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This commit is contained in:
InsanityAutomation
2019-10-21 22:14:07 -04:00
parent 352e41bad7
commit 683ccc8faa
657 changed files with 40572 additions and 24319 deletions
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.circleci/config.yml
+5 -5
View File
@@ -51,8 +51,8 @@ jobs:
export PATH=`pwd`/buildroot/bin/:${PATH}
# Generate custom version include
generate_version ./Marlin/src/inc
cat ./Marlin/src/inc/_Version.h
generate_version ./Marlin/
cat ./Marlin/Version.h
#
# Back up pins_RAMPS.h
#
@@ -240,10 +240,10 @@ jobs:
build_marlin_pio ./ ${TEST_PLATFORM}
restore_configs
echo testing STM32F1 targets...
export TEST_PLATFORM="-e STM32F103R"
export TEST_PLATFORM="-e STM32F103RE"
restore_configs
echo use_example_configs STM32/STM32F103R
use_example_configs STM32/STM32F103R
echo use_example_configs STM32/STM32F103RE
use_example_configs STM32/STM32F103RE
build_marlin_pio ./ ${TEST_PLATFORM}
restore_configs
echo use_example_configs STM32/stm32f103ret6
.travis.yml
+14 -11
View File
@@ -13,10 +13,8 @@ env:
- TEST_PLATFORM="DUE"
- TEST_PLATFORM="esp32"
- TEST_PLATFORM="linux_native"
- TEST_PLATFORM="LPC1768"
- TEST_PLATFORM="LPC1769"
- TEST_PLATFORM="megaatmega2560"
- TEST_PLATFORM="STM32F103R"
- TEST_PLATFORM="STM32F103RE"
- TEST_PLATFORM="teensy31"
- TEST_PLATFORM="teensy35"
@@ -31,22 +29,27 @@ env:
- TEST_PLATFORM="ARMED"
- TEST_PLATFORM="BIGTREE_BTT002"
- TEST_PLATFORM="BIGTREE_SKR_PRO"
- TEST_PLATFORM="STM32F103R_bigtree"
- TEST_PLATFORM="STM32F103RC_bigtree"
- TEST_PLATFORM="jgaurora_a5s_a1"
- TEST_PLATFORM="STM32F103V_longer"
- TEST_PLATFORM="STM32F103VE_longer"
- TEST_PLATFORM="STM32F407VE_black"
- TEST_PLATFORM="mks_robin"
# Put lengthy tests last
- TEST_PLATFORM="LPC1768"
- TEST_PLATFORM="LPC1769"
# Non-working environment tests
#- TEST_PLATFORM="at90usb1286_cdc"
#- TEST_PLATFORM="at90usb1286_dfu"
#- TEST_PLATFORM="malyanm200"
#- TEST_PLATFORM="mks_robin"
#- TEST_PLATFORM="STM32F103CB_malyan"
#- TEST_PLATFORM="mks_robin_lite"
#- TEST_PLATFORM="mks_robin_mini"
#- TEST_PLATFORM="mks_robin_nano"
#- TEST_PLATFORM="SAMD51_grandcentral_m4"
#- TEST_PLATFORM="STM32F103R_bigtree"
#- TEST_PLATFORM="STM32F103R_fysetc"
#- TEST_PLATFORM="STM32F103RC_bigtree"
#- TEST_PLATFORM="STM32F103RC_bigtree_USB"
#- TEST_PLATFORM="STM32F103RC_fysetc"
#- TEST_PLATFORM="STM32F4"
#- TEST_PLATFORM="STM32F7"
@@ -72,8 +75,8 @@ before_script:
- cd ${TRAVIS_BUILD_DIR}
#
# Generate custom version include
- generate_version ${TRAVIS_BUILD_DIR}/Marlin/src/inc
- cat ${TRAVIS_BUILD_DIR}/Marlin/src/inc/_Version.h
- generate_version ${TRAVIS_BUILD_DIR}/Marlin/
- cat ${TRAVIS_BUILD_DIR}/Marlin/Version.h
#
script:
- run_tests ${TRAVIS_BUILD_DIR} ${TEST_PLATFORM}
Marlin/Configuration.h
+39 -26
View File
@@ -1,6 +1,6 @@
//#define PetsfangMicroswiss
//#define BondtechBMG
//#define CR10SPro_GearedExtruder
#define CR10SPro_GearedExtruder
//#define E3DV6
//#define FilamentSensorStd
@@ -95,6 +95,7 @@
// Author info of this build printed to the host during boot and M115
#define STRING_CONFIG_H_AUTHOR "Tinymachines3D" // Who made the changes.
#define CUSTOM_VERSION_FILE Version.h // Path from the root directory (no quotes)
/**
* *** VENDORS PLEASE READ ***
@@ -412,6 +413,7 @@
* 67 : 450C thermistor from SliceEngineering
* 70 : the 100K thermistor found in the bq Hephestos 2
* 75 : 100k Generic Silicon Heat Pad with NTC 100K MGB18-104F39050L32 thermistor
* 99 : 100k thermistor with a 10K pull-up resistor (found on some Wanhao i3 machines)
*
* 1k ohm pullup tables - This is atypical, and requires changing out the 4.7k pullup for 1k.
* (but gives greater accuracy and more stable PID)
@@ -429,8 +431,6 @@
* Use these for Testing or Development purposes. NEVER for production machine.
* 998 : Dummy Table that ALWAYS reads 25°C or the temperature defined below.
* 999 : Dummy Table that ALWAYS reads 100°C or the temperature defined below.
*
* :{ '0':"Not used", '1':"100k / 4.7k - EPCOS", '331':"(3.3V thermistor 1)", '2':"200k / 4.7k - ATC Semitec 204GT-2", '3':"Mendel-parts / 4.7k", '4':"10k !! do not use for a hotend. Bad resolution at high temp. !!", '5':"100K / 4.7k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)", '501':"100K Zonestar (Tronxy X3A)", '512':"100k RPW-Ultra hotend thermistor", '6':"100k / 4.7k EPCOS - Not as accurate as Table 1", '7':"100k / 4.7k Honeywell 135-104LAG-J01", '8':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT", '9':"100k / 4.7k GE Sensing AL03006-58.2K-97-G1", '10':"100k / 4.7k RS 198-961", '11':"100k / 4.7k beta 3950 1%", '12':"100k / 4.7k 0603 SMD Vishay NTCS0603E3104FXT (calibrated for Makibox hot bed)", '13':"100k Hisens 3950 1% up to 300°C for hotend 'Simple ONE ' & hotend 'All In ONE'", '18':"ATC Semitec 204GT-2 (4.7k pullup) Dagoma.Fr - MKS_Base_DKU001327" '20':"Pt100 (Ultimainboard V2.x)", '201':"Pt100 (Overlord)", '51':"100k / 1k - EPCOS", '52':"200k / 1k - ATC Semitec 204GT-2", '55':"100k / 1k - ATC Semitec 104GT-2 (Used in ParCan & J-Head)", '60':"100k Maker's Tool Works Kapton Bed Thermistor beta=3950", '61':"100k Formbot / Vivedino 3950 350C thermistor 4.7k pullup", '66':"Dyze Design 4.7M High Temperature thermistor", '67':"Slice Engineering 450C High Temperature thermistor", '70':"the 100K thermistor found in the bq Hephestos 2", '71':"100k / 4.7k Honeywell 135-104LAF-J01", '147':"Pt100 / 4.7k", '1047':"Pt1000 / 4.7k", '110':"Pt100 / 1k (non-standard)", '1010':"Pt1000 / 1k (non standard)", '-4':"Thermocouple + AD8495", '-3':"Thermocouple + MAX31855 (only for sensor 0)", '-2':"Thermocouple + MAX6675 (only for sensor 0)", '-1':"Thermocouple + AD595", '998':"Dummy 1", '999':"Dummy 2", '1000':"Custom thermistor params" }
*/
#if ENABLED(E3DV6)
#define TEMP_SENSOR_0 5
@@ -558,7 +558,7 @@
#define MAX_BED_POWER 255 // limits duty cycle to bed; 255=full current
#if ENABLED(PIDTEMPBED)
//#define MIN_BED_POWER 0
//#define PID_BED_DEBUG // Sends debug data to the serial port.
//120V 250W silicone heater into 4mm borosilicate (MendelMax 1.5+)
@@ -817,7 +817,12 @@
* Override with M203
* X, Y, Z, E0 [, E1[, E2[, E3[, E4[, E5]]]]]
*/
#define DEFAULT_MAX_FEEDRATE { 500, 500, 5, 25 }
#define DEFAULT_MAX_FEEDRATE { 500, 500, 5, 70 }
#define LIMITED_MAX_FR_EDITING // Limit edit via M203 or LCD to DEFAULT_MAX_FEEDRATE * 2
#if ENABLED(LIMITED_MAX_FR_EDITING)
#define MAX_FEEDRATE_EDIT_VALUES { 1000, 1000, 10, 150 } // ...or, set your own edit limits
#endif
/**
* Default Max Acceleration (change/s) change = mm/s
@@ -827,6 +832,11 @@
*/
#define DEFAULT_MAX_ACCELERATION { 4000, 2000, 100, 2000 }
#define LIMITED_MAX_ACCEL_EDITING // Limit edit via M201 or LCD to DEFAULT_MAX_ACCELERATION * 2
#if ENABLED(LIMITED_MAX_ACCEL_EDITING)
#define MAX_ACCEL_EDIT_VALUES { 7000, 4000, 200, 5000 } // ...or, set your own edit limits
#endif
/**
* Default Acceleration (change/s) change = mm/s
* Override with M204
@@ -840,35 +850,38 @@
#define DEFAULT_TRAVEL_ACCELERATION 2000 // X, Y, Z acceleration for travel (non printing) moves
/**
* Junction Deviation
*
* Use Junction Deviation instead of traditional Jerk Limiting
*
* See:
* https://reprap.org/forum/read.php?1,739819
* http://blog.kyneticcnc.com/2018/10/computing-junction-deviation-for-marlin.html
*/
#define JUNCTION_DEVIATION
#if ENABLED(JUNCTION_DEVIATION)
#define JUNCTION_DEVIATION_MM 0.06 // (mm) Distance from real junction edge
#endif
/**
* Default Jerk (mm/s)
* Default Jerk limits (mm/s)
* Override with M205 X Y Z E
*
* "Jerk" specifies the minimum speed change that requires acceleration.
* When changing speed and direction, if the difference is less than the
* value set here, it may happen instantaneously.
*/
#if DISABLED(JUNCTION_DEVIATION)
//#define CLASSIC_JERK
#if ENABLED(CLASSIC_JERK)
#define DEFAULT_XJERK 10.0
#define DEFAULT_YJERK 10.0
#define DEFAULT_ZJERK 0.3
//#define LIMITED_JERK_EDITING // Limit edit via M205 or LCD to DEFAULT_aJERK * 2
#if ENABLED(LIMITED_JERK_EDITING)
#define MAX_JERK_EDIT_VALUES { 20, 20, 0.6, 10 } // ...or, set your own edit limits
#endif
#endif
#define DEFAULT_EJERK 5.0 // May be used by Linear Advance
/**
* Junction Deviation Factor
*
* See:
* https://reprap.org/forum/read.php?1,739819
* http://blog.kyneticcnc.com/2018/10/computing-junction-deviation-for-marlin.html
*/
#if DISABLED(CLASSIC_JERK)
#define JUNCTION_DEVIATION_MM 0.06 // (mm) Distance from real junction edge
#endif
/**
* S-Curve Acceleration
*
@@ -1691,10 +1704,10 @@
*
* Select the language to display on the LCD. These languages are available:
*
* en, an, bg, ca, cz, da, de, el, el-gr, es, eu, fi, fr, gl, hr, it, jp-kana,
* ko_KR, nl, pl, pt, pt-br, ru, sk, tr, uk, vi, zh_CN, zh_TW, test
* en, an, bg, ca, cz, da, de, el, el_gr, es, eu, fi, fr, gl, hr, it, jp_kana,
* ko_KR, nl, pl, pt, pt_br, ru, sk, tr, uk, vi, zh_CN, zh_TW, test
*
* :{ 'en':'English', 'an':'Aragonese', 'bg':'Bulgarian', 'ca':'Catalan', 'cz':'Czech', 'da':'Danish', 'de':'German', 'el':'Greek', 'el-gr':'Greek (Greece)', 'es':'Spanish', 'eu':'Basque-Euskera', 'fi':'Finnish', 'fr':'French', 'gl':'Galician', 'hr':'Croatian', 'it':'Italian', 'jp-kana':'Japanese', 'ko_KR':'Korean (South Korea)', 'nl':'Dutch', 'pl':'Polish', 'pt':'Portuguese', 'pt-br':'Portuguese (Brazilian)', 'ru':'Russian', 'sk':'Slovak', 'tr':'Turkish', 'uk':'Ukrainian', 'vi':'Vietnamese', 'zh_CN':'Chinese (Simplified)', 'zh_TW':'Chinese (Traditional)', 'test':'TEST' }
* :{ 'en':'English', 'an':'Aragonese', 'bg':'Bulgarian', 'ca':'Catalan', 'cz':'Czech', 'da':'Danish', 'de':'German', 'el':'Greek', 'el_gr':'Greek (Greece)', 'es':'Spanish', 'eu':'Basque-Euskera', 'fi':'Finnish', 'fr':'French', 'gl':'Galician', 'hr':'Croatian', 'it':'Italian', 'jp_kana':'Japanese', 'ko_KR':'Korean (South Korea)', 'nl':'Dutch', 'pl':'Polish', 'pt':'Portuguese', 'pt_br':'Portuguese (Brazilian)', 'ru':'Russian', 'sk':'Slovak', 'tr':'Turkish', 'uk':'Ukrainian', 'vi':'Vietnamese', 'zh_CN':'Chinese (Simplified)', 'zh_TW':'Chinese (Traditional)', 'test':'TEST' }
*/
#define LCD_LANGUAGE en
@@ -1744,8 +1757,8 @@
* Enable one of the following items for a slower SPI transfer speed.
* This may be required to resolve "volume init" errors.
*/
#define SPI_SPEED SPI_HALF_SPEED
//#define SPI_SPEED SPI_QUARTER_SPEED
//#define SPI_SPEED SPI_HALF_SPEED
#define SPI_SPEED SPI_QUARTER_SPEED
//#define SPI_SPEED SPI_EIGHTH_SPEED
/**
Marlin/Configuration_adv.h
+50 -34
View File
@@ -379,6 +379,7 @@
#define INVERT_CASE_LIGHT false // Set true if Case Light is ON when pin is LOW
#define CASE_LIGHT_DEFAULT_ON true // Set default power-up state on
#define CASE_LIGHT_DEFAULT_BRIGHTNESS 105 // Set default power-up brightness (0-255, requires PWM pin)
//#define CASE_LIGHT_MAX_PWM 128 // Limit pwm
//#define CASE_LIGHT_MENU // Add Case Light options to the LCD menu
//#define CASE_LIGHT_NO_BRIGHTNESS // Disable brightness control. Enable for non-PWM lighting.
//#define CASE_LIGHT_USE_NEOPIXEL // Use Neopixel LED as case light, requires NEOPIXEL_LED.
@@ -607,12 +608,26 @@
#if ENABLED(Z_STEPPER_AUTO_ALIGN)
// Define probe X and Y positions for Z1, Z2 [, Z3]
#if ENABLED(SX2)
#define Z_STEPPER_ALIGN_X { 50, 225 }
#define Z_STEPPER_ALIGN_Y { 100, 100 }
#define Z_STEPPER_ALIGN_XY { { 50, 100 }, { 225, 100 } }
#else
#define Z_STEPPER_ALIGN_X { 50, 350 }
#define Z_STEPPER_ALIGN_Y { 200, 200 }
#define Z_STEPPER_ALIGN_XY { { 50, 200 }, { 350, 200 } }
#endif
// Provide Z stepper positions for more rapid convergence in bed alignment.
// Currently requires triple stepper drivers.
//#define Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS
#if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS)
// Define Stepper XY positions for Z1, Z2, Z3 corresponding to
// the Z screw positions in the bed carriage.
// Define one position per Z stepper in stepper driver order.
#define Z_STEPPER_ALIGN_STEPPER_XY { { 210.7, 102.5 }, { 152.6, 220.0 }, { 94.5, 102.5 } }
#else
// Amplification factor. Used to scale the correction step up or down.
// In case the stepper (spindle) position is further out than the test point.
// Use a value > 1. NOTE: This may cause instability
#define Z_STEPPER_ALIGN_AMP 1.0
#endif
// Set number of iterations to align
#define Z_STEPPER_ALIGN_ITERATIONS 6
// Enable to restore leveling setup after operation
@@ -621,10 +636,6 @@
// On a 300mm bed a 5% grade would give a misalignment of ~1.5cm
#define G34_MAX_GRADE 15 // (%) Maximum incline G34 will handle
// Use the amplification factor to de-/increase correction step.
// In case the stepper (spindle) position is further out than the test point
// Use a value > 1. NOTE: This may cause instability
#define Z_STEPPER_ALIGN_AMP 1.0
// Stop criterion. If the accuracy is better than this stop iterating early
#define Z_STEPPER_ALIGN_ACC 0.02
#endif
@@ -899,6 +910,11 @@
// Add an 'M73' G-code to set the current percentage
//#define LCD_SET_PROGRESS_MANUALLY
#if HAS_PRINT_PROGRESS
//#define PRINT_PROGRESS_SHOW_DECIMALS // Show progress with decimal digits (Graphical LCD only)
//#define SHOW_REMAINING_TIME // Display estimated time to completion (Graphical LCD only)
#endif
#if HAS_CHARACTER_LCD && HAS_PRINT_PROGRESS
//#define LCD_PROGRESS_BAR // Show a progress bar on HD44780 LCDs for SD printing
#if ENABLED(LCD_PROGRESS_BAR)
@@ -1816,91 +1832,91 @@
#define X_CURRENT 800 // (mA) RMS current. Multiply by 1.414 for peak current.
#define X_MICROSTEPS 16 // 0..256
#define X_RSENSE 0.11
#define X_CHAIN_POS 0 // 0 - Not chained, 1 - MCU MOSI connected, 2 - next in chain, ...
#define X_CHAIN_POS -1 // <=0 : Not chained. 1 : MCU MOSI connected. 2 : Next in chain, ...
#endif
#if AXIS_IS_TMC(X2)
#define X2_CURRENT 800
#define X2_MICROSTEPS 16
#define X2_RSENSE 0.11
#define X2_CHAIN_POS 0
#define X2_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(Y)
#define Y_CURRENT 800
#define Y_MICROSTEPS 16
#define Y_RSENSE 0.11
#define Y_CHAIN_POS 0
#define Y_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(Y2)
#define Y2_CURRENT 800
#define Y2_MICROSTEPS 16
#define Y2_RSENSE 0.11
#define Y2_CHAIN_POS 0
#define Y2_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(Z)
#define Z_CURRENT 800
#define Z_MICROSTEPS 16
#define Z_RSENSE 0.11
#define Z_CHAIN_POS 0
#define Z_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(Z2)
#define Z2_CURRENT 800
#define Z2_MICROSTEPS 16
#define Z2_RSENSE 0.11
#define Z2_CHAIN_POS 0
#define Z2_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(Z3)
#define Z3_CURRENT 800
#define Z3_MICROSTEPS 16
#define Z3_RSENSE 0.11
#define Z3_CHAIN_POS 0
#define Z3_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(E0)
#define E0_CURRENT 800
#define E0_MICROSTEPS 16
#define E0_RSENSE 0.11
#define E0_CHAIN_POS 0
#define E0_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(E1)
#define E1_CURRENT 800
#define E1_MICROSTEPS 16
#define E1_RSENSE 0.11
#define E1_CHAIN_POS 0
#define E1_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(E2)
#define E2_CURRENT 800
#define E2_MICROSTEPS 16
#define E2_RSENSE 0.11
#define E2_CHAIN_POS 0
#define E2_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(E3)
#define E3_CURRENT 800
#define E3_MICROSTEPS 16
#define E3_RSENSE 0.11
#define E3_CHAIN_POS 0
#define E3_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(E4)
#define E4_CURRENT 800
#define E4_MICROSTEPS 16
#define E4_RSENSE 0.11
#define E4_CHAIN_POS 0
#define E4_CHAIN_POS -1
#endif
#if AXIS_IS_TMC(E5)
#define E5_CURRENT 800
#define E5_MICROSTEPS 16
#define E5_RSENSE 0.11
#define E5_CHAIN_POS 0
#define E5_CHAIN_POS -1
#endif
/**
@@ -2126,7 +2142,7 @@
#define X_OVERCURRENT 2000 // (mA) Current where the driver detects an over current (VALID: 375 x (1 - 16) - 6A max - rounds down)
#define X_STALLCURRENT 1500 // (mA) Current where the driver detects a stall (VALID: 31.25 * (1-128) - 4A max - rounds down)
#define X_MAX_VOLTAGE 127 // 0-255, Maximum effective voltage seen by stepper
#define X_CHAIN_POS 0 // Position in SPI chain, 0=Not in chain, 1=Nearest MOSI
#define X_CHAIN_POS -1 // Position in SPI chain. (<=0 : Not in chain. 1 : Nearest MOSI)
#endif
#if AXIS_DRIVER_TYPE_X2(L6470)
@@ -2134,7 +2150,7 @@
#define X2_OVERCURRENT 2000
#define X2_STALLCURRENT 1500
#define X2_MAX_VOLTAGE 127
#define X2_CHAIN_POS 0
#define X2_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_Y(L6470)
@@ -2142,7 +2158,7 @@
#define Y_OVERCURRENT 2000
#define Y_STALLCURRENT 1500
#define Y_MAX_VOLTAGE 127
#define Y_CHAIN_POS 0
#define Y_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_Y2(L6470)
@@ -2150,7 +2166,7 @@
#define Y2_OVERCURRENT 2000
#define Y2_STALLCURRENT 1500
#define Y2_MAX_VOLTAGE 127
#define Y2_CHAIN_POS 0
#define Y2_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_Z(L6470)
@@ -2158,7 +2174,7 @@
#define Z_OVERCURRENT 2000
#define Z_STALLCURRENT 1500
#define Z_MAX_VOLTAGE 127
#define Z_CHAIN_POS 0
#define Z_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_Z2(L6470)
@@ -2166,7 +2182,7 @@
#define Z2_OVERCURRENT 2000
#define Z2_STALLCURRENT 1500
#define Z2_MAX_VOLTAGE 127
#define Z2_CHAIN_POS 0
#define Z2_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_Z3(L6470)
@@ -2174,7 +2190,7 @@
#define Z3_OVERCURRENT 2000
#define Z3_STALLCURRENT 1500
#define Z3_MAX_VOLTAGE 127
#define Z3_CHAIN_POS 0
#define Z3_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_E0(L6470)
@@ -2182,7 +2198,7 @@
#define E0_OVERCURRENT 2000
#define E0_STALLCURRENT 1500
#define E0_MAX_VOLTAGE 127
#define E0_CHAIN_POS 0
#define E0_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_E1(L6470)
@@ -2190,7 +2206,7 @@
#define E1_OVERCURRENT 2000
#define E1_STALLCURRENT 1500
#define E1_MAX_VOLTAGE 127
#define E1_CHAIN_POS 0
#define E1_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_E2(L6470)
@@ -2198,7 +2214,7 @@
#define E2_OVERCURRENT 2000
#define E2_STALLCURRENT 1500
#define E2_MAX_VOLTAGE 127
#define E2_CHAIN_POS 0
#define E2_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_E3(L6470)
@@ -2206,7 +2222,7 @@
#define E3_OVERCURRENT 2000
#define E3_STALLCURRENT 1500
#define E3_MAX_VOLTAGE 127
#define E3_CHAIN_POS 0
#define E3_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_E4(L6470)
@@ -2214,7 +2230,7 @@
#define E4_OVERCURRENT 2000
#define E4_STALLCURRENT 1500
#define E4_MAX_VOLTAGE 127
#define E4_CHAIN_POS 0
#define E4_CHAIN_POS -1
#endif
#if AXIS_DRIVER_TYPE_E5(L6470)
@@ -2222,7 +2238,7 @@
#define E5_OVERCURRENT 2000
#define E5_STALLCURRENT 1500
#define E5_MAX_VOLTAGE 127
#define E5_CHAIN_POS 0
#define E5_CHAIN_POS -1
#endif
/**
Marlin/Version.h
+76
View File
@@ -0,0 +1,76 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
////////////////////////////
// VENDOR VERSION EXAMPLE //
////////////////////////////
/**
* Marlin release version identifier
*/
#define SHORT_BUILD_VERSION "2.0.x_SX4H"
/**
* Verbose version identifier which should contain a reference to the location
* from where the binary was downloaded or the source code was compiled.
*/
#define DETAILED_BUILD_VERSION SHORT_BUILD_VERSION " TM3D"
/**
* The STRING_DISTRIBUTION_DATE represents when the binary file was built,
* here we define this default string as the date where the latest release
* version was tagged.
*/
#define STRING_DISTRIBUTION_DATE "2019-10-19"
/**
* Defines a generic printer name to be output to the LCD after booting Marlin.
*/
#define MACHINE_NAME "TM3D SX4"
/**
* The SOURCE_CODE_URL is the location where users will find the Marlin Source
* Code which is installed on the device. In most cases —unless the manufacturer
* has a distinct Github fork— the Source Code URL should just be the main
* Marlin repository.
*/
#define SOURCE_CODE_URL "https://github.com/InsanityAutomation/Marlin/tree/TM_SX4_2.0"
/**
* Default generic printer UUID.
*/
//#define DEFAULT_MACHINE_UUID "cede2a2f-41a2-4748-9b12-c55c62f367ff"
/**
* The WEBSITE_URL is the location where users can get more information such as
* documentation about a specific Marlin release.
