From e8701195e66f2d27ffe17fb514eae8173795aaf7 Mon Sep 17 00:00:00 2001 From: Georgiy Bondarenko <69736697+nehilo@users.noreply.github.com> Date: Thu, 4 Mar 2021 22:54:23 +0500 Subject: Initial commit --- Marlin/src/module/delta.cpp | 287 ++ Marlin/src/module/delta.h | 129 + Marlin/src/module/endstops.cpp | 1065 +++++++ Marlin/src/module/endstops.h | 198 ++ Marlin/src/module/motion.cpp | 1896 ++++++++++++ Marlin/src/module/motion.h | 465 +++ Marlin/src/module/planner.cpp | 3099 +++++++++++++++++++ Marlin/src/module/planner.h | 983 ++++++ Marlin/src/module/planner_bezier.cpp | 204 ++ Marlin/src/module/planner_bezier.h | 38 + Marlin/src/module/printcounter.cpp | 349 +++ Marlin/src/module/printcounter.h | 205 ++ Marlin/src/module/probe.cpp | 786 +++++ Marlin/src/module/probe.h | 256 ++ Marlin/src/module/scara.cpp | 164 + Marlin/src/module/scara.h | 42 + Marlin/src/module/servo.cpp | 56 + Marlin/src/module/servo.h | 115 + Marlin/src/module/settings.cpp | 3880 ++++++++++++++++++++++++ Marlin/src/module/settings.h | 111 + Marlin/src/module/speed_lookuptable.h | 168 + Marlin/src/module/stepper.cpp | 3514 +++++++++++++++++++++ Marlin/src/module/stepper.h | 607 ++++ Marlin/src/module/stepper/L64xx.cpp | 225 ++ Marlin/src/module/stepper/L64xx.h | 364 +++ Marlin/src/module/stepper/TMC26X.cpp | 144 + Marlin/src/module/stepper/TMC26X.h | 164 + Marlin/src/module/stepper/indirection.cpp | 50 + Marlin/src/module/stepper/indirection.h | 1003 ++++++ Marlin/src/module/stepper/trinamic.cpp | 877 ++++++ Marlin/src/module/stepper/trinamic.h | 362 +++ Marlin/src/module/temperature.cpp | 3578 ++++++++++++++++++++++ Marlin/src/module/temperature.h | 885 ++++++ Marlin/src/module/thermistor/thermistor_1.h | 90 + Marlin/src/module/thermistor/thermistor_10.h | 57 + Marlin/src/module/thermistor/thermistor_1010.h | 41 + Marlin/src/module/thermistor/thermistor_1047.h | 40 + Marlin/src/module/thermistor/thermistor_11.h | 76 + Marlin/src/module/thermistor/thermistor_110.h | 36 + Marlin/src/module/thermistor/thermistor_12.h | 56 + Marlin/src/module/thermistor/thermistor_13.h | 49 + Marlin/src/module/thermistor/thermistor_147.h | 36 + Marlin/src/module/thermistor/thermistor_15.h | 65 + Marlin/src/module/thermistor/thermistor_17.h | 78 + Marlin/src/module/thermistor/thermistor_18.h | 59 + Marlin/src/module/thermistor/thermistor_2.h | 62 + Marlin/src/module/thermistor/thermistor_20.h | 77 + Marlin/src/module/thermistor/thermistor_201.h | 57 + Marlin/src/module/thermistor/thermistor_202.h | 69 + Marlin/src/module/thermistor/thermistor_21.h | 78 + Marlin/src/module/thermistor/thermistor_22.h | 72 + Marlin/src/module/thermistor/thermistor_23.h | 128 + Marlin/src/module/thermistor/thermistor_3.h | 54 + Marlin/src/module/thermistor/thermistor_30.h | 66 + Marlin/src/module/thermistor/thermistor_331.h | 92 + Marlin/src/module/thermistor/thermistor_332.h | 50 + Marlin/src/module/thermistor/thermistor_4.h | 46 + Marlin/src/module/thermistor/thermistor_5.h | 62 + Marlin/src/module/thermistor/thermistor_501.h | 58 + Marlin/src/module/thermistor/thermistor_502.h | 60 + Marlin/src/module/thermistor/thermistor_503.h | 57 + Marlin/src/module/thermistor/thermistor_51.h | 83 + Marlin/src/module/thermistor/thermistor_512.h | 87 + Marlin/src/module/thermistor/thermistor_52.h | 62 + Marlin/src/module/thermistor/thermistor_55.h | 62 + Marlin/src/module/thermistor/thermistor_6.h | 64 + Marlin/src/module/thermistor/thermistor_60.h | 107 + Marlin/src/module/thermistor/thermistor_61.h | 116 + Marlin/src/module/thermistor/thermistor_66.h | 53 + Marlin/src/module/thermistor/thermistor_666.h | 98 + Marlin/src/module/thermistor/thermistor_67.h | 81 + Marlin/src/module/thermistor/thermistor_7.h | 84 + Marlin/src/module/thermistor/thermistor_70.h | 46 + Marlin/src/module/thermistor/thermistor_71.h | 94 + Marlin/src/module/thermistor/thermistor_75.h | 80 + Marlin/src/module/thermistor/thermistor_8.h | 46 + Marlin/src/module/thermistor/thermistor_9.h | 57 + Marlin/src/module/thermistor/thermistor_99.h | 64 + Marlin/src/module/thermistor/thermistor_998.h | 33 + Marlin/src/module/thermistor/thermistor_999.h | 33 + Marlin/src/module/thermistor/thermistors.h | 507 ++++ Marlin/src/module/tool_change.cpp | 1296 ++++++++ Marlin/src/module/tool_change.h | 125 + 83 files changed, 31318 insertions(+) create mode 100644 Marlin/src/module/delta.cpp create mode 100644 Marlin/src/module/delta.h create mode 100644 Marlin/src/module/endstops.cpp create mode 100644 Marlin/src/module/endstops.h create mode 100644 Marlin/src/module/motion.cpp create mode 100644 Marlin/src/module/motion.h create mode 100644 Marlin/src/module/planner.cpp create mode 100644 Marlin/src/module/planner.h create mode 100644 Marlin/src/module/planner_bezier.cpp create mode 100644 Marlin/src/module/planner_bezier.h create mode 100644 Marlin/src/module/printcounter.cpp create mode 100644 Marlin/src/module/printcounter.h create mode 100644 Marlin/src/module/probe.cpp create mode 100644 Marlin/src/module/probe.h create mode 100644 Marlin/src/module/scara.cpp create mode 100644 Marlin/src/module/scara.h create mode 100644 Marlin/src/module/servo.cpp create mode 100644 Marlin/src/module/servo.h create mode 100644 Marlin/src/module/settings.cpp create mode 100644 Marlin/src/module/settings.h create mode 100644 Marlin/src/module/speed_lookuptable.h create mode 100644 Marlin/src/module/stepper.cpp create mode 100644 Marlin/src/module/stepper.h create mode 100644 Marlin/src/module/stepper/L64xx.cpp create mode 100644 Marlin/src/module/stepper/L64xx.h create mode 100644 Marlin/src/module/stepper/TMC26X.cpp create mode 100644 Marlin/src/module/stepper/TMC26X.h create mode 100644 Marlin/src/module/stepper/indirection.cpp create mode 100644 Marlin/src/module/stepper/indirection.h create mode 100644 Marlin/src/module/stepper/trinamic.cpp create mode 100644 Marlin/src/module/stepper/trinamic.h create mode 100644 Marlin/src/module/temperature.cpp create mode 100644 Marlin/src/module/temperature.h create mode 100644 Marlin/src/module/thermistor/thermistor_1.h create mode 100644 Marlin/src/module/thermistor/thermistor_10.h create mode 100644 Marlin/src/module/thermistor/thermistor_1010.h create mode 100644 Marlin/src/module/thermistor/thermistor_1047.h create mode 100644 Marlin/src/module/thermistor/thermistor_11.h create mode 100644 Marlin/src/module/thermistor/thermistor_110.h create mode 100644 Marlin/src/module/thermistor/thermistor_12.h create mode 100644 Marlin/src/module/thermistor/thermistor_13.h create mode 100644 Marlin/src/module/thermistor/thermistor_147.h create mode 100644 Marlin/src/module/thermistor/thermistor_15.h create mode 100644 Marlin/src/module/thermistor/thermistor_17.h create mode 100644 Marlin/src/module/thermistor/thermistor_18.h create mode 100644 Marlin/src/module/thermistor/thermistor_2.h create mode 100644 Marlin/src/module/thermistor/thermistor_20.h create mode 100644 Marlin/src/module/thermistor/thermistor_201.h create mode 100644 Marlin/src/module/thermistor/thermistor_202.h create mode 100644 Marlin/src/module/thermistor/thermistor_21.h create mode 100644 Marlin/src/module/thermistor/thermistor_22.h create mode 100644 Marlin/src/module/thermistor/thermistor_23.h create mode 100644 Marlin/src/module/thermistor/thermistor_3.h create mode 100644 Marlin/src/module/thermistor/thermistor_30.h create mode 100644 Marlin/src/module/thermistor/thermistor_331.h create mode 100644 Marlin/src/module/thermistor/thermistor_332.h create mode 100644 Marlin/src/module/thermistor/thermistor_4.h create mode 100644 Marlin/src/module/thermistor/thermistor_5.h create mode 100644 Marlin/src/module/thermistor/thermistor_501.h create mode 100644 Marlin/src/module/thermistor/thermistor_502.h create mode 100644 Marlin/src/module/thermistor/thermistor_503.h create mode 100644 Marlin/src/module/thermistor/thermistor_51.h create mode 100644 Marlin/src/module/thermistor/thermistor_512.h create mode 100644 Marlin/src/module/thermistor/thermistor_52.h create mode 100644 Marlin/src/module/thermistor/thermistor_55.h create mode 100644 Marlin/src/module/thermistor/thermistor_6.h create mode 100644 Marlin/src/module/thermistor/thermistor_60.h create mode 100644 Marlin/src/module/thermistor/thermistor_61.h create mode 100644 Marlin/src/module/thermistor/thermistor_66.h create mode 100644 Marlin/src/module/thermistor/thermistor_666.h create mode 100644 Marlin/src/module/thermistor/thermistor_67.h create mode 100644 Marlin/src/module/thermistor/thermistor_7.h create mode 100644 Marlin/src/module/thermistor/thermistor_70.h create mode 100644 Marlin/src/module/thermistor/thermistor_71.h create mode 100644 Marlin/src/module/thermistor/thermistor_75.h create mode 100644 Marlin/src/module/thermistor/thermistor_8.h create mode 100644 Marlin/src/module/thermistor/thermistor_9.h create mode 100644 Marlin/src/module/thermistor/thermistor_99.h create mode 100644 Marlin/src/module/thermistor/thermistor_998.h create mode 100644 Marlin/src/module/thermistor/thermistor_999.h create mode 100644 Marlin/src/module/thermistor/thermistors.h create mode 100644 Marlin/src/module/tool_change.cpp create mode 100644 Marlin/src/module/tool_change.h (limited to 'Marlin/src/module') diff --git a/Marlin/src/module/delta.cpp b/Marlin/src/module/delta.cpp new file mode 100644 index 0000000..93238a6 --- /dev/null +++ b/Marlin/src/module/delta.cpp @@ -0,0 +1,287 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * delta.cpp + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(DELTA) + +#include "delta.h" +#include "motion.h" + +// For homing: +#include "planner.h" +#include "endstops.h" +#include "../lcd/marlinui.h" +#include "../MarlinCore.h" + +#if HAS_BED_PROBE + #include "probe.h" +#endif + +#if ENABLED(SENSORLESS_HOMING) + #include "../feature/tmc_util.h" + #include "stepper/indirection.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../core/debug_out.h" + +// Initialized by settings.load() +float delta_height; +abc_float_t delta_endstop_adj{0}; +float delta_radius, + delta_diagonal_rod, + delta_segments_per_second; +abc_float_t delta_tower_angle_trim; +xy_float_t delta_tower[ABC]; +abc_float_t delta_diagonal_rod_2_tower; +float delta_clip_start_height = Z_MAX_POS; +abc_float_t delta_diagonal_rod_trim; + +float delta_safe_distance_from_top(); + +/** + * Recalculate factors used for delta kinematics whenever + * settings have been changed (e.g., by M665). + */ +void recalc_delta_settings() { + constexpr abc_float_t trt = DELTA_RADIUS_TRIM_TOWER; + delta_tower[A_AXIS].set(cos(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a), // front left tower + sin(RADIANS(210 + delta_tower_angle_trim.a)) * (delta_radius + trt.a)); + delta_tower[B_AXIS].set(cos(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b), // front right tower + sin(RADIANS(330 + delta_tower_angle_trim.b)) * (delta_radius + trt.b)); + delta_tower[C_AXIS].set(cos(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c), // back middle tower + sin(RADIANS( 90 + delta_tower_angle_trim.c)) * (delta_radius + trt.c)); + delta_diagonal_rod_2_tower.set(sq(delta_diagonal_rod + delta_diagonal_rod_trim.a), + sq(delta_diagonal_rod + delta_diagonal_rod_trim.b), + sq(delta_diagonal_rod + delta_diagonal_rod_trim.c)); + update_software_endstops(Z_AXIS); + set_all_unhomed(); +} + +/** + * Get a safe radius for calibration + */ + +#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU) + + #if ENABLED(DELTA_AUTO_CALIBRATION) + float calibration_radius_factor = 1; + #endif + + float delta_calibration_radius() { + return calibration_radius_factor * ( + #if HAS_BED_PROBE + FLOOR((DELTA_PRINTABLE_RADIUS) - _MAX(HYPOT(probe.offset_xy.x, probe.offset_xy.y), PROBING_MARGIN)) + #else + DELTA_PRINTABLE_RADIUS + #endif + ); + } + +#endif + +/** + * Delta Inverse Kinematics + * + * Calculate the tower positions for a given machine + * position, storing the result in the delta[] array. + * + * This is an expensive calculation, requiring 3 square + * roots per segmented linear move, and strains the limits + * of a Mega2560 with a Graphical Display. + * + * Suggested optimizations include: + * + * - Disable the home_offset (M206) and/or position_shift (G92) + * features to remove up to 12 float additions. + */ + +#define DELTA_DEBUG(VAR) do { \ + SERIAL_ECHOLNPAIR_P(PSTR("Cartesian X"), VAR.x, SP_Y_STR, VAR.y, SP_Z_STR, VAR.z); \ + SERIAL_ECHOLNPAIR_P(PSTR("Delta A"), delta.a, SP_B_STR, delta.b, SP_C_STR, delta.c); \ + }while(0) + +void inverse_kinematics(const xyz_pos_t &raw) { + #if HAS_HOTEND_OFFSET + // Delta hotend offsets must be applied in Cartesian space with no "spoofing" + xyz_pos_t pos = { raw.x - hotend_offset[active_extruder].x, + raw.y - hotend_offset[active_extruder].y, + raw.z }; + DELTA_IK(pos); + //DELTA_DEBUG(pos); + #else + DELTA_IK(raw); + //DELTA_DEBUG(raw); + #endif +} + +/** + * Calculate the highest Z position where the + * effector has the full range of XY motion. + */ +float delta_safe_distance_from_top() { + xyz_pos_t cartesian{0}; + inverse_kinematics(cartesian); + const float centered_extent = delta.a; + cartesian.y = DELTA_PRINTABLE_RADIUS; + inverse_kinematics(cartesian); + return ABS(centered_extent - delta.a); +} + +/** + * Delta Forward Kinematics + * + * See the Wikipedia article "Trilateration" + * https://en.wikipedia.org/wiki/Trilateration + * + * Establish a new coordinate system in the plane of the + * three carriage points. This system has its origin at + * tower1, with tower2 on the X axis. Tower3 is in the X-Y + * plane with a Z component of zero. + * We will define unit vectors in this coordinate system + * in our original coordinate system. Then when we calculate + * the Xnew, Ynew and Znew values, we can translate back into + * the original system by moving along those unit vectors + * by the corresponding values. + * + * Variable names matched to Marlin, c-version, and avoid the + * use of any vector library. + * + * by Andreas Hardtung 2016-06-07 + * based on a Java function from "Delta Robot Kinematics V3" + * by Steve Graves + * + * The result is stored in the cartes[] array. + */ +void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3) { + // Create a vector in old coordinates along x axis of new coordinate + const float p12[3] = { delta_tower[B_AXIS].x - delta_tower[A_AXIS].x, delta_tower[B_AXIS].y - delta_tower[A_AXIS].y, z2 - z1 }, + + // Get the reciprocal of Magnitude of vector. + d2 = sq(p12[0]) + sq(p12[1]) + sq(p12[2]), inv_d = RSQRT(d2), + + // Create unit vector by multiplying by the inverse of the magnitude. + ex[3] = { p12[0] * inv_d, p12[1] * inv_d, p12[2] * inv_d }, + + // Get the vector from the origin of the new system to the third point. + p13[3] = { delta_tower[C_AXIS].x - delta_tower[A_AXIS].x, delta_tower[C_AXIS].y - delta_tower[A_AXIS].y, z3 - z1 }, + + // Use the dot product to find the component of this vector on the X axis. + i = ex[0] * p13[0] + ex[1] * p13[1] + ex[2] * p13[2], + + // Create a vector along the x axis that represents the x component of p13. + iex[3] = { ex[0] * i, ex[1] * i, ex[2] * i }; + + // Subtract the X component from the original vector leaving only Y. We use the + // variable that will be the unit vector after we scale it. + float ey[3] = { p13[0] - iex[0], p13[1] - iex[1], p13[2] - iex[2] }; + + // The magnitude and the inverse of the magnitude of Y component + const float j2 = sq(ey[0]) + sq(ey[1]) + sq(ey[2]), inv_j = RSQRT(j2); + + // Convert to a unit vector + ey[0] *= inv_j; ey[1] *= inv_j; ey[2] *= inv_j; + + // The cross product of the unit x and y is the unit z + // float[] ez = vectorCrossProd(ex, ey); + const float ez[3] = { + ex[1] * ey[2] - ex[2] * ey[1], + ex[2] * ey[0] - ex[0] * ey[2], + ex[0] * ey[1] - ex[1] * ey[0] + }, + + // We now have the d, i and j values defined in Wikipedia. + // Plug them into the equations defined in Wikipedia for Xnew, Ynew and Znew + Xnew = (delta_diagonal_rod_2_tower.a - delta_diagonal_rod_2_tower.b + d2) * inv_d * 0.5, + Ynew = ((delta_diagonal_rod_2_tower.a - delta_diagonal_rod_2_tower.c + sq(i) + j2) * 0.5 - i * Xnew) * inv_j, + Znew = SQRT(delta_diagonal_rod_2_tower.a - HYPOT2(Xnew, Ynew)); + + // Start from the origin of the old coordinates and add vectors in the + // old coords that represent the Xnew, Ynew and Znew to find the point + // in the old system. + cartes.set(delta_tower[A_AXIS].x + ex[0] * Xnew + ey[0] * Ynew - ez[0] * Znew, + delta_tower[A_AXIS].y + ex[1] * Xnew + ey[1] * Ynew - ez[1] * Znew, + z1 + ex[2] * Xnew + ey[2] * Ynew - ez[2] * Znew); +} + +/** + * A delta can only safely home all axes at the same time + * This is like quick_home_xy() but for 3 towers. + */ +void home_delta() { + DEBUG_SECTION(log_home_delta, "home_delta", DEBUGGING(LEVELING)); + + // Init the current position of all carriages to 0,0,0 + current_position.reset(); + destination.reset(); + sync_plan_position(); + + // Disable stealthChop if used. Enable diag1 pin on driver. + #if ENABLED(SENSORLESS_HOMING) + TERN_(X_SENSORLESS, sensorless_t stealth_states_x = start_sensorless_homing_per_axis(X_AXIS)); + TERN_(Y_SENSORLESS, sensorless_t stealth_states_y = start_sensorless_homing_per_axis(Y_AXIS)); + TERN_(Z_SENSORLESS, sensorless_t stealth_states_z = start_sensorless_homing_per_axis(Z_AXIS)); + #endif + + // Move all carriages together linearly until an endstop is hit. + current_position.z = (delta_height + 10 - TERN0(HAS_BED_PROBE, probe.offset.z)); + line_to_current_position(homing_feedrate(Z_AXIS)); + planner.synchronize(); + + // Re-enable stealthChop if used. Disable diag1 pin on driver. + #if ENABLED(SENSORLESS_HOMING) + TERN_(X_SENSORLESS, end_sensorless_homing_per_axis(X_AXIS, stealth_states_x)); + TERN_(Y_SENSORLESS, end_sensorless_homing_per_axis(Y_AXIS, stealth_states_y)); + TERN_(Z_SENSORLESS, end_sensorless_homing_per_axis(Z_AXIS, stealth_states_z)); + #endif + + endstops.validate_homing_move(); + + // At least one carriage has reached the top. + // Now re-home each carriage separately. + homeaxis(A_AXIS); + homeaxis(B_AXIS); + homeaxis(C_AXIS); + + // Set all carriages to their home positions + // Do this here all at once for Delta, because + // XYZ isn't ABC. Applying this per-tower would + // give the impression that they are the same. + LOOP_XYZ(i) set_axis_is_at_home((AxisEnum)i); + + sync_plan_position(); + + #if DISABLED(DELTA_HOME_TO_SAFE_ZONE) && defined(HOMING_BACKOFF_POST_MM) + constexpr xyz_float_t endstop_backoff = HOMING_BACKOFF_POST_MM; + if (endstop_backoff.z) { + current_position.z -= ABS(endstop_backoff.z) * Z_HOME_DIR; + line_to_current_position(homing_feedrate(Z_AXIS)); + } + #endif +} + +#endif // DELTA diff --git a/Marlin/src/module/delta.h b/Marlin/src/module/delta.h new file mode 100644 index 0000000..5e9a78b --- /dev/null +++ b/Marlin/src/module/delta.h @@ -0,0 +1,129 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * delta.h - Delta-specific functions + */ + +#include "../core/types.h" +#include "../core/macros.h" + +extern float delta_height; +extern abc_float_t delta_endstop_adj; +extern float delta_radius, + delta_diagonal_rod, + delta_segments_per_second; +extern abc_float_t delta_tower_angle_trim; +extern xy_float_t delta_tower[ABC]; +extern abc_float_t delta_diagonal_rod_2_tower; +extern float delta_clip_start_height; +extern abc_float_t delta_diagonal_rod_trim; + +/** + * Recalculate factors used for delta kinematics whenever + * settings have been changed (e.g., by M665). + */ +void recalc_delta_settings(); + +/** + * Get a safe radius for calibration + */ +#if ENABLED(DELTA_AUTO_CALIBRATION) + extern float calibration_radius_factor; +#else + constexpr float calibration_radius_factor = 1; +#endif + +#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU) + float delta_calibration_radius(); +#endif + +/** + * Delta Inverse Kinematics + * + * Calculate the tower positions for a given machine + * position, storing the result in the delta[] array. + * + * This is an expensive calculation, requiring 3 square + * roots per segmented linear move, and strains the limits + * of a Mega2560 with a Graphical Display. + * + * Suggested optimizations include: + * + * - Disable the home_offset (M206) and/or position_shift (G92) + * features to remove up to 12 float additions. + * + * - Use a fast-inverse-sqrt function and add the reciprocal. + * (see above) + */ + +// Macro to obtain the Z position of an individual tower +#define DELTA_Z(V,T) V.z + SQRT( \ + delta_diagonal_rod_2_tower[T] - HYPOT2( \ + delta_tower[T].x - V.x, \ + delta_tower[T].y - V.y \ + ) \ + ) + +#define DELTA_IK(V) delta.set(DELTA_Z(V, A_AXIS), DELTA_Z(V, B_AXIS), DELTA_Z(V, C_AXIS)) + +void inverse_kinematics(const xyz_pos_t &raw); + +/** + * Calculate the highest Z position where the + * effector has the full range of XY motion. + */ +float delta_safe_distance_from_top(); + +/** + * Delta Forward Kinematics + * + * See the Wikipedia article "Trilateration" + * https://en.wikipedia.org/wiki/Trilateration + * + * Establish a new coordinate system in the plane of the + * three carriage points. This system has its origin at + * tower1, with tower2 on the X axis. Tower3 is in the X-Y + * plane with a Z component of zero. + * We will define unit vectors in this coordinate system + * in our original coordinate system. Then when we calculate + * the Xnew, Ynew and Znew values, we can translate back into + * the original system by moving along those unit vectors + * by the corresponding values. + * + * Variable names matched to Marlin, c-version, and avoid the + * use of any vector library. + * + * by Andreas Hardtung 2016-06-07 + * based on a Java function from "Delta Robot Kinematics V3" + * by Steve Graves + * + * The result is stored in the cartes[] array. + */ +void forward_kinematics_DELTA(const float &z1, const float &z2, const float &z3); + +FORCE_INLINE void forward_kinematics_DELTA(const abc_float_t &point) { + forward_kinematics_DELTA(point.a, point.b, point.c); +} + +void home_delta(); diff --git a/Marlin/src/module/endstops.cpp b/Marlin/src/module/endstops.cpp new file mode 100644 index 0000000..b9d2c1c --- /dev/null +++ b/Marlin/src/module/endstops.cpp @@ -0,0 +1,1065 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * endstops.cpp - A singleton object to manage endstops + */ + +#include "endstops.h" +#include "stepper.h" + +#include "../sd/cardreader.h" +#include "temperature.h" +#include "../lcd/marlinui.h" + +#if ENABLED(ENDSTOP_INTERRUPTS_FEATURE) + #include HAL_PATH(../HAL, endstop_interrupts.h) +#endif + +#if BOTH(SD_ABORT_ON_ENDSTOP_HIT, SDSUPPORT) + #include "printcounter.h" // for print_job_timer +#endif + +#if ENABLED(BLTOUCH) + #include "../feature/bltouch.h" +#endif + +#if ENABLED(JOYSTICK) + #include "../feature/joystick.h" +#endif + +#if HAS_BED_PROBE + #include "probe.h" +#endif + +Endstops endstops; + +// private: + +bool Endstops::enabled, Endstops::enabled_globally; // Initialized by settings.load() +volatile uint8_t Endstops::hit_state; + +Endstops::esbits_t Endstops::live_state = 0; + +#if ENDSTOP_NOISE_THRESHOLD + Endstops::esbits_t Endstops::validated_live_state; + uint8_t Endstops::endstop_poll_count; +#endif + +#if HAS_BED_PROBE + volatile bool Endstops::z_probe_enabled = false; +#endif + +// Initialized by settings.load() +#if ENABLED(X_DUAL_ENDSTOPS) + float Endstops::x2_endstop_adj; +#endif +#if ENABLED(Y_DUAL_ENDSTOPS) + float Endstops::y2_endstop_adj; +#endif +#if ENABLED(Z_MULTI_ENDSTOPS) + float Endstops::z2_endstop_adj; + #if NUM_Z_STEPPER_DRIVERS >= 3 + float Endstops::z3_endstop_adj; + #if NUM_Z_STEPPER_DRIVERS >= 4 + float Endstops::z4_endstop_adj; + #endif + #endif +#endif + +#if ENABLED(SPI_ENDSTOPS) + Endstops::tmc_spi_homing_t Endstops::tmc_spi_homing; // = 0 +#endif +#if ENABLED(IMPROVE_HOMING_RELIABILITY) + millis_t sg_guard_period; // = 0 +#endif + +/** + * Class and Instance Methods + */ + +void Endstops::init() { + + #if HAS_X_MIN + #if ENABLED(ENDSTOPPULLUP_XMIN) + SET_INPUT_PULLUP(X_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_XMIN) + SET_INPUT_PULLDOWN(X_MIN_PIN); + #else + SET_INPUT(X_MIN_PIN); + #endif + #endif + + #if HAS_X2_MIN + #if ENABLED(ENDSTOPPULLUP_XMIN) + SET_INPUT_PULLUP(X2_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_XMIN) + SET_INPUT_PULLDOWN(X2_MIN_PIN); + #else + SET_INPUT(X2_MIN_PIN); + #endif + #endif + + #if HAS_Y_MIN + #if ENABLED(ENDSTOPPULLUP_YMIN) + SET_INPUT_PULLUP(Y_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_YMIN) + SET_INPUT_PULLDOWN(Y_MIN_PIN); + #else + SET_INPUT(Y_MIN_PIN); + #endif + #endif + + #if HAS_Y2_MIN + #if ENABLED(ENDSTOPPULLUP_YMIN) + SET_INPUT_PULLUP(Y2_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_YMIN) + SET_INPUT_PULLDOWN(Y2_MIN_PIN); + #else + SET_INPUT(Y2_MIN_PIN); + #endif + #endif + + #if HAS_Z_MIN + #if ENABLED(ENDSTOPPULLUP_ZMIN) + SET_INPUT_PULLUP(Z_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_ZMIN) + SET_INPUT_PULLDOWN(Z_MIN_PIN); + #else + SET_INPUT(Z_MIN_PIN); + #endif + #endif + + #if HAS_Z2_MIN + #if ENABLED(ENDSTOPPULLUP_ZMIN) + SET_INPUT_PULLUP(Z2_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_ZMIN) + SET_INPUT_PULLDOWN(Z2_MIN_PIN); + #else + SET_INPUT(Z2_MIN_PIN); + #endif + #endif + + #if HAS_Z3_MIN + #if ENABLED(ENDSTOPPULLUP_ZMIN) + SET_INPUT_PULLUP(Z3_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_ZMIN) + SET_INPUT_PULLDOWN(Z3_MIN_PIN); + #else + SET_INPUT(Z3_MIN_PIN); + #endif + #endif + + #if HAS_Z4_MIN + #if ENABLED(ENDSTOPPULLUP_ZMIN) + SET_INPUT_PULLUP(Z4_MIN_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_ZMIN) + SET_INPUT_PULLDOWN(Z4_MIN_PIN); + #else + SET_INPUT(Z4_MIN_PIN); + #endif + #endif + + #if HAS_X_MAX + #if ENABLED(ENDSTOPPULLUP_XMAX) + SET_INPUT_PULLUP(X_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_XMAX) + SET_INPUT_PULLDOWN(X_MAX_PIN); + #else + SET_INPUT(X_MAX_PIN); + #endif + #endif + + #if HAS_X2_MAX + #if ENABLED(ENDSTOPPULLUP_XMAX) + SET_INPUT_PULLUP(X2_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_XMAX) + SET_INPUT_PULLDOWN(X2_MAX_PIN); + #else + SET_INPUT(X2_MAX_PIN); + #endif + #endif + + #if HAS_Y_MAX + #if ENABLED(ENDSTOPPULLUP_YMAX) + SET_INPUT_PULLUP(Y_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_YMAX) + SET_INPUT_PULLDOWN(Y_MAX_PIN); + #else + SET_INPUT(Y_MAX_PIN); + #endif + #endif + + #if HAS_Y2_MAX + #if ENABLED(ENDSTOPPULLUP_YMAX) + SET_INPUT_PULLUP(Y2_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_YMAX) + SET_INPUT_PULLDOWN(Y2_MAX_PIN); + #else + SET_INPUT(Y2_MAX_PIN); + #endif + #endif + + #if HAS_Z_MAX + #if ENABLED(ENDSTOPPULLUP_ZMAX) + SET_INPUT_PULLUP(Z_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_ZMAX) + SET_INPUT_PULLDOWN(Z_MAX_PIN); + #else + SET_INPUT(Z_MAX_PIN); + #endif + #endif + + #if HAS_Z2_MAX + #if ENABLED(ENDSTOPPULLUP_ZMAX) + SET_INPUT_PULLUP(Z2_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_ZMAX) + SET_INPUT_PULLDOWN(Z2_MAX_PIN); + #else + SET_INPUT(Z2_MAX_PIN); + #endif + #endif + + #if HAS_Z3_MAX + #if ENABLED(ENDSTOPPULLUP_ZMAX) + SET_INPUT_PULLUP(Z3_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_ZMAX) + SET_INPUT_PULLDOWN(Z3_MAX_PIN); + #else + SET_INPUT(Z3_MAX_PIN); + #endif + #endif + + #if HAS_Z4_MAX + #if ENABLED(ENDSTOPPULLUP_ZMAX) + SET_INPUT_PULLUP(Z4_MAX_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_ZMAX) + SET_INPUT_PULLDOWN(Z4_MAX_PIN); + #else + SET_INPUT(Z4_MAX_PIN); + #endif + #endif + + #if PIN_EXISTS(CALIBRATION) + #if ENABLED(CALIBRATION_PIN_PULLUP) + SET_INPUT_PULLUP(CALIBRATION_PIN); + #elif ENABLED(CALIBRATION_PIN_PULLDOWN) + SET_INPUT_PULLDOWN(CALIBRATION_PIN); + #else + SET_INPUT(CALIBRATION_PIN); + #endif + #endif + + #if HAS_CUSTOM_PROBE_PIN + #if ENABLED(ENDSTOPPULLUP_ZMIN_PROBE) + SET_INPUT_PULLUP(Z_MIN_PROBE_PIN); + #elif ENABLED(ENDSTOPPULLDOWN_ZMIN_PROBE) + SET_INPUT_PULLDOWN(Z_MIN_PROBE_PIN); + #else + SET_INPUT(Z_MIN_PROBE_PIN); + #endif + #endif + + #if ENABLED(PROBE_ACTIVATION_SWITCH) + SET_INPUT(PROBE_ACTIVATION_SWITCH_PIN); + #endif + + TERN_(PROBE_TARE, probe.tare()); + + TERN_(ENDSTOP_INTERRUPTS_FEATURE, setup_endstop_interrupts()); + + // Enable endstops + enable_globally(ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)); + +} // Endstops::init + +// Called at ~1KHz from Temperature ISR: Poll endstop state if required +void Endstops::poll() { + + TERN_(PINS_DEBUGGING, run_monitor()); // Report changes in endstop status + + #if DISABLED(ENDSTOP_INTERRUPTS_FEATURE) + update(); + #elif ENDSTOP_NOISE_THRESHOLD + if (endstop_poll_count) update(); + #endif +} + +void Endstops::enable_globally(const bool onoff) { + enabled_globally = enabled = onoff; + resync(); +} + +// Enable / disable endstop checking +void Endstops::enable(const bool onoff) { + enabled = onoff; + resync(); +} + +// Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable +void Endstops::not_homing() { + enabled = enabled_globally; +} + +#if ENABLED(VALIDATE_HOMING_ENDSTOPS) + // If the last move failed to trigger an endstop, call kill + void Endstops::validate_homing_move() { + if (trigger_state()) hit_on_purpose(); + else kill(GET_TEXT(MSG_KILL_HOMING_FAILED)); + } +#endif + +// Enable / disable endstop z-probe checking +#if HAS_BED_PROBE + void Endstops::enable_z_probe(const bool onoff) { + z_probe_enabled = onoff; + resync(); + } +#endif + +// Get the stable endstop states when enabled +void Endstops::resync() { + if (!abort_enabled()) return; // If endstops/probes are disabled the loop below can hang + + // Wait for Temperature ISR to run at least once (runs at 1KHz) + TERN(ENDSTOP_INTERRUPTS_FEATURE, update(), safe_delay(2)); + while (TERN0(ENDSTOP_NOISE_THRESHOLD, endstop_poll_count)) safe_delay(1); +} + +#if ENABLED(PINS_DEBUGGING) + void Endstops::run_monitor() { + if (!monitor_flag) return; + static uint8_t monitor_count = 16; // offset this check from the others + monitor_count += _BV(1); // 15 Hz + monitor_count &= 0x7F; + if (!monitor_count) monitor(); // report changes in endstop status + } +#endif + +void Endstops::event_handler() { + static uint8_t prev_hit_state; // = 0 + if (hit_state == prev_hit_state) return; + prev_hit_state = hit_state; + if (hit_state) { + #if HAS_WIRED_LCD + char chrX = ' ', chrY = ' ', chrZ = ' ', chrP = ' '; + #define _SET_STOP_CHAR(A,C) (chr## A = C) + #else + #define _SET_STOP_CHAR(A,C) ; + #endif + + #define _ENDSTOP_HIT_ECHO(A,C) do{ \ + SERIAL_ECHOPAIR(" " STRINGIFY(A) ":", planner.triggered_position_mm(_AXIS(A))); \ + _SET_STOP_CHAR(A,C); }while(0) + + #define _ENDSTOP_HIT_TEST(A,C) \ + if (TEST(hit_state, A ##_MIN) || TEST(hit_state, A ##_MAX)) \ + _ENDSTOP_HIT_ECHO(A,C) + + #define ENDSTOP_HIT_TEST_X() _ENDSTOP_HIT_TEST(X,'X') + #define ENDSTOP_HIT_TEST_Y() _ENDSTOP_HIT_TEST(Y,'Y') + #define ENDSTOP_HIT_TEST_Z() _ENDSTOP_HIT_TEST(Z,'Z') + + SERIAL_ECHO_START(); + SERIAL_ECHOPGM(STR_ENDSTOPS_HIT); + ENDSTOP_HIT_TEST_X(); + ENDSTOP_HIT_TEST_Y(); + ENDSTOP_HIT_TEST_Z(); + + #if HAS_CUSTOM_PROBE_PIN + #define P_AXIS Z_AXIS + if (TEST(hit_state, Z_MIN_PROBE)) _ENDSTOP_HIT_ECHO(P, 'P'); + #endif + SERIAL_EOL(); + + TERN_(HAS_WIRED_LCD, ui.status_printf_P(0, PSTR(S_FMT " %c %c %c %c"), GET_TEXT(MSG_LCD_ENDSTOPS), chrX, chrY, chrZ, chrP)); + + #if BOTH(SD_ABORT_ON_ENDSTOP_HIT, SDSUPPORT) + if (planner.abort_on_endstop_hit) { + card.endFilePrint(); + quickstop_stepper(); + thermalManager.disable_all_heaters(); + print_job_timer.stop(); + } + #endif + } +} + +static void print_es_state(const bool is_hit, PGM_P const label=nullptr) { + if (label) serialprintPGM(label); + SERIAL_ECHOPGM(": "); + serialprintPGM(is_hit ? PSTR(STR_ENDSTOP_HIT) : PSTR(STR_ENDSTOP_OPEN)); + SERIAL_EOL(); +} + +void _O2 Endstops::report_states() { + TERN_(BLTOUCH, bltouch._set_SW_mode()); + SERIAL_ECHOLNPGM(STR_M119_REPORT); + #define ES_REPORT(S) print_es_state(READ(S##_PIN) != S##_ENDSTOP_INVERTING, PSTR(STR_##S)) + #if HAS_X_MIN + ES_REPORT(X_MIN); + #endif + #if HAS_X2_MIN + ES_REPORT(X2_MIN); + #endif + #if HAS_X_MAX + ES_REPORT(X_MAX); + #endif + #if HAS_X2_MAX + ES_REPORT(X2_MAX); + #endif + #if HAS_Y_MIN + ES_REPORT(Y_MIN); + #endif + #if HAS_Y2_MIN + ES_REPORT(Y2_MIN); + #endif + #if HAS_Y_MAX + ES_REPORT(Y_MAX); + #endif + #if HAS_Y2_MAX + ES_REPORT(Y2_MAX); + #endif + #if HAS_Z_MIN + ES_REPORT(Z_MIN); + #endif + #if HAS_Z2_MIN + ES_REPORT(Z2_MIN); + #endif + #if HAS_Z3_MIN + ES_REPORT(Z3_MIN); + #endif + #if HAS_Z4_MIN + ES_REPORT(Z4_MIN); + #endif + #if HAS_Z_MAX + ES_REPORT(Z_MAX); + #endif + #if HAS_Z2_MAX + ES_REPORT(Z2_MAX); + #endif + #if HAS_Z3_MAX + ES_REPORT(Z3_MAX); + #endif + #if HAS_Z4_MAX + ES_REPORT(Z4_MAX); + #endif + #if BOTH(MARLIN_DEV_MODE, PROBE_ACTIVATION_SWITCH) + print_es_state(probe_switch_activated(), PSTR(STR_PROBE_EN)); + #endif + #if HAS_CUSTOM_PROBE_PIN + print_es_state(PROBE_TRIGGERED(), PSTR(STR_Z_PROBE)); + #endif + #if HAS_FILAMENT_SENSOR + #if NUM_RUNOUT_SENSORS == 1 + print_es_state(READ(FIL_RUNOUT1_PIN) != FIL_RUNOUT1_STATE, PSTR(STR_FILAMENT_RUNOUT_SENSOR)); + #else + #define _CASE_RUNOUT(N) case N: pin = FIL_RUNOUT##N##_PIN; state = FIL_RUNOUT##N##_STATE; break; + LOOP_S_LE_N(i, 1, NUM_RUNOUT_SENSORS) { + pin_t pin; + uint8_t state; + switch (i) { + default: continue; + REPEAT_S(1, INCREMENT(NUM_RUNOUT_SENSORS), _CASE_RUNOUT) + } + SERIAL_ECHOPGM(STR_FILAMENT_RUNOUT_SENSOR); + if (i > 1) SERIAL_CHAR(' ', '0' + i); + print_es_state(extDigitalRead(pin) != state); + } + #undef _CASE_RUNOUT + #endif + #endif + + TERN_(BLTOUCH, bltouch._reset_SW_mode()); + TERN_(JOYSTICK_DEBUG, joystick.report()); + +} // Endstops::report_states + +// The following routines are called from an ISR context. It could be the temperature ISR, the +// endstop ISR or the Stepper ISR. + +#define _ENDSTOP(AXIS, MINMAX) AXIS ##_## MINMAX +#define _ENDSTOP_PIN(AXIS, MINMAX) AXIS ##_## MINMAX ##_PIN +#define _ENDSTOP_INVERTING(AXIS, MINMAX) AXIS ##_## MINMAX ##_ENDSTOP_INVERTING + +// Check endstops - Could be called from Temperature ISR! +void Endstops::update() { + + #if !ENDSTOP_NOISE_THRESHOLD + if (!abort_enabled()) return; + #endif + + #define UPDATE_ENDSTOP_BIT(AXIS, MINMAX) SET_BIT_TO(live_state, _ENDSTOP(AXIS, MINMAX), (READ(_ENDSTOP_PIN(AXIS, MINMAX)) != _ENDSTOP_INVERTING(AXIS, MINMAX))) + #define COPY_LIVE_STATE(SRC_BIT, DST_BIT) SET_BIT_TO(live_state, DST_BIT, TEST(live_state, SRC_BIT)) + + #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY) + // If G38 command is active check Z_MIN_PROBE for ALL movement + if (G38_move) UPDATE_ENDSTOP_BIT(Z, MIN_PROBE); + #endif + + // With Dual X, endstops are only checked in the homing direction for the active extruder + #if ENABLED(DUAL_X_CARRIAGE) + #define E0_ACTIVE stepper.last_moved_extruder == 0 + #define X_MIN_TEST() ((X_HOME_DIR < 0 && E0_ACTIVE) || (X2_HOME_DIR < 0 && !E0_ACTIVE)) + #define X_MAX_TEST() ((X_HOME_DIR > 0 && E0_ACTIVE) || (X2_HOME_DIR > 0 && !E0_ACTIVE)) + #else + #define X_MIN_TEST() true + #define X_MAX_TEST() true + #endif + + // Use HEAD for core axes, AXIS for others + #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY) + #define X_AXIS_HEAD X_HEAD + #else + #define X_AXIS_HEAD X_AXIS + #endif + #if ANY(CORE_IS_XY, CORE_IS_YZ, MARKFORGED_XY) + #define Y_AXIS_HEAD Y_HEAD + #else + #define Y_AXIS_HEAD Y_AXIS + #endif + #if CORE_IS_XZ || CORE_IS_YZ + #define Z_AXIS_HEAD Z_HEAD + #else + #define Z_AXIS_HEAD Z_AXIS + #endif + + /** + * Check and update endstops + */ + #if HAS_X_MIN && !X_SPI_SENSORLESS + UPDATE_ENDSTOP_BIT(X, MIN); + #if ENABLED(X_DUAL_ENDSTOPS) + #if HAS_X2_MIN + UPDATE_ENDSTOP_BIT(X2, MIN); + #else + COPY_LIVE_STATE(X_MIN, X2_MIN); + #endif + #endif + #endif + + #if HAS_X_MAX && !X_SPI_SENSORLESS + UPDATE_ENDSTOP_BIT(X, MAX); + #if ENABLED(X_DUAL_ENDSTOPS) + #if HAS_X2_MAX + UPDATE_ENDSTOP_BIT(X2, MAX); + #else + COPY_LIVE_STATE(X_MAX, X2_MAX); + #endif + #endif + #endif + + #if HAS_Y_MIN && !Y_SPI_SENSORLESS + UPDATE_ENDSTOP_BIT(Y, MIN); + #if ENABLED(Y_DUAL_ENDSTOPS) + #if HAS_Y2_MIN + UPDATE_ENDSTOP_BIT(Y2, MIN); + #else + COPY_LIVE_STATE(Y_MIN, Y2_MIN); + #endif + #endif + #endif + + #if HAS_Y_MAX && !Y_SPI_SENSORLESS + UPDATE_ENDSTOP_BIT(Y, MAX); + #if ENABLED(Y_DUAL_ENDSTOPS) + #if HAS_Y2_MAX + UPDATE_ENDSTOP_BIT(Y2, MAX); + #else + COPY_LIVE_STATE(Y_MAX, Y2_MAX); + #endif + #endif + #endif + + #if HAS_Z_MIN && NONE(Z_SPI_SENSORLESS, Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) + UPDATE_ENDSTOP_BIT(Z, MIN); + #if ENABLED(Z_MULTI_ENDSTOPS) + #if HAS_Z2_MIN + UPDATE_ENDSTOP_BIT(Z2, MIN); + #else + COPY_LIVE_STATE(Z_MIN, Z2_MIN); + #endif + #if NUM_Z_STEPPER_DRIVERS >= 3 + #if HAS_Z3_MIN + UPDATE_ENDSTOP_BIT(Z3, MIN); + #else + COPY_LIVE_STATE(Z_MIN, Z3_MIN); + #endif + #endif + #if NUM_Z_STEPPER_DRIVERS >= 4 + #if HAS_Z4_MIN + UPDATE_ENDSTOP_BIT(Z4, MIN); + #else + COPY_LIVE_STATE(Z_MIN, Z4_MIN); + #endif + #endif + #endif + #endif + + #if HAS_BED_PROBE + // When closing the gap check the enabled probe + if (probe_switch_activated()) + UPDATE_ENDSTOP_BIT(Z, TERN(HAS_CUSTOM_PROBE_PIN, MIN_PROBE, MIN)); + #endif + + #if HAS_Z_MAX && !Z_SPI_SENSORLESS + // Check both Z dual endstops + #if ENABLED(Z_MULTI_ENDSTOPS) + UPDATE_ENDSTOP_BIT(Z, MAX); + #if HAS_Z2_MAX + UPDATE_ENDSTOP_BIT(Z2, MAX); + #else + COPY_LIVE_STATE(Z_MAX, Z2_MAX); + #endif + #if NUM_Z_STEPPER_DRIVERS >= 3 + #if HAS_Z3_MAX + UPDATE_ENDSTOP_BIT(Z3, MAX); + #else + COPY_LIVE_STATE(Z_MAX, Z3_MAX); + #endif + #endif + #if NUM_Z_STEPPER_DRIVERS >= 4 + #if HAS_Z4_MAX + UPDATE_ENDSTOP_BIT(Z4, MAX); + #else + COPY_LIVE_STATE(Z_MAX, Z4_MAX); + #endif + #endif + #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN + // If this pin isn't the bed probe it's the Z endstop + UPDATE_ENDSTOP_BIT(Z, MAX); + #endif + #endif + + #if ENDSTOP_NOISE_THRESHOLD + + /** + * Filtering out noise on endstops requires a delayed decision. Let's assume, due to noise, + * that 50% of endstop signal samples are good and 50% are bad (assuming normal distribution + * of random noise). Then the first sample has a 50% chance to be good or bad. The 2nd sample + * also has a 50% chance to be good or bad. The chances of 2 samples both being bad becomes + * 50% of 50%, or 25%. That was the previous implementation of Marlin endstop handling. It + * reduces chances of bad readings in half, at the cost of 1 extra sample period, but chances + * still exist. The only way to reduce them further is to increase the number of samples. + * To reduce the chance to 1% (1/128th) requires 7 samples (adding 7ms of delay). + */ + static esbits_t old_live_state; + if (old_live_state != live_state) { + endstop_poll_count = ENDSTOP_NOISE_THRESHOLD; + old_live_state = live_state; + } + else if (endstop_poll_count && !--endstop_poll_count) + validated_live_state = live_state; + + if (!abort_enabled()) return; + + #endif + + // Test the current status of an endstop + #define TEST_ENDSTOP(ENDSTOP) (TEST(state(), ENDSTOP)) + + // Record endstop was hit + #define _ENDSTOP_HIT(AXIS, MINMAX) SBI(hit_state, _ENDSTOP(AXIS, MINMAX)) + + // Call the endstop triggered routine for single endstops + #define PROCESS_ENDSTOP(AXIS, MINMAX) do { \ + if (TEST_ENDSTOP(_ENDSTOP(AXIS, MINMAX))) { \ + _ENDSTOP_HIT(AXIS, MINMAX); \ + planner.endstop_triggered(_AXIS(AXIS)); \ + } \ + }while(0) + + // Core Sensorless Homing needs to test an Extra Pin + #define CORE_DIAG(QQ,A,MM) (CORE_IS_##QQ && A##_SENSORLESS && !A##_SPI_SENSORLESS && HAS_##A##_##MM) + #define PROCESS_CORE_ENDSTOP(A1,M1,A2,M2) do { \ + if (TEST_ENDSTOP(_ENDSTOP(A1,M1))) { \ + _ENDSTOP_HIT(A2,M2); \ + planner.endstop_triggered(_AXIS(A2)); \ + } \ + }while(0) + + // Call the endstop triggered routine for dual endstops + #define PROCESS_DUAL_ENDSTOP(A, MINMAX) do { \ + const byte dual_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1); \ + if (dual_hit) { \ + _ENDSTOP_HIT(A, MINMAX); \ + /* if not performing home or if both endstops were trigged during homing... */ \ + if (!stepper.separate_multi_axis || dual_hit == 0b11) \ + planner.endstop_triggered(_AXIS(A)); \ + } \ + }while(0) + + #define PROCESS_TRIPLE_ENDSTOP(A, MINMAX) do { \ + const byte triple_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(A##3, MINMAX)) << 2); \ + if (triple_hit) { \ + _ENDSTOP_HIT(A, MINMAX); \ + /* if not performing home or if both endstops were trigged during homing... */ \ + if (!stepper.separate_multi_axis || triple_hit == 0b111) \ + planner.endstop_triggered(_AXIS(A)); \ + } \ + }while(0) + + #define PROCESS_QUAD_ENDSTOP(A, MINMAX) do { \ + const byte quad_hit = TEST_ENDSTOP(_ENDSTOP(A, MINMAX)) | (TEST_ENDSTOP(_ENDSTOP(A##2, MINMAX)) << 1) | (TEST_ENDSTOP(_ENDSTOP(A##3, MINMAX)) << 2) | (TEST_ENDSTOP(_ENDSTOP(A##4, MINMAX)) << 3); \ + if (quad_hit) { \ + _ENDSTOP_HIT(A, MINMAX); \ + /* if not performing home or if both endstops were trigged during homing... */ \ + if (!stepper.separate_multi_axis || quad_hit == 0b1111) \ + planner.endstop_triggered(_AXIS(A)); \ + } \ + }while(0) + + #if ENABLED(X_DUAL_ENDSTOPS) + #define PROCESS_ENDSTOP_X(MINMAX) PROCESS_DUAL_ENDSTOP(X, MINMAX) + #else + #define PROCESS_ENDSTOP_X(MINMAX) if (X_##MINMAX##_TEST()) PROCESS_ENDSTOP(X, MINMAX) + #endif + + #if ENABLED(Y_DUAL_ENDSTOPS) + #define PROCESS_ENDSTOP_Y(MINMAX) PROCESS_DUAL_ENDSTOP(Y, MINMAX) + #else + #define PROCESS_ENDSTOP_Y(MINMAX) PROCESS_ENDSTOP(Y, MINMAX) + #endif + + #if DISABLED(Z_MULTI_ENDSTOPS) + #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_ENDSTOP(Z, MINMAX) + #elif NUM_Z_STEPPER_DRIVERS == 4 + #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_QUAD_ENDSTOP(Z, MINMAX) + #elif NUM_Z_STEPPER_DRIVERS == 3 + #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_TRIPLE_ENDSTOP(Z, MINMAX) + #else + #define PROCESS_ENDSTOP_Z(MINMAX) PROCESS_DUAL_ENDSTOP(Z, MINMAX) + #endif + + #if ENABLED(G38_PROBE_TARGET) && PIN_EXISTS(Z_MIN_PROBE) && NONE(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY) + #if ENABLED(G38_PROBE_AWAY) + #define _G38_OPEN_STATE (G38_move >= 4) + #else + #define _G38_OPEN_STATE LOW + #endif + // If G38 command is active check Z_MIN_PROBE for ALL movement + if (G38_move && TEST_ENDSTOP(_ENDSTOP(Z, MIN_PROBE)) != _G38_OPEN_STATE) { + if (stepper.axis_is_moving(X_AXIS)) { _ENDSTOP_HIT(X, MIN); planner.endstop_triggered(X_AXIS); } + else if (stepper.axis_is_moving(Y_AXIS)) { _ENDSTOP_HIT(Y, MIN); planner.endstop_triggered(Y_AXIS); } + else if (stepper.axis_is_moving(Z_AXIS)) { _ENDSTOP_HIT(Z, MIN); planner.endstop_triggered(Z_AXIS); } + G38_did_trigger = true; + } + #endif + + // Signal, after validation, if an endstop limit is pressed or not + + if (stepper.axis_is_moving(X_AXIS)) { + if (stepper.motor_direction(X_AXIS_HEAD)) { // -direction + #if HAS_X_MIN || (X_SPI_SENSORLESS && X_HOME_DIR < 0) + PROCESS_ENDSTOP_X(MIN); + #if CORE_DIAG(XY, Y, MIN) + PROCESS_CORE_ENDSTOP(Y,MIN,X,MIN); + #elif CORE_DIAG(XY, Y, MAX) + PROCESS_CORE_ENDSTOP(Y,MAX,X,MIN); + #elif CORE_DIAG(XZ, Z, MIN) + PROCESS_CORE_ENDSTOP(Z,MIN,X,MIN); + #elif CORE_DIAG(XZ, Z, MAX) + PROCESS_CORE_ENDSTOP(Z,MAX,X,MIN); + #endif + #endif + } + else { // +direction + #if HAS_X_MAX || (X_SPI_SENSORLESS && X_HOME_DIR > 0) + PROCESS_ENDSTOP_X(MAX); + #if CORE_DIAG(XY, Y, MIN) + PROCESS_CORE_ENDSTOP(Y,MIN,X,MAX); + #elif CORE_DIAG(XY, Y, MAX) + PROCESS_CORE_ENDSTOP(Y,MAX,X,MAX); + #elif CORE_DIAG(XZ, Z, MIN) + PROCESS_CORE_ENDSTOP(Z,MIN,X,MAX); + #elif CORE_DIAG(XZ, Z, MAX) + PROCESS_CORE_ENDSTOP(Z,MAX,X,MAX); + #endif + #endif + } + } + + if (stepper.axis_is_moving(Y_AXIS)) { + if (stepper.motor_direction(Y_AXIS_HEAD)) { // -direction + #if HAS_Y_MIN || (Y_SPI_SENSORLESS && Y_HOME_DIR < 0) + PROCESS_ENDSTOP_Y(MIN); + #if CORE_DIAG(XY, X, MIN) + PROCESS_CORE_ENDSTOP(X,MIN,Y,MIN); + #elif CORE_DIAG(XY, X, MAX) + PROCESS_CORE_ENDSTOP(X,MAX,Y,MIN); + #elif CORE_DIAG(YZ, Z, MIN) + PROCESS_CORE_ENDSTOP(Z,MIN,Y,MIN); + #elif CORE_DIAG(YZ, Z, MAX) + PROCESS_CORE_ENDSTOP(Z,MAX,Y,MIN); + #endif + #endif + } + else { // +direction + #if HAS_Y_MAX || (Y_SPI_SENSORLESS && Y_HOME_DIR > 0) + PROCESS_ENDSTOP_Y(MAX); + #if CORE_DIAG(XY, X, MIN) + PROCESS_CORE_ENDSTOP(X,MIN,Y,MAX); + #elif CORE_DIAG(XY, X, MAX) + PROCESS_CORE_ENDSTOP(X,MAX,Y,MAX); + #elif CORE_DIAG(YZ, Z, MIN) + PROCESS_CORE_ENDSTOP(Z,MIN,Y,MAX); + #elif CORE_DIAG(YZ, Z, MAX) + PROCESS_CORE_ENDSTOP(Z,MAX,Y,MAX); + #endif + #endif + } + } + + if (stepper.axis_is_moving(Z_AXIS)) { + if (stepper.motor_direction(Z_AXIS_HEAD)) { // Z -direction. Gantry down, bed up. + + #if HAS_Z_MIN || (Z_SPI_SENSORLESS && Z_HOME_DIR < 0) + if ( TERN1(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, z_probe_enabled) + && TERN1(HAS_CUSTOM_PROBE_PIN, !z_probe_enabled) + ) PROCESS_ENDSTOP_Z(MIN); + #if CORE_DIAG(XZ, X, MIN) + PROCESS_CORE_ENDSTOP(X,MIN,Z,MIN); + #elif CORE_DIAG(XZ, X, MAX) + PROCESS_CORE_ENDSTOP(X,MAX,Z,MIN); + #elif CORE_DIAG(YZ, Y, MIN) + PROCESS_CORE_ENDSTOP(Y,MIN,Z,MIN); + #elif CORE_DIAG(YZ, Y, MAX) + PROCESS_CORE_ENDSTOP(Y,MAX,Z,MIN); + #endif + #endif + + // When closing the gap check the enabled probe + #if HAS_CUSTOM_PROBE_PIN + if (z_probe_enabled) PROCESS_ENDSTOP(Z, MIN_PROBE); + #endif + } + else { // Z +direction. Gantry up, bed down. + #if HAS_Z_MAX || (Z_SPI_SENSORLESS && Z_HOME_DIR > 0) + #if ENABLED(Z_MULTI_ENDSTOPS) + PROCESS_ENDSTOP_Z(MAX); + #elif !HAS_CUSTOM_PROBE_PIN || Z_MAX_PIN != Z_MIN_PROBE_PIN // No probe or probe is Z_MIN || Probe is not Z_MAX + PROCESS_ENDSTOP(Z, MAX); + #endif + #if CORE_DIAG(XZ, X, MIN) + PROCESS_CORE_ENDSTOP(X,MIN,Z,MAX); + #elif CORE_DIAG(XZ, X, MAX) + PROCESS_CORE_ENDSTOP(X,MAX,Z,MAX); + #elif CORE_DIAG(YZ, Y, MIN) + PROCESS_CORE_ENDSTOP(Y,MIN,Z,MAX); + #elif CORE_DIAG(YZ, Y, MAX) + PROCESS_CORE_ENDSTOP(Y,MAX,Z,MAX); + #endif + #endif + } + } +} // Endstops::update() + +#if ENABLED(SPI_ENDSTOPS) + + bool Endstops::tmc_spi_homing_check() { + bool hit = false; + #if X_SPI_SENSORLESS + if (tmc_spi_homing.x && (stepperX.test_stall_status() + #if ANY(CORE_IS_XY, MARKFORGED_XY) && Y_SPI_SENSORLESS + || stepperY.test_stall_status() + #elif CORE_IS_XZ && Z_SPI_SENSORLESS + || stepperZ.test_stall_status() + #endif + )) { + SBI(live_state, X_ENDSTOP); + hit = true; + } + #endif + #if Y_SPI_SENSORLESS + if (tmc_spi_homing.y && (stepperY.test_stall_status() + #if ANY(CORE_IS_XY, MARKFORGED_XY) && X_SPI_SENSORLESS + || stepperX.test_stall_status() + #elif CORE_IS_YZ && Z_SPI_SENSORLESS + || stepperZ.test_stall_status() + #endif + )) { + SBI(live_state, Y_ENDSTOP); + hit = true; + } + #endif + #if Z_SPI_SENSORLESS + if (tmc_spi_homing.z && (stepperZ.test_stall_status() + #if CORE_IS_XZ && X_SPI_SENSORLESS + || stepperX.test_stall_status() + #elif CORE_IS_YZ && Y_SPI_SENSORLESS + || stepperY.test_stall_status() + #endif + )) { + SBI(live_state, Z_ENDSTOP); + hit = true; + } + #endif + + if (TERN0(ENDSTOP_INTERRUPTS_FEATURE, hit)) update(); + + return hit; + } + + void Endstops::clear_endstop_state() { + TERN_(X_SPI_SENSORLESS, CBI(live_state, X_ENDSTOP)); + TERN_(Y_SPI_SENSORLESS, CBI(live_state, Y_ENDSTOP)); + TERN_(Z_SPI_SENSORLESS, CBI(live_state, Z_ENDSTOP)); + } + +#endif // SPI_ENDSTOPS + +#if ENABLED(PINS_DEBUGGING) + + bool Endstops::monitor_flag = false; + + /** + * Monitor Endstops and Z Probe for changes + * + * If a change is detected then the LED is toggled and + * a message is sent out the serial port. + * + * Yes, we could miss a rapid back & forth change but + * that won't matter because this is all manual. + */ + void Endstops::monitor() { + + static uint16_t old_live_state_local = 0; + static uint8_t local_LED_status = 0; + uint16_t live_state_local = 0; + + #define ES_GET_STATE(S) if (READ(S##_PIN)) SBI(live_state_local, S) + + #if HAS_X_MIN + ES_GET_STATE(X_MIN); + #endif + #if HAS_X_MAX + ES_GET_STATE(X_MAX); + #endif + #if HAS_Y_MIN + ES_GET_STATE(Y_MIN); + #endif + #if HAS_Y_MAX + ES_GET_STATE(Y_MAX); + #endif + #if HAS_Z_MIN + ES_GET_STATE(Z_MIN); + #endif + #if HAS_Z_MAX + ES_GET_STATE(Z_MAX); + #endif + #if HAS_Z_MIN_PROBE_PIN + ES_GET_STATE(Z_MIN_PROBE); + #endif + #if HAS_X2_MIN + ES_GET_STATE(X2_MIN); + #endif + #if HAS_X2_MAX + ES_GET_STATE(X2_MAX); + #endif + #if HAS_Y2_MIN + ES_GET_STATE(Y2_MIN); + #endif + #if HAS_Y2_MAX + ES_GET_STATE(Y2_MAX); + #endif + #if HAS_Z2_MIN + ES_GET_STATE(Z2_MIN); + #endif + #if HAS_Z2_MAX + ES_GET_STATE(Z2_MAX); + #endif + #if HAS_Z3_MIN + ES_GET_STATE(Z3_MIN); + #endif + #if HAS_Z3_MAX + ES_GET_STATE(Z3_MAX); + #endif + #if HAS_Z4_MIN + ES_GET_STATE(Z4_MIN); + #endif + #if HAS_Z4_MAX + ES_GET_STATE(Z4_MAX); + #endif + + uint16_t endstop_change = live_state_local ^ old_live_state_local; + #define ES_REPORT_CHANGE(S) if (TEST(endstop_change, S)) SERIAL_ECHOPAIR(" " STRINGIFY(S) ":", TEST(live_state_local, S)) + + if (endstop_change) { + #if HAS_X_MIN + ES_REPORT_CHANGE(X_MIN); + #endif + #if HAS_X_MAX + ES_REPORT_CHANGE(X_MAX); + #endif + #if HAS_Y_MIN + ES_REPORT_CHANGE(Y_MIN); + #endif + #if HAS_Y_MAX + ES_REPORT_CHANGE(Y_MAX); + #endif + #if HAS_Z_MIN + ES_REPORT_CHANGE(Z_MIN); + #endif + #if HAS_Z_MAX + ES_REPORT_CHANGE(Z_MAX); + #endif + #if HAS_Z_MIN_PROBE_PIN + ES_REPORT_CHANGE(Z_MIN_PROBE); + #endif + #if HAS_X2_MIN + ES_REPORT_CHANGE(X2_MIN); + #endif + #if HAS_X2_MAX + ES_REPORT_CHANGE(X2_MAX); + #endif + #if HAS_Y2_MIN + ES_REPORT_CHANGE(Y2_MIN); + #endif + #if HAS_Y2_MAX + ES_REPORT_CHANGE(Y2_MAX); + #endif + #if HAS_Z2_MIN + ES_REPORT_CHANGE(Z2_MIN); + #endif + #if HAS_Z2_MAX + ES_REPORT_CHANGE(Z2_MAX); + #endif + #if HAS_Z3_MIN + ES_REPORT_CHANGE(Z3_MIN); + #endif + #if HAS_Z3_MAX + ES_REPORT_CHANGE(Z3_MAX); + #endif + #if HAS_Z4_MIN + ES_REPORT_CHANGE(Z4_MIN); + #endif + #if HAS_Z4_MAX + ES_REPORT_CHANGE(Z4_MAX); + #endif + SERIAL_ECHOLNPGM("\n"); + analogWrite(pin_t(LED_PIN), local_LED_status); + local_LED_status ^= 255; + old_live_state_local = live_state_local; + } + } + +#endif // PINS_DEBUGGING diff --git a/Marlin/src/module/endstops.h b/Marlin/src/module/endstops.h new file mode 100644 index 0000000..05936a6 --- /dev/null +++ b/Marlin/src/module/endstops.h @@ -0,0 +1,198 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * endstops.h - manages endstops + */ + +#include "../inc/MarlinConfig.h" +#include + +enum EndstopEnum : char { + X_MIN, Y_MIN, Z_MIN, Z_MIN_PROBE, + X_MAX, Y_MAX, Z_MAX, + X2_MIN, X2_MAX, + Y2_MIN, Y2_MAX, + Z2_MIN, Z2_MAX, + Z3_MIN, Z3_MAX, + Z4_MIN, Z4_MAX +}; + +#define X_ENDSTOP (X_HOME_DIR < 0 ? X_MIN : X_MAX) +#define Y_ENDSTOP (Y_HOME_DIR < 0 ? Y_MIN : Y_MAX) +#define Z_ENDSTOP (Z_HOME_DIR < 0 ? TERN(HOMING_Z_WITH_PROBE, Z_MIN, Z_MIN_PROBE) : Z_MAX) + +class Endstops { + public: + #if HAS_EXTRA_ENDSTOPS + typedef uint16_t esbits_t; + TERN_(X_DUAL_ENDSTOPS, static float x2_endstop_adj); + TERN_(Y_DUAL_ENDSTOPS, static float y2_endstop_adj); + TERN_(Z_MULTI_ENDSTOPS, static float z2_endstop_adj); + #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3 + static float z3_endstop_adj; + #endif + #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4 + static float z4_endstop_adj; + #endif + #else + typedef uint8_t esbits_t; + #endif + + private: + static bool enabled, enabled_globally; + static esbits_t live_state; + static volatile uint8_t hit_state; // Use X_MIN, Y_MIN, Z_MIN and Z_MIN_PROBE as BIT index + + #if ENDSTOP_NOISE_THRESHOLD + static esbits_t validated_live_state; + static uint8_t endstop_poll_count; // Countdown from threshold for polling + #endif + + public: + Endstops() {}; + + /** + * Initialize the endstop pins + */ + static void init(); + + /** + * Are endstops or the probe set to abort the move? + */ + FORCE_INLINE static bool abort_enabled() { + return enabled || TERN0(HAS_BED_PROBE, z_probe_enabled); + } + + static inline bool global_enabled() { return enabled_globally; } + + /** + * Periodic call to poll endstops if required. Called from temperature ISR + */ + static void poll(); + + /** + * Update endstops bits from the pins. Apply filtering to get a verified state. + * If abort_enabled() and moving towards a triggered switch, abort the current move. + * Called from ISR contexts. + */ + static void update(); + + /** + * Get Endstop hit state. + */ + FORCE_INLINE static uint8_t trigger_state() { return hit_state; } + + /** + * Get current endstops state + */ + FORCE_INLINE static esbits_t state() { + return + #if ENDSTOP_NOISE_THRESHOLD + validated_live_state + #else + live_state + #endif + ; + } + + static inline bool probe_switch_activated() { + return (true + #if ENABLED(PROBE_ACTIVATION_SWITCH) + && READ(PROBE_ACTIVATION_SWITCH_PIN) == PROBE_ACTIVATION_SWITCH_STATE + #endif + ); + } + + /** + * Report endstop hits to serial. Called from loop(). + */ + static void event_handler(); + + /** + * Report endstop states in response to M119 + */ + static void report_states(); + + // Enable / disable endstop checking globally + static void enable_globally(const bool onoff=true); + + // Enable / disable endstop checking + static void enable(const bool onoff=true); + + // Disable / Enable endstops based on ENSTOPS_ONLY_FOR_HOMING and global enable + static void not_homing(); + + #if ENABLED(VALIDATE_HOMING_ENDSTOPS) + // If the last move failed to trigger an endstop, call kill + static void validate_homing_move(); + #else + FORCE_INLINE static void validate_homing_move() { hit_on_purpose(); } + #endif + + // Clear endstops (i.e., they were hit intentionally) to suppress the report + FORCE_INLINE static void hit_on_purpose() { hit_state = 0; } + + // Enable / disable endstop z-probe checking + #if HAS_BED_PROBE + static volatile bool z_probe_enabled; + static void enable_z_probe(const bool onoff=true); + #endif + + static void resync(); + + // Debugging of endstops + #if ENABLED(PINS_DEBUGGING) + static bool monitor_flag; + static void monitor(); + static void run_monitor(); + #endif + + #if ENABLED(SPI_ENDSTOPS) + typedef struct { + union { + bool any; + struct { bool x:1, y:1, z:1; }; + }; + } tmc_spi_homing_t; + static tmc_spi_homing_t tmc_spi_homing; + static void clear_endstop_state(); + static bool tmc_spi_homing_check(); + #endif +}; + +extern Endstops endstops; + +/** + * A class to save and change the endstop state, + * then restore it when it goes out of scope. + */ +class TemporaryGlobalEndstopsState { + bool saved; + + public: + TemporaryGlobalEndstopsState(const bool enable) : saved(endstops.global_enabled()) { + endstops.enable_globally(enable); + } + ~TemporaryGlobalEndstopsState() { endstops.enable_globally(saved); } +}; diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp new file mode 100644 index 0000000..f7fc66b --- /dev/null +++ b/Marlin/src/module/motion.cpp @@ -0,0 +1,1896 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * motion.cpp + */ + +#include "motion.h" +#include "endstops.h" +#include "stepper.h" +#include "planner.h" +#include "temperature.h" + +#include "../gcode/gcode.h" + +#include "../inc/MarlinConfig.h" + +#if IS_SCARA + #include "../libs/buzzer.h" + #include "../lcd/marlinui.h" +#endif + +#if HAS_BED_PROBE + #include "probe.h" +#endif + +#if HAS_LEVELING + #include "../feature/bedlevel/bedlevel.h" +#endif + +#if ENABLED(BLTOUCH) + #include "../feature/bltouch.h" +#endif + +#if HAS_DISPLAY + #include "../lcd/marlinui.h" +#endif + +#if HAS_FILAMENT_SENSOR + #include "../feature/runout.h" +#endif + +#if ENABLED(SENSORLESS_HOMING) + #include "../feature/tmc_util.h" +#endif + +#if ENABLED(FWRETRACT) + #include "../feature/fwretract.h" +#endif + +#if ENABLED(BABYSTEP_DISPLAY_TOTAL) + #include "../feature/babystep.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../core/debug_out.h" + +/** + * axis_homed + * Flags that each linear axis was homed. + * XYZ on cartesian, ABC on delta, ABZ on SCARA. + * + * axis_trusted + * Flags that the position is trusted in each linear axis. Set when homed. + * Cleared whenever a stepper powers off, potentially losing its position. + */ +uint8_t axis_homed, axis_trusted; // = 0 + +// Relative Mode. Enable with G91, disable with G90. +bool relative_mode; // = false; + +/** + * Cartesian Current Position + * Used to track the native machine position as moves are queued. + * Used by 'line_to_current_position' to do a move after changing it. + * Used by 'sync_plan_position' to update 'planner.position'. + */ +xyze_pos_t current_position = { X_HOME_POS, Y_HOME_POS, Z_HOME_POS }; + +/** + * Cartesian Destination + * The destination for a move, filled in by G-code movement commands, + * and expected by functions like 'prepare_line_to_destination'. + * G-codes can set destination using 'get_destination_from_command' + */ +xyze_pos_t destination; // {0} + +// G60/G61 Position Save and Return +#if SAVED_POSITIONS + uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3]; + xyz_pos_t stored_position[SAVED_POSITIONS]; +#endif + +// The active extruder (tool). Set with T command. +#if HAS_MULTI_EXTRUDER + uint8_t active_extruder = 0; // = 0 +#endif + +#if ENABLED(LCD_SHOW_E_TOTAL) + float e_move_accumulator; // = 0 +#endif + +// Extruder offsets +#if HAS_HOTEND_OFFSET + xyz_pos_t hotend_offset[HOTENDS]; // Initialized by settings.load() + void reset_hotend_offsets() { + constexpr float tmp[XYZ][HOTENDS] = { HOTEND_OFFSET_X, HOTEND_OFFSET_Y, HOTEND_OFFSET_Z }; + static_assert( + !tmp[X_AXIS][0] && !tmp[Y_AXIS][0] && !tmp[Z_AXIS][0], + "Offsets for the first hotend must be 0.0." + ); + // Transpose from [XYZ][HOTENDS] to [HOTENDS][XYZ] + HOTEND_LOOP() LOOP_XYZ(a) hotend_offset[e][a] = tmp[a][e]; + #if ENABLED(DUAL_X_CARRIAGE) + hotend_offset[1].x = _MAX(X2_HOME_POS, X2_MAX_POS); + #endif + } +#endif + +// The feedrate for the current move, often used as the default if +// no other feedrate is specified. Overridden for special moves. +// Set by the last G0 through G5 command's "F" parameter. +// Functions that override this for custom moves *must always* restore it! +feedRate_t feedrate_mm_s = MMM_TO_MMS(1500); +int16_t feedrate_percentage = 100; + +// Cartesian conversion result goes here: +xyz_pos_t cartes; + +#if IS_KINEMATIC + + abc_pos_t delta; + + #if HAS_SCARA_OFFSET + abc_pos_t scara_home_offset; + #endif + + #if HAS_SOFTWARE_ENDSTOPS + float delta_max_radius, delta_max_radius_2; + #elif IS_SCARA + constexpr float delta_max_radius = SCARA_PRINTABLE_RADIUS, + delta_max_radius_2 = sq(SCARA_PRINTABLE_RADIUS); + #else // DELTA + constexpr float delta_max_radius = DELTA_PRINTABLE_RADIUS, + delta_max_radius_2 = sq(DELTA_PRINTABLE_RADIUS); + #endif + +#endif + +/** + * The workspace can be offset by some commands, or + * these offsets may be omitted to save on computation. + */ +#if HAS_POSITION_SHIFT + // The distance that XYZ has been offset by G92. Reset by G28. + xyz_pos_t position_shift{0}; +#endif +#if HAS_HOME_OFFSET + // This offset is added to the configured home position. + // Set by M206, M428, or menu item. Saved to EEPROM. + xyz_pos_t home_offset{0}; +#endif +#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT + // The above two are combined to save on computes + xyz_pos_t workspace_offset{0}; +#endif + +#if HAS_ABL_NOT_UBL + feedRate_t xy_probe_feedrate_mm_s = MMM_TO_MMS(XY_PROBE_SPEED); +#endif + +/** + * Output the current position to serial + */ + +inline void report_more_positions() { + stepper.report_positions(); + TERN_(IS_SCARA, scara_report_positions()); +} + +// Report the logical position for a given machine position +inline void report_logical_position(const xyze_pos_t &rpos) { + const xyze_pos_t lpos = rpos.asLogical(); + SERIAL_ECHOPAIR_P(X_LBL, lpos.x, SP_Y_LBL, lpos.y, SP_Z_LBL, lpos.z, SP_E_LBL, lpos.e); +} + +// Report the real current position according to the steppers. +// Forward kinematics and un-leveling are applied. +void report_real_position() { + get_cartesian_from_steppers(); + xyze_pos_t npos = cartes; + npos.e = planner.get_axis_position_mm(E_AXIS); + + #if HAS_POSITION_MODIFIERS + planner.unapply_modifiers(npos, true); + #endif + + report_logical_position(npos); + report_more_positions(); +} + +// Report the logical current position according to the most recent G-code command +void report_current_position() { + report_logical_position(current_position); + report_more_positions(); +} + +/** + * Report the logical current position according to the most recent G-code command. + * The planner.position always corresponds to the last G-code too. This makes M114 + * suitable for debugging kinematics and leveling while avoiding planner sync that + * definitively interrupts the printing flow. + */ +void report_current_position_projected() { + report_logical_position(current_position); + stepper.report_a_position(planner.position); +} + +/** + * Run out the planner buffer and re-sync the current + * position from the last-updated stepper positions. + */ +void quickstop_stepper() { + planner.quick_stop(); + planner.synchronize(); + set_current_from_steppers_for_axis(ALL_AXES); + sync_plan_position(); +} + +/** + * Set the planner/stepper positions directly from current_position with + * no kinematic translation. Used for homing axes and cartesian/core syncing. + */ +void sync_plan_position() { + if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position); + planner.set_position_mm(current_position); +} + +void sync_plan_position_e() { planner.set_e_position_mm(current_position.e); } + +/** + * Get the stepper positions in the cartes[] array. + * Forward kinematics are applied for DELTA and SCARA. + * + * The result is in the current coordinate space with + * leveling applied. The coordinates need to be run through + * unapply_leveling to obtain the "ideal" coordinates + * suitable for current_position, etc. + */ +void get_cartesian_from_steppers() { + #if ENABLED(DELTA) + forward_kinematics_DELTA(planner.get_axis_positions_mm()); + #else + #if IS_SCARA + forward_kinematics_SCARA( + planner.get_axis_position_degrees(A_AXIS), + planner.get_axis_position_degrees(B_AXIS) + ); + #else + cartes.set(planner.get_axis_position_mm(X_AXIS), planner.get_axis_position_mm(Y_AXIS)); + #endif + cartes.z = planner.get_axis_position_mm(Z_AXIS); + #endif +} + +/** + * Set the current_position for an axis based on + * the stepper positions, removing any leveling that + * may have been applied. + * + * To prevent small shifts in axis position always call + * sync_plan_position after updating axes with this. + * + * To keep hosts in sync, always call report_current_position + * after updating the current_position. + */ +void set_current_from_steppers_for_axis(const AxisEnum axis) { + get_cartesian_from_steppers(); + xyze_pos_t pos = cartes; + pos.e = planner.get_axis_position_mm(E_AXIS); + + #if HAS_POSITION_MODIFIERS + planner.unapply_modifiers(pos, true); + #endif + + if (axis == ALL_AXES) + current_position = pos; + else + current_position[axis] = pos[axis]; +} + +/** + * Move the planner to the current position from wherever it last moved + * (or from wherever it has been told it is located). + */ +void line_to_current_position(const feedRate_t &fr_mm_s/*=feedrate_mm_s*/) { + planner.buffer_line(current_position, fr_mm_s, active_extruder); +} + +#if EXTRUDERS + void unscaled_e_move(const float &length, const feedRate_t &fr_mm_s) { + TERN_(HAS_FILAMENT_SENSOR, runout.reset()); + current_position.e += length / planner.e_factor[active_extruder]; + line_to_current_position(fr_mm_s); + planner.synchronize(); + } +#endif + +#if IS_KINEMATIC + + /** + * Buffer a fast move without interpolation. Set current_position to destination + */ + void prepare_fast_move_to_destination(const feedRate_t &scaled_fr_mm_s/*=MMS_SCALED(feedrate_mm_s)*/) { + if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_fast_move_to_destination", destination); + + #if UBL_SEGMENTED + // UBL segmented line will do Z-only moves in single segment + ubl.line_to_destination_segmented(scaled_fr_mm_s); + #else + if (current_position == destination) return; + + planner.buffer_line(destination, scaled_fr_mm_s, active_extruder); + #endif + + current_position = destination; + } + +#endif // IS_KINEMATIC + +/** + * Do a fast or normal move to 'destination' with an optional FR. + * - Move at normal speed regardless of feedrate percentage. + * - Extrude the specified length regardless of flow percentage. + */ +void _internal_move_to_destination(const feedRate_t &fr_mm_s/*=0.0f*/ + #if IS_KINEMATIC + , const bool is_fast/*=false*/ + #endif +) { + const feedRate_t old_feedrate = feedrate_mm_s; + if (fr_mm_s) feedrate_mm_s = fr_mm_s; + + const uint16_t old_pct = feedrate_percentage; + feedrate_percentage = 100; + + #if EXTRUDERS + const float old_fac = planner.e_factor[active_extruder]; + planner.e_factor[active_extruder] = 1.0f; + #endif + + #if IS_KINEMATIC + if (is_fast) + prepare_fast_move_to_destination(); + else + #endif + prepare_line_to_destination(); + + feedrate_mm_s = old_feedrate; + feedrate_percentage = old_pct; + #if EXTRUDERS + planner.e_factor[active_extruder] = old_fac; + #endif +} + +/** + * Plan a move to (X, Y, Z) and set the current_position + */ +void do_blocking_move_to(const float rx, const float ry, const float rz, const feedRate_t &fr_mm_s/*=0.0*/) { + DEBUG_SECTION(log_move, "do_blocking_move_to", DEBUGGING(LEVELING)); + if (DEBUGGING(LEVELING)) DEBUG_XYZ("> ", rx, ry, rz); + + const feedRate_t z_feedrate = fr_mm_s ?: homing_feedrate(Z_AXIS), + xy_feedrate = fr_mm_s ?: feedRate_t(XY_PROBE_FEEDRATE_MM_S); + + #if ENABLED(DELTA) + + if (!position_is_reachable(rx, ry)) return; + + REMEMBER(fr, feedrate_mm_s, xy_feedrate); + + destination = current_position; // sync destination at the start + + if (DEBUGGING(LEVELING)) DEBUG_POS("destination = current_position", destination); + + // when in the danger zone + if (current_position.z > delta_clip_start_height) { + if (rz > delta_clip_start_height) { // staying in the danger zone + destination.set(rx, ry, rz); // move directly (uninterpolated) + prepare_internal_fast_move_to_destination(); // set current_position from destination + if (DEBUGGING(LEVELING)) DEBUG_POS("danger zone move", current_position); + return; + } + destination.z = delta_clip_start_height; + prepare_internal_fast_move_to_destination(); // set current_position from destination + if (DEBUGGING(LEVELING)) DEBUG_POS("zone border move", current_position); + } + + if (rz > current_position.z) { // raising? + destination.z = rz; + prepare_internal_fast_move_to_destination(z_feedrate); // set current_position from destination + if (DEBUGGING(LEVELING)) DEBUG_POS("z raise move", current_position); + } + + destination.set(rx, ry); + prepare_internal_move_to_destination(); // set current_position from destination + if (DEBUGGING(LEVELING)) DEBUG_POS("xy move", current_position); + + if (rz < current_position.z) { // lowering? + destination.z = rz; + prepare_internal_fast_move_to_destination(z_feedrate); // set current_position from destination + if (DEBUGGING(LEVELING)) DEBUG_POS("z lower move", current_position); + } + + #elif IS_SCARA + + if (!position_is_reachable(rx, ry)) return; + + destination = current_position; + + // If Z needs to raise, do it before moving XY + if (destination.z < rz) { + destination.z = rz; + prepare_internal_fast_move_to_destination(z_feedrate); + } + + destination.set(rx, ry); + prepare_internal_fast_move_to_destination(xy_feedrate); + + // If Z needs to lower, do it after moving XY + if (destination.z > rz) { + destination.z = rz; + prepare_internal_fast_move_to_destination(z_feedrate); + } + + #else + + // If Z needs to raise, do it before moving XY + if (current_position.z < rz) { + current_position.z = rz; + line_to_current_position(z_feedrate); + } + + current_position.set(rx, ry); + line_to_current_position(xy_feedrate); + + // If Z needs to lower, do it after moving XY + if (current_position.z > rz) { + current_position.z = rz; + line_to_current_position(z_feedrate); + } + + #endif + + planner.synchronize(); +} + +void do_blocking_move_to(const xy_pos_t &raw, const feedRate_t &fr_mm_s/*=0.0f*/) { + do_blocking_move_to(raw.x, raw.y, current_position.z, fr_mm_s); +} +void do_blocking_move_to(const xyz_pos_t &raw, const feedRate_t &fr_mm_s/*=0.0f*/) { + do_blocking_move_to(raw.x, raw.y, raw.z, fr_mm_s); +} +void do_blocking_move_to(const xyze_pos_t &raw, const feedRate_t &fr_mm_s/*=0.0f*/) { + do_blocking_move_to(raw.x, raw.y, raw.z, fr_mm_s); +} + +void do_blocking_move_to_x(const float &rx, const feedRate_t &fr_mm_s/*=0.0*/) { + do_blocking_move_to(rx, current_position.y, current_position.z, fr_mm_s); +} +void do_blocking_move_to_y(const float &ry, const feedRate_t &fr_mm_s/*=0.0*/) { + do_blocking_move_to(current_position.x, ry, current_position.z, fr_mm_s); +} +void do_blocking_move_to_z(const float &rz, const feedRate_t &fr_mm_s/*=0.0*/) { + do_blocking_move_to_xy_z(current_position, rz, fr_mm_s); +} + +void do_blocking_move_to_xy(const float &rx, const float &ry, const feedRate_t &fr_mm_s/*=0.0*/) { + do_blocking_move_to(rx, ry, current_position.z, fr_mm_s); +} +void do_blocking_move_to_xy(const xy_pos_t &raw, const feedRate_t &fr_mm_s/*=0.0f*/) { + do_blocking_move_to_xy(raw.x, raw.y, fr_mm_s); +} + +void do_blocking_move_to_xy_z(const xy_pos_t &raw, const float &z, const feedRate_t &fr_mm_s/*=0.0f*/) { + do_blocking_move_to(raw.x, raw.y, z, fr_mm_s); +} + +void do_z_clearance(const float &zclear, const bool z_trusted/*=true*/, const bool raise_on_untrusted/*=true*/, const bool lower_allowed/*=false*/) { + const bool rel = raise_on_untrusted && !z_trusted; + float zdest = zclear + (rel ? current_position.z : 0.0f); + if (!lower_allowed) NOLESS(zdest, current_position.z); + do_blocking_move_to_z(_MIN(zdest, Z_MAX_POS), TERN(HAS_BED_PROBE, z_probe_fast_mm_s, homing_feedrate(Z_AXIS))); +} + +// +// Prepare to do endstop or probe moves with custom feedrates. +// - Save / restore current feedrate and multiplier +// +static float saved_feedrate_mm_s; +static int16_t saved_feedrate_percentage; +void remember_feedrate_and_scaling() { + saved_feedrate_mm_s = feedrate_mm_s; + saved_feedrate_percentage = feedrate_percentage; +} +void remember_feedrate_scaling_off() { + remember_feedrate_and_scaling(); + feedrate_percentage = 100; +} +void restore_feedrate_and_scaling() { + feedrate_mm_s = saved_feedrate_mm_s; + feedrate_percentage = saved_feedrate_percentage; +} + +#if HAS_SOFTWARE_ENDSTOPS + + // Software Endstops are based on the configured limits. + soft_endstops_t soft_endstop = { + true, false, + { X_MIN_POS, Y_MIN_POS, Z_MIN_POS }, + { X_MAX_POS, Y_MAX_POS, Z_MAX_POS } + }; + + /** + * Software endstops can be used to monitor the open end of + * an axis that has a hardware endstop on the other end. Or + * they can prevent axes from moving past endstops and grinding. + * + * To keep doing their job as the coordinate system changes, + * the software endstop positions must be refreshed to remain + * at the same positions relative to the machine. + */ + void update_software_endstops(const AxisEnum axis + #if HAS_HOTEND_OFFSET + , const uint8_t old_tool_index/*=0*/ + , const uint8_t new_tool_index/*=0*/ + #endif + ) { + + #if ENABLED(DUAL_X_CARRIAGE) + + if (axis == X_AXIS) { + + // In Dual X mode hotend_offset[X] is T1's home position + const float dual_max_x = _MAX(hotend_offset[1].x, X2_MAX_POS); + + if (new_tool_index != 0) { + // T1 can move from X2_MIN_POS to X2_MAX_POS or X2 home position (whichever is larger) + soft_endstop.min.x = X2_MIN_POS; + soft_endstop.max.x = dual_max_x; + } + else if (idex_is_duplicating()) { + // In Duplication Mode, T0 can move as far left as X1_MIN_POS + // but not so far to the right that T1 would move past the end + soft_endstop.min.x = X1_MIN_POS; + soft_endstop.max.x = _MIN(X1_MAX_POS, dual_max_x - duplicate_extruder_x_offset); + } + else { + // In other modes, T0 can move from X1_MIN_POS to X1_MAX_POS + soft_endstop.min.x = X1_MIN_POS; + soft_endstop.max.x = X1_MAX_POS; + } + + } + + #elif ENABLED(DELTA) + + soft_endstop.min[axis] = base_min_pos(axis); + soft_endstop.max[axis] = (axis == Z_AXIS) ? delta_height - TERN0(HAS_BED_PROBE, probe.offset.z) : base_max_pos(axis); + + switch (axis) { + case X_AXIS: + case Y_AXIS: + // Get a minimum radius for clamping + delta_max_radius = _MIN(ABS(_MAX(soft_endstop.min.x, soft_endstop.min.y)), soft_endstop.max.x, soft_endstop.max.y); + delta_max_radius_2 = sq(delta_max_radius); + break; + case Z_AXIS: + delta_clip_start_height = soft_endstop.max[axis] - delta_safe_distance_from_top(); + default: break; + } + + #elif HAS_HOTEND_OFFSET + + // Software endstops are relative to the tool 0 workspace, so + // the movement limits must be shifted by the tool offset to + // retain the same physical limit when other tools are selected. + + if (new_tool_index == old_tool_index || axis == Z_AXIS) { // The Z axis is "special" and shouldn't be modified + const float offs = (axis == Z_AXIS) ? 0 : hotend_offset[active_extruder][axis]; + soft_endstop.min[axis] = base_min_pos(axis) + offs; + soft_endstop.max[axis] = base_max_pos(axis) + offs; + } + else { + const float diff = hotend_offset[new_tool_index][axis] - hotend_offset[old_tool_index][axis]; + soft_endstop.min[axis] += diff; + soft_endstop.max[axis] += diff; + } + + #else + + soft_endstop.min[axis] = base_min_pos(axis); + soft_endstop.max[axis] = base_max_pos(axis); + + #endif + + if (DEBUGGING(LEVELING)) + SERIAL_ECHOLNPAIR("Axis ", XYZ_CHAR(axis), " min:", soft_endstop.min[axis], " max:", soft_endstop.max[axis]); + } + + /** + * Constrain the given coordinates to the software endstops. + * + * For DELTA/SCARA the XY constraint is based on the smallest + * radius within the set software endstops. + */ + void apply_motion_limits(xyz_pos_t &target) { + + if (!soft_endstop._enabled) return; + + #if IS_KINEMATIC + + if (TERN0(DELTA, !all_axes_homed())) return; + + #if BOTH(HAS_HOTEND_OFFSET, DELTA) + // The effector center position will be the target minus the hotend offset. + const xy_pos_t offs = hotend_offset[active_extruder]; + #else + // SCARA needs to consider the angle of the arm through the entire move, so for now use no tool offset. + constexpr xy_pos_t offs{0}; + #endif + + if (TERN1(IS_SCARA, axis_was_homed(X_AXIS) && axis_was_homed(Y_AXIS))) { + const float dist_2 = HYPOT2(target.x - offs.x, target.y - offs.y); + if (dist_2 > delta_max_radius_2) + target *= float(delta_max_radius / SQRT(dist_2)); // 200 / 300 = 0.66 + } + + #else + + if (axis_was_homed(X_AXIS)) { + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_X) + NOLESS(target.x, soft_endstop.min.x); + #endif + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_X) + NOMORE(target.x, soft_endstop.max.x); + #endif + } + + if (axis_was_homed(Y_AXIS)) { + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Y) + NOLESS(target.y, soft_endstop.min.y); + #endif + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Y) + NOMORE(target.y, soft_endstop.max.y); + #endif + } + + #endif + + if (axis_was_homed(Z_AXIS)) { + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MIN_SOFTWARE_ENDSTOP_Z) + NOLESS(target.z, soft_endstop.min.z); + #endif + #if !HAS_SOFTWARE_ENDSTOPS || ENABLED(MAX_SOFTWARE_ENDSTOP_Z) + NOMORE(target.z, soft_endstop.max.z); + #endif + } + } + +#else // !HAS_SOFTWARE_ENDSTOPS + + soft_endstops_t soft_endstop; + +#endif // !HAS_SOFTWARE_ENDSTOPS + +#if !UBL_SEGMENTED + +FORCE_INLINE void segment_idle(millis_t &next_idle_ms) { + const millis_t ms = millis(); + if (ELAPSED(ms, next_idle_ms)) { + next_idle_ms = ms + 200UL; + return idle(); + } + thermalManager.manage_heater(); // Returns immediately on most calls +} + +#if IS_KINEMATIC + + #if IS_SCARA + /** + * Before raising this value, use M665 S[seg_per_sec] to decrease + * the number of segments-per-second. Default is 200. Some deltas + * do better with 160 or lower. It would be good to know how many + * segments-per-second are actually possible for SCARA on AVR. + * + * Longer segments result in less kinematic overhead + * but may produce jagged lines. Try 0.5mm, 1.0mm, and 2.0mm + * and compare the difference. + */ + #define SCARA_MIN_SEGMENT_LENGTH 0.5f + #endif + + /** + * Prepare a linear move in a DELTA or SCARA setup. + * + * Called from prepare_line_to_destination as the + * default Delta/SCARA segmenter. + * + * This calls planner.buffer_line several times, adding + * small incremental moves for DELTA or SCARA. + * + * For Unified Bed Leveling (Delta or Segmented Cartesian) + * the ubl.line_to_destination_segmented method replaces this. + * + * For Auto Bed Leveling (Bilinear) with SEGMENT_LEVELED_MOVES + * this is replaced by segmented_line_to_destination below. + */ + inline bool line_to_destination_kinematic() { + + // Get the top feedrate of the move in the XY plane + const float scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s); + + const xyze_float_t diff = destination - current_position; + + // If the move is only in Z/E don't split up the move + if (!diff.x && !diff.y) { + planner.buffer_line(destination, scaled_fr_mm_s, active_extruder); + return false; // caller will update current_position + } + + // Fail if attempting move outside printable radius + if (!position_is_reachable(destination)) return true; + + // Get the linear distance in XYZ + float cartesian_mm = diff.magnitude(); + + // If the move is very short, check the E move distance + if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e); + + // No E move either? Game over. + if (UNEAR_ZERO(cartesian_mm)) return true; + + // Minimum number of seconds to move the given distance + const float seconds = cartesian_mm / scaled_fr_mm_s; + + // The number of segments-per-second times the duration + // gives the number of segments + uint16_t segments = delta_segments_per_second * seconds; + + // For SCARA enforce a minimum segment size + #if IS_SCARA + NOMORE(segments, cartesian_mm * RECIPROCAL(SCARA_MIN_SEGMENT_LENGTH)); + #endif + + // At least one segment is required + NOLESS(segments, 1U); + + // The approximate length of each segment + const float inv_segments = 1.0f / float(segments), + cartesian_segment_mm = cartesian_mm * inv_segments; + const xyze_float_t segment_distance = diff * inv_segments; + + #if ENABLED(SCARA_FEEDRATE_SCALING) + const float inv_duration = scaled_fr_mm_s / cartesian_segment_mm; + #endif + + /* + SERIAL_ECHOPAIR("mm=", cartesian_mm); + SERIAL_ECHOPAIR(" seconds=", seconds); + SERIAL_ECHOPAIR(" segments=", segments); + SERIAL_ECHOPAIR(" segment_mm=", cartesian_segment_mm); + SERIAL_EOL(); + //*/ + + // Get the current position as starting point + xyze_pos_t raw = current_position; + + // Calculate and execute the segments + millis_t next_idle_ms = millis() + 200UL; + while (--segments) { + segment_idle(next_idle_ms); + raw += segment_distance; + if (!planner.buffer_line(raw, scaled_fr_mm_s, active_extruder, cartesian_segment_mm + #if ENABLED(SCARA_FEEDRATE_SCALING) + , inv_duration + #endif + )) break; + } + + // Ensure last segment arrives at target location. + planner.buffer_line(destination, scaled_fr_mm_s, active_extruder, cartesian_segment_mm + #if ENABLED(SCARA_FEEDRATE_SCALING) + , inv_duration + #endif + ); + + return false; // caller will update current_position + } + +#else // !IS_KINEMATIC + + #if ENABLED(SEGMENT_LEVELED_MOVES) + + /** + * Prepare a segmented move on a CARTESIAN setup. + * + * This calls planner.buffer_line several times, adding + * small incremental moves. This allows the planner to + * apply more detailed bed leveling to the full move. + */ + inline void segmented_line_to_destination(const feedRate_t &fr_mm_s, const float segment_size=LEVELED_SEGMENT_LENGTH) { + + const xyze_float_t diff = destination - current_position; + + // If the move is only in Z/E don't split up the move + if (!diff.x && !diff.y) { + planner.buffer_line(destination, fr_mm_s, active_extruder); + return; + } + + // Get the linear distance in XYZ + // If the move is very short, check the E move distance + // No E move either? Game over. + float cartesian_mm = diff.magnitude(); + if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = ABS(diff.e); + if (UNEAR_ZERO(cartesian_mm)) return; + + // The length divided by the segment size + // At least one segment is required + uint16_t segments = cartesian_mm / segment_size; + NOLESS(segments, 1U); + + // The approximate length of each segment + const float inv_segments = 1.0f / float(segments), + cartesian_segment_mm = cartesian_mm * inv_segments; + const xyze_float_t segment_distance = diff * inv_segments; + + #if ENABLED(SCARA_FEEDRATE_SCALING) + const float inv_duration = scaled_fr_mm_s / cartesian_segment_mm; + #endif + + // SERIAL_ECHOPAIR("mm=", cartesian_mm); + // SERIAL_ECHOLNPAIR(" segments=", segments); + // SERIAL_ECHOLNPAIR(" segment_mm=", cartesian_segment_mm); + + // Get the raw current position as starting point + xyze_pos_t raw = current_position; + + // Calculate and execute the segments + millis_t next_idle_ms = millis() + 200UL; + while (--segments) { + segment_idle(next_idle_ms); + raw += segment_distance; + if (!planner.buffer_line(raw, fr_mm_s, active_extruder, cartesian_segment_mm + #if ENABLED(SCARA_FEEDRATE_SCALING) + , inv_duration + #endif + )) break; + } + + // Since segment_distance is only approximate, + // the final move must be to the exact destination. + planner.buffer_line(destination, fr_mm_s, active_extruder, cartesian_segment_mm + #if ENABLED(SCARA_FEEDRATE_SCALING) + , inv_duration + #endif + ); + } + + #endif // SEGMENT_LEVELED_MOVES + + /** + * Prepare a linear move in a Cartesian setup. + * + * When a mesh-based leveling system is active, moves are segmented + * according to the configuration of the leveling system. + * + * Return true if 'current_position' was set to 'destination' + */ + inline bool line_to_destination_cartesian() { + const float scaled_fr_mm_s = MMS_SCALED(feedrate_mm_s); + #if HAS_MESH + if (planner.leveling_active && planner.leveling_active_at_z(destination.z)) { + #if ENABLED(AUTO_BED_LEVELING_UBL) + ubl.line_to_destination_cartesian(scaled_fr_mm_s, active_extruder); // UBL's motion routine needs to know about + return true; // all moves, including Z-only moves. + #elif ENABLED(SEGMENT_LEVELED_MOVES) + segmented_line_to_destination(scaled_fr_mm_s); + return false; // caller will update current_position + #else + /** + * For MBL and ABL-BILINEAR only segment moves when X or Y are involved. + * Otherwise fall through to do a direct single move. + */ + if (xy_pos_t(current_position) != xy_pos_t(destination)) { + #if ENABLED(MESH_BED_LEVELING) + mbl.line_to_destination(scaled_fr_mm_s); + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + bilinear_line_to_destination(scaled_fr_mm_s); + #endif + return true; + } + #endif + } + #endif // HAS_MESH + + planner.buffer_line(destination, scaled_fr_mm_s, active_extruder); + return false; // caller will update current_position + } + +#endif // !IS_KINEMATIC +#endif // !UBL_SEGMENTED + +#if HAS_DUPLICATION_MODE + bool extruder_duplication_enabled; + #if ENABLED(MULTI_NOZZLE_DUPLICATION) + uint8_t duplication_e_mask; // = 0 + #endif +#endif + +#if ENABLED(DUAL_X_CARRIAGE) + + DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; + float inactive_extruder_x = X2_MAX_POS, // Used in mode 0 & 1 + duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // Used in mode 2 + xyz_pos_t raised_parked_position; // Used in mode 1 + bool active_extruder_parked = false; // Used in mode 1 & 2 + millis_t delayed_move_time = 0; // Used in mode 1 + int16_t duplicate_extruder_temp_offset = 0; // Used in mode 2 + bool idex_mirrored_mode = false; // Used in mode 3 + + float x_home_pos(const uint8_t extruder) { + if (extruder == 0) + return base_home_pos(X_AXIS); + else + /** + * In dual carriage mode the extruder offset provides an override of the + * second X-carriage position when homed - otherwise X2_HOME_POS is used. + * This allows soft recalibration of the second extruder home position + * without firmware reflash (through the M218 command). + */ + return hotend_offset[1].x > 0 ? hotend_offset[1].x : X2_HOME_POS; + } + + void idex_set_mirrored_mode(const bool mirr) { + idex_mirrored_mode = mirr; + stepper.set_directions(); + } + + void set_duplication_enabled(const bool dupe, const int8_t tool_index/*=-1*/) { + extruder_duplication_enabled = dupe; + if (tool_index >= 0) active_extruder = tool_index; + stepper.set_directions(); + } + + void idex_set_parked(const bool park/*=true*/) { + delayed_move_time = 0; + active_extruder_parked = park; + if (park) raised_parked_position = current_position; // Remember current raised toolhead position for use by unpark + } + + /** + * Prepare a linear move in a dual X axis setup + * + * Return true if current_position[] was set to destination[] + */ + inline bool dual_x_carriage_unpark() { + if (active_extruder_parked) { + switch (dual_x_carriage_mode) { + + case DXC_FULL_CONTROL_MODE: break; + + case DXC_AUTO_PARK_MODE: { + if (current_position.e == destination.e) { + // This is a travel move (with no extrusion) + // Skip it, but keep track of the current position + // (so it can be used as the start of the next non-travel move) + if (delayed_move_time != 0xFFFFFFFFUL) { + current_position = destination; + NOLESS(raised_parked_position.z, destination.z); + delayed_move_time = millis() + 1000UL; + return true; + } + } + // + // Un-park the active extruder + // + const feedRate_t fr_zfast = planner.settings.max_feedrate_mm_s[Z_AXIS]; + #define CURPOS current_position + #define RAISED raised_parked_position + // 1. Move to the raised parked XYZ. Presumably the tool is already at XY. + if (planner.buffer_line(RAISED.x, RAISED.y, RAISED.z, CURPOS.e, fr_zfast, active_extruder)) { + // 2. Move to the current native XY and raised Z. Presumably this is a null move. + if (planner.buffer_line(CURPOS.x, CURPOS.y, RAISED.z, CURPOS.e, PLANNER_XY_FEEDRATE(), active_extruder)) { + // 3. Lower Z back down + line_to_current_position(fr_zfast); + } + } + stepper.set_directions(); + + idex_set_parked(false); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("idex_set_parked(false)"); + } break; + + case DXC_MIRRORED_MODE: + case DXC_DUPLICATION_MODE: + if (active_extruder == 0) { + xyze_pos_t new_pos = current_position; + if (dual_x_carriage_mode == DXC_DUPLICATION_MODE) + new_pos.x += duplicate_extruder_x_offset; + else + new_pos.x = inactive_extruder_x; + // Move duplicate extruder into correct duplication position. + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Set planner X", inactive_extruder_x, " ... Line to X", new_pos.x); + planner.set_position_mm(inactive_extruder_x, current_position.y, current_position.z, current_position.e); + if (!planner.buffer_line(new_pos, planner.settings.max_feedrate_mm_s[X_AXIS], 1)) break; + + planner.synchronize(); + sync_plan_position(); + + set_duplication_enabled(true); + idex_set_parked(false); + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("set_duplication_enabled(true)\nidex_set_parked(false)"); + } + else if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Active extruder not 0"); + break; + } + } + return false; + } + +#endif // DUAL_X_CARRIAGE + +/** + * Prepare a single move and get ready for the next one + * + * This may result in several calls to planner.buffer_line to + * do smaller moves for DELTA, SCARA, mesh moves, etc. + * + * Make sure current_position.e and destination.e are good + * before calling or cold/lengthy extrusion may get missed. + * + * Before exit, current_position is set to destination. + */ +void prepare_line_to_destination() { + apply_motion_limits(destination); + + #if EITHER(PREVENT_COLD_EXTRUSION, PREVENT_LENGTHY_EXTRUDE) + + if (!DEBUGGING(DRYRUN) && destination.e != current_position.e) { + bool ignore_e = false; + + #if ENABLED(PREVENT_COLD_EXTRUSION) + ignore_e = thermalManager.tooColdToExtrude(active_extruder); + if (ignore_e) SERIAL_ECHO_MSG(STR_ERR_COLD_EXTRUDE_STOP); + #endif + + #if ENABLED(PREVENT_LENGTHY_EXTRUDE) + const float e_delta = ABS(destination.e - current_position.e) * planner.e_factor[active_extruder]; + if (e_delta > (EXTRUDE_MAXLENGTH)) { + #if ENABLED(MIXING_EXTRUDER) + float collector[MIXING_STEPPERS]; + mixer.refresh_collector(1.0, mixer.get_current_vtool(), collector); + MIXER_STEPPER_LOOP(e) { + if (e_delta * collector[e] > (EXTRUDE_MAXLENGTH)) { + ignore_e = true; + SERIAL_ECHO_MSG(STR_ERR_LONG_EXTRUDE_STOP); + break; + } + } + #else + ignore_e = true; + SERIAL_ECHO_MSG(STR_ERR_LONG_EXTRUDE_STOP); + #endif + } + #endif + + if (ignore_e) { + current_position.e = destination.e; // Behave as if the E move really took place + planner.set_e_position_mm(destination.e); // Prevent the planner from complaining too + } + } + + #endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE + + if (TERN0(DUAL_X_CARRIAGE, dual_x_carriage_unpark())) return; + + if ( + #if UBL_SEGMENTED + #if IS_KINEMATIC // UBL using Kinematic / Cartesian cases as a workaround for now. + ubl.line_to_destination_segmented(MMS_SCALED(feedrate_mm_s)) + #else + line_to_destination_cartesian() + #endif + #elif IS_KINEMATIC + line_to_destination_kinematic() + #else + line_to_destination_cartesian() + #endif + ) return; + + current_position = destination; +} + +uint8_t axes_should_home(uint8_t axis_bits/*=0x07*/) { + #define SHOULD_HOME(A) TERN(HOME_AFTER_DEACTIVATE, axis_is_trusted, axis_was_homed)(A) + // Clear test bits that are trusted + if (TEST(axis_bits, X_AXIS) && SHOULD_HOME(X_AXIS)) CBI(axis_bits, X_AXIS); + if (TEST(axis_bits, Y_AXIS) && SHOULD_HOME(Y_AXIS)) CBI(axis_bits, Y_AXIS); + if (TEST(axis_bits, Z_AXIS) && SHOULD_HOME(Z_AXIS)) CBI(axis_bits, Z_AXIS); + return axis_bits; +} + +bool homing_needed_error(uint8_t axis_bits/*=0x07*/) { + if ((axis_bits = axes_should_home(axis_bits))) { + PGM_P home_first = GET_TEXT(MSG_HOME_FIRST); + char msg[strlen_P(home_first)+1]; + sprintf_P(msg, home_first, + TEST(axis_bits, X_AXIS) ? "X" : "", + TEST(axis_bits, Y_AXIS) ? "Y" : "", + TEST(axis_bits, Z_AXIS) ? "Z" : "" + ); + SERIAL_ECHO_START(); + SERIAL_ECHOLN(msg); + TERN_(HAS_DISPLAY, ui.set_status(msg)); + return true; + } + return false; +} + +/** + * Homing bump feedrate (mm/s) + */ +feedRate_t get_homing_bump_feedrate(const AxisEnum axis) { + #if HOMING_Z_WITH_PROBE + if (axis == Z_AXIS) return MMM_TO_MMS(Z_PROBE_SPEED_SLOW); + #endif + static const uint8_t homing_bump_divisor[] PROGMEM = HOMING_BUMP_DIVISOR; + uint8_t hbd = pgm_read_byte(&homing_bump_divisor[axis]); + if (hbd < 1) { + hbd = 10; + SERIAL_ECHO_MSG("Warning: Homing Bump Divisor < 1"); + } + return homing_feedrate(axis) / float(hbd); +} + +#if ENABLED(SENSORLESS_HOMING) + /** + * Set sensorless homing if the axis has it, accounting for Core Kinematics. + */ + sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis) { + sensorless_t stealth_states { false }; + + switch (axis) { + default: break; + #if X_SENSORLESS + case X_AXIS: + stealth_states.x = tmc_enable_stallguard(stepperX); + #if AXIS_HAS_STALLGUARD(X2) + stealth_states.x2 = tmc_enable_stallguard(stepperX2); + #endif + #if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS + stealth_states.y = tmc_enable_stallguard(stepperY); + #elif CORE_IS_XZ && Z_SENSORLESS + stealth_states.z = tmc_enable_stallguard(stepperZ); + #endif + break; + #endif + #if Y_SENSORLESS + case Y_AXIS: + stealth_states.y = tmc_enable_stallguard(stepperY); + #if AXIS_HAS_STALLGUARD(Y2) + stealth_states.y2 = tmc_enable_stallguard(stepperY2); + #endif + #if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS + stealth_states.x = tmc_enable_stallguard(stepperX); + #elif CORE_IS_YZ && Z_SENSORLESS + stealth_states.z = tmc_enable_stallguard(stepperZ); + #endif + break; + #endif + #if Z_SENSORLESS + case Z_AXIS: + stealth_states.z = tmc_enable_stallguard(stepperZ); + #if AXIS_HAS_STALLGUARD(Z2) + stealth_states.z2 = tmc_enable_stallguard(stepperZ2); + #endif + #if AXIS_HAS_STALLGUARD(Z3) + stealth_states.z3 = tmc_enable_stallguard(stepperZ3); + #endif + #if AXIS_HAS_STALLGUARD(Z4) + stealth_states.z4 = tmc_enable_stallguard(stepperZ4); + #endif + #if CORE_IS_XZ && X_SENSORLESS + stealth_states.x = tmc_enable_stallguard(stepperX); + #elif CORE_IS_YZ && Y_SENSORLESS + stealth_states.y = tmc_enable_stallguard(stepperY); + #endif + break; + #endif + } + + #if ENABLED(SPI_ENDSTOPS) + switch (axis) { + case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = true; break; + case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = true; break; + case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = true; break; + default: break; + } + #endif + + TERN_(IMPROVE_HOMING_RELIABILITY, sg_guard_period = millis() + default_sg_guard_duration); + + return stealth_states; + } + + void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth) { + switch (axis) { + default: break; + #if X_SENSORLESS + case X_AXIS: + tmc_disable_stallguard(stepperX, enable_stealth.x); + #if AXIS_HAS_STALLGUARD(X2) + tmc_disable_stallguard(stepperX2, enable_stealth.x2); + #endif + #if EITHER(CORE_IS_XY, MARKFORGED_XY) && Y_SENSORLESS + tmc_disable_stallguard(stepperY, enable_stealth.y); + #elif CORE_IS_XZ && Z_SENSORLESS + tmc_disable_stallguard(stepperZ, enable_stealth.z); + #endif + break; + #endif + #if Y_SENSORLESS + case Y_AXIS: + tmc_disable_stallguard(stepperY, enable_stealth.y); + #if AXIS_HAS_STALLGUARD(Y2) + tmc_disable_stallguard(stepperY2, enable_stealth.y2); + #endif + #if EITHER(CORE_IS_XY, MARKFORGED_XY) && X_SENSORLESS + tmc_disable_stallguard(stepperX, enable_stealth.x); + #elif CORE_IS_YZ && Z_SENSORLESS + tmc_disable_stallguard(stepperZ, enable_stealth.z); + #endif + break; + #endif + #if Z_SENSORLESS + case Z_AXIS: + tmc_disable_stallguard(stepperZ, enable_stealth.z); + #if AXIS_HAS_STALLGUARD(Z2) + tmc_disable_stallguard(stepperZ2, enable_stealth.z2); + #endif + #if AXIS_HAS_STALLGUARD(Z3) + tmc_disable_stallguard(stepperZ3, enable_stealth.z3); + #endif + #if AXIS_HAS_STALLGUARD(Z4) + tmc_disable_stallguard(stepperZ4, enable_stealth.z4); + #endif + #if CORE_IS_XZ && X_SENSORLESS + tmc_disable_stallguard(stepperX, enable_stealth.x); + #elif CORE_IS_YZ && Y_SENSORLESS + tmc_disable_stallguard(stepperY, enable_stealth.y); + #endif + break; + #endif + } + + #if ENABLED(SPI_ENDSTOPS) + switch (axis) { + case X_AXIS: if (ENABLED(X_SPI_SENSORLESS)) endstops.tmc_spi_homing.x = false; break; + case Y_AXIS: if (ENABLED(Y_SPI_SENSORLESS)) endstops.tmc_spi_homing.y = false; break; + case Z_AXIS: if (ENABLED(Z_SPI_SENSORLESS)) endstops.tmc_spi_homing.z = false; break; + default: break; + } + #endif + } + +#endif // SENSORLESS_HOMING + +/** + * Home an individual linear axis + */ +void do_homing_move(const AxisEnum axis, const float distance, const feedRate_t fr_mm_s=0.0, const bool final_approach=true) { + DEBUG_SECTION(log_move, "do_homing_move", DEBUGGING(LEVELING)); + + const feedRate_t home_fr_mm_s = fr_mm_s ?: homing_feedrate(axis); + + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOPAIR("...(", axis_codes[axis], ", ", distance, ", "); + if (fr_mm_s) + DEBUG_ECHO(fr_mm_s); + else + DEBUG_ECHOPAIR("[", home_fr_mm_s, "]"); + DEBUG_ECHOLNPGM(")"); + } + + // Only do some things when moving towards an endstop + const int8_t axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS) + ? x_home_dir(active_extruder) : home_dir(axis); + const bool is_home_dir = (axis_home_dir > 0) == (distance > 0); + + #if ENABLED(SENSORLESS_HOMING) + sensorless_t stealth_states; + #endif + + if (is_home_dir) { + + if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS)) { + #if ALL(HAS_HEATED_BED, WAIT_FOR_BED_HEATER) + // Wait for bed to heat back up between probing points + thermalManager.wait_for_bed_heating(); + #endif + + TERN_(HAS_QUIET_PROBING, if (final_approach) probe.set_probing_paused(true)); + } + + // Disable stealthChop if used. Enable diag1 pin on driver. + TERN_(SENSORLESS_HOMING, stealth_states = start_sensorless_homing_per_axis(axis)); + } + + #if IS_SCARA + // Tell the planner the axis is at 0 + current_position[axis] = 0; + sync_plan_position(); + current_position[axis] = distance; + line_to_current_position(home_fr_mm_s); + #else + // Get the ABC or XYZ positions in mm + abce_pos_t target = planner.get_axis_positions_mm(); + + target[axis] = 0; // Set the single homing axis to 0 + planner.set_machine_position_mm(target); // Update the machine position + + #if HAS_DIST_MM_ARG + const xyze_float_t cart_dist_mm{0}; + #endif + + // Set delta/cartesian axes directly + target[axis] = distance; // The move will be towards the endstop + planner.buffer_segment(target + #if HAS_DIST_MM_ARG + , cart_dist_mm + #endif + , home_fr_mm_s, active_extruder + ); + #endif + + planner.synchronize(); + + if (is_home_dir) { + + #if HOMING_Z_WITH_PROBE && HAS_QUIET_PROBING + if (axis == Z_AXIS && final_approach) probe.set_probing_paused(false); + #endif + + endstops.validate_homing_move(); + + // Re-enable stealthChop if used. Disable diag1 pin on driver. + TERN_(SENSORLESS_HOMING, end_sensorless_homing_per_axis(axis, stealth_states)); + } +} + +/** + * Set an axis' current position to its home position (after homing). + * + * For Core and Cartesian robots this applies one-to-one when an + * individual axis has been homed. + * + * DELTA should wait until all homing is done before setting the XYZ + * current_position to home, because homing is a single operation. + * In the case where the axis positions are trusted and previously + * homed, DELTA could home to X or Y individually by moving either one + * to the center. However, homing Z always homes XY and Z. + * + * SCARA should wait until all XY homing is done before setting the XY + * current_position to home, because neither X nor Y is at home until + * both are at home. Z can however be homed individually. + * + * Callers must sync the planner position after calling this! + */ +void set_axis_is_at_home(const AxisEnum axis) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_is_at_home(", axis_codes[axis], ")"); + + set_axis_trusted(axis); + set_axis_homed(axis); + + #if ENABLED(DUAL_X_CARRIAGE) + if (axis == X_AXIS && (active_extruder == 1 || dual_x_carriage_mode == DXC_DUPLICATION_MODE)) { + current_position.x = x_home_pos(active_extruder); + return; + } + #endif + + #if ENABLED(MORGAN_SCARA) + scara_set_axis_is_at_home(axis); + #elif ENABLED(DELTA) + current_position[axis] = (axis == Z_AXIS) ? delta_height - TERN0(HAS_BED_PROBE, probe.offset.z) : base_home_pos(axis); + #else + current_position[axis] = base_home_pos(axis); + #endif + + /** + * Z Probe Z Homing? Account for the probe's Z offset. + */ + #if HAS_BED_PROBE && Z_HOME_DIR < 0 + if (axis == Z_AXIS) { + #if HOMING_Z_WITH_PROBE + + current_position.z -= probe.offset.z; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("*** Z HOMED WITH PROBE (Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN) ***\n> probe.offset.z = ", probe.offset.z); + + #else + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("*** Z HOMED TO ENDSTOP ***"); + + #endif + } + #endif + + TERN_(I2C_POSITION_ENCODERS, I2CPEM.homed(axis)); + + TERN_(BABYSTEP_DISPLAY_TOTAL, babystep.reset_total(axis)); + + #if HAS_POSITION_SHIFT + position_shift[axis] = 0; + update_workspace_offset(axis); + #endif + + if (DEBUGGING(LEVELING)) { + #if HAS_HOME_OFFSET + DEBUG_ECHOLNPAIR("> home_offset[", axis_codes[axis], "] = ", home_offset[axis]); + #endif + DEBUG_POS("", current_position); + DEBUG_ECHOLNPAIR("<<< set_axis_is_at_home(", axis_codes[axis], ")"); + } +} + +/** + * Set an axis to be unhomed. + */ +void set_axis_never_homed(const AxisEnum axis) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> set_axis_never_homed(", axis_codes[axis], ")"); + + set_axis_untrusted(axis); + set_axis_unhomed(axis); + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< set_axis_never_homed(", axis_codes[axis], ")"); + + TERN_(I2C_POSITION_ENCODERS, I2CPEM.unhomed(axis)); +} + +#ifdef TMC_HOME_PHASE + /** + * Move the axis back to its home_phase if set and driver is capable (TMC) + * + * Improves homing repeatability by homing to stepper coil's nearest absolute + * phase position. Trinamic drivers use a stepper phase table with 1024 values + * spanning 4 full steps with 256 positions each (ergo, 1024 positions). + */ + void backout_to_tmc_homing_phase(const AxisEnum axis) { + const xyz_long_t home_phase = TMC_HOME_PHASE; + + // check if home phase is disabled for this axis. + if (home_phase[axis] < 0) return; + + int16_t phasePerUStep, // TMC µsteps(phase) per Marlin µsteps + phaseCurrent, // The TMC µsteps(phase) count of the current position + effectorBackoutDir, // Direction in which the effector mm coordinates move away from endstop. + stepperBackoutDir; // Direction in which the TMC µstep count(phase) move away from endstop. + + #define PHASE_PER_MICROSTEP(N) (256 / _MAX(1, N##_MICROSTEPS)) + + switch (axis) { + #ifdef X_MICROSTEPS + case X_AXIS: + phasePerUStep = PHASE_PER_MICROSTEP(X); + phaseCurrent = stepperX.get_microstep_counter(); + effectorBackoutDir = -X_HOME_DIR; + stepperBackoutDir = INVERT_X_DIR ? effectorBackoutDir : -effectorBackoutDir; + break; + #endif + #ifdef Y_MICROSTEPS + case Y_AXIS: + phasePerUStep = PHASE_PER_MICROSTEP(Y); + phaseCurrent = stepperY.get_microstep_counter(); + effectorBackoutDir = -Y_HOME_DIR; + stepperBackoutDir = INVERT_Y_DIR ? effectorBackoutDir : -effectorBackoutDir; + break; + #endif + #ifdef Z_MICROSTEPS + case Z_AXIS: + phasePerUStep = PHASE_PER_MICROSTEP(Z); + phaseCurrent = stepperZ.get_microstep_counter(); + effectorBackoutDir = -Z_HOME_DIR; + stepperBackoutDir = INVERT_Z_DIR ? effectorBackoutDir : -effectorBackoutDir; + break; + #endif + default: return; + } + + // Phase distance to nearest home phase position when moving in the backout direction from endstop(may be negative). + int16_t phaseDelta = (home_phase[axis] - phaseCurrent) * stepperBackoutDir; + + // Check if home distance within endstop assumed repeatability noise of .05mm and warn. + if (ABS(phaseDelta) * planner.steps_to_mm[axis] / phasePerUStep < 0.05f) + SERIAL_ECHOLNPAIR("Selected home phase ", home_phase[axis], + " too close to endstop trigger phase ", phaseCurrent, + ". Pick a different phase for ", axis_codes[axis]); + + // Skip to next if target position is behind current. So it only moves away from endstop. + if (phaseDelta < 0) phaseDelta += 1024; + + // Convert TMC µsteps(phase) to whole Marlin µsteps to effector backout direction to mm + const float mmDelta = int16_t(phaseDelta / phasePerUStep) * effectorBackoutDir * planner.steps_to_mm[axis]; + + // Optional debug messages + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOLNPAIR( + "Endstop ", axis_codes[axis], " hit at Phase:", phaseCurrent, + " Delta:", phaseDelta, " Distance:", mmDelta + ); + } + + if (mmDelta != 0) { + // Retrace by the amount computed in mmDelta. + do_homing_move(axis, mmDelta, get_homing_bump_feedrate(axis)); + } + } +#endif + +/** + * Home an individual "raw axis" to its endstop. + * This applies to XYZ on Cartesian and Core robots, and + * to the individual ABC steppers on DELTA and SCARA. + * + * At the end of the procedure the axis is marked as + * homed and the current position of that axis is updated. + * Kinematic robots should wait till all axes are homed + * before updating the current position. + */ + +void homeaxis(const AxisEnum axis) { + + #if IS_SCARA + // Only Z homing (with probe) is permitted + if (axis != Z_AXIS) { BUZZ(100, 880); return; } + #else + #define _CAN_HOME(A) (axis == _AXIS(A) && ( \ + ENABLED(A##_SPI_SENSORLESS) \ + || (_AXIS(A) == Z_AXIS && ENABLED(HOMING_Z_WITH_PROBE)) \ + || (A##_MIN_PIN > -1 && A##_HOME_DIR < 0) \ + || (A##_MAX_PIN > -1 && A##_HOME_DIR > 0) \ + )) + if (!_CAN_HOME(X) && !_CAN_HOME(Y) && !_CAN_HOME(Z)) return; + #endif + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR(">>> homeaxis(", axis_codes[axis], ")"); + + const int axis_home_dir = TERN0(DUAL_X_CARRIAGE, axis == X_AXIS) + ? x_home_dir(active_extruder) : home_dir(axis); + + // + // Homing Z with a probe? Raise Z (maybe) and deploy the Z probe. + // + if (TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && probe.deploy())) + return; + + // Set flags for X, Y, Z motor locking + #if HAS_EXTRA_ENDSTOPS + switch (axis) { + TERN_(X_DUAL_ENDSTOPS, case X_AXIS:) + TERN_(Y_DUAL_ENDSTOPS, case Y_AXIS:) + TERN_(Z_MULTI_ENDSTOPS, case Z_AXIS:) + stepper.set_separate_multi_axis(true); + default: break; + } + #endif + + // + // Deploy BLTouch or tare the probe just before probing + // + #if HOMING_Z_WITH_PROBE + if (axis == Z_AXIS) { + if (TERN0(BLTOUCH, bltouch.deploy())) return; // BLTouch was deployed above, but get the alarm state. + if (TERN0(PROBE_TARE, probe.tare())) return; + } + #endif + + // + // Back away to prevent an early X/Y sensorless trigger + // + #if DISABLED(DELTA) && defined(SENSORLESS_BACKOFF_MM) + const xy_float_t backoff = SENSORLESS_BACKOFF_MM; + if ((TERN0(X_SENSORLESS, axis == X_AXIS) || TERN0(Y_SENSORLESS, axis == Y_AXIS)) && backoff[axis]) { + const float backoff_length = -ABS(backoff[axis]) * axis_home_dir; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Sensorless backoff: ", backoff_length, "mm"); + do_homing_move(axis, backoff_length, homing_feedrate(axis)); + } + #endif + + // Determine if a homing bump will be done and the bumps distance + // When homing Z with probe respect probe clearance + const bool use_probe_bump = TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS && home_bump_mm(Z_AXIS)); + const float bump = axis_home_dir * ( + use_probe_bump ? _MAX(TERN0(HOMING_Z_WITH_PROBE, Z_CLEARANCE_BETWEEN_PROBES), home_bump_mm(Z_AXIS)) : home_bump_mm(axis) + ); + + // + // Fast move towards endstop until triggered + // + const float move_length = 1.5f * max_length(TERN(DELTA, Z_AXIS, axis)) * axis_home_dir; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Home Fast: ", move_length, "mm"); + do_homing_move(axis, move_length, 0.0, !use_probe_bump); + + #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE) + if (axis == Z_AXIS) bltouch.stow(); // Intermediate STOW (in LOW SPEED MODE) + #endif + + // If a second homing move is configured... + if (bump) { + // Move away from the endstop by the axis HOMING_BUMP_MM + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Move Away: ", -bump, "mm"); + do_homing_move(axis, -bump, TERN0(HOMING_Z_WITH_PROBE, axis == Z_AXIS) ? MMM_TO_MMS(Z_PROBE_SPEED_FAST) : 0, false); + + #if ENABLED(DETECT_BROKEN_ENDSTOP) + // Check for a broken endstop + EndstopEnum es; + switch (axis) { + default: + case X_AXIS: es = X_ENDSTOP; break; + case Y_AXIS: es = Y_ENDSTOP; break; + case Z_AXIS: es = Z_ENDSTOP; break; + } + if (TEST(endstops.state(), es)) { + SERIAL_ECHO_MSG("Bad ", axis_codes[axis], " Endstop?"); + kill(GET_TEXT(MSG_KILL_HOMING_FAILED)); + } + #endif + + #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH_SLOW_MODE) + if (axis == Z_AXIS && bltouch.deploy()) return; // Intermediate DEPLOY (in LOW SPEED MODE) + #endif + + // Slow move towards endstop until triggered + const float rebump = bump * 2; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Re-bump: ", rebump, "mm"); + do_homing_move(axis, rebump, get_homing_bump_feedrate(axis), true); + + #if BOTH(HOMING_Z_WITH_PROBE, BLTOUCH) + if (axis == Z_AXIS) bltouch.stow(); // The final STOW + #endif + } + + #if HAS_EXTRA_ENDSTOPS + const bool pos_dir = axis_home_dir > 0; + #if ENABLED(X_DUAL_ENDSTOPS) + if (axis == X_AXIS) { + const float adj = ABS(endstops.x2_endstop_adj); + if (adj) { + if (pos_dir ? (endstops.x2_endstop_adj > 0) : (endstops.x2_endstop_adj < 0)) stepper.set_x_lock(true); else stepper.set_x2_lock(true); + do_homing_move(axis, pos_dir ? -adj : adj); + stepper.set_x_lock(false); + stepper.set_x2_lock(false); + } + } + #endif + #if ENABLED(Y_DUAL_ENDSTOPS) + if (axis == Y_AXIS) { + const float adj = ABS(endstops.y2_endstop_adj); + if (adj) { + if (pos_dir ? (endstops.y2_endstop_adj > 0) : (endstops.y2_endstop_adj < 0)) stepper.set_y_lock(true); else stepper.set_y2_lock(true); + do_homing_move(axis, pos_dir ? -adj : adj); + stepper.set_y_lock(false); + stepper.set_y2_lock(false); + } + } + #endif + + #if ENABLED(Z_MULTI_ENDSTOPS) + if (axis == Z_AXIS) { + + #if NUM_Z_STEPPER_DRIVERS == 2 + + const float adj = ABS(endstops.z2_endstop_adj); + if (adj) { + if (pos_dir ? (endstops.z2_endstop_adj > 0) : (endstops.z2_endstop_adj < 0)) stepper.set_z1_lock(true); else stepper.set_z2_lock(true); + do_homing_move(axis, pos_dir ? -adj : adj); + stepper.set_z1_lock(false); + stepper.set_z2_lock(false); + } + + #else + + // Handy arrays of stepper lock function pointers + + typedef void (*adjustFunc_t)(const bool); + + adjustFunc_t lock[] = { + stepper.set_z1_lock, stepper.set_z2_lock, stepper.set_z3_lock + #if NUM_Z_STEPPER_DRIVERS >= 4 + , stepper.set_z4_lock + #endif + }; + float adj[] = { + 0, endstops.z2_endstop_adj, endstops.z3_endstop_adj + #if NUM_Z_STEPPER_DRIVERS >= 4 + , endstops.z4_endstop_adj + #endif + }; + + adjustFunc_t tempLock; + float tempAdj; + + // Manual bubble sort by adjust value + if (adj[1] < adj[0]) { + tempLock = lock[0], tempAdj = adj[0]; + lock[0] = lock[1], adj[0] = adj[1]; + lock[1] = tempLock, adj[1] = tempAdj; + } + if (adj[2] < adj[1]) { + tempLock = lock[1], tempAdj = adj[1]; + lock[1] = lock[2], adj[1] = adj[2]; + lock[2] = tempLock, adj[2] = tempAdj; + } + #if NUM_Z_STEPPER_DRIVERS >= 4 + if (adj[3] < adj[2]) { + tempLock = lock[2], tempAdj = adj[2]; + lock[2] = lock[3], adj[2] = adj[3]; + lock[3] = tempLock, adj[3] = tempAdj; + } + if (adj[2] < adj[1]) { + tempLock = lock[1], tempAdj = adj[1]; + lock[1] = lock[2], adj[1] = adj[2]; + lock[2] = tempLock, adj[2] = tempAdj; + } + #endif + if (adj[1] < adj[0]) { + tempLock = lock[0], tempAdj = adj[0]; + lock[0] = lock[1], adj[0] = adj[1]; + lock[1] = tempLock, adj[1] = tempAdj; + } + + if (pos_dir) { + // normalize adj to smallest value and do the first move + (*lock[0])(true); + do_homing_move(axis, adj[1] - adj[0]); + // lock the second stepper for the final correction + (*lock[1])(true); + do_homing_move(axis, adj[2] - adj[1]); + #if NUM_Z_STEPPER_DRIVERS >= 4 + // lock the third stepper for the final correction + (*lock[2])(true); + do_homing_move(axis, adj[3] - adj[2]); + #endif + } + else { + #if NUM_Z_STEPPER_DRIVERS >= 4 + (*lock[3])(true); + do_homing_move(axis, adj[2] - adj[3]); + #endif + (*lock[2])(true); + do_homing_move(axis, adj[1] - adj[2]); + (*lock[1])(true); + do_homing_move(axis, adj[0] - adj[1]); + } + + stepper.set_z1_lock(false); + stepper.set_z2_lock(false); + stepper.set_z3_lock(false); + #if NUM_Z_STEPPER_DRIVERS >= 4 + stepper.set_z4_lock(false); + #endif + + #endif + } + #endif + + // Reset flags for X, Y, Z motor locking + switch (axis) { + default: break; + TERN_(X_DUAL_ENDSTOPS, case X_AXIS:) + TERN_(Y_DUAL_ENDSTOPS, case Y_AXIS:) + TERN_(Z_MULTI_ENDSTOPS, case Z_AXIS:) + stepper.set_separate_multi_axis(false); + } + #endif + + #ifdef TMC_HOME_PHASE + // move back to homing phase if configured and capable + backout_to_tmc_homing_phase(axis); + #endif + + #if IS_SCARA + + set_axis_is_at_home(axis); + sync_plan_position(); + + #elif ENABLED(DELTA) + + // Delta has already moved all three towers up in G28 + // so here it re-homes each tower in turn. + // Delta homing treats the axes as normal linear axes. + + const float adjDistance = delta_endstop_adj[axis], + minDistance = (MIN_STEPS_PER_SEGMENT) * planner.steps_to_mm[axis]; + + // Retrace by the amount specified in delta_endstop_adj if more than min steps. + if (adjDistance * (Z_HOME_DIR) < 0 && ABS(adjDistance) > minDistance) { // away from endstop, more than min distance + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("adjDistance:", adjDistance); + do_homing_move(axis, adjDistance, get_homing_bump_feedrate(axis)); + } + + #else // CARTESIAN / CORE / MARKFORGED_XY + + set_axis_is_at_home(axis); + sync_plan_position(); + + destination[axis] = current_position[axis]; + + if (DEBUGGING(LEVELING)) DEBUG_POS("> AFTER set_axis_is_at_home", current_position); + + #endif + + // Put away the Z probe + #if HOMING_Z_WITH_PROBE + if (axis == Z_AXIS && probe.stow()) return; + #endif + + #if DISABLED(DELTA) && defined(HOMING_BACKOFF_POST_MM) + const xyz_float_t endstop_backoff = HOMING_BACKOFF_POST_MM; + if (endstop_backoff[axis]) { + current_position[axis] -= ABS(endstop_backoff[axis]) * axis_home_dir; + line_to_current_position( + #if HOMING_Z_WITH_PROBE + (axis == Z_AXIS) ? z_probe_fast_mm_s : + #endif + homing_feedrate(axis) + ); + + #if ENABLED(SENSORLESS_HOMING) + planner.synchronize(); + if (false + #if EITHER(IS_CORE, MARKFORGED_XY) + || axis != NORMAL_AXIS + #endif + ) safe_delay(200); // Short delay to allow belts to spring back + #endif + } + #endif + + // Clear retracted status if homing the Z axis + #if ENABLED(FWRETRACT) + if (axis == Z_AXIS) fwretract.current_hop = 0.0; + #endif + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("<<< homeaxis(", axis_codes[axis], ")"); + +} // homeaxis() + +#if HAS_WORKSPACE_OFFSET + void update_workspace_offset(const AxisEnum axis) { + workspace_offset[axis] = home_offset[axis] + position_shift[axis]; + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Axis ", XYZ_CHAR(axis), " home_offset = ", home_offset[axis], " position_shift = ", position_shift[axis]); + } +#endif + +#if HAS_M206_COMMAND + /** + * Change the home offset for an axis. + * Also refreshes the workspace offset. + */ + void set_home_offset(const AxisEnum axis, const float v) { + home_offset[axis] = v; + update_workspace_offset(axis); + } +#endif // HAS_M206_COMMAND diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h new file mode 100644 index 0000000..887da1a --- /dev/null +++ b/Marlin/src/module/motion.h @@ -0,0 +1,465 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * motion.h + * + * High-level motion commands to feed the planner + * Some of these methods may migrate to the planner class. + */ + +#include "../inc/MarlinConfig.h" + +#if IS_SCARA + #include "scara.h" +#endif + +// Error margin to work around float imprecision +constexpr float fslop = 0.0001; + +extern bool relative_mode; + +extern xyze_pos_t current_position, // High-level current tool position + destination; // Destination for a move + +// G60/G61 Position Save and Return +#if SAVED_POSITIONS + extern uint8_t saved_slots[(SAVED_POSITIONS + 7) >> 3]; + extern xyz_pos_t stored_position[SAVED_POSITIONS]; +#endif + +// Scratch space for a cartesian result +extern xyz_pos_t cartes; + +// Until kinematics.cpp is created, declare this here +#if IS_KINEMATIC + extern abc_pos_t delta; +#endif + +#if HAS_ABL_NOT_UBL + extern feedRate_t xy_probe_feedrate_mm_s; + #define XY_PROBE_FEEDRATE_MM_S xy_probe_feedrate_mm_s +#elif defined(XY_PROBE_SPEED) + #define XY_PROBE_FEEDRATE_MM_S MMM_TO_MMS(XY_PROBE_SPEED) +#else + #define XY_PROBE_FEEDRATE_MM_S PLANNER_XY_FEEDRATE() +#endif + +constexpr feedRate_t z_probe_fast_mm_s = MMM_TO_MMS(Z_PROBE_SPEED_FAST); + +/** + * Feed rates are often configured with mm/m + * but the planner and stepper like mm/s units. + */ +constexpr xyz_feedrate_t homing_feedrate_mm_m = HOMING_FEEDRATE_MM_M; +FORCE_INLINE feedRate_t homing_feedrate(const AxisEnum a) { + float v; + #if ENABLED(DELTA) + v = homing_feedrate_mm_m.z; + #else + switch (a) { + case X_AXIS: v = homing_feedrate_mm_m.x; break; + case Y_AXIS: v = homing_feedrate_mm_m.y; break; + case Z_AXIS: + default: v = homing_feedrate_mm_m.z; + } + #endif + return MMM_TO_MMS(v); +} + +feedRate_t get_homing_bump_feedrate(const AxisEnum axis); + +/** + * The default feedrate for many moves, set by the most recent move + */ +extern feedRate_t feedrate_mm_s; + +/** + * Feedrate scaling is applied to all G0/G1, G2/G3, and G5 moves + */ +extern int16_t feedrate_percentage; +#define MMS_SCALED(V) ((V) * 0.01f * feedrate_percentage) + +// The active extruder (tool). Set with T command. +#if HAS_MULTI_EXTRUDER + extern uint8_t active_extruder; +#else + constexpr uint8_t active_extruder = 0; +#endif + +#if ENABLED(LCD_SHOW_E_TOTAL) + extern float e_move_accumulator; +#endif + +#ifdef __IMXRT1062__ + #define DEFS_PROGMEM +#else + #define DEFS_PROGMEM PROGMEM +#endif + +inline float pgm_read_any(const float *p) { return TERN(__IMXRT1062__, *p, pgm_read_float(p)); } +inline int8_t pgm_read_any(const int8_t *p) { return TERN(__IMXRT1062__, *p, pgm_read_byte(p)); } + +#define XYZ_DEFS(T, NAME, OPT) \ + inline T NAME(const AxisEnum axis) { \ + static const XYZval NAME##_P DEFS_PROGMEM = { X_##OPT, Y_##OPT, Z_##OPT }; \ + return pgm_read_any(&NAME##_P[axis]); \ + } +XYZ_DEFS(float, base_min_pos, MIN_POS); +XYZ_DEFS(float, base_max_pos, MAX_POS); +XYZ_DEFS(float, base_home_pos, HOME_POS); +XYZ_DEFS(float, max_length, MAX_LENGTH); +XYZ_DEFS(int8_t, home_dir, HOME_DIR); + +inline float home_bump_mm(const AxisEnum axis) { + static const xyz_pos_t home_bump_mm_P DEFS_PROGMEM = HOMING_BUMP_MM; + return pgm_read_any(&home_bump_mm_P[axis]); +} + +#if HAS_WORKSPACE_OFFSET + void update_workspace_offset(const AxisEnum axis); +#else + inline void update_workspace_offset(const AxisEnum) {} +#endif + +#if HAS_HOTEND_OFFSET + extern xyz_pos_t hotend_offset[HOTENDS]; + void reset_hotend_offsets(); +#elif HOTENDS + constexpr xyz_pos_t hotend_offset[HOTENDS] = { { 0 } }; +#else + constexpr xyz_pos_t hotend_offset[1] = { { 0 } }; +#endif + +#if HAS_SOFTWARE_ENDSTOPS + + typedef struct { + bool _enabled, _loose; + bool enabled() { return _enabled && !