st.DRV_STATUS();
data.is_otpw = TEST(ds, OTPW_bp);
data.is_ot = TEST(ds, OT_bp);
data.is_s2g = !!(ds & S2G_bm);
#if ENABLED(TMC_DEBUG)
constexpr uint32_t CS_ACTUAL_bm = 0x1F0000; // 16:20
constexpr uint8_t STEALTH_bp = 30, STST_bp = 31;
#ifdef __AVR__
// 8-bit optimization saves up to 12 bytes of PROGMEM per axis
uint8_t spart = ds >> 16;
data.cs_actual = spart & (CS_ACTUAL_bm >> 16);
spart = ds >> 24;
data.is_stealth = TEST(spart, STEALTH_bp - 24);
data.is_standstill = TEST(spart, STST_bp - 24);
#else
constexpr uint8_t CS_ACTUAL_sb = 16;
data.cs_actual = (ds & CS_ACTUAL_bm) >> CS_ACTUAL_sb;
data.is_stealth = TEST(ds, STEALTH_bp);
data.is_standstill = TEST(ds, STST_bp);
#endif
TERN_(HAS_STALLGUARD, data.sg_result_reasonable = false);
#endif
return data;
}
#endif // TMC2208 || TMC2209
#if HAS_DRIVER(TMC2660)
#if ENABLED(TMC_DEBUG)
static uint32_t get_pwm_scale(TMC2660Stepper) { return 0; }
#endif
static TMC_driver_data get_driver_data(TMC2660Stepper &st) {
constexpr uint8_t OT_bp = 1, OTPW_bp = 2;
constexpr uint8_t S2G_bm = 0b11000;
TMC_driver_data data;
const auto ds = data.drv_status = st.DRVSTATUS();
uint8_t spart = ds & 0xFF;
data.is_otpw = TEST(spart, OTPW_bp);
data.is_ot = TEST(spart, OT_bp);
data.is_s2g = !!(ds & S2G_bm);
#if ENABLED(TMC_DEBUG)
constexpr uint8_t STALL_GUARD_bp = 0;
constexpr uint8_t STST_bp = 7, SG_RESULT_sp = 10;
constexpr uint32_t SG_RESULT_bm = 0xFFC00; // 10:19
data.is_stall = TEST(spart, STALL_GUARD_bp);
data.is_standstill = TEST(spart, STST_bp);
data.sg_result = (ds & SG_RESULT_bm) >> SG_RESULT_sp;
data.sg_result_reasonable = true;
#endif
return data;
}
#endif // TMC2660
#if ENABLED(STOP_ON_ERROR)
void report_driver_error(const TMC_driver_data &data) {
SERIAL_ECHOPGM(" driver error detected: 0x");
SERIAL_PRINTLN(data.drv_status, PrintBase::Hex);
if (data.is_ot) SERIAL_ECHOLNPGM("overtemperature");
if (data.is_s2g) SERIAL_ECHOLNPGM("coil short circuit");
TERN_(TMC_DEBUG, tmc_report_all());
kill(F("Driver error"));
}
#endif
template<typename TMC>
void report_driver_otpw(TMC &st) {
MString<13> timestamp;
duration_t elapsed = print_job_timer.duration();
const bool has_days = (elapsed.value > 60*60*24L);
(void)elapsed.toDigital(×tamp, has_days);
TSS('\n', timestamp, F(": ")).echo();
st.printLabel();
SString<50>(F(" driver overtemperature warning! ("), st.getMilliamps(), F("mA)")).echoln();
}
template<typename TMC>
void report_polled_driver_data(TMC &st, const TMC_driver_data &data) {
const uint32_t pwm_scale = get_pwm_scale(st);
st.printLabel();
SString<60> report(':', pwm_scale);
#if ENABLED(TMC_DEBUG)
#if HAS_TMCX1X0 || HAS_TMC220x
report.append('/', data.cs_actual);
#endif
#if HAS_STALLGUARD
report += '/';
if (data.sg_result_reasonable)
report += data.sg_result;
else
report += '-';
#endif
#endif
report += '|';
if (st.error_count) report += 'E'; // Error
if (data.is_ot) report += 'O'; // Over-temperature
if (data.is_otpw) report += 'W'; // over-temperature pre-Warning
#if ENABLED(TMC_DEBUG)
if (data.is_stall) report += 'G'; // stallGuard
if (data.is_stealth) report += 'T'; // stealthChop
if (data.is_standstill) report += 'I'; // standstIll
#endif
if (st.flag_otpw) report += 'F'; // otpw Flag
report += '|';
if (st.otpw_count > 0) report += st.otpw_count;
report += '\t';
report.echo();
}
#if CURRENT_STEP_DOWN > 0
template<typename TMC>
void step_current_down(TMC &st) {
if (st.isEnabled()) {
const uint16_t I_rms = st.getMilliamps() - (CURRENT_STEP_DOWN);
if (I_rms > 50) {
st.rms_current(I_rms);
#if ENABLED(REPORT_CURRENT_CHANGE)
st.printLabel();
SERIAL_ECHOLNPGM(" current decreased to ", I_rms);
#endif
}
}
}
#else
#define step_current_down(...)
#endif
template<typename TMC>
bool monitor_tmc_driver(TMC &st, const bool need_update_error_counters, const bool need_debug_reporting) {
TMC_driver_data data = get_driver_data(st);
if (data.drv_status == 0xFFFFFFFF || data.drv_status == 0x0) return false;
bool should_step_down = false;
if (need_update_error_counters) {
if (data.is_ot | data.is_s2g) st.error_count++;
else if (st.error_count > 0) st.error_count--;
#if ENABLED(STOP_ON_ERROR)
if (st.error_count >= 10) {
SERIAL_EOL();
st.printLabel();
report_driver_error(data);
}
#endif
// Report if a warning was triggered
if (data.is_otpw && st.otpw_count == 0)
report_driver_otpw(st);
#if CURRENT_STEP_DOWN > 0
// Decrease current if is_otpw is true and driver is enabled and there's been more than 4 warnings
if (data.is_otpw && st.otpw_count > 4 && st.isEnabled())
should_step_down = true;
#endif
if (data.is_otpw) {
st.otpw_count++;
st.flag_otpw = true;
}
else if (st.otpw_count > 0) st.otpw_count = 0;
}
#if ENABLED(TMC_DEBUG)
if (need_debug_reporting) report_polled_driver_data(st, data);
#endif
return should_step_down;
}
void monitor_tmc_drivers() {
const millis_t ms = millis();
// Poll TMC drivers at the configured interval
static millis_t next_poll = 0;
const bool need_update_error_counters = ELAPSED(ms, next_poll);
if (need_update_error_counters) next_poll = ms + MONITOR_DRIVER_STATUS_INTERVAL_MS;
// Also poll at intervals for debugging
#if ENABLED(TMC_DEBUG)
static millis_t next_debug_reporting = 0;
const bool need_debug_reporting = report_tmc_status_interval && ELAPSED(ms, next_debug_reporting);
if (need_debug_reporting) next_debug_reporting = ms + report_tmc_status_interval;
#else
constexpr bool need_debug_reporting = false;
#endif
if (need_update_error_counters || need_debug_reporting) {
#if AXIS_IS_TMC(X) || AXIS_IS_TMC(X2)
{
bool result = false;
#if AXIS_IS_TMC(X)
if (monitor_tmc_driver(stepperX, need_update_error_counters, need_debug_reporting)) result = true;
#endif
#if AXIS_IS_TMC(X2)
if (monitor_tmc_driver(stepperX2, need_update_error_counters, need_debug_reporting)) result = true;
#endif
if (result) {
#if AXIS_IS_TMC(X)
step_current_down(stepperX);
#endif
#if AXIS_IS_TMC(X2)
step_current_down(stepperX2);
#endif
}
}
#endif
#if AXIS_IS_TMC(Y) || AXIS_IS_TMC(Y2)
{
bool result = false;
#if AXIS_IS_TMC(Y)
if (monitor_tmc_driver(stepperY, need_update_error_counters, need_debug_reporting)) result = true;
#endif
#if AXIS_IS_TMC(Y2)
if (monitor_tmc_driver(stepperY2, need_update_error_counters, need_debug_reporting)) result = true;
#endif
if (result) {
#if AXIS_IS_TMC(Y)
step_current_down(stepperY);
#endif
#if AXIS_IS_TMC(Y2)
step_current_down(stepperY2);
#endif
}
}
#endif
#if AXIS_IS_TMC(Z) || AXIS_IS_TMC(Z2) || AXIS_IS_TMC(Z3) || AXIS_IS_TMC(Z4)
{
bool result = false;
#if AXIS_IS_TMC(Z)
if (monitor_tmc_driver(stepperZ, need_update_error_counters, need_debug_reporting)) result = true;
#endif
#if AXIS_IS_TMC(Z2)
if (monitor_tmc_driver(stepperZ2, need_update_error_counters, need_debug_reporting)) result = true;
#endif
#if AXIS_IS_TMC(Z3)
if (monitor_tmc_driver(stepperZ3, need_update_error_counters, need_debug_reporting)) result = true;
#endif
#if AXIS_IS_TMC(Z4)
if (monitor_tmc_driver(stepperZ4, need_update_error_counters, need_debug_reporting)) result = true;
#endif
if (result) {
#if AXIS_IS_TMC(Z)
step_current_down(stepperZ);
#endif
#if AXIS_IS_TMC(Z2)
step_current_down(stepperZ2);
#endif
#if AXIS_IS_TMC(Z3)
step_current_down(stepperZ3);
#endif
#if AXIS_IS_TMC(Z4)
step_current_down(stepperZ4);
#endif
}
}
#endif
#if AXIS_IS_TMC(I)
if (monitor_tmc_driver(stepperI, need_update_error_counters, need_debug_reporting))
step_current_down(stepperI);
#endif
#if AXIS_IS_TMC(J)
if (monitor_tmc_driver(stepperJ, need_update_error_counters, need_debug_reporting))
step_current_down(stepperJ);
#endif
#if AXIS_IS_TMC(K)
if (monitor_tmc_driver(stepperK, need_update_error_counters, need_debug_reporting))
step_current_down(stepperK);
#endif
#if AXIS_IS_TMC(U)
if (monitor_tmc_driver(stepperU, need_update_error_counters, need_debug_reporting))
step_current_down(stepperU);
#endif
#if AXIS_IS_TMC(V)
if (monitor_tmc_driver(stepperV, need_update_error_counters, need_debug_reporting))
step_current_down(stepperV);
#endif
#if AXIS_IS_TMC(W)
if (monitor_tmc_driver(stepperW, need_update_error_counters, need_debug_reporting))
step_current_down(stepperW);
#endif
#if AXIS_IS_TMC(E0)
(void)monitor_tmc_driver(stepperE0, need_update_error_counters, need_debug_reporting);
#endif
#if AXIS_IS_TMC(E1)
(void)monitor_tmc_driver(stepperE1, need_update_error_counters, need_debug_reporting);
#endif
#if AXIS_IS_TMC(E2)
(void)monitor_tmc_driver(stepperE2, need_update_error_counters, need_debug_reporting);
#endif
#if AXIS_IS_TMC(E3)
(void)monitor_tmc_driver(stepperE3, need_update_error_counters, need_debug_reporting);
#endif
#if AXIS_IS_TMC(E4)
(void)monitor_tmc_driver(stepperE4, need_update_error_counters, need_debug_reporting);
#endif
#if AXIS_IS_TMC(E5)
(void)monitor_tmc_driver(stepperE5, need_update_error_counters, need_debug_reporting);
#endif
#if AXIS_IS_TMC(E6)
(void)monitor_tmc_driver(stepperE6, need_update_error_counters, need_debug_reporting);
#endif
#if AXIS_IS_TMC(E7)
(void)monitor_tmc_driver(stepperE7, need_update_error_counters, need_debug_reporting);
#endif
if (TERN0(TMC_DEBUG, need_debug_reporting)) SERIAL_EOL();
}
}
#endif // MONITOR_DRIVER_STATUS
#if ENABLED(TMC_DEBUG)
/**
* M122 [S<0|1>] [Pnnn] Enable periodic status reports
*/
#if ENABLED(MONITOR_DRIVER_STATUS)
void tmc_set_report_interval(const uint16_t update_interval) {
if ((report_tmc_status_interval = update_interval))
SERIAL_ECHOLNPGM("axis:pwm_scale"
TERN_(HAS_STEALTHCHOP, "/curr_scale")
TERN_(HAS_STALLGUARD, "/mech_load")
"|flags|warncount"
);
}
#endif
enum TMC_debug_enum : char {
TMC_CODES,
TMC_UART_ADDR,
TMC_ENABLED,
TMC_CURRENT,
TMC_RMS_CURRENT,
TMC_MAX_CURRENT,
TMC_IRUN,
TMC_IHOLD,
TMC_GLOBAL_SCALER,
TMC_CS_ACTUAL,
TMC_PWM_SCALE,
TMC_PWM_SCALE_SUM,
TMC_PWM_SCALE_AUTO,
TMC_PWM_OFS_AUTO,
TMC_PWM_GRAD_AUTO,
TMC_VSENSE,
TMC_STEALTHCHOP,
TMC_MICROSTEPS,
TMC_TSTEP,
TMC_TPWMTHRS,
TMC_TPWMTHRS_MMS,
TMC_OTPW,
TMC_OTPW_TRIGGERED,
TMC_TOFF,
TMC_TBL,
TMC_HEND,
TMC_HSTRT,
TMC_SGT,
TMC_MSCNT,
TMC_INTERPOLATE
};
enum TMC_drv_status_enum : char {
TMC_DRV_CODES,
TMC_STST,
TMC_OLB,
TMC_OLA,
TMC_S2GB,
TMC_S2GA,
TMC_DRV_OTPW,
TMC_OT,
TMC_STALLGUARD,
TMC_DRV_CS_ACTUAL,
TMC_FSACTIVE,
TMC_SG_RESULT,
TMC_DRV_STATUS_HEX,
TMC_T157,
TMC_T150,
TMC_T143,
TMC_T120,
TMC_STEALTH,
TMC_S2VSB,
TMC_S2VSA
};
enum TMC_get_registers_enum : char {
TMC_AXIS_CODES,
TMC_GET_GCONF,
TMC_GET_IHOLD_IRUN,
TMC_GET_GSTAT,
TMC_GET_IOIN,
TMC_GET_TPOWERDOWN,
TMC_GET_TSTEP,
TMC_GET_TPWMTHRS,
TMC_GET_TCOOLTHRS,
TMC_GET_THIGH,
TMC_GET_CHOPCONF,
TMC_GET_COOLCONF,
TMC_GET_PWMCONF,
TMC_GET_PWM_SCALE,
TMC_GET_DRV_STATUS,
TMC_GET_DRVCONF,
TMC_GET_DRVCTRL,
TMC_GET_DRVSTATUS,
TMC_GET_SGCSCONF,
TMC_GET_SMARTEN
};
template<class TMC>
static void print_vsense(TMC &st) { SERIAL_ECHO(st.vsense() ? F("1=.18") : F("0=.325")); }
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC5130)
static void _tmc_status(TMC2130Stepper &st, const TMC_debug_enum i) {
switch (i) {
case TMC_PWM_SCALE: SERIAL_ECHO(st.PWM_SCALE()); break;
case TMC_SGT: SERIAL_ECHO(st.sgt()); break;
case TMC_STEALTHCHOP: serialprint_truefalse(st.en_pwm_mode()); break;
case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
default: break;
}
}
#endif
#if HAS_TMCX1X0
static void _tmc_parse_drv_status(TMC2130Stepper &st, const TMC_drv_status_enum i) {
switch (i) {
case TMC_STALLGUARD: if (st.stallguard()) SERIAL_CHAR('*'); break;
case TMC_SG_RESULT: SERIAL_ECHO(st.sg_result()); break;
case TMC_FSACTIVE: if (st.fsactive()) SERIAL_CHAR('*'); break;
case TMC_DRV_CS_ACTUAL: SERIAL_ECHO(st.cs_actual()); break;
default: break;
}
}
#endif
#if HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5160)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void print_vsense(TMCMarlin<TMC2160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &) { }
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void print_vsense(TMCMarlin<TMC5160Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &) { }
static void _tmc_status(TMC2160Stepper &st, const TMC_debug_enum i) {
switch (i) {
case TMC_PWM_SCALE: SERIAL_ECHO(st.PWM_SCALE()); break;
case TMC_SGT: SERIAL_ECHO(st.sgt()); break;
case TMC_STEALTHCHOP: serialprint_truefalse(st.en_pwm_mode()); break;
case TMC_GLOBAL_SCALER:
{
const uint16_t value = st.GLOBAL_SCALER();
SERIAL_ECHO(value ?: 256);
SERIAL_ECHOPGM("/256");
}
break;
case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
default: break;
}
}
#endif
#if HAS_TMC220x
static void _tmc_status(TMC2208Stepper &st, const TMC_debug_enum i) {
switch (i) {
case TMC_PWM_SCALE_SUM: SERIAL_ECHO(st.pwm_scale_sum()); break;
case TMC_PWM_SCALE_AUTO: SERIAL_ECHO(st.pwm_scale_auto()); break;
case TMC_PWM_OFS_AUTO: SERIAL_ECHO(st.pwm_ofs_auto()); break;
case TMC_PWM_GRAD_AUTO: SERIAL_ECHO(st.pwm_grad_auto()); break;
case TMC_STEALTHCHOP: serialprint_truefalse(st.stealth()); break;
case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
default: break;
}
}
#if HAS_DRIVER(TMC2209)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
static void _tmc_status(TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const TMC_debug_enum i) {
switch (i) {
case TMC_SGT: SERIAL_ECHO(st.SGTHRS()); break;
case TMC_UART_ADDR: SERIAL_ECHO(st.get_address()); break;
default:
TMC2208Stepper *parent = &st;
_tmc_status(*parent, i);
break;
}
}
#endif
static void _tmc_parse_drv_status(TMC2208Stepper &st, const TMC_drv_status_enum i) {
switch (i) {
case TMC_T157: if (st.t157()) SERIAL_CHAR('*'); break;
case TMC_T150: if (st.t150()) SERIAL_CHAR('*'); break;
case TMC_T143: if (st.t143()) SERIAL_CHAR('*'); break;
case TMC_T120: if (st.t120()) SERIAL_CHAR('*'); break;
case TMC_S2VSA: if (st.s2vsa()) SERIAL_CHAR('*'); break;
case TMC_S2VSB: if (st.s2vsb()) SERIAL_CHAR('*'); break;
case TMC_DRV_CS_ACTUAL: SERIAL_ECHO(st.cs_actual()); break;
default: break;
}
}
#if HAS_DRIVER(TMC2209)
static void _tmc_parse_drv_status(TMC2209Stepper &st, const TMC_drv_status_enum i) {
switch (i) {
case TMC_SG_RESULT: SERIAL_ECHO(st.SG_RESULT()); break;
default: _tmc_parse_drv_status(static_cast<TMC2208Stepper &>(st), i); break;
}
}
#endif
#endif
#if HAS_DRIVER(TMC2660)
static void _tmc_parse_drv_status(TMC2660Stepper, const TMC_drv_status_enum) { }
static void _tmc_status(TMC2660Stepper &st, const TMC_debug_enum i) {
switch (i) {
case TMC_INTERPOLATE: serialprint_truefalse(st.intpol()); break;
default: break;
}
}
#endif
template <typename TMC>
static void tmc_status(TMC &st, const TMC_debug_enum i) {
SERIAL_CHAR('\t');
switch (i) {