*/
#define WEBSITE_URL "tinymachines3d.com"
/**
* Set the vendor info the serial USB interface, if changable
* Currently only supported by DUE platform
*/
//#define USB_DEVICE_VENDOR_ID 0x0000
//#define USB_DEVICE_PRODUCT_ID 0x0000
//#define USB_DEVICE_MANUFACTURE_NAME WEBSITE_URL
Marlin/src/HAL/HAL.h
+6
View File
@@ -24,3 +24,9 @@
#include "platforms.h"
#include HAL_PATH(.,HAL.h)
inline void watchdog_refresh() {
#if ENABLED(USE_WATCHDOG)
HAL_watchdog_refresh();
#endif
}
Marlin/src/HAL/HAL_AVR/HAL.h
+1 -2
View File
@@ -146,8 +146,7 @@ extern "C" {
#define DISABLE_TEMPERATURE_INTERRUPT() CBI(TIMSK0, OCIE0B)
#define TEMPERATURE_ISR_ENABLED() TEST(TIMSK0, OCIE0B)
FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t frequency) {
UNUSED(frequency);
FORCE_INLINE void HAL_timer_start(const uint8_t timer_num, const uint32_t) {
switch (timer_num) {
case STEP_TIMER_NUM:
// waveform generation = 0100 = CTC
Marlin/src/HAL/HAL_AVR/HAL_SPI.cpp
+2 -7
View File
@@ -184,15 +184,10 @@ void spiBegin() {
// nop to tune soft SPI timing
#define nop asm volatile ("\tnop\n")
// Set SPI rate
void spiInit(uint8_t spiRate) {
UNUSED(spiRate); // nothing to do
}
void spiInit(uint8_t) { /* do nothing */ }
// Begin SPI transaction, set clock, bit order, data mode
void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) {
UNUSED(spiBeginTransaction); // nothing to do
}
void spiBeginTransaction(uint32_t spiClock, uint8_t bitOrder, uint8_t dataMode) { /* do nothing */ }
// Soft SPI receive byte
uint8_t spiRec() {
Marlin/src/HAL/HAL_AVR/fast_pwm.cpp
+2 -2
View File
@@ -23,7 +23,7 @@
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(FAST_PWM_FAN)
#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_PWM
#include "HAL.h"
@@ -278,5 +278,5 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
}
}
#endif // FAST_PWM_FAN
#endif // FAST_PWM_FAN || SPINDLE_LASER_PWM
#endif // __AVR__
Marlin/src/HAL/HAL_AVR/pinsDebug.h
+3 -12
View File
@@ -227,18 +227,9 @@ static void print_is_also_tied() { SERIAL_ECHOPGM(" is also tied to this pin");
void com_print(uint8_t N, uint8_t Z) {
const uint8_t *TCCRA = (uint8_t*)TCCR_A(N);
SERIAL_ECHOPGM(" COM");
SERIAL_CHAR(N + '0');
switch (Z) {
case 'A':
SERIAL_ECHOPAIR("A: ", ((*TCCRA & (_BV(7) | _BV(6))) >> 6));
break;
case 'B':
SERIAL_ECHOPAIR("B: ", ((*TCCRA & (_BV(5) | _BV(4))) >> 4));
break;
case 'C':
SERIAL_ECHOPAIR("C: ", ((*TCCRA & (_BV(3) | _BV(2))) >> 2));
break;
}
SERIAL_CHAR('0' + N);
SERIAL_CHAR('A' + Z);
SERIAL_ECHOPAIR(": ", int((*TCCRA >> (6 - Z * 2)) & 0x03));
}
void timer_prefix(uint8_t T, char L, uint8_t N) { // T - timer L - pwm N - WGM bit layout
Marlin/src/HAL/HAL_AVR/watchdog.h
+1 -1
View File
@@ -28,4 +28,4 @@ void watchdog_init();
// Reset watchdog. MUST be called at least every 4 seconds after the
// first watchdog_init or AVR will go into emergency procedures.
inline void watchdog_reset() { wdt_reset(); }
inline void HAL_watchdog_refresh() { wdt_reset(); }
Marlin/src/HAL/HAL_DUE/HAL.cpp
+1 -1
View File
@@ -87,7 +87,7 @@ extern "C" {
// Return free memory between end of heap (or end bss) and whatever is current
int freeMemory() {
int free_memory, heap_end = (int)_sbrk(0);
return (int)&free_memory - (heap_end ? heap_end : (int)&_ebss);
return (int)&free_memory - (heap_end ?: (int)&_ebss);
}
// ------------------------
Marlin/src/HAL/HAL_DUE/HAL.h
+28 -11
View File
@@ -38,22 +38,39 @@
#include <stdint.h>
// Serial ports
#if !WITHIN(SERIAL_PORT, -1, 3)
#error "SERIAL_PORT must be from -1 to 3"
// Define MYSERIAL0/1 before MarlinSerial includes!
#if SERIAL_PORT == -1
#define MYSERIAL0 Serial1
#elif SERIAL_PORT == 0
#define MYSERIAL0 Serial
#elif SERIAL_PORT == 1
#define MYSERIAL0 Serial1
#elif SERIAL_PORT == 2
#define MYSERIAL0 Serial2
#elif SERIAL_PORT == 3
#define MYSERIAL0 Serial3
#else
#error "The required SERIAL_PORT must be from -1 to 3. Please update your configuration."
#endif
// MYSERIAL0 required before MarlinSerial includes!
#define MYSERIAL0 customizedSerial1
#ifdef SERIAL_PORT_2
#if !WITHIN(SERIAL_PORT_2, -1, 3)
#error "SERIAL_PORT_2 must be from -1 to 3"
#elif SERIAL_PORT_2 == SERIAL_PORT
#error "SERIAL_PORT_2 must be different than SERIAL_PORT"
#if SERIAL_PORT_2 == SERIAL_PORT
#error "SERIAL_PORT_2 must be different from SERIAL_PORT. Please update your configuration."
#endif
#if SERIAL_PORT_2 == -1
#define MYSERIAL1 Serial1
#elif SERIAL_PORT_2 == 0
#define MYSERIAL1 Serial
#elif SERIAL_PORT_2 == 1
#define MYSERIAL1 Serial1
#elif SERIAL_PORT_2 == 2
#define MYSERIAL1 Serial2
#elif SERIAL_PORT_2 == 3
#define MYSERIAL1 Serial3
#else
#error "SERIAL_PORT_2 must be from -1 to 3. Please update your configuration."
#endif
#define NUM_SERIAL 2
#define MYSERIAL1 customizedSerial2
#else
#define NUM_SERIAL 1
#endif
Marlin/src/HAL/HAL_DUE/HAL_SPI.cpp
+1 -2
View File
@@ -151,13 +151,12 @@
(((uint32_t)(addr) & 0xF0000000) + 0x02000000 + ((uint32_t)(addr)&0xFFFFF)*32 + (bit)*4)
// run at ~8 .. ~10Mhz - Rx version (Tx line not altered)
static uint8_t spiTransferRx0(uint8_t bout) { // using Mode 0
static uint8_t spiTransferRx0(uint8_t) { // using Mode 0
uint32_t bin = 0;
uint32_t work = 0;
uint32_t BITBAND_MISO_PORT = BITBAND_ADDRESS( ((uint32_t)PORT(MISO_PIN))+0x3C, PIN_SHIFT(MISO_PIN)); /* PDSR of port in bitband area */
uint32_t SCK_PORT_PLUS30 = ((uint32_t) PORT(SCK_PIN)) + 0x30; /* SODR of port */
uint32_t SCK_MASK = PIN_MASK(SCK_PIN);
UNUSED(bout);
/* The software SPI routine */
__asm__ __volatile__(
Marlin/src/HAL/HAL_DUE/MarlinSerialUSB.cpp
+2 -5
View File
@@ -55,12 +55,9 @@ static int pending_char = -1;
#endif
// Public Methods
void MarlinSerialUSB::begin(const long baud_setting) {
UNUSED(baud_setting);
}
void MarlinSerialUSB::begin(const long) {}
void MarlinSerialUSB::end() {
}
void MarlinSerialUSB::end() {}
int MarlinSerialUSB::peek() {
if (pending_char >= 0)
Marlin/src/HAL/HAL_DUE/timers.cpp
+1 -1
View File
@@ -50,7 +50,7 @@ const tTimerConfig TimerConfig [NUM_HARDWARE_TIMERS] = {
{ TC0, 0, TC0_IRQn, 3}, // 0 - [servo timer5]
{ TC0, 1, TC1_IRQn, 0}, // 1
{ TC0, 2, TC2_IRQn, 2}, // 2 - stepper
{ TC1, 0, TC3_IRQn, 0}, // 3
{ TC1, 0, TC3_IRQn, 0}, // 3 - stepper for BOARD_ARCHIM1
{ TC1, 1, TC4_IRQn, 15}, // 4 - temperature
{ TC1, 2, TC5_IRQn, 3}, // 5 - [servo timer3]
{ TC2, 0, TC6_IRQn, 14}, // 6 - tone
Marlin/src/HAL/HAL_DUE/timers.h
+5 -1
View File
@@ -39,7 +39,9 @@ typedef uint32_t hal_timer_t;
#define HAL_TIMER_RATE ((F_CPU) / 2) // frequency of timers peripherals
#ifndef STEP_TIMER_NUM
#define STEP_TIMER_NUM 2 // index of timer to use for stepper
#endif
#define TEMP_TIMER_NUM 4 // index of timer to use for temperature
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define TONE_TIMER_NUM 6 // index of timer to use for beeper tones
@@ -61,7 +63,9 @@ typedef uint32_t hal_timer_t;
#define ENABLE_TEMPERATURE_INTERRUPT() HAL_timer_enable_interrupt(TEMP_TIMER_NUM)
#define DISABLE_TEMPERATURE_INTERRUPT() HAL_timer_disable_interrupt(TEMP_TIMER_NUM)
#define HAL_STEP_TIMER_ISR() void TC2_Handler()
#ifndef HAL_STEP_TIMER_ISR
#define HAL_STEP_TIMER_ISR() void TC2_Handler()
#endif
#define HAL_TEMP_TIMER_ISR() void TC4_Handler()
#define HAL_TONE_TIMER_ISR() void TC6_Handler()
Marlin/src/HAL/HAL_DUE/usb/conf_usb.h
+1 -14
View File
@@ -48,9 +48,7 @@
#define _CONF_USB_H_
#undef UNUSED /* To avoid a macro clash as macros.h already defines it */
#include "../../../core/macros.h" /* For ENABLED()/DISABLED() */
#include "../../../core/boards.h" /* For MB() */
#include "../../../../Configuration.h" /* For CUSTOM_MACHINE_NAME definition - We just need the name, no C++ allowed! */
#include "../../../inc/MarlinConfigPre.h"
#include "compiler.h"
/**
@@ -59,8 +57,6 @@
*/
//! Device definition (mandatory)
#define USB_DEVICE_VENDOR_ID 0x03EB /* ATMEL VID */
#define USB_DEVICE_PRODUCT_ID 0x2424 /* MSC / CDC */
#define USB_DEVICE_MAJOR_VERSION 1
#define USB_DEVICE_MINOR_VERSION 0
#define USB_DEVICE_POWER 100 // Consumption on Vbus line (mA)
@@ -70,15 +66,6 @@
// (USB_CONFIG_ATTR_REMOTE_WAKEUP|USB_CONFIG_ATTR_SELF_POWERED)
// (USB_CONFIG_ATTR_REMOTE_WAKEUP|USB_CONFIG_ATTR_BUS_POWERED)
//! USB Device string definitions (Optional)
#define USB_DEVICE_MANUFACTURE_NAME "marlinfw.org"
#ifdef CUSTOM_MACHINE_NAME
#define USB_DEVICE_PRODUCT_NAME CUSTOM_MACHINE_NAME
#else
#define USB_DEVICE_PRODUCT_NAME "3D Printer"
#endif
#define USB_DEVICE_SERIAL_NAME "123985739853"
/**
* Device speeds support
* Low speed not supported by CDC and MSC
Marlin/src/HAL/HAL_DUE/usb/sd_mmc_spi_mem.cpp
+3 -10
View File
@@ -33,19 +33,12 @@ Ctrl_status sd_mmc_spi_read_capacity(uint32_t *nb_sector) {
return CTRL_GOOD;
}
bool sd_mmc_spi_unload(bool unload) {
UNUSED(unload);
return true;
}
bool sd_mmc_spi_unload(bool) { return true; }
bool sd_mmc_spi_wr_protect() {
return false;
}
bool sd_mmc_spi_wr_protect() { return false; }
bool sd_mmc_spi_removal() {
if (!IS_SD_INSERTED() || IS_SD_PRINTING() || IS_SD_FILE_OPEN() || !card.isMounted())
return true;
return false;
return (!IS_SD_INSERTED() || IS_SD_PRINTING() || IS_SD_FILE_OPEN() || !card.isMounted());
}
#if ACCESS_USB == true
Marlin/src/HAL/HAL_DUE/watchdog.h
+1 -1
View File
@@ -30,4 +30,4 @@ void watchdog_init();
// Reset watchdog. MUST be called at least every 4 seconds after the
// first watchdog_init or AVR will go into emergency procedures.
inline void watchdog_reset() { watchdogReset(); }
inline void HAL_watchdog_refresh() { watchdogReset(); }
Marlin/src/HAL/HAL_ESP32/HAL.cpp
+7 -5
View File
@@ -187,19 +187,21 @@ void HAL_adc_start_conversion(uint8_t adc_pin) {
const adc1_channel_t chan = get_channel(adc_pin);
uint32_t mv;
esp_adc_cal_get_voltage((adc_channel_t)chan, &characteristics[attenuations[chan]], &mv);
HAL_adc_result = mv * 1023.0 / 3300.0;
// Change the attenuation level based on the new reading
adc_atten_t atten;
if (mv < thresholds[ADC_ATTEN_DB_0] - 100)
adc1_set_attenuation(chan, ADC_ATTEN_DB_0);
atten = ADC_ATTEN_DB_0;
else if (mv > thresholds[ADC_ATTEN_DB_0] - 50 && mv < thresholds[ADC_ATTEN_DB_2_5] - 100)
adc1_set_attenuation(chan, ADC_ATTEN_DB_2_5);
atten = ADC_ATTEN_DB_2_5;
else if (mv > thresholds[ADC_ATTEN_DB_2_5] - 50 && mv < thresholds[ADC_ATTEN_DB_6] - 100)
adc1_set_attenuation(chan, ADC_ATTEN_DB_6);
atten = ADC_ATTEN_DB_6;
else if (mv > thresholds[ADC_ATTEN_DB_6] - 50)
adc1_set_attenuation(chan, ADC_ATTEN_DB_11);
atten = ADC_ATTEN_DB_11;
else return;
HAL_adc_result = mv * 1023.0 / 3300.0;
adc1_set_attenuation(chan, atten);
}
void analogWrite(pin_t pin, int value) {
Marlin/src/HAL/HAL_ESP32/watchdog.h
+1 -1
View File
@@ -25,4 +25,4 @@
void watchdog_init();
// Reset watchdog.
inline void watchdog_reset() { }
inline void HAL_watchdog_refresh() {}
Marlin/src/HAL/HAL_LINUX/HAL.h
+5 -1
View File
@@ -78,7 +78,7 @@ extern HalSerial usb_serial;
#define ENABLE_ISRS()
#define DISABLE_ISRS()
inline void HAL_init() { }
inline void HAL_init() {}
// Utility functions
#pragma GCC diagnostic push
@@ -97,6 +97,10 @@ void HAL_adc_enable_channel(int pin);
void HAL_adc_start_conversion(const uint8_t adc_pin);
uint16_t HAL_adc_get_result();
// Reset source
inline void HAL_clear_reset_source(void) {}
inline uint8_t HAL_get_reset_source(void) { return RST_POWER_ON; }
/* ---------------- Delay in cycles */
FORCE_INLINE static void DELAY_CYCLES(uint64_t x) {
Clock::delayCycles(x);
Marlin/src/HAL/HAL_LINUX/arduino.cpp
+1 -1
View File
@@ -29,7 +29,7 @@
// Interrupts
void cli() { } // Disable
void sei() { } // Enable
void sei() { } // Enable
// Time functions
void _delay_ms(const int delay_ms) {
Marlin/src/HAL/HAL_LINUX/include/serial.h
+2 -2
View File
@@ -83,9 +83,9 @@ public:
HalSerial() { host_connected = true; }
void begin(int32_t baud) { }
void begin(int32_t) {}
void end() { }
void end() {}
int peek() {
uint8_t value;
Marlin/src/HAL/HAL_LINUX/watchdog.cpp
+2 -12
View File
@@ -29,18 +29,8 @@
#include "watchdog.h"
void watchdog_init() {}
void HAL_watchdog_refresh() {}
void HAL_clear_reset_source() {}
uint8_t HAL_get_reset_source() {
return RST_POWER_ON;
}
void watchdog_reset() {}
#else
void HAL_clear_reset_source() {}
uint8_t HAL_get_reset_source() { return RST_POWER_ON; }
#endif // USE_WATCHDOG
#endif
#endif // __PLAT_LINUX__
Marlin/src/HAL/HAL_LINUX/watchdog.h
+1 -3
View File
@@ -24,6 +24,4 @@
#define WDT_TIMEOUT 4000000 // 4 second timeout
void watchdog_init();
void watchdog_reset();
void HAL_clear_reset_source();
uint8_t HAL_get_reset_source();
void HAL_watchdog_refresh();
Marlin/src/HAL/HAL_LPC1768/HAL.cpp
+17
View File
@@ -26,6 +26,10 @@
#include "../shared/Delay.h"
#include "../../../gcode/parser.h"
#if ENABLED(USE_WATCHDOG)
#include "watchdog.h"
#endif
// U8glib required functions
extern "C" void u8g_xMicroDelay(uint16_t val) {
DELAY_US(val);
@@ -65,4 +69,17 @@ void flashFirmware(int16_t value) {
NVIC_SystemReset();
}
void HAL_clear_reset_source(void) {
#if ENABLED(USE_WATCHDOG)
watchdog_clear_timeout_flag();
#endif
}
uint8_t HAL_get_reset_source(void) {
#if ENABLED(USE_WATCHDOG)
if (watchdog_timed_out()) return RST_WATCHDOG;
#endif
return RST_POWER_ON;
}
#endif // TARGET_LPC1768
Marlin/src/HAL/HAL_LPC1768/HAL.h
+4
View File
@@ -164,3 +164,7 @@ void set_pwm_frequency(const pin_t pin, int f_desired);
* Optionally allows changing the maximum size of the provided value to enable finer PWM duty control [default = 255]
*/
void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size=255, const bool invert=false);
// Reset source
void HAL_clear_reset_source(void);
uint8_t HAL_get_reset_source(void);
Marlin/src/HAL/HAL_LPC1768/MarlinSerial.h
+1 -1
View File
@@ -49,7 +49,7 @@ public:
{
}
void end() { }
void end() {}
#if ENABLED(EMERGENCY_PARSER)
bool recv_callback(const char c) override {
Marlin/src/HAL/HAL_LPC1768/fast_pwm.cpp
+2 -2
View File
@@ -24,7 +24,7 @@
#include "../../inc/MarlinConfigPre.h"
#if ENABLED(FAST_PWM_FAN)
#if ENABLED(FAST_PWM_FAN) || SPINDLE_LASER_PWM
#include <pwm.h>
@@ -36,5 +36,5 @@ void set_pwm_duty(const pin_t pin, const uint16_t v, const uint16_t v_size/*=255
pwm_write_ratio(pin, invert ? 1.0f - (float)v / v_size : (float)v / v_size);
}
#endif // FAST_PWM_FAN
#endif // FAST_PWM_FAN || SPINDLE_LASER_PWM
#endif // TARGET_LPC1768
Marlin/src/HAL/HAL_LPC1768/main.cpp
+1 -1
View File
@@ -155,7 +155,7 @@ void HAL_idletask() {
// a PC via USB.
// Other HALs use IS_SD_PRINTING() and IS_SD_FILE_OPEN() to check for access but
// this will not reliably detect delete operations. To be safe we will lock
// the disk if Marlin has it mounted. Unfortuately there is currently no way
// the disk if Marlin has it mounted. Unfortunately there is currently no way
// to unmount the disk from the LCD menu.
// if (IS_SD_PRINTING() || IS_SD_FILE_OPEN())
if (card.isMounted())
Marlin/src/HAL/HAL_LPC1768/upload_extra_script.py
+2 -2
View File
@@ -31,7 +31,7 @@ try:
#
import subprocess
# typical result (string): 'Drives: C:\ D:\ E:\ F:\ G:\ H:\ I:\ J:\ K:\ L:\ M:\ Y:\ Z:\'
driveStr = subprocess.check_output("fsutil fsinfo drives")
driveStr = subprocess.check_output("fsutil fsinfo drives").decode('utf8')
# typical result (string): 'C:\ D:\ E:\ F:\ G:\ H:\ I:\ J:\ K:\ L:\ M:\ Y:\ Z:\'
driveStr = driveStr.strip().lstrip('Drives: ')
# typical result (array of stings): ['C:\\', 'D:\\', 'E:\\', 'F:\\',
@@ -44,7 +44,7 @@ try:
for drive in drives:
final_drive_name = drive.strip().rstrip('\\') # typical result (string): 'C:'
try:
volume_info = subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT)
volume_info = subprocess.check_output('cmd /C dir ' + final_drive_name, stderr=subprocess.STDOUT).decode('utf8')
except Exception as e:
continue
else:
Marlin/src/HAL/HAL_LPC1768/watchdog.cpp
+4 -16
View File
@@ -56,28 +56,16 @@ void watchdog_init() {
WDT_Start(WDT_TIMEOUT);
}
void HAL_clear_reset_source() {
WDT_ClrTimeOutFlag();
}
uint8_t HAL_get_reset_source() {
if (TEST(WDT_ReadTimeOutFlag(), 0)) return RST_WATCHDOG;
return RST_POWER_ON;
}
void watchdog_reset() {
void HAL_watchdog_refresh() {
WDT_Feed();
#if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
TOGGLE(LED_PIN); // heartbeat indicator
#endif
}
#else
void watchdog_init() {}
void watchdog_reset() {}
void HAL_clear_reset_source() {}
uint8_t HAL_get_reset_source() { return RST_POWER_ON; }
// Timeout state
bool watchdog_timed_out() { return TEST(WDT_ReadTimeOutFlag(), 0); }
void watchdog_clear_timeout_flag() { WDT_ClrTimeOutFlag(); }
#endif // USE_WATCHDOG
Marlin/src/HAL/HAL_LPC1768/watchdog.h
+4 -3
View File
@@ -24,6 +24,7 @@
#define WDT_TIMEOUT 4000000 // 4 second timeout
void watchdog_init();
void watchdog_reset();
void HAL_clear_reset_source();
uint8_t HAL_get_reset_source();
void HAL_watchdog_refresh();
bool watchdog_timed_out();
void watchdog_clear_timeout_flag();
Marlin/src/HAL/HAL_SAMD51/HAL.cpp
+1 -1
View File
@@ -414,7 +414,7 @@ extern "C" {
// Return free memory between end of heap (or end bss) and whatever is current
int freeMemory() {
int free_memory, heap_end = (int)_sbrk(0);
return (int)&free_memory - (heap_end ? heap_end : (int)&__bss_end__);
return (int)&free_memory - (heap_end ?: (int)&__bss_end__);
}
// ------------------------
Marlin/src/HAL/HAL_SAMD51/watchdog.cpp
+1 -1
View File
@@ -42,7 +42,7 @@
WDT->INTENCLR.reg = WDT_INTENCLR_EW; // Disable early warning interrupt
WDT->CONFIG.reg = WDT_CONFIG_PER_CYC4096; // Set at least 4s period for chip reset
watchdog_reset();
HAL_watchdog_refresh();
WDT->CTRLA.reg = WDT_CTRLA_ENABLE; // Start watchdog now in normal mode
SYNC(WDT->SYNCBUSY.bit.ENABLE);
Marlin/src/HAL/HAL_SAMD51/watchdog.h
+1 -1
View File
@@ -25,7 +25,7 @@ void watchdog_init();
// Reset watchdog. MUST be called at least every 4 seconds after the
// first watchdog_init or SAMD will go into emergency procedures.
inline void watchdog_reset() {
inline void HAL_watchdog_refresh() {
SYNC(WDT->SYNCBUSY.bit.CLEAR); // Test first if previous is 'ongoing' to save time waiting for command execution
WDT->CLEAR.reg = WDT_CLEAR_CLEAR_KEY;
}
Marlin/src/HAL/HAL_STM32/HAL.cpp
+4 -10
View File
@@ -104,17 +104,11 @@ extern "C" {
// ADC
// ------------------------
void HAL_adc_start_conversion(const uint8_t adc_pin) {
HAL_adc_result = analogRead(adc_pin);
}
// TODO: Make sure this doesn't cause any delay
void HAL_adc_start_conversion(const uint8_t adc_pin) { HAL_adc_result = analogRead(adc_pin); }
uint16_t HAL_adc_get_result() {
return HAL_adc_result;
}
uint16_t HAL_adc_get_result() { return HAL_adc_result; }
void flashFirmware(int16_t value) {
UNUSED(value);
NVIC_SystemReset();
}
void flashFirmware(int16_t) { NVIC_SystemReset(); }
#endif // ARDUINO_ARCH_STM32 && !STM32GENERIC
Marlin/src/HAL/HAL_STM32/watchdog.cpp
+1 -1
View File
@@ -33,7 +33,7 @@
void watchdog_init() { IWatchdog.begin(4000000); } // 4 sec timeout
void watchdog_reset() {
void HAL_watchdog_refresh() {
IWatchdog.reload();
#if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
TOGGLE(LED_PIN); // heartbeat indicator
Marlin/src/HAL/HAL_STM32/watchdog.h
+1 -1
View File
@@ -22,4 +22,4 @@
#pragma once
void watchdog_init();
void watchdog_reset();
void HAL_watchdog_refresh();
Marlin/src/HAL/HAL_STM32F1/HAL.cpp
+2 -2
View File
@@ -27,8 +27,8 @@
#ifdef __STM32F1__
#include "HAL.h"
#include "../../inc/MarlinConfig.h"
#include "HAL.h"
#include <STM32ADC.h>
@@ -233,7 +233,7 @@ void HAL_idletask() {
// a PC via USB.
// Other HALs use IS_SD_PRINTING() and IS_SD_FILE_OPEN() to check for access but
// this will not reliably detect delete operations. To be safe we will lock
// the disk if Marlin has it mounted. Unfortuately there is currently no way
// the disk if Marlin has it mounted. Unfortunately there is currently no way
// to unmount the disk from the LCD menu.
// if (IS_SD_PRINTING() || IS_SD_FILE_OPEN())
/* copy from lpc1768 framework, should be fixed later for process SHARED_SD_CARD*/
Marlin/src/HAL/HAL_STM32F1/timers.cpp
+1 -1
View File
@@ -26,8 +26,8 @@
#ifdef __STM32F1__
#include "../../inc/MarlinConfig.h"
#include "HAL.h"
#include "timers.h"
// ------------------------
Marlin/src/HAL/HAL_STM32F1/timers.h
+8 -1
View File
@@ -27,6 +27,7 @@
#include <stdint.h>
#include <libmaple/timer.h>
#include "../../core/boards.h"
// ------------------------
// Defines
@@ -54,7 +55,13 @@ typedef uint16_t hal_timer_t;
#define TEMP_TIMER_NUM 2 // index of timer to use for temperature
//#define TEMP_TIMER_NUM 4 // 2->4, Timer 2 for Stepper Current PWM
#define PULSE_TIMER_NUM STEP_TIMER_NUM
#define SERVO0_TIMER_NUM 1 // SERVO0 or BLTOUCH
#if MB(BIGTREE_SKR_MINI_E3, BIGTREE_SKR_E3_DIP, BTT_SKR_MINI_E3_V1_2, MKS_ROBIN_LITE)
// SKR Mini E3 boards use PA8 as FAN_PIN, so TIMER 1 is used for Fan PWM.