_loose; } + + xyz_pos_t min, max; + void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) { + amin = -100000; amax = 100000; // "No limits" + #if HAS_SOFTWARE_ENDSTOPS + if (enabled()) switch (axis) { + case X_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_X, amin = min.x); + TERN_(MAX_SOFTWARE_ENDSTOP_X, amax = max.x); + break; + case Y_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_Y, amin = min.y); + TERN_(MAX_SOFTWARE_ENDSTOP_Y, amax = max.y); + break; + case Z_AXIS: + TERN_(MIN_SOFTWARE_ENDSTOP_Z, amin = min.z); + TERN_(MAX_SOFTWARE_ENDSTOP_Z, amax = max.z); + default: break; + } + #endif + } + } soft_endstops_t; + + extern soft_endstops_t soft_endstop; + void apply_motion_limits(xyz_pos_t &target); + void update_software_endstops(const AxisEnum axis + #if HAS_HOTEND_OFFSET + , const uint8_t old_tool_index=0, const uint8_t new_tool_index=0 + #endif + ); + #define SET_SOFT_ENDSTOP_LOOSE(loose) (soft_endstop._loose = loose) + +#else // !HAS_SOFTWARE_ENDSTOPS + + typedef struct { + bool enabled() { return false; } + void get_manual_axis_limits(const AxisEnum axis, float &amin, float &amax) { + // No limits + amin = current_position[axis] - 1000; + amax = current_position[axis] + 1000; + } + } soft_endstops_t; + extern soft_endstops_t soft_endstop; + #define apply_motion_limits(V) NOOP + #define update_software_endstops(...) NOOP + #define SET_SOFT_ENDSTOP_LOOSE(V) NOOP + +#endif // !HAS_SOFTWARE_ENDSTOPS + +void report_real_position(); +void report_current_position(); +void report_current_position_projected(); + +void get_cartesian_from_steppers(); +void set_current_from_steppers_for_axis(const AxisEnum axis); + +void quickstop_stepper(); + +/** + * sync_plan_position + * + * Set the planner/stepper positions directly from current_position with + * no kinematic translation. Used for homing axes and cartesian/core syncing. + */ +void sync_plan_position(); +void sync_plan_position_e(); + +/** + * Move the planner to the current position from wherever it last moved + * (or from wherever it has been told it is located). + */ +void line_to_current_position(const feedRate_t &fr_mm_s=feedrate_mm_s); + +#if EXTRUDERS + void unscaled_e_move(const float &length, const feedRate_t &fr_mm_s); +#endif + +void prepare_line_to_destination(); + +void _internal_move_to_destination(const feedRate_t &fr_mm_s=0.0f + #if IS_KINEMATIC + , const bool is_fast=false + #endif +); + +inline void prepare_internal_move_to_destination(const feedRate_t &fr_mm_s=0.0f) { + _internal_move_to_destination(fr_mm_s); +} + +#if IS_KINEMATIC + void prepare_fast_move_to_destination(const feedRate_t &scaled_fr_mm_s=MMS_SCALED(feedrate_mm_s)); + + inline void prepare_internal_fast_move_to_destination(const feedRate_t &fr_mm_s=0.0f) { + _internal_move_to_destination(fr_mm_s, true); + } +#endif + +/** + * Blocking movement and shorthand functions + */ +void do_blocking_move_to(const float rx, const float ry, const float rz, const feedRate_t &fr_mm_s=0.0f); +void do_blocking_move_to(const xy_pos_t &raw, const feedRate_t &fr_mm_s=0.0f); +void do_blocking_move_to(const xyz_pos_t &raw, const feedRate_t &fr_mm_s=0.0f); +void do_blocking_move_to(const xyze_pos_t &raw, const feedRate_t &fr_mm_s=0.0f); + +void do_blocking_move_to_x(const float &rx, const feedRate_t &fr_mm_s=0.0f); +void do_blocking_move_to_y(const float &ry, const feedRate_t &fr_mm_s=0.0f); +void do_blocking_move_to_z(const float &rz, const feedRate_t &fr_mm_s=0.0f); + +void do_blocking_move_to_xy(const float &rx, const float &ry, const feedRate_t &fr_mm_s=0.0f); +void do_blocking_move_to_xy(const xy_pos_t &raw, const feedRate_t &fr_mm_s=0.0f); +FORCE_INLINE void do_blocking_move_to_xy(const xyz_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); } +FORCE_INLINE void do_blocking_move_to_xy(const xyze_pos_t &raw, const feedRate_t &fr_mm_s=0.0f) { do_blocking_move_to_xy(xy_pos_t(raw), fr_mm_s); } + +void do_blocking_move_to_xy_z(const xy_pos_t &raw, const float &z, const feedRate_t &fr_mm_s=0.0f); +FORCE_INLINE void do_blocking_move_to_xy_z(const xyz_pos_t &raw, const float &z, const feedRate_t &fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); } +FORCE_INLINE void do_blocking_move_to_xy_z(const xyze_pos_t &raw, const float &z, const feedRate_t &fr_mm_s=0.0f) { do_blocking_move_to_xy_z(xy_pos_t(raw), z, fr_mm_s); } + +void remember_feedrate_and_scaling(); +void remember_feedrate_scaling_off(); +void restore_feedrate_and_scaling(); + +void do_z_clearance(const float &zclear, const bool z_trusted=true, const bool raise_on_untrusted=true, const bool lower_allowed=false); + +/** + * Homing and Trusted Axes + */ +constexpr uint8_t xyz_bits = _BV(X_AXIS) | _BV(Y_AXIS) | _BV(Z_AXIS); +extern uint8_t axis_homed, axis_trusted; + +void homeaxis(const AxisEnum axis); +void set_axis_is_at_home(const AxisEnum axis); +void set_axis_never_homed(const AxisEnum axis); +uint8_t axes_should_home(uint8_t axis_bits=0x07); +bool homing_needed_error(uint8_t axis_bits=0x07); + +FORCE_INLINE bool axis_was_homed(const AxisEnum axis) { return TEST(axis_homed, axis); } +FORCE_INLINE bool axis_is_trusted(const AxisEnum axis) { return TEST(axis_trusted, axis); } +FORCE_INLINE bool axis_should_home(const AxisEnum axis) { return (axes_should_home() & _BV(axis)) != 0; } +FORCE_INLINE bool no_axes_homed() { return !axis_homed; } +FORCE_INLINE bool all_axes_homed() { return xyz_bits == (axis_homed & xyz_bits); } +FORCE_INLINE bool homing_needed() { return !all_axes_homed(); } +FORCE_INLINE bool all_axes_trusted() { return xyz_bits == (axis_trusted & xyz_bits); } +FORCE_INLINE void set_axis_homed(const AxisEnum axis) { SBI(axis_homed, axis); } +FORCE_INLINE void set_axis_unhomed(const AxisEnum axis) { CBI(axis_homed, axis); } +FORCE_INLINE void set_axis_trusted(const AxisEnum axis) { SBI(axis_trusted, axis); } +FORCE_INLINE void set_axis_untrusted(const AxisEnum axis) { CBI(axis_trusted, axis); } +FORCE_INLINE void set_all_homed() { axis_homed = axis_trusted = xyz_bits; } +FORCE_INLINE void set_all_unhomed() { axis_homed = axis_trusted = 0; } + +#if ENABLED(NO_MOTION_BEFORE_HOMING) + #define MOTION_CONDITIONS (IsRunning() && !homing_needed_error()) +#else + #define MOTION_CONDITIONS IsRunning() +#endif + +#define BABYSTEP_ALLOWED() ((ENABLED(BABYSTEP_WITHOUT_HOMING) || all_axes_trusted()) && (ENABLED(BABYSTEP_ALWAYS_AVAILABLE) || printer_busy())) + +/** + * Workspace offsets + */ +#if HAS_HOME_OFFSET || HAS_POSITION_SHIFT + #if HAS_HOME_OFFSET + extern xyz_pos_t home_offset; + #endif + #if HAS_POSITION_SHIFT + extern xyz_pos_t position_shift; + #endif + #if HAS_HOME_OFFSET && HAS_POSITION_SHIFT + extern xyz_pos_t workspace_offset; + #define _WS workspace_offset + #elif HAS_HOME_OFFSET + #define _WS home_offset + #else + #define _WS position_shift + #endif + #define NATIVE_TO_LOGICAL(POS, AXIS) ((POS) + _WS[AXIS]) + #define LOGICAL_TO_NATIVE(POS, AXIS) ((POS) - _WS[AXIS]) + FORCE_INLINE void toLogical(xy_pos_t &raw) { raw += _WS; } + FORCE_INLINE void toLogical(xyz_pos_t &raw) { raw += _WS; } + FORCE_INLINE void toLogical(xyze_pos_t &raw) { raw += _WS; } + FORCE_INLINE void toNative(xy_pos_t &raw) { raw -= _WS; } + FORCE_INLINE void toNative(xyz_pos_t &raw) { raw -= _WS; } + FORCE_INLINE void toNative(xyze_pos_t &raw) { raw -= _WS; } +#else + #define NATIVE_TO_LOGICAL(POS, AXIS) (POS) + #define LOGICAL_TO_NATIVE(POS, AXIS) (POS) + FORCE_INLINE void toLogical(xy_pos_t&) {} + FORCE_INLINE void toLogical(xyz_pos_t&) {} + FORCE_INLINE void toLogical(xyze_pos_t&) {} + FORCE_INLINE void toNative(xy_pos_t&) {} + FORCE_INLINE void toNative(xyz_pos_t&) {} + FORCE_INLINE void toNative(xyze_pos_t&) {} +#endif +#define LOGICAL_X_POSITION(POS) NATIVE_TO_LOGICAL(POS, X_AXIS) +#define LOGICAL_Y_POSITION(POS) NATIVE_TO_LOGICAL(POS, Y_AXIS) +#define LOGICAL_Z_POSITION(POS) NATIVE_TO_LOGICAL(POS, Z_AXIS) +#define RAW_X_POSITION(POS) LOGICAL_TO_NATIVE(POS, X_AXIS) +#define RAW_Y_POSITION(POS) LOGICAL_TO_NATIVE(POS, Y_AXIS) +#define RAW_Z_POSITION(POS) LOGICAL_TO_NATIVE(POS, Z_AXIS) + +/** + * position_is_reachable family of functions + */ + +#if IS_KINEMATIC // (DELTA or SCARA) + + #if HAS_SCARA_OFFSET + extern abc_pos_t scara_home_offset; // A and B angular offsets, Z mm offset + #endif + + // Return true if the given point is within the printable area + inline bool position_is_reachable(const float &rx, const float &ry, const float inset=0) { + #if ENABLED(DELTA) + return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS - inset + fslop); + #elif IS_SCARA + const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y); + return ( + R2 <= sq(L1 + L2) - inset + #if MIDDLE_DEAD_ZONE_R > 0 + && R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) + #endif + ); + #endif + } + + inline bool position_is_reachable(const xy_pos_t &pos, const float inset=0) { + return position_is_reachable(pos.x, pos.y, inset); + } + +#else // CARTESIAN + + // Return true if the given position is within the machine bounds. + inline bool position_is_reachable(const float &rx, const float &ry) { + if (!WITHIN(ry, Y_MIN_POS - fslop, Y_MAX_POS + fslop)) return false; + #if ENABLED(DUAL_X_CARRIAGE) + if (active_extruder) + return WITHIN(rx, X2_MIN_POS - fslop, X2_MAX_POS + fslop); + else + return WITHIN(rx, X1_MIN_POS - fslop, X1_MAX_POS + fslop); + #else + return WITHIN(rx, X_MIN_POS - fslop, X_MAX_POS + fslop); + #endif + } + inline bool position_is_reachable(const xy_pos_t &pos) { return position_is_reachable(pos.x, pos.y); } + +#endif // CARTESIAN + +/** + * Duplication mode + */ +#if HAS_DUPLICATION_MODE + extern bool extruder_duplication_enabled; // Used in Dual X mode 2 +#endif + +/** + * Dual X Carriage + */ +#if ENABLED(DUAL_X_CARRIAGE) + + enum DualXMode : char { + DXC_FULL_CONTROL_MODE, + DXC_AUTO_PARK_MODE, + DXC_DUPLICATION_MODE, + DXC_MIRRORED_MODE + }; + + extern DualXMode dual_x_carriage_mode; + extern float inactive_extruder_x, // Used in mode 0 & 1 + duplicate_extruder_x_offset; // Used in mode 2 & 3 + extern xyz_pos_t raised_parked_position; // Used in mode 1 + extern bool active_extruder_parked; // Used in mode 1, 2 & 3 + extern millis_t delayed_move_time; // Used in mode 1 + extern int16_t duplicate_extruder_temp_offset; // Used in mode 2 & 3 + extern bool idex_mirrored_mode; // Used in mode 3 + + FORCE_INLINE bool idex_is_duplicating() { return dual_x_carriage_mode >= DXC_DUPLICATION_MODE; } + + float x_home_pos(const uint8_t extruder); + + FORCE_INLINE int x_home_dir(const uint8_t extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; } + + void set_duplication_enabled(const bool dupe, const int8_t tool_index=-1); + void idex_set_mirrored_mode(const bool mirr); + void idex_set_parked(const bool park=true); + +#else + + #if ENABLED(MULTI_NOZZLE_DUPLICATION) + extern uint8_t duplication_e_mask; + enum DualXMode : char { DXC_DUPLICATION_MODE = 2 }; + FORCE_INLINE void set_duplication_enabled(const bool dupe) { extruder_duplication_enabled = dupe; } + #endif + + FORCE_INLINE int x_home_dir(const uint8_t) { return home_dir(X_AXIS); } + +#endif + +#if HAS_M206_COMMAND + void set_home_offset(const AxisEnum axis, const float v); +#endif + +#if USE_SENSORLESS + struct sensorless_t; + sensorless_t start_sensorless_homing_per_axis(const AxisEnum axis); + void end_sensorless_homing_per_axis(const AxisEnum axis, sensorless_t enable_stealth); +#endif diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp new file mode 100644 index 0000000..5897d10 --- /dev/null +++ b/Marlin/src/module/planner.cpp @@ -0,0 +1,3099 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * planner.cpp + * + * Buffer movement commands and manage the acceleration profile plan + * + * Derived from Grbl + * Copyright (c) 2009-2011 Simen Svale Skogsrud + * + * The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. + * + * + * Reasoning behind the mathematics in this module (in the key of 'Mathematica'): + * + * s == speed, a == acceleration, t == time, d == distance + * + * Basic definitions: + * Speed[s_, a_, t_] := s + (a*t) + * Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t] + * + * Distance to reach a specific speed with a constant acceleration: + * Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t] + * d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance() + * + * Speed after a given distance of travel with constant acceleration: + * Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t] + * m -> Sqrt[2 a d + s^2] + * + * DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2] + * + * When to start braking (di) to reach a specified destination speed (s2) after accelerating + * from initial speed s1 without ever stopping at a plateau: + * Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di] + * di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance() + * + * IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a) + * + * -- + * + * The fast inverse function needed for Bézier interpolation for AVR + * was designed, written and tested by Eduardo José Tagle on April/2018 + */ + +#include "planner.h" +#include "stepper.h" +#include "motion.h" +#include "temperature.h" +#include "../lcd/marlinui.h" +#include "../gcode/parser.h" + +#include "../MarlinCore.h" + +#if HAS_LEVELING + #include "../feature/bedlevel/bedlevel.h" +#endif + +#if ENABLED(FILAMENT_WIDTH_SENSOR) + #include "../feature/filwidth.h" +#endif + +#if ENABLED(BARICUDA) + #include "../feature/baricuda.h" +#endif + +#if ENABLED(MIXING_EXTRUDER) + #include "../feature/mixing.h" +#endif + +#if ENABLED(AUTO_POWER_CONTROL) + #include "../feature/power.h" +#endif + +#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) + #include "../feature/closedloop.h" +#endif + +#if ENABLED(BACKLASH_COMPENSATION) + #include "../feature/backlash.h" +#endif + +#if ENABLED(CANCEL_OBJECTS) + #include "../feature/cancel_object.h" +#endif + +#if ENABLED(POWER_LOSS_RECOVERY) + #include "../feature/powerloss.h" +#endif + +#if HAS_CUTTER + #include "../feature/spindle_laser.h" +#endif + +// Delay for delivery of first block to the stepper ISR, if the queue contains 2 or +// fewer movements. The delay is measured in milliseconds, and must be less than 250ms +#define BLOCK_DELAY_FOR_1ST_MOVE 100 + +Planner planner; + +// public: + +/** + * A ring buffer of moves described in steps + */ +block_t Planner::block_buffer[BLOCK_BUFFER_SIZE]; +volatile uint8_t Planner::block_buffer_head, // Index of the next block to be pushed + Planner::block_buffer_nonbusy, // Index of the first non-busy block + Planner::block_buffer_planned, // Index of the optimally planned block + Planner::block_buffer_tail; // Index of the busy block, if any +uint16_t Planner::cleaning_buffer_counter; // A counter to disable queuing of blocks +uint8_t Planner::delay_before_delivering; // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks + +planner_settings_t Planner::settings; // Initialized by settings.load() + +#if ENABLED(LASER_POWER_INLINE) + laser_state_t Planner::laser_inline; // Current state for blocks +#endif + +uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N]; // (steps/s^2) Derived from mm_per_s2 + +float Planner::steps_to_mm[XYZE_N]; // (mm) Millimeters per step + +#if HAS_JUNCTION_DEVIATION + float Planner::junction_deviation_mm; // (mm) M205 J + #if HAS_LINEAR_E_JERK + float Planner::max_e_jerk[DISTINCT_E]; // Calculated from junction_deviation_mm + #endif +#endif + +#if HAS_CLASSIC_JERK + TERN(HAS_LINEAR_E_JERK, xyz_pos_t, xyze_pos_t) Planner::max_jerk; +#endif + +#if ENABLED(SD_ABORT_ON_ENDSTOP_HIT) + bool Planner::abort_on_endstop_hit = false; +#endif + +#if ENABLED(DISTINCT_E_FACTORS) + uint8_t Planner::last_extruder = 0; // Respond to extruder change +#endif + +#if ENABLED(DIRECT_STEPPING) + uint32_t Planner::last_page_step_rate = 0; + xyze_bool_t Planner::last_page_dir{0}; +#endif + +#if EXTRUDERS + int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder + float Planner::e_factor[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0f); // The flow percentage and volumetric multiplier combine to scale E movement +#endif + +#if DISABLED(NO_VOLUMETRICS) + float Planner::filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder + Planner::volumetric_area_nominal = CIRCLE_AREA(float(DEFAULT_NOMINAL_FILAMENT_DIA) * 0.5f), // Nominal cross-sectional area + Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner +#endif + +#if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + float Planner::volumetric_extruder_limit[EXTRUDERS], // max mm^3/sec the extruder is able to handle + Planner::volumetric_extruder_feedrate_limit[EXTRUDERS]; // pre calculated extruder feedrate limit based on volumetric_extruder_limit; pre-calculated to reduce computation in the planner +#endif + +#if HAS_LEVELING + bool Planner::leveling_active = false; // Flag that auto bed leveling is enabled + #if ABL_PLANAR + matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level + #endif + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + float Planner::z_fade_height, // Initialized by settings.load() + Planner::inverse_z_fade_height, + Planner::last_fade_z; + #endif +#else + constexpr bool Planner::leveling_active; +#endif + +skew_factor_t Planner::skew_factor; // Initialized by settings.load() + +#if ENABLED(AUTOTEMP) + float Planner::autotemp_max = 250, + Planner::autotemp_min = 210, + Planner::autotemp_factor = 0.1f; + bool Planner::autotemp_enabled = false; +#endif + +// private: + +xyze_long_t Planner::position{0}; + +uint32_t Planner::cutoff_long; + +xyze_float_t Planner::previous_speed; +float Planner::previous_nominal_speed_sqr; + +#if ENABLED(DISABLE_INACTIVE_EXTRUDER) + last_move_t Planner::g_uc_extruder_last_move[EXTRUDERS] = { 0 }; +#endif + +#ifdef XY_FREQUENCY_LIMIT + int8_t Planner::xy_freq_limit_hz = XY_FREQUENCY_LIMIT; + float Planner::xy_freq_min_speed_factor = (XY_FREQUENCY_MIN_PERCENT) * 0.01f; + int32_t Planner::xy_freq_min_interval_us = LROUND(1000000.0 / (XY_FREQUENCY_LIMIT)); +#endif + +#if ENABLED(LIN_ADVANCE) + float Planner::extruder_advance_K[EXTRUDERS]; // Initialized by settings.load() +#endif + +#if HAS_POSITION_FLOAT + xyze_pos_t Planner::position_float; // Needed for accurate maths. Steps cannot be used! +#endif + +#if IS_KINEMATIC + xyze_pos_t Planner::position_cart; +#endif + +#if HAS_WIRED_LCD + volatile uint32_t Planner::block_buffer_runtime_us = 0; +#endif + +/** + * Class and Instance Methods + */ + +Planner::Planner() { init(); } + +void Planner::init() { + position.reset(); + TERN_(HAS_POSITION_FLOAT, position_float.reset()); + TERN_(IS_KINEMATIC, position_cart.reset()); + previous_speed.reset(); + previous_nominal_speed_sqr = 0; + TERN_(ABL_PLANAR, bed_level_matrix.set_to_identity()); + clear_block_buffer(); + delay_before_delivering = 0; + #if ENABLED(DIRECT_STEPPING) + last_page_step_rate = 0; + last_page_dir.reset(); + #endif +} + +#if ENABLED(S_CURVE_ACCELERATION) + #ifdef __AVR__ + /** + * This routine returns 0x1000000 / d, getting the inverse as fast as possible. + * A fast-converging iterative Newton-Raphson method can reach full precision in + * just 1 iteration, and takes 211 cycles (worst case; the mean case is less, up + * to 30 cycles for small divisors), instead of the 500 cycles a normal division + * would take. + * + * Inspired by the following page: + * https://stackoverflow.com/questions/27801397/newton-raphson-division-with-big-integers + * + * Suppose we want to calculate floor(2 ^ k / B) where B is a positive integer + * Then, B must be <= 2^k, otherwise, the quotient is 0. + * + * The Newton - Raphson iteration for x = B / 2 ^ k yields: + * q[n + 1] = q[n] * (2 - q[n] * B / 2 ^ k) + * + * This can be rearranged to: + * q[n + 1] = q[n] * (2 ^ (k + 1) - q[n] * B) >> k + * + * Each iteration requires only integer multiplications and bit shifts. + * It doesn't necessarily converge to floor(2 ^ k / B) but in the worst case + * it eventually alternates between floor(2 ^ k / B) and ceil(2 ^ k / B). + * So it checks for this case and extracts floor(2 ^ k / B). + * + * A simple but important optimization for this approach is to truncate + * multiplications (i.e., calculate only the higher bits of the product) in the + * early iterations of the Newton - Raphson method. This is done so the results + * of the early iterations are far from the quotient. Then it doesn't matter if + * they are done inaccurately. + * It's important to pick a good starting value for x. Knowing how many + * digits the divisor has, it can be estimated: + * + * 2^k / x = 2 ^ log2(2^k / x) + * 2^k / x = 2 ^(log2(2^k)-log2(x)) + * 2^k / x = 2 ^(k*log2(2)-log2(x)) + * 2^k / x = 2 ^ (k-log2(x)) + * 2^k / x >= 2 ^ (k-floor(log2(x))) + * floor(log2(x)) is simply the index of the most significant bit set. + * + * If this estimation can be improved even further the number of iterations can be + * reduced a lot, saving valuable execution time. + * The paper "Software Integer Division" by Thomas L.Rodeheffer, Microsoft + * Research, Silicon Valley,August 26, 2008, available at + * https://www.microsoft.com/en-us/research/wp-content/uploads/2008/08/tr-2008-141.pdf + * suggests, for its integer division algorithm, using a table to supply the first + * 8 bits of precision, then, due to the quadratic convergence nature of the + * Newton-Raphon iteration, just 2 iterations should be enough to get maximum + * precision of the division. + * By precomputing values of inverses for small denominator values, just one + * Newton-Raphson iteration is enough to reach full precision. + * This code uses the top 9 bits of the denominator as index. + * + * The AVR assembly function implements this C code using the data below: + * + * // For small divisors, it is best to directly retrieve the results + * if (d <= 110) return pgm_read_dword(&small_inv_tab[d]); + * + * // Compute initial estimation of 0x1000000/x - + * // Get most significant bit set on divider + * uint8_t idx = 0; + * uint32_t nr = d; + * if (!(nr & 0xFF0000)) { + * nr <<= 8; idx += 8; + * if (!(nr & 0xFF0000)) { nr <<= 8; idx += 8; } + * } + * if (!(nr & 0xF00000)) { nr <<= 4; idx += 4; } + * if (!(nr & 0xC00000)) { nr <<= 2; idx += 2; } + * if (!(nr & 0x800000)) { nr <<= 1; idx += 1; } + * + * // Isolate top 9 bits of the denominator, to be used as index into the initial estimation table + * uint32_t tidx = nr >> 15, // top 9 bits. bit8 is always set + * ie = inv_tab[tidx & 0xFF] + 256, // Get the table value. bit9 is always set + * x = idx <= 8 ? (ie >> (8 - idx)) : (ie << (idx - 8)); // Position the estimation at the proper place + * + * x = uint32_t((x * uint64_t(_BV(25) - x * d)) >> 24); // Refine estimation by newton-raphson. 1 iteration is enough + * const uint32_t r = _BV(24) - x * d; // Estimate remainder + * if (r >= d) x++; // Check whether to adjust result + * return uint32_t(x); // x holds the proper estimation + */ + static uint32_t get_period_inverse(uint32_t d) { + + static const uint8_t inv_tab[256] PROGMEM = { + 255,253,252,250,248,246,244,242,240,238,236,234,233,231,229,227, + 225,224,222,220,218,217,215,213,212,210,208,207,205,203,202,200, + 199,197,195,194,192,191,189,188,186,185,183,182,180,179,178,176, + 175,173,172,170,169,168,166,165,164,162,161,160,158,157,156,154, + 153,152,151,149,148,147,146,144,143,142,141,139,138,137,136,135, + 134,132,131,130,129,128,127,126,125,123,122,121,120,119,118,117, + 116,115,114,113,112,111,110,109,108,107,106,105,104,103,102,101, + 100,99,98,97,96,95,94,93,92,91,90,89,88,88,87,86, + 85,84,83,82,81,80,80,79,78,77,76,75,74,74,73,72, + 71,70,70,69,68,67,66,66,65,64,63,62,62,61,60,59, + 59,58,57,56,56,55,54,53,53,52,51,50,50,49,48,48, + 47,46,46,45,44,43,43,42,41,41,40,39,39,38,37,37, + 36,35,35,34,33,33,32,32,31,30,30,29,28,28,27,27, + 26,25,25,24,24,23,22,22,21,21,20,19,19,18,18,17, + 17,16,15,15,14,14,13,13,12,12,11,10,10,9,9,8, + 8,7,7,6,6,5,5,4,4,3,3,2,2,1,0,0 + }; + + // For small denominators, it is cheaper to directly store the result. + // For bigger ones, just ONE Newton-Raphson iteration is enough to get + // maximum precision we need + static const uint32_t small_inv_tab[111] PROGMEM = { + 16777216,16777216,8388608,5592405,4194304,3355443,2796202,2396745,2097152,1864135,1677721,1525201,1398101,1290555,1198372,1118481, + 1048576,986895,932067,883011,838860,798915,762600,729444,699050,671088,645277,621378,599186,578524,559240,541200, + 524288,508400,493447,479349,466033,453438,441505,430185,419430,409200,399457,390167,381300,372827,364722,356962, + 349525,342392,335544,328965,322638,316551,310689,305040,299593,294337,289262,284359,279620,275036,270600,266305, + 262144,258111,254200,250406,246723,243148,239674,236298,233016,229824,226719,223696,220752,217885,215092,212369, + 209715,207126,204600,202135,199728,197379,195083,192841,190650,188508,186413,184365,182361,180400,178481,176602, + 174762,172960,171196,169466,167772,166111,164482,162885,161319,159783,158275,156796,155344,153919,152520 + }; + + // For small divisors, it is best to directly retrieve the results + if (d <= 110) return pgm_read_dword(&small_inv_tab[d]); + + uint8_t r8 = d & 0xFF, + r9 = (d >> 8) & 0xFF, + r10 = (d >> 16) & 0xFF, + r2,r3,r4,r5,r6,r7,r11,r12,r13,r14,r15,r16,r17,r18; + const uint8_t* ptab = inv_tab; + + __asm__ __volatile__( + // %8:%7:%6 = interval + // r31:r30: MUST be those registers, and they must point to the inv_tab + + A("clr %13") // %13 = 0 + + // Now we must compute + // result = 0xFFFFFF / d + // %8:%7:%6 = interval + // %16:%15:%14 = nr + // %13 = 0 + + // A plain division of 24x24 bits should take 388 cycles to complete. We will + // use Newton-Raphson for the calculation, and will strive to get way less cycles + // for the same result - Using C division, it takes 500cycles to complete . + + A("clr %3") // idx = 0 + A("mov %14,%6") + A("mov %15,%7") + A("mov %16,%8") // nr = interval + A("tst %16") // nr & 0xFF0000 == 0 ? + A("brne 2f") // No, skip this + A("mov %16,%15") + A("mov %15,%14") // nr <<= 8, %14 not needed + A("subi %3,-8") // idx += 8 + A("tst %16") // nr & 0xFF0000 == 0 ? + A("brne 2f") // No, skip this + A("mov %16,%15") // nr <<= 8, %14 not needed + A("clr %15") // We clear %14 + A("subi %3,-8") // idx += 8 + + // here %16 != 0 and %16:%15 contains at least 9 MSBits, or both %16:%15 are 0 + L("2") + A("cpi %16,0x10") // (nr & 0xF00000) == 0 ? + A("brcc 3f") // No, skip this + A("swap %15") // Swap nibbles + A("swap %16") // Swap nibbles. Low nibble is 0 + A("mov %14, %15") + A("andi %14,0x0F") // Isolate low nibble + A("andi %15,0xF0") // Keep proper nibble in %15 + A("or %16, %14") // %16:%15 <<= 4 + A("subi %3,-4") // idx += 4 + + L("3") + A("cpi %16,0x40") // (nr & 0xC00000) == 0 ? + A("brcc 4f") // No, skip this + A("add %15,%15") + A("adc %16,%16") + A("add %15,%15") + A("adc %16,%16") // %16:%15 <<= 2 + A("subi %3,-2") // idx += 2 + + L("4") + A("cpi %16,0x80") // (nr & 0x800000) == 0 ? + A("brcc 5f") // No, skip this + A("add %15,%15") + A("adc %16,%16") // %16:%15 <<= 1 + A("inc %3") // idx += 1 + + // Now %16:%15 contains its MSBit set to 1, or %16:%15 is == 0. We are now absolutely sure + // we have at least 9 MSBits available to enter the initial estimation table + L("5") + A("add %15,%15") + A("adc %16,%16") // %16:%15 = tidx = (nr <<= 1), we lose the top MSBit (always set to 1, %16 is the index into the inverse table) + A("add r30,%16") // Only use top 8 bits + A("adc r31,%13") // r31:r30 = inv_tab + (tidx) + A("lpm %14, Z") // %14 = inv_tab[tidx] + A("ldi %15, 1") // %15 = 1 %15:%14 = inv_tab[tidx] + 256 + + // We must scale the approximation to the proper place + A("clr %16") // %16 will always be 0 here + A("subi %3,8") // idx == 8 ? + A("breq 6f") // yes, no need to scale + A("brcs 7f") // If C=1, means idx < 8, result was negative! + + // idx > 8, now %3 = idx - 8. We must perform a left shift. idx range:[1-8] + A("sbrs %3,0") // shift by 1bit position? + A("rjmp 8f") // No + A("add %14,%14") + A("adc %15,%15") // %15:16 <<= 1 + L("8") + A("sbrs %3,1") // shift by 2bit position? + A("rjmp 9f") // No + A("add %14,%14") + A("adc %15,%15") + A("add %14,%14") + A("adc %15,%15") // %15:16 <<= 1 + L("9") + A("sbrs %3,2") // shift by 4bits position? + A("rjmp 16f") // No + A("swap %15") // Swap nibbles. lo nibble of %15 will always be 0 + A("swap %14") // Swap nibbles + A("mov %12,%14") + A("andi %12,0x0F") // isolate low nibble + A("andi %14,0xF0") // and clear it + A("or %15,%12") // %15:%16 <<= 4 + L("16") + A("sbrs %3,3") // shift by 8bits position? + A("rjmp 6f") // No, we are done + A("mov %16,%15") + A("mov %15,%14") + A("clr %14") + A("jmp 6f") + + // idx < 8, now %3 = idx - 8. Get the count of bits + L("7") + A("neg %3") // %3 = -idx = count of bits to move right. idx range:[1...8] + A("sbrs %3,0") // shift by 1 bit position ? + A("rjmp 10f") // No, skip it + A("asr %15") // (bit7 is always 0 here) + A("ror %14") + L("10") + A("sbrs %3,1") // shift by 2 bit position ? + A("rjmp 11f") // No, skip it + A("asr %15") // (bit7 is always 0 here) + A("ror %14") + A("asr %15") // (bit7 is always 0 here) + A("ror %14") + L("11") + A("sbrs %3,2") // shift by 4 bit position ? + A("rjmp 12f") // No, skip it + A("swap %15") // Swap nibbles + A("andi %14, 0xF0") // Lose the lowest nibble + A("swap %14") // Swap nibbles. Upper nibble is 0 + A("or %14,%15") // Pass nibble from upper byte + A("andi %15, 0x0F") // And get rid of that nibble + L("12") + A("sbrs %3,3") // shift by 8 bit position ? + A("rjmp 6f") // No, skip it + A("mov %14,%15") + A("clr %15") + L("6") // %16:%15:%14 = initial estimation of 0x1000000 / d + + // Now, we must refine the estimation present on %16:%15:%14 using 1 iteration + // of Newton-Raphson. As it has a quadratic convergence, 1 iteration is enough + // to get more than 18bits of precision (the initial table lookup gives 9 bits of + // precision to start from). 18bits of precision is all what is needed here for result + + // %8:%7:%6 = d = interval + // %16:%15:%14 = x = initial estimation of 0x1000000 / d + // %13 = 0 + // %3:%2:%1:%0 = working accumulator + + // Compute 1<<25 - x*d. Result should never exceed 25 bits and should always be positive + A("clr %0") + A("clr %1") + A("clr %2") + A("ldi %3,2") // %3:%2:%1:%0 = 0x2000000 + A("mul %6,%14") // r1:r0 = LO(d) * LO(x) + A("sub %0,r0") + A("sbc %1,r1") + A("sbc %2,%13") + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x) + A("mul %7,%14") // r1:r0 = MI(d) * LO(x) + A("sub %1,r0") + A("sbc %2,r1" ) + A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8 + A("mul %8,%14") // r1:r0 = HI(d) * LO(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16 + A("mul %6,%15") // r1:r0 = LO(d) * MI(x) + A("sub %1,r0") + A("sbc %2,r1") + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8 + A("mul %7,%15") // r1:r0 = MI(d) * MI(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16 + A("mul %8,%15") // r1:r0 = HI(d) * MI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24 + A("mul %6,%16") // r1:r0 = LO(d) * HI(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16 + A("mul %7,%16") // r1:r0 = MI(d) * HI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24 + // %3:%2:%1:%0 = (1<<25) - x*d [169] + + // We need to multiply that result by x, and we are only interested in the top 24bits of that multiply + + // %16:%15:%14 = x = initial estimation of 0x1000000 / d + // %3:%2:%1:%0 = (1<<25) - x*d = acc + // %13 = 0 + + // result = %11:%10:%9:%5:%4 + A("mul %14,%0") // r1:r0 = LO(x) * LO(acc) + A("mov %4,r1") + A("clr %5") + A("clr %9") + A("clr %10") + A("clr %11") // %11:%10:%9:%5:%4 = LO(x) * LO(acc) >> 8 + A("mul %15,%0") // r1:r0 = MI(x) * LO(acc) + A("add %4,r0") + A("adc %5,r1") + A("adc %9,%13") + A("adc %10,%13") + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc) + A("mul %16,%0") // r1:r0 = HI(x) * LO(acc) + A("add %5,r0") + A("adc %9,r1") + A("adc %10,%13") + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc) << 8 + + A("mul %14,%1") // r1:r0 = LO(x) * MIL(acc) + A("add %4,r0") + A("adc %5,r1") + A("adc %9,%13") + A("adc %10,%13") + A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIL(acc) + A("mul %15,%1") // r1:r0 = MI(x) * MIL(acc) + A("add %5,r0") + A("adc %9,r1") + A("adc %10,%13") + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 8 + A("mul %16,%1") // r1:r0 = HI(x) * MIL(acc) + A("add %9,r0") + A("adc %10,r1") + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 16 + + A("mul %14,%2") // r1:r0 = LO(x) * MIH(acc) + A("add %5,r0") + A("adc %9,r1") + A("adc %10,%13") + A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIH(acc) << 8 + A("mul %15,%2") // r1:r0 = MI(x) * MIH(acc) + A("add %9,r0") + A("adc %10,r1") + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 16 + A("mul %16,%2") // r1:r0 = HI(x) * MIH(acc) + A("add %10,r0") + A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 24 + + A("mul %14,%3") // r1:r0 = LO(x) * HI(acc) + A("add %9,r0") + A("adc %10,r1") + A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * HI(acc) << 16 + A("mul %15,%3") // r1:r0 = MI(x) * HI(acc) + A("add %10,r0") + A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 24 + A("mul %16,%3") // r1:r0 = HI(x) * HI(acc) + A("add %11,r0") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 32 + + // At this point, %11:%10:%9 contains the new estimation of x. + + // Finally, we must correct the result. Estimate remainder as + // (1<<24) - x*d + // %11:%10:%9 = x + // %8:%7:%6 = d = interval" "\n\t" + A("ldi %3,1") + A("clr %2") + A("clr %1") + A("clr %0") // %3:%2:%1:%0 = 0x1000000 + A("mul %6,%9") // r1:r0 = LO(d) * LO(x) + A("sub %0,r0") + A("sbc %1,r1") + A("sbc %2,%13") + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x) + A("mul %7,%9") // r1:r0 = MI(d) * LO(x) + A("sub %1,r0") + A("sbc %2,r1") + A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8 + A("mul %8,%9") // r1:r0 = HI(d) * LO(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16 + A("mul %6,%10") // r1:r0 = LO(d) * MI(x) + A("sub %1,r0") + A("sbc %2,r1") + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8 + A("mul %7,%10") // r1:r0 = MI(d) * MI(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16 + A("mul %8,%10") // r1:r0 = HI(d) * MI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24 + A("mul %6,%11") // r1:r0 = LO(d) * HI(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16 + A("mul %7,%11") // r1:r0 = MI(d) * HI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24 + // %3:%2:%1:%0 = r = (1<<24) - x*d + // %8:%7:%6 = d = interval + + // Perform the final correction + A("sub %0,%6") + A("sbc %1,%7") + A("sbc %2,%8") // r -= d + A("brcs 14f") // if ( r >= d) + + // %11:%10:%9 = x + A("ldi %3,1") + A("add %9,%3") + A("adc %10,%13") + A("adc %11,%13") // x++ + L("14") + + // Estimation is done. %11:%10:%9 = x + A("clr __zero_reg__") // Make C runtime happy + // [211 cycles total] + : "=r" (r2), + "=r" (r3), + "=r" (r4), + "=d" (r5), + "=r" (r6), + "=r" (r7), + "+r" (r8), + "+r" (r9), + "+r" (r10), + "=d" (r11), + "=r" (r12), + "=r" (r13), + "=d" (r14), + "=d" (r15), + "=d" (r16), + "=d" (r17), + "=d" (r18), + "+z" (ptab) + : + : "r0", "r1", "cc" + ); + + // Return the result + return r11 | (uint16_t(r12) << 8) | (uint32_t(r13) << 16); + } + #else + // All other 32-bit MPUs can easily do inverse using hardware division, + // so we don't need to reduce precision or to use assembly language at all. + // This routine, for all other archs, returns 0x100000000 / d ~= 0xFFFFFFFF / d + static FORCE_INLINE uint32_t get_period_inverse(const uint32_t d) { + return d ? 0xFFFFFFFF / d : 0xFFFFFFFF; + } + #endif +#endif + +#define MINIMAL_STEP_RATE 120 + +/** + * Get the current block for processing + * and mark the block as busy. + * Return nullptr if the buffer is empty + * or if there is a first-block delay. + * + * WARNING: Called from Stepper ISR context! + */ +block_t* Planner::get_current_block() { + // Get the number of moves in the planner queue so far + const uint8_t nr_moves = movesplanned(); + + // If there are any moves queued ... + if (nr_moves) { + + // If there is still delay of delivery of blocks running, decrement it + if (delay_before_delivering) { + --delay_before_delivering; + // If the number of movements queued is less than 3, and there is still time + // to wait, do not deliver anything + if (nr_moves < 3 && delay_before_delivering) return nullptr; + delay_before_delivering = 0; + } + + // If we are here, there is no excuse to deliver the block + block_t * const block = &block_buffer[block_buffer_tail]; + + // No trapezoid calculated? Don't execute yet. + if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr; + + // We can't be sure how long an active block will take, so don't count it. + TERN_(HAS_WIRED_LCD, block_buffer_runtime_us -= block->segment_time_us); + + // As this block is busy, advance the nonbusy block pointer + block_buffer_nonbusy = next_block_index(block_buffer_tail); + + // Push block_buffer_planned pointer, if encountered. + if (block_buffer_tail == block_buffer_planned) + block_buffer_planned = block_buffer_nonbusy; + + // Return the block + return block; + } + + // The queue became empty + TERN_(HAS_WIRED_LCD, clear_block_buffer_runtime()); // paranoia. Buffer is empty now - so reset accumulated time to zero. + + return nullptr; +} + +/** + * Calculate trapezoid parameters, multiplying the entry- and exit-speeds + * by the provided factors. + ** + * ############ VERY IMPORTANT ############ + * NOTE that the PRECONDITION to call this function is that the block is + * NOT BUSY and it is marked as RECALCULATE. That WARRANTIES the Stepper ISR + * is not and will not use the block while we modify it, so it is safe to + * alter its values. + */ +void Planner::calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor) { + + uint32_t initial_rate = CEIL(block->nominal_rate * entry_factor), + final_rate = CEIL(block->nominal_rate * exit_factor); // (steps per second) + + // Limit minimal step rate (Otherwise the timer will overflow.) + NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE)); + NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE)); + + #if ENABLED(S_CURVE_ACCELERATION) + uint32_t cruise_rate = initial_rate; + #endif + + const int32_t accel = block->acceleration_steps_per_s2; + + // Steps required for acceleration, deceleration to/from nominal rate + uint32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)), + decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)); + // Steps between acceleration and deceleration, if any + int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps; + + // Does accelerate_steps + decelerate_steps exceed step_event_count? + // Then we can't possibly reach the nominal rate, there will be no cruising. + // Use intersection_distance() to calculate accel / braking time in order to + // reach the final_rate exactly at the end of this block. + if (plateau_steps < 0) { + const float accelerate_steps_float = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count)); + accelerate_steps = _MIN(uint32_t(_MAX(accelerate_steps_float, 0)), block->step_event_count); + plateau_steps = 0; + + #if ENABLED(S_CURVE_ACCELERATION) + // We won't reach the cruising rate. Let's calculate the speed we will reach + cruise_rate = final_speed(initial_rate, accel, accelerate_steps); + #endif + } + #if ENABLED(S_CURVE_ACCELERATION) + else // We have some plateau time, so the cruise rate will be the nominal rate + cruise_rate = block->nominal_rate; + #endif + + #if ENABLED(S_CURVE_ACCELERATION) + // Jerk controlled speed requires to express speed versus time, NOT steps + uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (STEPPER_TIMER_RATE), + deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (STEPPER_TIMER_RATE), + // And to offload calculations from the ISR, we also calculate the inverse of those times here + acceleration_time_inverse = get_period_inverse(acceleration_time), + deceleration_time_inverse = get_period_inverse(deceleration_time); + #endif + + // Store new block parameters + block->accelerate_until = accelerate_steps; + block->decelerate_after = accelerate_steps + plateau_steps; + block->initial_rate = initial_rate; + #if ENABLED(S_CURVE_ACCELERATION) + block->acceleration_time = acceleration_time; + block->deceleration_time = deceleration_time; + block->acceleration_time_inverse = acceleration_time_inverse; + block->deceleration_time_inverse = deceleration_time_inverse; + block->cruise_rate = cruise_rate; + #endif + block->final_rate = final_rate; + + /** + * Laser trapezoid calculations + * + * Approximate the trapezoid with the laser, incrementing the power every `entry_per` while accelerating + * and decrementing it every `exit_power_per` while decelerating, thus ensuring power is related to feedrate. + * + * LASER_POWER_INLINE_TRAPEZOID_CONT doesn't need this as it continuously approximates + * + * Note this may behave unreliably when running with S_CURVE_ACCELERATION + */ + #if ENABLED(LASER_POWER_INLINE_TRAPEZOID) + if (block->laser.power > 0) { // No need to care if power == 0 + const uint8_t entry_power = block->laser.power * entry_factor; // Power on block entry + #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) + // Speedup power + const uint8_t entry_power_diff = block->laser.power - entry_power; + if (entry_power_diff) { + block->laser.entry_per = accelerate_steps / entry_power_diff; + block->laser.power_entry = entry_power; + } + else { + block->laser.entry_per = 0; + block->laser.power_entry = block->laser.power; + } + // Slowdown power + const uint8_t exit_power = block->laser.power * exit_factor, // Power on block entry + exit_power_diff = block->laser.power - exit_power; + if (exit_power_diff) { + block->laser.exit_per = (block->step_event_count - block->decelerate_after) / exit_power_diff; + block->laser.power_exit = exit_power; + } + else { + block->laser.exit_per = 0; + block->laser.power_exit = block->laser.power; + } + #else + block->laser.power_entry = entry_power; + #endif + } + #endif +} + +/* PLANNER SPEED DEFINITION + +--------+ <- current->nominal_speed + / \ + current->entry_speed -> + \ + | + <- next->entry_speed (aka exit speed) + +-------------+ + time --> + + Recalculates the motion plan according to the following basic guidelines: + + 1. Go over every feasible block sequentially in reverse order and calculate the junction speeds + (i.e. current->entry_speed) such that: + a. No junction speed exceeds the pre-computed maximum junction speed limit or nominal speeds of + neighboring blocks. + b. A block entry speed cannot exceed one reverse-computed from its exit speed (next->entry_speed) + with a maximum allowable deceleration over the block travel distance. + c. The last (or newest appended) block is planned from a complete stop (an exit speed of zero). + 2. Go over every block in chronological (forward) order and dial down junction speed values if + a. The exit speed exceeds the one forward-computed from its entry speed with the maximum allowable + acceleration over the block travel distance. + + When these stages are complete, the planner will have maximized the velocity profiles throughout the all + of the planner blocks, where every block is operating at its maximum allowable acceleration limits. In + other words, for all of the blocks in the planner, the plan is optimal and no further speed improvements + are possible. If a new block is added to the buffer, the plan is recomputed according to the said + guidelines for a new optimal plan. + + To increase computational efficiency of these guidelines, a set of planner block pointers have been + created to indicate stop-compute points for when the planner guidelines cannot logically make any further + changes or improvements to the plan when in normal operation and new blocks are streamed and added to the + planner buffer. For example, if a subset of sequential blocks in the planner have been planned and are + bracketed by junction velocities at their maximums (or by the first planner block as well), no new block + added to the planner buffer will alter the velocity profiles within them. So we no longer have to compute + them. Or, if a set of sequential blocks from the first block in the planner (or a optimal stop-compute + point) are all accelerating, they are all optimal and can not be altered by a new block added to the + planner buffer, as this will only further increase the plan speed to chronological blocks until a maximum + junction velocity is reached. However, if the operational conditions of the plan changes from infrequently + used feed holds or feedrate overrides, the stop-compute pointers will be reset and the entire plan is + recomputed as stated in the general guidelines. + + Planner buffer index mapping: + - block_buffer_tail: Points to the beginning of the planner buffer. First to be executed or being executed. + - block_buffer_head: Points to the buffer block after the last block in the buffer. Used to indicate whether + the buffer is full or empty. As described for standard ring buffers, this block is always empty. + - block_buffer_planned: Points to the first buffer block after the last optimally planned block for normal + streaming operating conditions. Use for planning optimizations by avoiding recomputing parts of the + planner buffer that don't change with the addition of a new block, as describe above. In addition, + this block can never be less than block_buffer_tail and will always be pushed forward and maintain + this requirement when encountered by the Planner::release_current_block() routine during a cycle. + + NOTE: Since the planner only computes on what's in the planner buffer, some motions with lots of short + line segments, like G2/3 arcs or complex curves, may seem to move slow. This is because there simply isn't + enough combined distance traveled in the entire buffer to accelerate up to the nominal speed and then + decelerate to a complete stop at the end of the buffer, as stated by the guidelines. If this happens and + becomes an annoyance, there are a few simple solutions: (1) Maximize the machine acceleration. The planner + will be able to compute higher velocity profiles within the same combined distance. (2) Maximize line + motion(s) distance per block to a desired tolerance. The more combined distance the planner has to use, + the faster it can go. (3) Maximize the planner buffer size. This also will increase the combined distance + for the planner to compute over. It also increases the number of computations the planner has to perform + to compute an optimal plan, so select carefully. +*/ + +// The kernel called by recalculate() when scanning the plan from last to first entry. +void Planner::reverse_pass_kernel(block_t* const current, const block_t * const next) { + if (current) { + // If entry speed is already at the maximum entry speed, and there was no change of speed + // in the next block, there is no need to recheck. Block is cruising and there is no need to + // compute anything for this block, + // If not, block entry speed needs to be recalculated to ensure maximum possible planned speed. + const float max_entry_speed_sqr = current->max_entry_speed_sqr; + + // Compute maximum entry speed decelerating over the current block from its exit speed. + // If not at the maximum entry speed, or the previous block entry speed changed + if (current->entry_speed_sqr != max_entry_speed_sqr || (next && TEST(next->flag, BLOCK_BIT_RECALCULATE))) { + + // If nominal length true, max junction speed is guaranteed to be reached. + // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then + // the current block and next block junction speeds are guaranteed to always be at their maximum + // junction speeds in deceleration and acceleration, respectively. This is due to how the current + // block nominal speed limits both the current and next maximum junction speeds. Hence, in both + // the reverse and forward planners, the corresponding block junction speed will always be at the + // the maximum junction speed and may always be ignored for any speed reduction checks. + + const float new_entry_speed_sqr = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) + ? max_entry_speed_sqr + : _MIN(max_entry_speed_sqr, max_allowable_speed_sqr(-current->acceleration, next ? next->entry_speed_sqr : sq(float(MINIMUM_PLANNER_SPEED)), current->millimeters)); + if (current->entry_speed_sqr != new_entry_speed_sqr) { + + // Need to recalculate the block speed - Mark it now, so the stepper + // ISR does not consume the block before being recalculated + SBI(current->flag, BLOCK_BIT_RECALCULATE); + + // But there is an inherent race condition here, as the block may have + // become BUSY just before being marked RECALCULATE, so check for that! + if (stepper.is_block_busy(current)) { + // Block became busy. Clear the RECALCULATE flag (no point in + // recalculating BUSY blocks). And don't set its speed, as it can't + // be updated at this time. + CBI(current->flag, BLOCK_BIT_RECALCULATE); + } + else { + // Block is not BUSY so this is ahead of the Stepper ISR: + // Just Set the new entry speed. + current->entry_speed_sqr = new_entry_speed_sqr; + } + } + } + } +} + +/** + * recalculate() needs to go over the current plan twice. + * Once in reverse and once forward. This implements the reverse pass. + */ +void Planner::reverse_pass() { + // Initialize block index to the last block in the planner buffer. + uint8_t block_index = prev_block_index(block_buffer_head); + + // Read the index of the last buffer planned block. + // The ISR may change it so get a stable local copy. + uint8_t planned_block_index = block_buffer_planned; + + // If there was a race condition and block_buffer_planned was incremented + // or was pointing at the head (queue empty) break loop now and avoid + // planning already consumed blocks + if (planned_block_index == block_buffer_head) return; + + // Reverse Pass: Coarsely maximize all possible deceleration curves back-planning from the last + // block in buffer. Cease planning when the last optimal planned or tail pointer is reached. + // NOTE: Forward pass will later refine and correct the reverse pass to create an optimal plan. + const block_t *next = nullptr; + while (block_index != planned_block_index) { + + // Perform the reverse pass + block_t *current = &block_buffer[block_index]; + + // Only consider non sync and page blocks + if (!TEST(current->flag, BLOCK_BIT_SYNC_POSITION) && !IS_PAGE(current)) { + reverse_pass_kernel(current, next); + next = current; + } + + // Advance to the next + block_index = prev_block_index(block_index); + + // The ISR could advance the block_buffer_planned while we were doing the reverse pass. + // We must try to avoid using an already consumed block as the last one - So follow + // changes to the pointer and make sure to limit the loop to the currently busy block + while (planned_block_index != block_buffer_planned) { + + // If we reached the busy block or an already processed block, break the loop now + if (block_index == planned_block_index) return; + + // Advance the pointer, following the busy block + planned_block_index = next_block_index(planned_block_index); + } + } +} + +// The kernel called by recalculate() when scanning the plan from first to last entry. +void Planner::forward_pass_kernel(const block_t* const previous, block_t* const current, const uint8_t block_index) { + if (previous) { + // If the previous block is an acceleration block, too short to complete the full speed + // change, adjust the entry speed accordingly. Entry speeds have already been reset, + // maximized, and reverse-planned. If nominal length is set, max junction speed is + // guaranteed to be reached. No need to recheck. + if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH) && + previous->entry_speed_sqr < current->entry_speed_sqr) { + + // Compute the maximum allowable speed + const float new_entry_speed_sqr = max_allowable_speed_sqr(-previous->acceleration, previous->entry_speed_sqr, previous->millimeters); + + // If true, current block is full-acceleration and we can move the planned pointer forward. + if (new_entry_speed_sqr < current->entry_speed_sqr) { + + // Mark we need to recompute the trapezoidal shape, and do it now, + // so the stepper ISR does not consume the block before being recalculated + SBI(current->flag, BLOCK_BIT_RECALCULATE); + + // But there is an inherent race condition here, as the block maybe + // became BUSY, just before it was marked as RECALCULATE, so check + // if that is the case! + if (stepper.is_block_busy(current)) { + // Block became busy. Clear the RECALCULATE flag (no point in + // recalculating BUSY blocks and don't set its speed, as it can't + // be updated at this time. + CBI(current->flag, BLOCK_BIT_RECALCULATE); + } + else { + // Block is not BUSY, we won the race against the Stepper ISR: + + // Always <= max_entry_speed_sqr. Backward pass sets this. + current->entry_speed_sqr = new_entry_speed_sqr; // Always <= max_entry_speed_sqr. Backward pass sets this. + + // Set optimal plan pointer. + block_buffer_planned = block_index; + } + } + } + + // Any block set at its maximum entry speed also creates an optimal plan up to this + // point in the buffer. When the plan is bracketed by either the beginning of the + // buffer and a maximum entry speed or two maximum entry speeds, every block in between + // cannot logically be further improved. Hence, we don't have to recompute them anymore. + if (current->entry_speed_sqr == current->max_entry_speed_sqr) + block_buffer_planned = block_index; + } +} + +/** + * recalculate() needs to go over the current plan twice. + * Once in reverse and once forward. This implements the forward pass. + */ +void Planner::forward_pass() { + + // Forward Pass: Forward plan the acceleration curve from the planned pointer onward. + // Also scans for optimal plan breakpoints and appropriately updates the planned pointer. + + // Begin at buffer planned pointer. Note that block_buffer_planned can be modified + // by the stepper ISR, so read it ONCE. It it guaranteed that block_buffer_planned + // will never lead head, so the loop is safe to execute. Also note that the forward + // pass will never modify the values at the tail. + uint8_t block_index = block_buffer_planned; + + block_t *block; + const block_t * previous = nullptr; + while (block_index != block_buffer_head) { + + // Perform the forward pass + block = &block_buffer[block_index]; + + // Skip SYNC and page blocks + if (!TEST(block->flag, BLOCK_BIT_SYNC_POSITION) && !IS_PAGE(block)) { + // If there's no previous block or the previous block is not + // BUSY (thus, modifiable) run the forward_pass_kernel. Otherwise, + // the previous block became BUSY, so assume the current block's + // entry speed can't be altered (since that would also require + // updating the exit speed of the previous block). + if (!previous || !stepper.is_block_busy(previous)) + forward_pass_kernel(previous, block, block_index); + previous = block; + } + // Advance to the previous + block_index = next_block_index(block_index); + } +} + +/** + * Recalculate the trapezoid speed profiles for all blocks in the plan + * according to the entry_factor for each junction. Must be called by + * recalculate() after updating the blocks. + */ +void Planner::recalculate_trapezoids() { + // The tail may be changed by the ISR so get a local copy. + uint8_t block_index = block_buffer_tail, + head_block_index = block_buffer_head; + // Since there could be a sync block in the head of the queue, and the + // next loop must not recalculate the head block (as it needs to be + // specially handled), scan backwards to the first non-SYNC block. + while (head_block_index != block_index) { + + // Go back (head always point to the first free block) + const uint8_t prev_index = prev_block_index(head_block_index); + + // Get the pointer to the block + block_t *prev = &block_buffer[prev_index]; + + // If not dealing with a sync block, we are done. The last block is not a SYNC block + if (!TEST(prev->flag, BLOCK_BIT_SYNC_POSITION)) break; + + // Examine the previous block. This and all following are SYNC blocks + head_block_index = prev_index; + } + + // Go from the tail (currently executed block) to the first block, without including it) + block_t *block = nullptr, *next = nullptr; + float current_entry_speed = 0.0, next_entry_speed = 0.0; + while (block_index != head_block_index) { + + next = &block_buffer[block_index]; + + // Skip sync and page blocks + if (!TEST(next->flag, BLOCK_BIT_SYNC_POSITION) && !IS_PAGE(next)) { + next_entry_speed = SQRT(next->entry_speed_sqr); + + if (block) { + // Recalculate if current block entry or exit junction speed has changed. + if (TEST(block->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) { + + // Mark the current block as RECALCULATE, to protect it from the Stepper ISR running it. + // Note that due to the above condition, there's a chance the current block isn't marked as + // RECALCULATE yet, but the next one is. That's the reason for the following line. + SBI(block->flag, BLOCK_BIT_RECALCULATE); + + // But there is an inherent race condition here, as the block maybe + // became BUSY, just before it was marked as RECALCULATE, so check + // if that is the case! + if (!stepper.is_block_busy(block)) { + // Block is not BUSY, we won the race against the Stepper ISR: + + // NOTE: Entry and exit factors always > 0 by all previous logic operations. + const float current_nominal_speed = SQRT(block->nominal_speed_sqr), + nomr = 1.0f / current_nominal_speed; + calculate_trapezoid_for_block(block, current_entry_speed * nomr, next_entry_speed * nomr); + #if ENABLED(LIN_ADVANCE) + if (block->use_advance_lead) { + const float comp = block->e_D_ratio * extruder_advance_K[active_extruder] * settings.axis_steps_per_mm[E_AXIS]; + block->max_adv_steps = current_nominal_speed * comp; + block->final_adv_steps = next_entry_speed * comp; + } + #endif + } + + // Reset current only to ensure next trapezoid is computed - The + // stepper is free to use the block from now on. + CBI(block->flag, BLOCK_BIT_RECALCULATE); + } + } + + block = next; + current_entry_speed = next_entry_speed; + } + + block_index = next_block_index(block_index); + } + + // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated. + if (next) { + + // Mark the next(last) block as RECALCULATE, to prevent the Stepper ISR running it. + // As the last block is always recalculated here, there is a chance the block isn't + // marked as RECALCULATE yet. That's the reason for the following line. + SBI(next->flag, BLOCK_BIT_RECALCULATE); + + // But there is an inherent race condition here, as the block maybe + // became BUSY, just before it was marked as RECALCULATE, so check + // if that is the case! + if (!stepper.is_block_busy(block)) { + // Block is not BUSY, we won the race against the Stepper ISR: + + const float next_nominal_speed = SQRT(next->nominal_speed_sqr), + nomr = 1.0f / next_nominal_speed; + calculate_trapezoid_for_block(next, next_entry_speed * nomr, float(MINIMUM_PLANNER_SPEED) * nomr); + #if ENABLED(LIN_ADVANCE) + if (next->use_advance_lead) { + const float comp = next->e_D_ratio * extruder_advance_K[active_extruder] * settings.axis_steps_per_mm[E_AXIS]; + next->max_adv_steps = next_nominal_speed * comp; + next->final_adv_steps = (MINIMUM_PLANNER_SPEED) * comp; + } + #endif + } + + // Reset next only to ensure its trapezoid is computed - The stepper is free to use + // the block from now on. + CBI(next->flag, BLOCK_BIT_RECALCULATE); + } +} + +void Planner::recalculate() { + // Initialize block index to the last block in the planner buffer. + const uint8_t block_index = prev_block_index(block_buffer_head); + // If there is just one block, no planning can be done. Avoid it! + if (block_index != block_buffer_planned) { + reverse_pass(); + forward_pass(); + } + recalculate_trapezoids(); +} + +#if ENABLED(AUTOTEMP) + + void Planner::getHighESpeed() { + static float oldt = 0; + + if (!autotemp_enabled) return; + if (thermalManager.degTargetHotend(0) + 2 < autotemp_min) return; // probably temperature set to zero. + + float high = 0.0; + for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) { + block_t* block = &block_buffer[b]; + if (block->steps.x || block->steps.y || block->steps.z) { + const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec; + NOLESS(high, se); + } + } + + float t = autotemp_min + high * autotemp_factor; + LIMIT(t, autotemp_min, autotemp_max); + if (t < oldt) t = t * (1 - float(AUTOTEMP_OLDWEIGHT)) + oldt * float(AUTOTEMP_OLDWEIGHT); + oldt = t; + thermalManager.setTargetHotend(t, 0); + } + +#endif // AUTOTEMP + +/** + * Maintain fans, paste extruder pressure, + */ +void Planner::check_axes_activity() { + + #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_E) + xyze_bool_t axis_active = { false }; + #endif + + #if HAS_FAN + uint8_t tail_fan_speed[FAN_COUNT]; + #endif + + #if ENABLED(BARICUDA) + #if HAS_HEATER_1 + uint8_t tail_valve_pressure; + #endif + #if HAS_HEATER_2 + uint8_t tail_e_to_p_pressure; + #endif + #endif + + if (has_blocks_queued()) { + + #if HAS_FAN || ENABLED(BARICUDA) + block_t *block = &block_buffer[block_buffer_tail]; + #endif + + #if HAS_FAN + FANS_LOOP(i) + tail_fan_speed[i] = thermalManager.scaledFanSpeed(i, block->fan_speed[i]); + #endif + + #if ENABLED(BARICUDA) + TERN_(HAS_HEATER_1, tail_valve_pressure = block->valve_pressure); + TERN_(HAS_HEATER_2, tail_e_to_p_pressure = block->e_to_p_pressure); + #endif + + #if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_E) + for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) { + block_t *block = &block_buffer[b]; + if (ENABLED(DISABLE_X) && block->steps.x) axis_active.x = true; + if (ENABLED(DISABLE_Y) && block->steps.y) axis_active.y = true; + if (ENABLED(DISABLE_Z) && block->steps.z) axis_active.z = true; + if (ENABLED(DISABLE_E) && block->steps.e) axis_active.e = true; + } + #endif + } + else { + + TERN_(HAS_CUTTER, cutter.refresh()); + + #if HAS_FAN + FANS_LOOP(i) + tail_fan_speed[i] = thermalManager.scaledFanSpeed(i); + #endif + + #if ENABLED(BARICUDA) + TERN_(HAS_HEATER_1, tail_valve_pressure = baricuda_valve_pressure); + TERN_(HAS_HEATER_2, tail_e_to_p_pressure = baricuda_e_to_p_pressure); + #endif + } + + // + // Disable inactive axes + // + if (TERN0(DISABLE_X, !axis_active.x)) DISABLE_AXIS_X(); + if (TERN0(DISABLE_Y, !axis_active.y)) DISABLE_AXIS_Y(); + if (TERN0(DISABLE_Z, !axis_active.z)) DISABLE_AXIS_Z(); + if (TERN0(DISABLE_E, !axis_active.e)) disable_e_steppers(); + + // + // Update Fan speeds + // + #if HAS_FAN + + #if FAN_KICKSTART_TIME > 0 + static millis_t fan_kick_end[FAN_COUNT] = { 0 }; + #define KICKSTART_FAN(f) \ + if (tail_fan_speed[f]) { \ + millis_t ms = millis(); \ + if (fan_kick_end[f] == 0) { \ + fan_kick_end[f] = ms + FAN_KICKSTART_TIME; \ + tail_fan_speed[f] = 255; \ + } else if (PENDING(ms, fan_kick_end[f])) \ + tail_fan_speed[f] = 255; \ + } else fan_kick_end[f] = 0 + #else + #define KICKSTART_FAN(f) NOOP + #endif + + #if FAN_MIN_PWM != 0 || FAN_MAX_PWM != 255 + #define CALC_FAN_SPEED(f) (tail_fan_speed[f] ? map(tail_fan_speed[f], 1, 255, FAN_MIN_PWM, FAN_MAX_PWM) : FAN_OFF_PWM) + #else + #define CALC_FAN_SPEED(f) (tail_fan_speed[f] ?: FAN_OFF_PWM) + #endif + + #if ENABLED(FAN_SOFT_PWM) + #define _FAN_SET(F) thermalManager.soft_pwm_amount_fan[F] = CALC_FAN_SPEED(F); + #elif ENABLED(FAST_PWM_FAN) + #define _FAN_SET(F) set_pwm_duty(FAN##F##_PIN, CALC_FAN_SPEED(F)); + #else + #define _FAN_SET(F) analogWrite(pin_t(FAN##F##_PIN), CALC_FAN_SPEED(F)); + #endif + #define FAN_SET(F) do{ KICKSTART_FAN(F); _FAN_SET(F); }while(0) + + TERN_(HAS_FAN0, FAN_SET(0)); + TERN_(HAS_FAN1, FAN_SET(1)); + TERN_(HAS_FAN2, FAN_SET(2)); + TERN_(HAS_FAN3, FAN_SET(3)); + TERN_(HAS_FAN4, FAN_SET(4)); + TERN_(HAS_FAN5, FAN_SET(5)); + TERN_(HAS_FAN6, FAN_SET(6)); + TERN_(HAS_FAN7, FAN_SET(7)); + #endif // HAS_FAN + + TERN_(AUTOTEMP, getHighESpeed()); + + #if ENABLED(BARICUDA) + TERN_(HAS_HEATER_1, analogWrite(pin_t(HEATER_1_PIN), tail_valve_pressure)); + TERN_(HAS_HEATER_2, analogWrite(pin_t(HEATER_2_PIN), tail_e_to_p_pressure)); + #endif +} + +#if DISABLED(NO_VOLUMETRICS) + + /** + * Get a volumetric multiplier from a filament diameter. + * This is the reciprocal of the circular cross-section area. + * Return 1.0 with volumetric off or a diameter of 0.0. + */ + inline float calculate_volumetric_multiplier(const float &diameter) { + return (parser.volumetric_enabled && diameter) ? 1.0f / CIRCLE_AREA(diameter * 0.5f) : 1; + } + + /** + * Convert the filament sizes into volumetric multipliers. + * The multiplier converts a given E value into a length. + */ + void Planner::calculate_volumetric_multipliers() { + LOOP_L_N(i, COUNT(filament_size)) { + volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]); + refresh_e_factor(i); + } + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + calculate_volumetric_extruder_limits(); // update volumetric_extruder_limits as well. + #endif + } + +#endif // !NO_VOLUMETRICS + +#if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + + /** + * Convert volumetric based limits into pre calculated extruder feedrate limits. + */ + void Planner::calculate_volumetric_extruder_limit(const uint8_t e) { + const float &lim = volumetric_extruder_limit[e], &siz = filament_size[e]; + volumetric_extruder_feedrate_limit[e] = (lim && siz) ? lim / CIRCLE_AREA(siz * 0.5f) : 0; + } + void Planner::calculate_volumetric_extruder_limits() { + LOOP_L_N(e, EXTRUDERS) calculate_volumetric_extruder_limit(e); + } + +#endif + +#if ENABLED(FILAMENT_WIDTH_SENSOR) + /** + * Convert the ratio value given by the filament width sensor + * into a volumetric multiplier. Conversion differs when using + * linear extrusion vs volumetric extrusion. + */ + void Planner::apply_filament_width_sensor(const int8_t encoded_ratio) { + // Reconstitute the nominal/measured ratio + const float nom_meas_ratio = 1 + 0.01f * encoded_ratio, + ratio_2 = sq(nom_meas_ratio); + + volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = parser.volumetric_enabled + ? ratio_2 / CIRCLE_AREA(filwidth.nominal_mm * 0.5f) // Volumetric uses a true volumetric multiplier + : ratio_2; // Linear squares the ratio, which scales the volume + + refresh_e_factor(FILAMENT_SENSOR_EXTRUDER_NUM); + } +#endif + +#if HAS_LEVELING + + constexpr xy_pos_t level_fulcrum = { + TERN(Z_SAFE_HOMING, Z_SAFE_HOMING_X_POINT, X_HOME_POS), + TERN(Z_SAFE_HOMING, Z_SAFE_HOMING_Y_POINT, Y_HOME_POS) + }; + + /** + * rx, ry, rz - Cartesian positions in mm + * Leveled XYZ on completion + */ + void Planner::apply_leveling(xyz_pos_t &raw) { + if (!leveling_active) return; + + #if ABL_PLANAR + + xy_pos_t d = raw - level_fulcrum; + apply_rotation_xyz(bed_level_matrix, d.x, d.y, raw.z); + raw = d + level_fulcrum; + + #elif HAS_MESH + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + const float fade_scaling_factor = fade_scaling_factor_for_z(raw.z); + #elif DISABLED(MESH_BED_LEVELING) + constexpr float fade_scaling_factor = 1.0; + #endif + + raw.z += ( + #if ENABLED(MESH_BED_LEVELING) + mbl.get_z(raw + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + , fade_scaling_factor + #endif + ) + #elif ENABLED(AUTO_BED_LEVELING_UBL) + fade_scaling_factor ? fade_scaling_factor * ubl.get_z_correction(raw) : 0.0 + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + fade_scaling_factor ? fade_scaling_factor * bilinear_z_offset(raw) : 0.0 + #endif + ); + + #endif + } + + void Planner::unapply_leveling(xyz_pos_t &raw) { + + if (leveling_active) { + + #if ABL_PLANAR + + matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix); + + xy_pos_t d = raw - level_fulcrum; + apply_rotation_xyz(inverse, d.x, d.y, raw.z); + raw = d + level_fulcrum; + + #elif HAS_MESH + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + const float fade_scaling_factor = fade_scaling_factor_for_z(raw.z); + #elif DISABLED(MESH_BED_LEVELING) + constexpr float fade_scaling_factor = 1.0; + #endif + + raw.z -= ( + #if ENABLED(MESH_BED_LEVELING) + mbl.get_z(raw + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + , fade_scaling_factor + #endif + ) + #elif ENABLED(AUTO_BED_LEVELING_UBL) + fade_scaling_factor ? fade_scaling_factor * ubl.get_z_correction(raw) : 0.0 + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + fade_scaling_factor ? fade_scaling_factor * bilinear_z_offset(raw) : 0.0 + #endif + ); + + #endif + } + } + +#endif // HAS_LEVELING + +#if ENABLED(FWRETRACT) + /** + * rz, e - Cartesian positions in mm + */ + void Planner::apply_retract(float &rz, float &e) { + rz += fwretract.current_hop; + e -= fwretract.current_retract[active_extruder]; + } + + void Planner::unapply_retract(float &rz, float &e) { + rz -= fwretract.current_hop; + e += fwretract.current_retract[active_extruder]; + } + +#endif + +void Planner::quick_stop() { + + // Remove all the queued blocks. Note that this function is NOT + // called from the Stepper ISR, so we must consider tail as readonly! + // that is why we set head to tail - But there is a race condition that + // must be handled: The tail could change between the read and the assignment + // so this must be enclosed in a critical section + + const bool was_enabled = stepper.suspend(); + + // Drop all queue entries + block_buffer_nonbusy = block_buffer_planned = block_buffer_head = block_buffer_tail; + + // Restart the block delay for the first movement - As the queue was + // forced to empty, there's no risk the ISR will touch this. + delay_before_delivering = BLOCK_DELAY_FOR_1ST_MOVE; + + #if HAS_WIRED_LCD + // Clear the accumulated runtime + clear_block_buffer_runtime(); + #endif + + // Make sure to drop any attempt of queuing moves for 1 second + cleaning_buffer_counter = TEMP_TIMER_FREQUENCY; + + // Reenable Stepper ISR + if (was_enabled) stepper.wake_up(); + + // And stop the stepper ISR + stepper.quick_stop(); +} + +void Planner::endstop_triggered(const AxisEnum axis) { + // Record stepper position and discard the current block + stepper.endstop_triggered(axis); +} + +float Planner::triggered_position_mm(const AxisEnum axis) { + return stepper.triggered_position(axis) * steps_to_mm[axis]; +} + +void Planner::finish_and_disable() { + while (has_blocks_queued() || cleaning_buffer_counter) idle(); + disable_all_steppers(); +} + +/** + * Get an axis position according to stepper position(s) + * For CORE machines apply translation from ABC to XYZ. + */ +float Planner::get_axis_position_mm(const AxisEnum axis) { + float axis_steps; + #if IS_CORE + + // Requesting one of the "core" axes? + if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) { + + // Protect the access to the position. + const bool was_enabled = stepper.suspend(); + + const int32_t p1 = stepper.position(CORE_AXIS_1), + p2 = stepper.position(CORE_AXIS_2); + + if (was_enabled) stepper.wake_up(); + + // ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1 + // ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2 + axis_steps = (axis == CORE_AXIS_2 ? CORESIGN(p1 - p2) : p1 + p2) * 0.5f; + } + else + axis_steps = stepper.position(axis); + + #elif ENABLED(MARKFORGED_XY) + + // Requesting one of the joined axes? + if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) { + // Protect the access to the position. + const bool was_enabled = stepper.suspend(); + + const int32_t p1 = stepper.position(CORE_AXIS_1), + p2 = stepper.position(CORE_AXIS_2); + + if (was_enabled) stepper.wake_up(); + + axis_steps = ((axis == CORE_AXIS_1) ? p1 - p2 : p2); + } + else + axis_steps = stepper.position(axis); + + #else + + axis_steps = stepper.position(axis); + + #endif + + return axis_steps * steps_to_mm[axis]; +} + +/** + * Block until all buffered steps are executed / cleaned + */ +void Planner::synchronize() { + while (has_blocks_queued() || cleaning_buffer_counter + || TERN0(EXTERNAL_CLOSED_LOOP_CONTROLLER, CLOSED_LOOP_WAITING()) + ) idle(); +} + +/** + * Planner::_buffer_steps + * + * Add a new linear movement to the planner queue (in terms of steps). + * + * target - target position in steps units + * target_float - target position in direct (mm, degrees) units. optional + * fr_mm_s - (target) speed of the move + * extruder - target extruder + * millimeters - the length of the movement, if known + * + * Returns true if movement was properly queued, false otherwise (if cleaning) + */ +bool Planner::_buffer_steps(const xyze_long_t &target + #if HAS_POSITION_FLOAT + , const xyze_pos_t &target_float + #endif + #if HAS_DIST_MM_ARG + , const xyze_float_t &cart_dist_mm + #endif + , feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters +) { + + // If we are cleaning, do not accept queuing of movements + if (cleaning_buffer_counter) return false; + + // Wait for the next available block + uint8_t next_buffer_head; + block_t * const block = get_next_free_block(next_buffer_head); + + // Fill the block with the specified movement + if (!_populate_block(block, false, target + #if HAS_POSITION_FLOAT + , target_float + #endif + #if HAS_DIST_MM_ARG + , cart_dist_mm + #endif + , fr_mm_s, extruder, millimeters + )) { + // Movement was not queued, probably because it was too short. + // Simply accept that as movement queued and done + return true; + } + + // If this is the first added movement, reload the delay, otherwise, cancel it. + if (block_buffer_head == block_buffer_tail) { + // If it was the first queued block, restart the 1st block delivery delay, to + // give the planner an opportunity to queue more movements and plan them + // As there are no queued movements, the Stepper ISR will not touch this + // variable, so there is no risk setting this here (but it MUST be done + // before the following line!!) + delay_before_delivering = BLOCK_DELAY_FOR_1ST_MOVE; + } + + // Move buffer head + block_buffer_head = next_buffer_head; + + // Recalculate and optimize trapezoidal speed profiles + recalculate(); + + // Movement successfully queued! + return true; +} + +/** + * Planner::_populate_block + * + * Fills a new linear movement in the block (in terms of steps). + * + * target - target position in steps units + * fr_mm_s - (target) speed of the move + * extruder - target extruder + * + * Returns true if movement is acceptable, false otherwise + */ +bool Planner::_populate_block(block_t * const block, bool split_move, + const abce_long_t &target + #if HAS_POSITION_FLOAT + , const xyze_pos_t &target_float + #endif + #if HAS_DIST_MM_ARG + , const xyze_float_t &cart_dist_mm + #endif + , feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/ +) { + + const int32_t da = target.a - position.a, + db = target.b - position.b, + dc = target.c - position.c; + + #if EXTRUDERS + int32_t de = target.e - position.e; + #else + constexpr int32_t de = 0; + #endif + + /* <-- add a slash to enable + SERIAL_ECHOLNPAIR( + " _populate_block FR:", fr_mm_s, + " A:", target.a, " (", da, " steps)" + " B:", target.b, " (", db, " steps)" + " C:", target.c, " (", dc, " steps)" + #if EXTRUDERS + " E:", target.e, " (", de, " steps)" + #endif + ); + //*/ + + #if EITHER(PREVENT_COLD_EXTRUSION, PREVENT_LENGTHY_EXTRUDE) + if (de) { + #if ENABLED(PREVENT_COLD_EXTRUSION) + if (thermalManager.tooColdToExtrude(extruder)) { + position.e = target.e; // Behave as if the move really took place, but ignore E part + TERN_(HAS_POSITION_FLOAT, position_float.e = target_float.e); + de = 0; // no difference + SERIAL_ECHO_MSG(STR_ERR_COLD_EXTRUDE_STOP); + } + #endif // PREVENT_COLD_EXTRUSION + #if ENABLED(PREVENT_LENGTHY_EXTRUDE) + const float e_steps = ABS(de * e_factor[extruder]); + const float max_e_steps = settings.axis_steps_per_mm[E_AXIS_N(extruder)] * (EXTRUDE_MAXLENGTH); + if (e_steps > max_e_steps) { + #if ENABLED(MIXING_EXTRUDER) + bool ignore_e = false; + float collector[MIXING_STEPPERS]; + mixer.refresh_collector(1.0, mixer.get_current_vtool(), collector); + MIXER_STEPPER_LOOP(e) + if (e_steps * collector[e] > max_e_steps) { ignore_e = true; break; } + #else + constexpr bool ignore_e = true; + #endif + if (ignore_e) { + position.e = target.e; // Behave as if the move really took place, but ignore E part + TERN_(HAS_POSITION_FLOAT, position_float.e = target_float.e); + de = 0; // no difference + SERIAL_ECHO_MSG(STR_ERR_LONG_EXTRUDE_STOP); + } + } + #endif // PREVENT_LENGTHY_EXTRUDE + } + #endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE + + // Compute direction bit-mask for this block + uint8_t dm = 0; + #if CORE_IS_XY + if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis + if (db < 0) SBI(dm, Y_HEAD); // ...and Y + if (dc < 0) SBI(dm, Z_AXIS); + if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction + if (CORESIGN(da - db) < 0) SBI(dm, B_AXIS); // Motor B direction + #elif CORE_IS_XZ + if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis + if (db < 0) SBI(dm, Y_AXIS); + if (dc < 0) SBI(dm, Z_HEAD); // ...and Z + if (da + dc < 0) SBI(dm, A_AXIS); // Motor A direction + if (CORESIGN(da - dc) < 0) SBI(dm, C_AXIS); // Motor C direction + #elif CORE_IS_YZ + if (da < 0) SBI(dm, X_AXIS); + if (db < 0) SBI(dm, Y_HEAD); // Save the real Extruder (head) direction in Y Axis + if (dc < 0) SBI(dm, Z_HEAD); // ...and Z + if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction + if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction + #elif ENABLED(MARKFORGED_XY) + if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis + if (db < 0) SBI(dm, Y_HEAD); // ...and Y + if (dc < 0) SBI(dm, Z_AXIS); + if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction + if (db < 0) SBI(dm, B_AXIS); // Motor B direction + #else + if (da < 0) SBI(dm, X_AXIS); + if (db < 0) SBI(dm, Y_AXIS); + if (dc < 0) SBI(dm, Z_AXIS); + #endif + if (de < 0) SBI(dm, E_AXIS); + + #if EXTRUDERS + const float esteps_float = de * e_factor[extruder]; + const uint32_t esteps = ABS(esteps_float) + 0.5f; + #else + constexpr uint32_t esteps = 0; + #endif + + // Clear all flags, including the "busy" bit + block->flag = 0x00; + + // Set direction bits + block->direction_bits = dm; + + // Update block laser power + #if ENABLED(LASER_POWER_INLINE) + laser_inline.status.isPlanned = true; + block->laser.status = laser_inline.status; + block->laser.power = laser_inline.power; + #endif + + // Number of steps for each axis + // See https://www.corexy.com/theory.html + #if CORE_IS_XY + block->steps.set(ABS(da + db), ABS(da - db), ABS(dc)); + #elif CORE_IS_XZ + block->steps.set(ABS(da + dc), ABS(db), ABS(da - dc)); + #elif CORE_IS_YZ + block->steps.set(ABS(da), ABS(db + dc), ABS(db - dc)); + #elif ENABLED(MARKFORGED_XY) + block->steps.set(ABS(da + db), ABS(db), ABS(dc)); + #elif IS_SCARA + block->steps.set(ABS(da), ABS(db), ABS(dc)); + #else + // default non-h-bot planning + block->steps.set(ABS(da), ABS(db), ABS(dc)); + #endif + + /** + * This part of the code calculates the total length of the movement. + * For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS. + * But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS + * and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y. + * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head. + * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed. + */ + struct DistanceMM : abce_float_t { + #if EITHER(IS_CORE, MARKFORGED_XY) + xyz_pos_t head; + #endif + } steps_dist_mm; + #if IS_CORE + #if CORE_IS_XY + steps_dist_mm.head.x = da * steps_to_mm[A_AXIS]; + steps_dist_mm.head.y = db * steps_to_mm[B_AXIS]; + steps_dist_mm.z = dc * steps_to_mm[Z_AXIS]; + steps_dist_mm.a = (da + db) * steps_to_mm[A_AXIS]; + steps_dist_mm.b = CORESIGN(da - db) * steps_to_mm[B_AXIS]; + #elif CORE_IS_XZ + steps_dist_mm.head.x = da * steps_to_mm[A_AXIS]; + steps_dist_mm.y = db * steps_to_mm[Y_AXIS]; + steps_dist_mm.head.z = dc * steps_to_mm[C_AXIS]; + steps_dist_mm.a = (da + dc) * steps_to_mm[A_AXIS]; + steps_dist_mm.c = CORESIGN(da - dc) * steps_to_mm[C_AXIS]; + #elif CORE_IS_YZ + steps_dist_mm.x = da * steps_to_mm[X_AXIS]; + steps_dist_mm.head.y = db * steps_to_mm[B_AXIS]; + steps_dist_mm.head.z = dc * steps_to_mm[C_AXIS]; + steps_dist_mm.b = (db + dc) * steps_to_mm[B_AXIS]; + steps_dist_mm.c = CORESIGN(db - dc) * steps_to_mm[C_AXIS]; + #endif + #elif ENABLED(MARKFORGED_XY) + steps_dist_mm.head.x = da * steps_to_mm[A_AXIS]; + steps_dist_mm.head.y = db * steps_to_mm[B_AXIS]; + steps_dist_mm.z = dc * steps_to_mm[Z_AXIS]; + steps_dist_mm.a = (da - db) * steps_to_mm[A_AXIS]; + steps_dist_mm.b = db * steps_to_mm[B_AXIS]; + #else + steps_dist_mm.a = da * steps_to_mm[A_AXIS]; + steps_dist_mm.b = db * steps_to_mm[B_AXIS]; + steps_dist_mm.c = dc * steps_to_mm[C_AXIS]; + #endif + + #if EXTRUDERS + steps_dist_mm.e = esteps_float * steps_to_mm[E_AXIS_N(extruder)]; + #else + steps_dist_mm.e = 0.0f; + #endif + + TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator += steps_dist_mm.e); + + if (block->steps.a < MIN_STEPS_PER_SEGMENT && block->steps.b < MIN_STEPS_PER_SEGMENT && block->steps.c < MIN_STEPS_PER_SEGMENT) { + block->millimeters = (0 + #if EXTRUDERS + + ABS(steps_dist_mm.e) + #endif + ); + } + else { + if (millimeters) + block->millimeters = millimeters; + else + block->millimeters = SQRT( + #if EITHER(CORE_IS_XY, MARKFORGED_XY) + sq(steps_dist_mm.head.x) + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.z) + #elif CORE_IS_XZ + sq(steps_dist_mm.head.x) + sq(steps_dist_mm.y) + sq(steps_dist_mm.head.z) + #elif CORE_IS_YZ + sq(steps_dist_mm.x) + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.head.z) + #else + sq(steps_dist_mm.x) + sq(steps_dist_mm.y) + sq(steps_dist_mm.z) + #endif + ); + + /** + * At this point at least one of the axes has more steps than + * MIN_STEPS_PER_SEGMENT, ensuring the segment won't get dropped as + * zero-length. It's important to not apply corrections + * to blocks that would get dropped! + * + * A correction function is permitted to add steps to an axis, it + * should *never* remove steps! + */ + TERN_(BACKLASH_COMPENSATION, backlash.add_correction_steps(da, db, dc, dm, block)); + } + + #if EXTRUDERS + block->steps.e = esteps; + #endif + + block->step_event_count = _MAX(block->steps.a, block->steps.b, block->steps.c, esteps); + + // Bail if this is a zero-length block + if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return false; + + #if ENABLED(MIXING_EXTRUDER) + MIXER_POPULATE_BLOCK(); + #endif + + TERN_(HAS_CUTTER, block->cutter_power = cutter.power); + + #if HAS_FAN + FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i]; + #endif + + #if ENABLED(BARICUDA) + block->valve_pressure = baricuda_valve_pressure; + block->e_to_p_pressure = baricuda_e_to_p_pressure; + #endif + + #if HAS_MULTI_EXTRUDER + block->extruder = extruder; + #endif + + #if ENABLED(AUTO_POWER_CONTROL) + if (block->steps.x || block->steps.y || block->steps.z) + powerManager.power_on(); + #endif + + // Enable active axes + #if EITHER(CORE_IS_XY, MARKFORGED_XY) + if (block->steps.a || block->steps.b) { + ENABLE_AXIS_X(); + ENABLE_AXIS_Y(); + } + #if DISABLED(Z_LATE_ENABLE) + if (block->steps.z) ENABLE_AXIS_Z(); + #endif + #elif CORE_IS_XZ + if (block->steps.a || block->steps.c) { + ENABLE_AXIS_X(); + ENABLE_AXIS_Z(); + } + if (block->steps.y) ENABLE_AXIS_Y(); + #elif CORE_IS_YZ + if (block->steps.b || block->steps.c) { + ENABLE_AXIS_Y(); + ENABLE_AXIS_Z(); + } + if (block->steps.x) ENABLE_AXIS_X(); + #else + if (block->steps.x) ENABLE_AXIS_X(); + if (block->steps.y) ENABLE_AXIS_Y(); + #if DISABLED(Z_LATE_ENABLE) + if (block->steps.z) ENABLE_AXIS_Z(); + #endif + #endif + + // Enable extruder(s) + #if EXTRUDERS + if (esteps) { + TERN_(AUTO_POWER_CONTROL, powerManager.power_on()); + + #if ENABLED(DISABLE_INACTIVE_EXTRUDER) // Enable only the selected extruder + + LOOP_L_N(i, EXTRUDERS) + if (g_uc_extruder_last_move[i]) g_uc_extruder_last_move[i]--; + + #define ENABLE_ONE_E(N) do{ \ + if (extruder == N) { \ + ENABLE_AXIS_E##N(); \ + g_uc_extruder_last_move[N] = (BLOCK_BUFFER_SIZE) * 2; \ + if ((N) == 0 && TERN0(HAS_DUPLICATION_MODE, extruder_duplication_enabled)) \ + ENABLE_AXIS_E1(); \ + } \ + else if (!g_uc_extruder_last_move[N]) { \ + DISABLE_AXIS_E##N(); \ + if ((N) == 0 && TERN0(HAS_DUPLICATION_MODE, extruder_duplication_enabled)) \ + DISABLE_AXIS_E1(); \ + } \ + }while(0); + + #else + + #define ENABLE_ONE_E(N) ENABLE_AXIS_E##N(); + + #endif + + REPEAT(EXTRUDERS, ENABLE_ONE_E); // (ENABLE_ONE_E must end with semicolon) + } + #endif // EXTRUDERS + + if (esteps) + NOLESS(fr_mm_s, settings.min_feedrate_mm_s); + else + NOLESS(fr_mm_s, settings.min_travel_feedrate_mm_s); + + const float inverse_millimeters = 1.0f / block->millimeters; // Inverse millimeters to remove multiple divides + + // Calculate inverse time for this move. No divide by zero due to previous checks. + // Example: At 120mm/s a 60mm move takes 0.5s. So this will give 2.0. + float inverse_secs = fr_mm_s * inverse_millimeters; + + // Get the number of non busy movements in queue (non busy means that they can be altered) + const uint8_t moves_queued = nonbusy_movesplanned(); + + // Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill + #if EITHER(SLOWDOWN, HAS_WIRED_LCD) || defined(XY_FREQUENCY_LIMIT) + // Segment time im micro seconds + int32_t segment_time_us = LROUND(1000000.0f / inverse_secs); + #endif + + #if ENABLED(SLOWDOWN) + #ifndef SLOWDOWN_DIVISOR + #define SLOWDOWN_DIVISOR 2 + #endif + if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / (SLOWDOWN_DIVISOR) - 1)) { + const int32_t time_diff = settings.min_segment_time_us - segment_time_us; + if (time_diff > 0) { + // Buffer is draining so add extra time. The amount of time added increases if the buffer is still emptied more. + const int32_t nst = segment_time_us + LROUND(2 * time_diff / moves_queued); + inverse_secs = 1000000.0f / nst; + #if defined(XY_FREQUENCY_LIMIT) || HAS_WIRED_LCD + segment_time_us = nst; + #endif + } + } + #endif + + #if HAS_WIRED_LCD + // Protect the access to the position. + const bool was_enabled = stepper.suspend(); + + block_buffer_runtime_us += segment_time_us; + block->segment_time_us = segment_time_us; + + if (was_enabled) stepper.wake_up(); + #endif + + block->nominal_speed_sqr = sq(block->millimeters * inverse_secs); // (mm/sec)^2 Always > 0 + block->nominal_rate = CEIL(block->step_event_count * inverse_secs); // (step/sec) Always > 0 + + #if ENABLED(FILAMENT_WIDTH_SENSOR) + if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM) // Only for extruder with filament sensor + filwidth.advance_e(steps_dist_mm.e); + #endif + + // Calculate and limit speed in mm/sec + + xyze_float_t current_speed; + float speed_factor = 1.0f; // factor <1 decreases speed + + // Linear axes first with less logic + LOOP_XYZ(i) { + current_speed[i] = steps_dist_mm[i] * inverse_secs; + const feedRate_t cs = ABS(current_speed[i]), + max_fr = settings.max_feedrate_mm_s[i]; + if (cs > max_fr) NOMORE(speed_factor, max_fr / cs); + } + + // Limit speed on extruders, if any + #if EXTRUDERS + { + current_speed.e = steps_dist_mm.e * inverse_secs; + #if HAS_MIXER_SYNC_CHANNEL + // Move all mixing extruders at the specified rate + if (mixer.get_current_vtool() == MIXER_AUTORETRACT_TOOL) + current_speed.e *= MIXING_STEPPERS; + #endif + + const feedRate_t cs = ABS(current_speed.e), + max_fr = settings.max_feedrate_mm_s[E_AXIS_N(extruder)] + * TERN(HAS_MIXER_SYNC_CHANNEL, MIXING_STEPPERS, 1); + + if (cs > max_fr) NOMORE(speed_factor, max_fr / cs); //respect max feedrate on any movement (doesn't matter if E axes only or not) + + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + const feedRate_t max_vfr = volumetric_extruder_feedrate_limit[extruder] + * TERN(HAS_MIXER_SYNC_CHANNEL, MIXING_STEPPERS, 1); + + // TODO: Doesn't work properly for joined segments. Set MIN_STEPS_PER_SEGMENT 1 as workaround. + + if (block->steps.a || block->steps.b || block->steps.c) { + + if (max_vfr > 0 && cs > max_vfr) { + NOMORE(speed_factor, max_vfr / cs); // respect volumetric extruder limit (if any) + /* <-- add a slash to enable + SERIAL_ECHOPAIR("volumetric extruder limit enforced: ", (cs * CIRCLE_AREA(filament_size[extruder] * 0.5f))); + SERIAL_ECHOPAIR(" mm^3/s (", cs); + SERIAL_ECHOPAIR(" mm/s) limited to ", (max_vfr * CIRCLE_AREA(filament_size[extruder] * 0.5f))); + SERIAL_ECHOPAIR(" mm^3/s (", max_vfr); + SERIAL_ECHOLNPGM(" mm/s)"); + //*/ + } + } + #endif + } + #endif + + #ifdef XY_FREQUENCY_LIMIT + + static uint8_t old_direction_bits; // = 0 + + if (xy_freq_limit_hz) { + // Check and limit the xy direction change frequency + const uint8_t direction_change = block->direction_bits ^ old_direction_bits; + old_direction_bits = block->direction_bits; + segment_time_us = LROUND(float(segment_time_us) / speed_factor); + + static int32_t xs0, xs1, xs2, ys0, ys1, ys2; + if (segment_time_us > xy_freq_min_interval_us) + xs2 = xs1 = ys2 = ys1 = xy_freq_min_interval_us; + else { + xs2 = xs1; xs1 = xs0; + ys2 = ys1; ys1 = ys0; + } + xs0 = TEST(direction_change, X_AXIS) ? segment_time_us : xy_freq_min_interval_us; + ys0 = TEST(direction_change, Y_AXIS) ? segment_time_us : xy_freq_min_interval_us; + + if (segment_time_us < xy_freq_min_interval_us) { + const int32_t least_xy_segment_time = _MIN(_MAX(xs0, xs1, xs2), _MAX(ys0, ys1, ys2)); + if (least_xy_segment_time < xy_freq_min_interval_us) { + float freq_xy_feedrate = (speed_factor * least_xy_segment_time) / xy_freq_min_interval_us; + NOLESS(freq_xy_feedrate, xy_freq_min_speed_factor); + NOMORE(speed_factor, freq_xy_feedrate); + } + } + } + + #endif // XY_FREQUENCY_LIMIT + + // Correct the speed + if (speed_factor < 1.0f) { + current_speed *= speed_factor; + block->nominal_rate *= speed_factor; + block->nominal_speed_sqr = block->nominal_speed_sqr * sq(speed_factor); + } + + // Compute and limit the acceleration rate for the trapezoid generator. + const float steps_per_mm = block->step_event_count * inverse_millimeters; + uint32_t accel; + if (!block->steps.a && !block->steps.b && !block->steps.c) { + // convert to: acceleration steps/sec^2 + accel = CEIL(settings.retract_acceleration * steps_per_mm); + TERN_(LIN_ADVANCE, block->use_advance_lead = false); + } + else { + #define LIMIT_ACCEL_LONG(AXIS,INDX) do{ \ + if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \ + const uint32_t comp = max_acceleration_steps_per_s2[AXIS+INDX] * block->step_event_count; \ + if (accel * block->steps[AXIS] > comp) accel = comp / block->steps[AXIS]; \ + } \ + }while(0) + + #define LIMIT_ACCEL_FLOAT(AXIS,INDX) do{ \ + if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \ + const float comp = (float)max_acceleration_steps_per_s2[AXIS+INDX] * (float)block->step_event_count; \ + if ((float)accel * (float)block->steps[AXIS] > comp) accel = comp / (float)block->steps[AXIS]; \ + } \ + }while(0) + + // Start with print or travel acceleration + accel = CEIL((esteps ? settings.acceleration : settings.travel_acceleration) * steps_per_mm); + + #if ENABLED(LIN_ADVANCE) + + #define MAX_E_JERK(N) TERN(HAS_LINEAR_E_JERK, max_e_jerk[E_INDEX_N(N)], max_jerk.e) + + /** + * Use LIN_ADVANCE for blocks if all these are true: + * + * esteps : This is a print move, because we checked for A, B, C steps before. + * + * extruder_advance_K[active_extruder] : There is an advance factor set for this extruder. + * + * de > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves) + */ + block->use_advance_lead = esteps + && extruder_advance_K[active_extruder] + && de > 0; + + if (block->use_advance_lead) { + block->e_D_ratio = (target_float.e - position_float.e) / + #if IS_KINEMATIC + block->millimeters + #else + SQRT(sq(target_float.x - position_float.x) + + sq(target_float.y - position_float.y) + + sq(target_float.z - position_float.z)) + #endif + ; + + // Check for unusual high e_D ratio to detect if a retract move was combined with the last print move due to min. steps per segment. Never execute this with advance! + // This assumes no one will use a retract length of 0mm < retr_length < ~0.2mm and no one will print 100mm wide lines using 3mm filament or 35mm wide lines using 1.75mm filament. + if (block->e_D_ratio > 3.0f) + block->use_advance_lead = false; + else { + const uint32_t max_accel_steps_per_s2 = MAX_E_JERK(extruder) / (extruder_advance_K[active_extruder] * block->e_D_ratio) * steps_per_mm; + if (TERN0(LA_DEBUG, accel > max_accel_steps_per_s2)) + SERIAL_ECHOLNPGM("Acceleration limited."); + NOMORE(accel, max_accel_steps_per_s2); + } + } + #endif + + // Limit acceleration per axis + if (block->step_event_count <= cutoff_long) { + LIMIT_ACCEL_LONG(A_AXIS, 0); + LIMIT_ACCEL_LONG(B_AXIS, 0); + LIMIT_ACCEL_LONG(C_AXIS, 0); + LIMIT_ACCEL_LONG(E_AXIS, E_INDEX_N(extruder)); + } + else { + LIMIT_ACCEL_FLOAT(A_AXIS, 0); + LIMIT_ACCEL_FLOAT(B_AXIS, 0); + LIMIT_ACCEL_FLOAT(C_AXIS, 0); + LIMIT_ACCEL_FLOAT(E_AXIS, E_INDEX_N(extruder)); + } + } + block->acceleration_steps_per_s2 = accel; + block->acceleration = accel / steps_per_mm; + #if DISABLED(S_CURVE_ACCELERATION) + block->acceleration_rate = (uint32_t)(accel * (4096.0f * 4096.0f / (STEPPER_TIMER_RATE))); + #endif + #if ENABLED(LIN_ADVANCE) + if (block->use_advance_lead) { + block->advance_speed = (STEPPER_TIMER_RATE) / (extruder_advance_K[active_extruder] * block->e_D_ratio * block->acceleration * settings.axis_steps_per_mm[E_AXIS_N(extruder)]); + #if ENABLED(LA_DEBUG) + if (extruder_advance_K[active_extruder] * block->e_D_ratio * block->acceleration * 2 < SQRT(block->nominal_speed_sqr) * block->e_D_ratio) + SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed."); + if (block->advance_speed < 200) + SERIAL_ECHOLNPGM("eISR running at > 10kHz."); + #endif + } + #endif + + float vmax_junction_sqr; // Initial limit on the segment entry velocity (mm/s)^2 + + #if HAS_JUNCTION_DEVIATION + /** + * Compute maximum allowable entry speed at junction by centripetal acceleration approximation. + * Let a circle be tangent to both previous and current path line segments, where the junction + * deviation is defined as the distance from the junction to the closest edge of the circle, + * colinear with the circle center. The circular segment joining the two paths represents the + * path of centripetal acceleration. Solve for max velocity based on max acceleration about the + * radius of the circle, defined indirectly by junction deviation. This may be also viewed as + * path width or max_jerk in the previous Grbl version. This approach does not actually deviate + * from path, but used as a robust way to compute cornering speeds, as it takes into account the + * nonlinearities of both the junction angle and junction velocity. + * + * NOTE: If the junction deviation value is finite, Grbl executes the motions in an exact path + * mode (G61). If the junction deviation value is zero, Grbl will execute the motion in an exact + * stop mode (G61.1) manner. In the future, if continuous mode (G64) is desired, the math here + * is exactly the same. Instead of motioning all the way to junction point, the machine will + * just follow the arc circle defined here. The Arduino doesn't have the CPU cycles to perform + * a continuous mode path, but ARM-based microcontrollers most certainly do. + * + * NOTE: The max junction speed is a fixed value, since machine acceleration limits cannot be + * changed dynamically during operation nor can the line move geometry. This must be kept in + * memory in the event of a feedrate override changing the nominal speeds of blocks, which can + * change the overall maximum entry speed conditions of all blocks. + * + * ####### + * https://github.com/MarlinFirmware/Marlin/issues/10341#issuecomment-388191754 + * + * hoffbaked: on May 10 2018 tuned and improved the GRBL algorithm for Marlin: + Okay! It seems to be working good. I somewhat arbitrarily cut it off at 1mm + on then on anything with less sides than an octagon. With this, and the + reverse pass actually recalculating things, a corner acceleration value + of 1000 junction deviation of .05 are pretty reasonable. If the cycles + can be spared, a better acos could be used. For all I know, it may be + already calculated in a different place. */ + + // Unit vector of previous path line segment + static xyze_float_t prev_unit_vec; + + xyze_float_t unit_vec = + #if HAS_DIST_MM_ARG + cart_dist_mm + #else + { steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z, steps_dist_mm.e } + #endif + ; + + /** + * On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y]. + * So taking Z and E into account, we cannot scale to a unit vector with "inverse_millimeters". + * => normalize the complete junction vector. + * Elsewise, when needed JD will factor-in the E component + */ + if (EITHER(IS_CORE, MARKFORGED_XY) || esteps > 0) + normalize_junction_vector(unit_vec); // Normalize with XYZE components + else + unit_vec *= inverse_millimeters; // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2)) + + // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles. + if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) { + // Compute cosine of angle between previous and current path. (prev_unit_vec is negative) + // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity. + float junction_cos_theta = (-prev_unit_vec.x * unit_vec.x) + (-prev_unit_vec.y * unit_vec.y) + + (-prev_unit_vec.z * unit_vec.z) + (-prev_unit_vec.e * unit_vec.e); + + // NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta). + if (junction_cos_theta > 0.999999f) { + // For a 0 degree acute junction, just set minimum junction speed. + vmax_junction_sqr = sq(float(MINIMUM_PLANNER_SPEED)); + } + else { + NOLESS(junction_cos_theta, -0.999999f); // Check for numerical round-off to avoid divide by zero. + + // Convert delta vector to unit vector + xyze_float_t junction_unit_vec = unit_vec - prev_unit_vec; + normalize_junction_vector(junction_unit_vec); + + const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec), + sin_theta_d2 = SQRT(0.5f * (1.0f - junction_cos_theta)); // Trig half angle identity. Always positive. + + vmax_junction_sqr = junction_acceleration * junction_deviation_mm * sin_theta_d2 / (1.0f - sin_theta_d2); + + #if ENABLED(JD_HANDLE_SMALL_SEGMENTS) + + // For small moves with >135° junction (octagon) find speed for approximate arc + if (block->millimeters < 1 && junction_cos_theta < -0.7071067812f) { + + #if ENABLED(JD_USE_MATH_ACOS) + + #error "TODO: Inline maths with the MCU / FPU." + + #elif ENABLED(JD_USE_LOOKUP_TABLE) + + // Fast acos approximation (max. error +-0.01 rads) + // Based on LUT table and linear interpolation + + /** + * // Generate the JD Lookup Table + * constexpr float c = 1.00751495f; // Correction factor to center error around 0 + * for (int i = 0; i < jd_lut_count - 1; ++i) { + * const float x0 = (sq(i) - 1) / sq(i), + * y0 = acos(x0) * (i == 0 ? 1 : c), + * x1 = i < jd_lut_count - 1 ? 0.5 * x0 + 0.5 : 0.999999f, + * y1 = acos(x1) * (i < jd_lut_count - 1 ? c : 1); + * jd_lut_k[i] = (y0 - y1) / (x0 - x1); + * jd_lut_b[i] = (y1 * x0 - y0 * x1) / (x0 - x1); + * } + * + * // Compute correction factor (Set c to 1.0f first!) + * float min = INFINITY, max = -min; + * for (float t = 0; t <= 1; t += 0.0003f) { + * const float e = acos(t) / approx(t); + * if (isfinite(e)) { + * if (e < min) min = e; + * if (e > max) max = e; + * } + * } + * fprintf(stderr, "%.9gf, ", (min + max) / 2); + */ + static constexpr int16_t jd_lut_count = 16; + static constexpr uint16_t jd_lut_tll = _BV(jd_lut_count - 1); + static constexpr int16_t jd_lut_tll0 = __builtin_clz(jd_lut_tll) + 1; // i.e., 16 - jd_lut_count + 1 + static constexpr float jd_lut_k[jd_lut_count] PROGMEM = { + -1.03145837f, -1.30760646f, -1.75205851f, -2.41705704f, + -3.37769222f, -4.74888992f, -6.69649887f, -9.45661736f, + -13.3640480f, -18.8928222f, -26.7136841f, -37.7754593f, + -53.4201813f, -75.5458374f, -106.836761f, -218.532821f }; + static constexpr float jd_lut_b[jd_lut_count] PROGMEM = { + 1.57079637f, 1.70887053f, 2.04220939f, 2.62408352f, + 3.52467871f, 4.85302639f, 6.77020454f, 9.50875854f, + 13.4009285f, 18.9188995f, 26.7321243f, 37.7885055f, + 53.4293975f, 75.5523529f, 106.841369f, 218.534011f }; + + const float neg = junction_cos_theta < 0 ? -1 : 1, + t = neg * junction_cos_theta; + + const int16_t idx = (t < 0.00000003f) ? 0 : __builtin_clz(uint16_t((1.0f - t) * jd_lut_tll)) - jd_lut_tll0; + + float junction_theta = t * pgm_read_float(&jd_lut_k[idx]) + pgm_read_float(&jd_lut_b[idx]); + if (neg > 0) junction_theta = RADIANS(180) - junction_theta; // acos(-t) + + #else + + // Fast acos(-t) approximation (max. error +-0.033rad = 1.89°) + // Based on MinMax polynomial published by W. Randolph Franklin, see + // https://wrf.ecse.rpi.edu/Research/Short_Notes/arcsin/onlyelem.html + // acos( t) = pi / 2 - asin(x) + // acos(-t) = pi - acos(t) ... pi / 2 + asin(x) + + const float neg = junction_cos_theta < 0 ? -1 : 1, + t = neg * junction_cos_theta, + asinx = 0.032843707f + + t * (-1.451838349f + + t * ( 29.66153956f + + t * (-131.1123477f + + t * ( 262.8130562f + + t * (-242.7199627f + + t * ( 84.31466202f ) ))))), + junction_theta = RADIANS(90) + neg * asinx; // acos(-t) + + // NOTE: junction_theta bottoms out at 0.033 which avoids divide by 0. + + #endif + + const float limit_sqr = (block->millimeters * junction_acceleration) / junction_theta; + NOMORE(vmax_junction_sqr, limit_sqr); + } + + #endif // JD_HANDLE_SMALL_SEGMENTS + } + + // Get the lowest speed + vmax_junction_sqr = _MIN(vmax_junction_sqr, block->nominal_speed_sqr, previous_nominal_speed_sqr); + } + else // Init entry speed to zero. Assume it starts from rest. Planner will correct this later. + vmax_junction_sqr = 0; + + prev_unit_vec = unit_vec; + + #endif + + #ifdef USE_CACHED_SQRT + #define CACHED_SQRT(N, V) \ + static float saved_V, N; \ + if (V != saved_V) { N = SQRT(V); saved_V = V; } + #else + #define CACHED_SQRT(N, V) const float N = SQRT(V) + #endif + + #if HAS_CLASSIC_JERK + + /** + * Adapted from Průša MKS firmware + * https://github.com/prusa3d/Prusa-Firmware + */ + CACHED_SQRT(nominal_speed, block->nominal_speed_sqr); + + // Exit speed limited by a jerk to full halt of a previous last segment + static float previous_safe_speed; + + // Start with a safe speed (from which the machine may halt to stop immediately). + float safe_speed = nominal_speed; + + #ifndef TRAVEL_EXTRA_XYJERK + #define TRAVEL_EXTRA_XYJERK 0 + #endif + const float extra_xyjerk = (de <= 0) ? TRAVEL_EXTRA_XYJERK : 0; + + uint8_t limited = 0; + TERN(HAS_LINEAR_E_JERK, LOOP_XYZ, LOOP_XYZE)(i) { + const float jerk = ABS(current_speed[i]), // cs : Starting from zero, change in speed for this axis + maxj = (max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f)); // mj : The max jerk setting for this axis + if (jerk > maxj) { // cs > mj : New current speed too fast? + if (limited) { // limited already? + const float mjerk = nominal_speed * maxj; // ns*mj + if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk; // ns*mj/cs + } + else { + safe_speed *= maxj / jerk; // Initial limit: ns*mj/cs + ++limited; // Initially limited + } + } + } + + float vmax_junction; + if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) { + // Estimate a maximum velocity allowed at a joint of two successive segments. + // If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities, + // then the machine is not coasting anymore and the safe entry / exit velocities shall be used. + + // Factor to multiply the previous / current nominal velocities to get componentwise limited velocities. + float v_factor = 1; + limited = 0; + + // The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum. + // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting. + CACHED_SQRT(previous_nominal_speed, previous_nominal_speed_sqr); + + float smaller_speed_factor = 1.0f; + if (nominal_speed < previous_nominal_speed) { + vmax_junction = nominal_speed; + smaller_speed_factor = vmax_junction / previous_nominal_speed; + } + else + vmax_junction = previous_nominal_speed; + + // Now limit the jerk in all axes. + TERN(HAS_LINEAR_E_JERK, LOOP_XYZ, LOOP_XYZE)(axis) { + // Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop. + float v_exit = previous_speed[axis] * smaller_speed_factor, + v_entry = current_speed[axis]; + if (limited) { + v_exit *= v_factor; + v_entry *= v_factor; + } + + // Calculate jerk depending on whether the axis is coasting in the same direction or reversing. + const float jerk = (v_exit > v_entry) + ? // coasting axis reversal + ( (v_entry > 0 || v_exit < 0) ? (v_exit - v_entry) : _MAX(v_exit, -v_entry) ) + : // v_exit <= v_entry coasting axis reversal + ( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : _MAX(-v_exit, v_entry) ); + + const float maxj = (max_jerk[axis] + (axis == X_AXIS || axis == Y_AXIS ? extra_xyjerk : 0.0f)); + + if (jerk > maxj) { + v_factor *= maxj / jerk; + ++limited; + } + } + if (limited) vmax_junction *= v_factor; + // Now the transition velocity is known, which maximizes the shared exit / entry velocity while + // respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints. + const float vmax_junction_threshold = vmax_junction * 0.99f; + if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) + vmax_junction = safe_speed; + } + else + vmax_junction = safe_speed; + + previous_safe_speed = safe_speed; + + #if HAS_JUNCTION_DEVIATION + NOMORE(vmax_junction_sqr, sq(vmax_junction)); // Throttle down to max speed + #else + vmax_junction_sqr = sq(vmax_junction); // Go up or down to the new speed + #endif + + #endif // Classic Jerk Limiting + + // Max entry speed of this block equals the max exit speed of the previous block. + block->max_entry_speed_sqr = vmax_junction_sqr; + + // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. + const float v_allowable_sqr = max_allowable_speed_sqr(-block->acceleration, sq(float(MINIMUM_PLANNER_SPEED)), block->millimeters); + + // If we are trying to add a split block, start with the + // max. allowed speed to avoid an interrupted first move. + block->entry_speed_sqr = !split_move ? sq(float(MINIMUM_PLANNER_SPEED)) : _MIN(vmax_junction_sqr, v_allowable_sqr); + + // Initialize planner efficiency flags + // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. + // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then + // the current block and next block junction speeds are guaranteed to always be at their maximum + // junction speeds in deceleration and acceleration, respectively. This is due to how the current + // block nominal speed limits both the current and next maximum junction speeds. Hence, in both + // the reverse and forward planners, the corresponding block junction speed will always be at the + // the maximum junction speed and may always be ignored for any speed reduction checks. + block->flag |= block->nominal_speed_sqr <= v_allowable_sqr ? BLOCK_FLAG_RECALCULATE | BLOCK_FLAG_NOMINAL_LENGTH : BLOCK_FLAG_RECALCULATE; + + // Update previous path unit_vector and nominal speed + previous_speed = current_speed; + previous_nominal_speed_sqr = block->nominal_speed_sqr; + + position = target; // Update the position + + TERN_(HAS_POSITION_FLOAT, position_float = target_float); + TERN_(GRADIENT_MIX, mixer.gradient_control(target_float.z)); + TERN_(POWER_LOSS_RECOVERY, block->sdpos = recovery.command_sdpos()); + + return true; // Movement was accepted + +} // _populate_block() + +/** + * Planner::buffer_sync_block + * Add a block to the buffer that just updates the position + */ +void Planner::buffer_sync_block() { + // Wait for the next available block + uint8_t next_buffer_head; + block_t * const block = get_next_free_block(next_buffer_head); + + // Clear block + memset(block, 0, sizeof(block_t)); + + block->flag = BLOCK_FLAG_SYNC_POSITION; + + block->position = position; + + // If this is the first added movement, reload the delay, otherwise, cancel it. + if (block_buffer_head == block_buffer_tail) { + // If it was the first queued block, restart the 1st block delivery delay, to + // give the planner an opportunity to queue more movements and plan them + // As there are no queued movements, the Stepper ISR will not touch this + // variable, so there is no risk setting this here (but it MUST be done + // before the following line!!) + delay_before_delivering = BLOCK_DELAY_FOR_1ST_MOVE; + } + + block_buffer_head = next_buffer_head; + + stepper.wake_up(); +} // buffer_sync_block() + +/** + * Planner::buffer_segment + * + * Add a new linear movement to the buffer in axis units. + * + * Leveling and kinematics should be applied ahead of calling this. + * + * a,b,c,e - target positions in mm and/or degrees + * fr_mm_s - (target) speed of the move + * extruder - target extruder + * millimeters - the length of the movement, if known + * + * Return 'false' if no segment was queued due to cleaning, cold extrusion, full queue, etc. + */ +bool Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e + #if HAS_DIST_MM_ARG + , const xyze_float_t &cart_dist_mm + #endif + , const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters/*=0.0*/ +) { + + // If we are cleaning, do not accept queuing of movements + if (cleaning_buffer_counter) return false; + + // When changing extruders recalculate steps corresponding to the E position + #if ENABLED(DISTINCT_E_FACTORS) + if (last_extruder != extruder && settings.axis_steps_per_mm[E_AXIS_N(extruder)] != settings.axis_steps_per_mm[E_AXIS_N(last_extruder)]) { + position.e = LROUND(position.e * settings.axis_steps_per_mm[E_AXIS_N(extruder)] * steps_to_mm[E_AXIS_N(last_extruder)]); + last_extruder = extruder; + } + #endif + + // The target position of the tool in absolute steps + // Calculate target position in absolute steps + const abce_long_t target = { + int32_t(LROUND(a * settings.axis_steps_per_mm[A_AXIS])), + int32_t(LROUND(b * settings.axis_steps_per_mm[B_AXIS])), + int32_t(LROUND(c * settings.axis_steps_per_mm[C_AXIS])), + int32_t(LROUND(e * settings.axis_steps_per_mm[E_AXIS_N(extruder)])) + }; + + #if HAS_POSITION_FLOAT + const xyze_pos_t target_float = { a, b, c, e }; + #endif + + // DRYRUN prevents E moves from taking place + if (DEBUGGING(DRYRUN) || TERN0(CANCEL_OBJECTS, cancelable.skipping)) { + position.e = target.e; + TERN_(HAS_POSITION_FLOAT, position_float.e = e); + } + + /* <-- add a slash to enable + SERIAL_ECHOPAIR(" buffer_segment FR:", fr_mm_s); + #if IS_KINEMATIC + SERIAL_ECHOPAIR(" A:", a); + SERIAL_ECHOPAIR(" (", position.a); + SERIAL_ECHOPAIR("->", target.a); + SERIAL_ECHOPAIR(") B:", b); + #else + SERIAL_ECHOPAIR_P(SP_X_LBL, a); + SERIAL_ECHOPAIR(" (", position.x); + SERIAL_ECHOPAIR("->", target.x); + SERIAL_CHAR(')'); + SERIAL_ECHOPAIR_P(SP_Y_LBL, b); + #endif + SERIAL_ECHOPAIR(" (", position.y); + SERIAL_ECHOPAIR("->", target.y); + #if ENABLED(DELTA) + SERIAL_ECHOPAIR(") C:", c); + #else + SERIAL_CHAR(')'); + SERIAL_ECHOPAIR_P(SP_Z_LBL, c); + #endif + SERIAL_ECHOPAIR(" (", position.z); + SERIAL_ECHOPAIR("->", target.z); + SERIAL_CHAR(')'); + SERIAL_ECHOPAIR_P(SP_E_LBL, e); + SERIAL_ECHOPAIR(" (", position.e); + SERIAL_ECHOPAIR("->", target.e); + SERIAL_ECHOLNPGM(")"); + //*/ + + // Queue the movement. Return 'false' if the move was not queued. + if (!