case TMC_CODES: st.printLabel(); break;
case TMC_ENABLED: serialprint_truefalse(st.isEnabled()); break;
case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
case TMC_RMS_CURRENT: SERIAL_ECHO(st.rms_current()); break;
case TMC_MAX_CURRENT: SERIAL_ECHO(p_float_t(st.rms_current() * 1.41, 0)); break;
case TMC_IRUN:
SERIAL_ECHO(st.irun());
SERIAL_ECHOPGM("/31");
break;
case TMC_IHOLD:
SERIAL_ECHO(st.ihold());
SERIAL_ECHOPGM("/31");
break;
case TMC_CS_ACTUAL:
SERIAL_ECHO(st.cs_actual());
SERIAL_ECHOPGM("/31");
break;
case TMC_VSENSE: print_vsense(st); break;
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
case TMC_TSTEP: {
const uint32_t tstep_value = st.TSTEP();
if (tstep_value != 0xFFFFF) SERIAL_ECHO(tstep_value); else SERIAL_ECHOPGM("max");
} break;
#if ENABLED(HYBRID_THRESHOLD)
case TMC_TPWMTHRS: SERIAL_ECHO(uint32_t(st.TPWMTHRS())); break;
case TMC_TPWMTHRS_MMS: {
const uint32_t tpwmthrs_val = st.get_pwm_thrs();
if (tpwmthrs_val) SERIAL_ECHO(tpwmthrs_val); else SERIAL_CHAR('-');
} break;
#endif
case TMC_OTPW: serialprint_truefalse(st.otpw()); break;
#if ENABLED(MONITOR_DRIVER_STATUS)
case TMC_OTPW_TRIGGERED: serialprint_truefalse(st.getOTPW()); break;
#endif
case TMC_TOFF: SERIAL_ECHO(st.toff()); break;
case TMC_TBL: SERIAL_ECHO(st.blank_time()); break;
case TMC_HEND: SERIAL_ECHO(st.hysteresis_end()); break;
case TMC_HSTRT: SERIAL_ECHO(st.hysteresis_start()); break;
case TMC_MSCNT: SERIAL_ECHO(st.get_microstep_counter()); break;
default: _tmc_status(st, i); break;
}
}
#if HAS_DRIVER(TMC2660)
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
void tmc_status(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const TMC_debug_enum i) {
SERIAL_CHAR('\t');
switch (i) {
case TMC_CODES: st.printLabel(); break;
case TMC_ENABLED: serialprint_truefalse(st.isEnabled()); break;
case TMC_CURRENT: SERIAL_ECHO(st.getMilliamps()); break;
case TMC_RMS_CURRENT: SERIAL_ECHO(st.rms_current()); break;
case TMC_MAX_CURRENT: SERIAL_ECHO(p_float_t(st.rms_current() * 1.41, 0)); break;
case TMC_IRUN:
SERIAL_ECHO(st.cs());
SERIAL_ECHOPGM("/31");
break;
case TMC_VSENSE: SERIAL_ECHO(st.vsense() ? F("1=.165") : F("0=.310")); break;
case TMC_MICROSTEPS: SERIAL_ECHO(st.microsteps()); break;
//case TMC_OTPW: serialprint_truefalse(st.otpw()); break;
//case TMC_OTPW_TRIGGERED: serialprint_truefalse(st.getOTPW()); break;
case TMC_SGT: SERIAL_ECHO(st.sgt()); break;
case TMC_TOFF: SERIAL_ECHO(st.toff()); break;
case TMC_TBL: SERIAL_ECHO(st.blank_time()); break;
case TMC_HEND: SERIAL_ECHO(st.hysteresis_end()); break;
case TMC_HSTRT: SERIAL_ECHO(st.hysteresis_start()); break;
default: break;
}
}
#endif
template <typename TMC>
static void tmc_parse_drv_status(TMC &st, const TMC_drv_status_enum i) {
SERIAL_CHAR('\t');
switch (i) {
case TMC_DRV_CODES: st.printLabel(); break;
case TMC_STST: if (!st.stst()) SERIAL_CHAR('*'); break;
case TMC_OLB: if (st.olb()) SERIAL_CHAR('*'); break;
case TMC_OLA: if (st.ola()) SERIAL_CHAR('*'); break;
case TMC_S2GB: if (st.s2gb()) SERIAL_CHAR('*'); break;
case TMC_S2GA: if (st.s2ga()) SERIAL_CHAR('*'); break;
case TMC_DRV_OTPW: if (st.otpw()) SERIAL_CHAR('*'); break;
case TMC_OT: if (st.ot()) SERIAL_CHAR('*'); break;
case TMC_DRV_STATUS_HEX: {
const uint32_t drv_status = st.DRV_STATUS();
SERIAL_CHAR('\t');
st.printLabel();
SERIAL_CHAR('\t');
print_hex_long(drv_status, ':', true);
if (drv_status == 0xFFFFFFFF || drv_status == 0) SERIAL_ECHOPGM("\t Bad response!");
SERIAL_EOL();
break;
}
default: _tmc_parse_drv_status(st, i); break;
}
}
static void tmc_debug_loop(const TMC_debug_enum n OPTARGS_LOGICAL(const bool)) {
if (TERN0(HAS_X_AXIS, x)) {
#if AXIS_IS_TMC(X)
tmc_status(stepperX, n);
#endif
#if AXIS_IS_TMC(X2)
tmc_status(stepperX2, n);
#endif
}
if (TERN0(HAS_Y_AXIS, y)) {
#if AXIS_IS_TMC(Y)
tmc_status(stepperY, n);
#endif
#if AXIS_IS_TMC(Y2)
tmc_status(stepperY2, n);
#endif
}
if (TERN0(HAS_Z_AXIS, z)) {
#if AXIS_IS_TMC(Z)
tmc_status(stepperZ, n);
#endif
#if AXIS_IS_TMC(Z2)
tmc_status(stepperZ2, n);
#endif
#if AXIS_IS_TMC(Z3)
tmc_status(stepperZ3, n);
#endif
#if AXIS_IS_TMC(Z4)
tmc_status(stepperZ4, n);
#endif
}
#if AXIS_IS_TMC(I)
if (i) tmc_status(stepperI, n);
#endif
#if AXIS_IS_TMC(J)
if (j) tmc_status(stepperJ, n);
#endif
#if AXIS_IS_TMC(K)
if (k) tmc_status(stepperK, n);
#endif
#if AXIS_IS_TMC(U)
if (u) tmc_status(stepperU, n);
#endif
#if AXIS_IS_TMC(V)
if (v) tmc_status(stepperV, n);
#endif
#if AXIS_IS_TMC(W)
if (w) tmc_status(stepperW, n);
#endif
if (TERN0(HAS_EXTRUDERS, e)) {
#if AXIS_IS_TMC(E0)
tmc_status(stepperE0, n);
#endif
#if AXIS_IS_TMC(E1)
tmc_status(stepperE1, n);
#endif
#if AXIS_IS_TMC(E2)
tmc_status(stepperE2, n);
#endif
#if AXIS_IS_TMC(E3)
tmc_status(stepperE3, n);
#endif
#if AXIS_IS_TMC(E4)
tmc_status(stepperE4, n);
#endif
#if AXIS_IS_TMC(E5)
tmc_status(stepperE5, n);
#endif
#if AXIS_IS_TMC(E6)
tmc_status(stepperE6, n);
#endif
#if AXIS_IS_TMC(E7)
tmc_status(stepperE7, n);
#endif
}
SERIAL_EOL();
}
static void drv_status_loop(const TMC_drv_status_enum n OPTARGS_LOGICAL(const bool)) {
if (TERN0(HAS_X_AXIS, x)) {
#if AXIS_IS_TMC(X)
tmc_parse_drv_status(stepperX, n);
#endif
#if AXIS_IS_TMC(X2)
tmc_parse_drv_status(stepperX2, n);
#endif
}
if (TERN0(HAS_Y_AXIS, y)) {
#if AXIS_IS_TMC(Y)
tmc_parse_drv_status(stepperY, n);
#endif
#if AXIS_IS_TMC(Y2)
tmc_parse_drv_status(stepperY2, n);
#endif
}
if (TERN0(HAS_Z_AXIS, z)) {
#if AXIS_IS_TMC(Z)
tmc_parse_drv_status(stepperZ, n);
#endif
#if AXIS_IS_TMC(Z2)
tmc_parse_drv_status(stepperZ2, n);
#endif
#if AXIS_IS_TMC(Z3)
tmc_parse_drv_status(stepperZ3, n);
#endif
#if AXIS_IS_TMC(Z4)
tmc_parse_drv_status(stepperZ4, n);
#endif
}
#if AXIS_IS_TMC(I)
if (i) tmc_parse_drv_status(stepperI, n);
#endif
#if AXIS_IS_TMC(J)
if (j) tmc_parse_drv_status(stepperJ, n);
#endif
#if AXIS_IS_TMC(K)
if (k) tmc_parse_drv_status(stepperK, n);
#endif
#if AXIS_IS_TMC(U)
if (u) tmc_parse_drv_status(stepperU, n);
#endif
#if AXIS_IS_TMC(V)
if (v) tmc_parse_drv_status(stepperV, n);
#endif
#if AXIS_IS_TMC(W)
if (w) tmc_parse_drv_status(stepperW, n);
#endif
if (TERN0(HAS_EXTRUDERS, e)) {
#if AXIS_IS_TMC(E0)
tmc_parse_drv_status(stepperE0, n);
#endif
#if AXIS_IS_TMC(E1)
tmc_parse_drv_status(stepperE1, n);
#endif
#if AXIS_IS_TMC(E2)
tmc_parse_drv_status(stepperE2, n);
#endif
#if AXIS_IS_TMC(E3)
tmc_parse_drv_status(stepperE3, n);
#endif
#if AXIS_IS_TMC(E4)
tmc_parse_drv_status(stepperE4, n);
#endif
#if AXIS_IS_TMC(E5)
tmc_parse_drv_status(stepperE5, n);
#endif
#if AXIS_IS_TMC(E6)
tmc_parse_drv_status(stepperE6, n);
#endif
#if AXIS_IS_TMC(E7)
tmc_parse_drv_status(stepperE7, n);
#endif
}
SERIAL_EOL();
}
/**
* M122 report functions
*/
void tmc_report_all(LOGICAL_AXIS_ARGS(const bool)) {
#define TMC_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_debug_loop(ITEM OPTARGS_LOGICAL()); }while(0)
#define DRV_REPORT(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); drv_status_loop(ITEM OPTARGS_LOGICAL()); }while(0)
TMC_REPORT("\t", TMC_CODES);
#if HAS_DRIVER(TMC2209)
TMC_REPORT("Address\t", TMC_UART_ADDR);
#endif
TMC_REPORT("Enabled\t", TMC_ENABLED);
TMC_REPORT("Set current", TMC_CURRENT);
TMC_REPORT("RMS current", TMC_RMS_CURRENT);
TMC_REPORT("MAX current", TMC_MAX_CURRENT);
TMC_REPORT("Run current", TMC_IRUN);
TMC_REPORT("Hold current", TMC_IHOLD);
#if HAS_DRIVER(TMC2160) || HAS_DRIVER(TMC5160)
TMC_REPORT("Global scaler", TMC_GLOBAL_SCALER);
#endif
TMC_REPORT("CS actual", TMC_CS_ACTUAL);
TMC_REPORT("PWM scale", TMC_PWM_SCALE);
#if HAS_DRIVER(TMC2130) || HAS_DRIVER(TMC2224) || HAS_DRIVER(TMC2660) || HAS_TMC220x
TMC_REPORT("vsense\t", TMC_VSENSE);
#endif
TMC_REPORT("stealthChop", TMC_STEALTHCHOP);
TMC_REPORT("msteps\t", TMC_MICROSTEPS);
TMC_REPORT("interp\t", TMC_INTERPOLATE);
TMC_REPORT("tstep\t", TMC_TSTEP);
TMC_REPORT("PWM thresh.", TMC_TPWMTHRS);
TMC_REPORT("[mm/s]\t", TMC_TPWMTHRS_MMS);
TMC_REPORT("OT prewarn", TMC_OTPW);
#if ENABLED(MONITOR_DRIVER_STATUS)
TMC_REPORT("triggered\n OTP\t", TMC_OTPW_TRIGGERED);
#endif
#if HAS_TMC220x
TMC_REPORT("pwm scale sum", TMC_PWM_SCALE_SUM);
TMC_REPORT("pwm scale auto", TMC_PWM_SCALE_AUTO);
TMC_REPORT("pwm offset auto", TMC_PWM_OFS_AUTO);
TMC_REPORT("pwm grad auto", TMC_PWM_GRAD_AUTO);
#endif
TMC_REPORT("off time", TMC_TOFF);
TMC_REPORT("blank time", TMC_TBL);
TMC_REPORT("hysteresis\n -end\t", TMC_HEND);
TMC_REPORT(" -start\t", TMC_HSTRT);
TMC_REPORT("Stallguard thrs", TMC_SGT);
TMC_REPORT("uStep count", TMC_MSCNT);
DRV_REPORT("DRVSTATUS", TMC_DRV_CODES);
#if HAS_TMCX1X0 || HAS_TMC220x
DRV_REPORT("sg_result", TMC_SG_RESULT);
#endif
#if HAS_TMCX1X0
DRV_REPORT("stallguard", TMC_STALLGUARD);
DRV_REPORT("fsactive", TMC_FSACTIVE);
#endif
DRV_REPORT("stst\t", TMC_STST);
DRV_REPORT("olb\t", TMC_OLB);
DRV_REPORT("ola\t", TMC_OLA);
DRV_REPORT("s2gb\t", TMC_S2GB);
DRV_REPORT("s2ga\t", TMC_S2GA);
DRV_REPORT("otpw\t", TMC_DRV_OTPW);
DRV_REPORT("ot\t", TMC_OT);
#if HAS_TMC220x
DRV_REPORT("157C\t", TMC_T157);
DRV_REPORT("150C\t", TMC_T150);
DRV_REPORT("143C\t", TMC_T143);
DRV_REPORT("120C\t", TMC_T120);
DRV_REPORT("s2vsa\t", TMC_S2VSA);
DRV_REPORT("s2vsb\t", TMC_S2VSB);
#endif
DRV_REPORT("Driver registers:\n",TMC_DRV_STATUS_HEX);
SERIAL_EOL();
}
#define PRINT_TMC_REGISTER(REG_CASE) case TMC_GET_##REG_CASE: print_hex_long(st.REG_CASE(), ':'); break
#if HAS_TMCX1X0
static void tmc_get_ic_registers(TMC2130Stepper &st, const TMC_get_registers_enum i) {
switch (i) {
PRINT_TMC_REGISTER(TCOOLTHRS);
PRINT_TMC_REGISTER(THIGH);
PRINT_TMC_REGISTER(COOLCONF);
default: SERIAL_CHAR('\t'); break;
}
}
#endif
#if HAS_TMC220x
static void tmc_get_ic_registers(TMC2208Stepper, const TMC_get_registers_enum) { SERIAL_CHAR('\t'); }
#endif
#if HAS_TRINAMIC_CONFIG
template<class TMC>
static void tmc_get_registers(TMC &st, const TMC_get_registers_enum i) {
switch (i) {
case TMC_AXIS_CODES: SERIAL_CHAR('\t'); st.printLabel(); break;
PRINT_TMC_REGISTER(GCONF);
PRINT_TMC_REGISTER(IHOLD_IRUN);
PRINT_TMC_REGISTER(GSTAT);
PRINT_TMC_REGISTER(IOIN);
PRINT_TMC_REGISTER(TPOWERDOWN);
PRINT_TMC_REGISTER(TSTEP);
PRINT_TMC_REGISTER(TPWMTHRS);
PRINT_TMC_REGISTER(CHOPCONF);
PRINT_TMC_REGISTER(PWMCONF);
PRINT_TMC_REGISTER(PWM_SCALE);
PRINT_TMC_REGISTER(DRV_STATUS);
default: tmc_get_ic_registers(st, i); break;
}
SERIAL_CHAR('\t');
}
#endif
#if HAS_DRIVER(TMC2660)
template <char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
static void tmc_get_registers(TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> &st, const TMC_get_registers_enum i) {
switch (i) {
case TMC_AXIS_CODES: SERIAL_CHAR('\t'); st.printLabel(); break;
PRINT_TMC_REGISTER(DRVCONF);
PRINT_TMC_REGISTER(DRVCTRL);
PRINT_TMC_REGISTER(CHOPCONF);
PRINT_TMC_REGISTER(DRVSTATUS);
PRINT_TMC_REGISTER(SGCSCONF);
PRINT_TMC_REGISTER(SMARTEN);
default: SERIAL_CHAR('\t'); break;
}
SERIAL_CHAR('\t');
}
#endif
static void tmc_get_registers(TMC_get_registers_enum n OPTARGS_LOGICAL(const bool)) {
if (TERN0(HAS_X_AXIS, x)) {
#if AXIS_IS_TMC(X)
tmc_get_registers(stepperX, n);
#endif
#if AXIS_IS_TMC(X2)
tmc_get_registers(stepperX2, n);
#endif
}
if (TERN0(HAS_Y_AXIS, y)) {
#if AXIS_IS_TMC(Y)
tmc_get_registers(stepperY, n);
#endif
#if AXIS_IS_TMC(Y2)
tmc_get_registers(stepperY2, n);
#endif
}
if (TERN0(HAS_Z_AXIS, z)) {
#if AXIS_IS_TMC(Z)
tmc_get_registers(stepperZ, n);
#endif
#if AXIS_IS_TMC(Z2)
tmc_get_registers(stepperZ2, n);
#endif
#if AXIS_IS_TMC(Z3)
tmc_get_registers(stepperZ3, n);
#endif
#if AXIS_IS_TMC(Z4)
tmc_get_registers(stepperZ4, n);
#endif
}
#if AXIS_IS_TMC(I)
if (i) tmc_get_registers(stepperI, n);
#endif
#if AXIS_IS_TMC(J)
if (j) tmc_get_registers(stepperJ, n);
#endif
#if AXIS_IS_TMC(K)
if (k) tmc_get_registers(stepperK, n);
#endif
#if AXIS_IS_TMC(U)
if (u) tmc_get_registers(stepperU, n);
#endif
#if AXIS_IS_TMC(V)
if (v) tmc_get_registers(stepperV, n);
#endif
#if AXIS_IS_TMC(W)
if (w) tmc_get_registers(stepperW, n);
#endif
if (TERN0(HAS_EXTRUDERS, e)) {
#if AXIS_IS_TMC(E0)
tmc_get_registers(stepperE0, n);
#endif
#if AXIS_IS_TMC(E1)
tmc_get_registers(stepperE1, n);
#endif
#if AXIS_IS_TMC(E2)
tmc_get_registers(stepperE2, n);
#endif
#if AXIS_IS_TMC(E3)
tmc_get_registers(stepperE3, n);
#endif
#if AXIS_IS_TMC(E4)
tmc_get_registers(stepperE4, n);
#endif
#if AXIS_IS_TMC(E5)
tmc_get_registers(stepperE5, n);
#endif
#if AXIS_IS_TMC(E6)
tmc_get_registers(stepperE6, n);
#endif
#if AXIS_IS_TMC(E7)
tmc_get_registers(stepperE7, n);
#endif
}
SERIAL_EOL();
}
void tmc_get_registers(LOGICAL_AXIS_ARGS(bool)) {
#define _TMC_GET_REG(LABEL, ITEM) do{ SERIAL_ECHOPGM(LABEL); tmc_get_registers(ITEM OPTARGS_LOGICAL()); }while(0)
#define TMC_GET_REG(NAME, TABS) _TMC_GET_REG(STRINGIFY(NAME) TABS, TMC_GET_##NAME)
_TMC_GET_REG("\t", TMC_AXIS_CODES);
TMC_GET_REG(GCONF, "\t\t");
TMC_GET_REG(IHOLD_IRUN, "\t");
TMC_GET_REG(GSTAT, "\t\t");
TMC_GET_REG(IOIN, "\t\t");
TMC_GET_REG(TPOWERDOWN, "\t");
TMC_GET_REG(TSTEP, "\t\t");
TMC_GET_REG(TPWMTHRS, "\t");
TMC_GET_REG(TCOOLTHRS, "\t");
TMC_GET_REG(THIGH, "\t\t");
TMC_GET_REG(CHOPCONF, "\t");
TMC_GET_REG(COOLCONF, "\t");
TMC_GET_REG(PWMCONF, "\t");
TMC_GET_REG(PWM_SCALE, "\t");
TMC_GET_REG(DRV_STATUS, "\t");
}
#endif // TMC_DEBUG
#if USE_SENSORLESS
bool tmc_enable_stallguard(TMC2130Stepper &st) {
const bool stealthchop_was_enabled = st.en_pwm_mode();
st.TCOOLTHRS(0xFFFFF);
st.en_pwm_mode(false);
st.diag1_stall(true);
return stealthchop_was_enabled;
}
void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth) {
st.TCOOLTHRS(0);
st.en_pwm_mode(restore_stealth);
st.diag1_stall(false);
}
bool tmc_enable_stallguard(TMC2209Stepper &st) {
const bool stealthchop_was_enabled = !st.en_spreadCycle();
st.TCOOLTHRS(0xFFFFF);
st.en_spreadCycle(false);
return stealthchop_was_enabled;
}
void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth) {
st.en_spreadCycle(!restore_stealth);
st.TCOOLTHRS(0);
}
bool tmc_enable_stallguard(TMC2660Stepper) {
// TODO
return false;
}
void tmc_disable_stallguard(TMC2660Stepper, const bool) {};
#endif // USE_SENSORLESS
template<typename TMC>
static bool test_connection(TMC &st) {
SERIAL_ECHOPGM("Testing ");
st.printLabel();
SERIAL_ECHOPGM(" connection... ");
const uint8_t test_result = st.test_connection();
if (test_result > 0) SERIAL_ECHOPGM("Error: All ");
FSTR_P stat;
switch (test_result) {
default:
case 0: stat = F("OK"); break;
case 1: stat = F("HIGH"); break;
case 2: stat = F("LOW"); break;
}
SERIAL_ECHOLN(stat);
return test_result;
}
void test_tmc_connection(LOGICAL_AXIS_ARGS(const bool)) {