#define SERVO0_TIMER_NUM 8
#else
#define SERVO0_TIMER_NUM 1 // SERVO0 or BLTOUCH
#endif
#define STEP_TIMER_IRQ_PRIO 1
#define TEMP_TIMER_IRQ_PRIO 2
Marlin/src/HAL/HAL_STM32F1/watchdog.cpp
+1 -1
View File
@@ -33,7 +33,7 @@
#include <libmaple/iwdg.h>
#include "watchdog.h"
void watchdog_reset() {
void HAL_watchdog_refresh() {
#if DISABLED(PINS_DEBUGGING) && PIN_EXISTS(LED)
TOGGLE(LED_PIN); // heartbeat indicator
#endif
Marlin/src/HAL/HAL_STM32F1/watchdog.h
+1 -1
View File
@@ -41,4 +41,4 @@ void watchdog_init();
// Reset watchdog. MUST be called at least every 4 seconds after the
// first watchdog_init or STM32F1 will reset.
void watchdog_reset();
void HAL_watchdog_refresh();
Marlin/src/HAL/HAL_STM32_F4_F7/HAL.h
+1 -1
View File
@@ -150,7 +150,7 @@ extern uint16_t HAL_adc_result;
// Memory related
#define __bss_end __bss_end__
inline void HAL_init() { }
inline void HAL_init() {}
// Clear reset reason
void HAL_clear_reset_source();
Marlin/src/HAL/HAL_STM32_F4_F7/watchdog.cpp
+1 -1
View File
@@ -44,7 +44,7 @@
}
}
void watchdog_reset() {
void HAL_watchdog_refresh() {
/* Refresh IWDG: reload counter */
if (HAL_IWDG_Refresh(&hiwdg) != HAL_OK) {
/* Refresh Error */
Marlin/src/HAL/HAL_STM32_F4_F7/watchdog.h
+1 -1
View File
@@ -24,4 +24,4 @@
extern IWDG_HandleTypeDef hiwdg;
void watchdog_init();
void watchdog_reset();
void HAL_watchdog_refresh();
Marlin/src/HAL/HAL_TEENSY31_32/HAL.h
+1 -1
View File
@@ -87,7 +87,7 @@ typedef int8_t pin_t;
#undef pgm_read_word
#define pgm_read_word(addr) (*((uint16_t*)(addr)))
inline void HAL_init() { }
inline void HAL_init() {}
// Clear the reset reason
void HAL_clear_reset_source();
Marlin/src/HAL/HAL_TEENSY31_32/watchdog.h
+1 -1
View File
@@ -27,7 +27,7 @@
void watchdog_init();
inline void watchdog_reset() {
inline void HAL_watchdog_refresh() {
// Watchdog refresh sequence
WDOG_REFRESH = 0xA602;
WDOG_REFRESH = 0xB480;
Marlin/src/HAL/HAL_TEENSY35_36/HAL.h
+1 -1
View File
@@ -93,7 +93,7 @@ typedef int8_t pin_t;
#undef pgm_read_word
#define pgm_read_word(addr) (*((uint16_t*)(addr)))
inline void HAL_init() { }
inline void HAL_init() {}
// Clear reset reason
void HAL_clear_reset_source();
Marlin/src/HAL/HAL_TEENSY35_36/watchdog.h
+1 -1
View File
@@ -23,7 +23,7 @@
void watchdog_init();
inline void watchdog_reset() {
inline void HAL_watchdog_refresh() {
// Watchdog refresh sequence
WDOG_REFRESH = 0xA602;
WDOG_REFRESH = 0xB480;
Marlin/src/HAL/shared/Delay.h
+1 -1
View File
@@ -53,7 +53,7 @@
FORCE_INLINE static void DELAY_CYCLES(const uint32_t x) {
const uint32_t endCycles = getCycleCount() + x;
while (PENDING(getCycleCount(), endCycles)) { }
while (PENDING(getCycleCount(), endCycles)) {}
}
#else
Marlin/src/Marlin.cpp
+34 -115
View File
@@ -173,10 +173,6 @@
#include "feature/prusa_MMU2/mmu2.h"
#endif
#if ENABLED(EXTENSIBLE_UI)
#include "lcd/extensible_ui/ui_api.h"
#endif
#if HAS_DRIVER(L6470)
#include "libs/L6470/L6470_Marlin.h"
#endif
@@ -279,6 +275,10 @@ void quickstop_stepper() {
sync_plan_position();
}
void enable_e_steppers() {
enable_E0(); enable_E1(); enable_E2(); enable_E3(); enable_E4(); enable_E5();
}
void enable_all_steppers() {
#if ENABLED(AUTO_POWER_CONTROL)
powerManager.power_on();
@@ -286,30 +286,11 @@ void enable_all_steppers() {
enable_X();
enable_Y();
enable_Z();
enable_E0();
enable_E1();
enable_E2();
enable_E3();
enable_E4();
enable_E5();
}
void enable_e_steppers() {
enable_E0();
enable_E1();
enable_E2();
enable_E3();
enable_E4();
enable_E5();
enable_e_steppers();
}
void disable_e_steppers() {
disable_E0();
disable_E1();
disable_E2();
disable_E3();
disable_E4();
disable_E5();
disable_E0(); disable_E1(); disable_E2(); disable_E3(); disable_E4(); disable_E5();
}
void disable_e_stepper(const uint8_t e) {
@@ -330,71 +311,6 @@ void disable_all_steppers() {
disable_e_steppers();
}
#if HAS_FILAMENT_SENSOR
void event_filament_runout() {
#if ENABLED(ADVANCED_PAUSE_FEATURE)
if (did_pause_print) return; // Action already in progress. Purge triggered repeated runout.
#endif
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onFilamentRunout(ExtUI::getActiveTool());
#endif
#if EITHER(HOST_PROMPT_SUPPORT, HOST_ACTION_COMMANDS)
const char tool = '0'
#if NUM_RUNOUT_SENSORS > 1
+ active_extruder
#endif
;
#endif
//action:out_of_filament
#if ENABLED(HOST_PROMPT_SUPPORT)
host_prompt_reason = PROMPT_FILAMENT_RUNOUT;
host_action_prompt_end();
host_action_prompt_begin(PSTR("FilamentRunout T"), false);
SERIAL_CHAR(tool);
SERIAL_EOL();
host_action_prompt_show();
#endif
const bool run_runout_script = !runout.host_handling;
#if ENABLED(HOST_ACTION_COMMANDS)
if (run_runout_script
&& ( strstr(FILAMENT_RUNOUT_SCRIPT, "M600")
|| strstr(FILAMENT_RUNOUT_SCRIPT, "M125")
#if ENABLED(ADVANCED_PAUSE_FEATURE)
|| strstr(FILAMENT_RUNOUT_SCRIPT, "M25")
#endif
)
) {
host_action_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
host_action(PSTR(ACTION_ON_FILAMENT_RUNOUT " T"), false);
SERIAL_CHAR(tool);
SERIAL_EOL();
#endif
host_action_pause(false);
}
SERIAL_ECHOPGM(" " ACTION_REASON_ON_FILAMENT_RUNOUT " ");
SERIAL_CHAR(tool);
SERIAL_EOL();
#endif // HOST_ACTION_COMMANDS
if (run_runout_script)
queue.inject_P(PSTR(FILAMENT_RUNOUT_SCRIPT));
}
#endif // HAS_FILAMENT_SENSOR
#if ENABLED(G29_RETRY_AND_RECOVER)
void event_probe_failure() {
@@ -408,7 +324,7 @@ void disable_all_steppers() {
#ifdef ACTION_ON_CANCEL
host_action_cancel();
#endif
kill(PSTR(MSG_ERR_PROBING_FAILED));
kill(GET_TEXT(MSG_LCD_PROBING_FAILED));
#endif
}
@@ -426,6 +342,20 @@ void disable_all_steppers() {
#endif
/**
* Printing is active when the print job timer is running
*/
bool printingIsActive() {
return print_job_timer.isRunning() || IS_SD_PRINTING();
}
/**
* Printing is paused according to SD or host indicators
*/
bool printingIsPaused() {
return print_job_timer.isPaused() || IS_SD_PAUSED();
}
/**
* Manage several activities:
* - Check for Filament Runout
@@ -582,10 +512,10 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
}
#endif // !SWITCHING_EXTRUDER
const float olde = current_position[E_AXIS];
current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE;
planner.buffer_line(current_position, MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED), active_extruder);
current_position[E_AXIS] = olde;
const float olde = current_position.e;
current_position.e += EXTRUDER_RUNOUT_EXTRUDE;
line_to_current_position(MMM_TO_MMS(EXTRUDER_RUNOUT_SPEED));
current_position.e = olde;
planner.set_e_position_mm(olde);
planner.synchronize();
@@ -629,7 +559,7 @@ void manage_inactivity(const bool ignore_stepper_queue/*=false*/) {
if (delayed_move_time && ELAPSED(ms, delayed_move_time + 1000UL) && IsRunning()) {
// travel moves have been received so enact them
delayed_move_time = 0xFFFFFFFFUL; // force moves to be done
set_destination_from_current();
destination = current_position;
prepare_move_to_destination();
}
#endif
@@ -756,15 +686,16 @@ void idle(
* Kill all activity and lock the machine.
* After this the machine will need to be reset.
*/
void kill(PGM_P const lcd_msg/*=nullptr*/, const bool steppers_off/*=false*/) {
void kill(PGM_P const lcd_error/*=nullptr*/, PGM_P const lcd_component/*=nullptr*/, const bool steppers_off/*=false*/) {
thermalManager.disable_all_heaters();
SERIAL_ERROR_MSG(MSG_ERR_KILLED);
#if HAS_DISPLAY
ui.kill_screen(lcd_msg ? lcd_msg : PSTR(MSG_KILLED));
ui.kill_screen(lcd_error ?: GET_TEXT(MSG_KILLED), lcd_component);
#else
UNUSED(lcd_msg);
UNUSED(lcd_error);
UNUSED(lcd_component);
#endif
#ifdef ACTION_ON_KILL
@@ -801,29 +732,17 @@ void minkill(const bool steppers_off/*=false*/) {
#if HAS_KILL
// Wait for kill to be released
while (!READ(KILL_PIN)) {
#if ENABLED(USE_WATCHDOG)
watchdog_reset();
#endif
}
while (!READ(KILL_PIN)) watchdog_refresh();
// Wait for kill to be pressed
while (READ(KILL_PIN)) {
#if ENABLED(USE_WATCHDOG)
watchdog_reset();
#endif
}
while (READ(KILL_PIN)) watchdog_refresh();
void (*resetFunc)() = 0; // Declare resetFunc() at address 0
resetFunc(); // Jump to address 0
#else // !HAS_KILL
for (;;) {
#if ENABLED(USE_WATCHDOG)
watchdog_reset();
#endif
} // Wait for reset
for (;;) watchdog_refresh(); // Wait for reset
#endif // !HAS_KILL
}
@@ -1002,7 +921,7 @@ void setup() {
#if HAS_M206_COMMAND
// Initialize current position based on home_offset
LOOP_XYZ(a) current_position[a] += home_offset[a];
current_position += home_offset;
#endif
// Vital to init stepper/planner equivalent for current_position
Marlin/src/Marlin.h
+4 -5
View File
@@ -322,7 +322,7 @@ void disable_e_stepper(const uint8_t e);
void disable_e_steppers();
void disable_all_steppers();
void kill(PGM_P const lcd_msg=nullptr, const bool steppers_off=false);
void kill(PGM_P const lcd_error=nullptr, PGM_P const lcd_component=nullptr, const bool steppers_off=false);
void minkill(const bool steppers_off=false);
void quickstop_stepper();
@@ -331,6 +331,9 @@ extern bool Running;
inline bool IsRunning() { return Running; }
inline bool IsStopped() { return !Running; }
bool printingIsActive();
bool printingIsPaused();
extern bool wait_for_heatup;
#if HAS_RESUME_CONTINUE
@@ -368,10 +371,6 @@ void protected_pin_err();
inline void suicide() { OUT_WRITE(SUICIDE_PIN, LOW); }
#endif
#if HAS_FILAMENT_SENSOR
void event_filament_runout();
#endif
#if ENABLED(G29_RETRY_AND_RECOVER)
void event_probe_recover();
void event_probe_failure();
Marlin/src/core/boards.h
+15 -9
View File
@@ -21,6 +21,8 @@
*/
#pragma once
#include "macros.h"
#define BOARD_UNKNOWN -1
//
@@ -255,9 +257,9 @@
// STM32 ARM Cortex-M3
//
#define BOARD_STM32F103R 4000 // STM32F103R Libmaple-based STM32F1 controller
#define BOARD_STM32F103RE 4000 // STM32F103RE Libmaple-based STM32F1 controller
#define BOARD_MALYAN_M200 4001 // STM32C8T6 Libmaple-based STM32F1 controller
#define BOARD_STM3R_MINI 4002 // STM32F103R Libmaple-based STM32F1 controller
#define BOARD_STM3R_MINI 4002 // STM32F103RE Libmaple-based STM32F1 controller
#define BOARD_GTM32_PRO_VB 4003 // STM32F103VET6 controller
#define BOARD_MORPHEUS 4004 // STM32F103C8 / STM32F103CB Libmaple-based STM32F1 controller
#define BOARD_CHITU3D 4005 // Chitu3D (STM32F103RET6)
@@ -268,11 +270,12 @@
#define BOARD_BIGTREE_SKR_MINI_V1_1 4010 // BigTreeTech SKR Mini v1.1 (STM32F103RC)
#define BOARD_BIGTREE_SKR_MINI_E3 4011 // BigTreeTech SKR Mini E3 (STM32F103RC)
#define BOARD_BIGTREE_SKR_E3_DIP 4012 // BigTreeTech SKR E3 DIP V1.0 (STM32F103RC)
#define BOARD_JGAURORA_A5S_A1 4013 // JGAurora A5S A1 (STM32F103ZET6)
#define BOARD_FYSETC_AIO_II 4014 // FYSETC AIO_II
#define BOARD_FYSETC_CHEETAH 4015 // FYSETC Cheetah
#define BOARD_FYSETC_CHEETAH_V12 4016 // FYSETC Cheetah V1.2
#define BOARD_LONGER3D_LK 4017 // Alfawise U20/U20+/U30 (Longer3D LK1/2) / STM32F103VET6
#define BOARD_BTT_SKR_MINI_E3_V1_2 4013 // BigTreeTech SKR Mini E3 V1.2 (STM32F103RC)
#define BOARD_JGAURORA_A5S_A1 4014 // JGAurora A5S A1 (STM32F103ZET6)
#define BOARD_FYSETC_AIO_II 4015 // FYSETC AIO_II
#define BOARD_FYSETC_CHEETAH 4016 // FYSETC Cheetah
#define BOARD_FYSETC_CHEETAH_V12 4017 // FYSETC Cheetah V1.2
#define BOARD_LONGER3D_LK 4018 // Alfawise U20/U20+/U30 (Longer3D LK1/2) / STM32F103VET6
//
// ARM Cortex-M4F
@@ -307,7 +310,7 @@
//
// Espressif ESP32 WiFi
//
#define BOARD_ESP32 6000
#define BOARD_ESPRESSIF_ESP32 6000
//
// Simulations
@@ -315,4 +318,7 @@
#define BOARD_LINUX_RAMPS 9999
#define MB(board) (defined(BOARD_##board) && MOTHERBOARD==BOARD_##board)
#define _MB_1(B) (defined(BOARD_##B) && MOTHERBOARD==BOARD_##B)
#define MB(V...) DO(MB,||,V)
#define IS_MELZI MB(MELZI, MELZI_CREALITY, MELZI_MAKR3D, MELZI_MALYAN, MELZI_TRONXY)
Marlin/src/core/enum.h
-63
View File
@@ -1,63 +0,0 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
/**
* Axis indices as enumerated constants
*
* - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
* - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
* - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
*/
enum AxisEnum : unsigned char {
X_AXIS = 0,
A_AXIS = 0,
Y_AXIS = 1,
B_AXIS = 1,
Z_AXIS = 2,
C_AXIS = 2,
E_AXIS = 3,
X_HEAD = 4,
Y_HEAD = 5,
Z_HEAD = 6,
E0_AXIS = 3,
E1_AXIS = 4,
E2_AXIS = 5,
E3_AXIS = 6,
E4_AXIS = 7,
E5_AXIS = 8,
ALL_AXES = 0xFE,
NO_AXIS = 0xFF
};
#define LOOP_S_LE_N(VAR, S, N) for (uint8_t VAR=(S); VAR<=(N); VAR++)
#define LOOP_S_L_N(VAR, S, N) for (uint8_t VAR=(S); VAR<(N); VAR++)
#define LOOP_LE_N(VAR, N) LOOP_S_LE_N(VAR, 0, N)
#define LOOP_L_N(VAR, N) LOOP_S_L_N(VAR, 0, N)
#define LOOP_NA(VAR) LOOP_L_N(VAR, NUM_AXIS)
#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS)
#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N)
Marlin/src/core/language.h
+66 -63
View File
@@ -49,7 +49,7 @@
// da Danish
// de German
// el Greek
// el-gr Greek (Greece)
// el_gr Greek (Greece)
// en English
// es Spanish
// eu Basque-Euskera
@@ -58,12 +58,12 @@
// gl Galician
// hr Croatian
// it Italian
// jp-kana Japanese
// jp_kana Japanese
// ko_KR Korean (South Korea)
// nl Dutch
// pl Polish
// pt Portuguese
// pt-br Portuguese (Brazilian)
// pt_br Portuguese (Brazilian)
// ru Russian
// sk Slovak
// tr Turkish
@@ -97,7 +97,20 @@
// #define STRING_SPLASH_LINE3 WEBSITE_URL
//#endif
#if HAS_GRAPHICAL_LCD
#if HAS_CHARACTER_LCD
// Custom characters defined in the first 8 characters of the LCD
#define LCD_STR_BEDTEMP "\x00" // Print only as a char. This will have 'unexpected' results when used in a string!
#define LCD_STR_DEGREE "\x01"
#define LCD_STR_THERMOMETER "\x02" // Still used with string concatenation
#define LCD_STR_UPLEVEL "\x03"
#define LCD_STR_REFRESH "\x04"
#define LCD_STR_FOLDER "\x05"
#define LCD_STR_FEEDRATE "\x06"
#define LCD_STR_CLOCK "\x07"
#define LCD_STR_ARROW_RIGHT ">" /* from the default character set */
#else
//
// Custom characters from Marlin_symbols.fon which was merged into ISO10646-0-3.bdf
// \x00 intentionally skipped to avoid problems in strings
@@ -120,19 +133,6 @@
#define LCD_STR_FILAM_DIA "\xF8"
#define LCD_STR_FILAM_MUL "\xA4"
#elif HAS_CHARACTER_LCD
// Custom characters defined in the first 8 characters of the LCD
#define LCD_STR_BEDTEMP "\x00" // Print only as a char. This will have 'unexpected' results when used in a string!
#define LCD_STR_DEGREE "\x01"
#define LCD_STR_THERMOMETER "\x02" // Still used with string concatenation
#define LCD_STR_UPLEVEL "\x03"
#define LCD_STR_REFRESH "\x04"
#define LCD_STR_FOLDER "\x05"
#define LCD_STR_FEEDRATE "\x06"
#define LCD_STR_CLOCK "\x07"
#define LCD_STR_ARROW_RIGHT ">" /* from the default character set */
#endif
// Common LCD messages
@@ -168,7 +168,6 @@
#define MSG_INVALID_E_STEPPER "Invalid E stepper"
#define MSG_E_STEPPER_NOT_SPECIFIED "E stepper not specified"
#define MSG_INVALID_SOLENOID "Invalid solenoid"
#define MSG_ERR_NO_THERMISTORS "No thermistors - no temperature"
#define MSG_M115_REPORT "FIRMWARE_NAME:Marlin " DETAILED_BUILD_VERSION " SOURCE_CODE_URL:" SOURCE_CODE_URL " PROTOCOL_VERSION:" PROTOCOL_VERSION " MACHINE_TYPE:" MACHINE_NAME " EXTRUDER_COUNT:" STRINGIFY(EXTRUDERS) " UUID:" MACHINE_UUID
#define MSG_COUNT_X " Count X:"
#define MSG_COUNT_A " Count A:"
@@ -243,10 +242,9 @@
#define MSG_ERR_COLD_EXTRUDE_STOP " cold extrusion prevented"
#define MSG_ERR_LONG_EXTRUDE_STOP " too long extrusion prevented"
#define MSG_ERR_HOTEND_TOO_COLD "Hotend too cold"
#define MSG_ERR_Z_HOMING_SER "Home XY first"
#define MSG_ERR_EEPROM_WRITE "Error writing to EEPROM!"
#define MSG_FILAMENT_CHANGE_HEAT "Press button (or M108) to heat nozzle"
#define MSG_FILAMENT_CHANGE_INSERT "Insert filament and press button (or M108)"
#define MSG_FILAMENT_CHANGE_WAIT "Press button (or M108) to resume"
#define MSG_FILAMENT_CHANGE_HEAT_LCD "Press button to heat nozzle"
#define MSG_FILAMENT_CHANGE_INSERT_LCD "Insert filament and press button"
#define MSG_FILAMENT_CHANGE_WAIT_LCD "Press button to resume"
@@ -254,8 +252,6 @@
#define MSG_FILAMENT_CHANGE_INSERT_M108 "Insert filament and send M108"
#define MSG_FILAMENT_CHANGE_WAIT_M108 "Send M108 to resume"
#define MSG_ERR_EEPROM_WRITE "Error writing to EEPROM!"
#define MSG_STOP_BLTOUCH "STOP called because of BLTouch error - restart with M999"
#define MSG_STOP_UNHOMED "STOP called because of unhomed error - restart with M999"
#define MSG_KILL_INACTIVE_TIME "KILL caused by too much inactive time - current command: "
@@ -298,6 +294,8 @@
#define MSG_T_THERMAL_RUNAWAY "Thermal Runaway"
#define MSG_T_MAXTEMP "MAXTEMP triggered"
#define MSG_T_MINTEMP "MINTEMP triggered"
#define MSG_ERR_PROBING_FAILED "Probing Failed"
#define MSG_ZPROBE_OUT_SER "Z Probe Past Bed"
// Debug
#define MSG_DEBUG_PREFIX "DEBUG:"
@@ -313,11 +311,9 @@
#define LANGUAGE_DATA_INCL_(M) STRINGIFY_(fontdata/langdata_##M.h)
#define LANGUAGE_DATA_INCL(M) LANGUAGE_DATA_INCL_(M)
#define INCLUDE_LANGUAGE_DATA LANGUAGE_DATA_INCL(LCD_LANGUAGE)
#define LANGUAGE_INCL_(M) STRINGIFY_(../lcd/language/language_##M.h)
#define LANGUAGE_INCL(M) LANGUAGE_INCL_(M)
#define INCLUDE_LANGUAGE LANGUAGE_INCL(LCD_LANGUAGE)
// Never translate these strings
#define MSG_X "X"
@@ -337,38 +333,52 @@
#define MSG_Y2 "Y2"
#define MSG_Z2 "Z2"
#define MSG_Z3 "Z3"
#define MSG_H1 "1"
#define MSG_H2 "2"
#define MSG_H3 "3"
#define MSG_H4 "4"
#define MSG_H5 "5"
#define MSG_H6 "6"
#define MSG_LCD_N0 " 1"
#define MSG_LCD_N1 " 2"
#define MSG_LCD_N2 " 3"
#define MSG_LCD_N3 " 4"
#define MSG_LCD_N4 " 5"
#define MSG_LCD_N5 " 6"
#define MSG_E1 "E1"
#define MSG_E2 "E2"
#define MSG_E3 "E3"
#define MSG_E4 "E4"
#define MSG_E5 "E5"
#define MSG_E6 "E6"
#define MSG_MOVE_E1 "1"
#define MSG_MOVE_E2 "2"
#define MSG_MOVE_E3 "3"
#define MSG_MOVE_E4 "4"
#define MSG_MOVE_E5 "5"
#define MSG_MOVE_E6 "6"
#define MSG_DIAM_E1 " 1"
#define MSG_DIAM_E2 " 2"
#define MSG_DIAM_E3 " 3"
#define MSG_DIAM_E4 " 4"
#define MSG_DIAM_E5 " 5"
#define MSG_DIAM_E6 " 6"
#include INCLUDE_LANGUAGE
#define LCD_STR_A MSG_A
#define LCD_STR_B MSG_B
#define LCD_STR_C MSG_C
#define LCD_STR_E MSG_E
/**
* Tool indexes for LCD display only
*
* By convention the LCD shows "E1" for the first extruder.
* However, internal to Marlin E0/T0 is the first tool, and
* most board silkscreens say "E0." Zero-based labels will
* make these indexes consistent but this defies expectation.
*
*/
#if ENABLED(NUMBER_TOOLS_FROM_0)
#define LCD_STR_N0 "0"
#define LCD_STR_N1 "1"
#define LCD_STR_N2 "2"
#define LCD_STR_N3 "3"
#define LCD_STR_N4 "4"
#define LCD_STR_N5 "5"
#else
#define LCD_STR_N0 "1"
#define LCD_STR_N1 "2"
#define LCD_STR_N2 "3"
#define LCD_STR_N3 "4"
#define LCD_STR_N4 "5"
#define LCD_STR_N5 "6"
#endif
#define LCD_STR_E0 "E" LCD_STR_N0
#define LCD_STR_E1 "E" LCD_STR_N1
#define LCD_STR_E2 "E" LCD_STR_N2
#define LCD_STR_E3 "E" LCD_STR_N3
#define LCD_STR_E4 "E" LCD_STR_N4
#define LCD_STR_E5 "E" LCD_STR_N5
#include "multi_language.h" // Allow multiple languages
#include "../lcd/language/language_en.h"
#include LANGUAGE_INCL(LCD_LANGUAGE)
#include LANGUAGE_INCL(LCD_LANGUAGE_2)
#include LANGUAGE_INCL(LCD_LANGUAGE_3)
#include LANGUAGE_INCL(LCD_LANGUAGE_4)
#include LANGUAGE_INCL(LCD_LANGUAGE_5)
#if NONE(DISPLAY_CHARSET_ISO10646_1, \
DISPLAY_CHARSET_ISO10646_5, \
@@ -381,10 +391,3 @@
DISPLAY_CHARSET_ISO10646_SK)
#define DISPLAY_CHARSET_ISO10646_1 // use the better font on full graphic displays.
