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[1.1.x] Hangprinter support (#9180)

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This commit is contained in:
tobbelobb
2018-09-09 04:17:02 +02:00
committed by Scott Lahteine
parent 14bf319db8
commit 330c4bcbb9
26 changed files with 5525 additions and 739 deletions
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Marlin/stepper.cpp
+116 -34
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@@ -135,9 +135,8 @@ uint8_t Stepper::steps_per_isr;
#endif
uint8_t Stepper::oversampling_factor;
int32_t Stepper::delta_error[XYZE] = { 0 };
uint32_t Stepper::advance_dividend[XYZE] = { 0 },
int32_t Stepper::delta_error[NUM_AXIS] = { 0 };
uint32_t Stepper::advance_dividend[NUM_AXIS] = { 0 },
Stepper::advance_divisor = 0,
Stepper::step_events_completed = 0, // The number of step events executed in the current block
Stepper::accelerate_until, // The point from where we need to stop acceleration
@@ -180,14 +179,19 @@ uint32_t Stepper::nextMainISR = 0;
#endif // LIN_ADVANCE
int32_t Stepper::ticks_nominal = -1;
#if DISABLED(S_CURVE_ACCELERATION)
uint32_t Stepper::acc_step_rate; // needed for deceleration start point
#endif
volatile int32_t Stepper::endstops_trigsteps[XYZ];
volatile int32_t Stepper::count_position[NUM_AXIS] = { 0 };
int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
volatile int32_t Stepper::endstops_trigsteps[XYZ],
Stepper::count_position[NUM_AXIS] = { 0 };
int8_t Stepper::count_direction[NUM_AXIS] = {
1, 1, 1, 1
#if ENABLED(HANGPRINTER)
, 1
#endif
};
#if ENABLED(X_DUAL_ENDSTOPS) || ENABLED(Y_DUAL_ENDSTOPS) || ENABLED(Z_DUAL_ENDSTOPS)
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \
@@ -260,6 +264,28 @@ int8_t Stepper::count_direction[NUM_AXIS] = { 0, 0, 0, 0 };
#define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v)
#endif
/**
* Hangprinter's mapping {A,B,C,D} <-> {X,Y,Z,E1} happens here.
* If you have two extruders: {A,B,C,D} <-> {X,Y,Z,E2}
* ... etc up to max 4 extruders.
* Place D connector on your first "free" extruder output.
*/
#if ENABLED(HANGPRINTER)
#define A_APPLY_DIR(v,Q) X_APPLY_DIR(v,Q)
#define A_APPLY_STEP(v,Q) X_APPLY_STEP(v,Q)
#define B_APPLY_DIR(v,Q) Y_APPLY_DIR(v,Q)
#define B_APPLY_STEP(v,Q) Y_APPLY_STEP(v,Q)
#define C_APPLY_DIR(v,Q) Z_APPLY_DIR(v,Q)
#define C_APPLY_STEP(v,Q) Z_APPLY_STEP(v,Q)
#define __D_APPLY(I,T,v) E##I##_##T##_WRITE(v)
#define _D_APPLY(I,T,v) __D_APPLY(I,T,v)
#define D_APPLY_DIR(v,Q) _D_APPLY(EXTRUDERS, DIR, v)
#define D_APPLY_STEP(v,Q) _D_APPLY(EXTRUDERS, STEP, v)
#endif
#if DISABLED(MIXING_EXTRUDER)
#define E_APPLY_STEP(v,Q) E_STEP_WRITE(active_extruder, v)
#endif
@@ -357,6 +383,9 @@ void Stepper::set_directions() {
#if HAS_Z_DIR
SET_STEP_DIR(Z); // C
#endif
#if ENABLED(HANGPRINTER)
SET_STEP_DIR(D);
#endif
#if DISABLED(LIN_ADVANCE)
#if ENABLED(MIXING_EXTRUDER)
@@ -1251,6 +1280,12 @@ void Stepper::isr() {
* call to this method that might cause variation in the timing. The aim
* is to keep pulse timing as regular as possible.
*/
#if ENABLED(UNREGISTERED_MOVE_SUPPORT)
#define COUNT_IT current_block->count_it
#else
#define COUNT_IT true
#endif
void Stepper::stepper_pulse_phase_isr() {
// If we must abort the current block, do so!