uint8_t axis_connection = 0;
if (TERN0(HAS_X_AXIS, x)) {
#if AXIS_IS_TMC(X)
axis_connection += test_connection(stepperX);
#endif
#if AXIS_IS_TMC(X2)
axis_connection += test_connection(stepperX2);
#endif
}
if (TERN0(HAS_Y_AXIS, y)) {
#if AXIS_IS_TMC(Y)
axis_connection += test_connection(stepperY);
#endif
#if AXIS_IS_TMC(Y2)
axis_connection += test_connection(stepperY2);
#endif
}
if (TERN0(HAS_Z_AXIS, z)) {
#if AXIS_IS_TMC(Z)
axis_connection += test_connection(stepperZ);
#endif
#if AXIS_IS_TMC(Z2)
axis_connection += test_connection(stepperZ2);
#endif
#if AXIS_IS_TMC(Z3)
axis_connection += test_connection(stepperZ3);
#endif
#if AXIS_IS_TMC(Z4)
axis_connection += test_connection(stepperZ4);
#endif
}
#if AXIS_IS_TMC(I)
if (i) axis_connection += test_connection(stepperI);
#endif
#if AXIS_IS_TMC(J)
if (j) axis_connection += test_connection(stepperJ);
#endif
#if AXIS_IS_TMC(K)
if (k) axis_connection += test_connection(stepperK);
#endif
#if AXIS_IS_TMC(U)
if (u) axis_connection += test_connection(stepperU);
#endif
#if AXIS_IS_TMC(V)
if (v) axis_connection += test_connection(stepperV);
#endif
#if AXIS_IS_TMC(W)
if (w) axis_connection += test_connection(stepperW);
#endif
if (TERN0(HAS_EXTRUDERS, e)) {
#if AXIS_IS_TMC(E0)
axis_connection += test_connection(stepperE0);
#endif
#if AXIS_IS_TMC(E1)
axis_connection += test_connection(stepperE1);
#endif
#if AXIS_IS_TMC(E2)
axis_connection += test_connection(stepperE2);
#endif
#if AXIS_IS_TMC(E3)
axis_connection += test_connection(stepperE3);
#endif
#if AXIS_IS_TMC(E4)
axis_connection += test_connection(stepperE4);
#endif
#if AXIS_IS_TMC(E5)
axis_connection += test_connection(stepperE5);
#endif
#if AXIS_IS_TMC(E6)
axis_connection += test_connection(stepperE6);
#endif
#if AXIS_IS_TMC(E7)
axis_connection += test_connection(stepperE7);
#endif
}
if (axis_connection) LCD_MESSAGE(MSG_ERROR_TMC);
}
#endif // HAS_TRINAMIC_CONFIG
#if HAS_TMC_SPI
#define SET_CS_PIN(st) OUT_WRITE(st##_CS_PIN, HIGH)
void tmc_init_cs_pins() {
#if AXIS_HAS_SPI(X)
SET_CS_PIN(X);
#endif
#if AXIS_HAS_SPI(Y)
SET_CS_PIN(Y);
#endif
#if AXIS_HAS_SPI(Z)
SET_CS_PIN(Z);
#endif
#if AXIS_HAS_SPI(X2)
SET_CS_PIN(X2);
#endif
#if AXIS_HAS_SPI(Y2)
SET_CS_PIN(Y2);
#endif
#if AXIS_HAS_SPI(Z2)
SET_CS_PIN(Z2);
#endif
#if AXIS_HAS_SPI(Z3)
SET_CS_PIN(Z3);
#endif
#if AXIS_HAS_SPI(Z4)
SET_CS_PIN(Z4);
#endif
#if AXIS_HAS_SPI(I)
SET_CS_PIN(I);
#endif
#if AXIS_HAS_SPI(J)
SET_CS_PIN(J);
#endif
#if AXIS_HAS_SPI(K)
SET_CS_PIN(K);
#endif
#if AXIS_HAS_SPI(U)
SET_CS_PIN(U);
#endif
#if AXIS_HAS_SPI(V)
SET_CS_PIN(V);
#endif
#if AXIS_HAS_SPI(W)
SET_CS_PIN(W);
#endif
#if AXIS_HAS_SPI(E0)
SET_CS_PIN(E0);
#endif
#if AXIS_HAS_SPI(E1)
SET_CS_PIN(E1);
#endif
#if AXIS_HAS_SPI(E2)
SET_CS_PIN(E2);
#endif
#if AXIS_HAS_SPI(E3)
SET_CS_PIN(E3);
#endif
#if AXIS_HAS_SPI(E4)
SET_CS_PIN(E4);
#endif
#if AXIS_HAS_SPI(E5)
SET_CS_PIN(E5);
#endif
#if AXIS_HAS_SPI(E6)
SET_CS_PIN(E6);
#endif
#if AXIS_HAS_SPI(E7)
SET_CS_PIN(E7);
#endif
}
#endif // HAS_TMC_SPI
| 2301_81045437/Marlin | Marlin/src/feature/tmc_util.cpp | C++ | agpl-3.0 | 43,282 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
#include "../lcd/marlinui.h"
#if HAS_TRINAMIC_CONFIG
#include <TMCStepper.h>
#include "../module/planner.h"
#define CHOPPER_DEFAULT_12V { 3, -1, 1 }
#define CHOPPER_DEFAULT_19V { 4, 1, 1 }
#define CHOPPER_DEFAULT_24V { 4, 2, 1 }
#define CHOPPER_DEFAULT_36V { 5, 2, 4 }
#define CHOPPER_PRUSAMK3_24V { 3, -2, 6 }
#define CHOPPER_MARLIN_119 { 5, 2, 3 }
#define CHOPPER_09STEP_24V { 3, -1, 5 }
#if ENABLED(MONITOR_DRIVER_STATUS) && !defined(MONITOR_DRIVER_STATUS_INTERVAL_MS)
#define MONITOR_DRIVER_STATUS_INTERVAL_MS 500U
#endif
constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const uint32_t spmm) {
return 12650000UL * msteps / (256 * thrs * spmm);
}
typedef struct {
uint8_t toff;
int8_t hend;
uint8_t hstrt;
} chopper_timing_t;
template<char AXIS_LETTER, char DRIVER_ID>
class TMCStorage {
protected:
// Only a child class has access to constructor => Don't create on its own! "Poor man's abstract class"
TMCStorage() {}
public:
uint16_t val_mA = 0;
#if ENABLED(MONITOR_DRIVER_STATUS)
uint8_t otpw_count = 0,
error_count = 0;
bool flag_otpw = false;
bool getOTPW() { return flag_otpw; }
void clear_otpw() { flag_otpw = 0; }
#endif
uint16_t getMilliamps() { return val_mA; }
void printLabel() {
SERIAL_CHAR(AXIS_LETTER);
if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID);
}
struct {
OPTCODE(HAS_STEALTHCHOP, bool stealthChop_enabled = false)
OPTCODE(HYBRID_THRESHOLD, uint8_t hybrid_thrs = 0)
OPTCODE(USE_SENSORLESS, int16_t homing_thrs = 0)
} stored;
};
template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(const uint16_t cs_pin, const float RS) :
TMC(cs_pin, RS)
{}
TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t axis_chain_index) :
TMC(cs_pin, RS, axis_chain_index)
{}
TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK) :
TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
{}
TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t axis_chain_index) :
TMC(CS, RS, pinMOSI, pinMISO, pinSCK, axis_chain_index)
{}
uint16_t rms_current() { return TMC::rms_current(); }
void rms_current(uint16_t mA) {
this->val_mA = mA;
TMC::rms_current(mA);
}
void rms_current(const uint16_t mA, const float mult) {
this->val_mA = mA;
TMC::rms_current(mA, mult);
}
uint16_t get_microstep_counter() { return TMC::MSCNT(); }
#if HAS_STEALTHCHOP
bool get_stealthChop() { return this->en_pwm_mode(); }
bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; }
void refresh_stepping_mode() { this->en_pwm_mode(this->stored.stealthChop_enabled); }
void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
#endif
void set_chopper_times(const chopper_timing_t &ct) {
TMC::toff(ct.toff);
TMC::hysteresis_end(ct.hend);
TMC::hysteresis_start(ct.hstrt);
}
#if ENABLED(HYBRID_THRESHOLD)
uint32_t get_pwm_thrs() {
return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
}
void set_pwm_thrs(const uint32_t thrs) {
TMC::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs);
}
#endif
#if USE_SENSORLESS
int16_t homing_threshold() { return TMC::sgt(); }
void homing_threshold(int16_t sgt_val) {
sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
TMC::sgt(sgt_val);
TERN_(HAS_MARLINUI_MENU, this->stored.homing_thrs = sgt_val);
}
#if ENABLED(SPI_ENDSTOPS)
bool test_stall_status();
#endif
#endif
void refresh_stepper_current() { rms_current(this->val_mA); }
#if ENABLED(HYBRID_THRESHOLD)
void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
#endif
#if USE_SENSORLESS
void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
#endif
static constexpr int8_t sgt_min = -64,
sgt_max = 63;
};
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(Stream * SerialPort, const float RS, const uint8_t) :
TMC2208Stepper(SerialPort, RS)
{}
TMCMarlin(Stream * SerialPort, const float RS, uint8_t addr, const uint16_t mul_pin1, const uint16_t mul_pin2) :
TMC2208Stepper(SerialPort, RS, addr, mul_pin1, mul_pin2)
{}
TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t) :
TMC2208Stepper(RX, TX, RS)
{}
uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
void rms_current(const uint16_t mA) {
this->val_mA = mA;
TMC2208Stepper::rms_current(mA);
}
void rms_current(const uint16_t mA, const float mult) {
this->val_mA = mA;
TMC2208Stepper::rms_current(mA, mult);
}
uint16_t get_microstep_counter() { return TMC2208Stepper::MSCNT(); }
#if HAS_STEALTHCHOP
bool get_stealthChop() { return !this->en_spreadCycle(); }
bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; }
void refresh_stepping_mode() { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
#endif
void set_chopper_times(const chopper_timing_t &ct) {
TMC2208Stepper::toff(ct.toff);
TMC2208Stepper::hysteresis_end(ct.hend);
TMC2208Stepper::hysteresis_start(ct.hstrt);
}
#if ENABLED(HYBRID_THRESHOLD)
uint32_t get_pwm_thrs() {
return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
}
void set_pwm_thrs(const uint32_t thrs) {
TMC2208Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs);
}
#endif
void refresh_stepper_current() { rms_current(this->val_mA); }
#if ENABLED(HYBRID_THRESHOLD)
void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
#endif
};
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2209Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(Stream * SerialPort, const float RS, const uint8_t addr) :
TMC2209Stepper(SerialPort, RS, addr)
{}
TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t addr) :
TMC2209Stepper(RX, TX, RS, addr)
{}
uint8_t get_address() { return slave_address; }
uint16_t rms_current() { return TMC2209Stepper::rms_current(); }
void rms_current(const uint16_t mA) {
this->val_mA = mA;
TMC2209Stepper::rms_current(mA);
}
void rms_current(const uint16_t mA, const float mult) {
this->val_mA = mA;
TMC2209Stepper::rms_current(mA, mult);
}
uint16_t get_microstep_counter() { return TMC2209Stepper::MSCNT(); }
#if HAS_STEALTHCHOP
bool get_stealthChop() { return !this->en_spreadCycle(); }
bool get_stored_stealthChop() { return this->stored.stealthChop_enabled; }
void refresh_stepping_mode() { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
bool toggle_stepping_mode() { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
#endif
void set_chopper_times(const chopper_timing_t &ct) {
TMC2209Stepper::toff(ct.toff);
TMC2209Stepper::hysteresis_end(ct.hend);
TMC2209Stepper::hysteresis_start(ct.hstrt);
}
#if ENABLED(HYBRID_THRESHOLD)
uint32_t get_pwm_thrs() {
return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
}
void set_pwm_thrs(const uint32_t thrs) {
TMC2209Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
TERN_(HAS_MARLINUI_MENU, this->stored.hybrid_thrs = thrs);
}
#endif
#if USE_SENSORLESS
int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); }
void homing_threshold(int16_t sgt_val) {
sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
TMC2209Stepper::SGTHRS(sgt_val);
TERN_(HAS_MARLINUI_MENU, this->stored.homing_thrs = sgt_val);
}
#endif
void refresh_stepper_current() { rms_current(this->val_mA); }
#if ENABLED(HYBRID_THRESHOLD)
void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
#endif
#if USE_SENSORLESS
void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
#endif
static constexpr uint8_t sgt_min = 0,
sgt_max = 255;
};
template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2660Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
public:
TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t) :
TMC2660Stepper(cs_pin, RS)
{}
TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t) :
TMC2660Stepper(CS, RS, pinMOSI, pinMISO, pinSCK)
{}
uint16_t rms_current() { return TMC2660Stepper::rms_current(); }
void rms_current(const uint16_t mA) {
this->val_mA = mA;
TMC2660Stepper::rms_current(mA);
}
uint16_t get_microstep_counter() { return TMC2660Stepper::mstep(); }
void set_chopper_times(const chopper_timing_t &ct) {
TMC2660Stepper::toff(ct.toff);
TMC2660Stepper::hysteresis_end(ct.hend);
TMC2660Stepper::hysteresis_start(ct.hstrt);
}
#if USE_SENSORLESS
int16_t homing_threshold() { return TMC2660Stepper::sgt(); }
void homing_threshold(int16_t sgt_val) {
sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
TMC2660Stepper::sgt(sgt_val);
TERN_(HAS_MARLINUI_MENU, this->stored.homing_thrs = sgt_val);
}
#endif
void refresh_stepper_current() { rms_current(this->val_mA); }
#if USE_SENSORLESS
void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
#endif
static constexpr int8_t sgt_min = -64,
sgt_max = 63;
};
void monitor_tmc_drivers();
void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true));
#if ENABLED(TMC_DEBUG)
#if ENABLED(MONITOR_DRIVER_STATUS)
void tmc_set_report_interval(const uint16_t update_interval);
#endif
void tmc_report_all(LOGICAL_AXIS_DECL(const bool, true));
void tmc_get_registers(LOGICAL_AXIS_ARGS(const bool));
#endif
/**
* TMC2130-specific sensorless homing using stallGuard2.
* stallGuard2 only works when in spreadCycle mode.
* spreadCycle and stealthChop are mutually-exclusive.
*
* Defined here because of limitations with templates and headers.
*/
#if USE_SENSORLESS
// Track enabled status of stealthChop and only re-enable where applicable
struct sensorless_t { bool NUM_AXIS_ARGS_() x2, y2, z2, z3, z4; };
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
extern millis_t sg_guard_period;
constexpr uint16_t default_sg_guard_duration = 400;
#endif
bool tmc_enable_stallguard(TMC2130Stepper &st);
void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth);
bool tmc_enable_stallguard(TMC2209Stepper &st);
void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth);
bool tmc_enable_stallguard(TMC2660Stepper);
void tmc_disable_stallguard(TMC2660Stepper, const bool);
#if ENABLED(SPI_ENDSTOPS)
template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
bool TMCMarlin<TMC, AXIS_LETTER, DRIVER_ID, AXIS_ID>::test_stall_status() {
this->switchCSpin(LOW);
// read stallGuard flag from TMC library, will handle HW and SW SPI
TMC2130_n::DRV_STATUS_t drv_status{0};
drv_status.sr = this->DRV_STATUS();
this->switchCSpin(HIGH);
return drv_status.stallGuard;
}
#endif // SPI_ENDSTOPS
#endif // USE_SENSORLESS
#endif // HAS_TRINAMIC_CONFIG
#if HAS_TMC_SPI
void tmc_init_cs_pins();
#endif
| 2301_81045437/Marlin | Marlin/src/feature/tmc_util.h | C++ | agpl-3.0 | 14,217 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(ASSISTED_TRAMMING)
#include "tramming.h"
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../core/debug_out.h"
#define _TRAM_NAME_DEF(N) PGMSTR(point_name_##N, TRAMMING_POINT_NAME_##N);
#define _TRAM_NAME_ITEM(N) point_name_##N
REPEAT_1(_NR_TRAM_NAMES, _TRAM_NAME_DEF)
PGM_P const tramming_point_name[] PROGMEM = { REPLIST_1(_NR_TRAM_NAMES, _TRAM_NAME_ITEM) };
#ifdef ASSISTED_TRAMMING_WAIT_POSITION
// Move to the defined wait position
void move_to_tramming_wait_pos() {
constexpr xyz_pos_t wait_pos = ASSISTED_TRAMMING_WAIT_POSITION;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Moving away");
do_blocking_move_to(wait_pos, XY_PROBE_FEEDRATE_MM_S);
}
#endif
#endif // ASSISTED_TRAMMING
| 2301_81045437/Marlin | Marlin/src/feature/tramming.cpp | C++ | agpl-3.0 | 1,634 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfig.h"
#include "../module/probe.h"
#if !WITHIN(TRAMMING_SCREW_THREAD, 30, 51) || TRAMMING_SCREW_THREAD % 10 > 1
#error "TRAMMING_SCREW_THREAD must be equal to 30, 31, 40, 41, 50, or 51."