#endif
#include "../lcd/language/language_en.h"
#ifdef CUSTOM_USER_MENU_TITLE
#undef MSG_USER_MENU
#define MSG_USER_MENU CUSTOM_USER_MENU_TITLE
#endif
Marlin/src/core/macros.h
+23 -25
View File
@@ -21,11 +21,11 @@
*/
#pragma once
#define NUM_AXIS 4
#define ABCE 4
#define XYZE 4
#define ABC 3
#define XYZ 3
#define XY 2
#define _AXIS(A) (A##_AXIS)
@@ -205,25 +205,29 @@
}while(0)
// Macros for initializing arrays
#define ARRAY_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) { A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P }
#define ARRAY_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) { A,B,C,D,E,F,G,H,I,J,K,L,M,N,O }
#define ARRAY_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) { A,B,C,D,E,F,G,H,I,J,K,L,M,N }
#define ARRAY_13(A,B,C,D,E,F,G,H,I,J,K,L,M,...) { A,B,C,D,E,F,G,H,I,J,K,L,M }
#define ARRAY_12(A,B,C,D,E,F,G,H,I,J,K,L,...) { A,B,C,D,E,F,G,H,I,J,K,L }
#define ARRAY_11(A,B,C,D,E,F,G,H,I,J,K,...) { A,B,C,D,E,F,G,H,I,J,K }
#define ARRAY_10(A,B,C,D,E,F,G,H,I,J,...) { A,B,C,D,E,F,G,H,I,J }
#define ARRAY_9( A,B,C,D,E,F,G,H,I,...) { A,B,C,D,E,F,G,H,I }
#define ARRAY_8( A,B,C,D,E,F,G,H,...) { A,B,C,D,E,F,G,H }
#define ARRAY_7( A,B,C,D,E,F,G,...) { A,B,C,D,E,F,G }
#define ARRAY_6( A,B,C,D,E,F,...) { A,B,C,D,E,F }
#define ARRAY_5( A,B,C,D,E,...) { A,B,C,D,E }
#define ARRAY_4( A,B,C,D,...) { A,B,C,D }
#define ARRAY_3( A,B,C,...) { A,B,C }
#define ARRAY_2( A,B,...) { A,B }
#define ARRAY_1( A,...) { A }
#define LIST_16(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,P
#define LIST_15(A,B,C,D,E,F,G,H,I,J,K,L,M,N,O,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N,O
#define LIST_14(A,B,C,D,E,F,G,H,I,J,K,L,M,N,...) A,B,C,D,E,F,G,H,I,J,K,L,M,N
#define LIST_13(A,B,C,D,E,F,G,H,I,J,K,L,M,...) A,B,C,D,E,F,G,H,I,J,K,L,M
#define LIST_12(A,B,C,D,E,F,G,H,I,J,K,L,...) A,B,C,D,E,F,G,H,I,J,K,L
#define LIST_11(A,B,C,D,E,F,G,H,I,J,K,...) A,B,C,D,E,F,G,H,I,J,K
#define LIST_10(A,B,C,D,E,F,G,H,I,J,...) A,B,C,D,E,F,G,H,I,J
#define LIST_9( A,B,C,D,E,F,G,H,I,...) A,B,C,D,E,F,G,H,I
#define LIST_8( A,B,C,D,E,F,G,H,...) A,B,C,D,E,F,G,H
#define LIST_7( A,B,C,D,E,F,G,...) A,B,C,D,E,F,G
#define LIST_6( A,B,C,D,E,F,...) A,B,C,D,E,F
#define LIST_5( A,B,C,D,E,...) A,B,C,D,E
#define LIST_4( A,B,C,D,...) A,B,C,D
#define LIST_3( A,B,C,...) A,B,C
#define LIST_2( A,B,...) A,B
#define LIST_1( A,...) A
#define _ARRAY_N(N,V...) ARRAY_##N(V)
#define ARRAY_N(N,V...) _ARRAY_N(N,V)
#define _LIST_N(N,V...) LIST_##N(V)
#define LIST_N(N,V...) _LIST_N(N,V)
#define ARRAY_N(N,V...) { _LIST_N(N,V) }
#define _JOIN_1(O) (O)
#define JOIN_N(N,C,V...) (DO(JOIN,C,LIST_N(N,V)))
// Macros for adding
#define INC_0 1
@@ -251,12 +255,6 @@
#define DECREMENT_(n) DEC_##n
#define DECREMENT(n) DECREMENT_(n)
// Feedrate
typedef float feedRate_t;
#define MMM_TO_MMS(MM_M) ((MM_M)/60.0f)
#define MMS_TO_MMM(MM_S) ((MM_S)*60.0f)
#define MMS_SCALED(V) ((V) * 0.01f * feedrate_percentage)
#define NOOP (void(0))
#define CEILING(x,y) (((x) + (y) - 1) / (y))
Marlin/src/core/multi_language.cpp
View File
Marlin/src/core/multi_language.h
+79
View File
@@ -0,0 +1,79 @@
/********************
* multi_language.h *
********************/
/****************************************************************************
* Written By Marcio Teixeira 2019 - Aleph Objects, Inc. *
* *
* 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. *
* *
* To view a copy of the GNU General Public License, go to the following *
* location: <http://www.gnu.org/licenses/>. *
****************************************************************************/
#pragma once
typedef const char Language_Str[];
#if defined(LCD_LANGUAGE_5)
#define NUM_LANGUAGES 5
#elif defined(LCD_LANGUAGE_4)
#define NUM_LANGUAGES 4
#elif defined(LCD_LANGUAGE_3)
#define NUM_LANGUAGES 3
#elif defined(LCD_LANGUAGE_2)
#define NUM_LANGUAGES 2
#else
#define NUM_LANGUAGES 1
#endif
// Setting the unused languages equal to each other allows
// the compiler to optimize away the conditionals
#ifndef LCD_LANGUAGE_2
#define LCD_LANGUAGE_2 LCD_LANGUAGE
#endif
#ifndef LCD_LANGUAGE_3
#define LCD_LANGUAGE_3 LCD_LANGUAGE_2
#endif
#ifndef LCD_LANGUAGE_4
#define LCD_LANGUAGE_4 LCD_LANGUAGE_3
#endif
#ifndef LCD_LANGUAGE_5
#define LCD_LANGUAGE_5 LCD_LANGUAGE_4
#endif
#define _GET_LANG(LANG) Language_##LANG
#define GET_LANG(LANG) _GET_LANG(LANG)
#if NUM_LANGUAGES > 1
extern uint8_t lang;
#define GET_TEXT(MSG) ( \
lang == 0 ? GET_LANG(LCD_LANGUAGE)::MSG : \
lang == 1 ? GET_LANG(LCD_LANGUAGE_2)::MSG : \
lang == 2 ? GET_LANG(LCD_LANGUAGE_3)::MSG : \
lang == 3 ? GET_LANG(LCD_LANGUAGE_4)::MSG : \
GET_LANG(LCD_LANGUAGE_5)::MSG \
)
#define MAX_LANG_CHARSIZE _MAX(GET_LANG(LCD_LANGUAGE)::CHARSIZE, \
GET_LANG(LCD_LANGUAGE_2)::CHARSIZE, \
GET_LANG(LCD_LANGUAGE_3)::CHARSIZE, \
GET_LANG(LCD_LANGUAGE_4)::CHARSIZE, \
GET_LANG(LCD_LANGUAGE_5)::CHARSIZE)
#else
#define GET_TEXT(MSG) GET_LANG(LCD_LANGUAGE)::MSG
#define MAX_LANG_CHARSIZE GET_LANG(LCD_LANGUAGE)::CHARSIZE
#endif
#define GET_TEXT_F(MSG) (const __FlashStringHelper*)GET_TEXT(MSG)
#define MSG_CONCAT(A,B) pgm_p_pair_t(GET_TEXT(A),GET_TEXT(B))
Marlin/src/core/serial.cpp
+1 -6
View File
@@ -22,7 +22,6 @@
#include "serial.h"
#include "language.h"
#include "enum.h"
uint8_t marlin_debug_flags = MARLIN_DEBUG_NONE;
@@ -68,12 +67,8 @@ void print_bin(const uint16_t val) {
}
}
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float &x, const float &y, const float &z) {
void print_xyz(const float &x, const float &y, const float &z, PGM_P const prefix/*=nullptr*/, PGM_P const suffix/*=nullptr*/) {
serialprintPGM(prefix);
SERIAL_ECHOPAIR(" " MSG_X, x, " " MSG_Y, y, " " MSG_Z, z);
if (suffix) serialprintPGM(suffix); else SERIAL_EOL();
}
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float xyz[]) {
print_xyz(prefix, suffix, xyz[X_AXIS], xyz[Y_AXIS], xyz[Z_AXIS]);
}
Marlin/src/core/serial.h
+37 -6
View File
@@ -139,14 +139,41 @@ extern uint8_t marlin_debug_flags;
#define _SELP_21(a,b,V...) do{ _SEP_2(a,b); _SELP_19(V); }while(0)
#define _SELP_22(a,b,V...) do{ _SEP_2(a,b); _SELP_20(V); }while(0)
#define _SELP_23(a,b,V...) do{ _SEP_2(a,b); _SELP_21(V); }while(0)
#define _SELP_24(a,b,V...) do{ _SEP_2(a,b); _SELP_22(V); }while(0)
#define _SELP_24(a,b,V...) do{ _SEP_2(a,b); _SELP_22(V); }while(0) // Use up two, pass the rest up
#define SERIAL_ECHOLNPAIR(V...) _SELP_N(NUM_ARGS(V),V)
// Print up to 20 comma-separated pairs of values
#define __SLST_N(N,V...) _SLST_##N(V)
#define _SLST_N(N,V...) __SLST_N(N,V)
#define _SLST_1(a) SERIAL_ECHO(a)
#define _SLST_2(a,b) do{ SERIAL_ECHO(a); SERIAL_ECHOPAIR(", ",b); }while(0)
#define _SLST_3(a,b,c) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_1(c); }while(0)
#define _SLST_4(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_2(V); }while(0)
#define _SLST_5(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_3(V); }while(0)
#define _SLST_6(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_4(V); }while(0)
#define _SLST_7(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_5(V); }while(0)
#define _SLST_8(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_6(V); }while(0)
#define _SLST_9(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_7(V); }while(0)
#define _SLST_10(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_8(V); }while(0)
#define _SLST_11(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_9(V); }while(0)
#define _SLST_12(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_10(V); }while(0)
#define _SLST_13(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_11(V); }while(0)
#define _SLST_14(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_12(V); }while(0)
#define _SLST_15(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_13(V); }while(0)
#define _SLST_16(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_14(V); }while(0)
#define _SLST_17(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_15(V); }while(0)
#define _SLST_18(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_16(V); }while(0)
#define _SLST_19(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_17(V); }while(0)
#define _SLST_20(a,b,V...) do{ SERIAL_ECHO(a); _SEP_2(", ",b); _SLST_18(V); }while(0) // Use up two, pass the rest up
#define SERIAL_ECHOLIST(pre,V...) do{ SERIAL_ECHOPGM(pre); _SLST_N(NUM_ARGS(V),V); }while(0)
#define SERIAL_ECHOLIST_N(N,V...) _SLST_N(N,LIST_N(N,V))
#define SERIAL_ECHOPGM(S) (serialprintPGM(PSTR(S)))
#define SERIAL_ECHOLNPGM(S) (serialprintPGM(PSTR(S "\n")))
#define SERIAL_ECHOPAIR_F(S, V...) do{ SERIAL_ECHOPGM(S); SERIAL_ECHO_F(V); }while(0)
#define SERIAL_ECHOPAIR_F(S,V...) do{ SERIAL_ECHOPGM(S); SERIAL_ECHO_F(V); }while(0)
#define SERIAL_ECHOLNPAIR_F(V...) do{ SERIAL_ECHOPAIR_F(V); SERIAL_EOL(); }while(0)
#define SERIAL_ECHO_START() serial_echo_start()
@@ -186,7 +213,11 @@ void serial_spaces(uint8_t count);
void print_bin(const uint16_t val);
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float xyz[]);
void print_xyz(PGM_P const prefix, PGM_P const suffix, const float &x, const float &y, const float &z);
#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n"), VAR); }while(0)
#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(PSTR(PREFIX), nullptr, V); }while(0)
void print_xyz(const float &x, const float &y, const float &z, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr);
inline void print_xyz(const xyz_pos_t &xyz, PGM_P const prefix=nullptr, PGM_P const suffix=nullptr) {
print_xyz(xyz.x, xyz.y, xyz.z, prefix, suffix);
}
#define SERIAL_POS(SUFFIX,VAR) do { print_xyz(VAR, PSTR(" " STRINGIFY(VAR) "="), PSTR(" : " SUFFIX "\n")); }while(0)
#define SERIAL_XYZ(PREFIX,V...) do { print_xyz(V, PSTR(PREFIX), nullptr); }while(0)
Marlin/src/core/types.h
+486
View File
@@ -0,0 +1,486 @@
/**
* Marlin 3D Printer Firmware
* Copyright (c) 2019 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 <http://www.gnu.org/licenses/>.
*
*/
#pragma once
#include <math.h>
#include <stddef.h>
#include "millis_t.h"
//
// Enumerated axis indices
//
// - X_AXIS, Y_AXIS, and Z_AXIS should be used for axes in Cartesian space
// - A_AXIS, B_AXIS, and C_AXIS should be used for Steppers, corresponding to XYZ on Cartesians
// - X_HEAD, Y_HEAD, and Z_HEAD should be used for Steppers on Core kinematics
//
enum AxisEnum : uint8_t {
X_AXIS = 0, A_AXIS = 0,
Y_AXIS = 1, B_AXIS = 1,
Z_AXIS = 2, C_AXIS = 2,
E_AXIS = 3,
X_HEAD = 4, Y_HEAD = 5, Z_HEAD = 6,
E0_AXIS = 3,
E1_AXIS = 4,
E2_AXIS = 5,
E3_AXIS = 6,
E4_AXIS = 7,
E5_AXIS = 8,
ALL_AXES = 0xFE, NO_AXIS = 0xFF
};
//
// Loop over XYZE axes
//
#define LOOP_S_LE_N(VAR, S, N) for (uint8_t VAR=(S); VAR<=(N); VAR++)
#define LOOP_S_L_N(VAR, S, N) for (uint8_t VAR=(S); VAR<(N); VAR++)
#define LOOP_LE_N(VAR, N) LOOP_S_LE_N(VAR, 0, N)
#define LOOP_L_N(VAR, N) LOOP_S_L_N(VAR, 0, N)
#define LOOP_XYZ(VAR) LOOP_S_LE_N(VAR, X_AXIS, Z_AXIS)
#define LOOP_XYZE(VAR) LOOP_S_LE_N(VAR, X_AXIS, E_AXIS)
#define LOOP_XYZE_N(VAR) LOOP_S_L_N(VAR, X_AXIS, XYZE_N)
#define LOOP_ABC(VAR) LOOP_S_LE_N(VAR, A_AXIS, C_AXIS)
#define LOOP_ABCE(VAR) LOOP_S_LE_N(VAR, A_AXIS, E_AXIS)
#define LOOP_ABCE_N(VAR) LOOP_S_L_N(VAR, A_AXIS, XYZE_N)
//
// Conditional type assignment magic. For example...
//
// typename IF<(MYOPT==12), int, float>::type myvar;
//
template <bool, class L, class R>
struct IF { typedef R type; };
template <class L, class R>
struct IF<true, L, R> { typedef L type; };
//
// feedRate_t is just a humble float
//
typedef float feedRate_t;
// Conversion macros
#define MMM_TO_MMS(MM_M) feedRate_t(float(MM_M) / 60.0f)
#define MMS_TO_MMM(MM_S) (float(MM_S) * 60.0f)
#define MMS_SCALED(V) ((V) * 0.01f * feedrate_percentage)
//
// Coordinates structures for XY, XYZ, XYZE...
//
// Helpers
#define _RECIP(N) ((N) ? 1.0f / float(N) : 0.0f)
#define _ABS(N) ((N) < 0 ? -(N) : (N))
#define _LS(N) (N = (T)(uint32_t(N) << v))
#define _RS(N) (N = (T)(uint32_t(N) >> v))
#define FI FORCE_INLINE
// Forward declarations
template<typename T> struct XYval;
template<typename T> struct XYZval;
template<typename T> struct XYZEval;
typedef struct XYval<bool> xy_bool_t;
typedef struct XYZval<bool> xyz_bool_t;
typedef struct XYZEval<bool> xyze_bool_t;
typedef struct XYval<char> xy_char_t;
typedef struct XYZval<char> xyz_char_t;
typedef struct XYZEval<char> xyze_char_t;
typedef struct XYval<unsigned char> xy_uchar_t;
typedef struct XYZval<unsigned char> xyz_uchar_t;
typedef struct XYZEval<unsigned char> xyze_uchar_t;
typedef struct XYval<int8_t> xy_int8_t;
typedef struct XYZval<int8_t> xyz_int8_t;
typedef struct XYZEval<int8_t> xyze_int8_t;
typedef struct XYval<uint8_t> xy_uint8_t;
typedef struct XYZval<uint8_t> xyz_uint8_t;
typedef struct XYZEval<uint8_t> xyze_uint8_t;
typedef struct XYval<int16_t> xy_int_t;
typedef struct XYZval<int16_t> xyz_int_t;
typedef struct XYZEval<int16_t> xyze_int_t;
typedef struct XYval<uint16_t> xy_uint_t;
typedef struct XYZval<uint16_t> xyz_uint_t;
typedef struct XYZEval<uint16_t> xyze_uint_t;
typedef struct XYval<int32_t> xy_long_t;
typedef struct XYZval<int32_t> xyz_long_t;
typedef struct XYZEval<int32_t> xyze_long_t;
typedef struct XYval<uint32_t> xy_ulong_t;
typedef struct XYZval<uint32_t> xyz_ulong_t;
typedef struct XYZEval<uint32_t> xyze_ulong_t;
typedef struct XYZval<volatile int32_t> xyz_vlong_t;
typedef struct XYZEval<volatile int32_t> xyze_vlong_t;
typedef struct XYval<float> xy_float_t;
typedef struct XYZval<float> xyz_float_t;
typedef struct XYZEval<float> xyze_float_t;
typedef struct XYval<feedRate_t> xy_feedrate_t;
typedef struct XYZval<feedRate_t> xyz_feedrate_t;
typedef struct XYZEval<feedRate_t> xyze_feedrate_t;
typedef xy_uint8_t xy_byte_t;
typedef xyz_uint8_t xyz_byte_t;
typedef xyze_uint8_t xyze_byte_t;
typedef xyz_long_t abc_long_t;
typedef xyze_long_t abce_long_t;
typedef xyz_ulong_t abc_ulong_t;
typedef xyze_ulong_t abce_ulong_t;
typedef xy_float_t xy_pos_t;
typedef xyz_float_t xyz_pos_t;
typedef xyze_float_t xyze_pos_t;
typedef xy_float_t ab_float_t;
typedef xyz_float_t abc_float_t;
typedef xyze_float_t abce_float_t;
typedef ab_float_t ab_pos_t;
typedef abc_float_t abc_pos_t;
typedef abce_float_t abce_pos_t;
// External conversion methods
void toLogical(xy_pos_t &raw);
void toLogical(xyz_pos_t &raw);
void toLogical(xyze_pos_t &raw);
void toNative(xy_pos_t &raw);
void toNative(xyz_pos_t &raw);
void toNative(xyze_pos_t &raw);
//
// XY coordinates, counters, etc.
//
template<typename T>
struct XYval {
union {
struct { T x, y; };
struct { T a, b; };
T pos[2];
};
FI void set(const T px) { x = px; }
FI void set(const T px, const T py) { x = px; y = py; }
FI void reset() { x = y = 0; }
FI T magnitude() const { return (T)sqrtf(x*x + y*y); }
FI operator T* () { return pos; }
FI operator bool() { return x || y; }
FI XYval<T> copy() const { return *this; }
FI XYval<T> ABS() const { return { T(_ABS(x)), T(_ABS(y)) }; }
FI XYval<int16_t> asInt() { return { int16_t(x), int16_t(y) }; }
FI XYval<int16_t> asInt() const { return { int16_t(x), int16_t(y) }; }
FI XYval<int32_t> asLong() { return { int32_t(x), int32_t(y) }; }
FI XYval<int32_t> asLong() const { return { int32_t(x), int32_t(y) }; }
FI XYval<float> asFloat() { return { float(x), float(y) }; }
FI XYval<float> asFloat() const { return { float(x), float(y) }; }
FI XYval<float> reciprocal() const { return { _RECIP(x), _RECIP(y) }; }
FI XYval<float> asLogical() const { XYval<float> o = asFloat(); toLogical(o); return o; }
FI XYval<float> asNative() const { XYval<float> o = asFloat(); toNative(o); return o; }
FI operator XYZval<T>() { return { x, y }; }
FI operator XYZval<T>() const { return { x, y }; }
FI operator XYZEval<T>() { return { x, y }; }
FI operator XYZEval<T>() const { return { x, y }; }
FI T& operator[](const int i) { return pos[i]; }
FI const T& operator[](const int i) const { return pos[i]; }
FI XYval<T>& operator= (const T v) { set(v, v ); return *this; }
FI XYval<T>& operator= (const XYZval<T> &rs) { set(rs.x, rs.y); return *this; }
FI XYval<T>& operator= (const XYZEval<T> &rs) { set(rs.x, rs.y); return *this; }
FI XYval<T> operator+ (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator+ (const XYval<T> &rs) { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator- (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator- (const XYval<T> &rs) { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator* (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator* (const XYval<T> &rs) { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator/ (const XYval<T> &rs) const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator/ (const XYval<T> &rs) { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator+ (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator+ (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator- (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator- (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator* (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator* (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator/ (const XYZval<T> &rs) const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator/ (const XYZval<T> &rs) { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator+ (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator+ (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYval<T> operator- (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator- (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYval<T> operator* (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator* (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYval<T> operator/ (const XYZEval<T> &rs) const { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator/ (const XYZEval<T> &rs) { XYval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYval<T> operator* (const float &v) const { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
FI XYval<T> operator* (const float &v) { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
FI XYval<T> operator* (const int &v) const { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
FI XYval<T> operator* (const int &v) { XYval<T> ls = *this; ls.x *= v; ls.y *= v; return ls; }
FI XYval<T> operator/ (const float &v) const { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
FI XYval<T> operator/ (const float &v) { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
FI XYval<T> operator/ (const int &v) const { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
FI XYval<T> operator/ (const int &v) { XYval<T> ls = *this; ls.x /= v; ls.y /= v; return ls; }
FI XYval<T> operator>>(const int &v) const { XYval<T> ls = *this; _RS(ls.x); _RS(ls.y); return ls; }
FI XYval<T> operator>>(const int &v) { XYval<T> ls = *this; _RS(ls.x); _RS(ls.y); return ls; }
FI XYval<T> operator<<(const int &v) const { XYval<T> ls = *this; _LS(ls.x); _LS(ls.y); return ls; }
FI XYval<T> operator<<(const int &v) { XYval<T> ls = *this; _LS(ls.x); _LS(ls.y); return ls; }
FI XYval<T>& operator+=(const XYval<T> &rs) { x += rs.x; y += rs.y; return *this; }
FI XYval<T>& operator-=(const XYval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
FI XYval<T>& operator*=(const XYval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
FI XYval<T>& operator+=(const XYZval<T> &rs) { x += rs.x; y += rs.y; return *this; }
FI XYval<T>& operator-=(const XYZval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
FI XYval<T>& operator*=(const XYZval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
FI XYval<T>& operator+=(const XYZEval<T> &rs) { x += rs.x; y += rs.y; return *this; }
FI XYval<T>& operator-=(const XYZEval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
FI XYval<T>& operator*=(const XYZEval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
FI XYval<T>& operator*=(const float &v) { x *= v; y *= v; return *this; }
FI XYval<T>& operator*=(const int &v) { x *= v; y *= v; return *this; }
FI XYval<T>& operator>>=(const int &v) { _RS(x); _RS(y); return *this; }
FI XYval<T>& operator<<=(const int &v) { _LS(x); _LS(y); return *this; }
FI bool operator==(const XYval<T> &rs) { return x == rs.x && y == rs.y; }
FI bool operator==(const XYZval<T> &rs) { return x == rs.x && y == rs.y; }
FI bool operator==(const XYZEval<T> &rs) { return x == rs.x && y == rs.y; }
FI bool operator==(const XYval<T> &rs) const { return x == rs.x && y == rs.y; }
FI bool operator==(const XYZval<T> &rs) const { return x == rs.x && y == rs.y; }
FI bool operator==(const XYZEval<T> &rs) const { return x == rs.x && y == rs.y; }
FI bool operator!=(const XYval<T> &rs) { return !operator==(rs); }
FI bool operator!=(const XYZval<T> &rs) { return !operator==(rs); }
FI bool operator!=(const XYZEval<T> &rs) { return !operator==(rs); }
FI bool operator!=(const XYval<T> &rs) const { return !operator==(rs); }
FI bool operator!=(const XYZval<T> &rs) const { return !operator==(rs); }
FI bool operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
FI XYval<T> operator-() { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
FI const XYval<T> operator-() const { XYval<T> o = *this; o.x = -x; o.y = -y; return o; }
};
//
// XYZ coordinates, counters, etc.