_buffer_steps(target + #if HAS_POSITION_FLOAT + , target_float + #endif + #if HAS_DIST_MM_ARG + , cart_dist_mm + #endif + , fr_mm_s, extruder, millimeters) + ) return false; + + stepper.wake_up(); + return true; +} // buffer_segment() + +/** + * Add a new linear movement to the buffer. + * The target is cartesian. It's translated to + * delta/scara if needed. + * + * rx,ry,rz,e - target position in mm or degrees + * fr_mm_s - (target) speed of the move (mm/s) + * extruder - target extruder + * millimeters - the length of the movement, if known + * inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled) + */ +bool Planner::buffer_line(const float &rx, const float &ry, const float &rz, const float &e, const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters + #if ENABLED(SCARA_FEEDRATE_SCALING) + , const float &inv_duration + #endif +) { + xyze_pos_t machine = { rx, ry, rz, e }; + TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine)); + + #if IS_KINEMATIC + + #if HAS_JUNCTION_DEVIATION + const xyze_pos_t cart_dist_mm = { + rx - position_cart.x, ry - position_cart.y, + rz - position_cart.z, e - position_cart.e + }; + #else + const xyz_pos_t cart_dist_mm = { rx - position_cart.x, ry - position_cart.y, rz - position_cart.z }; + #endif + + float mm = millimeters; + if (mm == 0.0) + mm = (cart_dist_mm.x != 0.0 || cart_dist_mm.y != 0.0) ? cart_dist_mm.magnitude() : ABS(cart_dist_mm.z); + + // Cartesian XYZ to kinematic ABC, stored in global 'delta' + inverse_kinematics(machine); + + #if ENABLED(SCARA_FEEDRATE_SCALING) + // For SCARA scale the feed rate from mm/s to degrees/s + // i.e., Complete the angular vector in the given time. + const float duration_recip = inv_duration ?: fr_mm_s / mm; + const xyz_pos_t diff = delta - position_float; + const feedRate_t feedrate = diff.magnitude() * duration_recip; + #else + const feedRate_t feedrate = fr_mm_s; + #endif + if (buffer_segment(delta.a, delta.b, delta.c, machine.e + #if HAS_JUNCTION_DEVIATION + , cart_dist_mm + #endif + , feedrate, extruder, mm + )) { + position_cart.set(rx, ry, rz, e); + return true; + } + else + return false; + #else + return buffer_segment(machine, fr_mm_s, extruder, millimeters); + #endif +} // buffer_line() + +#if ENABLED(DIRECT_STEPPING) + + void Planner::buffer_page(const page_idx_t page_idx, const uint8_t extruder, const uint16_t num_steps) { + if (!last_page_step_rate) { + kill(GET_TEXT(MSG_BAD_PAGE_SPEED)); + return; + } + + uint8_t next_buffer_head; + block_t * const block = get_next_free_block(next_buffer_head); + + block->flag = BLOCK_FLAG_IS_PAGE; + + #if FAN_COUNT > 0 + FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i]; + #endif + + #if HAS_MULTI_EXTRUDER + block->extruder = extruder; + #endif + + block->page_idx = page_idx; + + block->step_event_count = num_steps; + block->initial_rate = + block->final_rate = + block->nominal_rate = last_page_step_rate; // steps/s + + block->accelerate_until = 0; + block->decelerate_after = block->step_event_count; + + // Will be set to last direction later if directional format. + block->direction_bits = 0; + + #define PAGE_UPDATE_DIR(AXIS) \ + if (!last_page_dir[_AXIS(AXIS)]) SBI(block->direction_bits, _AXIS(AXIS)); + + if (!DirectStepping::Config::DIRECTIONAL) { + PAGE_UPDATE_DIR(X); + PAGE_UPDATE_DIR(Y); + PAGE_UPDATE_DIR(Z); + PAGE_UPDATE_DIR(E); + } + + // If this is the first added movement, reload the delay, otherwise, cancel it. + if (block_buffer_head == block_buffer_tail) { + // If it was the first queued block, restart the 1st block delivery delay, to + // give the planner an opportunity to queue more movements and plan them + // As there are no queued movements, the Stepper ISR will not touch this + // variable, so there is no risk setting this here (but it MUST be done + // before the following line!!) + delay_before_delivering = BLOCK_DELAY_FOR_1ST_MOVE; + } + + // Move buffer head + block_buffer_head = next_buffer_head; + + enable_all_steppers(); + stepper.wake_up(); + } + +#endif // DIRECT_STEPPING + +/** + * Directly set the planner ABC position (and stepper positions) + * converting mm (or angles for SCARA) into steps. + * + * The provided ABC position is in machine units. + */ + +void Planner::set_machine_position_mm(const float &a, const float &b, const float &c, const float &e) { + TERN_(DISTINCT_E_FACTORS, last_extruder = active_extruder); + TERN_(HAS_POSITION_FLOAT, position_float.set(a, b, c, e)); + position.set(LROUND(a * settings.axis_steps_per_mm[A_AXIS]), + LROUND(b * settings.axis_steps_per_mm[B_AXIS]), + LROUND(c * settings.axis_steps_per_mm[C_AXIS]), + LROUND(e * settings.axis_steps_per_mm[E_AXIS_N(active_extruder)])); + if (has_blocks_queued()) { + //previous_nominal_speed_sqr = 0.0; // Reset planner junction speeds. Assume start from rest. + //previous_speed.reset(); + buffer_sync_block(); + } + else + stepper.set_position(position); +} + +void Planner::set_position_mm(const float &rx, const float &ry, const float &rz, const float &e) { + xyze_pos_t machine = { rx, ry, rz, e }; + #if HAS_POSITION_MODIFIERS + apply_modifiers(machine, true); + #endif + #if IS_KINEMATIC + position_cart.set(rx, ry, rz, e); + inverse_kinematics(machine); + set_machine_position_mm(delta.a, delta.b, delta.c, machine.e); + #else + set_machine_position_mm(machine); + #endif +} + +/** + * Setters for planner position (also setting stepper position). + */ +void Planner::set_e_position_mm(const float &e) { + const uint8_t axis_index = E_AXIS_N(active_extruder); + TERN_(DISTINCT_E_FACTORS, last_extruder = active_extruder); + + const float e_new = e - TERN0(FWRETRACT, fwretract.current_retract[active_extruder]); + position.e = LROUND(settings.axis_steps_per_mm[axis_index] * e_new); + TERN_(HAS_POSITION_FLOAT, position_float.e = e_new); + TERN_(IS_KINEMATIC, position_cart.e = e); + + if (has_blocks_queued()) + buffer_sync_block(); + else + stepper.set_axis_position(E_AXIS, position.e); +} + +// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2 +void Planner::reset_acceleration_rates() { + #if ENABLED(DISTINCT_E_FACTORS) + #define AXIS_CONDITION (i < E_AXIS || i == E_AXIS_N(active_extruder)) + #else + #define AXIS_CONDITION true + #endif + uint32_t highest_rate = 1; + LOOP_XYZE_N(i) { + max_acceleration_steps_per_s2[i] = settings.max_acceleration_mm_per_s2[i] * settings.axis_steps_per_mm[i]; + if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]); + } + cutoff_long = 4294967295UL / highest_rate; // 0xFFFFFFFFUL + TERN_(HAS_LINEAR_E_JERK, recalculate_max_e_jerk()); +} + +// Recalculate position, steps_to_mm if settings.axis_steps_per_mm changes! +void Planner::refresh_positioning() { + LOOP_XYZE_N(i) steps_to_mm[i] = 1.0f / settings.axis_steps_per_mm[i]; + set_position_mm(current_position); + reset_acceleration_rates(); +} + +inline void limit_and_warn(float &val, const uint8_t axis, PGM_P const setting_name, const xyze_float_t &max_limit) { + const uint8_t lim_axis = axis > E_AXIS ? E_AXIS : axis; + const float before = val; + LIMIT(val, 0.1, max_limit[lim_axis]); + if (before != val) { + SERIAL_CHAR(axis_codes[lim_axis]); + SERIAL_ECHOPGM(" Max "); + serialprintPGM(setting_name); + SERIAL_ECHOLNPAIR(" limited to ", val); + } +} + +void Planner::set_max_acceleration(const uint8_t axis, float targetValue) { + #if ENABLED(LIMITED_MAX_ACCEL_EDITING) + #ifdef MAX_ACCEL_EDIT_VALUES + constexpr xyze_float_t max_accel_edit = MAX_ACCEL_EDIT_VALUES; + const xyze_float_t &max_acc_edit_scaled = max_accel_edit; + #else + constexpr xyze_float_t max_accel_edit = DEFAULT_MAX_ACCELERATION; + const xyze_float_t max_acc_edit_scaled = max_accel_edit * 2; + #endif + limit_and_warn(targetValue, axis, PSTR("Acceleration"), max_acc_edit_scaled); + #endif + settings.max_acceleration_mm_per_s2[axis] = targetValue; + + // Update steps per s2 to agree with the units per s2 (since they are used in the planner) + reset_acceleration_rates(); +} + +void Planner::set_max_feedrate(const uint8_t axis, float targetValue) { + #if ENABLED(LIMITED_MAX_FR_EDITING) + #ifdef MAX_FEEDRATE_EDIT_VALUES + constexpr xyze_float_t max_fr_edit = MAX_FEEDRATE_EDIT_VALUES; + const xyze_float_t &max_fr_edit_scaled = max_fr_edit; + #else + constexpr xyze_float_t max_fr_edit = DEFAULT_MAX_FEEDRATE; + const xyze_float_t max_fr_edit_scaled = max_fr_edit * 2; + #endif + limit_and_warn(targetValue, axis, PSTR("Feedrate"), max_fr_edit_scaled); + #endif + settings.max_feedrate_mm_s[axis] = targetValue; +} + +void Planner::set_max_jerk(const AxisEnum axis, float targetValue) { + #if HAS_CLASSIC_JERK + #if ENABLED(LIMITED_JERK_EDITING) + constexpr xyze_float_t max_jerk_edit = + #ifdef MAX_JERK_EDIT_VALUES + MAX_JERK_EDIT_VALUES + #else + { (DEFAULT_XJERK) * 2, (DEFAULT_YJERK) * 2, + (DEFAULT_ZJERK) * 2, (DEFAULT_EJERK) * 2 } + #endif + ; + limit_and_warn(targetValue, axis, PSTR("Jerk"), max_jerk_edit); + #endif + max_jerk[axis] = targetValue; + #else + UNUSED(axis); UNUSED(targetValue); + #endif +} + +#if HAS_WIRED_LCD + + uint16_t Planner::block_buffer_runtime() { + #ifdef __AVR__ + // Protect the access to the variable. Only required for AVR, as + // any 32bit CPU offers atomic access to 32bit variables + const bool was_enabled = stepper.suspend(); + #endif + + uint32_t bbru = block_buffer_runtime_us; + + #ifdef __AVR__ + // Reenable Stepper ISR + if (was_enabled) stepper.wake_up(); + #endif + + // To translate µs to ms a division by 1000 would be required. + // We introduce 2.4% error here by dividing by 1024. + // Doesn't matter because block_buffer_runtime_us is already too small an estimation. + bbru >>= 10; + // limit to about a minute. + NOMORE(bbru, 0x0000FFFFUL); + return bbru; + } + + void Planner::clear_block_buffer_runtime() { + #ifdef __AVR__ + // Protect the access to the variable. Only required for AVR, as + // any 32bit CPU offers atomic access to 32bit variables + const bool was_enabled = stepper.suspend(); + #endif + + block_buffer_runtime_us = 0; + + #ifdef __AVR__ + // Reenable Stepper ISR + if (was_enabled) stepper.wake_up(); + #endif + } + +#endif + +#if ENABLED(AUTOTEMP) + +void Planner::autotemp_update() { + #if ENABLED(AUTOTEMP_PROPORTIONAL) + const int16_t target = thermalManager.degTargetHotend(active_extruder); + autotemp_min = target + AUTOTEMP_MIN_P; + autotemp_max = target + AUTOTEMP_MAX_P; + #endif + autotemp_factor = TERN(AUTOTEMP_PROPORTIONAL, AUTOTEMP_FACTOR_P, 0); + autotemp_enabled = autotemp_factor != 0; +} + + void Planner::autotemp_M104_M109() { + + #if ENABLED(AUTOTEMP_PROPORTIONAL) + const int16_t target = thermalManager.degTargetHotend(active_extruder); + autotemp_min = target + AUTOTEMP_MIN_P; + autotemp_max = target + AUTOTEMP_MAX_P; + #endif + + if (parser.seenval('S')) autotemp_min = parser.value_celsius(); + if (parser.seenval('B')) autotemp_max = parser.value_celsius(); + + // When AUTOTEMP_PROPORTIONAL is enabled, F0 disables autotemp. + // Normally, leaving off F also disables autotemp. + autotemp_factor = parser.seen('F') ? parser.value_float() : TERN(AUTOTEMP_PROPORTIONAL, AUTOTEMP_FACTOR_P, 0); + autotemp_enabled = autotemp_factor != 0; + } +#endif diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h new file mode 100644 index 0000000..cd906c5 --- /dev/null +++ b/Marlin/src/module/planner.h @@ -0,0 +1,983 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * planner.h + * + * Buffer movement commands and manage the acceleration profile plan + * + * Derived from Grbl + * Copyright (c) 2009-2011 Simen Svale Skogsrud + */ + +#include "../MarlinCore.h" + +#if ENABLED(JD_HANDLE_SMALL_SEGMENTS) + // Enable this option for perfect accuracy but maximum + // computation. Should be fine on ARM processors. + //#define JD_USE_MATH_ACOS + + // Disable this option to save 120 bytes of PROGMEM, + // but incur increased computation and a reduction + // in accuracy. + #define JD_USE_LOOKUP_TABLE +#endif + +#include "motion.h" +#include "../gcode/queue.h" + +#if ENABLED(DELTA) + #include "delta.h" +#endif + +#if ABL_PLANAR + #include "../libs/vector_3.h" // for matrix_3x3 +#endif + +#if ENABLED(FWRETRACT) + #include "../feature/fwretract.h" +#endif + +#if ENABLED(MIXING_EXTRUDER) + #include "../feature/mixing.h" +#endif + +#if HAS_CUTTER + #include "../feature/spindle_laser_types.h" +#endif + +#if ENABLED(DIRECT_STEPPING) + #include "../feature/direct_stepping.h" + #define IS_PAGE(B) TEST(B->flag, BLOCK_BIT_IS_PAGE) +#else + #define IS_PAGE(B) false +#endif + +// Feedrate for manual moves +#ifdef MANUAL_FEEDRATE + constexpr xyze_feedrate_t _mf = MANUAL_FEEDRATE, + manual_feedrate_mm_s { _mf.x / 60.0f, _mf.y / 60.0f, _mf.z / 60.0f, _mf.e / 60.0f }; +#endif + +#if IS_KINEMATIC && HAS_JUNCTION_DEVIATION + #define HAS_DIST_MM_ARG 1 +#endif + +enum BlockFlagBit : char { + // Recalculate trapezoids on entry junction. For optimization. + BLOCK_BIT_RECALCULATE, + + // Nominal speed always reached. + // i.e., The segment is long enough, so the nominal speed is reachable if accelerating + // from a safe speed (in consideration of jerking from zero speed). + BLOCK_BIT_NOMINAL_LENGTH, + + // The block is segment 2+ of a longer move + BLOCK_BIT_CONTINUED, + + // Sync the stepper counts from the block + BLOCK_BIT_SYNC_POSITION + + // Direct stepping page + #if ENABLED(DIRECT_STEPPING) + , BLOCK_BIT_IS_PAGE + #endif +}; + +enum BlockFlag : char { + BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE) + , BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH) + , BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED) + , BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION) + #if ENABLED(DIRECT_STEPPING) + , BLOCK_FLAG_IS_PAGE = _BV(BLOCK_BIT_IS_PAGE) + #endif +}; + +#if ENABLED(LASER_POWER_INLINE) + + typedef struct { + bool isPlanned:1; + bool isEnabled:1; + bool dir:1; + bool Reserved:6; + } power_status_t; + + typedef struct { + power_status_t status; // See planner settings for meaning + uint8_t power; // Ditto; When in trapezoid mode this is nominal power + #if ENABLED(LASER_POWER_INLINE_TRAPEZOID) + uint8_t power_entry; // Entry power for the laser + #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) + uint8_t power_exit; // Exit power for the laser + uint32_t entry_per, // Steps per power increment (to avoid floats in stepper calcs) + exit_per; // Steps per power decrement + #endif + #endif + } block_laser_t; + +#endif + +/** + * struct block_t + * + * A single entry in the planner buffer. + * Tracks linear movement over multiple axes. + * + * The "nominal" values are as-specified by gcode, and + * may never actually be reached due to acceleration limits. + */ +typedef struct block_t { + + volatile uint8_t flag; // Block flags (See BlockFlag enum above) - Modified by ISR and main thread! + + // Fields used by the motion planner to manage acceleration + float nominal_speed_sqr, // The nominal speed for this block in (mm/sec)^2 + entry_speed_sqr, // Entry speed at previous-current junction in (mm/sec)^2 + max_entry_speed_sqr, // Maximum allowable junction entry speed in (mm/sec)^2 + millimeters, // The total travel of this block in mm + acceleration; // acceleration mm/sec^2 + + union { + abce_ulong_t steps; // Step count along each axis + abce_long_t position; // New position to force when this sync block is executed + }; + uint32_t step_event_count; // The number of step events required to complete this block + + #if HAS_MULTI_EXTRUDER + uint8_t extruder; // The extruder to move (if E move) + #else + static constexpr uint8_t extruder = 0; + #endif + + TERN_(MIXING_EXTRUDER, MIXER_BLOCK_FIELD); // Normalized color for the mixing steppers + + // Settings for the trapezoid generator + uint32_t accelerate_until, // The index of the step event on which to stop acceleration + decelerate_after; // The index of the step event on which to start decelerating + + #if ENABLED(S_CURVE_ACCELERATION) + uint32_t cruise_rate, // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase + acceleration_time, // Acceleration time and deceleration time in STEP timer counts + deceleration_time, + acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used + deceleration_time_inverse; + #else + uint32_t acceleration_rate; // The acceleration rate used for acceleration calculation + #endif + + uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h) + + // Advance extrusion + #if ENABLED(LIN_ADVANCE) + bool use_advance_lead; + uint16_t advance_speed, // STEP timer value for extruder speed offset ISR + max_adv_steps, // max. advance steps to get cruising speed pressure (not always nominal_speed!) + final_adv_steps; // advance steps due to exit speed + float e_D_ratio; + #endif + + uint32_t nominal_rate, // The nominal step rate for this block in step_events/sec + initial_rate, // The jerk-adjusted step rate at start of block + final_rate, // The minimal rate at exit + acceleration_steps_per_s2; // acceleration steps/sec^2 + + #if ENABLED(DIRECT_STEPPING) + page_idx_t page_idx; // Page index used for direct stepping + #endif + + #if HAS_CUTTER + cutter_power_t cutter_power; // Power level for Spindle, Laser, etc. + #endif + + #if HAS_FAN + uint8_t fan_speed[FAN_COUNT]; + #endif + + #if ENABLED(BARICUDA) + uint8_t valve_pressure, e_to_p_pressure; + #endif + + #if HAS_WIRED_LCD + uint32_t segment_time_us; + #endif + + #if ENABLED(POWER_LOSS_RECOVERY) + uint32_t sdpos; + #endif + + #if ENABLED(LASER_POWER_INLINE) + block_laser_t laser; + #endif + +} block_t; + +#if ANY(LIN_ADVANCE, SCARA_FEEDRATE_SCALING, GRADIENT_MIX, LCD_SHOW_E_TOTAL) + #define HAS_POSITION_FLOAT 1 +#endif + +#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1)) + +#if ENABLED(LASER_POWER_INLINE) + typedef struct { + /** + * Laser status flags + */ + power_status_t status; + /** + * Laser power: 0 or 255 in case of PWM-less laser, + * or the OCR (oscillator count register) value; + * + * Using OCR instead of raw power, because it avoids + * floating point operations during the move loop. + */ + uint8_t power; + } laser_state_t; +#endif + +typedef struct { + uint32_t max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE + min_segment_time_us; // (µs) M205 B + float axis_steps_per_mm[XYZE_N]; // (steps) M92 XYZE - Steps per millimeter + feedRate_t max_feedrate_mm_s[XYZE_N]; // (mm/s) M203 XYZE - Max speeds + float acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves. + retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes + travel_acceleration; // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves. + feedRate_t min_feedrate_mm_s, // (mm/s) M205 S - Minimum linear feedrate + min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate +} planner_settings_t; + +#if DISABLED(SKEW_CORRECTION) + #define XY_SKEW_FACTOR 0 + #define XZ_SKEW_FACTOR 0 + #define YZ_SKEW_FACTOR 0 +#endif + +typedef struct { + #if ENABLED(SKEW_CORRECTION_GCODE) + float xy; + #if ENABLED(SKEW_CORRECTION_FOR_Z) + float xz, yz; + #else + const float xz = XZ_SKEW_FACTOR, yz = YZ_SKEW_FACTOR; + #endif + #else + const float xy = XY_SKEW_FACTOR, + xz = XZ_SKEW_FACTOR, yz = YZ_SKEW_FACTOR; + #endif +} skew_factor_t; + +#if ENABLED(DISABLE_INACTIVE_EXTRUDER) + typedef IF<(BLOCK_BUFFER_SIZE > 64), uint16_t, uint8_t>::type last_move_t; +#endif + +class Planner { + public: + + /** + * The move buffer, calculated in stepper steps + * + * block_buffer is a ring buffer... + * + * head,tail : indexes for write,read + * head==tail : the buffer is empty + * head!=tail : blocks are in the buffer + * head==(tail-1)%size : the buffer is full + * + * Writer of head is Planner::buffer_segment(). + * Reader of tail is Stepper::isr(). Always consider tail busy / read-only + */ + static block_t block_buffer[BLOCK_BUFFER_SIZE]; + static volatile uint8_t block_buffer_head, // Index of the next block to be pushed + block_buffer_nonbusy, // Index of the first non busy block + block_buffer_planned, // Index of the optimally planned block + block_buffer_tail; // Index of the busy block, if any + static uint16_t cleaning_buffer_counter; // A counter to disable queuing of blocks + static uint8_t delay_before_delivering; // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks + + + #if ENABLED(DISTINCT_E_FACTORS) + static uint8_t last_extruder; // Respond to extruder change + #endif + + #if ENABLED(DIRECT_STEPPING) + static uint32_t last_page_step_rate; // Last page step rate given + static xyze_bool_t last_page_dir; // Last page direction given + #endif + + #if EXTRUDERS + static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder + static float e_factor[EXTRUDERS]; // The flow percentage and volumetric multiplier combine to scale E movement + #endif + + #if DISABLED(NO_VOLUMETRICS) + static float filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder + volumetric_area_nominal, // Nominal cross-sectional area + volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner + // May be auto-adjusted by a filament width sensor + #endif + + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + static float volumetric_extruder_limit[EXTRUDERS], // Maximum mm^3/sec the extruder can handle + volumetric_extruder_feedrate_limit[EXTRUDERS]; // Feedrate limit (mm/s) calculated from volume limit + #endif + + static planner_settings_t settings; + + #if ENABLED(LASER_POWER_INLINE) + static laser_state_t laser_inline; + #endif + + static uint32_t max_acceleration_steps_per_s2[XYZE_N]; // (steps/s^2) Derived from mm_per_s2 + static float steps_to_mm[XYZE_N]; // Millimeters per step + + #if HAS_JUNCTION_DEVIATION + static float junction_deviation_mm; // (mm) M205 J + #if HAS_LINEAR_E_JERK + static float max_e_jerk[DISTINCT_E]; // Calculated from junction_deviation_mm + #endif + #endif + + #if HAS_CLASSIC_JERK + // (mm/s^2) M205 XYZ(E) - The largest speed change requiring no acceleration. + static TERN(HAS_LINEAR_E_JERK, xyz_pos_t, xyze_pos_t) max_jerk; + #endif + + #if HAS_LEVELING + static bool leveling_active; // Flag that bed leveling is enabled + #if ABL_PLANAR + static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level + #endif + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + static float z_fade_height, inverse_z_fade_height; + #endif + #else + static constexpr bool leveling_active = false; + #endif + + #if ENABLED(LIN_ADVANCE) + static float extruder_advance_K[EXTRUDERS]; + #endif + + /** + * The current position of the tool in absolute steps + * Recalculated if any axis_steps_per_mm are changed by gcode + */ + static xyze_long_t position; + + #if HAS_POSITION_FLOAT + static xyze_pos_t position_float; + #endif + + #if IS_KINEMATIC + static xyze_pos_t position_cart; + #endif + + static skew_factor_t skew_factor; + + #if ENABLED(SD_ABORT_ON_ENDSTOP_HIT) + static bool abort_on_endstop_hit; + #endif + #ifdef XY_FREQUENCY_LIMIT + static int8_t xy_freq_limit_hz; // Minimum XY frequency setting + static float xy_freq_min_speed_factor; // Minimum speed factor setting + static int32_t xy_freq_min_interval_us; // Minimum segment time based on xy_freq_limit_hz + static inline void refresh_frequency_limit() { + //xy_freq_min_interval_us = xy_freq_limit_hz ?: LROUND(1000000.0f / xy_freq_limit_hz); + if (xy_freq_limit_hz) + xy_freq_min_interval_us = LROUND(1000000.0f / xy_freq_limit_hz); + } + static inline void set_min_speed_factor_u8(const uint8_t v255) { + xy_freq_min_speed_factor = float(ui8_to_percent(v255)) / 100; + } + static inline void set_frequency_limit(const uint8_t hz) { + xy_freq_limit_hz = constrain(hz, 0, 100); + refresh_frequency_limit(); + } + #endif + + private: + + /** + * Speed of previous path line segment + */ + static xyze_float_t previous_speed; + + /** + * Nominal speed of previous path line segment (mm/s)^2 + */ + static float previous_nominal_speed_sqr; + + /** + * Limit where 64bit math is necessary for acceleration calculation + */ + static uint32_t cutoff_long; + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + static float last_fade_z; + #endif + + #if ENABLED(DISABLE_INACTIVE_EXTRUDER) + // Counters to manage disabling inactive extruders + static last_move_t g_uc_extruder_last_move[EXTRUDERS]; + #endif + + #if HAS_WIRED_LCD + volatile static uint32_t block_buffer_runtime_us; // Theoretical block buffer runtime in µs + #endif + + public: + + /** + * Instance Methods + */ + + Planner(); + + void init(); + + /** + * Static (class) Methods + */ + + static void reset_acceleration_rates(); + static void refresh_positioning(); + static void set_max_acceleration(const uint8_t axis, float targetValue); + static void set_max_feedrate(const uint8_t axis, float targetValue); + static void set_max_jerk(const AxisEnum axis, float targetValue); + + + #if EXTRUDERS + FORCE_INLINE static void refresh_e_factor(const uint8_t e) { + e_factor[e] = flow_percentage[e] * 0.01f * TERN(NO_VOLUMETRICS, 1.0f, volumetric_multiplier[e]); + } + + static inline void set_flow(const uint8_t e, const int16_t flow) { + flow_percentage[e] = flow; + refresh_e_factor(e); + } + + #endif + + // Manage fans, paste pressure, etc. + static void check_axes_activity(); + + #if ENABLED(FILAMENT_WIDTH_SENSOR) + void apply_filament_width_sensor(const int8_t encoded_ratio); + + static inline float volumetric_percent(const bool vol) { + return 100.0f * (vol + ? volumetric_area_nominal / volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] + : volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] + ); + } + #endif + + #if DISABLED(NO_VOLUMETRICS) + + // Update multipliers based on new diameter measurements + static void calculate_volumetric_multipliers(); + + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + // Update pre calculated extruder feedrate limits based on volumetric values + static void calculate_volumetric_extruder_limit(const uint8_t e); + static void calculate_volumetric_extruder_limits(); + #endif + + FORCE_INLINE static void set_filament_size(const uint8_t e, const float &v) { + filament_size[e] = v; + if (v > 0) volumetric_area_nominal = CIRCLE_AREA(v * 0.5); //TODO: should it be per extruder + // make sure all extruders have some sane value for the filament size + LOOP_L_N(i, COUNT(filament_size)) + if (!filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA; + } + + #endif + + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + FORCE_INLINE static void set_volumetric_extruder_limit(const uint8_t e, const float &v) { + volumetric_extruder_limit[e] = v; + calculate_volumetric_extruder_limit(e); + } + #endif + + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + + /** + * Get the Z leveling fade factor based on the given Z height, + * re-calculating only when needed. + * + * Returns 1.0 if planner.z_fade_height is 0.0. + * Returns 0.0 if Z is past the specified 'Fade Height'. + */ + static inline float fade_scaling_factor_for_z(const float &rz) { + static float z_fade_factor = 1; + if (!z_fade_height) return 1; + if (rz >= z_fade_height) return 0; + if (last_fade_z != rz) { + last_fade_z = rz; + z_fade_factor = 1 - rz * inverse_z_fade_height; + } + return z_fade_factor; + } + + FORCE_INLINE static void force_fade_recalc() { last_fade_z = -999.999f; } + + FORCE_INLINE static void set_z_fade_height(const float &zfh) { + z_fade_height = zfh > 0 ? zfh : 0; + inverse_z_fade_height = RECIPROCAL(z_fade_height); + force_fade_recalc(); + } + + FORCE_INLINE static bool leveling_active_at_z(const float &rz) { + return !z_fade_height || rz < z_fade_height; + } + + #else + + FORCE_INLINE static float fade_scaling_factor_for_z(const float&) { return 1; } + + FORCE_INLINE static bool leveling_active_at_z(const float&) { return true; } + + #endif + + #if ENABLED(SKEW_CORRECTION) + + FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) { + if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) { + const float sx = cx - cy * skew_factor.xy - cz * (skew_factor.xz - (skew_factor.xy * skew_factor.yz)), + sy = cy - cz * skew_factor.yz; + if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) { + cx = sx; cy = sy; + } + } + } + FORCE_INLINE static void skew(xyz_pos_t &raw) { skew(raw.x, raw.y, raw.z); } + + FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) { + if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) { + const float sx = cx + cy * skew_factor.xy + cz * skew_factor.xz, + sy = cy + cz * skew_factor.yz; + if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) { + cx = sx; cy = sy; + } + } + } + FORCE_INLINE static void unskew(xyz_pos_t &raw) { unskew(raw.x, raw.y, raw.z); } + + #endif // SKEW_CORRECTION + + #if HAS_LEVELING + /** + * Apply leveling to transform a cartesian position + * as it will be given to the planner and steppers. + */ + static void apply_leveling(xyz_pos_t &raw); + static void unapply_leveling(xyz_pos_t &raw); + FORCE_INLINE static void force_unapply_leveling(xyz_pos_t &raw) { + leveling_active = true; + unapply_leveling(raw); + leveling_active = false; + } + #else + FORCE_INLINE static void apply_leveling(xyz_pos_t&) {} + FORCE_INLINE static void unapply_leveling(xyz_pos_t&) {} + #endif + + #if ENABLED(FWRETRACT) + static void apply_retract(float &rz, float &e); + FORCE_INLINE static void apply_retract(xyze_pos_t &raw) { apply_retract(raw.z, raw.e); } + static void unapply_retract(float &rz, float &e); + FORCE_INLINE static void unapply_retract(xyze_pos_t &raw) { unapply_retract(raw.z, raw.e); } + #endif + + #if HAS_POSITION_MODIFIERS + FORCE_INLINE static void apply_modifiers(xyze_pos_t &pos, bool leveling=ENABLED(PLANNER_LEVELING)) { + TERN_(SKEW_CORRECTION, skew(pos)); + if (leveling) apply_leveling(pos); + TERN_(FWRETRACT, apply_retract(pos)); + } + + FORCE_INLINE static void unapply_modifiers(xyze_pos_t &pos, bool leveling=ENABLED(PLANNER_LEVELING)) { + TERN_(FWRETRACT, unapply_retract(pos)); + if (leveling) unapply_leveling(pos); + TERN_(SKEW_CORRECTION, unskew(pos)); + } + #endif // HAS_POSITION_MODIFIERS + + // Number of moves currently in the planner including the busy block, if any + FORCE_INLINE static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail); } + + // Number of nonbusy moves currently in the planner + FORCE_INLINE static uint8_t nonbusy_movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_nonbusy); } + + // Remove all blocks from the buffer + FORCE_INLINE static void clear_block_buffer() { block_buffer_nonbusy = block_buffer_planned = block_buffer_head = block_buffer_tail = 0; } + + // Check if movement queue is full + FORCE_INLINE static bool is_full() { return block_buffer_tail == next_block_index(block_buffer_head); } + + // Get count of movement slots free + FORCE_INLINE static uint8_t moves_free() { return BLOCK_BUFFER_SIZE - 1 - movesplanned(); } + + /** + * Planner::get_next_free_block + * + * - Get the next head indices (passed by reference) + * - Wait for the number of spaces to open up in the planner + * - Return the first head block + */ + FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head, const uint8_t count=1) { + + // Wait until there are enough slots free + while (moves_free() < count) { idle(); } + + // Return the first available block + next_buffer_head = next_block_index(block_buffer_head); + return &block_buffer[block_buffer_head]; + } + + /** + * Planner::_buffer_steps + * + * Add a new linear movement to the buffer (in terms of steps). + * + * target - target position in steps units + * fr_mm_s - (target) speed of the move + * extruder - target extruder + * millimeters - the length of the movement, if known + * + * Returns true if movement was buffered, false otherwise + */ + static bool _buffer_steps(const xyze_long_t &target + #if HAS_POSITION_FLOAT + , const xyze_pos_t &target_float + #endif + #if HAS_DIST_MM_ARG + , const xyze_float_t &cart_dist_mm + #endif + , feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0 + ); + + /** + * Planner::_populate_block + * + * Fills a new linear movement in the block (in terms of steps). + * + * target - target position in steps units + * fr_mm_s - (target) speed of the move + * extruder - target extruder + * millimeters - the length of the movement, if known + * + * Returns true is movement is acceptable, false otherwise + */ + static bool _populate_block(block_t * const block, bool split_move, + const xyze_long_t &target + #if HAS_POSITION_FLOAT + , const xyze_pos_t &target_float + #endif + #if HAS_DIST_MM_ARG + , const xyze_float_t &cart_dist_mm + #endif + , feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0 + ); + + /** + * Planner::buffer_sync_block + * Add a block to the buffer that just updates the position + */ + static void buffer_sync_block(); + + #if IS_KINEMATIC + private: + + // Allow do_homing_move to access internal functions, such as buffer_segment. + friend void do_homing_move(const AxisEnum, const float, const feedRate_t, const bool); + #endif + + /** + * Planner::buffer_segment + * + * Add a new linear movement to the buffer in axis units. + * + * Leveling and kinematics should be applied ahead of calling this. + * + * a,b,c,e - target positions in mm and/or degrees + * fr_mm_s - (target) speed of the move + * extruder - target extruder + * millimeters - the length of the movement, if known + */ + static bool buffer_segment(const float &a, const float &b, const float &c, const float &e + #if HAS_DIST_MM_ARG + , const xyze_float_t &cart_dist_mm + #endif + , const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0 + ); + + FORCE_INLINE static bool buffer_segment(abce_pos_t &abce + #if HAS_DIST_MM_ARG + , const xyze_float_t &cart_dist_mm + #endif + , const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0 + ) { + return buffer_segment(abce.a, abce.b, abce.c, abce.e + #if HAS_DIST_MM_ARG + , cart_dist_mm + #endif + , fr_mm_s, extruder, millimeters); + } + + public: + + /** + * Add a new linear movement to the buffer. + * The target is cartesian. It's translated to + * delta/scara if needed. + * + * rx,ry,rz,e - target position in mm or degrees + * fr_mm_s - (target) speed of the move (mm/s) + * extruder - target extruder + * millimeters - the length of the movement, if known + * inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled) + */ + static bool buffer_line(const float &rx, const float &ry, const float &rz, const float &e, const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0 + #if ENABLED(SCARA_FEEDRATE_SCALING) + , const float &inv_duration=0.0 + #endif + ); + + FORCE_INLINE static bool buffer_line(const xyze_pos_t &cart, const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0 + #if ENABLED(SCARA_FEEDRATE_SCALING) + , const float &inv_duration=0.0 + #endif + ) { + return buffer_line(cart.x, cart.y, cart.z, cart.e, fr_mm_s, extruder, millimeters + #if ENABLED(SCARA_FEEDRATE_SCALING) + , inv_duration + #endif + ); + } + + #if ENABLED(DIRECT_STEPPING) + static void buffer_page(const page_idx_t page_idx, const uint8_t extruder, const uint16_t num_steps); + #endif + + /** + * Set the planner.position and individual stepper positions. + * Used by G92, G28, G29, and other procedures. + * + * The supplied position is in the cartesian coordinate space and is + * translated in to machine space as needed. Modifiers such as leveling + * and skew are also applied. + * + * Multiplies by axis_steps_per_mm[] and does necessary conversion + * for COREXY / COREXZ / COREYZ to set the corresponding stepper positions. + * + * Clears previous speed values. + */ + static void set_position_mm(const float &rx, const float &ry, const float &rz, const float &e); + FORCE_INLINE static void set_position_mm(const xyze_pos_t &cart) { set_position_mm(cart.x, cart.y, cart.z, cart.e); } + static void set_e_position_mm(const float &e); + + /** + * Set the planner.position and individual stepper positions. + * + * The supplied position is in machine space, and no additional + * conversions are applied. + */ + static void set_machine_position_mm(const float &a, const float &b, const float &c, const float &e); + FORCE_INLINE static void set_machine_position_mm(const abce_pos_t &abce) { set_machine_position_mm(abce.a, abce.b, abce.c, abce.e); } + + /** + * Get an axis position according to stepper position(s) + * For CORE machines apply translation from ABC to XYZ. + */ + static float get_axis_position_mm(const AxisEnum axis); + + static inline abce_pos_t get_axis_positions_mm() { + const abce_pos_t out = { + get_axis_position_mm(A_AXIS), + get_axis_position_mm(B_AXIS), + get_axis_position_mm(C_AXIS), + get_axis_position_mm(E_AXIS) + }; + return out; + } + + // SCARA AB axes are in degrees, not mm + #if IS_SCARA + FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); } + #endif + + // Called to force a quick stop of the machine (for example, when + // a Full Shutdown is required, or when endstops are hit) + static void quick_stop(); + + // Called when an endstop is triggered. Causes the machine to stop inmediately + static void endstop_triggered(const AxisEnum axis); + + // Triggered position of an axis in mm (not core-savvy) + static float triggered_position_mm(const AxisEnum axis); + + // Block until all buffered steps are executed / cleaned + static void synchronize(); + + // Wait for moves to finish and disable all steppers + static void finish_and_disable(); + + // Periodic tick to handle cleaning timeouts + // Called from the Temperature ISR at ~1kHz + static void tick() { + if (cleaning_buffer_counter) --cleaning_buffer_counter; + } + + /** + * Does the buffer have any blocks queued? + */ + FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); } + + /** + * Get the current block for processing + * and mark the block as busy. + * Return nullptr if the buffer is empty + * or if there is a first-block delay. + * + * WARNING: Called from Stepper ISR context! + */ + static block_t* get_current_block(); + + /** + * "Release" the current block so its slot can be reused. + * Called when the current block is no longer needed. + */ + FORCE_INLINE static void release_current_block() { + if (has_blocks_queued()) + block_buffer_tail = next_block_index(block_buffer_tail); + } + + #if HAS_WIRED_LCD + static uint16_t block_buffer_runtime(); + static void clear_block_buffer_runtime(); + #endif + + #if ENABLED(AUTOTEMP) + static float autotemp_min, autotemp_max, autotemp_factor; + static bool autotemp_enabled; + static void getHighESpeed(); + static void autotemp_M104_M109(); + static void autotemp_update(); + #endif + + #if HAS_LINEAR_E_JERK + FORCE_INLINE static void recalculate_max_e_jerk() { + const float prop = junction_deviation_mm * SQRT(0.5) / (1.0f - SQRT(0.5)); + LOOP_L_N(i, EXTRUDERS) + max_e_jerk[E_INDEX_N(i)] = SQRT(prop * settings.max_acceleration_mm_per_s2[E_INDEX_N(i)]); + } + #endif + + private: + + /** + * Get the index of the next / previous block in the ring buffer + */ + static constexpr uint8_t next_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index + 1); } + static constexpr uint8_t prev_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index - 1); } + + /** + * Calculate the distance (not time) it takes to accelerate + * from initial_rate to target_rate using the given acceleration: + */ + static float estimate_acceleration_distance(const float &initial_rate, const float &target_rate, const float &accel) { + if (accel == 0) return 0; // accel was 0, set acceleration distance to 0 + return (sq(target_rate) - sq(initial_rate)) / (accel * 2); + } + + /** + * Return the point at which you must start braking (at the rate of -'accel') if + * you start at 'initial_rate', accelerate (until reaching the point), and want to end at + * 'final_rate' after traveling 'distance'. + * + * This is used to compute the intersection point between acceleration and deceleration + * in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed) + */ + static float intersection_distance(const float &initial_rate, const float &final_rate, const float &accel, const float &distance) { + if (accel == 0) return 0; // accel was 0, set intersection distance to 0 + return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4); + } + + /** + * Calculate the maximum allowable speed squared at this point, in order + * to reach 'target_velocity_sqr' using 'acceleration' within a given + * 'distance'. + */ + static float max_allowable_speed_sqr(const float &accel, const float &target_velocity_sqr, const float &distance) { + return target_velocity_sqr - 2 * accel * distance; + } + + #if ENABLED(S_CURVE_ACCELERATION) + /** + * Calculate the speed reached given initial speed, acceleration and distance + */ + static float final_speed(const float &initial_velocity, const float &accel, const float &distance) { + return SQRT(sq(initial_velocity) + 2 * accel * distance); + } + #endif + + static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor); + + static void reverse_pass_kernel(block_t* const current, const block_t * const next); + static void forward_pass_kernel(const block_t * const previous, block_t* const current, uint8_t block_index); + + static void reverse_pass(); + static void forward_pass(); + + static void recalculate_trapezoids(); + + static void recalculate(); + + #if HAS_JUNCTION_DEVIATION + + FORCE_INLINE static void normalize_junction_vector(xyze_float_t &vector) { + float magnitude_sq = 0; + LOOP_XYZE(idx) if (vector[idx]) magnitude_sq += sq(vector[idx]); + vector *= RSQRT(magnitude_sq); + } + + FORCE_INLINE static float limit_value_by_axis_maximum(const float &max_value, xyze_float_t &unit_vec) { + float limit_value = max_value; + LOOP_XYZE(idx) { + if (unit_vec[idx]) { + if (limit_value * ABS(unit_vec[idx]) > settings.max_acceleration_mm_per_s2[idx]) + limit_value = ABS(settings.max_acceleration_mm_per_s2[idx] / unit_vec[idx]); + } + } + return limit_value; + } + + #endif // !CLASSIC_JERK +}; + +#define PLANNER_XY_FEEDRATE() _MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]) + +extern Planner planner; diff --git a/Marlin/src/module/planner_bezier.cpp b/Marlin/src/module/planner_bezier.cpp new file mode 100644 index 0000000..02d878d --- /dev/null +++ b/Marlin/src/module/planner_bezier.cpp @@ -0,0 +1,204 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * planner_bezier.cpp + * + * Compute and buffer movement commands for bezier curves + */ + +#include "../inc/MarlinConfig.h" + +#if ENABLED(BEZIER_CURVE_SUPPORT) + +#include "planner.h" +#include "motion.h" +#include "temperature.h" + +#include "../MarlinCore.h" +#include "../gcode/queue.h" + +// See the meaning in the documentation of cubic_b_spline(). +#define MIN_STEP 0.002f +#define MAX_STEP 0.1f +#define SIGMA 0.1f + +// Compute the linear interpolation between two real numbers. +static inline float interp(const float &a, const float &b, const float &t) { return (1 - t) * a + t * b; } + +/** + * Compute a Bézier curve using the De Casteljau's algorithm (see + * https://en.wikipedia.org/wiki/De_Casteljau%27s_algorithm), which is + * easy to code and has good numerical stability (very important, + * since Arudino works with limited precision real numbers). + */ +static inline float eval_bezier(const float &a, const float &b, const float &c, const float &d, const float &t) { + const float iab = interp(a, b, t), + ibc = interp(b, c, t), + icd = interp(c, d, t), + iabc = interp(iab, ibc, t), + ibcd = interp(ibc, icd, t); + return interp(iabc, ibcd, t); +} + +/** + * We approximate Euclidean distance with the sum of the coordinates + * offset (so-called "norm 1"), which is quicker to compute. + */ +static inline float dist1(const float &x1, const float &y1, const float &x2, const float &y2) { return ABS(x1 - x2) + ABS(y1 - y2); } + +/** + * The algorithm for computing the step is loosely based on the one in Kig + * (See https://sources.debian.net/src/kig/4:15.08.3-1/misc/kigpainter.cpp/#L759) + * However, we do not use the stack. + * + * The algorithm goes as it follows: the parameters t runs from 0.0 to + * 1.0 describing the curve, which is evaluated by eval_bezier(). At + * each iteration we have to choose a step, i.e., the increment of the + * t variable. By default the step of the previous iteration is taken, + * and then it is enlarged or reduced depending on how straight the + * curve locally is. The step is always clamped between MIN_STEP/2 and + * 2*MAX_STEP. MAX_STEP is taken at the first iteration. + * + * For some t, the step value is considered acceptable if the curve in + * the interval [t, t+step] is sufficiently straight, i.e., + * sufficiently close to linear interpolation. In practice the + * following test is performed: the distance between eval_bezier(..., + * t+step/2) is evaluated and compared with 0.5*(eval_bezier(..., + * t)+eval_bezier(..., t+step)). If it is smaller than SIGMA, then the + * step value is considered acceptable, otherwise it is not. The code + * seeks to find the larger step value which is considered acceptable. + * + * At every iteration the recorded step value is considered and then + * iteratively halved until it becomes acceptable. If it was already + * acceptable in the beginning (i.e., no halving were done), then + * maybe it was necessary to enlarge it; then it is iteratively + * doubled while it remains acceptable. The last acceptable value + * found is taken, provided that it is between MIN_STEP and MAX_STEP + * and does not bring t over 1.0. + * + * Caveat: this algorithm is not perfect, since it can happen that a + * step is considered acceptable even when the curve is not linear at + * all in the interval [t, t+step] (but its mid point coincides "by + * chance" with the midpoint according to the parametrization). This + * kind of glitches can be eliminated with proper first derivative + * estimates; however, given the improbability of such configurations, + * the mitigation offered by MIN_STEP and the small computational + * power available on Arduino, I think it is not wise to implement it. + */ +void cubic_b_spline( + const xyze_pos_t &position, // current position + const xyze_pos_t &target, // target position + const xy_pos_t (&offsets)[2], // a pair of offsets + const feedRate_t &scaled_fr_mm_s, // mm/s scaled by feedrate % + const uint8_t extruder +) { + // Absolute first and second control points are recovered. + const xy_pos_t first = position + offsets[0], second = target + offsets[1]; + + xyze_pos_t bez_target; + bez_target.set(position.x, position.y); + float step = MAX_STEP; + + millis_t next_idle_ms = millis() + 200UL; + + for (float t = 0; t < 1;) { + + thermalManager.manage_heater(); + millis_t now = millis(); + if (ELAPSED(now, next_idle_ms)) { + next_idle_ms = now + 200UL; + idle(); + } + + // First try to reduce the step in order to make it sufficiently + // close to a linear interpolation. + bool did_reduce = false; + float new_t = t + step; + NOMORE(new_t, 1); + float new_pos0 = eval_bezier(position.x, first.x, second.x, target.x, new_t), + new_pos1 = eval_bezier(position.y, first.y, second.y, target.y, new_t); + for (;;) { + if (new_t - t < (MIN_STEP)) break; + const float candidate_t = 0.5f * (t + new_t), + candidate_pos0 = eval_bezier(position.x, first.x, second.x, target.x, candidate_t), + candidate_pos1 = eval_bezier(position.y, first.y, second.y, target.y, candidate_t), + interp_pos0 = 0.5f * (bez_target.x + new_pos0), + interp_pos1 = 0.5f * (bez_target.y + new_pos1); + if (dist1(candidate_pos0, candidate_pos1, interp_pos0, interp_pos1) <= (SIGMA)) break; + new_t = candidate_t; + new_pos0 = candidate_pos0; + new_pos1 = candidate_pos1; + did_reduce = true; + } + + // If we did not reduce the step, maybe we should enlarge it. + if (!did_reduce) for (;;) { + if (new_t - t > MAX_STEP) break; + const float candidate_t = t + 2 * (new_t - t); + if (candidate_t >= 1) break; + const float candidate_pos0 = eval_bezier(position.x, first.x, second.x, target.x, candidate_t), + candidate_pos1 = eval_bezier(position.y, first.y, second.y, target.y, candidate_t), + interp_pos0 = 0.5f * (bez_target.x + candidate_pos0), + interp_pos1 = 0.5f * (bez_target.y + candidate_pos1); + if (dist1(new_pos0, new_pos1, interp_pos0, interp_pos1) > (SIGMA)) break; + new_t = candidate_t; + new_pos0 = candidate_pos0; + new_pos1 = candidate_pos1; + } + + // Check some postcondition; they are disabled in the actual + // Marlin build, but if you test the same code on a computer you + // may want to check they are respect. + /* + assert(new_t <= 1.0); + if (new_t < 1.0) { + assert(new_t - t >= (MIN_STEP) / 2.0); + assert(new_t - t <= (MAX_STEP) * 2.0); + } + */ + + step = new_t - t; + t = new_t; + + // Compute and send new position + xyze_pos_t new_bez = { + new_pos0, new_pos1, + interp(position.z, target.z, t), // FIXME. These two are wrong, since the parameter t is + interp(position.e, target.e, t) // not linear in the distance. + }; + apply_motion_limits(new_bez); + bez_target = new_bez; + + #if HAS_LEVELING && !PLANNER_LEVELING + xyze_pos_t pos = bez_target; + planner.apply_leveling(pos); + #else + const xyze_pos_t &pos = bez_target; + #endif + + if (!planner.buffer_line(pos, scaled_fr_mm_s, active_extruder, step)) + break; + } +} + +#endif // BEZIER_CURVE_SUPPORT diff --git a/Marlin/src/module/planner_bezier.h b/Marlin/src/module/planner_bezier.h new file mode 100644 index 0000000..72048c4 --- /dev/null +++ b/Marlin/src/module/planner_bezier.h @@ -0,0 +1,38 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * planner_bezier.h + * + * Compute and buffer movement commands for Bézier curves + */ + +#include "../core/types.h" + +void cubic_b_spline( + const xyze_pos_t &position, // current position + const xyze_pos_t &target, // target position + const xy_pos_t (&offsets)[2], // a pair of offsets + const feedRate_t &scaled_fr_mm_s, // mm/s scaled by feedrate % + const uint8_t extruder +); diff --git a/Marlin/src/module/printcounter.cpp b/Marlin/src/module/printcounter.cpp new file mode 100644 index 0000000..45072c8 --- /dev/null +++ b/Marlin/src/module/printcounter.cpp @@ -0,0 +1,349 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfig.h" + +#if DISABLED(PRINTCOUNTER) + +#include "../libs/stopwatch.h" +Stopwatch print_job_timer; // Global Print Job Timer instance + +#else // PRINTCOUNTER + +#if ENABLED(EXTENSIBLE_UI) + #include "../lcd/extui/ui_api.h" +#endif + +#include "printcounter.h" +#include "../MarlinCore.h" +#include "../HAL/shared/eeprom_api.h" + +#if HAS_BUZZER && SERVICE_WARNING_BUZZES > 0 + #include "../libs/buzzer.h" +#endif + +#if PRINTCOUNTER_SYNC + #include "../module/planner.h" +#endif + +// Service intervals +#if HAS_SERVICE_INTERVALS + #if SERVICE_INTERVAL_1 > 0 + #define SERVICE_INTERVAL_SEC_1 (3600UL * SERVICE_INTERVAL_1) + #else + #define SERVICE_INTERVAL_SEC_1 (3600UL * 100) + #endif + #if SERVICE_INTERVAL_2 > 0 + #define SERVICE_INTERVAL_SEC_2 (3600UL * SERVICE_INTERVAL_2) + #else + #define SERVICE_INTERVAL_SEC_2 (3600UL * 100) + #endif + #if SERVICE_INTERVAL_3 > 0 + #define SERVICE_INTERVAL_SEC_3 (3600UL * SERVICE_INTERVAL_3) + #else + #define SERVICE_INTERVAL_SEC_3 (3600UL * 100) + #endif +#endif + +PrintCounter print_job_timer; // Global Print Job Timer instance + +printStatistics PrintCounter::data; + +const PrintCounter::eeprom_address_t PrintCounter::address = STATS_EEPROM_ADDRESS; + +millis_t PrintCounter::lastDuration; +bool PrintCounter::loaded = false; + +millis_t PrintCounter::deltaDuration() { + TERN_(DEBUG_PRINTCOUNTER, debug(PSTR("deltaDuration"))); + millis_t tmp = lastDuration; + lastDuration = duration(); + return lastDuration - tmp; +} + +void PrintCounter::incFilamentUsed(float const &amount) { + TERN_(DEBUG_PRINTCOUNTER, debug(PSTR("incFilamentUsed"))); + + // Refuses to update data if object is not loaded + if (!isLoaded()) return; + + data.filamentUsed += amount; // mm +} + +void PrintCounter::initStats() { + TERN_(DEBUG_PRINTCOUNTER, debug(PSTR("initStats"))); + + loaded = true; + data = { 0, 0, 0, 0, 0.0 + #if HAS_SERVICE_INTERVALS + #if SERVICE_INTERVAL_1 > 0 + , SERVICE_INTERVAL_SEC_1 + #endif + #if SERVICE_INTERVAL_2 > 0 + , SERVICE_INTERVAL_SEC_2 + #endif + #if SERVICE_INTERVAL_3 > 0 + , SERVICE_INTERVAL_SEC_3 + #endif + #endif + }; + + saveStats(); + persistentStore.access_start(); + persistentStore.write_data(address, (uint8_t)0x16); + persistentStore.access_finish(); +} + +#if HAS_SERVICE_INTERVALS + inline void _print_divider() { SERIAL_ECHO_MSG("============================================="); } + inline bool _service_warn(const char * const msg) { + _print_divider(); + SERIAL_ECHO_START(); + serialprintPGM(msg); + SERIAL_ECHOLNPGM("!"); + _print_divider(); + return true; + } +#endif + +void PrintCounter::loadStats() { + TERN_(DEBUG_PRINTCOUNTER, debug(PSTR("loadStats"))); + + // Check if the EEPROM block is initialized + uint8_t value = 0; + persistentStore.access_start(); + persistentStore.read_data(address, &value, sizeof(uint8_t)); + if (value != 0x16) + initStats(); + else + persistentStore.read_data(address + sizeof(uint8_t), (uint8_t*)&data, sizeof(printStatistics)); + persistentStore.access_finish(); + loaded = true; + + #if HAS_SERVICE_INTERVALS + bool doBuzz = false; + #if SERVICE_INTERVAL_1 > 0 + if (data.nextService1 == 0) doBuzz = _service_warn(PSTR(" " SERVICE_NAME_1)); + #endif + #if SERVICE_INTERVAL_2 > 0 + if (data.nextService2 == 0) doBuzz = _service_warn(PSTR(" " SERVICE_NAME_2)); + #endif + #if SERVICE_INTERVAL_3 > 0 + if (data.nextService3 == 0) doBuzz = _service_warn(PSTR(" " SERVICE_NAME_3)); + #endif + #if HAS_BUZZER && SERVICE_WARNING_BUZZES > 0 + if (doBuzz) for (int i = 0; i < SERVICE_WARNING_BUZZES; i++) BUZZ(200, 404); + #else + UNUSED(doBuzz); + #endif + #endif // HAS_SERVICE_INTERVALS +} + +void PrintCounter::saveStats() { + TERN_(DEBUG_PRINTCOUNTER, debug(PSTR("saveStats"))); + + // Refuses to save data if object is not loaded + if (!isLoaded()) return; + + TERN_(PRINTCOUNTER_SYNC, planner.synchronize()); + + // Saves the struct to EEPROM + persistentStore.access_start(); + persistentStore.write_data(address + sizeof(uint8_t), (uint8_t*)&data, sizeof(printStatistics)); + persistentStore.access_finish(); + + TERN_(EXTENSIBLE_UI, ExtUI::onConfigurationStoreWritten(true)); +} + +#if HAS_SERVICE_INTERVALS + inline void _service_when(char buffer[], const char * const msg, const uint32_t when) { + SERIAL_ECHOPGM(STR_STATS); + serialprintPGM(msg); + SERIAL_ECHOLNPAIR(" in ", duration_t(when).toString(buffer)); + } +#endif + +void PrintCounter::showStats() { + char buffer[22]; + + SERIAL_ECHOPGM(STR_STATS); + SERIAL_ECHOLNPAIR( + "Prints: ", data.totalPrints, + ", Finished: ", data.finishedPrints, + ", Failed: ", data.totalPrints - data.finishedPrints + - ((isRunning() || isPaused()) ? 1 : 0) // Remove 1 from failures with an active counter + ); + + SERIAL_ECHOPGM(STR_STATS); + duration_t elapsed = data.printTime; + elapsed.toString(buffer); + SERIAL_ECHOPAIR("Total time: ", buffer); + #if ENABLED(DEBUG_PRINTCOUNTER) + SERIAL_ECHOPAIR(" (", data.printTime); + SERIAL_CHAR(')'); + #endif + + elapsed = data.longestPrint; + elapsed.toString(buffer); + SERIAL_ECHOPAIR(", Longest job: ", buffer); + #if ENABLED(DEBUG_PRINTCOUNTER) + SERIAL_ECHOPAIR(" (", data.longestPrint); + SERIAL_CHAR(')'); + #endif + + SERIAL_ECHOPAIR("\n" STR_STATS "Filament used: ", data.filamentUsed / 1000); + SERIAL_CHAR('m'); + SERIAL_EOL(); + + #if SERVICE_INTERVAL_1 > 0 + _service_when(buffer, PSTR(SERVICE_NAME_1), data.nextService1); + #endif + #if SERVICE_INTERVAL_2 > 0 + _service_when(buffer, PSTR(SERVICE_NAME_2), data.nextService2); + #endif + #if SERVICE_INTERVAL_3 > 0 + _service_when(buffer, PSTR(SERVICE_NAME_3), data.nextService3); + #endif +} + +void PrintCounter::tick() { + if (!isRunning()) return; + + millis_t now = millis(); + + static millis_t update_next; // = 0 + if (ELAPSED(now, update_next)) { + update_next = now + updateInterval; + + TERN_(DEBUG_PRINTCOUNTER, debug(PSTR("tick"))); + + millis_t delta = deltaDuration(); + data.printTime += delta; + + #if SERVICE_INTERVAL_1 > 0 + data.nextService1 -= _MIN(delta, data.nextService1); + #endif + #if SERVICE_INTERVAL_2 > 0 + data.nextService2 -= _MIN(delta, data.nextService2); + #endif + #if SERVICE_INTERVAL_3 > 0 + data.nextService3 -= _MIN(delta, data.nextService3); + #endif + } + + #if PRINTCOUNTER_SAVE_INTERVAL > 0 + static millis_t eeprom_next; // = 0 + if (ELAPSED(now, eeprom_next)) { + eeprom_next = now + saveInterval; + saveStats(); + } + #endif +} + +// @Override +bool PrintCounter::start() { + TERN_(DEBUG_PRINTCOUNTER, debug(PSTR("start"))); + + bool paused = isPaused(); + + if (super::start()) { + if (!paused) { + data.totalPrints++; + lastDuration = 0; + } + return true; + } + + return false; +} + +bool PrintCounter::_stop(const bool completed) { + TERN_(DEBUG_PRINTCOUNTER, debug(PSTR("stop"))); + + const bool did_stop = super::stop(); + if (did_stop) { + data.printTime += deltaDuration(); + if (completed) { + data.finishedPrints++; + if (duration() > data.longestPrint) + data.longestPrint = duration(); + } + } + saveStats(); + return did_stop; +} + +// @Override +void PrintCounter::reset() { + TERN_(DEBUG_PRINTCOUNTER, debug(PSTR("stop"))); + + super::reset(); + lastDuration = 0; +} + +#if HAS_SERVICE_INTERVALS + + void PrintCounter::resetServiceInterval(const int index) { + switch (index) { + #if SERVICE_INTERVAL_1 > 0 + case 1: data.nextService1 = SERVICE_INTERVAL_SEC_1; + #endif + #if SERVICE_INTERVAL_2 > 0 + case 2: data.nextService2 = SERVICE_INTERVAL_SEC_2; + #endif + #if SERVICE_INTERVAL_3 > 0 + case 3: data.nextService3 = SERVICE_INTERVAL_SEC_3; + #endif + } + saveStats(); + } + + bool PrintCounter::needsService(const int index) { + switch (index) { + #if SERVICE_INTERVAL_1 > 0 + case 1: return data.nextService1 == 0; + #endif + #if SERVICE_INTERVAL_2 > 0 + case 2: return data.nextService2 == 0; + #endif + #if SERVICE_INTERVAL_3 > 0 + case 3: return data.nextService3 == 0; + #endif + default: return false; + } + } + +#endif // HAS_SERVICE_INTERVALS + +#if ENABLED(DEBUG_PRINTCOUNTER) + + void PrintCounter::debug(const char func[]) { + if (DEBUGGING(INFO)) { + SERIAL_ECHOPGM("PrintCounter::"); + serialprintPGM(func); + SERIAL_ECHOLNPGM("()"); + } + } + +#endif + +#endif // PRINTCOUNTER diff --git a/Marlin/src/module/printcounter.h b/Marlin/src/module/printcounter.h new file mode 100644 index 0000000..4deae45 --- /dev/null +++ b/Marlin/src/module/printcounter.h @@ -0,0 +1,205 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../libs/stopwatch.h" +#include "../libs/duration_t.h" +#include "../inc/MarlinConfig.h" + +// Print debug messages with M111 S2 +//#define DEBUG_PRINTCOUNTER + +// Round up I2C / SPI address to next page boundary (assuming 32 byte pages) +#define STATS_EEPROM_ADDRESS TERN(USE_WIRED_EEPROM, 0x40, 0x32) + +struct printStatistics { // 16 bytes + //const uint8_t magic; // Magic header, it will always be 0x16 + uint16_t totalPrints; // Number of prints + uint16_t finishedPrints; // Number of complete prints + uint32_t printTime; // Accumulated printing time + uint32_t longestPrint; // Longest successful print job + float filamentUsed; // Accumulated filament consumed in mm + #if SERVICE_INTERVAL_1 > 0 + uint32_t nextService1; // Service intervals (or placeholders) + #endif + #if SERVICE_INTERVAL_2 > 0 + uint32_t nextService2; + #endif + #if SERVICE_INTERVAL_3 > 0 + uint32_t nextService3; + #endif +}; + +class PrintCounter: public Stopwatch { + private: + typedef Stopwatch super; + + #if EITHER(USE_WIRED_EEPROM, CPU_32_BIT) + typedef uint32_t eeprom_address_t; + #else + typedef uint16_t eeprom_address_t; + #endif + + static printStatistics data; + + /** + * @brief EEPROM address + * @details Defines the start offset address where the data is stored. + */ + static const eeprom_address_t address; + + /** + * @brief Interval in seconds between counter updates + * @details This const value defines what will be the time between each + * accumulator update. This is different from the EEPROM save interval. + */ + static constexpr millis_t updateInterval = SEC_TO_MS(10); + + #if PRINTCOUNTER_SAVE_INTERVAL > 0 + /** + * @brief Interval in seconds between EEPROM saves + * @details This const value defines what will be the time between each + * EEPROM save cycle, the development team recommends to set this value + * no lower than 3600 secs (1 hour). + */ + static constexpr millis_t saveInterval = MIN_TO_MS(PRINTCOUNTER_SAVE_INTERVAL); + #endif + + /** + * @brief Timestamp of the last call to deltaDuration() + * @details Store the timestamp of the last deltaDuration(), this is + * required due to the updateInterval cycle. + */ + static millis_t lastDuration; + + /** + * @brief Stats were loaded from EEPROM + * @details If set to true it indicates if the statistical data was already + * loaded from the EEPROM. + */ + static bool loaded; + + protected: + /** + * @brief dT since the last call + * @details Return the elapsed time in seconds since the last call, this is + * used internally for print statistics accounting is not intended to be a + * user callable function. + */ + static millis_t deltaDuration(); + + public: + + /** + * @brief Initialize the print counter + */ + static inline void init() { + super::init(); + loadStats(); + } + + /** + * @brief Check if Print Statistics has been loaded + * @details Return true if the statistical data has been loaded. + * @return bool + */ + FORCE_INLINE static bool isLoaded() { return loaded; } + + /** + * @brief Increment the total filament used + * @details The total filament used counter will be incremented by "amount". + * + * @param amount The amount of filament used in mm + */ + static void incFilamentUsed(float const &amount); + + /** + * @brief Reset the Print Statistics + * @details Reset the statistics to zero and saves them to EEPROM creating + * also the magic header. + */ + static void initStats(); + + /** + * @brief Load the Print Statistics + * @details Load the statistics from EEPROM + */ + static void loadStats(); + + /** + * @brief Save the Print Statistics + * @details Save the statistics to EEPROM + */ + static void saveStats(); + + /** + * @brief Serial output the Print Statistics + * @details This function may change in the future, for now it directly + * prints the statistical data to serial. + */ + static void showStats(); + + /** + * @brief Return the currently loaded statistics + * @details Return the raw data, in the same structure used internally + */ + static printStatistics getStats() { return data; } + + /** + * @brief Loop function + * @details This function should be called at loop, it will take care of + * periodically save the statistical data to EEPROM and do time keeping. + */ + static void tick(); + + /** + * The following functions are being overridden + */ + static bool start(); + static bool _stop(const bool completed); + static inline bool stop() { return _stop(true); } + static inline bool abort() { return _stop(false); } + + static void reset(); + + #if HAS_SERVICE_INTERVALS + static void resetServiceInterval(const int index); + static bool needsService(const int index); + #endif + + #if ENABLED(DEBUG_PRINTCOUNTER) + + /** + * @brief Print a debug message + * @details Print a simple debug message + */ + static void debug(const char func[]); + + #endif +}; + +// Global Print Job Timer instance +#if ENABLED(PRINTCOUNTER) + extern PrintCounter print_job_timer; +#else + extern Stopwatch print_job_timer; +#endif diff --git a/Marlin/src/module/probe.cpp b/Marlin/src/module/probe.cpp new file mode 100644 index 0000000..94c409e --- /dev/null +++ b/Marlin/src/module/probe.cpp @@ -0,0 +1,786 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * module/probe.cpp + */ + +#include "../inc/MarlinConfig.h" + +#if HAS_BED_PROBE + +#include "probe.h" + +#include "../libs/buzzer.h" +#include "motion.h" +#include "temperature.h" +#include "endstops.h" + +#include "../gcode/gcode.h" +#include "../lcd/marlinui.h" + +#include "../MarlinCore.h" // for stop(), disable_e_steppers(), wait_for_user_response() + +#if HAS_LEVELING + #include "../feature/bedlevel/bedlevel.h" +#endif + +#if ENABLED(DELTA) + #include "delta.h" +#endif + +#if ENABLED(BABYSTEP_ZPROBE_OFFSET) + #include "planner.h" +#endif + +#if ENABLED(MEASURE_BACKLASH_WHEN_PROBING) + #include "../feature/backlash.h" +#endif + +#if ENABLED(BLTOUCH) + #include "../feature/bltouch.h" +#endif + +#if ENABLED(HOST_PROMPT_SUPPORT) + #include "../feature/host_actions.h" // for PROMPT_USER_CONTINUE +#endif + +#if HAS_Z_SERVO_PROBE + #include "servo.h" +#endif + +#if ENABLED(SENSORLESS_PROBING) + #include "stepper.h" + #include "../feature/tmc_util.h" +#endif + +#if HAS_QUIET_PROBING + #include "stepper/indirection.h" +#endif + +#if ENABLED(EXTENSIBLE_UI) + #include "../lcd/extui/ui_api.h" +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../core/debug_out.h" + +Probe probe; + +xyz_pos_t Probe::offset; // Initialized by settings.load() + +#if HAS_PROBE_XY_OFFSET + const xy_pos_t &Probe::offset_xy = Probe::offset; +#endif + +#if ENABLED(Z_PROBE_SLED) + + #ifndef SLED_DOCKING_OFFSET + #define SLED_DOCKING_OFFSET 0 + #endif + + /** + * Method to dock/undock a sled designed by Charles Bell. + * + * stow[in] If false, move to MAX_X and engage the solenoid + * If true, move to MAX_X and release the solenoid + */ + static void dock_sled(const bool stow) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("dock_sled(", stow, ")"); + + // Dock sled a bit closer to ensure proper capturing + do_blocking_move_to_x(X_MAX_POS + SLED_DOCKING_OFFSET - ((stow) ? 1 : 0)); + + #if HAS_SOLENOID_1 && DISABLED(EXT_SOLENOID) + WRITE(SOL1_PIN, !stow); // switch solenoid + #endif + } + +#elif ENABLED(TOUCH_MI_PROBE) + + // Move to the magnet to unlock the probe + inline void run_deploy_moves_script() { + #ifndef TOUCH_MI_DEPLOY_XPOS + #define TOUCH_MI_DEPLOY_XPOS X_MIN_POS + #elif TOUCH_MI_DEPLOY_XPOS > X_MAX_BED + TemporaryGlobalEndstopsState unlock_x(false); + #endif + #if TOUCH_MI_DEPLOY_YPOS > Y_MAX_BED + TemporaryGlobalEndstopsState unlock_y(false); + #endif + + #if ENABLED(TOUCH_MI_MANUAL_DEPLOY) + + const screenFunc_t prev_screen = ui.currentScreen; + LCD_MESSAGEPGM(MSG_MANUAL_DEPLOY_TOUCHMI); + ui.return_to_status(); + + TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Deploy TouchMI"), CONTINUE_STR)); + wait_for_user_response(); + ui.reset_status(); + ui.goto_screen(prev_screen); + + #elif defined(TOUCH_MI_DEPLOY_XPOS) && defined(TOUCH_MI_DEPLOY_YPOS) + do_blocking_move_to_xy(TOUCH_MI_DEPLOY_XPOS, TOUCH_MI_DEPLOY_YPOS); + #elif defined(TOUCH_MI_DEPLOY_XPOS) + do_blocking_move_to_x(TOUCH_MI_DEPLOY_XPOS); + #elif defined(TOUCH_MI_DEPLOY_YPOS) + do_blocking_move_to_y(TOUCH_MI_DEPLOY_YPOS); + #endif + } + + // Move down to the bed to stow the probe + inline void run_stow_moves_script() { + const xyz_pos_t oldpos = current_position; + endstops.enable_z_probe(false); + do_blocking_move_to_z(TOUCH_MI_RETRACT_Z, homing_feedrate(Z_AXIS)); + do_blocking_move_to(oldpos, homing_feedrate(Z_AXIS)); + } + +#elif ENABLED(Z_PROBE_ALLEN_KEY) + + inline void run_deploy_moves_script() { + #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_1 + #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE + #define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE 0.0 + #endif + constexpr xyz_pos_t deploy_1 = Z_PROBE_ALLEN_KEY_DEPLOY_1; + do_blocking_move_to(deploy_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE)); + #endif + #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_2 + #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE + #define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE 0.0 + #endif + constexpr xyz_pos_t deploy_2 = Z_PROBE_ALLEN_KEY_DEPLOY_2; + do_blocking_move_to(deploy_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE)); + #endif + #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_3 + #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE + #define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE 0.0 + #endif + constexpr xyz_pos_t deploy_3 = Z_PROBE_ALLEN_KEY_DEPLOY_3; + do_blocking_move_to(deploy_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE)); + #endif + #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_4 + #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE + #define Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE 0.0 + #endif + constexpr xyz_pos_t deploy_4 = Z_PROBE_ALLEN_KEY_DEPLOY_4; + do_blocking_move_to(deploy_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_4_FEEDRATE)); + #endif + #ifdef Z_PROBE_ALLEN_KEY_DEPLOY_5 + #ifndef Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE + #define Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE 0.0 + #endif + constexpr xyz_pos_t deploy_5 = Z_PROBE_ALLEN_KEY_DEPLOY_5; + do_blocking_move_to(deploy_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_DEPLOY_5_FEEDRATE)); + #endif + } + + inline void run_stow_moves_script() { + #ifdef Z_PROBE_ALLEN_KEY_STOW_1 + #ifndef Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE + #define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE 0.0 + #endif + constexpr xyz_pos_t stow_1 = Z_PROBE_ALLEN_KEY_STOW_1; + do_blocking_move_to(stow_1, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE)); + #endif + #ifdef Z_PROBE_ALLEN_KEY_STOW_2 + #ifndef Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE + #define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE 0.0 + #endif + constexpr xyz_pos_t stow_2 = Z_PROBE_ALLEN_KEY_STOW_2; + do_blocking_move_to(stow_2, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE)); + #endif + #ifdef Z_PROBE_ALLEN_KEY_STOW_3 + #ifndef Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE + #define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE 0.0 + #endif + constexpr xyz_pos_t stow_3 = Z_PROBE_ALLEN_KEY_STOW_3; + do_blocking_move_to(stow_3, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE)); + #endif + #ifdef Z_PROBE_ALLEN_KEY_STOW_4 + #ifndef Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE + #define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE 0.0 + #endif + constexpr xyz_pos_t stow_4 = Z_PROBE_ALLEN_KEY_STOW_4; + do_blocking_move_to(stow_4, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE)); + #endif + #ifdef Z_PROBE_ALLEN_KEY_STOW_5 + #ifndef Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE + #define Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE 0.0 + #endif + constexpr xyz_pos_t stow_5 = Z_PROBE_ALLEN_KEY_STOW_5; + do_blocking_move_to(stow_5, MMM_TO_MMS(Z_PROBE_ALLEN_KEY_STOW_5_FEEDRATE)); + #endif + } + +#endif // Z_PROBE_ALLEN_KEY + +#if HAS_QUIET_PROBING + + void Probe::set_probing_paused(const bool p) { + TERN_(PROBING_HEATERS_OFF, thermalManager.pause(p)); + TERN_(PROBING_FANS_OFF, thermalManager.set_fans_paused(p)); + #if ENABLED(PROBING_STEPPERS_OFF) + disable_e_steppers(); + #if NONE(DELTA, HOME_AFTER_DEACTIVATE) + DISABLE_AXIS_X(); DISABLE_AXIS_Y(); + #endif + #endif + if (p) safe_delay(25 + #if DELAY_BEFORE_PROBING > 25 + - 25 + DELAY_BEFORE_PROBING + #endif + ); + } + +#endif // HAS_QUIET_PROBING + +/** + * Raise Z to a minimum height to make room for a probe to move + */ +void Probe::do_z_raise(const float z_raise) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("Probe::do_z_raise(", z_raise, ")"); + float z_dest = z_raise; + if (offset.z < 0) z_dest -= offset.z; + do_z_clearance(z_dest); +} + +FORCE_INLINE void probe_specific_action(const bool deploy) { + #if ENABLED(PAUSE_BEFORE_DEPLOY_STOW) + do { + #if ENABLED(PAUSE_PROBE_DEPLOY_WHEN_TRIGGERED) + if (deploy == PROBE_TRIGGERED()) break; + #endif + + BUZZ(100, 659); + BUZZ(100, 698); + + PGM_P const ds_str = deploy ? GET_TEXT(MSG_MANUAL_DEPLOY) : GET_TEXT(MSG_MANUAL_STOW); + ui.return_to_status(); // To display the new status message + ui.set_status_P(ds_str, 99); + serialprintPGM(ds_str); + SERIAL_EOL(); + + TERN_(HOST_PROMPT_SUPPORT, host_prompt_do(PROMPT_USER_CONTINUE, PSTR("Stow Probe"), CONTINUE_STR)); + TERN_(EXTENSIBLE_UI, ExtUI::onUserConfirmRequired_P(PSTR("Stow Probe"))); + + wait_for_user_response(); + ui.reset_status(); + + } while (ENABLED(PAUSE_PROBE_DEPLOY_WHEN_TRIGGERED)); + + #endif // PAUSE_BEFORE_DEPLOY_STOW + + #if ENABLED(SOLENOID_PROBE) + + #if HAS_SOLENOID_1 + WRITE(SOL1_PIN, deploy); + #endif + + #elif ENABLED(Z_PROBE_SLED) + + dock_sled(!deploy); + + #elif ENABLED(BLTOUCH) + + deploy ? bltouch.deploy() : bltouch.stow(); + + #elif HAS_Z_SERVO_PROBE + + MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][deploy ? 0 : 1]); + + #elif EITHER(TOUCH_MI_PROBE, Z_PROBE_ALLEN_KEY) + + deploy ? run_deploy_moves_script() : run_stow_moves_script(); + + #elif ENABLED(RACK_AND_PINION_PROBE) + + do_blocking_move_to_x(deploy ? Z_PROBE_DEPLOY_X : Z_PROBE_RETRACT_X); + + #elif DISABLED(PAUSE_BEFORE_DEPLOY_STOW) + + UNUSED(deploy); + + #endif +} + +#if EITHER(PREHEAT_BEFORE_PROBING, PREHEAT_BEFORE_LEVELING) + + /** + * Do preheating as required before leveling or probing + */ + void Probe::preheat_for_probing(const uint16_t hotend_temp, const uint16_t bed_temp) { + #if PROBING_NOZZLE_TEMP || LEVELING_NOZZLE_TEMP + #define WAIT_FOR_NOZZLE_HEAT + #endif + #if PROBING_BED_TEMP || LEVELING_BED_TEMP + #define WAIT_FOR_BED_HEAT + #endif + const uint16_t hotendPreheat = TERN0(WAIT_FOR_NOZZLE_HEAT, thermalManager.degHotend(0) < hotend_temp) ? hotend_temp : 0, + bedPreheat = TERN0(WAIT_FOR_BED_HEAT, thermalManager.degBed() < bed_temp) ? bed_temp : 0; + DEBUG_ECHOPGM("Preheating "); + if (hotendPreheat) { + DEBUG_ECHOPAIR("hotend (", hotendPreheat, ") "); + if (bedPreheat) DEBUG_ECHOPGM("and "); + } + if (bedPreheat) DEBUG_ECHOPAIR("bed (", bedPreheat, ") "); + DEBUG_EOL(); + + TERN_(WAIT_FOR_NOZZLE_HEAT, if (hotendPreheat) thermalManager.setTargetHotend(hotendPreheat, 0)); + TERN_(WAIT_FOR_BED_HEAT, if (bedPreheat) thermalManager.setTargetBed(bedPreheat)); + TERN_(WAIT_FOR_NOZZLE_HEAT, if (hotendPreheat) thermalManager.wait_for_hotend(0)); + TERN_(WAIT_FOR_BED_HEAT, if (bedPreheat) thermalManager.wait_for_bed_heating()); + } + +#endif + +/** + * Attempt to deploy or stow the probe + * + * Return TRUE if the probe could not be deployed/stowed + */ +bool Probe::set_deployed(const bool deploy) { + + if (DEBUGGING(LEVELING)) { + DEBUG_POS("Probe::set_deployed", current_position); + DEBUG_ECHOLNPAIR("deploy: ", deploy); + } + + if (endstops.z_probe_enabled == deploy) return false; + + // Make room for probe to deploy (or stow) + // Fix-mounted probe should only raise for deploy + // unless PAUSE_BEFORE_DEPLOY_STOW is enabled + #if EITHER(FIX_MOUNTED_PROBE, NOZZLE_AS_PROBE) && DISABLED(PAUSE_BEFORE_DEPLOY_STOW) + const bool z_raise_wanted = deploy; + #else + constexpr bool z_raise_wanted = true; + #endif + + // For beds that fall when Z is powered off only raise for trusted Z + #if ENABLED(UNKNOWN_Z_NO_RAISE) + const bool z_is_trusted = axis_is_trusted(Z_AXIS); + #else + constexpr float z_is_trusted = true; + #endif + + if (z_is_trusted && z_raise_wanted) + do_z_raise(_MAX(Z_CLEARANCE_BETWEEN_PROBES, Z_CLEARANCE_DEPLOY_PROBE)); + + #if EITHER(Z_PROBE_SLED, Z_PROBE_ALLEN_KEY) + if (homing_needed_error(TERN_(Z_PROBE_SLED, _BV(X_AXIS)))) { + SERIAL_ERROR_MSG(STR_STOP_UNHOMED); + stop(); + return true; + } + #endif + + const xy_pos_t old_xy = current_position; + + #if ENABLED(PROBE_TRIGGERED_WHEN_STOWED_TEST) + + // Only deploy/stow if needed + if (PROBE_TRIGGERED() == deploy) { + if (!deploy) endstops.enable_z_probe(false); // Switch off triggered when stowed probes early + // otherwise an Allen-Key probe can't be stowed. + probe_specific_action(deploy); + } + + if (PROBE_TRIGGERED() == deploy) { // Unchanged after deploy/stow action? + if (IsRunning()) { + SERIAL_ERROR_MSG("Z-Probe failed"); + LCD_ALERTMESSAGEPGM_P(PSTR("Err: ZPROBE")); + } + stop(); + return true; + } + + #else + + probe_specific_action(deploy); + + #endif + + // If preheating is required before any probing... + TERN_(PREHEAT_BEFORE_PROBING, if (deploy) preheat_for_probing(PROBING_NOZZLE_TEMP, PROBING_BED_TEMP)); + + do_blocking_move_to(old_xy); + endstops.enable_z_probe(deploy); + return false; +} + +/** + * @brief Used by run_z_probe to do a single Z probe move. + * + * @param z Z destination + * @param fr_mm_s Feedrate in mm/s + * @return true to indicate an error + */ + +/** + * @brief Move down until the probe triggers or the low limit is reached + * + * @details Used by run_z_probe to get each bed Z height measurement. + * Sets current_position.z to the height where the probe triggered + * (according to the Z stepper count). The float Z is propagated + * back to the planner.position to preempt any rounding error. + * + * @return TRUE if the probe failed to trigger. + */ +bool Probe::probe_down_to_z(const float z, const feedRate_t fr_mm_s) { + DEBUG_SECTION(log_probe, "Probe::probe_down_to_z", DEBUGGING(LEVELING)); + + #if BOTH(HAS_HEATED_BED, WAIT_FOR_BED_HEATER) + thermalManager.wait_for_bed_heating(); + #endif + + if (TERN0(BLTOUCH_SLOW_MODE, bltouch.deploy())) return true; // Deploy in LOW SPEED MODE on every probe action + + // Disable stealthChop if used. Enable diag1 pin on driver. + #if ENABLED(SENSORLESS_PROBING) + sensorless_t stealth_states { false }; + #if ENABLED(DELTA) + stealth_states.x = tmc_enable_stallguard(stepperX); + stealth_states.y = tmc_enable_stallguard(stepperY); + #endif + stealth_states.z = tmc_enable_stallguard(stepperZ); + endstops.enable(true); + #endif + + TERN_(HAS_QUIET_PROBING, set_probing_paused(true)); + + // Move down until the probe is triggered + do_blocking_move_to_z(z, fr_mm_s); + + // Check to see if the probe was triggered + const bool probe_triggered = + #if BOTH(DELTA, SENSORLESS_PROBING) + endstops.trigger_state() & (_BV(X_MIN) | _BV(Y_MIN) | _BV(Z_MIN)) + #else + TEST(endstops.trigger_state(), TERN(Z_MIN_PROBE_USES_Z_MIN_ENDSTOP_PIN, Z_MIN, Z_MIN_PROBE)) + #endif + ; + + TERN_(HAS_QUIET_PROBING, set_probing_paused(false)); + + // Re-enable stealthChop if used. Disable diag1 pin on driver. + #if ENABLED(SENSORLESS_PROBING) + endstops.not_homing(); + #if ENABLED(DELTA) + tmc_disable_stallguard(stepperX, stealth_states.x); + tmc_disable_stallguard(stepperY, stealth_states.y); + #endif + tmc_disable_stallguard(stepperZ, stealth_states.z); + #endif + + if (probe_triggered && TERN0(BLTOUCH_SLOW_MODE, bltouch.stow())) // Stow in LOW SPEED MODE on every trigger + return true; + + // Clear endstop flags + endstops.hit_on_purpose(); + + // Get Z where the steppers were interrupted + set_current_from_steppers_for_axis(Z_AXIS); + + // Tell the planner where we actually are + sync_plan_position(); + + return !probe_triggered; +} + +#if ENABLED(PROBE_TARE) + + /** + * @brief Init the tare pin + * + * @details Init tare pin to ON state for a strain gauge, otherwise OFF + */ + void Probe::tare_init() { + OUT_WRITE(PROBE_TARE_PIN, !PROBE_TARE_STATE); + } + + /** + * @brief Tare the Z probe + * + * @details Signal to the probe to tare itself + * + * @return TRUE if the tare cold not be completed + */ + bool Probe::tare() { + #if BOTH(PROBE_ACTIVATION_SWITCH, PROBE_TARE_ONLY_WHILE_INACTIVE) + if (endstops.probe_switch_activated()) { + SERIAL_ECHOLNPGM("Cannot tare an active probe"); + return true; + } + #endif + + SERIAL_ECHOLNPGM("Taring probe"); + WRITE(PROBE_TARE_PIN, PROBE_TARE_STATE); + delay(PROBE_TARE_TIME); + WRITE(PROBE_TARE_PIN, !PROBE_TARE_STATE); + delay(PROBE_TARE_DELAY); + + endstops.hit_on_purpose(); + return false; + } +#endif + +/** + * @brief Probe at the current XY (possibly more than once) to find the bed Z. + * + * @details Used by probe_at_point to get the bed Z height at the current XY. + * Leaves current_position.z at the height where the probe triggered. + * + * @return The Z position of the bed at the current XY or NAN on error. + */ +float Probe::run_z_probe(const bool sanity_check/*=true*/) { + DEBUG_SECTION(log_probe, "Probe::run_z_probe", DEBUGGING(LEVELING)); + + auto try_to_probe = [&](PGM_P const plbl, const float &z_probe_low_point, const feedRate_t fr_mm_s, const bool scheck, const float clearance) -> bool { + // Tare the probe, if supported + if (TERN0(PROBE_TARE, tare())) return true; + + // Do a first probe at the fast speed + const bool probe_fail = probe_down_to_z(z_probe_low_point, fr_mm_s), // No probe trigger? + early_fail = (scheck && current_position.z > -offset.z + clearance); // Probe triggered too high? + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING) && (probe_fail || early_fail)) { + DEBUG_PRINT_P(plbl); + DEBUG_ECHOPGM(" Probe fail! -"); + if (probe_fail) DEBUG_ECHOPGM(" No trigger."); + if (early_fail) DEBUG_ECHOPGM(" Triggered early."); + DEBUG_EOL(); + } + #else + UNUSED(plbl); + #endif + return probe_fail || early_fail; + }; + + // Stop the probe before it goes too low to prevent damage. + // If Z isn't known then probe to -10mm. + const float z_probe_low_point = axis_is_trusted(Z_AXIS) ? -offset.z + Z_PROBE_LOW_POINT : -10.0; + + // Double-probing does a fast probe followed by a slow probe + #if TOTAL_PROBING == 2 + + // Attempt to tare the probe + if (TERN0(PROBE_TARE, tare())) return NAN; + + // Do a first probe at the fast speed + if (try_to_probe(PSTR("FAST"), z_probe_low_point, z_probe_fast_mm_s, + sanity_check, Z_CLEARANCE_BETWEEN_PROBES) ) return NAN; + + const float first_probe_z = current_position.z; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("1st Probe Z:", first_probe_z); + + // Raise to give the probe clearance + do_blocking_move_to_z(current_position.z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s); + + #elif Z_PROBE_SPEED_FAST != Z_PROBE_SPEED_SLOW + + // If the nozzle is well over the travel height then + // move down quickly before doing the slow probe + const float z = Z_CLEARANCE_DEPLOY_PROBE + 5.0 + (offset.z < 0 ? -offset.z : 0); + if (current_position.z > z) { + // Probe down fast. If the probe never triggered, raise for probe clearance + if (!probe_down_to_z(z, z_probe_fast_mm_s)) + do_blocking_move_to_z(current_position.z + Z_CLEARANCE_BETWEEN_PROBES, z_probe_fast_mm_s); + } + #endif + + #if EXTRA_PROBING > 0 + float probes[TOTAL_PROBING]; + #endif + + #if TOTAL_PROBING > 2 + float probes_z_sum = 0; + for ( + #if EXTRA_PROBING > 0 + uint8_t p = 0; p < TOTAL_PROBING; p++ + #else + uint8_t p = TOTAL_PROBING; p--; + #endif + ) + #endif + { + // If the probe won't tare, return + if (TERN0(PROBE_TARE, tare())) return true; + + // Probe downward slowly to find the bed + if (try_to_probe(PSTR("SLOW"), z_probe_low_point, MMM_TO_MMS(Z_PROBE_SPEED_SLOW), + sanity_check, Z_CLEARANCE_MULTI_PROBE) ) return NAN; + + TERN_(MEASURE_BACKLASH_WHEN_PROBING, backlash.measure_with_probe()); + + const float z = current_position.z; + + #if EXTRA_PROBING > 0 + // Insert Z measurement into probes[]. Keep it sorted ascending. + LOOP_LE_N(i, p) { // Iterate the saved Zs to insert the new Z + if (i == p || probes[i] > z) { // Last index or new Z is smaller than this Z + for (int8_t m = p; --m >= i;) probes[m + 1] = probes[m]; // Shift items down after the insertion point + probes[i] = z; // Insert the new Z measurement + break; // Only one to insert. Done! + } + } + #elif TOTAL_PROBING > 2 + probes_z_sum += z; + #else + UNUSED(z); + #endif + + #if TOTAL_PROBING > 2 + // Small Z raise after all but the last probe + if (p + #if EXTRA_PROBING > 0 + < TOTAL_PROBING - 1 + #endif + ) do_blocking_move_to_z(z + Z_CLEARANCE_MULTI_PROBE, z_probe_fast_mm_s); + #endif + } + + #if TOTAL_PROBING > 2 + + #if EXTRA_PROBING > 0 + // Take the center value (or average the two middle values) as the median + static constexpr int PHALF = (TOTAL_PROBING - 1) / 2; + const float middle = probes[PHALF], + median = ((TOTAL_PROBING) & 1) ? middle : (middle + probes[PHALF + 1]) * 0.5f; + + // Remove values farthest from the median + uint8_t min_avg_idx = 0, max_avg_idx = TOTAL_PROBING - 1; + for (uint8_t i = EXTRA_PROBING; i--;) + if (ABS(probes[max_avg_idx] - median) > ABS(probes[min_avg_idx] - median)) + max_avg_idx--; else min_avg_idx++; + + // Return the average value of all remaining probes. + LOOP_S_LE_N(i, min_avg_idx, max_avg_idx) + probes_z_sum += probes[i]; + + #endif + + const float measured_z = probes_z_sum * RECIPROCAL(MULTIPLE_PROBING); + + #elif TOTAL_PROBING == 2 + + const float z2 = current_position.z; + + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPAIR("2nd Probe Z:", z2, " Discrepancy:", first_probe_z - z2); + + // Return a weighted average of the fast and slow probes + const float measured_z = (z2 * 3.0 + first_probe_z * 2.0) * 0.2; + + #else + + // Return the single probe result + const float measured_z = current_position.z; + + #endif + + return measured_z; +} + +/** + * - Move to the given XY + * - Deploy the probe, if not already deployed + * - Probe the bed, get the Z position + * - Depending on the 'stow' flag + * - Stow the probe, or + * - Raise to the BETWEEN height + * - Return the probed Z position + */ +float Probe::probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after/*=PROBE_PT_NONE*/, const uint8_t verbose_level/*=0*/, const bool probe_relative/*=true*/, const bool sanity_check/*=true*/) { + DEBUG_SECTION(log_probe, "Probe::probe_at_point", DEBUGGING(LEVELING)); + + if (DEBUGGING(LEVELING)) { + DEBUG_ECHOLNPAIR( + "...(", LOGICAL_X_POSITION(rx), ", ", LOGICAL_Y_POSITION(ry), + ", ", raise_after == PROBE_PT_RAISE ? "raise" : raise_after == PROBE_PT_STOW ? "stow" : "none", + ", ", int(verbose_level), + ", ", probe_relative ? "probe" : "nozzle", "_relative)" + ); + DEBUG_POS("", current_position); + } + + #if BOTH(BLTOUCH, BLTOUCH_HS_MODE) + if (bltouch.triggered()) bltouch._reset(); + #endif + + // On delta keep Z below clip height or do_blocking_move_to will abort + xyz_pos_t npos = { rx, ry, _MIN(TERN(DELTA, delta_clip_start_height, current_position.z), current_position.z) }; + if (probe_relative) { // The given position is in terms of the probe + if (!can_reach(npos)) { + if (DEBUGGING(LEVELING)) DEBUG_ECHOLNPGM("Position Not Reachable"); + return NAN; + } + npos -= offset_xy; // Get the nozzle position + } + else if (!position_is_reachable(npos)) return NAN; // The given position is in terms of the nozzle + + // Move the probe to the starting XYZ + do_blocking_move_to(npos, feedRate_t(XY_PROBE_FEEDRATE_MM_S)); + + float measured_z = NAN; + if (!deploy()) measured_z = run_z_probe(sanity_check) + offset.z; + if (!isnan(measured_z)) { + const bool big_raise = raise_after == PROBE_PT_BIG_RAISE; + if (big_raise || raise_after == PROBE_PT_RAISE) + do_blocking_move_to_z(current_position.z + (big_raise ? 25 : Z_CLEARANCE_BETWEEN_PROBES), z_probe_fast_mm_s); + else if (raise_after == PROBE_PT_STOW) + if (stow()) measured_z = NAN; // Error on stow? + + if (verbose_level > 2) + SERIAL_ECHOLNPAIR("Bed X: ", LOGICAL_X_POSITION(rx), " Y: ", LOGICAL_Y_POSITION(ry), " Z: ", measured_z); + } + + if (isnan(measured_z)) { + stow(); + LCD_MESSAGEPGM(MSG_LCD_PROBING_FAILED); + #if DISABLED(G29_RETRY_AND_RECOVER) + SERIAL_ERROR_MSG(STR_ERR_PROBING_FAILED); + #endif + } + + return measured_z; +} + +#if HAS_Z_SERVO_PROBE + + void Probe::servo_probe_init() { + /** + * Set position of Z Servo Endstop + * + * The servo might be deployed and positioned too low to stow + * when starting up the machine or rebooting the board. + * There's no way to know where the nozzle is positioned until + * homing has been done - no homing with z-probe without init! + */ + STOW_Z_SERVO(); + } + +#endif // HAS_Z_SERVO_PROBE + +#endif // HAS_BED_PROBE diff --git a/Marlin/src/module/probe.h b/Marlin/src/module/probe.h new file mode 100644 index 0000000..d28cdff --- /dev/null +++ b/Marlin/src/module/probe.h @@ -0,0 +1,256 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * module/probe.h - Move, deploy, enable, etc. + */ + +#include "../inc/MarlinConfig.h" + +#include "motion.h" + +#if HAS_BED_PROBE + enum ProbePtRaise : uint8_t { + PROBE_PT_NONE, // No raise or stow after run_z_probe + PROBE_PT_STOW, // Do a complete stow after run_z_probe + PROBE_PT_RAISE, // Raise to "between" clearance after run_z_probe + PROBE_PT_BIG_RAISE // Raise to big clearance after run_z_probe + }; +#endif + +#if HAS_CUSTOM_PROBE_PIN + #define PROBE_TRIGGERED() (READ(Z_MIN_PROBE_PIN) != Z_MIN_PROBE_ENDSTOP_INVERTING) +#else + #define PROBE_TRIGGERED() (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING) +#endif + +class Probe { +public: + + #if HAS_BED_PROBE + + static xyz_pos_t offset; + + #if EITHER(PREHEAT_BEFORE_PROBING, PREHEAT_BEFORE_LEVELING) + static void preheat_for_probing(const uint16_t hotend_temp, const uint16_t bed_temp); + #endif + + static bool set_deployed(const bool deploy); + + #if IS_KINEMATIC + + #if HAS_PROBE_XY_OFFSET + // Return true if the both nozzle and the probe can reach the given point. + // Note: This won't work on SCARA since the probe offset rotates with the arm. + static bool can_reach(const float &rx, const float &ry) { + return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y) // The nozzle can go where it needs to go? + && position_is_reachable(rx, ry, ABS(PROBING_MARGIN)); // Can the nozzle also go near there? + } + #else + static bool can_reach(const float &rx, const float &ry) { + return position_is_reachable(rx, ry, PROBING_MARGIN); + } + #endif + + #else + + /** + * Return whether the given position is within the bed, and whether the nozzle + * can reach the position required to put the probe at the given position. + * + * Example: For a probe offset of -10,+10, then for the probe to reach 0,0 the + * nozzle must be be able to reach +10,-10. + */ + static bool can_reach(const float &rx, const float &ry) { + return position_is_reachable(rx - offset_xy.x, ry - offset_xy.y) + && WITHIN(rx, min_x() - fslop, max_x() + fslop) + && WITHIN(ry, min_y() - fslop, max_y() + fslop); + } + + #endif + + static void move_z_after_probing() { + #ifdef Z_AFTER_PROBING + do_z_clearance(Z_AFTER_PROBING, true, true, true); // Move down still permitted + #endif + } + static float probe_at_point(const float &rx, const float &ry, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true, const bool sanity_check=true); + static float probe_at_point(const xy_pos_t &pos, const ProbePtRaise raise_after=PROBE_PT_NONE, const uint8_t verbose_level=0, const bool probe_relative=true, const bool sanity_check=true) { + return probe_at_point(pos.x, pos.y, raise_after, verbose_level, probe_relative, sanity_check); + } + + #else + + static constexpr xyz_pos_t offset = xyz_pos_t({ 0, 0, 0 }); // See #16767 + + static bool set_deployed(const bool) { return false; } + + static bool can_reach(const float &rx, const float &ry) { return position_is_reachable(rx, ry); } + + #endif + + static void move_z_after_homing() { + #ifdef Z_AFTER_HOMING + do_z_clearance(Z_AFTER_HOMING, true, true, true); + #elif BOTH(Z_AFTER_PROBING, HAS_BED_PROBE) + move_z_after_probing(); + #endif + } + + static bool can_reach(const xy_pos_t &pos) { return can_reach(pos.x, pos.y); } + + static bool good_bounds(const xy_pos_t &lf, const xy_pos_t &rb) { + return ( + #if IS_KINEMATIC + can_reach(lf.x, 0) && can_reach(rb.x, 0) && can_reach(0, lf.y) && can_reach(0, rb.y) + #else + can_reach(lf) && can_reach(rb) + #endif + ); + } + + // Use offset_xy for read only access + // More optimal the XY offset is known to always be zero. + #if HAS_PROBE_XY_OFFSET + static const xy_pos_t &offset_xy; + #else + static constexpr xy_pos_t offset_xy = xy_pos_t({ 0, 0 }); // See #16767 + #endif + + static bool deploy() { return set_deployed(true); } + static bool stow() { return set_deployed(false); } + + #if HAS_BED_PROBE || HAS_LEVELING + #if IS_KINEMATIC + static constexpr float printable_radius = ( + TERN_(DELTA, DELTA_PRINTABLE_RADIUS) + TERN_(IS_SCARA, SCARA_PRINTABLE_RADIUS) + ); + static constexpr float probe_radius(const xy_pos_t &probe_offset_xy = offset_xy) { + return printable_radius - _MAX(PROBING_MARGIN, HYPOT(probe_offset_xy.x, probe_offset_xy.y)); + } + #endif + + static constexpr float _min_x(const xy_pos_t &probe_offset_xy = offset_xy) { + return TERN(IS_KINEMATIC, + (X_CENTER) - probe_radius(probe_offset_xy), + _MAX((X_MIN_BED) + (PROBING_MARGIN_LEFT), (X_MIN_POS) + probe_offset_xy.x) + ); + } + static constexpr float _max_x(const xy_pos_t &probe_offset_xy = offset_xy) { + return TERN(IS_KINEMATIC, + (X_CENTER) + probe_radius(probe_offset_xy), + _MIN((X_MAX_BED) - (PROBING_MARGIN_RIGHT), (X_MAX_POS) + probe_offset_xy.x) + ); + } + static constexpr float _min_y(const xy_pos_t &probe_offset_xy = offset_xy) { + return TERN(IS_KINEMATIC, + (Y_CENTER) - probe_radius(probe_offset_xy), + _MAX((Y_MIN_BED) + (PROBING_MARGIN_FRONT), (Y_MIN_POS) + probe_offset_xy.y) + ); + } + static constexpr float _max_y(const xy_pos_t &probe_offset_xy = offset_xy) { + return TERN(IS_KINEMATIC, + (Y_CENTER) + probe_radius(probe_offset_xy), + _MIN((Y_MAX_BED) - (PROBING_MARGIN_BACK), (Y_MAX_POS) + probe_offset_xy.y) + ); + } + + static float min_x() { return _min_x() - TERN0(NOZZLE_AS_PROBE, TERN0(HAS_HOME_OFFSET, home_offset.x)); } + static float max_x() { return _max_x() - TERN0(NOZZLE_AS_PROBE, TERN0(HAS_HOME_OFFSET, home_offset.x)); } + static float min_y() { return _min_y() - TERN0(NOZZLE_AS_PROBE, TERN0(HAS_HOME_OFFSET, home_offset.y)); } + static float max_y() { return _max_y() - TERN0(NOZZLE_AS_PROBE, TERN0(HAS_HOME_OFFSET, home_offset.y)); } + + // constexpr helpers used in build-time static_asserts, relying on default probe offsets. + class build_time { + static constexpr xyz_pos_t default_probe_xyz_offset = + #if HAS_BED_PROBE + NOZZLE_TO_PROBE_OFFSET + #else + { 0 } + #endif + ; + static constexpr xy_pos_t default_probe_xy_offset = { default_probe_xyz_offset.x, default_probe_xyz_offset.y }; + + public: + static constexpr bool can_reach(float x, float y) { + #if IS_KINEMATIC + return HYPOT2(x, y) <= sq(probe_radius(default_probe_xy_offset)); + #else + return WITHIN(x, _min_x(default_probe_xy_offset) - fslop, _max_x(default_probe_xy_offset) + fslop) + && WITHIN(y, _min_y(default_probe_xy_offset) - fslop, _max_y(default_probe_xy_offset) + fslop); + #endif + } + + static constexpr bool can_reach(const xy_pos_t &point) { return can_reach(point.x, point.y); } + }; + + #if NEEDS_THREE_PROBE_POINTS + // Retrieve three points to probe the bed. Any type exposing set(X,Y) may be used. + template + static void get_three_points(T points[3]) { + #if HAS_FIXED_3POINT + #define VALIDATE_PROBE_PT(N) static_assert(Probe::build_time::can_reach(xy_pos_t{PROBE_PT_##N##_X, PROBE_PT_##N##_Y}), \ + "PROBE_PT_" STRINGIFY(N) "_(X|Y) is unreachable using default NOZZLE_TO_PROBE_OFFSET and PROBING_MARGIN"); + VALIDATE_PROBE_PT(1); VALIDATE_PROBE_PT(2); VALIDATE_PROBE_PT(3); + points[0].set(PROBE_PT_1_X, PROBE_PT_1_Y); + points[1].set(PROBE_PT_2_X, PROBE_PT_2_Y); + points[2].set(PROBE_PT_3_X, PROBE_PT_3_Y); + #else + #if IS_KINEMATIC + constexpr float SIN0 = 0.0, SIN120 = 0.866025, SIN240 = -0.866025, + COS0 = 1.0, COS120 = -0.5 , COS240 = -0.5; + points[0].set((X_CENTER) + probe_radius() * COS0, (Y_CENTER) + probe_radius() * SIN0); + points[1].set((X_CENTER) + probe_radius() * COS120, (Y_CENTER) + probe_radius() * SIN120); + points[2].set((X_CENTER) + probe_radius() * COS240, (Y_CENTER) + probe_radius() * SIN240); + #else + points[0].set(min_x(), min_y()); + points[1].set(max_x(), min_y()); + points[2].set((min_x() + max_x()) / 2, max_y()); + #endif + #endif + } + #endif + + #endif // HAS_BED_PROBE + + #if HAS_Z_SERVO_PROBE + static void servo_probe_init(); + #endif + + #if HAS_QUIET_PROBING + static void set_probing_paused(const bool p); + #endif + + #if ENABLED(PROBE_TARE) + static void tare_init(); + static bool tare(); + #endif + +private: + static bool probe_down_to_z(const float z, const feedRate_t fr_mm_s); + static void do_z_raise(const float z_raise); + static float run_z_probe(const bool sanity_check=true); +}; + +extern Probe probe; diff --git a/Marlin/src/module/scara.cpp b/Marlin/src/module/scara.cpp new file mode 100644 index 0000000..e4b2f0b --- /dev/null +++ b/Marlin/src/module/scara.cpp @@ -0,0 +1,164 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * scara.cpp + */ + +#include "../inc/MarlinConfig.h" + +#if IS_SCARA + +#include "scara.h" +#include "motion.h" +#include "planner.h" + +float delta_segments_per_second = SCARA_SEGMENTS_PER_SECOND; + +void scara_set_axis_is_at_home(const AxisEnum axis) { + if (axis == Z_AXIS) + current_position.z = Z_HOME_POS; + else { + + /** + * SCARA homes XY at the same time + */ + xyz_pos_t homeposition; + LOOP_XYZ(i) homeposition[i] = base_home_pos((AxisEnum)i); + + #if ENABLED(MORGAN_SCARA) + // MORGAN_SCARA uses arm angles for AB home position + // SERIAL_ECHOLNPAIR("homeposition A:", homeposition.a, " B:", homeposition.b); + inverse_kinematics(homeposition); + forward_kinematics_SCARA(delta.a, delta.b); + current_position[axis] = cartes[axis]; + #else + // MP_SCARA uses a Cartesian XY home position + // SERIAL_ECHOPGM("homeposition"); + // SERIAL_ECHOLNPAIR_P(SP_X_LBL, homeposition.x, SP_Y_LBL, homeposition.y); + current_position[axis] = homeposition[axis]; + #endif + + // SERIAL_ECHOPGM("Cartesian"); + // SERIAL_ECHOLNPAIR_P(SP_X_LBL, current_position.x, SP_Y_LBL, current_position.y); + update_software_endstops(axis); + } +} + +static constexpr xy_pos_t scara_offset = { SCARA_OFFSET_X, SCARA_OFFSET_Y }; + +/** + * Morgan SCARA Forward Kinematics. Results in 'cartes'. + * Maths and first version by QHARLEY. + * Integrated into Marlin and slightly restructured by Joachim Cerny. + */ +void forward_kinematics_SCARA(const float &a, const float &b) { + + const float a_sin = sin(RADIANS(a)) * L1, + a_cos = cos(RADIANS(a)) * L1, + b_sin = sin(RADIANS(b)) * L2, + b_cos = cos(RADIANS(b)) * L2; + + cartes.set(a_cos + b_cos + scara_offset.x, // theta + a_sin + b_sin + scara_offset.y); // theta+phi + + /* + SERIAL_ECHOLNPAIR( + "SCARA FK Angle a=", a, + " b=", b, + " a_sin=", a_sin, + " a_cos=", a_cos, + " b_sin=", b_sin, + " b_cos=", b_cos + ); + SERIAL_ECHOLNPAIR(" cartes (X,Y) = "(cartes.x, ", ", cartes.y, ")"); + //*/ +} + +void inverse_kinematics(const xyz_pos_t &raw) { + + #if ENABLED(MORGAN_SCARA) + /** + * Morgan SCARA Inverse Kinematics. Results in 'delta'. + * + * See https://reprap.org/forum/read.php?185,283327 + * + * Maths and first version by QHARLEY. + * Integrated into Marlin and slightly restructured by Joachim Cerny. + */ + float C2, S2, SK1, SK2, THETA, PSI; + + // Translate SCARA to standard XY with scaling factor + const xy_pos_t spos = raw - scara_offset; + + const float H2 = HYPOT2(spos.x, spos.y); + if (L1 == L2) + C2 = H2 / L1_2_2 - 1; + else + C2 = (H2 - (L1_2 + L2_2)) / (2.0f * L1 * L2); + + S2 = SQRT(1.0f - sq(C2)); + + // Unrotated Arm1 plus rotated Arm2 gives the distance from Center to End + SK1 = L1 + L2 * C2; + + // Rotated Arm2 gives the distance from Arm1 to Arm2 + SK2 = L2 * S2; + + // Angle of Arm1 is the difference between Center-to-End angle and the Center-to-Elbow + THETA = ATAN2(SK1, SK2) - ATAN2(spos.x, spos.y); + + // Angle of Arm2 + PSI = ATAN2(S2, C2); + + delta.set(DEGREES(THETA), DEGREES(THETA + PSI), raw.z); + + /* + DEBUG_POS("SCARA IK", raw); + DEBUG_POS("SCARA IK", delta); + SERIAL_ECHOLNPAIR(" SCARA (x,y) ", sx, ",", sy, " C2=", C2, " S2=", S2, " Theta=", THETA, " Phi=", PHI); + //*/ + + #else // MP_SCARA + + const float x = raw.x, y = raw.y, c = HYPOT(x, y), + THETA3 = ATAN2(y, x), + THETA1 = THETA3 + ACOS((sq(c) + sq(L1) - sq(L2)) / (2.0f * c * L1)), + THETA2 = THETA3 - ACOS((sq(c) + sq(L2) - sq(L1)) / (2.0f * c * L2)); + + delta.set(DEGREES(THETA1), DEGREES(THETA2), raw.z); + + /* + DEBUG_POS("SCARA IK", raw); + DEBUG_POS("SCARA IK", delta); + SERIAL_ECHOLNPAIR(" SCARA (x,y) ", x, ",", y," Theta1=", THETA1, " Theta2=", THETA2); + //*/ + + #endif // MP_SCARA +} + +void scara_report_positions() { + SERIAL_ECHOLNPAIR("SCARA Theta:", planner.get_axis_position_degrees(A_AXIS), " Psi+Theta:", planner.get_axis_position_degrees(B_AXIS)); + SERIAL_EOL(); +} + +#endif // IS_SCARA diff --git a/Marlin/src/module/scara.h b/Marlin/src/module/scara.h new file mode 100644 index 0000000..e2acaf3 --- /dev/null +++ b/Marlin/src/module/scara.h @@ -0,0 +1,42 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * scara.h - SCARA-specific functions + */ + +#include "../core/macros.h" + +extern float delta_segments_per_second; + +// Float constants for SCARA calculations +float constexpr L1 = SCARA_LINKAGE_1, L2 = SCARA_LINKAGE_2, + L1_2 = sq(float(L1)), L1_2_2 = 2.0 * L1_2, + L2_2 = sq(float(L2)); + +void scara_set_axis_is_at_home(const AxisEnum axis); + +void inverse_kinematics(const xyz_pos_t &raw); +void forward_kinematics_SCARA(const float &a, const float &b); + +void scara_report_positions(); diff --git a/Marlin/src/module/servo.cpp b/Marlin/src/module/servo.cpp new file mode 100644 index 0000000..27e5a2a --- /dev/null +++ b/Marlin/src/module/servo.cpp @@ -0,0 +1,56 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * module/servo.cpp + */ + +#include "../inc/MarlinConfig.h" + +#if HAS_SERVOS + +#include "servo.h" + +HAL_SERVO_LIB servo[NUM_SERVOS]; + +TERN_(EDITABLE_SERVO_ANGLES, uint16_t servo_angles[NUM_SERVOS][2]); + +void servo_init() { + #if NUM_SERVOS >= 1 && HAS_SERVO_0 + servo[0].attach(SERVO0_PIN); + servo[0].detach(); // Just set up the pin. We don't have a position yet. Don't move to a random position. + #endif + #if NUM_SERVOS >= 2 && HAS_SERVO_1 + servo[1].attach(SERVO1_PIN); + servo[1].detach(); + #endif + #if NUM_SERVOS >= 3 && HAS_SERVO_2 + servo[2].attach(SERVO2_PIN); + servo[2].detach(); + #endif + #if NUM_SERVOS >= 4 && HAS_SERVO_3 + servo[3].attach(SERVO3_PIN); + servo[3].detach(); + #endif +} + +#endif // HAS_SERVOS diff --git a/Marlin/src/module/servo.h b/Marlin/src/module/servo.h new file mode 100644 index 0000000..29bd3b8 --- /dev/null +++ b/Marlin/src/module/servo.h @@ -0,0 +1,115 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * module/servo.h + */ + +#include "../inc/MarlinConfig.h" +#include "../HAL/shared/servo.h" + +#if HAS_SERVO_ANGLES + + #if ENABLED(SWITCHING_EXTRUDER) + // Switching extruder can have 2 or 4 angles + #if EXTRUDERS > 3 + #define REQ_ANGLES 4 + #else + #define REQ_ANGLES 2 + #endif + constexpr uint16_t sase[] = SWITCHING_EXTRUDER_SERVO_ANGLES; + static_assert(COUNT(sase) == REQ_ANGLES, "SWITCHING_EXTRUDER_SERVO_ANGLES needs " STRINGIFY(REQ_ANGLES) " angles."); + #else + constexpr uint16_t sase[4] = { 0 }; + #endif + + #if ENABLED(SWITCHING_NOZZLE) + constexpr uint16_t sasn[] = SWITCHING_NOZZLE_SERVO_ANGLES; + static_assert(COUNT(sasn) == 2, "SWITCHING_NOZZLE_SERVO_ANGLES needs 2 angles."); + #else + constexpr uint16_t sasn[2] = { 0 }; + #endif + + #ifdef Z_PROBE_SERVO_NR + #if ENABLED(BLTOUCH) + #include "../feature/bltouch.h" + #undef Z_SERVO_ANGLES + #define Z_SERVO_ANGLES { BLTOUCH_DEPLOY, BLTOUCH_STOW } + #endif + constexpr uint16_t sazp[] = Z_SERVO_ANGLES; + static_assert(COUNT(sazp) == 2, "Z_SERVO_ANGLES needs 2 angles."); + #else + constexpr uint16_t sazp[2] = { 0 }; + #endif + + #ifndef SWITCHING_EXTRUDER_SERVO_NR + #define SWITCHING_EXTRUDER_SERVO_NR -1 + #endif + #ifndef SWITCHING_EXTRUDER_E23_SERVO_NR + #define SWITCHING_EXTRUDER_E23_SERVO_NR -1 + #endif + #ifndef SWITCHING_NOZZLE_SERVO_NR + #define SWITCHING_NOZZLE_SERVO_NR -1 + #endif + #ifndef Z_PROBE_SERVO_NR + #define Z_PROBE_SERVO_NR -1 + #endif + + #define ASRC(N,I) ( \ + N == SWITCHING_EXTRUDER_SERVO_NR ? sase[I] \ + : N == SWITCHING_EXTRUDER_E23_SERVO_NR ? sase[I+2] \ + : N == SWITCHING_NOZZLE_SERVO_NR ? sasn[I] \ + : N == Z_PROBE_SERVO_NR ? sazp[I] \ + : 0 ) + + #if ENABLED(EDITABLE_SERVO_ANGLES) + extern uint16_t servo_angles[NUM_SERVOS][2]; + #define CONST_SERVO_ANGLES base_servo_angles + #else + #define CONST_SERVO_ANGLES servo_angles + #endif + + constexpr uint16_t CONST_SERVO_ANGLES [NUM_SERVOS][2] = { + { ASRC(0,0), ASRC(0,1) } + #if NUM_SERVOS > 1 + , { ASRC(1,0), ASRC(1,1) } + #if NUM_SERVOS > 2 + , { ASRC(2,0), ASRC(2,1) } + #if NUM_SERVOS > 3 + , { ASRC(3,0), ASRC(3,1) } + #endif + #endif + #endif + }; + + #if HAS_Z_SERVO_PROBE + #define DEPLOY_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][0]) + #define STOW_Z_SERVO() MOVE_SERVO(Z_PROBE_SERVO_NR, servo_angles[Z_PROBE_SERVO_NR][1]) + #endif + +#endif // HAS_SERVO_ANGLES + +#define MOVE_SERVO(I, P) servo[I].move(P) + +extern HAL_SERVO_LIB servo[NUM_SERVOS]; +extern void servo_init(); diff --git a/Marlin/src/module/settings.cpp b/Marlin/src/module/settings.cpp new file mode 100644 index 0000000..6908635 --- /dev/null +++ b/Marlin/src/module/settings.cpp @@ -0,0 +1,3880 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * settings.cpp + * + * Settings and EEPROM storage + * + * IMPORTANT: Whenever there are changes made to the variables stored in EEPROM + * in the functions below, also increment the version number. This makes sure that + * the default values are used whenever there is a change to the data, to prevent + * wrong data being written to the variables. + * + * ALSO: Variables in the Store and Retrieve sections must be in the same order. + * If a feature is disabled, some data must still be written that, when read, + * either sets a Sane Default, or results in No Change to the existing value. + */ + +// Change EEPROM version if the structure changes +#define EEPROM_VERSION "V83" +#define EEPROM_OFFSET 100 + +// Check the integrity of data offsets. +// Can be disabled for production build. +//#define DEBUG_EEPROM_READWRITE + +#include "settings.h" + +#include "endstops.h" +#include "planner.h" +#include "stepper.h" +#include "temperature.h" + +#include "../lcd/marlinui.h" +#include "../libs/vector_3.h" // for matrix_3x3 +#include "../gcode/gcode.h" +#include "../MarlinCore.h" + +#if EITHER(EEPROM_SETTINGS, SD_FIRMWARE_UPDATE) + #include "../HAL/shared/eeprom_api.h" +#endif + +#include "probe.h" + +#if HAS_LEVELING + #include "../feature/bedlevel/bedlevel.h" +#endif + +#if ENABLED(Z_STEPPER_AUTO_ALIGN) + #include "../feature/z_stepper_align.h" +#endif + +#if ENABLED(EXTENSIBLE_UI) + #include "../lcd/extui/ui_api.h" +#endif + +#if HAS_SERVOS + #include "servo.h" +#endif + +#if HAS_SERVOS && HAS_SERVO_ANGLES + #define EEPROM_NUM_SERVOS NUM_SERVOS +#else + #define EEPROM_NUM_SERVOS NUM_SERVO_PLUGS +#endif + +#include "../feature/fwretract.h" + +#if ENABLED(POWER_LOSS_RECOVERY) + #include "../feature/powerloss.h" +#endif + +#if HAS_POWER_MONITOR + #include "../feature/power_monitor.h" +#endif + +#include "../feature/pause.h" + +#if ENABLED(BACKLASH_COMPENSATION) + #include "../feature/backlash.h" +#endif + +#if HAS_FILAMENT_SENSOR + #include "../feature/runout.h" + #ifndef FIL_RUNOUT_ENABLED_DEFAULT + #define FIL_RUNOUT_ENABLED_DEFAULT true + #endif +#endif + +#if ENABLED(EXTRA_LIN_ADVANCE_K) + extern float other_extruder_advance_K[EXTRUDERS]; +#endif + +#if HAS_MULTI_EXTRUDER + #include "tool_change.h" + void M217_report(const bool eeprom); +#endif + +#if ENABLED(BLTOUCH) + #include "../feature/bltouch.h" +#endif + +#if HAS_TRINAMIC_CONFIG + #include "stepper/indirection.h" + #include "../feature/tmc_util.h" +#endif + +#if ENABLED(PROBE_TEMP_COMPENSATION) + #include "../feature/probe_temp_comp.h" +#endif + +#include "../feature/controllerfan.h" +#if ENABLED(CONTROLLER_FAN_EDITABLE) + void M710_report(const bool forReplay); +#endif + +#if ENABLED(CASE_LIGHT_ENABLE) + #include "../feature/caselight.h" +#endif + +#if ENABLED(PASSWORD_FEATURE) + #include "../feature/password/password.h" +#endif + +#if ENABLED(TOUCH_SCREEN_CALIBRATION) + #include "../lcd/tft_io/touch_calibration.h" +#endif + +#if HAS_ETHERNET + #include "../feature/ethernet.h" +#endif + +#if ENABLED(SOUND_MENU_ITEM) + #include "../libs/buzzer.h" +#endif + +#pragma pack(push, 1) // No padding between variables + +#if HAS_ETHERNET + void ETH0_report(); + void MAC_report(); + void M552_report(); + void M553_report(); + void M554_report(); +#endif + +typedef struct { uint16_t X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7; } tmc_stepper_current_t; +typedef struct { uint32_t X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7; } tmc_hybrid_threshold_t; +typedef struct { int16_t X, Y, Z, X2, Y2, Z2, Z3, Z4; } tmc_sgt_t; +typedef struct { bool X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7; } tmc_stealth_enabled_t; + +// Limit an index to an array size +#define ALIM(I,ARR) _MIN(I, (signed)COUNT(ARR) - 1) + +// Defaults for reset / fill in on load +static const uint32_t _DMA[] PROGMEM = DEFAULT_MAX_ACCELERATION; +static const float _DASU[] PROGMEM = DEFAULT_AXIS_STEPS_PER_UNIT; +static const feedRate_t _DMF[] PROGMEM = DEFAULT_MAX_FEEDRATE; + +/** + * Current EEPROM Layout + * + * Keep this data structure up to date so + * EEPROM size is known at compile time! + */ +typedef struct SettingsDataStruct { + char version[4]; // Vnn\0 + uint16_t crc; // Data Checksum + + // + // DISTINCT_E_FACTORS + // + uint8_t esteppers; // XYZE_N - XYZ + + planner_settings_t planner_settings; + + xyze_float_t planner_max_jerk; // M205 XYZE planner.max_jerk + float planner_junction_deviation_mm; // M205 J planner.junction_deviation_mm + + xyz_pos_t home_offset; // M206 XYZ / M665 TPZ + + #if HAS_HOTEND_OFFSET + xyz_pos_t hotend_offset[HOTENDS - 1]; // M218 XYZ + #endif + + // + // FILAMENT_RUNOUT_SENSOR + // + bool runout_sensor_enabled; // M412 S + float runout_distance_mm; // M412 D + + // + // ENABLE_LEVELING_FADE_HEIGHT + // + float planner_z_fade_height; // M420 Zn planner.z_fade_height + + // + // MESH_BED_LEVELING + // + float mbl_z_offset; // mbl.z_offset + uint8_t mesh_num_x, mesh_num_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y + float mbl_z_values[TERN(MESH_BED_LEVELING, GRID_MAX_POINTS_X, 3)] // mbl.z_values + [TERN(MESH_BED_LEVELING, GRID_MAX_POINTS_Y, 3)]; + + // + // HAS_BED_PROBE + // + + xyz_pos_t probe_offset; + + // + // ABL_PLANAR + // + matrix_3x3 planner_bed_level_matrix; // planner.bed_level_matrix + + // + // AUTO_BED_LEVELING_BILINEAR + // + uint8_t grid_max_x, grid_max_y; // GRID_MAX_POINTS_X, GRID_MAX_POINTS_Y + xy_pos_t bilinear_grid_spacing, bilinear_start; // G29 L F + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + bed_mesh_t z_values; // G29 + #else + float z_values[3][3]; + #endif + + // + // AUTO_BED_LEVELING_UBL + // + bool planner_leveling_active; // M420 S planner.leveling_active + int8_t ubl_storage_slot; // ubl.storage_slot + + // + // SERVO_ANGLES + // + uint16_t servo_angles[EEPROM_NUM_SERVOS][2]; // M281 P L U + + // + // Temperature first layer compensation values + // + #if ENABLED(PROBE_TEMP_COMPENSATION) + int16_t z_offsets_probe[COUNT(temp_comp.z_offsets_probe)], // M871 P I V + z_offsets_bed[COUNT(temp_comp.z_offsets_bed)] // M871 B I V + #if ENABLED(USE_TEMP_EXT_COMPENSATION) + , z_offsets_ext[COUNT(temp_comp.z_offsets_ext)] // M871 E I V + #endif + ; + #endif + + // + // BLTOUCH + // + bool bltouch_last_written_mode; + + // + // DELTA / [XYZ]_DUAL_ENDSTOPS + // + #if ENABLED(DELTA) + float delta_height; // M666 H + abc_float_t delta_endstop_adj; // M666 X Y Z + float delta_radius, // M665 R + delta_diagonal_rod, // M665 L + delta_segments_per_second; // M665 S + abc_float_t delta_tower_angle_trim, // M665 X Y Z + delta_diagonal_rod_trim; // M665 A B C + #elif HAS_EXTRA_ENDSTOPS + float x2_endstop_adj, // M666 X + y2_endstop_adj, // M666 Y + z2_endstop_adj, // M666 (S2) Z + z3_endstop_adj, // M666 (S3) Z + z4_endstop_adj; // M666 (S4) Z + #endif + + // + // Z_STEPPER_AUTO_ALIGN, Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS + // + #if ENABLED(Z_STEPPER_AUTO_ALIGN) + xy_pos_t z_stepper_align_xy[NUM_Z_STEPPER_DRIVERS]; // M422 S X Y + #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + xy_pos_t z_stepper_align_stepper_xy[NUM_Z_STEPPER_DRIVERS]; // M422 W X Y + #endif + #endif + + // + // Material Presets + // + #if PREHEAT_COUNT + preheat_t ui_material_preset[PREHEAT_COUNT]; // M145 S0 H B F + #endif + + // + // PIDTEMP + // + PIDCF_t hotendPID[HOTENDS]; // M301 En PIDCF / M303 En U + int16_t lpq_len; // M301 L + + // + // PIDTEMPBED + // + PID_t bedPID; // M304 PID / M303 E-1 U + + // + // User-defined Thermistors + // + #if HAS_USER_THERMISTORS + user_thermistor_t user_thermistor[USER_THERMISTORS]; // M305 P0 R4700 T100000 B3950 + #endif + + // + // Power monitor + // + uint8_t power_monitor_flags; // M430 I V W + + // + // HAS_LCD_CONTRAST + // + int16_t lcd_contrast; // M250 C + + // + // Controller fan settings + // + controllerFan_settings_t controllerFan_settings; // M710 + + // + // POWER_LOSS_RECOVERY + // + bool recovery_enabled; // M413 S + + // + // FWRETRACT + // + fwretract_settings_t fwretract_settings; // M207 S F Z W, M208 S F W R + bool autoretract_enabled; // M209 S + + // + // !NO_VOLUMETRIC + // + bool parser_volumetric_enabled; // M200 S parser.volumetric_enabled + float planner_filament_size[EXTRUDERS]; // M200 T D planner.filament_size[] + float planner_volumetric_extruder_limit[EXTRUDERS]; // M200 T L planner.volumetric_extruder_limit[] + + // + // HAS_TRINAMIC_CONFIG + // + tmc_stepper_current_t tmc_stepper_current; // M906 X Y Z X2 Y2 Z2 Z3 Z4 E0 E1 E2 E3 E4 E5 + tmc_hybrid_threshold_t tmc_hybrid_threshold; // M913 X Y Z X2 Y2 Z2 Z3 Z4 E0 E1 E2 E3 E4 E5 + tmc_sgt_t tmc_sgt; // M914 X Y Z X2 Y2 Z2 Z3 Z4 + tmc_stealth_enabled_t tmc_stealth_enabled; // M569 X Y Z X2 Y2 Z2 Z3 Z4 E0 E1 E2 E3 E4 E5 + + // + // LIN_ADVANCE + // + float planner_extruder_advance_K[_MAX(EXTRUDERS, 1)]; // M900 K planner.extruder_advance_K + + // + // HAS_MOTOR_CURRENT_PWM + // + #ifndef MOTOR_CURRENT_COUNT + #define MOTOR_CURRENT_COUNT 3 + #endif + uint32_t motor_current_setting[MOTOR_CURRENT_COUNT]; // M907 X Z E + + // + // CNC_COORDINATE_SYSTEMS + // + xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS]; // G54-G59.3 + + // + // SKEW_CORRECTION + // + skew_factor_t planner_skew_factor; // M852 I J K planner.skew_factor + + // + // ADVANCED_PAUSE_FEATURE + // + #if EXTRUDERS + fil_change_settings_t fc_settings[EXTRUDERS]; // M603 T U L + #endif + + // + // Tool-change settings + // + #if HAS_MULTI_EXTRUDER + toolchange_settings_t toolchange_settings; // M217 S P R + #endif + + // + // BACKLASH_COMPENSATION + // + xyz_float_t backlash_distance_mm; // M425 X Y Z + uint8_t backlash_correction; // M425 F + float backlash_smoothing_mm; // M425 S + + // + // EXTENSIBLE_UI + // + #if ENABLED(EXTENSIBLE_UI) + // This is a significant hardware change; don't reserve space when not present + uint8_t extui_data[ExtUI::eeprom_data_size]; + #endif + + // + // CASELIGHT_USES_BRIGHTNESS + // + #if CASELIGHT_USES_BRIGHTNESS + uint8_t caselight_brightness; // M355 P + #endif + + // + // PASSWORD_FEATURE + // + #if ENABLED(PASSWORD_FEATURE) + bool password_is_set; + uint32_t password_value; + #endif + + // + // TOUCH_SCREEN_CALIBRATION + // + #if ENABLED(TOUCH_SCREEN_CALIBRATION) + touch_calibration_t touch_calibration_data; + #endif + + // Ethernet settings + #if HAS_ETHERNET + bool ethernet_hardware_enabled; // M552 S + uint32_t ethernet_ip, // M552 P + ethernet_dns, + ethernet_gateway, // M553 P + ethernet_subnet; // M554 P + #endif + + // + // Buzzer enable/disable + // + #if ENABLED(SOUND_MENU_ITEM) + bool buzzer_enabled; + #endif + + #if HAS_MULTI_LANGUAGE + uint8_t ui_language; // M414 S + #endif + +} SettingsData; + +//static_assert(sizeof(SettingsData) <= MARLIN_EEPROM_SIZE, "EEPROM too small to contain SettingsData!"); + +MarlinSettings settings; + +uint16_t MarlinSettings::datasize() { return sizeof(SettingsData); } + +/** + * Post-process after Retrieve or Reset + */ + +#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + float new_z_fade_height; +#endif + +void MarlinSettings::postprocess() { + xyze_pos_t oldpos = current_position; + + // steps per s2 needs to be updated to agree with units per s2 + planner.reset_acceleration_rates(); + + // Make sure delta kinematics are updated before refreshing the + // planner position so the stepper counts will be set correctly. + TERN_(DELTA, recalc_delta_settings()); + + TERN_(PIDTEMP, thermalManager.updatePID()); + + #if DISABLED(NO_VOLUMETRICS) + planner.calculate_volumetric_multipliers(); + #elif EXTRUDERS + for (uint8_t i = COUNT(planner.e_factor); i--;) + planner.refresh_e_factor(i); + #endif + + // Software endstops depend on home_offset + LOOP_XYZ(i) { + update_workspace_offset((AxisEnum)i); + update_software_endstops((AxisEnum)i); + } + + TERN_(ENABLE_LEVELING_FADE_HEIGHT, set_z_fade_height(new_z_fade_height, false)); // false = no report + + TERN_(AUTO_BED_LEVELING_BILINEAR, refresh_bed_level()); + + TERN_(HAS_MOTOR_CURRENT_PWM, stepper.refresh_motor_power()); + + TERN_(FWRETRACT, fwretract.refresh_autoretract()); + + TERN_(HAS_LINEAR_E_JERK, planner.recalculate_max_e_jerk()); + + TERN_(CASELIGHT_USES_BRIGHTNESS, caselight.update_brightness()); + + // Refresh steps_to_mm with the reciprocal of axis_steps_per_mm + // and init stepper.count[], planner.position[] with current_position + planner.refresh_positioning(); + + // Various factors can change the current position + if (oldpos != current_position) + report_current_position(); +} + +#if BOTH(PRINTCOUNTER, EEPROM_SETTINGS) + #include "printcounter.h" + static_assert( + !WITHIN(STATS_EEPROM_ADDRESS, EEPROM_OFFSET, EEPROM_OFFSET + sizeof(SettingsData)) && + !WITHIN(STATS_EEPROM_ADDRESS + sizeof(printStatistics), EEPROM_OFFSET, EEPROM_OFFSET + sizeof(SettingsData)), + "STATS_EEPROM_ADDRESS collides with EEPROM settings storage." + ); +#endif + +#if ENABLED(SD_FIRMWARE_UPDATE) + + #if ENABLED(EEPROM_SETTINGS) + static_assert( + !WITHIN(SD_FIRMWARE_UPDATE_EEPROM_ADDR, EEPROM_OFFSET, EEPROM_OFFSET + sizeof(SettingsData)), + "SD_FIRMWARE_UPDATE_EEPROM_ADDR collides with EEPROM settings storage." + ); + #endif + + bool MarlinSettings::sd_update_status() { + uint8_t val; + persistentStore.read_data(SD_FIRMWARE_UPDATE_EEPROM_ADDR, &val); + return (val == SD_FIRMWARE_UPDATE_ACTIVE_VALUE); + } + + bool MarlinSettings::set_sd_update_status(const bool enable) { + if (enable != sd_update_status()) + persistentStore.write_data( + SD_FIRMWARE_UPDATE_EEPROM_ADDR, + enable ? SD_FIRMWARE_UPDATE_ACTIVE_VALUE : SD_FIRMWARE_UPDATE_INACTIVE_VALUE + ); + return true; + } + +#endif // SD_FIRMWARE_UPDATE + +#ifdef ARCHIM2_SPI_FLASH_EEPROM_BACKUP_SIZE + static_assert(EEPROM_OFFSET + sizeof(SettingsData) < ARCHIM2_SPI_FLASH_EEPROM_BACKUP_SIZE, + "ARCHIM2_SPI_FLASH_EEPROM_BACKUP_SIZE is insufficient to capture all EEPROM data."); +#endif + +#define DEBUG_OUT ENABLED(DEBUG_LEVELING_FEATURE) +#include "../core/debug_out.h" + +#if ENABLED(EEPROM_SETTINGS) + + #define EEPROM_START() if (!persistentStore.access_start()) { SERIAL_ECHO_MSG("No EEPROM."); return false; } \ + int eeprom_index = EEPROM_OFFSET + #define EEPROM_FINISH() persistentStore.access_finish() + #define EEPROM_SKIP(VAR) (eeprom_index += sizeof(VAR)) + #define EEPROM_WRITE(VAR) do{ persistentStore.write_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR), &working_crc); }while(0) + #define EEPROM_READ(VAR) do{ persistentStore.read_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR), &working_crc, !validating); }while(0) + #define EEPROM_READ_ALWAYS(VAR) do{ persistentStore.read_data(eeprom_index, (uint8_t*)&VAR, sizeof(VAR), &working_crc); }while(0) + #define EEPROM_ASSERT(TST,ERR) do{ if (!