#endif
constexpr xy_pos_t tramming_points[] = TRAMMING_POINT_XY;
#define G35_PROBE_COUNT COUNT(tramming_points)
static_assert(WITHIN(G35_PROBE_COUNT, 3, 9), "TRAMMING_POINT_XY requires between 3 and 9 XY positions.");
#ifdef TRAMMING_POINT_NAME_9
#define _NR_TRAM_NAMES 9
#elif defined(TRAMMING_POINT_NAME_8)
#define _NR_TRAM_NAMES 8
#elif defined(TRAMMING_POINT_NAME_7)
#define _NR_TRAM_NAMES 7
#elif defined(TRAMMING_POINT_NAME_6)
#define _NR_TRAM_NAMES 6
#elif defined(TRAMMING_POINT_NAME_5)
#define _NR_TRAM_NAMES 5
#elif defined(TRAMMING_POINT_NAME_4)
#define _NR_TRAM_NAMES 4
#elif defined(TRAMMING_POINT_NAME_3)
#define _NR_TRAM_NAMES 3
#else
#define _NR_TRAM_NAMES 0
#endif
static_assert(_NR_TRAM_NAMES >= G35_PROBE_COUNT, "Define enough TRAMMING_POINT_NAME_s for all TRAMMING_POINT_XY entries.");
#define _TRAM_NAME_PTR(N) point_name_##N[]
extern const char REPLIST_1(_NR_TRAM_NAMES, _TRAM_NAME_PTR);
#define _CHECK_TRAM_POINT(N) static_assert(Probe::build_time::can_reach(tramming_points[N]), "TRAMMING_POINT_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN.");
REPEAT(_NR_TRAM_NAMES, _CHECK_TRAM_POINT)
#undef _CHECK_TRAM_POINT
extern PGM_P const tramming_point_name[];
#ifdef ASSISTED_TRAMMING_WAIT_POSITION
void move_to_tramming_wait_pos();
#else
inline void move_to_tramming_wait_pos() {}
#endif
| 2301_81045437/Marlin | Marlin/src/feature/tramming.h | C++ | agpl-3.0 | 2,484 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(EXPERIMENTAL_I2CBUS)
#include "twibus.h"
#include <Wire.h>
#include "../libs/hex_print.h"
TWIBus i2c;
TWIBus::TWIBus() {
#if I2C_SLAVE_ADDRESS == 0
#if PINS_EXIST(I2C_SCL, I2C_SDA) && DISABLED(SOFT_I2C_EEPROM)
Wire.setSDA(pin_t(I2C_SDA_PIN));
Wire.setSCL(pin_t(I2C_SCL_PIN));
#endif
Wire.begin(); // No address joins the BUS as the master
#else
Wire.begin(I2C_SLAVE_ADDRESS); // Join the bus as a slave
#endif
reset();
}
void TWIBus::reset() {
buffer_s = 0;
buffer[0] = 0x00;
}
void TWIBus::address(const uint8_t adr) {
if (!WITHIN(adr, 8, 127))
SERIAL_ECHO_MSG("Bad I2C address (8-127)");
addr = adr;
debug(F("address"), adr);
}
void TWIBus::addbyte(const char c) {
if (buffer_s >= COUNT(buffer)) return;
buffer[buffer_s++] = c;
debug(F("addbyte"), c);
}
void TWIBus::addbytes(char src[], uint8_t bytes) {
debug(F("addbytes"), bytes);
while (bytes--) addbyte(*src++);
}
void TWIBus::addstring(char str[]) {
debug(F("addstring"), str);
while (char c = *str++) addbyte(c);
}
void TWIBus::send() {
debug(F("send"), addr);
Wire.beginTransmission(I2C_ADDRESS(addr));
Wire.write(buffer, buffer_s);
Wire.endTransmission();
reset();
}
// static
void TWIBus::echoprefix(uint8_t bytes, FSTR_P const pref, uint8_t adr) {
SERIAL_ECHO_START();
SERIAL_ECHO(pref, F(": from:"), adr, F(" bytes:"), bytes, F(" data:"));
}
// static
void TWIBus::echodata(uint8_t bytes, FSTR_P const pref, uint8_t adr, const uint8_t style/*=0*/) {
union TwoBytesToInt16 { uint8_t bytes[2]; int16_t integervalue; };
TwoBytesToInt16 ConversionUnion;
echoprefix(bytes, pref, adr);
while (bytes-- && Wire.available()) {
int value = Wire.read();
switch (style) {
// Style 1, HEX DUMP
case 1:
SERIAL_CHAR(hex_nybble((value & 0xF0) >> 4));
SERIAL_CHAR(hex_nybble(value & 0x0F));
if (bytes) SERIAL_CHAR(' ');
break;
// Style 2, signed two byte integer (int16)
case 2:
if (bytes == 1)
ConversionUnion.bytes[1] = (uint8_t)value;
else if (bytes == 0) {
ConversionUnion.bytes[0] = (uint8_t)value;
// Output value in base 10 (standard decimal)
SERIAL_ECHO(ConversionUnion.integervalue);
}
break;
// Style 3, unsigned byte, base 10 (uint8)
case 3:
SERIAL_ECHO(value);
if (bytes) SERIAL_CHAR(' ');
break;
// Default style (zero), raw serial output
default:
// This can cause issues with some serial consoles, Pronterface is an example where things go wrong
SERIAL_CHAR(value);
break;
}
}
SERIAL_EOL();
}
void TWIBus::echobuffer(FSTR_P const prefix, uint8_t adr) {
echoprefix(buffer_s, prefix, adr);
for (uint8_t i = 0; i < buffer_s; ++i) SERIAL_CHAR(buffer[i]);
SERIAL_EOL();
}
bool TWIBus::request(const uint8_t bytes) {
if (!addr) return false;
debug(F("request"), bytes);
// requestFrom() is a blocking function
if (Wire.requestFrom(I2C_ADDRESS(addr), bytes) == 0) {
debug(F("request fail"), I2C_ADDRESS(addr));
return false;
}
return true;
}
void TWIBus::relay(const uint8_t bytes, const uint8_t style/*=0*/) {
debug(F("relay"), bytes);
if (request(bytes))
echodata(bytes, F("i2c-reply"), addr, style);
}
uint8_t TWIBus::capture(char *dst, const uint8_t bytes) {
reset();
uint8_t count = 0;
while (count < bytes && Wire.available())
dst[count++] = Wire.read();
debug(F("capture"), count);
return count;
}
// static
void TWIBus::flush() {
while (Wire.available()) Wire.read();
}
#if I2C_SLAVE_ADDRESS > 0
void TWIBus::receive(uint8_t bytes) {
debug(F("receive"), bytes);
echodata(bytes, F("i2c-receive"), 0);
}
void TWIBus::reply(char str[]/*=nullptr*/) {
debug(F("reply"), str);
if (str) {
reset();
addstring(str);
}
Wire.write(buffer, buffer_s);
reset();
}
void i2c_on_receive(int bytes) { // just echo all bytes received to serial
i2c.receive(bytes);
}
void i2c_on_request() { // just send dummy data for now
i2c.reply("Hello World!\n");
}
#endif
#if ENABLED(DEBUG_TWIBUS)
// static
void TWIBus::prefix(FSTR_P const func) {
SERIAL_ECHOPGM("TWIBus::", func, ": ");
}
void TWIBus::debug(FSTR_P const func, uint32_t adr) {
if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(adr); }
}
void TWIBus::debug(FSTR_P const func, char c) {
if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(c); }
}
void TWIBus::debug(FSTR_P const func, char str[]) {
if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(str); }
}
#endif
#endif // EXPERIMENTAL_I2CBUS
| 2301_81045437/Marlin | Marlin/src/feature/twibus.cpp | C++ | agpl-3.0 | 5,635 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../core/macros.h"
#include <Wire.h>
// Print debug messages with M111 S2 (Uses 236 bytes of PROGMEM)
//#define DEBUG_TWIBUS
typedef void (*twiReceiveFunc_t)(int bytes);
typedef void (*twiRequestFunc_t)();
/**
* For a light i2c protocol that runs on two boards running Marlin see:
* See https://github.com/MarlinFirmware/Marlin/issues/4776#issuecomment-246262879
*/
#if I2C_SLAVE_ADDRESS > 0
void i2c_on_receive(int bytes); // Demo i2c onReceive handler
void i2c_on_request(); // Demo i2c onRequest handler
#endif
#define TWIBUS_BUFFER_SIZE 32
/**
* TWIBUS class
*
* This class implements a wrapper around the two wire (I2C) bus, allowing
* Marlin to send and request data from any slave device on the bus.
*
* The two main consumers of this class are M260 and M261. M260 provides a way
* to send an I2C packet to a device (no repeated starts) by caching up to 32
* bytes in a buffer and then sending the buffer.
* M261 requests data from a device. The received data is relayed to serial out
* for the host to interpret.
*
* For more information see
* - https://marlinfw.org/docs/gcode/M260.html
* - https://marlinfw.org/docs/gcode/M261.html
*/
class TWIBus {
private:
/**
* @brief Number of bytes on buffer
* @description Number of bytes in the buffer waiting to be flushed to the bus
*/
uint8_t buffer_s = 0;
/**
* @brief Internal buffer
* @details A fixed buffer. TWI commands can be no longer than this.
*/
uint8_t buffer[TWIBUS_BUFFER_SIZE];
public:
/**
* @brief Target device address
* @description The target device address. Persists until changed.
*/
uint8_t addr = 0;
/**
* @brief Class constructor
* @details Initialize the TWI bus and clear the buffer
*/
TWIBus();
/**
* @brief Reset the buffer
* @details Set the buffer to a known-empty state
*/
void reset();
/**
* @brief Send the buffer data to the bus
* @details Flush the buffer to the target address
*/
void send();
/**
* @brief Add one byte to the buffer
* @details Add a byte to the end of the buffer.
* Silently fails if the buffer is full.
*
* @param c a data byte
*/
void addbyte(const char c);
/**
* @brief Add some bytes to the buffer
* @details Add bytes to the end of the buffer.
* Concatenates at the buffer size.
*
* @param src source data address
* @param bytes the number of bytes to add
*/
void addbytes(char src[], uint8_t bytes);
/**
* @brief Add a null-terminated string to the buffer
* @details Add bytes to the end of the buffer up to a nul.
* Concatenates at the buffer size.
*
* @param str source string address
*/
void addstring(char str[]);
/**
* @brief Set the target slave address
* @details The target slave address for sending the full packet
*
* @param adr 7-bit integer address
*/
void address(const uint8_t adr);
/**
* @brief Prefix for echo to serial
* @details Echo a label, length, address, and "data:"
*
* @param bytes the number of bytes to request
*/
static void echoprefix(uint8_t bytes, FSTR_P const prefix, uint8_t adr);
/**
* @brief Echo data on the bus to serial
* @details Echo some number of bytes from the bus
* to serial in a parser-friendly format.
*
* @param bytes the number of bytes to request
* @param style Output format for the bytes, 0 = Raw byte [default], 1 = Hex characters, 2 = uint16_t
*/
static void echodata(uint8_t bytes, FSTR_P const prefix, uint8_t adr, const uint8_t style=0);
/**
* @brief Echo data in the buffer to serial
* @details Echo the entire buffer to serial
* to serial in a parser-friendly format.
*
* @param bytes the number of bytes to request
*/
void echobuffer(FSTR_P const prefix, uint8_t adr);
/**
* @brief Request data from the slave device and wait.
* @details Request a number of bytes from a slave device.
* Wait for the data to arrive, and return true
* on success.
*
* @param bytes the number of bytes to request
* @return status of the request: true=success, false=fail
*/
bool request(const uint8_t bytes);
/**
* @brief Capture data from the bus into the buffer.
* @details Capture data after a request has succeeded.
*
* @param bytes the number of bytes to request
* @return the number of bytes captured to the buffer
*/
uint8_t capture(char *dst, const uint8_t bytes);
/**
* @brief Flush the i2c bus.
* @details Get all bytes on the bus and throw them away.
*/
static void flush();
/**
* @brief Request data from the slave device, echo to serial.
* @details Request a number of bytes from a slave device and output
* the returned data to serial in a parser-friendly format.
* @style Output format for the bytes, 0 = raw byte [default], 1 = Hex characters, 2 = uint16_t
*
* @param bytes the number of bytes to request
*/
void relay(const uint8_t bytes, const uint8_t style=0);
#if I2C_SLAVE_ADDRESS > 0
/**
* @brief Register a slave receive handler
* @details Set a handler to receive data addressed to us
*
* @param handler A function to handle receiving bytes
*/
inline void onReceive(const twiReceiveFunc_t handler) { Wire.onReceive(handler); }
/**
* @brief Register a slave request handler
* @details Set a handler to send data requested from us
*
* @param handler A function to handle receiving bytes
*/
inline void onRequest(const twiRequestFunc_t handler) { Wire.onRequest(handler); }
/**
* @brief Default handler to receive
* @details Receive bytes sent to our slave address
* and simply echo them to serial.
*/
void receive(uint8_t bytes);
/**
* @brief Send a reply to the bus
* @details Send the buffer and clear it.
* If a string is passed, write it into the buffer first.
*/
void reply(char str[]=nullptr);
inline void reply(const char str[]) { reply((char*)str); }
#endif
#if ENABLED(DEBUG_TWIBUS)
/**
* @brief Prints a debug message
* @details Prints a simple debug message "TWIBus::function: value"
*/
static void prefix(FSTR_P const func);
static void debug(FSTR_P const func, uint32_t adr);
static void debug(FSTR_P const func, char c);
static void debug(FSTR_P const func, char adr[]);
#else
static void debug(FSTR_P const, uint32_t) {}
static void debug(FSTR_P const, char) {}
static void debug(FSTR_P const, char[]) {}
#endif
static void debug(FSTR_P const func, uint8_t v) { debug(func, (uint32_t)v); }
};
extern TWIBus i2c;
| 2301_81045437/Marlin | Marlin/src/feature/twibus.h | C++ | agpl-3.0 | 7,981 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../inc/MarlinConfig.h"
#if ENABLED(X_AXIS_TWIST_COMPENSATION)
#include "x_twist.h"
#include "../module/probe.h"
XATC xatc;
bool XATC::enabled;
float XATC::spacing, XATC::start;
xatc_array_t XATC::z_offset; // Initialized by settings.load()
void XATC::reset() {
constexpr float xzo[] = XATC_Z_OFFSETS;
static_assert(COUNT(xzo) == XATC_MAX_POINTS, "XATC_Z_OFFSETS is the wrong size.");
COPY(z_offset, xzo);
start = probe.min_x();
spacing = (probe.max_x() - start) / (XATC_MAX_POINTS - 1);
enabled = true;
}
void XATC::print_points() {
SERIAL_ECHOLNPGM(" X-Twist Correction:");
for (uint8_t x = 0; x < XATC_MAX_POINTS; ++x) {
SERIAL_CHAR(' ');
if (!isnan(z_offset[x]))
serial_offset(z_offset[x]);
else
for (uint8_t i = 0; i < 6; ++i) SERIAL_CHAR(i ? '=' : ' ');
}
SERIAL_EOL();
}
float lerp(const_float_t t, const_float_t a, const_float_t b) { return a + t * (b - a); }
float XATC::compensation(const xy_pos_t &raw) {
if (!enabled) return 0;
if (NEAR_ZERO(spacing)) return 0;
float t = (raw.x - start) / spacing;
const int i = constrain(FLOOR(t), 0, XATC_MAX_POINTS - 2);
t -= i;
return lerp(t, z_offset[i], z_offset[i + 1]);
}
#endif // X_AXIS_TWIST_COMPENSATION
| 2301_81045437/Marlin | Marlin/src/feature/x_twist.cpp | C++ | agpl-3.0 | 2,098 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2021 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
#include "../inc/MarlinConfigPre.h"
typedef float xatc_array_t[XATC_MAX_POINTS];
class XATC {
static bool enabled;
public:
static float spacing, start;
static xatc_array_t z_offset;
static void reset();
static void set_enabled(const bool ena) { enabled = ena; }
static float compensation(const xy_pos_t &raw);
static void print_points();
};
extern XATC xatc;
| 2301_81045437/Marlin | Marlin/src/feature/x_twist.h | C++ | agpl-3.0 | 1,253 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* feature/z_stepper_align.cpp
*/
#include "../inc/MarlinConfigPre.h"
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
#include "z_stepper_align.h"
#include "../module/probe.h"
ZStepperAlign z_stepper_align;
xy_pos_t ZStepperAlign::xy[NUM_Z_STEPPERS];
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
xy_pos_t ZStepperAlign::stepper_xy[NUM_Z_STEPPERS];
#endif
void ZStepperAlign::reset_to_default() {
#ifdef Z_STEPPER_ALIGN_XY
constexpr xy_pos_t xy_init[] = Z_STEPPER_ALIGN_XY;
static_assert(COUNT(xy_init) == NUM_Z_STEPPERS,
"Z_STEPPER_ALIGN_XY requires "
#if NUM_Z_STEPPERS == 4
"four {X,Y} entries (Z, Z2, Z3, and Z4)."
#elif NUM_Z_STEPPERS == 3
"three {X,Y} entries (Z, Z2, and Z3)."
#else
"two {X,Y} entries (Z and Z2)."
#endif
);
#define VALIDATE_ALIGN_POINT(N) static_assert(N >= NUM_Z_STEPPERS || Probe::build_time::can_reach(xy_init[N]), \
"Z_STEPPER_ALIGN_XY point " STRINGIFY(N) " is not reachable with the default NOZZLE_TO_PROBE offset and PROBING_MARGIN.")
VALIDATE_ALIGN_POINT(0); VALIDATE_ALIGN_POINT(1); VALIDATE_ALIGN_POINT(2); VALIDATE_ALIGN_POINT(3);
#else // !Z_STEPPER_ALIGN_XY
const xy_pos_t xy_init[] = {
#if NUM_Z_STEPPERS >= 3 // First probe point...
#if !Z_STEPPERS_ORIENTATION
{ probe.min_x(), probe.min_y() }, // SW
#elif Z_STEPPERS_ORIENTATION == 1
{ probe.min_x(), probe.max_y() }, // NW
#elif Z_STEPPERS_ORIENTATION == 2
{ probe.max_x(), probe.max_y() }, // NE
#elif Z_STEPPERS_ORIENTATION == 3
{ probe.max_x(), probe.min_y() }, // SE
#else
#error "Z_STEPPERS_ORIENTATION must be from 0 to 3 (first point SW, NW, NE, SE)."
#endif
#if NUM_Z_STEPPERS == 4 // 3 more points...
#if !Z_STEPPERS_ORIENTATION
{ probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() } // SW
#elif Z_STEPPERS_ORIENTATION == 1
{ probe.max_x(), probe.max_y() }, { probe.max_x(), probe.min_y() }, { probe.min_x(), probe.min_y() } // NW
#elif Z_STEPPERS_ORIENTATION == 2
{ probe.max_x(), probe.min_y() }, { probe.min_x(), probe.min_y() }, { probe.min_x(), probe.max_y() } // NE
#elif Z_STEPPERS_ORIENTATION == 3
{ probe.min_x(), probe.min_y() }, { probe.min_x(), probe.max_y() }, { probe.max_x(), probe.max_y() } // SE
#endif
#elif !Z_STEPPERS_ORIENTATION // or 2 more points...
{ probe.max_x(), probe.min_y() }, { X_CENTER, probe.max_y() } // SW
#elif Z_STEPPERS_ORIENTATION == 1
{ probe.min_x(), probe.min_y() }, { probe.max_x(), Y_CENTER } // NW
#elif Z_STEPPERS_ORIENTATION == 2
{ probe.min_x(), probe.max_y() }, { X_CENTER, probe.min_y() } // NE
#elif Z_STEPPERS_ORIENTATION == 3
{ probe.max_x(), probe.max_y() }, { probe.min_x(), Y_CENTER } // SE
#endif
#elif Z_STEPPERS_ORIENTATION
{ X_CENTER, probe.min_y() }, { X_CENTER, probe.max_y() }
#else
{ probe.min_x(), Y_CENTER }, { probe.max_x(), Y_CENTER }
#endif
};
#endif // !Z_STEPPER_ALIGN_XY
COPY(xy, xy_init);
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
constexpr xy_pos_t stepper_xy_init[] = Z_STEPPER_ALIGN_STEPPER_XY;
static_assert(
COUNT(stepper_xy_init) == NUM_Z_STEPPERS,
"Z_STEPPER_ALIGN_STEPPER_XY requires "
#if NUM_Z_STEPPERS == 4
"four {X,Y} entries (Z, Z2, Z3, and Z4)."
#elif NUM_Z_STEPPERS == 3
"three {X,Y} entries (Z, Z2, and Z3)."