//
template<typename T>
struct XYZval {
union {
struct { T x, y, z; };
struct { T a, b, c; };
T pos[3];
};
FI void set(const T px) { x = px; }
FI void set(const T px, const T py) { x = px; y = py; }
FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; }
FI void set(const XYval<T> pxy, const T pz) { x = pxy.x; y = pxy.y; z = pz; }
FI void reset() { x = y = z = 0; }
FI T magnitude() const { return (T)sqrtf(x*x + y*y + z*z); }
FI operator T* () { return pos; }
FI operator bool() { return z || x || y; }
FI XYZval<T> copy() const { XYZval<T> o = *this; return o; }
FI XYZval<T> ABS() const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)) }; }
FI XYZval<int16_t> asInt() { return { int16_t(x), int16_t(y), int16_t(z) }; }
FI XYZval<int16_t> asInt() const { return { int16_t(x), int16_t(y), int16_t(z) }; }
FI XYZval<int32_t> asLong() { return { int32_t(x), int32_t(y), int32_t(z) }; }
FI XYZval<int32_t> asLong() const { return { int32_t(x), int32_t(y), int32_t(z) }; }
FI XYZval<float> asFloat() { return { float(x), float(y), float(z) }; }
FI XYZval<float> asFloat() const { return { float(x), float(y), float(z) }; }
FI XYZval<float> reciprocal() const { return { _RECIP(x), _RECIP(y), _RECIP(z) }; }
FI XYZval<float> asLogical() const { XYZval<float> o = asFloat(); toLogical(o); return o; }
FI XYZval<float> asNative() const { XYZval<float> o = asFloat(); toNative(o); return o; }
FI operator XYval<T>&() { return *(XYval<T>*)this; }
FI operator const XYval<T>&() const { return *(const XYval<T>*)this; }
FI operator XYZEval<T>() const { return { x, y, z }; }
FI T& operator[](const int i) { return pos[i]; }
FI const T& operator[](const int i) const { return pos[i]; }
FI XYZval<T>& operator= (const T v) { set(v, v, v ); return *this; }
FI XYZval<T>& operator= (const XYval<T> &rs) { set(rs.x, rs.y ); return *this; }
FI XYZval<T>& operator= (const XYZEval<T> &rs) { set(rs.x, rs.y, rs.z); return *this; }
FI XYZval<T> operator+ (const XYval<T> &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYZval<T> operator+ (const XYval<T> &rs) { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYZval<T> operator- (const XYval<T> &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYZval<T> operator- (const XYval<T> &rs) { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYZval<T> operator* (const XYval<T> &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYZval<T> operator* (const XYval<T> &rs) { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYZval<T> operator/ (const XYval<T> &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYZval<T> operator/ (const XYval<T> &rs) { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYZval<T> operator+ (const XYZval<T> &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZval<T> operator+ (const XYZval<T> &rs) { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZval<T> operator- (const XYZval<T> &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZval<T> operator- (const XYZval<T> &rs) { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZval<T> operator* (const XYZval<T> &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZval<T> operator* (const XYZval<T> &rs) { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZval<T> operator/ (const XYZval<T> &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZval<T> operator/ (const XYZval<T> &rs) { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZval<T> operator+ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZval<T> operator+ (const XYZEval<T> &rs) { XYZval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZval<T> operator- (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZval<T> operator- (const XYZEval<T> &rs) { XYZval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZval<T> operator* (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZval<T> operator* (const XYZEval<T> &rs) { XYZval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZval<T> operator/ (const XYZEval<T> &rs) const { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZval<T> operator/ (const XYZEval<T> &rs) { XYZval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZval<T> operator* (const float &v) const { XYZval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= z; return ls; }
FI XYZval<T> operator* (const float &v) { XYZval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= z; return ls; }
FI XYZval<T> operator* (const int &v) const { XYZval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= z; return ls; }
FI XYZval<T> operator* (const int &v) { XYZval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= z; return ls; }
FI XYZval<T> operator/ (const float &v) const { XYZval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= z; return ls; }
FI XYZval<T> operator/ (const float &v) { XYZval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= z; return ls; }
FI XYZval<T> operator/ (const int &v) const { XYZval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= z; return ls; }
FI XYZval<T> operator/ (const int &v) { XYZval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= z; return ls; }
FI XYZval<T> operator>>(const int &v) const { XYZval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); return ls; }
FI XYZval<T> operator>>(const int &v) { XYZval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); return ls; }
FI XYZval<T> operator<<(const int &v) const { XYZval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); return ls; }
FI XYZval<T> operator<<(const int &v) { XYZval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); return ls; }
FI XYZval<T>& operator+=(const XYval<T> &rs) { x += rs.x; y += rs.y; return *this; }
FI XYZval<T>& operator-=(const XYval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
FI XYZval<T>& operator*=(const XYval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
FI XYZval<T>& operator/=(const XYval<T> &rs) { x /= rs.x; y /= rs.y; return *this; }
FI XYZval<T>& operator+=(const XYZval<T> &rs) { x += rs.x; y += rs.y; z += rs.z; return *this; }
FI XYZval<T>& operator-=(const XYZval<T> &rs) { x -= rs.x; y -= rs.y; z -= rs.z; return *this; }
FI XYZval<T>& operator*=(const XYZval<T> &rs) { x *= rs.x; y *= rs.y; z *= rs.z; return *this; }
FI XYZval<T>& operator/=(const XYZval<T> &rs) { x /= rs.x; y /= rs.y; z /= rs.z; return *this; }
FI XYZval<T>& operator+=(const XYZEval<T> &rs) { x += rs.x; y += rs.y; z += rs.z; return *this; }
FI XYZval<T>& operator-=(const XYZEval<T> &rs) { x -= rs.x; y -= rs.y; z -= rs.z; return *this; }
FI XYZval<T>& operator*=(const XYZEval<T> &rs) { x *= rs.x; y *= rs.y; z *= rs.z; return *this; }
FI XYZval<T>& operator/=(const XYZEval<T> &rs) { x /= rs.x; y /= rs.y; z /= rs.z; return *this; }
FI XYZval<T>& operator*=(const float &v) { x *= v; y *= v; z *= v; return *this; }
FI XYZval<T>& operator*=(const int &v) { x *= v; y *= v; z *= v; return *this; }
FI XYZval<T>& operator>>=(const int &v) { _RS(x); _RS(y); _RS(z); return *this; }
FI XYZval<T>& operator<<=(const int &v) { _LS(x); _LS(y); _LS(z); return *this; }
FI bool operator==(const XYZEval<T> &rs) { return x == rs.x && y == rs.y && z == rs.z; }
FI bool operator!=(const XYZEval<T> &rs) { return !operator==(rs); }
FI bool operator==(const XYZEval<T> &rs) const { return x == rs.x && y == rs.y && z == rs.z; }
FI bool operator!=(const XYZEval<T> &rs) const { return !operator==(rs); }
FI XYZval<T> operator-() { XYZval<T> o = *this; o.x = -x; o.y = -y; o.z = -z; return o; }
FI const XYZval<T> operator-() const { XYZval<T> o = *this; o.x = -x; o.y = -y; o.z = -z; return o; }
};
//
// XYZE coordinates, counters, etc.
//
template<typename T>
struct XYZEval {
union {
struct{ T x, y, z, e; };
struct{ T a, b, c; };
T pos[4];
};
FI void reset() { x = y = z = e = 0; }
FI T magnitude() const { return (T)sqrtf(x*x + y*y + z*z + e*e); }
FI operator T* () { return pos; }
FI operator bool() { return e || z || x || y; }
FI void set(const T px) { x = px; }
FI void set(const T px, const T py) { x = px; y = py; }
FI void set(const T px, const T py, const T pz) { x = px; y = py; z = pz; }
FI void set(const T px, const T py, const T pz, const T pe) { x = px; y = py; z = pz; e = pe; }
FI void set(const XYval<T> pxy) { x = pxy.x; y = pxy.y; }
FI void set(const XYval<T> pxy, const T pz) { x = pxy.x; y = pxy.y; z = pz; }
FI void set(const XYZval<T> pxyz) { x = pxyz.x; y = pxyz.y; z = pxyz.z; }
FI void set(const XYval<T> pxy, const T pz, const T pe) { x = pxy.x; y = pxy.y; z = pz; e = pe; }
FI void set(const XYval<T> pxy, const XYval<T> pze) { x = pxy.x; y = pxy.y; z = pze.z; e = pze.e; }
FI void set(const XYZval<T> pxyz, const T pe) { x = pxyz.x; y = pxyz.y; z = pxyz.z; e = pe; }
FI XYZEval<T> copy() const { return *this; }
FI XYZEval<T> ABS() const { return { T(_ABS(x)), T(_ABS(y)), T(_ABS(z)), T(_ABS(e)) }; }
FI XYZEval<int16_t> asInt() { return { int16_t(x), int16_t(y), int16_t(z), int16_t(e) }; }
FI XYZEval<int16_t> asInt() const { return { int16_t(x), int16_t(y), int16_t(z), int16_t(e) }; }
FI XYZEval<int32_t> asLong() const { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; }
FI XYZEval<int32_t> asLong() { return { int32_t(x), int32_t(y), int32_t(z), int32_t(e) }; }
FI XYZEval<float> asFloat() { return { float(x), float(y), float(z), float(e) }; }
FI XYZEval<float> asFloat() const { return { float(x), float(y), float(z), float(e) }; }
FI XYZEval<float> reciprocal() const { return { _RECIP(x), _RECIP(y), _RECIP(z), _RECIP(e) }; }
FI XYZEval<float> asLogical() const { XYZEval<float> o = asFloat(); toLogical(o); return o; }
FI XYZEval<float> asNative() const { XYZEval<float> o = asFloat(); toNative(o); return o; }
FI operator XYval<T>&() { return *(XYval<T>*)this; }
FI operator const XYval<T>&() const { return *(const XYval<T>*)this; }
FI operator XYZval<T>&() { return *(XYZval<T>*)this; }
FI operator const XYZval<T>&() const { return *(const XYZval<T>*)this; }
FI T& operator[](const int i) { return pos[i]; }
FI const T& operator[](const int i) const { return pos[i]; }
FI XYZEval<T>& operator= (const T v) { set(v, v, v, v); return *this; }
FI XYZEval<T>& operator= (const XYval<T> &rs) { set(rs.x, rs.y); return *this; }
FI XYZEval<T>& operator= (const XYZval<T> &rs) { set(rs.x, rs.y, rs.z); return *this; }
FI XYZEval<T> operator+ (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYZEval<T> operator+ (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; return ls; }
FI XYZEval<T> operator- (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYZEval<T> operator- (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; return ls; }
FI XYZEval<T> operator* (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYZEval<T> operator* (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; return ls; }
FI XYZEval<T> operator/ (const XYval<T> &rs) const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYZEval<T> operator/ (const XYval<T> &rs) { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; return ls; }
FI XYZEval<T> operator+ (const XYZval<T> &rs) const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZEval<T> operator+ (const XYZval<T> &rs) { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; return ls; }
FI XYZEval<T> operator- (const XYZval<T> &rs) const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZEval<T> operator- (const XYZval<T> &rs) { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; return ls; }
FI XYZEval<T> operator* (const XYZval<T> &rs) const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZEval<T> operator* (const XYZval<T> &rs) { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; return ls; }
FI XYZEval<T> operator/ (const XYZval<T> &rs) const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZEval<T> operator/ (const XYZval<T> &rs) { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; return ls; }
FI XYZEval<T> operator+ (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; ls.e += rs.e; return ls; }
FI XYZEval<T> operator+ (const XYZEval<T> &rs) { XYZEval<T> ls = *this; ls.x += rs.x; ls.y += rs.y; ls.z += rs.z; ls.e += rs.e; return ls; }
FI XYZEval<T> operator- (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; ls.e -= rs.e; return ls; }
FI XYZEval<T> operator- (const XYZEval<T> &rs) { XYZEval<T> ls = *this; ls.x -= rs.x; ls.y -= rs.y; ls.z -= rs.z; ls.e -= rs.e; return ls; }
FI XYZEval<T> operator* (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; ls.e *= rs.e; return ls; }
FI XYZEval<T> operator* (const XYZEval<T> &rs) { XYZEval<T> ls = *this; ls.x *= rs.x; ls.y *= rs.y; ls.z *= rs.z; ls.e *= rs.e; return ls; }
FI XYZEval<T> operator/ (const XYZEval<T> &rs) const { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; ls.e /= rs.e; return ls; }
FI XYZEval<T> operator/ (const XYZEval<T> &rs) { XYZEval<T> ls = *this; ls.x /= rs.x; ls.y /= rs.y; ls.z /= rs.z; ls.e /= rs.e; return ls; }
FI XYZEval<T> operator* (const float &v) const { XYZEval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; }
FI XYZEval<T> operator* (const float &v) { XYZEval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; }
FI XYZEval<T> operator* (const int &v) const { XYZEval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; }
FI XYZEval<T> operator* (const int &v) { XYZEval<T> ls = *this; ls.x *= v; ls.y *= v; ls.z *= v; ls.e *= v; return ls; }
FI XYZEval<T> operator/ (const float &v) const { XYZEval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; }
FI XYZEval<T> operator/ (const float &v) { XYZEval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; }
FI XYZEval<T> operator/ (const int &v) const { XYZEval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; }
FI XYZEval<T> operator/ (const int &v) { XYZEval<T> ls = *this; ls.x /= v; ls.y /= v; ls.z /= v; ls.e /= v; return ls; }
FI XYZEval<T> operator>>(const int &v) const { XYZEval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); _RS(ls.e); return ls; }
FI XYZEval<T> operator>>(const int &v) { XYZEval<T> ls = *this; _RS(ls.x); _RS(ls.y); _RS(ls.z); _RS(ls.e); return ls; }
FI XYZEval<T> operator<<(const int &v) const { XYZEval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); _LS(ls.e); return ls; }
FI XYZEval<T> operator<<(const int &v) { XYZEval<T> ls = *this; _LS(ls.x); _LS(ls.y); _LS(ls.z); _LS(ls.e); return ls; }
FI XYZEval<T>& operator+=(const XYval<T> &rs) { x += rs.x; y += rs.y; return *this; }
FI XYZEval<T>& operator-=(const XYval<T> &rs) { x -= rs.x; y -= rs.y; return *this; }
FI XYZEval<T>& operator*=(const XYval<T> &rs) { x *= rs.x; y *= rs.y; return *this; }
FI XYZEval<T>& operator/=(const XYval<T> &rs) { x /= rs.x; y /= rs.y; return *this; }
FI XYZEval<T>& operator+=(const XYZval<T> &rs) { x += rs.x; y += rs.y; z += rs.z; return *this; }
FI XYZEval<T>& operator-=(const XYZval<T> &rs) { x -= rs.x; y -= rs.y; z -= rs.z; return *this; }
FI XYZEval<T>& operator*=(const XYZval<T> &rs) { x *= rs.x; y *= rs.y; z *= rs.z; return *this; }
FI XYZEval<T>& operator/=(const XYZval<T> &rs) { x /= rs.x; y /= rs.y; z /= rs.z; return *this; }
FI XYZEval<T>& operator+=(const XYZEval<T> &rs) { x += rs.x; y += rs.y; z += rs.z; e += rs.e; return *this; }
FI XYZEval<T>& operator-=(const XYZEval<T> &rs) { x -= rs.x; y -= rs.y; z -= rs.z; e -= rs.e; return *this; }
FI XYZEval<T>& operator*=(const XYZEval<T> &rs) { x *= rs.x; y *= rs.y; z *= rs.z; e *= rs.e; return *this; }
FI XYZEval<T>& operator/=(const XYZEval<T> &rs) { x /= rs.x; y /= rs.y; z /= rs.z; e /= rs.e; return *this; }
FI XYZEval<T>& operator*=(const T &v) { x *= v; y *= v; z *= v; e *= v; return *this; }
FI XYZEval<T>& operator>>=(const int &v) { _RS(x); _RS(y); _RS(z); _RS(e); return *this; }
FI XYZEval<T>& operator<<=(const int &v) { _LS(x); _LS(y); _LS(z); _LS(e); return *this; }
FI bool operator==(const XYZval<T> &rs) { return x == rs.x && y == rs.y && z == rs.z; }
FI bool operator!=(const XYZval<T> &rs) { return !operator==(rs); }
FI bool operator==(const XYZval<T> &rs) const { return x == rs.x && y == rs.y && z == rs.z; }
FI bool operator!=(const XYZval<T> &rs) const { return !operator==(rs); }
FI XYZEval<T> operator-() { return { -x, -y, -z, -e }; }
FI const XYZEval<T> operator-() const { return { -x, -y, -z, -e }; }
};
#undef _RECIP
#undef _ABS
#undef _LS
#undef _RS
#undef FI
const xyze_char_t axis_codes { 'X', 'Y', 'Z', 'E' };
Marlin/src/core/utility.cpp
+20 -30
View File
@@ -79,36 +79,36 @@ void safe_delay(millis_t ms) {
);
#if HAS_BED_PROBE
SERIAL_ECHOPAIR("Probe Offset X:", probe_offset[X_AXIS], " Y:", probe_offset[Y_AXIS], " Z:", probe_offset[Z_AXIS]);
if (probe_offset[X_AXIS] > 0)
SERIAL_ECHOPAIR("Probe Offset X", probe_offset.x, " Y", probe_offset.y, " Z", probe_offset.z);
if (probe_offset.x > 0)
SERIAL_ECHOPGM(" (Right");
else if (probe_offset[X_AXIS] < 0)
else if (probe_offset.x < 0)
SERIAL_ECHOPGM(" (Left");
else if (probe_offset[Y_AXIS] != 0)
else if (probe_offset.y != 0)
SERIAL_ECHOPGM(" (Middle");
else
SERIAL_ECHOPGM(" (Aligned With");
if (probe_offset[Y_AXIS] > 0) {
if (probe_offset.y > 0) {
#if IS_SCARA
SERIAL_ECHOPGM("-Distal");
#else
SERIAL_ECHOPGM("-Back");
#endif
}
else if (probe_offset[Y_AXIS] < 0) {
else if (probe_offset.y < 0) {
#if IS_SCARA
SERIAL_ECHOPGM("-Proximal");
#else
SERIAL_ECHOPGM("-Front");
#endif
}
else if (probe_offset[X_AXIS] != 0)
else if (probe_offset.x != 0)
SERIAL_ECHOPGM("-Center");
if (probe_offset[Z_AXIS] < 0)
if (probe_offset.z < 0)
SERIAL_ECHOPGM(" & Below");
else if (probe_offset[Z_AXIS] > 0)
else if (probe_offset.z > 0)
SERIAL_ECHOPGM(" & Above");
else
SERIAL_ECHOPGM(" & Same Z as");
@@ -134,24 +134,18 @@ void safe_delay(millis_t ms) {
SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height);
#endif
#if ABL_PLANAR
const float diff[XYZ] = {
planner.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
planner.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
planner.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
};
SERIAL_ECHOPGM("ABL Adjustment X");
if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[X_AXIS]);
SERIAL_ECHOPGM(" Y");
if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[Y_AXIS]);
SERIAL_ECHOPGM(" Z");
if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
SERIAL_ECHO(diff[Z_AXIS]);
LOOP_XYZ(a) {
float v = planner.get_axis_position_mm(AxisEnum(a)) - current_position[a];
SERIAL_CHAR(' ');
SERIAL_CHAR('X' + char(a));
if (v > 0) SERIAL_CHAR('+');
SERIAL_ECHO(v);
}
#else
#if ENABLED(AUTO_BED_LEVELING_UBL)
SERIAL_ECHOPGM("UBL Adjustment Z");
const float rz = ubl.get_z_correction(current_position[X_AXIS], current_position[Y_AXIS]);
const float rz = ubl.get_z_correction(current_position);
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
SERIAL_ECHOPGM("ABL Adjustment Z");
const float rz = bilinear_z_offset(current_position);
@@ -159,7 +153,7 @@ void safe_delay(millis_t ms) {
SERIAL_ECHO(ftostr43sign(rz, '+'));
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (planner.z_fade_height) {
SERIAL_ECHOPAIR(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position[Z_AXIS]), '+'));
SERIAL_ECHOPAIR(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position.z), '+'));
SERIAL_CHAR(')');
}
#endif
@@ -175,15 +169,11 @@ void safe_delay(millis_t ms) {
SERIAL_ECHOPGM("Mesh Bed Leveling");
if (planner.leveling_active) {
SERIAL_ECHOLNPGM(" (enabled)");
SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, 1.0
#endif
), '+'));
SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position), '+'));
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
if (planner.z_fade_height) {
SERIAL_ECHOPAIR(" (", ftostr43sign(
mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS], planner.fade_scaling_factor_for_z(current_position[Z_AXIS])), '+'
mbl.get_z(current_position, planner.fade_scaling_factor_for_z(current_position.z)), '+'
));
SERIAL_CHAR(')');
}
Marlin/src/core/utility.h
+20 -6
View File
@@ -22,8 +22,7 @@
#pragma once
#include "../inc/MarlinConfigPre.h"
constexpr char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' };
#include "../core/types.h"
// Delay that ensures heaters and watchdog are kept alive
void safe_delay(millis_t ms);
@@ -37,10 +36,25 @@ inline void serial_delay(const millis_t ms) {
#endif
}
// 16x16 bit arrays
FORCE_INLINE void bitmap_clear(uint16_t bits[16], const uint8_t x, const uint8_t y) { CBI(bits[y], x); }
FORCE_INLINE void bitmap_set(uint16_t bits[16], const uint8_t x, const uint8_t y) { SBI(bits[y], x); }
FORCE_INLINE bool is_bitmap_set(uint16_t bits[16], const uint8_t x, const uint8_t y) { return TEST(bits[y], x); }
#if GRID_MAX_POINTS_X && GRID_MAX_POINTS_Y
// 16x16 bit arrays
template <int W, int H>
struct FlagBits {
typename IF<(W>8), uint16_t, uint8_t>::type bits[H];
void fill() { memset(bits, 0xFF, sizeof(bits)); }
void reset() { memset(bits, 0x00, sizeof(bits)); }
void unmark(const uint8_t x, const uint8_t y) { CBI(bits[y], x); }
void mark(const uint8_t x, const uint8_t y) { SBI(bits[y], x); }
bool marked(const uint8_t x, const uint8_t y) { return TEST(bits[y], x); }
inline void unmark(const xy_int8_t &xy) { unmark(xy.y, xy.x); }
inline void mark(const xy_int8_t &xy) { mark(xy.y, xy.x); }
inline bool marked(const xy_int8_t &xy) { return marked(xy.y, xy.x); }
};
typedef FlagBits<GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y> MeshFlags;
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
void log_machine_info();
Marlin/src/feature/I2CPositionEncoder.cpp
+18 -21
View File
@@ -326,25 +326,23 @@ 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;
float startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
const float startPosition = soft_endstop[encoderAxis].min + 10,
endPosition = soft_endstop[encoderAxis].max - 10;
const float startPosition = soft_endstop.min[encoderAxis] + 10,
endPosition = soft_endstop.max[encoderAxis] - 10;
const feedRate_t fr_mm_s = FLOOR(MMM_TO_MMS((encoderAxis == Z_AXIS) ? HOMING_FEEDRATE_Z : HOMING_FEEDRATE_XY));
ec = false;
LOOP_XYZ(i) {
startCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
endCoord[i] = planner.get_axis_position_mm((AxisEnum)i);
xyze_pos_t startCoord, endCoord;
LOOP_XYZ(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();
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
startCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(startCoord, fr_mm_s, 0);
planner.synchronize();
// if the module isn't currently trusted, wait until it is (or until it should be if things are working)
@@ -355,8 +353,8 @@ bool I2CPositionEncoder::test_axis() {
}
if (trusted) { // if trusted, commence test
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
endCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
}
@@ -376,8 +374,7 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
float old_steps_mm, new_steps_mm,
startDistance, endDistance,
travelDistance, travelledDistance, total = 0,
startCoord[NUM_AXIS] = { 0 }, endCoord[NUM_AXIS] = { 0 };
travelDistance, travelledDistance, total = 0;
int32_t startCount, stopCount;
@@ -387,31 +384,31 @@ void I2CPositionEncoder::calibrate_steps_mm(const uint8_t iter) {
ec = false;
startDistance = 20;
endDistance = soft_endstop[encoderAxis].max - 20;
endDistance = soft_endstop.max[encoderAxis] - 20;
travelDistance = endDistance - startDistance;
xyze_pos_t startCoord, endCoord;
LOOP_XYZ(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();
LOOP_L_N(i, iter) {
planner.buffer_line(startCoord[X_AXIS], startCoord[Y_AXIS], startCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
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[X_AXIS],endCoord[Y_AXIS],endCoord[Z_AXIS]);
//do_blocking_move_to(endCoord);
planner.buffer_line(endCoord[X_AXIS], endCoord[Y_AXIS], endCoord[Z_AXIS],
planner.get_axis_position_mm(E_AXIS), fr_mm_s, 0);
endCoord.e = planner.get_axis_position_mm(E_AXIS);
planner.buffer_line(endCoord, fr_mm_s, 0);
planner.synchronize();
//Read encoder distance
Marlin/src/feature/I2CPositionEncoder.h
-2
View File
@@ -93,8 +93,6 @@
#define LOOP_PE(VAR) LOOP_L_N(VAR, I2CPE_ENCODER_CNT)
#define CHECK_IDX() do{ if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return; }while(0)
extern const char axis_codes[XYZE];
typedef union {
volatile int32_t val = 0;
uint8_t bval[4];
Marlin/src/feature/Max7219_Debug_LEDs.h
+1 -1
View File
@@ -75,7 +75,7 @@ class Max7219 {
public:
static uint8_t led_line[MAX7219_LINES];
Max7219() { }
Max7219() {}
static void init();
static void register_setup();
Marlin/src/feature/babystep.cpp
+6 -11
View File
@@ -36,13 +36,10 @@
Babystep babystep;
volatile int16_t Babystep::steps[BS_TODO_AXIS(Z_AXIS) + 1];
#if HAS_LCD_MENU || ENABLED(EXTENSIBLE_UI)
int16_t Babystep::accum;
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
int16_t Babystep::axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];
#endif
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
int16_t Babystep::axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1];
#endif
int16_t Babystep::accum;
void Babystep::step_axis(const AxisEnum axis) {
const int16_t curTodo = steps[BS_TODO_AXIS(axis)]; // get rid of volatile for performance
@@ -75,11 +72,9 @@ void Babystep::add_steps(const AxisEnum axis, const int16_t distance) {
if (!CAN_BABYSTEP(axis)) return;
#if HAS_LCD_MENU || ENABLED(EXTENSIBLE_UI)
accum += distance; // Count up babysteps for the UI
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
axis_total[BS_TOTAL_AXIS(axis)] += distance;
#endif
accum += distance; // Count up babysteps for the UI
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
axis_total[BS_TOTAL_AXIS(axis)] += distance;
#endif
#if ENABLED(BABYSTEP_ALWAYS_AVAILABLE)
Marlin/src/feature/babystep.h
+11 -16
View File
@@ -29,7 +29,7 @@
#define BS_TODO_AXIS(A) 0
#endif
#if (HAS_LCD_MENU || ENABLED(EXTENSIBLE_UI)) && ENABLED(BABYSTEP_DISPLAY_TOTAL)
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
#if ENABLED(BABYSTEP_XY)
#define BS_TOTAL_AXIS(A) A
#else
@@ -40,22 +40,17 @@
class Babystep {
public:
static volatile int16_t steps[BS_TODO_AXIS(Z_AXIS) + 1];
static int16_t accum; // Total babysteps in current edit
#if HAS_LCD_MENU || ENABLED(EXTENSIBLE_UI)
static int16_t accum; // Total babysteps in current edit
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
static int16_t axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1]; // Total babysteps since G28
static inline void reset_total(const AxisEnum axis) {
if (true
#if ENABLED(BABYSTEP_XY)
&& axis == Z_AXIS
#endif
) axis_total[BS_TOTAL_AXIS(axis)] = 0;
}
#endif
#if ENABLED(BABYSTEP_DISPLAY_TOTAL)
static int16_t axis_total[BS_TOTAL_AXIS(Z_AXIS) + 1]; // Total babysteps since G28
static inline void reset_total(const AxisEnum axis) {
if (true
#if ENABLED(BABYSTEP_XY)
&& axis == Z_AXIS
#endif
) axis_total[BS_TOTAL_AXIS(axis)] = 0;
}
#endif
static void add_steps(const AxisEnum axis, const int16_t distance);
Marlin/src/feature/backlash.cpp
+13 -13
View File
@@ -31,9 +31,9 @@
#ifdef BACKLASH_DISTANCE_MM
#if ENABLED(BACKLASH_GCODE)
float Backlash::distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
xyz_float_t Backlash::distance_mm = BACKLASH_DISTANCE_MM;
#else
const float Backlash::distance_mm[XYZ] = BACKLASH_DISTANCE_MM;
const xyz_float_t Backlash::distance_mm = BACKLASH_DISTANCE_MM;
#endif
#endif
@@ -45,8 +45,8 @@
#endif
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
float Backlash::measured_mm[XYZ] = { 0 };
uint8_t Backlash::measured_count[XYZ] = { 0 };
xyz_float_t Backlash::measured_mm{0};
xyz_uint8_t Backlash::measured_count{0};
#endif
Backlash backlash;
@@ -80,12 +80,12 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
// Residual error carried forward across multiple segments, so correction can be applied
// to segments where there is no direction change.
static int32_t residual_error[XYZ] = { 0 };
static xyz_long_t residual_error{0};
#else
// No direction change, no correction.