(TST)) { SERIAL_ERROR_MSG(ERR); eeprom_error = true; } }while(0) + + #if ENABLED(DEBUG_EEPROM_READWRITE) + #define _FIELD_TEST(FIELD) \ + EEPROM_ASSERT( \ + eeprom_error || eeprom_index == offsetof(SettingsData, FIELD) + EEPROM_OFFSET, \ + "Field " STRINGIFY(FIELD) " mismatch." \ + ) + #else + #define _FIELD_TEST(FIELD) NOOP + #endif + + const char version[4] = EEPROM_VERSION; + + bool MarlinSettings::eeprom_error, MarlinSettings::validating; + + bool MarlinSettings::size_error(const uint16_t size) { + if (size != datasize()) { + DEBUG_ERROR_MSG("EEPROM datasize error."); + return true; + } + return false; + } + + /** + * M500 - Store Configuration + */ + bool MarlinSettings::save() { + float dummyf = 0; + char ver[4] = "ERR"; + + uint16_t working_crc = 0; + + EEPROM_START(); + + eeprom_error = false; + + // Write or Skip version. (Flash doesn't allow rewrite without erase.) + TERN(FLASH_EEPROM_EMULATION, EEPROM_SKIP, EEPROM_WRITE)(ver); + + EEPROM_SKIP(working_crc); // Skip the checksum slot + + working_crc = 0; // clear before first "real data" + + _FIELD_TEST(esteppers); + + const uint8_t esteppers = COUNT(planner.settings.axis_steps_per_mm) - XYZ; + EEPROM_WRITE(esteppers); + + // + // Planner Motion + // + { + EEPROM_WRITE(planner.settings); + + #if HAS_CLASSIC_JERK + EEPROM_WRITE(planner.max_jerk); + #if HAS_LINEAR_E_JERK + dummyf = float(DEFAULT_EJERK); + EEPROM_WRITE(dummyf); + #endif + #else + const xyze_pos_t planner_max_jerk = { 10, 10, 0.4, float(DEFAULT_EJERK) }; + EEPROM_WRITE(planner_max_jerk); + #endif + + TERN_(CLASSIC_JERK, dummyf = 0.02f); + EEPROM_WRITE(TERN(CLASSIC_JERK, dummyf, planner.junction_deviation_mm)); + } + + // + // Home Offset + // + { + _FIELD_TEST(home_offset); + + #if HAS_SCARA_OFFSET + EEPROM_WRITE(scara_home_offset); + #else + #if !HAS_HOME_OFFSET + const xyz_pos_t home_offset{0}; + #endif + EEPROM_WRITE(home_offset); + #endif + } + + // + // Hotend Offsets, if any + // + { + #if HAS_HOTEND_OFFSET + // Skip hotend 0 which must be 0 + LOOP_S_L_N(e, 1, HOTENDS) + EEPROM_WRITE(hotend_offset[e]); + #endif + } + + // + // Filament Runout Sensor + // + { + #if HAS_FILAMENT_SENSOR + const bool &runout_sensor_enabled = runout.enabled; + #else + constexpr int8_t runout_sensor_enabled = -1; + #endif + _FIELD_TEST(runout_sensor_enabled); + EEPROM_WRITE(runout_sensor_enabled); + + #if HAS_FILAMENT_RUNOUT_DISTANCE + const float &runout_distance_mm = runout.runout_distance(); + #else + constexpr float runout_distance_mm = 0; + #endif + EEPROM_WRITE(runout_distance_mm); + } + + // + // Global Leveling + // + { + const float zfh = TERN(ENABLE_LEVELING_FADE_HEIGHT, planner.z_fade_height, (DEFAULT_LEVELING_FADE_HEIGHT)); + EEPROM_WRITE(zfh); + } + + // + // Mesh Bed Leveling + // + { + #if ENABLED(MESH_BED_LEVELING) + static_assert( + sizeof(mbl.z_values) == (GRID_MAX_POINTS) * sizeof(mbl.z_values[0][0]), + "MBL Z array is the wrong size." + ); + #else + dummyf = 0; + #endif + + const uint8_t mesh_num_x = TERN(MESH_BED_LEVELING, GRID_MAX_POINTS_X, 3), + mesh_num_y = TERN(MESH_BED_LEVELING, GRID_MAX_POINTS_Y, 3); + + EEPROM_WRITE(TERN(MESH_BED_LEVELING, mbl.z_offset, dummyf)); + EEPROM_WRITE(mesh_num_x); + EEPROM_WRITE(mesh_num_y); + + #if ENABLED(MESH_BED_LEVELING) + EEPROM_WRITE(mbl.z_values); + #else + for (uint8_t q = mesh_num_x * mesh_num_y; q--;) EEPROM_WRITE(dummyf); + #endif + } + + // + // Probe XYZ Offsets + // + { + _FIELD_TEST(probe_offset); + #if HAS_BED_PROBE + const xyz_pos_t &zpo = probe.offset; + #else + constexpr xyz_pos_t zpo{0}; + #endif + EEPROM_WRITE(zpo); + } + + // + // Planar Bed Leveling matrix + // + { + #if ABL_PLANAR + EEPROM_WRITE(planner.bed_level_matrix); + #else + dummyf = 0; + for (uint8_t q = 9; q--;) EEPROM_WRITE(dummyf); + #endif + } + + // + // Bilinear Auto Bed Leveling + // + { + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + static_assert( + sizeof(z_values) == (GRID_MAX_POINTS) * sizeof(z_values[0][0]), + "Bilinear Z array is the wrong size." + ); + #else + const xy_pos_t bilinear_start{0}, bilinear_grid_spacing{0}; + #endif + + const uint8_t grid_max_x = TERN(AUTO_BED_LEVELING_BILINEAR, GRID_MAX_POINTS_X, 3), + grid_max_y = TERN(AUTO_BED_LEVELING_BILINEAR, GRID_MAX_POINTS_Y, 3); + EEPROM_WRITE(grid_max_x); + EEPROM_WRITE(grid_max_y); + EEPROM_WRITE(bilinear_grid_spacing); + EEPROM_WRITE(bilinear_start); + + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + EEPROM_WRITE(z_values); // 9-256 floats + #else + dummyf = 0; + for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_WRITE(dummyf); + #endif + } + + // + // Unified Bed Leveling + // + { + _FIELD_TEST(planner_leveling_active); + const bool ubl_active = TERN(AUTO_BED_LEVELING_UBL, planner.leveling_active, false); + const int8_t storage_slot = TERN(AUTO_BED_LEVELING_UBL, ubl.storage_slot, -1); + EEPROM_WRITE(ubl_active); + EEPROM_WRITE(storage_slot); + } + + // + // Servo Angles + // + { + _FIELD_TEST(servo_angles); + #if !HAS_SERVO_ANGLES + uint16_t servo_angles[EEPROM_NUM_SERVOS][2] = { { 0, 0 } }; + #endif + EEPROM_WRITE(servo_angles); + } + + // + // Thermal first layer compensation values + // + #if ENABLED(PROBE_TEMP_COMPENSATION) + EEPROM_WRITE(temp_comp.z_offsets_probe); + EEPROM_WRITE(temp_comp.z_offsets_bed); + #if ENABLED(USE_TEMP_EXT_COMPENSATION) + EEPROM_WRITE(temp_comp.z_offsets_ext); + #endif + #else + // No placeholder data for this feature + #endif + + // + // BLTOUCH + // + { + _FIELD_TEST(bltouch_last_written_mode); + const bool bltouch_last_written_mode = TERN(BLTOUCH, bltouch.last_written_mode, false); + EEPROM_WRITE(bltouch_last_written_mode); + } + + // + // DELTA Geometry or Dual Endstops offsets + // + { + #if ENABLED(DELTA) + + _FIELD_TEST(delta_height); + + EEPROM_WRITE(delta_height); // 1 float + EEPROM_WRITE(delta_endstop_adj); // 3 floats + EEPROM_WRITE(delta_radius); // 1 float + EEPROM_WRITE(delta_diagonal_rod); // 1 float + EEPROM_WRITE(delta_segments_per_second); // 1 float + EEPROM_WRITE(delta_tower_angle_trim); // 3 floats + EEPROM_WRITE(delta_diagonal_rod_trim); // 3 floats + + #elif HAS_EXTRA_ENDSTOPS + + _FIELD_TEST(x2_endstop_adj); + + // Write dual endstops in X, Y, Z order. Unused = 0.0 + dummyf = 0; + EEPROM_WRITE(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float + EEPROM_WRITE(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float + EEPROM_WRITE(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float + + #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3 + EEPROM_WRITE(endstops.z3_endstop_adj); // 1 float + #else + EEPROM_WRITE(dummyf); + #endif + + #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4 + EEPROM_WRITE(endstops.z4_endstop_adj); // 1 float + #else + EEPROM_WRITE(dummyf); + #endif + + #endif + } + + #if ENABLED(Z_STEPPER_AUTO_ALIGN) + EEPROM_WRITE(z_stepper_align.xy); + #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + EEPROM_WRITE(z_stepper_align.stepper_xy); + #endif + #endif + + // + // LCD Preheat settings + // + #if PREHEAT_COUNT + _FIELD_TEST(ui_material_preset); + EEPROM_WRITE(ui.material_preset); + #endif + + // + // PIDTEMP + // + { + _FIELD_TEST(hotendPID); + HOTEND_LOOP() { + PIDCF_t pidcf = { + #if DISABLED(PIDTEMP) + NAN, NAN, NAN, + NAN, NAN + #else + PID_PARAM(Kp, e), + unscalePID_i(PID_PARAM(Ki, e)), + unscalePID_d(PID_PARAM(Kd, e)), + PID_PARAM(Kc, e), + PID_PARAM(Kf, e) + #endif + }; + EEPROM_WRITE(pidcf); + } + + _FIELD_TEST(lpq_len); + #if DISABLED(PID_EXTRUSION_SCALING) + const int16_t lpq_len = 20; + #endif + EEPROM_WRITE(TERN(PID_EXTRUSION_SCALING, thermalManager.lpq_len, lpq_len)); + } + + // + // PIDTEMPBED + // + { + _FIELD_TEST(bedPID); + + const PID_t bed_pid = { + #if DISABLED(PIDTEMPBED) + NAN, NAN, NAN + #else + // Store the unscaled PID values + thermalManager.temp_bed.pid.Kp, + unscalePID_i(thermalManager.temp_bed.pid.Ki), + unscalePID_d(thermalManager.temp_bed.pid.Kd) + #endif + }; + EEPROM_WRITE(bed_pid); + } + + // + // User-defined Thermistors + // + #if HAS_USER_THERMISTORS + { + _FIELD_TEST(user_thermistor); + EEPROM_WRITE(thermalManager.user_thermistor); + } + #endif + + // + // Power monitor + // + { + #if HAS_POWER_MONITOR + const uint8_t &power_monitor_flags = power_monitor.flags; + #else + constexpr uint8_t power_monitor_flags = 0x00; + #endif + _FIELD_TEST(power_monitor_flags); + EEPROM_WRITE(power_monitor_flags); + } + + // + // LCD Contrast + // + { + _FIELD_TEST(lcd_contrast); + + const int16_t lcd_contrast = + #if HAS_LCD_CONTRAST + ui.contrast + #else + 127 + #endif + ; + EEPROM_WRITE(lcd_contrast); + } + + // + // Controller Fan + // + { + _FIELD_TEST(controllerFan_settings); + #if ENABLED(USE_CONTROLLER_FAN) + const controllerFan_settings_t &cfs = controllerFan.settings; + #else + controllerFan_settings_t cfs = controllerFan_defaults; + #endif + EEPROM_WRITE(cfs); + } + + // + // Power-Loss Recovery + // + { + _FIELD_TEST(recovery_enabled); + const bool recovery_enabled = TERN(POWER_LOSS_RECOVERY, recovery.enabled, ENABLED(PLR_ENABLED_DEFAULT)); + EEPROM_WRITE(recovery_enabled); + } + + // + // Firmware Retraction + // + { + _FIELD_TEST(fwretract_settings); + #if DISABLED(FWRETRACT) + const fwretract_settings_t autoretract_defaults = { 3, 45, 0, 0, 0, 13, 0, 8 }; + #endif + EEPROM_WRITE(TERN(FWRETRACT, fwretract.settings, autoretract_defaults)); + + #if DISABLED(FWRETRACT_AUTORETRACT) + const bool autoretract_enabled = false; + #endif + EEPROM_WRITE(TERN(FWRETRACT_AUTORETRACT, fwretract.autoretract_enabled, autoretract_enabled)); + } + + // + // Volumetric & Filament Size + // + { + _FIELD_TEST(parser_volumetric_enabled); + + #if DISABLED(NO_VOLUMETRICS) + + EEPROM_WRITE(parser.volumetric_enabled); + EEPROM_WRITE(planner.filament_size); + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + EEPROM_WRITE(planner.volumetric_extruder_limit); + #else + dummyf = DEFAULT_VOLUMETRIC_EXTRUDER_LIMIT; + for (uint8_t q = EXTRUDERS; q--;) EEPROM_WRITE(dummyf); + #endif + + #else + + const bool volumetric_enabled = false; + EEPROM_WRITE(volumetric_enabled); + dummyf = DEFAULT_NOMINAL_FILAMENT_DIA; + for (uint8_t q = EXTRUDERS; q--;) EEPROM_WRITE(dummyf); + dummyf = DEFAULT_VOLUMETRIC_EXTRUDER_LIMIT; + for (uint8_t q = EXTRUDERS; q--;) EEPROM_WRITE(dummyf); + + #endif + } + + // + // TMC Configuration + // + { + _FIELD_TEST(tmc_stepper_current); + + tmc_stepper_current_t tmc_stepper_current = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + + #if HAS_TRINAMIC_CONFIG + #if AXIS_IS_TMC(X) + tmc_stepper_current.X = stepperX.getMilliamps(); + #endif + #if AXIS_IS_TMC(Y) + tmc_stepper_current.Y = stepperY.getMilliamps(); + #endif + #if AXIS_IS_TMC(Z) + tmc_stepper_current.Z = stepperZ.getMilliamps(); + #endif + #if AXIS_IS_TMC(X2) + tmc_stepper_current.X2 = stepperX2.getMilliamps(); + #endif + #if AXIS_IS_TMC(Y2) + tmc_stepper_current.Y2 = stepperY2.getMilliamps(); + #endif + #if AXIS_IS_TMC(Z2) + tmc_stepper_current.Z2 = stepperZ2.getMilliamps(); + #endif + #if AXIS_IS_TMC(Z3) + tmc_stepper_current.Z3 = stepperZ3.getMilliamps(); + #endif + #if AXIS_IS_TMC(Z4) + tmc_stepper_current.Z4 = stepperZ4.getMilliamps(); + #endif + #if AXIS_IS_TMC(E0) + tmc_stepper_current.E0 = stepperE0.getMilliamps(); + #endif + #if AXIS_IS_TMC(E1) + tmc_stepper_current.E1 = stepperE1.getMilliamps(); + #endif + #if AXIS_IS_TMC(E2) + tmc_stepper_current.E2 = stepperE2.getMilliamps(); + #endif + #if AXIS_IS_TMC(E3) + tmc_stepper_current.E3 = stepperE3.getMilliamps(); + #endif + #if AXIS_IS_TMC(E4) + tmc_stepper_current.E4 = stepperE4.getMilliamps(); + #endif + #if AXIS_IS_TMC(E5) + tmc_stepper_current.E5 = stepperE5.getMilliamps(); + #endif + #if AXIS_IS_TMC(E6) + tmc_stepper_current.E6 = stepperE6.getMilliamps(); + #endif + #if AXIS_IS_TMC(E7) + tmc_stepper_current.E7 = stepperE7.getMilliamps(); + #endif + #endif + EEPROM_WRITE(tmc_stepper_current); + } + + // + // TMC Hybrid Threshold, and placeholder values + // + { + _FIELD_TEST(tmc_hybrid_threshold); + + #if ENABLED(HYBRID_THRESHOLD) + tmc_hybrid_threshold_t tmc_hybrid_threshold = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; + #if AXIS_HAS_STEALTHCHOP(X) + tmc_hybrid_threshold.X = stepperX.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(Y) + tmc_hybrid_threshold.Y = stepperY.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(Z) + tmc_hybrid_threshold.Z = stepperZ.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(X2) + tmc_hybrid_threshold.X2 = stepperX2.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(Y2) + tmc_hybrid_threshold.Y2 = stepperY2.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(Z2) + tmc_hybrid_threshold.Z2 = stepperZ2.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(Z3) + tmc_hybrid_threshold.Z3 = stepperZ3.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(Z4) + tmc_hybrid_threshold.Z4 = stepperZ4.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(E0) + tmc_hybrid_threshold.E0 = stepperE0.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(E1) + tmc_hybrid_threshold.E1 = stepperE1.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(E2) + tmc_hybrid_threshold.E2 = stepperE2.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(E3) + tmc_hybrid_threshold.E3 = stepperE3.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(E4) + tmc_hybrid_threshold.E4 = stepperE4.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(E5) + tmc_hybrid_threshold.E5 = stepperE5.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(E6) + tmc_hybrid_threshold.E6 = stepperE6.get_pwm_thrs(); + #endif + #if AXIS_HAS_STEALTHCHOP(E7) + tmc_hybrid_threshold.E7 = stepperE7.get_pwm_thrs(); + #endif + #else + const tmc_hybrid_threshold_t tmc_hybrid_threshold = { + .X = 100, .Y = 100, .Z = 3, + .X2 = 100, .Y2 = 100, .Z2 = 3, .Z3 = 3, .Z4 = 3, + .E0 = 30, .E1 = 30, .E2 = 30, + .E3 = 30, .E4 = 30, .E5 = 30 + }; + #endif + EEPROM_WRITE(tmc_hybrid_threshold); + } + + // + // TMC StallGuard threshold + // + { + tmc_sgt_t tmc_sgt{0}; + #if USE_SENSORLESS + TERN_(X_SENSORLESS, tmc_sgt.X = stepperX.homing_threshold()); + TERN_(X2_SENSORLESS, tmc_sgt.X2 = stepperX2.homing_threshold()); + TERN_(Y_SENSORLESS, tmc_sgt.Y = stepperY.homing_threshold()); + TERN_(Y2_SENSORLESS, tmc_sgt.Y2 = stepperY2.homing_threshold()); + TERN_(Z_SENSORLESS, tmc_sgt.Z = stepperZ.homing_threshold()); + TERN_(Z2_SENSORLESS, tmc_sgt.Z2 = stepperZ2.homing_threshold()); + TERN_(Z3_SENSORLESS, tmc_sgt.Z3 = stepperZ3.homing_threshold()); + TERN_(Z4_SENSORLESS, tmc_sgt.Z4 = stepperZ4.homing_threshold()); + #endif + EEPROM_WRITE(tmc_sgt); + } + + // + // TMC stepping mode + // + { + _FIELD_TEST(tmc_stealth_enabled); + + tmc_stealth_enabled_t tmc_stealth_enabled = { false }; + #if AXIS_HAS_STEALTHCHOP(X) + tmc_stealth_enabled.X = stepperX.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(Y) + tmc_stealth_enabled.Y = stepperY.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(Z) + tmc_stealth_enabled.Z = stepperZ.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(X2) + tmc_stealth_enabled.X2 = stepperX2.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(Y2) + tmc_stealth_enabled.Y2 = stepperY2.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(Z2) + tmc_stealth_enabled.Z2 = stepperZ2.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(Z3) + tmc_stealth_enabled.Z3 = stepperZ3.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(Z4) + tmc_stealth_enabled.Z4 = stepperZ4.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(E0) + tmc_stealth_enabled.E0 = stepperE0.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(E1) + tmc_stealth_enabled.E1 = stepperE1.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(E2) + tmc_stealth_enabled.E2 = stepperE2.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(E3) + tmc_stealth_enabled.E3 = stepperE3.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(E4) + tmc_stealth_enabled.E4 = stepperE4.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(E5) + tmc_stealth_enabled.E5 = stepperE5.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(E6) + tmc_stealth_enabled.E6 = stepperE6.get_stored_stealthChop(); + #endif + #if AXIS_HAS_STEALTHCHOP(E7) + tmc_stealth_enabled.E7 = stepperE7.get_stored_stealthChop(); + #endif + EEPROM_WRITE(tmc_stealth_enabled); + } + + // + // Linear Advance + // + { + _FIELD_TEST(planner_extruder_advance_K); + + #if ENABLED(LIN_ADVANCE) + EEPROM_WRITE(planner.extruder_advance_K); + #else + dummyf = 0; + for (uint8_t q = _MAX(EXTRUDERS, 1); q--;) EEPROM_WRITE(dummyf); + #endif + } + + // + // Motor Current PWM + // + { + _FIELD_TEST(motor_current_setting); + + #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + EEPROM_WRITE(stepper.motor_current_setting); + #else + const uint32_t no_current[MOTOR_CURRENT_COUNT] = { 0 }; + EEPROM_WRITE(no_current); + #endif + } + + // + // CNC Coordinate Systems + // + + _FIELD_TEST(coordinate_system); + + #if DISABLED(CNC_COORDINATE_SYSTEMS) + const xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS] = { { 0 } }; + #endif + EEPROM_WRITE(TERN(CNC_COORDINATE_SYSTEMS, gcode.coordinate_system, coordinate_system)); + + // + // Skew correction factors + // + _FIELD_TEST(planner_skew_factor); + EEPROM_WRITE(planner.skew_factor); + + // + // Advanced Pause filament load & unload lengths + // + #if EXTRUDERS + { + #if DISABLED(ADVANCED_PAUSE_FEATURE) + const fil_change_settings_t fc_settings[EXTRUDERS] = { 0, 0 }; + #endif + _FIELD_TEST(fc_settings); + EEPROM_WRITE(fc_settings); + } + #endif + + // + // Multiple Extruders + // + + #if HAS_MULTI_EXTRUDER + _FIELD_TEST(toolchange_settings); + EEPROM_WRITE(toolchange_settings); + #endif + + // + // Backlash Compensation + // + { + #if ENABLED(BACKLASH_GCODE) + const xyz_float_t &backlash_distance_mm = backlash.distance_mm; + const uint8_t &backlash_correction = backlash.correction; + #else + const xyz_float_t backlash_distance_mm{0}; + const uint8_t backlash_correction = 0; + #endif + #if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM) + const float &backlash_smoothing_mm = backlash.smoothing_mm; + #else + const float backlash_smoothing_mm = 3; + #endif + _FIELD_TEST(backlash_distance_mm); + EEPROM_WRITE(backlash_distance_mm); + EEPROM_WRITE(backlash_correction); + EEPROM_WRITE(backlash_smoothing_mm); + } + + // + // Extensible UI User Data + // + #if ENABLED(EXTENSIBLE_UI) + { + char extui_data[ExtUI::eeprom_data_size] = { 0 }; + ExtUI::onStoreSettings(extui_data); + _FIELD_TEST(extui_data); + EEPROM_WRITE(extui_data); + } + #endif + + // + // Case Light Brightness + // + #if CASELIGHT_USES_BRIGHTNESS + EEPROM_WRITE(caselight.brightness); + #endif + + // + // Password feature + // + #if ENABLED(PASSWORD_FEATURE) + EEPROM_WRITE(password.is_set); + EEPROM_WRITE(password.value); + #endif + + // + // TOUCH_SCREEN_CALIBRATION + // + #if ENABLED(TOUCH_SCREEN_CALIBRATION) + EEPROM_WRITE(touch_calibration.calibration); + #endif + + // + // Ethernet network info + // + #if HAS_ETHERNET + { + _FIELD_TEST(ethernet_hardware_enabled); + const bool ethernet_hardware_enabled = ethernet.hardware_enabled; + const uint32_t ethernet_ip = ethernet.ip, + ethernet_dns = ethernet.myDns, + ethernet_gateway = ethernet.gateway, + ethernet_subnet = ethernet.subnet; + EEPROM_WRITE(ethernet_hardware_enabled); + EEPROM_WRITE(ethernet_ip); + EEPROM_WRITE(ethernet_dns); + EEPROM_WRITE(ethernet_gateway); + EEPROM_WRITE(ethernet_subnet); + } + #endif + + // + // Buzzer enable/disable + // + #if ENABLED(SOUND_MENU_ITEM) + EEPROM_WRITE(ui.buzzer_enabled); + #endif + + // + // Selected LCD language + // + #if HAS_MULTI_LANGUAGE + EEPROM_WRITE(ui.language); + #endif + + // + // Report final CRC and Data Size + // + if (!eeprom_error) { + const uint16_t eeprom_size = eeprom_index - (EEPROM_OFFSET), + final_crc = working_crc; + + // Write the EEPROM header + eeprom_index = EEPROM_OFFSET; + + EEPROM_WRITE(version); + EEPROM_WRITE(final_crc); + + // Report storage size + DEBUG_ECHO_START(); + DEBUG_ECHOLNPAIR("Settings Stored (", eeprom_size, " bytes; crc ", (uint32_t)final_crc, ")"); + + eeprom_error |= size_error(eeprom_size); + } + EEPROM_FINISH(); + + // + // UBL Mesh + // + #if ENABLED(UBL_SAVE_ACTIVE_ON_M500) + if (ubl.storage_slot >= 0) + store_mesh(ubl.storage_slot); + #endif + + if (!eeprom_error) LCD_MESSAGEPGM(MSG_SETTINGS_STORED); + + TERN_(EXTENSIBLE_UI, ExtUI::onConfigurationStoreWritten(!eeprom_error)); + + return !eeprom_error; + } + + /** + * M501 - Retrieve Configuration + */ + bool MarlinSettings::_load() { + uint16_t working_crc = 0; + + EEPROM_START(); + + char stored_ver[4]; + EEPROM_READ_ALWAYS(stored_ver); + + uint16_t stored_crc; + EEPROM_READ_ALWAYS(stored_crc); + + // Version has to match or defaults are used + if (strncmp(version, stored_ver, 3) != 0) { + if (stored_ver[3] != '\0') { + stored_ver[0] = '?'; + stored_ver[1] = '\0'; + } + DEBUG_ECHO_START(); + DEBUG_ECHOLNPAIR("EEPROM version mismatch (EEPROM=", stored_ver, " Marlin=" EEPROM_VERSION ")"); + IF_DISABLED(EEPROM_AUTO_INIT, ui.eeprom_alert_version()); + eeprom_error = true; + } + else { + float dummyf = 0; + working_crc = 0; // Init to 0. Accumulated by EEPROM_READ + + _FIELD_TEST(esteppers); + + // Number of esteppers may change + uint8_t esteppers; + EEPROM_READ_ALWAYS(esteppers); + + // + // Planner Motion + // + { + // Get only the number of E stepper parameters previously stored + // Any steppers added later are set to their defaults + uint32_t tmp1[XYZ + esteppers]; + float tmp2[XYZ + esteppers]; + feedRate_t tmp3[XYZ + esteppers]; + EEPROM_READ(tmp1); // max_acceleration_mm_per_s2 + EEPROM_READ(planner.settings.min_segment_time_us); + EEPROM_READ(tmp2); // axis_steps_per_mm + EEPROM_READ(tmp3); // max_feedrate_mm_s + + if (!validating) LOOP_XYZE_N(i) { + const bool in = (i < esteppers + XYZ); + planner.settings.max_acceleration_mm_per_s2[i] = in ? tmp1[i] : pgm_read_dword(&_DMA[ALIM(i, _DMA)]); + planner.settings.axis_steps_per_mm[i] = in ? tmp2[i] : pgm_read_float(&_DASU[ALIM(i, _DASU)]); + planner.settings.max_feedrate_mm_s[i] = in ? tmp3[i] : pgm_read_float(&_DMF[ALIM(i, _DMF)]); + } + + EEPROM_READ(planner.settings.acceleration); + EEPROM_READ(planner.settings.retract_acceleration); + EEPROM_READ(planner.settings.travel_acceleration); + EEPROM_READ(planner.settings.min_feedrate_mm_s); + EEPROM_READ(planner.settings.min_travel_feedrate_mm_s); + + #if HAS_CLASSIC_JERK + EEPROM_READ(planner.max_jerk); + #if HAS_LINEAR_E_JERK + EEPROM_READ(dummyf); + #endif + #else + for (uint8_t q = 4; q--;) EEPROM_READ(dummyf); + #endif + + EEPROM_READ(TERN(CLASSIC_JERK, dummyf, planner.junction_deviation_mm)); + } + + // + // Home Offset (M206 / M665) + // + { + _FIELD_TEST(home_offset); + + #if HAS_SCARA_OFFSET + EEPROM_READ(scara_home_offset); + #else + #if !HAS_HOME_OFFSET + xyz_pos_t home_offset; + #endif + EEPROM_READ(home_offset); + #endif + } + + // + // Hotend Offsets, if any + // + { + #if HAS_HOTEND_OFFSET + // Skip hotend 0 which must be 0 + LOOP_S_L_N(e, 1, HOTENDS) + EEPROM_READ(hotend_offset[e]); + #endif + } + + // + // Filament Runout Sensor + // + { + int8_t runout_sensor_enabled; + _FIELD_TEST(runout_sensor_enabled); + EEPROM_READ(runout_sensor_enabled); + #if HAS_FILAMENT_SENSOR + runout.enabled = runout_sensor_enabled < 0 ? FIL_RUNOUT_ENABLED_DEFAULT : runout_sensor_enabled; + #endif + + TERN_(HAS_FILAMENT_SENSOR, if (runout.enabled) runout.reset()); + + float runout_distance_mm; + EEPROM_READ(runout_distance_mm); + #if HAS_FILAMENT_RUNOUT_DISTANCE + if (!validating) runout.set_runout_distance(runout_distance_mm); + #endif + } + + // + // Global Leveling + // + EEPROM_READ(TERN(ENABLE_LEVELING_FADE_HEIGHT, new_z_fade_height, dummyf)); + + // + // Mesh (Manual) Bed Leveling + // + { + uint8_t mesh_num_x, mesh_num_y; + EEPROM_READ(dummyf); + EEPROM_READ_ALWAYS(mesh_num_x); + EEPROM_READ_ALWAYS(mesh_num_y); + + #if ENABLED(MESH_BED_LEVELING) + if (!validating) mbl.z_offset = dummyf; + if (mesh_num_x == GRID_MAX_POINTS_X && mesh_num_y == GRID_MAX_POINTS_Y) { + // EEPROM data fits the current mesh + EEPROM_READ(mbl.z_values); + } + else { + // EEPROM data is stale + if (!validating) mbl.reset(); + for (uint16_t q = mesh_num_x * mesh_num_y; q--;) EEPROM_READ(dummyf); + } + #else + // MBL is disabled - skip the stored data + for (uint16_t q = mesh_num_x * mesh_num_y; q--;) EEPROM_READ(dummyf); + #endif // MESH_BED_LEVELING + } + + // + // Probe Z Offset + // + { + _FIELD_TEST(probe_offset); + #if HAS_BED_PROBE + const xyz_pos_t &zpo = probe.offset; + #else + xyz_pos_t zpo; + #endif + EEPROM_READ(zpo); + } + + // + // Planar Bed Leveling matrix + // + { + #if ABL_PLANAR + EEPROM_READ(planner.bed_level_matrix); + #else + for (uint8_t q = 9; q--;) EEPROM_READ(dummyf); + #endif + } + + // + // Bilinear Auto Bed Leveling + // + { + uint8_t grid_max_x, grid_max_y; + EEPROM_READ_ALWAYS(grid_max_x); // 1 byte + EEPROM_READ_ALWAYS(grid_max_y); // 1 byte + #if ENABLED(AUTO_BED_LEVELING_BILINEAR) + if (grid_max_x == GRID_MAX_POINTS_X && grid_max_y == GRID_MAX_POINTS_Y) { + if (!validating) set_bed_leveling_enabled(false); + EEPROM_READ(bilinear_grid_spacing); // 2 ints + EEPROM_READ(bilinear_start); // 2 ints + EEPROM_READ(z_values); // 9 to 256 floats + } + else // EEPROM data is stale + #endif // AUTO_BED_LEVELING_BILINEAR + { + // Skip past disabled (or stale) Bilinear Grid data + xy_pos_t bgs, bs; + EEPROM_READ(bgs); + EEPROM_READ(bs); + for (uint16_t q = grid_max_x * grid_max_y; q--;) EEPROM_READ(dummyf); + } + } + + // + // Unified Bed Leveling active state + // + { + _FIELD_TEST(planner_leveling_active); + #if ENABLED(AUTO_BED_LEVELING_UBL) + const bool &planner_leveling_active = planner.leveling_active; + const int8_t &ubl_storage_slot = ubl.storage_slot; + #else + bool planner_leveling_active; + int8_t ubl_storage_slot; + #endif + EEPROM_READ(planner_leveling_active); + EEPROM_READ(ubl_storage_slot); + } + + // + // SERVO_ANGLES + // + { + _FIELD_TEST(servo_angles); + #if ENABLED(EDITABLE_SERVO_ANGLES) + uint16_t (&servo_angles_arr)[EEPROM_NUM_SERVOS][2] = servo_angles; + #else + uint16_t servo_angles_arr[EEPROM_NUM_SERVOS][2]; + #endif + EEPROM_READ(servo_angles_arr); + } + + // + // Thermal first layer compensation values + // + #if ENABLED(PROBE_TEMP_COMPENSATION) + EEPROM_READ(temp_comp.z_offsets_probe); + EEPROM_READ(temp_comp.z_offsets_bed); + #if ENABLED(USE_TEMP_EXT_COMPENSATION) + EEPROM_READ(temp_comp.z_offsets_ext); + #endif + temp_comp.reset_index(); + #else + // No placeholder data for this feature + #endif + + // + // BLTOUCH + // + { + _FIELD_TEST(bltouch_last_written_mode); + #if ENABLED(BLTOUCH) + const bool &bltouch_last_written_mode = bltouch.last_written_mode; + #else + bool bltouch_last_written_mode; + #endif + EEPROM_READ(bltouch_last_written_mode); + } + + // + // DELTA Geometry or Dual Endstops offsets + // + { + #if ENABLED(DELTA) + + _FIELD_TEST(delta_height); + + EEPROM_READ(delta_height); // 1 float + EEPROM_READ(delta_endstop_adj); // 3 floats + EEPROM_READ(delta_radius); // 1 float + EEPROM_READ(delta_diagonal_rod); // 1 float + EEPROM_READ(delta_segments_per_second); // 1 float + EEPROM_READ(delta_tower_angle_trim); // 3 floats + EEPROM_READ(delta_diagonal_rod_trim); // 3 floats + + #elif HAS_EXTRA_ENDSTOPS + + _FIELD_TEST(x2_endstop_adj); + + EEPROM_READ(TERN(X_DUAL_ENDSTOPS, endstops.x2_endstop_adj, dummyf)); // 1 float + EEPROM_READ(TERN(Y_DUAL_ENDSTOPS, endstops.y2_endstop_adj, dummyf)); // 1 float + EEPROM_READ(TERN(Z_MULTI_ENDSTOPS, endstops.z2_endstop_adj, dummyf)); // 1 float + + #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 3 + EEPROM_READ(endstops.z3_endstop_adj); // 1 float + #else + EEPROM_READ(dummyf); + #endif + #if ENABLED(Z_MULTI_ENDSTOPS) && NUM_Z_STEPPER_DRIVERS >= 4 + EEPROM_READ(endstops.z4_endstop_adj); // 1 float + #else + EEPROM_READ(dummyf); + #endif + + #endif + } + + #if ENABLED(Z_STEPPER_AUTO_ALIGN) + EEPROM_READ(z_stepper_align.xy); + #if ENABLED(Z_STEPPER_ALIGN_KNOWN_STEPPER_POSITIONS) + EEPROM_READ(z_stepper_align.stepper_xy); + #endif + #endif + + // + // LCD Preheat settings + // + #if PREHEAT_COUNT + _FIELD_TEST(ui_material_preset); + EEPROM_READ(ui.material_preset); + #endif + + // + // Hotend PID + // + { + HOTEND_LOOP() { + PIDCF_t pidcf; + EEPROM_READ(pidcf); + #if ENABLED(PIDTEMP) + if (!validating && !isnan(pidcf.Kp)) { + // Scale PID values since EEPROM values are unscaled + PID_PARAM(Kp, e) = pidcf.Kp; + PID_PARAM(Ki, e) = scalePID_i(pidcf.Ki); + PID_PARAM(Kd, e) = scalePID_d(pidcf.Kd); + TERN_(PID_EXTRUSION_SCALING, PID_PARAM(Kc, e) = pidcf.Kc); + TERN_(PID_FAN_SCALING, PID_PARAM(Kf, e) = pidcf.Kf); + } + #endif + } + } + + // + // PID Extrusion Scaling + // + { + _FIELD_TEST(lpq_len); + #if ENABLED(PID_EXTRUSION_SCALING) + const int16_t &lpq_len = thermalManager.lpq_len; + #else + int16_t lpq_len; + #endif + EEPROM_READ(lpq_len); + } + + // + // Heated Bed PID + // + { + PID_t pid; + EEPROM_READ(pid); + #if ENABLED(PIDTEMPBED) + if (!validating && !isnan(pid.Kp)) { + // Scale PID values since EEPROM values are unscaled + thermalManager.temp_bed.pid.Kp = pid.Kp; + thermalManager.temp_bed.pid.Ki = scalePID_i(pid.Ki); + thermalManager.temp_bed.pid.Kd = scalePID_d(pid.Kd); + } + #endif + } + + // + // User-defined Thermistors + // + #if HAS_USER_THERMISTORS + { + _FIELD_TEST(user_thermistor); + EEPROM_READ(thermalManager.user_thermistor); + } + #endif + + // + // Power monitor + // + { + #if HAS_POWER_MONITOR + uint8_t &power_monitor_flags = power_monitor.flags; + #else + uint8_t power_monitor_flags; + #endif + _FIELD_TEST(power_monitor_flags); + EEPROM_READ(power_monitor_flags); + } + + // + // LCD Contrast + // + { + _FIELD_TEST(lcd_contrast); + int16_t lcd_contrast; + EEPROM_READ(lcd_contrast); + if (!validating) { + TERN_(HAS_LCD_CONTRAST, ui.set_contrast(lcd_contrast)); + } + } + + // + // Controller Fan + // + { + _FIELD_TEST(controllerFan_settings); + #if ENABLED(CONTROLLER_FAN_EDITABLE) + const controllerFan_settings_t &cfs = controllerFan.settings; + #else + controllerFan_settings_t cfs = { 0 }; + #endif + EEPROM_READ(cfs); + } + + // + // Power-Loss Recovery + // + { + _FIELD_TEST(recovery_enabled); + #if ENABLED(POWER_LOSS_RECOVERY) + const bool &recovery_enabled = recovery.enabled; + #else + bool recovery_enabled; + #endif + EEPROM_READ(recovery_enabled); + } + + // + // Firmware Retraction + // + { + _FIELD_TEST(fwretract_settings); + + #if ENABLED(FWRETRACT) + EEPROM_READ(fwretract.settings); + #else + fwretract_settings_t fwretract_settings; + EEPROM_READ(fwretract_settings); + #endif + #if BOTH(FWRETRACT, FWRETRACT_AUTORETRACT) + EEPROM_READ(fwretract.autoretract_enabled); + #else + bool autoretract_enabled; + EEPROM_READ(autoretract_enabled); + #endif + } + + // + // Volumetric & Filament Size + // + { + struct { + bool volumetric_enabled; + float filament_size[EXTRUDERS]; + float volumetric_extruder_limit[EXTRUDERS]; + } storage; + + _FIELD_TEST(parser_volumetric_enabled); + EEPROM_READ(storage); + + #if DISABLED(NO_VOLUMETRICS) + if (!validating) { + parser.volumetric_enabled = storage.volumetric_enabled; + COPY(planner.filament_size, storage.filament_size); + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + COPY(planner.volumetric_extruder_limit, storage.volumetric_extruder_limit); + #endif + } + #endif + } + + // + // TMC Stepper Settings + // + + if (!validating) reset_stepper_drivers(); + + // TMC Stepper Current + { + _FIELD_TEST(tmc_stepper_current); + + tmc_stepper_current_t currents; + EEPROM_READ(currents); + + #if HAS_TRINAMIC_CONFIG + + #define SET_CURR(Q) stepper##Q.rms_current(currents.Q ? currents.Q : Q##_CURRENT) + if (!validating) { + #if AXIS_IS_TMC(X) + SET_CURR(X); + #endif + #if AXIS_IS_TMC(Y) + SET_CURR(Y); + #endif + #if AXIS_IS_TMC(Z) + SET_CURR(Z); + #endif + #if AXIS_IS_TMC(X2) + SET_CURR(X2); + #endif + #if AXIS_IS_TMC(Y2) + SET_CURR(Y2); + #endif + #if AXIS_IS_TMC(Z2) + SET_CURR(Z2); + #endif + #if AXIS_IS_TMC(Z3) + SET_CURR(Z3); + #endif + #if AXIS_IS_TMC(Z4) + SET_CURR(Z4); + #endif + #if AXIS_IS_TMC(E0) + SET_CURR(E0); + #endif + #if AXIS_IS_TMC(E1) + SET_CURR(E1); + #endif + #if AXIS_IS_TMC(E2) + SET_CURR(E2); + #endif + #if AXIS_IS_TMC(E3) + SET_CURR(E3); + #endif + #if AXIS_IS_TMC(E4) + SET_CURR(E4); + #endif + #if AXIS_IS_TMC(E5) + SET_CURR(E5); + #endif + #if AXIS_IS_TMC(E6) + SET_CURR(E6); + #endif + #if AXIS_IS_TMC(E7) + SET_CURR(E7); + #endif + } + #endif + } + + // TMC Hybrid Threshold + { + tmc_hybrid_threshold_t tmc_hybrid_threshold; + _FIELD_TEST(tmc_hybrid_threshold); + EEPROM_READ(tmc_hybrid_threshold); + + #if ENABLED(HYBRID_THRESHOLD) + if (!validating) { + #if AXIS_HAS_STEALTHCHOP(X) + stepperX.set_pwm_thrs(tmc_hybrid_threshold.X); + #endif + #if AXIS_HAS_STEALTHCHOP(Y) + stepperY.set_pwm_thrs(tmc_hybrid_threshold.Y); + #endif + #if AXIS_HAS_STEALTHCHOP(Z) + stepperZ.set_pwm_thrs(tmc_hybrid_threshold.Z); + #endif + #if AXIS_HAS_STEALTHCHOP(X2) + stepperX2.set_pwm_thrs(tmc_hybrid_threshold.X2); + #endif + #if AXIS_HAS_STEALTHCHOP(Y2) + stepperY2.set_pwm_thrs(tmc_hybrid_threshold.Y2); + #endif + #if AXIS_HAS_STEALTHCHOP(Z2) + stepperZ2.set_pwm_thrs(tmc_hybrid_threshold.Z2); + #endif + #if AXIS_HAS_STEALTHCHOP(Z3) + stepperZ3.set_pwm_thrs(tmc_hybrid_threshold.Z3); + #endif + #if AXIS_HAS_STEALTHCHOP(Z4) + stepperZ4.set_pwm_thrs(tmc_hybrid_threshold.Z4); + #endif + #if AXIS_HAS_STEALTHCHOP(E0) + stepperE0.set_pwm_thrs(tmc_hybrid_threshold.E0); + #endif + #if AXIS_HAS_STEALTHCHOP(E1) + stepperE1.set_pwm_thrs(tmc_hybrid_threshold.E1); + #endif + #if AXIS_HAS_STEALTHCHOP(E2) + stepperE2.set_pwm_thrs(tmc_hybrid_threshold.E2); + #endif + #if AXIS_HAS_STEALTHCHOP(E3) + stepperE3.set_pwm_thrs(tmc_hybrid_threshold.E3); + #endif + #if AXIS_HAS_STEALTHCHOP(E4) + stepperE4.set_pwm_thrs(tmc_hybrid_threshold.E4); + #endif + #if AXIS_HAS_STEALTHCHOP(E5) + stepperE5.set_pwm_thrs(tmc_hybrid_threshold.E5); + #endif + #if AXIS_HAS_STEALTHCHOP(E6) + stepperE6.set_pwm_thrs(tmc_hybrid_threshold.E6); + #endif + #if AXIS_HAS_STEALTHCHOP(E7) + stepperE7.set_pwm_thrs(tmc_hybrid_threshold.E7); + #endif + } + #endif + } + + // + // TMC StallGuard threshold. + // + { + tmc_sgt_t tmc_sgt; + _FIELD_TEST(tmc_sgt); + EEPROM_READ(tmc_sgt); + #if USE_SENSORLESS + if (!validating) { + TERN_(X_SENSORLESS, stepperX.homing_threshold(tmc_sgt.X)); + TERN_(X2_SENSORLESS, stepperX2.homing_threshold(tmc_sgt.X2)); + TERN_(Y_SENSORLESS, stepperY.homing_threshold(tmc_sgt.Y)); + TERN_(Y2_SENSORLESS, stepperY2.homing_threshold(tmc_sgt.Y2)); + TERN_(Z_SENSORLESS, stepperZ.homing_threshold(tmc_sgt.Z)); + TERN_(Z2_SENSORLESS, stepperZ2.homing_threshold(tmc_sgt.Z2)); + TERN_(Z3_SENSORLESS, stepperZ3.homing_threshold(tmc_sgt.Z3)); + TERN_(Z4_SENSORLESS, stepperZ4.homing_threshold(tmc_sgt.Z4)); + } + #endif + } + + // TMC stepping mode + { + _FIELD_TEST(tmc_stealth_enabled); + + tmc_stealth_enabled_t tmc_stealth_enabled; + EEPROM_READ(tmc_stealth_enabled); + + #if HAS_TRINAMIC_CONFIG + + #define SET_STEPPING_MODE(ST) stepper##ST.stored.stealthChop_enabled = tmc_stealth_enabled.ST; stepper##ST.refresh_stepping_mode(); + if (!validating) { + #if AXIS_HAS_STEALTHCHOP(X) + SET_STEPPING_MODE(X); + #endif + #if AXIS_HAS_STEALTHCHOP(Y) + SET_STEPPING_MODE(Y); + #endif + #if AXIS_HAS_STEALTHCHOP(Z) + SET_STEPPING_MODE(Z); + #endif + #if AXIS_HAS_STEALTHCHOP(X2) + SET_STEPPING_MODE(X2); + #endif + #if AXIS_HAS_STEALTHCHOP(Y2) + SET_STEPPING_MODE(Y2); + #endif + #if AXIS_HAS_STEALTHCHOP(Z2) + SET_STEPPING_MODE(Z2); + #endif + #if AXIS_HAS_STEALTHCHOP(Z3) + SET_STEPPING_MODE(Z3); + #endif + #if AXIS_HAS_STEALTHCHOP(Z4) + SET_STEPPING_MODE(Z4); + #endif + #if AXIS_HAS_STEALTHCHOP(E0) + SET_STEPPING_MODE(E0); + #endif + #if AXIS_HAS_STEALTHCHOP(E1) + SET_STEPPING_MODE(E1); + #endif + #if AXIS_HAS_STEALTHCHOP(E2) + SET_STEPPING_MODE(E2); + #endif + #if AXIS_HAS_STEALTHCHOP(E3) + SET_STEPPING_MODE(E3); + #endif + #if AXIS_HAS_STEALTHCHOP(E4) + SET_STEPPING_MODE(E4); + #endif + #if AXIS_HAS_STEALTHCHOP(E5) + SET_STEPPING_MODE(E5); + #endif + #if AXIS_HAS_STEALTHCHOP(E6) + SET_STEPPING_MODE(E6); + #endif + #if AXIS_HAS_STEALTHCHOP(E7) + SET_STEPPING_MODE(E7); + #endif + } + #endif + } + + // + // Linear Advance + // + { + float extruder_advance_K[_MAX(EXTRUDERS, 1)]; + _FIELD_TEST(planner_extruder_advance_K); + EEPROM_READ(extruder_advance_K); + #if ENABLED(LIN_ADVANCE) + if (!validating) + COPY(planner.extruder_advance_K, extruder_advance_K); + #endif + } + + // + // Motor Current PWM + // + { + _FIELD_TEST(motor_current_setting); + uint32_t motor_current_setting[MOTOR_CURRENT_COUNT] + #if HAS_MOTOR_CURRENT_SPI + = DIGIPOT_MOTOR_CURRENT + #endif + ; + DEBUG_ECHOLNPGM("DIGIPOTS Loading"); + EEPROM_READ(motor_current_setting); + DEBUG_ECHOLNPGM("DIGIPOTS Loaded"); + #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + if (!validating) + COPY(stepper.motor_current_setting, motor_current_setting); + #endif + } + + // + // CNC Coordinate System + // + { + _FIELD_TEST(coordinate_system); + #if ENABLED(CNC_COORDINATE_SYSTEMS) + if (!validating) (void)gcode.select_coordinate_system(-1); // Go back to machine space + EEPROM_READ(gcode.coordinate_system); + #else + xyz_pos_t coordinate_system[MAX_COORDINATE_SYSTEMS]; + EEPROM_READ(coordinate_system); + #endif + } + + // + // Skew correction factors + // + { + skew_factor_t skew_factor; + _FIELD_TEST(planner_skew_factor); + EEPROM_READ(skew_factor); + #if ENABLED(SKEW_CORRECTION_GCODE) + if (!validating) { + planner.skew_factor.xy = skew_factor.xy; + #if ENABLED(SKEW_CORRECTION_FOR_Z) + planner.skew_factor.xz = skew_factor.xz; + planner.skew_factor.yz = skew_factor.yz; + #endif + } + #endif + } + + // + // Advanced Pause filament load & unload lengths + // + #if EXTRUDERS + { + #if DISABLED(ADVANCED_PAUSE_FEATURE) + fil_change_settings_t fc_settings[EXTRUDERS]; + #endif + _FIELD_TEST(fc_settings); + EEPROM_READ(fc_settings); + } + #endif + + // + // Tool-change settings + // + #if HAS_MULTI_EXTRUDER + _FIELD_TEST(toolchange_settings); + EEPROM_READ(toolchange_settings); + #endif + + // + // Backlash Compensation + // + { + #if ENABLED(BACKLASH_GCODE) + const xyz_float_t &backlash_distance_mm = backlash.distance_mm; + const uint8_t &backlash_correction = backlash.correction; + #else + float backlash_distance_mm[XYZ]; + uint8_t backlash_correction; + #endif + #if ENABLED(BACKLASH_GCODE) && defined(BACKLASH_SMOOTHING_MM) + const float &backlash_smoothing_mm = backlash.smoothing_mm; + #else + float backlash_smoothing_mm; + #endif + _FIELD_TEST(backlash_distance_mm); + EEPROM_READ(backlash_distance_mm); + EEPROM_READ(backlash_correction); + EEPROM_READ(backlash_smoothing_mm); + } + + // + // Extensible UI User Data + // + #if ENABLED(EXTENSIBLE_UI) + // This is a significant hardware change; don't reserve EEPROM space when not present + { + const char extui_data[ExtUI::eeprom_data_size] = { 0 }; + _FIELD_TEST(extui_data); + EEPROM_READ(extui_data); + if (!validating) ExtUI::onLoadSettings(extui_data); + } + #endif + + // + // Case Light Brightness + // + #if CASELIGHT_USES_BRIGHTNESS + _FIELD_TEST(caselight_brightness); + EEPROM_READ(caselight.brightness); + #endif + + // + // Password feature + // + #if ENABLED(PASSWORD_FEATURE) + _FIELD_TEST(password_is_set); + EEPROM_READ(password.is_set); + EEPROM_READ(password.value); + #endif + + // + // TOUCH_SCREEN_CALIBRATION + // + #if ENABLED(TOUCH_SCREEN_CALIBRATION) + _FIELD_TEST(touch_calibration_data); + EEPROM_READ(touch_calibration.calibration); + #endif + + // + // Ethernet network info + // + #if HAS_ETHERNET + _FIELD_TEST(ethernet_hardware_enabled); + uint32_t ethernet_ip, ethernet_dns, ethernet_gateway, ethernet_subnet; + EEPROM_READ(ethernet.hardware_enabled); + EEPROM_READ(ethernet_ip); ethernet.ip = ethernet_ip; + EEPROM_READ(ethernet_dns); ethernet.myDns = ethernet_dns; + EEPROM_READ(ethernet_gateway); ethernet.gateway = ethernet_gateway; + EEPROM_READ(ethernet_subnet); ethernet.subnet = ethernet_subnet; + #endif + + // + // Buzzer enable/disable + // + #if ENABLED(SOUND_MENU_ITEM) + _FIELD_TEST(buzzer_enabled); + EEPROM_READ(ui.buzzer_enabled); + #endif + + // + // Selected LCD language + // + #if HAS_MULTI_LANGUAGE + { + uint8_t ui_language; + EEPROM_READ(ui_language); + if (ui_language >= NUM_LANGUAGES) ui_language = 0; + ui.set_language(ui_language); + } + #endif + + // + // Validate Final Size and CRC + // + eeprom_error = size_error(eeprom_index - (EEPROM_OFFSET)); + if (eeprom_error) { + DEBUG_ECHO_START(); + DEBUG_ECHOLNPAIR("Index: ", int(eeprom_index - (EEPROM_OFFSET)), " Size: ", datasize()); + IF_DISABLED(EEPROM_AUTO_INIT, ui.eeprom_alert_index()); + } + else if (working_crc != stored_crc) { + eeprom_error = true; + DEBUG_ERROR_START(); + DEBUG_ECHOLNPAIR("EEPROM CRC mismatch - (stored) ", stored_crc, " != ", working_crc, " (calculated)!"); + IF_DISABLED(EEPROM_AUTO_INIT, ui.eeprom_alert_crc()); + } + else if (!validating) { + DEBUG_ECHO_START(); + DEBUG_ECHO(version); + DEBUG_ECHOLNPAIR(" stored settings retrieved (", eeprom_index - (EEPROM_OFFSET), " bytes; crc ", (uint32_t)working_crc, ")"); + } + + if (!validating && !eeprom_error) postprocess(); + + #if ENABLED(AUTO_BED_LEVELING_UBL) + if (!validating) { + ubl.report_state(); + + if (!ubl.sanity_check()) { + SERIAL_EOL(); + #if BOTH(EEPROM_CHITCHAT, DEBUG_LEVELING_FEATURE) + ubl.echo_name(); + DEBUG_ECHOLNPGM(" initialized.\n"); + #endif + } + else { + eeprom_error = true; + #if BOTH(EEPROM_CHITCHAT, DEBUG_LEVELING_FEATURE) + DEBUG_ECHOPGM("?Can't enable "); + ubl.echo_name(); + DEBUG_ECHOLNPGM("."); + #endif + ubl.reset(); + } + + if (ubl.storage_slot >= 0) { + load_mesh(ubl.storage_slot); + DEBUG_ECHOLNPAIR("Mesh ", ubl.storage_slot, " loaded from storage."); + } + else { + ubl.reset(); + DEBUG_ECHOLNPGM("UBL reset"); + } + } + #endif + } + + #if ENABLED(EEPROM_CHITCHAT) && DISABLED(DISABLE_M503) + // Report the EEPROM settings + if (!validating && TERN1(EEPROM_BOOT_SILENT, IsRunning())) report(); + #endif + + EEPROM_FINISH(); + + return !eeprom_error; + } + + #ifdef ARCHIM2_SPI_FLASH_EEPROM_BACKUP_SIZE + extern bool restoreEEPROM(); + #endif + + bool MarlinSettings::validate() { + validating = true; + #ifdef ARCHIM2_SPI_FLASH_EEPROM_BACKUP_SIZE + bool success = _load(); + if (!success && restoreEEPROM()) { + SERIAL_ECHOLNPGM("Recovered backup EEPROM settings from SPI Flash"); + success = _load(); + } + #else + const bool success = _load(); + #endif + validating = false; + return success; + } + + bool MarlinSettings::load() { + if (validate()) { + const bool success = _load(); + TERN_(EXTENSIBLE_UI, ExtUI::onConfigurationStoreRead(success)); + return success; + } + reset(); + #if ENABLED(EEPROM_AUTO_INIT) + (void)save(); + SERIAL_ECHO_MSG("EEPROM Initialized"); + #endif + return false; + } + + #if ENABLED(AUTO_BED_LEVELING_UBL) + + inline void ubl_invalid_slot(const int s) { + #if BOTH(EEPROM_CHITCHAT, DEBUG_OUT) + DEBUG_ECHOLNPGM("?Invalid slot."); + DEBUG_ECHO(s); + DEBUG_ECHOLNPGM(" mesh slots available."); + #else + UNUSED(s); + #endif + } + + const uint16_t MarlinSettings::meshes_end = persistentStore.capacity() - 129; // 128 (+1 because of the change to capacity rather than last valid address) + // is a placeholder for the size of the MAT; the MAT will always + // live at the very end of the eeprom + + uint16_t MarlinSettings::meshes_start_index() { + return (datasize() + EEPROM_OFFSET + 32) & 0xFFF8; // Pad the end of configuration data so it can float up + // or down a little bit without disrupting the mesh data + } + + #define MESH_STORE_SIZE sizeof(TERN(OPTIMIZED_MESH_STORAGE, mesh_store_t, ubl.z_values)) + + uint16_t MarlinSettings::calc_num_meshes() { + return (meshes_end - meshes_start_index()) / MESH_STORE_SIZE; + } + + int MarlinSettings::mesh_slot_offset(const int8_t slot) { + return meshes_end - (slot + 1) * MESH_STORE_SIZE; + } + + void MarlinSettings::store_mesh(const int8_t slot) { + + #if ENABLED(AUTO_BED_LEVELING_UBL) + const int16_t a = calc_num_meshes(); + if (!WITHIN(slot, 0, a - 1)) { + ubl_invalid_slot(a); + DEBUG_ECHOLNPAIR("E2END=", persistentStore.capacity() - 1, " meshes_end=", meshes_end, " slot=", slot); + DEBUG_EOL(); + return; + } + + int pos = mesh_slot_offset(slot); + uint16_t crc = 0; + + #if ENABLED(OPTIMIZED_MESH_STORAGE) + int16_t z_mesh_store[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + ubl.set_store_from_mesh(ubl.z_values, z_mesh_store); + uint8_t * const src = (uint8_t*)&z_mesh_store; + #else + uint8_t * const src = (uint8_t*)&ubl.z_values; + #endif + + // Write crc to MAT along with other data, or just tack on to the beginning or end + persistentStore.access_start(); + const bool status = persistentStore.write_data(pos, src, MESH_STORE_SIZE, &crc); + persistentStore.access_finish(); + + if (status) SERIAL_ECHOLNPGM("?Unable to save mesh data."); + else DEBUG_ECHOLNPAIR("Mesh saved in slot ", slot); + + #else + + // Other mesh types + + #endif + } + + void MarlinSettings::load_mesh(const int8_t slot, void * const into/*=nullptr*/) { + + #if ENABLED(AUTO_BED_LEVELING_UBL) + + const int16_t a = settings.calc_num_meshes(); + + if (!WITHIN(slot, 0, a - 1)) { + ubl_invalid_slot(a); + return; + } + + int pos = mesh_slot_offset(slot); + uint16_t crc = 0; + #if ENABLED(OPTIMIZED_MESH_STORAGE) + int16_t z_mesh_store[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + uint8_t * const dest = (uint8_t*)&z_mesh_store; + #else + uint8_t * const dest = into ? (uint8_t*)into : (uint8_t*)&ubl.z_values; + #endif + + persistentStore.access_start(); + const uint16_t status = persistentStore.read_data(pos, dest, MESH_STORE_SIZE, &crc); + persistentStore.access_finish(); + + #if ENABLED(OPTIMIZED_MESH_STORAGE) + if (into) { + float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y]; + ubl.set_mesh_from_store(z_mesh_store, z_values); + memcpy(into, z_values, sizeof(z_values)); + } + else + ubl.set_mesh_from_store(z_mesh_store, ubl.z_values); + #endif + + if (status) SERIAL_ECHOLNPGM("?Unable to load mesh data."); + else DEBUG_ECHOLNPAIR("Mesh loaded from slot ", slot); + + EEPROM_FINISH(); + + #else + + // Other mesh types + + #endif + } + + //void MarlinSettings::delete_mesh() { return; } + //void MarlinSettings::defrag_meshes() { return; } + + #endif // AUTO_BED_LEVELING_UBL + +#else // !EEPROM_SETTINGS + + bool MarlinSettings::save() { + DEBUG_ERROR_MSG("EEPROM disabled"); + return false; + } + +#endif // !EEPROM_SETTINGS + +/** + * M502 - Reset Configuration + */ +void MarlinSettings::reset() { + LOOP_XYZE_N(i) { + planner.settings.max_acceleration_mm_per_s2[i] = pgm_read_dword(&_DMA[ALIM(i, _DMA)]); + planner.settings.axis_steps_per_mm[i] = pgm_read_float(&_DASU[ALIM(i, _DASU)]); + planner.settings.max_feedrate_mm_s[i] = pgm_read_float(&_DMF[ALIM(i, _DMF)]); + } + + planner.settings.min_segment_time_us = DEFAULT_MINSEGMENTTIME; + planner.settings.acceleration = DEFAULT_ACCELERATION; + planner.settings.retract_acceleration = DEFAULT_RETRACT_ACCELERATION; + planner.settings.travel_acceleration = DEFAULT_TRAVEL_ACCELERATION; + planner.settings.min_feedrate_mm_s = feedRate_t(DEFAULT_MINIMUMFEEDRATE); + planner.settings.min_travel_feedrate_mm_s = feedRate_t(DEFAULT_MINTRAVELFEEDRATE); + + #if HAS_CLASSIC_JERK + #ifndef DEFAULT_XJERK + #define DEFAULT_XJERK 0 + #endif + #ifndef DEFAULT_YJERK + #define DEFAULT_YJERK 0 + #endif + #ifndef DEFAULT_ZJERK + #define DEFAULT_ZJERK 0 + #endif + planner.max_jerk.set(DEFAULT_XJERK, DEFAULT_YJERK, DEFAULT_ZJERK); + TERN_(HAS_CLASSIC_E_JERK, planner.max_jerk.e = DEFAULT_EJERK;); + #endif + + #if HAS_JUNCTION_DEVIATION + planner.junction_deviation_mm = float(JUNCTION_DEVIATION_MM); + #endif + + #if HAS_SCARA_OFFSET + scara_home_offset.reset(); + #elif HAS_HOME_OFFSET + home_offset.reset(); + #endif + + TERN_(HAS_HOTEND_OFFSET, reset_hotend_offsets()); + + // + // Filament Runout Sensor + // + + #if HAS_FILAMENT_SENSOR + runout.enabled = FIL_RUNOUT_ENABLED_DEFAULT; + runout.reset(); + TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, runout.set_runout_distance(FILAMENT_RUNOUT_DISTANCE_MM)); + #endif + + // + // Tool-change Settings + // + + #if HAS_MULTI_EXTRUDER + #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + toolchange_settings.swap_length = TOOLCHANGE_FS_LENGTH; + toolchange_settings.extra_resume = TOOLCHANGE_FS_EXTRA_RESUME_LENGTH; + toolchange_settings.retract_speed = TOOLCHANGE_FS_RETRACT_SPEED; + toolchange_settings.unretract_speed = TOOLCHANGE_FS_UNRETRACT_SPEED; + toolchange_settings.extra_prime = TOOLCHANGE_FS_EXTRA_PRIME; + toolchange_settings.prime_speed = TOOLCHANGE_FS_PRIME_SPEED; + toolchange_settings.fan_speed = TOOLCHANGE_FS_FAN_SPEED; + toolchange_settings.fan_time = TOOLCHANGE_FS_FAN_TIME; + #endif + + #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED) + enable_first_prime = false; + #endif + + #if ENABLED(TOOLCHANGE_PARK) + constexpr xyz_pos_t tpxy = TOOLCHANGE_PARK_XY; + toolchange_settings.enable_park = true; + toolchange_settings.change_point = tpxy; + #endif + + toolchange_settings.z_raise = TOOLCHANGE_ZRAISE; + + #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) + migration = migration_defaults; + #endif + + #endif + + #if ENABLED(BACKLASH_GCODE) + backlash.correction = (BACKLASH_CORRECTION) * 255; + constexpr xyz_float_t tmp = BACKLASH_DISTANCE_MM; + backlash.distance_mm = tmp; + #ifdef BACKLASH_SMOOTHING_MM + backlash.smoothing_mm = BACKLASH_SMOOTHING_MM; + #endif + #endif + + TERN_(EXTENSIBLE_UI, ExtUI::onFactoryReset()); + + // + // Case Light Brightness + // + TERN_(CASELIGHT_USES_BRIGHTNESS, caselight.brightness = CASE_LIGHT_DEFAULT_BRIGHTNESS); + + // + // TOUCH_SCREEN_CALIBRATION + // + TERN_(TOUCH_SCREEN_CALIBRATION, touch_calibration.calibration_reset()); + + // + // Buzzer enable/disable + // + TERN_(SOUND_MENU_ITEM, ui.buzzer_enabled = true); + + // + // Magnetic Parking Extruder + // + TERN_(MAGNETIC_PARKING_EXTRUDER, mpe_settings_init()); + + // + // Global Leveling + // + TERN_(ENABLE_LEVELING_FADE_HEIGHT, new_z_fade_height = (DEFAULT_LEVELING_FADE_HEIGHT)); + TERN_(HAS_LEVELING, reset_bed_level()); + + #if HAS_BED_PROBE + constexpr float dpo[] = NOZZLE_TO_PROBE_OFFSET; + static_assert(COUNT(dpo) == 3, "NOZZLE_TO_PROBE_OFFSET must contain offsets for X, Y, and Z."); + #if HAS_PROBE_XY_OFFSET + LOOP_XYZ(a) probe.offset[a] = dpo[a]; + #else + probe.offset.set(0, 0, dpo[Z_AXIS]); + #endif + #endif + + // + // Z Stepper Auto-alignment points + // + TERN_(Z_STEPPER_AUTO_ALIGN, z_stepper_align.reset_to_default()); + + // + // Servo Angles + // + TERN_(EDITABLE_SERVO_ANGLES, COPY(servo_angles, base_servo_angles)); // When not editable only one copy of servo angles exists + + // + // BLTOUCH + // + //#if ENABLED(BLTOUCH) + // bltouch.last_written_mode; + //#endif + + // + // Endstop Adjustments + // + + #if ENABLED(DELTA) + const abc_float_t adj = DELTA_ENDSTOP_ADJ, dta = DELTA_TOWER_ANGLE_TRIM, ddr = DELTA_DIAGONAL_ROD_TRIM_TOWER; + delta_height = DELTA_HEIGHT; + delta_endstop_adj = adj; + delta_radius = DELTA_RADIUS; + delta_diagonal_rod = DELTA_DIAGONAL_ROD; + delta_segments_per_second = DELTA_SEGMENTS_PER_SECOND; + delta_tower_angle_trim = dta; + delta_diagonal_rod_trim = ddr; + #endif + + #if ENABLED(X_DUAL_ENDSTOPS) + #ifndef X2_ENDSTOP_ADJUSTMENT + #define X2_ENDSTOP_ADJUSTMENT 0 + #endif + endstops.x2_endstop_adj = X2_ENDSTOP_ADJUSTMENT; + #endif + + #if ENABLED(Y_DUAL_ENDSTOPS) + #ifndef Y2_ENDSTOP_ADJUSTMENT + #define Y2_ENDSTOP_ADJUSTMENT 0 + #endif + endstops.y2_endstop_adj = Y2_ENDSTOP_ADJUSTMENT; + #endif + + #if ENABLED(Z_MULTI_ENDSTOPS) + #ifndef Z2_ENDSTOP_ADJUSTMENT + #define Z2_ENDSTOP_ADJUSTMENT 0 + #endif + endstops.z2_endstop_adj = Z2_ENDSTOP_ADJUSTMENT; + #if NUM_Z_STEPPER_DRIVERS >= 3 + #ifndef Z3_ENDSTOP_ADJUSTMENT + #define Z3_ENDSTOP_ADJUSTMENT 0 + #endif + endstops.z3_endstop_adj = Z3_ENDSTOP_ADJUSTMENT; + #endif + #if NUM_Z_STEPPER_DRIVERS >= 4 + #ifndef Z4_ENDSTOP_ADJUSTMENT + #define Z4_ENDSTOP_ADJUSTMENT 0 + #endif + endstops.z4_endstop_adj = Z4_ENDSTOP_ADJUSTMENT; + #endif + #endif + + // + // Preheat parameters + // + #if PREHEAT_COUNT + #if HAS_HOTEND + constexpr uint16_t hpre[] = ARRAY_N(PREHEAT_COUNT, PREHEAT_1_TEMP_HOTEND, PREHEAT_2_TEMP_HOTEND, PREHEAT_3_TEMP_HOTEND, PREHEAT_4_TEMP_HOTEND, PREHEAT_5_TEMP_HOTEND); + #endif + #if HAS_HEATED_BED + constexpr uint16_t bpre[] = ARRAY_N(PREHEAT_COUNT, PREHEAT_1_TEMP_BED, PREHEAT_2_TEMP_BED, PREHEAT_3_TEMP_BED, PREHEAT_4_TEMP_BED, PREHEAT_5_TEMP_BED); + #endif + #if HAS_FAN + constexpr uint8_t fpre[] = ARRAY_N(PREHEAT_COUNT, PREHEAT_1_FAN_SPEED, PREHEAT_2_FAN_SPEED, PREHEAT_3_FAN_SPEED, PREHEAT_4_FAN_SPEED, PREHEAT_5_FAN_SPEED); + #endif + LOOP_L_N(i, PREHEAT_COUNT) { + #if HAS_HOTEND + ui.material_preset[i].hotend_temp = hpre[i]; + #endif + #if HAS_HEATED_BED + ui.material_preset[i].bed_temp = bpre[i]; + #endif + #if HAS_FAN + ui.material_preset[i].fan_speed = fpre[i]; + #endif + } + #endif + + // + // Hotend PID + // + + #if ENABLED(PIDTEMP) + #if ENABLED(PID_PARAMS_PER_HOTEND) + constexpr float defKp[] = + #ifdef DEFAULT_Kp_LIST + DEFAULT_Kp_LIST + #else + ARRAY_BY_HOTENDS1(DEFAULT_Kp) + #endif + , defKi[] = + #ifdef DEFAULT_Ki_LIST + DEFAULT_Ki_LIST + #else + ARRAY_BY_HOTENDS1(DEFAULT_Ki) + #endif + , defKd[] = + #ifdef DEFAULT_Kd_LIST + DEFAULT_Kd_LIST + #else + ARRAY_BY_HOTENDS1(DEFAULT_Kd) + #endif + ; + static_assert(WITHIN(COUNT(defKp), 1, HOTENDS), "DEFAULT_Kp_LIST must have between 1 and HOTENDS items."); + static_assert(WITHIN(COUNT(defKi), 1, HOTENDS), "DEFAULT_Ki_LIST must have between 1 and HOTENDS items."); + static_assert(WITHIN(COUNT(defKd), 1, HOTENDS), "DEFAULT_Kd_LIST must have between 1 and HOTENDS items."); + #if ENABLED(PID_EXTRUSION_SCALING) + constexpr float defKc[] = + #ifdef DEFAULT_Kc_LIST + DEFAULT_Kc_LIST + #else + ARRAY_BY_HOTENDS1(DEFAULT_Kc) + #endif + ; + static_assert(WITHIN(COUNT(defKc), 1, HOTENDS), "DEFAULT_Kc_LIST must have between 1 and HOTENDS items."); + #endif + #if ENABLED(PID_FAN_SCALING) + constexpr float defKf[] = + #ifdef DEFAULT_Kf_LIST + DEFAULT_Kf_LIST + #else + ARRAY_BY_HOTENDS1(DEFAULT_Kf) + #endif + ; + static_assert(WITHIN(COUNT(defKf), 1, HOTENDS), "DEFAULT_Kf_LIST must have between 1 and HOTENDS items."); + #endif + #define PID_DEFAULT(N,E) def##N[E] + #else + #define PID_DEFAULT(N,E) DEFAULT_##N + #endif + HOTEND_LOOP() { + PID_PARAM(Kp, e) = float(PID_DEFAULT(Kp, ALIM(e, defKp))); + PID_PARAM(Ki, e) = scalePID_i(PID_DEFAULT(Ki, ALIM(e, defKi))); + PID_PARAM(Kd, e) = scalePID_d(PID_DEFAULT(Kd, ALIM(e, defKd))); + TERN_(PID_EXTRUSION_SCALING, PID_PARAM(Kc, e) = float(PID_DEFAULT(Kc, ALIM(e, defKc)))); + TERN_(PID_FAN_SCALING, PID_PARAM(Kf, e) = float(PID_DEFAULT(Kf, ALIM(e, defKf)))); + } + #endif + + // + // PID Extrusion Scaling + // + TERN_(PID_EXTRUSION_SCALING, thermalManager.lpq_len = 20); // Default last-position-queue size + + // + // Heated Bed PID + // + + #if ENABLED(PIDTEMPBED) + thermalManager.temp_bed.pid.Kp = DEFAULT_bedKp; + thermalManager.temp_bed.pid.Ki = scalePID_i(DEFAULT_bedKi); + thermalManager.temp_bed.pid.Kd = scalePID_d(DEFAULT_bedKd); + #endif + + // + // User-Defined Thermistors + // + TERN_(HAS_USER_THERMISTORS, thermalManager.reset_user_thermistors()); + + // + // Power Monitor + // + TERN_(POWER_MONITOR, power_monitor.reset()); + + // + // LCD Contrast + // + TERN_(HAS_LCD_CONTRAST, ui.set_contrast(DEFAULT_LCD_CONTRAST)); + + // + // Controller Fan + // + TERN_(USE_CONTROLLER_FAN, controllerFan.reset()); + + // + // Power-Loss Recovery + // + TERN_(POWER_LOSS_RECOVERY, recovery.enable(ENABLED(PLR_ENABLED_DEFAULT))); + + // + // Firmware Retraction + // + TERN_(FWRETRACT, fwretract.reset()); + + // + // Volumetric & Filament Size + // + + #if DISABLED(NO_VOLUMETRICS) + parser.volumetric_enabled = ENABLED(VOLUMETRIC_DEFAULT_ON); + LOOP_L_N(q, COUNT(planner.filament_size)) + planner.filament_size[q] = DEFAULT_NOMINAL_FILAMENT_DIA; + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + LOOP_L_N(q, COUNT(planner.volumetric_extruder_limit)) + planner.volumetric_extruder_limit[q] = DEFAULT_VOLUMETRIC_EXTRUDER_LIMIT; + #endif + #endif + + endstops.enable_globally(ENABLED(ENDSTOPS_ALWAYS_ON_DEFAULT)); + + reset_stepper_drivers(); + + // + // Linear Advance + // + + #if ENABLED(LIN_ADVANCE) + LOOP_L_N(i, EXTRUDERS) { + planner.extruder_advance_K[i] = LIN_ADVANCE_K; + TERN_(EXTRA_LIN_ADVANCE_K, other_extruder_advance_K[i] = LIN_ADVANCE_K); + } + #endif + + // + // Motor Current PWM + // + + #if HAS_MOTOR_CURRENT_PWM + constexpr uint32_t tmp_motor_current_setting[MOTOR_CURRENT_COUNT] = PWM_MOTOR_CURRENT; + LOOP_L_N(q, MOTOR_CURRENT_COUNT) + stepper.set_digipot_current(q, (stepper.motor_current_setting[q] = tmp_motor_current_setting[q])); + #endif + + // + // DIGIPOTS + // + #if HAS_MOTOR_CURRENT_SPI + static constexpr uint32_t tmp_motor_current_setting[] = DIGIPOT_MOTOR_CURRENT; + DEBUG_ECHOLNPGM("Writing Digipot"); + LOOP_L_N(q, COUNT(tmp_motor_current_setting)) + stepper.set_digipot_current(q, tmp_motor_current_setting[q]); + DEBUG_ECHOLNPGM("Digipot Written"); + #endif + + // + // CNC Coordinate System + // + TERN_(CNC_COORDINATE_SYSTEMS, (void)gcode.select_coordinate_system(-1)); // Go back to machine space + + // + // Skew Correction + // + #if ENABLED(SKEW_CORRECTION_GCODE) + planner.skew_factor.xy = XY_SKEW_FACTOR; + #if ENABLED(SKEW_CORRECTION_FOR_Z) + planner.skew_factor.xz = XZ_SKEW_FACTOR; + planner.skew_factor.yz = YZ_SKEW_FACTOR; + #endif + #endif + + // + // Advanced Pause filament load & unload lengths + // + #if ENABLED(ADVANCED_PAUSE_FEATURE) + LOOP_L_N(e, EXTRUDERS) { + fc_settings[e].unload_length = FILAMENT_CHANGE_UNLOAD_LENGTH; + fc_settings[e].load_length = FILAMENT_CHANGE_FAST_LOAD_LENGTH; + } + #endif + + #if ENABLED(PASSWORD_FEATURE) + #ifdef PASSWORD_DEFAULT_VALUE + password.is_set = true; + password.value = PASSWORD_DEFAULT_VALUE; + #else + password.is_set = false; + #endif + #endif + + postprocess(); + + DEBUG_ECHO_START(); + DEBUG_ECHOLNPGM("Hardcoded Default Settings Loaded"); + + TERN_(EXTENSIBLE_UI, ExtUI::onFactoryReset()); +} + +#if DISABLED(DISABLE_M503) + + static void config_heading(const bool repl, PGM_P const pstr, const bool eol=true) { + if (!repl) { + SERIAL_ECHO_START(); + SERIAL_ECHOPGM("; "); + serialprintPGM(pstr); + if (eol) SERIAL_EOL(); + } + } + + #define CONFIG_ECHO_START() do{ if (!forReplay) SERIAL_ECHO_START(); }while(0) + #define CONFIG_ECHO_MSG(STR) do{ CONFIG_ECHO_START(); SERIAL_ECHOLNPGM(STR); }while(0) + #define CONFIG_ECHO_HEADING(STR) config_heading(forReplay, PSTR(STR)) + + #if HAS_TRINAMIC_CONFIG + inline void say_M906(const bool forReplay) { CONFIG_ECHO_START(); SERIAL_ECHOPGM(" M906"); } + #if HAS_STEALTHCHOP + void say_M569(const bool forReplay, const char * const etc=nullptr, const bool newLine = false) { + CONFIG_ECHO_START(); + SERIAL_ECHOPGM(" M569 S1"); + if (etc) { + SERIAL_CHAR(' '); + serialprintPGM(etc); + } + if (newLine) SERIAL_EOL(); + } + #endif + #if ENABLED(HYBRID_THRESHOLD) + inline void say_M913(const bool forReplay) { CONFIG_ECHO_START(); SERIAL_ECHOPGM(" M913"); } + #endif + #if USE_SENSORLESS + inline void say_M914() { SERIAL_ECHOPGM(" M914"); } + #endif + #endif + + #if ENABLED(ADVANCED_PAUSE_FEATURE) + inline void say_M603(const bool forReplay) { CONFIG_ECHO_START(); SERIAL_ECHOPGM(" M603 "); } + #endif + + inline void say_units(const bool colon) { + serialprintPGM( + #if ENABLED(INCH_MODE_SUPPORT) + parser.linear_unit_factor != 1.0 ? PSTR(" (in)") : + #endif + PSTR(" (mm)") + ); + if (colon) SERIAL_ECHOLNPGM(":"); + } + + void report_M92(const bool echo=true, const int8_t e=-1); + + /** + * M503 - Report current settings in RAM + * + * Unless specifically disabled, M503 is available even without EEPROM + */ + void MarlinSettings::report(const bool forReplay) { + /** + * Announce current units, in case inches are being displayed + */ + CONFIG_ECHO_START(); + #if ENABLED(INCH_MODE_SUPPORT) + SERIAL_ECHOPGM(" G2"); + SERIAL_CHAR(parser.linear_unit_factor == 1.0 ? '1' : '0'); + SERIAL_ECHOPGM(" ;"); + say_units(false); + #else + SERIAL_ECHOPGM(" G21 ; Units in mm"); + say_units(false); + #endif + SERIAL_EOL(); + + #if HAS_LCD_MENU + + // Temperature units - for Ultipanel temperature options + + CONFIG_ECHO_START(); + #if ENABLED(TEMPERATURE_UNITS_SUPPORT) + SERIAL_ECHOPGM(" M149 "); + SERIAL_CHAR(parser.temp_units_code()); + SERIAL_ECHOPGM(" ; Units in "); + serialprintPGM(parser.temp_units_name()); + #else + SERIAL_ECHOLNPGM(" M149 C ; Units in Celsius"); + #endif + + #endif + + SERIAL_EOL(); + + #if EXTRUDERS && DISABLED(NO_VOLUMETRICS) + + /** + * Volumetric extrusion M200 + */ + if (!forReplay) { + config_heading(forReplay, PSTR("Filament settings:"), false); + if (parser.volumetric_enabled) + SERIAL_EOL(); + else + SERIAL_ECHOLNPGM(" Disabled"); + } + + #if EXTRUDERS == 1 + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR(" M200 S", int(parser.volumetric_enabled) + , " D", LINEAR_UNIT(planner.filament_size[0]) + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + , " L", LINEAR_UNIT(planner.volumetric_extruder_limit[0]) + #endif + ); + #else + LOOP_L_N(i, EXTRUDERS) { + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR(" M200 T", int(i) + , " D", LINEAR_UNIT(planner.filament_size[i]) + #if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT) + , " L", LINEAR_UNIT(planner.volumetric_extruder_limit[i]) + #endif + ); + } + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR(" M200 S", int(parser.volumetric_enabled)); + #endif + #endif // EXTRUDERS && !NO_VOLUMETRICS + + CONFIG_ECHO_HEADING("Steps per unit:"); + report_M92(!forReplay); + + CONFIG_ECHO_HEADING("Maximum feedrates (units/s):"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M203 X"), LINEAR_UNIT(planner.settings.max_feedrate_mm_s[X_AXIS]) + , SP_Y_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Y_AXIS]) + , SP_Z_STR, LINEAR_UNIT(planner.settings.max_feedrate_mm_s[Z_AXIS]) + #if DISABLED(DISTINCT_E_FACTORS) + , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS]) + #endif + ); + #if ENABLED(DISTINCT_E_FACTORS) + LOOP_L_N(i, E_STEPPERS) { + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M203 T"), (int)i + , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_feedrate_mm_s[E_AXIS_N(i)]) + ); + } + #endif + + CONFIG_ECHO_HEADING("Maximum Acceleration (units/s2):"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M201 X"), LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[X_AXIS]) + , SP_Y_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Y_AXIS]) + , SP_Z_STR, LINEAR_UNIT(planner.settings.max_acceleration_mm_per_s2[Z_AXIS]) + #if DISABLED(DISTINCT_E_FACTORS) + , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_acceleration_mm_per_s2[E_AXIS]) + #endif + ); + #if ENABLED(DISTINCT_E_FACTORS) + LOOP_L_N(i, E_STEPPERS) { + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M201 T"), (int)i + , SP_E_STR, VOLUMETRIC_UNIT(planner.settings.max_acceleration_mm_per_s2[E_AXIS_N(i)]) + ); + } + #endif + + CONFIG_ECHO_HEADING("Acceleration (units/s2): P R T"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M204 P"), LINEAR_UNIT(planner.settings.acceleration) + , PSTR(" R"), LINEAR_UNIT(planner.settings.retract_acceleration) + , SP_T_STR, LINEAR_UNIT(planner.settings.travel_acceleration) + ); + + CONFIG_ECHO_HEADING( + "Advanced: B S T" + #if HAS_JUNCTION_DEVIATION + " J" + #endif + #if HAS_CLASSIC_JERK + " X Y Z" + TERN_(HAS_CLASSIC_E_JERK, " E") + #endif + ); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M205 B"), LINEAR_UNIT(planner.settings.min_segment_time_us) + , PSTR(" S"), LINEAR_UNIT(planner.settings.min_feedrate_mm_s) + , SP_T_STR, LINEAR_UNIT(planner.settings.min_travel_feedrate_mm_s) + #if HAS_JUNCTION_DEVIATION + , PSTR(" J"), LINEAR_UNIT(planner.junction_deviation_mm) + #endif + #if HAS_CLASSIC_JERK + , SP_X_STR, LINEAR_UNIT(planner.max_jerk.x) + , SP_Y_STR, LINEAR_UNIT(planner.max_jerk.y) + , SP_Z_STR, LINEAR_UNIT(planner.max_jerk.z) + #if HAS_CLASSIC_E_JERK + , SP_E_STR, LINEAR_UNIT(planner.max_jerk.e) + #endif + #endif + ); + + #if HAS_M206_COMMAND + CONFIG_ECHO_HEADING("Home offset:"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + #if IS_CARTESIAN + PSTR(" M206 X"), LINEAR_UNIT(home_offset.x) + , SP_Y_STR, LINEAR_UNIT(home_offset.y) + , SP_Z_STR + #else + PSTR(" M206 Z") + #endif + , LINEAR_UNIT(home_offset.z) + ); + #endif + + #if HAS_HOTEND_OFFSET + CONFIG_ECHO_HEADING("Hotend offsets:"); + CONFIG_ECHO_START(); + LOOP_S_L_N(e, 1, HOTENDS) { + SERIAL_ECHOPAIR_P( + PSTR(" M218 T"), (int)e, + SP_X_STR, LINEAR_UNIT(hotend_offset[e].x), + SP_Y_STR, LINEAR_UNIT(hotend_offset[e].y) + ); + SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, LINEAR_UNIT(hotend_offset[e].z), 3); + } + #endif + + /** + * Bed Leveling + */ + #if HAS_LEVELING + + #if ENABLED(MESH_BED_LEVELING) + + CONFIG_ECHO_HEADING("Mesh Bed Leveling:"); + + #elif ENABLED(AUTO_BED_LEVELING_UBL) + + config_heading(forReplay, NUL_STR, false); + if (!forReplay) { + ubl.echo_name(); + SERIAL_CHAR(':'); + SERIAL_EOL(); + } + + #elif HAS_ABL_OR_UBL + + CONFIG_ECHO_HEADING("Auto Bed Leveling:"); + + #endif + + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M420 S"), planner.leveling_active ? 1 : 0 + #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) + , SP_Z_STR, LINEAR_UNIT(planner.z_fade_height) + #endif + ); + + #if ENABLED(MESH_BED_LEVELING) + + if (leveling_is_valid()) { + LOOP_L_N(py, GRID_MAX_POINTS_Y) { + LOOP_L_N(px, GRID_MAX_POINTS_X) { + CONFIG_ECHO_START(); + SERIAL_ECHOPAIR_P(PSTR(" G29 S3 I"), (int)px, PSTR(" J"), (int)py); + SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, LINEAR_UNIT(mbl.z_values[px][py]), 5); + } + } + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_F_P(PSTR(" G29 S4 Z"), LINEAR_UNIT(mbl.z_offset), 5); + } + + #elif ENABLED(AUTO_BED_LEVELING_UBL) + + if (!forReplay) { + SERIAL_EOL(); + ubl.report_state(); + SERIAL_EOL(); + config_heading(false, PSTR("Active Mesh Slot: "), false); + SERIAL_ECHOLN(ubl.storage_slot); + config_heading(false, PSTR("EEPROM can hold "), false); + SERIAL_ECHO(calc_num_meshes()); + SERIAL_ECHOLNPGM(" meshes.\n"); + } + + //ubl.report_current_mesh(); // This is too verbose for large meshes. A better (more terse) + // solution needs to be found. + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + + if (leveling_is_valid()) { + LOOP_L_N(py, GRID_MAX_POINTS_Y) { + LOOP_L_N(px, GRID_MAX_POINTS_X) { + CONFIG_ECHO_START(); + SERIAL_ECHOPAIR(" G29 W I", (int)px, " J", (int)py); + SERIAL_ECHOLNPAIR_F_P(SP_Z_STR, LINEAR_UNIT(z_values[px][py]), 5); + } + } + } + + #endif + + #endif // HAS_LEVELING + + #if ENABLED(EDITABLE_SERVO_ANGLES) + + CONFIG_ECHO_HEADING("Servo Angles:"); + LOOP_L_N(i, NUM_SERVOS) { + switch (i) { + #if ENABLED(SWITCHING_EXTRUDER) + case SWITCHING_EXTRUDER_SERVO_NR: + #if EXTRUDERS > 3 + case SWITCHING_EXTRUDER_E23_SERVO_NR: + #endif + #elif ENABLED(SWITCHING_NOZZLE) + case SWITCHING_NOZZLE_SERVO_NR: + #elif ENABLED(BLTOUCH) || (HAS_Z_SERVO_PROBE && defined(Z_SERVO_ANGLES)) + case Z_PROBE_SERVO_NR: + #endif + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR(" M281 P", int(i), " L", servo_angles[i][0], " U", servo_angles[i][1]); + default: break; + } + } + + #endif // EDITABLE_SERVO_ANGLES + + #if HAS_SCARA_OFFSET + + CONFIG_ECHO_HEADING("SCARA settings: S P T"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M665 S"), delta_segments_per_second + , SP_P_STR, scara_home_offset.a + , SP_T_STR, scara_home_offset.b + , SP_Z_STR, LINEAR_UNIT(scara_home_offset.z) + ); + + #elif ENABLED(DELTA) + + CONFIG_ECHO_HEADING("Endstop adjustment:"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M666 X"), LINEAR_UNIT(delta_endstop_adj.a) + , SP_Y_STR, LINEAR_UNIT(delta_endstop_adj.b) + , SP_Z_STR, LINEAR_UNIT(delta_endstop_adj.c) + ); + + CONFIG_ECHO_HEADING("Delta settings: L R H S XYZ ABC"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M665 L"), LINEAR_UNIT(delta_diagonal_rod) + , PSTR(" R"), LINEAR_UNIT(delta_radius) + , PSTR(" H"), LINEAR_UNIT(delta_height) + , PSTR(" S"), delta_segments_per_second + , SP_X_STR, LINEAR_UNIT(delta_tower_angle_trim.a) + , SP_Y_STR, LINEAR_UNIT(delta_tower_angle_trim.b) + , SP_Z_STR, LINEAR_UNIT(delta_tower_angle_trim.c) + , PSTR(" A"), LINEAR_UNIT(delta_diagonal_rod_trim.a) + , PSTR(" B"), LINEAR_UNIT(delta_diagonal_rod_trim.b) + , PSTR(" C"), LINEAR_UNIT(delta_diagonal_rod_trim.c) + ); + + #elif HAS_EXTRA_ENDSTOPS + + CONFIG_ECHO_HEADING("Endstop adjustment:"); + CONFIG_ECHO_START(); + SERIAL_ECHOPGM(" M666"); + #if ENABLED(X_DUAL_ENDSTOPS) + SERIAL_ECHOLNPAIR_P(SP_X_STR, LINEAR_UNIT(endstops.x2_endstop_adj)); + #endif + #if ENABLED(Y_DUAL_ENDSTOPS) + SERIAL_ECHOLNPAIR_P(SP_Y_STR, LINEAR_UNIT(endstops.y2_endstop_adj)); + #endif + #if ENABLED(Z_MULTI_ENDSTOPS) + #if NUM_Z_STEPPER_DRIVERS >= 3 + SERIAL_ECHOPAIR(" S2 Z", LINEAR_UNIT(endstops.z3_endstop_adj)); + CONFIG_ECHO_START(); + SERIAL_ECHOPAIR(" M666 S3 Z", LINEAR_UNIT(endstops.z3_endstop_adj)); + #if NUM_Z_STEPPER_DRIVERS >= 4 + CONFIG_ECHO_START(); + SERIAL_ECHOPAIR(" M666 S4 Z", LINEAR_UNIT(endstops.z4_endstop_adj)); + #endif + #else + SERIAL_ECHOLNPAIR_P(SP_Z_STR, LINEAR_UNIT(endstops.z2_endstop_adj)); + #endif + #endif + + #endif // [XYZ]_DUAL_ENDSTOPS + + #if PREHEAT_COUNT + + CONFIG_ECHO_HEADING("Material heatup parameters:"); + LOOP_L_N(i, PREHEAT_COUNT) { + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M145 S"), (int)i + #if HAS_HOTEND + , PSTR(" H"), TEMP_UNIT(ui.material_preset[i].hotend_temp) + #endif + #if HAS_HEATED_BED + , SP_B_STR, TEMP_UNIT(ui.material_preset[i].bed_temp) + #endif + #if HAS_FAN + , PSTR(" F"), ui.material_preset[i].fan_speed + #endif + ); + } + + #endif + + #if HAS_PID_HEATING + + CONFIG_ECHO_HEADING("PID settings:"); + + #if ENABLED(PIDTEMP) + HOTEND_LOOP() { + CONFIG_ECHO_START(); + SERIAL_ECHOPAIR_P( + #if ENABLED(PID_PARAMS_PER_HOTEND) + PSTR(" M301 E"), e, + SP_P_STR + #else + PSTR(" M301 P") + #endif + , PID_PARAM(Kp, e) + , PSTR(" I"), unscalePID_i(PID_PARAM(Ki, e)) + , PSTR(" D"), unscalePID_d(PID_PARAM(Kd, e)) + ); + #if ENABLED(PID_EXTRUSION_SCALING) + SERIAL_ECHOPAIR_P(SP_C_STR, PID_PARAM(Kc, e)); + if (e == 0) SERIAL_ECHOPAIR(" L", thermalManager.lpq_len); + #endif + #if ENABLED(PID_FAN_SCALING) + SERIAL_ECHOPAIR(" F", PID_PARAM(Kf, e)); + #endif + SERIAL_EOL(); + } + #endif // PIDTEMP + + #if ENABLED(PIDTEMPBED) + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR( + " M304 P", thermalManager.temp_bed.pid.Kp + , " I", unscalePID_i(thermalManager.temp_bed.pid.Ki) + , " D", unscalePID_d(thermalManager.temp_bed.pid.Kd) + ); + #endif + + #endif // PIDTEMP || PIDTEMPBED + + #if HAS_USER_THERMISTORS + CONFIG_ECHO_HEADING("User thermistors:"); + LOOP_L_N(i, USER_THERMISTORS) + thermalManager.log_user_thermistor(i, true); + #endif + + #if HAS_LCD_CONTRAST + CONFIG_ECHO_HEADING("LCD Contrast:"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR(" M250 C", ui.contrast); + #endif + + TERN_(CONTROLLER_FAN_EDITABLE, M710_report(forReplay)); + + #if ENABLED(POWER_LOSS_RECOVERY) + CONFIG_ECHO_HEADING("Power-Loss Recovery:"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR(" M413 S", int(recovery.enabled)); + #endif + + #if ENABLED(FWRETRACT) + + CONFIG_ECHO_HEADING("Retract: S F Z"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M207 S"), LINEAR_UNIT(fwretract.settings.retract_length) + , PSTR(" W"), LINEAR_UNIT(fwretract.settings.swap_retract_length) + , PSTR(" F"), LINEAR_UNIT(MMS_TO_MMM(fwretract.settings.retract_feedrate_mm_s)) + , SP_Z_STR, LINEAR_UNIT(fwretract.settings.retract_zraise) + ); + + CONFIG_ECHO_HEADING("Recover: S F"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR( + " M208 S", LINEAR_UNIT(fwretract.settings.retract_recover_extra) + , " W", LINEAR_UNIT(fwretract.settings.swap_retract_recover_extra) + , " F", LINEAR_UNIT(MMS_TO_MMM(fwretract.settings.retract_recover_feedrate_mm_s)) + ); + + #if ENABLED(FWRETRACT_AUTORETRACT) + + CONFIG_ECHO_HEADING("Auto-Retract: S=0 to disable, 1 to interpret E-only moves as retract/recover"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR(" M209 S", fwretract.autoretract_enabled ? 1 : 0); + + #endif // FWRETRACT_AUTORETRACT + + #endif // FWRETRACT + + /** + * Probe Offset + */ + #if HAS_BED_PROBE + config_heading(forReplay, PSTR("Z-Probe Offset"), false); + if (!forReplay) say_units(true); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + #if HAS_PROBE_XY_OFFSET + PSTR(" M851 X"), LINEAR_UNIT(probe.offset_xy.x), + SP_Y_STR, LINEAR_UNIT(probe.offset_xy.y), + SP_Z_STR + #else + PSTR(" M851 X0 Y0 Z") + #endif + , LINEAR_UNIT(probe.offset.z) + ); + #endif + + /** + * Bed Skew Correction + */ + #if ENABLED(SKEW_CORRECTION_GCODE) + CONFIG_ECHO_HEADING("Skew Factor: "); + CONFIG_ECHO_START(); + #if ENABLED(SKEW_CORRECTION_FOR_Z) + SERIAL_ECHOPAIR_F(" M852 I", LINEAR_UNIT(planner.skew_factor.xy), 6); + SERIAL_ECHOPAIR_F(" J", LINEAR_UNIT(planner.skew_factor.xz), 6); + SERIAL_ECHOLNPAIR_F(" K", LINEAR_UNIT(planner.skew_factor.yz), 6); + #else + SERIAL_ECHOLNPAIR_F(" M852 S", LINEAR_UNIT(planner.skew_factor.xy), 6); + #endif + #endif + + #if HAS_TRINAMIC_CONFIG + + /** + * TMC stepper driver current + */ + CONFIG_ECHO_HEADING("Stepper driver current:"); + + #if AXIS_IS_TMC(X) || AXIS_IS_TMC(Y) || AXIS_IS_TMC(Z) + say_M906(forReplay); + #if AXIS_IS_TMC(X) + SERIAL_ECHOPAIR_P(SP_X_STR, stepperX.getMilliamps()); + #endif + #if AXIS_IS_TMC(Y) + SERIAL_ECHOPAIR_P(SP_Y_STR, stepperY.getMilliamps()); + #endif + #if AXIS_IS_TMC(Z) + SERIAL_ECHOPAIR_P(SP_Z_STR, stepperZ.getMilliamps()); + #endif + SERIAL_EOL(); + #endif + + #if AXIS_IS_TMC(X2) || AXIS_IS_TMC(Y2) || AXIS_IS_TMC(Z2) + say_M906(forReplay); + SERIAL_ECHOPGM(" I1"); + #if AXIS_IS_TMC(X2) + SERIAL_ECHOPAIR_P(SP_X_STR, stepperX2.getMilliamps()); + #endif + #if AXIS_IS_TMC(Y2) + SERIAL_ECHOPAIR_P(SP_Y_STR, stepperY2.getMilliamps()); + #endif + #if AXIS_IS_TMC(Z2) + SERIAL_ECHOPAIR_P(SP_Z_STR, stepperZ2.getMilliamps()); + #endif + SERIAL_EOL(); + #endif + + #if AXIS_IS_TMC(Z3) + say_M906(forReplay); + SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.getMilliamps()); + #endif + + #if AXIS_IS_TMC(Z4) + say_M906(forReplay); + SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.getMilliamps()); + #endif + + #if AXIS_IS_TMC(E0) + say_M906(forReplay); + SERIAL_ECHOLNPAIR(" T0 E", stepperE0.getMilliamps()); + #endif + #if AXIS_IS_TMC(E1) + say_M906(forReplay); + SERIAL_ECHOLNPAIR(" T1 E", stepperE1.getMilliamps()); + #endif + #if AXIS_IS_TMC(E2) + say_M906(forReplay); + SERIAL_ECHOLNPAIR(" T2 E", stepperE2.getMilliamps()); + #endif + #if AXIS_IS_TMC(E3) + say_M906(forReplay); + SERIAL_ECHOLNPAIR(" T3 E", stepperE3.getMilliamps()); + #endif + #if AXIS_IS_TMC(E4) + say_M906(forReplay); + SERIAL_ECHOLNPAIR(" T4 E", stepperE4.getMilliamps()); + #endif + #if AXIS_IS_TMC(E5) + say_M906(forReplay); + SERIAL_ECHOLNPAIR(" T5 E", stepperE5.getMilliamps()); + #endif + #if AXIS_IS_TMC(E6) + say_M906(forReplay); + SERIAL_ECHOLNPAIR(" T6 E", stepperE6.getMilliamps()); + #endif + #if AXIS_IS_TMC(E7) + say_M906(forReplay); + SERIAL_ECHOLNPAIR(" T7 E", stepperE7.getMilliamps()); + #endif + SERIAL_EOL(); + + /** + * TMC Hybrid Threshold + */ + #if ENABLED(HYBRID_THRESHOLD) + CONFIG_ECHO_HEADING("Hybrid Threshold:"); + #if AXIS_HAS_STEALTHCHOP(X) || AXIS_HAS_STEALTHCHOP(Y) || AXIS_HAS_STEALTHCHOP(Z) + say_M913(forReplay); + #if AXIS_HAS_STEALTHCHOP(X) + SERIAL_ECHOPAIR_P(SP_X_STR, stepperX.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(Y) + SERIAL_ECHOPAIR_P(SP_Y_STR, stepperY.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(Z) + SERIAL_ECHOPAIR_P(SP_Z_STR, stepperZ.get_pwm_thrs()); + #endif + SERIAL_EOL(); + #endif + + #if AXIS_HAS_STEALTHCHOP(X2) || AXIS_HAS_STEALTHCHOP(Y2) || AXIS_HAS_STEALTHCHOP(Z2) + say_M913(forReplay); + SERIAL_ECHOPGM(" I1"); + #if AXIS_HAS_STEALTHCHOP(X2) + SERIAL_ECHOPAIR_P(SP_X_STR, stepperX2.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(Y2) + SERIAL_ECHOPAIR_P(SP_Y_STR, stepperY2.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(Z2) + SERIAL_ECHOPAIR_P(SP_Z_STR, stepperZ2.get_pwm_thrs()); + #endif + SERIAL_EOL(); + #endif + + #if AXIS_HAS_STEALTHCHOP(Z3) + say_M913(forReplay); + SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.get_pwm_thrs()); + #endif + + #if AXIS_HAS_STEALTHCHOP(Z4) + say_M913(forReplay); + SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.get_pwm_thrs()); + #endif + + #if AXIS_HAS_STEALTHCHOP(E0) + say_M913(forReplay); + SERIAL_ECHOLNPAIR(" T0 E", stepperE0.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(E1) + say_M913(forReplay); + SERIAL_ECHOLNPAIR(" T1 E", stepperE1.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(E2) + say_M913(forReplay); + SERIAL_ECHOLNPAIR(" T2 E", stepperE2.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(E3) + say_M913(forReplay); + SERIAL_ECHOLNPAIR(" T3 E", stepperE3.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(E4) + say_M913(forReplay); + SERIAL_ECHOLNPAIR(" T4 E", stepperE4.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(E5) + say_M913(forReplay); + SERIAL_ECHOLNPAIR(" T5 E", stepperE5.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(E6) + say_M913(forReplay); + SERIAL_ECHOLNPAIR(" T6 E", stepperE6.get_pwm_thrs()); + #endif + #if AXIS_HAS_STEALTHCHOP(E7) + say_M913(forReplay); + SERIAL_ECHOLNPAIR(" T7 E", stepperE7.get_pwm_thrs()); + #endif + SERIAL_EOL(); + #endif // HYBRID_THRESHOLD + + /** + * TMC Sensorless homing thresholds + */ + #if USE_SENSORLESS + CONFIG_ECHO_HEADING("StallGuard threshold:"); + #if X_SENSORLESS || Y_SENSORLESS || Z_SENSORLESS + CONFIG_ECHO_START(); + say_M914(); + #if X_SENSORLESS + SERIAL_ECHOPAIR_P(SP_X_STR, stepperX.homing_threshold()); + #endif + #if Y_SENSORLESS + SERIAL_ECHOPAIR_P(SP_Y_STR, stepperY.homing_threshold()); + #endif + #if Z_SENSORLESS + SERIAL_ECHOPAIR_P(SP_Z_STR, stepperZ.homing_threshold()); + #endif + SERIAL_EOL(); + #endif + + #if X2_SENSORLESS || Y2_SENSORLESS || Z2_SENSORLESS + CONFIG_ECHO_START(); + say_M914(); + SERIAL_ECHOPGM(" I1"); + #if X2_SENSORLESS + SERIAL_ECHOPAIR_P(SP_X_STR, stepperX2.homing_threshold()); + #endif + #if Y2_SENSORLESS + SERIAL_ECHOPAIR_P(SP_Y_STR, stepperY2.homing_threshold()); + #endif + #if Z2_SENSORLESS + SERIAL_ECHOPAIR_P(SP_Z_STR, stepperZ2.homing_threshold()); + #endif + SERIAL_EOL(); + #endif + + #if Z3_SENSORLESS + CONFIG_ECHO_START(); + say_M914(); + SERIAL_ECHOLNPAIR(" I2 Z", stepperZ3.homing_threshold()); + #endif + + #if Z4_SENSORLESS + CONFIG_ECHO_START(); + say_M914(); + SERIAL_ECHOLNPAIR(" I3 Z", stepperZ4.homing_threshold()); + #endif + + #endif // USE_SENSORLESS + + /** + * TMC stepping mode + */ + #if HAS_STEALTHCHOP + CONFIG_ECHO_HEADING("Driver stepping mode:"); + #if AXIS_HAS_STEALTHCHOP(X) + const bool chop_x = stepperX.get_stored_stealthChop(); + #else + constexpr bool chop_x = false; + #endif + #if AXIS_HAS_STEALTHCHOP(Y) + const bool chop_y = stepperY.get_stored_stealthChop(); + #else + constexpr bool chop_y = false; + #endif + #if AXIS_HAS_STEALTHCHOP(Z) + const bool chop_z = stepperZ.get_stored_stealthChop(); + #else + constexpr bool chop_z = false; + #endif + + if (chop_x || chop_y || chop_z) { + say_M569(forReplay); + if (chop_x) SERIAL_ECHOPGM_P(SP_X_STR); + if (chop_y) SERIAL_ECHOPGM_P(SP_Y_STR); + if (chop_z) SERIAL_ECHOPGM_P(SP_Z_STR); + SERIAL_EOL(); + } + + #if AXIS_HAS_STEALTHCHOP(X2) + const bool chop_x2 = stepperX2.get_stored_stealthChop(); + #else + constexpr bool chop_x2 = false; + #endif + #if AXIS_HAS_STEALTHCHOP(Y2) + const bool chop_y2 = stepperY2.get_stored_stealthChop(); + #else + constexpr bool chop_y2 = false; + #endif + #if AXIS_HAS_STEALTHCHOP(Z2) + const bool chop_z2 = stepperZ2.get_stored_stealthChop(); + #else + constexpr bool chop_z2 = false; + #endif + + if (chop_x2 || chop_y2 || chop_z2) { + say_M569(forReplay, PSTR("I1")); + if (chop_x2) SERIAL_ECHOPGM_P(SP_X_STR); + if (chop_y2) SERIAL_ECHOPGM_P(SP_Y_STR); + if (chop_z2) SERIAL_ECHOPGM_P(SP_Z_STR); + SERIAL_EOL(); + } + + #if AXIS_HAS_STEALTHCHOP(Z3) + if (stepperZ3.get_stored_stealthChop()) { say_M569(forReplay, PSTR("I2 Z"), true); } + #endif + + #if AXIS_HAS_STEALTHCHOP(Z4) + if (stepperZ4.get_stored_stealthChop()) { say_M569(forReplay, PSTR("I3 Z"), true); } + #endif + + #if AXIS_HAS_STEALTHCHOP(E0) + if (stepperE0.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T0 E"), true); } + #endif + #if AXIS_HAS_STEALTHCHOP(E1) + if (stepperE1.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T1 E"), true); } + #endif + #if AXIS_HAS_STEALTHCHOP(E2) + if (stepperE2.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T2 E"), true); } + #endif + #if AXIS_HAS_STEALTHCHOP(E3) + if (stepperE3.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T3 E"), true); } + #endif + #if AXIS_HAS_STEALTHCHOP(E4) + if (stepperE4.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T4 E"), true); } + #endif + #if AXIS_HAS_STEALTHCHOP(E5) + if (stepperE5.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T5 E"), true); } + #endif + #if AXIS_HAS_STEALTHCHOP(E6) + if (stepperE6.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T6 E"), true); } + #endif + #if AXIS_HAS_STEALTHCHOP(E7) + if (stepperE7.get_stored_stealthChop()) { say_M569(forReplay, PSTR("T7 E"), true); } + #endif + + #endif // HAS_STEALTHCHOP + + #endif // HAS_TRINAMIC_CONFIG + + /** + * Linear Advance + */ + #if ENABLED(LIN_ADVANCE) + CONFIG_ECHO_HEADING("Linear Advance:"); + #if EXTRUDERS < 2 + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR(" M900 K", planner.extruder_advance_K[0]); + #else + LOOP_L_N(i, EXTRUDERS) { + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR(" M900 T", int(i), " K", planner.extruder_advance_K[i]); + } + #endif + #endif + + #if EITHER(HAS_MOTOR_CURRENT_SPI, HAS_MOTOR_CURRENT_PWM) + CONFIG_ECHO_HEADING("Stepper motor currents:"); + CONFIG_ECHO_START(); + #if HAS_MOTOR_CURRENT_PWM + SERIAL_ECHOLNPAIR_P( // PWM-based has 3 values: + PSTR(" M907 X"), stepper.motor_current_setting[0] // X and Y + , SP_Z_STR, stepper.motor_current_setting[1] // Z + , SP_E_STR, stepper.motor_current_setting[2] // E + ); + #elif HAS_MOTOR_CURRENT_SPI + SERIAL_ECHOPGM(" M907"); // SPI-based has 5 values: + LOOP_XYZE(q) { // X Y Z E (map to X Y Z E0 by default) + SERIAL_CHAR(' ', axis_codes[q]); + SERIAL_ECHO(stepper.motor_current_setting[q]); + } + SERIAL_CHAR(' ', 'B'); // B (maps to E1 by default) + SERIAL_ECHOLN(stepper.motor_current_setting[4]); + #endif + #elif ENABLED(HAS_MOTOR_CURRENT_I2C) // i2c-based has any number of values + // Values sent over i2c are not stored. + // Indexes map directly to drivers, not axes. + #elif ENABLED(HAS_MOTOR_CURRENT_DAC) // DAC-based has 4 values, for X Y Z E + // Values sent over i2c are not stored. Uses indirect mapping. + #endif + + /** + * Advanced Pause filament load & unload lengths + */ + #if ENABLED(ADVANCED_PAUSE_FEATURE) + CONFIG_ECHO_HEADING("Filament load/unload lengths:"); + #if EXTRUDERS == 1 + say_M603(forReplay); + SERIAL_ECHOLNPAIR("L", LINEAR_UNIT(fc_settings[0].load_length), " U", LINEAR_UNIT(fc_settings[0].unload_length)); + #else + #define _ECHO_603(N) do{ say_M603(forReplay); SERIAL_ECHOLNPAIR("T" STRINGIFY(N) " L", LINEAR_UNIT(fc_settings[N].load_length), " U", LINEAR_UNIT(fc_settings[N].unload_length)); }while(0); + REPEAT(EXTRUDERS, _ECHO_603) + #endif + #endif + + #if HAS_MULTI_EXTRUDER + CONFIG_ECHO_HEADING("Tool-changing:"); + CONFIG_ECHO_START(); + M217_report(true); + #endif + + #if ENABLED(BACKLASH_GCODE) + CONFIG_ECHO_HEADING("Backlash compensation:"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR_P( + PSTR(" M425 F"), backlash.get_correction() + , SP_X_STR, LINEAR_UNIT(backlash.distance_mm.x) + , SP_Y_STR, LINEAR_UNIT(backlash.distance_mm.y) + , SP_Z_STR, LINEAR_UNIT(backlash.distance_mm.z) + #ifdef BACKLASH_SMOOTHING_MM + , PSTR(" S"), LINEAR_UNIT(backlash.smoothing_mm) + #endif + ); + #endif + + #if HAS_FILAMENT_SENSOR + CONFIG_ECHO_HEADING("Filament runout sensor:"); + CONFIG_ECHO_START(); + SERIAL_ECHOLNPAIR( + " M412 S", int(runout.enabled) + #if HAS_FILAMENT_RUNOUT_DISTANCE + , " D", LINEAR_UNIT(runout.runout_distance()) + #endif + ); + #endif + + #if HAS_ETHERNET + CONFIG_ECHO_HEADING("Ethernet:"); + if (!forReplay) { CONFIG_ECHO_START(); ETH0_report(); } + CONFIG_ECHO_START(); SERIAL_ECHO_SP(2); MAC_report(); + CONFIG_ECHO_START(); SERIAL_ECHO_SP(2); M552_report(); + CONFIG_ECHO_START(); SERIAL_ECHO_SP(2); M553_report(); + CONFIG_ECHO_START(); SERIAL_ECHO_SP(2); M554_report(); + #endif + + #if HAS_MULTI_LANGUAGE + CONFIG_ECHO_HEADING("UI Language:"); + SERIAL_ECHO_MSG(" M414 S", int(ui.language)); + #endif + } + +#endif // !DISABLE_M503 + +#pragma pack(pop) diff --git a/Marlin/src/module/settings.h b/Marlin/src/module/settings.h new file mode 100644 index 0000000..b213de9 --- /dev/null +++ b/Marlin/src/module/settings.h @@ -0,0 +1,111 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// +// settings.cpp - Settings and EEPROM storage +// + +#include "../inc/MarlinConfig.h" + +#if ENABLED(EEPROM_SETTINGS) + #include "../HAL/shared/eeprom_api.h" +#endif + +class MarlinSettings { + public: + static uint16_t datasize(); + + static void reset(); + static bool save(); // Return 'true' if data was saved + + FORCE_INLINE static bool init_eeprom() { + reset(); + #if ENABLED(EEPROM_SETTINGS) + const bool success = save(); + if (TERN0(EEPROM_CHITCHAT, success)) report(); + return success; + #else + return true; + #endif + } + + #if ENABLED(SD_FIRMWARE_UPDATE) + static bool sd_update_status(); // True if the SD-Firmware-Update EEPROM flag is set + static bool set_sd_update_status(const bool enable); // Return 'true' after EEPROM is set (-> always true) + #endif + + #if ENABLED(EEPROM_SETTINGS) + + static bool load(); // Return 'true' if data was loaded ok + static bool validate(); // Return 'true' if EEPROM data is ok + + static inline void first_load() { + static bool loaded = false; + if (!loaded && load()) loaded = true; + } + + #if ENABLED(AUTO_BED_LEVELING_UBL) // Eventually make these available if any leveling system + // That can store is enabled + static uint16_t meshes_start_index(); + FORCE_INLINE static uint16_t meshes_end_index() { return meshes_end; } + static uint16_t calc_num_meshes(); + static int mesh_slot_offset(const int8_t slot); + static void store_mesh(const int8_t slot); + static void load_mesh(const int8_t slot, void * const into=nullptr); + + //static void delete_mesh(); // necessary if we have a MAT + //static void defrag_meshes(); // " + #endif + #else + FORCE_INLINE + static bool load() { reset(); report(); return true; } + FORCE_INLINE + static void first_load() { (void)load(); } + #endif + + #if DISABLED(DISABLE_M503) + static void report(const bool forReplay=false); + #else + FORCE_INLINE + static void report(const bool=false) {} + #endif + + private: + static void postprocess(); + + #if ENABLED(EEPROM_SETTINGS) + + static bool eeprom_error, validating; + + #if ENABLED(AUTO_BED_LEVELING_UBL) // Eventually make these available if any leveling system + // That can store is enabled + static const uint16_t meshes_end; // 128 is a placeholder for the size of the MAT; the MAT will always + // live at the very end of the eeprom + #endif + + static bool _load(); + static bool size_error(const uint16_t size); + #endif +}; + +extern MarlinSettings settings; diff --git a/Marlin/src/module/speed_lookuptable.h b/Marlin/src/module/speed_lookuptable.h new file mode 100644 index 0000000..b173ebe --- /dev/null +++ b/Marlin/src/module/speed_lookuptable.h @@ -0,0 +1,168 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#if F_CPU == 16000000 + + const uint16_t speed_lookuptable_fast[256][2] PROGMEM = { + { 62500, 55556}, { 6944, 3268}, { 3676, 1176}, { 2500, 607}, { 1893, 369}, { 1524, 249}, { 1275, 179}, { 1096, 135}, + { 961, 105}, { 856, 85}, { 771, 69}, { 702, 58}, { 644, 49}, { 595, 42}, { 553, 37}, { 516, 32}, + { 484, 28}, { 456, 25}, { 431, 23}, { 408, 20}, { 388, 19}, { 369, 16}, { 353, 16}, { 337, 14}, + { 323, 13}, { 310, 11}, { 299, 11}, { 288, 11}, { 277, 9}, { 268, 9}, { 259, 8}, { 251, 8}, + { 243, 8}, { 235, 7}, { 228, 6}, { 222, 6}, { 216, 6}, { 210, 6}, { 204, 5}, { 199, 5}, + { 194, 5}, { 189, 4}, { 185, 4}, { 181, 4}, { 177, 4}, { 173, 4}, { 169, 4}, { 165, 3}, + { 162, 3}, { 159, 4}, { 155, 3}, { 152, 3}, { 149, 2}, { 147, 3}, { 144, 3}, { 141, 2}, + { 139, 3}, { 136, 2}, { 134, 2}, { 132, 3}, { 129, 2}, { 127, 2}, { 125, 2}, { 123, 2}, + { 121, 2}, { 119, 1}, { 118, 2}, { 116, 2}, { 114, 1}, { 113, 2}, { 111, 2}, { 109, 1}, + { 108, 2}, { 106, 1}, { 105, 2}, { 103, 1}, { 102, 1}, { 101, 1}, { 100, 2}, { 98, 1}, + { 97, 1}, { 96, 1}, { 95, 2}, { 93, 1}, { 92, 1}, { 91, 1}, { 90, 1}, { 89, 1}, + { 88, 1}, { 87, 1}, { 86, 1}, { 85, 1}, { 84, 1}, { 83, 0}, { 83, 1}, { 82, 1}, + { 81, 1}, { 80, 1}, { 79, 1}, { 78, 0}, { 78, 1}, { 77, 1}, { 76, 1}, { 75, 0}, + { 75, 1}, { 74, 1}, { 73, 1}, { 72, 0}, { 72, 1}, { 71, 1}, { 70, 0}, { 70, 1}, + { 69, 0}, { 69, 1}, { 68, 1}, { 67, 0}, { 67, 1}, { 66, 0}, { 66, 1}, { 65, 0}, + { 65, 1}, { 64, 1}, { 63, 0}, { 63, 1}, { 62, 0}, { 62, 1}, { 61, 0}, { 61, 1}, + { 60, 0}, { 60, 0}, { 60, 1}, { 59, 0}, { 59, 1}, { 58, 0}, { 58, 1}, { 57, 0}, + { 57, 1}, { 56, 0}, { 56, 0}, { 56, 1}, { 55, 0}, { 55, 1}, { 54, 0}, { 54, 0}, + { 54, 1}, { 53, 0}, { 53, 0}, { 53, 1}, { 52, 0}, { 52, 0}, { 52, 1}, { 51, 0}, + { 51, 0}, { 51, 1}, { 50, 0}, { 50, 0}, { 50, 1}, { 49, 0}, { 49, 0}, { 49, 1}, + { 48, 0}, { 48, 0}, { 48, 1}, { 47, 0}, { 47, 0}, { 47, 0}, { 47, 1}, { 46, 0}, + { 46, 0}, { 46, 1}, { 45, 0}, { 45, 0}, { 45, 0}, { 45, 1}, { 44, 0}, { 44, 0}, + { 44, 0}, { 44, 1}, { 43, 0}, { 43, 0}, { 43, 0}, { 43, 1}, { 42, 0}, { 42, 0}, + { 42, 0}, { 42, 1}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 0}, { 41, 1}, { 40, 0}, + { 40, 0}, { 40, 0}, { 40, 0}, { 40, 1}, { 39, 0}, { 39, 0}, { 39, 0}, { 39, 0}, + { 39, 1}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 0}, { 38, 1}, { 37, 0}, { 37, 0}, + { 37, 0}, { 37, 0}, { 37, 0}, { 37, 1}, { 36, 0}, { 36, 0}, { 36, 0}, { 36, 0}, + { 36, 1}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 0}, { 35, 1}, + { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 0}, { 34, 1}, { 33, 0}, { 33, 0}, + { 33, 0}, { 33, 0}, { 33, 0}, { 33, 0}, { 33, 1}, { 32, 0}, { 32, 0}, { 32, 0}, + { 32, 0}, { 32, 0}, { 32, 0}, { 32, 0}, { 32, 1}, { 31, 0}, { 31, 0}, { 31, 0}, + { 31, 0}, { 31, 0}, { 31, 0}, { 31, 1}, { 30, 0}, { 30, 0}, { 30, 0}, { 30, 0} + }; + + const uint16_t speed_lookuptable_slow[256][2] PROGMEM = { + { 62500, 12500}, { 50000, 8334}, { 41666, 5952}, { 35714, 4464}, { 31250, 3473}, { 27777, 2777}, { 25000, 2273}, { 22727, 1894}, + { 20833, 1603}, { 19230, 1373}, { 17857, 1191}, { 16666, 1041}, { 15625, 920}, { 14705, 817}, { 13888, 731}, { 13157, 657}, + { 12500, 596}, { 11904, 541}, { 11363, 494}, { 10869, 453}, { 10416, 416}, { 10000, 385}, { 9615, 356}, { 9259, 331}, + { 8928, 308}, { 8620, 287}, { 8333, 269}, { 8064, 252}, { 7812, 237}, { 7575, 223}, { 7352, 210}, { 7142, 198}, + { 6944, 188}, { 6756, 178}, { 6578, 168}, { 6410, 160}, { 6250, 153}, { 6097, 145}, { 5952, 139}, { 5813, 132}, + { 5681, 126}, { 5555, 121}, { 5434, 115}, { 5319, 111}, { 5208, 106}, { 5102, 102}, { 5000, 99}, { 4901, 94}, + { 4807, 91}, { 4716, 87}, { 4629, 84}, { 4545, 81}, { 4464, 79}, { 4385, 75}, { 4310, 73}, { 4237, 71}, + { 4166, 68}, { 4098, 66}, { 4032, 64}, { 3968, 62}, { 3906, 60}, { 3846, 59}, { 3787, 56}, { 3731, 55}, + { 3676, 53}, { 3623, 52}, { 3571, 50}, { 3521, 49}, { 3472, 48}, { 3424, 46}, { 3378, 45}, { 3333, 44}, + { 3289, 43}, { 3246, 41}, { 3205, 41}, { 3164, 39}, { 3125, 39}, { 3086, 38}, { 3048, 36}, { 3012, 36}, + { 2976, 35}, { 2941, 35}, { 2906, 33}, { 2873, 33}, { 2840, 32}, { 2808, 31}, { 2777, 30}, { 2747, 30}, + { 2717, 29}, { 2688, 29}, { 2659, 28}, { 2631, 27}, { 2604, 27}, { 2577, 26}, { 2551, 26}, { 2525, 25}, + { 2500, 25}, { 2475, 25}, { 2450, 23}, { 2427, 24}, { 2403, 23}, { 2380, 22}, { 2358, 22}, { 2336, 22}, + { 2314, 21}, { 2293, 21}, { 2272, 20}, { 2252, 20}, { 2232, 20}, { 2212, 20}, { 2192, 19}, { 2173, 18}, + { 2155, 19}, { 2136, 18}, { 2118, 18}, { 2100, 17}, { 2083, 17}, { 2066, 17}, { 2049, 17}, { 2032, 16}, + { 2016, 16}, { 2000, 16}, { 1984, 16}, { 1968, 15}, { 1953, 16}, { 1937, 14}, { 1923, 15}, { 1908, 15}, + { 1893, 14}, { 1879, 14}, { 1865, 14}, { 1851, 13}, { 1838, 14}, { 1824, 13}, { 1811, 13}, { 1798, 13}, + { 1785, 12}, { 1773, 13}, { 1760, 12}, { 1748, 12}, { 1736, 12}, { 1724, 12}, { 1712, 12}, { 1700, 11}, + { 1689, 12}, { 1677, 11}, { 1666, 11}, { 1655, 11}, { 1644, 11}, { 1633, 10}, { 1623, 11}, { 1612, 10}, + { 1602, 10}, { 1592, 10}, { 1582, 10}, { 1572, 10}, { 1562, 10}, { 1552, 9}, { 1543, 10}, { 1533, 9}, + { 1524, 9}, { 1515, 9}, { 1506, 9}, { 1497, 9}, { 1488, 9}, { 1479, 9}, { 1470, 9}, { 1461, 8}, + { 1453, 8}, { 1445, 9}, { 1436, 8}, { 1428, 8}, { 1420, 8}, { 1412, 8}, { 1404, 8}, { 1396, 8}, + { 1388, 7}, { 1381, 8}, { 1373, 7}, { 1366, 8}, { 1358, 7}, { 1351, 7}, { 1344, 8}, { 1336, 7}, + { 1329, 7}, { 1322, 7}, { 1315, 7}, { 1308, 6}, { 1302, 7}, { 1295, 7}, { 1288, 6}, { 1282, 7}, + { 1275, 6}, { 1269, 7}, { 1262, 6}, { 1256, 6}, { 1250, 7}, { 1243, 6}, { 1237, 6}, { 1231, 6}, + { 1225, 6}, { 1219, 6}, { 1213, 6}, { 1207, 6}, { 1201, 5}, { 1196, 6}, { 1190, 6}, { 1184, 5}, + { 1179, 6}, { 1173, 5}, { 1168, 6}, { 1162, 5}, { 1157, 5}, { 1152, 6}, { 1146, 5}, { 1141, 5}, + { 1136, 5}, { 1131, 5}, { 1126, 5}, { 1121, 5}, { 1116, 5}, { 1111, 5}, { 1106, 5}, { 1101, 5}, + { 1096, 5}, { 1091, 5}, { 1086, 4}, { 1082, 5}, { 1077, 5}, { 1072, 4}, { 1068, 5}, { 1063, 4}, + { 1059, 5}, { 1054, 4}, { 1050, 4}, { 1046, 5}, { 1041, 4}, { 1037, 4}, { 1033, 5}, { 1028, 4}, + { 1024, 4}, { 1020, 4}, { 1016, 4}, { 1012, 4}, { 1008, 4}, { 1004, 4}, { 1000, 4}, { 996, 4}, + { 992, 4}, { 988, 4}, { 984, 4}, { 980, 4}, { 976, 4}, { 972, 4}, { 968, 3}, { 965, 3} + }; + +#elif F_CPU == 20000000 + + const uint16_t speed_lookuptable_fast[256][2] PROGMEM = { + {62500, 54055}, {8445, 3917}, {4528, 1434}, {3094, 745}, {2349, 456}, {1893, 307}, {1586, 222}, {1364, 167}, + {1197, 131}, {1066, 105}, {961, 86}, {875, 72}, {803, 61}, {742, 53}, {689, 45}, {644, 40}, + {604, 35}, {569, 32}, {537, 28}, {509, 25}, {484, 23}, {461, 21}, {440, 19}, {421, 17}, + {404, 16}, {388, 15}, {373, 14}, {359, 13}, {346, 12}, {334, 11}, {323, 10}, {313, 10}, + {303, 9}, {294, 9}, {285, 8}, {277, 7}, {270, 8}, {262, 7}, {255, 6}, {249, 6}, + {243, 6}, {237, 6}, {231, 5}, {226, 5}, {221, 5}, {216, 5}, {211, 4}, {207, 5}, + {202, 4}, {198, 4}, {194, 4}, {190, 3}, {187, 4}, {183, 3}, {180, 3}, {177, 4}, + {173, 3}, {170, 3}, {167, 2}, {165, 3}, {162, 3}, {159, 2}, {157, 3}, {154, 2}, + {152, 3}, {149, 2}, {147, 2}, {145, 2}, {143, 2}, {141, 2}, {139, 2}, {137, 2}, + {135, 2}, {133, 2}, {131, 2}, {129, 1}, {128, 2}, {126, 2}, {124, 1}, {123, 2}, + {121, 1}, {120, 2}, {118, 1}, {117, 1}, {116, 2}, {114, 1}, {113, 1}, {112, 2}, + {110, 1}, {109, 1}, {108, 1}, {107, 2}, {105, 1}, {104, 1}, {103, 1}, {102, 1}, + {101, 1}, {100, 1}, {99, 1}, {98, 1}, {97, 1}, {96, 1}, {95, 1}, {94, 1}, + {93, 1}, {92, 1}, {91, 0}, {91, 1}, {90, 1}, {89, 1}, {88, 1}, {87, 0}, + {87, 1}, {86, 1}, {85, 1}, {84, 0}, {84, 1}, {83, 1}, {82, 1}, {81, 0}, + {81, 1}, {80, 1}, {79, 0}, {79, 1}, {78, 0}, {78, 1}, {77, 1}, {76, 0}, + {76, 1}, {75, 0}, {75, 1}, {74, 1}, {73, 0}, {73, 1}, {72, 0}, {72, 1}, + {71, 0}, {71, 1}, {70, 0}, {70, 1}, {69, 0}, {69, 1}, {68, 0}, {68, 1}, + {67, 0}, {67, 1}, {66, 0}, {66, 1}, {65, 0}, {65, 0}, {65, 1}, {64, 0}, + {64, 1}, {63, 0}, {63, 1}, {62, 0}, {62, 0}, {62, 1}, {61, 0}, {61, 1}, + {60, 0}, {60, 0}, {60, 1}, {59, 0}, {59, 0}, {59, 1}, {58, 0}, {58, 0}, + {58, 1}, {57, 0}, {57, 0}, {57, 1}, {56, 0}, {56, 0}, {56, 1}, {55, 0}, + {55, 0}, {55, 1}, {54, 0}, {54, 0}, {54, 1}, {53, 0}, {53, 0}, {53, 0}, + {53, 1}, {52, 0}, {52, 0}, {52, 1}, {51, 0}, {51, 0}, {51, 0}, {51, 1}, + {50, 0}, {50, 0}, {50, 0}, {50, 1}, {49, 0}, {49, 0}, {49, 0}, {49, 1}, + {48, 0}, {48, 0}, {48, 0}, {48, 1}, {47, 0}, {47, 0}, {47, 0}, {47, 1}, + {46, 0}, {46, 0}, {46, 0}, {46, 0}, {46, 1}, {45, 0}, {45, 0}, {45, 0}, + {45, 1}, {44, 0}, {44, 0}, {44, 0}, {44, 0}, {44, 1}, {43, 0}, {43, 0}, + {43, 0}, {43, 0}, {43, 1}, {42, 0}, {42, 0}, {42, 0}, {42, 0}, {42, 0}, + {42, 1}, {41, 0}, {41, 0}, {41, 0}, {41, 0}, {41, 0}, {41, 1}, {40, 0}, + {40, 0}, {40, 0}, {40, 0}, {40, 1}, {39, 0}, {39, 0}, {39, 0}, {39, 0}, + {39, 0}, {39, 0}, {39, 1}, {38, 0}, {38, 0}, {38, 0}, {38, 0}, {38, 0}, + }; + + const uint16_t speed_lookuptable_slow[256][2] PROGMEM = { + {62500, 10417}, {52083, 7441}, {44642, 5580}, {39062, 4340}, {34722, 3472}, {31250, 2841}, {28409, 2368}, {26041, 2003}, + {24038, 1717}, {22321, 1488}, {20833, 1302}, {19531, 1149}, {18382, 1021}, {17361, 914}, {16447, 822}, {15625, 745}, + {14880, 676}, {14204, 618}, {13586, 566}, {13020, 520}, {12500, 481}, {12019, 445}, {11574, 414}, {11160, 385}, + {10775, 359}, {10416, 336}, {10080, 315}, {9765, 296}, {9469, 278}, {9191, 263}, {8928, 248}, {8680, 235}, + {8445, 222}, {8223, 211}, {8012, 200}, {7812, 191}, {7621, 181}, {7440, 173}, {7267, 165}, {7102, 158}, + {6944, 151}, {6793, 145}, {6648, 138}, {6510, 133}, {6377, 127}, {6250, 123}, {6127, 118}, {6009, 113}, + {5896, 109}, {5787, 106}, {5681, 101}, {5580, 98}, {5482, 95}, {5387, 91}, {5296, 88}, {5208, 86}, + {5122, 82}, {5040, 80}, {4960, 78}, {4882, 75}, {4807, 73}, {4734, 70}, {4664, 69}, {4595, 67}, + {4528, 64}, {4464, 63}, {4401, 61}, {4340, 60}, {4280, 58}, {4222, 56}, {4166, 55}, {4111, 53}, + {4058, 52}, {4006, 51}, {3955, 49}, {3906, 48}, {3858, 48}, {3810, 45}, {3765, 45}, {3720, 44}, + {3676, 43}, {3633, 42}, {3591, 40}, {3551, 40}, {3511, 39}, {3472, 38}, {3434, 38}, {3396, 36}, + {3360, 36}, {3324, 35}, {3289, 34}, {3255, 34}, {3221, 33}, {3188, 32}, {3156, 31}, {3125, 31}, + {3094, 31}, {3063, 30}, {3033, 29}, {3004, 28}, {2976, 28}, {2948, 28}, {2920, 27}, {2893, 27}, + {2866, 26}, {2840, 25}, {2815, 25}, {2790, 25}, {2765, 24}, {2741, 24}, {2717, 24}, {2693, 23}, + {2670, 22}, {2648, 22}, {2626, 22}, {2604, 22}, {2582, 21}, {2561, 21}, {2540, 20}, {2520, 20}, + {2500, 20}, {2480, 20}, {2460, 19}, {2441, 19}, {2422, 19}, {2403, 18}, {2385, 18}, {2367, 18}, + {2349, 17}, {2332, 18}, {2314, 17}, {2297, 16}, {2281, 17}, {2264, 16}, {2248, 16}, {2232, 16}, + {2216, 16}, {2200, 15}, {2185, 15}, {2170, 15}, {2155, 15}, {2140, 15}, {2125, 14}, {2111, 14}, + {2097, 14}, {2083, 14}, {2069, 14}, {2055, 13}, {2042, 13}, {2029, 13}, {2016, 13}, {2003, 13}, + {1990, 13}, {1977, 12}, {1965, 12}, {1953, 13}, {1940, 11}, {1929, 12}, {1917, 12}, {1905, 12}, + {1893, 11}, {1882, 11}, {1871, 11}, {1860, 11}, {1849, 11}, {1838, 11}, {1827, 11}, {1816, 10}, + {1806, 11}, {1795, 10}, {1785, 10}, {1775, 10}, {1765, 10}, {1755, 10}, {1745, 9}, {1736, 10}, + {1726, 9}, {1717, 10}, {1707, 9}, {1698, 9}, {1689, 9}, {1680, 9}, {1671, 9}, {1662, 9}, + {1653, 9}, {1644, 8}, {1636, 9}, {1627, 8}, {1619, 9}, {1610, 8}, {1602, 8}, {1594, 8}, + {1586, 8}, {1578, 8}, {1570, 8}, {1562, 8}, {1554, 7}, {1547, 8}, {1539, 8}, {1531, 7}, + {1524, 8}, {1516, 7}, {1509, 7}, {1502, 7}, {1495, 7}, {1488, 7}, {1481, 7}, {1474, 7}, + {1467, 7}, {1460, 7}, {1453, 7}, {1446, 6}, {1440, 7}, {1433, 7}, {1426, 6}, {1420, 6}, + {1414, 7}, {1407, 6}, {1401, 6}, {1395, 7}, {1388, 6}, {1382, 6}, {1376, 6}, {1370, 6}, + {1364, 6}, {1358, 6}, {1352, 6}, {1346, 5}, {1341, 6}, {1335, 6}, {1329, 5}, {1324, 6}, + {1318, 5}, {1313, 6}, {1307, 5}, {1302, 6}, {1296, 5}, {1291, 5}, {1286, 6}, {1280, 5}, + {1275, 5}, {1270, 5}, {1265, 5}, {1260, 5}, {1255, 5}, {1250, 5}, {1245, 5}, {1240, 5}, + {1235, 5}, {1230, 5}, {1225, 5}, {1220, 5}, {1215, 4}, {1211, 5}, {1206, 5}, {1201, 5}, + }; + +#endif diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp new file mode 100644 index 0000000..1033774 --- /dev/null +++ b/Marlin/src/module/stepper.cpp @@ -0,0 +1,3514 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * stepper.cpp - A singleton object to execute motion plans using stepper motors + * Marlin Firmware + * + * Derived from Grbl + * Copyright (c) 2009-2011 Simen Svale Skogsrud + * + * Grbl 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. + * + * Grbl 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 Grbl. If not, see . + */ + +/** + * Timer calculations informed by the 'RepRap cartesian firmware' by Zack Smith + * and Philipp Tiefenbacher. + */ + +/** + * __________________________ + * /| |\ _________________ ^ + * / | | \ /| |\ | + * / | | \ / | | \ s + * / | | | | | \ p + * / | | | | | \ e + * +-----+------------------------+---+--+---------------+----+ e + * | BLOCK 1 | BLOCK 2 | d + * + * time -----> + * + * The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates + * first block->accelerate_until step_events_completed, then keeps going at constant speed until + * step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset. + * The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far. + */ + +/** + * Marlin uses the Bresenham algorithm. For a detailed explanation of theory and + * method see https://www.cs.helsinki.fi/group/goa/mallinnus/lines/bresenh.html + */ + +/** + * Jerk controlled movements planner added Apr 2018 by Eduardo José Tagle. + * Equations based on Synthethos TinyG2 sources, but the fixed-point + * implementation is new, as we are running the ISR with a variable period. + * Also implemented the Bézier velocity curve evaluation in ARM assembler, + * to avoid impacting ISR speed. + */ + +#include "stepper.h" + +Stepper stepper; // Singleton + +#define BABYSTEPPING_EXTRA_DIR_WAIT + +#ifdef __AVR__ + #include "speed_lookuptable.h" +#endif + +#include "endstops.h" +#include "planner.h" +#include "motion.h" + +#include "../lcd/marlinui.h" +#include "../gcode/queue.h" +#include "../sd/cardreader.h" +#include "../MarlinCore.h" +#include "../HAL/shared/Delay.h" + +#if ENABLED(INTEGRATED_BABYSTEPPING) + #include "../feature/babystep.h" +#endif + +#if MB(ALLIGATOR) + #include "../feature/dac/dac_dac084s085.h" +#endif + +#if HAS_MOTOR_CURRENT_SPI + #include +#endif + +#if ENABLED(MIXING_EXTRUDER) + #include "../feature/mixing.h" +#endif + +#if HAS_FILAMENT_RUNOUT_DISTANCE + #include "../feature/runout.h" +#endif + +#if HAS_L64XX + #include "../libs/L64XX/L64XX_Marlin.h" + uint8_t L6470_buf[MAX_L64XX + 1]; // chip command sequence - element 0 not used + bool L64XX_OK_to_power_up = false; // flag to keep L64xx steppers powered down after a reset or power up +#endif + +#if ENABLED(POWER_LOSS_RECOVERY) + #include "../feature/powerloss.h" +#endif + +#if HAS_CUTTER + #include "../feature/spindle_laser.h" +#endif + +// public: + +#if EITHER(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) + bool Stepper::separate_multi_axis = false; +#endif + +#if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + bool Stepper::initialized; // = false + uint32_t Stepper::motor_current_setting[MOTOR_CURRENT_COUNT]; // Initialized by settings.load() + #if HAS_MOTOR_CURRENT_SPI + constexpr uint32_t Stepper::digipot_count[]; + #endif +#endif + +// private: + +block_t* Stepper::current_block; // (= nullptr) A pointer to the block currently being traced + +uint8_t Stepper::last_direction_bits, // = 0 + Stepper::axis_did_move; // = 0 + +bool Stepper::abort_current_block; + +#if DISABLED(MIXING_EXTRUDER) && HAS_MULTI_EXTRUDER + uint8_t Stepper::last_moved_extruder = 0xFF; +#endif + +#if ENABLED(X_DUAL_ENDSTOPS) + bool Stepper::locked_X_motor = false, Stepper::locked_X2_motor = false; +#endif +#if ENABLED(Y_DUAL_ENDSTOPS) + bool Stepper::locked_Y_motor = false, Stepper::locked_Y2_motor = false; +#endif + +#if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) + bool Stepper::locked_Z_motor = false, Stepper::locked_Z2_motor = false + #if NUM_Z_STEPPER_DRIVERS >= 3 + , Stepper::locked_Z3_motor = false + #if NUM_Z_STEPPER_DRIVERS >= 4 + , Stepper::locked_Z4_motor = false + #endif + #endif + ; +#endif + +uint32_t Stepper::acceleration_time, Stepper::deceleration_time; +uint8_t Stepper::steps_per_isr; + +IF_DISABLED(ADAPTIVE_STEP_SMOOTHING, constexpr) uint8_t Stepper::oversampling_factor; + +xyze_long_t Stepper::delta_error{0}; + +xyze_ulong_t Stepper::advance_dividend{0}; +uint32_t Stepper::advance_divisor = 0, + Stepper::step_events_completed = 0, // The number of step events executed in the current block + Stepper::accelerate_until, // The count at which to stop accelerating + Stepper::decelerate_after, // The count at which to start decelerating + Stepper::step_event_count; // The total event count for the current block + +#if EITHER(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER) + uint8_t Stepper::stepper_extruder; +#else + constexpr uint8_t Stepper::stepper_extruder; +#endif + +#if ENABLED(S_CURVE_ACCELERATION) + int32_t __attribute__((used)) Stepper::bezier_A __asm__("bezier_A"); // A coefficient in Bézier speed curve with alias for assembler + int32_t __attribute__((used)) Stepper::bezier_B __asm__("bezier_B"); // B coefficient in Bézier speed curve with alias for assembler + int32_t __attribute__((used)) Stepper::bezier_C __asm__("bezier_C"); // C coefficient in Bézier speed curve with alias for assembler + uint32_t __attribute__((used)) Stepper::bezier_F __asm__("bezier_F"); // F coefficient in Bézier speed curve with alias for assembler + uint32_t __attribute__((used)) Stepper::bezier_AV __asm__("bezier_AV"); // AV coefficient in Bézier speed curve with alias for assembler + #ifdef __AVR__ + bool __attribute__((used)) Stepper::A_negative __asm__("A_negative"); // If A coefficient was negative + #endif + bool Stepper::bezier_2nd_half; // =false If Bézier curve has been initialized or not +#endif + +#if ENABLED(LIN_ADVANCE) + + uint32_t Stepper::nextAdvanceISR = LA_ADV_NEVER, + Stepper::LA_isr_rate = LA_ADV_NEVER; + uint16_t Stepper::LA_current_adv_steps = 0, + Stepper::LA_final_adv_steps, + Stepper::LA_max_adv_steps; + + int8_t Stepper::LA_steps = 0; + + bool Stepper::LA_use_advance_lead; + +#endif // LIN_ADVANCE + +#if ENABLED(INTEGRATED_BABYSTEPPING) + uint32_t Stepper::nextBabystepISR = BABYSTEP_NEVER; +#endif + +#if ENABLED(DIRECT_STEPPING) + page_step_state_t Stepper::page_step_state; +#endif + +int32_t Stepper::ticks_nominal = -1; +#if DISABLED(S_CURVE_ACCELERATION) + uint32_t Stepper::acc_step_rate; // needed for deceleration start point +#endif + +xyz_long_t Stepper::endstops_trigsteps; +xyze_long_t Stepper::count_position{0}; +xyze_int8_t Stepper::count_direction{0}; + +#if ENABLED(LASER_POWER_INLINE_TRAPEZOID) + Stepper::stepper_laser_t Stepper::laser_trap = { + .enabled = false, + .cur_power = 0, + .cruise_set = false, + #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) + .last_step_count = 0, + .acc_step_count = 0 + #else + .till_update = 0 + #endif + }; +#endif + +#define DUAL_ENDSTOP_APPLY_STEP(A,V) \ + if (separate_multi_axis) { \ + if (A##_HOME_DIR < 0) { \ + if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \ + } \ + else { \ + if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \ + } \ + } \ + else { \ + A##_STEP_WRITE(V); \ + A##2_STEP_WRITE(V); \ + } + +#define DUAL_SEPARATE_APPLY_STEP(A,V) \ + if (separate_multi_axis) { \ + if (!locked_##A##_motor) A##_STEP_WRITE(V); \ + if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \ + } \ + else { \ + A##_STEP_WRITE(V); \ + A##2_STEP_WRITE(V); \ + } + +#define TRIPLE_ENDSTOP_APPLY_STEP(A,V) \ + if (separate_multi_axis) { \ + if (A##_HOME_DIR < 0) { \ + if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##3_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \ + } \ + else { \ + if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##3_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \ + } \ + } \ + else { \ + A##_STEP_WRITE(V); \ + A##2_STEP_WRITE(V); \ + A##3_STEP_WRITE(V); \ + } + +#define TRIPLE_SEPARATE_APPLY_STEP(A,V) \ + if (separate_multi_axis) { \ + if (!locked_##A##_motor) A##_STEP_WRITE(V); \ + if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \ + if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \ + } \ + else { \ + A##_STEP_WRITE(V); \ + A##2_STEP_WRITE(V); \ + A##3_STEP_WRITE(V); \ + } + +#define QUAD_ENDSTOP_APPLY_STEP(A,V) \ + if (separate_multi_axis) { \ + if (A##_HOME_DIR < 0) { \ + if (!(TEST(endstops.state(), A##_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##2_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##3_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##4_MIN) && count_direction[_AXIS(A)] < 0) && !locked_##A##4_motor) A##4_STEP_WRITE(V); \ + } \ + else { \ + if (!(TEST(endstops.state(), A##_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##_motor) A##_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##2_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##2_motor) A##2_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##3_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##3_motor) A##3_STEP_WRITE(V); \ + if (!