@@ -1289,7 +1324,7 @@ void Stepper::stepper_pulse_phase_isr() {
delta_error[_AXIS(AXIS)] += advance_dividend[_AXIS(AXIS)]; \
if (delta_error[_AXIS(AXIS)] >= 0) { \
_APPLY_STEP(AXIS)(!_INVERT_STEP_PIN(AXIS), 0); \
count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
if (COUNT_IT) count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \
} \
}while(0)
@@ -1302,22 +1337,37 @@ void Stepper::stepper_pulse_phase_isr() {
}while(0)
// Pulse start
#if HAS_X_STEP
PULSE_START(X);
#endif
#if HAS_Y_STEP
PULSE_START(Y);
#endif
#if HAS_Z_STEP
PULSE_START(Z);
#endif
#if ENABLED(HANGPRINTER)
#if HAS_A_STEP
PULSE_START(A);
#endif
#if HAS_B_STEP
PULSE_START(B);
#endif
#if HAS_C_STEP
PULSE_START(C);
#endif
#if HAS_D_STEP
PULSE_START(D);
#endif
#else
#if HAS_X_STEP
PULSE_START(X);
#endif
#if HAS_Y_STEP
PULSE_START(Y);
#endif
#if HAS_Z_STEP
PULSE_START(Z);
#endif
#endif // HANGPRINTER
// Pulse E/Mixing extruders
#if ENABLED(LIN_ADVANCE)
// Tick the E axis, correct error term and update position
delta_error[E_AXIS] += advance_dividend[E_AXIS];
if (delta_error[E_AXIS] >= 0) {
count_position[E_AXIS] += count_direction[E_AXIS];
if (COUNT_IT) count_position[E_AXIS] += count_direction[E_AXIS];
delta_error[E_AXIS] -= advance_divisor;
// Don't step E here - But remember the number of steps to perform
@@ -1329,7 +1379,7 @@ void Stepper::stepper_pulse_phase_isr() {
// Tick the E axis
delta_error[E_AXIS] += advance_dividend[E_AXIS];
if (delta_error[E_AXIS] >= 0) {
count_position[E_AXIS] += count_direction[E_AXIS];
if (COUNT_IT) count_position[E_AXIS] += count_direction[E_AXIS];
delta_error[E_AXIS] -= advance_divisor;
}
@@ -1354,15 +1404,29 @@ void Stepper::stepper_pulse_phase_isr() {
// Add the delay needed to ensure the maximum driver rate is enforced
if (signed(added_step_ticks) > 0) pulse_end += hal_timer_t(added_step_ticks);
// Pulse stop
#if HAS_X_STEP
PULSE_STOP(X);
#endif
#if HAS_Y_STEP
PULSE_STOP(Y);
#endif
#if HAS_Z_STEP
PULSE_STOP(Z);
#if ENABLED(HANGPRINTER)
#if HAS_A_STEP
PULSE_STOP(A);
#endif
#if HAS_B_STEP
PULSE_STOP(B);
#endif
#if HAS_C_STEP
PULSE_STOP(C);
#endif
#if HAS_D_STEP
PULSE_STOP(D);
#endif
#else
#if HAS_X_STEP
PULSE_STOP(X);
#endif
#if HAS_Y_STEP
PULSE_STOP(Y);
#endif
#if HAS_Z_STEP
PULSE_STOP(Z);
#endif
#endif
#if DISABLED(LIN_ADVANCE)
@@ -1531,8 +1595,11 @@ uint32_t Stepper::stepper_block_phase_isr() {
// Sync block? Sync the stepper counts and return
while (TEST(current_block->flag, BLOCK_BIT_SYNC_POSITION)) {
_set_position(
current_block->position[A_AXIS], current_block->position[B_AXIS],
current_block->position[C_AXIS], current_block->position[E_AXIS]
current_block->position[A_AXIS], current_block->position[B_AXIS], current_block->position[C_AXIS],
#if ENABLED(HANGPRINTER)
current_block->position[D_AXIS],
#endif
current_block->position[E_AXIS]
);
planner.discard_current_block();
@@ -2015,7 +2082,12 @@ void Stepper::init() {
* This allows get_axis_position_mm to correctly
* derive the current XYZ position later on.
*/
void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) {
void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c,
#if ENABLED(HANGPRINTER)
const int32_t &d,
#endif
const int32_t &e
) {
#if CORE_IS_XY
// corexy positioning
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
@@ -2037,6 +2109,9 @@ void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c
count_position[X_AXIS] = a;
count_position[Y_AXIS] = b;
count_position[Z_AXIS] = c;
#if ENABLED(HANGPRINTER)
count_position[D_AXIS] = d;
#endif
#endif
count_position[E_AXIS] = e;
}
@@ -2103,31 +2178,38 @@ void Stepper::report_positions() {
const int32_t xpos = count_position[X_AXIS],
ypos = count_position[Y_AXIS],
#if ENABLED(HANGPRINTER)
dpos = count_position[D_AXIS],
#endif
zpos = count_position[Z_AXIS];
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA
#if CORE_IS_XY || CORE_IS_XZ || IS_DELTA || IS_SCARA || ENABLED(HANGPRINTER)
SERIAL_PROTOCOLPGM(MSG_COUNT_A);
#else
SERIAL_PROTOCOLPGM(MSG_COUNT_X);
#endif
SERIAL_PROTOCOL(xpos);
#if CORE_IS_XY || CORE_IS_YZ || IS_DELTA || IS_SCARA
#if CORE_IS_XY || CORE_IS_YZ || IS_DELTA || IS_SCARA || ENABLED(HANGPRINTER)
SERIAL_PROTOCOLPGM(" B:");
#else
SERIAL_PROTOCOLPGM(" Y:");
#endif
SERIAL_PROTOCOL(ypos);
#if CORE_IS_XZ || CORE_IS_YZ || IS_DELTA
#if CORE_IS_XZ || CORE_IS_YZ || IS_DELTA || ENABLED(HANGPRINTER)
SERIAL_PROTOCOLPGM(" C:");
#else
SERIAL_PROTOCOLPGM(" Z:");
#endif
SERIAL_PROTOCOL(zpos);
#if ENABLED(HANGPRINTER)
SERIAL_PROTOCOLPAIR(" D:", dpos);
#endif
SERIAL_EOL();
}