if (!changed_dir) return;
// No leftover residual error from segment to segment
int32_t residual_error[XYZ] = { 0 };
xyz_long_t residual_error{0};
#endif
const float f_corr = float(correction) / 255.0f;
@@ -123,7 +123,7 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
}
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
#if USES_Z_MIN_PROBE_ENDSTOP
#if HAS_CUSTOM_PROBE_PIN
#define TEST_PROBE_PIN (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING)
#else
#define TEST_PROBE_PIN (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING)
@@ -131,15 +131,15 @@ void Backlash::add_correction_steps(const int32_t &da, const int32_t &db, const
// Measure Z backlash by raising nozzle in increments until probe deactivates
void Backlash::measure_with_probe() {
if (measured_count[Z_AXIS] == 255) return;
if (measured_count.z == 255) return;
float start_height = current_position[Z_AXIS];
while (current_position[Z_AXIS] < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
do_blocking_move_to_z(current_position[Z_AXIS] + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
const float start_height = current_position.z;
while (current_position.z < (start_height + BACKLASH_MEASUREMENT_LIMIT) && TEST_PROBE_PIN)
do_blocking_move_to_z(current_position.z + BACKLASH_MEASUREMENT_RESOLUTION, MMM_TO_MMS(BACKLASH_MEASUREMENT_FEEDRATE));
// The backlash from all probe points is averaged, so count the number of measurements
measured_mm[Z_AXIS] += current_position[Z_AXIS] - start_height;
measured_count[Z_AXIS]++;
measured_mm.z += current_position.z - start_height;
measured_count.z++;
}
#endif
Marlin/src/feature/backlash.h
+4 -4
View File
@@ -29,7 +29,7 @@ constexpr uint8_t all_on = 0xFF, all_off = 0x00;
class Backlash {
public:
#if ENABLED(BACKLASH_GCODE)
static float distance_mm[XYZ];
static xyz_float_t distance_mm;
static uint8_t correction;
#ifdef BACKLASH_SMOOTHING_MM
static float smoothing_mm;
@@ -39,7 +39,7 @@ public:
static inline float get_correction() { return float(ui8_to_percent(correction)) / 100.0f; }
#else
static constexpr uint8_t correction = (BACKLASH_CORRECTION) * 0xFF;
static const float distance_mm[XYZ];
static const xyz_float_t distance_mm;
#ifdef BACKLASH_SMOOTHING_MM
static constexpr float smoothing_mm = BACKLASH_SMOOTHING_MM;
#endif
@@ -47,8 +47,8 @@ public:
#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING)
private:
static float measured_mm[XYZ];
static uint8_t measured_count[XYZ];
static xyz_float_t measured_mm;
static xyz_uint8_t measured_count;
public:
static void measure_with_probe();
#endif
Marlin/src/feature/bedlevel/abl/abl.cpp
+78 -84
View File
@@ -35,9 +35,9 @@
#include "../../../lcd/extensible_ui/ui_api.h"
#endif
int bilinear_grid_spacing[2], bilinear_start[2];
float bilinear_grid_factor[2],
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
xy_int_t bilinear_grid_spacing, bilinear_start;
xy_float_t bilinear_grid_factor;
bed_mesh_t z_values;
/**
* Extrapolate a single point from its neighbors
@@ -153,8 +153,8 @@ void print_bilinear_leveling_grid() {
#define ABL_TEMP_POINTS_X (GRID_MAX_POINTS_X + 2)
#define ABL_TEMP_POINTS_Y (GRID_MAX_POINTS_Y + 2)
float z_values_virt[ABL_GRID_POINTS_VIRT_X][ABL_GRID_POINTS_VIRT_Y];
int bilinear_grid_spacing_virt[2] = { 0 };
float bilinear_grid_factor_virt[2] = { 0 };
xy_int_t bilinear_grid_spacing_virt;
xy_float_t bilinear_grid_factor_virt;
void print_bilinear_leveling_grid_virt() {
SERIAL_ECHOLNPGM("Subdivided with CATMULL ROM Leveling Grid:");
@@ -207,7 +207,7 @@ void print_bilinear_leveling_grid() {
+ p[i] * (2 - 5 * sq(t) + 3 * t * sq(t))
+ p[i+1] * t * (1 + 4 * t - 3 * sq(t))
- p[i+2] * sq(t) * (1 - t)
) * 0.5;
) * 0.5f;
}
static float bed_level_virt_2cmr(const uint8_t x, const uint8_t y, const float &tx, const float &ty) {
@@ -222,10 +222,8 @@ void print_bilinear_leveling_grid() {
}
void bed_level_virt_interpolate() {
bilinear_grid_spacing_virt[X_AXIS] = bilinear_grid_spacing[X_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_spacing_virt[Y_AXIS] = bilinear_grid_spacing[Y_AXIS] / (BILINEAR_SUBDIVISIONS);
bilinear_grid_factor_virt[X_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[X_AXIS]);
bilinear_grid_factor_virt[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing_virt[Y_AXIS]);
bilinear_grid_spacing_virt = bilinear_grid_spacing / (BILINEAR_SUBDIVISIONS);
bilinear_grid_factor_virt = bilinear_grid_spacing_virt.reciprocal();
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++)
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t ty = 0; ty < BILINEAR_SUBDIVISIONS; ty++)
@@ -245,40 +243,38 @@ void print_bilinear_leveling_grid() {
// Refresh after other values have been updated
void refresh_bed_level() {
bilinear_grid_factor[X_AXIS] = RECIPROCAL(bilinear_grid_spacing[X_AXIS]);
bilinear_grid_factor[Y_AXIS] = RECIPROCAL(bilinear_grid_spacing[Y_AXIS]);
bilinear_grid_factor = bilinear_grid_spacing.reciprocal();
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
bed_level_virt_interpolate();
#endif
}
#if ENABLED(ABL_BILINEAR_SUBDIVISION)
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt[A]
#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt[A]
#define ABL_BG_SPACING(A) bilinear_grid_spacing_virt.A
#define ABL_BG_FACTOR(A) bilinear_grid_factor_virt.A
#define ABL_BG_POINTS_X ABL_GRID_POINTS_VIRT_X
#define ABL_BG_POINTS_Y ABL_GRID_POINTS_VIRT_Y
#define ABL_BG_GRID(X,Y) z_values_virt[X][Y]
#else
#define ABL_BG_SPACING(A) bilinear_grid_spacing[A]
#define ABL_BG_FACTOR(A) bilinear_grid_factor[A]
#define ABL_BG_SPACING(A) bilinear_grid_spacing.A
#define ABL_BG_FACTOR(A) bilinear_grid_factor.A
#define ABL_BG_POINTS_X GRID_MAX_POINTS_X
#define ABL_BG_POINTS_Y GRID_MAX_POINTS_Y
#define ABL_BG_GRID(X,Y) z_values[X][Y]
#endif
// Get the Z adjustment for non-linear bed leveling
float bilinear_z_offset(const float raw[XYZ]) {
float bilinear_z_offset(const xy_pos_t &raw) {
static float z1, d2, z3, d4, L, D, ratio_x, ratio_y,
last_x = -999.999, last_y = -999.999;
static float z1, d2, z3, d4, L, D;
static xy_pos_t prev { -999.999, -999.999 }, ratio;
// Whole units for the grid line indices. Constrained within bounds.
static int8_t gridx, gridy, nextx, nexty,
last_gridx = -99, last_gridy = -99;
static xy_int8_t thisg, nextg, lastg { -99, -99 };
// XY relative to the probed area
const float rx = raw[X_AXIS] - bilinear_start[X_AXIS],
ry = raw[Y_AXIS] - bilinear_start[Y_AXIS];
xy_pos_t rel = raw - bilinear_start.asFloat();
#if ENABLED(EXTRAPOLATE_BEYOND_GRID)
#define FAR_EDGE_OR_BOX 2 // Keep using the last grid box
@@ -286,63 +282,62 @@ float bilinear_z_offset(const float raw[XYZ]) {
#define FAR_EDGE_OR_BOX 1 // Just use the grid far edge
#endif
if (last_x != rx) {
last_x = rx;
ratio_x = rx * ABL_BG_FACTOR(X_AXIS);
const float gx = constrain(FLOOR(ratio_x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
ratio_x -= gx; // Subtract whole to get the ratio within the grid box
if (prev.x != rel.x) {
prev.x = rel.x;
ratio.x = rel.x * ABL_BG_FACTOR(x);
const float gx = constrain(FLOOR(ratio.x), 0, ABL_BG_POINTS_X - (FAR_EDGE_OR_BOX));
ratio.x -= gx; // Subtract whole to get the ratio within the grid box
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio_x, 0); // Never < 0.0. (> 1.0 is ok when nextx==gridx.)
NOLESS(ratio.x, 0); // Never <0 (>1 is ok when nextg.x==thisg.x)
#endif
gridx = gx;
nextx = _MIN(gridx + 1, ABL_BG_POINTS_X - 1);
thisg.x = gx;
nextg.x = _MIN(thisg.x + 1, ABL_BG_POINTS_X - 1);
}
if (last_y != ry || last_gridx != gridx) {
if (prev.y != rel.y || lastg.x != thisg.x) {
if (last_y != ry) {
last_y = ry;
ratio_y = ry * ABL_BG_FACTOR(Y_AXIS);
const float gy = constrain(FLOOR(ratio_y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
ratio_y -= gy;
if (prev.y != rel.y) {
prev.y = rel.y;
ratio.y = rel.y * ABL_BG_FACTOR(y);
const float gy = constrain(FLOOR(ratio.y), 0, ABL_BG_POINTS_Y - (FAR_EDGE_OR_BOX));
ratio.y -= gy;
#if DISABLED(EXTRAPOLATE_BEYOND_GRID)
// Beyond the grid maintain height at grid edges
NOLESS(ratio_y, 0); // Never < 0.0. (> 1.0 is ok when nexty==gridy.)
NOLESS(ratio.y, 0); // Never < 0.0. (> 1.0 is ok when nextg.y==thisg.y.)
#endif
gridy = gy;
nexty = _MIN(gridy + 1, ABL_BG_POINTS_Y - 1);
thisg.y = gy;
nextg.y = _MIN(thisg.y + 1, ABL_BG_POINTS_Y - 1);
}
if (last_gridx != gridx || last_gridy != gridy) {
last_gridx = gridx;
last_gridy = gridy;
if (lastg != thisg) {
lastg = thisg;
// Z at the box corners
z1 = ABL_BG_GRID(gridx, gridy); // left-front
d2 = ABL_BG_GRID(gridx, nexty) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextx, gridy); // right-front
d4 = ABL_BG_GRID(nextx, nexty) - z3; // right-back (delta)
z1 = ABL_BG_GRID(thisg.x, thisg.y); // left-front
d2 = ABL_BG_GRID(thisg.x, nextg.y) - z1; // left-back (delta)
z3 = ABL_BG_GRID(nextg.x, thisg.y); // right-front
d4 = ABL_BG_GRID(nextg.x, nextg.y) - z3; // right-back (delta)
}
// Bilinear interpolate. Needed since ry or gridx has changed.
L = z1 + d2 * ratio_y; // Linear interp. LF -> LB
const float R = z3 + d4 * ratio_y; // Linear interp. RF -> RB
// Bilinear interpolate. Needed since rel.y or thisg.x has changed.
L = z1 + d2 * ratio.y; // Linear interp. LF -> LB
const float R = z3 + d4 * ratio.y; // Linear interp. RF -> RB
D = R - L;
}
const float offset = L + ratio_x * D; // the offset almost always changes
const float offset = L + ratio.x * D; // the offset almost always changes
/*
static float last_offset = 0;
if (ABS(last_offset - offset) > 0.2) {
SERIAL_ECHOLNPAIR("Sudden Shift at x=", rx, " / ", bilinear_grid_spacing[X_AXIS], " -> gridx=", gridx);
SERIAL_ECHOLNPAIR(" y=", ry, " / ", bilinear_grid_spacing[Y_AXIS], " -> gridy=", gridy);
SERIAL_ECHOLNPAIR(" ratio_x=", ratio_x, " ratio_y=", ratio_y);
SERIAL_ECHOLNPAIR("Sudden Shift at x=", rel.x, " / ", bilinear_grid_spacing.x, " -> thisg.x=", thisg.x);
SERIAL_ECHOLNPAIR(" y=", rel.y, " / ", bilinear_grid_spacing.y, " -> thisg.y=", thisg.y);
SERIAL_ECHOLNPAIR(" ratio.x=", ratio.x, " ratio.y=", ratio.y);
SERIAL_ECHOLNPAIR(" z1=", z1, " z2=", z2, " z3=", z3, " z4=", z4);
SERIAL_ECHOLNPAIR(" L=", L, " R=", R, " offset=", offset);
}
@@ -354,7 +349,7 @@ float bilinear_z_offset(const float raw[XYZ]) {
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
#define CELL_INDEX(A,V) ((V - bilinear_start[_AXIS(A)]) * ABL_BG_FACTOR(_AXIS(A)))
#define CELL_INDEX(A,V) ((V - bilinear_start.A) * ABL_BG_FACTOR(A))
/**
* Prepare a bilinear-leveled linear move on Cartesian,
@@ -362,62 +357,61 @@ float bilinear_z_offset(const float raw[XYZ]) {
*/
void bilinear_line_to_destination(const feedRate_t scaled_fr_mm_s, uint16_t x_splits, uint16_t y_splits) {
// Get current and destination cells for this line
int cx1 = CELL_INDEX(X, current_position[X_AXIS]),
cy1 = CELL_INDEX(Y, current_position[Y_AXIS]),
cx2 = CELL_INDEX(X, destination[X_AXIS]),
cy2 = CELL_INDEX(Y, destination[Y_AXIS]);
LIMIT(cx1, 0, ABL_BG_POINTS_X - 2);
LIMIT(cy1, 0, ABL_BG_POINTS_Y - 2);
LIMIT(cx2, 0, ABL_BG_POINTS_X - 2);
LIMIT(cy2, 0, ABL_BG_POINTS_Y - 2);
xy_int_t c1 { CELL_INDEX(x, current_position.x), CELL_INDEX(y, current_position.y) },
c2 { CELL_INDEX(x, destination.x), CELL_INDEX(y, destination.y) };
LIMIT(c1.x, 0, ABL_BG_POINTS_X - 2);
LIMIT(c1.y, 0, ABL_BG_POINTS_Y - 2);
LIMIT(c2.x, 0, ABL_BG_POINTS_X - 2);
LIMIT(c2.y, 0, ABL_BG_POINTS_Y - 2);
// Start and end in the same cell? No split needed.
if (cx1 == cx2 && cy1 == cy2) {
set_current_from_destination();
if (c1 == c2) {
current_position = destination;
line_to_current_position(scaled_fr_mm_s);
return;
}
#define LINE_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist)
#define LINE_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
float normalized_dist, end[XYZE];
const int8_t gcx = _MAX(cx1, cx2), gcy = _MAX(cy1, cy2);
float normalized_dist;
xyze_pos_t end;
const xy_int8_t gc { _MAX(c1.x, c2.x), _MAX(c1.y, c2.y) };
// Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors.
if (cx2 != cx1 && TEST(x_splits, gcx)) {
if (c2.x != c1.x && TEST(x_splits, gc.x)) {
// Split on the X grid line
CBI(x_splits, gcx);
COPY(end, destination);
destination[X_AXIS] = bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx;
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = LINE_SEGMENT_END(Y);
CBI(x_splits, gc.x);
end = destination;
destination.x = bilinear_start.x + ABL_BG_SPACING(x) * gc.x;
normalized_dist = (destination.x - current_position.x) / (end.x - current_position.x);
destination.y = LINE_SEGMENT_END(y);
}
// Crosses on the Y and not already split on this Y?
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
else if (c2.y != c1.y && TEST(y_splits, gc.y)) {
// Split on the Y grid line
CBI(y_splits, gcy);
COPY(end, destination);
destination[Y_AXIS] = bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy;
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = LINE_SEGMENT_END(X);
CBI(y_splits, gc.y);
end = destination;
destination.y = bilinear_start.y + ABL_BG_SPACING(y) * gc.y;
normalized_dist = (destination.y - current_position.y) / (end.y - current_position.y);
destination.x = LINE_SEGMENT_END(x);
}
else {
// Must already have been split on these border(s)
// This should be a rare case.
set_current_from_destination();
current_position = destination;
line_to_current_position(scaled_fr_mm_s);
return;
}
destination[Z_AXIS] = LINE_SEGMENT_END(Z);
destination[E_AXIS] = LINE_SEGMENT_END(E);
destination.z = LINE_SEGMENT_END(z);
destination.e = LINE_SEGMENT_END(e);
// Do the split and look for more borders
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
destination = end;
bilinear_line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
}
Marlin/src/feature/bedlevel/abl/abl.h
+6 -6
View File
@@ -23,10 +23,10 @@
#include "../../../inc/MarlinConfigPre.h"
extern int bilinear_grid_spacing[2], bilinear_start[2];
extern float bilinear_grid_factor[2],
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
float bilinear_z_offset(const float raw[XYZ]);
extern xy_int_t bilinear_grid_spacing, bilinear_start;
extern xy_float_t bilinear_grid_factor;
extern bed_mesh_t z_values;
float bilinear_z_offset(const xy_pos_t &raw);
void extrapolate_unprobed_bed_level();
void print_bilinear_leveling_grid();
@@ -40,6 +40,6 @@ void refresh_bed_level();
void bilinear_line_to_destination(const feedRate_t &scaled_fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF);
#endif
#define _GET_MESH_X(I) (bilinear_start[X_AXIS] + (I) * bilinear_grid_spacing[X_AXIS])
#define _GET_MESH_Y(J) (bilinear_start[Y_AXIS] + (J) * bilinear_grid_spacing[Y_AXIS])
#define _GET_MESH_X(I) float(bilinear_start.x + (I) * bilinear_grid_spacing.x)
#define _GET_MESH_Y(J) float(bilinear_start.y + (J) * bilinear_grid_spacing.y)
#define Z_VALUES_ARR z_values
Marlin/src/feature/bedlevel/bedlevel.cpp
+16 -16
View File
@@ -51,7 +51,7 @@ bool leveling_is_valid() {
#if ENABLED(MESH_BED_LEVELING)
mbl.has_mesh()
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
!!bilinear_grid_spacing[X_AXIS]
!!bilinear_grid_spacing.x
#elif ENABLED(AUTO_BED_LEVELING_UBL)
ubl.mesh_is_valid()
#else // 3POINT, LINEAR
@@ -81,13 +81,13 @@ void set_bed_leveling_enabled(const bool enable/*=true*/) {
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
// Force bilinear_z_offset to re-calculate next time
const float reset[XYZ] = { -9999.999, -9999.999, 0 };
const xyz_pos_t reset { -9999.999, -9999.999, 0 };
(void)bilinear_z_offset(reset);
#endif
if (planner.leveling_active) { // leveling from on to off
// change unleveled current_position to physical current_position without moving steppers.
planner.apply_leveling(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS]);
planner.apply_leveling(current_position);
planner.leveling_active = false; // disable only AFTER calling apply_leveling
}
else { // leveling from off to on
@@ -116,9 +116,9 @@ TemporaryBedLevelingState::TemporaryBedLevelingState(const bool enable) : saved(
planner.set_z_fade_height(zfh);
if (leveling_was_active) {
const float oldpos[] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] };
const xyz_pos_t oldpos = current_position;
set_bed_leveling_enabled(true);
if (do_report && memcmp(oldpos, current_position, sizeof(oldpos)))
if (do_report && oldpos != current_position)
report_current_position();
}
}
@@ -137,8 +137,8 @@ void reset_bed_level() {
#if ENABLED(MESH_BED_LEVELING)
mbl.reset();
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
bilinear_start[X_AXIS] = bilinear_start[Y_AXIS] =
bilinear_grid_spacing[X_AXIS] = bilinear_grid_spacing[Y_AXIS] = 0;
bilinear_start.reset();
bilinear_grid_spacing.reset();
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++)
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
z_values[x][y] = NAN;
@@ -223,25 +223,25 @@ void reset_bed_level() {
#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
void _manual_goto_xy(const float &rx, const float &ry) {
void _manual_goto_xy(const xy_pos_t &pos) {
#ifdef MANUAL_PROBE_START_Z
constexpr float startz = _MAX(0, MANUAL_PROBE_START_Z);
#if MANUAL_PROBE_HEIGHT > 0
do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(_MAX(0,MANUAL_PROBE_START_Z));
do_blocking_move_to_xy_z(pos, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(startz);
#else
do_blocking_move_to(rx, ry, _MAX(0,MANUAL_PROBE_START_Z));
do_blocking_move_to_xy_z(pos, startz);
#endif
#elif MANUAL_PROBE_HEIGHT > 0
const float prev_z = current_position[Z_AXIS];
do_blocking_move_to(rx, ry, MANUAL_PROBE_HEIGHT);
const float prev_z = current_position.z;
do_blocking_move_to_xy_z(pos, MANUAL_PROBE_HEIGHT);
do_blocking_move_to_z(prev_z);
#else
do_blocking_move_to_xy(rx, ry);
do_blocking_move_to_xy(pos);
#endif
current_position[X_AXIS] = rx;
current_position[Y_AXIS] = ry;
current_position = pos;
#if ENABLED(LCD_BED_LEVELING)
ui.wait_for_bl_move = false;
Marlin/src/feature/bedlevel/bedlevel.h
+16 -6
View File
@@ -38,7 +38,7 @@ void reset_bed_level();
#endif
#if EITHER(MESH_BED_LEVELING, PROBE_MANUALLY)
void _manual_goto_xy(const float &x, const float &y);
void _manual_goto_xy(const xy_pos_t &pos);
#endif
/**
@@ -57,11 +57,6 @@ class TemporaryBedLevelingState {
typedef float bed_mesh_t[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
typedef struct {
int8_t x_index, y_index;
float distance; // When populated, the distance from the search location
} mesh_index_pair;
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
#include "abl/abl.h"
#elif ENABLED(AUTO_BED_LEVELING_UBL)
@@ -71,6 +66,7 @@ class TemporaryBedLevelingState {
#endif
#define Z_VALUES(X,Y) Z_VALUES_ARR[X][Y]
#define _GET_MESH_POS(M) { _GET_MESH_X(M.a), _GET_MESH_Y(M.b) }
#if EITHER(AUTO_BED_LEVELING_BILINEAR, MESH_BED_LEVELING)
@@ -85,4 +81,18 @@ class TemporaryBedLevelingState {
#endif
struct mesh_index_pair {
xy_int8_t pos;
float distance; // When populated, the distance from the search location
void invalidate() { pos = -1; }
bool valid() const { return pos.x >= 0 && pos.y >= 0; }
#if ENABLED(AUTO_BED_LEVELING_UBL)
xy_pos_t meshpos() {
return { ubl.mesh_index_to_xpos(pos.x), ubl.mesh_index_to_ypos(pos.y) };
}
#endif
operator xy_int8_t&() { return pos; }
operator const xy_int8_t&() const { return pos; }
};
#endif
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.cpp
+26 -29
View File
@@ -24,10 +24,9 @@
#if ENABLED(MESH_BED_LEVELING)
#include "mesh_bed_leveling.h"
#include "../bedlevel.h"
#include "../../../module/motion.h"
#include "../../../feature/bedlevel/bedlevel.h"
#if ENABLED(EXTENSIBLE_UI)
#include "../../../lcd/extensible_ui/ui_api.h"
@@ -66,62 +65,60 @@
*/
void mesh_bed_leveling::line_to_destination(const feedRate_t &scaled_fr_mm_s, uint8_t x_splits, uint8_t y_splits) {
// Get current and destination cells for this line
int cx1 = cell_index_x(current_position[X_AXIS]),
cy1 = cell_index_y(current_position[Y_AXIS]),
cx2 = cell_index_x(destination[X_AXIS]),
cy2 = cell_index_y(destination[Y_AXIS]);
NOMORE(cx1, GRID_MAX_POINTS_X - 2);
NOMORE(cy1, GRID_MAX_POINTS_Y - 2);
NOMORE(cx2, GRID_MAX_POINTS_X - 2);
NOMORE(cy2, GRID_MAX_POINTS_Y - 2);
xy_int8_t scel = cell_indexes(current_position), ecel = cell_indexes(destination);
NOMORE(scel.x, GRID_MAX_POINTS_X - 2);
NOMORE(scel.y, GRID_MAX_POINTS_Y - 2);
NOMORE(ecel.x, GRID_MAX_POINTS_X - 2);
NOMORE(ecel.y, GRID_MAX_POINTS_Y - 2);
// Start and end in the same cell? No split needed.
if (cx1 == cx2 && cy1 == cy2) {
if (scel == ecel) {
line_to_destination(scaled_fr_mm_s);
set_current_from_destination();
current_position = destination;
return;
}
#define MBL_SEGMENT_END(A) (current_position[_AXIS(A)] + (destination[_AXIS(A)] - current_position[_AXIS(A)]) * normalized_dist)
#define MBL_SEGMENT_END(A) (current_position.A + (destination.A - current_position.A) * normalized_dist)
float normalized_dist, end[XYZE];
const int8_t gcx = _MAX(cx1, cx2), gcy = _MAX(cy1, cy2);
float normalized_dist;
xyze_pos_t dest;
const int8_t gcx = _MAX(scel.x, ecel.x), gcy = _MAX(scel.y, ecel.y);
// Crosses on the X and not already split on this X?