(TEST(endstops.state(), A##4_MAX) && count_direction[_AXIS(A)] > 0) && !locked_##A##4_motor) A##4_STEP_WRITE(V); \ + } \ + } \ + else { \ + A##_STEP_WRITE(V); \ + A##2_STEP_WRITE(V); \ + A##3_STEP_WRITE(V); \ + A##4_STEP_WRITE(V); \ + } + +#define QUAD_SEPARATE_APPLY_STEP(A,V) \ + if (separate_multi_axis) { \ + if (!locked_##A##_motor) A##_STEP_WRITE(V); \ + if (!locked_##A##2_motor) A##2_STEP_WRITE(V); \ + if (!locked_##A##3_motor) A##3_STEP_WRITE(V); \ + if (!locked_##A##4_motor) A##4_STEP_WRITE(V); \ + } \ + else { \ + A##_STEP_WRITE(V); \ + A##2_STEP_WRITE(V); \ + A##3_STEP_WRITE(V); \ + A##4_STEP_WRITE(V); \ + } + +#if ENABLED(X_DUAL_STEPPER_DRIVERS) + #define X_APPLY_DIR(v,Q) do{ X_DIR_WRITE(v); X2_DIR_WRITE((v) ^ ENABLED(INVERT_X2_VS_X_DIR)); }while(0) + #if ENABLED(X_DUAL_ENDSTOPS) + #define X_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(X,v) + #else + #define X_APPLY_STEP(v,Q) do{ X_STEP_WRITE(v); X2_STEP_WRITE(v); }while(0) + #endif +#elif ENABLED(DUAL_X_CARRIAGE) + #define X_APPLY_DIR(v,ALWAYS) do{ \ + if (extruder_duplication_enabled || ALWAYS) { X_DIR_WRITE(v); X2_DIR_WRITE((v) ^ idex_mirrored_mode); } \ + else if (last_moved_extruder) X2_DIR_WRITE(v); else X_DIR_WRITE(v); \ + }while(0) + #define X_APPLY_STEP(v,ALWAYS) do{ \ + if (extruder_duplication_enabled || ALWAYS) { X_STEP_WRITE(v); X2_STEP_WRITE(v); } \ + else if (last_moved_extruder) X2_STEP_WRITE(v); else X_STEP_WRITE(v); \ + }while(0) +#else + #define X_APPLY_DIR(v,Q) X_DIR_WRITE(v) + #define X_APPLY_STEP(v,Q) X_STEP_WRITE(v) +#endif + +#if ENABLED(Y_DUAL_STEPPER_DRIVERS) + #define Y_APPLY_DIR(v,Q) do{ Y_DIR_WRITE(v); Y2_DIR_WRITE((v) ^ ENABLED(INVERT_Y2_VS_Y_DIR)); }while(0) + #if ENABLED(Y_DUAL_ENDSTOPS) + #define Y_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Y,v) + #else + #define Y_APPLY_STEP(v,Q) do{ Y_STEP_WRITE(v); Y2_STEP_WRITE(v); }while(0) + #endif +#else + #define Y_APPLY_DIR(v,Q) Y_DIR_WRITE(v) + #define Y_APPLY_STEP(v,Q) Y_STEP_WRITE(v) +#endif + +#if NUM_Z_STEPPER_DRIVERS == 4 + #define Z_APPLY_DIR(v,Q) do{ \ + Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); \ + Z3_DIR_WRITE((v) ^ ENABLED(INVERT_Z3_VS_Z_DIR)); Z4_DIR_WRITE((v) ^ ENABLED(INVERT_Z4_VS_Z_DIR)); \ + }while(0) + #if ENABLED(Z_MULTI_ENDSTOPS) + #define Z_APPLY_STEP(v,Q) QUAD_ENDSTOP_APPLY_STEP(Z,v) + #elif ENABLED(Z_STEPPER_AUTO_ALIGN) + #define Z_APPLY_STEP(v,Q) QUAD_SEPARATE_APPLY_STEP(Z,v) + #else + #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); Z4_STEP_WRITE(v); }while(0) + #endif +#elif NUM_Z_STEPPER_DRIVERS == 3 + #define Z_APPLY_DIR(v,Q) do{ \ + Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); Z3_DIR_WRITE((v) ^ ENABLED(INVERT_Z3_VS_Z_DIR)); \ + }while(0) + #if ENABLED(Z_MULTI_ENDSTOPS) + #define Z_APPLY_STEP(v,Q) TRIPLE_ENDSTOP_APPLY_STEP(Z,v) + #elif ENABLED(Z_STEPPER_AUTO_ALIGN) + #define Z_APPLY_STEP(v,Q) TRIPLE_SEPARATE_APPLY_STEP(Z,v) + #else + #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); Z3_STEP_WRITE(v); }while(0) + #endif +#elif NUM_Z_STEPPER_DRIVERS == 2 + #define Z_APPLY_DIR(v,Q) do{ Z_DIR_WRITE(v); Z2_DIR_WRITE((v) ^ ENABLED(INVERT_Z2_VS_Z_DIR)); }while(0) + #if ENABLED(Z_MULTI_ENDSTOPS) + #define Z_APPLY_STEP(v,Q) DUAL_ENDSTOP_APPLY_STEP(Z,v) + #elif ENABLED(Z_STEPPER_AUTO_ALIGN) + #define Z_APPLY_STEP(v,Q) DUAL_SEPARATE_APPLY_STEP(Z,v) + #else + #define Z_APPLY_STEP(v,Q) do{ Z_STEP_WRITE(v); Z2_STEP_WRITE(v); }while(0) + #endif +#else + #define Z_APPLY_DIR(v,Q) Z_DIR_WRITE(v) + #define Z_APPLY_STEP(v,Q) Z_STEP_WRITE(v) +#endif + +#if DISABLED(MIXING_EXTRUDER) + #define E_APPLY_STEP(v,Q) E_STEP_WRITE(stepper_extruder, v) +#endif + +#define CYCLES_TO_NS(CYC) (1000UL * (CYC) / ((F_CPU) / 1000000)) +#define NS_PER_PULSE_TIMER_TICK (1000000000UL / (STEPPER_TIMER_RATE)) + +// Round up when converting from ns to timer ticks +#define NS_TO_PULSE_TIMER_TICKS(NS) (((NS) + (NS_PER_PULSE_TIMER_TICK) / 2) / (NS_PER_PULSE_TIMER_TICK)) + +#define TIMER_SETUP_NS (CYCLES_TO_NS(TIMER_READ_ADD_AND_STORE_CYCLES)) + +#define PULSE_HIGH_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_HIGH_NS - _MIN(_MIN_PULSE_HIGH_NS, TIMER_SETUP_NS))) +#define PULSE_LOW_TICK_COUNT hal_timer_t(NS_TO_PULSE_TIMER_TICKS(_MIN_PULSE_LOW_NS - _MIN(_MIN_PULSE_LOW_NS, TIMER_SETUP_NS))) + +#define USING_TIMED_PULSE() hal_timer_t start_pulse_count = 0 +#define START_TIMED_PULSE(DIR) (start_pulse_count = HAL_timer_get_count(PULSE_TIMER_NUM)) +#define AWAIT_TIMED_PULSE(DIR) while (PULSE_##DIR##_TICK_COUNT > HAL_timer_get_count(PULSE_TIMER_NUM) - start_pulse_count) { } +#define START_HIGH_PULSE() START_TIMED_PULSE(HIGH) +#define AWAIT_HIGH_PULSE() AWAIT_TIMED_PULSE(HIGH) +#define START_LOW_PULSE() START_TIMED_PULSE(LOW) +#define AWAIT_LOW_PULSE() AWAIT_TIMED_PULSE(LOW) + +#if MINIMUM_STEPPER_PRE_DIR_DELAY > 0 + #define DIR_WAIT_BEFORE() DELAY_NS(MINIMUM_STEPPER_PRE_DIR_DELAY) +#else + #define DIR_WAIT_BEFORE() +#endif + +#if MINIMUM_STEPPER_POST_DIR_DELAY > 0 + #define DIR_WAIT_AFTER() DELAY_NS(MINIMUM_STEPPER_POST_DIR_DELAY) +#else + #define DIR_WAIT_AFTER() +#endif + +/** + * Set the stepper direction of each axis + * + * COREXY: X_AXIS=A_AXIS and Y_AXIS=B_AXIS + * COREXZ: X_AXIS=A_AXIS and Z_AXIS=C_AXIS + * COREYZ: Y_AXIS=B_AXIS and Z_AXIS=C_AXIS + */ +void Stepper::set_directions() { + + DIR_WAIT_BEFORE(); + + #define SET_STEP_DIR(A) \ + if (motor_direction(_AXIS(A))) { \ + A##_APPLY_DIR(INVERT_##A##_DIR, false); \ + count_direction[_AXIS(A)] = -1; \ + } \ + else { \ + A##_APPLY_DIR(!INVERT_##A##_DIR, false); \ + count_direction[_AXIS(A)] = 1; \ + } + + #if HAS_X_DIR + SET_STEP_DIR(X); // A + #endif + #if HAS_Y_DIR + SET_STEP_DIR(Y); // B + #endif + #if HAS_Z_DIR + SET_STEP_DIR(Z); // C + #endif + + #if DISABLED(LIN_ADVANCE) + #if ENABLED(MIXING_EXTRUDER) + // Because this is valid for the whole block we don't know + // what e-steppers will step. Likely all. Set all. + if (motor_direction(E_AXIS)) { + MIXER_STEPPER_LOOP(j) REV_E_DIR(j); + count_direction.e = -1; + } + else { + MIXER_STEPPER_LOOP(j) NORM_E_DIR(j); + count_direction.e = 1; + } + #else + if (motor_direction(E_AXIS)) { + REV_E_DIR(stepper_extruder); + count_direction.e = -1; + } + else { + NORM_E_DIR(stepper_extruder); + count_direction.e = 1; + } + #endif + #endif // !LIN_ADVANCE + + #if HAS_L64XX + if (L64XX_OK_to_power_up) { // OK to send the direction commands (which powers up the L64XX steppers) + if (L64xxManager.spi_active) { + L64xxManager.spi_abort = true; // Interrupted SPI transfer needs to shut down gracefully + for (uint8_t j = 1; j <= L64XX::chain[0]; j++) + L6470_buf[j] = dSPIN_NOP; // Fill buffer with NOOPs + L64xxManager.transfer(L6470_buf, L64XX::chain[0]); // Send enough NOOPs to complete any command + L64xxManager.transfer(L6470_buf, L64XX::chain[0]); + L64xxManager.transfer(L6470_buf, L64XX::chain[0]); + } + + // L64xxManager.dir_commands[] is an array that holds direction command for each stepper + + // Scan command array, copy matches into L64xxManager.transfer + for (uint8_t j = 1; j <= L64XX::chain[0]; j++) + L6470_buf[j] = L64xxManager.dir_commands[L64XX::chain[j]]; + + L64xxManager.transfer(L6470_buf, L64XX::chain[0]); // send the command stream to the drivers + } + #endif + + DIR_WAIT_AFTER(); +} + +#if ENABLED(S_CURVE_ACCELERATION) + /** + * This uses a quintic (fifth-degree) Bézier polynomial for the velocity curve, giving + * a "linear pop" velocity curve; with pop being the sixth derivative of position: + * velocity - 1st, acceleration - 2nd, jerk - 3rd, snap - 4th, crackle - 5th, pop - 6th + * + * The Bézier curve takes the form: + * + * V(t) = P_0 * B_0(t) + P_1 * B_1(t) + P_2 * B_2(t) + P_3 * B_3(t) + P_4 * B_4(t) + P_5 * B_5(t) + * + * Where 0 <= t <= 1, and V(t) is the velocity. P_0 through P_5 are the control points, and B_0(t) + * through B_5(t) are the Bernstein basis as follows: + * + * B_0(t) = (1-t)^5 = -t^5 + 5t^4 - 10t^3 + 10t^2 - 5t + 1 + * B_1(t) = 5(1-t)^4 * t = 5t^5 - 20t^4 + 30t^3 - 20t^2 + 5t + * B_2(t) = 10(1-t)^3 * t^2 = -10t^5 + 30t^4 - 30t^3 + 10t^2 + * B_3(t) = 10(1-t)^2 * t^3 = 10t^5 - 20t^4 + 10t^3 + * B_4(t) = 5(1-t) * t^4 = -5t^5 + 5t^4 + * B_5(t) = t^5 = t^5 + * ^ ^ ^ ^ ^ ^ + * | | | | | | + * A B C D E F + * + * Unfortunately, we cannot use forward-differencing to calculate each position through + * the curve, as Marlin uses variable timer periods. So, we require a formula of the form: + * + * V_f(t) = A*t^5 + B*t^4 + C*t^3 + D*t^2 + E*t + F + * + * Looking at the above B_0(t) through B_5(t) expanded forms, if we take the coefficients of t^5 + * through t of the Bézier form of V(t), we can determine that: + * + * A = -P_0 + 5*P_1 - 10*P_2 + 10*P_3 - 5*P_4 + P_5 + * B = 5*P_0 - 20*P_1 + 30*P_2 - 20*P_3 + 5*P_4 + * C = -10*P_0 + 30*P_1 - 30*P_2 + 10*P_3 + * D = 10*P_0 - 20*P_1 + 10*P_2 + * E = - 5*P_0 + 5*P_1 + * F = P_0 + * + * Now, since we will (currently) *always* want the initial acceleration and jerk values to be 0, + * We set P_i = P_0 = P_1 = P_2 (initial velocity), and P_t = P_3 = P_4 = P_5 (target velocity), + * which, after simplification, resolves to: + * + * A = - 6*P_i + 6*P_t = 6*(P_t - P_i) + * B = 15*P_i - 15*P_t = 15*(P_i - P_t) + * C = -10*P_i + 10*P_t = 10*(P_t - P_i) + * D = 0 + * E = 0 + * F = P_i + * + * As the t is evaluated in non uniform steps here, there is no other way rather than evaluating + * the Bézier curve at each point: + * + * V_f(t) = A*t^5 + B*t^4 + C*t^3 + F [0 <= t <= 1] + * + * Floating point arithmetic execution time cost is prohibitive, so we will transform the math to + * use fixed point values to be able to evaluate it in realtime. Assuming a maximum of 250000 steps + * per second (driver pulses should at least be 2µS hi/2µS lo), and allocating 2 bits to avoid + * overflows on the evaluation of the Bézier curve, means we can use + * + * t: unsigned Q0.32 (0 <= t < 1) |range 0 to 0xFFFFFFFF unsigned + * A: signed Q24.7 , |range = +/- 250000 * 6 * 128 = +/- 192000000 = 0x0B71B000 | 28 bits + sign + * B: signed Q24.7 , |range = +/- 250000 *15 * 128 = +/- 480000000 = 0x1C9C3800 | 29 bits + sign + * C: signed Q24.7 , |range = +/- 250000 *10 * 128 = +/- 320000000 = 0x1312D000 | 29 bits + sign + * F: signed Q24.7 , |range = +/- 250000 * 128 = 32000000 = 0x01E84800 | 25 bits + sign + * + * The trapezoid generator state contains the following information, that we will use to create and evaluate + * the Bézier curve: + * + * blk->step_event_count [TS] = The total count of steps for this movement. (=distance) + * blk->initial_rate [VI] = The initial steps per second (=velocity) + * blk->final_rate [VF] = The ending steps per second (=velocity) + * and the count of events completed (step_events_completed) [CS] (=distance until now) + * + * Note the abbreviations we use in the following formulae are between []s + * + * For Any 32bit CPU: + * + * At the start of each trapezoid, calculate the coefficients A,B,C,F and Advance [AV], as follows: + * + * A = 6*128*(VF - VI) = 768*(VF - VI) + * B = 15*128*(VI - VF) = 1920*(VI - VF) + * C = 10*128*(VF - VI) = 1280*(VF - VI) + * F = 128*VI = 128*VI + * AV = (1<<32)/TS ~= 0xFFFFFFFF / TS (To use ARM UDIV, that is 32 bits) (this is computed at the planner, to offload expensive calculations from the ISR) + * + * And for each point, evaluate the curve with the following sequence: + * + * void lsrs(uint32_t& d, uint32_t s, int cnt) { + * d = s >> cnt; + * } + * void lsls(uint32_t& d, uint32_t s, int cnt) { + * d = s << cnt; + * } + * void lsrs(int32_t& d, uint32_t s, int cnt) { + * d = uint32_t(s) >> cnt; + * } + * void lsls(int32_t& d, uint32_t s, int cnt) { + * d = uint32_t(s) << cnt; + * } + * void umull(uint32_t& rlo, uint32_t& rhi, uint32_t op1, uint32_t op2) { + * uint64_t res = uint64_t(op1) * op2; + * rlo = uint32_t(res & 0xFFFFFFFF); + * rhi = uint32_t((res >> 32) & 0xFFFFFFFF); + * } + * void smlal(int32_t& rlo, int32_t& rhi, int32_t op1, int32_t op2) { + * int64_t mul = int64_t(op1) * op2; + * int64_t s = int64_t(uint32_t(rlo) | ((uint64_t(uint32_t(rhi)) << 32U))); + * mul += s; + * rlo = int32_t(mul & 0xFFFFFFFF); + * rhi = int32_t((mul >> 32) & 0xFFFFFFFF); + * } + * int32_t _eval_bezier_curve_arm(uint32_t curr_step) { + * uint32_t flo = 0; + * uint32_t fhi = bezier_AV * curr_step; + * uint32_t t = fhi; + * int32_t alo = bezier_F; + * int32_t ahi = 0; + * int32_t A = bezier_A; + * int32_t B = bezier_B; + * int32_t C = bezier_C; + * + * lsrs(ahi, alo, 1); // a = F << 31 + * lsls(alo, alo, 31); // + * umull(flo, fhi, fhi, t); // f *= t + * umull(flo, fhi, fhi, t); // f>>=32; f*=t + * lsrs(flo, fhi, 1); // + * smlal(alo, ahi, flo, C); // a+=(f>>33)*C + * umull(flo, fhi, fhi, t); // f>>=32; f*=t + * lsrs(flo, fhi, 1); // + * smlal(alo, ahi, flo, B); // a+=(f>>33)*B + * umull(flo, fhi, fhi, t); // f>>=32; f*=t + * lsrs(flo, fhi, 1); // f>>=33; + * smlal(alo, ahi, flo, A); // a+=(f>>33)*A; + * lsrs(alo, ahi, 6); // a>>=38 + * + * return alo; + * } + * + * This is rewritten in ARM assembly for optimal performance (43 cycles to execute). + * + * For AVR, the precision of coefficients is scaled so the Bézier curve can be evaluated in real-time: + * Let's reduce precision as much as possible. After some experimentation we found that: + * + * Assume t and AV with 24 bits is enough + * A = 6*(VF - VI) + * B = 15*(VI - VF) + * C = 10*(VF - VI) + * F = VI + * AV = (1<<24)/TS (this is computed at the planner, to offload expensive calculations from the ISR) + * + * Instead of storing sign for each coefficient, we will store its absolute value, + * and flag the sign of the A coefficient, so we can save to store the sign bit. + * It always holds that sign(A) = - sign(B) = sign(C) + * + * So, the resulting range of the coefficients are: + * + * t: unsigned (0 <= t < 1) |range 0 to 0xFFFFFF unsigned + * A: signed Q24 , range = 250000 * 6 = 1500000 = 0x16E360 | 21 bits + * B: signed Q24 , range = 250000 *15 = 3750000 = 0x393870 | 22 bits + * C: signed Q24 , range = 250000 *10 = 2500000 = 0x1312D0 | 21 bits + * F: signed Q24 , range = 250000 = 250000 = 0x0ED090 | 20 bits + * + * And for each curve, estimate its coefficients with: + * + * void _calc_bezier_curve_coeffs(int32_t v0, int32_t v1, uint32_t av) { + * // Calculate the Bézier coefficients + * if (v1 < v0) { + * A_negative = true; + * bezier_A = 6 * (v0 - v1); + * bezier_B = 15 * (v0 - v1); + * bezier_C = 10 * (v0 - v1); + * } + * else { + * A_negative = false; + * bezier_A = 6 * (v1 - v0); + * bezier_B = 15 * (v1 - v0); + * bezier_C = 10 * (v1 - v0); + * } + * bezier_F = v0; + * } + * + * And for each point, evaluate the curve with the following sequence: + * + * // unsigned multiplication of 24 bits x 24bits, return upper 16 bits + * void umul24x24to16hi(uint16_t& r, uint24_t op1, uint24_t op2) { + * r = (uint64_t(op1) * op2) >> 8; + * } + * // unsigned multiplication of 16 bits x 16bits, return upper 16 bits + * void umul16x16to16hi(uint16_t& r, uint16_t op1, uint16_t op2) { + * r = (uint32_t(op1) * op2) >> 16; + * } + * // unsigned multiplication of 16 bits x 24bits, return upper 24 bits + * void umul16x24to24hi(uint24_t& r, uint16_t op1, uint24_t op2) { + * r = uint24_t((uint64_t(op1) * op2) >> 16); + * } + * + * int32_t _eval_bezier_curve(uint32_t curr_step) { + * // To save computing, the first step is always the initial speed + * if (!curr_step) + * return bezier_F; + * + * uint16_t t; + * umul24x24to16hi(t, bezier_AV, curr_step); // t: Range 0 - 1^16 = 16 bits + * uint16_t f = t; + * umul16x16to16hi(f, f, t); // Range 16 bits (unsigned) + * umul16x16to16hi(f, f, t); // Range 16 bits : f = t^3 (unsigned) + * uint24_t acc = bezier_F; // Range 20 bits (unsigned) + * if (A_negative) { + * uint24_t v; + * umul16x24to24hi(v, f, bezier_C); // Range 21bits + * acc -= v; + * umul16x16to16hi(f, f, t); // Range 16 bits : f = t^4 (unsigned) + * umul16x24to24hi(v, f, bezier_B); // Range 22bits + * acc += v; + * umul16x16to16hi(f, f, t); // Range 16 bits : f = t^5 (unsigned) + * umul16x24to24hi(v, f, bezier_A); // Range 21bits + 15 = 36bits (plus sign) + * acc -= v; + * } + * else { + * uint24_t v; + * umul16x24to24hi(v, f, bezier_C); // Range 21bits + * acc += v; + * umul16x16to16hi(f, f, t); // Range 16 bits : f = t^4 (unsigned) + * umul16x24to24hi(v, f, bezier_B); // Range 22bits + * acc -= v; + * umul16x16to16hi(f, f, t); // Range 16 bits : f = t^5 (unsigned) + * umul16x24to24hi(v, f, bezier_A); // Range 21bits + 15 = 36bits (plus sign) + * acc += v; + * } + * return acc; + * } + * These functions are translated to assembler for optimal performance. + * Coefficient calculation takes 70 cycles. Bezier point evaluation takes 150 cycles. + */ + + #ifdef __AVR__ + + // For AVR we use assembly to maximize speed + void Stepper::_calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av) { + + // Store advance + bezier_AV = av; + + // Calculate the rest of the coefficients + uint8_t r2 = v0 & 0xFF; + uint8_t r3 = (v0 >> 8) & 0xFF; + uint8_t r12 = (v0 >> 16) & 0xFF; + uint8_t r5 = v1 & 0xFF; + uint8_t r6 = (v1 >> 8) & 0xFF; + uint8_t r7 = (v1 >> 16) & 0xFF; + uint8_t r4,r8,r9,r10,r11; + + __asm__ __volatile__( + /* Calculate the Bézier coefficients */ + /* %10:%1:%0 = v0*/ + /* %5:%4:%3 = v1*/ + /* %7:%6:%10 = temporary*/ + /* %9 = val (must be high register!)*/ + /* %10 (must be high register!)*/ + + /* Store initial velocity*/ + A("sts bezier_F, %0") + A("sts bezier_F+1, %1") + A("sts bezier_F+2, %10") /* bezier_F = %10:%1:%0 = v0 */ + + /* Get delta speed */ + A("ldi %2,-1") /* %2 = 0xFF, means A_negative = true */ + A("clr %8") /* %8 = 0 */ + A("sub %0,%3") + A("sbc %1,%4") + A("sbc %10,%5") /* v0 -= v1, C=1 if result is negative */ + A("brcc 1f") /* branch if result is positive (C=0), that means v0 >= v1 */ + + /* Result was negative, get the absolute value*/ + A("com %10") + A("com %1") + A("neg %0") + A("sbc %1,%2") + A("sbc %10,%2") /* %10:%1:%0 +1 -> %10:%1:%0 = -(v0 - v1) = (v1 - v0) */ + A("clr %2") /* %2 = 0, means A_negative = false */ + + /* Store negative flag*/ + L("1") + A("sts A_negative, %2") /* Store negative flag */ + + /* Compute coefficients A,B and C [20 cycles worst case]*/ + A("ldi %9,6") /* %9 = 6 */ + A("mul %0,%9") /* r1:r0 = 6*LO(v0-v1) */ + A("sts bezier_A, r0") + A("mov %6,r1") + A("clr %7") /* %7:%6:r0 = 6*LO(v0-v1) */ + A("mul %1,%9") /* r1:r0 = 6*MI(v0-v1) */ + A("add %6,r0") + A("adc %7,r1") /* %7:%6:?? += 6*MI(v0-v1) << 8 */ + A("mul %10,%9") /* r1:r0 = 6*HI(v0-v1) */ + A("add %7,r0") /* %7:%6:?? += 6*HI(v0-v1) << 16 */ + A("sts bezier_A+1, %6") + A("sts bezier_A+2, %7") /* bezier_A = %7:%6:?? = 6*(v0-v1) [35 cycles worst] */ + + A("ldi %9,15") /* %9 = 15 */ + A("mul %0,%9") /* r1:r0 = 5*LO(v0-v1) */ + A("sts bezier_B, r0") + A("mov %6,r1") + A("clr %7") /* %7:%6:?? = 5*LO(v0-v1) */ + A("mul %1,%9") /* r1:r0 = 5*MI(v0-v1) */ + A("add %6,r0") + A("adc %7,r1") /* %7:%6:?? += 5*MI(v0-v1) << 8 */ + A("mul %10,%9") /* r1:r0 = 5*HI(v0-v1) */ + A("add %7,r0") /* %7:%6:?? += 5*HI(v0-v1) << 16 */ + A("sts bezier_B+1, %6") + A("sts bezier_B+2, %7") /* bezier_B = %7:%6:?? = 5*(v0-v1) [50 cycles worst] */ + + A("ldi %9,10") /* %9 = 10 */ + A("mul %0,%9") /* r1:r0 = 10*LO(v0-v1) */ + A("sts bezier_C, r0") + A("mov %6,r1") + A("clr %7") /* %7:%6:?? = 10*LO(v0-v1) */ + A("mul %1,%9") /* r1:r0 = 10*MI(v0-v1) */ + A("add %6,r0") + A("adc %7,r1") /* %7:%6:?? += 10*MI(v0-v1) << 8 */ + A("mul %10,%9") /* r1:r0 = 10*HI(v0-v1) */ + A("add %7,r0") /* %7:%6:?? += 10*HI(v0-v1) << 16 */ + A("sts bezier_C+1, %6") + " sts bezier_C+2, %7" /* bezier_C = %7:%6:?? = 10*(v0-v1) [65 cycles worst] */ + : "+r" (r2), + "+d" (r3), + "=r" (r4), + "+r" (r5), + "+r" (r6), + "+r" (r7), + "=r" (r8), + "=r" (r9), + "=r" (r10), + "=d" (r11), + "+r" (r12) + : + : "r0", "r1", "cc", "memory" + ); + } + + FORCE_INLINE int32_t Stepper::_eval_bezier_curve(const uint32_t curr_step) { + + // If dealing with the first step, save expensive computing and return the initial speed + if (!curr_step) + return bezier_F; + + uint8_t r0 = 0; /* Zero register */ + uint8_t r2 = (curr_step) & 0xFF; + uint8_t r3 = (curr_step >> 8) & 0xFF; + uint8_t r4 = (curr_step >> 16) & 0xFF; + uint8_t r1,r5,r6,r7,r8,r9,r10,r11; /* Temporary registers */ + + __asm__ __volatile( + /* umul24x24to16hi(t, bezier_AV, curr_step); t: Range 0 - 1^16 = 16 bits*/ + A("lds %9,bezier_AV") /* %9 = LO(AV)*/ + A("mul %9,%2") /* r1:r0 = LO(bezier_AV)*LO(curr_step)*/ + A("mov %7,r1") /* %7 = LO(bezier_AV)*LO(curr_step) >> 8*/ + A("clr %8") /* %8:%7 = LO(bezier_AV)*LO(curr_step) >> 8*/ + A("lds %10,bezier_AV+1") /* %10 = MI(AV)*/ + A("mul %10,%2") /* r1:r0 = MI(bezier_AV)*LO(curr_step)*/ + A("add %7,r0") + A("adc %8,r1") /* %8:%7 += MI(bezier_AV)*LO(curr_step)*/ + A("lds r1,bezier_AV+2") /* r11 = HI(AV)*/ + A("mul r1,%2") /* r1:r0 = HI(bezier_AV)*LO(curr_step)*/ + A("add %8,r0") /* %8:%7 += HI(bezier_AV)*LO(curr_step) << 8*/ + A("mul %9,%3") /* r1:r0 = LO(bezier_AV)*MI(curr_step)*/ + A("add %7,r0") + A("adc %8,r1") /* %8:%7 += LO(bezier_AV)*MI(curr_step)*/ + A("mul %10,%3") /* r1:r0 = MI(bezier_AV)*MI(curr_step)*/ + A("add %8,r0") /* %8:%7 += LO(bezier_AV)*MI(curr_step) << 8*/ + A("mul %9,%4") /* r1:r0 = LO(bezier_AV)*HI(curr_step)*/ + A("add %8,r0") /* %8:%7 += LO(bezier_AV)*HI(curr_step) << 8*/ + /* %8:%7 = t*/ + + /* uint16_t f = t;*/ + A("mov %5,%7") /* %6:%5 = f*/ + A("mov %6,%8") + /* %6:%5 = f*/ + + /* umul16x16to16hi(f, f, t); / Range 16 bits (unsigned) [17] */ + A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/ + A("mov %9,r1") /* store MIL(LO(f) * LO(t)) in %9, we need it for rounding*/ + A("clr %10") /* %10 = 0*/ + A("clr %11") /* %11 = 0*/ + A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/ + A("add %9,r0") /* %9 += LO(LO(f) * HI(t))*/ + A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/ + A("add %9,r0") /* %9 += LO(HI(f) * LO(t))*/ + A("adc %10,r1") /* %10 += HI(HI(f) * LO(t)) */ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/ + A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/ + A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/ + A("mov %5,%10") /* %6:%5 = */ + A("mov %6,%11") /* f = %10:%11*/ + + /* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/ + A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/ + A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/ + A("clr %10") /* %10 = 0*/ + A("clr %11") /* %11 = 0*/ + A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/ + A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/ + A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/ + A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/ + A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/ + A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/ + A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/ + A("mov %5,%10") /* %6:%5 =*/ + A("mov %6,%11") /* f = %10:%11*/ + /* [15 +17*2] = [49]*/ + + /* %4:%3:%2 will be acc from now on*/ + + /* uint24_t acc = bezier_F; / Range 20 bits (unsigned)*/ + A("clr %9") /* "decimal place we get for free"*/ + A("lds %2,bezier_F") + A("lds %3,bezier_F+1") + A("lds %4,bezier_F+2") /* %4:%3:%2 = acc*/ + + /* if (A_negative) {*/ + A("lds r0,A_negative") + A("or r0,%0") /* Is flag signalling negative? */ + A("brne 3f") /* If yes, Skip next instruction if A was negative*/ + A("rjmp 1f") /* Otherwise, jump */ + + /* uint24_t v; */ + /* umul16x24to24hi(v, f, bezier_C); / Range 21bits [29] */ + /* acc -= v; */ + L("3") + A("lds %10, bezier_C") /* %10 = LO(bezier_C)*/ + A("mul %10,%5") /* r1:r0 = LO(bezier_C) * LO(f)*/ + A("sub %9,r1") + A("sbc %2,%0") + A("sbc %3,%0") + A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_C) * LO(f))*/ + A("lds %11, bezier_C+1") /* %11 = MI(bezier_C)*/ + A("mul %11,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/ + A("sub %9,r0") + A("sbc %2,r1") + A("sbc %3,%0") + A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_C) * LO(f)*/ + A("lds %1, bezier_C+2") /* %1 = HI(bezier_C)*/ + A("mul %1,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/ + A("sub %2,r0") + A("sbc %3,r1") + A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_C) * LO(f) << 8*/ + A("mul %10,%6") /* r1:r0 = LO(bezier_C) * MI(f)*/ + A("sub %9,r0") + A("sbc %2,r1") + A("sbc %3,%0") + A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_C) * MI(f)*/ + A("mul %11,%6") /* r1:r0 = MI(bezier_C) * MI(f)*/ + A("sub %2,r0") + A("sbc %3,r1") + A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_C) * MI(f) << 8*/ + A("mul %1,%6") /* r1:r0 = HI(bezier_C) * LO(f)*/ + A("sub %3,r0") + A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_C) * LO(f) << 16*/ + + /* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/ + A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/ + A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/ + A("clr %10") /* %10 = 0*/ + A("clr %11") /* %11 = 0*/ + A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/ + A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/ + A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/ + A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/ + A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/ + A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/ + A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/ + A("mov %5,%10") /* %6:%5 =*/ + A("mov %6,%11") /* f = %10:%11*/ + + /* umul16x24to24hi(v, f, bezier_B); / Range 22bits [29]*/ + /* acc += v; */ + A("lds %10, bezier_B") /* %10 = LO(bezier_B)*/ + A("mul %10,%5") /* r1:r0 = LO(bezier_B) * LO(f)*/ + A("add %9,r1") + A("adc %2,%0") + A("adc %3,%0") + A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_B) * LO(f))*/ + A("lds %11, bezier_B+1") /* %11 = MI(bezier_B)*/ + A("mul %11,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/ + A("add %9,r0") + A("adc %2,r1") + A("adc %3,%0") + A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_B) * LO(f)*/ + A("lds %1, bezier_B+2") /* %1 = HI(bezier_B)*/ + A("mul %1,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/ + A("add %2,r0") + A("adc %3,r1") + A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_B) * LO(f) << 8*/ + A("mul %10,%6") /* r1:r0 = LO(bezier_B) * MI(f)*/ + A("add %9,r0") + A("adc %2,r1") + A("adc %3,%0") + A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_B) * MI(f)*/ + A("mul %11,%6") /* r1:r0 = MI(bezier_B) * MI(f)*/ + A("add %2,r0") + A("adc %3,r1") + A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_B) * MI(f) << 8*/ + A("mul %1,%6") /* r1:r0 = HI(bezier_B) * LO(f)*/ + A("add %3,r0") + A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_B) * LO(f) << 16*/ + + /* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^5 (unsigned) [17]*/ + A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/ + A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/ + A("clr %10") /* %10 = 0*/ + A("clr %11") /* %11 = 0*/ + A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/ + A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/ + A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/ + A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/ + A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/ + A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/ + A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/ + A("mov %5,%10") /* %6:%5 =*/ + A("mov %6,%11") /* f = %10:%11*/ + + /* umul16x24to24hi(v, f, bezier_A); / Range 21bits [29]*/ + /* acc -= v; */ + A("lds %10, bezier_A") /* %10 = LO(bezier_A)*/ + A("mul %10,%5") /* r1:r0 = LO(bezier_A) * LO(f)*/ + A("sub %9,r1") + A("sbc %2,%0") + A("sbc %3,%0") + A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_A) * LO(f))*/ + A("lds %11, bezier_A+1") /* %11 = MI(bezier_A)*/ + A("mul %11,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/ + A("sub %9,r0") + A("sbc %2,r1") + A("sbc %3,%0") + A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_A) * LO(f)*/ + A("lds %1, bezier_A+2") /* %1 = HI(bezier_A)*/ + A("mul %1,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/ + A("sub %2,r0") + A("sbc %3,r1") + A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_A) * LO(f) << 8*/ + A("mul %10,%6") /* r1:r0 = LO(bezier_A) * MI(f)*/ + A("sub %9,r0") + A("sbc %2,r1") + A("sbc %3,%0") + A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_A) * MI(f)*/ + A("mul %11,%6") /* r1:r0 = MI(bezier_A) * MI(f)*/ + A("sub %2,r0") + A("sbc %3,r1") + A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_A) * MI(f) << 8*/ + A("mul %1,%6") /* r1:r0 = HI(bezier_A) * LO(f)*/ + A("sub %3,r0") + A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_A) * LO(f) << 16*/ + A("jmp 2f") /* Done!*/ + + L("1") + + /* uint24_t v; */ + /* umul16x24to24hi(v, f, bezier_C); / Range 21bits [29]*/ + /* acc += v; */ + A("lds %10, bezier_C") /* %10 = LO(bezier_C)*/ + A("mul %10,%5") /* r1:r0 = LO(bezier_C) * LO(f)*/ + A("add %9,r1") + A("adc %2,%0") + A("adc %3,%0") + A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_C) * LO(f))*/ + A("lds %11, bezier_C+1") /* %11 = MI(bezier_C)*/ + A("mul %11,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/ + A("add %9,r0") + A("adc %2,r1") + A("adc %3,%0") + A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_C) * LO(f)*/ + A("lds %1, bezier_C+2") /* %1 = HI(bezier_C)*/ + A("mul %1,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/ + A("add %2,r0") + A("adc %3,r1") + A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_C) * LO(f) << 8*/ + A("mul %10,%6") /* r1:r0 = LO(bezier_C) * MI(f)*/ + A("add %9,r0") + A("adc %2,r1") + A("adc %3,%0") + A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_C) * MI(f)*/ + A("mul %11,%6") /* r1:r0 = MI(bezier_C) * MI(f)*/ + A("add %2,r0") + A("adc %3,r1") + A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_C) * MI(f) << 8*/ + A("mul %1,%6") /* r1:r0 = HI(bezier_C) * LO(f)*/ + A("add %3,r0") + A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_C) * LO(f) << 16*/ + + /* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/ + A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/ + A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/ + A("clr %10") /* %10 = 0*/ + A("clr %11") /* %11 = 0*/ + A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/ + A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/ + A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/ + A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/ + A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/ + A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/ + A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/ + A("mov %5,%10") /* %6:%5 =*/ + A("mov %6,%11") /* f = %10:%11*/ + + /* umul16x24to24hi(v, f, bezier_B); / Range 22bits [29]*/ + /* acc -= v;*/ + A("lds %10, bezier_B") /* %10 = LO(bezier_B)*/ + A("mul %10,%5") /* r1:r0 = LO(bezier_B) * LO(f)*/ + A("sub %9,r1") + A("sbc %2,%0") + A("sbc %3,%0") + A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_B) * LO(f))*/ + A("lds %11, bezier_B+1") /* %11 = MI(bezier_B)*/ + A("mul %11,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/ + A("sub %9,r0") + A("sbc %2,r1") + A("sbc %3,%0") + A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_B) * LO(f)*/ + A("lds %1, bezier_B+2") /* %1 = HI(bezier_B)*/ + A("mul %1,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/ + A("sub %2,r0") + A("sbc %3,r1") + A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_B) * LO(f) << 8*/ + A("mul %10,%6") /* r1:r0 = LO(bezier_B) * MI(f)*/ + A("sub %9,r0") + A("sbc %2,r1") + A("sbc %3,%0") + A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_B) * MI(f)*/ + A("mul %11,%6") /* r1:r0 = MI(bezier_B) * MI(f)*/ + A("sub %2,r0") + A("sbc %3,r1") + A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_B) * MI(f) << 8*/ + A("mul %1,%6") /* r1:r0 = HI(bezier_B) * LO(f)*/ + A("sub %3,r0") + A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_B) * LO(f) << 16*/ + + /* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^5 (unsigned) [17]*/ + A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/ + A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/ + A("clr %10") /* %10 = 0*/ + A("clr %11") /* %11 = 0*/ + A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/ + A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/ + A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/ + A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/ + A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/ + A("adc %11,%0") /* %11 += carry*/ + A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/ + A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/ + A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/ + A("mov %5,%10") /* %6:%5 =*/ + A("mov %6,%11") /* f = %10:%11*/ + + /* umul16x24to24hi(v, f, bezier_A); / Range 21bits [29]*/ + /* acc += v; */ + A("lds %10, bezier_A") /* %10 = LO(bezier_A)*/ + A("mul %10,%5") /* r1:r0 = LO(bezier_A) * LO(f)*/ + A("add %9,r1") + A("adc %2,%0") + A("adc %3,%0") + A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_A) * LO(f))*/ + A("lds %11, bezier_A+1") /* %11 = MI(bezier_A)*/ + A("mul %11,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/ + A("add %9,r0") + A("adc %2,r1") + A("adc %3,%0") + A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_A) * LO(f)*/ + A("lds %1, bezier_A+2") /* %1 = HI(bezier_A)*/ + A("mul %1,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/ + A("add %2,r0") + A("adc %3,r1") + A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 8*/ + A("mul %10,%6") /* r1:r0 = LO(bezier_A) * MI(f)*/ + A("add %9,r0") + A("adc %2,r1") + A("adc %3,%0") + A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_A) * MI(f)*/ + A("mul %11,%6") /* r1:r0 = MI(bezier_A) * MI(f)*/ + A("add %2,r0") + A("adc %3,r1") + A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_A) * MI(f) << 8*/ + A("mul %1,%6") /* r1:r0 = HI(bezier_A) * LO(f)*/ + A("add %3,r0") + A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 16*/ + L("2") + " clr __zero_reg__" /* C runtime expects r1 = __zero_reg__ = 0 */ + : "+r"(r0), + "+r"(r1), + "+r"(r2), + "+r"(r3), + "+r"(r4), + "+r"(r5), + "+r"(r6), + "+r"(r7), + "+r"(r8), + "+r"(r9), + "+r"(r10), + "+r"(r11) + : + :"cc","r0","r1" + ); + return (r2 | (uint16_t(r3) << 8)) | (uint32_t(r4) << 16); + } + + #else + + // For all the other 32bit CPUs + FORCE_INLINE void Stepper::_calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av) { + // Calculate the Bézier coefficients + bezier_A = 768 * (v1 - v0); + bezier_B = 1920 * (v0 - v1); + bezier_C = 1280 * (v1 - v0); + bezier_F = 128 * v0; + bezier_AV = av; + } + + FORCE_INLINE int32_t Stepper::_eval_bezier_curve(const uint32_t curr_step) { + #if defined(__arm__) || defined(__thumb__) + + // For ARM Cortex M3/M4 CPUs, we have the optimized assembler version, that takes 43 cycles to execute + uint32_t flo = 0; + uint32_t fhi = bezier_AV * curr_step; + uint32_t t = fhi; + int32_t alo = bezier_F; + int32_t ahi = 0; + int32_t A = bezier_A; + int32_t B = bezier_B; + int32_t C = bezier_C; + + __asm__ __volatile__( + ".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax + A("lsrs %[ahi],%[alo],#1") // a = F << 31 1 cycles + A("lsls %[alo],%[alo],#31") // 1 cycles + A("umull %[flo],%[fhi],%[fhi],%[t]") // f *= t 5 cycles [fhi:flo=64bits] + A("umull %[flo],%[fhi],%[fhi],%[t]") // f>>=32; f*=t 5 cycles [fhi:flo=64bits] + A("lsrs %[flo],%[fhi],#1") // 1 cycles [31bits] + A("smlal %[alo],%[ahi],%[flo],%[C]") // a+=(f>>33)*C; 5 cycles + A("umull %[flo],%[fhi],%[fhi],%[t]") // f>>=32; f*=t 5 cycles [fhi:flo=64bits] + A("lsrs %[flo],%[fhi],#1") // 1 cycles [31bits] + A("smlal %[alo],%[ahi],%[flo],%[B]") // a+=(f>>33)*B; 5 cycles + A("umull %[flo],%[fhi],%[fhi],%[t]") // f>>=32; f*=t 5 cycles [fhi:flo=64bits] + A("lsrs %[flo],%[fhi],#1") // f>>=33; 1 cycles [31bits] + A("smlal %[alo],%[ahi],%[flo],%[A]") // a+=(f>>33)*A; 5 cycles + A("lsrs %[alo],%[ahi],#6") // a>>=38 1 cycles + : [alo]"+r"( alo ) , + [flo]"+r"( flo ) , + [fhi]"+r"( fhi ) , + [ahi]"+r"( ahi ) , + [A]"+r"( A ) , // <== Note: Even if A, B, C, and t registers are INPUT ONLY + [B]"+r"( B ) , // GCC does bad optimizations on the code if we list them as + [C]"+r"( C ) , // such, breaking this function. So, to avoid that problem, + [t]"+r"( t ) // we list all registers as input-outputs. + : + : "cc" + ); + return alo; + + #else + + // For non ARM targets, we provide a fallback implementation. Really doubt it + // will be useful, unless the processor is fast and 32bit + + uint32_t t = bezier_AV * curr_step; // t: Range 0 - 1^32 = 32 bits + uint64_t f = t; + f *= t; // Range 32*2 = 64 bits (unsigned) + f >>= 32; // Range 32 bits (unsigned) + f *= t; // Range 32*2 = 64 bits (unsigned) + f >>= 32; // Range 32 bits : f = t^3 (unsigned) + int64_t acc = (int64_t) bezier_F << 31; // Range 63 bits (signed) + acc += ((uint32_t) f >> 1) * (int64_t) bezier_C; // Range 29bits + 31 = 60bits (plus sign) + f *= t; // Range 32*2 = 64 bits + f >>= 32; // Range 32 bits : f = t^3 (unsigned) + acc += ((uint32_t) f >> 1) * (int64_t) bezier_B; // Range 29bits + 31 = 60bits (plus sign) + f *= t; // Range 32*2 = 64 bits + f >>= 32; // Range 32 bits : f = t^3 (unsigned) + acc += ((uint32_t) f >> 1) * (int64_t) bezier_A; // Range 28bits + 31 = 59bits (plus sign) + acc >>= (31 + 7); // Range 24bits (plus sign) + return (int32_t) acc; + + #endif + } + #endif +#endif // S_CURVE_ACCELERATION + +/** + * Stepper Driver Interrupt + * + * Directly pulses the stepper motors at high frequency. + */ + +HAL_STEP_TIMER_ISR() { + HAL_timer_isr_prologue(STEP_TIMER_NUM); + + Stepper::isr(); + + HAL_timer_isr_epilogue(STEP_TIMER_NUM); +} + +#ifdef CPU_32_BIT + #define STEP_MULTIPLY(A,B) MultiU32X24toH32(A, B) +#else + #define STEP_MULTIPLY(A,B) MultiU24X32toH16(A, B) +#endif + +#if ENABLED(MKS_TEST) + extern uint8_t mks_test_flag; +#endif + +void Stepper::isr() { + + static uint32_t nextMainISR = 0; // Interval until the next main Stepper Pulse phase (0 = Now) + + #ifndef __AVR__ + // Disable interrupts, to avoid ISR preemption while we reprogram the period + // (AVR enters the ISR with global interrupts disabled, so no need to do it here) + DISABLE_ISRS(); + #endif + + // Program timer compare for the maximum period, so it does NOT + // flag an interrupt while this ISR is running - So changes from small + // periods to big periods are respected and the timer does not reset to 0 + HAL_timer_set_compare(STEP_TIMER_NUM, hal_timer_t(HAL_TIMER_TYPE_MAX)); + + // Count of ticks for the next ISR + hal_timer_t next_isr_ticks = 0; + + // Limit the amount of iterations + uint8_t max_loops = 10; + + // We need this variable here to be able to use it in the following loop + hal_timer_t min_ticks; + do { + // Enable ISRs to reduce USART processing latency + ENABLE_ISRS(); + #if ENABLED(MKS_TEST) + if(mks_test_flag == 0x1e) { + WRITE(X_STEP_PIN, HIGH); + WRITE(Y_STEP_PIN, HIGH); + WRITE(Z_STEP_PIN, HIGH); + WRITE(E0_STEP_PIN, HIGH); + #if !MB(MKS_ROBIN_E3P) + WRITE(E1_STEP_PIN, HIGH); + #endif + //WRITE(E2_STEP_PIN, HIGH); + } + #endif + + if (!nextMainISR) pulse_phase_isr(); // 0 = Do coordinated axes Stepper pulses + + #if ENABLED(LIN_ADVANCE) + if (!nextAdvanceISR) nextAdvanceISR = advance_isr(); // 0 = Do Linear Advance E Stepper pulses + #endif + + #if ENABLED(INTEGRATED_BABYSTEPPING) + const bool is_babystep = (nextBabystepISR == 0); // 0 = Do Babystepping (XY)Z pulses + if (is_babystep) nextBabystepISR = babystepping_isr(); + #endif + + // ^== Time critical. NOTHING besides pulse generation should be above here!!! + + if (!nextMainISR) nextMainISR = block_phase_isr(); // Manage acc/deceleration, get next block + + #if ENABLED(INTEGRATED_BABYSTEPPING) + if (is_babystep) // Avoid ANY stepping too soon after baby-stepping + NOLESS(nextMainISR, (BABYSTEP_TICKS) / 8); // FULL STOP for 125µs after a baby-step + + if (nextBabystepISR != BABYSTEP_NEVER) // Avoid baby-stepping too close to axis Stepping + NOLESS(nextBabystepISR, nextMainISR / 2); // TODO: Only look at axes enabled for baby-stepping + #endif + + // Get the interval to the next ISR call + const uint32_t interval = _MIN( + nextMainISR // Time until the next Pulse / Block phase + #if ENABLED(LIN_ADVANCE) + , nextAdvanceISR // Come back early for Linear Advance? + #endif + #if ENABLED(INTEGRATED_BABYSTEPPING) + , nextBabystepISR // Come back early for Babystepping? + #endif + , uint32_t(HAL_TIMER_TYPE_MAX) // Come back in a very long time + ); + + // + // Compute remaining time for each ISR phase + // NEVER : The phase is idle + // Zero : The phase will occur on the next ISR call + // Non-zero : The phase will occur on a future ISR call + // + + nextMainISR -= interval; + + #if ENABLED(LIN_ADVANCE) + if (nextAdvanceISR != LA_ADV_NEVER) nextAdvanceISR -= interval; + #endif + + #if ENABLED(INTEGRATED_BABYSTEPPING) + if (nextBabystepISR != BABYSTEP_NEVER) nextBabystepISR -= interval; + #endif + + /** + * This needs to avoid a race-condition caused by interleaving + * of interrupts required by both the LA and Stepper algorithms. + * + * Assume the following tick times for stepper pulses: + * Stepper ISR (S): 1 1000 2000 3000 4000 + * Linear Adv. (E): 10 1010 2010 3010 4010 + * + * The current algorithm tries to interleave them, giving: + * 1:S 10:E 1000:S 1010:E 2000:S 2010:E 3000:S 3010:E 4000:S 4010:E + * + * Ideal timing would yield these delta periods: + * 1:S 9:E 990:S 10:E 990:S 10:E 990:S 10:E 990:S 10:E + * + * But, since each event must fire an ISR with a minimum duration, the + * minimum delta might be 900, so deltas under 900 get rounded up: + * 900:S d900:E d990:S d900:E d990:S d900:E d990:S d900:E d990:S d900:E + * + * It works, but divides the speed of all motors by half, leading to a sudden + * reduction to 1/2 speed! Such jumps in speed lead to lost steps (not even + * accounting for double/quad stepping, which makes it even worse). + */ + + // Compute the tick count for the next ISR + next_isr_ticks += interval; + + /** + * The following section must be done with global interrupts disabled. + * We want nothing to interrupt it, as that could mess the calculations + * we do for the next value to program in the period register of the + * stepper timer and lead to skipped ISRs (if the value we happen to program + * is less than the current count due to something preempting between the + * read and the write of the new period value). + */ + #if ENABLED(MKS_TEST) + if(mks_test_flag == 0x1e) { + WRITE(X_STEP_PIN, LOW); + WRITE(Y_STEP_PIN, LOW); + WRITE(Z_STEP_PIN, LOW); + WRITE(E0_STEP_PIN, LOW); + #if !MB(MKS_ROBIN_E3P) + WRITE(E1_STEP_PIN, LOW); + #endif + //WRITE(E2_STEP_PIN, LOW); + } + #endif + DISABLE_ISRS(); + + /** + * Get the current tick value + margin + * Assuming at least 6µs between calls to this ISR... + * On AVR the ISR epilogue+prologue is estimated at 100 instructions - Give 8µs as margin + * On ARM the ISR epilogue+prologue is estimated at 20 instructions - Give 1µs as margin + */ + min_ticks = HAL_timer_get_count(STEP_TIMER_NUM) + hal_timer_t( + #ifdef __AVR__ + 8 + #else + 1 + #endif + * (STEPPER_TIMER_TICKS_PER_US) + ); + + /** + * NB: If for some reason the stepper monopolizes the MPU, eventually the + * timer will wrap around (and so will 'next_isr_ticks'). So, limit the + * loop to 10 iterations. Beyond that, there's no way to ensure correct pulse + * timing, since the MCU isn't fast enough. + */ + if (!--max_loops) next_isr_ticks = min_ticks; + + // Advance pulses if not enough time to wait for the next ISR + } while (next_isr_ticks < min_ticks); + + // Now 'next_isr_ticks' contains the period to the next Stepper ISR - And we are + // sure that the time has not arrived yet - Warrantied by the scheduler + + // Set the next ISR to fire at the proper time + HAL_timer_set_compare(STEP_TIMER_NUM, hal_timer_t(next_isr_ticks)); + + // Don't forget to finally reenable interrupts + ENABLE_ISRS(); +} + +#if MINIMUM_STEPPER_PULSE || MAXIMUM_STEPPER_RATE + #define ISR_PULSE_CONTROL 1 +#endif +#if ISR_PULSE_CONTROL && DISABLED(I2S_STEPPER_STREAM) + #define ISR_MULTI_STEPS 1 +#endif + +/** + * This phase of the ISR should ONLY create the pulses for the steppers. + * This prevents jitter caused by the interval between the start of the + * interrupt and the start of the pulses. DON'T add any logic ahead of the + * call to this method that might cause variation in the timing. The aim + * is to keep pulse timing as regular as possible. + */ +void Stepper::pulse_phase_isr() { + + // If we must abort the current block, do so! + if (abort_current_block) { + abort_current_block = false; + if (current_block) discard_current_block(); + } + + // If there is no current block, do nothing + if (!current_block) return; + + // Count of pending loops and events for this iteration + const uint32_t pending_events = step_event_count - step_events_completed; + uint8_t events_to_do = _MIN(pending_events, steps_per_isr); + + // Just update the value we will get at the end of the loop + step_events_completed += events_to_do; + + // Take multiple steps per interrupt (For high speed moves) + #if ISR_MULTI_STEPS + bool firstStep = true; + USING_TIMED_PULSE(); + #endif + xyze_bool_t step_needed{0}; + + do { + #define _APPLY_STEP(AXIS, INV, ALWAYS) AXIS ##_APPLY_STEP(INV, ALWAYS) + #define _INVERT_STEP_PIN(AXIS) INVERT_## AXIS ##_STEP_PIN + + // Determine if a pulse is needed using Bresenham + #define PULSE_PREP(AXIS) do{ \ + delta_error[_AXIS(AXIS)] += advance_dividend[_AXIS(AXIS)]; \ + step_needed[_AXIS(AXIS)] = (delta_error[_AXIS(AXIS)] >= 0); \ + if (step_needed[_AXIS(AXIS)]) { \ + count_position[_AXIS(AXIS)] += count_direction[_AXIS(AXIS)]; \ + delta_error[_AXIS(AXIS)] -= advance_divisor; \ + } \ + }while(0) + + // Start an active pulse if needed + #define PULSE_START(AXIS) do{ \ + if (step_needed[_AXIS(AXIS)]) { \ + _APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), 0); \ + } \ + }while(0) + + // Stop an active pulse if needed + #define PULSE_STOP(AXIS) do { \ + if (step_needed[_AXIS(AXIS)]) { \ + _APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), 0); \ + } \ + }while(0) + + // Direct Stepping page? + const bool is_page = IS_PAGE(current_block); + + #if ENABLED(DIRECT_STEPPING) + + if (is_page) { + + #if STEPPER_PAGE_FORMAT == SP_4x4D_128 + + #define PAGE_SEGMENT_UPDATE(AXIS, VALUE) do{ \ + if ((VALUE) < 7) SBI(dm, _AXIS(AXIS)); \ + else if ((VALUE) > 7) CBI(dm, _AXIS(AXIS)); \ + page_step_state.sd[_AXIS(AXIS)] = VALUE; \ + page_step_state.bd[_AXIS(AXIS)] += VALUE; \ + }while(0) + + #define PAGE_PULSE_PREP(AXIS) do{ \ + step_needed[_AXIS(AXIS)] = \ + pgm_read_byte(&segment_table[page_step_state.sd[_AXIS(AXIS)]][page_step_state.segment_steps & 0x7]); \ + }while(0) + + switch (page_step_state.segment_steps) { + case DirectStepping::Config::SEGMENT_STEPS: + page_step_state.segment_idx += 2; + page_step_state.segment_steps = 0; + // fallthru + case 0: { + const uint8_t low = page_step_state.page[page_step_state.segment_idx], + high = page_step_state.page[page_step_state.segment_idx + 1]; + uint8_t dm = last_direction_bits; + + PAGE_SEGMENT_UPDATE(X, low >> 4); + PAGE_SEGMENT_UPDATE(Y, low & 0xF); + PAGE_SEGMENT_UPDATE(Z, high >> 4); + PAGE_SEGMENT_UPDATE(E, high & 0xF); + + if (dm != last_direction_bits) + set_directions(dm); + + } break; + + default: break; + } + + PAGE_PULSE_PREP(X); + PAGE_PULSE_PREP(Y); + PAGE_PULSE_PREP(Z); + PAGE_PULSE_PREP(E); + + page_step_state.segment_steps++; + + #elif STEPPER_PAGE_FORMAT == SP_4x2_256 + + #define PAGE_SEGMENT_UPDATE(AXIS, VALUE) \ + page_step_state.sd[_AXIS(AXIS)] = VALUE; \ + page_step_state.bd[_AXIS(AXIS)] += VALUE; + + #define PAGE_PULSE_PREP(AXIS) do{ \ + step_needed[_AXIS(AXIS)] = \ + pgm_read_byte(&segment_table[page_step_state.sd[_AXIS(AXIS)]][page_step_state.segment_steps & 0x3]); \ + }while(0) + + switch (page_step_state.segment_steps) { + case DirectStepping::Config::SEGMENT_STEPS: + page_step_state.segment_idx++; + page_step_state.segment_steps = 0; + // fallthru + case 0: { + const uint8_t b = page_step_state.page[page_step_state.segment_idx]; + PAGE_SEGMENT_UPDATE(X, (b >> 6) & 0x3); + PAGE_SEGMENT_UPDATE(Y, (b >> 4) & 0x3); + PAGE_SEGMENT_UPDATE(Z, (b >> 2) & 0x3); + PAGE_SEGMENT_UPDATE(E, (b >> 0) & 0x3); + } break; + default: break; + } + + PAGE_PULSE_PREP(X); + PAGE_PULSE_PREP(Y); + PAGE_PULSE_PREP(Z); + PAGE_PULSE_PREP(E); + + page_step_state.segment_steps++; + + #elif STEPPER_PAGE_FORMAT == SP_4x1_512 + + #define PAGE_PULSE_PREP(AXIS, BITS) do{ \ + step_needed[_AXIS(AXIS)] = (steps >> BITS) & 0x1; \ + if (step_needed[_AXIS(AXIS)]) \ + page_step_state.bd[_AXIS(AXIS)]++; \ + }while(0) + + uint8_t steps = page_step_state.page[page_step_state.segment_idx >> 1]; + if (page_step_state.segment_idx & 0x1) steps >>= 4; + + PAGE_PULSE_PREP(X, 3); + PAGE_PULSE_PREP(Y, 2); + PAGE_PULSE_PREP(Z, 1); + PAGE_PULSE_PREP(E, 0); + + page_step_state.segment_idx++; + + #else + #error "Unknown direct stepping page format!" + #endif + } + + #endif // DIRECT_STEPPING + + if (!is_page) { + // Determine if pulses are needed + #if HAS_X_STEP + PULSE_PREP(X); + #endif + #if HAS_Y_STEP + PULSE_PREP(Y); + #endif + #if HAS_Z_STEP + PULSE_PREP(Z); + #endif + + #if EITHER(LIN_ADVANCE, MIXING_EXTRUDER) + delta_error.e += advance_dividend.e; + if (delta_error.e >= 0) { + count_position.e += count_direction.e; + #if ENABLED(LIN_ADVANCE) + delta_error.e -= advance_divisor; + // Don't step E here - But remember the number of steps to perform + motor_direction(E_AXIS) ? --LA_steps : ++LA_steps; + #else + step_needed.e = true; + #endif + } + #elif HAS_E0_STEP + PULSE_PREP(E); + #endif + } + + #if ISR_MULTI_STEPS + if (firstStep) + firstStep = false; + else + AWAIT_LOW_PULSE(); + #endif + + // Pulse start + #if HAS_X_STEP + PULSE_START(X); + #endif + #if HAS_Y_STEP + PULSE_START(Y); + #endif + #if HAS_Z_STEP + PULSE_START(Z); + #endif + + #if DISABLED(LIN_ADVANCE) + #if ENABLED(MIXING_EXTRUDER) + if (step_needed.e) E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN); + #elif HAS_E0_STEP + PULSE_START(E); + #endif + #endif + + #if ENABLED(I2S_STEPPER_STREAM) + i2s_push_sample(); + #endif + + // TODO: need to deal with MINIMUM_STEPPER_PULSE over i2s + #if ISR_MULTI_STEPS + START_HIGH_PULSE(); + AWAIT_HIGH_PULSE(); + #endif + + // Pulse stop + #if HAS_X_STEP + PULSE_STOP(X); + #endif + #if HAS_Y_STEP + PULSE_STOP(Y); + #endif + #if HAS_Z_STEP + PULSE_STOP(Z); + #endif + + #if DISABLED(LIN_ADVANCE) + #if ENABLED(MIXING_EXTRUDER) + if (delta_error.e >= 0) { + delta_error.e -= advance_divisor; + E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN); + } + #elif HAS_E0_STEP + PULSE_STOP(E); + #endif + #endif + + #if ISR_MULTI_STEPS + if (events_to_do) START_LOW_PULSE(); + #endif + + } while (--events_to_do); +} + +// This is the last half of the stepper interrupt: This one processes and +// properly schedules blocks from the planner. This is executed after creating +// the step pulses, so it is not time critical, as pulses are already done. + +uint32_t Stepper::block_phase_isr() { + + // If no queued movements, just wait 1ms for the next block + uint32_t interval = (STEPPER_TIMER_RATE) / 1000UL; + + // If there is a current block + if (current_block) { + + // If current block is finished, reset pointer and finalize state + if (step_events_completed >= step_event_count) { + #if ENABLED(DIRECT_STEPPING) + #if STEPPER_PAGE_FORMAT == SP_4x4D_128 + #define PAGE_SEGMENT_UPDATE_POS(AXIS) \ + count_position[_AXIS(AXIS)] += page_step_state.bd[_AXIS(AXIS)] - 128 * 7; + #elif STEPPER_PAGE_FORMAT == SP_4x1_512 || STEPPER_PAGE_FORMAT == SP_4x2_256 + #define PAGE_SEGMENT_UPDATE_POS(AXIS) \ + count_position[_AXIS(AXIS)] += page_step_state.bd[_AXIS(AXIS)] * count_direction[_AXIS(AXIS)]; + #endif + + if (IS_PAGE(current_block)) { + PAGE_SEGMENT_UPDATE_POS(X); + PAGE_SEGMENT_UPDATE_POS(Y); + PAGE_SEGMENT_UPDATE_POS(Z); + PAGE_SEGMENT_UPDATE_POS(E); + } + #endif + TERN_(HAS_FILAMENT_RUNOUT_DISTANCE, runout.block_completed(current_block)); + discard_current_block(); + } + else { + // Step events not completed yet... + + // Are we in acceleration phase ? + if (step_events_completed <= accelerate_until) { // Calculate new timer value + + #if ENABLED(S_CURVE_ACCELERATION) + // Get the next speed to use (Jerk limited!) + uint32_t acc_step_rate = acceleration_time < current_block->acceleration_time + ? _eval_bezier_curve(acceleration_time) + : current_block->cruise_rate; + #else + acc_step_rate = STEP_MULTIPLY(acceleration_time, current_block->acceleration_rate) + current_block->initial_rate; + NOMORE(acc_step_rate, current_block->nominal_rate); + #endif + + // acc_step_rate is in steps/second + + // step_rate to timer interval and steps per stepper isr + interval = calc_timer_interval(acc_step_rate, &steps_per_isr); + acceleration_time += interval; + + #if ENABLED(LIN_ADVANCE) + if (LA_use_advance_lead) { + // Fire ISR if final adv_rate is reached + if (LA_steps && LA_isr_rate != current_block->advance_speed) nextAdvanceISR = 0; + } + else if (LA_steps) nextAdvanceISR = 0; + #endif + + // Update laser - Accelerating + #if ENABLED(LASER_POWER_INLINE_TRAPEZOID) + if (laser_trap.enabled) { + #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) + if (current_block->laser.entry_per) { + laser_trap.acc_step_count -= step_events_completed - laser_trap.last_step_count; + laser_trap.last_step_count = step_events_completed; + + // Should be faster than a divide, since this should trip just once + if (laser_trap.acc_step_count < 0) { + while (laser_trap.acc_step_count < 0) { + laser_trap.acc_step_count += current_block->laser.entry_per; + if (laser_trap.cur_power < current_block->laser.power) laser_trap.cur_power++; + } + cutter.set_ocr_power(laser_trap.cur_power); + } + } + #else + if (laser_trap.till_update) + laser_trap.till_update--; + else { + laser_trap.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER; + laser_trap.cur_power = (current_block->laser.power * acc_step_rate) / current_block->nominal_rate; + cutter.set_ocr_power(laser_trap.cur_power); // Cycle efficiency is irrelevant it the last line was many cycles + } + #endif + } + #endif + } + // Are we in Deceleration phase ? + else if (step_events_completed > decelerate_after) { + uint32_t step_rate; + + #if ENABLED(S_CURVE_ACCELERATION) + // If this is the 1st time we process the 2nd half of the trapezoid... + if (!bezier_2nd_half) { + // Initialize the Bézier speed curve + _calc_bezier_curve_coeffs(current_block->cruise_rate, current_block->final_rate, current_block->deceleration_time_inverse); + bezier_2nd_half = true; + // The first point starts at cruise rate. Just save evaluation of the Bézier curve + step_rate = current_block->cruise_rate; + } + else { + // Calculate the next speed to use + step_rate = deceleration_time < current_block->deceleration_time + ? _eval_bezier_curve(deceleration_time) + : current_block->final_rate; + } + #else + + // Using the old trapezoidal control + step_rate = STEP_MULTIPLY(deceleration_time, current_block->acceleration_rate); + if (step_rate < acc_step_rate) { // Still decelerating? + step_rate = acc_step_rate - step_rate; + NOLESS(step_rate, current_block->final_rate); + } + else + step_rate = current_block->final_rate; + #endif + + // step_rate is in steps/second + + // step_rate to timer interval and steps per stepper isr + interval = calc_timer_interval(step_rate, &steps_per_isr); + deceleration_time += interval; + + #if ENABLED(LIN_ADVANCE) + if (LA_use_advance_lead) { + // Wake up eISR on first deceleration loop and fire ISR if final adv_rate is reached + if (step_events_completed <= decelerate_after + steps_per_isr || (LA_steps && LA_isr_rate != current_block->advance_speed)) { + initiateLA(); + LA_isr_rate = current_block->advance_speed; + } + } + else if (LA_steps) nextAdvanceISR = 0; + #endif // LIN_ADVANCE + + // Update laser - Decelerating + #if ENABLED(LASER_POWER_INLINE_TRAPEZOID) + if (laser_trap.enabled) { + #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) + if (current_block->laser.exit_per) { + laser_trap.acc_step_count -= step_events_completed - laser_trap.last_step_count; + laser_trap.last_step_count = step_events_completed; + + // Should be faster than a divide, since this should trip just once + if (laser_trap.acc_step_count < 0) { + while (laser_trap.acc_step_count < 0) { + laser_trap.acc_step_count += current_block->laser.exit_per; + if (laser_trap.cur_power > current_block->laser.power_exit) laser_trap.cur_power--; + } + cutter.set_ocr_power(laser_trap.cur_power); + } + } + #else + if (laser_trap.till_update) + laser_trap.till_update--; + else { + laser_trap.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER; + laser_trap.cur_power = (current_block->laser.power * step_rate) / current_block->nominal_rate; + cutter.set_ocr_power(laser_trap.cur_power); // Cycle efficiency isn't relevant when the last line was many cycles + } + #endif + } + #endif + } + // Must be in cruise phase otherwise + else { + + #if ENABLED(LIN_ADVANCE) + // If there are any esteps, fire the next advance_isr "now" + if (LA_steps && LA_isr_rate != current_block->advance_speed) initiateLA(); + #endif + + // Calculate the ticks_nominal for this nominal speed, if not done yet + if (ticks_nominal < 0) { + // step_rate to timer interval and loops for the nominal speed + ticks_nominal = calc_timer_interval(current_block->nominal_rate, &steps_per_isr); + } + + // The timer interval is just the nominal value for the nominal speed + interval = ticks_nominal; + + // Update laser - Cruising + #if ENABLED(LASER_POWER_INLINE_TRAPEZOID) + if (laser_trap.enabled) { + if (!laser_trap.cruise_set) { + laser_trap.cur_power = current_block->laser.power; + cutter.set_ocr_power(laser_trap.cur_power); + laser_trap.cruise_set = true; + } + #if ENABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) + laser_trap.till_update = LASER_POWER_INLINE_TRAPEZOID_CONT_PER; + #else + laser_trap.last_step_count = step_events_completed; + #endif + } + #endif + } + } + } + + // If there is no current block at this point, attempt to pop one from the buffer + // and prepare its movement + if (!current_block) { + + // Anything in the buffer? + if ((current_block = planner.get_current_block())) { + + // Sync block? Sync the stepper counts and return + while (TEST(current_block->flag, BLOCK_BIT_SYNC_POSITION)) { + _set_position(current_block->position); + discard_current_block(); + + // Try to get a new block + if (!(current_block = planner.get_current_block())) + return interval; // No more queued movements! + } + + // For non-inline cutter, grossly apply power + #if ENABLED(LASER_FEATURE) && DISABLED(LASER_POWER_INLINE) + cutter.apply_power(current_block->cutter_power); + #endif + + TERN_(POWER_LOSS_RECOVERY, recovery.info.sdpos = current_block->sdpos); + + #if ENABLED(DIRECT_STEPPING) + if (IS_PAGE(current_block)) { + page_step_state.segment_steps = 0; + page_step_state.segment_idx = 0; + page_step_state.page = page_manager.get_page(current_block->page_idx); + page_step_state.bd.reset(); + + if (DirectStepping::Config::DIRECTIONAL) + current_block->direction_bits = last_direction_bits; + + if (!page_step_state.page) { + discard_current_block(); + return interval; + } + } + #endif + + // Flag all moving axes for proper endstop handling + + #if IS_CORE + // Define conditions for checking endstops + #define S_(N) current_block->steps[CORE_AXIS_##N] + #define D_(N) TEST(current_block->direction_bits, CORE_AXIS_##N) + #endif + + #if CORE_IS_XY || CORE_IS_XZ + /** + * Head direction in -X axis for CoreXY and CoreXZ bots. + * + * If steps differ, both axes are moving. + * If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z, handled below) + * If DeltaA == DeltaB, the movement is only in the 1st axis (X) + */ + #if EITHER(COREXY, COREXZ) + #define X_CMP(A,B) ((A)==(B)) + #else + #define X_CMP(A,B) ((A)!=(B)) + #endif + #define X_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && X_CMP(D_(1),D_(2))) ) + #elif ENABLED(MARKFORGED_XY) + #define X_MOVE_TEST (current_block->steps.a != current_block->steps.b) + #else + #define X_MOVE_TEST !!current_block->steps.a + #endif + + #if CORE_IS_XY || CORE_IS_YZ + /** + * Head direction in -Y axis for CoreXY / CoreYZ bots. + * + * If steps differ, both axes are moving + * If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y) + * If DeltaA == -DeltaB, the movement is only in the 2nd axis (Y or Z) + */ + #if EITHER(COREYX, COREYZ) + #define Y_CMP(A,B) ((A)==(B)) + #else + #define Y_CMP(A,B) ((A)!=(B)) + #endif + #define Y_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Y_CMP(D_(1),D_(2))) ) + #else + #define Y_MOVE_TEST !!current_block->steps.b + #endif + + #if CORE_IS_XZ || CORE_IS_YZ + /** + * Head direction in -Z axis for CoreXZ or CoreYZ bots. + * + * If steps differ, both axes are moving + * If DeltaA == DeltaB, the movement is only in the 1st axis (X or Y, already handled above) + * If DeltaA == -DeltaB, the movement is only in the 2nd axis (Z) + */ + #if EITHER(COREZX, COREZY) + #define Z_CMP(A,B) ((A)==(B)) + #else + #define Z_CMP(A,B) ((A)!=(B)) + #endif + #define Z_MOVE_TEST ( S_(1) != S_(2) || (S_(1) > 0 && Z_CMP(D_(1),D_(2))) ) + #else + #define Z_MOVE_TEST !!current_block->steps.c + #endif + + uint8_t axis_bits = 0; + if (X_MOVE_TEST) SBI(axis_bits, A_AXIS); + if (Y_MOVE_TEST) SBI(axis_bits, B_AXIS); + if (Z_MOVE_TEST) SBI(axis_bits, C_AXIS); + //if (!!current_block->steps.e) SBI(axis_bits, E_AXIS); + //if (!!current_block->steps.a) SBI(axis_bits, X_HEAD); + //if (!!current_block->steps.b) SBI(axis_bits, Y_HEAD); + //if (!!current_block->steps.c) SBI(axis_bits, Z_HEAD); + axis_did_move = axis_bits; + + // No acceleration / deceleration time elapsed so far + acceleration_time = deceleration_time = 0; + + #if ENABLED(ADAPTIVE_STEP_SMOOTHING) + uint8_t oversampling = 0; // Assume no axis smoothing (via oversampling) + // Decide if axis smoothing is possible + uint32_t max_rate = current_block->nominal_rate; // Get the step event rate + while (max_rate < MIN_STEP_ISR_FREQUENCY) { // As long as more ISRs are possible... + max_rate <<= 1; // Try to double the rate + if (max_rate < MIN_STEP_ISR_FREQUENCY) // Don't exceed the estimated ISR limit + ++oversampling; // Increase the oversampling (used for left-shift) + } + oversampling_factor = oversampling; // For all timer interval calculations + #else + constexpr uint8_t oversampling = 0; + #endif + + // Based on the oversampling factor, do the calculations + step_event_count = current_block->step_event_count << oversampling; + + // Initialize Bresenham delta errors to 1/2 + delta_error = -int32_t(step_event_count); + + // Calculate Bresenham dividends and divisors + advance_dividend = current_block->steps << 1; + advance_divisor = step_event_count << 1; + + // No step events completed so far + step_events_completed = 0; + + // Compute the acceleration and deceleration points + accelerate_until = current_block->accelerate_until << oversampling; + decelerate_after = current_block->decelerate_after << oversampling; + + #if ENABLED(MIXING_EXTRUDER) + MIXER_STEPPER_SETUP(); + #endif + + TERN_(HAS_MULTI_EXTRUDER, stepper_extruder = current_block->extruder); + + // Initialize the trapezoid generator from the current block. + #if ENABLED(LIN_ADVANCE) + #if DISABLED(MIXING_EXTRUDER) && E_STEPPERS > 1 + // If the now active extruder wasn't in use during the last move, its pressure is most likely gone. + if (stepper_extruder != last_moved_extruder) LA_current_adv_steps = 0; + #endif + + if ((LA_use_advance_lead = current_block->use_advance_lead)) { + LA_final_adv_steps = current_block->final_adv_steps; + LA_max_adv_steps = current_block->max_adv_steps; + initiateLA(); // Start the ISR + LA_isr_rate = current_block->advance_speed; + } + else LA_isr_rate = LA_ADV_NEVER; + #endif + + if ( ENABLED(HAS_L64XX) // Always set direction for L64xx (Also enables the chips) + || ENABLED(DUAL_X_CARRIAGE) // TODO: Find out why this fixes "jittery" small circles + || current_block->direction_bits != last_direction_bits + || TERN(MIXING_EXTRUDER, false, stepper_extruder != last_moved_extruder) + ) { + TERN_(HAS_MULTI_EXTRUDER, last_moved_extruder = stepper_extruder); + TERN_(HAS_L64XX, L64XX_OK_to_power_up = true); + set_directions(current_block->direction_bits); + } + + #if ENABLED(LASER_POWER_INLINE) + const power_status_t stat = current_block->laser.status; + #if ENABLED(LASER_POWER_INLINE_TRAPEZOID) + laser_trap.enabled = stat.isPlanned && stat.isEnabled; + laser_trap.cur_power = current_block->laser.power_entry; // RESET STATE + laser_trap.cruise_set = false; + #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) + laser_trap.last_step_count = 0; + laser_trap.acc_step_count = current_block->laser.entry_per / 2; + #else + laser_trap.till_update = 0; + #endif + // Always have PWM in this case + if (stat.isPlanned) { // Planner controls the laser + cutter.set_ocr_power( + stat.isEnabled ? laser_trap.cur_power : 0 // ON with power or OFF + ); + } + #else + if (stat.isPlanned) { // Planner controls the laser + #if ENABLED(SPINDLE_LASER_PWM) + cutter.set_ocr_power( + stat.isEnabled ? current_block->laser.power : 0 // ON with power or OFF + ); + #else + cutter.set_enabled(stat.isEnabled); + #endif + } + #endif + #endif // LASER_POWER_INLINE + + // At this point, we must ensure the movement about to execute isn't + // trying to force the head against a limit switch. If using interrupt- + // driven change detection, and already against a limit then no call to + // the endstop_triggered method will be done and the movement will be + // done against the endstop. So, check the limits here: If the movement + // is against the limits, the block will be marked as to be killed, and + // on the next call to this ISR, will be discarded. + endstops.update(); + + #if ENABLED(Z_LATE_ENABLE) + // If delayed Z enable, enable it now. This option will severely interfere with + // timing between pulses when chaining motion between blocks, and it could lead + // to lost steps in both X and Y axis, so avoid using it unless strictly necessary!! + if (current_block->steps.z) ENABLE_AXIS_Z(); + #endif + + // Mark the time_nominal as not calculated yet + ticks_nominal = -1; + + #if ENABLED(S_CURVE_ACCELERATION) + // Initialize the Bézier speed curve + _calc_bezier_curve_coeffs(current_block->initial_rate, current_block->cruise_rate, current_block->acceleration_time_inverse); + // We haven't started the 2nd half of the trapezoid + bezier_2nd_half = false; + #else + // Set as deceleration point the initial rate of the block + acc_step_rate = current_block->initial_rate; + #endif + + // Calculate the initial timer interval + interval = calc_timer_interval(current_block->initial_rate, &steps_per_isr); + } + #if ENABLED(LASER_POWER_INLINE_CONTINUOUS) + else { // No new block found; so apply inline laser parameters + // This should mean ending file with 'M5 I' will stop the laser; thus the inline flag isn't needed + const power_status_t stat = planner.laser_inline.status; + if (stat.isPlanned) { // Planner controls the laser + #if ENABLED(SPINDLE_LASER_PWM) + cutter.set_ocr_power( + stat.isEnabled ? planner.laser_inline.power : 0 // ON with power or OFF + ); + #else + cutter.set_enabled(stat.isEnabled); + #endif + } + } + #endif + } + + // Return the interval to wait + return interval; +} + +#if ENABLED(LIN_ADVANCE) + + // Timer interrupt for E. LA_steps is set in the main routine + uint32_t Stepper::advance_isr() { + uint32_t interval; + + if (LA_use_advance_lead) { + if (step_events_completed > decelerate_after && LA_current_adv_steps > LA_final_adv_steps) { + LA_steps--; + LA_current_adv_steps--; + interval = LA_isr_rate; + } + else if (step_events_completed < decelerate_after && LA_current_adv_steps < LA_max_adv_steps) { + LA_steps++; + LA_current_adv_steps++; + interval = LA_isr_rate; + } + else + interval = LA_isr_rate = LA_ADV_NEVER; + } + else + interval = LA_ADV_NEVER; + + if (!LA_steps) return interval; // Leave pins alone if there are no steps! + + DIR_WAIT_BEFORE(); + + #if ENABLED(MIXING_EXTRUDER) + // We don't know which steppers will be stepped because LA loop follows, + // with potentially multiple steps. Set all. + if (LA_steps > 0) + MIXER_STEPPER_LOOP(j) NORM_E_DIR(j); + else if (LA_steps < 0) + MIXER_STEPPER_LOOP(j) REV_E_DIR(j); + #else + if (LA_steps > 0) + NORM_E_DIR(stepper_extruder); + else if (LA_steps < 0) + REV_E_DIR(stepper_extruder); + #endif + + DIR_WAIT_AFTER(); + + //const hal_timer_t added_step_ticks = hal_timer_t(ADDED_STEP_TICKS); + + // Step E stepper if we have steps + #if ISR_MULTI_STEPS + bool firstStep = true; + USING_TIMED_PULSE(); + #endif + + while (LA_steps) { + #if ISR_MULTI_STEPS + if (firstStep) + firstStep = false; + else + AWAIT_LOW_PULSE(); + #endif + + // Set the STEP pulse ON + #if ENABLED(MIXING_EXTRUDER) + E_STEP_WRITE(mixer.get_next_stepper(), !INVERT_E_STEP_PIN); + #else + E_STEP_WRITE(stepper_extruder, !INVERT_E_STEP_PIN); + #endif + + // Enforce a minimum duration for STEP pulse ON + #if ISR_PULSE_CONTROL + START_HIGH_PULSE(); + #endif + + LA_steps < 0 ? ++LA_steps : --LA_steps; + + #if ISR_PULSE_CONTROL + AWAIT_HIGH_PULSE(); + #endif + + // Set the STEP pulse OFF + #if ENABLED(MIXING_EXTRUDER) + E_STEP_WRITE(mixer.get_stepper(), INVERT_E_STEP_PIN); + #else + E_STEP_WRITE(stepper_extruder, INVERT_E_STEP_PIN); + #endif + + // For minimum pulse time wait before looping + // Just wait for the requested pulse duration + #if ISR_PULSE_CONTROL + if (LA_steps) START_LOW_PULSE(); + #endif + } // LA_steps + + return interval; + } + +#endif // LIN_ADVANCE + +#if ENABLED(INTEGRATED_BABYSTEPPING) + + // Timer interrupt for baby-stepping + uint32_t Stepper::babystepping_isr() { + babystep.task(); + return babystep.has_steps() ? BABYSTEP_TICKS : BABYSTEP_NEVER; + } + +#endif + +// Check if the given block is busy or not - Must not be called from ISR contexts +// The current_block could change in the middle of the read by an Stepper ISR, so +// we must explicitly prevent that! +bool Stepper::is_block_busy(const block_t* const block) { + #ifdef __AVR__ + // A SW memory barrier, to ensure GCC does not overoptimize loops + #define sw_barrier() asm volatile("": : :"memory"); + + // Keep reading until 2 consecutive reads return the same value, + // meaning there was no update in-between caused by an interrupt. + // This works because stepper ISRs happen at a slower rate than + // successive reads of a variable, so 2 consecutive reads with + // the same value means no interrupt updated it. + block_t* vold, *vnew = current_block; + sw_barrier(); + do { + vold = vnew; + vnew = current_block; + sw_barrier(); + } while (vold != vnew); + #else + block_t *vnew = current_block; + #endif + + // Return if the block is busy or not + return block == vnew; +} + +void Stepper::init() { + + #if MB(ALLIGATOR) + const float motor_current[] = MOTOR_CURRENT; + unsigned int digipot_motor = 0; + LOOP_L_N(i, 3 + EXTRUDERS) { + digipot_motor = 255 * (motor_current[i] / 2.5); + dac084s085::setValue(i, digipot_motor); + } + #endif + + // Init Microstepping Pins + TERN_(HAS_MICROSTEPS, microstep_init()); + + // Init Dir Pins + TERN_(HAS_X_DIR, X_DIR_INIT()); + TERN_(HAS_X2_DIR, X2_DIR_INIT()); + #if HAS_Y_DIR + Y_DIR_INIT(); + #if BOTH(Y_DUAL_STEPPER_DRIVERS, HAS_Y2_DIR) + Y2_DIR_INIT(); + #endif + #endif + #if HAS_Z_DIR + Z_DIR_INIT(); + #if NUM_Z_STEPPER_DRIVERS >= 2 && HAS_Z2_DIR + Z2_DIR_INIT(); + #endif + #if NUM_Z_STEPPER_DRIVERS >= 3 && HAS_Z3_DIR + Z3_DIR_INIT(); + #endif + #if NUM_Z_STEPPER_DRIVERS >= 4 && HAS_Z4_DIR + Z4_DIR_INIT(); + #endif + #endif + #if HAS_E0_DIR + E0_DIR_INIT(); + #endif + #if HAS_E1_DIR + E1_DIR_INIT(); + #endif + #if HAS_E2_DIR + E2_DIR_INIT(); + #endif + #if HAS_E3_DIR + E3_DIR_INIT(); + #endif + #if HAS_E4_DIR + E4_DIR_INIT(); + #endif + #if HAS_E5_DIR + E5_DIR_INIT(); + #endif + #if HAS_E6_DIR + E6_DIR_INIT(); + #endif + #if HAS_E7_DIR + E7_DIR_INIT(); + #endif + + // Init Enable Pins - steppers default to disabled. + #if HAS_X_ENABLE + X_ENABLE_INIT(); + if (!X_ENABLE_ON) X_ENABLE_WRITE(HIGH); + #if EITHER(DUAL_X_CARRIAGE, X_DUAL_STEPPER_DRIVERS) && HAS_X2_ENABLE + X2_ENABLE_INIT(); + if (!X_ENABLE_ON) X2_ENABLE_WRITE(HIGH); + #endif + #endif + #if HAS_Y_ENABLE + Y_ENABLE_INIT(); + if (!Y_ENABLE_ON) Y_ENABLE_WRITE(HIGH); + #if BOTH(Y_DUAL_STEPPER_DRIVERS, HAS_Y2_ENABLE) + Y2_ENABLE_INIT(); + if (!Y_ENABLE_ON) Y2_ENABLE_WRITE(HIGH); + #endif + #endif + #if HAS_Z_ENABLE + Z_ENABLE_INIT(); + if (!Z_ENABLE_ON) Z_ENABLE_WRITE(HIGH); + #if NUM_Z_STEPPER_DRIVERS >= 2 && HAS_Z2_ENABLE + Z2_ENABLE_INIT(); + if (!Z_ENABLE_ON) Z2_ENABLE_WRITE(HIGH); + #endif + #if NUM_Z_STEPPER_DRIVERS >= 3 && HAS_Z3_ENABLE + Z3_ENABLE_INIT(); + if (!Z_ENABLE_ON) Z3_ENABLE_WRITE(HIGH); + #endif + #if NUM_Z_STEPPER_DRIVERS >= 4 && HAS_Z4_ENABLE + Z4_ENABLE_INIT(); + if (!Z_ENABLE_ON) Z4_ENABLE_WRITE(HIGH); + #endif + #endif + #if HAS_E0_ENABLE + E0_ENABLE_INIT(); + if (!E_ENABLE_ON) E0_ENABLE_WRITE(HIGH); + #endif + #if HAS_E1_ENABLE + E1_ENABLE_INIT(); + if (!E_ENABLE_ON) E1_ENABLE_WRITE(HIGH); + #endif + #if HAS_E2_ENABLE + E2_ENABLE_INIT(); + if (!E_ENABLE_ON) E2_ENABLE_WRITE(HIGH); + #endif + #if HAS_E3_ENABLE + E3_ENABLE_INIT(); + if (!E_ENABLE_ON) E3_ENABLE_WRITE(HIGH); + #endif + #if HAS_E4_ENABLE + E4_ENABLE_INIT(); + if (!E_ENABLE_ON) E4_ENABLE_WRITE(HIGH); + #endif + #if HAS_E5_ENABLE + E5_ENABLE_INIT(); + if (!E_ENABLE_ON) E5_ENABLE_WRITE(HIGH); + #endif + #if HAS_E6_ENABLE + E6_ENABLE_INIT(); + if (!E_ENABLE_ON) E6_ENABLE_WRITE(HIGH); + #endif + #if HAS_E7_ENABLE + E7_ENABLE_INIT(); + if (!E_ENABLE_ON) E7_ENABLE_WRITE(HIGH); + #endif + + #define _STEP_INIT(AXIS) AXIS ##_STEP_INIT() + #define _WRITE_STEP(AXIS, HIGHLOW) AXIS ##_STEP_WRITE(HIGHLOW) + #define _DISABLE_AXIS(AXIS) DISABLE_AXIS_## AXIS() + + #define AXIS_INIT(AXIS, PIN) \ + _STEP_INIT(AXIS); \ + _WRITE_STEP(AXIS, _INVERT_STEP_PIN(PIN)); \ + _DISABLE_AXIS(AXIS) + + #define E_AXIS_INIT(NUM) AXIS_INIT(E## NUM, E) + + // Init Step Pins + #if HAS_X_STEP + #if EITHER(X_DUAL_STEPPER_DRIVERS, DUAL_X_CARRIAGE) + X2_STEP_INIT(); + X2_STEP_WRITE(INVERT_X_STEP_PIN); + #endif + AXIS_INIT(X, X); + #endif + + #if HAS_Y_STEP + #if ENABLED(Y_DUAL_STEPPER_DRIVERS) + Y2_STEP_INIT(); + Y2_STEP_WRITE(INVERT_Y_STEP_PIN); + #endif + AXIS_INIT(Y, Y); + #endif + + #if HAS_Z_STEP + #if NUM_Z_STEPPER_DRIVERS >= 2 + Z2_STEP_INIT(); + Z2_STEP_WRITE(INVERT_Z_STEP_PIN); + #endif + #if NUM_Z_STEPPER_DRIVERS >= 3 + Z3_STEP_INIT(); + Z3_STEP_WRITE(INVERT_Z_STEP_PIN); + #endif + #if NUM_Z_STEPPER_DRIVERS >= 4 + Z4_STEP_INIT(); + Z4_STEP_WRITE(INVERT_Z_STEP_PIN); + #endif + AXIS_INIT(Z, Z); + #endif + + #if E_STEPPERS && HAS_E0_STEP + E_AXIS_INIT(0); + #endif + #if E_STEPPERS > 1 && HAS_E1_STEP + E_AXIS_INIT(1); + #endif + #if E_STEPPERS > 2 && HAS_E2_STEP + E_AXIS_INIT(2); + #endif + #if E_STEPPERS > 3 && HAS_E3_STEP + E_AXIS_INIT(3); + #endif + #if E_STEPPERS > 4 && HAS_E4_STEP + E_AXIS_INIT(4); + #endif + #if E_STEPPERS > 5 && HAS_E5_STEP + E_AXIS_INIT(5); + #endif + #if E_STEPPERS > 6 && HAS_E6_STEP + E_AXIS_INIT(6); + #endif + #if E_STEPPERS > 7 && HAS_E7_STEP + E_AXIS_INIT(7); + #endif + + #if DISABLED(I2S_STEPPER_STREAM) + HAL_timer_start(STEP_TIMER_NUM, 122); // Init Stepper ISR to 122 Hz for quick starting + wake_up(); + sei(); + #endif + + // Init direction bits for first moves + set_directions((INVERT_X_DIR ? _BV(X_AXIS) : 0) + | (INVERT_Y_DIR ? _BV(Y_AXIS) : 0) + | (INVERT_Z_DIR ? _BV(Z_AXIS) : 0)); + + #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + initialized = true; + digipot_init(); + #endif +} + +/** + * Set the stepper positions directly in steps + * + * The input is based on the typical per-axis XYZ steps. + * For CORE machines XYZ needs to be translated to ABC. + * + * This allows get_axis_position_mm to correctly + * derive the current XYZ position later on. + */ +void Stepper::_set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) { + #if CORE_IS_XY + // corexy positioning + // these equations follow the form of the dA and dB equations on https://www.corexy.com/theory.html + count_position.set(a + b, CORESIGN(a - b), c); + #elif CORE_IS_XZ + // corexz planning + count_position.set(a + c, b, CORESIGN(a - c)); + #elif CORE_IS_YZ + // coreyz planning + count_position.set(a, b + c, CORESIGN(b - c)); + #elif ENABLED(MARKFORGED_XY) + count_position.set(a - b, b, c); + #else + // default non-h-bot planning + count_position.set(a, b, c); + #endif + count_position.e = e; +} + +/** + * Get a stepper's position in steps. + */ +int32_t Stepper::position(const AxisEnum axis) { + #ifdef __AVR__ + // Protect the access to the position. Only required for AVR, as + // any 32bit CPU offers atomic access to 32bit variables + const bool was_enabled = suspend(); + #endif + + const int32_t v = count_position[axis]; + + #ifdef __AVR__ + // Reenable Stepper ISR + if (was_enabled) wake_up(); + #endif + return v; +} + +// Set the current position in steps +void Stepper::set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e) { + planner.synchronize(); + const bool was_enabled = suspend(); + _set_position(a, b, c, e); + if (was_enabled) wake_up(); +} + +void Stepper::set_axis_position(const AxisEnum a, const int32_t &v) { + planner.synchronize(); + + #ifdef __AVR__ + // Protect the access to the position. Only required for AVR, as + // any 32bit CPU offers atomic access to 32bit variables + const bool was_enabled = suspend(); + #endif + + count_position[a] = v; + + #ifdef __AVR__ + // Reenable Stepper ISR + if (was_enabled) wake_up(); + #endif +} + +// Signal endstops were triggered - This function can be called from +// an ISR context (Temperature, Stepper or limits ISR), so we must +// be very careful here. If the interrupt being preempted was the +// Stepper ISR (this CAN happen with the endstop limits ISR) then +// when the stepper ISR resumes, we must be very sure that the movement +// is properly canceled +void Stepper::endstop_triggered(const AxisEnum axis) { + + const bool was_enabled = suspend(); + endstops_trigsteps[axis] = ( + #if IS_CORE + (axis == CORE_AXIS_2 + ? CORESIGN(count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2]) + : count_position[CORE_AXIS_1] + count_position[CORE_AXIS_2] + ) * double(0.5) + #elif ENABLED(MARKFORGED_XY) + axis == CORE_AXIS_1 + ? count_position[CORE_AXIS_1] - count_position[CORE_AXIS_2] + : count_position[CORE_AXIS_2] + #else // !IS_CORE + count_position[axis] + #endif + ); + + // Discard the rest of the move if there is a current block + quick_stop(); + + if (was_enabled) wake_up(); +} + +int32_t Stepper::triggered_position(const AxisEnum axis) { + #ifdef __AVR__ + // Protect the access to the position. Only required for AVR, as + // any 32bit CPU offers atomic access to 32bit variables + const bool was_enabled = suspend(); + #endif + + const int32_t v = endstops_trigsteps[axis]; + + #ifdef __AVR__ + // Reenable Stepper ISR + if (was_enabled) wake_up(); + #endif + + return v; +} + +void Stepper::report_a_position(const xyz_long_t &pos) { + #if ANY(CORE_IS_XY, CORE_IS_XZ, MARKFORGED_XY, DELTA, IS_SCARA) + SERIAL_ECHOPAIR(STR_COUNT_A, pos.x, " B:", pos.y); + #else + SERIAL_ECHOPAIR_P(PSTR(STR_COUNT_X), pos.x, SP_Y_LBL, pos.y); + #endif + #if ANY(CORE_IS_XZ, CORE_IS_YZ, DELTA) + SERIAL_ECHOLNPAIR(" C:", pos.z); + #else + SERIAL_ECHOLNPAIR_P(SP_Z_LBL, pos.z); + #endif +} + +void Stepper::report_positions() { + + #ifdef __AVR__ + // Protect the access to the position. + const bool was_enabled = suspend(); + #endif + + const xyz_long_t pos = count_position; + + #ifdef __AVR__ + if (was_enabled) wake_up(); + #endif + + report_a_position(pos); +} + +#if ENABLED(BABYSTEPPING) + + #define _ENABLE_AXIS(AXIS) ENABLE_AXIS_## AXIS() + #define _READ_DIR(AXIS) AXIS ##_DIR_READ() + #define _INVERT_DIR(AXIS) INVERT_## AXIS ##_DIR + #define _APPLY_DIR(AXIS, INVERT) AXIS ##_APPLY_DIR(INVERT, true) + + #if MINIMUM_STEPPER_PULSE + #define STEP_PULSE_CYCLES ((MINIMUM_STEPPER_PULSE) * CYCLES_PER_MICROSECOND) + #else + #define STEP_PULSE_CYCLES 0 + #endif + + #if ENABLED(DELTA) + #define CYCLES_EATEN_BABYSTEP (2 * 15) + #else + #define CYCLES_EATEN_BABYSTEP 0 + #endif + #define EXTRA_CYCLES_BABYSTEP (STEP_PULSE_CYCLES - (CYCLES_EATEN_BABYSTEP)) + + #if EXTRA_CYCLES_BABYSTEP > 20 + #define _SAVE_START() const hal_timer_t pulse_start = HAL_timer_get_count(PULSE_TIMER_NUM) + #define _PULSE_WAIT() while (EXTRA_CYCLES_BABYSTEP > (uint32_t)(HAL_timer_get_count(PULSE_TIMER_NUM) - pulse_start) * (PULSE_TIMER_PRESCALE)) { /* nada */ } + #else + #define _SAVE_START() NOOP + #if EXTRA_CYCLES_BABYSTEP > 0 + #define _PULSE_WAIT() DELAY_NS(EXTRA_CYCLES_BABYSTEP * NANOSECONDS_PER_CYCLE) + #elif ENABLED(DELTA) + #define _PULSE_WAIT() DELAY_US(2); + #elif STEP_PULSE_CYCLES > 0 + #define _PULSE_WAIT() NOOP + #else + #define _PULSE_WAIT() DELAY_US(4); + #endif + #endif + + #if ENABLED(BABYSTEPPING_EXTRA_DIR_WAIT) + #define EXTRA_DIR_WAIT_BEFORE DIR_WAIT_BEFORE + #define EXTRA_DIR_WAIT_AFTER DIR_WAIT_AFTER + #else + #define EXTRA_DIR_WAIT_BEFORE() + #define EXTRA_DIR_WAIT_AFTER() + #endif + + #if DISABLED(DELTA) + + #define BABYSTEP_AXIS(AXIS, INV, DIR) do{ \ + const uint8_t old_dir = _READ_DIR(AXIS); \ + _ENABLE_AXIS(AXIS); \ + DIR_WAIT_BEFORE(); \ + _APPLY_DIR(AXIS, _INVERT_DIR(AXIS)^DIR^INV); \ + DIR_WAIT_AFTER(); \ + _SAVE_START(); \ + _APPLY_STEP(AXIS, !_INVERT_STEP_PIN(AXIS), true); \ + _PULSE_WAIT(); \ + _APPLY_STEP(AXIS, _INVERT_STEP_PIN(AXIS), true); \ + EXTRA_DIR_WAIT_BEFORE(); \ + _APPLY_DIR(AXIS, old_dir); \ + EXTRA_DIR_WAIT_AFTER(); \ + }while(0) + + #endif + + #if IS_CORE + + #define BABYSTEP_CORE(A, B, INV, DIR, ALT) do{ \ + const xy_byte_t old_dir = { _READ_DIR(A), _READ_DIR(B) }; \ + _ENABLE_AXIS(A); _ENABLE_AXIS(B); \ + DIR_WAIT_BEFORE(); \ + _APPLY_DIR(A, _INVERT_DIR(A)^DIR^INV); \ + _APPLY_DIR(B, _INVERT_DIR(B)^DIR^INV^ALT); \ + DIR_WAIT_AFTER(); \ + _SAVE_START(); \ + _APPLY_STEP(A, !_INVERT_STEP_PIN(A), true); \ + _APPLY_STEP(B, !_INVERT_STEP_PIN(B), true); \ + _PULSE_WAIT(); \ + _APPLY_STEP(A, _INVERT_STEP_PIN(A), true); \ + _APPLY_STEP(B, _INVERT_STEP_PIN(B), true); \ + EXTRA_DIR_WAIT_BEFORE(); \ + _APPLY_DIR(A, old_dir.a); _APPLY_DIR(B, old_dir.b); \ + EXTRA_DIR_WAIT_AFTER(); \ + }while(0) + + #endif + + // MUST ONLY BE CALLED BY AN ISR, + // No other ISR should ever interrupt this! + void Stepper::do_babystep(const AxisEnum axis, const bool direction) { + + #if DISABLED(INTEGRATED_BABYSTEPPING) + cli(); + #endif + + switch (axis) { + + #if ENABLED(BABYSTEP_XY) + + case X_AXIS: + #if CORE_IS_XY + BABYSTEP_CORE(X, Y, 0, direction, 0); + #elif CORE_IS_XZ + BABYSTEP_CORE(X, Z, 0, direction, 0); + #else + BABYSTEP_AXIS(X, 0, direction); + #endif + break; + + case Y_AXIS: + #if CORE_IS_XY + BABYSTEP_CORE(X, Y, 1, !direction, (CORESIGN(1)>0)); + #elif CORE_IS_YZ + BABYSTEP_CORE(Y, Z, 0, direction, (CORESIGN(1)<0)); + #else + BABYSTEP_AXIS(Y, 0, direction); + #endif + break; + + #endif + + case Z_AXIS: { + + #if CORE_IS_XZ + BABYSTEP_CORE(X, Z, BABYSTEP_INVERT_Z, direction, (CORESIGN(1)<0)); + #elif CORE_IS_YZ + BABYSTEP_CORE(Y, Z, BABYSTEP_INVERT_Z, direction, (CORESIGN(1)<0)); + #elif DISABLED(DELTA) + BABYSTEP_AXIS(Z, BABYSTEP_INVERT_Z, direction); + + #else // DELTA + + const bool z_direction = direction ^ BABYSTEP_INVERT_Z; + + ENABLE_AXIS_X(); + ENABLE_AXIS_Y(); + ENABLE_AXIS_Z(); + + DIR_WAIT_BEFORE(); + + const xyz_byte_t old_dir = { X_DIR_READ(), Y_DIR_READ(), Z_DIR_READ() }; + + X_DIR_WRITE(INVERT_X_DIR ^ z_direction); + Y_DIR_WRITE(INVERT_Y_DIR ^ z_direction); + Z_DIR_WRITE(INVERT_Z_DIR ^ z_direction); + + DIR_WAIT_AFTER(); + + _SAVE_START(); + + X_STEP_WRITE(!INVERT_X_STEP_PIN); + Y_STEP_WRITE(!INVERT_Y_STEP_PIN); + Z_STEP_WRITE(!INVERT_Z_STEP_PIN); + + _PULSE_WAIT(); + + X_STEP_WRITE(INVERT_X_STEP_PIN); + Y_STEP_WRITE(INVERT_Y_STEP_PIN); + Z_STEP_WRITE(INVERT_Z_STEP_PIN); + + // Restore direction bits + EXTRA_DIR_WAIT_BEFORE(); + + X_DIR_WRITE(old_dir.x); + Y_DIR_WRITE(old_dir.y); + Z_DIR_WRITE(old_dir.z); + + EXTRA_DIR_WAIT_AFTER(); + + #endif + + } break; + + default: break; + } + + #if DISABLED(INTEGRATED_BABYSTEPPING) + sei(); + #endif + } + +#endif // BABYSTEPPING + +/** + * Software-controlled Stepper Motor Current + */ + +#if HAS_MOTOR_CURRENT_SPI + + // From Arduino DigitalPotControl example + void Stepper::set_digipot_value_spi(const int16_t address, const int16_t value) { + WRITE(DIGIPOTSS_PIN, LOW); // Take the SS pin low to select the chip + SPI.transfer(address); // Send the address and value via SPI + SPI.transfer(value); + WRITE(DIGIPOTSS_PIN, HIGH); // Take the SS pin high to de-select the chip + //delay(10); + } + +#endif // HAS_MOTOR_CURRENT_SPI + +#if HAS_MOTOR_CURRENT_PWM + + void Stepper::refresh_motor_power() { + if (!initialized) return; + LOOP_L_N(i, COUNT(motor_current_setting)) { + switch (i) { + #if ANY_PIN(MOTOR_CURRENT_PWM_XY, MOTOR_CURRENT_PWM_X, MOTOR_CURRENT_PWM_Y) + case 0: + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + case 1: + #endif + #if ANY_PIN(MOTOR_CURRENT_PWM_E, MOTOR_CURRENT_PWM_E0, MOTOR_CURRENT_PWM_E1) + case 2: + #endif + set_digipot_current(i, motor_current_setting[i]); + default: break; + } + } + } + +#endif // HAS_MOTOR_CURRENT_PWM + +#if !MB(PRINTRBOARD_G2) + + #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + + void Stepper::set_digipot_current(const uint8_t driver, const int16_t current) { + if (WITHIN(driver, 0, MOTOR_CURRENT_COUNT - 1)) + motor_current_setting[driver] = current; // update motor_current_setting + + if (!initialized) return; + + #if HAS_MOTOR_CURRENT_SPI + + //SERIAL_ECHOLNPAIR("Digipotss current ", current); + + const uint8_t digipot_ch[] = DIGIPOT_CHANNELS; + set_digipot_value_spi(digipot_ch[driver], current); + + #elif HAS_MOTOR_CURRENT_PWM + + #define _WRITE_CURRENT_PWM(P) analogWrite(pin_t(MOTOR_CURRENT_PWM_## P ##_PIN), 255L * current / (MOTOR_CURRENT_PWM_RANGE)) + switch (driver) { + case 0: + #if PIN_EXISTS(MOTOR_CURRENT_PWM_X) + _WRITE_CURRENT_PWM(X); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y) + _WRITE_CURRENT_PWM(Y); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) + _WRITE_CURRENT_PWM(XY); + #endif + break; + case 1: + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + _WRITE_CURRENT_PWM(Z); + #endif + break; + case 2: + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) + _WRITE_CURRENT_PWM(E); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E0) + _WRITE_CURRENT_PWM(E0); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E1) + _WRITE_CURRENT_PWM(E1); + #endif + break; + } + #endif + } + + void Stepper::digipot_init() { + + #if HAS_MOTOR_CURRENT_SPI + + SPI.begin(); + SET_OUTPUT(DIGIPOTSS_PIN); + + LOOP_L_N(i, COUNT(motor_current_setting)) + set_digipot_current(i, motor_current_setting[i]); + + #elif HAS_MOTOR_CURRENT_PWM + + #if PIN_EXISTS(MOTOR_CURRENT_PWM_X) + SET_PWM(MOTOR_CURRENT_PWM_X_PIN); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Y) + SET_PWM(MOTOR_CURRENT_PWM_Y_PIN); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_XY) + SET_PWM(MOTOR_CURRENT_PWM_XY_PIN); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_Z) + SET_PWM(MOTOR_CURRENT_PWM_Z_PIN); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E) + SET_PWM(MOTOR_CURRENT_PWM_E_PIN); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E0) + SET_PWM(MOTOR_CURRENT_PWM_E0_PIN); + #endif + #if PIN_EXISTS(MOTOR_CURRENT_PWM_E1) + SET_PWM(MOTOR_CURRENT_PWM_E1_PIN); + #endif + + refresh_motor_power(); + + // Set Timer5 to 31khz so the PWM of the motor power is as constant as possible. (removes a buzzing noise) + #ifdef __AVR__ + SET_CS5(PRESCALER_1); + #endif + #endif + } + + #endif + +#else // PRINTRBOARD_G2 + + #include HAL_PATH(../HAL, fastio/G2_PWM.h) + +#endif + +#if HAS_MICROSTEPS + + /** + * Software-controlled Microstepping + */ + + void Stepper::microstep_init() { + #if HAS_X_MS_PINS + SET_OUTPUT(X_MS1_PIN); + SET_OUTPUT(X_MS2_PIN); + #if PIN_EXISTS(X_MS3) + SET_OUTPUT(X_MS3_PIN); + #endif + #endif + #if HAS_X2_MS_PINS + SET_OUTPUT(X2_MS1_PIN); + SET_OUTPUT(X2_MS2_PIN); + #if PIN_EXISTS(X2_MS3) + SET_OUTPUT(X2_MS3_PIN); + #endif + #endif + #if HAS_Y_MS_PINS + SET_OUTPUT(Y_MS1_PIN); + SET_OUTPUT(Y_MS2_PIN); + #if PIN_EXISTS(Y_MS3) + SET_OUTPUT(Y_MS3_PIN); + #endif + #endif + #if HAS_Y2_MS_PINS + SET_OUTPUT(Y2_MS1_PIN); + SET_OUTPUT(Y2_MS2_PIN); + #if PIN_EXISTS(Y2_MS3) + SET_OUTPUT(Y2_MS3_PIN); + #endif + #endif + #if HAS_Z_MS_PINS + SET_OUTPUT(Z_MS1_PIN); + SET_OUTPUT(Z_MS2_PIN); + #if PIN_EXISTS(Z_MS3) + SET_OUTPUT(Z_MS3_PIN); + #endif + #endif + #if HAS_Z2_MS_PINS + SET_OUTPUT(Z2_MS1_PIN); + SET_OUTPUT(Z2_MS2_PIN); + #if PIN_EXISTS(Z2_MS3) + SET_OUTPUT(Z2_MS3_PIN); + #endif + #endif + #if HAS_Z3_MS_PINS + SET_OUTPUT(Z3_MS1_PIN); + SET_OUTPUT(Z3_MS2_PIN); + #if PIN_EXISTS(Z3_MS3) + SET_OUTPUT(Z3_MS3_PIN); + #endif + #endif + #if HAS_Z4_MS_PINS + SET_OUTPUT(Z4_MS1_PIN); + SET_OUTPUT(Z4_MS2_PIN); + #if PIN_EXISTS(Z4_MS3) + SET_OUTPUT(Z4_MS3_PIN); + #endif + #endif + #if HAS_E0_MS_PINS + SET_OUTPUT(E0_MS1_PIN); + SET_OUTPUT(E0_MS2_PIN); + #if PIN_EXISTS(E0_MS3) + SET_OUTPUT(E0_MS3_PIN); + #endif + #endif + #if HAS_E1_MS_PINS + SET_OUTPUT(E1_MS1_PIN); + SET_OUTPUT(E1_MS2_PIN); + #if PIN_EXISTS(E1_MS3) + SET_OUTPUT(E1_MS3_PIN); + #endif + #endif + #if HAS_E2_MS_PINS + SET_OUTPUT(E2_MS1_PIN); + SET_OUTPUT(E2_MS2_PIN); + #if PIN_EXISTS(E2_MS3) + SET_OUTPUT(E2_MS3_PIN); + #endif + #endif + #if HAS_E3_MS_PINS + SET_OUTPUT(E3_MS1_PIN); + SET_OUTPUT(E3_MS2_PIN); + #if PIN_EXISTS(E3_MS3) + SET_OUTPUT(E3_MS3_PIN); + #endif + #endif + #if HAS_E4_MS_PINS + SET_OUTPUT(E4_MS1_PIN); + SET_OUTPUT(E4_MS2_PIN); + #if PIN_EXISTS(E4_MS3) + SET_OUTPUT(E4_MS3_PIN); + #endif + #endif + #if HAS_E5_MS_PINS + SET_OUTPUT(E5_MS1_PIN); + SET_OUTPUT(E5_MS2_PIN); + #if PIN_EXISTS(E5_MS3) + SET_OUTPUT(E5_MS3_PIN); + #endif + #endif + #if HAS_E6_MS_PINS + SET_OUTPUT(E6_MS1_PIN); + SET_OUTPUT(E6_MS2_PIN); + #if PIN_EXISTS(E6_MS3) + SET_OUTPUT(E6_MS3_PIN); + #endif + #endif + #if HAS_E7_MS_PINS + SET_OUTPUT(E7_MS1_PIN); + SET_OUTPUT(E7_MS2_PIN); + #if PIN_EXISTS(E7_MS3) + SET_OUTPUT(E7_MS3_PIN); + #endif + #endif + + static const uint8_t microstep_modes[] = MICROSTEP_MODES; + for (uint16_t i = 0; i < COUNT(microstep_modes); i++) + microstep_mode(i, microstep_modes[i]); + } + + void Stepper::microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2, const int8_t ms3) { + if (ms1 >= 0) switch (driver) { + #if HAS_X_MS_PINS || HAS_X2_MS_PINS + case 0: + #if HAS_X_MS_PINS + WRITE(X_MS1_PIN, ms1); + #endif + #if HAS_X2_MS_PINS + WRITE(X2_MS1_PIN, ms1); + #endif + break; + #endif + #if HAS_Y_MS_PINS || HAS_Y2_MS_PINS + case 1: + #if HAS_Y_MS_PINS + WRITE(Y_MS1_PIN, ms1); + #endif + #if HAS_Y2_MS_PINS + WRITE(Y2_MS1_PIN, ms1); + #endif + break; + #endif + #if HAS_SOME_Z_MS_PINS + case 2: + #if HAS_Z_MS_PINS + WRITE(Z_MS1_PIN, ms1); + #endif + #if HAS_Z2_MS_PINS + WRITE(Z2_MS1_PIN, ms1); + #endif + #if HAS_Z3_MS_PINS + WRITE(Z3_MS1_PIN, ms1); + #endif + #if HAS_Z4_MS_PINS + WRITE(Z4_MS1_PIN, ms1); + #endif + break; + #endif + #if HAS_E0_MS_PINS + case 3: WRITE(E0_MS1_PIN, ms1); break; + #endif + #if HAS_E1_MS_PINS + case 4: WRITE(E1_MS1_PIN, ms1); break; + #endif + #if HAS_E2_MS_PINS + case 5: WRITE(E2_MS1_PIN, ms1); break; + #endif + #if HAS_E3_MS_PINS + case 6: WRITE(E3_MS1_PIN, ms1); break; + #endif + #if HAS_E4_MS_PINS + case 7: WRITE(E4_MS1_PIN, ms1); break; + #endif + #if HAS_E5_MS_PINS + case 8: WRITE(E5_MS1_PIN, ms1); break; + #endif + #if HAS_E6_MS_PINS + case 9: WRITE(E6_MS1_PIN, ms1); break; + #endif + #if HAS_E7_MS_PINS + case 10: WRITE(E7_MS1_PIN, ms1); break; + #endif + } + if (ms2 >= 0) switch (driver) { + #if HAS_X_MS_PINS || HAS_X2_MS_PINS + case 0: + #if HAS_X_MS_PINS + WRITE(X_MS2_PIN, ms2); + #endif + #if HAS_X2_MS_PINS + WRITE(X2_MS2_PIN, ms2); + #endif + break; + #endif + #if HAS_Y_MS_PINS || HAS_Y2_MS_PINS + case 1: + #if HAS_Y_MS_PINS + WRITE(Y_MS2_PIN, ms2); + #endif + #if HAS_Y2_MS_PINS + WRITE(Y2_MS2_PIN, ms2); + #endif + break; + #endif + #if HAS_SOME_Z_MS_PINS + case 2: + #if HAS_Z_MS_PINS + WRITE(Z_MS2_PIN, ms2); + #endif + #if HAS_Z2_MS_PINS + WRITE(Z2_MS2_PIN, ms2); + #endif + #if HAS_Z3_MS_PINS + WRITE(Z3_MS2_PIN, ms2); + #endif + #if HAS_Z4_MS_PINS + WRITE(Z4_MS2_PIN, ms2); + #endif + break; + #endif + #if HAS_E0_MS_PINS + case 3: WRITE(E0_MS2_PIN, ms2); break; + #endif + #if HAS_E1_MS_PINS + case 4: WRITE(E1_MS2_PIN, ms2); break; + #endif + #if HAS_E2_MS_PINS + case 5: WRITE(E2_MS2_PIN, ms2); break; + #endif + #if HAS_E3_MS_PINS + case 6: WRITE(E3_MS2_PIN, ms2); break; + #endif + #if HAS_E4_MS_PINS + case 7: WRITE(E4_MS2_PIN, ms2); break; + #endif + #if HAS_E5_MS_PINS + case 8: WRITE(E5_MS2_PIN, ms2); break; + #endif + #if HAS_E6_MS_PINS + case 9: WRITE(E6_MS2_PIN, ms2); break; + #endif + #if HAS_E7_MS_PINS + case 10: WRITE(E7_MS2_PIN, ms2); break; + #endif + } + if (ms3 >= 0) switch (driver) { + #if HAS_X_MS_PINS || HAS_X2_MS_PINS + case 0: + #if HAS_X_MS_PINS && PIN_EXISTS(X_MS3) + WRITE(X_MS3_PIN, ms3); + #endif + #if HAS_X2_MS_PINS && PIN_EXISTS(X2_MS3) + WRITE(X2_MS3_PIN, ms3); + #endif + break; + #endif + #if HAS_Y_MS_PINS || HAS_Y2_MS_PINS + case 1: + #if HAS_Y_MS_PINS && PIN_EXISTS(Y_MS3) + WRITE(Y_MS3_PIN, ms3); + #endif + #if HAS_Y2_MS_PINS && PIN_EXISTS(Y2_MS3) + WRITE(Y2_MS3_PIN, ms3); + #endif + break; + #endif + #if HAS_SOME_Z_MS_PINS + case 2: + #if HAS_Z_MS_PINS && PIN_EXISTS(Z_MS3) + WRITE(Z_MS3_PIN, ms3); + #endif + #if HAS_Z2_MS_PINS && PIN_EXISTS(Z2_MS3) + WRITE(Z2_MS3_PIN, ms3); + #endif + #if HAS_Z3_MS_PINS && PIN_EXISTS(Z3_MS3) + WRITE(Z3_MS3_PIN, ms3); + #endif + #if HAS_Z4_MS_PINS && PIN_EXISTS(Z4_MS3) + WRITE(Z4_MS3_PIN, ms3); + #endif + break; + #endif + #if HAS_E0_MS_PINS && PIN_EXISTS(E0_MS3) + case 3: WRITE(E0_MS3_PIN, ms3); break; + #endif + #if HAS_E1_MS_PINS && PIN_EXISTS(E1_MS3) + case 4: WRITE(E1_MS3_PIN, ms3); break; + #endif + #if HAS_E2_MS_PINS && PIN_EXISTS(E2_MS3) + case 5: WRITE(E2_MS3_PIN, ms3); break; + #endif + #if HAS_E3_MS_PINS && PIN_EXISTS(E3_MS3) + case 6: WRITE(E3_MS3_PIN, ms3); break; + #endif + #if HAS_E4_MS_PINS && PIN_EXISTS(E4_MS3) + case 7: WRITE(E4_MS3_PIN, ms3); break; + #endif + #if HAS_E5_MS_PINS && PIN_EXISTS(E5_MS3) + case 8: WRITE(E5_MS3_PIN, ms3); break; + #endif + #if HAS_E6_MS_PINS && PIN_EXISTS(E6_MS3) + case 9: WRITE(E6_MS3_PIN, ms3); break; + #endif + #if HAS_E7_MS_PINS && PIN_EXISTS(E7_MS3) + case 10: WRITE(E7_MS3_PIN, ms3); break; + #endif + } + } + + void Stepper::microstep_mode(const uint8_t driver, const uint8_t stepping_mode) { + switch (stepping_mode) { + #if HAS_MICROSTEP1 + case 1: microstep_ms(driver, MICROSTEP1); break; + #endif + #if HAS_MICROSTEP2 + case 2: microstep_ms(driver, MICROSTEP2); break; + #endif + #if HAS_MICROSTEP4 + case 4: microstep_ms(driver, MICROSTEP4); break; + #endif + #if HAS_MICROSTEP8 + case 8: microstep_ms(driver, MICROSTEP8); break; + #endif + #if HAS_MICROSTEP16 + case 16: microstep_ms(driver, MICROSTEP16); break; + #endif + #if HAS_MICROSTEP32 + case 32: microstep_ms(driver, MICROSTEP32); break; + #endif + #if HAS_MICROSTEP64 + case 64: microstep_ms(driver, MICROSTEP64); break; + #endif + #if HAS_MICROSTEP128 + case 128: microstep_ms(driver, MICROSTEP128); break; + #endif + + default: SERIAL_ERROR_MSG("Microsteps unavailable"); break; + } + } + + void Stepper::microstep_readings() { + #define PIN_CHAR(P) SERIAL_CHAR('0' + READ(P##_PIN)) + #define MS_LINE(A) do{ SERIAL_ECHOPGM(" " STRINGIFY(A) ":"); PIN_CHAR(A##_MS1); PIN_CHAR(A##_MS2); }while(0) + SERIAL_ECHOPGM("MS1|2|3 Pins"); + #if HAS_X_MS_PINS + MS_LINE(X); + #if PIN_EXISTS(X_MS3) + PIN_CHAR(X_MS3); + #endif + #endif + #if HAS_Y_MS_PINS + MS_LINE(Y); + #if PIN_EXISTS(Y_MS3) + PIN_CHAR(Y_MS3); + #endif + #endif + #if HAS_Z_MS_PINS + MS_LINE(Z); + #if PIN_EXISTS(Z_MS3) + PIN_CHAR(Z_MS3); + #endif + #endif + #if HAS_E0_MS_PINS + MS_LINE(E0); + #if PIN_EXISTS(E0_MS3) + PIN_CHAR(E0_MS3); + #endif + #endif + #if HAS_E1_MS_PINS + MS_LINE(E1); + #if PIN_EXISTS(E1_MS3) + PIN_CHAR(E1_MS3); + #endif + #endif + #if HAS_E2_MS_PINS + MS_LINE(E2); + #if PIN_EXISTS(E2_MS3) + PIN_CHAR(E2_MS3); + #endif + #endif + #if HAS_E3_MS_PINS + MS_LINE(E3); + #if PIN_EXISTS(E3_MS3) + PIN_CHAR(E3_MS3); + #endif + #endif + #if HAS_E4_MS_PINS + MS_LINE(E4); + #if PIN_EXISTS(E4_MS3) + PIN_CHAR(E4_MS3); + #endif + #endif + #if HAS_E5_MS_PINS + MS_LINE(E5); + #if PIN_EXISTS(E5_MS3) + PIN_CHAR(E5_MS3); + #endif + #endif + #if HAS_E6_MS_PINS + MS_LINE(E6); + #if PIN_EXISTS(E6_MS3) + PIN_CHAR(E6_MS3); + #endif + #endif + #if HAS_E7_MS_PINS + MS_LINE(E7); + #if PIN_EXISTS(E7_MS3) + PIN_CHAR(E7_MS3); + #endif + #endif + SERIAL_EOL(); + } + +#endif // HAS_MICROSTEPS diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h new file mode 100644 index 0000000..639a1b2 --- /dev/null +++ b/Marlin/src/module/stepper.h @@ -0,0 +1,607 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors + * Derived from Grbl + * + * Copyright (c) 2009-2011 Simen Svale Skogsrud + * + * Grbl 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. + * + * Grbl 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 Grbl. If not, see . + */ + +#include "../inc/MarlinConfig.h" + +#include "planner.h" +#include "stepper/indirection.h" +#ifdef __AVR__ + #include "speed_lookuptable.h" +#endif + +// Disable multiple steps per ISR +//#define DISABLE_MULTI_STEPPING + +// +// Estimate the amount of time the Stepper ISR will take to execute +// + +/** + * The method of calculating these cycle-constants is unclear. + * Most of them are no longer used directly for pulse timing, and exist + * only to estimate a maximum step rate based on the user's configuration. + * As 32-bit processors continue to diverge, maintaining cycle counts + * will become increasingly difficult and error-prone. + */ + +#ifdef CPU_32_BIT + /** + * Duration of START_TIMED_PULSE + * + * ...as measured on an LPC1768 with a scope and converted to cycles. + * Not applicable to other 32-bit processors, but as long as others + * take longer, pulses will be longer. For example the SKR Pro + * (stm32f407zgt6) requires ~60 cyles. + */ + #define TIMER_READ_ADD_AND_STORE_CYCLES 34UL + + // The base ISR takes 792 cycles + #define ISR_BASE_CYCLES 792UL + + // Linear advance base time is 64 cycles + #if ENABLED(LIN_ADVANCE) + #define ISR_LA_BASE_CYCLES 64UL + #else + #define ISR_LA_BASE_CYCLES 0UL + #endif + + // S curve interpolation adds 40 cycles + #if ENABLED(S_CURVE_ACCELERATION) + #define ISR_S_CURVE_CYCLES 40UL + #else + #define ISR_S_CURVE_CYCLES 0UL + #endif + + // Stepper Loop base cycles + #define ISR_LOOP_BASE_CYCLES 4UL + + // To start the step pulse, in the worst case takes + #define ISR_START_STEPPER_CYCLES 13UL + + // And each stepper (start + stop pulse) takes in worst case + #define ISR_STEPPER_CYCLES 16UL + +#else + // Cycles to perform actions in START_TIMED_PULSE + #define TIMER_READ_ADD_AND_STORE_CYCLES 13UL + + // The base ISR takes 752 cycles + #define ISR_BASE_CYCLES 752UL + + // Linear advance base time is 32 cycles + #if ENABLED(LIN_ADVANCE) + #define ISR_LA_BASE_CYCLES 32UL + #else + #define ISR_LA_BASE_CYCLES 0UL + #endif + + // S curve interpolation adds 160 cycles + #if ENABLED(S_CURVE_ACCELERATION) + #define ISR_S_CURVE_CYCLES 160UL + #else + #define ISR_S_CURVE_CYCLES 0UL + #endif + + // Stepper Loop base cycles + #define ISR_LOOP_BASE_CYCLES 32UL + + // To start the step pulse, in the worst case takes + #define ISR_START_STEPPER_CYCLES 57UL + + // And each stepper (start + stop pulse) takes in worst case + #define ISR_STEPPER_CYCLES 88UL + +#endif + +// Add time for each stepper +#if HAS_X_STEP + #define ISR_X_STEPPER_CYCLES ISR_STEPPER_CYCLES +#else + #define ISR_X_STEPPER_CYCLES 0UL +#endif +#if HAS_Y_STEP + #define ISR_Y_STEPPER_CYCLES ISR_STEPPER_CYCLES +#else + #define ISR_START_Y_STEPPER_CYCLES 0UL + #define ISR_Y_STEPPER_CYCLES 0UL +#endif +#if HAS_Z_STEP + #define ISR_Z_STEPPER_CYCLES ISR_STEPPER_CYCLES +#else + #define ISR_Z_STEPPER_CYCLES 0UL +#endif + +// E is always interpolated, even for mixing extruders +#define ISR_E_STEPPER_CYCLES ISR_STEPPER_CYCLES + +// If linear advance is disabled, the loop also handles them +#if DISABLED(LIN_ADVANCE) && ENABLED(MIXING_EXTRUDER) + #define ISR_MIXING_STEPPER_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES)) +#else + #define ISR_MIXING_STEPPER_CYCLES 0UL +#endif + +// And the total minimum loop time, not including the base +#define MIN_ISR_LOOP_CYCLES (ISR_X_STEPPER_CYCLES + ISR_Y_STEPPER_CYCLES + ISR_Z_STEPPER_CYCLES + ISR_E_STEPPER_CYCLES + ISR_MIXING_STEPPER_CYCLES) + +// Calculate the minimum MPU cycles needed per pulse to enforce, limited to the max stepper rate +#define _MIN_STEPPER_PULSE_CYCLES(N) _MAX(uint32_t((F_CPU) / (MAXIMUM_STEPPER_RATE)), ((F_CPU) / 500000UL) * (N)) +#if MINIMUM_STEPPER_PULSE + #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(uint32_t(MINIMUM_STEPPER_PULSE)) +#elif HAS_DRIVER(LV8729) + #define MIN_STEPPER_PULSE_CYCLES uint32_t((((F_CPU) - 1) / 2000000) + 1) // 0.5µs, aka 500ns +#else + #define MIN_STEPPER_PULSE_CYCLES _MIN_STEPPER_PULSE_CYCLES(1UL) +#endif + +// Calculate the minimum pulse times (high and low) +#if MINIMUM_STEPPER_PULSE && MAXIMUM_STEPPER_RATE + constexpr uint32_t _MIN_STEP_PERIOD_NS = 1000000000UL / MAXIMUM_STEPPER_RATE; + constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE; + constexpr uint32_t _MIN_PULSE_LOW_NS = _MAX((_MIN_STEP_PERIOD_NS - _MIN(_MIN_STEP_PERIOD_NS, _MIN_PULSE_HIGH_NS)), _MIN_PULSE_HIGH_NS); +#elif MINIMUM_STEPPER_PULSE + // Assume 50% duty cycle + constexpr uint32_t _MIN_PULSE_HIGH_NS = 1000UL * MINIMUM_STEPPER_PULSE; + constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS; +#elif MAXIMUM_STEPPER_RATE + // Assume 50% duty cycle + constexpr uint32_t _MIN_PULSE_HIGH_NS = 500000000UL / MAXIMUM_STEPPER_RATE; + constexpr uint32_t _MIN_PULSE_LOW_NS = _MIN_PULSE_HIGH_NS; +#else + #error "Expected at least one of MINIMUM_STEPPER_PULSE or MAXIMUM_STEPPER_RATE to be defined" +#endif + +// But the user could be enforcing a minimum time, so the loop time is +#define ISR_LOOP_CYCLES (ISR_LOOP_BASE_CYCLES + _MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LOOP_CYCLES)) + +// If linear advance is enabled, then it is handled separately +#if ENABLED(LIN_ADVANCE) + + // Estimate the minimum LA loop time + #if ENABLED(MIXING_EXTRUDER) // ToDo: ??? + // HELP ME: What is what? + // Directions are set up for MIXING_STEPPERS - like before. + // Finding the right stepper may last up to MIXING_STEPPERS loops in get_next_stepper(). + // These loops are a bit faster than advancing a bresenham counter. + // Always only one e-stepper is stepped. + #define MIN_ISR_LA_LOOP_CYCLES ((MIXING_STEPPERS) * (ISR_STEPPER_CYCLES)) + #else + #define MIN_ISR_LA_LOOP_CYCLES ISR_STEPPER_CYCLES + #endif + + // And the real loop time + #define ISR_LA_LOOP_CYCLES _MAX(MIN_STEPPER_PULSE_CYCLES, MIN_ISR_LA_LOOP_CYCLES) + +#else + #define ISR_LA_LOOP_CYCLES 0UL +#endif + +// Now estimate the total ISR execution time in cycles given a step per ISR multiplier +#define ISR_EXECUTION_CYCLES(R) (((ISR_BASE_CYCLES + ISR_S_CURVE_CYCLES + (ISR_LOOP_CYCLES) * (R) + ISR_LA_BASE_CYCLES + ISR_LA_LOOP_CYCLES)) / (R)) + +// The maximum allowable stepping frequency when doing x128-x1 stepping (in Hz) +#define MAX_STEP_ISR_FREQUENCY_128X ((F_CPU) / ISR_EXECUTION_CYCLES(128)) +#define MAX_STEP_ISR_FREQUENCY_64X ((F_CPU) / ISR_EXECUTION_CYCLES(64)) +#define MAX_STEP_ISR_FREQUENCY_32X ((F_CPU) / ISR_EXECUTION_CYCLES(32)) +#define MAX_STEP_ISR_FREQUENCY_16X ((F_CPU) / ISR_EXECUTION_CYCLES(16)) +#define MAX_STEP_ISR_FREQUENCY_8X ((F_CPU) / ISR_EXECUTION_CYCLES(8)) +#define MAX_STEP_ISR_FREQUENCY_4X ((F_CPU) / ISR_EXECUTION_CYCLES(4)) +#define MAX_STEP_ISR_FREQUENCY_2X ((F_CPU) / ISR_EXECUTION_CYCLES(2)) +#define MAX_STEP_ISR_FREQUENCY_1X ((F_CPU) / ISR_EXECUTION_CYCLES(1)) + +// The minimum step ISR rate used by ADAPTIVE_STEP_SMOOTHING to target 50% CPU usage +// This does not account for the possibility of multi-stepping. +// Perhaps DISABLE_MULTI_STEPPING should be required with ADAPTIVE_STEP_SMOOTHING. +#define MIN_STEP_ISR_FREQUENCY (MAX_STEP_ISR_FREQUENCY_1X / 2) + +// +// Stepper class definition +// +class Stepper { + + public: + + #if EITHER(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) + static bool separate_multi_axis; + #endif + + #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + #if HAS_MOTOR_CURRENT_PWM + #ifndef PWM_MOTOR_CURRENT + #define PWM_MOTOR_CURRENT DEFAULT_PWM_MOTOR_CURRENT + #endif + #define MOTOR_CURRENT_COUNT 3 + #elif HAS_MOTOR_CURRENT_SPI + static constexpr uint32_t digipot_count[] = DIGIPOT_MOTOR_CURRENT; + #define MOTOR_CURRENT_COUNT COUNT(Stepper::digipot_count) + #endif + static bool initialized; + static uint32_t motor_current_setting[MOTOR_CURRENT_COUNT]; // Initialized by settings.load() + #endif + + // Last-moved extruder, as set when the last movement was fetched from planner + #if HAS_MULTI_EXTRUDER + static uint8_t last_moved_extruder; + #else + static constexpr uint8_t last_moved_extruder = 0; + #endif + + private: + + static block_t* current_block; // A pointer to the block currently being traced + + static uint8_t last_direction_bits, // The next stepping-bits to be output + axis_did_move; // Last Movement in the given direction is not null, as computed when the last movement was fetched from planner + + static bool abort_current_block; // Signals to the stepper that current block should be aborted + + #if ENABLED(X_DUAL_ENDSTOPS) + static bool locked_X_motor, locked_X2_motor; + #endif + #if ENABLED(Y_DUAL_ENDSTOPS) + static bool locked_Y_motor, locked_Y2_motor; + #endif + #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) + static bool locked_Z_motor, locked_Z2_motor + #if NUM_Z_STEPPER_DRIVERS >= 3 + , locked_Z3_motor + #if NUM_Z_STEPPER_DRIVERS >= 4 + , locked_Z4_motor + #endif + #endif + ; + #endif + + static uint32_t acceleration_time, deceleration_time; // time measured in Stepper Timer ticks + static uint8_t steps_per_isr; // Count of steps to perform per Stepper ISR call + + #if ENABLED(ADAPTIVE_STEP_SMOOTHING) + static uint8_t oversampling_factor; // Oversampling factor (log2(multiplier)) to increase temporal resolution of axis + #else + static constexpr uint8_t oversampling_factor = 0; + #endif + + // Delta error variables for the Bresenham line tracer + static xyze_long_t delta_error; + static xyze_ulong_t advance_dividend; + static uint32_t advance_divisor, + step_events_completed, // The number of step events executed in the current block + accelerate_until, // The point from where we need to stop acceleration + decelerate_after, // The point from where we need to start decelerating + step_event_count; // The total event count for the current block + + #if EITHER(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER) + static uint8_t stepper_extruder; + #else + static constexpr uint8_t stepper_extruder = 0; + #endif + + #if ENABLED(S_CURVE_ACCELERATION) + static int32_t bezier_A, // A coefficient in Bézier speed curve + bezier_B, // B coefficient in Bézier speed curve + bezier_C; // C coefficient in Bézier speed curve + static uint32_t bezier_F, // F coefficient in Bézier speed curve + bezier_AV; // AV coefficient in Bézier speed curve + #ifdef __AVR__ + static bool A_negative; // If A coefficient was negative + #endif + static bool bezier_2nd_half; // If Bézier curve has been initialized or not + #endif + + #if ENABLED(LIN_ADVANCE) + static constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF; + static uint32_t nextAdvanceISR, LA_isr_rate; + static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early". + static int8_t LA_steps; + static bool LA_use_advance_lead; + #endif + + #if ENABLED(INTEGRATED_BABYSTEPPING) + static constexpr uint32_t BABYSTEP_NEVER = 0xFFFFFFFF; + static uint32_t nextBabystepISR; + #endif + + #if ENABLED(DIRECT_STEPPING) + static page_step_state_t page_step_state; + #endif + + static int32_t ticks_nominal; + #if DISABLED(S_CURVE_ACCELERATION) + static uint32_t acc_step_rate; // needed for deceleration start point + #endif + + // Exact steps at which an endstop was triggered + static xyz_long_t endstops_trigsteps; + + // Positions of stepper motors, in step units + static xyze_long_t count_position; + + // Current stepper motor directions (+1 or -1) + static xyze_int8_t count_direction; + + #if ENABLED(LASER_POWER_INLINE_TRAPEZOID) + + typedef struct { + bool enabled; // Trapezoid needed flag (i.e., laser on, planner in control) + uint8_t cur_power; // Current laser power + bool cruise_set; // Power set up for cruising? + + #if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT) + uint32_t last_step_count, // Step count from the last update + acc_step_count; // Bresenham counter for laser accel/decel + #else + uint16_t till_update; // Countdown to the next update + #endif + } stepper_laser_t; + + static stepper_laser_t laser_trap; + + #endif + + public: + // Initialize stepper hardware + static void init(); + + // Interrupt Service Routine and phases + + // The stepper subsystem goes to sleep when it runs out of things to execute. + // Call this to notify the subsystem that it is time to go to work. + static inline void wake_up() { ENABLE_STEPPER_DRIVER_INTERRUPT(); } + + static inline bool is_awake() { return STEPPER_ISR_ENABLED(); } + + static inline bool suspend() { + const bool awake = is_awake(); + if (awake) DISABLE_STEPPER_DRIVER_INTERRUPT(); + return awake; + } + + // The ISR scheduler + static void isr(); + + // The stepper pulse ISR phase + static void pulse_phase_isr(); + + // The stepper block processing ISR phase + static uint32_t block_phase_isr(); + + #if ENABLED(LIN_ADVANCE) + // The Linear advance ISR phase + static uint32_t advance_isr(); + FORCE_INLINE static void initiateLA() { nextAdvanceISR = 0; } + #endif + + #if ENABLED(INTEGRATED_BABYSTEPPING) + // The Babystepping ISR phase + static uint32_t babystepping_isr(); + FORCE_INLINE static void initiateBabystepping() { + if (nextBabystepISR == BABYSTEP_NEVER) { + nextBabystepISR = 0; + wake_up(); + } + } + #endif + + // Check if the given block is busy or not - Must not be called from ISR contexts + static bool is_block_busy(const block_t* const block); + + // Get the position of a stepper, in steps + static int32_t position(const AxisEnum axis); + + // Set the current position in steps + static void set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e); + static inline void set_position(const xyze_long_t &abce) { set_position(abce.a, abce.b, abce.c, abce.e); } + static void set_axis_position(const AxisEnum a, const int32_t &v); + + // Report the positions of the steppers, in steps + static void report_a_position(const xyz_long_t &pos); + static void report_positions(); + + // Discard current block and free any resources + FORCE_INLINE static void discard_current_block() { + #if ENABLED(DIRECT_STEPPING) + if (IS_PAGE(current_block)) + page_manager.free_page(current_block->page_idx); + #endif + current_block = nullptr; + axis_did_move = 0; + planner.release_current_block(); + } + + // Quickly stop all steppers + FORCE_INLINE static void quick_stop() { abort_current_block = true; } + + // The direction of a single motor + FORCE_INLINE static bool motor_direction(const AxisEnum axis) { return TEST(last_direction_bits, axis); } + + // The last movement direction was not null on the specified axis. Note that motor direction is not necessarily the same. + FORCE_INLINE static bool axis_is_moving(const AxisEnum axis) { return TEST(axis_did_move, axis); } + + // Handle a triggered endstop + static void endstop_triggered(const AxisEnum axis); + + // Triggered position of an axis in steps + static int32_t triggered_position(const AxisEnum axis); + + #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + static void set_digipot_value_spi(const int16_t address, const int16_t value); + static void set_digipot_current(const uint8_t driver, const int16_t current); + #endif + + #if HAS_MICROSTEPS + static void microstep_ms(const uint8_t driver, const int8_t ms1, const int8_t ms2, const int8_t ms3); + static void microstep_mode(const uint8_t driver, const uint8_t stepping); + static void microstep_readings(); + #endif + + #if EITHER(HAS_EXTRA_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) + FORCE_INLINE static void set_separate_multi_axis(const bool state) { separate_multi_axis = state; } + #endif + #if ENABLED(X_DUAL_ENDSTOPS) + FORCE_INLINE static void set_x_lock(const bool state) { locked_X_motor = state; } + FORCE_INLINE static void set_x2_lock(const bool state) { locked_X2_motor = state; } + #endif + #if ENABLED(Y_DUAL_ENDSTOPS) + FORCE_INLINE static void set_y_lock(const bool state) { locked_Y_motor = state; } + FORCE_INLINE static void set_y2_lock(const bool state) { locked_Y2_motor = state; } + #endif + #if EITHER(Z_MULTI_ENDSTOPS, Z_STEPPER_AUTO_ALIGN) + FORCE_INLINE static void set_z1_lock(const bool state) { locked_Z_motor = state; } + FORCE_INLINE static void set_z2_lock(const bool state) { locked_Z2_motor = state; } + #if NUM_Z_STEPPER_DRIVERS >= 3 + FORCE_INLINE static void set_z3_lock(const bool state) { locked_Z3_motor = state; } + #if NUM_Z_STEPPER_DRIVERS >= 4 + FORCE_INLINE static void set_z4_lock(const bool state) { locked_Z4_motor = state; } + #endif + #endif + static inline void set_all_z_lock(const bool lock, const int8_t except=-1) { + set_z1_lock(lock ^ (except == 0)); + set_z2_lock(lock ^ (except == 1)); + #if NUM_Z_STEPPER_DRIVERS >= 3 + set_z3_lock(lock ^ (except == 2)); + #if NUM_Z_STEPPER_DRIVERS >= 4 + set_z4_lock(lock ^ (except == 3)); + #endif + #endif + } + #endif + + #if ENABLED(BABYSTEPPING) + static void do_babystep(const AxisEnum axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention + #endif + + #if HAS_MOTOR_CURRENT_PWM + static void refresh_motor_power(); + #endif + + // Update direction states for all steppers + static void set_directions(); + + // Set direction bits and update all stepper DIR states + static void set_directions(const uint8_t bits) { + last_direction_bits = bits; + set_directions(); + } + + private: + + // Set the current position in steps + static void _set_position(const int32_t &a, const int32_t &b, const int32_t &c, const int32_t &e); + FORCE_INLINE static void _set_position(const abce_long_t &spos) { _set_position(spos.a, spos.b, spos.c, spos.e); } + + FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t* loops) { + uint32_t timer; + + // Scale the frequency, as requested by the caller + step_rate <<= oversampling_factor; + + uint8_t multistep = 1; + #if DISABLED(DISABLE_MULTI_STEPPING) + + // The stepping frequency limits for each multistepping rate + static const uint32_t limit[] PROGMEM = { + ( MAX_STEP_ISR_FREQUENCY_1X ), + ( MAX_STEP_ISR_FREQUENCY_2X >> 1), + ( MAX_STEP_ISR_FREQUENCY_4X >> 2), + ( MAX_STEP_ISR_FREQUENCY_8X >> 3), + ( MAX_STEP_ISR_FREQUENCY_16X >> 4), + ( MAX_STEP_ISR_FREQUENCY_32X >> 5), + ( MAX_STEP_ISR_FREQUENCY_64X >> 6), + (MAX_STEP_ISR_FREQUENCY_128X >> 7) + }; + + // Select the proper multistepping + uint8_t idx = 0; + while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) { + step_rate >>= 1; + multistep <<= 1; + ++idx; + }; + #else + NOMORE(step_rate, uint32_t(MAX_STEP_ISR_FREQUENCY_1X)); + #endif + *loops = multistep; + + #ifdef CPU_32_BIT + // In case of high-performance processor, it is able to calculate in real-time + timer = uint32_t(STEPPER_TIMER_RATE) / step_rate; + #else + constexpr uint32_t min_step_rate = (F_CPU) / 500000U; + NOLESS(step_rate, min_step_rate); + step_rate -= min_step_rate; // Correct for minimal speed + if (step_rate >= (8 * 256)) { // higher step rate + const uint8_t tmp_step_rate = (step_rate & 0x00FF); + const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0], + gain = (uint16_t)pgm_read_word(table_address + 2); + timer = MultiU16X8toH16(tmp_step_rate, gain); + timer = (uint16_t)pgm_read_word(table_address) - timer; + } + else { // lower step rates + uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0]; + table_address += ((step_rate) >> 1) & 0xFFFC; + timer = (uint16_t)pgm_read_word(table_address) + - (((uint16_t)pgm_read_word(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3); + } + // (there is no need to limit the timer value here. All limits have been + // applied above, and AVR is able to keep up at 30khz Stepping ISR rate) + #endif + + return timer; + } + + #if ENABLED(S_CURVE_ACCELERATION) + static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av); + static int32_t _eval_bezier_curve(const uint32_t curr_step); + #endif + + #if HAS_MOTOR_CURRENT_SPI || HAS_MOTOR_CURRENT_PWM + static void digipot_init(); + #endif + + #if HAS_MICROSTEPS + static void microstep_init(); + #endif + +}; + +extern Stepper stepper; diff --git a/Marlin/src/module/stepper/L64xx.cpp b/Marlin/src/module/stepper/L64xx.cpp new file mode 100644 index 0000000..3e2bf09 --- /dev/null +++ b/Marlin/src/module/stepper/L64xx.cpp @@ -0,0 +1,225 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * stepper/L64xx.cpp + * Stepper driver indirection for L64XX drivers + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_L64XX + +#include "L64xx.h" + +#if AXIS_IS_L64XX(X) + L64XX_CLASS(X) stepperX(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(X2) + L64XX_CLASS(X2) stepperX2(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(Y) + L64XX_CLASS(Y) stepperY(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(Y2) + L64XX_CLASS(Y2) stepperY2(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(Z) + L64XX_CLASS(Z) stepperZ(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(Z2) + L64XX_CLASS(Z2) stepperZ2(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(Z3) + L64XX_CLASS(Z3) stepperZ3(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(Z4) + L64XX_CLASS(Z4) stepperZ4(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(E0) + L64XX_CLASS(E0) stepperE0(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(E1) + L64XX_CLASS(E1) stepperE1(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(E2) + L64XX_CLASS(E2) stepperE2(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(E3) + L64XX_CLASS(E3) stepperE3(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(E4) + L64XX_CLASS(E4) stepperE4(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(E5) + L64XX_CLASS(E5) stepperE5(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(E6) + L64XX_CLASS(E6) stepperE6(L6470_CHAIN_SS_PIN); +#endif +#if AXIS_IS_L64XX(E7) + L64XX_CLASS(E7) stepperE7(L6470_CHAIN_SS_PIN); +#endif + +// Not using L64XX class init method because it +// briefly sends power to the steppers + +inline void L6470_init_chip(L64XX &st, const int ms, const int oc, const int sc, const int mv, const int slew_rate) { + st.set_handlers(L64xxManager.spi_init, L64xxManager.transfer_single, L64xxManager.transfer_chain); // specify which external SPI routines to use + switch (st.L6470_status_layout) { + case L6470_STATUS_LAYOUT: { + st.resetDev(); + st.softFree(); + st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ); + st.SetParam(L6470_KVAL_RUN, 0xFF); + st.SetParam(L6470_KVAL_ACC, 0xFF); + st.SetParam(L6470_KVAL_DEC, 0xFF); + st.setMicroSteps(ms); + st.setOverCurrent(oc); + st.setStallCurrent(sc); + st.SetParam(L6470_KVAL_HOLD, mv); + st.SetParam(L6470_ABS_POS, 0); + uint32_t config_temp = st.GetParam(st.L64XX_CONFIG); + config_temp &= ~CONFIG_POW_SR; + switch (slew_rate) { + case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break; + default: + case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break; + case 3: + case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break; + } + st.getStatus(); + st.getStatus(); + break; + } + + case L6474_STATUS_LAYOUT: { + st.free(); + //st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ); + //st.SetParam(L6474_TVAL, 0xFF); + st.setMicroSteps(ms); + st.setOverCurrent(oc); + st.setTVALCurrent(sc); + st.SetParam(L6470_ABS_POS, 0); + uint32_t config_temp = st.GetParam(st.L64XX_CONFIG); + config_temp &= ~CONFIG_POW_SR & ~CONFIG_EN_TQREG; // clear out slew rate and set current to be controlled by TVAL register + switch (slew_rate) { + case 0: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_75V_us); break; + default: + case 1: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_110V_us); break; + case 3: + case 2: st.SetParam(st.L64XX_CONFIG, config_temp | CONFIG_SR_260V_us); break; + //case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_75V_us); break; + //default: + //case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_110V_us); break; + //case 3: + //case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 | CONFIG_EN_TQREG | CONFIG_SR_260V_us); break; + + //case 0: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break; + //default: + //case 1: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break; + //case 3: + //case 2: st.SetParam(st.L64XX_CONFIG, 0x2E88 ); break; + } + st.getStatus(); + st.getStatus(); + break; + } + + case L6480_STATUS_LAYOUT: { + st.resetDev(); + st.softFree(); + st.SetParam(st.L64XX_CONFIG, CONFIG_PWM_DIV_1 | CONFIG_PWM_MUL_2 | CONFIG_OC_SD_DISABLE | CONFIG_VS_COMP_DISABLE | CONFIG_SW_HARD_STOP | CONFIG_INT_16MHZ); + st.SetParam(L6470_KVAL_RUN, 0xFF); + st.SetParam(L6470_KVAL_ACC, 0xFF); + st.SetParam(L6470_KVAL_DEC, 0xFF); + st.setMicroSteps(ms); + st.setOverCurrent(oc); + st.setStallCurrent(sc); + st.SetParam(+-L6470_KVAL_HOLD, mv); + st.SetParam(L6470_ABS_POS, 0); + st.SetParam(st.L64XX_CONFIG,(st.GetParam(st.L64XX_CONFIG) | PWR_VCC_7_5V)); + st.getStatus(); // must clear out status bits before can set slew rate + st.getStatus(); + switch (slew_rate) { + case 0: st.SetParam(L6470_GATECFG1, CONFIG1_SR_220V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_220V_us); break; + default: + case 1: st.SetParam(L6470_GATECFG1, CONFIG1_SR_400V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_400V_us); break; + case 2: st.SetParam(L6470_GATECFG1, CONFIG1_SR_520V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_520V_us); break; + case 3: st.SetParam(L6470_GATECFG1, CONFIG1_SR_980V_us); st.SetParam(L6470_GATECFG2, CONFIG2_SR_980V_us); break; + } + break; + } + } +} + +#define L6470_INIT_CHIP(Q) L6470_init_chip(stepper##Q, Q##_MICROSTEPS, Q##_OVERCURRENT, Q##_STALLCURRENT, Q##_MAX_VOLTAGE, Q##_SLEW_RATE) + +void L64XX_Marlin::init_to_defaults() { + #if AXIS_IS_L64XX(X) + L6470_INIT_CHIP(X); + #endif + #if AXIS_IS_L64XX(X2) + L6470_INIT_CHIP(X2); + #endif + #if AXIS_IS_L64XX(Y) + L6470_INIT_CHIP(Y); + #endif + #if AXIS_IS_L64XX(Y2) + L6470_INIT_CHIP(Y2); + #endif + #if AXIS_IS_L64XX(Z) + L6470_INIT_CHIP(Z); + #endif + #if AXIS_IS_L64XX(Z2) + L6470_INIT_CHIP(Z2); + #endif + #if AXIS_IS_L64XX(Z3) + L6470_INIT_CHIP(Z3); + #endif + #if AXIS_IS_L64XX(E0) + L6470_INIT_CHIP(E0); + #endif + #if AXIS_IS_L64XX(E1) + L6470_INIT_CHIP(E1); + #endif + #if AXIS_IS_L64XX(E2) + L6470_INIT_CHIP(E2); + #endif + #if AXIS_IS_L64XX(E3) + L6470_INIT_CHIP(E3); + #endif + #if AXIS_IS_L64XX(E4) + L6470_INIT_CHIP(E4); + #endif + #if AXIS_IS_L64XX(E5) + L6470_INIT_CHIP(E5); + #endif + #if AXIS_IS_L64XX(E6) + L6470_INIT_CHIP(E6); + #endif + #if AXIS_IS_L64XX(E7) + L6470_INIT_CHIP(E7); + #endif +} + +#endif // HAS_L64XX diff --git a/Marlin/src/module/stepper/L64xx.h b/Marlin/src/module/stepper/L64xx.h new file mode 100644 index 0000000..9c8b0b1 --- /dev/null +++ b/Marlin/src/module/stepper/L64xx.h @@ -0,0 +1,364 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * stepper/L64xx.h + * Stepper driver indirection for L64XX drivers + */ + +#include "../../inc/MarlinConfig.h" +#include "../../libs/L64XX/L64XX_Marlin.h" + +// Convert option names to L64XX classes +#define CLASS_L6470 L6470 +#define CLASS_L6474 L6474 +#define CLASS_POWERSTEP01 powerSTEP01 + +#define __L64XX_CLASS(TYPE) CLASS_##TYPE +#define _L64XX_CLASS(TYPE) __L64XX_CLASS(TYPE) +#define L64XX_CLASS(ST) _L64XX_CLASS(ST##_DRIVER_TYPE) + +#define L6474_DIR_WRITE(A,STATE) do{ L64xxManager.dir_commands[A] = dSPIN_L6474_ENABLE; WRITE(A##_DIR_PIN, STATE); }while(0) +#define L64XX_DIR_WRITE(A,STATE) do{ L64xxManager.dir_commands[A] = (STATE) ? dSPIN_STEP_CLOCK_REV : dSPIN_STEP_CLOCK_FWD; }while(0) + +// X Stepper +#if AXIS_IS_L64XX(X) + extern L64XX_CLASS(X) stepperX; + #define X_ENABLE_INIT() NOOP + #define X_ENABLE_WRITE(STATE) (STATE ? stepperX.hardStop() : stepperX.free()) + #define X_ENABLE_READ() (stepperX.