#endif
);
COPY(stepper_xy, stepper_xy_init);
#endif
}
#endif // Z_STEPPER_AUTO_ALIGN
| 2301_81045437/Marlin | Marlin/src/feature/z_stepper_align.cpp | C++ | agpl-3.0 | 4,581 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* feature/z_stepper_align.h
*/
#include "../inc/MarlinConfig.h"
class ZStepperAlign {
public:
static xy_pos_t xy[NUM_Z_STEPPERS];
#if HAS_Z_STEPPER_ALIGN_STEPPER_XY
static xy_pos_t stepper_xy[NUM_Z_STEPPERS];
#endif
static void reset_to_default();
};
extern ZStepperAlign z_stepper_align;
| 2301_81045437/Marlin | Marlin/src/feature/z_stepper_align.h | C++ | agpl-3.0 | 1,198 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* G26 Mesh Validation Tool
*
* G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System.
* In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must
* be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will
* first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and
* the intersections of those lines (respectively).
*
* This action allows the user to immediately see where the Mesh is properly defined and where it needs to
* be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively
* the user can specify the X and Y position of interest with command parameters. This allows the user to
* focus on a particular area of the Mesh where attention is needed.
*
* B # Bed Set the Bed Temperature. If not specified, a default of 60 C. will be assumed.
*
* C Current When searching for Mesh Intersection points to draw, use the current nozzle location
* as the base for any distance comparison.
*
* D Disable Disable the Unified Bed Leveling System. In the normal case the user is invoking this
* command to see how well a Mesh as been adjusted to match a print surface. In order to do
* this the Unified Bed Leveling System is turned on by the G26 command. The D parameter
* alters the command's normal behavior and disables the Unified Bed Leveling System even if
* it is on.
*
* H # Hotend Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed.
*
* I # Preset Heat the Nozzle and Bed based on a Material Preset (if material presets are defined).
*
* F # Filament Used to specify the diameter of the filament being used. If not specified
* 1.75mm filament is assumed. If you are not getting acceptable results by using the
* 'correct' numbers, you can scale this number up or down a little bit to change the amount
* of filament that is being extruded during the printing of the various lines on the bed.
*
* K Keep-On Keep the heaters turned on at the end of the command.
*
* L # Layer Layer height. (Height of nozzle above bed) If not specified .20mm will be used.
*
* O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This
* is over kill, but using this parameter will let you get the very first 'circle' perfect
* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your
* Mesh calibrated. If not specified, a filament length of .3mm is assumed.
*
* P # Prime Prime the nozzle with specified length of filament. If this parameter is not
* given, no prime action will take place. If the parameter specifies an amount, that much
* will be purged before continuing. If no amount is specified the command will start
* purging filament until the user provides an LCD Click and then it will continue with
* printing the Mesh. You can carefully remove the spent filament with a needle nose
* pliers while holding the LCD Click wheel in a depressed state. If you do not have
* an LCD, you must specify a value if you use P.
*
* Q # Multiplier Retraction Multiplier. (Normally not needed.) During G26 retraction will use the length
* specified by this parameter (1mm by default). Recover will be 1.2x the retract distance.
*
* R # Repeat Prints the number of patterns given as a parameter, starting at the current location.
* If a parameter isn't given, every point will be printed unless G26 is interrupted.
* This works the same way that the UBL G29 P4 R parameter works.
*
* NOTE: If you do not have an LCD, you -must- specify R. This is to ensure that you are
* aware that there's some risk associated with printing without the ability to abort in
* cases where mesh point Z value may be inaccurate. As above, if you do not include a
* parameter, every point will be printed.
*
* S # Nozzle Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed.
*
* U # Random Randomize the order that the circles are drawn on the bed. The search for the closest
* un-drawn circle is still done. But the distance to the location for each circle has a
* random number of the specified size added to it. Specifying S50 will give an interesting
* deviation from the normal behavior on a 10 x 10 Mesh.
*
* X # X Coord. Specify the starting location of the drawing activity.
*
* Y # Y Coord. Specify the starting location of the drawing activity.
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(G26_MESH_VALIDATION)
#define G26_OK false
#define G26_ERR true
#include "../../gcode/gcode.h"
#include "../../feature/bedlevel/bedlevel.h"
#include "../../MarlinCore.h"
#include "../../module/planner.h"
#include "../../module/motion.h"
#include "../../module/tool_change.h"
#include "../../module/temperature.h"
#include "../../lcd/marlinui.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../../lcd/extui/ui_api.h"
#endif
#if ENABLED(UBL_HILBERT_CURVE)
#include "../../feature/bedlevel/hilbert_curve.h"
#endif
#define EXTRUSION_MULTIPLIER 1.0
#define PRIME_LENGTH 10.0
#define OOZE_AMOUNT 0.3
#define INTERSECTION_CIRCLE_RADIUS 5
#define CROSSHAIRS_SIZE 3
#ifndef G26_RETRACT_MULTIPLIER
#define G26_RETRACT_MULTIPLIER 1.0 // x 1mm
#endif
#ifndef G26_XY_FEEDRATE
#define G26_XY_FEEDRATE (PLANNER_XY_FEEDRATE() / 3.0)
#endif
#ifndef G26_XY_FEEDRATE_TRAVEL
#define G26_XY_FEEDRATE_TRAVEL (PLANNER_XY_FEEDRATE() / 1.5)
#endif
#if CROSSHAIRS_SIZE >= INTERSECTION_CIRCLE_RADIUS
#error "CROSSHAIRS_SIZE must be less than INTERSECTION_CIRCLE_RADIUS."
#endif
#define G26_OK false
#define G26_ERR true
#if ENABLED(ARC_SUPPORT)
void plan_arc(const xyze_pos_t&, const ab_float_t&, const bool, const uint8_t);
#endif
constexpr float g26_e_axis_feedrate = 0.025;
static MeshFlags circle_flags;
float g26_random_deviation = 0.0;
#if HAS_MARLINUI_MENU
/**
* If the LCD is clicked, cancel, wait for release, return true
*/
bool user_canceled() {
if (!ui.button_pressed()) return false; // Return if the button isn't pressed
LCD_MESSAGE_MAX(MSG_G26_CANCELED);
ui.quick_feedback();
ui.wait_for_release();
return true;
}
#endif
void move_to(const_float_t rx, const_float_t ry, const_float_t z, const_float_t e_delta) {
static float last_z = -999.99;
const xy_pos_t dest = { rx, ry };
const bool has_xy_component = dest != current_position, // Check if X or Y is involved in the movement.
has_e_component = e_delta != 0.0;
if (z != last_z) {
last_z = z;
destination.set(current_position.x, current_position.y, z, current_position.e);
const feedRate_t fr_mm_s = planner.settings.max_feedrate_mm_s[Z_AXIS] * 0.5f; // Use half of the Z_AXIS max feed rate
prepare_internal_move_to_destination(fr_mm_s);
}
// If X or Y in combination with E is involved do a 'normal' move.
// If X or Y with no E is involved do a 'fast' move
// Otherwise retract/recover/hop.
destination = dest;
destination.e += e_delta;
const feedRate_t fr_mm_s = has_xy_component
? (has_e_component ? feedRate_t(G26_XY_FEEDRATE) : feedRate_t(G26_XY_FEEDRATE_TRAVEL))
: planner.settings.max_feedrate_mm_s[E_AXIS] * 0.666f;
prepare_internal_move_to_destination(fr_mm_s);
}
void move_to(const xyz_pos_t &where, const_float_t de) { move_to(where.x, where.y, where.z, de); }
typedef struct {
float extrusion_multiplier = EXTRUSION_MULTIPLIER,
retraction_multiplier = G26_RETRACT_MULTIPLIER,
layer_height = MESH_TEST_LAYER_HEIGHT,
prime_length = PRIME_LENGTH;
celsius_t bed_temp = MESH_TEST_BED_TEMP,
hotend_temp = MESH_TEST_HOTEND_TEMP;
float nozzle = MESH_TEST_NOZZLE_SIZE,
filament_diameter = DEFAULT_NOMINAL_FILAMENT_DIA,
ooze_amount; // 'O' ... OOZE_AMOUNT
bool continue_with_closest, // 'C'
keep_heaters_on; // 'K'
xy_pos_t xy_pos; // = { 0, 0 }
int8_t prime_flag = 0;
bool g26_retracted = false; // Track the retracted state during G26 so mismatched
// retracts/recovers don't result in a bad state.
void retract_filament(const xyz_pos_t &where) {
if (!g26_retracted) { // Only retract if we are not already retracted!
g26_retracted = true;
move_to(where, -1.0f * retraction_multiplier);
}
}
// TODO: Parameterize the Z lift with a define
void retract_lift_move(const xyz_pos_t &s) {
retract_filament(destination);
move_to(current_position.x, current_position.y, current_position.z + 0.5f, 0.0f); // Z lift to minimize scraping
move_to(s.x, s.y, s.z + 0.5f, 0.0f); // Get to the starting point with no extrusion while lifted
}
void recover_filament(const xyz_pos_t &where) {
if (g26_retracted) { // Only un-retract if we are retracted.
move_to(where, 1.2f * retraction_multiplier);
g26_retracted = false;
}
}
/**
* print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one
* to the other. But there are really three sets of coordinates involved. The first coordinate
* is the present location of the nozzle. We don't necessarily want to print from this location.
* We first need to move the nozzle to the start of line segment where we want to print. Once
* there, we can use the two coordinates supplied to draw the line.
*
* Note: Although we assume the first set of coordinates is the start of the line and the second
* set of coordinates is the end of the line, it does not always work out that way. This function
* optimizes the movement to minimize the travel distance before it can start printing. This saves
* a lot of time and eliminates a lot of nonsensical movement of the nozzle. However, it does
* cause a lot of very little short retracement of th nozzle when it draws the very first line
* segment of a 'circle'. The time this requires is very short and is easily saved by the other
* cases where the optimization comes into play.
*/
void print_line_from_here_to_there(const xyz_pos_t &s, const xyz_pos_t &e) {
// Distances to the start / end of the line
xy_float_t svec = current_position - s, evec = current_position - e;
const float dist_start = HYPOT2(svec.x, svec.y),
dist_end = HYPOT2(evec.x, evec.y),
line_length = HYPOT(e.x - s.x, e.y - s.y);
// If the end point of the line is closer to the nozzle, flip the direction,
// moving from the end to the start. On very small lines the optimization isn't worth it.
if (dist_end < dist_start && (INTERSECTION_CIRCLE_RADIUS) < ABS(line_length))
return print_line_from_here_to_there(e, s);
// Decide whether to retract & lift
if (dist_start > 2.0) retract_lift_move(s);
move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift
const float e_pos_delta = line_length * g26_e_axis_feedrate * extrusion_multiplier;
recover_filament(destination);
move_to(e, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
}
void connect_neighbor_with_line(const xy_int8_t &p1, int8_t dx, int8_t dy) {
xy_int8_t p2;
p2.x = p1.x + dx;
p2.y = p1.y + dy;
if (p2.x < 0 || p2.x >= (GRID_MAX_POINTS_X)) return;
if (p2.y < 0 || p2.y >= (GRID_MAX_POINTS_Y)) return;
if (circle_flags.marked(p1.x, p1.y) && circle_flags.marked(p2.x, p2.y)) {
xyz_pos_t s, e;
s.x = bedlevel.get_mesh_x(p1.x) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dx;
e.x = bedlevel.get_mesh_x(p2.x) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dx;
s.y = bedlevel.get_mesh_y(p1.y) + (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dy;
e.y = bedlevel.get_mesh_y(p2.y) - (INTERSECTION_CIRCLE_RADIUS - (CROSSHAIRS_SIZE)) * dy;
s.z = e.z = layer_height;
#if HAS_ENDSTOPS
LIMIT(s.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(e.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(s.x, X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(e.x, X_MIN_POS + 1, X_MAX_POS - 1);
#endif
if (position_is_reachable(s) && position_is_reachable(e))
print_line_from_here_to_there(s, e);
}
}
/**
* Turn on the bed and nozzle heat and
* wait for them to get up to temperature.
*/
bool turn_on_heaters() {
SERIAL_ECHOLNPGM("Waiting for heatup.");
#if HAS_HEATED_BED
if (bed_temp > 25) {
LCD_MESSAGE_MAX(MSG_G26_HEATING_BED);
ui.quick_feedback();
TERN_(HAS_MARLINUI_MENU, ui.capture());
thermalManager.setTargetBed(bed_temp);
// Wait for the temperature to stabilize
if (!thermalManager.wait_for_bed(true OPTARG(G26_CLICK_CAN_CANCEL, true)))
return G26_ERR;
}
#else
UNUSED(bed_temp);
#endif // HAS_HEATED_BED
// Start heating the active nozzle
LCD_MESSAGE_MAX(MSG_G26_HEATING_NOZZLE);
ui.quick_feedback();
thermalManager.setTargetHotend(hotend_temp, active_extruder);
// Wait for the temperature to stabilize
if (!thermalManager.wait_for_hotend(active_extruder, true OPTARG(G26_CLICK_CAN_CANCEL, true)))
return G26_ERR;
ui.reset_status();
ui.completion_feedback();
return G26_OK;
}
/**
* Prime the nozzle if needed. Return true on error.
*/
bool prime_nozzle() {
const feedRate_t fr_slow_e = planner.settings.max_feedrate_mm_s[E_AXIS] / 15.0f;
#if HAS_MARLINUI_MENU && !HAS_TOUCH_BUTTONS // ui.button_pressed issue with touchscreen
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
float Total_Prime = 0.0;
#endif
if (prime_flag == -1) { // The user wants to control how much filament gets purged
ui.capture();
LCD_MESSAGE_MAX(MSG_G26_MANUAL_PRIME);
ui.chirp();
destination = current_position;
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
while (!ui.button_pressed()) {
ui.chirp();
destination.e += 0.25;
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
Total_Prime += 0.25;
if (Total_Prime >= EXTRUDE_MAXLENGTH) {
ui.release();
return G26_ERR;
}
#endif
prepare_internal_move_to_destination(fr_slow_e);
destination = current_position;
planner.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able
// to stop as quickly. So we put up with the less smooth
// action to give the user a more responsive 'Stop'.
}
ui.wait_for_release();
LCD_MESSAGE_MAX(MSG_G26_PRIME_DONE);
ui.quick_feedback();
ui.release();
}
else
#endif
{
LCD_MESSAGE_MAX(MSG_G26_FIXED_LENGTH);
ui.quick_feedback();
destination = current_position;
destination.e += prime_length;
prepare_internal_move_to_destination(fr_slow_e);
destination.e -= prime_length;
retract_filament(destination);
}
return G26_OK;
}
/**
* Find the nearest point at which to print a circle
*/
mesh_index_pair find_closest_circle_to_print(const xy_pos_t &pos) {
mesh_index_pair out_point;
out_point.pos = -1;
#if ENABLED(UBL_HILBERT_CURVE)
auto test_func = [](uint8_t i, uint8_t j, void *data) -> bool {
if (!circle_flags.marked(i, j)) {
mesh_index_pair *out_point = (mesh_index_pair*)data;
out_point->pos.set(i, j); // Save its data
return true;
}
return false;
};
hilbert_curve::search_from_closest(pos, test_func, &out_point);
#else
float closest = 99999.99;
GRID_LOOP(i, j) {
if (!circle_flags.marked(i, j)) {
// We found a circle that needs to be printed
const xy_pos_t m = { bedlevel.get_mesh_x(i), bedlevel.get_mesh_y(j) };
// Get the distance to this intersection
float f = (pos - m).magnitude();
// It is possible that we are being called with the values
// to let us find the closest circle to the start position.
// But if this is not the case, add a small weighting to the
// distance calculation to help it choose a better place to continue.
f += (xy_pos - m).magnitude() / 15.0f;
// Add the specified amount of Random Noise to our search
if (g26_random_deviation > 1.0) f += random(0.0, g26_random_deviation);
if (f < closest) {
closest = f; // Found a closer un-printed location
out_point.pos.set(i, j); // Save its data
out_point.distance = closest;
}
}
}
#endif
circle_flags.mark(out_point); // Mark this location as done.
return out_point;
}
} g26_helper_t;
/**
* G26: Mesh Validation Pattern generation.
*
* Used to interactively edit the mesh by placing the
* nozzle in a problem area and doing a G29 P4 R command.
*
* Parameters:
*
* B Bed Temperature
* C Continue from the Closest mesh point
* D Disable leveling before starting
* F Filament diameter
* H Hotend Temperature
* K Keep heaters on when completed
* L Layer Height
* O Ooze extrusion length
* P Prime length
* Q Retraction multiplier
* R Repetitions (number of grid points)
* S Nozzle Size (diameter) in mm
* T Tool index to change to, if included
* U Random deviation (50 if no value given)
* X X position
* Y Y position
*/
void GcodeSuite::G26() {
SERIAL_ECHOLNPGM("G26 starting...");
// Don't allow Mesh Validation without homing first,
// or if the parameter parsing did not go OK, abort
if (homing_needed_error()) return;
#if HAS_TOOLCHANGE
// Change the tool first, if specified
if (parser.seenval('T')) tool_change(parser.value_int());
#endif
g26_helper_t g26;
g26.ooze_amount = parser.linearval('O', OOZE_AMOUNT);
g26.continue_with_closest = parser.boolval('C');
g26.keep_heaters_on = parser.boolval('K');
// Accept 'I' if temperature presets are defined
#if HAS_PREHEAT
const uint8_t preset_index = parser.seenval('I') ? _MIN(parser.value_byte(), PREHEAT_COUNT - 1) + 1 : 0;
#endif
#if HAS_HEATED_BED
// Get a temperature from 'I' or 'B'
celsius_t bedtemp = 0;
// Use the 'I' index if temperature presets are defined
#if HAS_PREHEAT
if (preset_index) bedtemp = ui.material_preset[preset_index - 1].bed_temp;
#endif
// Look for 'B' Bed Temperature
if (parser.seenval('B')) bedtemp = parser.value_celsius();
if (bedtemp) {
if (!WITHIN(bedtemp, 40, BED_MAX_TARGET)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Specified bed temperature not plausible (40-", BED_MAX_TARGET, "C)."));
return;
}
g26.bed_temp = bedtemp;
}
#endif // HAS_HEATED_BED
if (parser.seenval('L')) {
g26.layer_height = parser.value_linear_units();
if (!WITHIN(g26.layer_height, 0.0, 2.0)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Specified layer height not plausible."));
return;
}
}
if (parser.seen('Q')) {
if (parser.has_value()) {
g26.retraction_multiplier = parser.value_float();
if (!WITHIN(g26.retraction_multiplier, 0.05, 15.0)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Specified Retraction Multiplier not plausible."));
return;
}
}
else {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Retraction Multiplier must be specified."));
return;
}
}
if (parser.seenval('S')) {
g26.nozzle = parser.value_float();
if (!WITHIN(g26.nozzle, 0.1, 2.0)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Specified nozzle size not plausible."));
return;
}
}
if (parser.seen('P')) {
if (!parser.has_value()) {
#if HAS_MARLINUI_MENU
g26.prime_flag = -1;
#else
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Prime length must be specified when not using an LCD."));
return;
#endif
}
else {
g26.prime_flag++;
g26.prime_length = parser.value_linear_units();
if (!WITHIN(g26.prime_length, 0.0, 25.0)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Specified prime length not plausible."));
return;
}
}
}
if (parser.seenval('F')) {
g26.filament_diameter = parser.value_linear_units();
if (!WITHIN(g26.filament_diameter, 1.0, 4.0)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Specified filament size not plausible."));
return;
}
}
g26.extrusion_multiplier *= sq(1.75) / sq(g26.filament_diameter); // If we aren't using 1.75mm filament, we need to
// scale up or down the length needed to get the
// same volume of filament
g26.extrusion_multiplier *= g26.filament_diameter * sq(g26.nozzle) / sq(0.3); // Scale up by nozzle size
// Get a temperature from 'I' or 'H'
celsius_t noztemp = 0;
// Accept 'I' if temperature presets are defined
#if HAS_PREHEAT
if (preset_index) noztemp = ui.material_preset[preset_index - 1].hotend_temp;
#endif
// Look for 'H' Hotend Temperature
if (parser.seenval('H')) noztemp = parser.value_celsius();
// If any preset or temperature was specified
if (noztemp) {
if (!WITHIN(noztemp, 165, thermalManager.hotend_max_target(active_extruder))) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Specified nozzle temperature not plausible."));
return;
}
g26.hotend_temp = noztemp;
}
// 'U' to Randomize and optionally set circle deviation
if (parser.seen('U')) {
randomSeed(millis());
// This setting will persist for the next G26
g26_random_deviation = parser.has_value() ? parser.value_float() : 50.0;
}
// Get repeat from 'R', otherwise do one full circuit
grid_count_t g26_repeats;
#if HAS_MARLINUI_MENU
g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1);
#else
if (parser.seen('R'))
g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1;
else {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("(R)epeat must be specified when not using an LCD."));
return;
}
#endif
if (g26_repeats < 1) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("(R)epeat value not plausible; must be at least 1."));
return;
}
// Set a position with 'X' and/or 'Y'. Default: current_position
g26.xy_pos.set(parser.seenval('X') ? RAW_X_POSITION(parser.value_linear_units()) : current_position.x,
parser.seenval('Y') ? RAW_Y_POSITION(parser.value_linear_units()) : current_position.y);
if (!position_is_reachable(g26.xy_pos)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Specified X,Y coordinate out of bounds."));
return;
}
/**
* Wait until all parameters are verified before altering the state!