// The x_splits flags are insurance against rounding errors.
if (cx2 != cx1 && TEST(x_splits, gcx)) {
if (ecel.x != scel.x && TEST(x_splits, gcx)) {
// Split on the X grid line
CBI(x_splits, gcx);
COPY(end, destination);
destination[X_AXIS] = index_to_xpos[gcx];
normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]);
destination[Y_AXIS] = MBL_SEGMENT_END(Y);
dest = destination;
destination.x = index_to_xpos[gcx];
normalized_dist = (destination.x - current_position.x) / (dest.x - current_position.x);
destination.y = MBL_SEGMENT_END(y);
}
// Crosses on the Y and not already split on this Y?
else if (cy2 != cy1 && TEST(y_splits, gcy)) {
else if (ecel.y != scel.y && TEST(y_splits, gcy)) {
// Split on the Y grid line
CBI(y_splits, gcy);
COPY(end, destination);
destination[Y_AXIS] = index_to_ypos[gcy];
normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]);
destination[X_AXIS] = MBL_SEGMENT_END(X);
dest = destination;
destination.y = index_to_ypos[gcy];
normalized_dist = (destination.y - current_position.y) / (dest.y - current_position.y);
destination.x = MBL_SEGMENT_END(x);
}
else {
// Must already have been split on these border(s)
// This should be a rare case.
line_to_destination(scaled_fr_mm_s);
set_current_from_destination();
current_position = destination;
return;
}
destination[Z_AXIS] = MBL_SEGMENT_END(Z);
destination[E_AXIS] = MBL_SEGMENT_END(E);
destination.z = MBL_SEGMENT_END(z);
destination.e = MBL_SEGMENT_END(e);
// Do the split and look for more borders
line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
// Restore destination from stack
COPY(destination, end);
destination = dest;
line_to_destination(scaled_fr_mm_s, x_splits, y_splits);
}
Marlin/src/feature/bedlevel/mbl/mesh_bed_leveling.h
+19 -13
View File
@@ -76,21 +76,27 @@ public:
int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);
}
static int8_t cell_index_y(const float &y) {
int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2);
}
static inline xy_int8_t cell_indexes(const float &x, const float &y) {
return { cell_index_x(x), cell_index_y(y) };
}
static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
static int8_t probe_index_x(const float &x) {
int8_t px = (x - (MESH_MIN_X) + 0.5f * (MESH_X_DIST)) * RECIPROCAL(MESH_X_DIST);
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
}
static int8_t probe_index_y(const float &y) {
int8_t py = (y - (MESH_MIN_Y) + 0.5f * (MESH_Y_DIST)) * RECIPROCAL(MESH_Y_DIST);
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
}
static inline xy_int8_t probe_indexes(const float &x, const float &y) {
return { probe_index_x(x), probe_index_y(y) };
}
static inline xy_int8_t probe_indexes(const xy_pos_t &xy) { return probe_indexes(xy.x, xy.y); }
static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
const float delta_z = (z2 - z1) / (a2 - a1),
@@ -98,21 +104,21 @@ public:
return z1 + delta_a * delta_z;
}
static float get_z(const float &x0, const float &y0
static float get_z(const xy_pos_t &pos
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, const float &factor
, const float &factor=1.0f
#endif
) {
const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0);
const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy], index_to_xpos[cx + 1], z_values[cx + 1][cy]),
z2 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy + 1], index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]),
z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2);
#if DISABLED(ENABLE_LEVELING_FADE_HEIGHT)
constexpr float factor = 1.0f;
#endif
const xy_int8_t ind = cell_indexes(pos);
const float x1 = index_to_xpos[ind.x], x2 = index_to_xpos[ind.x+1],
y1 = index_to_xpos[ind.y], y2 = index_to_xpos[ind.y+1],
z1 = calc_z0(pos.x, x1, z_values[ind.x][ind.y ], x2, z_values[ind.x+1][ind.y ]),
z2 = calc_z0(pos.x, x1, z_values[ind.x][ind.y+1], x2, z_values[ind.x+1][ind.y+1]);
return z_offset + z0
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* factor
#endif
;
return z_offset + calc_z0(pos.y, y1, z1, y2, z2) * factor;
}
#if IS_CARTESIAN && DISABLED(SEGMENT_LEVELED_MOVES)
Marlin/src/feature/bedlevel/ubl/ubl.cpp
+2 -3
View File
@@ -176,8 +176,7 @@
// Add XY probe offset from extruder because probe_at_point() subtracts them when
// moving to the XY position to be measured. This ensures better agreement between
// the current Z position after G28 and the mesh values.
const float current_xi = find_closest_x_index(current_position[X_AXIS] + probe_offset[X_AXIS]),
current_yi = find_closest_y_index(current_position[Y_AXIS] + probe_offset[Y_AXIS]);
const xy_int8_t curr = closest_indexes(xy_pos_t(current_position) + xy_pos_t(probe_offset));
if (!lcd) SERIAL_EOL();
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
@@ -193,7 +192,7 @@
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
// Opening Brace or Space
const bool is_current = i == current_xi && j == current_yi;
const bool is_current = i == curr.x && j == curr.y;
if (human) SERIAL_CHAR(is_current ? '[' : ' ');
// Z Value at current I, J
Marlin/src/feature/bedlevel/ubl/ubl.h
+27 -20
View File
@@ -32,15 +32,12 @@
#define UBL_OK false
#define UBL_ERR true
#define USE_NOZZLE_AS_REFERENCE 0
#define USE_PROBE_AS_REFERENCE 1
// ubl_G29.cpp
enum MeshPointType : char { INVALID, REAL, SET_IN_BITMAP };
// External references
struct mesh_index_pair;
#define MESH_X_DIST (float(MESH_MAX_X - (MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
#define MESH_Y_DIST (float(MESH_MAX_Y - (MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
@@ -52,10 +49,11 @@ class unified_bed_leveling {
g29_repetition_cnt,
g29_storage_slot,
g29_map_type;
static bool g29_c_flag, g29_x_flag, g29_y_flag;
static float g29_x_pos, g29_y_pos,
g29_card_thickness,
static bool g29_c_flag;
static float g29_card_thickness,
g29_constant;
static xy_pos_t g29_pos;
static xy_bool_t xy_seen;
#if HAS_BED_PROBE
static int g29_grid_size;
@@ -65,16 +63,19 @@ class unified_bed_leveling {
static void move_z_with_encoder(const float &multiplier);
static float measure_point_with_encoder();
static float measure_business_card_thickness(float in_height);
static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool) _O0;
static void fine_tune_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map) _O0;
static void manually_probe_remaining_mesh(const xy_pos_t&, const float&, const float&, const bool) _O0;
static void fine_tune_mesh(const xy_pos_t &pos, const bool do_ubl_mesh_map) _O0;
#endif
static bool g29_parameter_parsing() _O0;
static void shift_mesh_height();
static void probe_entire_mesh(const float &rx, const float &ry, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0;
static void probe_entire_mesh(const xy_pos_t &near, const bool do_ubl_mesh_map, const bool stow_probe, const bool do_furthest) _O0;
static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
static inline bool smart_fill_one(const xy_uint8_t &pos, const xy_uint8_t &dir) {
return smart_fill_one(pos.x, pos.y, dir.x, dir.y);
}
static void smart_fill_mesh();
#if ENABLED(UBL_DEVEL_DEBUGGING)
@@ -91,7 +92,7 @@ class unified_bed_leveling {
static void save_ubl_active_state_and_disable();
static void restore_ubl_active_state_and_leave();
static void display_map(const int) _O0;
static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16]) _O0;
static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const xy_pos_t&, const bool=false, MeshFlags *done_flags=nullptr) _O0;
static mesh_index_pair find_furthest_invalid_mesh_point() _O0;
static void reset();
static void invalidate();
@@ -118,14 +119,14 @@ class unified_bed_leveling {
FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
static int8_t get_cell_index_x(const float &x) {
static int8_t cell_index_x(const float &x) {
const int8_t cx = (x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST);
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
static int8_t get_cell_index_y(const float &y) {
static int8_t cell_index_y(const float &y) {
const int8_t cy = (y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
} // position. But with this defined this way, it is possible
@@ -133,15 +134,22 @@ class unified_bed_leveling {
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
static int8_t find_closest_x_index(const float &x) {
static inline xy_int8_t cell_indexes(const float &x, const float &y) {
return { cell_index_x(x), cell_index_y(y) };
}
static inline xy_int8_t cell_indexes(const xy_pos_t &xy) { return cell_indexes(xy.x, xy.y); }
static int8_t closest_x_index(const float &x) {
const int8_t px = (x - (MESH_MIN_X) + (MESH_X_DIST) * 0.5) * RECIPROCAL(MESH_X_DIST);
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
}
static int8_t find_closest_y_index(const float &y) {
static int8_t closest_y_index(const float &y) {
const int8_t py = (y - (MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * RECIPROCAL(MESH_Y_DIST);
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
}
static inline xy_int8_t closest_indexes(const xy_pos_t &xy) {
return { closest_x_index(xy.x), closest_y_index(xy.y) };
}
/**
* z2 --|
@@ -228,8 +236,7 @@ class unified_bed_leveling {
* on the Y position within the cell.
*/
static float get_z_correction(const float &rx0, const float &ry0) {
const int8_t cx = get_cell_index_x(rx0),
cy = get_cell_index_y(ry0); // return values are clamped
const int8_t cx = cell_index_x(rx0), cy = cell_index_y(ry0); // return values are clamped
/**
* Check if the requested location is off the mesh. If so, and
@@ -275,11 +282,11 @@ class unified_bed_leveling {
}
return z0;
}
static inline float get_z_correction(const xy_pos_t &pos) { return get_z_correction(pos.x, pos.y); }
static inline float mesh_index_to_xpos(const uint8_t i) {
return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : MESH_MIN_X + i * (MESH_X_DIST);
}
static inline float mesh_index_to_ypos(const uint8_t i) {
return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : MESH_MIN_Y + i * (MESH_Y_DIST);
}
Marlin/src/feature/bedlevel/ubl/ubl_G29.cpp
+249 -261
View File
File diff suppressed because it is too large Load Diff
Marlin/src/feature/bedlevel/ubl/ubl_motion.cpp
+156 -199
View File
@@ -35,12 +35,6 @@
#include "../../../Marlin.h"
#include <math.h>
#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
inline void set_current_from_destination() { COPY(current_position, destination); }
#else
extern void set_current_from_destination();
#endif
#if !UBL_SEGMENTED
void unified_bed_leveling::line_to_destination_cartesian(const feedRate_t &scaled_fr_mm_s, const uint8_t extruder) {
@@ -50,60 +44,57 @@
* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
*/
#if HAS_POSITION_MODIFIERS
float start[XYZE] = { current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS] },
end[XYZE] = { destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS] };
xyze_pos_t start = current_position, end = destination;
planner.apply_modifiers(start);
planner.apply_modifiers(end);
#else
const float (&start)[XYZE] = current_position,
(&end)[XYZE] = destination;
const xyze_pos_t &start = current_position, &end = destination;
#endif
const int cell_start_xi = get_cell_index_x(start[X_AXIS]),
cell_start_yi = get_cell_index_y(start[Y_AXIS]),
cell_dest_xi = get_cell_index_x(end[X_AXIS]),
cell_dest_yi = get_cell_index_y(end[Y_AXIS]);
const xy_int8_t istart = cell_indexes(start), iend = cell_indexes(end);
// A move within the same cell needs no splitting
if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) {
if (istart == iend) {
// For a move off the bed, use a constant Z raise
if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) {
if (!WITHIN(iend.x, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(iend.y, 0, GRID_MAX_POINTS_Y - 1)) {
// Note: There is no Z Correction in this case. We are off the grid and don't know what
// a reasonable correction would be. If the user has specified a UBL_Z_RAISE_WHEN_OFF_MESH
// value, that will be used instead of a calculated (Bi-Linear interpolation) correction.
const float z_raise = 0.0
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
+ UBL_Z_RAISE_WHEN_OFF_MESH
#endif
;
planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z_raise, end[E_AXIS], scaled_fr_mm_s, extruder);
set_current_from_destination();
#ifdef UBL_Z_RAISE_WHEN_OFF_MESH
end.z += UBL_Z_RAISE_WHEN_OFF_MESH;
#endif
planner.buffer_segment(end, scaled_fr_mm_s, extruder);
current_position = destination;
return;
}
FINAL_MOVE:
// The distance is always MESH_X_DIST so multiply by the constant reciprocal.
const float xratio = (end[X_AXIS] - mesh_index_to_xpos(cell_dest_xi)) * RECIPROCAL(MESH_X_DIST);
const float xratio = (end.x - mesh_index_to_xpos(iend.x)) * RECIPROCAL(MESH_X_DIST);
float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0;
float z1, z2;
if (iend.x >= GRID_MAX_POINTS_X - 1)
z1 = z2 = 0.0;
else {
z1 = z_values[iend.x ][iend.y ] + xratio *
(z_values[iend.x + 1][iend.y ] - z_values[iend.x][iend.y ]),
z2 = z_values[iend.x ][iend.y + 1] + xratio *
(z_values[iend.x + 1][iend.y + 1] - z_values[iend.x][iend.y + 1]);
}
// X cell-fraction done. Interpolate the two Z offsets with the Y fraction for the final Z offset.
const float yratio = (end[Y_AXIS] - mesh_index_to_ypos(cell_dest_yi)) * RECIPROCAL(MESH_Y_DIST),
z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0;
const float yratio = (end.y - mesh_index_to_ypos(iend.y)) * RECIPROCAL(MESH_Y_DIST),
z0 = iend.y < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * planner.fade_scaling_factor_for_z(end.z) : 0.0;
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
planner.buffer_segment(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + (isnan(z0) ? 0.0 : z0), end[E_AXIS], scaled_fr_mm_s, extruder);
set_current_from_destination();
if (!isnan(z0)) end.z += z0;
planner.buffer_segment(end, scaled_fr_mm_s, extruder);
current_position = destination;
return;
}
@@ -112,17 +103,11 @@
* case - crossing only one X or Y line - after details are worked out to reduce computation.
*/
const float dx = end[X_AXIS] - start[X_AXIS],
dy = end[Y_AXIS] - start[Y_AXIS];
const int left_flag = dx < 0.0 ? 1 : 0,
down_flag = dy < 0.0 ? 1 : 0;
const float adx = left_flag ? -dx : dx,
ady = down_flag ? -dy : dy;
const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
const xy_float_t dist = end - start;
const xy_bool_t neg { dist.x < 0, dist.y < 0 };
const xy_int8_t ineg { int8_t(neg.x), int8_t(neg.y) };
const xy_float_t sign { neg.x ? -1.0f : 1.0f, neg.y ? -1.0f : 1.0f };
const xy_int8_t iadd { int8_t(iend.x == istart.x ? 0 : sign.x), int8_t(iend.y == istart.y ? 0 : sign.y) };
/**
* Compute the extruder scaling factor for each partial move, checking for
@@ -132,64 +117,64 @@
* components. The larger of the two is used to preserve precision.
*/
const bool use_x_dist = adx > ady;
const xy_float_t ad = sign * dist;
const bool use_x_dist = ad.x > ad.y;
float on_axis_distance = use_x_dist ? dx : dy,
e_position = end[E_AXIS] - start[E_AXIS],
z_position = end[Z_AXIS] - start[Z_AXIS];
float on_axis_distance = use_x_dist ? dist.x : dist.y,
e_position = end.e - start.e,
z_position = end.z - start.z;
const float e_normalized_dist = e_position / on_axis_distance,
const float e_normalized_dist = e_position / on_axis_distance, // Allow divide by zero
z_normalized_dist = z_position / on_axis_distance;
int current_xi = cell_start_xi,
current_yi = cell_start_yi;
xy_int8_t icell = istart;
const float m = dy / dx,
c = start[Y_AXIS] - m * start[X_AXIS];
const float ratio = dist.y / dist.x, // Allow divide by zero
c = start.y - ratio * start.x;
const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0),
inf_m_flag = (isinf(m) != 0);
const bool inf_normalized_flag = isinf(e_normalized_dist),
inf_ratio_flag = isinf(ratio);
/**
* Handle vertical lines that stay within one column.
* These need not be perfectly vertical.
*/
if (dxi == 0) { // Vertical line?
current_yi += down_flag; // Line going down? Just go to the bottom.
while (current_yi != cell_dest_yi + down_flag) {
current_yi += dyi;
const float next_mesh_line_y = mesh_index_to_ypos(current_yi);
if (iadd.x == 0) { // Vertical line?
icell.y += ineg.y; // Line going down? Just go to the bottom.
while (icell.y != iend.y + ineg.y) {
icell.y += iadd.y;
const float next_mesh_line_y = mesh_index_to_ypos(icell.y);
/**
* Skip the calculations for an infinite slope.
* For others the next X is the same so this can continue.
* Calculate X at the next Y mesh line.
*/
const float rx = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
const float rx = inf_ratio_flag ? start.x : (next_mesh_line_y - c) / ratio;
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi, current_yi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x, icell.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
const float ry = mesh_index_to_ypos(current_yi);
const float ry = mesh_index_to_ypos(icell.y);
/**
* Without this check, it's possible to generate a zero length move, as in the case where
* the line is heading down, starting exactly on a mesh line boundary. Since this is rare
* it might be fine to remove this check and let planner.buffer_segment() filter it out.
*/
if (ry != start[Y_AXIS]) {
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
if (ry != start.y) {
if (!inf_normalized_flag) { // fall-through faster than branch
on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
e_position = end.e;
z_position = end.z;
}
planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder);
@@ -197,10 +182,10 @@
}
// At the final destination? Usually not, but when on a Y Mesh Line it's completed.
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
if (xy_pos_t(current_position) != xy_pos_t(end))
goto FINAL_MOVE;
set_current_from_destination();
current_position = destination;
return;
}
@@ -208,36 +193,34 @@
* Handle horizontal lines that stay within one row.
* These need not be perfectly horizontal.
*/
if (dyi == 0) { // Horizontal line?
current_xi += left_flag; // Heading left? Just go to the left edge of the cell for the first move.
while (current_xi != cell_dest_xi + left_flag) {
current_xi += dxi;
const float next_mesh_line_x = mesh_index_to_xpos(current_xi),
ry = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
if (iadd.y == 0) { // Horizontal line?
icell.x += ineg.x; // Heading left? Just go to the left edge of the cell for the first move.
while (icell.x != iend.x + ineg.x) {
icell.x += iadd.x;
const float rx = mesh_index_to_xpos(icell.x);
const float ry = ratio * rx + c; // Calculate Y at the next X mesh line
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi, current_yi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x, icell.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
const float rx = mesh_index_to_xpos(current_xi);
/**
* Without this check, it's possible to generate a zero length move, as in the case where
* the line is heading left, starting exactly on a mesh line boundary. Since this is rare
* it might be fine to remove this check and let planner.buffer_segment() filter it out.
*/
if (rx != start[X_AXIS]) {
if (rx != start.x) {
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : ry - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
on_axis_distance = use_x_dist ? rx - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
e_position = end.e;
z_position = end.z;
}
if (!planner.buffer_segment(rx, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
@@ -245,93 +228,88 @@
} //else printf("FIRST MOVE PRUNED ");
}
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
if (xy_pos_t(current_position) != xy_pos_t(end))
goto FINAL_MOVE;
set_current_from_destination();
current_position = destination;
return;
}
/**
*
* Handle the generic case of a line crossing both X and Y Mesh lines.
* Generic case of a line crossing both X and Y Mesh lines.
*
*/
int xi_cnt = cell_start_xi - cell_dest_xi,
yi_cnt = cell_start_yi - cell_dest_yi;
xy_int8_t cnt = (istart - iend).ABS();
if (xi_cnt < 0) xi_cnt = -xi_cnt;
if (yi_cnt < 0) yi_cnt = -yi_cnt;
icell += ineg;
current_xi += left_flag;
current_yi += down_flag;
while (cnt) {
while (xi_cnt || yi_cnt) {
const float next_mesh_line_x = mesh_index_to_xpos(icell.x + iadd.x),
next_mesh_line_y = mesh_index_to_ypos(icell.y + iadd.y),
ry = ratio * next_mesh_line_x + c, // Calculate Y at the next X mesh line
rx = (next_mesh_line_y - c) / ratio; // Calculate X at the next Y mesh line
// (No need to worry about ratio == 0.
// In that case, it was already detected
// as a vertical line move above.)
const float next_mesh_line_x = mesh_index_to_xpos(current_xi + dxi),
next_mesh_line_y = mesh_index_to_ypos(current_yi + dyi),
ry = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
rx = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
// (No need to worry about m being zero.
// If that was the case, it was already detected
// as a vertical line move above.)
if (left_flag == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
if (neg.x == (rx > next_mesh_line_x)) { // Check if we hit the Y line first
// Yes! Crossing a Y Mesh Line next
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, current_xi - left_flag, current_yi + dyi)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
float z0 = z_correction_for_x_on_horizontal_mesh_line(rx, icell.x - ineg.x, icell.y + iadd.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? rx - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
on_axis_distance = use_x_dist ? rx - start.x : next_mesh_line_y - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
e_position = end.e;
z_position = end.z;
}
if (!planner.buffer_segment(rx, next_mesh_line_y, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
current_yi += dyi;
yi_cnt--;
icell.y += iadd.y;
cnt.y--;
}
else {
// Yes! Crossing a X Mesh Line next
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, current_xi + dxi, current_yi - down_flag)
* planner.fade_scaling_factor_for_z(end[Z_AXIS]);
float z0 = z_correction_for_y_on_vertical_mesh_line(ry, icell.x + iadd.x, icell.y - ineg.y)
* planner.fade_scaling_factor_for_z(end.z);
// Undefined parts of the Mesh in z_values[][] are NAN.
// Replace NAN corrections with 0.0 to prevent NAN propagation.
if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : ry - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
on_axis_distance = use_x_dist ? next_mesh_line_x - start.x : ry - start.y;
e_position = start.e + on_axis_distance * e_normalized_dist;
z_position = start.z + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
e_position = end.e;
z_position = end.z;
}
if (!planner.buffer_segment(next_mesh_line_x, ry, z_position + z0, e_position, scaled_fr_mm_s, extruder))
break;
current_xi += dxi;
xi_cnt--;
icell.x += iadd.x;
cnt.x--;
}
if (xi_cnt < 0 || yi_cnt < 0) break; // Too far! Exit the loop and go to FINAL_MOVE
if (cnt.x < 0 || cnt.y < 0) break; // Too far! Exit the loop and go to FINAL_MOVE
}
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
if (xy_pos_t(current_position) != xy_pos_t(end))
goto FINAL_MOVE;
set_current_from_destination();
current_position = destination;
}
#else // UBL_SEGMENTED
@@ -356,56 +334,42 @@
bool _O2 unified_bed_leveling::line_to_destination_segmented(const feedRate_t &scaled_fr_mm_s) {
if (!position_is_reachable(destination[X_AXIS], destination[Y_AXIS])) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate
if (!position_is_reachable(destination)) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate
const float total[XYZE] = {
destination[X_AXIS] - current_position[X_AXIS],
destination[Y_AXIS] - current_position[Y_AXIS],
destination[Z_AXIS] - current_position[Z_AXIS],
destination[E_AXIS] - current_position[E_AXIS]
};
const xyze_pos_t total = destination - current_position;
const float cartesian_xy_mm = HYPOT(total[X_AXIS], total[Y_AXIS]); // total horizontal xy distance
const float cart_xy_mm_2 = HYPOT2(total.x, total.y),
cart_xy_mm = SQRT(cart_xy_mm_2); // Total XY distance
#if IS_KINEMATIC
const float seconds = cartesian_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate
uint16_t segments = LROUND(delta_segments_per_second * seconds), // Preferred number of segments for distance @ feedrate
seglimit = LROUND(cartesian_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments)
const float seconds = cart_xy_mm / scaled_fr_mm_s; // Duration of XY move at requested rate
uint16_t segments = LROUND(delta_segments_per_second * seconds), // Preferred number of segments for distance @ feedrate
seglimit = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Number of segments at minimum segment length
NOMORE(segments, seglimit); // Limit to minimum segment length (fewer segments)
#else
uint16_t segments = LROUND(cartesian_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // cartesian fixed segment length
uint16_t segments = LROUND(cart_xy_mm * RECIPROCAL(DELTA_SEGMENT_MIN_LENGTH)); // Cartesian fixed segment length
#endif
NOLESS(segments, 1U); // must have at least one segment
const float inv_segments = 1.0f / segments; // divide once, multiply thereafter
NOLESS(segments, 1U); // Must have at least one segment
const float inv_segments = 1.0f / segments, // Reciprocal to save calculation
segment_xyz_mm = SQRT(cart_xy_mm_2 + sq(total.z)) * inv_segments; // Length of each segment
const float segment_xyz_mm = HYPOT(cartesian_xy_mm, total[Z_AXIS]) * inv_segments; // length of each segment
#if ENABLED(SCARA_FEEDRATE_SCALING)
const float inv_duration = scaled_fr_mm_s / segment_xyz_mm;
#endif
const float diff[XYZE] = {
total[X_AXIS] * inv_segments,
total[Y_AXIS] * inv_segments,
total[Z_AXIS] * inv_segments,
total[E_AXIS] * inv_segments
};
xyze_float_t diff = total * inv_segments;
// Note that E segment distance could vary slightly as z mesh height
// changes for each segment, but small enough to ignore.
float raw[XYZE] = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
};
xyze_pos_t raw = current_position;
// Just do plain segmentation if UBL is inactive or the target is above the fade height
if (!planner.leveling_active || !planner.leveling_active_at_z(destination[Z_AXIS])) {
if (!planner.leveling_active || !planner.leveling_active_at_z(destination.z)) {
while (--segments) {
LOOP_XYZE(i) raw[i] += diff[i];
raw += diff;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
@@ -417,17 +381,17 @@
, inv_duration
#endif
);
return false; // moved but did not set_current_from_destination();
return false; // Did not set current from destination
}
// Otherwise perform per-segment leveling
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = planner.fade_scaling_factor_for_z(destination[Z_AXIS]);
const float fade_scaling_factor = planner.fade_scaling_factor_for_z(destination.z);
#endif
// increment to first segment destination
LOOP_XYZE(i) raw[i] += diff[i];
// Move to first segment destination
raw += diff;
for (;;) { // for each mesh cell encountered during the move
@@ -438,75 +402,68 @@
// in top of loop and again re-find same adjacent cell and use it, just less efficient
// for mesh inset area.
int8_t cell_xi = (raw[X_AXIS] - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST),
cell_yi = (raw[Y_AXIS] - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST);
xy_int8_t icell = {
int8_t((raw.x - (MESH_MIN_X)) * RECIPROCAL(MESH_X_DIST)),
int8_t((raw.y - (MESH_MIN_Y)) * RECIPROCAL(MESH_Y_DIST))
};
LIMIT(icell.x, 0, (GRID_MAX_POINTS_X) - 1);
LIMIT(icell.y, 0, (GRID_MAX_POINTS_Y) - 1);
LIMIT(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
LIMIT(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
const float x0 = mesh_index_to_xpos(cell_xi), // 64 byte table lookup avoids mul+add
y0 = mesh_index_to_ypos(cell_yi);
float z_x0y0 = z_values[cell_xi ][cell_yi ], // z at lower left corner
z_x1y0 = z_values[cell_xi+1][cell_yi ], // z at upper left corner
z_x0y1 = z_values[cell_xi ][cell_yi+1], // z at lower right corner
z_x1y1 = z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
float z_x0y0 = z_values[icell.x ][icell.y ], // z at lower left corner
z_x1y0 = z_values[icell.x+1][icell.y ], // z at upper left corner
z_x0y1 = z_values[icell.x ][icell.y+1], // z at lower right corner
z_x1y1 = z_values[icell.x+1][icell.y+1]; // z at upper right corner
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating planner.leveling_active (G29 A)
if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points
if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
float cx = raw[X_AXIS] - x0, // cell-relative x and y
cy = raw[Y_AXIS] - y0;
const xy_pos_t pos = { mesh_index_to_xpos(icell.x), mesh_index_to_ypos(icell.y) };
xy_pos_t cell = raw - pos;
const float z_xmy0 = (z_x1y0 - z_x0y0) * RECIPROCAL(MESH_X_DIST), // z slope per x along y0 (lower left to lower right)
z_xmy1 = (z_x1y1 - z_x0y1) * RECIPROCAL(MESH_X_DIST); // z slope per x along y1 (upper left to upper right)
float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx (changes for each cx in cell)
float z_cxy0 = z_x0y0 + z_xmy0 * cell.x; // z height along y0 at cell.x (changes for each cell.x in cell)
const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
const float z_cxy1 = z_x0y1 + z_xmy1 * cell.x, // z height along y1 at cell.x
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cell.x from y0 to y1
float z_cxym = z_cxyd * RECIPROCAL(MESH_Y_DIST); // z slope per y along cx from y0 to y1 (changes for each cx in cell)
float z_cxym = z_cxyd * RECIPROCAL(MESH_Y_DIST); // z slope per y along cell.x from pos.y to y1 (changes for each cell.x in cell)
// float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy (do inside the segment loop)
// float z_cxcy = z_cxy0 + z_cxym * cell.y; // interpolated mesh z height along cell.x at cell.y (do inside the segment loop)
// As subsequent segments step through this cell, the z_cxy0 intercept will change
// and the z_cxym slope will change, both as a function of cx within the cell, and
// and the z_cxym slope will change, both as a function of cell.x within the cell, and
// each change by a constant for fixed segment lengths.
const float z_sxy0 = z_xmy0 * diff[X_AXIS], // per-segment adjustment to z_cxy0
z_sxym = (z_xmy1 - z_xmy0) * RECIPROCAL(MESH_Y_DIST) * diff[X_AXIS]; // per-segment adjustment to z_cxym
const float z_sxy0 = z_xmy0 * diff.x, // per-segment adjustment to z_cxy0
z_sxym = (z_xmy1 - z_xmy0) * RECIPROCAL(MESH_Y_DIST) * diff.x; // per-segment adjustment to z_cxym
for (;;) { // for all segments within this mesh cell
if (--segments == 0) COPY(raw, destination); // if this is last segment, use destination for exact
if (--segments == 0) raw = destination; // if this is last segment, use destination for exact
const float z_cxcy = (z_cxy0 + z_cxym * cy) // interpolated mesh z height along cx at cy
const float z_cxcy = (z_cxy0 + z_cxym * cell.y) // interpolated mesh z height along cell.x at cell.y
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* fade_scaling_factor // apply fade factor to interpolated mesh height
#endif
;
const float z = raw[Z_AXIS];
raw[Z_AXIS] += z_cxcy;
planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, segment_xyz_mm
planner.buffer_line(raw.x, raw.y, raw.z + z_cxcy, raw.e, scaled_fr_mm_s, active_extruder, segment_xyz_mm
#if ENABLED(SCARA_FEEDRATE_SCALING)
, inv_duration
#endif
);
raw[Z_AXIS] = z;
if (segments == 0) // done with last segment
return false; // did not set_current_from_destination()
return false; // didn't set current from destination
LOOP_XYZE(i) raw[i] += diff[i];
raw += diff;
cell += diff;
cx += diff[X_AXIS];
cy += diff[Y_AXIS];
if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) // done within this cell, break to next
if (!WITHIN(cell.x, 0, MESH_X_DIST) || !WITHIN(cell.y, 0, MESH_Y_DIST)) // done within this cell, break to next
break;
// Next segment still within same mesh cell, adjust the per-segment
Marlin/src/feature/binary_protocol.h
+5
View File
@@ -306,6 +306,9 @@ public:
PORT_REDIRECT(card.transfer_port_index);
#endif
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Warray-bounds"
while (PENDING(millis(), transfer_window)) {
switch (stream_state) {
/**
@@ -439,6 +442,8 @@ public:
break;
}
}
#pragma GCC diagnostic pop
}
void dispatch() {
Marlin/src/feature/caselight.cpp
+7 -1
View File
@@ -71,7 +71,13 @@ void update_case_light() {
#if DISABLED(CASE_LIGHT_NO_BRIGHTNESS)
if (PWM_PIN(CASE_LIGHT_PIN))
analogWrite(pin_t(CASE_LIGHT_PIN), n10ct);
analogWrite(pin_t(CASE_LIGHT_PIN),
#if CASE_LIGHT_MAX_PWM == 255
n10ct
#else
map(n10ct, 0, 255, 0, CASE_LIGHT_MAX_PWM)
#endif
);
else
#endif
{
Marlin/src/feature/dac/dac_mcp4728.cpp
+3 -3
View File
@@ -36,7 +36,7 @@
#include "dac_mcp4728.h"
uint16_t mcp4728_values[XYZE];
xyze_uint_t mcp4728_values;
/**
* Begin I2C, get current values (input register and eeprom) of mcp4728
@@ -121,8 +121,8 @@ uint8_t mcp4728_getDrvPct(const uint8_t channel) { return uint8_t(100.0 * mcp472
* Receives all Drive strengths as 0-100 percent values, updates
* DAC Values array and calls fastwrite to update the DAC.