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_X(L6474) + #define X_DIR_INIT() SET_OUTPUT(X_DIR_PIN) + #define X_DIR_WRITE(STATE) L6474_DIR_WRITE(X, STATE) + #define X_DIR_READ() READ(X_DIR_PIN) + #else + #define X_DIR_INIT() NOOP + #define X_DIR_WRITE(STATE) L64XX_DIR_WRITE(X, STATE) + #define X_DIR_READ() (stepper##X.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_X(L6470) + #define DISABLE_STEPPER_X() stepperX.free() + #endif + #endif +#endif + +// Y Stepper +#if AXIS_IS_L64XX(Y) + extern L64XX_CLASS(Y) stepperY; + #define Y_ENABLE_INIT() NOOP + #define Y_ENABLE_WRITE(STATE) (STATE ? stepperY.hardStop() : stepperY.free()) + #define Y_ENABLE_READ() (stepperY.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_Y(L6474) + #define Y_DIR_INIT() SET_OUTPUT(Y_DIR_PIN) + #define Y_DIR_WRITE(STATE) L6474_DIR_WRITE(Y, STATE) + #define Y_DIR_READ() READ(Y_DIR_PIN) + #else + #define Y_DIR_INIT() NOOP + #define Y_DIR_WRITE(STATE) L64XX_DIR_WRITE(Y, STATE) + #define Y_DIR_READ() (stepper##Y.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_Y(L6470) + #define DISABLE_STEPPER_Y() stepperY.free() + #endif + #endif +#endif + +// Z Stepper +#if AXIS_IS_L64XX(Z) + extern L64XX_CLASS(Z) stepperZ; + #define Z_ENABLE_INIT() NOOP + #define Z_ENABLE_WRITE(STATE) (STATE ? stepperZ.hardStop() : stepperZ.free()) + #define Z_ENABLE_READ() (stepperZ.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_Z(L6474) + #define Z_DIR_INIT() SET_OUTPUT(Z_DIR_PIN) + #define Z_DIR_WRITE(STATE) L6474_DIR_WRITE(Z, STATE) + #define Z_DIR_READ() READ(Z_DIR_PIN) + #else + #define Z_DIR_INIT() NOOP + #define Z_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z, STATE) + #define Z_DIR_READ() (stepper##Z.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_Z(L6470) + #define DISABLE_STEPPER_Z() stepperZ.free() + #endif + #endif +#endif + +// X2 Stepper +#if HAS_X2_ENABLE && AXIS_IS_L64XX(X2) + extern L64XX_CLASS(X2) stepperX2; + #define X2_ENABLE_INIT() NOOP + #define X2_ENABLE_WRITE(STATE) (STATE ? stepperX2.hardStop() : stepperX2.free()) + #define X2_ENABLE_READ() (stepperX2.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_X2(L6474) + #define X2_DIR_INIT() SET_OUTPUT(X2_DIR_PIN) + #define X2_DIR_WRITE(STATE) L6474_DIR_WRITE(X2, STATE) + #define X2_DIR_READ() READ(X2_DIR_PIN) + #else + #define X2_DIR_INIT() NOOP + #define X2_DIR_WRITE(STATE) L64XX_DIR_WRITE(X2, STATE) + #define X2_DIR_READ() (stepper##X2.getStatus() & STATUS_DIR); + #endif +#endif + +#if AXIS_DRIVER_TYPE_X2(L6470) + #define DISABLE_STEPPER_X2() stepperX2.free() +#endif + +// Y2 Stepper +#if HAS_Y2_ENABLE && AXIS_IS_L64XX(Y2) + extern L64XX_CLASS(Y2) stepperY2; + #define Y2_ENABLE_INIT() NOOP + #define Y2_ENABLE_WRITE(STATE) (STATE ? stepperY2.hardStop() : stepperY2.free()) + #define Y2_ENABLE_READ() (stepperY2.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_Y2(L6474) + #define Y2_DIR_INIT() SET_OUTPUT(Y2_DIR_PIN) + #define Y2_DIR_WRITE(STATE) L6474_DIR_WRITE(Y2, STATE) + #define Y2_DIR_READ() READ(Y2_DIR_PIN) + #else + #define Y2_DIR_INIT() NOOP + #define Y2_DIR_WRITE(STATE) L64XX_DIR_WRITE(Y2, STATE) + #define Y2_DIR_READ() (stepper##Y2.getStatus() & STATUS_DIR); + #endif +#endif + +#if AXIS_DRIVER_TYPE_Y2(L6470) + #define DISABLE_STEPPER_Y2() stepperY2.free() +#endif + +// Z2 Stepper +#if HAS_Z2_ENABLE && AXIS_IS_L64XX(Z2) + extern L64XX_CLASS(Z2) stepperZ2; + #define Z2_ENABLE_INIT() NOOP + #define Z2_ENABLE_WRITE(STATE) (STATE ? stepperZ2.hardStop() : stepperZ2.free()) + #define Z2_ENABLE_READ() (stepperZ2.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_Z2(L6474) + #define Z2_DIR_INIT() SET_OUTPUT(Z2_DIR_PIN) + #define Z2_DIR_WRITE(STATE) L6474_DIR_WRITE(Z2, STATE) + #define Z2_DIR_READ() READ(Z2_DIR_PIN) + #else + #define Z2_DIR_INIT() NOOP + #define Z2_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z2, STATE) + #define Z2_DIR_READ() (stepper##Z2.getStatus() & STATUS_DIR); + #endif +#endif + +#if AXIS_DRIVER_TYPE_Z2(L6470) + #define DISABLE_STEPPER_Z2() stepperZ2.free() +#endif + +// Z3 Stepper +#if HAS_Z3_ENABLE && AXIS_IS_L64XX(Z3) + extern L64XX_CLASS(Z3) stepperZ3; + #define Z3_ENABLE_INIT() NOOP + #define Z3_ENABLE_WRITE(STATE) (STATE ? stepperZ3.hardStop() : stepperZ3.free()) + #define Z3_ENABLE_READ() (stepperZ3.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_Z3(L6474) + #define Z3_DIR_INIT() SET_OUTPUT(Z3_DIR_PIN) + #define Z3_DIR_WRITE(STATE) L6474_DIR_WRITE(Z3, STATE) + #define Z3_DIR_READ() READ(Z3_DIR_PIN) + #else + #define Z3_DIR_INIT() NOOP + #define Z3_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z3, STATE) + #define Z3_DIR_READ() (stepper##Z3.getStatus() & STATUS_DIR); + #endif +#endif + +#if AXIS_DRIVER_TYPE_Z3(L6470) + #define DISABLE_STEPPER_Z3() stepperZ3.free() +#endif + +// Z4 Stepper +#if HAS_Z4_ENABLE && AXIS_IS_L64XX(Z4) + extern L64XX_CLASS(Z4) stepperZ4; + #define Z4_ENABLE_INIT() NOOP + #define Z4_ENABLE_WRITE(STATE) (STATE ? stepperZ4.hardStop() : stepperZ4.free()) + #define Z4_ENABLE_READ() (stepperZ4.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_Z4(L6474) + #define Z4_DIR_INIT() SET_OUTPUT(Z4_DIR_PIN) + #define Z4_DIR_WRITE(STATE) L6474_DIR_WRITE(Z4, STATE) + #define Z4_DIR_READ() READ(Z4_DIR_PIN) + #else + #define Z4_DIR_INIT() NOOP + #define Z4_DIR_WRITE(STATE) L64XX_DIR_WRITE(Z4, STATE) + #define Z4_DIR_READ() (stepper##Z4.getStatus() & STATUS_DIR); + #endif +#endif + +#if AXIS_DRIVER_TYPE_Z4(L6470) + #define DISABLE_STEPPER_Z4() stepperZ4.free() +#endif + +// E0 Stepper +#if AXIS_IS_L64XX(E0) + extern L64XX_CLASS(E0) stepperE0; + #define E0_ENABLE_INIT() NOOP + #define E0_ENABLE_WRITE(STATE) (STATE ? stepperE0.hardStop() : stepperE0.free()) + #define E0_ENABLE_READ() (stepperE0.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_E0(L6474) + #define E0_DIR_INIT() SET_OUTPUT(E0_DIR_PIN) + #define E0_DIR_WRITE(STATE) L6474_DIR_WRITE(E0, STATE) + #define E0_DIR_READ() READ(E0_DIR_PIN) + #else + #define E0_DIR_INIT() NOOP + #define E0_DIR_WRITE(STATE) L64XX_DIR_WRITE(E0, STATE) + #define E0_DIR_READ() (stepper##E0.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_E0(L6470) + #define DISABLE_STEPPER_E0() do{ stepperE0.free(); }while(0) + #endif + #endif +#endif + +// E1 Stepper +#if AXIS_IS_L64XX(E1) + extern L64XX_CLASS(E1) stepperE1; + #define E1_ENABLE_INIT() NOOP + #define E1_ENABLE_WRITE(STATE) (STATE ? stepperE1.hardStop() : stepperE1.free()) + #define E1_ENABLE_READ() (stepperE1.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_E1(L6474) + #define E1_DIR_INIT() SET_OUTPUT(E1_DIR_PIN) + #define E1_DIR_WRITE(STATE) L6474_DIR_WRITE(E1, STATE) + #define E1_DIR_READ() READ(E1_DIR_PIN) + #else + #define E1_DIR_INIT() NOOP + #define E1_DIR_WRITE(STATE) L64XX_DIR_WRITE(E1, STATE) + #define E1_DIR_READ() (stepper##E1.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_E1(L6470) + #define DISABLE_STEPPER_E1() do{ stepperE1.free(); }while(0) + #endif + #endif +#endif + +// E2 Stepper +#if AXIS_IS_L64XX(E2) + extern L64XX_CLASS(E2) stepperE2; + #define E2_ENABLE_INIT() NOOP + #define E2_ENABLE_WRITE(STATE) (STATE ? stepperE2.hardStop() : stepperE2.free()) + #define E2_ENABLE_READ() (stepperE2.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_E2(L6474) + #define E2_DIR_INIT() SET_OUTPUT(E2_DIR_PIN) + #define E2_DIR_WRITE(STATE) L6474_DIR_WRITE(E2, STATE) + #define E2_DIR_READ() READ(E2_DIR_PIN) + #else + #define E2_DIR_INIT() NOOP + #define E2_DIR_WRITE(STATE) L64XX_DIR_WRITE(E2, STATE) + #define E2_DIR_READ() (stepper##E2.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_E2(L6470) + #define DISABLE_STEPPER_E2() do{ stepperE2.free(); }while(0) + #endif + #endif +#endif + +// E3 Stepper +#if AXIS_IS_L64XX(E3) + extern L64XX_CLASS(E3) stepperE3; + #define E3_ENABLE_INIT() NOOP + #define E3_ENABLE_WRITE(STATE) (STATE ? stepperE3.hardStop() : stepperE3.free()) + #define E3_ENABLE_READ() (stepperE3.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_E3(L6474) + #define E3_DIR_INIT() SET_OUTPUT(E3_DIR_PIN) + #define E3_DIR_WRITE(STATE) L6474_DIR_WRITE(E3, STATE) + #define E3_DIR_READ() READ(E3_DIR_PIN) + #else + #define E3_DIR_INIT() NOOP + #define E3_DIR_WRITE(STATE) L64XX_DIR_WRITE(E3, STATE) + #define E3_DIR_READ() (stepper##E3.getStatus() & STATUS_DIR); + #endif +#endif + +// E4 Stepper +#if AXIS_IS_L64XX(E4) + extern L64XX_CLASS(E4) stepperE4; + #define E4_ENABLE_INIT() NOOP + #define E4_ENABLE_WRITE(STATE) (STATE ? stepperE4.hardStop() : stepperE4.free()) + #define E4_ENABLE_READ() (stepperE4.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_E4(L6474) + #define E4_DIR_INIT() SET_OUTPUT(E4_DIR_PIN) + #define E4_DIR_WRITE(STATE) L6474_DIR_WRITE(E4, STATE) + #define E4_DIR_READ() READ(E4_DIR_PIN) + #else + #define E4_DIR_INIT() NOOP + #define E4_DIR_WRITE(STATE) L64XX_DIR_WRITE(E4, STATE) + #define E4_DIR_READ() (stepper##E4.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_E4(L6470) + #define DISABLE_STEPPER_E4() do{ stepperE4.free(); }while(0) + #endif + #endif +#endif + +// E5 Stepper +#if AXIS_IS_L64XX(E5) + extern L64XX_CLASS(E5) stepperE5; + #define E5_ENABLE_INIT() NOOP + #define E5_ENABLE_WRITE(STATE) (STATE ? stepperE5.hardStop() : stepperE5.free()) + #define E5_ENABLE_READ() (stepperE5.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_E5(L6474) + #define E5_DIR_INIT() SET_OUTPUT(E5_DIR_PIN) + #define E5_DIR_WRITE(STATE) L6474_DIR_WRITE(E5, STATE) + #define E5_DIR_READ() READ(E5_DIR_PIN) + #else + #define E5_DIR_INIT() NOOP + #define E5_DIR_WRITE(STATE) L64XX_DIR_WRITE(E5, STATE) + #define E5_DIR_READ() (stepper##E5.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_E5(L6470) + #define DISABLE_STEPPER_E5() do{ stepperE5.free(); }while(0) + #endif + #endif +#endif + +// E6 Stepper +#if AXIS_IS_L64XX(E6) + extern L64XX_CLASS(E6) stepperE6; + #define E6_ENABLE_INIT() NOOP + #define E6_ENABLE_WRITE(STATE) (STATE ? stepperE6.hardStop() : stepperE6.free()) + #define E6_ENABLE_READ() (stepperE6.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_E6(L6474) + #define E6_DIR_INIT() SET_OUTPUT(E6_DIR_PIN) + #define E6_DIR_WRITE(STATE) L6474_DIR_WRITE(E6, STATE) + #define E6_DIR_READ() READ(E6_DIR_PIN) + #else + #define E6_DIR_INIT() NOOP + #define E6_DIR_WRITE(STATE) L64XX_DIR_WRITE(E6, STATE) + #define E6_DIR_READ() (stepper##E6.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_E6(L6470) + #define DISABLE_STEPPER_E6() do{ stepperE6.free(); }while(0) + #endif + #endif +#endif + +// E7 Stepper +#if AXIS_IS_L64XX(E7) + extern L64XX_CLASS(E7) stepperE7; + #define E7_ENABLE_INIT() NOOP + #define E7_ENABLE_WRITE(STATE) (STATE ? stepperE7.hardStop() : stepperE7.free()) + #define E7_ENABLE_READ() (stepperE7.getStatus() & STATUS_HIZ) + #if AXIS_DRIVER_TYPE_E7(L6474) + #define E7_DIR_INIT() SET_OUTPUT(E7_DIR_PIN) + #define E7_DIR_WRITE(STATE) L6474_DIR_WRITE(E7, STATE) + #define E7_DIR_READ() READ(E7_DIR_PIN) + #else + #define E7_DIR_INIT() NOOP + #define E7_DIR_WRITE(STATE) L64XX_DIR_WRITE(E7, STATE) + #define E7_DIR_READ() (stepper##E7.getStatus() & STATUS_DIR); + #if AXIS_DRIVER_TYPE_E7(L6470) + #define DISABLE_STEPPER_E7() do{ stepperE7.free(); }while(0) + #endif + #endif +#endif diff --git a/Marlin/src/module/stepper/TMC26X.cpp b/Marlin/src/module/stepper/TMC26X.cpp new file mode 100644 index 0000000..926f1a4 --- /dev/null +++ b/Marlin/src/module/stepper/TMC26X.cpp @@ -0,0 +1,144 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * stepper/TMC26X.cpp + * Stepper driver indirection for TMC26X drivers + */ + +#include "../../inc/MarlinConfig.h" + +// +// TMC26X Driver objects and inits +// +#if HAS_TMC26X + +#include "TMC26X.h" + +#define _TMC26X_DEFINE(ST) TMC26XStepper stepper##ST(200, ST##_CS_PIN, ST##_STEP_PIN, ST##_DIR_PIN, ST##_MAX_CURRENT, ST##_SENSE_RESISTOR) + +#if AXIS_DRIVER_TYPE_X(TMC26X) + _TMC26X_DEFINE(X); +#endif +#if AXIS_DRIVER_TYPE_X2(TMC26X) + _TMC26X_DEFINE(X2); +#endif +#if AXIS_DRIVER_TYPE_Y(TMC26X) + _TMC26X_DEFINE(Y); +#endif +#if AXIS_DRIVER_TYPE_Y2(TMC26X) + _TMC26X_DEFINE(Y2); +#endif +#if AXIS_DRIVER_TYPE_Z(TMC26X) + _TMC26X_DEFINE(Z); +#endif +#if AXIS_DRIVER_TYPE_Z2(TMC26X) + _TMC26X_DEFINE(Z2); +#endif +#if AXIS_DRIVER_TYPE_Z3(TMC26X) + _TMC26X_DEFINE(Z3); +#endif +#if AXIS_DRIVER_TYPE_Z4(TMC26X) + _TMC26X_DEFINE(Z4); +#endif +#if AXIS_DRIVER_TYPE_E0(TMC26X) + _TMC26X_DEFINE(E0); +#endif +#if AXIS_DRIVER_TYPE_E1(TMC26X) + _TMC26X_DEFINE(E1); +#endif +#if AXIS_DRIVER_TYPE_E2(TMC26X) + _TMC26X_DEFINE(E2); +#endif +#if AXIS_DRIVER_TYPE_E3(TMC26X) + _TMC26X_DEFINE(E3); +#endif +#if AXIS_DRIVER_TYPE_E4(TMC26X) + _TMC26X_DEFINE(E4); +#endif +#if AXIS_DRIVER_TYPE_E5(TMC26X) + _TMC26X_DEFINE(E5); +#endif +#if AXIS_DRIVER_TYPE_E6(TMC26X) + _TMC26X_DEFINE(E6); +#endif +#if AXIS_DRIVER_TYPE_E7(TMC26X) + _TMC26X_DEFINE(E7); +#endif + +#define _TMC26X_INIT(A) do{ \ + stepper##A.setMicrosteps(A##_MICROSTEPS); \ + stepper##A.start(); \ +}while(0) + +void tmc26x_init_to_defaults() { + #if AXIS_DRIVER_TYPE_X(TMC26X) + _TMC26X_INIT(X); + #endif + #if AXIS_DRIVER_TYPE_X2(TMC26X) + _TMC26X_INIT(X2); + #endif + #if AXIS_DRIVER_TYPE_Y(TMC26X) + _TMC26X_INIT(Y); + #endif + #if AXIS_DRIVER_TYPE_Y2(TMC26X) + _TMC26X_INIT(Y2); + #endif + #if AXIS_DRIVER_TYPE_Z(TMC26X) + _TMC26X_INIT(Z); + #endif + #if AXIS_DRIVER_TYPE_Z2(TMC26X) + _TMC26X_INIT(Z2); + #endif + #if AXIS_DRIVER_TYPE_Z3(TMC26X) + _TMC26X_INIT(Z3); + #endif + #if AXIS_DRIVER_TYPE_Z4(TMC26X) + _TMC26X_INIT(Z4); + #endif + #if AXIS_DRIVER_TYPE_E0(TMC26X) + _TMC26X_INIT(E0); + #endif + #if AXIS_DRIVER_TYPE_E1(TMC26X) + _TMC26X_INIT(E1); + #endif + #if AXIS_DRIVER_TYPE_E2(TMC26X) + _TMC26X_INIT(E2); + #endif + #if AXIS_DRIVER_TYPE_E3(TMC26X) + _TMC26X_INIT(E3); + #endif + #if AXIS_DRIVER_TYPE_E4(TMC26X) + _TMC26X_INIT(E4); + #endif + #if AXIS_DRIVER_TYPE_E5(TMC26X) + _TMC26X_INIT(E5); + #endif + #if AXIS_DRIVER_TYPE_E6(TMC26X) + _TMC26X_INIT(E6); + #endif + #if AXIS_DRIVER_TYPE_E7(TMC26X) + _TMC26X_INIT(E7); + #endif +} + +#endif // HAS_TMC26X diff --git a/Marlin/src/module/stepper/TMC26X.h b/Marlin/src/module/stepper/TMC26X.h new file mode 100644 index 0000000..547eb65 --- /dev/null +++ b/Marlin/src/module/stepper/TMC26X.h @@ -0,0 +1,164 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * stepper/TMC26X.h + * Stepper driver indirection for TMC26X drivers + */ + +#include "../../inc/MarlinConfig.h" + +// TMC26X drivers have STEP/DIR on normal pins, but ENABLE via SPI + +#include +#include + +void tmc26x_init_to_defaults(); + +// X Stepper +#if AXIS_DRIVER_TYPE_X(TMC26X) + extern TMC26XStepper stepperX; + #define X_ENABLE_INIT() NOOP + #define X_ENABLE_WRITE(STATE) stepperX.setEnabled(STATE) + #define X_ENABLE_READ() stepperX.isEnabled() +#endif + +// Y Stepper +#if AXIS_DRIVER_TYPE_Y(TMC26X) + extern TMC26XStepper stepperY; + #define Y_ENABLE_INIT() NOOP + #define Y_ENABLE_WRITE(STATE) stepperY.setEnabled(STATE) + #define Y_ENABLE_READ() stepperY.isEnabled() +#endif + +// Z Stepper +#if AXIS_DRIVER_TYPE_Z(TMC26X) + extern TMC26XStepper stepperZ; + #define Z_ENABLE_INIT() NOOP + #define Z_ENABLE_WRITE(STATE) stepperZ.setEnabled(STATE) + #define Z_ENABLE_READ() stepperZ.isEnabled() +#endif + +// X2 Stepper +#if HAS_X2_ENABLE && AXIS_DRIVER_TYPE_X2(TMC26X) + extern TMC26XStepper stepperX2; + #define X2_ENABLE_INIT() NOOP + #define X2_ENABLE_WRITE(STATE) stepperX2.setEnabled(STATE) + #define X2_ENABLE_READ() stepperX2.isEnabled() +#endif + +// Y2 Stepper +#if HAS_Y2_ENABLE && AXIS_DRIVER_TYPE_Y2(TMC26X) + extern TMC26XStepper stepperY2; + #define Y2_ENABLE_INIT() NOOP + #define Y2_ENABLE_WRITE(STATE) stepperY2.setEnabled(STATE) + #define Y2_ENABLE_READ() stepperY2.isEnabled() +#endif + +// Z2 Stepper +#if HAS_Z2_ENABLE && AXIS_DRIVER_TYPE_Z2(TMC26X) + extern TMC26XStepper stepperZ2; + #define Z2_ENABLE_INIT() NOOP + #define Z2_ENABLE_WRITE(STATE) stepperZ2.setEnabled(STATE) + #define Z2_ENABLE_READ() stepperZ2.isEnabled() +#endif + +// Z3 Stepper +#if HAS_Z3_ENABLE && AXIS_DRIVER_TYPE_Z3(TMC26X) + extern TMC26XStepper stepperZ3; + #define Z3_ENABLE_INIT() NOOP + #define Z3_ENABLE_WRITE(STATE) stepperZ3.setEnabled(STATE) + #define Z3_ENABLE_READ() stepperZ3.isEnabled() +#endif + +// Z4 Stepper +#if HAS_Z4_ENABLE && AXIS_DRIVER_TYPE_Z4(TMC26X) + extern TMC26XStepper stepperZ4; + #define Z4_ENABLE_INIT() NOOP + #define Z4_ENABLE_WRITE(STATE) stepperZ4.setEnabled(STATE) + #define Z4_ENABLE_READ() stepperZ4.isEnabled() +#endif + +// E0 Stepper +#if AXIS_DRIVER_TYPE_E0(TMC26X) + extern TMC26XStepper stepperE0; + #define E0_ENABLE_INIT() NOOP + #define E0_ENABLE_WRITE(STATE) stepperE0.setEnabled(STATE) + #define E0_ENABLE_READ() stepperE0.isEnabled() +#endif + +// E1 Stepper +#if AXIS_DRIVER_TYPE_E1(TMC26X) + extern TMC26XStepper stepperE1; + #define E1_ENABLE_INIT() NOOP + #define E1_ENABLE_WRITE(STATE) stepperE1.setEnabled(STATE) + #define E1_ENABLE_READ() stepperE1.isEnabled() +#endif + +// E2 Stepper +#if AXIS_DRIVER_TYPE_E2(TMC26X) + extern TMC26XStepper stepperE2; + #define E2_ENABLE_INIT() NOOP + #define E2_ENABLE_WRITE(STATE) stepperE2.setEnabled(STATE) + #define E2_ENABLE_READ() stepperE2.isEnabled() +#endif + +// E3 Stepper +#if AXIS_DRIVER_TYPE_E3(TMC26X) + extern TMC26XStepper stepperE3; + #define E3_ENABLE_INIT() NOOP + #define E3_ENABLE_WRITE(STATE) stepperE3.setEnabled(STATE) + #define E3_ENABLE_READ() stepperE3.isEnabled() +#endif + +// E4 Stepper +#if AXIS_DRIVER_TYPE_E4(TMC26X) + extern TMC26XStepper stepperE4; + #define E4_ENABLE_INIT() NOOP + #define E4_ENABLE_WRITE(STATE) stepperE4.setEnabled(STATE) + #define E4_ENABLE_READ() stepperE4.isEnabled() +#endif + +// E5 Stepper +#if AXIS_DRIVER_TYPE_E5(TMC26X) + extern TMC26XStepper stepperE5; + #define E5_ENABLE_INIT() NOOP + #define E5_ENABLE_WRITE(STATE) stepperE5.setEnabled(STATE) + #define E5_ENABLE_READ() stepperE5.isEnabled() +#endif + +// E6 Stepper +#if AXIS_DRIVER_TYPE_E6(TMC26X) + extern TMC26XStepper stepperE6; + #define E6_ENABLE_INIT() NOOP + #define E6_ENABLE_WRITE(STATE) stepperE6.setEnabled(STATE) + #define E6_ENABLE_READ() stepperE6.isEnabled() +#endif + +// E7 Stepper +#if AXIS_DRIVER_TYPE_E7(TMC26X) + extern TMC26XStepper stepperE7; + #define E7_ENABLE_INIT() NOOP + #define E7_ENABLE_WRITE(STATE) stepperE7.setEnabled(STATE) + #define E7_ENABLE_READ() stepperE7.isEnabled() +#endif diff --git a/Marlin/src/module/stepper/indirection.cpp b/Marlin/src/module/stepper/indirection.cpp new file mode 100644 index 0000000..6297d83 --- /dev/null +++ b/Marlin/src/module/stepper/indirection.cpp @@ -0,0 +1,50 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * stepper/indirection.cpp + * + * Stepper motor driver indirection to allow some stepper functions to + * be done via SPI/I2c instead of direct pin manipulation. + * + * Copyright (c) 2015 Dominik Wenger + */ + +#include "../../inc/MarlinConfig.h" +#include "indirection.h" + +void restore_stepper_drivers() { + TERN_(HAS_TRINAMIC_CONFIG, restore_trinamic_drivers()); +} + +void reset_stepper_drivers() { + #if HAS_DRIVER(TMC26X) + tmc26x_init_to_defaults(); + #endif + TERN_(HAS_L64XX, L64xxManager.init_to_defaults()); + TERN_(HAS_TRINAMIC_CONFIG, reset_trinamic_drivers()); +} + +#if ENABLED(SOFTWARE_DRIVER_ENABLE) + // Flags to optimize XYZ Enabled state + xyz_bool_t axis_sw_enabled; // = { false, false, false } +#endif diff --git a/Marlin/src/module/stepper/indirection.h b/Marlin/src/module/stepper/indirection.h new file mode 100644 index 0000000..4346e9d --- /dev/null +++ b/Marlin/src/module/stepper/indirection.h @@ -0,0 +1,1003 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * stepper/indirection.h + * + * Stepper motor driver indirection to allow some stepper functions to + * be done via SPI/I2c instead of direct pin manipulation. + * + * Copyright (c) 2015 Dominik Wenger + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_L64XX + #include "L64xx.h" +#endif + +#if HAS_DRIVER(TMC26X) + #include "TMC26X.h" +#endif + +#if HAS_TRINAMIC_CONFIG + #include "trinamic.h" +#endif + +void restore_stepper_drivers(); // Called by PSU_ON +void reset_stepper_drivers(); // Called by settings.load / settings.reset + +// X Stepper +#ifndef X_ENABLE_INIT + #define X_ENABLE_INIT() SET_OUTPUT(X_ENABLE_PIN) + #define X_ENABLE_WRITE(STATE) WRITE(X_ENABLE_PIN,STATE) + #define X_ENABLE_READ() bool(READ(X_ENABLE_PIN)) +#endif +#ifndef X_DIR_INIT + #define X_DIR_INIT() SET_OUTPUT(X_DIR_PIN) + #define X_DIR_WRITE(STATE) WRITE(X_DIR_PIN,STATE) + #define X_DIR_READ() bool(READ(X_DIR_PIN)) +#endif +#define X_STEP_INIT() SET_OUTPUT(X_STEP_PIN) +#ifndef X_STEP_WRITE + #define X_STEP_WRITE(STATE) WRITE(X_STEP_PIN,STATE) +#endif +#define X_STEP_READ() bool(READ(X_STEP_PIN)) + +// Y Stepper +#ifndef Y_ENABLE_INIT + #define Y_ENABLE_INIT() SET_OUTPUT(Y_ENABLE_PIN) + #define Y_ENABLE_WRITE(STATE) WRITE(Y_ENABLE_PIN,STATE) + #define Y_ENABLE_READ() bool(READ(Y_ENABLE_PIN)) +#endif +#ifndef Y_DIR_INIT + #define Y_DIR_INIT() SET_OUTPUT(Y_DIR_PIN) + #define Y_DIR_WRITE(STATE) WRITE(Y_DIR_PIN,STATE) + #define Y_DIR_READ() bool(READ(Y_DIR_PIN)) +#endif +#define Y_STEP_INIT() SET_OUTPUT(Y_STEP_PIN) +#ifndef Y_STEP_WRITE + #define Y_STEP_WRITE(STATE) WRITE(Y_STEP_PIN,STATE) +#endif +#define Y_STEP_READ() bool(READ(Y_STEP_PIN)) + +// Z Stepper +#ifndef Z_ENABLE_INIT + #define Z_ENABLE_INIT() SET_OUTPUT(Z_ENABLE_PIN) + #define Z_ENABLE_WRITE(STATE) WRITE(Z_ENABLE_PIN,STATE) + #define Z_ENABLE_READ() bool(READ(Z_ENABLE_PIN)) +#endif +#ifndef Z_DIR_INIT + #define Z_DIR_INIT() SET_OUTPUT(Z_DIR_PIN) + #define Z_DIR_WRITE(STATE) WRITE(Z_DIR_PIN,STATE) + #define Z_DIR_READ() bool(READ(Z_DIR_PIN)) +#endif +#define Z_STEP_INIT() SET_OUTPUT(Z_STEP_PIN) +#ifndef Z_STEP_WRITE + #define Z_STEP_WRITE(STATE) WRITE(Z_STEP_PIN,STATE) +#endif +#define Z_STEP_READ() bool(READ(Z_STEP_PIN)) + +// X2 Stepper +#if HAS_X2_ENABLE + #ifndef X2_ENABLE_INIT + #define X2_ENABLE_INIT() SET_OUTPUT(X2_ENABLE_PIN) + #define X2_ENABLE_WRITE(STATE) WRITE(X2_ENABLE_PIN,STATE) + #define X2_ENABLE_READ() bool(READ(X2_ENABLE_PIN)) + #endif + #ifndef X2_DIR_INIT + #define X2_DIR_INIT() SET_OUTPUT(X2_DIR_PIN) + #define X2_DIR_WRITE(STATE) WRITE(X2_DIR_PIN,STATE) + #define X2_DIR_READ() bool(READ(X2_DIR_PIN)) + #endif + #define X2_STEP_INIT() SET_OUTPUT(X2_STEP_PIN) + #ifndef X2_STEP_WRITE + #define X2_STEP_WRITE(STATE) WRITE(X2_STEP_PIN,STATE) + #endif + #define X2_STEP_READ() bool(READ(X2_STEP_PIN)) +#endif + +// Y2 Stepper +#if HAS_Y2_ENABLE + #ifndef Y2_ENABLE_INIT + #define Y2_ENABLE_INIT() SET_OUTPUT(Y2_ENABLE_PIN) + #define Y2_ENABLE_WRITE(STATE) WRITE(Y2_ENABLE_PIN,STATE) + #define Y2_ENABLE_READ() bool(READ(Y2_ENABLE_PIN)) + #endif + #ifndef Y2_DIR_INIT + #define Y2_DIR_INIT() SET_OUTPUT(Y2_DIR_PIN) + #define Y2_DIR_WRITE(STATE) WRITE(Y2_DIR_PIN,STATE) + #define Y2_DIR_READ() bool(READ(Y2_DIR_PIN)) + #endif + #define Y2_STEP_INIT() SET_OUTPUT(Y2_STEP_PIN) + #ifndef Y2_STEP_WRITE + #define Y2_STEP_WRITE(STATE) WRITE(Y2_STEP_PIN,STATE) + #endif + #define Y2_STEP_READ() bool(READ(Y2_STEP_PIN)) +#else + #define Y2_DIR_WRITE(STATE) NOOP +#endif + +// Z2 Stepper +#if HAS_Z2_ENABLE + #ifndef Z2_ENABLE_INIT + #define Z2_ENABLE_INIT() SET_OUTPUT(Z2_ENABLE_PIN) + #define Z2_ENABLE_WRITE(STATE) WRITE(Z2_ENABLE_PIN,STATE) + #define Z2_ENABLE_READ() bool(READ(Z2_ENABLE_PIN)) + #endif + #ifndef Z2_DIR_INIT + #define Z2_DIR_INIT() SET_OUTPUT(Z2_DIR_PIN) + #define Z2_DIR_WRITE(STATE) WRITE(Z2_DIR_PIN,STATE) + #define Z2_DIR_READ() bool(READ(Z2_DIR_PIN)) + #endif + #define Z2_STEP_INIT() SET_OUTPUT(Z2_STEP_PIN) + #ifndef Z2_STEP_WRITE + #define Z2_STEP_WRITE(STATE) WRITE(Z2_STEP_PIN,STATE) + #endif + #define Z2_STEP_READ() bool(READ(Z2_STEP_PIN)) +#else + #define Z2_DIR_WRITE(STATE) NOOP +#endif + +// Z3 Stepper +#if HAS_Z3_ENABLE + #ifndef Z3_ENABLE_INIT + #define Z3_ENABLE_INIT() SET_OUTPUT(Z3_ENABLE_PIN) + #define Z3_ENABLE_WRITE(STATE) WRITE(Z3_ENABLE_PIN,STATE) + #define Z3_ENABLE_READ() bool(READ(Z3_ENABLE_PIN)) + #endif + #ifndef Z3_DIR_INIT + #define Z3_DIR_INIT() SET_OUTPUT(Z3_DIR_PIN) + #define Z3_DIR_WRITE(STATE) WRITE(Z3_DIR_PIN,STATE) + #define Z3_DIR_READ() bool(READ(Z3_DIR_PIN)) + #endif + #define Z3_STEP_INIT() SET_OUTPUT(Z3_STEP_PIN) + #ifndef Z3_STEP_WRITE + #define Z3_STEP_WRITE(STATE) WRITE(Z3_STEP_PIN,STATE) + #endif + #define Z3_STEP_READ() bool(READ(Z3_STEP_PIN)) +#else + #define Z3_DIR_WRITE(STATE) NOOP +#endif + +// Z4 Stepper +#if HAS_Z4_ENABLE + #ifndef Z4_ENABLE_INIT + #define Z4_ENABLE_INIT() SET_OUTPUT(Z4_ENABLE_PIN) + #define Z4_ENABLE_WRITE(STATE) WRITE(Z4_ENABLE_PIN,STATE) + #define Z4_ENABLE_READ() bool(READ(Z4_ENABLE_PIN)) + #endif + #ifndef Z4_DIR_INIT + #define Z4_DIR_INIT() SET_OUTPUT(Z4_DIR_PIN) + #define Z4_DIR_WRITE(STATE) WRITE(Z4_DIR_PIN,STATE) + #define Z4_DIR_READ() bool(READ(Z4_DIR_PIN)) + #endif + #define Z4_STEP_INIT() SET_OUTPUT(Z4_STEP_PIN) + #ifndef Z4_STEP_WRITE + #define Z4_STEP_WRITE(STATE) WRITE(Z4_STEP_PIN,STATE) + #endif + #define Z4_STEP_READ() bool(READ(Z4_STEP_PIN)) +#else + #define Z4_DIR_WRITE(STATE) NOOP +#endif + +// E0 Stepper +#ifndef E0_ENABLE_INIT + #define E0_ENABLE_INIT() SET_OUTPUT(E0_ENABLE_PIN) + #define E0_ENABLE_WRITE(STATE) WRITE(E0_ENABLE_PIN,STATE) + #define E0_ENABLE_READ() bool(READ(E0_ENABLE_PIN)) +#endif +#ifndef E0_DIR_INIT + #define E0_DIR_INIT() SET_OUTPUT(E0_DIR_PIN) + #define E0_DIR_WRITE(STATE) WRITE(E0_DIR_PIN,STATE) + #define E0_DIR_READ() bool(READ(E0_DIR_PIN)) +#endif +#define E0_STEP_INIT() SET_OUTPUT(E0_STEP_PIN) +#ifndef E0_STEP_WRITE + #define E0_STEP_WRITE(STATE) WRITE(E0_STEP_PIN,STATE) +#endif +#define E0_STEP_READ() bool(READ(E0_STEP_PIN)) + +// E1 Stepper +#ifndef E1_ENABLE_INIT + #define E1_ENABLE_INIT() SET_OUTPUT(E1_ENABLE_PIN) + #define E1_ENABLE_WRITE(STATE) WRITE(E1_ENABLE_PIN,STATE) + #define E1_ENABLE_READ() bool(READ(E1_ENABLE_PIN)) +#endif +#ifndef E1_DIR_INIT + #define E1_DIR_INIT() SET_OUTPUT(E1_DIR_PIN) + #define E1_DIR_WRITE(STATE) WRITE(E1_DIR_PIN,STATE) + #define E1_DIR_READ() bool(READ(E1_DIR_PIN)) +#endif +#define E1_STEP_INIT() SET_OUTPUT(E1_STEP_PIN) +#ifndef E1_STEP_WRITE + #define E1_STEP_WRITE(STATE) WRITE(E1_STEP_PIN,STATE) +#endif +#define E1_STEP_READ() bool(READ(E1_STEP_PIN)) + +// E2 Stepper +#ifndef E2_ENABLE_INIT + #define E2_ENABLE_INIT() SET_OUTPUT(E2_ENABLE_PIN) + #define E2_ENABLE_WRITE(STATE) WRITE(E2_ENABLE_PIN,STATE) + #define E2_ENABLE_READ() bool(READ(E2_ENABLE_PIN)) +#endif +#ifndef E2_DIR_INIT + #define E2_DIR_INIT() SET_OUTPUT(E2_DIR_PIN) + #define E2_DIR_WRITE(STATE) WRITE(E2_DIR_PIN,STATE) + #define E2_DIR_READ() bool(READ(E2_DIR_PIN)) +#endif +#define E2_STEP_INIT() SET_OUTPUT(E2_STEP_PIN) +#ifndef E2_STEP_WRITE + #define E2_STEP_WRITE(STATE) WRITE(E2_STEP_PIN,STATE) +#endif +#define E2_STEP_READ() bool(READ(E2_STEP_PIN)) + +// E3 Stepper +#ifndef E3_ENABLE_INIT + #define E3_ENABLE_INIT() SET_OUTPUT(E3_ENABLE_PIN) + #define E3_ENABLE_WRITE(STATE) WRITE(E3_ENABLE_PIN,STATE) + #define E3_ENABLE_READ() bool(READ(E3_ENABLE_PIN)) +#endif +#ifndef E3_DIR_INIT + #define E3_DIR_INIT() SET_OUTPUT(E3_DIR_PIN) + #define E3_DIR_WRITE(STATE) WRITE(E3_DIR_PIN,STATE) + #define E3_DIR_READ() bool(READ(E3_DIR_PIN)) +#endif +#define E3_STEP_INIT() SET_OUTPUT(E3_STEP_PIN) +#ifndef E3_STEP_WRITE + #define E3_STEP_WRITE(STATE) WRITE(E3_STEP_PIN,STATE) +#endif +#define E3_STEP_READ() bool(READ(E3_STEP_PIN)) + +// E4 Stepper +#ifndef E4_ENABLE_INIT + #define E4_ENABLE_INIT() SET_OUTPUT(E4_ENABLE_PIN) + #define E4_ENABLE_WRITE(STATE) WRITE(E4_ENABLE_PIN,STATE) + #define E4_ENABLE_READ() bool(READ(E4_ENABLE_PIN)) +#endif +#ifndef E4_DIR_INIT + #define E4_DIR_INIT() SET_OUTPUT(E4_DIR_PIN) + #define E4_DIR_WRITE(STATE) WRITE(E4_DIR_PIN,STATE) + #define E4_DIR_READ() bool(READ(E4_DIR_PIN)) +#endif +#define E4_STEP_INIT() SET_OUTPUT(E4_STEP_PIN) +#ifndef E4_STEP_WRITE + #define E4_STEP_WRITE(STATE) WRITE(E4_STEP_PIN,STATE) +#endif +#define E4_STEP_READ() bool(READ(E4_STEP_PIN)) + +// E5 Stepper +#ifndef E5_ENABLE_INIT + #define E5_ENABLE_INIT() SET_OUTPUT(E5_ENABLE_PIN) + #define E5_ENABLE_WRITE(STATE) WRITE(E5_ENABLE_PIN,STATE) + #define E5_ENABLE_READ() bool(READ(E5_ENABLE_PIN)) +#endif +#ifndef E5_DIR_INIT + #define E5_DIR_INIT() SET_OUTPUT(E5_DIR_PIN) + #define E5_DIR_WRITE(STATE) WRITE(E5_DIR_PIN,STATE) + #define E5_DIR_READ() bool(READ(E5_DIR_PIN)) +#endif +#define E5_STEP_INIT() SET_OUTPUT(E5_STEP_PIN) +#ifndef E5_STEP_WRITE + #define E5_STEP_WRITE(STATE) WRITE(E5_STEP_PIN,STATE) +#endif +#define E5_STEP_READ() bool(READ(E5_STEP_PIN)) + +// E6 Stepper +#ifndef E6_ENABLE_INIT + #define E6_ENABLE_INIT() SET_OUTPUT(E6_ENABLE_PIN) + #define E6_ENABLE_WRITE(STATE) WRITE(E6_ENABLE_PIN,STATE) + #define E6_ENABLE_READ() bool(READ(E6_ENABLE_PIN)) +#endif +#ifndef E6_DIR_INIT + #define E6_DIR_INIT() SET_OUTPUT(E6_DIR_PIN) + #define E6_DIR_WRITE(STATE) WRITE(E6_DIR_PIN,STATE) + #define E6_DIR_READ() bool(READ(E6_DIR_PIN)) +#endif +#define E6_STEP_INIT() SET_OUTPUT(E6_STEP_PIN) +#ifndef E6_STEP_WRITE + #define E6_STEP_WRITE(STATE) WRITE(E6_STEP_PIN,STATE) +#endif +#define E6_STEP_READ() bool(READ(E6_STEP_PIN)) + +// E7 Stepper +#ifndef E7_ENABLE_INIT + #define E7_ENABLE_INIT() SET_OUTPUT(E7_ENABLE_PIN) + #define E7_ENABLE_WRITE(STATE) WRITE(E7_ENABLE_PIN,STATE) + #define E7_ENABLE_READ() bool(READ(E7_ENABLE_PIN)) +#endif +#ifndef E7_DIR_INIT + #define E7_DIR_INIT() SET_OUTPUT(E7_DIR_PIN) + #define E7_DIR_WRITE(STATE) WRITE(E7_DIR_PIN,STATE) + #define E7_DIR_READ() bool(READ(E7_DIR_PIN)) +#endif +#define E7_STEP_INIT() SET_OUTPUT(E7_STEP_PIN) +#ifndef E7_STEP_WRITE + #define E7_STEP_WRITE(STATE) WRITE(E7_STEP_PIN,STATE) +#endif +#define E7_STEP_READ() bool(READ(E7_STEP_PIN)) + +/** + * Extruder indirection for the single E axis + */ +#if ENABLED(SWITCHING_EXTRUDER) // One stepper driver per two extruders, reversed on odd index + #if EXTRUDERS > 7 + #define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else if (E < 6) { E2_STEP_WRITE(V); } else { E3_STEP_WRITE(V); } }while(0) + #define NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + case 4: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 5: E2_DIR_WRITE( INVERT_E2_DIR); break; \ + case 6: E3_DIR_WRITE( INVERT_E3_DIR); break; case 7: E3_DIR_WRITE( INVERT_E3_DIR); break; \ + } }while(0) + #define REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + case 4: E2_DIR_WRITE( INVERT_E2_DIR); break; case 5: E2_DIR_WRITE(!INVERT_E2_DIR); break; \ + case 6: E3_DIR_WRITE(!INVERT_E3_DIR); break; case 7: E3_DIR_WRITE(!INVERT_E3_DIR); break; \ + } }while(0) + #elif EXTRUDERS > 6 + #define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else if (E < 6) { E2_STEP_WRITE(V); } else { E3_STEP_WRITE(V); } }while(0) + #define NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + case 4: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 5: E2_DIR_WRITE( INVERT_E2_DIR); break; \ + case 6: E3_DIR_WRITE( INVERT_E3_DIR); break; \ + } }while(0) + #define REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + case 4: E2_DIR_WRITE( INVERT_E2_DIR); break; case 5: E2_DIR_WRITE(!INVERT_E2_DIR); break; \ + case 6: E3_DIR_WRITE(!INVERT_E3_DIR); } }while(0) + #elif EXTRUDERS > 5 + #define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0) + #define NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + case 4: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 5: E2_DIR_WRITE( INVERT_E2_DIR); break; \ + } }while(0) + #define REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + case 4: E2_DIR_WRITE( INVERT_E2_DIR); break; case 5: E2_DIR_WRITE(!INVERT_E2_DIR); break; \ + } }while(0) + #elif EXTRUDERS > 4 + #define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else if (E < 4) { E1_STEP_WRITE(V); } else { E2_STEP_WRITE(V); } }while(0) + #define NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + case 4: E2_DIR_WRITE(!INVERT_E2_DIR); break; \ + } }while(0) + #define REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + case 4: E2_DIR_WRITE( INVERT_E2_DIR); break; \ + } }while(0) + #elif EXTRUDERS > 3 + #define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0) + #define NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 3: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + } }while(0) + #define REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; case 3: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + } }while(0) + #elif EXTRUDERS > 2 + #define E_STEP_WRITE(E,V) do{ if (E < 2) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0) + #define NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E0_DIR_WRITE( INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + } }while(0) + #define REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E0_DIR_WRITE(!INVERT_E0_DIR); break; \ + case 2: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + } }while(0) + #else + #define E_STEP_WRITE(E,V) E0_STEP_WRITE(V) + #define NORM_E_DIR(E) do{ E0_DIR_WRITE(E ? INVERT_E0_DIR : !INVERT_E0_DIR); }while(0) + #define REV_E_DIR(E) do{ E0_DIR_WRITE(E ? !INVERT_E0_DIR : INVERT_E0_DIR); }while(0) + #endif + +#elif HAS_PRUSA_MMU2 + + #define E_STEP_WRITE(E,V) E0_STEP_WRITE(V) + #define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR) + #define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR) + +#elif HAS_PRUSA_MMU1 // One multiplexed stepper driver, reversed on odd index + + #define E_STEP_WRITE(E,V) E0_STEP_WRITE(V) + #define NORM_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? !INVERT_E0_DIR: INVERT_E0_DIR); }while(0) + #define REV_E_DIR(E) do{ E0_DIR_WRITE(TEST(E, 0) ? INVERT_E0_DIR: !INVERT_E0_DIR); }while(0) + +#elif E_STEPPERS > 1 + + #if E_STEPPERS > 7 + + #define _E_STEP_WRITE(E,V) do{ switch (E) { \ + case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; \ + case 4: E4_STEP_WRITE(V); break; case 5: E5_STEP_WRITE(V); break; case 6: E6_STEP_WRITE(V); break; case 7: E7_STEP_WRITE(V); break; \ + } }while(0) + #define _NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; \ + case 4: E4_DIR_WRITE(!INVERT_E4_DIR); break; case 5: E5_DIR_WRITE(!INVERT_E5_DIR); break; \ + case 6: E6_DIR_WRITE(!INVERT_E6_DIR); break; case 7: E7_DIR_WRITE(!INVERT_E7_DIR); break; \ + } }while(0) + #define _REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; \ + case 4: E4_DIR_WRITE( INVERT_E4_DIR); break; case 5: E5_DIR_WRITE( INVERT_E5_DIR); break; \ + case 6: E6_DIR_WRITE( INVERT_E6_DIR); break; case 7: E7_DIR_WRITE( INVERT_E7_DIR); break; \ + } }while(0) + + #elif E_STEPPERS > 6 + + #define _E_STEP_WRITE(E,V) do{ switch (E) { \ + case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; \ + case 4: E4_STEP_WRITE(V); break; case 5: E5_STEP_WRITE(V); break; case 6: E6_STEP_WRITE(V); break; \ + } }while(0) + #define _NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; \ + case 4: E4_DIR_WRITE(!INVERT_E4_DIR); break; case 5: E5_DIR_WRITE(!INVERT_E5_DIR); break; \ + case 6: E6_DIR_WRITE(!INVERT_E6_DIR); break; \ + } }while(0) + #define _REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; \ + case 4: E4_DIR_WRITE( INVERT_E4_DIR); break; case 5: E5_DIR_WRITE( INVERT_E5_DIR); break; \ + case 6: E6_DIR_WRITE( INVERT_E6_DIR); break; \ + } }while(0) + + #elif E_STEPPERS > 5 + + #define _E_STEP_WRITE(E,V) do{ switch (E) { \ + case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; \ + case 4: E4_STEP_WRITE(V); break; case 5: E5_STEP_WRITE(V); break; \ + } }while(0) + #define _NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; \ + case 4: E4_DIR_WRITE(!INVERT_E4_DIR); break; case 5: E5_DIR_WRITE(!INVERT_E5_DIR); break; \ + } }while(0) + #define _REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; \ + case 4: E4_DIR_WRITE( INVERT_E4_DIR); break; case 5: E5_DIR_WRITE( INVERT_E5_DIR); break; \ + } }while(0) + + #elif E_STEPPERS > 4 + + #define _E_STEP_WRITE(E,V) do{ switch (E) { \ + case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; \ + case 4: E4_STEP_WRITE(V); break; \ + } }while(0) + #define _NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; \ + case 4: E4_DIR_WRITE(!INVERT_E4_DIR); break; \ + } }while(0) + #define _REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; \ + case 4: E4_DIR_WRITE( INVERT_E4_DIR); break; \ + } }while(0) + + #elif E_STEPPERS > 3 + + #define _E_STEP_WRITE(E,V) do{ switch (E) { \ + case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); break; case 3: E3_STEP_WRITE(V); break; \ + } }while(0) + #define _NORM_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; \ + case 2: E2_DIR_WRITE(!INVERT_E2_DIR); break; case 3: E3_DIR_WRITE(!INVERT_E3_DIR); break; \ + } }while(0) + #define _REV_E_DIR(E) do{ switch (E) { \ + case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; \ + case 2: E2_DIR_WRITE( INVERT_E2_DIR); break; case 3: E3_DIR_WRITE( INVERT_E3_DIR); break; \ + } }while(0) + + #elif E_STEPPERS > 2 + + #define _E_STEP_WRITE(E,V) do{ switch (E) { case 0: E0_STEP_WRITE(V); break; case 1: E1_STEP_WRITE(V); break; case 2: E2_STEP_WRITE(V); } }while(0) + #define _NORM_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE(!INVERT_E0_DIR); break; case 1: E1_DIR_WRITE(!INVERT_E1_DIR); break; case 2: E2_DIR_WRITE(!INVERT_E2_DIR); } }while(0) + #define _REV_E_DIR(E) do{ switch (E) { case 0: E0_DIR_WRITE( INVERT_E0_DIR); break; case 1: E1_DIR_WRITE( INVERT_E1_DIR); break; case 2: E2_DIR_WRITE( INVERT_E2_DIR); } }while(0) + + #else + + #define _E_STEP_WRITE(E,V) do{ if (E == 0) { E0_STEP_WRITE(V); } else { E1_STEP_WRITE(V); } }while(0) + #define _NORM_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE(!INVERT_E0_DIR); } else { E1_DIR_WRITE(!INVERT_E1_DIR); } }while(0) + #define _REV_E_DIR(E) do{ if (E == 0) { E0_DIR_WRITE( INVERT_E0_DIR); } else { E1_DIR_WRITE( INVERT_E1_DIR); } }while(0) + #endif + + #if HAS_DUPLICATION_MODE + + #if ENABLED(MULTI_NOZZLE_DUPLICATION) + #define _DUPE(N,T,V) do{ if (TEST(duplication_e_mask, N)) E##N##_##T##_WRITE(V); }while(0) + #else + #define _DUPE(N,T,V) E##N##_##T##_WRITE(V) + #endif + + #define NDIR(N) _DUPE(N,DIR,!INVERT_E##N##_DIR) + #define RDIR(N) _DUPE(N,DIR, INVERT_E##N##_DIR) + + #define E_STEP_WRITE(E,V) do{ if (extruder_duplication_enabled) { DUPE(STEP,V); } else _E_STEP_WRITE(E,V); }while(0) + + #if E_STEPPERS > 2 + #if E_STEPPERS > 7 + #define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); _DUPE(5,T,V); _DUPE(6,T,V); _DUPE(7,T,V); }while(0) + #define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); NDIR(5); NDIR(6); NDIR(7); } else _NORM_E_DIR(E); }while(0) + #define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); RDIR(5); RDIR(6); RDIR(7); } else _REV_E_DIR(E); }while(0) + #elif E_STEPPERS > 6 + #define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); _DUPE(5,T,V); _DUPE(6,T,V); }while(0) + #define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); NDIR(5); NDIR(6); } else _NORM_E_DIR(E); }while(0) + #define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); RDIR(5); RDIR(6); } else _REV_E_DIR(E); }while(0) + #elif E_STEPPERS > 5 + #define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); _DUPE(5,T,V); }while(0) + #define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); NDIR(5); } else _NORM_E_DIR(E); }while(0) + #define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); RDIR(5); } else _REV_E_DIR(E); }while(0) + #elif E_STEPPERS > 4 + #define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); _DUPE(4,T,V); }while(0) + #define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); NDIR(4); } else _NORM_E_DIR(E); }while(0) + #define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); RDIR(4); } else _REV_E_DIR(E); }while(0) + #elif E_STEPPERS > 3 + #define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); _DUPE(3,T,V); }while(0) + #define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); NDIR(3); } else _NORM_E_DIR(E); }while(0) + #define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); RDIR(3); } else _REV_E_DIR(E); }while(0) + #else + #define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); _DUPE(2,T,V); }while(0) + #define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); NDIR(2); } else _NORM_E_DIR(E); }while(0) + #define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); RDIR(2); } else _REV_E_DIR(E); }while(0) + #endif + #else + #define DUPE(T,V) do{ _DUPE(0,T,V); _DUPE(1,T,V); }while(0) + #define NORM_E_DIR(E) do{ if (extruder_duplication_enabled) { NDIR(0); NDIR(1); } else _NORM_E_DIR(E); }while(0) + #define REV_E_DIR(E) do{ if (extruder_duplication_enabled) { RDIR(0); RDIR(1); } else _REV_E_DIR(E); }while(0) + #endif + + #else + + #define E_STEP_WRITE(E,V) _E_STEP_WRITE(E,V) + #define NORM_E_DIR(E) _NORM_E_DIR(E) + #define REV_E_DIR(E) _REV_E_DIR(E) + + #endif + +#elif E_STEPPERS + #define E_STEP_WRITE(E,V) E0_STEP_WRITE(V) + #define NORM_E_DIR(E) E0_DIR_WRITE(!INVERT_E0_DIR) + #define REV_E_DIR(E) E0_DIR_WRITE( INVERT_E0_DIR) + +#else + #define E_STEP_WRITE(E,V) NOOP + #define NORM_E_DIR(E) NOOP + #define REV_E_DIR(E) NOOP + +#endif + +// +// Individual stepper enable / disable macros +// + +#ifndef ENABLE_STEPPER_X + #if HAS_X_ENABLE + #define ENABLE_STEPPER_X() X_ENABLE_WRITE( X_ENABLE_ON) + #else + #define ENABLE_STEPPER_X() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_X + #if HAS_X_ENABLE + #define DISABLE_STEPPER_X() X_ENABLE_WRITE(!X_ENABLE_ON) + #else + #define DISABLE_STEPPER_X() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_X2 + #if HAS_X2_ENABLE + #define ENABLE_STEPPER_X2() X2_ENABLE_WRITE( X_ENABLE_ON) + #else + #define ENABLE_STEPPER_X2() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_X2 + #if HAS_X2_ENABLE + #define DISABLE_STEPPER_X2() X2_ENABLE_WRITE(!X_ENABLE_ON) + #else + #define DISABLE_STEPPER_X2() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_Y + #if HAS_Y_ENABLE + #define ENABLE_STEPPER_Y() Y_ENABLE_WRITE( Y_ENABLE_ON) + #else + #define ENABLE_STEPPER_Y() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_Y + #if HAS_Y_ENABLE + #define DISABLE_STEPPER_Y() Y_ENABLE_WRITE(!Y_ENABLE_ON) + #else + #define DISABLE_STEPPER_Y() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_Y2 + #if HAS_Y2_ENABLE + #define ENABLE_STEPPER_Y2() Y2_ENABLE_WRITE( Y_ENABLE_ON) + #else + #define ENABLE_STEPPER_Y2() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_Y2 + #if HAS_Y2_ENABLE + #define DISABLE_STEPPER_Y2() Y2_ENABLE_WRITE(!Y_ENABLE_ON) + #else + #define DISABLE_STEPPER_Y2() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_Z + #if HAS_Z_ENABLE + #define ENABLE_STEPPER_Z() Z_ENABLE_WRITE( Z_ENABLE_ON) + #else + #define ENABLE_STEPPER_Z() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_Z + #if HAS_Z_ENABLE + #define DISABLE_STEPPER_Z() Z_ENABLE_WRITE(!Z_ENABLE_ON) + #else + #define DISABLE_STEPPER_Z() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_Z2 + #if HAS_Z2_ENABLE + #define ENABLE_STEPPER_Z2() Z2_ENABLE_WRITE( Z_ENABLE_ON) + #else + #define ENABLE_STEPPER_Z2() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_Z2 + #if HAS_Z2_ENABLE + #define DISABLE_STEPPER_Z2() Z2_ENABLE_WRITE(!Z_ENABLE_ON) + #else + #define DISABLE_STEPPER_Z2() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_Z3 + #if HAS_Z3_ENABLE + #define ENABLE_STEPPER_Z3() Z3_ENABLE_WRITE( Z_ENABLE_ON) + #else + #define ENABLE_STEPPER_Z3() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_Z3 + #if HAS_Z3_ENABLE + #define DISABLE_STEPPER_Z3() Z3_ENABLE_WRITE(!Z_ENABLE_ON) + #else + #define DISABLE_STEPPER_Z3() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_Z4 + #if HAS_Z4_ENABLE + #define ENABLE_STEPPER_Z4() Z4_ENABLE_WRITE( Z_ENABLE_ON) + #else + #define ENABLE_STEPPER_Z4() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_Z4 + #if HAS_Z4_ENABLE + #define DISABLE_STEPPER_Z4() Z4_ENABLE_WRITE(!Z_ENABLE_ON) + #else + #define DISABLE_STEPPER_Z4() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_E0 + #if HAS_E0_ENABLE + #define ENABLE_STEPPER_E0() E0_ENABLE_WRITE( E_ENABLE_ON) + #else + #define ENABLE_STEPPER_E0() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_E0 + #if HAS_E0_ENABLE + #define DISABLE_STEPPER_E0() E0_ENABLE_WRITE(!E_ENABLE_ON) + #else + #define DISABLE_STEPPER_E0() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_E1 + #if E_STEPPERS > 1 && HAS_E1_ENABLE + #define ENABLE_STEPPER_E1() E1_ENABLE_WRITE( E_ENABLE_ON) + #else + #define ENABLE_STEPPER_E1() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_E1 + #if E_STEPPERS > 1 && HAS_E1_ENABLE + #define DISABLE_STEPPER_E1() E1_ENABLE_WRITE(!E_ENABLE_ON) + #else + #define DISABLE_STEPPER_E1() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_E2 + #if E_STEPPERS > 2 && HAS_E2_ENABLE + #define ENABLE_STEPPER_E2() E2_ENABLE_WRITE( E_ENABLE_ON) + #else + #define ENABLE_STEPPER_E2() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_E2 + #if E_STEPPERS > 2 && HAS_E2_ENABLE + #define DISABLE_STEPPER_E2() E2_ENABLE_WRITE(!E_ENABLE_ON) + #else + #define DISABLE_STEPPER_E2() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_E3 + #if E_STEPPERS > 3 && HAS_E3_ENABLE + #define ENABLE_STEPPER_E3() E3_ENABLE_WRITE( E_ENABLE_ON) + #else + #define ENABLE_STEPPER_E3() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_E3 + #if E_STEPPERS > 3 && HAS_E3_ENABLE + #define DISABLE_STEPPER_E3() E3_ENABLE_WRITE(!E_ENABLE_ON) + #else + #define DISABLE_STEPPER_E3() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_E4 + #if E_STEPPERS > 4 && HAS_E4_ENABLE + #define ENABLE_STEPPER_E4() E4_ENABLE_WRITE( E_ENABLE_ON) + #else + #define ENABLE_STEPPER_E4() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_E4 + #if E_STEPPERS > 4 && HAS_E4_ENABLE + #define DISABLE_STEPPER_E4() E4_ENABLE_WRITE(!E_ENABLE_ON) + #else + #define DISABLE_STEPPER_E4() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_E5 + #if E_STEPPERS > 5 && HAS_E5_ENABLE + #define ENABLE_STEPPER_E5() E5_ENABLE_WRITE( E_ENABLE_ON) + #else + #define ENABLE_STEPPER_E5() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_E5 + #if E_STEPPERS > 5 && HAS_E5_ENABLE + #define DISABLE_STEPPER_E5() E5_ENABLE_WRITE(!E_ENABLE_ON) + #else + #define DISABLE_STEPPER_E5() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_E6 + #if E_STEPPERS > 6 && HAS_E6_ENABLE + #define ENABLE_STEPPER_E6() E6_ENABLE_WRITE( E_ENABLE_ON) + #else + #define ENABLE_STEPPER_E6() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_E6 + #if E_STEPPERS > 6 && HAS_E6_ENABLE + #define DISABLE_STEPPER_E6() E6_ENABLE_WRITE(!E_ENABLE_ON) + #else + #define DISABLE_STEPPER_E6() NOOP + #endif +#endif + +#ifndef ENABLE_STEPPER_E7 + #if E_STEPPERS > 7 && HAS_E7_ENABLE + #define ENABLE_STEPPER_E7() E7_ENABLE_WRITE( E_ENABLE_ON) + #else + #define ENABLE_STEPPER_E7() NOOP + #endif +#endif +#ifndef DISABLE_STEPPER_E7 + #if E_STEPPERS > 7 && HAS_E7_ENABLE + #define DISABLE_STEPPER_E7() E7_ENABLE_WRITE(!E_ENABLE_ON) + #else + #define DISABLE_STEPPER_E7() NOOP + #endif +#endif + +// +// Axis steppers enable / disable macros +// +#if ENABLED(SOFTWARE_DRIVER_ENABLE) + // Avoid expensive calls to enable / disable steppers + extern xyz_bool_t axis_sw_enabled; + #define SHOULD_ENABLE(N) !axis_sw_enabled.N + #define SHOULD_DISABLE(N) axis_sw_enabled.N + #define AFTER_CHANGE(N,TF) axis_sw_enabled.N = TF +#else + #define SHOULD_ENABLE(N) true + #define SHOULD_DISABLE(N) true + #define AFTER_CHANGE(N,TF) NOOP +#endif + +#define ENABLE_AXIS_X() if (SHOULD_ENABLE(x)) { ENABLE_STEPPER_X(); ENABLE_STEPPER_X2(); AFTER_CHANGE(x, true); } +#define DISABLE_AXIS_X() if (SHOULD_DISABLE(x)) { DISABLE_STEPPER_X(); DISABLE_STEPPER_X2(); AFTER_CHANGE(x, false); set_axis_untrusted(X_AXIS); } +#define ENABLE_AXIS_Y() if (SHOULD_ENABLE(y)) { ENABLE_STEPPER_Y(); ENABLE_STEPPER_Y2(); AFTER_CHANGE(y, true); } +#define DISABLE_AXIS_Y() if (SHOULD_DISABLE(y)) { DISABLE_STEPPER_Y(); DISABLE_STEPPER_Y2(); AFTER_CHANGE(y, false); set_axis_untrusted(Y_AXIS); } +#define ENABLE_AXIS_Z() if (SHOULD_ENABLE(z)) { ENABLE_STEPPER_Z(); ENABLE_STEPPER_Z2(); ENABLE_STEPPER_Z3(); ENABLE_STEPPER_Z4(); AFTER_CHANGE(z, true); } +#define DISABLE_AXIS_Z() if (SHOULD_DISABLE(z)) { DISABLE_STEPPER_Z(); DISABLE_STEPPER_Z2(); DISABLE_STEPPER_Z3(); DISABLE_STEPPER_Z4(); AFTER_CHANGE(z, false); set_axis_untrusted(Z_AXIS); Z_RESET(); } + +#ifdef Z_AFTER_DEACTIVATE + #define Z_RESET() do{ current_position.z = Z_AFTER_DEACTIVATE; sync_plan_position(); }while(0) +#else + #define Z_RESET() +#endif + +// +// Extruder steppers enable / disable macros +// + +#if ENABLED(MIXING_EXTRUDER) + /** + * Mixing steppers keep all their enable (and direction) states synchronized + */ + #define _CALL_ENA_E(N) ENABLE_STEPPER_E##N () ; + #define _CALL_DIS_E(N) DISABLE_STEPPER_E##N () ; + #define ENABLE_AXIS_E0() { RREPEAT(MIXING_STEPPERS, _CALL_ENA_E) } + #define DISABLE_AXIS_E0() { RREPEAT(MIXING_STEPPERS, _CALL_DIS_E) } +#endif + +#ifndef ENABLE_AXIS_E0 + #if E_STEPPERS && HAS_E0_ENABLE + #define ENABLE_AXIS_E0() ENABLE_STEPPER_E0() + #else + #define ENABLE_AXIS_E0() NOOP + #endif +#endif +#ifndef DISABLE_AXIS_E0 + #if E_STEPPERS && HAS_E0_ENABLE + #define DISABLE_AXIS_E0() DISABLE_STEPPER_E0() + #else + #define DISABLE_AXIS_E0() NOOP + #endif +#endif + +#ifndef ENABLE_AXIS_E1 + #if E_STEPPERS > 1 && HAS_E1_ENABLE + #define ENABLE_AXIS_E1() ENABLE_STEPPER_E1() + #else + #define ENABLE_AXIS_E1() NOOP + #endif +#endif +#ifndef DISABLE_AXIS_E1 + #if E_STEPPERS > 1 && HAS_E1_ENABLE + #define DISABLE_AXIS_E1() DISABLE_STEPPER_E1() + #else + #define DISABLE_AXIS_E1() NOOP + #endif +#endif + +#ifndef ENABLE_AXIS_E2 + #if E_STEPPERS > 2 && HAS_E2_ENABLE + #define ENABLE_AXIS_E2() ENABLE_STEPPER_E2() + #else + #define ENABLE_AXIS_E2() NOOP + #endif +#endif +#ifndef DISABLE_AXIS_E2 + #if E_STEPPERS > 2 && HAS_E2_ENABLE + #define DISABLE_AXIS_E2() DISABLE_STEPPER_E2() + #else + #define DISABLE_AXIS_E2() NOOP + #endif +#endif + +#ifndef ENABLE_AXIS_E3 + #if E_STEPPERS > 3 && HAS_E3_ENABLE + #define ENABLE_AXIS_E3() ENABLE_STEPPER_E3() + #else + #define ENABLE_AXIS_E3() NOOP + #endif +#endif +#ifndef DISABLE_AXIS_E3 + #if E_STEPPERS > 3 && HAS_E3_ENABLE + #define DISABLE_AXIS_E3() DISABLE_STEPPER_E3() + #else + #define DISABLE_AXIS_E3() NOOP + #endif +#endif + +#ifndef ENABLE_AXIS_E4 + #if E_STEPPERS > 4 && HAS_E4_ENABLE + #define ENABLE_AXIS_E4() ENABLE_STEPPER_E4() + #else + #define ENABLE_AXIS_E4() NOOP + #endif +#endif +#ifndef DISABLE_AXIS_E4 + #if E_STEPPERS > 4 && HAS_E4_ENABLE + #define DISABLE_AXIS_E4() DISABLE_STEPPER_E4() + #else + #define DISABLE_AXIS_E4() NOOP + #endif +#endif + +#ifndef ENABLE_AXIS_E5 + #if E_STEPPERS > 5 && HAS_E5_ENABLE + #define ENABLE_AXIS_E5() ENABLE_STEPPER_E5() + #else + #define ENABLE_AXIS_E5() NOOP + #endif +#endif +#ifndef DISABLE_AXIS_E5 + #if E_STEPPERS > 5 && HAS_E5_ENABLE + #define DISABLE_AXIS_E5() DISABLE_STEPPER_E5() + #else + #define DISABLE_AXIS_E5() NOOP + #endif +#endif + +#ifndef ENABLE_AXIS_E6 + #if E_STEPPERS > 6 && HAS_E6_ENABLE + #define ENABLE_AXIS_E6() ENABLE_STEPPER_E6() + #else + #define ENABLE_AXIS_E6() NOOP + #endif +#endif +#ifndef DISABLE_AXIS_E6 + #if E_STEPPERS > 6 && HAS_E6_ENABLE + #define DISABLE_AXIS_E6() DISABLE_STEPPER_E6() + #else + #define DISABLE_AXIS_E6() NOOP + #endif +#endif + +#ifndef ENABLE_AXIS_E7 + #if E_STEPPERS > 7 && HAS_E7_ENABLE + #define ENABLE_AXIS_E7() ENABLE_STEPPER_E7() + #else + #define ENABLE_AXIS_E7() NOOP + #endif +#endif +#ifndef DISABLE_AXIS_E7 + #if E_STEPPERS > 7 && HAS_E7_ENABLE + #define DISABLE_AXIS_E7() DISABLE_STEPPER_E7() + #else + #define DISABLE_AXIS_E7() NOOP + #endif +#endif diff --git a/Marlin/src/module/stepper/trinamic.cpp b/Marlin/src/module/stepper/trinamic.cpp new file mode 100644 index 0000000..c33581d --- /dev/null +++ b/Marlin/src/module/stepper/trinamic.cpp @@ -0,0 +1,877 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * stepper/trinamic.cpp + * Stepper driver indirection for Trinamic + */ + +#include "../../inc/MarlinConfig.h" + +#if HAS_TRINAMIC_CONFIG + +#include "trinamic.h" +#include "../stepper.h" + +#include +#include + +enum StealthIndex : uint8_t { STEALTH_AXIS_XY, STEALTH_AXIS_Z, STEALTH_AXIS_E }; +#define TMC_INIT(ST, STEALTH_INDEX) tmc_init(stepper##ST, ST##_CURRENT, ST##_MICROSTEPS, ST##_HYBRID_THRESHOLD, stealthchop_by_axis[STEALTH_INDEX], chopper_timing_##ST, ST##_INTERPOLATE) + +// IC = TMC model number +// ST = Stepper object letter +// L = Label characters +// AI = Axis Enum Index +// SWHW = SW/SH UART selection +#if ENABLED(TMC_USE_SW_SPI) + #define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), TMC_SW_MOSI, TMC_SW_MISO, TMC_SW_SCK, ST##_CHAIN_POS) +#else + #define __TMC_SPI_DEFINE(IC, ST, L, AI) TMCMarlin stepper##ST(ST##_CS_PIN, float(ST##_RSENSE), ST##_CHAIN_POS) +#endif + +#if ENABLED(TMC_SERIAL_MULTIPLEXER) + #define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin stepper##ST(&ST##_HARDWARE_SERIAL, float(ST##_RSENSE), ST##_SLAVE_ADDRESS, SERIAL_MUL_PIN1, SERIAL_MUL_PIN2) +#else + #define TMC_UART_HW_DEFINE(IC, ST, L, AI) TMCMarlin stepper##ST(&ST##_HARDWARE_SERIAL, float(ST##_RSENSE), ST##_SLAVE_ADDRESS) +#endif +#define TMC_UART_SW_DEFINE(IC, ST, L, AI) TMCMarlin stepper##ST(ST##_SERIAL_RX_PIN, ST##_SERIAL_TX_PIN, float(ST##_RSENSE), ST##_SLAVE_ADDRESS) + +#define _TMC_SPI_DEFINE(IC, ST, AI) __TMC_SPI_DEFINE(IC, ST, TMC_##ST##_LABEL, AI) +#define TMC_SPI_DEFINE(ST, AI) _TMC_SPI_DEFINE(ST##_DRIVER_TYPE, ST, AI##_AXIS) + +#define _TMC_UART_DEFINE(SWHW, IC, ST, AI) TMC_UART_##SWHW##_DEFINE(IC, ST, TMC_##ST##_LABEL, AI) +#define TMC_UART_DEFINE(SWHW, ST, AI) _TMC_UART_DEFINE(SWHW, ST##_DRIVER_TYPE, ST, AI##_AXIS) + +#if DISTINCT_E > 1 + #define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E##AI) + #define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E##AI) +#else + #define TMC_SPI_DEFINE_E(AI) TMC_SPI_DEFINE(E##AI, E) + #define TMC_UART_DEFINE_E(SWHW, AI) TMC_UART_DEFINE(SWHW, E##AI, E) +#endif + +// Stepper objects of TMC2130/TMC2160/TMC2660/TMC5130/TMC5160 steppers used +#if AXIS_HAS_SPI(X) + TMC_SPI_DEFINE(X, X); +#endif +#if AXIS_HAS_SPI(X2) + TMC_SPI_DEFINE(X2, X); +#endif +#if AXIS_HAS_SPI(Y) + TMC_SPI_DEFINE(Y, Y); +#endif +#if AXIS_HAS_SPI(Y2) + TMC_SPI_DEFINE(Y2, Y); +#endif +#if AXIS_HAS_SPI(Z) + TMC_SPI_DEFINE(Z, Z); +#endif +#if AXIS_HAS_SPI(Z2) + TMC_SPI_DEFINE(Z2, Z); +#endif +#if AXIS_HAS_SPI(Z3) + TMC_SPI_DEFINE(Z3, Z); +#endif +#if AXIS_HAS_SPI(Z4) + TMC_SPI_DEFINE(Z4, Z); +#endif +#if AXIS_HAS_SPI(E0) + TMC_SPI_DEFINE_E(0); +#endif +#if AXIS_HAS_SPI(E1) + TMC_SPI_DEFINE_E(1); +#endif +#if AXIS_HAS_SPI(E2) + TMC_SPI_DEFINE_E(2); +#endif +#if AXIS_HAS_SPI(E3) + TMC_SPI_DEFINE_E(3); +#endif +#if AXIS_HAS_SPI(E4) + TMC_SPI_DEFINE_E(4); +#endif +#if AXIS_HAS_SPI(E5) + TMC_SPI_DEFINE_E(5); +#endif +#if AXIS_HAS_SPI(E6) + TMC_SPI_DEFINE_E(6); +#endif +#if AXIS_HAS_SPI(E7) + TMC_SPI_DEFINE_E(7); +#endif + +#ifndef TMC_BAUD_RATE + // Reduce baud rate for boards not already overriding TMC_BAUD_RATE for software serial. + // Testing has shown that 115200 is not 100% reliable on AVR platforms, occasionally + // failing to read status properly. 32-bit platforms typically define an even lower + // TMC_BAUD_RATE, due to differences in how SoftwareSerial libraries work on different + // platforms. + #define TMC_BAUD_RATE TERN(HAS_TMC_SW_SERIAL, 57600, 115200) +#endif + +#if HAS_DRIVER(TMC2130) + template + void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) { + st.begin(); + + CHOPCONF_t chopconf{0}; + chopconf.tbl = 0b01; + chopconf.toff = chop_init.toff; + chopconf.intpol = interpolate; + chopconf.hend = chop_init.hend + 3; + chopconf.hstrt = chop_init.hstrt - 1; + TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true); + st.CHOPCONF(chopconf.sr); + + st.rms_current(mA, HOLD_MULTIPLIER); + st.microsteps(microsteps); + st.iholddelay(10); + st.TPOWERDOWN(128); // ~2s until driver lowers to hold current + + st.en_pwm_mode(stealth); + st.stored.stealthChop_enabled = stealth; + + PWMCONF_t pwmconf{0}; + pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk + pwmconf.pwm_autoscale = true; + pwmconf.pwm_grad = 5; + pwmconf.pwm_ampl = 180; + st.PWMCONF(pwmconf.sr); + + TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs)); + + st.GSTAT(); // Clear GSTAT + } +#endif // TMC2130 + +#if HAS_DRIVER(TMC2160) + template + void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) { + st.begin(); + + CHOPCONF_t chopconf{0}; + chopconf.tbl = 0b01; + chopconf.toff = chop_init.toff; + chopconf.intpol = interpolate; + chopconf.hend = chop_init.hend + 3; + chopconf.hstrt = chop_init.hstrt - 1; + TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true); + st.CHOPCONF(chopconf.sr); + + st.rms_current(mA, HOLD_MULTIPLIER); + st.microsteps(microsteps); + st.iholddelay(10); + st.TPOWERDOWN(128); // ~2s until driver lowers to hold current + + st.en_pwm_mode(stealth); + st.stored.stealthChop_enabled = stealth; + + TMC2160_n::PWMCONF_t pwmconf{0}; + pwmconf.pwm_lim = 12; + pwmconf.pwm_reg = 8; + pwmconf.pwm_autograd = true; + pwmconf.pwm_autoscale = true; + pwmconf.pwm_freq = 0b01; + pwmconf.pwm_grad = 14; + pwmconf.pwm_ofs = 36; + st.PWMCONF(pwmconf.sr); + + TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs)); + + st.GSTAT(); // Clear GSTAT + } +#endif // TMC2160 + +// +// TMC2208/2209 Driver objects and inits +// +#if HAS_TMC220x + #if AXIS_HAS_UART(X) + #ifdef X_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, X, X); + #define X_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, X, X); + #define X_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(X2) + #ifdef X2_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, X2, X); + #define X2_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, X2, X); + #define X2_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(Y) + #ifdef Y_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, Y, Y); + #define Y_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, Y, Y); + #define Y_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(Y2) + #ifdef Y2_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, Y2, Y); + #define Y2_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, Y2, Y); + #define Y2_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(Z) + #ifdef Z_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, Z, Z); + #define Z_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, Z, Z); + #define Z_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(Z2) + #ifdef Z2_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, Z2, Z); + #define Z2_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, Z2, Z); + #define Z2_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(Z3) + #ifdef Z3_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, Z3, Z); + #define Z3_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, Z3, Z); + #define Z3_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(Z4) + #ifdef Z4_HARDWARE_SERIAL + TMC_UART_DEFINE(HW, Z4, Z); + #define Z4_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE(SW, Z4, Z); + #define Z4_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(E0) + #ifdef E0_HARDWARE_SERIAL + TMC_UART_DEFINE_E(HW, 0); + #define E0_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE_E(SW, 0); + #define E0_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(E1) + #ifdef E1_HARDWARE_SERIAL + TMC_UART_DEFINE_E(HW, 1); + #define E1_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE_E(SW, 1); + #define E1_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(E2) + #ifdef E2_HARDWARE_SERIAL + TMC_UART_DEFINE_E(HW, 2); + #define E2_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE_E(SW, 2); + #define E2_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(E3) + #ifdef E3_HARDWARE_SERIAL + TMC_UART_DEFINE_E(HW, 3); + #define E3_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE_E(SW, 3); + #define E3_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(E4) + #ifdef E4_HARDWARE_SERIAL + TMC_UART_DEFINE_E(HW, 4); + #define E4_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE_E(SW, 4); + #define E4_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(E5) + #ifdef E5_HARDWARE_SERIAL + TMC_UART_DEFINE_E(HW, 5); + #define E5_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE_E(SW, 5); + #define E5_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(E6) + #ifdef E6_HARDWARE_SERIAL + TMC_UART_DEFINE_E(HW, 6); + #define E6_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE_E(SW, 6); + #define E6_HAS_SW_SERIAL 1 + #endif + #endif + #if AXIS_HAS_UART(E7) + #ifdef E7_HARDWARE_SERIAL + TMC_UART_DEFINE_E(HW, 7); + #define E7_HAS_HW_SERIAL 1 + #else + TMC_UART_DEFINE_E(SW, 7); + #define E7_HAS_SW_SERIAL 1 + #endif + #endif + + enum TMCAxis : uint8_t { X, Y, Z, X2, Y2, Z2, Z3, Z4, E0, E1, E2, E3, E4, E5, E6, E7, TOTAL }; + + void tmc_serial_begin() { + #if HAS_TMC_HW_SERIAL + struct { + const void *ptr[TMCAxis::TOTAL]; + bool began(const TMCAxis a, const void * const p) { + LOOP_L_N(i, a) if (p == ptr[i]) return true; + ptr[a] = p; return false; + }; + } sp_helper; + + #define HW_SERIAL_BEGIN(A) do{ if (!sp_helper.began(TMCAxis::A, &A##_HARDWARE_SERIAL)) \ + A##_HARDWARE_SERIAL.begin(TMC_BAUD_RATE); }while(0) + #endif + + #if AXIS_HAS_UART(X) + #ifdef X_HARDWARE_SERIAL + HW_SERIAL_BEGIN(X); + #else + stepperX.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(X2) + #ifdef X2_HARDWARE_SERIAL + HW_SERIAL_BEGIN(X2); + #else + stepperX2.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(Y) + #ifdef Y_HARDWARE_SERIAL + HW_SERIAL_BEGIN(Y); + #else + stepperY.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(Y2) + #ifdef Y2_HARDWARE_SERIAL + HW_SERIAL_BEGIN(Y2); + #else + stepperY2.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(Z) + #ifdef Z_HARDWARE_SERIAL + HW_SERIAL_BEGIN(Z); + #else + stepperZ.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(Z2) + #ifdef Z2_HARDWARE_SERIAL + HW_SERIAL_BEGIN(Z2); + #else + stepperZ2.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(Z3) + #ifdef Z3_HARDWARE_SERIAL + HW_SERIAL_BEGIN(Z3); + #else + stepperZ3.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(Z4) + #ifdef Z4_HARDWARE_SERIAL + HW_SERIAL_BEGIN(Z4); + #else + stepperZ4.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(E0) + #ifdef E0_HARDWARE_SERIAL + HW_SERIAL_BEGIN(E0); + #else + stepperE0.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(E1) + #ifdef E1_HARDWARE_SERIAL + HW_SERIAL_BEGIN(E1); + #else + stepperE1.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(E2) + #ifdef E2_HARDWARE_SERIAL + HW_SERIAL_BEGIN(E2); + #else + stepperE2.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(E3) + #ifdef E3_HARDWARE_SERIAL + HW_SERIAL_BEGIN(E3); + #else + stepperE3.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(E4) + #ifdef E4_HARDWARE_SERIAL + HW_SERIAL_BEGIN(E4); + #else + stepperE4.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(E5) + #ifdef E5_HARDWARE_SERIAL + HW_SERIAL_BEGIN(E5); + #else + stepperE5.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(E6) + #ifdef E6_HARDWARE_SERIAL + HW_SERIAL_BEGIN(E6); + #else + stepperE6.beginSerial(TMC_BAUD_RATE); + #endif + #endif + #if AXIS_HAS_UART(E7) + #ifdef E7_HARDWARE_SERIAL + HW_SERIAL_BEGIN(E7); + #else + stepperE7.beginSerial(TMC_BAUD_RATE); + #endif + #endif + } +#endif + +#if HAS_DRIVER(TMC2208) + template + void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) { + TMC2208_n::GCONF_t gconf{0}; + gconf.pdn_disable = true; // Use UART + gconf.mstep_reg_select = true; // Select microsteps with UART + gconf.i_scale_analog = false; + gconf.en_spreadcycle = !stealth; + st.GCONF(gconf.sr); + st.stored.stealthChop_enabled = stealth; + + TMC2208_n::CHOPCONF_t chopconf{0}; + chopconf.tbl = 0b01; // blank_time = 24 + chopconf.toff = chop_init.toff; + chopconf.intpol = interpolate; + chopconf.hend = chop_init.hend + 3; + chopconf.hstrt = chop_init.hstrt - 1; + TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true); + st.CHOPCONF(chopconf.sr); + + st.rms_current(mA, HOLD_MULTIPLIER); + st.microsteps(microsteps); + st.iholddelay(10); + st.TPOWERDOWN(128); // ~2s until driver lowers to hold current + + TMC2208_n::PWMCONF_t pwmconf{0}; + pwmconf.pwm_lim = 12; + pwmconf.pwm_reg = 8; + pwmconf.pwm_autograd = true; + pwmconf.pwm_autoscale = true; + pwmconf.pwm_freq = 0b01; + pwmconf.pwm_grad = 14; + pwmconf.pwm_ofs = 36; + st.PWMCONF(pwmconf.sr); + + TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs)); + + st.GSTAT(0b111); // Clear + delay(200); + } +#endif // TMC2208 + +#if HAS_DRIVER(TMC2209) + template + void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) { + TMC2208_n::GCONF_t gconf{0}; + gconf.pdn_disable = true; // Use UART + gconf.mstep_reg_select = true; // Select microsteps with UART + gconf.i_scale_analog = false; + gconf.en_spreadcycle = !stealth; + st.GCONF(gconf.sr); + st.stored.stealthChop_enabled = stealth; + + TMC2208_n::CHOPCONF_t chopconf{0}; + chopconf.tbl = 0b01; // blank_time = 24 + chopconf.toff = chop_init.toff; + chopconf.intpol = interpolate; + chopconf.hend = chop_init.hend + 3; + chopconf.hstrt = chop_init.hstrt - 1; + TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true); + st.CHOPCONF(chopconf.sr); + + st.rms_current(mA, HOLD_MULTIPLIER); + st.microsteps(microsteps); + st.iholddelay(10); + st.TPOWERDOWN(128); // ~2s until driver lowers to hold current + + TMC2208_n::PWMCONF_t pwmconf{0}; + pwmconf.pwm_lim = 12; + pwmconf.pwm_reg = 8; + pwmconf.pwm_autograd = true; + pwmconf.pwm_autoscale = true; + pwmconf.pwm_freq = 0b01; + pwmconf.pwm_grad = 14; + pwmconf.pwm_ofs = 36; + st.PWMCONF(pwmconf.sr); + + TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs)); + + st.GSTAT(0b111); // Clear + delay(200); + } +#endif // TMC2209 + +#if HAS_DRIVER(TMC2660) + template + void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t, const bool, const chopper_timing_t &chop_init, const bool interpolate) { + st.begin(); + + TMC2660_n::CHOPCONF_t chopconf{0}; + chopconf.tbl = 0b01; + chopconf.toff = chop_init.toff; + chopconf.hend = chop_init.hend + 3; + chopconf.hstrt = chop_init.hstrt - 1; + st.CHOPCONF(chopconf.sr); + + st.sdoff(0); + st.rms_current(mA); + st.microsteps(microsteps); + TERN_(SQUARE_WAVE_STEPPING, st.dedge(true)); + st.intpol(interpolate); + st.diss2g(true); // Disable short to ground protection. Too many false readings? + TERN_(TMC_DEBUG, st.rdsel(0b01)); + } +#endif // TMC2660 + +#if HAS_DRIVER(TMC5130) + template + void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) { + st.begin(); + + CHOPCONF_t chopconf{0}; + chopconf.tbl = 0b01; + chopconf.toff = chop_init.toff; + chopconf.intpol = interpolate; + chopconf.hend = chop_init.hend + 3; + chopconf.hstrt = chop_init.hstrt - 1; + TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true); + st.CHOPCONF(chopconf.sr); + + st.rms_current(mA, HOLD_MULTIPLIER); + st.microsteps(microsteps); + st.iholddelay(10); + st.TPOWERDOWN(128); // ~2s until driver lowers to hold current + + st.en_pwm_mode(stealth); + st.stored.stealthChop_enabled = stealth; + + PWMCONF_t pwmconf{0}; + pwmconf.pwm_freq = 0b01; // f_pwm = 2/683 f_clk + pwmconf.pwm_autoscale = true; + pwmconf.pwm_grad = 5; + pwmconf.pwm_ampl = 180; + st.PWMCONF(pwmconf.sr); + + TERN(HYBRID_THRESHOLD, st.set_pwm_thrs(hyb_thrs), UNUSED(hyb_thrs)); + + st.GSTAT(); // Clear GSTAT + } +#endif // TMC5130 + +#if HAS_DRIVER(TMC5160) + template + void tmc_init(TMCMarlin &st, const uint16_t mA, const uint16_t microsteps, const uint32_t hyb_thrs, const bool stealth, const chopper_timing_t &chop_init, const bool interpolate) { + st.begin(); + + CHOPCONF_t chopconf{0}; + chopconf.tbl = 0b01; + chopconf.toff = chop_init.toff; + chopconf.intpol = interpolate; + chopconf.hend = chop_init.hend + 3; + chopconf.hstrt = chop_init.hstrt - 1; + TERN_(SQUARE_WAVE_STEPPING, chopconf.dedge = true); + st.CHOPCONF(chopconf.sr); + + st.rms_current(mA, HOLD_MULTIPLIER); + st.microsteps(microsteps); + st.iholddelay(10); + st.TPOWERDOWN(128); // ~2s until driver lowers to hold current + + st.en_pwm_mode(stealth); + st.stored.stealthChop_enabled = stealth; + + TMC2160_n::PWMCONF_t pwmconf{0}; + pwmconf.pwm_lim = 12; + pwmconf.pwm_reg = 8; + pwmconf.pwm_autograd = true; + pwmconf.pwm_autoscale = true; + pwmconf.pwm_freq = 0b01; + pwmconf.pwm_grad = 14; + pwmconf.pwm_ofs = 36; + st.PWMCONF(pwmconf.sr); + + #if ENABLED(HYBRID_THRESHOLD) + st.set_pwm_thrs(hyb_thrs); + #else + UNUSED(hyb_thrs); + #endif + st.GSTAT(); // Clear GSTAT + } +#endif // TMC5160 + +void restore_trinamic_drivers() { + #if AXIS_IS_TMC(X) + stepperX.push(); + #endif + #if AXIS_IS_TMC(X2) + stepperX2.push(); + #endif + #if AXIS_IS_TMC(Y) + stepperY.push(); + #endif + #if AXIS_IS_TMC(Y2) + stepperY2.push(); + #endif + #if AXIS_IS_TMC(Z) + stepperZ.push(); + #endif + #if AXIS_IS_TMC(Z2) + stepperZ2.push(); + #endif + #if AXIS_IS_TMC(Z3) + stepperZ3.push(); + #endif + #if AXIS_IS_TMC(Z4) + stepperZ4.push(); + #endif + #if AXIS_IS_TMC(E0) + stepperE0.push(); + #endif + #if AXIS_IS_TMC(E1) + stepperE1.push(); + #endif + #if AXIS_IS_TMC(E2) + stepperE2.push(); + #endif + #if AXIS_IS_TMC(E3) + stepperE3.push(); + #endif + #if AXIS_IS_TMC(E4) + stepperE4.push(); + #endif + #if AXIS_IS_TMC(E5) + stepperE5.push(); + #endif + #if AXIS_IS_TMC(E6) + stepperE6.push(); + #endif + #if AXIS_IS_TMC(E7) + stepperE7.push(); + #endif +} + +void reset_trinamic_drivers() { + static constexpr bool stealthchop_by_axis[] = { ENABLED(STEALTHCHOP_XY), ENABLED(STEALTHCHOP_Z), ENABLED(STEALTHCHOP_E) }; + + #if AXIS_IS_TMC(X) + TMC_INIT(X, STEALTH_AXIS_XY); + #endif + #if AXIS_IS_TMC(X2) + TMC_INIT(X2, STEALTH_AXIS_XY); + #endif + #if AXIS_IS_TMC(Y) + TMC_INIT(Y, STEALTH_AXIS_XY); + #endif + #if AXIS_IS_TMC(Y2) + TMC_INIT(Y2, STEALTH_AXIS_XY); + #endif + #if AXIS_IS_TMC(Z) + TMC_INIT(Z, STEALTH_AXIS_Z); + #endif + #if AXIS_IS_TMC(Z2) + TMC_INIT(Z2, STEALTH_AXIS_Z); + #endif + #if AXIS_IS_TMC(Z3) + TMC_INIT(Z3, STEALTH_AXIS_Z); + #endif + #if AXIS_IS_TMC(Z4) + TMC_INIT(Z4, STEALTH_AXIS_Z); + #endif + #if AXIS_IS_TMC(E0) + TMC_INIT(E0, STEALTH_AXIS_E); + #endif + #if AXIS_IS_TMC(E1) + TMC_INIT(E1, STEALTH_AXIS_E); + #endif + #if AXIS_IS_TMC(E2) + TMC_INIT(E2, STEALTH_AXIS_E); + #endif + #if AXIS_IS_TMC(E3) + TMC_INIT(E3, STEALTH_AXIS_E); + #endif + #if AXIS_IS_TMC(E4) + TMC_INIT(E4, STEALTH_AXIS_E); + #endif + #if AXIS_IS_TMC(E5) + TMC_INIT(E5, STEALTH_AXIS_E); + #endif + #if AXIS_IS_TMC(E6) + TMC_INIT(E6, STEALTH_AXIS_E); + #endif + #if AXIS_IS_TMC(E7) + TMC_INIT(E7, STEALTH_AXIS_E); + #endif + + #if USE_SENSORLESS + #if X_SENSORLESS + stepperX.homing_threshold(X_STALL_SENSITIVITY); + #if AXIS_HAS_STALLGUARD(X2) + stepperX2.homing_threshold(CAT(TERN(X2_SENSORLESS, X2, X), _STALL_SENSITIVITY)); + #endif + #endif + #if Y_SENSORLESS + stepperY.homing_threshold(Y_STALL_SENSITIVITY); + #if AXIS_HAS_STALLGUARD(Y2) + stepperY2.homing_threshold(CAT(TERN(Y2_SENSORLESS, Y2, Y), _STALL_SENSITIVITY)); + #endif + #endif + #if Z_SENSORLESS + stepperZ.homing_threshold(Z_STALL_SENSITIVITY); + #if AXIS_HAS_STALLGUARD(Z2) + stepperZ2.homing_threshold(CAT(TERN(Z2_SENSORLESS, Z2, Z), _STALL_SENSITIVITY)); + #endif + #if AXIS_HAS_STALLGUARD(Z3) + stepperZ3.homing_threshold(CAT(TERN(Z3_SENSORLESS, Z3, Z), _STALL_SENSITIVITY)); + #endif + #if AXIS_HAS_STALLGUARD(Z4) + stepperZ4.homing_threshold(CAT(TERN(Z4_SENSORLESS, Z4, Z), _STALL_SENSITIVITY)); + #endif + #endif + #endif + + #ifdef TMC_ADV + TMC_ADV() + #endif + + stepper.set_directions(); +} + +// TMC Slave Address Conflict Detection +// +// Conflict detection is performed in the following way. Similar methods are used for +// hardware and software serial, but the implementations are indepenent. +// +// 1. Populate a data structure with UART parameters and addresses for all possible axis. +// If an axis is not in use, populate it with recognizable placeholder data. +// 2. For each axis in use, static_assert using a constexpr function, which counts the +// number of matching/conflicting axis. If the value is not exactly 1, fail. + +#if ANY_AXIS_HAS(HW_SERIAL) + // Hardware serial names are compared as strings, since actually resolving them cannot occur in a constexpr. + // Using a fixed-length character array for the port name allows this to be constexpr compatible. + struct SanityHwSerialDetails { const char port[20]; uint32_t address; }; + #define TMC_HW_DETAIL_ARGS(A) TERN(A##_HAS_HW_SERIAL, STRINGIFY(A##_HARDWARE_SERIAL), ""), TERN0(A##_HAS_HW_SERIAL, A##_SLAVE_ADDRESS) + #define TMC_HW_DETAIL(A) {TMC_HW_DETAIL_ARGS(A)} + constexpr SanityHwSerialDetails sanity_tmc_hw_details[] = { + TMC_HW_DETAIL(X), TMC_HW_DETAIL(X2), + TMC_HW_DETAIL(Y), TMC_HW_DETAIL(Y2), + TMC_HW_DETAIL(Z), TMC_HW_DETAIL(Z2), TMC_HW_DETAIL(Z3), TMC_HW_DETAIL(Z4), + TMC_HW_DETAIL(E0), TMC_HW_DETAIL(E1), TMC_HW_DETAIL(E2), TMC_HW_DETAIL(E3), TMC_HW_DETAIL(E4), TMC_HW_DETAIL(E5), TMC_HW_DETAIL(E6), TMC_HW_DETAIL(E7) + }; + + // constexpr compatible string comparison + constexpr bool str_eq_ce(const char * a, const char * b) { + return *a == *b && (*a == '\0' || str_eq_ce(a+1,b+1)); + } + + constexpr bool sc_hw_done(size_t start, size_t end) { return start == end; } + constexpr bool sc_hw_skip(const char* port_name) { return !(*port_name); } + constexpr bool sc_hw_match(const char* port_name, uint32_t address, size_t start, size_t end) { + return !sc_hw_done(start, end) && !sc_hw_skip(port_name) && (address == sanity_tmc_hw_details[start].address && str_eq_ce(port_name, sanity_tmc_hw_details[start].port)); + } + constexpr int count_tmc_hw_serial_matches(const char* port_name, uint32_t address, size_t start, size_t end) { + return sc_hw_done(start, end) ? 0 : ((sc_hw_skip(port_name) ? 0 : (sc_hw_match(port_name, address, start, end) ? 1 : 0)) + count_tmc_hw_serial_matches(port_name, address, start + 1, end)); + } + + #define TMC_HWSERIAL_CONFLICT_MSG(A) STRINGIFY(A) "_SLAVE_ADDRESS conflicts with another driver using the same " STRINGIFY(A) "_HARDWARE_SERIAL" + #define SA_NO_TMC_HW_C(A) static_assert(1 >= count_tmc_hw_serial_matches(TMC_HW_DETAIL_ARGS(A), 0, COUNT(sanity_tmc_hw_details)), TMC_HWSERIAL_CONFLICT_MSG(A)); + SA_NO_TMC_HW_C(X);SA_NO_TMC_HW_C(X2); + SA_NO_TMC_HW_C(Y);SA_NO_TMC_HW_C(Y2); + SA_NO_TMC_HW_C(Z);SA_NO_TMC_HW_C(Z2);SA_NO_TMC_HW_C(Z3);SA_NO_TMC_HW_C(Z4); + SA_NO_TMC_HW_C(E0);SA_NO_TMC_HW_C(E1);SA_NO_TMC_HW_C(E2);SA_NO_TMC_HW_C(E3);SA_NO_TMC_HW_C(E4);SA_NO_TMC_HW_C(E5);SA_NO_TMC_HW_C(E6);SA_NO_TMC_HW_C(E7); +#endif + +#if ANY_AXIS_HAS(SW_SERIAL) + struct SanitySwSerialDetails { int32_t txpin; int32_t rxpin; uint32_t address; }; + #define TMC_SW_DETAIL_ARGS(A) TERN(A##_HAS_SW_SERIAL, A##_SERIAL_TX_PIN, -1), TERN(A##_HAS_SW_SERIAL, A##_SERIAL_RX_PIN, -1), TERN0(A##_HAS_SW_SERIAL, A##_SLAVE_ADDRESS) + #define TMC_SW_DETAIL(A) TMC_SW_DETAIL_ARGS(A) + constexpr SanitySwSerialDetails sanity_tmc_sw_details[] = { + TMC_SW_DETAIL(X), TMC_SW_DETAIL(X2), + TMC_SW_DETAIL(Y), TMC_SW_DETAIL(Y2), + TMC_SW_DETAIL(Z), TMC_SW_DETAIL(Z2), TMC_SW_DETAIL(Z3), TMC_SW_DETAIL(Z4), + TMC_SW_DETAIL(E0), TMC_SW_DETAIL(E1), TMC_SW_DETAIL(E2), TMC_SW_DETAIL(E3), TMC_SW_DETAIL(E4), TMC_SW_DETAIL(E5), TMC_SW_DETAIL(E6), TMC_SW_DETAIL(E7) + }; + + constexpr bool sc_sw_done(size_t start, size_t end) { return start == end; } + constexpr bool sc_sw_skip(int32_t txpin) { return txpin < 0; } + constexpr bool sc_sw_match(int32_t txpin, int32_t rxpin, uint32_t address, size_t start, size_t end) { + return !sc_sw_done(start, end) && !sc_sw_skip(txpin) && (txpin == sanity_tmc_sw_details[start].txpin || rxpin == sanity_tmc_sw_details[start].rxpin) && (address == sanity_tmc_sw_details[start].address); + } + constexpr int count_tmc_sw_serial_matches(int32_t txpin, int32_t rxpin, uint32_t address, size_t start, size_t end) { + return sc_sw_done(start, end) ? 0 : ((sc_sw_skip(txpin) ? 0 : (sc_sw_match(txpin, rxpin, address, start, end) ? 1 : 0)) + count_tmc_sw_serial_matches(txpin, rxpin, address, start + 1, end)); + } + + #define TMC_SWSERIAL_CONFLICT_MSG(A) STRINGIFY(A) "_SLAVE_ADDRESS conflicts with another driver using the same " STRINGIFY(A) "_SERIAL_RX_PIN or " STRINGIFY(A) "_SERIAL_TX_PIN" + #define SA_NO_TMC_SW_C(A) static_assert(1 >= count_tmc_sw_serial_matches(TMC_SW_DETAIL_ARGS(A), 0, COUNT(sanity_tmc_sw_details)), TMC_SWSERIAL_CONFLICT_MSG(A)); + SA_NO_TMC_SW_C(X);SA_NO_TMC_SW_C(X2); + SA_NO_TMC_SW_C(Y);SA_NO_TMC_SW_C(Y2); + SA_NO_TMC_SW_C(Z);SA_NO_TMC_SW_C(Z2);SA_NO_TMC_SW_C(Z3);SA_NO_TMC_SW_C(Z4); + SA_NO_TMC_SW_C(E0);SA_NO_TMC_SW_C(E1);SA_NO_TMC_SW_C(E2);SA_NO_TMC_SW_C(E3);SA_NO_TMC_SW_C(E4);SA_NO_TMC_SW_C(E5);SA_NO_TMC_SW_C(E6);SA_NO_TMC_SW_C(E7); +#endif + +#endif // HAS_TRINAMIC_CONFIG diff --git a/Marlin/src/module/stepper/trinamic.h b/Marlin/src/module/stepper/trinamic.h new file mode 100644 index 0000000..9f7445e --- /dev/null +++ b/Marlin/src/module/stepper/trinamic.h @@ -0,0 +1,362 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * stepper/trinamic.h + * Stepper driver indirection for Trinamic + */ + +#include +#if TMCSTEPPER_VERSION < 0x000500 + #error "Update TMCStepper library to 0.5.0 or newer." +#endif + +#include "../../inc/MarlinConfig.h" +#include "../../feature/tmc_util.h" + +#define CLASS_TMC2130 TMC2130Stepper +#define CLASS_TMC2160 TMC2160Stepper +#define CLASS_TMC2208 TMC2208Stepper +#define CLASS_TMC2209 TMC2209Stepper +#define CLASS_TMC2660 TMC2660Stepper +#define CLASS_TMC5130 TMC5130Stepper +#define CLASS_TMC5160 TMC5160Stepper + +#define TMC_X_LABEL 'X', '0' +#define TMC_Y_LABEL 'Y', '0' +#define TMC_Z_LABEL 'Z', '0' + +#define TMC_X2_LABEL 'X', '2' +#define TMC_Y2_LABEL 'Y', '2' +#define TMC_Z2_LABEL 'Z', '2' +#define TMC_Z3_LABEL 'Z', '3' +#define TMC_Z4_LABEL 'Z', '4' + +#define TMC_E0_LABEL 'E', '0' +#define TMC_E1_LABEL 'E', '1' +#define TMC_E2_LABEL 'E', '2' +#define TMC_E3_LABEL 'E', '3' +#define TMC_E4_LABEL 'E', '4' +#define TMC_E5_LABEL 'E', '5' +#define TMC_E6_LABEL 'E', '6' +#define TMC_E7_LABEL 'E', '7' + +#define __TMC_CLASS(TYPE, L, I, A) TMCMarlin +#define _TMC_CLASS(TYPE, LandI, A) __TMC_CLASS(TYPE, LandI, A) +#define TMC_CLASS(ST, A) _TMC_CLASS(ST##_DRIVER_TYPE, TMC_##ST##_LABEL, A##_AXIS) +#if ENABLED(DISTINCT_E_FACTORS) + #define TMC_CLASS_E(N) TMC_CLASS(E##N, E##N) +#else + #define TMC_CLASS_E(N) TMC_CLASS(E##N, E) +#endif + +typedef struct { + uint8_t toff; + int8_t hend; + uint8_t hstrt; +} chopper_timing_t; + +#ifndef CHOPPER_TIMING_X + #define CHOPPER_TIMING_X CHOPPER_TIMING +#endif +#ifndef CHOPPER_TIMING_Y + #define CHOPPER_TIMING_Y CHOPPER_TIMING +#endif +#ifndef CHOPPER_TIMING_Z + #define CHOPPER_TIMING_Z CHOPPER_TIMING +#endif +#ifndef CHOPPER_TIMING_E + #define CHOPPER_TIMING_E CHOPPER_TIMING +#endif + +#if HAS_TMC220x + void tmc_serial_begin(); +#endif + +void restore_trinamic_drivers(); +void reset_trinamic_drivers(); + +#define AXIS_HAS_SQUARE_WAVE(A) (AXIS_IS_TMC(A) && ENABLED(SQUARE_WAVE_STEPPING)) + +// X Stepper +#if AXIS_IS_TMC(X) + extern TMC_CLASS(X, X) stepperX; + static constexpr chopper_timing_t chopper_timing_X = CHOPPER_TIMING_X; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define X_ENABLE_INIT() NOOP + #define X_ENABLE_WRITE(STATE) stepperX.toff((STATE)==X_ENABLE_ON ? chopper_timing_X.toff : 0) + #define X_ENABLE_READ() stepperX.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(X) + #define X_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X_STEP_PIN); }while(0) + #endif +#endif + +// Y Stepper +#if AXIS_IS_TMC(Y) + extern TMC_CLASS(Y, Y) stepperY; + static constexpr chopper_timing_t chopper_timing_Y = CHOPPER_TIMING_Y; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define Y_ENABLE_INIT() NOOP + #define Y_ENABLE_WRITE(STATE) stepperY.toff((STATE)==Y_ENABLE_ON ? chopper_timing_Y.toff : 0) + #define Y_ENABLE_READ() stepperY.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Y) + #define Y_STEP_WRITE(STATE) do{ if (STATE) TOGGLE(Y_STEP_PIN); }while(0) + #endif +#endif + +// Z Stepper +#if AXIS_IS_TMC(Z) + extern TMC_CLASS(Z, Z) stepperZ; + static constexpr chopper_timing_t chopper_timing_Z = CHOPPER_TIMING_Z; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define Z_ENABLE_INIT() NOOP + #define Z_ENABLE_WRITE(STATE) stepperZ.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z.toff : 0) + #define Z_ENABLE_READ() stepperZ.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Z) + #define Z_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z_STEP_PIN); }while(0) + #endif +#endif + +// X2 Stepper +#if HAS_X2_ENABLE && AXIS_IS_TMC(X2) + extern TMC_CLASS(X2, X) stepperX2; + #ifndef CHOPPER_TIMING_X2 + #define CHOPPER_TIMING_X2 CHOPPER_TIMING_X + #endif + static constexpr chopper_timing_t chopper_timing_X2 = CHOPPER_TIMING_X2; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define X2_ENABLE_INIT() NOOP + #define X2_ENABLE_WRITE(STATE) stepperX2.toff((STATE)==X_ENABLE_ON ? chopper_timing_X2.toff : 0) + #define X2_ENABLE_READ() stepperX2.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(X2) + #define X2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(X2_STEP_PIN); }while(0) + #endif +#endif + +// Y2 Stepper +#if HAS_Y2_ENABLE && AXIS_IS_TMC(Y2) + extern TMC_CLASS(Y2, Y) stepperY2; + #ifndef CHOPPER_TIMING_Y2 + #define CHOPPER_TIMING_Y2 CHOPPER_TIMING_Y + #endif + static constexpr chopper_timing_t chopper_timing_Y2 = CHOPPER_TIMING_Y2; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define Y2_ENABLE_INIT() NOOP + #define Y2_ENABLE_WRITE(STATE) stepperY2.toff((STATE)==Y_ENABLE_ON ? chopper_timing_Y2.toff : 0) + #define Y2_ENABLE_READ() stepperY2.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Y2) + #define Y2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Y2_STEP_PIN); }while(0) + #endif +#endif + +// Z2 Stepper +#if HAS_Z2_ENABLE && AXIS_IS_TMC(Z2) + extern TMC_CLASS(Z2, Z) stepperZ2; + #ifndef CHOPPER_TIMING_Z2 + #define CHOPPER_TIMING_Z2 CHOPPER_TIMING_Z + #endif + static constexpr chopper_timing_t chopper_timing_Z2 = CHOPPER_TIMING_Z2; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(Z2) + #define Z2_ENABLE_INIT() NOOP + #define Z2_ENABLE_WRITE(STATE) stepperZ2.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z2.toff : 0) + #define Z2_ENABLE_READ() stepperZ2.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Z2) + #define Z2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z2_STEP_PIN); }while(0) + #endif +#endif + +// Z3 Stepper +#if HAS_Z3_ENABLE && AXIS_IS_TMC(Z3) + extern TMC_CLASS(Z3, Z) stepperZ3; + #ifndef CHOPPER_TIMING_Z3 + #define CHOPPER_TIMING_Z3 CHOPPER_TIMING_Z + #endif + static constexpr chopper_timing_t chopper_timing_Z3 = CHOPPER_TIMING_Z3; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define Z3_ENABLE_INIT() NOOP + #define Z3_ENABLE_WRITE(STATE) stepperZ3.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z3.toff : 0) + #define Z3_ENABLE_READ() stepperZ3.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Z3) + #define Z3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z3_STEP_PIN); }while(0) + #endif +#endif + +// Z4 Stepper +#if HAS_Z4_ENABLE && AXIS_IS_TMC(Z4) + extern TMC_CLASS(Z4, Z) stepperZ4; + #ifndef CHOPPER_TIMING_Z4 + #define CHOPPER_TIMING_Z4 CHOPPER_TIMING_Z + #endif + static constexpr chopper_timing_t chopper_timing_Z4 = CHOPPER_TIMING_Z4; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) + #define Z4_ENABLE_INIT() NOOP + #define Z4_ENABLE_WRITE(STATE) stepperZ4.toff((STATE)==Z_ENABLE_ON ? chopper_timing_Z4.toff : 0) + #define Z4_ENABLE_READ() stepperZ4.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(Z4) + #define Z4_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(Z4_STEP_PIN); }while(0) + #endif +#endif + +// E0 Stepper +#if AXIS_IS_TMC(E0) + extern TMC_CLASS_E(0) stepperE0; + #ifndef CHOPPER_TIMING_E0 + #define CHOPPER_TIMING_E0 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E0 = CHOPPER_TIMING_E0; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E0) + #define E0_ENABLE_INIT() NOOP + #define E0_ENABLE_WRITE(STATE) stepperE0.toff((STATE)==E_ENABLE_ON ? chopper_timing_E0.toff : 0) + #define E0_ENABLE_READ() stepperE0.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E0) + #define E0_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E0_STEP_PIN); }while(0) + #endif +#endif + +// E1 Stepper +#if AXIS_IS_TMC(E1) + extern TMC_CLASS_E(1) stepperE1; + #ifndef CHOPPER_TIMING_E1 + #define CHOPPER_TIMING_E1 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E1 = CHOPPER_TIMING_E1; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E1) + #define E1_ENABLE_INIT() NOOP + #define E1_ENABLE_WRITE(STATE) stepperE1.toff((STATE)==E_ENABLE_ON ? chopper_timing_E1.toff : 0) + #define E1_ENABLE_READ() stepperE1.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E1) + #define E1_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E1_STEP_PIN); }while(0) + #endif +#endif + +// E2 Stepper +#if AXIS_IS_TMC(E2) + extern TMC_CLASS_E(2) stepperE2; + #ifndef CHOPPER_TIMING_E2 + #define CHOPPER_TIMING_E2 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E2 = CHOPPER_TIMING_E2; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E2) + #define E2_ENABLE_INIT() NOOP + #define E2_ENABLE_WRITE(STATE) stepperE2.toff((STATE)==E_ENABLE_ON ? chopper_timing_E2.toff : 0) + #define E2_ENABLE_READ() stepperE2.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E2) + #define E2_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E2_STEP_PIN); }while(0) + #endif +#endif + +// E3 Stepper +#if AXIS_IS_TMC(E3) + extern TMC_CLASS_E(3) stepperE3; + #ifndef CHOPPER_TIMING_E3 + #define CHOPPER_TIMING_E3 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E3 = CHOPPER_TIMING_E3; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E3) + #define E3_ENABLE_INIT() NOOP + #define E3_ENABLE_WRITE(STATE) stepperE3.toff((STATE)==E_ENABLE_ON ? chopper_timing_E3.toff : 0) + #define E3_ENABLE_READ() stepperE3.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E3) + #define E3_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E3_STEP_PIN); }while(0) + #endif +#endif + +// E4 Stepper +#if AXIS_IS_TMC(E4) + extern TMC_CLASS_E(4) stepperE4; + #ifndef CHOPPER_TIMING_E4 + #define CHOPPER_TIMING_E4 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E4 = CHOPPER_TIMING_E4; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E4) + #define E4_ENABLE_INIT() NOOP + #define E4_ENABLE_WRITE(STATE) stepperE4.toff((STATE)==E_ENABLE_ON ? chopper_timing_E4.toff : 0) + #define E4_ENABLE_READ() stepperE4.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E4) + #define E4_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E4_STEP_PIN); }while(0) + #endif +#endif + +// E5 Stepper +#if AXIS_IS_TMC(E5) + extern TMC_CLASS_E(5) stepperE5; + #ifndef CHOPPER_TIMING_E5 + #define CHOPPER_TIMING_E5 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E5 = CHOPPER_TIMING_E5; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E5) + #define E5_ENABLE_INIT() NOOP + #define E5_ENABLE_WRITE(STATE) stepperE5.toff((STATE)==E_ENABLE_ON ? chopper_timing_E5.toff : 0) + #define E5_ENABLE_READ() stepperE5.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E5) + #define E5_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E5_STEP_PIN); }while(0) + #endif +#endif + +// E6 Stepper +#if AXIS_IS_TMC(E6) + extern TMC_CLASS_E(6) stepperE6; + #ifndef CHOPPER_TIMING_E6 + #define CHOPPER_TIMING_E6 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E6 = CHOPPER_TIMING_E6; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E6) + #define E6_ENABLE_INIT() NOOP + #define E6_ENABLE_WRITE(STATE) stepperE6.toff((STATE)==E_ENABLE_ON ? chopper_timing_E6.toff : 0) + #define E6_ENABLE_READ() stepperE6.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E6) + #define E6_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E6_STEP_PIN); }while(0) + #endif +#endif + +// E7 Stepper +#if AXIS_IS_TMC(E7) + extern TMC_CLASS_E(7) stepperE7; + #ifndef CHOPPER_TIMING_E7 + #define CHOPPER_TIMING_E7 CHOPPER_TIMING_E + #endif + static constexpr chopper_timing_t chopper_timing_E7 = CHOPPER_TIMING_E7; + #if ENABLED(SOFTWARE_DRIVER_ENABLE) && AXIS_IS_TMC(E7) + #define E7_ENABLE_INIT() NOOP + #define E7_ENABLE_WRITE(STATE) stepperE7.toff((STATE)==E_ENABLE_ON ? chopper_timing_E7.toff : 0) + #define E7_ENABLE_READ() stepperE7.isEnabled() + #endif + #if AXIS_HAS_SQUARE_WAVE(E7) + #define E7_STEP_WRITE(STATE) do{ if(STATE) TOGGLE(E7_STEP_PIN); }while(0) + #endif +#endif diff --git a/Marlin/src/module/temperature.cpp b/Marlin/src/module/temperature.cpp new file mode 100644 index 0000000..b5820e1 --- /dev/null +++ b/Marlin/src/module/temperature.cpp @@ -0,0 +1,3578 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +/** + * temperature.cpp - temperature control + */ + +// Useful when debugging thermocouples +//#define IGNORE_THERMOCOUPLE_ERRORS + +#include "../MarlinCore.h" +#include "../HAL/shared/Delay.h" +#include "../lcd/marlinui.h" + +#include "temperature.h" +#include "endstops.h" +#include "planner.h" + +#if ENABLED(EMERGENCY_PARSER) + #include "motion.h" +#endif + +#if ENABLED(DWIN_CREALITY_LCD) + #include "../lcd/dwin/e3v2/dwin.h" +#endif + +#if ENABLED(EXTENSIBLE_UI) + #include "../lcd/extui/ui_api.h" +#endif + +#if MAX6675_0_IS_MAX31865 || MAX6675_1_IS_MAX31865 + #include + #if MAX6675_0_IS_MAX31865 && !defined(MAX31865_CS_PIN) && PIN_EXISTS(MAX6675_SS) + #define MAX31865_CS_PIN MAX6675_SS_PIN + #endif + #if MAX6675_1_IS_MAX31865 && !defined(MAX31865_CS2_PIN) && PIN_EXISTS(MAX6675_SS2) + #define MAX31865_CS2_PIN MAX6675_SS2_PIN + #endif + #ifndef MAX31865_MOSI_PIN + #define MAX31865_MOSI_PIN SD_MOSI_PIN + #endif + #ifndef MAX31865_MISO_PIN + #define MAX31865_MISO_PIN MAX6675_DO_PIN + #endif + #ifndef MAX31865_SCK_PIN + #define MAX31865_SCK_PIN MAX6675_SCK_PIN + #endif + #if MAX6675_0_IS_MAX31865 && PIN_EXISTS(MAX31865_CS) + #define HAS_MAX31865 1 + Adafruit_MAX31865 max31865_0 = Adafruit_MAX31865(MAX31865_CS_PIN + #if MAX31865_CS_PIN != MAX6675_SS_PIN + , MAX31865_MOSI_PIN, MAX31865_MISO_PIN, MAX31865_SCK_PIN // For software SPI also set MOSI/MISO/SCK + #endif + ); + #endif + #if MAX6675_1_IS_MAX31865 && PIN_EXISTS(MAX31865_CS2) + #define HAS_MAX31865 1 + Adafruit_MAX31865 max31865_1 = Adafruit_MAX31865(MAX31865_CS2_PIN + #if MAX31865_CS2_PIN != MAX6675_SS2_PIN + , MAX31865_MOSI_PIN, MAX31865_MISO_PIN, MAX31865_SCK_PIN // For software SPI also set MOSI/MISO/SCK + #endif + ); + #endif +#endif + +#if EITHER(HEATER_0_USES_MAX6675, HEATER_1_USES_MAX6675) && PINS_EXIST(MAX6675_SCK, MAX6675_DO) + #define MAX6675_SEPARATE_SPI 1 +#endif + +#if MAX6675_SEPARATE_SPI + #include "../libs/private_spi.h" +#endif + +#if ENABLED(PID_EXTRUSION_SCALING) + #include "stepper.h" +#endif + +#if ENABLED(BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING) + #include "../feature/babystep.h" +#endif + +#include "printcounter.h" + +#if ENABLED(FILAMENT_WIDTH_SENSOR) + #include "../feature/filwidth.h" +#endif + +#if HAS_POWER_MONITOR + #include "../feature/power_monitor.h" +#endif + +#if ENABLED(EMERGENCY_PARSER) + #include "../feature/e_parser.h" +#endif + +#if ENABLED(PRINTER_EVENT_LEDS) + #include "../feature/leds/printer_event_leds.h" +#endif + +#if ENABLED(JOYSTICK) + #include "../feature/joystick.h" +#endif + +#if ENABLED(SINGLENOZZLE) + #include "tool_change.h" +#endif + +#if USE_BEEPER + #include "../libs/buzzer.h" +#endif + +#if HAS_SERVOS + #include "./servo.h" +#endif + +#if ANY(HEATER_0_USES_THERMISTOR, HEATER_1_USES_THERMISTOR, HEATER_2_USES_THERMISTOR, HEATER_3_USES_THERMISTOR, \ + HEATER_4_USES_THERMISTOR, HEATER_5_USES_THERMISTOR, HEATER_6_USES_THERMISTOR, HEATER_7_USES_THERMISTOR ) + #define HAS_HOTEND_THERMISTOR 1 +#endif + +#if HAS_HOTEND_THERMISTOR + #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) + static const temp_entry_t* heater_ttbl_map[2] = { HEATER_0_TEMPTABLE, HEATER_1_TEMPTABLE }; + static constexpr uint8_t heater_ttbllen_map[2] = { HEATER_0_TEMPTABLE_LEN, HEATER_1_TEMPTABLE_LEN }; + #else + #define NEXT_TEMPTABLE(N) ,HEATER_##N##_TEMPTABLE + #define NEXT_TEMPTABLE_LEN(N) ,HEATER_##N##_TEMPTABLE_LEN + static const temp_entry_t* heater_ttbl_map[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_TEMPTABLE REPEAT_S(1, HOTENDS, NEXT_TEMPTABLE)); + static constexpr uint8_t heater_ttbllen_map[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_TEMPTABLE_LEN REPEAT_S(1, HOTENDS, NEXT_TEMPTABLE_LEN)); + #endif +#endif + +Temperature thermalManager; + +const char str_t_thermal_runaway[] PROGMEM = STR_T_THERMAL_RUNAWAY, + str_t_heating_failed[] PROGMEM = STR_T_HEATING_FAILED; + +/** + * Macros to include the heater id in temp errors. The compiler's dead-code + * elimination should (hopefully) optimize out the unused strings. + */ + +#if HAS_HEATED_BED + #define _BED_PSTR(h) (h) == H_BED ? GET_TEXT(MSG_BED) : +#else + #define _BED_PSTR(h) +#endif +#if HAS_HEATED_CHAMBER + #define _CHAMBER_PSTR(h) (h) == H_CHAMBER ? GET_TEXT(MSG_CHAMBER) : +#else + #define _CHAMBER_PSTR(h) +#endif +#define _E_PSTR(h,N) ((HOTENDS) > N && (h) == N) ? PSTR(LCD_STR_E##N) : +#define HEATER_PSTR(h) _BED_PSTR(h) _CHAMBER_PSTR(h) _E_PSTR(h,1) _E_PSTR(h,2) _E_PSTR(h,3) _E_PSTR(h,4) _E_PSTR(h,5) PSTR(LCD_STR_E0) + +// public: + +#if ENABLED(NO_FAN_SLOWING_IN_PID_TUNING) + bool Temperature::adaptive_fan_slowing = true; +#endif + +#if HAS_HOTEND + hotend_info_t Temperature::temp_hotend[HOTEND_TEMPS]; // = { 0 } + const uint16_t Temperature::heater_maxtemp[HOTENDS] = ARRAY_BY_HOTENDS(HEATER_0_MAXTEMP, HEATER_1_MAXTEMP, HEATER_2_MAXTEMP, HEATER_3_MAXTEMP, HEATER_4_MAXTEMP, HEATER_5_MAXTEMP, HEATER_6_MAXTEMP, HEATER_7_MAXTEMP); +#endif + +#if ENABLED(AUTO_POWER_E_FANS) + uint8_t Temperature::autofan_speed[HOTENDS]; // = { 0 } +#endif + +#if ENABLED(AUTO_POWER_CHAMBER_FAN) + uint8_t Temperature::chamberfan_speed; // = 0 +#endif + +#if HAS_FAN + + uint8_t Temperature::fan_speed[FAN_COUNT]; // = { 0 } + + #if ENABLED(EXTRA_FAN_SPEED) + uint8_t Temperature::old_fan_speed[FAN_COUNT], Temperature::new_fan_speed[FAN_COUNT]; + + void Temperature::set_temp_fan_speed(const uint8_t fan, const uint16_t tmp_temp) { + switch (tmp_temp) { + case 1: + set_fan_speed(fan, old_fan_speed[fan]); + break; + case 2: + old_fan_speed[fan] = fan_speed[fan]; + set_fan_speed(fan, new_fan_speed[fan]); + break; + default: + new_fan_speed[fan] = _MIN(tmp_temp, 255U); + break; + } + } + + #endif + + #if EITHER(PROBING_FANS_OFF, ADVANCED_PAUSE_FANS_PAUSE) + bool Temperature::fans_paused; // = false; + uint8_t Temperature::saved_fan_speed[FAN_COUNT]; // = { 0 } + #endif + + #if ENABLED(ADAPTIVE_FAN_SLOWING) + uint8_t Temperature::fan_speed_scaler[FAN_COUNT] = ARRAY_N(FAN_COUNT, 128, 128, 128, 128, 128, 128, 128, 128); + #endif + + /** + * Set the print fan speed for a target extruder + */ + void Temperature::set_fan_speed(uint8_t target, uint16_t speed) { + + NOMORE(speed, 255U); + + #if ENABLED(SINGLENOZZLE_STANDBY_FAN) + if (target != active_extruder) { + if (target < EXTRUDERS) singlenozzle_fan_speed[target] = speed; + return; + } + #endif + + TERN_(SINGLENOZZLE, target = 0); // Always use fan index 0 with SINGLENOZZLE + + if (target >= FAN_COUNT) return; + + fan_speed[target] = speed; + + TERN_(REPORT_FAN_CHANGE, report_fan_speed(target)); + } + + #if ENABLED(REPORT_FAN_CHANGE) + /** + * Report print fan speed for a target extruder + */ + void Temperature::report_fan_speed(const uint8_t target) { + if (target >= FAN_COUNT) return; + PORT_REDIRECT(SERIAL_ALL); + SERIAL_ECHOLNPAIR("M106 P", target, " S", fan_speed[target]); + } + #endif + + #if EITHER(PROBING_FANS_OFF, ADVANCED_PAUSE_FANS_PAUSE) + + void Temperature::set_fans_paused(const bool p) { + if (p != fans_paused) { + fans_paused = p; + if (p) + FANS_LOOP(i) { saved_fan_speed[i] = fan_speed[i]; fan_speed[i] = 0; } + else + FANS_LOOP(i) fan_speed[i] = saved_fan_speed[i]; + } + } + + #endif + +#endif // HAS_FAN + +#if WATCH_HOTENDS + hotend_watch_t Temperature::watch_hotend[HOTENDS]; // = { { 0 } } +#endif +#if HEATER_IDLE_HANDLER + Temperature::heater_idle_t Temperature::heater_idle[NR_HEATER_IDLE]; // = { { 0 } } +#endif + +#if HAS_HEATED_BED + bed_info_t Temperature::temp_bed; // = { 0 } + // Init min and max temp with extreme values to prevent false errors during startup + #ifdef BED_MINTEMP + int16_t Temperature::mintemp_raw_BED = HEATER_BED_RAW_LO_TEMP; + #endif + #ifdef BED_MAXTEMP + int16_t Temperature::maxtemp_raw_BED = HEATER_BED_RAW_HI_TEMP; + #endif + TERN_(WATCH_BED, bed_watch_t Temperature::watch_bed); // = { 0 } + IF_DISABLED(PIDTEMPBED, millis_t Temperature::next_bed_check_ms); +#endif // HAS_HEATED_BED + +#if HAS_TEMP_CHAMBER + chamber_info_t Temperature::temp_chamber; // = { 0 } + #if HAS_HEATED_CHAMBER + int16_t fan_chamber_pwm; + bool flag_chamber_off; + bool flag_chamber_excess_heat = false; + millis_t next_cool_check_ms_2 = 0; + float old_temp = 9999; + #ifdef CHAMBER_MINTEMP + int16_t Temperature::mintemp_raw_CHAMBER = HEATER_CHAMBER_RAW_LO_TEMP; + #endif + #ifdef CHAMBER_MAXTEMP + int16_t Temperature::maxtemp_raw_CHAMBER = HEATER_CHAMBER_RAW_HI_TEMP; + #endif + #if WATCH_CHAMBER + chamber_watch_t Temperature::watch_chamber{0}; + #endif + millis_t Temperature::next_chamber_check_ms; + #endif // HAS_HEATED_CHAMBER +#endif // HAS_TEMP_CHAMBER + +#if HAS_TEMP_PROBE + probe_info_t Temperature::temp_probe; // = { 0 } +#endif + +// Initialized by settings.load() +#if ENABLED(PIDTEMP) + //hotend_pid_t Temperature::pid[HOTENDS]; +#endif + +#if ENABLED(PREVENT_COLD_EXTRUSION) + bool Temperature::allow_cold_extrude = false; + int16_t Temperature::extrude_min_temp = EXTRUDE_MINTEMP; +#endif + +// private: + +#if EARLY_WATCHDOG + bool Temperature::inited = false; +#endif + +#if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) + uint16_t Temperature::redundant_temperature_raw = 0; + float Temperature::redundant_temperature = 0.0; +#endif + +volatile bool Temperature::raw_temps_ready = false; + +#if ENABLED(PID_EXTRUSION_SCALING) + int32_t Temperature::last_e_position, Temperature::lpq[LPQ_MAX_LEN]; + lpq_ptr_t Temperature::lpq_ptr = 0; +#endif + +#define TEMPDIR(N) ((HEATER_##N##_RAW_LO_TEMP) < (HEATER_##N##_RAW_HI_TEMP) ? 1 : -1) + +#if HAS_HOTEND + // Init mintemp and maxtemp with extreme values to prevent false errors during startup + constexpr temp_range_t sensor_heater_0 { HEATER_0_RAW_LO_TEMP, HEATER_0_RAW_HI_TEMP, 0, 16383 }, + sensor_heater_1 { HEATER_1_RAW_LO_TEMP, HEATER_1_RAW_HI_TEMP, 0, 16383 }, + sensor_heater_2 { HEATER_2_RAW_LO_TEMP, HEATER_2_RAW_HI_TEMP, 0, 16383 }, + sensor_heater_3 { HEATER_3_RAW_LO_TEMP, HEATER_3_RAW_HI_TEMP, 0, 16383 }, + sensor_heater_4 { HEATER_4_RAW_LO_TEMP, HEATER_4_RAW_HI_TEMP, 0, 16383 }, + sensor_heater_5 { HEATER_5_RAW_LO_TEMP, HEATER_5_RAW_HI_TEMP, 0, 16383 }, + sensor_heater_6 { HEATER_6_RAW_LO_TEMP, HEATER_6_RAW_HI_TEMP, 0, 16383 }, + sensor_heater_7 { HEATER_7_RAW_LO_TEMP, HEATER_7_RAW_HI_TEMP, 0, 16383 }; + + temp_range_t Temperature::temp_range[HOTENDS] = ARRAY_BY_HOTENDS(sensor_heater_0, sensor_heater_1, sensor_heater_2, sensor_heater_3, sensor_heater_4, sensor_heater_5, sensor_heater_6, sensor_heater_7); +#endif + +#ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED + uint8_t Temperature::consecutive_low_temperature_error[HOTENDS] = { 0 }; +#endif + +#ifdef MILLISECONDS_PREHEAT_TIME + millis_t Temperature::preheat_end_time[HOTENDS] = { 0 }; +#endif + +#if HAS_AUTO_FAN + millis_t Temperature::next_auto_fan_check_ms = 0; +#endif + +#if ENABLED(FAN_SOFT_PWM) + uint8_t Temperature::soft_pwm_amount_fan[FAN_COUNT], + Temperature::soft_pwm_count_fan[FAN_COUNT]; +#endif + +#if ENABLED(SINGLENOZZLE_STANDBY_TEMP) + uint16_t Temperature::singlenozzle_temp[EXTRUDERS]; + #if HAS_FAN + uint8_t Temperature::singlenozzle_fan_speed[EXTRUDERS]; + #endif +#endif + +#if ENABLED(PROBING_HEATERS_OFF) + bool Temperature::paused; +#endif + +// public: + +#if HAS_ADC_BUTTONS + uint32_t Temperature::current_ADCKey_raw = HAL_ADC_RANGE; + uint16_t Temperature::ADCKey_count = 0; +#endif + +#if ENABLED(PID_EXTRUSION_SCALING) + int16_t Temperature::lpq_len; // Initialized in settings.cpp +#endif + +#if HAS_PID_HEATING + + inline void say_default_() { SERIAL_ECHOPGM("#define DEFAULT_"); } + + /** + * PID Autotuning (M303) + * + * Alternately heat and cool the nozzle, observing its behavior to + * determine the best PID values to achieve a stable temperature. + * Needs sufficient heater power to make some overshoot at target + * temperature to succeed. + */ + void Temperature::PID_autotune(const float &target, const heater_id_t heater_id, const int8_t ncycles, const bool set_result/*=false*/) { + float current_temp = 0.0; + int cycles = 0; + bool heating = true; + + millis_t next_temp_ms = millis(), t1 = next_temp_ms, t2 = next_temp_ms; + long t_high = 0, t_low = 0; + + long bias, d; + PID_t tune_pid = { 0, 0, 0 }; + float maxT = 0, minT = 10000; + + const bool isbed = (heater_id == H_BED); + + #if HAS_PID_FOR_BOTH + #define GHV(B,H) (isbed ? (B) : (H)) + #define SHV(B,H) do{ if (isbed) temp_bed.soft_pwm_amount = B; else temp_hotend[heater_id].soft_pwm_amount = H; }while(0) + #define ONHEATINGSTART() (isbed ? printerEventLEDs.onBedHeatingStart() : printerEventLEDs.onHotendHeatingStart()) + #define ONHEATING(S,C,T) (isbed ? printerEventLEDs.onBedHeating(S,C,T) : printerEventLEDs.onHotendHeating(S,C,T)) + #elif ENABLED(PIDTEMPBED) + #define GHV(B,H) B + #define SHV(B,H) (temp_bed.soft_pwm_amount = B) + #define ONHEATINGSTART() printerEventLEDs.onBedHeatingStart() + #define ONHEATING(S,C,T) printerEventLEDs.onBedHeating(S,C,T) + #else + #define GHV(B,H) H + #define SHV(B,H) (temp_hotend[heater_id].soft_pwm_amount = H) + #define ONHEATINGSTART() printerEventLEDs.onHotendHeatingStart() + #define ONHEATING(S,C,T) printerEventLEDs.onHotendHeating(S,C,T) + #endif + #define WATCH_PID BOTH(WATCH_BED, PIDTEMPBED) || BOTH(WATCH_HOTENDS, PIDTEMP) + + #if WATCH_PID + #if ALL(THERMAL_PROTECTION_HOTENDS, PIDTEMP, THERMAL_PROTECTION_BED, PIDTEMPBED) + #define GTV(B,H) (isbed ? (B) : (H)) + #elif BOTH(THERMAL_PROTECTION_HOTENDS, PIDTEMP) + #define GTV(B,H) (H) + #else + #define GTV(B,H) (B) + #endif + const uint16_t watch_temp_period = GTV(WATCH_BED_TEMP_PERIOD, WATCH_TEMP_PERIOD); + const uint8_t watch_temp_increase = GTV(WATCH_BED_TEMP_INCREASE, WATCH_TEMP_INCREASE); + const float watch_temp_target = target - float(watch_temp_increase + GTV(TEMP_BED_HYSTERESIS, TEMP_HYSTERESIS) + 1); + millis_t temp_change_ms = next_temp_ms + SEC_TO_MS(watch_temp_period); + float next_watch_temp = 0.0; + bool heated = false; + #endif + + TERN_(HAS_AUTO_FAN, next_auto_fan_check_ms = next_temp_ms + 2500UL); + + if (target > GHV(BED_MAX_TARGET, temp_range[heater_id].maxtemp - HOTEND_OVERSHOOT)) { + SERIAL_ECHOLNPGM(STR_PID_TEMP_TOO_HIGH); + TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_TEMP_TOO_HIGH)); + return; + } + + SERIAL_ECHOLNPGM(STR_PID_AUTOTUNE_START); + + disable_all_heaters(); + TERN_(AUTO_POWER_CONTROL, powerManager.power_on()); + + SHV(bias = d = (MAX_BED_POWER) >> 1, bias = d = (PID_MAX) >> 1); + + #if ENABLED(PRINTER_EVENT_LEDS) + const float start_temp = GHV(temp_bed.celsius, temp_hotend[heater_id].celsius); + LEDColor color = ONHEATINGSTART(); + #endif + + TERN_(NO_FAN_SLOWING_IN_PID_TUNING, adaptive_fan_slowing = false); + + // PID Tuning loop + wait_for_heatup = true; // Can be interrupted with M108 + while (wait_for_heatup) { + + const millis_t ms = millis(); + + if (raw_temps_ready) { // temp sample ready + updateTemperaturesFromRawValues(); + + // Get the current temperature and constrain it + current_temp = GHV(temp_bed.celsius, temp_hotend[heater_id].celsius); + NOLESS(maxT, current_temp); + NOMORE(minT, current_temp); + + #if ENABLED(PRINTER_EVENT_LEDS) + ONHEATING(start_temp, current_temp, target); + #endif + + #if HAS_AUTO_FAN + if (ELAPSED(ms, next_auto_fan_check_ms)) { + checkExtruderAutoFans(); + next_auto_fan_check_ms = ms + 2500UL; + } + #endif + + if (heating && current_temp > target) { + if (ELAPSED(ms, t2 + 5000UL)) { + heating = false; + SHV((bias - d) >> 1, (bias - d) >> 1); + t1 = ms; + t_high = t1 - t2; + maxT = target; + } + } + + if (!heating && current_temp < target) { + if (ELAPSED(ms, t1 + 5000UL)) { + heating = true; + t2 = ms; + t_low = t2 - t1; + if (cycles > 0) { + const long max_pow = GHV(MAX_BED_POWER, PID_MAX); + bias += (d * (t_high - t_low)) / (t_low + t_high); + LIMIT(bias, 20, max_pow - 20); + d = (bias > max_pow >> 1) ? max_pow - 1 - bias : bias; + + SERIAL_ECHOPAIR(STR_BIAS, bias, STR_D_COLON, d, STR_T_MIN, minT, STR_T_MAX, maxT); + if (cycles > 2) { + const float Ku = (4.0f * d) / (float(M_PI) * (maxT - minT) * 0.5f), + Tu = float(t_low + t_high) * 0.001f, + pf = isbed ? 0.2f : 0.6f, + df = isbed ? 