*/
set_bed_leveling_enabled(!parser.seen_test('D'));
do_z_clearance(Z_CLEARANCE_BETWEEN_PROBES);
#if DISABLED(NO_VOLUMETRICS)
bool volumetric_was_enabled = parser.volumetric_enabled;
parser.volumetric_enabled = false;
planner.calculate_volumetric_multipliers();
#endif
if (g26.turn_on_heaters() != G26_OK) goto LEAVE;
current_position.e = 0.0;
sync_plan_position_e();
if (g26.prime_flag && g26.prime_nozzle() != G26_OK) goto LEAVE;
/**
* Bed is preheated
*
* Nozzle is at temperature
*
* Filament is primed!
*
* It's "Show Time" !!!
*/
circle_flags.reset();
// Move nozzle to the specified height for the first layer
destination = current_position;
destination.z = g26.layer_height;
move_to(destination, 0.0);
move_to(destination, g26.ooze_amount);
TERN_(HAS_MARLINUI_MENU, ui.capture());
#if DISABLED(ARC_SUPPORT)
/**
* Pre-generate radius offset values at 30 degree intervals to reduce CPU load.
*/
#define A_INT 30
#define _ANGS (360 / A_INT)
#define A_CNT (_ANGS / 2)
#define _IND(A) ((A + _ANGS * 8) % _ANGS)
#define _COS(A) (trig_table[_IND(A) % A_CNT] * (_IND(A) >= A_CNT ? -1 : 1))
#define _SIN(A) (-_COS((A + A_CNT / 2) % _ANGS))
#if A_CNT & 1
#error "A_CNT must be a positive value. Please change A_INT."
#endif
float trig_table[A_CNT];
for (uint8_t i = 0; i < A_CNT; ++i)
trig_table[i] = INTERSECTION_CIRCLE_RADIUS * cos(RADIANS(i * A_INT));
#endif // !ARC_SUPPORT
mesh_index_pair location;
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location.pos, ExtUI::G26_START));
do {
// Find the nearest confluence
location = g26.find_closest_circle_to_print(g26.continue_with_closest ? xy_pos_t(current_position) : g26.xy_pos);
if (location.valid()) {
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location.pos, ExtUI::G26_POINT_START));
const xy_pos_t circle = { bedlevel.get_mesh_x(location.pos.a), bedlevel.get_mesh_y(location.pos.b) };
// If this mesh location is outside the printable radius, skip it.
if (!position_is_reachable(circle)) continue;
// Determine where to start and end the circle,
// which is always drawn counter-clockwise.
const xy_int8_t st = location;
const bool f = st.y == 0,
r = st.x >= (GRID_MAX_POINTS_X) - 1,
b = st.y >= (GRID_MAX_POINTS_Y) - 1;
#if ENABLED(ARC_SUPPORT)
#define ARC_LENGTH(quarters) (INTERSECTION_CIRCLE_RADIUS * M_PI * (quarters) / 2)
#define INTERSECTION_CIRCLE_DIAM ((INTERSECTION_CIRCLE_RADIUS) * 2)
xy_float_t e = { circle.x + INTERSECTION_CIRCLE_RADIUS, circle.y };
xyz_float_t s = e;
// Figure out where to start and end the arc - we always print counterclockwise
float arc_length = ARC_LENGTH(4);
if (st.x == 0) { // left edge
if (!f) { s.x = circle.x; s.y -= INTERSECTION_CIRCLE_RADIUS; }
if (!b) { e.x = circle.x; e.y += INTERSECTION_CIRCLE_RADIUS; }
arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
}
else if (r) { // right edge
if (b) s.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
else s.set(circle.x, circle.y + INTERSECTION_CIRCLE_RADIUS);
if (f) e.set(circle.x - (INTERSECTION_CIRCLE_RADIUS), circle.y);
else e.set(circle.x, circle.y - (INTERSECTION_CIRCLE_RADIUS));
arc_length = (f || b) ? ARC_LENGTH(1) : ARC_LENGTH(2);
}
else if (f) {
e.x -= INTERSECTION_CIRCLE_DIAM;
arc_length = ARC_LENGTH(2);
}
else if (b) {
s.x -= INTERSECTION_CIRCLE_DIAM;
arc_length = ARC_LENGTH(2);
}
const ab_float_t arc_offset = circle - s;
const xy_float_t dist = current_position - s; // Distance from the start of the actual circle
const float dist_start = HYPOT2(dist.x, dist.y);
const xyze_pos_t endpoint = {
e.x, e.y, g26.layer_height,
current_position.e + (arc_length * g26_e_axis_feedrate * g26.extrusion_multiplier)
};
if (dist_start > 2.0) {
s.z = g26.layer_height + 0.5f;
g26.retract_lift_move(s);
}
s.z = g26.layer_height;
move_to(s, 0.0); // Get to the starting point with no extrusion / un-Z lift
g26.recover_filament(destination);
{ REMEMBER(fr, feedrate_mm_s, PLANNER_XY_FEEDRATE() * 0.1f);
plan_arc(endpoint, arc_offset, false, 0); // Draw a counter-clockwise arc
destination = current_position;
}
if (TERN0(HAS_MARLINUI_MENU, user_canceled())) goto LEAVE; // Check if the user wants to stop the Mesh Validation
#else // !ARC_SUPPORT
int8_t start_ind = -2, end_ind = 9; // Assume a full circle (from 5:00 to 5:00)
if (st.x == 0) { // Left edge? Just right half.
start_ind = f ? 0 : -3; // 03:00 to 12:00 for front-left
end_ind = b ? 0 : 2; // 06:00 to 03:00 for back-left
}
else if (r) { // Right edge? Just left half.
start_ind = b ? 6 : 3; // 12:00 to 09:00 for front-right
end_ind = f ? 5 : 8; // 09:00 to 06:00 for back-right
}
else if (f) { // Front edge? Just back half.
start_ind = 0; // 03:00
end_ind = 5; // 09:00
}
else if (b) { // Back edge? Just front half.
start_ind = 6; // 09:00
end_ind = 11; // 03:00
}
for (int8_t ind = start_ind; ind <= end_ind; ind++) {
if (TERN0(HAS_MARLINUI_MENU, user_canceled())) goto LEAVE; // Check if the user wants to stop the Mesh Validation
xyz_float_t p = { circle.x + _COS(ind ), circle.y + _SIN(ind ), g26.layer_height },
q = { circle.x + _COS(ind + 1), circle.y + _SIN(ind + 1), g26.layer_height };
#if IS_KINEMATIC
// Check to make sure this segment is entirely on the bed, skip if not.
if (!position_is_reachable(p) || !position_is_reachable(q)) continue;
#elif HAS_ENDSTOPS
LIMIT(p.x, X_MIN_POS + 1, X_MAX_POS - 1); // Prevent hitting the endstops
LIMIT(p.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
LIMIT(q.x, X_MIN_POS + 1, X_MAX_POS - 1);
LIMIT(q.y, Y_MIN_POS + 1, Y_MAX_POS - 1);
#endif
g26.print_line_from_here_to_there(p, q);
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
}
#endif // !ARC_SUPPORT
g26.connect_neighbor_with_line(location.pos, -1, 0);
g26.connect_neighbor_with_line(location.pos, 1, 0);
g26.connect_neighbor_with_line(location.pos, 0, -1);
g26.connect_neighbor_with_line(location.pos, 0, 1);
planner.synchronize();
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location.pos, ExtUI::G26_POINT_FINISH));
if (TERN0(HAS_MARLINUI_MENU, user_canceled())) goto LEAVE;
}
SERIAL_FLUSH(); // Prevent host M105 buffer overrun.
} while (--g26_repeats && location.valid());
LEAVE:
LCD_MESSAGE_MIN(MSG_G26_LEAVING);
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(location, ExtUI::G26_FINISH));
g26.retract_filament(destination);
destination.z = Z_CLEARANCE_BETWEEN_PROBES;
move_to(destination, 0); // Raise the nozzle
#if DISABLED(NO_VOLUMETRICS)
parser.volumetric_enabled = volumetric_was_enabled;
planner.calculate_volumetric_multipliers();
#endif
TERN_(HAS_MARLINUI_MENU, ui.release()); // Give back control of the LCD
if (!g26.keep_heaters_on) {
TERN_(HAS_HEATED_BED, thermalManager.setTargetBed(0));
thermalManager.setTargetHotend(active_extruder, 0);
}
}
#endif // G26_MESH_VALIDATION
| 2301_81045437/Marlin | Marlin/src/gcode/bedlevel/G26.cpp | C++ | agpl-3.0 | 32,743 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if ENABLED(ASSISTED_TRAMMING)
#include "../gcode.h"
#include "../../module/planner.h"
#include "../../module/probe.h"
#include "../../feature/bedlevel/bedlevel.h"
#if ENABLED(BLTOUCH)
#include "../../feature/bltouch.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../core/debug_out.h"
//
// Define tramming point names.
//
#include "../../feature/tramming.h"
/**
* G35: Read bed corners to help adjust bed screws
*
* S<screw_thread>
*
* Screw thread: 30 - Clockwise M3
* 31 - Counter-Clockwise M3
* 40 - Clockwise M4
* 41 - Counter-Clockwise M4
* 50 - Clockwise M5
* 51 - Counter-Clockwise M5
**/
void GcodeSuite::G35() {
DEBUG_SECTION(log_G35, "G35", DEBUGGING(LEVELING));
if (DEBUGGING(LEVELING)) log_machine_info();
float z_measured[G35_PROBE_COUNT] = { 0 };
const uint8_t screw_thread = parser.byteval('S', TRAMMING_SCREW_THREAD);
if (!WITHIN(screw_thread, 30, 51) || screw_thread % 10 > 1) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("(S)crew thread must be 30, 31, 40, 41, 50, or 51."));
return;
}
// Wait for planner moves to finish!
planner.synchronize();
// Disable the leveling matrix before auto-aligning
#if HAS_LEVELING
#if ENABLED(RESTORE_LEVELING_AFTER_G35)
const bool leveling_was_active = planner.leveling_active;
#endif
set_bed_leveling_enabled(false);
#endif
TERN_(CNC_WORKSPACE_PLANES, workspace_plane = PLANE_XY);
probe.use_probing_tool();
// Disable duplication mode on homing
TERN_(HAS_DUPLICATION_MODE, set_duplication_enabled(false));
// Home only Z axis when X and Y is trusted, otherwise all axes, if needed before this procedure
if (!all_axes_trusted()) process_subcommands_now(F("G28Z"));
bool err_break = false;
// Probe all positions
for (uint8_t i = 0; i < G35_PROBE_COUNT; ++i) {
const float z_probed_height = probe.probe_at_point(tramming_points[i], PROBE_PT_RAISE);
if (isnan(z_probed_height)) {
SERIAL_ECHOLN(
F("G35 failed at point "), i + 1,
F(" ("), FPSTR(pgm_read_ptr(&tramming_point_name[i])), C(')'),
FPSTR(SP_X_STR), tramming_points[i].x,
FPSTR(SP_Y_STR), tramming_points[i].y
);
err_break = true;
break;
}
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLN(
F("Probing point "), i + 1, F(" ("), FPSTR(pgm_read_ptr(&tramming_point_name[i])), C(')'),
FPSTR(SP_X_STR), tramming_points[i].x, FPSTR(SP_Y_STR), tramming_points[i].y,
FPSTR(SP_Z_STR), z_probed_height
);
}
z_measured[i] = z_probed_height;
}
if (!err_break) {
const float threads_factor[] = { 0.5, 0.7, 0.8 };
// Calculate adjusts
for (uint8_t i = 1; i < G35_PROBE_COUNT; ++i) {
const float diff = z_measured[0] - z_measured[i],
adjust = ABS(diff) < 0.001f ? 0 : diff / threads_factor[(screw_thread - 30) / 10];
const int full_turns = trunc(adjust);
const float decimal_part = adjust - float(full_turns);
const int minutes = trunc(decimal_part * 60.0f);
SERIAL_ECHOPGM("Turn ");
SERIAL_ECHOPGM_P((char *)pgm_read_ptr(&tramming_point_name[i]));
SERIAL_ECHOPGM(" ", (screw_thread & 1) == (adjust > 0) ? "CCW" : "CW", " by ", ABS(full_turns), " turns");
if (minutes) SERIAL_ECHOPGM(" and ", ABS(minutes), " minutes");
if (ENABLED(REPORT_TRAMMING_MM)) SERIAL_ECHOPGM(" (", -diff, "mm)");
SERIAL_EOL();
}
}
else
SERIAL_ECHOLNPGM("G35 aborted.");
// Restore the active tool after homing
probe.use_probing_tool(false);
#if ALL(HAS_LEVELING, RESTORE_LEVELING_AFTER_G35)
set_bed_leveling_enabled(leveling_was_active);
#endif
// Stow the probe, as the last call to probe.probe_at_point(...) left
// the probe deployed if it was successful.
probe.stow();
move_to_tramming_wait_pos();
// After this operation the Z position needs correction
set_axis_never_homed(Z_AXIS);
}
#endif // ASSISTED_TRAMMING
| 2301_81045437/Marlin | Marlin/src/gcode/bedlevel/G35.cpp | C++ | agpl-3.0 | 4,922 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if HAS_MESH
#include "../gcode.h"
#include "../../MarlinCore.h" // for IsRunning()
#include "../../module/motion.h"
#include "../../module/probe.h" // for probe.offset
#include "../../feature/bedlevel/bedlevel.h"
/**
* G42: Move X & Y axes to mesh coordinates (I & J)
*/
void GcodeSuite::G42() {
if (MOTION_CONDITIONS) {
const bool hasI = parser.seenval('I');
const int8_t ix = hasI ? parser.value_int() : 0;
const bool hasJ = parser.seenval('J');
const int8_t iy = hasJ ? parser.value_int() : 0;
if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) {
SERIAL_ECHOLNPGM(STR_ERR_MESH_XY);
return;
}
// Move to current_position, as modified by I, J, P parameters
destination = current_position;
if (hasI) destination.x = bedlevel.get_mesh_x(ix);
if (hasJ) destination.y = bedlevel.get_mesh_y(iy);
#if HAS_PROBE_XY_OFFSET
if (parser.boolval('P')) {
if (hasI) destination.x -= probe.offset_xy.x;
if (hasJ) destination.y -= probe.offset_xy.y;
}
#endif
const feedRate_t fval = parser.linearval('F'),
fr_mm_s = MMM_TO_MMS(fval > 0 ? fval : 0.0f);
// SCARA kinematic has "safe" XY raw moves
#if IS_SCARA
prepare_internal_fast_move_to_destination(fr_mm_s);
#else
prepare_internal_move_to_destination(fr_mm_s);
#endif
}
}
#endif // HAS_MESH
| 2301_81045437/Marlin | Marlin/src/gcode/bedlevel/G42.cpp | C++ | agpl-3.0 | 2,338 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
#include "../../inc/MarlinConfig.h"
#if HAS_LEVELING
#include "../gcode.h"
#include "../../feature/bedlevel/bedlevel.h"
#include "../../module/planner.h"
#include "../../module/probe.h"
#if ENABLED(EEPROM_SETTINGS)
#include "../../module/settings.h"
#endif
#if ENABLED(EXTENSIBLE_UI)
#include "../../lcd/extui/ui_api.h"
#endif
//#define M420_C_USE_MEAN
/**
* M420: Enable/Disable Bed Leveling and/or set the Z fade height.
*
* S[bool] Turns leveling on or off
* Z[height] Sets the Z fade height (0 or none to disable)
* V[bool] Verbose - Print the leveling grid
*
* With AUTO_BED_LEVELING_UBL only:
*
* L[index] Load UBL mesh from index (0 is default)
* T[map] 0:Human-readable 1:CSV 2:"LCD" 4:Compact
*
* With mesh-based leveling only:
*
* C Center mesh on the mean of the lowest and highest
*
* With MARLIN_DEV_MODE:
* S2 Create a simple random mesh and enable
*/
void GcodeSuite::M420() {
const bool seen_S = parser.seen('S'),
to_enable = seen_S ? parser.value_bool() : planner.leveling_active;
#if ENABLED(MARLIN_DEV_MODE)
if (parser.intval('S') == 2) {
const float x_min = probe.min_x(), x_max = probe.max_x(),
y_min = probe.min_y(), y_max = probe.max_y();
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
xy_pos_t start, spacing;
start.set(x_min, y_min);
spacing.set((x_max - x_min) / (GRID_MAX_CELLS_X),
(y_max - y_min) / (GRID_MAX_CELLS_Y));
bedlevel.set_grid(spacing, start);
#endif
GRID_LOOP(x, y) {
bedlevel.z_values[x][y] = 0.001 * random(-200, 200);
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, bedlevel.z_values[x][y]));
}
TERN_(AUTO_BED_LEVELING_BILINEAR, bedlevel.refresh_bed_level());
SERIAL_ECHOPGM("Simulated " STRINGIFY(GRID_MAX_POINTS_X) "x" STRINGIFY(GRID_MAX_POINTS_Y) " mesh ");
SERIAL_ECHOPGM(" (", x_min);
SERIAL_CHAR(','); SERIAL_ECHO(y_min);
SERIAL_ECHOPGM(")-(", x_max);
SERIAL_CHAR(','); SERIAL_ECHO(y_max);
SERIAL_ECHOLNPGM(")");
}
#endif
xyz_pos_t oldpos = current_position;
// If disabling leveling do it right away
// (Don't disable for just M420 or M420 V)
if (seen_S && !to_enable) set_bed_leveling_enabled(false);
#if ENABLED(AUTO_BED_LEVELING_UBL)
// L to load a mesh from the EEPROM
if (parser.seen('L')) {
set_bed_leveling_enabled(false);
#if ENABLED(EEPROM_SETTINGS)
const int8_t storage_slot = parser.has_value() ? parser.value_int() : bedlevel.storage_slot;
const int16_t a = settings.calc_num_meshes();
if (!a) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("EEPROM storage not available."));
return;
}
if (!WITHIN(storage_slot, 0, a - 1)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Invalid storage slot. Use 0 to ", a - 1));
return;
}
settings.load_mesh(storage_slot);
bedlevel.storage_slot = storage_slot;
#else
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("EEPROM storage not available."));
return;
#endif
}
// L or V display the map info
if (parser.seen("LV")) {
bedlevel.display_map(parser.byteval('T'));
SERIAL_ECHOPGM("Mesh is ");
if (!bedlevel.mesh_is_valid()) SERIAL_ECHOPGM("in");
SERIAL_ECHOLNPGM("valid\nStorage slot: ", bedlevel.storage_slot);
}
#endif // AUTO_BED_LEVELING_UBL
const bool seenV = parser.seen_test('V');
#if HAS_MESH
if (leveling_is_valid()) {
// Subtract the given value or the mean from all mesh values
if (parser.seen('C')) {
const float cval = parser.value_float();
#if ENABLED(AUTO_BED_LEVELING_UBL)
set_bed_leveling_enabled(false);
bedlevel.adjust_mesh_to_mean(true, cval);
#else
#if ENABLED(M420_C_USE_MEAN)
// Get the sum and average of all mesh values
float mesh_sum = 0;
GRID_LOOP(x, y) mesh_sum += bedlevel.z_values[x][y];
const float zmean = mesh_sum / float(GRID_MAX_POINTS);
#else // midrange
// Find the low and high mesh values.