*/
void mcp4728_setDrvPct(uint8_t pct[XYZE]) {
LOOP_XYZE(i) mcp4728_values[i] = 0.01 * pct[i] * (DAC_STEPPER_MAX);
void mcp4728_setDrvPct(xyze_uint8_t &pct) {
mcp4728_values *= 0.01 * pct * (DAC_STEPPER_MAX);
mcp4728_fastWrite();
}
Marlin/src/feature/dac/dac_mcp4728.h
+3 -1
View File
@@ -25,6 +25,8 @@
* Arduino library for MicroChip MCP4728 I2C D/A converter.
*/
#include "../../core/types.h"
#include <Wire.h>
#define defaultVDD DAC_STEPPER_MAX //was 5000 but differs with internal Vref
@@ -54,4 +56,4 @@ uint16_t mcp4728_getValue(const uint8_t channel);
uint8_t mcp4728_fastWrite();
uint8_t mcp4728_simpleCommand(const byte simpleCommand);
uint8_t mcp4728_getDrvPct(const uint8_t channel);
void mcp4728_setDrvPct(uint8_t pct[XYZE]);
void mcp4728_setDrvPct(xyze_uint8_t &pct);
Marlin/src/feature/dac/stepper_dac.cpp
+4 -4
View File
@@ -31,8 +31,8 @@
#include "stepper_dac.h"
bool dac_present = false;
const uint8_t dac_order[NUM_AXIS] = DAC_STEPPER_ORDER;
uint8_t dac_channel_pct[XYZE] = DAC_MOTOR_CURRENT_DEFAULT;
constexpr xyze_uint8_t dac_order = DAC_STEPPER_ORDER;
xyze_uint8_t dac_channel_pct = DAC_MOTOR_CURRENT_DEFAULT;
int dac_init() {
#if PIN_EXISTS(DAC_DISABLE)
@@ -77,8 +77,8 @@ void dac_current_raw(uint8_t channel, uint16_t val) {
static float dac_perc(int8_t n) { return 100.0 * mcp4728_getValue(dac_order[n]) * RECIPROCAL(DAC_STEPPER_MAX); }
static float dac_amps(int8_t n) { return mcp4728_getDrvPct(dac_order[n]) * (DAC_STEPPER_MAX) * 0.125 * RECIPROCAL(DAC_STEPPER_SENSE); }
uint8_t dac_current_get_percent(AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
void dac_current_set_percents(const uint8_t pct[XYZE]) {
uint8_t dac_current_get_percent(const AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
void dac_current_set_percents(xyze_uint8_t &pct) {
LOOP_XYZE(i) dac_channel_pct[i] = pct[dac_order[i]];
mcp4728_setDrvPct(dac_channel_pct);
}
Marlin/src/feature/dac/stepper_dac.h
+1 -1
View File
@@ -33,4 +33,4 @@ void dac_current_raw(uint8_t channel, uint16_t val);
void dac_print_values();
void dac_commit_eeprom();
uint8_t dac_current_get_percent(AxisEnum axis);
void dac_current_set_percents(const uint8_t pct[XYZE]);
void dac_current_set_percents(xyze_uint8_t &pct);
Marlin/src/feature/digipot/digipot_mcp4451.cpp
+1 -1
View File
@@ -35,7 +35,7 @@
#if MB(5DPRINT)
#define DIGIPOT_I2C_FACTOR 117.96
#define DIGIPOT_I2C_MAX_CURRENT 1.736
#elif MB(AZTEEG_X5_MINI) || MB(AZTEEG_X5_MINI_WIFI)
#elif MB(AZTEEG_X5_MINI, AZTEEG_X5_MINI_WIFI)
#define DIGIPOT_I2C_FACTOR 113.5
#define DIGIPOT_I2C_MAX_CURRENT 2.0
#else
Marlin/src/feature/fwretract.cpp
+7 -7
View File
@@ -123,8 +123,8 @@ void FWRetract::retract(const bool retracting
SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
#endif
}
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
SERIAL_ECHOLNPAIR("current_hop ", current_hop);
//*/
@@ -136,7 +136,7 @@ void FWRetract::retract(const bool retracting
);
// The current position will be the destination for E and Z moves
set_destination_from_current();
destination = current_position;
#if ENABLED(RETRACT_SYNC_MIXING)
const uint8_t old_mixing_tool = mixer.get_current_vtool();
@@ -147,7 +147,7 @@ void FWRetract::retract(const bool retracting
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_to_destination
prepare_internal_move_to_destination( // set current to destination
settings.retract_feedrate_mm_s
#if ENABLED(RETRACT_SYNC_MIXING)
* (MIXING_STEPPERS)
@@ -171,7 +171,7 @@ void FWRetract::retract(const bool retracting
const float extra_recover = swapping ? settings.swap_retract_recover_extra : settings.retract_recover_extra;
if (extra_recover) {
current_position[E_AXIS] -= extra_recover; // Adjust the current E position by the extra amount to 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
}
@@ -207,8 +207,8 @@ void FWRetract::retract(const bool retracting
SERIAL_ECHOLNPAIR("retracted_swap[", i, "] ", retracted_swap[i]);
#endif
}
SERIAL_ECHOLNPAIR("current_position[z] ", current_position[Z_AXIS]);
SERIAL_ECHOLNPAIR("current_position[e] ", current_position[E_AXIS]);
SERIAL_ECHOLNPAIR("current_position.z ", current_position.z);
SERIAL_ECHOLNPAIR("current_position.e ", current_position.e);
SERIAL_ECHOLNPAIR("current_hop ", current_hop);
//*/
}
Marlin/src/feature/host_actions.cpp
+2 -2
View File
@@ -102,8 +102,8 @@ void host_action(const char * const pstr, const bool eol) {
void host_response_handler(const uint8_t response) {
#ifdef DEBUG_HOST_ACTIONS
SERIAL_ECHOLNPAIR("M86 Handle Reason: ", host_prompt_reason);
SERIAL_ECHOLNPAIR("M86 Handle Response: ", response);
SERIAL_ECHOLNPAIR("M876 Handle Reason: ", host_prompt_reason);
SERIAL_ECHOLNPAIR("M876 Handle Response: ", response);
#endif
const char *msg = PSTR("UNKNOWN STATE");
const PromptReason hpr = host_prompt_reason;
Marlin/src/feature/joystick.cpp
+17 -20
View File
@@ -71,35 +71,35 @@ Joystick joystick;
#if HAS_JOY_ADC_X || HAS_JOY_ADC_Y || HAS_JOY_ADC_Z
void Joystick::calculate(float (&norm_jog)[XYZ]) {
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 &norm_jog, const int16_t raw, const int16_t (&joy_limits)[4]) {
auto _normalize_joy = [](float &axis_jog, const int16_t raw, const int16_t (&joy_limits)[4]) {
if (WITHIN(raw, joy_limits[0], joy_limits[3])) {
// within limits, check deadzone
if (raw > joy_limits[2])
norm_jog = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
axis_jog = (raw - joy_limits[2]) / float(joy_limits[3] - joy_limits[2]);
else if (raw < joy_limits[1])
norm_jog = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value
axis_jog = (raw - joy_limits[1]) / float(joy_limits[1] - joy_limits[0]); // negative value
// Map normal to jog value via quadratic relationship
norm_jog = SIGN(norm_jog) * sq(norm_jog);
axis_jog = SIGN(axis_jog) * sq(axis_jog);
}
};
#if HAS_JOY_ADC_X
static constexpr int16_t joy_x_limits[4] = JOY_X_LIMITS;
_normalize_joy(norm_jog[X_AXIS], x.raw, joy_x_limits);
_normalize_joy(norm_jog.x, x.raw, joy_x_limits);
#endif
#if HAS_JOY_ADC_Y
static constexpr int16_t joy_y_limits[4] = JOY_Y_LIMITS;
_normalize_joy(norm_jog[Y_AXIS], y.raw, joy_y_limits);
_normalize_joy(norm_jog.y, y.raw, joy_y_limits);
#endif
#if HAS_JOY_ADC_Z
static constexpr int16_t joy_z_limits[4] = JOY_Z_LIMITS;
_normalize_joy(norm_jog[Z_AXIS], z.raw, joy_z_limits);
_normalize_joy(norm_jog.z, z.raw, joy_z_limits);
#endif
}
@@ -112,10 +112,10 @@ Joystick joystick;
static bool injecting_now; // = false;
if (injecting_now) return;
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
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;
@@ -129,7 +129,7 @@ Joystick joystick;
// 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
float norm_jog[XYZ] = { 0 };
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
@@ -143,16 +143,13 @@ Joystick joystick;
ExtUI::_joystick_update(norm_jog);
#endif
#if EITHER(ULTIPANEL, EXTENSIBLE_UI)
constexpr float manual_feedrate[XYZE] = MANUAL_FEEDRATE;
#endif
// norm_jog values of [-1 .. 1] maps linearly to [-feedrate .. feedrate]
float move_dist[XYZ] = { 0 }, hypot2 = 0;
xyz_float_t move_dist{0};
float hypot2 = 0;
LOOP_XYZ(i) if (norm_jog[i]) {
move_dist[i] = seg_time * norm_jog[i] *
#if EITHER(ULTIPANEL, EXTENSIBLE_UI)
MMM_TO_MMS(manual_feedrate[i]);
MMM_TO_MMS(manual_feedrate_mm_m[i]);
#else
planner.settings.max_feedrate_mm_s[i];
#endif
@@ -160,7 +157,7 @@ Joystick joystick;
}
if (!UNEAR_ZERO(hypot2)) {
LOOP_XYZ(i) current_position[i] += move_dist[i];
current_position += move_dist;
const float length = sqrt(hypot2);
injecting_now = true;
planner.buffer_line(current_position, length / seg_time, active_extruder, length);
Marlin/src/feature/joystick.h
+3 -1
View File
@@ -25,6 +25,8 @@
* joystick.h - joystick input / jogging
*/
#include "../inc/MarlinConfigPre.h"
#include "../core/types.h"
#include "../core/macros.h"
#include "../module/temperature.h"
@@ -46,7 +48,7 @@ class Joystick {
#if ENABLED(JOYSTICK_DEBUG)
static void report();
#endif
static void calculate(float (&norm_jog)[XYZ]);
static void calculate(xyz_float_t &norm_jog);
static void inject_jog_moves();
};
Marlin/src/feature/leds/neopixel.h
+5 -3
View File
@@ -66,11 +66,9 @@ public:
static void set_color_startup(const uint32_t c);
static void set_color(const uint32_t c);
static void set_color_background();
//bool set_led_color(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t w, const uint8_t p);
#ifdef NEOPIXEL_BKGD_LED_INDEX
static void set_pixel_color(const uint16_t n, const uint32_t c);
static void set_color_background();
#endif
static inline void begin() {
@@ -107,6 +105,10 @@ public:
#endif
}
#if 0
bool set_led_color(const uint8_t r, const uint8_t g, const uint8_t b, const uint8_t w, const uint8_t p);
#endif
// Accessors
static inline uint16_t pixels() { return adaneo1.numPixels(); }
static inline uint8_t brightness() { return adaneo1.getBrightness(); }
Marlin/src/feature/leds/pca9632.cpp
+1 -2
View File
@@ -138,8 +138,7 @@ void pca9632_set_led_color(const LEDColor &color) {
#if ENABLED(PCA9632_BUZZER)
void pca9632_buzz(const long duration, const uint16_t freq) {
UNUSED(duration); UNUSED(freq);
void pca9632_buzz(const long, const uint16_t) {
uint8_t data[] = PCA9632_BUZZER_DATA;
Wire.beginTransmission(I2C_ADDRESS(PCA9632_ADDRESS));
Wire.write(data, sizeof(data));
Marlin/src/feature/mixing.h
+22 -8
View File
@@ -142,13 +142,19 @@ class Mixer {
static inline 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(float(_MAX(mix[0], mix[1])));
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_ECHOLNPAIR("Mix [", int(mix[0]), ", ", int(mix[1]), "] to Color [", int(tcolor[0]), ", ", int(tcolor[1]), "]");
SERIAL_ECHOPGM("Mix [ ");
SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(mix[0]), int(mix[1]), int(mix[2]), int(mix[3]), int(mix[4]), int(mix[5]));
SERIAL_ECHOPGM(" ] to Color [ ");
SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(tcolor[0]), int(tcolor[1]), int(tcolor[2]), int(tcolor[3]), int(tcolor[4]), int(tcolor[5]));
SERIAL_ECHOLNPGM(" ]");
#endif
}
@@ -156,10 +162,14 @@ class Mixer {
float ctot = 0;
MIXER_STEPPER_LOOP(i) ctot += color[j][i];
//MIXER_STEPPER_LOOP(i) mix[i] = 100.0f * color[j][i] / ctot;
mix[0] = mixer_perc_t(100.0f * color[j][0] / ctot);
mix[1] = 100 - mix[0];
MIXER_STEPPER_LOOP(i) mix[i] = mixer_perc_t(100.0f * color[j][i] / ctot);
#ifdef MIXER_NORMALIZER_DEBUG
SERIAL_ECHOLNPAIR("V-tool ", int(j), " [", int(color[j][0]), ", ", int(color[j][1]), "] to Mix [", int(mix[0]), ", ", int(mix[1]), "]");
SERIAL_ECHOPAIR("V-tool ", int(j), " [ ");
SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(color[j][0]), int(color[j][1]), int(color[j][2]), int(color[j][3]), int(color[j][4]), int(color[j][5]));
SERIAL_ECHOPGM(" ] to Mix [ ");
SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(mix[0]), int(mix[1]), int(mix[2]), int(mix[3]), int(mix[4]), int(mix[5]));
SERIAL_ECHOLNPGM(" ]");
#endif
}
@@ -199,10 +209,14 @@ class Mixer {
static inline void update_mix_from_gradient() {
float ctot = 0;
MIXER_STEPPER_LOOP(i) ctot += gradient.color[i];
mix[0] = (mixer_perc_t)CEIL(100.0f * gradient.color[0] / ctot);
mix[1] = 100 - mix[0];
MIXER_STEPPER_LOOP(i) mix[i] = (mixer_perc_t)CEIL(100.0f * gradient.color[i] / ctot);
#ifdef MIXER_NORMALIZER_DEBUG
SERIAL_ECHOLNPAIR("Gradient [", int(gradient.color[0]), ", ", int(gradient.color[1]), "] to Mix [", int(mix[0]), ", ", int(mix[1]), "]");
SERIAL_ECHOPGM("Gradient [ ");
SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(gradient.color[0]), int(gradient.color[1]), int(gradient.color[2]), int(gradient.color[3]), int(gradient.color[4]), int(gradient.color[5]));
SERIAL_ECHOPGM(" ] to Mix [ ");
SERIAL_ECHOLIST_N(MIXING_STEPPERS, int(mix[0]), int(mix[1]), int(mix[2]), int(mix[3]), int(mix[4]), int(mix[5]));
SERIAL_ECHOLNPGM(" ]");
#endif
}
Marlin/src/feature/pause.cpp
+27 -28
View File
@@ -53,6 +53,7 @@
#include "../lcd/extensible_ui/ui_api.h"
#endif
#include "../core/language.h"
#include "../lcd/ultralcd.h"
#if HAS_BUZZER
@@ -64,7 +65,7 @@
// private:
static float resume_position[XYZE];
static xyze_pos_t resume_position;
PauseMode pause_mode = PAUSE_MODE_PAUSE_PRINT;
@@ -76,6 +77,12 @@ fil_change_settings_t fc_settings[EXTRUDERS];
#include "../sd/cardreader.h"
#endif
#if ENABLED(EMERGENCY_PARSER)
#define _PMSG(L) L##_M108
#else
#define _PMSG(L) L##_LCD
#endif
#if HAS_BUZZER
static void filament_change_beep(const int8_t max_beep_count, const bool init=false) {
if (pause_mode == PAUSE_MODE_PAUSE_PRINT) return;
@@ -126,8 +133,8 @@ void do_pause_e_move(const float &length, const feedRate_t &fr_mm_s) {
#if HAS_FILAMENT_SENSOR
runout.reset();
#endif
current_position[E_AXIS] += length / planner.e_factor[active_extruder];
planner.buffer_line(current_position, fr_mm_s, active_extruder);
current_position.e += length / planner.e_factor[active_extruder];
line_to_current_position(fr_mm_s);
planner.synchronize();
}
@@ -163,7 +170,7 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
#if HAS_LCD_MENU
if (show_lcd) lcd_pause_show_message(PAUSE_MESSAGE_INSERT, mode);
#endif
SERIAL_ECHO_MSG(MSG_FILAMENT_CHANGE_INSERT);
SERIAL_ECHO_MSG(_PMSG(MSG_FILAMENT_CHANGE_INSERT));
#if HAS_BUZZER
filament_change_beep(max_beep_count, true);
@@ -188,7 +195,7 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
host_action_prompt_show();
#endif
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onUserConfirmRequired(PSTR("Load Filament"));
ExtUI::onUserConfirmRequired_P(PSTR("Load Filament"));
#endif
while (wait_for_user) {
#if HAS_BUZZER
@@ -240,10 +247,10 @@ bool load_filament(const float &slow_load_length/*=0*/, const float &fast_load_l
wait_for_user = true;
#if ENABLED(HOST_PROMPT_SUPPORT)
host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Continuous Purge Running..."), PSTR("Continue"));
host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Filament Purge Running..."), PSTR("Continue"));
#endif
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onUserConfirmRequired(PSTR("Continuous Purge Running..."));
ExtUI::onUserConfirmRequired_P(PSTR("Filament Purge Running..."));
#endif
for (float purge_count = purge_length; purge_count > 0 && wait_for_user; --purge_count)
do_pause_e_move(1, ADVANCED_PAUSE_PURGE_FEEDRATE);
@@ -381,11 +388,11 @@ bool unload_filament(const float &unload_length, const bool show_lcd/*=false*/,
* - Park the nozzle at the given position
* - Call unload_filament (if a length was specified)
*
* Returns 'true' if pause was completed, 'false' for abort
* Return 'true' if pause was completed, 'false' for abort
*/
uint8_t did_pause_print = 0;
bool pause_print(const float &retract, const point_t &park_point, const float &unload_length/*=0*/, const bool show_lcd/*=false*/ DXC_ARGS) {
bool pause_print(const float &retract, const xyz_pos_t &park_point, const float &unload_length/*=0*/, const bool show_lcd/*=false*/ DXC_ARGS) {
#if !HAS_LCD_MENU
UNUSED(show_lcd);
@@ -432,7 +439,7 @@ bool pause_print(const float &retract, const point_t &park_point, const float &u
print_job_timer.pause();
// Save current position
COPY(resume_position, current_position);
resume_position = current_position;
// Wait for buffered blocks to complete
planner.synchronize();
@@ -481,14 +488,6 @@ bool pause_print(const float &retract, const point_t &park_point, const float &u
* Used by M125 and M600
*/
#if (HAS_LCD_MENU || ENABLED(EXTENSIBLE_UI)) && ENABLED(EMERGENCY_PARSER)
#define _PMSG(L) L
#elif ENABLED(EMERGENCY_PARSER)
#define _PMSG(L) L##_M108
#else
#define _PMSG(L) L##_LCD
#endif
void show_continue_prompt(const bool is_reload) {
#if HAS_LCD_MENU
lcd_pause_show_message(is_reload ? PAUSE_MESSAGE_INSERT : PAUSE_MESSAGE_WAITING);
@@ -527,7 +526,7 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep
host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Nozzle Parked"), PSTR("Continue"));
#endif
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onUserConfirmRequired(PSTR("Nozzle Parked"));
ExtUI::onUserConfirmRequired_P(PSTR("Nozzle Parked"));
#endif
while (wait_for_user) {
#if HAS_BUZZER
@@ -551,7 +550,7 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep
#endif
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onUserConfirmRequired(PSTR("HeaterTimeout"));
ExtUI::onUserConfirmRequired_P(PSTR("HeaterTimeout"));
#endif
// Wait for LCD click or M108
@@ -581,7 +580,7 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep
host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Reheat Done"), PSTR("Continue"));
#endif
#if ENABLED(EXTENSIBLE_UI)
ExtUI::onUserConfirmRequired("Reheat finished.");
ExtUI::onUserConfirmRequired_P(PSTR("Reheat finished."));
#endif
wait_for_user = true;
nozzle_timed_out = false;
@@ -603,7 +602,7 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep
/**
* Resume or Start print procedure
*
* - Abort if not paused
* - If not paused, do nothing and return
* - Reset heater idle timers
* - Load filament if specified, but only if:
* - a nozzle timed out, or
@@ -611,10 +610,10 @@ void wait_for_confirmation(const bool is_reload/*=false*/, const int8_t max_beep
* - Display "wait for print to resume"
* - Re-prime the nozzle...
* - FWRETRACT: Recover/prime from the prior G10.
* - !FWRETRACT: Retract by resume_position[E], if negative.
* - !FWRETRACT: Retract by resume_position.e, if negative.
* Not sure how this logic comes into use.
* - Move the nozzle back to resume_position
* - Sync the planner E to resume_position[E]
* - Sync the planner E to resume_position.e
* - Send host action for resume, if configured
* - Resume the current SD print job, if any
*/
@@ -652,13 +651,13 @@ void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_le
#endif
// If resume_position is negative
if (resume_position[E_AXIS] < 0) do_pause_e_move(resume_position[E_AXIS], feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE));
if (resume_position.e < 0) do_pause_e_move(resume_position.e, feedRate_t(PAUSE_PARK_RETRACT_FEEDRATE));
// Move XY to starting position, then Z
do_blocking_move_to_xy(resume_position[X_AXIS], resume_position[Y_AXIS], feedRate_t(NOZZLE_PARK_XY_FEEDRATE));
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_AXIS], feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
do_blocking_move_to_z(resume_position.z, feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
#if ADVANCED_PAUSE_RESUME_PRIME != 0
do_pause_e_move(ADVANCED_PAUSE_RESUME_PRIME, feedRate_t(ADVANCED_PAUSE_PURGE_FEEDRATE));
@@ -666,7 +665,7 @@ void resume_print(const float &slow_load_length/*=0*/, const float &fast_load_le
// Now all extrusion positions are resumed and ready to be confirmed
// Set extruder to saved position
planner.set_e_position_mm((destination[E_AXIS] = current_position[E_AXIS] = resume_position[E_AXIS]));
planner.set_e_position_mm((destination.e = current_position.e = resume_position.e));
#if HAS_LCD_MENU
lcd_pause_show_message(PAUSE_MESSAGE_STATUS);
Marlin/src/feature/pause.h
+2 -1
View File
@@ -39,6 +39,7 @@ typedef struct {
enum PauseMode : char {
PAUSE_MODE_SAME,
PAUSE_MODE_PAUSE_PRINT,
PAUSE_MODE_CHANGE_FILAMENT,
PAUSE_MODE_LOAD_FILAMENT,
PAUSE_MODE_UNLOAD_FILAMENT
};
@@ -83,7 +84,7 @@ extern uint8_t did_pause_print;
void do_pause_e_move(const float &length, const feedRate_t &fr_mm_s);
bool pause_print(const float &retract, const point_t &park_point, const float &unload_length=0, const bool show_lcd=false DXC_PARAMS);
bool pause_print(const float &retract, const xyz_pos_t &park_point, const float &unload_length=0, const bool show_lcd=false DXC_PARAMS);
void wait_for_confirmation(const bool is_reload=false, const int8_t max_beep_count=0 DXC_PARAMS);

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