1.0f / 3.0f : 1.0f / 8.0f; + + SERIAL_ECHOPAIR(STR_KU, Ku, STR_TU, Tu); + if (isbed) { // Do not remove this otherwise PID autotune won't work right for the bed! + tune_pid.Kp = Ku * 0.2f; + tune_pid.Ki = 2 * tune_pid.Kp / Tu; + tune_pid.Kd = tune_pid.Kp * Tu / 3; + SERIAL_ECHOLNPGM("\n" " No overshoot"); // Works far better for the bed. Classic and some have bad ringing. + SERIAL_ECHOLNPAIR(STR_KP, tune_pid.Kp, STR_KI, tune_pid.Ki, STR_KD, tune_pid.Kd); + } + else { + tune_pid.Kp = Ku * pf; + tune_pid.Kd = tune_pid.Kp * Tu * df; + tune_pid.Ki = 2 * tune_pid.Kp / Tu; + SERIAL_ECHOLNPGM("\n" STR_CLASSIC_PID); + SERIAL_ECHOLNPAIR(STR_KP, tune_pid.Kp, STR_KI, tune_pid.Ki, STR_KD, tune_pid.Kd); + } + + /** + tune_pid.Kp = 0.33 * Ku; + tune_pid.Ki = tune_pid.Kp / Tu; + tune_pid.Kd = tune_pid.Kp * Tu / 3; + SERIAL_ECHOLNPGM(" Some overshoot"); + SERIAL_ECHOLNPAIR(" Kp: ", tune_pid.Kp, " Ki: ", tune_pid.Ki, " Kd: ", tune_pid.Kd, " No overshoot"); + tune_pid.Kp = 0.2 * Ku; + tune_pid.Ki = 2 * tune_pid.Kp / Tu; + tune_pid.Kd = tune_pid.Kp * Tu / 3; + SERIAL_ECHOPAIR(" Kp: ", tune_pid.Kp, " Ki: ", tune_pid.Ki, " Kd: ", tune_pid.Kd); + */ + } + } + SHV((bias + d) >> 1, (bias + d) >> 1); + cycles++; + minT = target; + } + } + } + + // Did the temperature overshoot very far? + #ifndef MAX_OVERSHOOT_PID_AUTOTUNE + #define MAX_OVERSHOOT_PID_AUTOTUNE 30 + #endif + if (current_temp > target + MAX_OVERSHOOT_PID_AUTOTUNE) { + SERIAL_ECHOLNPGM(STR_PID_TEMP_TOO_HIGH); + TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_TEMP_TOO_HIGH)); + break; + } + + // Report heater states every 2 seconds + if (ELAPSED(ms, next_temp_ms)) { + #if HAS_TEMP_SENSOR + print_heater_states(isbed ? active_extruder : heater_id); + SERIAL_EOL(); + #endif + next_temp_ms = ms + 2000UL; + + // Make sure heating is actually working + #if WATCH_PID + if (BOTH(WATCH_BED, WATCH_HOTENDS) || isbed == DISABLED(WATCH_HOTENDS)) { + if (!heated) { // If not yet reached target... + if (current_temp > next_watch_temp) { // Over the watch temp? + next_watch_temp = current_temp + watch_temp_increase; // - set the next temp to watch for + temp_change_ms = ms + SEC_TO_MS(watch_temp_period); // - move the expiration timer up + if (current_temp > watch_temp_target) heated = true; // - Flag if target temperature reached + } + else if (ELAPSED(ms, temp_change_ms)) // Watch timer expired + _temp_error(heater_id, str_t_heating_failed, GET_TEXT(MSG_HEATING_FAILED_LCD)); + } + else if (current_temp < target - (MAX_OVERSHOOT_PID_AUTOTUNE)) // Heated, then temperature fell too far? + _temp_error(heater_id, str_t_thermal_runaway, GET_TEXT(MSG_THERMAL_RUNAWAY)); + } + #endif + } // every 2 seconds + + // Timeout after MAX_CYCLE_TIME_PID_AUTOTUNE minutes since the last undershoot/overshoot cycle + #ifndef MAX_CYCLE_TIME_PID_AUTOTUNE + #define MAX_CYCLE_TIME_PID_AUTOTUNE 20L + #endif + if ((ms - _MIN(t1, t2)) > (MAX_CYCLE_TIME_PID_AUTOTUNE * 60L * 1000L)) { + TERN_(DWIN_CREALITY_LCD, DWIN_Popup_Temperature(0)); + TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_TUNING_TIMEOUT)); + SERIAL_ECHOLNPGM(STR_PID_TIMEOUT); + break; + } + + if (cycles > ncycles && cycles > 2) { + SERIAL_ECHOLNPGM(STR_PID_AUTOTUNE_FINISHED); + + #if HAS_PID_FOR_BOTH + const char * const estring = GHV(PSTR("bed"), NUL_STR); + say_default_(); serialprintPGM(estring); SERIAL_ECHOLNPAIR("Kp ", tune_pid.Kp); + say_default_(); serialprintPGM(estring); SERIAL_ECHOLNPAIR("Ki ", tune_pid.Ki); + say_default_(); serialprintPGM(estring); SERIAL_ECHOLNPAIR("Kd ", tune_pid.Kd); + #elif ENABLED(PIDTEMP) + say_default_(); SERIAL_ECHOLNPAIR("Kp ", tune_pid.Kp); + say_default_(); SERIAL_ECHOLNPAIR("Ki ", tune_pid.Ki); + say_default_(); SERIAL_ECHOLNPAIR("Kd ", tune_pid.Kd); + #else + say_default_(); SERIAL_ECHOLNPAIR("bedKp ", tune_pid.Kp); + say_default_(); SERIAL_ECHOLNPAIR("bedKi ", tune_pid.Ki); + say_default_(); SERIAL_ECHOLNPAIR("bedKd ", tune_pid.Kd); + #endif + + #define _SET_BED_PID() do { \ + temp_bed.pid.Kp = tune_pid.Kp; \ + temp_bed.pid.Ki = scalePID_i(tune_pid.Ki); \ + temp_bed.pid.Kd = scalePID_d(tune_pid.Kd); \ + }while(0) + + #define _SET_EXTRUDER_PID() do { \ + PID_PARAM(Kp, heater_id) = tune_pid.Kp; \ + PID_PARAM(Ki, heater_id) = scalePID_i(tune_pid.Ki); \ + PID_PARAM(Kd, heater_id) = scalePID_d(tune_pid.Kd); \ + updatePID(); }while(0) + + // Use the result? (As with "M303 U1") + if (set_result) { + #if HAS_PID_FOR_BOTH + if (isbed) _SET_BED_PID(); else _SET_EXTRUDER_PID(); + #elif ENABLED(PIDTEMP) + _SET_EXTRUDER_PID(); + #else + _SET_BED_PID(); + #endif + } + + TERN_(PRINTER_EVENT_LEDS, printerEventLEDs.onPidTuningDone(color)); + + TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_DONE)); + + goto EXIT_M303; + } + + // Run HAL idle tasks + TERN_(HAL_IDLETASK, HAL_idletask()); + + // Run UI update + TERN(DWIN_CREALITY_LCD, DWIN_Update(), ui.update()); + } + wait_for_heatup = false; + + disable_all_heaters(); + + TERN_(PRINTER_EVENT_LEDS, printerEventLEDs.onPidTuningDone(color)); + + TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_DONE)); + + EXIT_M303: + TERN_(NO_FAN_SLOWING_IN_PID_TUNING, adaptive_fan_slowing = true); + return; + } + +#endif // HAS_PID_HEATING + +/** + * Class and Instance Methods + */ + +int16_t Temperature::getHeaterPower(const heater_id_t heater_id) { + switch (heater_id) { + #if HAS_HEATED_BED + case H_BED: return temp_bed.soft_pwm_amount; + #endif + #if HAS_HEATED_CHAMBER + case H_CHAMBER: return temp_chamber.soft_pwm_amount; + #endif + default: + return TERN0(HAS_HOTEND, temp_hotend[heater_id].soft_pwm_amount); + } +} + +#define _EFANOVERLAP(A,B) _FANOVERLAP(E##A,B) + +#if HAS_AUTO_FAN + + #define CHAMBER_FAN_INDEX HOTENDS + + void Temperature::checkExtruderAutoFans() { + #define _EFAN(B,A) _EFANOVERLAP(A,B) ? B : + static const uint8_t fanBit[] PROGMEM = { + 0 + #if HAS_MULTI_HOTEND + #define _NEXT_FAN(N) , REPEAT2(N,_EFAN,N) N + RREPEAT_S(1, HOTENDS, _NEXT_FAN) + #endif + #if HAS_AUTO_CHAMBER_FAN + #define _CFAN(B) _FANOVERLAP(CHAMBER,B) ? B : + , REPEAT(HOTENDS,_CFAN) (HOTENDS) + #endif + }; + + uint8_t fanState = 0; + HOTEND_LOOP() + if (temp_hotend[e].celsius >= EXTRUDER_AUTO_FAN_TEMPERATURE) + SBI(fanState, pgm_read_byte(&fanBit[e])); + + #if HAS_AUTO_CHAMBER_FAN + if (temp_chamber.celsius >= CHAMBER_AUTO_FAN_TEMPERATURE) + SBI(fanState, pgm_read_byte(&fanBit[CHAMBER_FAN_INDEX])); + #endif + + #define _UPDATE_AUTO_FAN(P,D,A) do{ \ + if (PWM_PIN(P##_AUTO_FAN_PIN) && A < 255) \ + analogWrite(pin_t(P##_AUTO_FAN_PIN), D ? A : 0); \ + else \ + WRITE(P##_AUTO_FAN_PIN, D); \ + }while(0) + + uint8_t fanDone = 0; + LOOP_L_N(f, COUNT(fanBit)) { + const uint8_t realFan = pgm_read_byte(&fanBit[f]); + if (TEST(fanDone, realFan)) continue; + const bool fan_on = TEST(fanState, realFan); + switch (f) { + #if ENABLED(AUTO_POWER_CHAMBER_FAN) + case CHAMBER_FAN_INDEX: + chamberfan_speed = fan_on ? CHAMBER_AUTO_FAN_SPEED : 0; + break; + #endif + default: + #if ENABLED(AUTO_POWER_E_FANS) + autofan_speed[realFan] = fan_on ? EXTRUDER_AUTO_FAN_SPEED : 0; + #endif + break; + } + + switch (f) { + #if HAS_AUTO_FAN_0 + case 0: _UPDATE_AUTO_FAN(E0, fan_on, EXTRUDER_AUTO_FAN_SPEED); break; + #endif + #if HAS_AUTO_FAN_1 + case 1: _UPDATE_AUTO_FAN(E1, fan_on, EXTRUDER_AUTO_FAN_SPEED); break; + #endif + #if HAS_AUTO_FAN_2 + case 2: _UPDATE_AUTO_FAN(E2, fan_on, EXTRUDER_AUTO_FAN_SPEED); break; + #endif + #if HAS_AUTO_FAN_3 + case 3: _UPDATE_AUTO_FAN(E3, fan_on, EXTRUDER_AUTO_FAN_SPEED); break; + #endif + #if HAS_AUTO_FAN_4 + case 4: _UPDATE_AUTO_FAN(E4, fan_on, EXTRUDER_AUTO_FAN_SPEED); break; + #endif + #if HAS_AUTO_FAN_5 + case 5: _UPDATE_AUTO_FAN(E5, fan_on, EXTRUDER_AUTO_FAN_SPEED); break; + #endif + #if HAS_AUTO_FAN_6 + case 6: _UPDATE_AUTO_FAN(E6, fan_on, EXTRUDER_AUTO_FAN_SPEED); break; + #endif + #if HAS_AUTO_FAN_7 + case 7: _UPDATE_AUTO_FAN(E7, fan_on, EXTRUDER_AUTO_FAN_SPEED); break; + #endif + #if HAS_AUTO_CHAMBER_FAN && !AUTO_CHAMBER_IS_E + case CHAMBER_FAN_INDEX: _UPDATE_AUTO_FAN(CHAMBER, fan_on, CHAMBER_AUTO_FAN_SPEED); break; + #endif + } + SBI(fanDone, realFan); + } + } + +#endif // HAS_AUTO_FAN + +// +// Temperature Error Handlers +// + +inline void loud_kill(PGM_P const lcd_msg, const heater_id_t heater_id) { + marlin_state = MF_KILLED; + #if USE_BEEPER + thermalManager.disable_all_heaters(); + for (uint8_t i = 20; i--;) { + WRITE(BEEPER_PIN, HIGH); + delay(25); + watchdog_refresh(); + WRITE(BEEPER_PIN, LOW); + delay(40); + watchdog_refresh(); + delay(40); + watchdog_refresh(); + } + WRITE(BEEPER_PIN, HIGH); + #endif + kill(lcd_msg, HEATER_PSTR(heater_id)); +} + +void Temperature::_temp_error(const heater_id_t heater_id, PGM_P const serial_msg, PGM_P const lcd_msg) { + + static uint8_t killed = 0; + + if (IsRunning() && TERN1(BOGUS_TEMPERATURE_GRACE_PERIOD, killed == 2)) { + SERIAL_ERROR_START(); + serialprintPGM(serial_msg); + SERIAL_ECHOPGM(STR_STOPPED_HEATER); + if (heater_id >= 0) + SERIAL_ECHO((int)heater_id); + else if (TERN0(HAS_HEATED_CHAMBER, heater_id == H_CHAMBER)) + SERIAL_ECHOPGM(STR_HEATER_CHAMBER); + else + SERIAL_ECHOPGM(STR_HEATER_BED); + SERIAL_EOL(); + } + + disable_all_heaters(); // always disable (even for bogus temp) + watchdog_refresh(); + + #if BOGUS_TEMPERATURE_GRACE_PERIOD + const millis_t ms = millis(); + static millis_t expire_ms; + switch (killed) { + case 0: + expire_ms = ms + BOGUS_TEMPERATURE_GRACE_PERIOD; + ++killed; + break; + case 1: + if (ELAPSED(ms, expire_ms)) ++killed; + break; + case 2: + loud_kill(lcd_msg, heater_id); + ++killed; + break; + } + #elif defined(BOGUS_TEMPERATURE_GRACE_PERIOD) + UNUSED(killed); + #else + if (!killed) { killed = 1; loud_kill(lcd_msg, heater_id); } + #endif +} + +void Temperature::max_temp_error(const heater_id_t heater_id) { + #if ENABLED(DWIN_CREALITY_LCD) && (HAS_HOTEND || HAS_HEATED_BED) + DWIN_Popup_Temperature(1); + #endif + _temp_error(heater_id, PSTR(STR_T_MAXTEMP), GET_TEXT(MSG_ERR_MAXTEMP)); +} + +void Temperature::min_temp_error(const heater_id_t heater_id) { + #if ENABLED(DWIN_CREALITY_LCD) && (HAS_HOTEND || HAS_HEATED_BED) + DWIN_Popup_Temperature(0); + #endif + _temp_error(heater_id, PSTR(STR_T_MINTEMP), GET_TEXT(MSG_ERR_MINTEMP)); +} + +#if HAS_HOTEND + #if ENABLED(PID_DEBUG) + extern bool pid_debug_flag; + #endif + + float Temperature::get_pid_output_hotend(const uint8_t E_NAME) { + const uint8_t ee = HOTEND_INDEX; + #if ENABLED(PIDTEMP) + #if DISABLED(PID_OPENLOOP) + static hotend_pid_t work_pid[HOTENDS]; + static float temp_iState[HOTENDS] = { 0 }, + temp_dState[HOTENDS] = { 0 }; + static bool pid_reset[HOTENDS] = { false }; + const float pid_error = temp_hotend[ee].target - temp_hotend[ee].celsius; + + float pid_output; + + if (temp_hotend[ee].target == 0 + || pid_error < -(PID_FUNCTIONAL_RANGE) + || TERN0(HEATER_IDLE_HANDLER, heater_idle[ee].timed_out) + ) { + pid_output = 0; + pid_reset[ee] = true; + } + else if (pid_error > PID_FUNCTIONAL_RANGE) { + pid_output = BANG_MAX; + pid_reset[ee] = true; + } + else { + if (pid_reset[ee]) { + temp_iState[ee] = 0.0; + work_pid[ee].Kd = 0.0; + pid_reset[ee] = false; + } + + work_pid[ee].Kd = work_pid[ee].Kd + PID_K2 * (PID_PARAM(Kd, ee) * (temp_dState[ee] - temp_hotend[ee].celsius) - work_pid[ee].Kd); + const float max_power_over_i_gain = float(PID_MAX) / PID_PARAM(Ki, ee) - float(MIN_POWER); + temp_iState[ee] = constrain(temp_iState[ee] + pid_error, 0, max_power_over_i_gain); + work_pid[ee].Kp = PID_PARAM(Kp, ee) * pid_error; + work_pid[ee].Ki = PID_PARAM(Ki, ee) * temp_iState[ee]; + + pid_output = work_pid[ee].Kp + work_pid[ee].Ki + work_pid[ee].Kd + float(MIN_POWER); + + #if ENABLED(PID_EXTRUSION_SCALING) + #if HOTENDS == 1 + constexpr bool this_hotend = true; + #else + const bool this_hotend = (ee == active_extruder); + #endif + work_pid[ee].Kc = 0; + if (this_hotend) { + const long e_position = stepper.position(E_AXIS); + if (e_position > last_e_position) { + lpq[lpq_ptr] = e_position - last_e_position; + last_e_position = e_position; + } + else + lpq[lpq_ptr] = 0; + + if (++lpq_ptr >= lpq_len) lpq_ptr = 0; + work_pid[ee].Kc = (lpq[lpq_ptr] * planner.steps_to_mm[E_AXIS]) * PID_PARAM(Kc, ee); + pid_output += work_pid[ee].Kc; + } + #endif // PID_EXTRUSION_SCALING + #if ENABLED(PID_FAN_SCALING) + if (fan_speed[active_extruder] > PID_FAN_SCALING_MIN_SPEED) { + work_pid[ee].Kf = PID_PARAM(Kf, ee) + (PID_FAN_SCALING_LIN_FACTOR) * fan_speed[active_extruder]; + pid_output += work_pid[ee].Kf; + } + //pid_output -= work_pid[ee].Ki; + //pid_output += work_pid[ee].Ki * work_pid[ee].Kf + #endif // PID_FAN_SCALING + LIMIT(pid_output, 0, PID_MAX); + } + temp_dState[ee] = temp_hotend[ee].celsius; + + #else // PID_OPENLOOP + + const float pid_output = constrain(temp_hotend[ee].target, 0, PID_MAX); + + #endif // PID_OPENLOOP + + #if ENABLED(PID_DEBUG) + if (ee == active_extruder && pid_debug_flag) { + SERIAL_ECHO_START(); + SERIAL_ECHOPAIR(STR_PID_DEBUG, ee, STR_PID_DEBUG_INPUT, temp_hotend[ee].celsius, STR_PID_DEBUG_OUTPUT, pid_output); + #if DISABLED(PID_OPENLOOP) + { + SERIAL_ECHOPAIR( + STR_PID_DEBUG_PTERM, work_pid[ee].Kp, + STR_PID_DEBUG_ITERM, work_pid[ee].Ki, + STR_PID_DEBUG_DTERM, work_pid[ee].Kd + #if ENABLED(PID_EXTRUSION_SCALING) + , STR_PID_DEBUG_CTERM, work_pid[ee].Kc + #endif + ); + } + #endif + SERIAL_EOL(); + } + #endif // PID_DEBUG + + #else // No PID enabled + + const bool is_idling = TERN0(HEATER_IDLE_HANDLER, heater_idle[ee].timed_out); + const float pid_output = (!is_idling && temp_hotend[ee].celsius < temp_hotend[ee].target) ? BANG_MAX : 0; + + #endif + + return pid_output; + } + +#endif // HAS_HOTEND + +#if ENABLED(PIDTEMPBED) + + float Temperature::get_pid_output_bed() { + + #if DISABLED(PID_OPENLOOP) + + static PID_t work_pid{0}; + static float temp_iState = 0, temp_dState = 0; + static bool pid_reset = true; + float pid_output = 0; + const float max_power_over_i_gain = float(MAX_BED_POWER) / temp_bed.pid.Ki - float(MIN_BED_POWER), + pid_error = temp_bed.target - temp_bed.celsius; + + if (!temp_bed.target || pid_error < -(PID_FUNCTIONAL_RANGE)) { + pid_output = 0; + pid_reset = true; + } + else if (pid_error > PID_FUNCTIONAL_RANGE) { + pid_output = MAX_BED_POWER; + pid_reset = true; + } + else { + if (pid_reset) { + temp_iState = 0.0; + work_pid.Kd = 0.0; + pid_reset = false; + } + + temp_iState = constrain(temp_iState + pid_error, 0, max_power_over_i_gain); + + work_pid.Kp = temp_bed.pid.Kp * pid_error; + work_pid.Ki = temp_bed.pid.Ki * temp_iState; + work_pid.Kd = work_pid.Kd + PID_K2 * (temp_bed.pid.Kd * (temp_dState - temp_bed.celsius) - work_pid.Kd); + + temp_dState = temp_bed.celsius; + + pid_output = constrain(work_pid.Kp + work_pid.Ki + work_pid.Kd + float(MIN_BED_POWER), 0, MAX_BED_POWER); + } + + #else // PID_OPENLOOP + + const float pid_output = constrain(temp_bed.target, 0, MAX_BED_POWER); + + #endif // PID_OPENLOOP + + #if ENABLED(PID_BED_DEBUG) + { + SERIAL_ECHO_START(); + SERIAL_ECHOLNPAIR( + " PID_BED_DEBUG : Input ", temp_bed.celsius, " Output ", pid_output, + #if DISABLED(PID_OPENLOOP) + STR_PID_DEBUG_PTERM, work_pid.Kp, + STR_PID_DEBUG_ITERM, work_pid.Ki, + STR_PID_DEBUG_DTERM, work_pid.Kd, + #endif + ); + } + #endif + + return pid_output; + } + +#endif // PIDTEMPBED + +/** + * Manage heating activities for extruder hot-ends and a heated bed + * - Acquire updated temperature readings + * - Also resets the watchdog timer + * - Invoke thermal runaway protection + * - Manage extruder auto-fan + * - Apply filament width to the extrusion rate (may move) + * - Update the heated bed PID output value + */ +void Temperature::manage_heater() { + + #if EARLY_WATCHDOG + // If thermal manager is still not running, make sure to at least reset the watchdog! + if (!inited) return watchdog_refresh(); + #endif + + #if ENABLED(EMERGENCY_PARSER) + if (emergency_parser.killed_by_M112) kill(M112_KILL_STR, nullptr, true); + + if (emergency_parser.quickstop_by_M410) { + emergency_parser.quickstop_by_M410 = false; // quickstop_stepper may call idle so clear this now! + quickstop_stepper(); + } + #endif + + if (!raw_temps_ready) return; + + updateTemperaturesFromRawValues(); // also resets the watchdog + + #if DISABLED(IGNORE_THERMOCOUPLE_ERRORS) + #if HEATER_0_USES_MAX6675 + if (temp_hotend[0].celsius > _MIN(HEATER_0_MAXTEMP, HEATER_0_MAX6675_TMAX - 1.0)) max_temp_error(H_E0); + if (temp_hotend[0].celsius < _MAX(HEATER_0_MINTEMP, HEATER_0_MAX6675_TMIN + .01)) min_temp_error(H_E0); + #endif + #if HEATER_1_USES_MAX6675 + if (temp_hotend[1].celsius > _MIN(HEATER_1_MAXTEMP, HEATER_1_MAX6675_TMAX - 1.0)) max_temp_error(H_E1); + if (temp_hotend[1].celsius < _MAX(HEATER_1_MINTEMP, HEATER_1_MAX6675_TMIN + .01)) min_temp_error(H_E1); + #endif + #endif + + millis_t ms = millis(); + + #if HAS_HOTEND + + HOTEND_LOOP() { + #if ENABLED(THERMAL_PROTECTION_HOTENDS) + if (degHotend(e) > temp_range[e].maxtemp) max_temp_error((heater_id_t)e); + #endif + + TERN_(HEATER_IDLE_HANDLER, heater_idle[e].update(ms)); + + #if ENABLED(THERMAL_PROTECTION_HOTENDS) + // Check for thermal runaway + tr_state_machine[e].run(temp_hotend[e].celsius, temp_hotend[e].target, (heater_id_t)e, THERMAL_PROTECTION_PERIOD, THERMAL_PROTECTION_HYSTERESIS); + #endif + + temp_hotend[e].soft_pwm_amount = (temp_hotend[e].celsius > temp_range[e].mintemp || is_preheating(e)) && temp_hotend[e].celsius < temp_range[e].maxtemp ? (int)get_pid_output_hotend(e) >> 1 : 0; + + #if WATCH_HOTENDS + // Make sure temperature is increasing + if (watch_hotend[e].next_ms && ELAPSED(ms, watch_hotend[e].next_ms)) { // Time to check this extruder? + if (degHotend(e) < watch_hotend[e].target) { // Failed to increase enough? + TERN_(DWIN_CREALITY_LCD, DWIN_Popup_Temperature(0)); + _temp_error((heater_id_t)e, str_t_heating_failed, GET_TEXT(MSG_HEATING_FAILED_LCD)); + } + else // Start again if the target is still far off + start_watching_hotend(e); + } + #endif + + #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) + // Make sure measured temperatures are close together + if (ABS(temp_hotend[0].celsius - redundant_temperature) > MAX_REDUNDANT_TEMP_SENSOR_DIFF) + _temp_error(H_E0, PSTR(STR_REDUNDANCY), GET_TEXT(MSG_ERR_REDUNDANT_TEMP)); + #endif + + } // HOTEND_LOOP + + #endif // HAS_HOTEND + + #if HAS_AUTO_FAN + if (ELAPSED(ms, next_auto_fan_check_ms)) { // only need to check fan state very infrequently + checkExtruderAutoFans(); + next_auto_fan_check_ms = ms + 2500UL; + } + #endif + + #if ENABLED(FILAMENT_WIDTH_SENSOR) + /** + * Dynamically set the volumetric multiplier based + * on the delayed Filament Width measurement. + */ + filwidth.update_volumetric(); + #endif + + #if HAS_HEATED_BED + + #if ENABLED(THERMAL_PROTECTION_BED) + if (degBed() > BED_MAXTEMP) max_temp_error(H_BED); + #endif + + #if WATCH_BED + // Make sure temperature is increasing + if (watch_bed.elapsed(ms)) { // Time to check the bed? + if (degBed() < watch_bed.target) { // Failed to increase enough? + TERN_(DWIN_CREALITY_LCD, DWIN_Popup_Temperature(0)); + _temp_error(H_BED, str_t_heating_failed, GET_TEXT(MSG_HEATING_FAILED_LCD)); + } + else // Start again if the target is still far off + start_watching_bed(); + } + #endif // WATCH_BED + + #if BOTH(PROBING_HEATERS_OFF, BED_LIMIT_SWITCHING) + #define PAUSE_CHANGE_REQD 1 + #endif + + #if PAUSE_CHANGE_REQD + static bool last_pause_state; + #endif + + do { + + #if DISABLED(PIDTEMPBED) + if (PENDING(ms, next_bed_check_ms) + && TERN1(PAUSE_CHANGE_REQD, paused == last_pause_state) + ) break; + next_bed_check_ms = ms + BED_CHECK_INTERVAL; + TERN_(PAUSE_CHANGE_REQD, last_pause_state = paused); + #endif + + TERN_(HEATER_IDLE_HANDLER, heater_idle[IDLE_INDEX_BED].update(ms)); + + #if HAS_THERMALLY_PROTECTED_BED + tr_state_machine[RUNAWAY_IND_BED].run(temp_bed.celsius, temp_bed.target, H_BED, THERMAL_PROTECTION_BED_PERIOD, THERMAL_PROTECTION_BED_HYSTERESIS); + #endif + + #if HEATER_IDLE_HANDLER + if (heater_idle[IDLE_INDEX_BED].timed_out) { + temp_bed.soft_pwm_amount = 0; + #if DISABLED(PIDTEMPBED) + WRITE_HEATER_BED(LOW); + #endif + } + else + #endif + { + #if ENABLED(PIDTEMPBED) + temp_bed.soft_pwm_amount = WITHIN(temp_bed.celsius, BED_MINTEMP, BED_MAXTEMP) ? (int)get_pid_output_bed() >> 1 : 0; + #else + // Check if temperature is within the correct band + if (WITHIN(temp_bed.celsius, BED_MINTEMP, BED_MAXTEMP)) { + #if ENABLED(BED_LIMIT_SWITCHING) + if (temp_bed.celsius >= temp_bed.target + BED_HYSTERESIS) + temp_bed.soft_pwm_amount = 0; + else if (temp_bed.celsius <= temp_bed.target - (BED_HYSTERESIS)) + temp_bed.soft_pwm_amount = MAX_BED_POWER >> 1; + #else // !PIDTEMPBED && !BED_LIMIT_SWITCHING + temp_bed.soft_pwm_amount = temp_bed.celsius < temp_bed.target ? MAX_BED_POWER >> 1 : 0; + #endif + } + else { + temp_bed.soft_pwm_amount = 0; + WRITE_HEATER_BED(LOW); + } + #endif + } + + } while (false); + + #endif // HAS_HEATED_BED + + #if HAS_HEATED_CHAMBER + + #ifndef CHAMBER_CHECK_INTERVAL + #define CHAMBER_CHECK_INTERVAL 1000UL + #endif + + #if ENABLED(THERMAL_PROTECTION_CHAMBER) + if (degChamber() > CHAMBER_MAXTEMP) max_temp_error(H_CHAMBER); + #endif + + #if WATCH_CHAMBER + // Make sure temperature is increasing + if (watch_chamber.elapsed(ms)) { // Time to check the chamber? + if (degChamber() < watch_chamber.target) // Failed to increase enough? + _temp_error(H_CHAMBER, str_t_heating_failed, GET_TEXT(MSG_HEATING_FAILED_LCD)); + else + start_watching_chamber(); // Start again if the target is still far off + } + #endif + + #if EITHER(CHAMBER_FAN, CHAMBER_VENT) + if (temp_chamber.target > CHAMBER_MINTEMP) { + flag_chamber_off = false; + + #if ENABLED(CHAMBER_FAN) + #if CHAMBER_FAN_MODE == 0 + fan_chamber_pwm = CHAMBER_FAN_BASE; + #elif CHAMBER_FAN_MODE == 1 + fan_chamber_pwm = (temp_chamber.celsius > temp_chamber.target) ? (CHAMBER_FAN_BASE) + (CHAMBER_FAN_FACTOR) * (temp_chamber.celsius - temp_chamber.target) : 0; + #elif CHAMBER_FAN_MODE == 2 + fan_chamber_pwm = (CHAMBER_FAN_BASE) + (CHAMBER_FAN_FACTOR) * ABS(temp_chamber.celsius - temp_chamber.target); + if (temp_chamber.soft_pwm_amount) + fan_chamber_pwm += (CHAMBER_FAN_FACTOR) * 2; + #endif + NOMORE(fan_chamber_pwm, 225); + set_fan_speed(2, fan_chamber_pwm); // TODO: instead of fan 2, set to chamber fan + #endif + + #if ENABLED(CHAMBER_VENT) + #ifndef MIN_COOLING_SLOPE_TIME_CHAMBER_VENT + #define MIN_COOLING_SLOPE_TIME_CHAMBER_VENT 20 + #endif + #ifndef MIN_COOLING_SLOPE_DEG_CHAMBER_VENT + #define MIN_COOLING_SLOPE_DEG_CHAMBER_VENT 1.5 + #endif + if (!flag_chamber_excess_heat && temp_chamber.celsius - temp_chamber.target >= HIGH_EXCESS_HEAT_LIMIT) { + // Open vent after MIN_COOLING_SLOPE_TIME_CHAMBER_VENT seconds if the + // temperature didn't drop at least MIN_COOLING_SLOPE_DEG_CHAMBER_VENT + if (next_cool_check_ms_2 == 0 || ELAPSED(ms, next_cool_check_ms_2)) { + if (old_temp - temp_chamber.celsius < float(MIN_COOLING_SLOPE_DEG_CHAMBER_VENT)) flag_chamber_excess_heat = true; //the bed is heating the chamber too much + next_cool_check_ms_2 = ms + SEC_TO_MS(MIN_COOLING_SLOPE_TIME_CHAMBER_VENT); + old_temp = temp_chamber.celsius; + } + } + else { + next_cool_check_ms_2 = 0; + old_temp = 9999; + } + if (flag_chamber_excess_heat && (temp_chamber.celsius - temp_chamber.target <= -LOW_EXCESS_HEAT_LIMIT) ) { + flag_chamber_excess_heat = false; + } + #endif + } + else if (!flag_chamber_off) { + #if ENABLED(CHAMBER_FAN) + flag_chamber_off = true; + set_fan_speed(2, 0); + #endif + #if ENABLED(CHAMBER_VENT) + flag_chamber_excess_heat = false; + MOVE_SERVO(CHAMBER_VENT_SERVO_NR, 90); + #endif + } + #endif + + if (ELAPSED(ms, next_chamber_check_ms)) { + next_chamber_check_ms = ms + CHAMBER_CHECK_INTERVAL; + + if (WITHIN(temp_chamber.celsius, CHAMBER_MINTEMP, CHAMBER_MAXTEMP)) { + if (flag_chamber_excess_heat) { + temp_chamber.soft_pwm_amount = 0; + #if ENABLED(CHAMBER_VENT) + if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, temp_chamber.celsius <= temp_chamber.target ? 0 : 90); + #endif + } + else { + #if ENABLED(CHAMBER_LIMIT_SWITCHING) + if (temp_chamber.celsius >= temp_chamber.target + TEMP_CHAMBER_HYSTERESIS) + temp_chamber.soft_pwm_amount = 0; + else if (temp_chamber.celsius <= temp_chamber.target - (TEMP_CHAMBER_HYSTERESIS)) + temp_chamber.soft_pwm_amount = (MAX_CHAMBER_POWER) >> 1; + #else + temp_chamber.soft_pwm_amount = temp_chamber.celsius < temp_chamber.target ? (MAX_CHAMBER_POWER) >> 1 : 0; + #endif + #if ENABLED(CHAMBER_VENT) + if (!flag_chamber_off) MOVE_SERVO(CHAMBER_VENT_SERVO_NR, 0); + #endif + } + } + else { + temp_chamber.soft_pwm_amount = 0; + WRITE_HEATER_CHAMBER(LOW); + } + + #if ENABLED(THERMAL_PROTECTION_CHAMBER) + tr_state_machine[RUNAWAY_IND_CHAMBER].run(temp_chamber.celsius, temp_chamber.target, H_CHAMBER, THERMAL_PROTECTION_CHAMBER_PERIOD, THERMAL_PROTECTION_CHAMBER_HYSTERESIS); + #endif + } + + // TODO: Implement true PID pwm + //temp_bed.soft_pwm_amount = WITHIN(temp_chamber.celsius, CHAMBER_MINTEMP, CHAMBER_MAXTEMP) ? (int)get_pid_output_chamber() >> 1 : 0; + + #endif // HAS_HEATED_CHAMBER + + UNUSED(ms); +} + +#define TEMP_AD595(RAW) ((RAW) * 5.0 * 100.0 / float(HAL_ADC_RANGE) / (OVERSAMPLENR) * (TEMP_SENSOR_AD595_GAIN) + TEMP_SENSOR_AD595_OFFSET) +#define TEMP_AD8495(RAW) ((RAW) * 6.6 * 100.0 / float(HAL_ADC_RANGE) / (OVERSAMPLENR) * (TEMP_SENSOR_AD8495_GAIN) + TEMP_SENSOR_AD8495_OFFSET) + +/** + * Bisect search for the range of the 'raw' value, then interpolate + * proportionally between the under and over values. + */ +#define SCAN_THERMISTOR_TABLE(TBL,LEN) do{ \ + uint8_t l = 0, r = LEN, m; \ + for (;;) { \ + m = (l + r) >> 1; \ + if (!m) return int16_t(pgm_read_word(&TBL[0].celsius)); \ + if (m == l || m == r) return int16_t(pgm_read_word(&TBL[LEN-1].celsius)); \ + int16_t v00 = pgm_read_word(&TBL[m-1].value), \ + v10 = pgm_read_word(&TBL[m-0].value); \ + if (raw < v00) r = m; \ + else if (raw > v10) l = m; \ + else { \ + const int16_t v01 = int16_t(pgm_read_word(&TBL[m-1].celsius)), \ + v11 = int16_t(pgm_read_word(&TBL[m-0].celsius)); \ + return v01 + (raw - v00) * float(v11 - v01) / float(v10 - v00); \ + } \ + } \ +}while(0) + +#if HAS_USER_THERMISTORS + + user_thermistor_t Temperature::user_thermistor[USER_THERMISTORS]; // Initialized by settings.load() + + void Temperature::reset_user_thermistors() { + user_thermistor_t default_user_thermistor[USER_THERMISTORS] = { + #if HEATER_0_USER_THERMISTOR + { true, 0, 0, HOTEND0_PULLUP_RESISTOR_OHMS, HOTEND0_RESISTANCE_25C_OHMS, 0, 0, HOTEND0_BETA, 0 }, + #endif + #if HEATER_1_USER_THERMISTOR + { true, 0, 0, HOTEND1_PULLUP_RESISTOR_OHMS, HOTEND1_RESISTANCE_25C_OHMS, 0, 0, HOTEND1_BETA, 0 }, + #endif + #if HEATER_2_USER_THERMISTOR + { true, 0, 0, HOTEND2_PULLUP_RESISTOR_OHMS, HOTEND2_RESISTANCE_25C_OHMS, 0, 0, HOTEND2_BETA, 0 }, + #endif + #if HEATER_3_USER_THERMISTOR + { true, 0, 0, HOTEND3_PULLUP_RESISTOR_OHMS, HOTEND3_RESISTANCE_25C_OHMS, 0, 0, HOTEND3_BETA, 0 }, + #endif + #if HEATER_4_USER_THERMISTOR + { true, 0, 0, HOTEND4_PULLUP_RESISTOR_OHMS, HOTEND4_RESISTANCE_25C_OHMS, 0, 0, HOTEND4_BETA, 0 }, + #endif + #if HEATER_5_USER_THERMISTOR + { true, 0, 0, HOTEND5_PULLUP_RESISTOR_OHMS, HOTEND5_RESISTANCE_25C_OHMS, 0, 0, HOTEND5_BETA, 0 }, + #endif + #if HEATER_6_USER_THERMISTOR + { true, 0, 0, HOTEND6_PULLUP_RESISTOR_OHMS, HOTEND6_RESISTANCE_25C_OHMS, 0, 0, HOTEND6_BETA, 0 }, + #endif + #if HEATER_7_USER_THERMISTOR + { true, 0, 0, HOTEND7_PULLUP_RESISTOR_OHMS, HOTEND7_RESISTANCE_25C_OHMS, 0, 0, HOTEND7_BETA, 0 }, + #endif + #if HEATER_BED_USER_THERMISTOR + { true, 0, 0, BED_PULLUP_RESISTOR_OHMS, BED_RESISTANCE_25C_OHMS, 0, 0, BED_BETA, 0 }, + #endif + #if HEATER_CHAMBER_USER_THERMISTOR + { true, 0, 0, CHAMBER_PULLUP_RESISTOR_OHMS, CHAMBER_RESISTANCE_25C_OHMS, 0, 0, CHAMBER_BETA, 0 } + #endif + }; + COPY(user_thermistor, default_user_thermistor); + } + + void Temperature::log_user_thermistor(const uint8_t t_index, const bool eprom/*=false*/) { + + if (eprom) + SERIAL_ECHOPGM(" M305 "); + else + SERIAL_ECHO_START(); + SERIAL_CHAR('P', '0' + t_index); + + const user_thermistor_t &t = user_thermistor[t_index]; + + SERIAL_ECHOPAIR_F(" R", t.series_res, 1); + SERIAL_ECHOPAIR_F_P(SP_T_STR, t.res_25, 1); + SERIAL_ECHOPAIR_F_P(SP_B_STR, t.beta, 1); + SERIAL_ECHOPAIR_F_P(SP_C_STR, t.sh_c_coeff, 9); + SERIAL_ECHOPGM(" ; "); + serialprintPGM( + TERN_(HEATER_0_USER_THERMISTOR, t_index == CTI_HOTEND_0 ? PSTR("HOTEND 0") :) + TERN_(HEATER_1_USER_THERMISTOR, t_index == CTI_HOTEND_1 ? PSTR("HOTEND 1") :) + TERN_(HEATER_2_USER_THERMISTOR, t_index == CTI_HOTEND_2 ? PSTR("HOTEND 2") :) + TERN_(HEATER_3_USER_THERMISTOR, t_index == CTI_HOTEND_3 ? PSTR("HOTEND 3") :) + TERN_(HEATER_4_USER_THERMISTOR, t_index == CTI_HOTEND_4 ? PSTR("HOTEND 4") :) + TERN_(HEATER_5_USER_THERMISTOR, t_index == CTI_HOTEND_5 ? PSTR("HOTEND 5") :) + TERN_(HEATER_6_USER_THERMISTOR, t_index == CTI_HOTEND_6 ? PSTR("HOTEND 6") :) + TERN_(HEATER_7_USER_THERMISTOR, t_index == CTI_HOTEND_7 ? PSTR("HOTEND 7") :) + TERN_(HEATER_BED_USER_THERMISTOR, t_index == CTI_BED ? PSTR("BED") :) + TERN_(HEATER_CHAMBER_USER_THERMISTOR, t_index == CTI_CHAMBER ? PSTR("CHAMBER") :) + nullptr + ); + SERIAL_EOL(); + } + + float Temperature::user_thermistor_to_deg_c(const uint8_t t_index, const int raw) { + //#if (MOTHERBOARD == BOARD_RAMPS_14_EFB) + // static uint32_t clocks_total = 0; + // static uint32_t calls = 0; + // uint32_t tcnt5 = TCNT5; + //#endif + + if (!WITHIN(t_index, 0, COUNT(user_thermistor) - 1)) return 25; + + user_thermistor_t &t = user_thermistor[t_index]; + if (t.pre_calc) { // pre-calculate some variables + t.pre_calc = false; + t.res_25_recip = 1.0f / t.res_25; + t.res_25_log = logf(t.res_25); + t.beta_recip = 1.0f / t.beta; + t.sh_alpha = RECIPROCAL(THERMISTOR_RESISTANCE_NOMINAL_C - (THERMISTOR_ABS_ZERO_C)) + - (t.beta_recip * t.res_25_log) - (t.sh_c_coeff * cu(t.res_25_log)); + } + + // maximum adc value .. take into account the over sampling + const int adc_max = MAX_RAW_THERMISTOR_VALUE, + adc_raw = constrain(raw, 1, adc_max - 1); // constrain to prevent divide-by-zero + + const float adc_inverse = (adc_max - adc_raw) - 0.5f, + resistance = t.series_res * (adc_raw + 0.5f) / adc_inverse, + log_resistance = logf(resistance); + + float value = t.sh_alpha; + value += log_resistance * t.beta_recip; + if (t.sh_c_coeff != 0) + value += t.sh_c_coeff * cu(log_resistance); + value = 1.0f / value; + + //#if (MOTHERBOARD == BOARD_RAMPS_14_EFB) + // int32_t clocks = TCNT5 - tcnt5; + // if (clocks >= 0) { + // clocks_total += clocks; + // calls++; + // } + //#endif + + // Return degrees C (up to 999, as the LCD only displays 3 digits) + return _MIN(value + THERMISTOR_ABS_ZERO_C, 999); + } +#endif + +#if HAS_HOTEND + // Derived from RepRap FiveD extruder::getTemperature() + // For hot end temperature measurement. + float Temperature::analog_to_celsius_hotend(const int raw, const uint8_t e) { + if (e > HOTENDS - DISABLED(TEMP_SENSOR_1_AS_REDUNDANT)) { + SERIAL_ERROR_START(); + SERIAL_ECHO((int)e); + SERIAL_ECHOLNPGM(STR_INVALID_EXTRUDER_NUM); + kill(); + return 0; + } + + switch (e) { + case 0: + #if HEATER_0_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_HOTEND_0, raw); + #elif HEATER_0_USES_MAX6675 + return TERN(MAX6675_0_IS_MAX31865, max31865_0.temperature(MAX31865_SENSOR_OHMS_0, MAX31865_CALIBRATION_OHMS_0), raw * 0.25); + #elif HEATER_0_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_0_USES_AD8495 + return TEMP_AD8495(raw); + #else + break; + #endif + case 1: + #if HEATER_1_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_HOTEND_1, raw); + #elif HEATER_1_USES_MAX6675 + return TERN(MAX6675_1_IS_MAX31865, max31865_1.temperature(MAX31865_SENSOR_OHMS_1, MAX31865_CALIBRATION_OHMS_1), raw * 0.25); + #elif HEATER_1_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_1_USES_AD8495 + return TEMP_AD8495(raw); + #else + break; + #endif + case 2: + #if HEATER_2_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_HOTEND_2, raw); + #elif HEATER_2_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_2_USES_AD8495 + return TEMP_AD8495(raw); + #else + break; + #endif + case 3: + #if HEATER_3_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_HOTEND_3, raw); + #elif HEATER_3_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_3_USES_AD8495 + return TEMP_AD8495(raw); + #else + break; + #endif + case 4: + #if HEATER_4_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_HOTEND_4, raw); + #elif HEATER_4_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_4_USES_AD8495 + return TEMP_AD8495(raw); + #else + break; + #endif + case 5: + #if HEATER_5_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_HOTEND_5, raw); + #elif HEATER_5_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_5_USES_AD8495 + return TEMP_AD8495(raw); + #else + break; + #endif + case 6: + #if HEATER_6_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_HOTEND_6, raw); + #elif HEATER_6_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_6_USES_AD8495 + return TEMP_AD8495(raw); + #else + break; + #endif + case 7: + #if HEATER_7_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_HOTEND_7, raw); + #elif HEATER_7_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_7_USES_AD8495 + return TEMP_AD8495(raw); + #else + break; + #endif + default: break; + } + + #if HAS_HOTEND_THERMISTOR + // Thermistor with conversion table? + const temp_entry_t(*tt)[] = (temp_entry_t(*)[])(heater_ttbl_map[e]); + SCAN_THERMISTOR_TABLE((*tt), heater_ttbllen_map[e]); + #endif + + return 0; + } +#endif // HAS_HOTEND + +#if HAS_HEATED_BED + // Derived from RepRap FiveD extruder::getTemperature() + // For bed temperature measurement. + float Temperature::analog_to_celsius_bed(const int raw) { + #if HEATER_BED_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_BED, raw); + #elif HEATER_BED_USES_THERMISTOR + SCAN_THERMISTOR_TABLE(BED_TEMPTABLE, BED_TEMPTABLE_LEN); + #elif HEATER_BED_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_BED_USES_AD8495 + return TEMP_AD8495(raw); + #else + UNUSED(raw); + return 0; + #endif + } +#endif // HAS_HEATED_BED + +#if HAS_TEMP_CHAMBER + // Derived from RepRap FiveD extruder::getTemperature() + // For chamber temperature measurement. + float Temperature::analog_to_celsius_chamber(const int raw) { + #if HEATER_CHAMBER_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_CHAMBER, raw); + #elif HEATER_CHAMBER_USES_THERMISTOR + SCAN_THERMISTOR_TABLE(CHAMBER_TEMPTABLE, CHAMBER_TEMPTABLE_LEN); + #elif HEATER_CHAMBER_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_CHAMBER_USES_AD8495 + return TEMP_AD8495(raw); + #else + UNUSED(raw); + return 0; + #endif + } +#endif // HAS_TEMP_CHAMBER + +#if HAS_TEMP_PROBE + // Derived from RepRap FiveD extruder::getTemperature() + // For probe temperature measurement. + float Temperature::analog_to_celsius_probe(const int raw) { + #if HEATER_PROBE_USER_THERMISTOR + return user_thermistor_to_deg_c(CTI_PROBE, raw); + #elif HEATER_PROBE_USES_THERMISTOR + SCAN_THERMISTOR_TABLE(PROBE_TEMPTABLE, PROBE_TEMPTABLE_LEN); + #elif HEATER_PROBE_USES_AD595 + return TEMP_AD595(raw); + #elif HEATER_PROBE_USES_AD8495 + return TEMP_AD8495(raw); + #else + UNUSED(raw); + return 0; + #endif + } +#endif // HAS_TEMP_PROBE + +/** + * Get the raw values into the actual temperatures. + * The raw values are created in interrupt context, + * and this function is called from normal context + * as it would block the stepper routine. + */ +void Temperature::updateTemperaturesFromRawValues() { + TERN_(HEATER_0_USES_MAX6675, temp_hotend[0].raw = READ_MAX6675(0)); + TERN_(HEATER_1_USES_MAX6675, temp_hotend[1].raw = READ_MAX6675(1)); + #if HAS_HOTEND + HOTEND_LOOP() temp_hotend[e].celsius = analog_to_celsius_hotend(temp_hotend[e].raw, e); + #endif + TERN_(HAS_HEATED_BED, temp_bed.celsius = analog_to_celsius_bed(temp_bed.raw)); + TERN_(HAS_TEMP_CHAMBER, temp_chamber.celsius = analog_to_celsius_chamber(temp_chamber.raw)); + TERN_(HAS_TEMP_PROBE, temp_probe.celsius = analog_to_celsius_probe(temp_probe.raw)); + TERN_(TEMP_SENSOR_1_AS_REDUNDANT, redundant_temperature = analog_to_celsius_hotend(redundant_temperature_raw, 1)); + TERN_(FILAMENT_WIDTH_SENSOR, filwidth.update_measured_mm()); + TERN_(HAS_POWER_MONITOR, power_monitor.capture_values()); + + // Reset the watchdog on good temperature measurement + watchdog_refresh(); + + raw_temps_ready = false; +} + +#if MAX6675_SEPARATE_SPI + template SoftSPI SPIclass::softSPI; + SPIclass max6675_spi; +#endif + +// Init fans according to whether they're native PWM or Software PWM +#ifdef ALFAWISE_UX0 + #define _INIT_SOFT_FAN(P) OUT_WRITE_OD(P, FAN_INVERTING ? LOW : HIGH) +#else + #define _INIT_SOFT_FAN(P) OUT_WRITE(P, FAN_INVERTING ? LOW : HIGH) +#endif +#if ENABLED(FAN_SOFT_PWM) + #define _INIT_FAN_PIN(P) _INIT_SOFT_FAN(P) +#else + #define _INIT_FAN_PIN(P) do{ if (PWM_PIN(P)) SET_PWM(P); else _INIT_SOFT_FAN(P); }while(0) +#endif +#if ENABLED(FAST_PWM_FAN) + #define SET_FAST_PWM_FREQ(P) set_pwm_frequency(P, FAST_PWM_FAN_FREQUENCY) +#else + #define SET_FAST_PWM_FREQ(P) NOOP +#endif +#define INIT_FAN_PIN(P) do{ _INIT_FAN_PIN(P); SET_FAST_PWM_FREQ(P); }while(0) +#if EXTRUDER_AUTO_FAN_SPEED != 255 + #define INIT_E_AUTO_FAN_PIN(P) do{ if (P == FAN1_PIN || P == FAN2_PIN) { SET_PWM(P); SET_FAST_PWM_FREQ(P); } else SET_OUTPUT(P); }while(0) +#else + #define INIT_E_AUTO_FAN_PIN(P) SET_OUTPUT(P) +#endif +#if CHAMBER_AUTO_FAN_SPEED != 255 + #define INIT_CHAMBER_AUTO_FAN_PIN(P) do{ if (P == FAN1_PIN || P == FAN2_PIN) { SET_PWM(P); SET_FAST_PWM_FREQ(P); } else SET_OUTPUT(P); }while(0) +#else + #define INIT_CHAMBER_AUTO_FAN_PIN(P) SET_OUTPUT(P) +#endif + +/** + * Initialize the temperature manager + * The manager is implemented by periodic calls to manage_heater() + */ +void Temperature::init() { + + TERN_(MAX6675_0_IS_MAX31865, max31865_0.begin(MAX31865_2WIRE)); // MAX31865_2WIRE, MAX31865_3WIRE, MAX31865_4WIRE + TERN_(MAX6675_1_IS_MAX31865, max31865_1.begin(MAX31865_2WIRE)); + + #if EARLY_WATCHDOG + // Flag that the thermalManager should be running + if (inited) return; + inited = true; + #endif + + #if MB(RUMBA) + // Disable RUMBA JTAG in case the thermocouple extension is plugged on top of JTAG connector + #define _AD(N) (HEATER_##N##_USES_AD595 || HEATER_##N##_USES_AD8495) + #if _AD(0) || _AD(1) || _AD(2) || _AD(BED) || _AD(CHAMBER) + MCUCR = _BV(JTD); + MCUCR = _BV(JTD); + #endif + #endif + + // Thermistor activation by MCU pin + #if PIN_EXISTS(TEMP_0_TR_ENABLE_PIN) + OUT_WRITE(TEMP_0_TR_ENABLE_PIN, ENABLED(HEATER_0_USES_MAX6675)); + #endif + #if PIN_EXISTS(TEMP_1_TR_ENABLE_PIN) + OUT_WRITE(TEMP_1_TR_ENABLE_PIN, ENABLED(HEATER_1_USES_MAX6675)); + #endif + + #if BOTH(PIDTEMP, PID_EXTRUSION_SCALING) + last_e_position = 0; + #endif + + #if HAS_HEATER_0 + #ifdef ALFAWISE_UX0 + OUT_WRITE_OD(HEATER_0_PIN, HEATER_0_INVERTING); + #else + OUT_WRITE(HEATER_0_PIN, HEATER_0_INVERTING); + #endif + #endif + + #if HAS_HEATER_1 + OUT_WRITE(HEATER_1_PIN, HEATER_1_INVERTING); + #endif + #if HAS_HEATER_2 + OUT_WRITE(HEATER_2_PIN, HEATER_2_INVERTING); + #endif + #if HAS_HEATER_3 + OUT_WRITE(HEATER_3_PIN, HEATER_3_INVERTING); + #endif + #if HAS_HEATER_4 + OUT_WRITE(HEATER_4_PIN, HEATER_4_INVERTING); + #endif + #if HAS_HEATER_5 + OUT_WRITE(HEATER_5_PIN, HEATER_5_INVERTING); + #endif + #if HAS_HEATER_6 + OUT_WRITE(HEATER_6_PIN, HEATER_6_INVERTING); + #endif + #if HAS_HEATER_7 + OUT_WRITE(HEATER_7_PIN, HEATER_7_INVERTING); + #endif + + #if HAS_HEATED_BED + #ifdef ALFAWISE_UX0 + OUT_WRITE_OD(HEATER_BED_PIN, HEATER_BED_INVERTING); + #else + OUT_WRITE(HEATER_BED_PIN, HEATER_BED_INVERTING); + #endif + #endif + + #if HAS_HEATED_CHAMBER + OUT_WRITE(HEATER_CHAMBER_PIN, HEATER_CHAMBER_INVERTING); + #endif + + #if HAS_FAN0 + INIT_FAN_PIN(FAN_PIN); + #endif + #if HAS_FAN1 + INIT_FAN_PIN(FAN1_PIN); + #endif + #if HAS_FAN2 + INIT_FAN_PIN(FAN2_PIN); + #endif + #if HAS_FAN3 + INIT_FAN_PIN(FAN3_PIN); + #endif + #if HAS_FAN4 + INIT_FAN_PIN(FAN4_PIN); + #endif + #if HAS_FAN5 + INIT_FAN_PIN(FAN5_PIN); + #endif + #if HAS_FAN6 + INIT_FAN_PIN(FAN6_PIN); + #endif + #if HAS_FAN7 + INIT_FAN_PIN(FAN7_PIN); + #endif + #if ENABLED(USE_CONTROLLER_FAN) + INIT_FAN_PIN(CONTROLLER_FAN_PIN); + #endif + + TERN_(MAX6675_SEPARATE_SPI, max6675_spi.init()); + + HAL_adc_init(); + + #if HAS_TEMP_ADC_0 + HAL_ANALOG_SELECT(TEMP_0_PIN); + #endif + #if HAS_TEMP_ADC_1 + HAL_ANALOG_SELECT(TEMP_1_PIN); + #endif + #if HAS_TEMP_ADC_2 + HAL_ANALOG_SELECT(TEMP_2_PIN); + #endif + #if HAS_TEMP_ADC_3 + HAL_ANALOG_SELECT(TEMP_3_PIN); + #endif + #if HAS_TEMP_ADC_4 + HAL_ANALOG_SELECT(TEMP_4_PIN); + #endif + #if HAS_TEMP_ADC_5 + HAL_ANALOG_SELECT(TEMP_5_PIN); + #endif + #if HAS_TEMP_ADC_6 + HAL_ANALOG_SELECT(TEMP_6_PIN); + #endif + #if HAS_TEMP_ADC_7 + HAL_ANALOG_SELECT(TEMP_7_PIN); + #endif + #if HAS_JOY_ADC_X + HAL_ANALOG_SELECT(JOY_X_PIN); + #endif + #if HAS_JOY_ADC_Y + HAL_ANALOG_SELECT(JOY_Y_PIN); + #endif + #if HAS_JOY_ADC_Z + HAL_ANALOG_SELECT(JOY_Z_PIN); + #endif + #if HAS_JOY_ADC_EN + SET_INPUT_PULLUP(JOY_EN_PIN); + #endif + #if HAS_TEMP_ADC_BED + HAL_ANALOG_SELECT(TEMP_BED_PIN); + #endif + #if HAS_TEMP_ADC_CHAMBER + HAL_ANALOG_SELECT(TEMP_CHAMBER_PIN); + #endif + #if HAS_TEMP_ADC_PROBE + HAL_ANALOG_SELECT(TEMP_PROBE_PIN); + #endif + #if ENABLED(FILAMENT_WIDTH_SENSOR) + HAL_ANALOG_SELECT(FILWIDTH_PIN); + #endif + #if HAS_ADC_BUTTONS + HAL_ANALOG_SELECT(ADC_KEYPAD_PIN); + #endif + #if ENABLED(POWER_MONITOR_CURRENT) + HAL_ANALOG_SELECT(POWER_MONITOR_CURRENT_PIN); + #endif + #if ENABLED(POWER_MONITOR_VOLTAGE) + HAL_ANALOG_SELECT(POWER_MONITOR_VOLTAGE_PIN); + #endif + + HAL_timer_start(TEMP_TIMER_NUM, TEMP_TIMER_FREQUENCY); + ENABLE_TEMPERATURE_INTERRUPT(); + + #if HAS_AUTO_FAN_0 + INIT_E_AUTO_FAN_PIN(E0_AUTO_FAN_PIN); + #endif + #if HAS_AUTO_FAN_1 && !_EFANOVERLAP(1,0) + INIT_E_AUTO_FAN_PIN(E1_AUTO_FAN_PIN); + #endif + #if HAS_AUTO_FAN_2 && !(_EFANOVERLAP(2,0) || _EFANOVERLAP(2,1)) + INIT_E_AUTO_FAN_PIN(E2_AUTO_FAN_PIN); + #endif + #if HAS_AUTO_FAN_3 && !(_EFANOVERLAP(3,0) || _EFANOVERLAP(3,1) || _EFANOVERLAP(3,2)) + INIT_E_AUTO_FAN_PIN(E3_AUTO_FAN_PIN); + #endif + #if HAS_AUTO_FAN_4 && !(_EFANOVERLAP(4,0) || _EFANOVERLAP(4,1) || _EFANOVERLAP(4,2) || _EFANOVERLAP(4,3)) + INIT_E_AUTO_FAN_PIN(E4_AUTO_FAN_PIN); + #endif + #if HAS_AUTO_FAN_5 && !(_EFANOVERLAP(5,0) || _EFANOVERLAP(5,1) || _EFANOVERLAP(5,2) || _EFANOVERLAP(5,3) || _EFANOVERLAP(5,4)) + INIT_E_AUTO_FAN_PIN(E5_AUTO_FAN_PIN); + #endif + #if HAS_AUTO_FAN_6 && !(_EFANOVERLAP(6,0) || _EFANOVERLAP(6,1) || _EFANOVERLAP(6,2) || _EFANOVERLAP(6,3) || _EFANOVERLAP(6,4) || _EFANOVERLAP(6,5)) + INIT_E_AUTO_FAN_PIN(E6_AUTO_FAN_PIN); + #endif + #if HAS_AUTO_FAN_7 && !(_EFANOVERLAP(7,0) || _EFANOVERLAP(7,1) || _EFANOVERLAP(7,2) || _EFANOVERLAP(7,3) || _EFANOVERLAP(7,4) || _EFANOVERLAP(7,5) || _EFANOVERLAP(7,6)) + INIT_E_AUTO_FAN_PIN(E7_AUTO_FAN_PIN); + #endif + #if HAS_AUTO_CHAMBER_FAN && !AUTO_CHAMBER_IS_E + INIT_CHAMBER_AUTO_FAN_PIN(CHAMBER_AUTO_FAN_PIN); + #endif + + // Wait for temperature measurement to settle + delay(250); + + #if HAS_HOTEND + + #define _TEMP_MIN_E(NR) do{ \ + const int16_t tmin = _MAX(HEATER_ ##NR## _MINTEMP, TERN(HEATER_##NR##_USER_THERMISTOR, 0, (int16_t)pgm_read_word(&HEATER_ ##NR## _TEMPTABLE[HEATER_ ##NR## _SENSOR_MINTEMP_IND].celsius))); \ + temp_range[NR].mintemp = tmin; \ + while (analog_to_celsius_hotend(temp_range[NR].raw_min, NR) < tmin) \ + temp_range[NR].raw_min += TEMPDIR(NR) * (OVERSAMPLENR); \ + }while(0) + #define _TEMP_MAX_E(NR) do{ \ + const int16_t tmax = _MIN(HEATER_ ##NR## _MAXTEMP, TERN(HEATER_##NR##_USER_THERMISTOR, 2000, (int16_t)pgm_read_word(&HEATER_ ##NR## _TEMPTABLE[HEATER_ ##NR## _SENSOR_MAXTEMP_IND].celsius) - 1)); \ + temp_range[NR].maxtemp = tmax; \ + while (analog_to_celsius_hotend(temp_range[NR].raw_max, NR) > tmax) \ + temp_range[NR].raw_max -= TEMPDIR(NR) * (OVERSAMPLENR); \ + }while(0) + + #define _MINMAX_TEST(N,M) (HOTENDS > N && THERMISTOR_HEATER_##N && THERMISTOR_HEATER_##N != 998 && THERMISTOR_HEATER_##N != 999 && defined(HEATER_##N##_##M##TEMP)) + + #if _MINMAX_TEST(0, MIN) + _TEMP_MIN_E(0); + #endif + #if _MINMAX_TEST(0, MAX) + _TEMP_MAX_E(0); + #endif + #if _MINMAX_TEST(1, MIN) + _TEMP_MIN_E(1); + #endif + #if _MINMAX_TEST(1, MAX) + _TEMP_MAX_E(1); + #endif + #if _MINMAX_TEST(2, MIN) + _TEMP_MIN_E(2); + #endif + #if _MINMAX_TEST(2, MAX) + _TEMP_MAX_E(2); + #endif + #if _MINMAX_TEST(3, MIN) + _TEMP_MIN_E(3); + #endif + #if _MINMAX_TEST(3, MAX) + _TEMP_MAX_E(3); + #endif + #if _MINMAX_TEST(4, MIN) + _TEMP_MIN_E(4); + #endif + #if _MINMAX_TEST(4, MAX) + _TEMP_MAX_E(4); + #endif + #if _MINMAX_TEST(5, MIN) + _TEMP_MIN_E(5); + #endif + #if _MINMAX_TEST(5, MAX) + _TEMP_MAX_E(5); + #endif + #if _MINMAX_TEST(6, MIN) + _TEMP_MIN_E(6); + #endif + #if _MINMAX_TEST(6, MAX) + _TEMP_MAX_E(6); + #endif + #if _MINMAX_TEST(7, MIN) + _TEMP_MIN_E(7); + #endif + #if _MINMAX_TEST(7, MAX) + _TEMP_MAX_E(7); + #endif + + #endif // HAS_HOTEND + + #if HAS_HEATED_BED + #ifdef BED_MINTEMP + while (analog_to_celsius_bed(mintemp_raw_BED) < BED_MINTEMP) mintemp_raw_BED += TEMPDIR(BED) * (OVERSAMPLENR); + #endif + #ifdef BED_MAXTEMP + while (analog_to_celsius_bed(maxtemp_raw_BED) > BED_MAXTEMP) maxtemp_raw_BED -= TEMPDIR(BED) * (OVERSAMPLENR); + #endif + #endif // HAS_HEATED_BED + + #if HAS_HEATED_CHAMBER + #ifdef CHAMBER_MINTEMP + while (analog_to_celsius_chamber(mintemp_raw_CHAMBER) < CHAMBER_MINTEMP) mintemp_raw_CHAMBER += TEMPDIR(CHAMBER) * (OVERSAMPLENR); + #endif + #ifdef CHAMBER_MAXTEMP + while (analog_to_celsius_chamber(maxtemp_raw_CHAMBER) > CHAMBER_MAXTEMP) maxtemp_raw_CHAMBER -= TEMPDIR(CHAMBER) * (OVERSAMPLENR); + #endif + #endif + + TERN_(PROBING_HEATERS_OFF, paused = false); +} + +#if WATCH_HOTENDS + /** + * Start Heating Sanity Check for hotends that are below + * their target temperature by a configurable margin. + * This is called when the temperature is set. (M104, M109) + */ + void Temperature::start_watching_hotend(const uint8_t E_NAME) { + const uint8_t ee = HOTEND_INDEX; + watch_hotend[ee].restart(degHotend(ee), degTargetHotend(ee)); + } +#endif + +#if WATCH_BED + /** + * Start Heating Sanity Check for hotends that are below + * their target temperature by a configurable margin. + * This is called when the temperature is set. (M140, M190) + */ + void Temperature::start_watching_bed() { + watch_bed.restart(degBed(), degTargetBed()); + } +#endif + +#if WATCH_CHAMBER + /** + * Start Heating Sanity Check for chamber that is below + * its target temperature by a configurable margin. + * This is called when the temperature is set. (M141, M191) + */ + void Temperature::start_watching_chamber() { + watch_chamber.restart(degChamber(), degTargetChamber()); + } +#endif + +#if HAS_THERMAL_PROTECTION + + Temperature::tr_state_machine_t Temperature::tr_state_machine[NR_HEATER_RUNAWAY]; // = { { TRInactive, 0 } }; + + /** + * @brief Thermal Runaway state machine for a single heater + * @param current current measured temperature + * @param target current target temperature + * @param heater_id extruder index + * @param period_seconds missed temperature allowed time + * @param hysteresis_degc allowed distance from target + * + * TODO: Embed the last 3 parameters during init, if not less optimal + */ + void Temperature::tr_state_machine_t::run(const float ¤t, const float &target, const heater_id_t heater_id, const uint16_t period_seconds, const uint16_t hysteresis_degc) { + + #if HEATER_IDLE_HANDLER + // Convert the given heater_id_t to an idle array index + const IdleIndex idle_index = idle_index_for_id(heater_id); + #endif + + /** + SERIAL_ECHO_START(); + SERIAL_ECHOPGM("Thermal Runaway Running. Heater ID: "); + switch (heater_id) { + case H_BED: SERIAL_ECHOPGM("bed"); break; + case H_CHAMBER: SERIAL_ECHOPGM("chamber"); break; + default: SERIAL_ECHO((int)heater_id); + } + SERIAL_ECHOLNPAIR( + " ; sizeof(running_temp):", sizeof(running_temp), + " ; State:", state, " ; Timer:", timer, " ; Temperature:", current, " ; Target Temp:", target + #if HEATER_IDLE_HANDLER + , " ; Idle Timeout:", heater_idle[idle_index].timed_out + #endif + ); + //*/ + + #if HEATER_IDLE_HANDLER + // If the heater idle timeout expires, restart + if (heater_idle[idle_index].timed_out) { + state = TRInactive; + running_temp = 0; + } + else + #endif + { + // If the target temperature changes, restart + if (running_temp != target) { + running_temp = target; + state = target > 0 ? TRFirstHeating : TRInactive; + } + } + + switch (state) { + // Inactive state waits for a target temperature to be set + case TRInactive: break; + + // When first heating, wait for the temperature to be reached then go to Stable state + case TRFirstHeating: + if (current < running_temp) break; + state = TRStable; + + // While the temperature is stable watch for a bad temperature + case TRStable: + + #if ENABLED(ADAPTIVE_FAN_SLOWING) + if (adaptive_fan_slowing && heater_id >= 0) { + const int fan_index = _MIN(heater_id, FAN_COUNT - 1); + if (fan_speed[fan_index] == 0 || current >= running_temp - (hysteresis_degc * 0.25f)) + fan_speed_scaler[fan_index] = 128; + else if (current >= running_temp - (hysteresis_degc * 0.3335f)) + fan_speed_scaler[fan_index] = 96; + else if (current >= running_temp - (hysteresis_degc * 0.5f)) + fan_speed_scaler[fan_index] = 64; + else if (current >= running_temp - (hysteresis_degc * 0.8f)) + fan_speed_scaler[fan_index] = 32; + else + fan_speed_scaler[fan_index] = 0; + } + #endif + + if (current >= running_temp - hysteresis_degc) { + timer = millis() + SEC_TO_MS(period_seconds); + break; + } + else if (PENDING(millis(), timer)) break; + state = TRRunaway; + + case TRRunaway: + TERN_(DWIN_CREALITY_LCD, DWIN_Popup_Temperature(0)); + _temp_error(heater_id, str_t_thermal_runaway, GET_TEXT(MSG_THERMAL_RUNAWAY)); + } + } + +#endif // HAS_THERMAL_PROTECTION + +void Temperature::disable_all_heaters() { + + TERN_(AUTOTEMP, planner.autotemp_enabled = false); + + // Unpause and reset everything + TERN_(PROBING_HEATERS_OFF, pause(false)); + + #if HAS_HOTEND + HOTEND_LOOP() { + setTargetHotend(0, e); + temp_hotend[e].soft_pwm_amount = 0; + } + #endif + + #if HAS_TEMP_HOTEND + #define DISABLE_HEATER(N) WRITE_HEATER_##N(LOW); + REPEAT(HOTENDS, DISABLE_HEATER); + #endif + + #if HAS_HEATED_BED + setTargetBed(0); + temp_bed.soft_pwm_amount = 0; + WRITE_HEATER_BED(LOW); + #endif + + #if HAS_HEATED_CHAMBER + setTargetChamber(0); + temp_chamber.soft_pwm_amount = 0; + WRITE_HEATER_CHAMBER(LOW); + #endif +} + +#if ENABLED(PRINTJOB_TIMER_AUTOSTART) + + bool Temperature::auto_job_over_threshold() { + #if HAS_HOTEND + HOTEND_LOOP() if (degTargetHotend(e) > (EXTRUDE_MINTEMP) / 2) return true; + #endif + return TERN0(HAS_HEATED_BED, degTargetBed() > BED_MINTEMP) + || TERN0(HAS_HEATED_CHAMBER, degTargetChamber() > CHAMBER_MINTEMP); + } + + void Temperature::auto_job_check_timer(const bool can_start, const bool can_stop) { + if (auto_job_over_threshold()) { + if (can_start) startOrResumeJob(); + } + else if (can_stop) { + print_job_timer.stop(); + ui.reset_status(); + } + } + +#endif + +#if ENABLED(PROBING_HEATERS_OFF) + + void Temperature::pause(const bool p) { + if (p != paused) { + paused = p; + if (p) { + HOTEND_LOOP() heater_idle[e].expire(); // Timeout immediately + TERN_(HAS_HEATED_BED, heater_idle[IDLE_INDEX_BED].expire()); // Timeout immediately + } + else { + HOTEND_LOOP() reset_hotend_idle_timer(e); + TERN_(HAS_HEATED_BED, reset_bed_idle_timer()); + } + } + } + +#endif // PROBING_HEATERS_OFF + +#if ENABLED(SINGLENOZZLE_STANDBY_TEMP) + + void Temperature::singlenozzle_change(const uint8_t old_tool, const uint8_t new_tool) { + #if HAS_FAN + singlenozzle_fan_speed[old_tool] = fan_speed[0]; + fan_speed[0] = singlenozzle_fan_speed[new_tool]; + #endif + singlenozzle_temp[old_tool] = temp_hotend[0].target; + if (singlenozzle_temp[new_tool] && singlenozzle_temp[new_tool] != singlenozzle_temp[old_tool]) { + setTargetHotend(singlenozzle_temp[new_tool], 0); + TERN_(AUTOTEMP, planner.autotemp_update()); + TERN_(HAS_DISPLAY, set_heating_message(0)); + (void)wait_for_hotend(0, false); // Wait for heating or cooling + } + } + +#endif + +#if HAS_MAX6675 + + #ifndef THERMOCOUPLE_MAX_ERRORS + #define THERMOCOUPLE_MAX_ERRORS 15 + #endif + + int Temperature::read_max6675(TERN_(HAS_MULTI_6675, const uint8_t hindex/*=0*/)) { + #define MAX6675_HEAT_INTERVAL 250UL + + #if MAX6675_0_IS_MAX31855 || MAX6675_1_IS_MAX31855 + static uint32_t max6675_temp = 2000; + #define MAX6675_ERROR_MASK 7 + #define MAX6675_DISCARD_BITS 18 + #define MAX6675_SPEED_BITS 3 // (_BV(SPR1)) // clock ÷ 64 + #elif HAS_MAX31865 + static uint16_t max6675_temp = 2000; // From datasheet 16 bits D15-D0 + #define MAX6675_ERROR_MASK 1 // D0 Bit not used + #define MAX6675_DISCARD_BITS 1 // Data is in D15-D1 + #define MAX6675_SPEED_BITS 3 // (_BV(SPR1)) // clock ÷ 64 + #else + static uint16_t max6675_temp = 2000; + #define MAX6675_ERROR_MASK 4 + #define MAX6675_DISCARD_BITS 3 + #define MAX6675_SPEED_BITS 2 // (_BV(SPR0)) // clock ÷ 16 + #endif + + #if HAS_MULTI_6675 + // Needed to return the correct temp when this is called between readings + static uint16_t max6675_temp_previous[COUNT_6675] = { 0 }; + #define MAX6675_TEMP(I) max6675_temp_previous[I] + #define MAX6675_SEL(A,B) (hindex ? (B) : (A)) + #define MAX6675_WRITE(V) do{ switch (hindex) { case 1: WRITE(MAX6675_SS2_PIN, V); break; default: WRITE(MAX6675_SS_PIN, V); } }while(0) + #define MAX6675_SET_OUTPUT() do{ switch (hindex) { case 1: SET_OUTPUT(MAX6675_SS2_PIN); break; default: SET_OUTPUT(MAX6675_SS_PIN); } }while(0) + #else + constexpr uint8_t hindex = 0; + #define MAX6675_TEMP(I) max6675_temp + #if MAX6675_1_IS_MAX31865 + #define MAX6675_SEL(A,B) B + #else + #define MAX6675_SEL(A,B) A + #endif + #if HEATER_0_USES_MAX6675 + #define MAX6675_WRITE(V) WRITE(MAX6675_SS_PIN, V) + #define MAX6675_SET_OUTPUT() SET_OUTPUT(MAX6675_SS_PIN) + #else + #define MAX6675_WRITE(V) WRITE(MAX6675_SS2_PIN, V) + #define MAX6675_SET_OUTPUT() SET_OUTPUT(MAX6675_SS2_PIN) + #endif + #endif + + static uint8_t max6675_errors[COUNT_6675] = { 0 }; + + // Return last-read value between readings + static millis_t next_max6675_ms[COUNT_6675] = { 0 }; + millis_t ms = millis(); + if (PENDING(ms, next_max6675_ms[hindex])) return int(MAX6675_TEMP(hindex)); + next_max6675_ms[hindex] = ms + MAX6675_HEAT_INTERVAL; + + #if HAS_MAX31865 + Adafruit_MAX31865 &maxref = MAX6675_SEL(max31865_0, max31865_1); + const uint16_t max31865_ohms = (uint32_t(maxref.readRTD()) * MAX6675_SEL(MAX31865_CALIBRATION_OHMS_0, MAX31865_CALIBRATION_OHMS_1)) >> 16; + #endif + + // + // TODO: spiBegin, spiRec and spiInit doesn't work when soft spi is used. + // + #if !MAX6675_SEPARATE_SPI + spiBegin(); + spiInit(MAX6675_SPEED_BITS); + #endif + + MAX6675_WRITE(LOW); // enable TT_MAX6675 + DELAY_NS(100); // Ensure 100ns delay + + // Read a big-endian temperature value + max6675_temp = 0; + for (uint8_t i = sizeof(max6675_temp); i--;) { + max6675_temp |= TERN(MAX6675_SEPARATE_SPI, max6675_spi.receive(), spiRec()); + if (i > 0) max6675_temp <<= 8; // shift left if not the last byte + } + + MAX6675_WRITE(HIGH); // disable TT_MAX6675 + + const uint8_t fault_31865 = TERN1(HAS_MAX31865, maxref.readFault()); + + if (DISABLED(IGNORE_THERMOCOUPLE_ERRORS) && (max6675_temp & MAX6675_ERROR_MASK) && fault_31865) { + max6675_errors[hindex]++; + if (max6675_errors[hindex] > THERMOCOUPLE_MAX_ERRORS) { + SERIAL_ERROR_START(); + SERIAL_ECHOPGM("Temp measurement error! "); + #if MAX6675_ERROR_MASK == 7 + SERIAL_ECHOPGM("MAX31855 "); + if (max6675_temp & 1) + SERIAL_ECHOLNPGM("Open Circuit"); + else if (max6675_temp & 2) + SERIAL_ECHOLNPGM("Short to GND"); + else if (max6675_temp & 4) + SERIAL_ECHOLNPGM("Short to VCC"); + #elif HAS_MAX31865 + if (fault_31865) { + maxref.clearFault(); + SERIAL_ECHOPAIR("MAX31865 Fault :(", fault_31865, ") >>"); + if (fault_31865 & MAX31865_FAULT_HIGHTHRESH) + SERIAL_ECHOLNPGM("RTD High Threshold"); + else if (fault_31865 & MAX31865_FAULT_LOWTHRESH) + SERIAL_ECHOLNPGM("RTD Low Threshold"); + else if (fault_31865 & MAX31865_FAULT_REFINLOW) + SERIAL_ECHOLNPGM("REFIN- > 0.85 x Bias"); + else if (fault_31865 & MAX31865_FAULT_REFINHIGH) + SERIAL_ECHOLNPGM("REFIN- < 0.85 x Bias - FORCE- open"); + else if (fault_31865 & MAX31865_FAULT_RTDINLOW) + SERIAL_ECHOLNPGM("REFIN- < 0.85 x Bias - FORCE- open"); + else if (fault_31865 & MAX31865_FAULT_OVUV) + SERIAL_ECHOLNPGM("Under/Over voltage"); + } + #else + SERIAL_ECHOLNPGM("MAX6675"); + #endif + + // Thermocouple open + max6675_temp = 4 * MAX6675_SEL(HEATER_0_MAX6675_TMAX, HEATER_1_MAX6675_TMAX); + } + else + max6675_temp >>= MAX6675_DISCARD_BITS; + } + else { + max6675_temp >>= MAX6675_DISCARD_BITS; + max6675_errors[hindex] = 0; + } + + #if MAX6675_0_IS_MAX31855 || MAX6675_1_IS_MAX31855 + if (max6675_temp & 0x00002000) max6675_temp |= 0xFFFFC000; // Support negative temperature + #endif + + // Return the RTD resistance for MAX31865 for display in SHOW_TEMP_ADC_VALUES + TERN_(HAS_MAX31865, max6675_temp = max31865_ohms); + + MAX6675_TEMP(hindex) = max6675_temp; + + return int(max6675_temp); + } + +#endif // HAS_MAX6675 + +/** + * Update raw temperatures + */ +void Temperature::update_raw_temperatures() { + + #if HAS_TEMP_ADC_0 && !HEATER_0_USES_MAX6675 + temp_hotend[0].update(); + #endif + + #if HAS_TEMP_ADC_1 + #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) + redundant_temperature_raw = temp_hotend[1].acc; + #elif !HEATER_1_USES_MAX6675 + temp_hotend[1].update(); + #endif + #endif + + TERN_(HAS_TEMP_ADC_2, temp_hotend[2].update()); + TERN_(HAS_TEMP_ADC_3, temp_hotend[3].update()); + TERN_(HAS_TEMP_ADC_4, temp_hotend[4].update()); + TERN_(HAS_TEMP_ADC_5, temp_hotend[5].update()); + TERN_(HAS_TEMP_ADC_6, temp_hotend[6].update()); + TERN_(HAS_TEMP_ADC_7, temp_hotend[7].update()); + TERN_(HAS_TEMP_ADC_BED, temp_bed.update()); + TERN_(HAS_TEMP_ADC_CHAMBER, temp_chamber.update()); + TERN_(HAS_TEMP_ADC_PROBE, temp_probe.update()); + + TERN_(HAS_JOY_ADC_X, joystick.x.update()); + TERN_(HAS_JOY_ADC_Y, joystick.y.update()); + TERN_(HAS_JOY_ADC_Z, joystick.z.update()); + + raw_temps_ready = true; +} + +void Temperature::readings_ready() { + + // Update the raw values if they've been read. Else we could be updating them during reading. + if (!raw_temps_ready) update_raw_temperatures(); + + // Filament Sensor - can be read any time since IIR filtering is used + TERN_(FILAMENT_WIDTH_SENSOR, filwidth.reading_ready()); + + #if HAS_HOTEND + HOTEND_LOOP() temp_hotend[e].reset(); + TERN_(TEMP_SENSOR_1_AS_REDUNDANT, temp_hotend[1].reset()); + #endif + + TERN_(HAS_HEATED_BED, temp_bed.reset()); + TERN_(HAS_TEMP_CHAMBER, temp_chamber.reset()); + TERN_(HAS_TEMP_PROBE, temp_probe.reset()); + + TERN_(HAS_JOY_ADC_X, joystick.x.reset()); + TERN_(HAS_JOY_ADC_Y, joystick.y.reset()); + TERN_(HAS_JOY_ADC_Z, joystick.z.reset()); + + #if HAS_HOTEND + + static constexpr int8_t temp_dir[] = { + TERN(HEATER_0_USES_MAX6675, 0, TEMPDIR(0)) + #if HAS_MULTI_HOTEND + , TERN(HEATER_1_USES_MAX6675, 0, TEMPDIR(1)) + #if HOTENDS > 2 + #define _TEMPDIR(N) , TEMPDIR(N) + REPEAT_S(2, HOTENDS, _TEMPDIR) + #endif + #endif + }; + + LOOP_L_N(e, COUNT(temp_dir)) { + const int8_t tdir = temp_dir[e]; + if (tdir) { + const int16_t rawtemp = temp_hotend[e].raw * tdir; // normal direction, +rawtemp, else -rawtemp + const bool heater_on = (temp_hotend[e].target > 0 + || TERN0(PIDTEMP, temp_hotend[e].soft_pwm_amount) > 0 + ); + if (rawtemp > temp_range[e].raw_max * tdir) max_temp_error((heater_id_t)e); + if (heater_on && rawtemp < temp_range[e].raw_min * tdir && !is_preheating(e)) { + #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED + if (++consecutive_low_temperature_error[e] >= MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED) + #endif + min_temp_error((heater_id_t)e); + } + #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED + else + consecutive_low_temperature_error[e] = 0; + #endif + } + } + + #endif // HAS_HOTEND + + #if ENABLED(THERMAL_PROTECTION_BED) + #if TEMPDIR(BED) < 0 + #define BEDCMP(A,B) ((A)<(B)) + #else + #define BEDCMP(A,B) ((A)>(B)) + #endif + const bool bed_on = (temp_bed.target > 0) || TERN0(PIDTEMPBED, temp_bed.soft_pwm_amount > 0); + if (BEDCMP(temp_bed.raw, maxtemp_raw_BED)) max_temp_error(H_BED); + if (bed_on && BEDCMP(mintemp_raw_BED, temp_bed.raw)) min_temp_error(H_BED); + #endif + + #if BOTH(HAS_HEATED_CHAMBER, THERMAL_PROTECTION_CHAMBER) + #if TEMPDIR(CHAMBER) < 0 + #define CHAMBERCMP(A,B) ((A)<(B)) + #else + #define CHAMBERCMP(A,B) ((A)>(B)) + #endif + const bool chamber_on = (temp_chamber.target > 0); + if (CHAMBERCMP(temp_chamber.raw, maxtemp_raw_CHAMBER)) max_temp_error(H_CHAMBER); + if (chamber_on && CHAMBERCMP(mintemp_raw_CHAMBER, temp_chamber.raw)) min_temp_error(H_CHAMBER); + #endif +} + +/** + * Timer 0 is shared with millies so don't change the prescaler. + * + * On AVR this ISR uses the compare method so it runs at the base + * frequency (16 MHz / 64 / 256 = 976.5625 Hz), but at the TCNT0 set + * in OCR0B above (128 or halfway between OVFs). + * + * - Manage PWM to all the heaters and fan + * - Prepare or Measure one of the raw ADC sensor values + * - Check new temperature values for MIN/MAX errors (kill on error) + * - Step the babysteps value for each axis towards 0 + * - For PINS_DEBUGGING, monitor and report endstop pins + * - For ENDSTOP_INTERRUPTS_FEATURE check endstops if flagged + * - Call planner.tick to count down its "ignore" time + */ +HAL_TEMP_TIMER_ISR() { + HAL_timer_isr_prologue(TEMP_TIMER_NUM); + + Temperature::tick(); + + HAL_timer_isr_epilogue(TEMP_TIMER_NUM); +} + +#if ENABLED(SLOW_PWM_HEATERS) && !defined(MIN_STATE_TIME) + #define MIN_STATE_TIME 16 // MIN_STATE_TIME * 65.5 = time in milliseconds +#endif + +class SoftPWM { +public: + uint8_t count; + inline bool add(const uint8_t mask, const uint8_t amount) { + count = (count & mask) + amount; return (count > mask); + } + #if ENABLED(SLOW_PWM_HEATERS) + bool state_heater; + uint8_t state_timer_heater; + inline void dec() { if (state_timer_heater > 0) state_timer_heater--; } + inline bool ready(const bool v) { + const bool rdy = !state_timer_heater; + if (rdy && state_heater != v) { + state_heater = v; + state_timer_heater = MIN_STATE_TIME; + } + return rdy; + } + #endif +}; + +/** + * Handle various ~1KHz tasks associated with temperature + * - Heater PWM (~1KHz with scaler) + * - LCD Button polling (~500Hz) + * - Start / Read one ADC sensor + * - Advance Babysteps + * - Endstop polling + * - Planner clean buffer + */ +void Temperature::tick() { + + static int8_t temp_count = -1; + static ADCSensorState adc_sensor_state = StartupDelay; + static uint8_t pwm_count = _BV(SOFT_PWM_SCALE); + + // avoid multiple loads of pwm_count + uint8_t pwm_count_tmp = pwm_count; + + #if HAS_ADC_BUTTONS + static unsigned int raw_ADCKey_value = 0; + static bool ADCKey_pressed = false; + #endif + + #if HAS_HOTEND + static SoftPWM soft_pwm_hotend[HOTENDS]; + #endif + + #if HAS_HEATED_BED + static SoftPWM soft_pwm_bed; + #endif + + #if HAS_HEATED_CHAMBER + static SoftPWM soft_pwm_chamber; + #endif + + #define WRITE_FAN(n, v) WRITE(FAN##n##_PIN, (v) ^ FAN_INVERTING) + + #if DISABLED(SLOW_PWM_HEATERS) + + #if ANY(HAS_HOTEND, HAS_HEATED_BED, HAS_HEATED_CHAMBER, FAN_SOFT_PWM) + constexpr uint8_t pwm_mask = TERN0(SOFT_PWM_DITHER, _BV(SOFT_PWM_SCALE) - 1); + #define _PWM_MOD(N,S,T) do{ \ + const bool on = S.add(pwm_mask, T.soft_pwm_amount); \ + WRITE_HEATER_##N(on); \ + }while(0) + #endif + + /** + * Standard heater PWM modulation + */ + if (pwm_count_tmp >= 127) { + pwm_count_tmp -= 127; + + #if HAS_HOTEND + #define _PWM_MOD_E(N) _PWM_MOD(N,soft_pwm_hotend[N],temp_hotend[N]); + REPEAT(HOTENDS, _PWM_MOD_E); + #endif + + #if HAS_HEATED_BED + _PWM_MOD(BED,soft_pwm_bed,temp_bed); + #endif + + #if HAS_HEATED_CHAMBER + _PWM_MOD(CHAMBER,soft_pwm_chamber,temp_chamber); + #endif + + #if ENABLED(FAN_SOFT_PWM) + #define _FAN_PWM(N) do{ \ + uint8_t &spcf = soft_pwm_count_fan[N]; \ + spcf = (spcf & pwm_mask) + (soft_pwm_amount_fan[N] >> 1); \ + WRITE_FAN(N, spcf > pwm_mask ? HIGH : LOW); \ + }while(0) + #if HAS_FAN0 + _FAN_PWM(0); + #endif + #if HAS_FAN1 + _FAN_PWM(1); + #endif + #if HAS_FAN2 + _FAN_PWM(2); + #endif + #if HAS_FAN3 + _FAN_PWM(3); + #endif + #if HAS_FAN4 + _FAN_PWM(4); + #endif + #if HAS_FAN5 + _FAN_PWM(5); + #endif + #if HAS_FAN6 + _FAN_PWM(6); + #endif + #if HAS_FAN7 + _FAN_PWM(7); + #endif + #endif + } + else { + #define _PWM_LOW(N,S) do{ if (S.count <= pwm_count_tmp) WRITE_HEATER_##N(LOW); }while(0) + #if HAS_HOTEND + #define _PWM_LOW_E(N) _PWM_LOW(N, soft_pwm_hotend[N]); + REPEAT(HOTENDS, _PWM_LOW_E); + #endif + + #if HAS_HEATED_BED + _PWM_LOW(BED, soft_pwm_bed); + #endif + + #if HAS_HEATED_CHAMBER + _PWM_LOW(CHAMBER, soft_pwm_chamber); + #endif + + #if ENABLED(FAN_SOFT_PWM) + #if HAS_FAN0 + if (soft_pwm_count_fan[0] <= pwm_count_tmp) WRITE_FAN(0, LOW); + #endif + #if HAS_FAN1 + if (soft_pwm_count_fan[1] <= pwm_count_tmp) WRITE_FAN(1, LOW); + #endif + #if HAS_FAN2 + if (soft_pwm_count_fan[2] <= pwm_count_tmp) WRITE_FAN(2, LOW); + #endif + #if HAS_FAN3 + if (soft_pwm_count_fan[3] <= pwm_count_tmp) WRITE_FAN(3, LOW); + #endif + #if HAS_FAN4 + if (soft_pwm_count_fan[4] <= pwm_count_tmp) WRITE_FAN(4, LOW); + #endif + #if HAS_FAN5 + if (soft_pwm_count_fan[5] <= pwm_count_tmp) WRITE_FAN(5, LOW); + #endif + #if HAS_FAN6 + if (soft_pwm_count_fan[6] <= pwm_count_tmp) WRITE_FAN(6, LOW); + #endif + #if HAS_FAN7 + if (soft_pwm_count_fan[7] <= pwm_count_tmp) WRITE_FAN(7, LOW); + #endif + #endif + } + + // SOFT_PWM_SCALE to frequency: + // + // 0: 16000000/64/256/128 = 7.6294 Hz + // 1: / 64 = 15.2588 Hz + // 2: / 32 = 30.5176 Hz + // 3: / 16 = 61.0352 Hz + // 4: / 8 = 122.0703 Hz + // 5: / 4 = 244.1406 Hz + pwm_count = pwm_count_tmp + _BV(SOFT_PWM_SCALE); + + #else // SLOW_PWM_HEATERS + + /** + * SLOW PWM HEATERS + * + * For relay-driven heaters + */ + #define _SLOW_SET(NR,PWM,V) do{ if (PWM.ready(V)) WRITE_HEATER_##NR(V); }while(0) + #define _SLOW_PWM(NR,PWM,SRC) do{ PWM.count = SRC.soft_pwm_amount; _SLOW_SET(NR,PWM,(PWM.count > 0)); }while(0) + #define _PWM_OFF(NR,PWM) do{ if (PWM.count < slow_pwm_count) _SLOW_SET(NR,PWM,0); }while(0) + + static uint8_t slow_pwm_count = 0; + + if (slow_pwm_count == 0) { + + #if HAS_HOTEND + #define _SLOW_PWM_E(N) _SLOW_PWM(N, soft_pwm_hotend[N], temp_hotend[N]); + REPEAT(HOTENDS, _SLOW_PWM_E); + #endif + + #if HAS_HEATED_BED + _SLOW_PWM(BED, soft_pwm_bed, temp_bed); + #endif + + #if HAS_HEATED_CHAMBER + _SLOW_PWM(CHAMBER, soft_pwm_chamber, temp_chamber); + #endif + + } // slow_pwm_count == 0 + + #if HAS_HOTEND + #define _PWM_OFF_E(N) _PWM_OFF(N, soft_pwm_hotend[N]); + REPEAT(HOTENDS, _PWM_OFF_E); + #endif + + #if HAS_HEATED_BED + _PWM_OFF(BED, soft_pwm_bed); + #endif + + #if HAS_HEATED_CHAMBER + _PWM_OFF(CHAMBER, soft_pwm_chamber); + #endif + + #if ENABLED(FAN_SOFT_PWM) + if (pwm_count_tmp >= 127) { + pwm_count_tmp = 0; + #define _PWM_FAN(N) do{ \ + soft_pwm_count_fan[N] = soft_pwm_amount_fan[N] >> 1; \ + WRITE_FAN(N, soft_pwm_count_fan[N] > 0 ? HIGH : LOW); \ + }while(0) + #if HAS_FAN0 + _PWM_FAN(0); + #endif + #if HAS_FAN1 + _PWM_FAN(1); + #endif + #if HAS_FAN2 + _PWM_FAN(2); + #endif + #if HAS_FAN3 + _FAN_PWM(3); + #endif + #if HAS_FAN4 + _FAN_PWM(4); + #endif + #if HAS_FAN5 + _FAN_PWM(5); + #endif + #if HAS_FAN6 + _FAN_PWM(6); + #endif + #if HAS_FAN7 + _FAN_PWM(7); + #endif + } + #if HAS_FAN0 + if (soft_pwm_count_fan[0] <= pwm_count_tmp) WRITE_FAN(0, LOW); + #endif + #if HAS_FAN1 + if (soft_pwm_count_fan[1] <= pwm_count_tmp) WRITE_FAN(1, LOW); + #endif + #if HAS_FAN2 + if (soft_pwm_count_fan[2] <= pwm_count_tmp) WRITE_FAN(2, LOW); + #endif + #if HAS_FAN3 + if (soft_pwm_count_fan[3] <= pwm_count_tmp) WRITE_FAN(3, LOW); + #endif + #if HAS_FAN4 + if (soft_pwm_count_fan[4] <= pwm_count_tmp) WRITE_FAN(4, LOW); + #endif + #if HAS_FAN5 + if (soft_pwm_count_fan[5] <= pwm_count_tmp) WRITE_FAN(5, LOW); + #endif + #if HAS_FAN6 + if (soft_pwm_count_fan[6] <= pwm_count_tmp) WRITE_FAN(6, LOW); + #endif + #if HAS_FAN7 + if (soft_pwm_count_fan[7] <= pwm_count_tmp) WRITE_FAN(7, LOW); + #endif + #endif // FAN_SOFT_PWM + + // SOFT_PWM_SCALE to frequency: + // + // 0: 16000000/64/256/128 = 7.6294 Hz + // 1: / 64 = 15.2588 Hz + // 2: / 32 = 30.5176 Hz + // 3: / 16 = 61.0352 Hz + // 4: / 8 = 122.0703 Hz + // 5: / 4 = 244.1406 Hz + pwm_count = pwm_count_tmp + _BV(SOFT_PWM_SCALE); + + // increment slow_pwm_count only every 64th pwm_count, + // i.e. yielding a PWM frequency of 16/128 Hz (8s). + if (((pwm_count >> SOFT_PWM_SCALE) & 0x3F) == 0) { + slow_pwm_count++; + slow_pwm_count &= 0x7F; + + #if HAS_HOTEND + HOTEND_LOOP() soft_pwm_hotend[e].dec(); + #endif + TERN_(HAS_HEATED_BED, soft_pwm_bed.dec()); + TERN_(HAS_HEATED_CHAMBER, soft_pwm_chamber.dec()); + } + + #endif // SLOW_PWM_HEATERS + + // + // Update lcd buttons 488 times per second + // + static bool do_buttons; + if ((do_buttons ^= true)) ui.update_buttons(); + + /** + * One sensor is sampled on every other call of the ISR. + * Each sensor is read 16 (OVERSAMPLENR) times, taking the average. + * + * On each Prepare pass, ADC is started for a sensor pin. + * On the next pass, the ADC value is read and accumulated. + * + * This gives each ADC 0.9765ms to charge up. + */ + #define ACCUMULATE_ADC(obj) do{ \ + if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; \ + else obj.sample(HAL_READ_ADC()); \ + }while(0) + + ADCSensorState next_sensor_state = adc_sensor_state < SensorsReady ? (ADCSensorState)(int(adc_sensor_state) + 1) : StartSampling; + + switch (adc_sensor_state) { + + case SensorsReady: { + // All sensors have been read. Stay in this state for a few + // ISRs to save on calls to temp update/checking code below. + constexpr int8_t extra_loops = MIN_ADC_ISR_LOOPS - (int8_t)SensorsReady; + static uint8_t delay_count = 0; + if (extra_loops > 0) { + if (delay_count == 0) delay_count = extra_loops; // Init this delay + if (--delay_count) // While delaying... + next_sensor_state = SensorsReady; // retain this state (else, next state will be 0) + break; + } + else { + adc_sensor_state = StartSampling; // Fall-through to start sampling + next_sensor_state = (ADCSensorState)(int(StartSampling) + 1); + } + } + + case StartSampling: // Start of sampling loops. Do updates/checks. + if (++temp_count >= OVERSAMPLENR) { // 10 * 16 * 1/(16000000/64/256) = 164ms. + temp_count = 0; + readings_ready(); + } + break; + + #if HAS_TEMP_ADC_0 + case PrepareTemp_0: HAL_START_ADC(TEMP_0_PIN); break; + case MeasureTemp_0: ACCUMULATE_ADC(temp_hotend[0]); break; + #endif + + #if HAS_TEMP_ADC_BED + case PrepareTemp_BED: HAL_START_ADC(TEMP_BED_PIN); break; + case MeasureTemp_BED: ACCUMULATE_ADC(temp_bed); break; + #endif + + #if HAS_TEMP_ADC_CHAMBER + case PrepareTemp_CHAMBER: HAL_START_ADC(TEMP_CHAMBER_PIN); break; + case MeasureTemp_CHAMBER: ACCUMULATE_ADC(temp_chamber); break; + #endif + + #if HAS_TEMP_ADC_PROBE + case PrepareTemp_PROBE: HAL_START_ADC(TEMP_PROBE_PIN); break; + case MeasureTemp_PROBE: ACCUMULATE_ADC(temp_probe); break; + #endif + + #if HAS_TEMP_ADC_1 + case PrepareTemp_1: HAL_START_ADC(TEMP_1_PIN); break; + case MeasureTemp_1: ACCUMULATE_ADC(temp_hotend[1]); break; + #endif + + #if HAS_TEMP_ADC_2 + case PrepareTemp_2: HAL_START_ADC(TEMP_2_PIN); break; + case MeasureTemp_2: ACCUMULATE_ADC(temp_hotend[2]); break; + #endif + + #if HAS_TEMP_ADC_3 + case PrepareTemp_3: HAL_START_ADC(TEMP_3_PIN); break; + case MeasureTemp_3: ACCUMULATE_ADC(temp_hotend[3]); break; + #endif + + #if HAS_TEMP_ADC_4 + case PrepareTemp_4: HAL_START_ADC(TEMP_4_PIN); break; + case MeasureTemp_4: ACCUMULATE_ADC(temp_hotend[4]); break; + #endif + + #if HAS_TEMP_ADC_5 + case PrepareTemp_5: HAL_START_ADC(TEMP_5_PIN); break; + case MeasureTemp_5: ACCUMULATE_ADC(temp_hotend[5]); break; + #endif + + #if HAS_TEMP_ADC_6 + case PrepareTemp_6: HAL_START_ADC(TEMP_6_PIN); break; + case MeasureTemp_6: ACCUMULATE_ADC(temp_hotend[6]); break; + #endif + + #if HAS_TEMP_ADC_7 + case PrepareTemp_7: HAL_START_ADC(TEMP_7_PIN); break; + case MeasureTemp_7: ACCUMULATE_ADC(temp_hotend[7]); break; + #endif + + #if ENABLED(FILAMENT_WIDTH_SENSOR) + case Prepare_FILWIDTH: HAL_START_ADC(FILWIDTH_PIN); break; + case Measure_FILWIDTH: + if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; // Redo this state + else filwidth.accumulate(HAL_READ_ADC()); + break; + #endif + + #if ENABLED(POWER_MONITOR_CURRENT) + case Prepare_POWER_MONITOR_CURRENT: + HAL_START_ADC(POWER_MONITOR_CURRENT_PIN); + break; + case Measure_POWER_MONITOR_CURRENT: + if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; // Redo this state + else power_monitor.add_current_sample(HAL_READ_ADC()); + break; + #endif + + #if ENABLED(POWER_MONITOR_VOLTAGE) + case Prepare_POWER_MONITOR_VOLTAGE: + HAL_START_ADC(POWER_MONITOR_VOLTAGE_PIN); + break; + case Measure_POWER_MONITOR_VOLTAGE: + if (!HAL_ADC_READY()) next_sensor_state = adc_sensor_state; // Redo this state + else power_monitor.add_voltage_sample(HAL_READ_ADC()); + break; + #endif + + #if HAS_JOY_ADC_X + case PrepareJoy_X: HAL_START_ADC(JOY_X_PIN); break; + case MeasureJoy_X: ACCUMULATE_ADC(joystick.x); break; + #endif + + #if HAS_JOY_ADC_Y + case PrepareJoy_Y: HAL_START_ADC(JOY_Y_PIN); break; + case MeasureJoy_Y: ACCUMULATE_ADC(joystick.y); break; + #endif + + #if HAS_JOY_ADC_Z + case PrepareJoy_Z: HAL_START_ADC(JOY_Z_PIN); break; + case MeasureJoy_Z: ACCUMULATE_ADC(joystick.z); break; + #endif + + #if HAS_ADC_BUTTONS + #ifndef ADC_BUTTON_DEBOUNCE_DELAY + #define ADC_BUTTON_DEBOUNCE_DELAY 16 + #endif + case Prepare_ADC_KEY: HAL_START_ADC(ADC_KEYPAD_PIN); break; + case Measure_ADC_KEY: + if (!HAL_ADC_READY()) + next_sensor_state = adc_sensor_state; // redo this state + else if (ADCKey_count < ADC_BUTTON_DEBOUNCE_DELAY) { + raw_ADCKey_value = HAL_READ_ADC(); + if (raw_ADCKey_value <= 900UL * HAL_ADC_RANGE / 1024UL) { + NOMORE(current_ADCKey_raw, raw_ADCKey_value); + ADCKey_count++; + } + else { //ADC Key release + if (ADCKey_count > 0) ADCKey_count++; else ADCKey_pressed = false; + if (ADCKey_pressed) { + ADCKey_count = 0; + current_ADCKey_raw = HAL_ADC_RANGE; + } + } + } + if (ADCKey_count == ADC_BUTTON_DEBOUNCE_DELAY) ADCKey_pressed = true; + break; + #endif // HAS_ADC_BUTTONS + + case StartupDelay: break; + + } // switch(adc_sensor_state) + + // Go to the next state + adc_sensor_state = next_sensor_state; + + // + // Additional ~1KHz Tasks + // + + #if ENABLED(BABYSTEPPING) && DISABLED(INTEGRATED_BABYSTEPPING) + babystep.task(); + #endif + + // Poll endstops state, if required + endstops.poll(); + + // Periodically call the planner timer + planner.tick(); +} + +#if HAS_TEMP_SENSOR + + #include "../gcode/gcode.h" + + static void print_heater_state(const float &c, const float &t + #if ENABLED(SHOW_TEMP_ADC_VALUES) + , const float r + #endif + , const heater_id_t e=INDEX_NONE + ) { + char k; + switch (e) { + #if HAS_TEMP_CHAMBER + case H_CHAMBER: k = 'C'; break; + #endif + #if HAS_TEMP_PROBE + case H_PROBE: k = 'P'; break; + #endif + #if HAS_TEMP_HOTEND + default: k = 'T'; break; + #if HAS_HEATED_BED + case H_BED: k = 'B'; break; + #endif + #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) + case H_REDUNDANT: k = 'R'; break; + #endif + #elif HAS_HEATED_BED + default: k = 'B'; break; + #endif + } + SERIAL_CHAR(' ', k); + #if HAS_MULTI_HOTEND + if (e >= 0) SERIAL_CHAR('0' + e); + #endif + #ifdef SERIAL_FLOAT_PRECISION + #define SFP _MIN(SERIAL_FLOAT_PRECISION, 2) + #else + #define SFP 2 + #endif + SERIAL_CHAR(':'); + SERIAL_PRINT(c, SFP); + SERIAL_ECHOPGM(" /"); + SERIAL_PRINT(t, SFP); + #if ENABLED(SHOW_TEMP_ADC_VALUES) + SERIAL_ECHOPAIR(" (", r * RECIPROCAL(OVERSAMPLENR)); + SERIAL_CHAR(')'); + #endif + delay(2); + } + + void Temperature::print_heater_states(const uint8_t target_extruder + #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) + , const bool include_r/*=false*/ + #endif + ) { + #if HAS_TEMP_HOTEND + print_heater_state(degHotend(target_extruder), degTargetHotend(target_extruder) + #if ENABLED(SHOW_TEMP_ADC_VALUES) + , rawHotendTemp(target_extruder) + #endif + ); + #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) + if (include_r) print_heater_state(redundant_temperature, degTargetHotend(target_extruder) + #if ENABLED(SHOW_TEMP_ADC_VALUES) + , redundant_temperature_raw + #endif + , H_REDUNDANT + ); + #endif + #endif + #if HAS_HEATED_BED + print_heater_state(degBed(), degTargetBed() + #if ENABLED(SHOW_TEMP_ADC_VALUES) + , rawBedTemp() + #endif + , H_BED + ); + #endif + #if HAS_TEMP_CHAMBER + print_heater_state(degChamber() + #if HAS_HEATED_CHAMBER + , degTargetChamber() + #else + , 0 + #endif + #if ENABLED(SHOW_TEMP_ADC_VALUES) + , rawChamberTemp() + #endif + , H_CHAMBER + ); + #endif // HAS_TEMP_CHAMBER + #if HAS_TEMP_PROBE + print_heater_state(degProbe(), 0 + #if ENABLED(SHOW_TEMP_ADC_VALUES) + , rawProbeTemp() + #endif + , H_PROBE + ); + #endif // HAS_TEMP_PROBE + #if HAS_MULTI_HOTEND + HOTEND_LOOP() print_heater_state(degHotend(e), degTargetHotend(e) + #if ENABLED(SHOW_TEMP_ADC_VALUES) + , rawHotendTemp(e) + #endif + , (heater_id_t)e + ); + #endif + SERIAL_ECHOPAIR(" @:", getHeaterPower((heater_id_t)target_extruder)); + #if HAS_HEATED_BED + SERIAL_ECHOPAIR(" B@:", getHeaterPower(H_BED)); + #endif + #if HAS_HEATED_CHAMBER + SERIAL_ECHOPAIR(" C@:", getHeaterPower(H_CHAMBER)); + #endif + #if HAS_MULTI_HOTEND + HOTEND_LOOP() { + SERIAL_ECHOPAIR(" @", e); + SERIAL_CHAR(':'); + SERIAL_ECHO(getHeaterPower((heater_id_t)e)); + } + #endif + } + + #if ENABLED(AUTO_REPORT_TEMPERATURES) + AutoReporter Temperature::auto_reporter; + void Temperature::AutoReportTemp::report() { + print_heater_states(active_extruder); + SERIAL_EOL(); + } + #endif + + #if HAS_HOTEND && HAS_DISPLAY + void Temperature::set_heating_message(const uint8_t e) { + const bool heating = isHeatingHotend(e); + ui.status_printf_P(0, + #if HAS_MULTI_HOTEND + PSTR("E%c " S_FMT), '1' + e + #else + PSTR("E " S_FMT) + #endif + , heating ? GET_TEXT(MSG_HEATING) : GET_TEXT(MSG_COOLING) + ); + } + #endif + + #if HAS_TEMP_HOTEND + + #ifndef MIN_COOLING_SLOPE_DEG + #define MIN_COOLING_SLOPE_DEG 1.50 + #endif + #ifndef MIN_COOLING_SLOPE_TIME + #define MIN_COOLING_SLOPE_TIME 60 + #endif + + bool Temperature::wait_for_hotend(const uint8_t target_extruder, const bool no_wait_for_cooling/*=true*/ + #if G26_CLICK_CAN_CANCEL + , const bool click_to_cancel/*=false*/ + #endif + ) { + + #if ENABLED(AUTOTEMP) + REMEMBER(1, planner.autotemp_enabled, false); + #endif + + #if TEMP_RESIDENCY_TIME > 0 + millis_t residency_start_ms = 0; + bool first_loop = true; + // Loop until the temperature has stabilized + #define TEMP_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + SEC_TO_MS(TEMP_RESIDENCY_TIME))) + #else + // Loop until the temperature is very close target + #define TEMP_CONDITIONS (wants_to_cool ? isCoolingHotend(target_extruder) : isHeatingHotend(target_extruder)) + #endif + + #if DISABLED(BUSY_WHILE_HEATING) && ENABLED(HOST_KEEPALIVE_FEATURE) + KEEPALIVE_STATE(NOT_BUSY); + #endif + + #if ENABLED(PRINTER_EVENT_LEDS) + const float start_temp = degHotend(target_extruder); + printerEventLEDs.onHotendHeatingStart(); + #endif + + bool wants_to_cool = false; + float target_temp = -1.0, old_temp = 9999.0; + millis_t now, next_temp_ms = 0, next_cool_check_ms = 0; + wait_for_heatup = true; + do { + // Target temperature might be changed during the loop + if (target_temp != degTargetHotend(target_extruder)) { + wants_to_cool = isCoolingHotend(target_extruder); + target_temp = degTargetHotend(target_extruder); + + // Exit if S, continue if S, R, or R + if (no_wait_for_cooling && wants_to_cool) break; + } + + now = millis(); + if (ELAPSED(now, next_temp_ms)) { // Print temp & remaining time every 1s while waiting + next_temp_ms = now + 1000UL; + print_heater_states(target_extruder); + #if TEMP_RESIDENCY_TIME > 0 + SERIAL_ECHOPGM(" W:"); + if (residency_start_ms) + SERIAL_ECHO(long((SEC_TO_MS(TEMP_RESIDENCY_TIME) - (now - residency_start_ms)) / 1000UL)); + else + SERIAL_CHAR('?'); + #endif + SERIAL_EOL(); + } + + idle(); + gcode.reset_stepper_timeout(); // Keep steppers powered + + const float temp = degHotend(target_extruder); + + #if ENABLED(PRINTER_EVENT_LEDS) + // Gradually change LED strip from violet to red as nozzle heats up + if (!wants_to_cool) printerEventLEDs.onHotendHeating(start_temp, temp, target_temp); + #endif + + #if TEMP_RESIDENCY_TIME > 0 + + const float temp_diff = ABS(target_temp - temp); + + if (!residency_start_ms) { + // Start the TEMP_RESIDENCY_TIME timer when we reach target temp for the first time. + if (temp_diff < TEMP_WINDOW) + residency_start_ms = now + (first_loop ? SEC_TO_MS(TEMP_RESIDENCY_TIME) / 3 : 0); + } + else if (temp_diff > TEMP_HYSTERESIS) { + // Restart the timer whenever the temperature falls outside the hysteresis. + residency_start_ms = now; + } + + first_loop = false; + + #endif + + // Prevent a wait-forever situation if R is misused i.e. M109 R0 + if (wants_to_cool) { + // break after MIN_COOLING_SLOPE_TIME seconds + // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG + if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) { + if (old_temp - temp < float(MIN_COOLING_SLOPE_DEG)) break; + next_cool_check_ms = now + SEC_TO_MS(MIN_COOLING_SLOPE_TIME); + old_temp = temp; + } + } + + #if G26_CLICK_CAN_CANCEL + if (click_to_cancel && ui.use_click()) { + wait_for_heatup = false; + ui.quick_feedback(); + } + #endif + + } while (wait_for_heatup && TEMP_CONDITIONS); + + if (wait_for_heatup) { + wait_for_heatup = false; + #if ENABLED(DWIN_CREALITY_LCD) + HMI_flag.heat_flag = 0; + duration_t elapsed = print_job_timer.duration(); // print timer + dwin_heat_time = elapsed.value; + #else + ui.reset_status(); + #endif + TERN_(PRINTER_EVENT_LEDS, printerEventLEDs.onHeatingDone()); + return true; + } + + return false; + } + + #endif // HAS_TEMP_HOTEND + + #if HAS_HEATED_BED + + #ifndef MIN_COOLING_SLOPE_DEG_BED + #define MIN_COOLING_SLOPE_DEG_BED 1.00 + #endif + #ifndef MIN_COOLING_SLOPE_TIME_BED + #define MIN_COOLING_SLOPE_TIME_BED 60 + #endif + + bool Temperature::wait_for_bed(const bool no_wait_for_cooling/*=true*/ + #if G26_CLICK_CAN_CANCEL + , const bool click_to_cancel/*=false*/ + #endif + ) { + #if TEMP_BED_RESIDENCY_TIME > 0 + millis_t residency_start_ms = 0; + bool first_loop = true; + // Loop until the temperature has stabilized + #define TEMP_BED_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + SEC_TO_MS(TEMP_BED_RESIDENCY_TIME))) + #else + // Loop until the temperature is very close target + #define TEMP_BED_CONDITIONS (wants_to_cool ? isCoolingBed() : isHeatingBed()) + #endif + + #if DISABLED(BUSY_WHILE_HEATING) && ENABLED(HOST_KEEPALIVE_FEATURE) + KEEPALIVE_STATE(NOT_BUSY); + #endif + + #if ENABLED(PRINTER_EVENT_LEDS) + const float start_temp = degBed(); + printerEventLEDs.onBedHeatingStart(); + #endif + + bool wants_to_cool = false; + float target_temp = -1, old_temp = 9999; + millis_t now, next_temp_ms = 0, next_cool_check_ms = 0; + wait_for_heatup = true; + do { + // Target temperature might be changed during the loop + if (target_temp != degTargetBed()) { + wants_to_cool = isCoolingBed(); + target_temp = degTargetBed(); + + // Exit if S, continue if S, R, or R + if (no_wait_for_cooling && wants_to_cool) break; + } + + now = millis(); + if (ELAPSED(now, next_temp_ms)) { //Print Temp Reading every 1 second while heating up. + next_temp_ms = now + 1000UL; + print_heater_states(active_extruder); + #if TEMP_BED_RESIDENCY_TIME > 0 + SERIAL_ECHOPGM(" W:"); + if (residency_start_ms) + SERIAL_ECHO(long((SEC_TO_MS(TEMP_BED_RESIDENCY_TIME) - (now - residency_start_ms)) / 1000UL)); + else + SERIAL_CHAR('?'); + #endif + SERIAL_EOL(); + } + + idle(); + gcode.reset_stepper_timeout(); // Keep steppers powered + + const float temp = degBed(); + + #if ENABLED(PRINTER_EVENT_LEDS) + // Gradually change LED strip from blue to violet as bed heats up + if (!wants_to_cool) printerEventLEDs.onBedHeating(start_temp, temp, target_temp); + #endif + + #if TEMP_BED_RESIDENCY_TIME > 0 + + const float temp_diff = ABS(target_temp - temp); + + if (!residency_start_ms) { + // Start the TEMP_BED_RESIDENCY_TIME timer when we reach target temp for the first time. + if (temp_diff < TEMP_BED_WINDOW) + residency_start_ms = now + (first_loop ? SEC_TO_MS(TEMP_BED_RESIDENCY_TIME) / 3 : 0); + } + else if (temp_diff > TEMP_BED_HYSTERESIS) { + // Restart the timer whenever the temperature falls outside the hysteresis. + residency_start_ms = now; + } + + #endif // TEMP_BED_RESIDENCY_TIME > 0 + + // Prevent a wait-forever situation if R is misused i.e. M190 R0 + if (wants_to_cool) { + // Break after MIN_COOLING_SLOPE_TIME_BED seconds + // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_BED + if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) { + if (old_temp - temp < float(MIN_COOLING_SLOPE_DEG_BED)) break; + next_cool_check_ms = now + SEC_TO_MS(MIN_COOLING_SLOPE_TIME_BED); + old_temp = temp; + } + } + + #if G26_CLICK_CAN_CANCEL + if (click_to_cancel && ui.use_click()) { + wait_for_heatup = false; + ui.quick_feedback(); + } + #endif + + #if TEMP_BED_RESIDENCY_TIME > 0 + first_loop = false; + #endif + + } while (wait_for_heatup && TEMP_BED_CONDITIONS); + + if (wait_for_heatup) { + wait_for_heatup = false; + ui.reset_status(); + return true; + } + + return false; + } + + void Temperature::wait_for_bed_heating() { + if (isHeatingBed()) { + SERIAL_ECHOLNPGM("Wait for bed heating..."); + LCD_MESSAGEPGM(MSG_BED_HEATING); + wait_for_bed(); + ui.reset_status(); + } + } + + #endif // HAS_HEATED_BED + + #if HAS_TEMP_PROBE + + #ifndef MIN_DELTA_SLOPE_DEG_PROBE + #define MIN_DELTA_SLOPE_DEG_PROBE 1.0 + #endif + #ifndef MIN_DELTA_SLOPE_TIME_PROBE + #define MIN_DELTA_SLOPE_TIME_PROBE 600 + #endif + + bool Temperature::wait_for_probe(const float target_temp, bool no_wait_for_cooling/*=true*/) { + + const bool wants_to_cool = isProbeAboveTemp(target_temp); + const bool will_wait = !(wants_to_cool && no_wait_for_cooling); + if (will_wait) + SERIAL_ECHOLNPAIR("Waiting for probe to ", (wants_to_cool ? PSTR("cool down") : PSTR("heat up")), " to ", target_temp, " degrees."); + + #if DISABLED(BUSY_WHILE_HEATING) && ENABLED(HOST_KEEPALIVE_FEATURE) + KEEPALIVE_STATE(NOT_BUSY); + #endif + + float old_temp = 9999; + millis_t next_temp_ms = 0, next_delta_check_ms = 0; + wait_for_heatup = true; + while (will_wait && wait_for_heatup) { + + // Print Temp Reading every 10 seconds while heating up. + millis_t now = millis(); + if (!next_temp_ms || ELAPSED(now, next_temp_ms)) { + next_temp_ms = now + 10000UL; + print_heater_states(active_extruder); + SERIAL_EOL(); + } + + idle(); + gcode.reset_stepper_timeout(); // Keep steppers powered + + // Break after MIN_DELTA_SLOPE_TIME_PROBE seconds if the temperature + // did not drop at least MIN_DELTA_SLOPE_DEG_PROBE. This avoids waiting + // forever as the probe is not actively heated. + if (!next_delta_check_ms || ELAPSED(now, next_delta_check_ms)) { + const float temp = degProbe(), + delta_temp = old_temp > temp ? old_temp - temp : temp - old_temp; + if (delta_temp < float(MIN_DELTA_SLOPE_DEG_PROBE)) { + SERIAL_ECHOLNPGM("Timed out waiting for probe temperature."); + break; + } + next_delta_check_ms = now + SEC_TO_MS(MIN_DELTA_SLOPE_TIME_PROBE); + old_temp = temp; + } + + // Loop until the temperature is very close target + if (!(wants_to_cool ? isProbeAboveTemp(target_temp) : isProbeBelowTemp(target_temp))) { + SERIAL_ECHOLN(wants_to_cool ? PSTR("Cooldown") : PSTR("Heatup")); + SERIAL_ECHOLNPGM(" complete, target probe temperature reached."); + break; + } + } + + if (wait_for_heatup) { + wait_for_heatup = false; + ui.reset_status(); + return true; + } + else if (will_wait) + SERIAL_ECHOLNPGM("Canceled wait for probe temperature."); + + return false; + } + + #endif // HAS_TEMP_PROBE + + #if HAS_HEATED_CHAMBER + + #ifndef MIN_COOLING_SLOPE_DEG_CHAMBER + #define MIN_COOLING_SLOPE_DEG_CHAMBER 1.50 + #endif + #ifndef MIN_COOLING_SLOPE_TIME_CHAMBER + #define MIN_COOLING_SLOPE_TIME_CHAMBER 120 + #endif + + bool Temperature::wait_for_chamber(const bool no_wait_for_cooling/*=true*/) { + #if TEMP_CHAMBER_RESIDENCY_TIME > 0 + millis_t residency_start_ms = 0; + bool first_loop = true; + // Loop until the temperature has stabilized + #define TEMP_CHAMBER_CONDITIONS (!residency_start_ms || PENDING(now, residency_start_ms + SEC_TO_MS(TEMP_CHAMBER_RESIDENCY_TIME))) + #else + // Loop until the temperature is very close target + #define TEMP_CHAMBER_CONDITIONS (wants_to_cool ? isCoolingChamber() : isHeatingChamber()) + #endif + + #if DISABLED(BUSY_WHILE_HEATING) && ENABLED(HOST_KEEPALIVE_FEATURE) + KEEPALIVE_STATE(NOT_BUSY); + #endif + + bool wants_to_cool = false; + float target_temp = -1, old_temp = 9999; + millis_t now, next_temp_ms = 0, next_cool_check_ms = 0; + wait_for_heatup = true; + do { + // Target temperature might be changed during the loop + if (target_temp != degTargetChamber()) { + wants_to_cool = isCoolingChamber(); + target_temp = degTargetChamber(); + + // Exit if S, continue if S, R, or R + if (no_wait_for_cooling && wants_to_cool) break; + } + + now = millis(); + if (ELAPSED(now, next_temp_ms)) { // Print Temp Reading every 1 second while heating up. + next_temp_ms = now + 1000UL; + print_heater_states(active_extruder); + #if TEMP_CHAMBER_RESIDENCY_TIME > 0 + SERIAL_ECHOPGM(" W:"); + if (residency_start_ms) + SERIAL_ECHO(long((SEC_TO_MS(TEMP_CHAMBER_RESIDENCY_TIME) - (now - residency_start_ms)) / 1000UL)); + else + SERIAL_CHAR('?'); + #endif + SERIAL_EOL(); + } + + idle(); + gcode.reset_stepper_timeout(); // Keep steppers powered + + const float temp = degChamber(); + + #if TEMP_CHAMBER_RESIDENCY_TIME > 0 + + const float temp_diff = ABS(target_temp - temp); + + if (!residency_start_ms) { + // Start the TEMP_CHAMBER_RESIDENCY_TIME timer when we reach target temp for the first time. + if (temp_diff < TEMP_CHAMBER_WINDOW) + residency_start_ms = now + (first_loop ? SEC_TO_MS(TEMP_CHAMBER_RESIDENCY_TIME) / 3 : 0); + } + else if (temp_diff > TEMP_CHAMBER_HYSTERESIS) { + // Restart the timer whenever the temperature falls outside the hysteresis. + residency_start_ms = now; + } + + first_loop = false; + #endif // TEMP_CHAMBER_RESIDENCY_TIME > 0 + + // Prevent a wait-forever situation if R is misused i.e. M191 R0 + if (wants_to_cool) { + // Break after MIN_COOLING_SLOPE_TIME_CHAMBER seconds + // if the temperature did not drop at least MIN_COOLING_SLOPE_DEG_CHAMBER + if (!next_cool_check_ms || ELAPSED(now, next_cool_check_ms)) { + if (old_temp - temp < float(MIN_COOLING_SLOPE_DEG_CHAMBER)) break; + next_cool_check_ms = now + SEC_TO_MS(MIN_COOLING_SLOPE_TIME_CHAMBER); + old_temp = temp; + } + } + } while (wait_for_heatup && TEMP_CHAMBER_CONDITIONS); + + if (wait_for_heatup) { + wait_for_heatup = false; + ui.reset_status(); + return true; + } + + return false; + } + + #endif // HAS_HEATED_CHAMBER + +#endif // HAS_TEMP_SENSOR diff --git a/Marlin/src/module/temperature.h b/Marlin/src/module/temperature.h new file mode 100644 index 0000000..002e1cb --- /dev/null +++ b/Marlin/src/module/temperature.h @@ -0,0 +1,885 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * temperature.h - temperature controller + */ + +#include "thermistor/thermistors.h" + +#include "../inc/MarlinConfig.h" + +#if ENABLED(AUTO_POWER_CONTROL) + #include "../feature/power.h" +#endif + +#if ENABLED(AUTO_REPORT_TEMPERATURES) + #include "../libs/autoreport.h" +#endif + +#ifndef SOFT_PWM_SCALE + #define SOFT_PWM_SCALE 0 +#endif + +#define HOTEND_INDEX TERN(HAS_MULTI_HOTEND, e, 0) +#define E_NAME TERN_(HAS_MULTI_HOTEND, e) + +// Heater identifiers. Positive values are hotends. Negative values are other heaters. +typedef enum : int8_t { + INDEX_NONE = -5, + H_PROBE, H_REDUNDANT, H_CHAMBER, H_BED, + H_E0, H_E1, H_E2, H_E3, H_E4, H_E5, H_E6, H_E7 +} heater_id_t; + +// PID storage +typedef struct { float Kp, Ki, Kd; } PID_t; +typedef struct { float Kp, Ki, Kd, Kc; } PIDC_t; +typedef struct { float Kp, Ki, Kd, Kf; } PIDF_t; +typedef struct { float Kp, Ki, Kd, Kc, Kf; } PIDCF_t; + +typedef + #if BOTH(PID_EXTRUSION_SCALING, PID_FAN_SCALING) + PIDCF_t + #elif ENABLED(PID_EXTRUSION_SCALING) + PIDC_t + #elif ENABLED(PID_FAN_SCALING) + PIDF_t + #else + PID_t + #endif +hotend_pid_t; + +#if ENABLED(PID_EXTRUSION_SCALING) + typedef IF<(LPQ_MAX_LEN > 255), uint16_t, uint8_t>::type lpq_ptr_t; +#endif + +#define PID_PARAM(F,H) _PID_##F(TERN(PID_PARAMS_PER_HOTEND, H, 0 & H)) // Always use 'H' to suppress warning +#define _PID_Kp(H) TERN(PIDTEMP, Temperature::temp_hotend[H].pid.Kp, NAN) +#define _PID_Ki(H) TERN(PIDTEMP, Temperature::temp_hotend[H].pid.Ki, NAN) +#define _PID_Kd(H) TERN(PIDTEMP, Temperature::temp_hotend[H].pid.Kd, NAN) +#if ENABLED(PIDTEMP) + #define _PID_Kc(H) TERN(PID_EXTRUSION_SCALING, Temperature::temp_hotend[H].pid.Kc, 1) + #define _PID_Kf(H) TERN(PID_FAN_SCALING, Temperature::temp_hotend[H].pid.Kf, 0) +#else + #define _PID_Kc(H) 1 + #define _PID_Kf(H) 0 +#endif + +/** + * States for ADC reading in the ISR + */ +enum ADCSensorState : char { + StartSampling, + #if HAS_TEMP_ADC_0 + PrepareTemp_0, MeasureTemp_0, + #endif + #if HAS_TEMP_ADC_BED + PrepareTemp_BED, MeasureTemp_BED, + #endif + #if HAS_TEMP_ADC_CHAMBER + PrepareTemp_CHAMBER, MeasureTemp_CHAMBER, + #endif + #if HAS_TEMP_ADC_PROBE + PrepareTemp_PROBE, MeasureTemp_PROBE, + #endif + #if HAS_TEMP_ADC_1 + PrepareTemp_1, MeasureTemp_1, + #endif + #if HAS_TEMP_ADC_2 + PrepareTemp_2, MeasureTemp_2, + #endif + #if HAS_TEMP_ADC_3 + PrepareTemp_3, MeasureTemp_3, + #endif + #if HAS_TEMP_ADC_4 + PrepareTemp_4, MeasureTemp_4, + #endif + #if HAS_TEMP_ADC_5 + PrepareTemp_5, MeasureTemp_5, + #endif + #if HAS_TEMP_ADC_6 + PrepareTemp_6, MeasureTemp_6, + #endif + #if HAS_TEMP_ADC_7 + PrepareTemp_7, MeasureTemp_7, + #endif + #if HAS_JOY_ADC_X + PrepareJoy_X, MeasureJoy_X, + #endif + #if HAS_JOY_ADC_Y + PrepareJoy_Y, MeasureJoy_Y, + #endif + #if HAS_JOY_ADC_Z + PrepareJoy_Z, MeasureJoy_Z, + #endif + #if ENABLED(FILAMENT_WIDTH_SENSOR) + Prepare_FILWIDTH, Measure_FILWIDTH, + #endif + #if ENABLED(POWER_MONITOR_CURRENT) + Prepare_POWER_MONITOR_CURRENT, + Measure_POWER_MONITOR_CURRENT, + #endif + #if ENABLED(POWER_MONITOR_VOLTAGE) + Prepare_POWER_MONITOR_VOLTAGE, + Measure_POWER_MONITOR_VOLTAGE, + #endif + #if HAS_ADC_BUTTONS + Prepare_ADC_KEY, Measure_ADC_KEY, + #endif + SensorsReady, // Temperatures ready. Delay the next round of readings to let ADC pins settle. + StartupDelay // Startup, delay initial temp reading a tiny bit so the hardware can settle +}; + +// Minimum number of Temperature::ISR loops between sensor readings. +// Multiplied by 16 (OVERSAMPLENR) to obtain the total time to +// get all oversampled sensor readings +#define MIN_ADC_ISR_LOOPS 10 + +#define ACTUAL_ADC_SAMPLES _MAX(int(MIN_ADC_ISR_LOOPS), int(SensorsReady)) + +#if HAS_PID_HEATING + #define PID_K2 (1-float(PID_K1)) + #define PID_dT ((OVERSAMPLENR * float(ACTUAL_ADC_SAMPLES)) / TEMP_TIMER_FREQUENCY) + + // Apply the scale factors to the PID values + #define scalePID_i(i) ( float(i) * PID_dT ) + #define unscalePID_i(i) ( float(i) / PID_dT ) + #define scalePID_d(d) ( float(d) / PID_dT ) + #define unscalePID_d(d) ( float(d) * PID_dT ) +#endif + +#if BOTH(HAS_LCD_MENU, G26_MESH_VALIDATION) + #define G26_CLICK_CAN_CANCEL 1 +#endif + +// A temperature sensor +typedef struct TempInfo { + uint16_t acc; + int16_t raw; + float celsius; + inline void reset() { acc = 0; } + inline void sample(const uint16_t s) { acc += s; } + inline void update() { raw = acc; } +} temp_info_t; + +// A PWM heater with temperature sensor +typedef struct HeaterInfo : public TempInfo { + int16_t target; + uint8_t soft_pwm_amount; +} heater_info_t; + +// A heater with PID stabilization +template +struct PIDHeaterInfo : public HeaterInfo { + T pid; // Initialized by settings.load() +}; + +#if ENABLED(PIDTEMP) + typedef struct PIDHeaterInfo hotend_info_t; +#else + typedef heater_info_t hotend_info_t; +#endif +#if HAS_HEATED_BED + #if ENABLED(PIDTEMPBED) + typedef struct PIDHeaterInfo bed_info_t; + #else + typedef heater_info_t bed_info_t; + #endif +#endif +#if HAS_TEMP_PROBE + typedef temp_info_t probe_info_t; +#endif +#if HAS_HEATED_CHAMBER + typedef heater_info_t chamber_info_t; +#elif HAS_TEMP_CHAMBER + typedef temp_info_t chamber_info_t; +#endif + +// Heater watch handling +template +struct HeaterWatch { + uint16_t target; + millis_t next_ms; + inline bool elapsed(const millis_t &ms) { return next_ms && ELAPSED(ms, next_ms); } + inline bool elapsed() { return elapsed(millis()); } + + inline void restart(const int16_t curr, const int16_t tgt) { + if (tgt) { + const int16_t newtarget = curr + INCREASE; + if (newtarget < tgt - HYSTERESIS - 1) { + target = newtarget; + next_ms = millis() + SEC_TO_MS(PERIOD); + return; + } + } + next_ms = 0; + } +}; + +#if WATCH_HOTENDS + typedef struct HeaterWatch hotend_watch_t; +#endif +#if WATCH_BED + typedef struct HeaterWatch bed_watch_t; +#endif +#if WATCH_CHAMBER + typedef struct HeaterWatch chamber_watch_t; +#endif + +// Temperature sensor read value ranges +typedef struct { int16_t raw_min, raw_max; } raw_range_t; +typedef struct { int16_t mintemp, maxtemp; } celsius_range_t; +typedef struct { int16_t raw_min, raw_max, mintemp, maxtemp; } temp_range_t; + +#define THERMISTOR_ABS_ZERO_C -273.15f // bbbbrrrrr cold ! +#define THERMISTOR_RESISTANCE_NOMINAL_C 25.0f // mmmmm comfortable + +#if HAS_USER_THERMISTORS + + enum CustomThermistorIndex : uint8_t { + #if HEATER_0_USER_THERMISTOR + CTI_HOTEND_0, + #endif + #if HEATER_1_USER_THERMISTOR + CTI_HOTEND_1, + #endif + #if HEATER_2_USER_THERMISTOR + CTI_HOTEND_2, + #endif + #if HEATER_3_USER_THERMISTOR + CTI_HOTEND_3, + #endif + #if HEATER_4_USER_THERMISTOR + CTI_HOTEND_4, + #endif + #if HEATER_5_USER_THERMISTOR + CTI_HOTEND_5, + #endif + #if HEATER_BED_USER_THERMISTOR + CTI_BED, + #endif + #if HEATER_PROBE_USER_THERMISTOR + CTI_PROBE, + #endif + #if HEATER_CHAMBER_USER_THERMISTOR + CTI_CHAMBER, + #endif + USER_THERMISTORS + }; + + // User-defined thermistor + typedef struct { + bool pre_calc; // true if pre-calculations update needed + float sh_c_coeff, // Steinhart-Hart C coefficient .. defaults to '0.0' + sh_alpha, + series_res, + res_25, res_25_recip, + res_25_log, + beta, beta_recip; + } user_thermistor_t; + +#endif + +class Temperature { + + public: + + #if HAS_HOTEND + #define HOTEND_TEMPS (HOTENDS + ENABLED(TEMP_SENSOR_1_AS_REDUNDANT)) + static hotend_info_t temp_hotend[HOTEND_TEMPS]; + static const uint16_t heater_maxtemp[HOTENDS]; + #endif + TERN_(HAS_HEATED_BED, static bed_info_t temp_bed); + TERN_(HAS_TEMP_PROBE, static probe_info_t temp_probe); + TERN_(HAS_TEMP_CHAMBER, static chamber_info_t temp_chamber); + + TERN_(AUTO_POWER_E_FANS, static uint8_t autofan_speed[HOTENDS]); + TERN_(AUTO_POWER_CHAMBER_FAN, static uint8_t chamberfan_speed); + + #if ENABLED(FAN_SOFT_PWM) + static uint8_t soft_pwm_amount_fan[FAN_COUNT], + soft_pwm_count_fan[FAN_COUNT]; + #endif + + #if ENABLED(PREVENT_COLD_EXTRUSION) + static bool allow_cold_extrude; + static int16_t extrude_min_temp; + FORCE_INLINE static bool tooCold(const int16_t temp) { return allow_cold_extrude ? false : temp < extrude_min_temp - (TEMP_WINDOW); } + FORCE_INLINE static bool tooColdToExtrude(const uint8_t E_NAME) { + return tooCold(degHotend(HOTEND_INDEX)); + } + FORCE_INLINE static bool targetTooColdToExtrude(const uint8_t E_NAME) { + return tooCold(degTargetHotend(HOTEND_INDEX)); + } + #else + FORCE_INLINE static bool tooColdToExtrude(const uint8_t) { return false; } + FORCE_INLINE static bool targetTooColdToExtrude(const uint8_t) { return false; } + #endif + + FORCE_INLINE static bool hotEnoughToExtrude(const uint8_t e) { return !tooColdToExtrude(e); } + FORCE_INLINE static bool targetHotEnoughToExtrude(const uint8_t e) { return !targetTooColdToExtrude(e); } + + #if ENABLED(SINGLENOZZLE_STANDBY_FAN) + static uint16_t singlenozzle_temp[EXTRUDERS]; + #if HAS_FAN + static uint8_t singlenozzle_fan_speed[EXTRUDERS]; + #endif + static void singlenozzle_change(const uint8_t old_tool, const uint8_t new_tool); + #endif + + #if HEATER_IDLE_HANDLER + + // Heater idle handling. Marlin creates one per hotend and one for the heated bed. + typedef struct { + millis_t timeout_ms; + bool timed_out; + inline void update(const millis_t &ms) { if (!timed_out && timeout_ms && ELAPSED(ms, timeout_ms)) timed_out = true; } + inline void start(const millis_t &ms) { timeout_ms = millis() + ms; timed_out = false; } + inline void reset() { timeout_ms = 0; timed_out = false; } + inline void expire() { start(0); } + } heater_idle_t; + + // Indices and size for the heater_idle array + #define _ENUM_FOR_E(N) IDLE_INDEX_E##N, + enum IdleIndex : uint8_t { + REPEAT(HOTENDS, _ENUM_FOR_E) + #if ENABLED(HAS_HEATED_BED) + IDLE_INDEX_BED, + #endif + NR_HEATER_IDLE + }; + #undef _ENUM_FOR_E + + // Convert the given heater_id_t to idle array index + static inline IdleIndex idle_index_for_id(const int8_t heater_id) { + #if HAS_HEATED_BED + if (heater_id == H_BED) return IDLE_INDEX_BED; + #endif + return (IdleIndex)_MAX(heater_id, 0); + } + + static heater_idle_t heater_idle[NR_HEATER_IDLE]; + + #endif + + private: + + TERN_(EARLY_WATCHDOG, static bool inited); // If temperature controller is running + + static volatile bool raw_temps_ready; + + TERN_(WATCH_HOTENDS, static hotend_watch_t watch_hotend[HOTENDS]); + + #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) + static uint16_t redundant_temperature_raw; + static float redundant_temperature; + #endif + + #if ENABLED(PID_EXTRUSION_SCALING) + static int32_t last_e_position, lpq[LPQ_MAX_LEN]; + static lpq_ptr_t lpq_ptr; + #endif + + TERN_(HAS_HOTEND, static temp_range_t temp_range[HOTENDS]); + + #if HAS_HEATED_BED + TERN_(WATCH_BED, static bed_watch_t watch_bed); + IF_DISABLED(PIDTEMPBED, static millis_t next_bed_check_ms); + #ifdef BED_MINTEMP + static int16_t mintemp_raw_BED; + #endif + #ifdef BED_MAXTEMP + static int16_t maxtemp_raw_BED; + #endif + #endif + + #if HAS_HEATED_CHAMBER + TERN_(WATCH_CHAMBER, static chamber_watch_t watch_chamber); + static millis_t next_chamber_check_ms; + #ifdef CHAMBER_MINTEMP + static int16_t mintemp_raw_CHAMBER; + #endif + #ifdef CHAMBER_MAXTEMP + static int16_t maxtemp_raw_CHAMBER; + #endif + #endif + + #ifdef MAX_CONSECUTIVE_LOW_TEMPERATURE_ERROR_ALLOWED + static uint8_t consecutive_low_temperature_error[HOTENDS]; + #endif + + #ifdef MILLISECONDS_PREHEAT_TIME + static millis_t preheat_end_time[HOTENDS]; + #endif + + TERN_(HAS_AUTO_FAN, static millis_t next_auto_fan_check_ms); + + TERN_(PROBING_HEATERS_OFF, static bool paused); + + public: + #if HAS_ADC_BUTTONS + static uint32_t current_ADCKey_raw; + static uint16_t ADCKey_count; + #endif + + TERN_(PID_EXTRUSION_SCALING, static int16_t lpq_len); + + /** + * Instance Methods + */ + + void init(); + + /** + * Static (class) methods + */ + + #if HAS_USER_THERMISTORS + static user_thermistor_t user_thermistor[USER_THERMISTORS]; + static void log_user_thermistor(const uint8_t t_index, const bool eprom=false); + static void reset_user_thermistors(); + static float user_thermistor_to_deg_c(const uint8_t t_index, const int raw); + static bool set_pull_up_res(int8_t t_index, float value) { + //if (!WITHIN(t_index, 0, USER_THERMISTORS - 1)) return false; + if (!WITHIN(value, 1, 1000000)) return false; + user_thermistor[t_index].series_res = value; + return true; + } + static bool set_res25(int8_t t_index, float value) { + if (!WITHIN(value, 1, 10000000)) return false; + user_thermistor[t_index].res_25 = value; + user_thermistor[t_index].pre_calc = true; + return true; + } + static bool set_beta(int8_t t_index, float value) { + if (!WITHIN(value, 1, 1000000)) return false; + user_thermistor[t_index].beta = value; + user_thermistor[t_index].pre_calc = true; + return true; + } + static bool set_sh_coeff(int8_t t_index, float value) { + if (!WITHIN(value, -0.01f, 0.01f)) return false; + user_thermistor[t_index].sh_c_coeff = value; + user_thermistor[t_index].pre_calc = true; + return true; + } + #endif + + #if HAS_HOTEND + static float analog_to_celsius_hotend(const int raw, const uint8_t e); + #endif + + #if HAS_HEATED_BED + static float analog_to_celsius_bed(const int raw); + #endif + #if HAS_TEMP_PROBE + static float analog_to_celsius_probe(const int raw); + #endif + #if HAS_TEMP_CHAMBER + static float analog_to_celsius_chamber(const int raw); + #endif + + #if HAS_FAN + + static uint8_t fan_speed[FAN_COUNT]; + #define FANS_LOOP(I) LOOP_L_N(I, FAN_COUNT) + + static void set_fan_speed(const uint8_t target, const uint16_t speed); + + #if ENABLED(REPORT_FAN_CHANGE) + static void report_fan_speed(const uint8_t target); + #endif + + #if EITHER(PROBING_FANS_OFF, ADVANCED_PAUSE_FANS_PAUSE) + static bool fans_paused; + static uint8_t saved_fan_speed[FAN_COUNT]; + #endif + + static constexpr inline uint8_t fanPercent(const uint8_t speed) { return ui8_to_percent(speed); } + + TERN_(ADAPTIVE_FAN_SLOWING, static uint8_t fan_speed_scaler[FAN_COUNT]); + + static inline uint8_t scaledFanSpeed(const uint8_t target, const uint8_t fs) { + UNUSED(target); // Potentially unused! + return (fs * uint16_t(TERN(ADAPTIVE_FAN_SLOWING, fan_speed_scaler[target], 128))) >> 7; + } + + static inline uint8_t scaledFanSpeed(const uint8_t target) { + return scaledFanSpeed(target, fan_speed[target]); + } + + #if ENABLED(EXTRA_FAN_SPEED) + static uint8_t old_fan_speed[FAN_COUNT], new_fan_speed[FAN_COUNT]; + static void set_temp_fan_speed(const uint8_t fan, const uint16_t tmp_temp); + #endif + + #if EITHER(PROBING_FANS_OFF, ADVANCED_PAUSE_FANS_PAUSE) + void set_fans_paused(const bool p); + #endif + + #endif // HAS_FAN + + static inline void zero_fan_speeds() { + #if HAS_FAN + FANS_LOOP(i) set_fan_speed(i, 0); + #endif + } + + /** + * Called from the Temperature ISR + */ + static void readings_ready(); + static void tick(); + + /** + * Call periodically to manage heaters + */ + static void manage_heater() _O2; // Added _O2 to work around a compiler error + + /** + * Preheating hotends + */ + #ifdef MILLISECONDS_PREHEAT_TIME + static bool is_preheating(const uint8_t E_NAME) { + return preheat_end_time[HOTEND_INDEX] && PENDING(millis(), preheat_end_time[HOTEND_INDEX]); + } + static void start_preheat_time(const uint8_t E_NAME) { + preheat_end_time[HOTEND_INDEX] = millis() + MILLISECONDS_PREHEAT_TIME; + } + static void reset_preheat_time(const uint8_t E_NAME) { + preheat_end_time[HOTEND_INDEX] = 0; + } + #else + #define is_preheating(n) (false) + #endif + + //high level conversion routines, for use outside of temperature.cpp + //inline so that there is no performance decrease. + //deg=degreeCelsius + + FORCE_INLINE static float degHotend(const uint8_t E_NAME) { + return TERN0(HAS_HOTEND, temp_hotend[HOTEND_INDEX].celsius); + } + + #if ENABLED(SHOW_TEMP_ADC_VALUES) + FORCE_INLINE static int16_t rawHotendTemp(const uint8_t E_NAME) { + return TERN0(HAS_HOTEND, temp_hotend[HOTEND_INDEX].raw); + } + #endif + + FORCE_INLINE static int16_t degTargetHotend(const uint8_t E_NAME) { + return TERN0(HAS_HOTEND, temp_hotend[HOTEND_INDEX].target); + } + + #if WATCH_HOTENDS + static void start_watching_hotend(const uint8_t e=0); + #else + static inline void start_watching_hotend(const uint8_t=0) {} + #endif + + #if HAS_HOTEND + + static void setTargetHotend(const int16_t celsius, const uint8_t E_NAME) { + const uint8_t ee = HOTEND_INDEX; + #ifdef MILLISECONDS_PREHEAT_TIME + if (celsius == 0) + reset_preheat_time(ee); + else if (temp_hotend[ee].target == 0) + start_preheat_time(ee); + #endif + TERN_(AUTO_POWER_CONTROL, if (celsius) powerManager.power_on()); + temp_hotend[ee].target = _MIN(celsius, temp_range[ee].maxtemp - HOTEND_OVERSHOOT); + start_watching_hotend(ee); + } + + FORCE_INLINE static bool isHeatingHotend(const uint8_t E_NAME) { + return temp_hotend[HOTEND_INDEX].target > temp_hotend[HOTEND_INDEX].celsius; + } + + FORCE_INLINE static bool isCoolingHotend(const uint8_t E_NAME) { + return temp_hotend[HOTEND_INDEX].target < temp_hotend[HOTEND_INDEX].celsius; + } + + #if HAS_TEMP_HOTEND + static bool wait_for_hotend(const uint8_t target_extruder, const bool no_wait_for_cooling=true + #if G26_CLICK_CAN_CANCEL + , const bool click_to_cancel=false + #endif + ); + #endif + + FORCE_INLINE static bool still_heating(const uint8_t e) { + return degTargetHotend(e) > TEMP_HYSTERESIS && ABS(degHotend(e) - degTargetHotend(e)) > TEMP_HYSTERESIS; + } + + FORCE_INLINE static bool degHotendNear(const uint8_t e, const float &temp) { + return ABS(degHotend(e) - temp) < (TEMP_HYSTERESIS); + } + + #endif // HAS_HOTEND + + #if HAS_HEATED_BED + + #if ENABLED(SHOW_TEMP_ADC_VALUES) + FORCE_INLINE static int16_t rawBedTemp() { return temp_bed.raw; } + #endif + FORCE_INLINE static float degBed() { return temp_bed.celsius; } + FORCE_INLINE static int16_t degTargetBed() { return temp_bed.target; } + FORCE_INLINE static bool isHeatingBed() { return temp_bed.target > temp_bed.celsius; } + FORCE_INLINE static bool isCoolingBed() { return temp_bed.target < temp_bed.celsius; } + + #if WATCH_BED + static void start_watching_bed(); + #else + static inline void start_watching_bed() {} + #endif + + static void setTargetBed(const int16_t celsius) { + TERN_(AUTO_POWER_CONTROL, if (celsius) powerManager.power_on()); + temp_bed.target = + #ifdef BED_MAX_TARGET + _MIN(celsius, BED_MAX_TARGET) + #else + celsius + #endif + ; + start_watching_bed(); + } + + static bool wait_for_bed(const bool no_wait_for_cooling=true + #if G26_CLICK_CAN_CANCEL + , const bool click_to_cancel=false + #endif + ); + + static void wait_for_bed_heating(); + + FORCE_INLINE static bool degBedNear(const float &temp) { + return ABS(degBed() - temp) < (TEMP_BED_HYSTERESIS); + } + + #endif // HAS_HEATED_BED + + #if HAS_TEMP_PROBE + #if ENABLED(SHOW_TEMP_ADC_VALUES) + FORCE_INLINE static int16_t rawProbeTemp() { return temp_probe.raw; } + #endif + FORCE_INLINE static float degProbe() { return temp_probe.celsius; } + FORCE_INLINE static bool isProbeBelowTemp(const float target_temp) { return temp_probe.celsius < target_temp; } + FORCE_INLINE static bool isProbeAboveTemp(const float target_temp) { return temp_probe.celsius > target_temp; } + static bool wait_for_probe(const float target_temp, bool no_wait_for_cooling=true); + #endif + + #if WATCH_PROBE + static void start_watching_probe(); + #else + static inline void start_watching_probe() {} + #endif + + #if HAS_TEMP_CHAMBER + #if ENABLED(SHOW_TEMP_ADC_VALUES) + FORCE_INLINE static int16_t rawChamberTemp() { return temp_chamber.raw; } + #endif + FORCE_INLINE static float degChamber() { return temp_chamber.celsius; } + #if HAS_HEATED_CHAMBER + FORCE_INLINE static int16_t degTargetChamber() { return temp_chamber.target; } + FORCE_INLINE static bool isHeatingChamber() { return temp_chamber.target > temp_chamber.celsius; } + FORCE_INLINE static bool isCoolingChamber() { return temp_chamber.target < temp_chamber.celsius; } + + static bool wait_for_chamber(const bool no_wait_for_cooling=true); + #endif + #endif + + #if WATCH_CHAMBER + static void start_watching_chamber(); + #else + static inline void start_watching_chamber() {} + #endif + + #if HAS_HEATED_CHAMBER + static void setTargetChamber(const int16_t celsius) { + temp_chamber.target = + #ifdef CHAMBER_MAXTEMP + _MIN(celsius, CHAMBER_MAXTEMP - 10) + #else + celsius + #endif + ; + start_watching_chamber(); + } + #endif + + /** + * The software PWM power for a heater + */ + static int16_t getHeaterPower(const heater_id_t heater_id); + + /** + * Switch off all heaters, set all target temperatures to 0 + */ + static void disable_all_heaters(); + + #if ENABLED(PRINTJOB_TIMER_AUTOSTART) + /** + * Methods to check if heaters are enabled, indicating an active job + */ + static bool auto_job_over_threshold(); + static void auto_job_check_timer(const bool can_start, const bool can_stop); + #endif + + /** + * Perform auto-tuning for hotend or bed in response to M303 + */ + #if HAS_PID_HEATING + static void PID_autotune(const float &target, const heater_id_t heater_id, const int8_t ncycles, const bool set_result=false); + + #if ENABLED(NO_FAN_SLOWING_IN_PID_TUNING) + static bool adaptive_fan_slowing; + #elif ENABLED(ADAPTIVE_FAN_SLOWING) + static constexpr bool adaptive_fan_slowing = true; + #endif + + /** + * Update the temp manager when PID values change + */ + #if ENABLED(PIDTEMP) + FORCE_INLINE static void updatePID() { + TERN_(PID_EXTRUSION_SCALING, last_e_position = 0); + } + #endif + + #endif + + #if ENABLED(PROBING_HEATERS_OFF) + static void pause(const bool p); + FORCE_INLINE static bool is_paused() { return paused; } + #endif + + #if HEATER_IDLE_HANDLER + + static void reset_hotend_idle_timer(const uint8_t E_NAME) { + heater_idle[HOTEND_INDEX].reset(); + start_watching_hotend(HOTEND_INDEX); + } + + #if HAS_HEATED_BED + static void reset_bed_idle_timer() { + heater_idle[IDLE_INDEX_BED].reset(); + start_watching_bed(); + } + #endif + + #endif // HEATER_IDLE_HANDLER + + #if HAS_TEMP_SENSOR + static void print_heater_states(const uint8_t target_extruder + #if ENABLED(TEMP_SENSOR_1_AS_REDUNDANT) + , const bool include_r=false + #endif + ); + #if ENABLED(AUTO_REPORT_TEMPERATURES) + struct AutoReportTemp { static void report(); }; + static AutoReporter auto_reporter; + #endif + #endif + + TERN_(HAS_DISPLAY, static void set_heating_message(const uint8_t e)); + + #if HAS_LCD_MENU && HAS_TEMPERATURE + static void lcd_preheat(const int16_t e, const int8_t indh, const int8_t indb); + #endif + + private: + static void update_raw_temperatures(); + static void updateTemperaturesFromRawValues(); + + #define HAS_MAX6675 EITHER(HEATER_0_USES_MAX6675, HEATER_1_USES_MAX6675) + #if HAS_MAX6675 + #define COUNT_6675 1 + BOTH(HEATER_0_USES_MAX6675, HEATER_1_USES_MAX6675) + #if COUNT_6675 > 1 + #define HAS_MULTI_6675 1 + #define READ_MAX6675(N) read_max6675(N) + #else + #define READ_MAX6675(N) read_max6675() + #endif + static int read_max6675(TERN_(HAS_MULTI_6675, const uint8_t hindex=0)); + #endif + + static void checkExtruderAutoFans(); + + static float get_pid_output_hotend(const uint8_t e); + + TERN_(PIDTEMPBED, static float get_pid_output_bed()); + + TERN_(HAS_HEATED_CHAMBER, static float get_pid_output_chamber()); + + static void _temp_error(const heater_id_t e, PGM_P const serial_msg, PGM_P const lcd_msg); + static void min_temp_error(const heater_id_t e); + static void max_temp_error(const heater_id_t e); + + #define HAS_THERMAL_PROTECTION ANY(THERMAL_PROTECTION_HOTENDS, THERMAL_PROTECTION_CHAMBER, HAS_THERMALLY_PROTECTED_BED) + + #if HAS_THERMAL_PROTECTION + + // Indices and size for the tr_state_machine array. One for each protected heater. + #define _ENUM_FOR_E(N) RUNAWAY_IND_E##N, + enum RunawayIndex : uint8_t { + #if ENABLED(THERMAL_PROTECTION_HOTENDS) + REPEAT(HOTENDS, _ENUM_FOR_E) + #endif + #if ENABLED(HAS_THERMALLY_PROTECTED_BED) + RUNAWAY_IND_BED, + #endif + #if ENABLED(THERMAL_PROTECTION_CHAMBER) + RUNAWAY_IND_CHAMBER, + #endif + NR_HEATER_RUNAWAY + }; + #undef _ENUM_FOR_E + + // Convert the given heater_id_t to runaway state array index + static inline RunawayIndex runaway_index_for_id(const int8_t heater_id) { + #if HAS_THERMALLY_PROTECTED_CHAMBER + if (heater_id == H_CHAMBER) return RUNAWAY_IND_CHAMBER; + #endif + #if HAS_THERMALLY_PROTECTED_BED + if (heater_id == H_BED) return RUNAWAY_IND_BED; + #endif + return (RunawayIndex)_MAX(heater_id, 0); + } + + enum TRState : char { TRInactive, TRFirstHeating, TRStable, TRRunaway }; + + typedef struct { + millis_t timer = 0; + TRState state = TRInactive; + float running_temp; + void run(const float ¤t, const float &target, const heater_id_t heater_id, const uint16_t period_seconds, const uint16_t hysteresis_degc); + } tr_state_machine_t; + + static tr_state_machine_t tr_state_machine[NR_HEATER_RUNAWAY]; + + #endif // HAS_THERMAL_PROTECTION +}; + +extern Temperature thermalManager; diff --git a/Marlin/src/module/thermistor/thermistor_1.h b/Marlin/src/module/thermistor/thermistor_1.h new file mode 100644 index 0000000..fad7908 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_1.h @@ -0,0 +1,90 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 4092 K, 4.7 kOhm pull-up, bed thermistor +const temp_entry_t temptable_1[] PROGMEM = { + { OV( 23), 300 }, + { OV( 25), 295 }, + { OV( 27), 290 }, + { OV( 28), 285 }, + { OV( 31), 280 }, + { OV( 33), 275 }, + { OV( 35), 270 }, + { OV( 38), 265 }, + { OV( 41), 260 }, + { OV( 44), 255 }, + { OV( 48), 250 }, + { OV( 52), 245 }, + { OV( 56), 240 }, + { OV( 61), 235 }, + { OV( 66), 230 }, + { OV( 71), 225 }, + { OV( 78), 220 }, + { OV( 84), 215 }, + { OV( 92), 210 }, + { OV( 100), 205 }, + { OV( 109), 200 }, + { OV( 120), 195 }, + { OV( 131), 190 }, + { OV( 143), 185 }, + { OV( 156), 180 }, + { OV( 171), 175 }, + { OV( 187), 170 }, + { OV( 205), 165 }, + { OV( 224), 160 }, + { OV( 245), 155 }, + { OV( 268), 150 }, + { OV( 293), 145 }, + { OV( 320), 140 }, + { OV( 348), 135 }, + { OV( 379), 130 }, + { OV( 411), 125 }, + { OV( 445), 120 }, + { OV( 480), 115 }, + { OV( 516), 110 }, + { OV( 553), 105 }, + { OV( 591), 100 }, + { OV( 628), 95 }, + { OV( 665), 90 }, + { OV( 702), 85 }, + { OV( 737), 80 }, + { OV( 770), 75 }, + { OV( 801), 70 }, + { OV( 830), 65 }, + { OV( 857), 60 }, + { OV( 881), 55 }, + { OV( 903), 50 }, + { OV( 922), 45 }, + { OV( 939), 40 }, + { OV( 954), 35 }, + { OV( 966), 30 }, + { OV( 977), 25 }, + { OV( 985), 20 }, + { OV( 993), 15 }, + { OV( 999), 10 }, + { OV(1004), 5 }, + { OV(1008), 0 }, + { OV(1012), -5 }, + { OV(1016), -10 }, + { OV(1020), -15 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_10.h b/Marlin/src/module/thermistor/thermistor_10.h new file mode 100644 index 0000000..c24ad40 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_10.h @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 3960 K, 4.7 kOhm pull-up, RS thermistor 198-961 +const temp_entry_t temptable_10[] PROGMEM = { + { OV( 1), 929 }, + { OV( 36), 299 }, + { OV( 71), 246 }, + { OV( 106), 217 }, + { OV( 141), 198 }, + { OV( 176), 184 }, + { OV( 211), 173 }, + { OV( 246), 163 }, + { OV( 281), 154 }, + { OV( 316), 147 }, + { OV( 351), 140 }, + { OV( 386), 134 }, + { OV( 421), 128 }, + { OV( 456), 122 }, + { OV( 491), 117 }, + { OV( 526), 112 }, + { OV( 561), 107 }, + { OV( 596), 102 }, + { OV( 631), 97 }, + { OV( 666), 91 }, + { OV( 701), 86 }, + { OV( 736), 81 }, + { OV( 771), 76 }, + { OV( 806), 70 }, + { OV( 841), 63 }, + { OV( 876), 56 }, + { OV( 911), 48 }, + { OV( 946), 38 }, + { OV( 981), 23 }, + { OV(1005), 5 }, + { OV(1016), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_1010.h b/Marlin/src/module/thermistor/thermistor_1010.h new file mode 100644 index 0000000..8ab5e3b --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_1010.h @@ -0,0 +1,41 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define REVERSE_TEMP_SENSOR_RANGE_1010 1 + +// Pt1000 with 1k0 pullup +const temp_entry_t temptable_1010[] PROGMEM = { + PtLine( 0, 1000, 1000), + PtLine( 25, 1000, 1000), + PtLine( 50, 1000, 1000), + PtLine( 75, 1000, 1000), + PtLine(100, 1000, 1000), + PtLine(125, 1000, 1000), + PtLine(150, 1000, 1000), + PtLine(175, 1000, 1000), + PtLine(200, 1000, 1000), + PtLine(225, 1000, 1000), + PtLine(250, 1000, 1000), + PtLine(275, 1000, 1000), + PtLine(300, 1000, 1000) +}; diff --git a/Marlin/src/module/thermistor/thermistor_1047.h b/Marlin/src/module/thermistor/thermistor_1047.h new file mode 100644 index 0000000..6e1b61f --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_1047.h @@ -0,0 +1,40 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define REVERSE_TEMP_SENSOR_RANGE_1047 1 + +// Pt1000 with 4k7 pullup +const temp_entry_t temptable_1047[] PROGMEM = { + // only a few values are needed as the curve is very flat + PtLine( 0, 1000, 4700), + PtLine( 50, 1000, 4700), + PtLine(100, 1000, 4700), + PtLine(150, 1000, 4700), + PtLine(200, 1000, 4700), + PtLine(250, 1000, 4700), + PtLine(300, 1000, 4700), + PtLine(350, 1000, 4700), + PtLine(400, 1000, 4700), + PtLine(450, 1000, 4700), + PtLine(500, 1000, 4700) +}; diff --git a/Marlin/src/module/thermistor/thermistor_11.h b/Marlin/src/module/thermistor/thermistor_11.h new file mode 100644 index 0000000..345d009 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_11.h @@ -0,0 +1,76 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 3950 K, 4.7 kOhm pull-up, QU-BD silicone bed QWG-104F-3950 thermistor +const temp_entry_t temptable_11[] PROGMEM = { + { OV( 1), 938 }, + { OV( 31), 314 }, + { OV( 41), 290 }, + { OV( 51), 272 }, + { OV( 61), 258 }, + { OV( 71), 247 }, + { OV( 81), 237 }, + { OV( 91), 229 }, + { OV( 101), 221 }, + { OV( 111), 215 }, + { OV( 121), 209 }, + { OV( 131), 204 }, + { OV( 141), 199 }, + { OV( 151), 195 }, + { OV( 161), 190 }, + { OV( 171), 187 }, + { OV( 181), 183 }, + { OV( 191), 179 }, + { OV( 201), 176 }, + { OV( 221), 170 }, + { OV( 241), 165 }, + { OV( 261), 160 }, + { OV( 281), 155 }, + { OV( 301), 150 }, + { OV( 331), 144 }, + { OV( 361), 139 }, + { OV( 391), 133 }, + { OV( 421), 128 }, + { OV( 451), 123 }, + { OV( 491), 117 }, + { OV( 531), 111 }, + { OV( 571), 105 }, + { OV( 611), 100 }, + { OV( 641), 95 }, + { OV( 681), 90 }, + { OV( 711), 85 }, + { OV( 751), 79 }, + { OV( 791), 72 }, + { OV( 811), 69 }, + { OV( 831), 65 }, + { OV( 871), 57 }, + { OV( 881), 55 }, + { OV( 901), 51 }, + { OV( 921), 45 }, + { OV( 941), 39 }, + { OV( 971), 28 }, + { OV( 981), 23 }, + { OV( 991), 17 }, + { OV(1001), 9 }, + { OV(1021), -27 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_110.h b/Marlin/src/module/thermistor/thermistor_110.h new file mode 100644 index 0000000..215495e --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_110.