float lo_val = 100, hi_val = -100;
GRID_LOOP(x, y) {
const float z = bedlevel.z_values[x][y];
NOMORE(lo_val, z);
NOLESS(hi_val, z);
}
// Get the midrange plus C value. (The median may be better.)
const float zmean = (lo_val + hi_val) / 2.0 + cval;
#endif
// If not very close to 0, adjust the mesh
if (!NEAR_ZERO(zmean)) {
set_bed_leveling_enabled(false);
// Subtract the mean from all values
GRID_LOOP(x, y) {
bedlevel.z_values[x][y] -= zmean;
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, bedlevel.z_values[x][y]));
}
TERN_(AUTO_BED_LEVELING_BILINEAR, bedlevel.refresh_bed_level());
}
#endif
}
}
else if (to_enable || seenV) {
SERIAL_ECHO_MSG("Invalid mesh.");
goto EXIT_M420;
}
#endif // HAS_MESH
// V to print the matrix or mesh
if (seenV) {
#if ABL_PLANAR
planner.bed_level_matrix.debug(F("Bed Level Correction Matrix:"));
#else
if (leveling_is_valid()) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
bedlevel.print_leveling_grid();
#elif ENABLED(MESH_BED_LEVELING)
SERIAL_ECHOLNPGM("Mesh Bed Level data:");
bedlevel.report_mesh();
#endif
}
#endif
}
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (parser.seen('Z')) set_z_fade_height(parser.value_linear_units(), false);
#endif
// Enable leveling if specified, or if previously active
set_bed_leveling_enabled(to_enable);
#if HAS_MESH
EXIT_M420:
#endif
// Error if leveling failed to enable or reenable
if (to_enable && !planner.leveling_active)
SERIAL_ERROR_MSG(STR_ERR_M420_FAILED);
SERIAL_ECHO_START();
SERIAL_ECHOPGM("Bed Leveling ");
serialprintln_onoff(planner.leveling_active);
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
SERIAL_ECHO_START();
SERIAL_ECHOPGM("Fade Height ");
if (planner.z_fade_height > 0.0)
SERIAL_ECHOLN(planner.z_fade_height);
else
SERIAL_ECHOLNPGM(STR_OFF);
#endif
// Report change in position
if (oldpos != current_position)
report_current_position();
}
void GcodeSuite::M420_report(const bool forReplay/*=true*/) {
TERN_(MARLIN_SMALL_BUILD, return);
report_heading_etc(forReplay, F(
TERN(MESH_BED_LEVELING, "Mesh Bed Leveling", TERN(AUTO_BED_LEVELING_UBL, "Unified Bed Leveling", "Auto Bed Leveling"))
));
SERIAL_ECHO(
F(" M420 S"), planner.leveling_active
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, FPSTR(SP_Z_STR), LINEAR_UNIT(planner.z_fade_height)
#endif
, F(" ; Leveling ")
);
serialprintln_onoff(planner.leveling_active);
}
#endif // HAS_LEVELING
| 2301_81045437/Marlin | Marlin/src/gcode/bedlevel/M420.cpp | C++ | agpl-3.0 | 7,876 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* G29.cpp - Auto Bed Leveling
*/
#include "../../../inc/MarlinConfig.h"
#if HAS_ABL_NOT_UBL
#include "../../gcode.h"
#include "../../../feature/bedlevel/bedlevel.h"
#include "../../../module/motion.h"
#include "../../../module/planner.h"
#include "../../../module/probe.h"
#include "../../queue.h"
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
#include "../../../libs/least_squares_fit.h"
#endif
#if ABL_PLANAR
#include "../../../libs/vector_3.h"
#endif
#if ENABLED(BD_SENSOR_PROBE_NO_STOP)
#include "../../../feature/bedlevel/bdl/bdl.h"
#endif
#include "../../../lcd/marlinui.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../../../lcd/extui/ui_api.h"
#elif ENABLED(DWIN_CREALITY_LCD)
#include "../../../lcd/e3v2/creality/dwin.h"
#endif
#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE)
#include "../../../core/debug_out.h"
#if ABL_USES_GRID
#if ENABLED(PROBE_Y_FIRST)
#define PR_OUTER_VAR abl.meshCount.x
#define PR_OUTER_SIZE abl.grid_points.x
#define PR_INNER_VAR abl.meshCount.y
#define PR_INNER_SIZE abl.grid_points.y
#else
#define PR_OUTER_VAR abl.meshCount.y
#define PR_OUTER_SIZE abl.grid_points.y
#define PR_INNER_VAR abl.meshCount.x
#define PR_INNER_SIZE abl.grid_points.x
#endif
#endif
static void pre_g29_return(const bool retry, const bool did) {
if (!retry) {
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_IDLE, false));
}
if (did) {
TERN_(DWIN_CREALITY_LCD, dwinLevelingDone());
TERN_(EXTENSIBLE_UI, ExtUI::onLevelingDone());
}
}
#define G29_RETURN(retry, did) do{ \
pre_g29_return(TERN0(G29_RETRY_AND_RECOVER, retry), did); \
return TERN_(G29_RETRY_AND_RECOVER, retry); \
}while(0)
// For manual probing values persist over multiple G29
class G29_State {
public:
int verbose_level;
xy_pos_t probePos;
float measured_z;
bool dryrun,
reenable;
#if ANY(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR)
int abl_probe_index;
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
grid_count_t abl_points;
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
static constexpr grid_count_t abl_points = 3;
#elif ABL_USES_GRID
static constexpr grid_count_t abl_points = GRID_MAX_POINTS;
#endif
#if ABL_USES_GRID
xy_int8_t meshCount;
xy_pos_t probe_position_lf,
probe_position_rb;
xy_float_t gridSpacing; // = { 0.0f, 0.0f }
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
bool topography_map;
xy_uint8_t grid_points;
#else // Bilinear
static constexpr xy_uint8_t grid_points = { GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y };
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
float Z_offset;
bed_mesh_t z_values;
#endif
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
int indexIntoAB[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
float eqnAMatrix[GRID_MAX_POINTS * 3], // "A" matrix of the linear system of equations
eqnBVector[GRID_MAX_POINTS], // "B" vector of Z points
mean;
#endif
#endif
};
#if ABL_USES_GRID && ANY(AUTO_BED_LEVELING_3POINT, AUTO_BED_LEVELING_BILINEAR)
constexpr xy_uint8_t G29_State::grid_points;
constexpr grid_count_t G29_State::abl_points;
#endif
/**
* G29: Detailed Z probe, probes the bed at 3 or more points.
* Will fail if the printer has not been homed with G28.
*
* Enhanced G29 Auto Bed Leveling Probe Routine
*
* O Auto-level only if needed
*
* D Dry-Run mode. Just evaluate the bed Topology - Don't apply
* or alter the bed level data. Useful to check the topology
* after a first run of G29.
*
* J Jettison current bed leveling data
*
* V Set the verbose level (0-4). Example: "G29 V3"
*
* Parameters With LINEAR leveling only:
*
* P Set the size of the grid that will be probed (P x P points).
* Example: "G29 P4"
*
* X Set the X size of the grid that will be probed (X x Y points).
* Example: "G29 X7 Y5"
*
* Y Set the Y size of the grid that will be probed (X x Y points).
*
* T Generate a Bed Topology Report. Example: "G29 P5 T" for a detailed report.
* This is useful for manual bed leveling and finding flaws in the bed (to
* assist with part placement).
* Not supported by non-linear delta printer bed leveling.
*
* Parameters With LINEAR and BILINEAR leveling only:
*
* S Set the XY travel speed between probe points (in units/min)
*
* H Set bounds to a centered square H x H units in size
*
* -or-
*
* F Set the Front limit of the probing grid
* B Set the Back limit of the probing grid
* L Set the Left limit of the probing grid
* R Set the Right limit of the probing grid
*
* Parameters with DEBUG_LEVELING_FEATURE only:
*
* C Make a totally fake grid with no actual probing.
* For use in testing when no probing is possible.
*
* Parameters with BILINEAR leveling only:
*
* Z Supply an additional Z probe offset
*
* Extra parameters with PROBE_MANUALLY:
*
* To do manual probing simply repeat G29 until the procedure is complete.
* The first G29 accepts parameters. 'G29 Q' for status, 'G29 A' to abort.
*
* Q Query leveling and G29 state
*
* A Abort current leveling procedure
*
* Extra parameters with BILINEAR only:
*
* W Write a mesh point. (If G29 is idle.)
* I X index for mesh point
* J Y index for mesh point
* X X for mesh point, overrides I
* Y Y for mesh point, overrides J
* Z Z for mesh point. Otherwise, raw current Z.
*
* Without PROBE_MANUALLY:
*
* E By default G29 will engage the Z probe, test the bed, then disengage.
* Include "E" to engage/disengage the Z probe for each sample.
* There's no extra effect if you have a fixed Z probe.
*/
G29_TYPE GcodeSuite::G29() {
DEBUG_SECTION(log_G29, "G29", DEBUGGING(LEVELING));
// Leveling state is persistent when done manually with multiple G29 commands
TERN_(PROBE_MANUALLY, static) G29_State abl;
// Keep powered steppers from timing out
reset_stepper_timeout();
// Q = Query leveling and G29 state
const bool seenQ = ANY(DEBUG_LEVELING_FEATURE, PROBE_MANUALLY) && parser.seen_test('Q');
// G29 Q is also available if debugging
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (seenQ || DEBUGGING(LEVELING)) log_machine_info();
if (DISABLED(PROBE_MANUALLY) && seenQ) G29_RETURN(false, false);
#endif
// A = Abort manual probing
// C<bool> = Generate fake probe points (DEBUG_LEVELING_FEATURE)
const bool seenA = TERN0(PROBE_MANUALLY, parser.seen_test('A')),
no_action = seenA || seenQ,
faux = ENABLED(DEBUG_LEVELING_FEATURE) && DISABLED(PROBE_MANUALLY) ? parser.boolval('C') : no_action;
// O = Don't level if leveling is already active
if (!no_action && planner.leveling_active && parser.boolval('O')) {
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> Auto-level not needed, skip");
G29_RETURN(false, false);
}
// Send 'N' to force homing before G29 (internal only)
if (parser.seen_test('N'))
process_subcommands_now(TERN(CAN_SET_LEVELING_AFTER_G28, F("G28L0"), FPSTR(G28_STR)));
// Don't allow auto-leveling without homing first
if (homing_needed_error()) G29_RETURN(false, false);
// 3-point leveling gets points from the probe class
#if ENABLED(AUTO_BED_LEVELING_3POINT)
vector_3 points[3];
probe.get_three_points(points);
#endif
// Storage for ABL Linear results
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
struct linear_fit_data lsf_results;
#endif
// Set and report "probing" state to host
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_PROBE, false));
/**
* On the initial G29 fetch command parameters.
*/
if (!g29_in_progress) {
probe.use_probing_tool();
#if ANY(PROBE_MANUALLY, AUTO_BED_LEVELING_LINEAR)
abl.abl_probe_index = -1;
#endif
abl.reenable = planner.leveling_active;
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
const bool seen_w = parser.seen_test('W');
if (seen_w) {
if (!leveling_is_valid()) {
SERIAL_ERROR_MSG("No bilinear grid");
G29_RETURN(false, false);
}
const float rz = parser.seenval('Z') ? RAW_Z_POSITION(parser.value_linear_units()) : current_position.z;
if (!WITHIN(rz, -10, 10)) {
SERIAL_ERROR_MSG("Bad Z value");
G29_RETURN(false, false);
}
const float rx = RAW_X_POSITION(parser.linearval('X', NAN)),
ry = RAW_Y_POSITION(parser.linearval('Y', NAN));
int8_t i = parser.byteval('I', -1), j = parser.byteval('J', -1);
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
if (!isnan(rx) && !isnan(ry)) {
// Get nearest i / j from rx / ry
i = (rx - bedlevel.grid_start.x) / bedlevel.grid_spacing.x + 0.5f;
j = (ry - bedlevel.grid_start.y) / bedlevel.grid_spacing.y + 0.5f;
LIMIT(i, 0, (GRID_MAX_POINTS_X) - 1);
LIMIT(j, 0, (GRID_MAX_POINTS_Y) - 1);
}
#pragma GCC diagnostic pop
if (WITHIN(i, 0, (GRID_MAX_POINTS_X) - 1) && WITHIN(j, 0, (GRID_MAX_POINTS_Y) - 1)) {
set_bed_leveling_enabled(false);
bedlevel.z_values[i][j] = rz;
bedlevel.refresh_bed_level();
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(i, j, rz));
if (abl.reenable) {
set_bed_leveling_enabled(true);
report_current_position();
}
}
G29_RETURN(false, false);
} // parser.seen_test('W')
#else
constexpr bool seen_w = false;
#endif
// Jettison bed leveling data
if (!seen_w && parser.seen_test('J')) {
reset_bed_level();
G29_RETURN(false, false);
}
abl.verbose_level = parser.intval('V');
if (!WITHIN(abl.verbose_level, 0, 4)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("(V)erbose level implausible (0-4)."));
G29_RETURN(false, false);
}
abl.dryrun = parser.boolval('D') || TERN0(PROBE_MANUALLY, no_action);
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
incremental_LSF_reset(&lsf_results);
abl.topography_map = abl.verbose_level > 2 || parser.boolval('T');
// X and Y specify points in each direction, overriding the default
// These values may be saved with the completed mesh
abl.grid_points.set(
parser.byteval('X', GRID_MAX_POINTS_X),
parser.byteval('Y', GRID_MAX_POINTS_Y)
);
if (parser.seenval('P')) abl.grid_points.x = abl.grid_points.y = parser.value_int();
if (!WITHIN(abl.grid_points.x, 2, GRID_MAX_POINTS_X)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Probe points (X) implausible (2-" STRINGIFY(GRID_MAX_POINTS_X) ")."));
G29_RETURN(false, false);
}
if (!WITHIN(abl.grid_points.y, 2, GRID_MAX_POINTS_Y)) {
SERIAL_ECHOLNPGM(GCODE_ERR_MSG("Probe points (Y) implausible (2-" STRINGIFY(GRID_MAX_POINTS_Y) ")."));
G29_RETURN(false, false);
}
abl.abl_points = abl.grid_points.x * abl.grid_points.y;
abl.mean = 0;
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
abl.Z_offset = parser.linearval('Z');
#endif
#if ABL_USES_GRID
xy_probe_feedrate_mm_s = MMM_TO_MMS(parser.linearval('S', XY_PROBE_FEEDRATE));
const float x_min = probe.min_x(), x_max = probe.max_x(),
y_min = probe.min_y(), y_max = probe.max_y();
if (parser.seen('H')) {
const int16_t size = (int16_t)parser.value_linear_units();
abl.probe_position_lf.set(_MAX((X_CENTER) - size / 2, x_min), _MAX((Y_CENTER) - size / 2, y_min));
abl.probe_position_rb.set(_MIN(abl.probe_position_lf.x + size, x_max), _MIN(abl.probe_position_lf.y + size, y_max));
}
else {
abl.probe_position_lf.set(parser.linearval('L', x_min), parser.linearval('F', y_min));
abl.probe_position_rb.set(parser.linearval('R', x_max), parser.linearval('B', y_max));
}
if (!probe.good_bounds(abl.probe_position_lf, abl.probe_position_rb)) {
if (DEBUGGING(LEVELING)) {
DEBUG_ECHOLNPGM("G29 L", abl.probe_position_lf.x, " R", abl.probe_position_rb.x,
" F", abl.probe_position_lf.y, " B", abl.probe_position_rb.y);
}
SERIAL_ECHOLNPGM(GCODE_ERR_MSG(" (L,R,F,B) out of bounds."));
G29_RETURN(false, false);
}
// Probe at the points of a lattice grid
abl.gridSpacing.set((abl.probe_position_rb.x - abl.probe_position_lf.x) / (abl.grid_points.x - 1),
(abl.probe_position_rb.y - abl.probe_position_lf.y) / (abl.grid_points.y - 1));
#endif // ABL_USES_GRID
if (abl.verbose_level > 0) {
SERIAL_ECHOPGM("G29 Auto Bed Leveling");
if (abl.dryrun) SERIAL_ECHOPGM(" (DRYRUN)");
SERIAL_EOL();
}
planner.synchronize();
#if ENABLED(AUTO_BED_LEVELING_3POINT)
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("> 3-point Leveling");
points[0].z = points[1].z = points[2].z = 0; // Probe at 3 arbitrary points
#endif
TERN_(EXTENSIBLE_UI, ExtUI::onLevelingStart());
if (!faux) {
remember_feedrate_scaling_off();
#if ENABLED(PREHEAT_BEFORE_LEVELING)
if (!abl.dryrun) probe.preheat_for_probing(LEVELING_NOZZLE_TEMP,
TERN(EXTENSIBLE_UI, ExtUI::getLevelingBedTemp(), LEVELING_BED_TEMP)
);
#endif
}
// Position bed horizontally and Z probe vertically.
#if HAS_SAFE_BED_LEVELING
xyze_pos_t safe_position = current_position;
#ifdef SAFE_BED_LEVELING_START_X
safe_position.x = SAFE_BED_LEVELING_START_X;
#endif
#ifdef SAFE_BED_LEVELING_START_Y
safe_position.y = SAFE_BED_LEVELING_START_Y;
#endif
#ifdef SAFE_BED_LEVELING_START_Z
safe_position.z = SAFE_BED_LEVELING_START_Z;
#endif
#ifdef SAFE_BED_LEVELING_START_I
safe_position.i = SAFE_BED_LEVELING_START_I;
#endif
#ifdef SAFE_BED_LEVELING_START_J
safe_position.j = SAFE_BED_LEVELING_START_J;
#endif
#ifdef SAFE_BED_LEVELING_START_K
safe_position.k = SAFE_BED_LEVELING_START_K;
#endif
#ifdef SAFE_BED_LEVELING_START_U
safe_position.u = SAFE_BED_LEVELING_START_U;
#endif
#ifdef SAFE_BED_LEVELING_START_V
safe_position.v = SAFE_BED_LEVELING_START_V;
#endif
#ifdef SAFE_BED_LEVELING_START_W
safe_position.w = SAFE_BED_LEVELING_START_W;
#endif
do_blocking_move_to(safe_position);
#endif // HAS_SAFE_BED_LEVELING
// Disable auto bed leveling during G29.
// Be formal so G29 can be done successively without G28.
if (!no_action) set_bed_leveling_enabled(false);
// Deploy certain probes before starting probing
#if ENABLED(BLTOUCH) || ALL(HAS_Z_SERVO_PROBE, Z_SERVO_INTERMEDIATE_STOW)
do_z_clearance(Z_CLEARANCE_DEPLOY_PROBE);
#elif HAS_BED_PROBE
if (probe.deploy()) { // (returns true on deploy failure)
set_bed_leveling_enabled(abl.reenable);
G29_RETURN(false, true);
}
#endif
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (!abl.dryrun && (abl.gridSpacing != bedlevel.grid_spacing || abl.probe_position_lf != bedlevel.grid_start)) {
reset_bed_level(); // Reset grid to 0.0 or "not probed". (Also disables ABL)
abl.reenable = false; // Can't re-enable (on error) until the new grid is written
}
// Pre-populate local Z values from the stored mesh
TERN_(IS_KINEMATIC, COPY(abl.z_values, bedlevel.z_values));
#endif
} // !g29_in_progress
#if ENABLED(PROBE_MANUALLY)
// For manual probing, get the next index to probe now.
// On the first probe this will be incremented to 0.
if (!no_action) {
++abl.abl_probe_index;
g29_in_progress = true;
}
// Abort current G29 procedure, go back to idle state
if (seenA && g29_in_progress) {
SERIAL_ECHOLNPGM("Manual G29 aborted");
SET_SOFT_ENDSTOP_LOOSE(false);
set_bed_leveling_enabled(abl.reenable);
g29_in_progress = false;
TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
}
// Query G29 status
if (abl.verbose_level || seenQ) {
SERIAL_ECHOPGM("Manual G29 ");
if (g29_in_progress)
SERIAL_ECHOLNPGM("point ", _MIN(abl.abl_probe_index + 1, abl.abl_points), " of ", abl.abl_points);
else
SERIAL_ECHOLNPGM("idle");
}
// For 'A' or 'Q' exit with success state
if (no_action) G29_RETURN(false, true);
if (abl.abl_probe_index == 0) {
// For the initial G29 S2 save software endstop state
SET_SOFT_ENDSTOP_LOOSE(true);
// Move close to the bed before the first point
do_blocking_move_to_z(0);
}
else {
#if ANY(AUTO_BED_LEVELING_LINEAR, AUTO_BED_LEVELING_3POINT)
const uint16_t index = abl.abl_probe_index - 1;
#endif
// For G29 after adjusting Z.
// Save the previous Z before going to the next point
abl.measured_z = current_position.z;
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
abl.mean += abl.measured_z;
abl.eqnBVector[index] = abl.measured_z;
abl.eqnAMatrix[index + 0 * abl.abl_points] = abl.probePos.x;
abl.eqnAMatrix[index + 1 * abl.abl_points] = abl.probePos.y;
abl.eqnAMatrix[index + 2 * abl.abl_points] = 1;
incremental_LSF(&lsf_results, abl.probePos, abl.measured_z);
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
points[index].z = abl.measured_z;
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
const float newz = abl.measured_z + abl.Z_offset;
abl.z_values[abl.meshCount.x][abl.meshCount.y] = newz;
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, newz));
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM_P(PSTR("Save X"), abl.meshCount.x, SP_Y_STR, abl.meshCount.y, SP_Z_STR, abl.measured_z + abl.Z_offset);
#endif
}
//
// If there's another point to sample, move there with optional lift.
//
#if ABL_USES_GRID
// Skip any unreachable points
while (abl.abl_probe_index < abl.abl_points) {
// Set abl.meshCount.x, abl.meshCount.y based on abl.abl_probe_index, with zig-zag
PR_OUTER_VAR = abl.abl_probe_index / PR_INNER_SIZE;
PR_INNER_VAR = abl.abl_probe_index - (PR_OUTER_VAR * PR_INNER_SIZE);
// Probe in reverse order for every other row/column
const bool zig = (PR_OUTER_VAR & 1); // != ((PR_OUTER_SIZE) & 1);
if (zig) PR_INNER_VAR = (PR_INNER_SIZE - 1) - PR_INNER_VAR;
abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat();
TERN_(AUTO_BED_LEVELING_LINEAR, abl.indexIntoAB[abl.meshCount.x][abl.meshCount.y] = abl.abl_probe_index);
// Keep looping till a reachable point is found
if (position_is_reachable(abl.probePos)) break;
++abl.abl_probe_index;
}
// Is there a next point to move to?
if (abl.abl_probe_index < abl.abl_points) {
_manual_goto_xy(abl.probePos); // Can be used here too!
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
SET_SOFT_ENDSTOP_LOOSE(true);
G29_RETURN(false, true);
}
else {
// Leveling done! Fall through to G29 finishing code below
SERIAL_ECHOLNPGM("Grid probing done.");
// Re-enable software endstops, if needed
SET_SOFT_ENDSTOP_LOOSE(false);
}
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// Probe at 3 arbitrary points
if (abl.abl_probe_index < abl.abl_points) {
abl.probePos = xy_pos_t(points[abl.abl_probe_index]);
_manual_goto_xy(abl.probePos);
// Disable software endstops to allow manual adjustment
// If G29 is not completed, they will not be re-enabled
SET_SOFT_ENDSTOP_LOOSE(true);
G29_RETURN(false, true);
}
else {
SERIAL_ECHOLNPGM("3-point probing done.");
// Re-enable software endstops, if needed
SET_SOFT_ENDSTOP_LOOSE(false);
if (!abl.dryrun) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) planeNormal *= -1;
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
// Can't re-enable (on error) until the new grid is written
abl.reenable = false;
}
}
#endif // AUTO_BED_LEVELING_3POINT
#else // !PROBE_MANUALLY
{
const ProbePtRaise raise_after = parser.boolval('E') ? PROBE_PT_STOW : PROBE_PT_RAISE;
abl.measured_z = 0;
#if ABL_USES_GRID
bool zig = PR_OUTER_SIZE & 1; // Always end at RIGHT and BACK_PROBE_BED_POSITION
// Outer loop is X with PROBE_Y_FIRST enabled
// Outer loop is Y with PROBE_Y_FIRST disabled
for (PR_OUTER_VAR = 0; PR_OUTER_VAR < PR_OUTER_SIZE && !isnan(abl.measured_z); PR_OUTER_VAR++) {
int8_t inStart, inStop, inInc;
if (zig) { // Zig away from origin
inStart = 0; // Left or front
inStop = PR_INNER_SIZE; // Right or back
inInc = 1; // Zig right
}
else { // Zag towards origin
inStart = PR_INNER_SIZE - 1; // Right or back
inStop = -1; // Left or front
inInc = -1; // Zag left
}
zig ^= true; // zag
// An index to print current state
grid_count_t pt_index = (PR_OUTER_VAR) * (PR_INNER_SIZE) + 1;
// Inner loop is Y with PROBE_Y_FIRST enabled
// Inner loop is X with PROBE_Y_FIRST disabled
for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; pt_index++, PR_INNER_VAR += inInc) {
abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat();
TERN_(AUTO_BED_LEVELING_LINEAR, abl.indexIntoAB[abl.meshCount.x][abl.meshCount.y] = ++abl.abl_probe_index); // 0...
// Avoid probing outside the round or hexagonal area
if (TERN0(IS_KINEMATIC, !probe.can_reach(abl.probePos))) continue;
if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing mesh point ", pt_index, "/", abl.abl_points, ".");
TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/%i"), GET_TEXT_F(MSG_PROBING_POINT), int(pt_index), int(abl.abl_points)));
#if ENABLED(BD_SENSOR_PROBE_NO_STOP)
if (PR_INNER_VAR == inStart) {
char tmp_1[32];
// move to the start point of new line
abl.measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level);
// Go to the end of the row/column ... and back up by one
// TODO: Why not just use... PR_INNER_VAR = inStop - inInc
for (PR_INNER_VAR = inStart; PR_INNER_VAR != inStop; PR_INNER_VAR += inInc);
PR_INNER_VAR -= inInc;
// Get the coordinate of the resulting grid point
abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat();
// Coordinate that puts the probe at the grid point
abl.probePos -= probe.offset_xy;
// Put a G1 move into the buffer
// TODO: Instead of G1, we can just add the move directly to the planner...
// {
// destination = current_position; destination = abl.probePos;
// REMEMBER(fr, feedrate_mm_s, XY_PROBE_FEEDRATE_MM_S);
// prepare_line_to_destination();
// }
sprintf_P(tmp_1, PSTR("G1X%d.%d Y%d.%d F%d"),
int(abl.probePos.x), int(abl.probePos.x * 10) % 10,
int(abl.probePos.y), int(abl.probePos.y * 10) % 10,
XY_PROBE_FEEDRATE
);
gcode.process_subcommands_now(tmp_1);
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("destX: ", abl.probePos.x, " Y:", abl.probePos.y);
// Reset the inner counter back to the start
PR_INNER_VAR = inStart;
// Get the coordinate of the start of the row/column
abl.probePos = abl.probe_position_lf + abl.gridSpacing * abl.meshCount.asFloat();
}
// Wait around until the real axis position reaches the comparison point
// TODO: Use NEAR() because float is imprecise
constexpr AxisEnum axis = TERN(PROBE_Y_FIRST, Y_AXIS, X_AXIS);
const float cmp = abl.probePos[axis] - probe.offset_xy[axis];
float pos;
for (;;) {
pos = planner.get_axis_position_mm(axis);
if (inInc > 0 ? (pos >= cmp) : (pos <= cmp)) break;
idle_no_sleep();
}
//if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM_P(axis == Y_AXIS ? PSTR("Y=") : PSTR("X=", pos);
safe_delay(4);
abl.measured_z = current_position.z - bdl.read();
if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("x_cur ", planner.get_axis_position_mm(X_AXIS), " z ", abl.measured_z);
#else // !BD_SENSOR_PROBE_NO_STOP
abl.measured_z = faux ? 0.001f * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level);
#endif
if (isnan(abl.measured_z)) {
set_bed_leveling_enabled(abl.reenable);
break; // Breaks out of both loops
}
#if ENABLED(AUTO_BED_LEVELING_LINEAR)
abl.mean += abl.measured_z;
abl.eqnBVector[abl.abl_probe_index] = abl.measured_z;
abl.eqnAMatrix[abl.abl_probe_index + 0 * abl.abl_points] = abl.probePos.x;
abl.eqnAMatrix[abl.abl_probe_index + 1 * abl.abl_points] = abl.probePos.y;
abl.eqnAMatrix[abl.abl_probe_index + 2 * abl.abl_points] = 1;
incremental_LSF(&lsf_results, abl.probePos, abl.measured_z);
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
const float z = abl.measured_z + abl.Z_offset;
abl.z_values[abl.meshCount.x][abl.meshCount.y] = z;
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(abl.meshCount, z));
#endif
abl.reenable = false; // Don't re-enable after modifying the mesh
idle_no_sleep();
} // inner
} // outer
#elif ENABLED(AUTO_BED_LEVELING_3POINT)
// Probe at 3 arbitrary points
for (uint8_t i = 0; i < 3; ++i) {
if (abl.verbose_level) SERIAL_ECHOLNPGM("Probing point ", i + 1, "/3.");
TERN_(HAS_STATUS_MESSAGE, ui.status_printf(0, F(S_FMT " %i/3"), GET_TEXT_F(MSG_PROBING_POINT), int(i + 1)));
// Retain the last probe position
abl.probePos = xy_pos_t(points[i]);
abl.measured_z = faux ? 0.001 * random(-100, 101) : probe.probe_at_point(abl.probePos, raise_after, abl.verbose_level);
if (isnan(abl.measured_z)) {
set_bed_leveling_enabled(abl.reenable);
break;
}
points[i].z = abl.measured_z;
}
if (!abl.dryrun && !isnan(abl.measured_z)) {
vector_3 planeNormal = vector_3::cross(points[0] - points[1], points[2] - points[1]).get_normal();
if (planeNormal.z < 0) planeNormal *= -1;
planner.bed_level_matrix = matrix_3x3::create_look_at(planeNormal);
// Can't re-enable (on error) until the new grid is written
abl.reenable = false;
}
#endif // AUTO_BED_LEVELING_3POINT
TERN_(HAS_STATUS_MESSAGE, ui.reset_status());
// Stow the probe. No raise for FIX_MOUNTED_PROBE.
if (probe.stow()) {
set_bed_leveling_enabled(abl.reenable);
abl.measured_z = NAN;
}
}
#endif // !PROBE_MANUALLY
//
// G29 Finishing Code
//
// Unless this is a dry run, auto bed leveling will
// definitely be enabled after this point.
//
// If code above wants to continue leveling, it should
// return or loop before this point.
//
if (DEBUGGING(LEVELING)) DEBUG_POS("> probing complete", current_position);
#if ENABLED(PROBE_MANUALLY)
g29_in_progress = false;
TERN_(LCD_BED_LEVELING, ui.wait_for_move = false);
#endif
// Calculate leveling, print reports, correct the position
if (!isnan(abl.measured_z)) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
if (abl.dryrun)
bedlevel.print_leveling_grid(&abl.z_values);
else {
bedlevel.set_grid(abl.gridSpacing, abl.probe_position_lf);
COPY(bedlevel.z_values, abl.z_values);
TERN_(IS_KINEMATIC, bedlevel.extrapolate_unprobed_bed_level());
bedlevel.refresh_bed_level();
bedlevel.print_leveling_grid();
}
#elif ENABLED(AUTO_BED_LEVELING_LINEAR)
// For LINEAR leveling calculate matrix, print reports, correct the position
/**
* solve the plane equation ax + by + d = z
* A is the matrix with rows [x y 1] for all the probed points
* B is the vector of the Z positions
* the normal vector to the plane is formed by the coefficients of the
* plane equation in the standard form, which is Vx*x+Vy*y+Vz*z+d = 0
* so Vx = -a Vy = -b Vz = 1 (we want the vector facing towards positive Z
*/
struct { float a, b, d; } plane_equation_coefficients;
finish_incremental_LSF(&lsf_results);
plane_equation_coefficients.a = -lsf_results.A; // We should be able to eliminate the '-' on these three lines and down below
plane_equation_coefficients.b = -lsf_results.B; // but that is not yet tested.
plane_equation_coefficients.d = -lsf_results.D;
abl.mean /= abl.abl_points;
if (abl.verbose_level) {
SERIAL_ECHOPGM("Eqn coefficients: a: ", p_float_t(plane_equation_coefficients.a, 8),
" b: ", p_float_t(plane_equation_coefficients.b, 8),
" d: ", p_float_t(plane_equation_coefficients.d, 8));
if (abl.verbose_level > 2)
SERIAL_ECHOPGM("\nMean of sampled points: ", p_float_t(abl.mean, 8));
SERIAL_EOL();
}
// Create the matrix but don't correct the position yet
if (!abl.dryrun)
planner.bed_level_matrix = matrix_3x3::create_look_at(
vector_3(-plane_equation_coefficients.a, -plane_equation_coefficients.b, 1) // We can eliminate the '-' here and up above
);
// Show the Topography map if enabled
if (abl.topography_map) {
float min_diff = 999;
auto print_topo_map = [&](FSTR_P const title, const bool get_min) {
SERIAL_ECHO(title);
for (int8_t yy = abl.grid_points.y - 1; yy >= 0; yy--) {
for (uint8_t xx = 0; xx < abl.grid_points.x; ++xx) {
const int ind = abl.indexIntoAB[xx][yy];
xyz_float_t tmp = { abl.eqnAMatrix[ind + 0 * abl.abl_points],
abl.eqnAMatrix[ind + 1 * abl.abl_points], 0 };
planner.bed_level_matrix.apply_rotation_xyz(tmp.x, tmp.y, tmp.z);
if (get_min) NOMORE(min_diff, abl.eqnBVector[ind] - tmp.z);
const float subval = get_min ? abl.mean : tmp.z + min_diff,
diff = abl.eqnBVector[ind] - subval;
SERIAL_CHAR(' '); if (diff >= 0.0) SERIAL_CHAR('+'); // Include + for column alignment
SERIAL_ECHO(p_float_t(diff, 5));
} // xx
SERIAL_EOL();
} // yy
SERIAL_EOL();
};
print_topo_map(F("\nBed Height Topography:\n"
" +--- BACK --+\n"
" | |\n"
" L | (+) | R\n"
" E | | I\n"
" F | (-) N (+) | G\n"
" T | | H\n"
" | (-) | T\n"
" | |\n"
" O-- FRONT --+\n"
" (0,0)\n"), true);
if (abl.verbose_level > 3)
print_topo_map(F("\nCorrected Bed Height vs. Bed Topology:\n"), false);
} // abl.topography_map
#endif // AUTO_BED_LEVELING_LINEAR
#if ABL_PLANAR
// For LINEAR and 3POINT leveling correct the current position
if (abl.verbose_level > 0)
planner.bed_level_matrix.debug(F("\n\nBed Level Correction Matrix:"));
if (!abl.dryrun) {
//
// Correct the current XYZ position based on the tilted plane.
//
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 uncorrected XYZ", current_position);
xyze_pos_t converted = current_position;
planner.force_unapply_leveling(converted); // use conversion machinery
// Use the last measured distance to the bed, if possible
if ( NEAR(current_position.x, abl.probePos.x - probe.offset_xy.x)
&& NEAR(current_position.y, abl.probePos.y - probe.offset_xy.y)
) {
const float simple_z = current_position.z - abl.measured_z;
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Probed Z", simple_z, " Matrix Z", converted.z, " Discrepancy ", simple_z - converted.z);
converted.z = simple_z;
}
// The rotated XY and corrected Z are now current_position
current_position = converted;
if (DEBUGGING(LEVELING)) DEBUG_POS("G29 corrected XYZ", current_position);
abl.reenable = true;
}
// Auto Bed Leveling is complete! Enable if possible.
if (abl.reenable) {
planner.leveling_active = true;
sync_plan_position();
}
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Auto Bed Leveling is complete! Enable if possible.
if (!abl.dryrun || abl.reenable) set_bed_leveling_enabled(true);
#endif
} // !isnan(abl.measured_z)
// Restore state after probing
if (!faux) restore_feedrate_and_scaling();
TERN_(HAS_BED_PROBE, probe.move_z_after_probing());
#ifdef EVENT_GCODE_AFTER_G29
if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Z Probe End Script: ", EVENT_GCODE_AFTER_G29);
planner.synchronize();
process_subcommands_now(F(EVENT_GCODE_AFTER_G29));
#endif
probe.use_probing_tool(false);
report_current_position();
G29_RETURN(isnan(abl.measured_z), true);
}
#endif // HAS_ABL_NOT_UBL
| 2301_81045437/Marlin | Marlin/src/gcode/bedlevel/abl/G29.cpp | C++ | agpl-3.0 | 35,337 |
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*
*/
/**
* M421.cpp - Auto Bed Leveling
*/
#include "../../../inc/MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "../../gcode.h"
#include "../../../feature/bedlevel/bedlevel.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../../../lcd/extui/ui_api.h"
#endif
/**
* M421: Set one or more Mesh Bed Leveling Z coordinates
*
* Usage:
* M421 I<xindex> J<yindex> Z<linear>
* M421 I<xindex> J<yindex> Q<offset>
*
* - If I is omitted, set the entire row
* - If J is omitted, set the entire column
* - If both I and J are omitted, set all
*/
void GcodeSuite::M421() {
int8_t ix = parser.intval('I', -1), iy = parser.intval('J', -1);
const bool hasZ = parser.seenval('Z'),
hasQ = !hasZ && parser.seenval('Q');
if (hasZ || hasQ) {
if (WITHIN(ix, -1, GRID_MAX_POINTS_X - 1) && WITHIN(iy, -1, GRID_MAX_POINTS_Y - 1)) {
const float zval = parser.value_linear_units();
uint8_t sx = ix >= 0 ? ix : 0, ex = ix >= 0 ? ix : GRID_MAX_POINTS_X - 1,
sy = iy >= 0 ? iy : 0, ey = iy >= 0 ? iy : GRID_MAX_POINTS_Y - 1;
for (uint8_t x = sx; x <= ex; ++x) {
for (uint8_t y = sy; y <= ey; ++y) {
bedlevel.z_values[x][y] = zval + (hasQ ? bedlevel.z_values[x][y] : 0);
TERN_(EXTENSIBLE_UI, ExtUI::onMeshUpdate(x, y, bedlevel.z_values[x][y]));
}
}
bedlevel.refresh_bed_level();
}
else
SERIAL_ERROR_MSG(STR_ERR_MESH_XY);
}
else
SERIAL_ERROR_MSG(STR_ERR_M421_PARAMETERS);
}
#endif // AUTO_BED_LEVELING_BILINEAR
| 2301_81045437/Marlin | Marlin/src/gcode/bedlevel/abl/M421.cpp | C++ | agpl-3.0 | 2,398 |