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define REVERSE_TEMP_SENSOR_RANGE_110 1 + +// Pt100 with 1k0 pullup +const temp_entry_t temptable_110[] PROGMEM = { + // only a few values are needed as the curve is very flat + PtLine( 0, 100, 1000), + PtLine( 50, 100, 1000), + PtLine(100, 100, 1000), + PtLine(150, 100, 1000), + PtLine(200, 100, 1000), + PtLine(250, 100, 1000), + PtLine(300, 100, 1000) +}; diff --git a/Marlin/src/module/thermistor/thermistor_12.h b/Marlin/src/module/thermistor/thermistor_12.h new file mode 100644 index 0000000..d1ee23b --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_12.h @@ -0,0 +1,56 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 4700 K, 4.7 kOhm pull-up, (personal calibration for Makibox hot bed) +const temp_entry_t temptable_12[] PROGMEM = { + { OV( 35), 180 }, // top rating 180C + { OV( 211), 140 }, + { OV( 233), 135 }, + { OV( 261), 130 }, + { OV( 290), 125 }, + { OV( 328), 120 }, + { OV( 362), 115 }, + { OV( 406), 110 }, + { OV( 446), 105 }, + { OV( 496), 100 }, + { OV( 539), 95 }, + { OV( 585), 90 }, + { OV( 629), 85 }, + { OV( 675), 80 }, + { OV( 718), 75 }, + { OV( 758), 70 }, + { OV( 793), 65 }, + { OV( 822), 60 }, + { OV( 841), 55 }, + { OV( 875), 50 }, + { OV( 899), 45 }, + { OV( 926), 40 }, + { OV( 946), 35 }, + { OV( 962), 30 }, + { OV( 977), 25 }, + { OV( 987), 20 }, + { OV( 995), 15 }, + { OV(1001), 10 }, + { OV(1010), 0 }, + { OV(1023), -40 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_13.h b/Marlin/src/module/thermistor/thermistor_13.h new file mode 100644 index 0000000..bb62224 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_13.h @@ -0,0 +1,49 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 4100 K, 4.7 kOhm pull-up, Hisens thermistor +const temp_entry_t temptable_13[] PROGMEM = { + { OV( 20.04), 300 }, + { OV( 23.19), 290 }, + { OV( 26.71), 280 }, + { OV( 31.23), 270 }, + { OV( 36.52), 260 }, + { OV( 42.75), 250 }, + { OV( 50.68), 240 }, + { OV( 60.22), 230 }, + { OV( 72.03), 220 }, + { OV( 86.84), 210 }, + { OV(102.79), 200 }, + { OV(124.46), 190 }, + { OV(151.02), 180 }, + { OV(182.86), 170 }, + { OV(220.72), 160 }, + { OV(316.96), 140 }, + { OV(447.17), 120 }, + { OV(590.61), 100 }, + { OV(737.31), 80 }, + { OV(857.77), 60 }, + { OV(939.52), 40 }, + { OV(986.03), 20 }, + { OV(1008.7), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_147.h b/Marlin/src/module/thermistor/thermistor_147.h new file mode 100644 index 0000000..6d846ad --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_147.h @@ -0,0 +1,36 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define REVERSE_TEMP_SENSOR_RANGE_147 1 + +// Pt100 with 4k7 pullup +const temp_entry_t temptable_147[] PROGMEM = { + // only a few values are needed as the curve is very flat + PtLine( 0, 100, 4700), + PtLine( 50, 100, 4700), + PtLine(100, 100, 4700), + PtLine(150, 100, 4700), + PtLine(200, 100, 4700), + PtLine(250, 100, 4700), + PtLine(300, 100, 4700) +}; diff --git a/Marlin/src/module/thermistor/thermistor_15.h b/Marlin/src/module/thermistor/thermistor_15.h new file mode 100644 index 0000000..46dcce8 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_15.h @@ -0,0 +1,65 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + + // 100k bed thermistor in JGAurora A5. Calibrated by Sam Pinches 21st Jan 2018 using cheap k-type thermocouple inserted into heater block, using TM-902C meter. +const temp_entry_t temptable_15[] PROGMEM = { + { OV( 31), 275 }, + { OV( 33), 270 }, + { OV( 35), 260 }, + { OV( 38), 253 }, + { OV( 41), 248 }, + { OV( 48), 239 }, + { OV( 56), 232 }, + { OV( 66), 222 }, + { OV( 78), 212 }, + { OV( 93), 206 }, + { OV( 106), 199 }, + { OV( 118), 191 }, + { OV( 130), 186 }, + { OV( 158), 176 }, + { OV( 187), 167 }, + { OV( 224), 158 }, + { OV( 270), 148 }, + { OV( 321), 137 }, + { OV( 379), 127 }, + { OV( 446), 117 }, + { OV( 518), 106 }, + { OV( 593), 96 }, + { OV( 668), 86 }, + { OV( 739), 76 }, + { OV( 767), 72 }, + { OV( 830), 62 }, + { OV( 902), 48 }, + { OV( 926), 45 }, + { OV( 955), 35 }, + { OV( 966), 30 }, + { OV( 977), 25 }, + { OV( 985), 20 }, + { OV( 993), 15 }, + { OV( 999), 10 }, + { OV(1004), 5 }, + { OV(1008), 0 }, + { OV(1012), -5 }, + { OV(1016), -10 }, + { OV(1020), -15 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_17.h b/Marlin/src/module/thermistor/thermistor_17.h new file mode 100644 index 0000000..32b5bb7 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_17.h @@ -0,0 +1,78 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// Dagoma NTC 100k white thermistor +const temp_entry_t temptable_17[] PROGMEM = { + { OV( 16), 309 }, + { OV( 18), 307 }, + { OV( 20), 300 }, + { OV( 22), 293 }, + { OV( 26), 284 }, + { OV( 29), 272 }, + { OV( 33), 266 }, + { OV( 36), 260 }, + { OV( 42), 252 }, + { OV( 46), 247 }, + { OV( 48), 244 }, + { OV( 51), 241 }, + { OV( 62), 231 }, + { OV( 73), 222 }, + { OV( 78), 219 }, + { OV( 87), 212 }, + { OV( 98), 207 }, + { OV( 109), 201 }, + { OV( 118), 197 }, + { OV( 131), 191 }, + { OV( 145), 186 }, + { OV( 160), 181 }, + { OV( 177), 175 }, + { OV( 203), 169 }, + { OV( 222), 164 }, + { OV( 256), 156 }, + { OV( 283), 151 }, + { OV( 312), 145 }, + { OV( 343), 140 }, + { OV( 377), 131 }, + { OV( 413), 125 }, + { OV( 454), 119 }, + { OV( 496), 113 }, + { OV( 537), 108 }, + { OV( 578), 102 }, + { OV( 619), 97 }, + { OV( 658), 92 }, + { OV( 695), 87 }, + { OV( 735), 81 }, + { OV( 773), 75 }, + { OV( 808), 70 }, + { OV( 844), 64 }, + { OV( 868), 59 }, + { OV( 892), 54 }, + { OV( 914), 49 }, + { OV( 935), 42 }, + { OV( 951), 38 }, + { OV( 967), 32 }, + { OV( 975), 28 }, + { OV(1000), 20 }, + { OV(1010), 10 }, + { OV(1024), -273 } // for safety +}; diff --git a/Marlin/src/module/thermistor/thermistor_18.h b/Marlin/src/module/thermistor/thermistor_18.h new file mode 100644 index 0000000..9c2d81b --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_18.h @@ -0,0 +1,59 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// ATC Semitec 204GT-2 (4.7k pullup) Dagoma.Fr - MKS_Base_DKU001327 - version (measured/tested/approved) +const temp_entry_t temptable_18[] PROGMEM = { + { OV( 1), 713 }, + { OV( 17), 284 }, + { OV( 20), 275 }, + { OV( 23), 267 }, + { OV( 27), 257 }, + { OV( 31), 250 }, + { OV( 37), 240 }, + { OV( 43), 232 }, + { OV( 51), 222 }, + { OV( 61), 213 }, + { OV( 73), 204 }, + { OV( 87), 195 }, + { OV( 106), 185 }, + { OV( 128), 175 }, + { OV( 155), 166 }, + { OV( 189), 156 }, + { OV( 230), 146 }, + { OV( 278), 137 }, + { OV( 336), 127 }, + { OV( 402), 117 }, + { OV( 476), 107 }, + { OV( 554), 97 }, + { OV( 635), 87 }, + { OV( 713), 78 }, + { OV( 784), 68 }, + { OV( 846), 58 }, + { OV( 897), 49 }, + { OV( 937), 39 }, + { OV( 966), 30 }, + { OV( 986), 20 }, + { OV(1000), 10 }, + { OV(1010), 0 }, + { OV(1024),-273 } // for safety +}; diff --git a/Marlin/src/module/thermistor/thermistor_2.h b/Marlin/src/module/thermistor/thermistor_2.h new file mode 100644 index 0000000..d0e1e4f --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_2.h @@ -0,0 +1,62 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// +// R25 = 200 kOhm, beta25 = 4338 K, 4.7 kOhm pull-up, ATC Semitec 204GT-2 +// Verified by linagee. Source: https://www.mouser.com/datasheet/2/362/semitec%20usa%20corporation_gtthermistor-1202937.pdf +// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance +// +const temp_entry_t temptable_2[] PROGMEM = { + { OV( 1), 848 }, + { OV( 30), 300 }, // top rating 300C + { OV( 34), 290 }, + { OV( 39), 280 }, + { OV( 46), 270 }, + { OV( 53), 260 }, + { OV( 63), 250 }, + { OV( 74), 240 }, + { OV( 87), 230 }, + { OV( 104), 220 }, + { OV( 124), 210 }, + { OV( 148), 200 }, + { OV( 176), 190 }, + { OV( 211), 180 }, + { OV( 252), 170 }, + { OV( 301), 160 }, + { OV( 357), 150 }, + { OV( 420), 140 }, + { OV( 489), 130 }, + { OV( 562), 120 }, + { OV( 636), 110 }, + { OV( 708), 100 }, + { OV( 775), 90 }, + { OV( 835), 80 }, + { OV( 884), 70 }, + { OV( 924), 60 }, + { OV( 955), 50 }, + { OV( 977), 40 }, + { OV( 993), 30 }, + { OV(1004), 20 }, + { OV(1012), 10 }, + { OV(1016), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_20.h b/Marlin/src/module/thermistor/thermistor_20.h new file mode 100644 index 0000000..73094f1 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_20.h @@ -0,0 +1,77 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define REVERSE_TEMP_SENSOR_RANGE_20 1 + +// Pt100 with INA826 amp on Ultimaker v2.0 electronics +const temp_entry_t temptable_20[] PROGMEM = { + { OV( 0), 0 }, + { OV(227), 1 }, + { OV(236), 10 }, + { OV(245), 20 }, + { OV(253), 30 }, + { OV(262), 40 }, + { OV(270), 50 }, + { OV(279), 60 }, + { OV(287), 70 }, + { OV(295), 80 }, + { OV(304), 90 }, + { OV(312), 100 }, + { OV(320), 110 }, + { OV(329), 120 }, + { OV(337), 130 }, + { OV(345), 140 }, + { OV(353), 150 }, + { OV(361), 160 }, + { OV(369), 170 }, + { OV(377), 180 }, + { OV(385), 190 }, + { OV(393), 200 }, + { OV(401), 210 }, + { OV(409), 220 }, + { OV(417), 230 }, + { OV(424), 240 }, + { OV(432), 250 }, + { OV(440), 260 }, + { OV(447), 270 }, + { OV(455), 280 }, + { OV(463), 290 }, + { OV(470), 300 }, + { OV(478), 310 }, + { OV(485), 320 }, + { OV(493), 330 }, + { OV(500), 340 }, + { OV(507), 350 }, + { OV(515), 360 }, + { OV(522), 370 }, + { OV(529), 380 }, + { OV(537), 390 }, + { OV(544), 400 }, + { OV(614), 500 }, + { OV(681), 600 }, + { OV(744), 700 }, + { OV(805), 800 }, + { OV(862), 900 }, + { OV(917), 1000 }, + { OV(968), 1100 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_201.h b/Marlin/src/module/thermistor/thermistor_201.h new file mode 100644 index 0000000..44d5280 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_201.h @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define REVERSE_TEMP_SENSOR_RANGE_201 1 + +// Pt100 with LMV324 amp on Overlord v1.1 electronics +const temp_entry_t temptable_201[] PROGMEM = { + { OV( 0), 0 }, + { OV( 8), 1 }, + { OV( 23), 6 }, + { OV( 41), 15 }, + { OV( 51), 20 }, + { OV( 68), 28 }, + { OV( 74), 30 }, + { OV( 88), 35 }, + { OV( 99), 40 }, + { OV( 123), 50 }, + { OV( 148), 60 }, + { OV( 173), 70 }, + { OV( 198), 80 }, + { OV( 221), 90 }, + { OV( 245), 100 }, + { OV( 269), 110 }, + { OV( 294), 120 }, + { OV( 316), 130 }, + { OV( 342), 140 }, + { OV( 364), 150 }, + { OV( 387), 160 }, + { OV( 412), 170 }, + { OV( 433), 180 }, + { OV( 456), 190 }, + { OV( 480), 200 }, + { OV( 500), 210 }, + { OV( 548), 224 }, + { OV( 572), 233 }, + { OV(1155), 490 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_202.h b/Marlin/src/module/thermistor/thermistor_202.h new file mode 100644 index 0000000..c522960 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_202.h @@ -0,0 +1,69 @@ +// +// Unknown 200K thermistor on a Copymaster 3D hotend +// Temptable sent from dealer technologyoutlet.co.uk +// + +const temp_entry_t temptable_202[] PROGMEM = { + { OV( 1), 864 }, + { OV( 35), 300 }, + { OV( 38), 295 }, + { OV( 41), 290 }, + { OV( 44), 285 }, + { OV( 47), 280 }, + { OV( 51), 275 }, + { OV( 55), 270 }, + { OV( 60), 265 }, + { OV( 65), 260 }, + { OV( 70), 255 }, + { OV( 76), 250 }, + { OV( 83), 245 }, + { OV( 90), 240 }, + { OV( 98), 235 }, + { OV( 107), 230 }, + { OV( 116), 225 }, + { OV( 127), 220 }, + { OV( 138), 215 }, + { OV( 151), 210 }, + { OV( 164), 205 }, + { OV( 179), 200 }, + { OV( 195), 195 }, + { OV( 213), 190 }, + { OV( 232), 185 }, + { OV( 253), 180 }, + { OV( 275), 175 }, + { OV( 299), 170 }, + { OV( 325), 165 }, + { OV( 352), 160 }, + { OV( 381), 155 }, + { OV( 411), 150 }, + { OV( 443), 145 }, + { OV( 476), 140 }, + { OV( 511), 135 }, + { OV( 546), 130 }, + { OV( 581), 125 }, + { OV( 617), 120 }, + { OV( 652), 115 }, + { OV( 687), 110 }, + { OV( 720), 105 }, + { OV( 753), 100 }, + { OV( 783), 95 }, + { OV( 812), 90 }, + { OV( 839), 85 }, + { OV( 864), 80 }, + { OV( 886), 75 }, + { OV( 906), 70 }, + { OV( 924), 65 }, + { OV( 940), 60 }, + { OV( 954), 55 }, + { OV( 966), 50 }, + { OV( 976), 45 }, + { OV( 985), 40 }, + { OV( 992), 35 }, + { OV( 998), 30 }, + { OV(1003), 25 }, + { OV(1007), 20 }, + { OV(1011), 15 }, + { OV(1014), 10 }, + { OV(1016), 5 }, + { OV(1018), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_21.h b/Marlin/src/module/thermistor/thermistor_21.h new file mode 100644 index 0000000..2ca705b --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_21.h @@ -0,0 +1,78 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define REVERSE_TEMP_SENSOR_RANGE_21 1 + +#undef OV_SCALE +#define OV_SCALE(N) (float((N) * 5) / 3.3f) + +// Pt100 with INA826 amplifier board with 5v supply based on Thermistor 20, with 3v3 ADC reference on the mainboard. +// If the ADC reference and INA826 board supply voltage are identical, Thermistor 20 instead. +const temp_entry_t temptable_21[] PROGMEM = { + { OV( 0), 0 }, + { OV(227), 1 }, + { OV(236), 10 }, + { OV(245), 20 }, + { OV(253), 30 }, + { OV(262), 40 }, + { OV(270), 50 }, + { OV(279), 60 }, + { OV(287), 70 }, + { OV(295), 80 }, + { OV(304), 90 }, + { OV(312), 100 }, + { OV(320), 110 }, + { OV(329), 120 }, + { OV(337), 130 }, + { OV(345), 140 }, + { OV(353), 150 }, + { OV(361), 160 }, + { OV(369), 170 }, + { OV(377), 180 }, + { OV(385), 190 }, + { OV(393), 200 }, + { OV(401), 210 }, + { OV(409), 220 }, + { OV(417), 230 }, + { OV(424), 240 }, + { OV(432), 250 }, + { OV(440), 260 }, + { OV(447), 270 }, + { OV(455), 280 }, + { OV(463), 290 }, + { OV(470), 300 }, + { OV(478), 310 }, + { OV(485), 320 }, + { OV(493), 330 }, + { OV(500), 340 }, + { OV(507), 350 }, + { OV(515), 360 }, + { OV(522), 370 }, + { OV(529), 380 }, + { OV(537), 390 }, + { OV(544), 400 }, + { OV(614), 500 } +}; + +#undef OV_SCALE +#define OV_SCALE(N) (N) diff --git a/Marlin/src/module/thermistor/thermistor_22.h b/Marlin/src/module/thermistor/thermistor_22.h new file mode 100644 index 0000000..6f4a310 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_22.h @@ -0,0 +1,72 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +// 100k hotend thermistor with 4.7k pull up to 3.3v and 220R to analog input as in GTM32 Pro vB +const temp_entry_t temptable_22[] PROGMEM = { + { OV( 1), 352 }, + { OV( 6), 341 }, + { OV( 11), 330 }, + { OV( 16), 319 }, + { OV( 20), 307 }, + { OV( 26), 296 }, + { OV( 31), 285 }, + { OV( 40), 274 }, + { OV( 51), 263 }, + { OV( 61), 251 }, + { OV( 72), 245 }, + { OV( 77), 240 }, + { OV( 82), 237 }, + { OV( 87), 232 }, + { OV( 91), 229 }, + { OV( 94), 227 }, + { OV( 97), 225 }, + { OV( 100), 223 }, + { OV( 104), 221 }, + { OV( 108), 219 }, + { OV( 115), 214 }, + { OV( 126), 209 }, + { OV( 137), 204 }, + { OV( 147), 200 }, + { OV( 158), 193 }, + { OV( 167), 192 }, + { OV( 177), 189 }, + { OV( 197), 163 }, + { OV( 230), 174 }, + { OV( 267), 165 }, + { OV( 310), 158 }, + { OV( 336), 151 }, + { OV( 379), 143 }, + { OV( 413), 138 }, + { OV( 480), 127 }, + { OV( 580), 110 }, + { OV( 646), 100 }, + { OV( 731), 88 }, + { OV( 768), 84 }, + { OV( 861), 69 }, + { OV( 935), 50 }, + { OV( 975), 38 }, + { OV(1001), 27 }, + { OV(1011), 22 }, + { OV(1015), 13 }, + { OV(1020), 6 }, + { OV(1023), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_23.h b/Marlin/src/module/thermistor/thermistor_23.h new file mode 100644 index 0000000..02ff9fb --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_23.h @@ -0,0 +1,128 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +// 100k hotbed thermistor with 4.7k pull up to 3.3v and 220R to analog input as in GTM32 Pro vB +const temp_entry_t temptable_23[] PROGMEM = { + { OV( 1), 938 }, + { OV( 11), 423 }, + { OV( 21), 351 }, + { OV( 31), 314 }, + { OV( 41), 290 }, + { OV( 51), 272 }, + { OV( 61), 258 }, + { OV( 71), 247 }, + { OV( 81), 237 }, + { OV( 91), 229 }, + { OV( 101), 221 }, + { OV( 111), 215 }, + { OV( 121), 209 }, + { OV( 131), 204 }, + { OV( 141), 199 }, + { OV( 151), 195 }, + { OV( 161), 190 }, + { OV( 171), 187 }, + { OV( 181), 183 }, + { OV( 191), 179 }, + { OV( 201), 176 }, + { OV( 211), 173 }, + { OV( 221), 170 }, + { OV( 231), 167 }, + { OV( 241), 165 }, + { OV( 251), 162 }, + { OV( 261), 160 }, + { OV( 271), 157 }, + { OV( 281), 155 }, + { OV( 291), 153 }, + { OV( 301), 150 }, + { OV( 311), 148 }, + { OV( 321), 146 }, + { OV( 331), 144 }, + { OV( 341), 142 }, + { OV( 351), 140 }, + { OV( 361), 139 }, + { OV( 371), 137 }, + { OV( 381), 135 }, + { OV( 391), 133 }, + { OV( 401), 131 }, + { OV( 411), 130 }, + { OV( 421), 128 }, + { OV( 431), 126 }, + { OV( 441), 125 }, + { OV( 451), 123 }, + { OV( 461), 122 }, + { OV( 471), 120 }, + { OV( 481), 119 }, + { OV( 491), 117 }, + { OV( 501), 116 }, + { OV( 511), 114 }, + { OV( 521), 113 }, + { OV( 531), 111 }, + { OV( 541), 110 }, + { OV( 551), 108 }, + { OV( 561), 107 }, + { OV( 571), 105 }, + { OV( 581), 104 }, + { OV( 591), 102 }, + { OV( 601), 101 }, + { OV( 611), 100 }, + { OV( 621), 98 }, + { OV( 631), 97 }, + { OV( 641), 95 }, + { OV( 651), 94 }, + { OV( 661), 92 }, + { OV( 671), 91 }, + { OV( 681), 90 }, + { OV( 691), 88 }, + { OV( 701), 87 }, + { OV( 711), 85 }, + { OV( 721), 84 }, + { OV( 731), 82 }, + { OV( 741), 81 }, + { OV( 751), 79 }, + { OV( 761), 77 }, + { OV( 771), 76 }, + { OV( 781), 74 }, + { OV( 791), 72 }, + { OV( 801), 71 }, + { OV( 811), 69 }, + { OV( 821), 67 }, + { OV( 831), 65 }, + { OV( 841), 63 }, + { OV( 851), 62 }, + { OV( 861), 60 }, + { OV( 871), 57 }, + { OV( 881), 55 }, + { OV( 891), 53 }, + { OV( 901), 51 }, + { OV( 911), 48 }, + { OV( 921), 45 }, + { OV( 931), 42 }, + { OV( 941), 39 }, + { OV( 951), 36 }, + { OV( 961), 32 }, + { OV( 971), 28 }, + { OV( 981), 25 }, + { OV( 991), 23 }, + { OV(1001), 21 }, + { OV(1011), 19 }, + { OV(1021), 5 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_3.h b/Marlin/src/module/thermistor/thermistor_3.h new file mode 100644 index 0000000..74e00e2 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_3.h @@ -0,0 +1,54 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 4120 K, 4.7 kOhm pull-up, mendel-parts +const temp_entry_t temptable_3[] PROGMEM = { + { OV( 1), 864 }, + { OV( 21), 300 }, + { OV( 25), 290 }, + { OV( 29), 280 }, + { OV( 33), 270 }, + { OV( 39), 260 }, + { OV( 46), 250 }, + { OV( 54), 240 }, + { OV( 64), 230 }, + { OV( 75), 220 }, + { OV( 90), 210 }, + { OV( 107), 200 }, + { OV( 128), 190 }, + { OV( 154), 180 }, + { OV( 184), 170 }, + { OV( 221), 160 }, + { OV( 265), 150 }, + { OV( 316), 140 }, + { OV( 375), 130 }, + { OV( 441), 120 }, + { OV( 513), 110 }, + { OV( 588), 100 }, + { OV( 734), 80 }, + { OV( 856), 60 }, + { OV( 938), 40 }, + { OV( 986), 20 }, + { OV(1008), 0 }, + { OV(1018), -20 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_30.h b/Marlin/src/module/thermistor/thermistor_30.h new file mode 100644 index 0000000..bc1781b --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_30.h @@ -0,0 +1,66 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 3950 K, 4.7 kOhm pull-up +// Resistance 100k Ohms at 25deg. C +// Resistance Tolerance + / -1% +// B Value 3950K at 25/50 deg. C +// B Value Tolerance + / - 1% +// Kis3d Silicone Heater 24V 200W/300W with 6mm Precision cast plate (EN AW 5083) +// Temperature setting time 10 min to determine the 12Bit ADC value on the surface. (le3tspeak) +const temp_entry_t temptable_30[] PROGMEM = { + { OV( 1), 938 }, + { OV( 298), 125 }, // 1193 - 125° + { OV( 321), 121 }, // 1285 - 121° + { OV( 348), 117 }, // 1392 - 117° + { OV( 387), 113 }, // 1550 - 113° + { OV( 411), 110 }, // 1644 - 110° + { OV( 445), 106 }, // 1780 - 106° + { OV( 480), 101 }, // 1920 - 101° + { OV( 516), 97 }, // 2064 - 97° + { OV( 553), 92 }, // 2212 - 92° + { OV( 591), 88 }, // 2364 - 88° + { OV( 628), 84 }, // 2512 - 84° + { OV( 665), 79 }, // 2660 - 79° + { OV( 702), 75 }, // 2808 - 75° + { OV( 736), 71 }, // 2945 - 71° + { OV( 770), 67 }, // 3080 - 67° + { OV( 801), 63 }, // 3204 - 63° + { OV( 830), 59 }, // 3320 - 59° + { OV( 857), 55 }, // 3428 - 55° + { OV( 881), 51 }, // 3524 - 51° + { OV( 902), 47 }, // 3611 - 47° + { OV( 922), 42 }, // 3688 - 42° + { OV( 938), 38 }, // 3754 - 38° + { OV( 952), 34 }, // 3811 - 34° + { OV( 964), 29 }, // 3857 - 29° + { OV( 975), 25 }, // 3900 - 25° + { OV( 980), 23 }, // 3920 - 23° + { OV( 991), 17 }, // 3964 - 17° + { OV(1001), 9 }, // Calculated + { OV(1004), 5 }, // Calculated + { OV(1008), 0 }, // Calculated + { OV(1012), -5 }, // Calculated + { OV(1016), -10 }, // Calculated + { OV(1020), -15 } // Calculated +}; diff --git a/Marlin/src/module/thermistor/thermistor_331.h b/Marlin/src/module/thermistor/thermistor_331.h new file mode 100644 index 0000000..ccb0f6b --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_331.h @@ -0,0 +1,92 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define OVM(V) OV((V)*(0.327/0.5)) + +// R25 = 100 kOhm, beta25 = 4092 K, 4.7 kOhm pull-up, bed thermistor +const temp_entry_t temptable_331[] PROGMEM = { + { OVM( 23), 300 }, + { OVM( 25), 295 }, + { OVM( 27), 290 }, + { OVM( 28), 285 }, + { OVM( 31), 280 }, + { OVM( 33), 275 }, + { OVM( 35), 270 }, + { OVM( 38), 265 }, + { OVM( 41), 260 }, + { OVM( 44), 255 }, + { OVM( 48), 250 }, + { OVM( 52), 245 }, + { OVM( 56), 240 }, + { OVM( 61), 235 }, + { OVM( 66), 230 }, + { OVM( 71), 225 }, + { OVM( 78), 220 }, + { OVM( 84), 215 }, + { OVM( 92), 210 }, + { OVM( 100), 205 }, + { OVM( 109), 200 }, + { OVM( 120), 195 }, + { OVM( 131), 190 }, + { OVM( 143), 185 }, + { OVM( 156), 180 }, + { OVM( 171), 175 }, + { OVM( 187), 170 }, + { OVM( 205), 165 }, + { OVM( 224), 160 }, + { OVM( 245), 155 }, + { OVM( 268), 150 }, + { OVM( 293), 145 }, + { OVM( 320), 140 }, + { OVM( 348), 135 }, + { OVM( 379), 130 }, + { OVM( 411), 125 }, + { OVM( 445), 120 }, + { OVM( 480), 115 }, + { OVM( 516), 110 }, + { OVM( 553), 105 }, + { OVM( 591), 100 }, + { OVM( 628), 95 }, + { OVM( 665), 90 }, + { OVM( 702), 85 }, + { OVM( 737), 80 }, + { OVM( 770), 75 }, + { OVM( 801), 70 }, + { OVM( 830), 65 }, + { OVM( 857), 60 }, + { OVM( 881), 55 }, + { OVM( 903), 50 }, + { OVM( 922), 45 }, + { OVM( 939), 40 }, + { OVM( 954), 35 }, + { OVM( 966), 30 }, + { OVM( 977), 25 }, + { OVM( 985), 20 }, + { OVM( 993), 15 }, + { OVM( 999), 10 }, + { OVM(1004), 5 }, + { OVM(1008), 0 }, + { OVM(1012), -5 }, + { OVM(1016), -10 }, + { OVM(1020), -15 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_332.h b/Marlin/src/module/thermistor/thermistor_332.h new file mode 100644 index 0000000..9502f1b --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_332.h @@ -0,0 +1,50 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#define OVM(V) OV((V)*(0.327/0.327)) + +// R25 = 100 kOhm, beta25 = 4092 K, 4.7 kOhm pull-up, bed thermistor +const temp_entry_t temptable_332[] PROGMEM = { + { OVM( 268), 150 }, + { OVM( 293), 145 }, + { OVM( 320), 141 }, + { OVM( 379), 133 }, + { OVM( 445), 122 }, + { OVM( 516), 108 }, + { OVM( 591), 98 }, + { OVM( 665), 88 }, + { OVM( 737), 79 }, + { OVM( 801), 70 }, + { OVM( 857), 55 }, + { OVM( 903), 46 }, + { OVM( 939), 39 }, + { OVM( 954), 33 }, + { OVM( 966), 27 }, + { OVM( 977), 22 }, + { OVM( 999), 15 }, + { OVM(1004), 5 }, + { OVM(1008), 0 }, + { OVM(1012), -5 }, + { OVM(1016), -10 }, + { OVM(1020), -15 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_4.h b/Marlin/src/module/thermistor/thermistor_4.h new file mode 100644 index 0000000..92d9072 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_4.h @@ -0,0 +1,46 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 10 kOhm, beta25 = 3950 K, 4.7 kOhm pull-up, Generic 10k thermistor +const temp_entry_t temptable_4[] PROGMEM = { + { OV( 1), 430 }, + { OV( 54), 137 }, + { OV( 107), 107 }, + { OV( 160), 91 }, + { OV( 213), 80 }, + { OV( 266), 71 }, + { OV( 319), 64 }, + { OV( 372), 57 }, + { OV( 425), 51 }, + { OV( 478), 46 }, + { OV( 531), 41 }, + { OV( 584), 35 }, + { OV( 637), 30 }, + { OV( 690), 25 }, + { OV( 743), 20 }, + { OV( 796), 14 }, + { OV( 849), 7 }, + { OV( 902), 0 }, + { OV( 955), -11 }, + { OV(1008), -35 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_5.h b/Marlin/src/module/thermistor/thermistor_5.h new file mode 100644 index 0000000..1d5fa2f --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_5.h @@ -0,0 +1,62 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 4267 K, 4.7 kOhm pull-up +// 100k ParCan thermistor (104GT-2) +// ATC Semitec 104GT-2/104NT-4-R025H42G (Used in ParCan) +// Verified by linagee. Source: https://www.mouser.com/datasheet/2/362/semitec%20usa%20corporation_gtthermistor-1202937.pdf +// Calculated using 4.7kohm pullup, voltage divider math, and manufacturer provided temp/resistance +const temp_entry_t temptable_5[] PROGMEM = { + { OV( 1), 713 }, + { OV( 17), 300 }, // top rating 300C + { OV( 20), 290 }, + { OV( 23), 280 }, + { OV( 27), 270 }, + { OV( 31), 260 }, + { OV( 37), 250 }, + { OV( 43), 240 }, + { OV( 51), 230 }, + { OV( 61), 220 }, + { OV( 73), 210 }, + { OV( 87), 200 }, + { OV( 106), 190 }, + { OV( 128), 180 }, + { OV( 155), 170 }, + { OV( 189), 160 }, + { OV( 230), 150 }, + { OV( 278), 140 }, + { OV( 336), 130 }, + { OV( 402), 120 }, + { OV( 476), 110 }, + { OV( 554), 100 }, + { OV( 635), 90 }, + { OV( 713), 80 }, + { OV( 784), 70 }, + { OV( 846), 60 }, + { OV( 897), 50 }, + { OV( 937), 40 }, + { OV( 966), 30 }, + { OV( 986), 20 }, + { OV(1000), 10 }, + { OV(1010), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_501.h b/Marlin/src/module/thermistor/thermistor_501.h new file mode 100644 index 0000000..d40e341 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_501.h @@ -0,0 +1,58 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// 100k Zonestar thermistor. Adjusted By Hally +const temp_entry_t temptable_501[] PROGMEM = { + { OV( 1), 713 }, + { OV( 14), 300 }, // Top rating 300C + { OV( 16), 290 }, + { OV( 19), 280 }, + { OV( 23), 270 }, + { OV( 27), 260 }, + { OV( 31), 250 }, + { OV( 37), 240 }, + { OV( 47), 230 }, + { OV( 57), 220 }, + { OV( 68), 210 }, + { OV( 84), 200 }, + { OV( 100), 190 }, + { OV( 128), 180 }, + { OV( 155), 170 }, + { OV( 189), 160 }, + { OV( 230), 150 }, + { OV( 278), 140 }, + { OV( 336), 130 }, + { OV( 402), 120 }, + { OV( 476), 110 }, + { OV( 554), 100 }, + { OV( 635), 90 }, + { OV( 713), 80 }, + { OV( 784), 70 }, + { OV( 846), 60 }, + { OV( 897), 50 }, + { OV( 937), 40 }, + { OV( 966), 30 }, + { OV( 986), 20 }, + { OV(1000), 10 }, + { OV(1010), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_502.h b/Marlin/src/module/thermistor/thermistor_502.h new file mode 100644 index 0000000..69cee24 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_502.h @@ -0,0 +1,60 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// Unknown thermistor for the Zonestar P802M hot bed. Adjusted By Nerseth +// These were the shipped settings from Zonestar in original firmware: P802M_8_Repetier_V1.6_Zonestar.zip +const temp_entry_t temptable_502[] PROGMEM = { + { OV( 56.0 / 4), 300 }, + { OV( 187.0 / 4), 250 }, + { OV( 615.0 / 4), 190 }, + { OV( 690.0 / 4), 185 }, + { OV( 750.0 / 4), 180 }, + { OV( 830.0 / 4), 175 }, + { OV( 920.0 / 4), 170 }, + { OV(1010.0 / 4), 165 }, + { OV(1118.0 / 4), 160 }, + { OV(1215.0 / 4), 155 }, + { OV(1330.0 / 4), 145 }, + { OV(1460.0 / 4), 140 }, + { OV(1594.0 / 4), 135 }, + { OV(1752.0 / 4), 130 }, + { OV(1900.0 / 4), 125 }, + { OV(2040.0 / 4), 120 }, + { OV(2200.0 / 4), 115 }, + { OV(2350.0 / 4), 110 }, + { OV(2516.0 / 4), 105 }, + { OV(2671.0 / 4), 98 }, + { OV(2831.0 / 4), 92 }, + { OV(2975.0 / 4), 85 }, + { OV(3115.0 / 4), 76 }, + { OV(3251.0 / 4), 72 }, + { OV(3480.0 / 4), 62 }, + { OV(3580.0 / 4), 52 }, + { OV(3660.0 / 4), 46 }, + { OV(3740.0 / 4), 40 }, + { OV(3869.0 / 4), 30 }, + { OV(3912.0 / 4), 25 }, + { OV(3948.0 / 4), 20 }, + { OV(4077.0 / 4), -20 }, + { OV(4094.0 / 4), -55 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_503.h b/Marlin/src/module/thermistor/thermistor_503.h new file mode 100644 index 0000000..fc4bfff --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_503.h @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// Zonestar (Z8XM2) Heated Bed thermistor. Added By AvanOsch +// These are taken from the Zonestar settings in original Repetier firmware: Z8XM2_ZRIB_LCD12864_V51.zip +const temp_entry_t temptable_503[] PROGMEM = { + { OV( 12), 300 }, + { OV( 27), 270 }, + { OV( 47), 250 }, + { OV( 68), 230 }, + { OV( 99), 210 }, + { OV( 120), 200 }, + { OV( 141), 190 }, + { OV( 171), 180 }, + { OV( 201), 170 }, + { OV( 261), 160 }, + { OV( 321), 150 }, + { OV( 401), 140 }, + { OV( 451), 130 }, + { OV( 551), 120 }, + { OV( 596), 110 }, + { OV( 626), 105 }, + { OV( 666), 100 }, + { OV( 697), 90 }, + { OV( 717), 85 }, + { OV( 798), 69 }, + { OV( 819), 65 }, + { OV( 870), 55 }, + { OV( 891), 51 }, + { OV( 922), 39 }, + { OV( 968), 28 }, + { OV( 980), 23 }, + { OV( 991), 17 }, + { OV( 1001), 9 }, + { OV(1021), -27 }, + { OV(1023), -200} +}; diff --git a/Marlin/src/module/thermistor/thermistor_51.h b/Marlin/src/module/thermistor/thermistor_51.h new file mode 100644 index 0000000..d02dd47 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_51.h @@ -0,0 +1,83 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 4092 K, 1 kOhm pull-up, +// 100k EPCOS (WITH 1kohm RESISTOR FOR PULLUP, R9 ON SANGUINOLOLU! NOT FOR 4.7kohm PULLUP! THIS IS NOT NORMAL!) +// Verified by linagee. +// Calculated using 1kohm pullup, voltage divider math, and manufacturer provided temp/resistance +// Advantage: Twice the resolution and better linearity from 150C to 200C +const temp_entry_t temptable_51[] PROGMEM = { + { OV( 1), 350 }, + { OV( 190), 250 }, // top rating 250C + { OV( 203), 245 }, + { OV( 217), 240 }, + { OV( 232), 235 }, + { OV( 248), 230 }, + { OV( 265), 225 }, + { OV( 283), 220 }, + { OV( 302), 215 }, + { OV( 322), 210 }, + { OV( 344), 205 }, + { OV( 366), 200 }, + { OV( 390), 195 }, + { OV( 415), 190 }, + { OV( 440), 185 }, + { OV( 467), 180 }, + { OV( 494), 175 }, + { OV( 522), 170 }, + { OV( 551), 165 }, + { OV( 580), 160 }, + { OV( 609), 155 }, + { OV( 638), 150 }, + { OV( 666), 145 }, + { OV( 695), 140 }, + { OV( 722), 135 }, + { OV( 749), 130 }, + { OV( 775), 125 }, + { OV( 800), 120 }, + { OV( 823), 115 }, + { OV( 845), 110 }, + { OV( 865), 105 }, + { OV( 884), 100 }, + { OV( 901), 95 }, + { OV( 917), 90 }, + { OV( 932), 85 }, + { OV( 944), 80 }, + { OV( 956), 75 }, + { OV( 966), 70 }, + { OV( 975), 65 }, + { OV( 982), 60 }, + { OV( 989), 55 }, + { OV( 995), 50 }, + { OV(1000), 45 }, + { OV(1004), 40 }, + { OV(1007), 35 }, + { OV(1010), 30 }, + { OV(1013), 25 }, + { OV(1015), 20 }, + { OV(1017), 15 }, + { OV(1018), 10 }, + { OV(1019), 5 }, + { OV(1020), 0 }, + { OV(1021), -5 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_512.h b/Marlin/src/module/thermistor/thermistor_512.h new file mode 100644 index 0000000..e8021e1 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_512.h @@ -0,0 +1,87 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +// 100k thermistor supplied with RPW-Ultra hotend, 4.7k pullup + +const temp_entry_t temptable_512[] PROGMEM = { + { OV(26), 300 }, + { OV(28), 295 }, + { OV(30), 290 }, + { OV(32), 285 }, + { OV(34), 280 }, + { OV(37), 275 }, + { OV(39), 270 }, + { OV(42), 265 }, + { OV(46), 260 }, + { OV(49), 255 }, + { OV(53), 250 }, // 256.5 + { OV(57), 245 }, + { OV(62), 240 }, + { OV(67), 235 }, + { OV(73), 230 }, + { OV(79), 225 }, + { OV(86), 220 }, + { OV(94), 215 }, + { OV(103), 210 }, + { OV(112), 205 }, + { OV(123), 200 }, + { OV(135), 195 }, + { OV(148), 190 }, + { OV(162), 185 }, + { OV(178), 180 }, + { OV(195), 175 }, + { OV(215), 170 }, + { OV(235), 165 }, + { OV(258), 160 }, + { OV(283), 155 }, + { OV(310), 150 }, // 2040.6 + { OV(338), 145 }, + { OV(369), 140 }, + { OV(401), 135 }, + { OV(435), 130 }, + { OV(470), 125 }, + { OV(505), 120 }, + { OV(542), 115 }, + { OV(579), 110 }, + { OV(615), 105 }, + { OV(651), 100 }, + { OV(686), 95 }, + { OV(720), 90 }, + { OV(751), 85 }, + { OV(781), 80 }, + { OV(809), 75 }, + { OV(835), 70 }, + { OV(858), 65 }, + { OV(880), 60 }, + { OV(899), 55 }, + { OV(915), 50 }, + { OV(930), 45 }, + { OV(944), 40 }, + { OV(955), 35 }, + { OV(965), 30 }, // 78279.3 + { OV(974), 25 }, + { OV(981), 20 }, + { OV(988), 15 }, + { OV(993), 10 }, + { OV(998), 5 }, + { OV(1002), 0 }, +}; diff --git a/Marlin/src/module/thermistor/thermistor_52.h b/Marlin/src/module/thermistor/thermistor_52.h new file mode 100644 index 0000000..5c9cb9d --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_52.h @@ -0,0 +1,62 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 200 kOhm, beta25 = 4338 K, 1 kOhm pull-up, +// 200k ATC Semitec 204GT-2 (WITH 1kohm RESISTOR FOR PULLUP, R9 ON SANGUINOLOLU! NOT FOR 4.7kohm PULLUP! THIS IS NOT NORMAL!) +// Verified by linagee. Source: https://www.mouser.com/datasheet/2/362/semitec%20usa%20corporation_gtthermistor-1202937.pdf +// Calculated using 1kohm pullup, voltage divider math, and manufacturer provided temp/resistance +// Advantage: More resolution and better linearity from 150C to 200C +const temp_entry_t temptable_52[] PROGMEM = { + { OV( 1), 500 }, + { OV( 125), 300 }, // top rating 300C + { OV( 142), 290 }, + { OV( 162), 280 }, + { OV( 185), 270 }, + { OV( 211), 260 }, + { OV( 240), 250 }, + { OV( 274), 240 }, + { OV( 312), 230 }, + { OV( 355), 220 }, + { OV( 401), 210 }, + { OV( 452), 200 }, + { OV( 506), 190 }, + { OV( 563), 180 }, + { OV( 620), 170 }, + { OV( 677), 160 }, + { OV( 732), 150 }, + { OV( 783), 140 }, + { OV( 830), 130 }, + { OV( 871), 120 }, + { OV( 906), 110 }, + { OV( 935), 100 }, + { OV( 958), 90 }, + { OV( 976), 80 }, + { OV( 990), 70 }, + { OV(1000), 60 }, + { OV(1008), 50 }, + { OV(1013), 40 }, + { OV(1017), 30 }, + { OV(1019), 20 }, + { OV(1021), 10 }, + { OV(1022), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_55.h b/Marlin/src/module/thermistor/thermistor_55.h new file mode 100644 index 0000000..707b7d4 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_55.h @@ -0,0 +1,62 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 4267 K, 1 kOhm pull-up, +// 100k ATC Semitec 104GT-2 (Used on ParCan) (WITH 1kohm RESISTOR FOR PULLUP, R9 ON SANGUINOLOLU! NOT FOR 4.7kohm PULLUP! THIS IS NOT NORMAL!) +// Verified by linagee. Source: https://www.mouser.com/datasheet/2/362/semitec%20usa%20corporation_gtthermistor-1202937.pdf +// Calculated using 1kohm pullup, voltage divider math, and manufacturer provided temp/resistance +// Advantage: More resolution and better linearity from 150C to 200C +const temp_entry_t temptable_55[] PROGMEM = { + { OV( 1), 500 }, + { OV( 76), 300 }, + { OV( 87), 290 }, + { OV( 100), 280 }, + { OV( 114), 270 }, + { OV( 131), 260 }, + { OV( 152), 250 }, + { OV( 175), 240 }, + { OV( 202), 230 }, + { OV( 234), 220 }, + { OV( 271), 210 }, + { OV( 312), 200 }, + { OV( 359), 190 }, + { OV( 411), 180 }, + { OV( 467), 170 }, + { OV( 527), 160 }, + { OV( 590), 150 }, + { OV( 652), 140 }, + { OV( 713), 130 }, + { OV( 770), 120 }, + { OV( 822), 110 }, + { OV( 867), 100 }, + { OV( 905), 90 }, + { OV( 936), 80 }, + { OV( 961), 70 }, + { OV( 979), 60 }, + { OV( 993), 50 }, + { OV(1003), 40 }, + { OV(1010), 30 }, + { OV(1015), 20 }, + { OV(1018), 10 }, + { OV(1020), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_6.h b/Marlin/src/module/thermistor/thermistor_6.h new file mode 100644 index 0000000..6811341 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_6.h @@ -0,0 +1,64 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 4092 K, 8.2 kOhm pull-up, 100k Epcos (?) thermistor +const temp_entry_t temptable_6[] PROGMEM = { + { OV( 1), 350 }, + { OV( 28), 250 }, // top rating 250C + { OV( 31), 245 }, + { OV( 35), 240 }, + { OV( 39), 235 }, + { OV( 42), 230 }, + { OV( 44), 225 }, + { OV( 49), 220 }, + { OV( 53), 215 }, + { OV( 62), 210 }, + { OV( 71), 205 }, // fitted graphically + { OV( 78), 200 }, // fitted graphically + { OV( 94), 190 }, + { OV( 102), 185 }, + { OV( 116), 170 }, + { OV( 143), 160 }, + { OV( 183), 150 }, + { OV( 223), 140 }, + { OV( 270), 130 }, + { OV( 318), 120 }, + { OV( 383), 110 }, + { OV( 413), 105 }, + { OV( 439), 100 }, + { OV( 484), 95 }, + { OV( 513), 90 }, + { OV( 607), 80 }, + { OV( 664), 70 }, + { OV( 781), 60 }, + { OV( 810), 55 }, + { OV( 849), 50 }, + { OV( 914), 45 }, + { OV( 914), 40 }, + { OV( 935), 35 }, + { OV( 954), 30 }, + { OV( 970), 25 }, + { OV( 978), 22 }, + { OV(1008), 3 }, + { OV(1023), 0 } // to allow internal 0 degrees C +}; diff --git a/Marlin/src/module/thermistor/thermistor_60.h b/Marlin/src/module/thermistor/thermistor_60.h new file mode 100644 index 0000000..a3fe505 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_60.h @@ -0,0 +1,107 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 3950 K, 4.7 kOhm pull-up, +// Maker's Tool Works Kapton Bed Thermistor +// ./createTemperatureLookup.py --r0=100000 --t0=25 --r1=0 --r2=4700 --beta=3950 +// r0: 100000 +// t0: 25 +// r1: 0 (parallel with rTherm) +// r2: 4700 (series with rTherm) +// beta: 3950 +// min adc: 1 at 0.0048828125 V +// max adc: 1023 at 4.9951171875 V +const temp_entry_t temptable_60[] PROGMEM = { + { OV( 51), 272 }, + { OV( 61), 258 }, + { OV( 71), 247 }, + { OV( 81), 237 }, + { OV( 91), 229 }, + { OV( 101), 221 }, + { OV( 131), 204 }, + { OV( 161), 190 }, + { OV( 191), 179 }, + { OV( 231), 167 }, + { OV( 271), 157 }, + { OV( 311), 148 }, + { OV( 351), 140 }, + { OV( 381), 135 }, + { OV( 411), 130 }, + { OV( 441), 125 }, + { OV( 451), 123 }, + { OV( 461), 122 }, + { OV( 471), 120 }, + { OV( 481), 119 }, + { OV( 491), 117 }, + { OV( 501), 116 }, + { OV( 511), 114 }, + { OV( 521), 113 }, + { OV( 531), 111 }, + { OV( 541), 110 }, + { OV( 551), 108 }, + { OV( 561), 107 }, + { OV( 571), 105 }, + { OV( 581), 104 }, + { OV( 591), 102 }, + { OV( 601), 101 }, + { OV( 611), 100 }, + { OV( 621), 98 }, + { OV( 631), 97 }, + { OV( 641), 95 }, + { OV( 651), 94 }, + { OV( 661), 92 }, + { OV( 671), 91 }, + { OV( 681), 90 }, + { OV( 691), 88 }, + { OV( 701), 87 }, + { OV( 711), 85 }, + { OV( 721), 84 }, + { OV( 731), 82 }, + { OV( 741), 81 }, + { OV( 751), 79 }, + { OV( 761), 77 }, + { OV( 771), 76 }, + { OV( 781), 74 }, + { OV( 791), 72 }, + { OV( 801), 71 }, + { OV( 811), 69 }, + { OV( 821), 67 }, + { OV( 831), 65 }, + { OV( 841), 63 }, + { OV( 851), 62 }, + { OV( 861), 60 }, + { OV( 871), 57 }, + { OV( 881), 55 }, + { OV( 891), 53 }, + { OV( 901), 51 }, + { OV( 911), 48 }, + { OV( 921), 45 }, + { OV( 931), 42 }, + { OV( 941), 39 }, + { OV( 951), 36 }, + { OV( 961), 32 }, + { OV( 981), 23 }, + { OV( 991), 17 }, + { OV(1001), 9 }, + { OV(1008), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_61.h b/Marlin/src/module/thermistor/thermistor_61.h new file mode 100644 index 0000000..ed4c4c8 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_61.h @@ -0,0 +1,116 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 3950 K, 4.7 kOhm pull-up, +// Formbot / Vivedino high temp 100k thermistor +// 100KR13950181203 +// Generated with modified version of https://www.thingiverse.com/thing:103668 +// Using table 1 with datasheet values +// Resistance 100k Ohms at 25deg. C +// Resistance Tolerance + / -1% +// B Value 3950K at 25/50 deg. C +// B Value Tolerance + / - 1% +const temp_entry_t temptable_61[] PROGMEM = { + { OV( 2.00), 420 }, // Guestimate to ensure we dont lose a reading and drop temps to -50 when over + { OV( 12.07), 350 }, + { OV( 12.79), 345 }, + { OV( 13.59), 340 }, + { OV( 14.44), 335 }, + { OV( 15.37), 330 }, + { OV( 16.38), 325 }, + { OV( 17.46), 320 }, + { OV( 18.63), 315 }, + { OV( 19.91), 310 }, + { OV( 21.29), 305 }, + { OV( 22.79), 300 }, + { OV( 24.43), 295 }, + { OV( 26.21), 290 }, + { OV( 28.15), 285 }, + { OV( 30.27), 280 }, + { OV( 32.58), 275 }, + { OV( 35.10), 270 }, + { OV( 38.44), 265 }, + { OV( 40.89), 260 }, + { OV( 44.19), 255 }, + { OV( 47.83), 250 }, + { OV( 51.80), 245 }, + { OV( 56.20), 240 }, + { OV( 61.00), 235 }, + { OV( 66.30), 230 }, + { OV( 72.11), 225 }, + { OV( 78.51), 220 }, + { OV( 85.57), 215 }, + { OV( 93.34), 210 }, + { OV( 101.91), 205 }, + { OV( 111.34), 200 }, + { OV( 121.73), 195 }, + { OV( 133.17), 190 }, + { OV( 145.74), 185 }, + { OV( 159.57), 180 }, + { OV( 174.73), 175 }, + { OV( 191.35), 170 }, + { OV( 209.53), 165 }, + { OV( 229.35), 160 }, + { OV( 250.90), 155 }, + { OV( 274.25), 150 }, + { OV( 299.46), 145 }, + { OV( 326.52), 140 }, + { OV( 355.44), 135 }, + { OV( 386.15), 130 }, + { OV( 418.53), 125 }, + { OV( 452.43), 120 }, + { OV( 487.62), 115 }, + { OV( 523.82), 110 }, + { OV( 560.70), 105 }, + { OV( 597.88), 100 }, + { OV( 634.97), 95 }, + { OV( 671.55), 90 }, + { OV( 707.21), 85 }, + { OV( 741.54), 80 }, + { OV( 779.65), 75 }, + { OV( 809.57), 70 }, + { OV( 833.40), 65 }, + { OV( 859.55), 60 }, + { OV( 883.27), 55 }, + { OV( 904.53), 50 }, + { OV( 923.38), 45 }, + { OV( 939.91), 40 }, + { OV( 954.26), 35 }, + { OV( 966.59), 30 }, + { OV( 977.08), 25 }, + { OV( 985.92), 20 }, + { OV( 993.39), 15 }, + { OV( 999.42), 10 }, + { OV(1004.43), 5 }, + { OV(1008.51), 0 }, + { OV(1011.79), -5 }, + { OV(1014.40), -10 }, + { OV(1016.48), -15 }, + { OV(1018.10), -20 }, + { OV(1019.35), -25 }, + { OV(1020.32), -30 }, + { OV(1021.05), -35 }, + { OV(1021.60), -40 }, + { OV(1022.01), -45 }, + { OV(1022.31), -50 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_66.h b/Marlin/src/module/thermistor/thermistor_66.h new file mode 100644 index 0000000..0ad5994 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_66.h @@ -0,0 +1,53 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 2.5 MOhm, beta25 = 4500 K, 4.7 kOhm pull-up, DyzeDesign 500 °C Thermistor +const temp_entry_t temptable_66[] PROGMEM = { + { OV( 17.5), 850 }, + { OV( 17.9), 500 }, + { OV( 21.7), 480 }, + { OV( 26.6), 460 }, + { OV( 33.1), 440 }, + { OV( 41.0), 420 }, + { OV( 52.3), 400 }, + { OV( 67.7), 380 }, + { OV( 86.5), 360 }, + { OV( 112.0), 340 }, + { OV( 147.2), 320 }, + { OV( 194.0), 300 }, + { OV( 254.3), 280 }, + { OV( 330.2), 260 }, + { OV( 427.9), 240 }, + { OV( 533.4), 220 }, + { OV( 646.5), 200 }, + { OV( 754.4), 180 }, + { OV( 844.3), 160 }, + { OV( 911.7), 140 }, + { OV( 958.6), 120 }, + { OV( 988.8), 100 }, + { OV(1006.6), 80 }, + { OV(1015.8), 60 }, + { OV(1021.3), 30 }, + { OV( 1022), 25 }, + { OV( 1023), 20 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_666.h b/Marlin/src/module/thermistor/thermistor_666.h new file mode 100644 index 0000000..490dbd5 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_666.h @@ -0,0 +1,98 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * This file was generated by tltgen on Thu Jul 5 15:46:43 2018. + * tltgen was created by Pieter Agten (pieter.agten@gmail.com). + */ +//#include "output_table.h" + +/* + * Parameters: + * A: -0.000480634 + * B: 0.00031362 + * C: -2.03978e-07 + */ +const temp_entry_t temptable_666[] PROGMEM = { + { OV( 1), 794 }, + { OV( 18), 288 }, + { OV( 35), 234 }, + { OV( 52), 207 }, + { OV( 69), 189 }, + { OV( 86), 176 }, + { OV(103), 166 }, + { OV(120), 157 }, + { OV(137) ,150 }, + { OV(154), 144 }, + { OV(172), 138 }, + { OV(189), 134 }, + { OV(206), 129 }, + { OV(223), 125 }, + { OV(240), 121 }, + { OV(257), 118 }, + { OV(274), 115 }, + { OV(291), 112 }, + { OV(308), 109 }, + { OV(325), 106 }, + { OV(342), 103 }, + { OV(359), 101 }, + { OV(376), 99 }, + { OV(393), 96 }, + { OV(410), 94 }, + { OV(427), 92 }, + { OV(444), 90 }, + { OV(461), 88 }, + { OV(478), 86 }, + { OV(495), 84 }, + { OV(512), 82 }, + { OV(530), 80 }, + { OV(547), 78 }, + { OV(564), 76 }, + { OV(581), 74 }, + { OV(598), 72 }, + { OV(615), 70 }, + { OV(632), 68 }, + { OV(649), 67 }, + { OV(666), 65 }, + { OV(683), 63 }, + { OV(700), 61 }, + { OV(717), 59 }, + { OV(734), 57 }, + { OV(751), 55 }, + { OV(768), 53 }, + { OV(785), 51 }, + { OV(802), 49 }, + { OV(819), 47 }, + { OV(836), 44 }, + { OV(853), 42 }, + { OV(871), 39 }, + { OV(888), 37 }, + { OV(905), 34 }, + { OV(922), 30 }, + { OV(939), 27 }, + { OV(956), 23 }, + { OV(973), 18 }, + { OV(990), 11 }, + { OV(1007), 2 }, + { OV(1023),-25 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_67.h b/Marlin/src/module/thermistor/thermistor_67.h new file mode 100644 index 0000000..7d6d7f6 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_67.h @@ -0,0 +1,81 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 500 KOhm, beta25 = 3800 K, 4.7 kOhm pull-up, SliceEngineering 450 °C Thermistor +const temp_entry_t temptable_67[] PROGMEM = { + { OV( 22 ), 500 }, + { OV( 23 ), 490 }, + { OV( 25 ), 480 }, + { OV( 27 ), 470 }, + { OV( 29 ), 460 }, + { OV( 32 ), 450 }, + { OV( 35 ), 440 }, + { OV( 38 ), 430 }, + { OV( 41 ), 420 }, + { OV( 45 ), 410 }, + { OV( 50 ), 400 }, + { OV( 55 ), 390 }, + { OV( 60 ), 380 }, + { OV( 67 ), 370 }, + { OV( 74 ), 360 }, + { OV( 82 ), 350 }, + { OV( 91 ), 340 }, + { OV( 102 ), 330 }, + { OV( 114 ), 320 }, + { OV( 127 ), 310 }, + { OV( 143 ), 300 }, + { OV( 161 ), 290 }, + { OV( 181 ), 280 }, + { OV( 204 ), 270 }, + { OV( 229 ), 260 }, + { OV( 259 ), 250 }, + { OV( 290 ), 240 }, + { OV( 325 ), 230 }, + { OV( 364 ), 220 }, + { OV( 407 ), 210 }, + { OV( 453 ), 200 }, + { OV( 501 ), 190 }, + { OV( 551 ), 180 }, + { OV( 603 ), 170 }, + { OV( 655 ), 160 }, + { OV( 706 ), 150 }, + { OV( 755 ), 140 }, + { OV( 801 ), 130 }, + { OV( 842 ), 120 }, + { OV( 879 ), 110 }, + { OV( 910 ), 100 }, + { OV( 936 ), 90 }, + { OV( 948 ), 85 }, + { OV( 958 ), 80 }, + { OV( 975 ), 70 }, + { OV( 988 ), 60 }, + { OV( 998 ), 50 }, + { OV(1006 ), 40 }, + { OV(1011 ), 30 }, + { OV(1013 ), 25 }, + { OV(1015 ), 20 }, + { OV(1018 ), 10 }, + { OV(1020 ), 0 }, + { OV(1021 ), -10 }, + { OV(1022 ), -20 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_7.h b/Marlin/src/module/thermistor/thermistor_7.h new file mode 100644 index 0000000..7a73755 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_7.h @@ -0,0 +1,84 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 3974 K, 4.7 kOhm pull-up, Honeywell 135-104LAG-J01 +const temp_entry_t temptable_7[] PROGMEM = { + { OV( 1), 941 }, + { OV( 19), 362 }, + { OV( 37), 299 }, // top rating 300C + { OV( 55), 266 }, + { OV( 73), 245 }, + { OV( 91), 229 }, + { OV( 109), 216 }, + { OV( 127), 206 }, + { OV( 145), 197 }, + { OV( 163), 190 }, + { OV( 181), 183 }, + { OV( 199), 177 }, + { OV( 217), 171 }, + { OV( 235), 166 }, + { OV( 253), 162 }, + { OV( 271), 157 }, + { OV( 289), 153 }, + { OV( 307), 149 }, + { OV( 325), 146 }, + { OV( 343), 142 }, + { OV( 361), 139 }, + { OV( 379), 135 }, + { OV( 397), 132 }, + { OV( 415), 129 }, + { OV( 433), 126 }, + { OV( 451), 123 }, + { OV( 469), 121 }, + { OV( 487), 118 }, + { OV( 505), 115 }, + { OV( 523), 112 }, + { OV( 541), 110 }, + { OV( 559), 107 }, + { OV( 577), 105 }, + { OV( 595), 102 }, + { OV( 613), 99 }, + { OV( 631), 97 }, + { OV( 649), 94 }, + { OV( 667), 92 }, + { OV( 685), 89 }, + { OV( 703), 86 }, + { OV( 721), 84 }, + { OV( 739), 81 }, + { OV( 757), 78 }, + { OV( 775), 75 }, + { OV( 793), 72 }, + { OV( 811), 69 }, + { OV( 829), 66 }, + { OV( 847), 62 }, + { OV( 865), 59 }, + { OV( 883), 55 }, + { OV( 901), 51 }, + { OV( 919), 46 }, + { OV( 937), 41 }, + { OV( 955), 35 }, + { OV( 973), 27 }, + { OV( 991), 17 }, + { OV(1009), 1 }, + { OV(1023), 0 } // to allow internal 0 degrees C +}; diff --git a/Marlin/src/module/thermistor/thermistor_70.h b/Marlin/src/module/thermistor/thermistor_70.h new file mode 100644 index 0000000..466b925 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_70.h @@ -0,0 +1,46 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// Stock BQ Hephestos 2 100k thermistor. +// Created on 29/12/2017 with an ambient temperature of 20C. +// ANENG AN8009 DMM with a K-type probe used for measurements. + +// R25 = 100 kOhm, beta25 = 4100 K, 4.7 kOhm pull-up, bqh2 stock thermistor +const temp_entry_t temptable_70[] PROGMEM = { + { OV( 18), 270 }, + { OV( 27), 248 }, + { OV( 34), 234 }, + { OV( 45), 220 }, + { OV( 61), 205 }, + { OV( 86), 188 }, + { OV( 123), 172 }, + { OV( 420), 110 }, + { OV( 590), 90 }, + { OV( 845), 56 }, + { OV( 970), 25 }, + { OV( 986), 20 }, + { OV( 994), 15 }, + { OV(1000), 10 }, + { OV(1005), 5 }, + { OV(1009), 0 } // safety +}; diff --git a/Marlin/src/module/thermistor/thermistor_71.h b/Marlin/src/module/thermistor/thermistor_71.h new file mode 100644 index 0000000..abd7fc5 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_71.h @@ -0,0 +1,94 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 3974 K, 4.7 kOhm pull-up, Honeywell 135-104LAF-J01 +// R0 = 100000 Ohm +// T0 = 25 °C +// Beta = 3974 +// R1 = 0 Ohm +// R2 = 4700 Ohm +const temp_entry_t temptable_71[] PROGMEM = { + { OV( 35), 300 }, + { OV( 51), 269 }, + { OV( 59), 258 }, + { OV( 64), 252 }, + { OV( 71), 244 }, + { OV( 81), 235 }, + { OV( 87), 230 }, + { OV( 92), 226 }, + { OV( 102), 219 }, + { OV( 110), 214 }, + { OV( 115), 211 }, + { OV( 126), 205 }, + { OV( 128), 204 }, + { OV( 130), 203 }, + { OV( 132), 202 }, + { OV( 134), 201 }, + { OV( 136), 200 }, + { OV( 147), 195 }, + { OV( 154), 192 }, + { OV( 159), 190 }, + { OV( 164), 188 }, + { OV( 172), 185 }, + { OV( 175), 184 }, + { OV( 178), 183 }, + { OV( 181), 182 }, + { OV( 184), 181 }, + { OV( 187), 180 }, + { OV( 190), 179 }, + { OV( 193), 178 }, + { OV( 196), 177 }, + { OV( 199), 176 }, + { OV( 202), 175 }, + { OV( 205), 174 }, + { OV( 208), 173 }, + { OV( 215), 171 }, + { OV( 237), 165 }, + { OV( 256), 160 }, + { OV( 300), 150 }, + { OV( 351), 140 }, + { OV( 470), 120 }, + { OV( 504), 115 }, + { OV( 538), 110 }, + { OV( 745), 80 }, + { OV( 770), 76 }, + { OV( 806), 70 }, + { OV( 829), 66 }, + { OV( 860), 60 }, + { OV( 879), 56 }, + { OV( 888), 54 }, + { OV( 905), 50 }, + { OV( 924), 45 }, + { OV( 940), 40 }, + { OV( 955), 35 }, + { OV( 972), 28 }, + { OV( 974), 27 }, + { OV( 976), 26 }, + { OV( 978), 25 }, + { OV( 980), 24 }, + { OV( 987), 20 }, + { OV( 995), 15 }, + { OV(1001), 10 }, + { OV(1006), 5 }, + { OV(1010), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_75.h b/Marlin/src/module/thermistor/thermistor_75.h new file mode 100644 index 0000000..79800d2 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_75.h @@ -0,0 +1,80 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +/** + * R25 = 100 kOhm, beta25 = 4100 K, 4.7 kOhm pull-up, + * Generic Silicon Heat Pad with NTC 100K thermistor + * + * Many generic silicone heat pads use the MGB18-104F39050L32 thermistor, applicable to various + * wattages and voltages. This table is correct if this part is used. It's been optimized + * to provide good granularity in the 60-110C range, good for PLA and ABS. For higher temperature + * filament (e.g., nylon) uncomment HIGH_TEMP_RANGE_75 for increased accuracy. If higher + * temperatures aren't used it can improve performance slightly to leave it commented out. + */ + +//#define HIGH_TEMP_RANGE_75 + +const temp_entry_t temptable_75[] PROGMEM = { // Generic Silicon Heat Pad with NTC 100K MGB18-104F39050L32 thermistor + { OV(111.06), 200 }, // v=0.542 r=571.747 res=0.501 degC/count + + #ifdef HIGH_TEMP_RANGE_75 + { OV(174.87), 175 }, // v=0.854 r=967.950 res=0.311 degC/count These values are valid. But they serve no + { OV(191.64), 170 }, // v=0.936 r=1082.139 res=0.284 degC/count purpose. It is better to delete them so + { OV(209.99), 165 }, // v=1.025 r=1212.472 res=0.260 degC/count the search is quicker and get to the meaningful + { OV(230.02), 160 }, // v=1.123 r=1361.590 res=0.239 degC/count part of the table sooner. + { OV(251.80), 155 }, // v=1.230 r=1532.621 res=0.220 degC/count + #endif + + { OV(275.43), 150 }, // v=1.345 r=1729.283 res=0.203 degC/count + + #ifdef HIGH_TEMP_RANGE_75 + { OV(300.92), 145 }, // v=1.469 r=1956.004 res=0.189 degC/coun + #endif + + { OV( 328.32), 140 }, // v=1.603 r=2218.081 res=0.176 degC/count + { OV( 388.65), 130 }, // v=1.898 r=2874.980 res=0.156 degC/count + { OV( 421.39), 125 }, // v=2.058 r=3286.644 res=0.149 degC/count + { OV( 455.65), 120 }, // v=2.225 r=3768.002 res=0.143 degC/count + { OV( 491.17), 115 }, // v=2.398 r=4332.590 res=0.139 degC/count + { OV( 527.68), 110 }, // v=2.577 r=4996.905 res=0.136 degC/count + { OV( 564.81), 105 }, // v=2.758 r=5781.120 res=0.134 degC/count + { OV( 602.19), 100 }, // v=2.940 r=6710.000 res=0.134 degC/count + { OV( 676.03), 90 }, // v=3.301 r=9131.018 res=0.138 degC/count + { OV( 745.85), 80 }, // v=3.642 r=12602.693 res=0.150 degC/count + { OV( 778.31), 75 }, // v=3.800 r=14889.001 res=0.159 degC/count + { OV( 808.75), 70 }, // v=3.949 r=17658.700 res=0.171 degC/count + { OV( 836.94), 65 }, // v=4.087 r=21028.040 res=0.185 degC/count + { OV( 862.74), 60 }, // v=4.213 r=25144.568 res=0.204 degC/count + { OV( 886.08), 55 }, // v=4.327 r=30196.449 res=0.227 degC/count + { OV( 906.97), 50 }, // v=4.429 r=36424.838 res=0.255 degC/count + { OV( 941.65), 40 }, // v=4.598 r=53745.337 res=0.333 degC/count + { OV( 967.76), 30 }, // v=4.725 r=80880.630 res=0.452 degC/count + { OV( 978.03), 25 }, // v=4.776 r=100000.000 res=0.535 degC/count + { OV( 981.68), 23 }, // v=4.793 r=109024.395 res=0.573 degC/count + { OV( 983.41), 22 }, // v=4.802 r=113875.430 res=0.594 degC/count + { OV( 985.08), 21 }, // v=4.810 r=118968.955 res=0.616 degC/count + { OV( 986.70), 20 }, // v=4.818 r=124318.354 res=0.638 degC/count + { OV( 993.94), 15 }, // v=4.853 r=155431.302 res=0.768 degC/count + { OV( 999.96), 10 }, // v=4.883 r=195480.023 res=0.934 degC/count + { OV(1008.95), 0 } // v=4.926 r=314997.575 res=1.418 degC/count +}; diff --git a/Marlin/src/module/thermistor/thermistor_8.h b/Marlin/src/module/thermistor/thermistor_8.h new file mode 100644 index 0000000..9e19168 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_8.h @@ -0,0 +1,46 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 3950 K, 10 kOhm pull-up, NTCS0603E3104FHT +const temp_entry_t temptable_8[] PROGMEM = { + { OV( 1), 704 }, + { OV( 54), 216 }, + { OV( 107), 175 }, + { OV( 160), 152 }, + { OV( 213), 137 }, + { OV( 266), 125 }, + { OV( 319), 115 }, + { OV( 372), 106 }, + { OV( 425), 99 }, + { OV( 478), 91 }, + { OV( 531), 85 }, + { OV( 584), 78 }, + { OV( 637), 71 }, + { OV( 690), 65 }, + { OV( 743), 58 }, + { OV( 796), 50 }, + { OV( 849), 42 }, + { OV( 902), 31 }, + { OV( 955), 17 }, + { OV(1008), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_9.h b/Marlin/src/module/thermistor/thermistor_9.h new file mode 100644 index 0000000..2909742 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_9.h @@ -0,0 +1,57 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// R25 = 100 kOhm, beta25 = 3960 K, 4.7 kOhm pull-up, GE Sensing AL03006-58.2K-97-G1 +const temp_entry_t temptable_9[] PROGMEM = { + { OV( 1), 936 }, + { OV( 36), 300 }, + { OV( 71), 246 }, + { OV( 106), 218 }, + { OV( 141), 199 }, + { OV( 176), 185 }, + { OV( 211), 173 }, + { OV( 246), 163 }, + { OV( 281), 155 }, + { OV( 316), 147 }, + { OV( 351), 140 }, + { OV( 386), 134 }, + { OV( 421), 128 }, + { OV( 456), 122 }, + { OV( 491), 117 }, + { OV( 526), 112 }, + { OV( 561), 107 }, + { OV( 596), 102 }, + { OV( 631), 97 }, + { OV( 666), 92 }, + { OV( 701), 87 }, + { OV( 736), 81 }, + { OV( 771), 76 }, + { OV( 806), 70 }, + { OV( 841), 63 }, + { OV( 876), 56 }, + { OV( 911), 48 }, + { OV( 946), 38 }, + { OV( 981), 23 }, + { OV(1005), 5 }, + { OV(1016), 0 } +}; diff --git a/Marlin/src/module/thermistor/thermistor_99.h b/Marlin/src/module/thermistor/thermistor_99.h new file mode 100644 index 0000000..839a511 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_99.h @@ -0,0 +1,64 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#pragma once + +// 100k bed thermistor with a 10K pull-up resistor - made by $ buildroot/share/scripts/createTemperatureLookupMarlin.py --rp=10000 + +const temp_entry_t temptable_99[] PROGMEM = { + { OV( 5.81), 350 }, // v=0.028 r= 57.081 res=13.433 degC/count + { OV( 6.54), 340 }, // v=0.032 r= 64.248 res=11.711 degC/count + { OV( 7.38), 330 }, // v=0.036 r= 72.588 res=10.161 degC/count + { OV( 8.36), 320 }, // v=0.041 r= 82.336 res= 8.772 degC/count + { OV( 9.51), 310 }, // v=0.046 r= 93.780 res= 7.535 degC/count + { OV( 10.87), 300 }, // v=0.053 r= 107.281 res= 6.439 degC/count + { OV( 12.47), 290 }, // v=0.061 r= 123.286 res= 5.473 degC/count + { OV( 14.37), 280 }, // v=0.070 r= 142.360 res= 4.627 degC/count + { OV( 16.64), 270 }, // v=0.081 r= 165.215 res= 3.891 degC/count + { OV( 19.37), 260 }, // v=0.095 r= 192.758 res= 3.253 degC/count + { OV( 22.65), 250 }, // v=0.111 r= 226.150 res= 2.705 degC/count + { OV( 26.62), 240 }, // v=0.130 r= 266.891 res= 2.236 degC/count + { OV( 31.46), 230 }, // v=0.154 r= 316.931 res= 1.839 degC/count + { OV( 37.38), 220 }, // v=0.182 r= 378.822 res= 1.504 degC/count + { OV( 44.65), 210 }, // v=0.218 r= 455.939 res= 1.224 degC/count + { OV( 53.64), 200 }, // v=0.262 r= 552.778 res= 0.991 degC/count + { OV( 64.78), 190 }, // v=0.316 r= 675.386 res= 0.799 degC/count + { OV( 78.65), 180 }, // v=0.384 r= 831.973 res= 0.643 degC/count + { OV( 95.94), 170 }, // v=0.468 r= 1033.801 res= 0.516 degC/count + { OV(117.52), 160 }, // v=0.574 r= 1296.481 res= 0.414 degC/count + { OV(144.42), 150 }, // v=0.705 r= 1641.900 res= 0.333 degC/count + { OV(177.80), 140 }, // v=0.868 r= 2101.110 res= 0.269 degC/count + { OV(218.89), 130 }, // v=1.069 r= 2718.725 res= 0.220 degC/count + { OV(268.82), 120 }, // v=1.313 r= 3559.702 res= 0.183 degC/count + { OV(328.35), 110 }, // v=1.603 r= 4719.968 res= 0.155 degC/count + { OV(397.44), 100 }, // v=1.941 r= 6343.323 res= 0.136 degC/count + { OV(474.90), 90 }, // v=2.319 r= 8648.807 res= 0.124 degC/count + { OV(558.03), 80 }, // v=2.725 r= 11975.779 res= 0.118 degC/count + { OV(642.76), 70 }, // v=3.138 r= 16859.622 res= 0.119 degC/count + { OV(724.25), 60 }, // v=3.536 r= 24161.472 res= 0.128 degC/count + { OV(797.93), 50 }, // v=3.896 r= 35295.361 res= 0.146 degC/count + { OV(860.51), 40 }, // v=4.202 r= 52635.209 res= 0.178 degC/count + { OV(910.55), 30 }, // v=4.446 r= 80262.251 res= 0.229 degC/count + { OV(948.36), 20 }, // v=4.631 r=125374.433 res= 0.313 degC/count + { OV(975.47), 10 }, // v=4.763 r=201020.458 res= 0.449 degC/count + { OV(994.02), 0 } // v=4.854 r=331567.870 res= 0.676 degC/count +}; diff --git a/Marlin/src/module/thermistor/thermistor_998.h b/Marlin/src/module/thermistor/thermistor_998.h new file mode 100644 index 0000000..e4cfbba --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_998.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// User-defined table 1 +// Dummy Thermistor table.. It will ALWAYS read a fixed value. +#ifndef DUMMY_THERMISTOR_998_VALUE + #define DUMMY_THERMISTOR_998_VALUE 25 +#endif + +const temp_entry_t temptable_998[] PROGMEM = { + { OV( 1), DUMMY_THERMISTOR_998_VALUE }, + { OV(1023), DUMMY_THERMISTOR_998_VALUE } +}; diff --git a/Marlin/src/module/thermistor/thermistor_999.h b/Marlin/src/module/thermistor/thermistor_999.h new file mode 100644 index 0000000..0271c47 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistor_999.h @@ -0,0 +1,33 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +// User-defined table 2 +// Dummy Thermistor table.. It will ALWAYS read a fixed value. +#ifndef DUMMY_THERMISTOR_999_VALUE + #define DUMMY_THERMISTOR_999_VALUE 25 +#endif + +const temp_entry_t temptable_999[] PROGMEM = { + { OV( 1), DUMMY_THERMISTOR_999_VALUE }, + { OV(1023), DUMMY_THERMISTOR_999_VALUE } +}; diff --git a/Marlin/src/module/thermistor/thermistors.h b/Marlin/src/module/thermistor/thermistors.h new file mode 100644 index 0000000..03ed5c2 --- /dev/null +++ b/Marlin/src/module/thermistor/thermistors.h @@ -0,0 +1,507 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../../inc/MarlinConfig.h" + +#define THERMISTOR_TABLE_ADC_RESOLUTION 10 +#define THERMISTOR_TABLE_SCALE (HAL_ADC_RANGE / _BV(THERMISTOR_TABLE_ADC_RESOLUTION)) +#if ENABLED(HAL_ADC_FILTERED) + #define OVERSAMPLENR 1 +#elif HAL_ADC_RESOLUTION > 10 + #define OVERSAMPLENR (20 - HAL_ADC_RESOLUTION) +#else + #define OVERSAMPLENR 16 +#endif +#define MAX_RAW_THERMISTOR_VALUE (HAL_ADC_RANGE * (OVERSAMPLENR) - 1) + +// Currently Marlin stores all oversampled ADC values as int16_t, make sure the HAL settings do not overflow 15bit +#if MAX_RAW_THERMISTOR_VALUE > ((1 << 15) - 1) + #error "MAX_RAW_THERMISTOR_VALUE is too large for int16_t. Reduce OVERSAMPLENR or HAL_ADC_RESOLUTION." +#endif + +#define OV_SCALE(N) (N) +#define OV(N) int16_t(OV_SCALE(N) * (OVERSAMPLENR) * (THERMISTOR_TABLE_SCALE)) + +#define ANY_THERMISTOR_IS(n) (THERMISTOR_HEATER_0 == n || THERMISTOR_HEATER_1 == n || THERMISTOR_HEATER_2 == n || THERMISTOR_HEATER_3 == n || THERMISTOR_HEATER_4 == n || THERMISTOR_HEATER_5 == n || THERMISTOR_HEATER_6 == n || THERMISTOR_HEATER_7 == n || THERMISTORBED == n || THERMISTORCHAMBER == n || THERMISTORPROBE == n) + +typedef struct { int16_t value, celsius; } temp_entry_t; + +// Pt1000 and Pt100 handling +// +// Rt=R0*(1+a*T+b*T*T) [for T>0] +// a=3.9083E-3, b=-5.775E-7 +#define PtA 3.9083E-3 +#define PtB -5.775E-7 +#define PtRt(T,R0) ((R0) * (1.0 + (PtA) * (T) + (PtB) * (T) * (T))) +#define PtAdVal(T,R0,Rup) (short)(1024 / (Rup / PtRt(T, R0) + 1)) +#define PtLine(T,R0,Rup) { OV(PtAdVal(T, R0, Rup)), T } + +#if ANY_THERMISTOR_IS(1) // beta25 = 4092 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "EPCOS" + #include "thermistor_1.h" +#endif +#if ANY_THERMISTOR_IS(2) // 4338 K, R25 = 200 kOhm, Pull-up = 4.7 kOhm, "ATC Semitec 204GT-2" + #include "thermistor_2.h" +#endif +#if ANY_THERMISTOR_IS(3) // beta25 = 4120 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "Mendel-parts" + #include "thermistor_3.h" +#endif +#if ANY_THERMISTOR_IS(4) // beta25 = 3950 K, R25 = 10 kOhm, Pull-up = 4.7 kOhm, "Generic" + #include "thermistor_4.h" +#endif +#if ANY_THERMISTOR_IS(5) // beta25 = 4267 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "ParCan, ATC 104GT-2" + #include "thermistor_5.h" +#endif +#if ANY_THERMISTOR_IS(501) // 100K Zonestar thermistor + #include "thermistor_501.h" +#endif +#if ANY_THERMISTOR_IS(502) // Unknown thermistor used by the Zonestar Průša P802M hot bed + #include "thermistor_502.h" +#endif +#if ANY_THERMISTOR_IS(503) // Zonestar (Z8XM2) Heated Bed thermistor + #include "thermistor_503.h" +#endif +#if ANY_THERMISTOR_IS(512) // 100k thermistor in RPW-Ultra hotend, Pull-up = 4.7 kOhm, "unknown model" + #include "thermistor_512.h" +#endif +#if ANY_THERMISTOR_IS(6) // beta25 = 4092 K, R25 = 100 kOhm, Pull-up = 8.2 kOhm, "EPCOS ?" + #include "thermistor_6.h" +#endif +#if ANY_THERMISTOR_IS(7) // beta25 = 3974 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "Honeywell 135-104LAG-J01" + #include "thermistor_7.h" +#endif +#if ANY_THERMISTOR_IS(71) // beta25 = 3974 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "Honeywell 135-104LAF-J01" + #include "thermistor_71.h" +#endif +#if ANY_THERMISTOR_IS(8) // beta25 = 3950 K, R25 = 100 kOhm, Pull-up = 10 kOhm, "Vishay E3104FHT" + #include "thermistor_8.h" +#endif +#if ANY_THERMISTOR_IS(9) // beta25 = 3960 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "GE Sensing AL03006-58.2K-97-G1" + #include "thermistor_9.h" +#endif +#if ANY_THERMISTOR_IS(10) // beta25 = 3960 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "RS 198-961" + #include "thermistor_10.h" +#endif +#if ANY_THERMISTOR_IS(11) // beta25 = 3950 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "QU-BD silicone bed, QWG-104F-3950" + #include "thermistor_11.h" +#endif +#if ANY_THERMISTOR_IS(13) // beta25 = 4100 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "Hisens" + #include "thermistor_13.h" +#endif +#if ANY_THERMISTOR_IS(15) // JGAurora A5 thermistor calibration + #include "thermistor_15.h" +#endif +#if ANY_THERMISTOR_IS(17) // Dagoma NTC 100k white thermistor + #include "thermistor_17.h" +#endif +#if ANY_THERMISTOR_IS(18) // ATC Semitec 204GT-2 (4.7k pullup) Dagoma.Fr - MKS_Base_DKU001327 + #include "thermistor_18.h" +#endif +#if ANY_THERMISTOR_IS(20) // Pt100 with INA826 amp on Ultimaker v2.0 electronics + #include "thermistor_20.h" +#endif +#if ANY_THERMISTOR_IS(21) // Pt100 with INA826 amp with 3.3v excitation based on "Pt100 with INA826 amp on Ultimaker v2.0 electronics" + #include "thermistor_21.h" +#endif +#if ANY_THERMISTOR_IS(22) // Thermistor in a Rostock 301 hot end, calibrated with a multimeter + #include "thermistor_22.h" +#endif +#if ANY_THERMISTOR_IS(23) // By AluOne #12622. Formerly 22 above. May need calibration/checking. + #include "thermistor_23.h" +#endif +#if ANY_THERMISTOR_IS(30) // Kis3d Silicone mat 24V 200W/300W with 6mm Precision cast plate (EN AW 5083) + #include "thermistor_30.h" +#endif +#if ANY_THERMISTOR_IS(51) // beta25 = 4092 K, R25 = 100 kOhm, Pull-up = 1 kOhm, "EPCOS" + #include "thermistor_51.h" +#endif +#if ANY_THERMISTOR_IS(52) // beta25 = 4338 K, R25 = 200 kOhm, Pull-up = 1 kOhm, "ATC Semitec 204GT-2" + #include "thermistor_52.h" +#endif +#if ANY_THERMISTOR_IS(55) // beta25 = 4267 K, R25 = 100 kOhm, Pull-up = 1 kOhm, "ATC Semitec 104GT-2 (Used on ParCan)" + #include "thermistor_55.h" +#endif +#if ANY_THERMISTOR_IS(60) // beta25 = 3950 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "Maker's Tool Works Kapton Bed" + #include "thermistor_60.h" +#endif +#if ANY_THERMISTOR_IS(61) // beta25 = 3950 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "Formbot 350°C Thermistor" + #include "thermistor_61.h" +#endif +#if ANY_THERMISTOR_IS(66) // beta25 = 4500 K, R25 = 2.5 MOhm, Pull-up = 4.7 kOhm, "DyzeDesign 500 °C Thermistor" + #include "thermistor_66.h" +#endif +#if ANY_THERMISTOR_IS(67) // R25 = 500 KOhm, beta25 = 3800 K, 4.7 kOhm pull-up, SliceEngineering 450 °C Thermistor + #include "thermistor_67.h" +#endif +#if ANY_THERMISTOR_IS(12) // beta25 = 4700 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "Personal calibration for Makibox hot bed" + #include "thermistor_12.h" +#endif +#if ANY_THERMISTOR_IS(70) // beta25 = 4100 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "Hephestos 2, bqh2 stock thermistor" + #include "thermistor_70.h" +#endif +#if ANY_THERMISTOR_IS(75) // beta25 = 4100 K, R25 = 100 kOhm, Pull-up = 4.7 kOhm, "MGB18-104F39050L32 thermistor" + #include "thermistor_75.h" +#endif +#if ANY_THERMISTOR_IS(99) // 100k bed thermistor with a 10K pull-up resistor (on some Wanhao i3 models) + #include "thermistor_99.h" +#endif +#if ANY_THERMISTOR_IS(110) // Pt100 with 1k0 pullup + #include "thermistor_110.h" +#endif +#if ANY_THERMISTOR_IS(147) // Pt100 with 4k7 pullup + #include "thermistor_147.h" +#endif +#if ANY_THERMISTOR_IS(201) // Pt100 with LMV324 Overlord + #include "thermistor_201.h" +#endif +#if ANY_THERMISTOR_IS(202) // 200K thermistor in Copymaker3D hotend + #include "thermistor_202.h" +#endif +#if ANY_THERMISTOR_IS(331) // Like table 1, but with 3V3 as input voltage for MEGA + #include "thermistor_331.h" +#endif +#if ANY_THERMISTOR_IS(332) // Like table 1, but with 3V3 as input voltage for DUE + #include "thermistor_332.h" +#endif +#if ANY_THERMISTOR_IS(666) // beta25 = UNK, R25 = 200K, Pull-up = 10 kOhm, "Unidentified 200K NTC thermistor (Einstart S)" + #include "thermistor_666.h" +#endif +#if ANY_THERMISTOR_IS(1010) // Pt1000 with 1k0 pullup + #include "thermistor_1010.h" +#endif +#if ANY_THERMISTOR_IS(1047) // Pt1000 with 4k7 pullup + #include "thermistor_1047.h" +#endif +#if ANY_THERMISTOR_IS(998) // User-defined table 1 + #include "thermistor_998.h" +#endif +#if ANY_THERMISTOR_IS(999) // User-defined table 2 + #include "thermistor_999.h" +#endif +#if ANY_THERMISTOR_IS(1000) // Custom + const temp_entry_t temptable_1000[] PROGMEM = { { 0, 0 } }; +#endif + +#define _TT_NAME(_N) temptable_ ## _N +#define TT_NAME(_N) _TT_NAME(_N) + + +#if THERMISTOR_HEATER_0 + #define HEATER_0_TEMPTABLE TT_NAME(THERMISTOR_HEATER_0) + #define HEATER_0_TEMPTABLE_LEN COUNT(HEATER_0_TEMPTABLE) +#elif HEATER_0_USES_THERMISTOR + #error "No heater 0 thermistor table specified" +#else + #define HEATER_0_TEMPTABLE nullptr + #define HEATER_0_TEMPTABLE_LEN 0 +#endif + +#if THERMISTOR_HEATER_1 + #define HEATER_1_TEMPTABLE TT_NAME(THERMISTOR_HEATER_1) + #define HEATER_1_TEMPTABLE_LEN COUNT(HEATER_1_TEMPTABLE) +#elif HEATER_1_USES_THERMISTOR + #error "No heater 1 thermistor table specified" +#else + #define HEATER_1_TEMPTABLE nullptr + #define HEATER_1_TEMPTABLE_LEN 0 +#endif + +#if THERMISTOR_HEATER_2 + #define HEATER_2_TEMPTABLE TT_NAME(THERMISTOR_HEATER_2) + #define HEATER_2_TEMPTABLE_LEN COUNT(HEATER_2_TEMPTABLE) +#elif HEATER_2_USES_THERMISTOR + #error "No heater 2 thermistor table specified" +#else + #define HEATER_2_TEMPTABLE nullptr + #define HEATER_2_TEMPTABLE_LEN 0 +#endif + +#if THERMISTOR_HEATER_3 + #define HEATER_3_TEMPTABLE TT_NAME(THERMISTOR_HEATER_3) + #define HEATER_3_TEMPTABLE_LEN COUNT(HEATER_3_TEMPTABLE) +#elif HEATER_3_USES_THERMISTOR + #error "No heater 3 thermistor table specified" +#else + #define HEATER_3_TEMPTABLE nullptr + #define HEATER_3_TEMPTABLE_LEN 0 +#endif + +#if THERMISTOR_HEATER_4 + #define HEATER_4_TEMPTABLE TT_NAME(THERMISTOR_HEATER_4) + #define HEATER_4_TEMPTABLE_LEN COUNT(HEATER_4_TEMPTABLE) +#elif HEATER_4_USES_THERMISTOR + #error "No heater 4 thermistor table specified" +#else + #define HEATER_4_TEMPTABLE nullptr + #define HEATER_4_TEMPTABLE_LEN 0 +#endif + +#if THERMISTOR_HEATER_5 + #define HEATER_5_TEMPTABLE TT_NAME(THERMISTOR_HEATER_5) + #define HEATER_5_TEMPTABLE_LEN COUNT(HEATER_5_TEMPTABLE) +#elif HEATER_5_USES_THERMISTOR + #error "No heater 5 thermistor table specified" +#else + #define HEATER_5_TEMPTABLE nullptr + #define HEATER_5_TEMPTABLE_LEN 0 +#endif + +#if THERMISTOR_HEATER_6 + #define HEATER_6_TEMPTABLE TT_NAME(THERMISTOR_HEATER_6) + #define HEATER_6_TEMPTABLE_LEN COUNT(HEATER_6_TEMPTABLE) +#elif HEATER_6_USES_THERMISTOR + #error "No heater 6 thermistor table specified" +#else + #define HEATER_6_TEMPTABLE nullptr + #define HEATER_6_TEMPTABLE_LEN 0 +#endif + +#if THERMISTOR_HEATER_7 + #define HEATER_7_TEMPTABLE TT_NAME(THERMISTOR_HEATER_7) + #define HEATER_7_TEMPTABLE_LEN COUNT(HEATER_7_TEMPTABLE) +#elif HEATER_7_USES_THERMISTOR + #error "No heater 7 thermistor table specified" +#else + #define HEATER_7_TEMPTABLE nullptr + #define HEATER_7_TEMPTABLE_LEN 0 +#endif + +#ifdef THERMISTORBED + #define BED_TEMPTABLE TT_NAME(THERMISTORBED) + #define BED_TEMPTABLE_LEN COUNT(BED_TEMPTABLE) +#elif HEATER_BED_USES_THERMISTOR + #error "No bed thermistor table specified" +#else + #define BED_TEMPTABLE_LEN 0 +#endif + +#ifdef THERMISTORCHAMBER + #define CHAMBER_TEMPTABLE TT_NAME(THERMISTORCHAMBER) + #define CHAMBER_TEMPTABLE_LEN COUNT(CHAMBER_TEMPTABLE) +#elif HEATER_CHAMBER_USES_THERMISTOR + #error "No chamber thermistor table specified" +#else + #define CHAMBER_TEMPTABLE_LEN 0 +#endif + +#ifdef THERMISTORPROBE + #define PROBE_TEMPTABLE TT_NAME(THERMISTORPROBE) + #define PROBE_TEMPTABLE_LEN COUNT(PROBE_TEMPTABLE) +#elif HEATER_PROBE_USES_THERMISTOR + #error "No probe thermistor table specified" +#else + #define PROBE_TEMPTABLE_LEN 0 +#endif + +// The SCAN_THERMISTOR_TABLE macro needs alteration? +static_assert( + HEATER_0_TEMPTABLE_LEN < 256 && HEATER_1_TEMPTABLE_LEN < 256 + && HEATER_2_TEMPTABLE_LEN < 256 && HEATER_3_TEMPTABLE_LEN < 256 + && HEATER_4_TEMPTABLE_LEN < 256 && HEATER_5_TEMPTABLE_LEN < 256 + && HEATER_6_TEMPTABLE_LEN < 256 && HEATER_7_TEMPTABLE_LEN < 256 + && BED_TEMPTABLE_LEN < 256 && CHAMBER_TEMPTABLE_LEN < 256 + && PROBE_TEMPTABLE_LEN < 256, + "Temperature conversion tables over 255 entries need special consideration." +); + +// Set the high and low raw values for the heaters +// For thermistors the highest temperature results in the lowest ADC value +// For thermocouples the highest temperature results in the highest ADC value + +#define _TT_REV(N) REVERSE_TEMP_SENSOR_RANGE_##N +#define TT_REV(N) _TT_REV(N) + +#ifdef HEATER_0_TEMPTABLE + #if TT_REV(THERMISTOR_HEATER_0) + #define HEATER_0_SENSOR_MINTEMP_IND 0 + #define HEATER_0_SENSOR_MAXTEMP_IND HEATER_0_TEMPTABLE_LEN - 1 + #else + #define HEATER_0_SENSOR_MINTEMP_IND HEATER_0_TEMPTABLE_LEN - 1 + #define HEATER_0_SENSOR_MAXTEMP_IND 0 + #endif +#endif +#ifdef HEATER_1_TEMPTABLE + #if TT_REV(THERMISTOR_HEATER_1) + #define HEATER_1_SENSOR_MINTEMP_IND 0 + #define HEATER_1_SENSOR_MAXTEMP_IND HEATER_1_TEMPTABLE_LEN - 1 + #else + #define HEATER_1_SENSOR_MINTEMP_IND HEATER_1_TEMPTABLE_LEN - 1 + #define HEATER_1_SENSOR_MAXTEMP_IND 0 + #endif +#endif +#ifdef HEATER_2_TEMPTABLE + #if TT_REV(THERMISTOR_HEATER_2) + #define HEATER_2_SENSOR_MINTEMP_IND 0 + #define HEATER_2_SENSOR_MAXTEMP_IND HEATER_2_TEMPTABLE_LEN - 1 + #else + #define HEATER_2_SENSOR_MINTEMP_IND HEATER_2_TEMPTABLE_LEN - 1 + #define HEATER_2_SENSOR_MAXTEMP_IND 0 + #endif +#endif +#ifdef HEATER_3_TEMPTABLE + #if TT_REV(THERMISTOR_HEATER_3) + #define HEATER_3_SENSOR_MINTEMP_IND 0 + #define HEATER_3_SENSOR_MAXTEMP_IND HEATER_3_TEMPTABLE_LEN - 1 + #else + #define HEATER_3_SENSOR_MINTEMP_IND HEATER_3_TEMPTABLE_LEN - 1 + #define HEATER_3_SENSOR_MAXTEMP_IND 0 + #endif +#endif +#ifdef HEATER_4_TEMPTABLE + #if TT_REV(THERMISTOR_HEATER_4) + #define HEATER_4_SENSOR_MINTEMP_IND 0 + #define HEATER_4_SENSOR_MAXTEMP_IND HEATER_4_TEMPTABLE_LEN - 1 + #else + #define HEATER_4_SENSOR_MINTEMP_IND HEATER_4_TEMPTABLE_LEN - 1 + #define HEATER_4_SENSOR_MAXTEMP_IND 0 + #endif +#endif +#ifdef HEATER_5_TEMPTABLE + #if TT_REV(THERMISTOR_HEATER_5) + #define HEATER_5_SENSOR_MINTEMP_IND 0 + #define HEATER_5_SENSOR_MAXTEMP_IND HEATER_5_TEMPTABLE_LEN - 1 + #else + #define HEATER_5_SENSOR_MINTEMP_IND HEATER_5_TEMPTABLE_LEN - 1 + #define HEATER_5_SENSOR_MAXTEMP_IND 0 + #endif +#endif +#ifdef HEATER_6_TEMPTABLE + #if TT_REV(THERMISTOR_HEATER_6) + #define HEATER_6_SENSOR_MINTEMP_IND 0 + #define HEATER_6_SENSOR_MAXTEMP_IND HEATER_6_TEMPTABLE_LEN - 1 + #else + #define HEATER_6_SENSOR_MINTEMP_IND HEATER_6_TEMPTABLE_LEN - 1 + #define HEATER_6_SENSOR_MAXTEMP_IND 0 + #endif +#endif +#ifdef HEATER_7_TEMPTABLE + #if TT_REV(THERMISTOR_HEATER_7) + #define HEATER_7_SENSOR_MINTEMP_IND 0 + #define HEATER_7_SENSOR_MAXTEMP_IND HEATER_7_TEMPTABLE_LEN - 1 + #else + #define HEATER_7_SENSOR_MINTEMP_IND HEATER_7_TEMPTABLE_LEN - 1 + #define HEATER_7_SENSOR_MAXTEMP_IND 0 + #endif +#endif + +#ifndef HEATER_0_RAW_HI_TEMP + #if TT_REV(THERMISTOR_HEATER_0) || !HEATER_0_USES_THERMISTOR + #define HEATER_0_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_0_RAW_LO_TEMP 0 + #else + #define HEATER_0_RAW_HI_TEMP 0 + #define HEATER_0_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif +#ifndef HEATER_1_RAW_HI_TEMP + #if TT_REV(THERMISTOR_HEATER_1) || !HEATER_1_USES_THERMISTOR + #define HEATER_1_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_1_RAW_LO_TEMP 0 + #else + #define HEATER_1_RAW_HI_TEMP 0 + #define HEATER_1_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif +#ifndef HEATER_2_RAW_HI_TEMP + #if TT_REV(THERMISTOR_HEATER_2) || !HEATER_2_USES_THERMISTOR + #define HEATER_2_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_2_RAW_LO_TEMP 0 + #else + #define HEATER_2_RAW_HI_TEMP 0 + #define HEATER_2_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif +#ifndef HEATER_3_RAW_HI_TEMP + #if TT_REV(THERMISTOR_HEATER_3) || !HEATER_3_USES_THERMISTOR + #define HEATER_3_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_3_RAW_LO_TEMP 0 + #else + #define HEATER_3_RAW_HI_TEMP 0 + #define HEATER_3_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif +#ifndef HEATER_4_RAW_HI_TEMP + #if TT_REV(THERMISTOR_HEATER_4) || !HEATER_4_USES_THERMISTOR + #define HEATER_4_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_4_RAW_LO_TEMP 0 + #else + #define HEATER_4_RAW_HI_TEMP 0 + #define HEATER_4_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif +#ifndef HEATER_5_RAW_HI_TEMP + #if TT_REV(THERMISTOR_HEATER_5) || !HEATER_5_USES_THERMISTOR + #define HEATER_5_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_5_RAW_LO_TEMP 0 + #else + #define HEATER_5_RAW_HI_TEMP 0 + #define HEATER_5_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif +#ifndef HEATER_6_RAW_HI_TEMP + #if TT_REV(THERMISTOR_HEATER_6) || !HEATER_6_USES_THERMISTOR + #define HEATER_6_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_6_RAW_LO_TEMP 0 + #else + #define HEATER_6_RAW_HI_TEMP 0 + #define HEATER_6_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif +#ifndef HEATER_7_RAW_HI_TEMP + #if TT_REV(THERMISTOR_HEATER_7) || !HEATER_7_USES_THERMISTOR + #define HEATER_7_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_7_RAW_LO_TEMP 0 + #else + #define HEATER_7_RAW_HI_TEMP 0 + #define HEATER_7_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif +#ifndef HEATER_BED_RAW_HI_TEMP + #if TT_REV(THERMISTORBED) || !HEATER_BED_USES_THERMISTOR + #define HEATER_BED_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_BED_RAW_LO_TEMP 0 + #else + #define HEATER_BED_RAW_HI_TEMP 0 + #define HEATER_BED_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif +#ifndef HEATER_CHAMBER_RAW_HI_TEMP + #if TT_REV(THERMISTORCHAMBER) || !HEATER_CHAMBER_USES_THERMISTOR + #define HEATER_CHAMBER_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_CHAMBER_RAW_LO_TEMP 0 + #else + #define HEATER_CHAMBER_RAW_HI_TEMP 0 + #define HEATER_CHAMBER_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif +#ifndef HEATER_PROBE_RAW_HI_TEMP + #if TT_REV(THERMISTORPROBE) || !HEATER_PROBE_USES_THERMISTOR + #define HEATER_PROBE_RAW_HI_TEMP MAX_RAW_THERMISTOR_VALUE + #define HEATER_PROBE_RAW_LO_TEMP 0 + #else + #define HEATER_PROBE_RAW_HI_TEMP 0 + #define HEATER_PROBE_RAW_LO_TEMP MAX_RAW_THERMISTOR_VALUE + #endif +#endif + +#undef _TT_REV +#undef TT_REV diff --git a/Marlin/src/module/tool_change.cpp b/Marlin/src/module/tool_change.cpp new file mode 100644 index 0000000..4278e6b --- /dev/null +++ b/Marlin/src/module/tool_change.cpp @@ -0,0 +1,1296 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ + +#include "../inc/MarlinConfigPre.h" + +#include "tool_change.h" + +#include "probe.h" +#include "motion.h" +#include "planner.h" +#include "temperature.h" + +#include "../MarlinCore.h" + +//#define DEBUG_TOOL_CHANGE + +#define DEBUG_OUT ENABLED(DEBUG_TOOL_CHANGE) +#include "../core/debug_out.h" + +#if HAS_MULTI_EXTRUDER + toolchange_settings_t toolchange_settings; // Initialized by settings.load() +#endif + +#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) + migration_settings_t migration = migration_defaults; + bool enable_first_prime; +#endif + +#if ENABLED(TOOLCHANGE_FS_INIT_BEFORE_SWAP) + bool toolchange_extruder_ready[EXTRUDERS]; +#endif + +#if ENABLED(MAGNETIC_PARKING_EXTRUDER) || defined(EVENT_GCODE_AFTER_TOOLCHANGE) || (ENABLED(PARKING_EXTRUDER) && PARKING_EXTRUDER_SOLENOIDS_DELAY > 0) + #include "../gcode/gcode.h" +#endif + +#if ENABLED(DUAL_X_CARRIAGE) + #include "stepper.h" +#endif + +#if ANY(SWITCHING_EXTRUDER, SWITCHING_NOZZLE, SWITCHING_TOOLHEAD) + #include "servo.h" +#endif + +#if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER) + #include "../feature/solenoid.h" +#endif + +#if ENABLED(MIXING_EXTRUDER) + #include "../feature/mixing.h" +#endif + +#if HAS_LEVELING + #include "../feature/bedlevel/bedlevel.h" +#endif + +#if HAS_FANMUX + #include "../feature/fanmux.h" +#endif + +#if HAS_PRUSA_MMU1 + #include "../feature/mmu/mmu.h" +#elif HAS_PRUSA_MMU2 + #include "../feature/mmu/mmu2.h" +#endif + +#if HAS_LCD_MENU + #include "../lcd/marlinui.h" +#endif + +#if ENABLED(ADVANCED_PAUSE_FEATURE) + #include "../feature/pause.h" +#endif + +#if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + #include "../gcode/gcode.h" + #if TOOLCHANGE_FS_WIPE_RETRACT <= 0 + #undef TOOLCHANGE_FS_WIPE_RETRACT + #define TOOLCHANGE_FS_WIPE_RETRACT 0 + #endif +#endif + +#if DO_SWITCH_EXTRUDER + + #if EXTRUDERS > 3 + #define _SERVO_NR(E) ((E) < 2 ? SWITCHING_EXTRUDER_SERVO_NR : SWITCHING_EXTRUDER_E23_SERVO_NR) + #else + #define _SERVO_NR(E) SWITCHING_EXTRUDER_SERVO_NR + #endif + + void move_extruder_servo(const uint8_t e) { + planner.synchronize(); + #if EXTRUDERS & 1 + if (e < EXTRUDERS - 1) + #endif + { + MOVE_SERVO(_SERVO_NR(e), servo_angles[_SERVO_NR(e)][e & 1]); + safe_delay(500); + } + } + +#endif // DO_SWITCH_EXTRUDER + +#if ENABLED(SWITCHING_NOZZLE) + + #if SWITCHING_NOZZLE_TWO_SERVOS + + inline void _move_nozzle_servo(const uint8_t e, const uint8_t angle_index) { + constexpr int8_t sns_index[2] = { SWITCHING_NOZZLE_SERVO_NR, SWITCHING_NOZZLE_E1_SERVO_NR }; + constexpr int16_t sns_angles[2] = SWITCHING_NOZZLE_SERVO_ANGLES; + planner.synchronize(); + MOVE_SERVO(sns_index[e], sns_angles[angle_index]); + safe_delay(500); + } + + void lower_nozzle(const uint8_t e) { _move_nozzle_servo(e, 0); } + void raise_nozzle(const uint8_t e) { _move_nozzle_servo(e, 1); } + + #else + + void move_nozzle_servo(const uint8_t angle_index) { + planner.synchronize(); + MOVE_SERVO(SWITCHING_NOZZLE_SERVO_NR, servo_angles[SWITCHING_NOZZLE_SERVO_NR][angle_index]); + safe_delay(500); + } + + #endif + +#endif // SWITCHING_NOZZLE + +inline void _line_to_current(const AxisEnum fr_axis, const float fscale=1) { + line_to_current_position(planner.settings.max_feedrate_mm_s[fr_axis] * fscale); +} +inline void slow_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis, 0.5f); } +inline void fast_line_to_current(const AxisEnum fr_axis) { _line_to_current(fr_axis); } + +#if ENABLED(MAGNETIC_PARKING_EXTRUDER) + + float parkingposx[2], // M951 R L + parkinggrabdistance, // M951 I + parkingslowspeed, // M951 J + parkinghighspeed, // M951 H + parkingtraveldistance, // M951 D + compensationmultiplier; + + inline void magnetic_parking_extruder_tool_change(const uint8_t new_tool) { + + const float oldx = current_position.x, + grabpos = mpe_settings.parking_xpos[new_tool] + (new_tool ? mpe_settings.grab_distance : -mpe_settings.grab_distance), + offsetcompensation = TERN0(HAS_HOTEND_OFFSET, hotend_offset[active_extruder].x * mpe_settings.compensation_factor); + + if (homing_needed_error(_BV(X_AXIS))) return; + + /** + * Z Lift and Nozzle Offset shift ar defined in caller method to work equal with any Multi Hotend realization + * + * Steps: + * 1. Move high speed to park position of new extruder + * 2. Move to couple position of new extruder (this also discouple the old extruder) + * 3. Move to park position of new extruder + * 4. Move high speed to approach park position of old extruder + * 5. Move to park position of old extruder + * 6. Move to starting position + */ + + // STEP 1 + + current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation; + + DEBUG_ECHOPAIR("(1) Move extruder ", int(new_tool)); + DEBUG_POS(" to new extruder ParkPos", current_position); + + planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool); + planner.synchronize(); + + // STEP 2 + + current_position.x = grabpos + offsetcompensation; + + DEBUG_ECHOPAIR("(2) Couple extruder ", int(new_tool)); + DEBUG_POS(" to new extruder GrabPos", current_position); + + planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool); + planner.synchronize(); + + // Delay before moving tool, to allow magnetic coupling + gcode.dwell(150); + + // STEP 3 + + current_position.x = mpe_settings.parking_xpos[new_tool] + offsetcompensation; + + DEBUG_ECHOPAIR("(3) Move extruder ", int(new_tool)); + DEBUG_POS(" back to new extruder ParkPos", current_position); + + planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool); + planner.synchronize(); + + // STEP 4 + + current_position.x = mpe_settings.parking_xpos[active_extruder] + (active_extruder == 0 ? MPE_TRAVEL_DISTANCE : -MPE_TRAVEL_DISTANCE) + offsetcompensation; + + DEBUG_ECHOPAIR("(4) Move extruder ", int(new_tool)); + DEBUG_POS(" close to old extruder ParkPos", current_position); + + planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool); + planner.synchronize(); + + // STEP 5 + + current_position.x = mpe_settings.parking_xpos[active_extruder] + offsetcompensation; + + DEBUG_ECHOPAIR("(5) Park extruder ", int(new_tool)); + DEBUG_POS(" at old extruder ParkPos", current_position); + + planner.buffer_line(current_position, mpe_settings.slow_feedrate, new_tool); + planner.synchronize(); + + // STEP 6 + + current_position.x = oldx; + + DEBUG_ECHOPAIR("(6) Move extruder ", int(new_tool)); + DEBUG_POS(" to starting position", current_position); + + planner.buffer_line(current_position, mpe_settings.fast_feedrate, new_tool); + planner.synchronize(); + + DEBUG_ECHOLNPGM("Autopark done."); + } + +#elif ENABLED(PARKING_EXTRUDER) + + void pe_solenoid_init() { + LOOP_LE_N(n, 1) pe_solenoid_set_pin_state(n, !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE); + } + + void pe_solenoid_set_pin_state(const uint8_t extruder_num, const uint8_t state) { + switch (extruder_num) { + case 1: OUT_WRITE(SOL1_PIN, state); break; + default: OUT_WRITE(SOL0_PIN, state); break; + } + #if PARKING_EXTRUDER_SOLENOIDS_DELAY > 0 + gcode.dwell(PARKING_EXTRUDER_SOLENOIDS_DELAY); + #endif + } + + bool extruder_parked = true, do_solenoid_activation = true; + + // Modifies tool_change() behavior based on homing side + bool parking_extruder_unpark_after_homing(const uint8_t final_tool, bool homed_towards_final_tool) { + do_solenoid_activation = false; // Tell parking_extruder_tool_change to skip solenoid activation + + if (!extruder_parked) return false; // nothing to do + + if (homed_towards_final_tool) { + pe_solenoid_magnet_off(1 - final_tool); + DEBUG_ECHOLNPAIR("Disengage magnet", (int)(1 - final_tool)); + pe_solenoid_magnet_on(final_tool); + DEBUG_ECHOLNPAIR("Engage magnet", (int)final_tool); + parking_extruder_set_parked(false); + return false; + } + + return true; + } + + inline void parking_extruder_tool_change(const uint8_t new_tool, bool no_move) { + if (!no_move) { + + constexpr float parkingposx[] = PARKING_EXTRUDER_PARKING_X; + + #if HAS_HOTEND_OFFSET + const float x_offset = hotend_offset[active_extruder].x; + #else + constexpr float x_offset = 0; + #endif + + const float midpos = (parkingposx[0] + parkingposx[1]) * 0.5f + x_offset, + grabpos = parkingposx[new_tool] + (new_tool ? PARKING_EXTRUDER_GRAB_DISTANCE : -(PARKING_EXTRUDER_GRAB_DISTANCE)) + x_offset; + + /** + * 1. Move to park position of old extruder + * 2. Disengage magnetic field, wait for delay + * 3. Move near new extruder + * 4. Engage magnetic field for new extruder + * 5. Move to parking incl. offset of new extruder + * 6. Lower Z-Axis + */ + + // STEP 1 + + DEBUG_POS("Start PE Tool-Change", current_position); + + // Don't park the active_extruder unless unparked + if (!extruder_parked) { + current_position.x = parkingposx[active_extruder] + x_offset; + + DEBUG_ECHOLNPAIR("(1) Park extruder ", int(active_extruder)); + DEBUG_POS("Moving ParkPos", current_position); + + fast_line_to_current(X_AXIS); + + // STEP 2 + + planner.synchronize(); + DEBUG_ECHOLNPGM("(2) Disengage magnet"); + pe_solenoid_magnet_off(active_extruder); + + // STEP 3 + + current_position.x += active_extruder ? -10 : 10; // move 10mm away from parked extruder + + DEBUG_ECHOLNPGM("(3) Move near new extruder"); + DEBUG_POS("Move away from parked extruder", current_position); + + fast_line_to_current(X_AXIS); + } + + // STEP 4 + + planner.synchronize(); + DEBUG_ECHOLNPGM("(4) Engage magnetic field"); + + // Just save power for inverted magnets + TERN_(PARKING_EXTRUDER_SOLENOIDS_INVERT, pe_solenoid_magnet_on(active_extruder)); + pe_solenoid_magnet_on(new_tool); + + // STEP 5 + + current_position.x = grabpos + (new_tool ? -10 : 10); + fast_line_to_current(X_AXIS); + + current_position.x = grabpos; + + DEBUG_SYNCHRONIZE(); + DEBUG_POS("(5) Unpark extruder", current_position); + + slow_line_to_current(X_AXIS); + + // STEP 6 + + current_position.x = midpos - TERN0(HAS_HOTEND_OFFSET, hotend_offset[new_tool].x); + + DEBUG_SYNCHRONIZE(); + DEBUG_POS("(6) Move midway between hotends", current_position); + + fast_line_to_current(X_AXIS); + planner.synchronize(); // Always sync the final move + + DEBUG_POS("PE Tool-Change done.", current_position); + parking_extruder_set_parked(false); + } + else if (do_solenoid_activation) { // && nomove == true + // Deactivate current extruder solenoid + pe_solenoid_set_pin_state(active_extruder, !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE); + // Engage new extruder magnetic field + pe_solenoid_set_pin_state(new_tool, PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE); + } + + do_solenoid_activation = true; // Activate solenoid for subsequent tool_change() + } + +#endif // PARKING_EXTRUDER + +#if ENABLED(SWITCHING_TOOLHEAD) + + inline void swt_lock(const bool locked=true) { + const uint16_t swt_angles[2] = SWITCHING_TOOLHEAD_SERVO_ANGLES; + MOVE_SERVO(SWITCHING_TOOLHEAD_SERVO_NR, swt_angles[locked ? 0 : 1]); + } + + void swt_init() { swt_lock(); } + + inline void switching_toolhead_tool_change(const uint8_t new_tool, bool no_move/*=false*/) { + if (no_move) return; + + constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS; + const float placexpos = toolheadposx[active_extruder], + grabxpos = toolheadposx[new_tool]; + + /** + * 1. Move to switch position of current toolhead + * 2. Unlock tool and drop it in the dock + * 3. Move to the new toolhead + * 4. Grab and lock the new toolhead + */ + + // 1. Move to switch position of current toolhead + + DEBUG_POS("Start ST Tool-Change", current_position); + + current_position.x = placexpos; + + DEBUG_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); + DEBUG_POS("Move X SwitchPos", current_position); + + fast_line_to_current(X_AXIS); + + current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY); + + DEBUG_SYNCHRONIZE(); + DEBUG_POS("Move Y SwitchPos + Security", current_position); + + fast_line_to_current(Y_AXIS); + + // 2. Unlock tool and drop it in the dock + + planner.synchronize(); + DEBUG_ECHOLNPGM("(2) Unlock and Place Toolhead"); + swt_lock(false); + safe_delay(500); + + current_position.y = SWITCHING_TOOLHEAD_Y_POS; + DEBUG_POS("Move Y SwitchPos", current_position); + slow_line_to_current(Y_AXIS); + + // Wait for move to complete, then another 0.2s + planner.synchronize(); + safe_delay(200); + + current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; + DEBUG_POS("Move back Y clear", current_position); + fast_line_to_current(Y_AXIS); // move away from docked toolhead + + // 3. Move to the new toolhead + + current_position.x = grabxpos; + + DEBUG_SYNCHRONIZE(); + DEBUG_ECHOLNPGM("(3) Move to new toolhead position"); + DEBUG_POS("Move to new toolhead X", current_position); + + fast_line_to_current(X_AXIS); + + current_position.y = SWITCHING_TOOLHEAD_Y_POS - (SWITCHING_TOOLHEAD_Y_SECURITY); + + DEBUG_SYNCHRONIZE(); + DEBUG_POS("Move Y SwitchPos + Security", current_position); + + fast_line_to_current(Y_AXIS); + + // 4. Grab and lock the new toolhead + + current_position.y = SWITCHING_TOOLHEAD_Y_POS; + + DEBUG_SYNCHRONIZE(); + DEBUG_ECHOLNPGM("(4) Grab and lock new toolhead"); + DEBUG_POS("Move Y SwitchPos", current_position); + + slow_line_to_current(Y_AXIS); + + // Wait for move to finish, pause 0.2s, move servo, pause 0.5s + planner.synchronize(); + safe_delay(200); + swt_lock(); + safe_delay(500); + + current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; + DEBUG_POS("Move back Y clear", current_position); + fast_line_to_current(Y_AXIS); // Move away from docked toolhead + planner.synchronize(); // Always sync the final move + + DEBUG_POS("ST Tool-Change done.", current_position); + } + +#elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) + + inline void magnetic_switching_toolhead_tool_change(const uint8_t new_tool, bool no_move/*=false*/) { + if (no_move) return; + + constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS, + toolheadclearx[] = SWITCHING_TOOLHEAD_X_SECURITY; + + const float placexpos = toolheadposx[active_extruder], + placexclear = toolheadclearx[active_extruder], + grabxpos = toolheadposx[new_tool], + grabxclear = toolheadclearx[new_tool]; + + /** + * 1. Move to switch position of current toolhead + * 2. Release and place toolhead in the dock + * 3. Move to the new toolhead + * 4. Grab the new toolhead and move to security position + */ + + DEBUG_POS("Start MST Tool-Change", current_position); + + // 1. Move to switch position current toolhead + + current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR; + + SERIAL_ECHOLNPAIR("(1) Place old tool ", int(active_extruder)); + DEBUG_POS("Move Y SwitchPos + Security", current_position); + + fast_line_to_current(Y_AXIS); + + current_position.x = placexclear; + + DEBUG_SYNCHRONIZE(); + DEBUG_POS("Move X SwitchPos + Security", current_position); + + fast_line_to_current(X_AXIS); + + current_position.y = SWITCHING_TOOLHEAD_Y_POS; + + DEBUG_SYNCHRONIZE(); + DEBUG_POS("Move Y SwitchPos", current_position); + + fast_line_to_current(Y_AXIS); + + current_position.x = placexpos; + + DEBUG_SYNCHRONIZE(); + DEBUG_POS("Move X SwitchPos", current_position); + + line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS] * 0.25f); + + // 2. Release and place toolhead in the dock + + DEBUG_SYNCHRONIZE(); + DEBUG_ECHOLNPGM("(2) Release and Place Toolhead"); + + current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; + DEBUG_POS("Move Y SwitchPos + Release", current_position); + line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS] * 0.1f); + + current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_SECURITY; + + DEBUG_SYNCHRONIZE(); + DEBUG_POS("Move Y SwitchPos + Security", current_position); + + line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]); + + // 3. Move to new toolhead position + + DEBUG_SYNCHRONIZE(); + DEBUG_ECHOLNPGM("(3) Move to new toolhead position"); + + current_position.x = grabxpos; + DEBUG_POS("Move to new toolhead X", current_position); + fast_line_to_current(X_AXIS); + + // 4. Grab the new toolhead and move to security position + + DEBUG_SYNCHRONIZE(); + DEBUG_ECHOLNPGM("(4) Grab new toolhead, move to security position"); + + current_position.y = SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_RELEASE; + DEBUG_POS("Move Y SwitchPos + Release", current_position); + line_to_current_position(planner.settings.max_feedrate_mm_s[Y_AXIS]); + + current_position.y = SWITCHING_TOOLHEAD_Y_POS; + + DEBUG_SYNCHRONIZE(); + DEBUG_POS("Move Y SwitchPos", current_position); + + _line_to_current(Y_AXIS, 0.2f); + + #if ENABLED(PRIME_BEFORE_REMOVE) && (SWITCHING_TOOLHEAD_PRIME_MM || SWITCHING_TOOLHEAD_RETRACT_MM) + #if SWITCHING_TOOLHEAD_PRIME_MM + current_position.e += SWITCHING_TOOLHEAD_PRIME_MM; + planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_PRIME_FEEDRATE), new_tool); + #endif + #if SWITCHING_TOOLHEAD_RETRACT_MM + current_position.e -= SWITCHING_TOOLHEAD_RETRACT_MM; + planner.buffer_line(current_position, MMM_TO_MMS(SWITCHING_TOOLHEAD_RETRACT_FEEDRATE), new_tool); + #endif + #else + planner.synchronize(); + safe_delay(100); // Give switch time to settle + #endif + + current_position.x = grabxclear; + DEBUG_POS("Move to new toolhead X + Security", current_position); + _line_to_current(X_AXIS, 0.1f); + planner.synchronize(); + safe_delay(100); // Give switch time to settle + + current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR; + DEBUG_POS("Move back Y clear", current_position); + fast_line_to_current(Y_AXIS); // move away from docked toolhead + planner.synchronize(); // Always sync last tool-change move + + DEBUG_POS("MST Tool-Change done.", current_position); + } + +#elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) + + inline void est_activate_solenoid() { OUT_WRITE(SOL0_PIN, HIGH); } + inline void est_deactivate_solenoid() { OUT_WRITE(SOL0_PIN, LOW); } + void est_init() { est_activate_solenoid(); } + + inline void em_switching_toolhead_tool_change(const uint8_t new_tool, bool no_move) { + if (no_move) return; + + constexpr float toolheadposx[] = SWITCHING_TOOLHEAD_X_POS; + const float placexpos = toolheadposx[active_extruder], + grabxpos = toolheadposx[new_tool]; + const xyz_pos_t &hoffs = hotend_offset[active_extruder]; + + /** + * 1. Raise Z-Axis to give enough clearance + * 2. Move to position near active extruder parking + * 3. Move gently to park position of active extruder + * 4. Disengage magnetic field, wait for delay + * 5. Leave extruder and move to position near new extruder parking + * 6. Move gently to park position of new extruder + * 7. Engage magnetic field for new extruder parking + * 8. Unpark extruder + * 9. Apply Z hotend offset to current position + */ + + DEBUG_POS("Start EMST Tool-Change", current_position); + + // 1. Raise Z-Axis to give enough clearance + + current_position.z += SWITCHING_TOOLHEAD_Z_HOP; + DEBUG_POS("(1) Raise Z-Axis ", current_position); + fast_line_to_current(Z_AXIS); + + // 2. Move to position near active extruder parking + + DEBUG_SYNCHRONIZE(); + DEBUG_ECHOLNPAIR("(2) Move near active extruder parking", active_extruder); + DEBUG_POS("Moving ParkPos", current_position); + + current_position.set(hoffs.x + placexpos, + hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR); + fast_line_to_current(X_AXIS); + + // 3. Move gently to park position of active extruder + + DEBUG_SYNCHRONIZE(); + SERIAL_ECHOLNPAIR("(3) Move gently to park position of active extruder", active_extruder); + DEBUG_POS("Moving ParkPos", current_position); + + current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; + slow_line_to_current(Y_AXIS); + + // 4. Disengage magnetic field, wait for delay + + planner.synchronize(); + DEBUG_ECHOLNPGM("(4) Disengage magnet"); + est_deactivate_solenoid(); + + // 5. Leave extruder and move to position near new extruder parking + + DEBUG_ECHOLNPGM("(5) Move near new extruder parking"); + DEBUG_POS("Moving ParkPos", current_position); + + current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR; + slow_line_to_current(Y_AXIS); + current_position.set(hoffs.x + grabxpos, + hoffs.y + SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR); + fast_line_to_current(X_AXIS); + + // 6. Move gently to park position of new extruder + + current_position.y -= SWITCHING_TOOLHEAD_Y_CLEAR; + if (DEBUGGING(LEVELING)) { + planner.synchronize(); + DEBUG_ECHOLNPGM("(6) Move near new extruder"); + } + slow_line_to_current(Y_AXIS); + + // 7. Engage magnetic field for new extruder parking + + DEBUG_SYNCHRONIZE(); + DEBUG_ECHOLNPGM("(7) Engage magnetic field"); + est_activate_solenoid(); + + // 8. Unpark extruder + + current_position.y += SWITCHING_TOOLHEAD_Y_CLEAR; + DEBUG_ECHOLNPGM("(8) Unpark extruder"); + slow_line_to_current(X_AXIS); + planner.synchronize(); // Always sync the final move + + // 9. Apply Z hotend offset to current position + + DEBUG_POS("(9) Applying Z-offset", current_position); + current_position.z += hoffs.z - hotend_offset[new_tool].z; + + DEBUG_POS("EMST Tool-Change done.", current_position); + } + +#endif // ELECTROMAGNETIC_SWITCHING_TOOLHEAD + +#if EXTRUDERS + inline void invalid_extruder_error(const uint8_t e) { + SERIAL_ECHO_START(); + SERIAL_CHAR('T'); SERIAL_ECHO((int)e); + SERIAL_CHAR(' '); SERIAL_ECHOLNPGM(STR_INVALID_EXTRUDER); + } +#endif + +#if ENABLED(DUAL_X_CARRIAGE) + + /** + * @brief Dual X Tool Change + * @details Change tools, with extra behavior based on current mode + * + * @param new_tool Tool index to activate + * @param no_move Flag indicating no moves should take place + */ + inline void dualx_tool_change(const uint8_t new_tool, bool &no_move) { + + DEBUG_ECHOPGM("Dual X Carriage Mode "); + switch (dual_x_carriage_mode) { + case DXC_FULL_CONTROL_MODE: DEBUG_ECHOLNPGM("FULL_CONTROL"); break; + case DXC_AUTO_PARK_MODE: DEBUG_ECHOLNPGM("AUTO_PARK"); break; + case DXC_DUPLICATION_MODE: DEBUG_ECHOLNPGM("DUPLICATION"); break; + case DXC_MIRRORED_MODE: DEBUG_ECHOLNPGM("MIRRORED"); break; + } + + // Get the home position of the currently-active tool + const float xhome = x_home_pos(active_extruder); + + if (dual_x_carriage_mode == DXC_AUTO_PARK_MODE // If Auto-Park mode is enabled + && IsRunning() && !no_move // ...and movement is permitted + && (delayed_move_time || current_position.x != xhome) // ...and delayed_move_time is set OR not "already parked"... + ) { + DEBUG_ECHOLNPAIR("MoveX to ", xhome); + current_position.x = xhome; + line_to_current_position(planner.settings.max_feedrate_mm_s[X_AXIS]); // Park the current head + planner.synchronize(); + } + + // Activate the new extruder ahead of calling set_axis_is_at_home! + active_extruder = new_tool; + + // This function resets the max/min values - the current position may be overwritten below. + set_axis_is_at_home(X_AXIS); + + DEBUG_POS("New Extruder", current_position); + + switch (dual_x_carriage_mode) { + case DXC_FULL_CONTROL_MODE: + // New current position is the position of the activated extruder + current_position.x = inactive_extruder_x; + // Save the inactive extruder's position (from the old current_position) + inactive_extruder_x = destination.x; + DEBUG_ECHOLNPAIR("DXC Full Control curr.x=", current_position.x, " dest.x=", destination.x); + break; + case DXC_AUTO_PARK_MODE: + idex_set_parked(); + break; + default: + break; + } + + // Ensure X axis DIR pertains to the correct carriage + stepper.set_directions(); + + DEBUG_ECHOLNPAIR("Active extruder parked: ", active_extruder_parked ? "yes" : "no"); + DEBUG_POS("New extruder (parked)", current_position); + } + +#endif // DUAL_X_CARRIAGE + +/** + * Prime active tool using TOOLCHANGE_FILAMENT_SWAP settings + */ +#if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + + void tool_change_prime() { + if (toolchange_settings.extra_prime > 0 + && TERN(PREVENT_COLD_EXTRUSION, !thermalManager.targetTooColdToExtrude(active_extruder), 1) + ) { + destination = current_position; // Remember the old position + + const bool ok = TERN1(TOOLCHANGE_PARK, all_axes_homed() && toolchange_settings.enable_park); + + #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0 + // Store and stop fan. Restored on any exit. + REMEMBER(fan, thermalManager.fan_speed[TOOLCHANGE_FS_FAN], 0); + #endif + + // Z raise + if (ok) { + // Do a small lift to avoid the workpiece in the move back (below) + current_position.z += toolchange_settings.z_raise; + #if HAS_SOFTWARE_ENDSTOPS + NOMORE(current_position.z, soft_endstop.max.z); + #endif + fast_line_to_current(Z_AXIS); + planner.synchronize(); + } + + // Park + #if ENABLED(TOOLCHANGE_PARK) + if (ok) { + IF_DISABLED(TOOLCHANGE_PARK_Y_ONLY, current_position.x = toolchange_settings.change_point.x); + IF_DISABLED(TOOLCHANGE_PARK_X_ONLY, current_position.y = toolchange_settings.change_point.y); + planner.buffer_line(current_position, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE), active_extruder); + planner.synchronize(); + } + #endif + + // Prime (All distances are added and slowed down to ensure secure priming in all circumstances) + unscaled_e_move(toolchange_settings.swap_length + toolchange_settings.extra_prime, MMM_TO_MMS(toolchange_settings.prime_speed)); + + // Cutting retraction + #if TOOLCHANGE_FS_WIPE_RETRACT + unscaled_e_move(-(TOOLCHANGE_FS_WIPE_RETRACT), MMM_TO_MMS(toolchange_settings.retract_speed)); + #endif + + // Cool down with fan + #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0 + thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = toolchange_settings.fan_speed; + gcode.dwell(SEC_TO_MS(toolchange_settings.fan_time)); + thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = 0; + #endif + + // Move back + #if ENABLED(TOOLCHANGE_PARK) + if (ok) { + #if ENABLED(TOOLCHANGE_NO_RETURN) + do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]); + #else + do_blocking_move_to(destination, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE)); + #endif + } + #endif + + // Cutting recover + unscaled_e_move(toolchange_settings.extra_resume + TOOLCHANGE_FS_WIPE_RETRACT, MMM_TO_MMS(toolchange_settings.unretract_speed)); + + planner.synchronize(); + current_position.e = destination.e; + sync_plan_position_e(); // Resume at the old E position + } + } + +#endif // TOOLCHANGE_FILAMENT_SWAP + +/** + * Perform a tool-change, which may result in moving the + * previous tool out of the way and the new tool into place. + */ +void tool_change(const uint8_t new_tool, bool no_move/*=false*/) { + + if (TERN0(MAGNETIC_SWITCHING_TOOLHEAD, new_tool == active_extruder)) + return; + + #if ENABLED(MIXING_EXTRUDER) + + UNUSED(no_move); + + if (new_tool >= MIXING_VIRTUAL_TOOLS) + return invalid_extruder_error(new_tool); + + #if MIXING_VIRTUAL_TOOLS > 1 + // T0-Tnnn: Switch virtual tool by changing the index to the mix + mixer.T(new_tool); + #endif + + #elif HAS_PRUSA_MMU2 + + UNUSED(no_move); + + mmu2.tool_change(new_tool); + + #elif EXTRUDERS == 0 + + // Nothing to do + UNUSED(new_tool); UNUSED(no_move); + + #elif EXTRUDERS < 2 + + UNUSED(no_move); + + if (new_tool) invalid_extruder_error(new_tool); + return; + + #elif HAS_MULTI_EXTRUDER + + planner.synchronize(); + + #if ENABLED(DUAL_X_CARRIAGE) // Only T0 allowed if the Printer is in DXC_DUPLICATION_MODE or DXC_MIRRORED_MODE + if (new_tool != 0 && idex_is_duplicating()) + return invalid_extruder_error(new_tool); + #endif + + if (new_tool >= EXTRUDERS) + return invalid_extruder_error(new_tool); + + if (!no_move && homing_needed()) { + no_move = true; + DEBUG_ECHOLNPGM("No move (not homed)"); + } + + TERN_(HAS_LCD_MENU, if (!no_move) ui.update()); + + #if ENABLED(DUAL_X_CARRIAGE) + const bool idex_full_control = dual_x_carriage_mode == DXC_FULL_CONTROL_MODE; + #else + constexpr bool idex_full_control = false; + #endif + + const uint8_t old_tool = active_extruder; + const bool can_move_away = !no_move && !idex_full_control; + + #if HAS_LEVELING + // Set current position to the physical position + TEMPORARY_BED_LEVELING_STATE(false); + #endif + + // First tool priming. To prime again, reboot the machine. + #if BOTH(TOOLCHANGE_FILAMENT_SWAP, TOOLCHANGE_FS_PRIME_FIRST_USED) + static bool first_tool_is_primed = false; + if (new_tool == old_tool && !first_tool_is_primed && enable_first_prime) { + tool_change_prime(); + first_tool_is_primed = true; + toolchange_extruder_ready[old_tool] = true; // Primed and initialized + } + #endif + + if (new_tool != old_tool || TERN0(PARKING_EXTRUDER, extruder_parked)) { // PARKING_EXTRUDER may need to attach old_tool when homing + destination = current_position; + + #if BOTH(TOOLCHANGE_FILAMENT_SWAP, HAS_FAN) && TOOLCHANGE_FS_FAN >= 0 + // Store and stop fan. Restored on any exit. + REMEMBER(fan, thermalManager.fan_speed[TOOLCHANGE_FS_FAN], 0); + #endif + + // Z raise before retraction + #if ENABLED(TOOLCHANGE_ZRAISE_BEFORE_RETRACT) && DISABLED(SWITCHING_NOZZLE) + if (can_move_away && TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) { + // Do a small lift to avoid the workpiece in the move back (below) + current_position.z += toolchange_settings.z_raise; + #if HAS_SOFTWARE_ENDSTOPS + NOMORE(current_position.z, soft_endstop.max.z); + #endif + fast_line_to_current(Z_AXIS); + planner.synchronize(); + } + #endif + + // Unload / Retract + #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + const bool should_swap = can_move_away && toolchange_settings.swap_length, + too_cold = TERN0(PREVENT_COLD_EXTRUSION, + !DEBUGGING(DRYRUN) && (thermalManager.targetTooColdToExtrude(old_tool) || thermalManager.targetTooColdToExtrude(new_tool)) + ); + if (should_swap) { + if (too_cold) { + SERIAL_ECHO_MSG(STR_ERR_HOTEND_TOO_COLD); + if (ENABLED(SINGLENOZZLE)) { active_extruder = new_tool; return; } + } + else { + #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED) + // For first new tool, change without unloading the old. 'Just prime/init the new' + if (first_tool_is_primed) + unscaled_e_move(-toolchange_settings.swap_length, MMM_TO_MMS(toolchange_settings.retract_speed)); + first_tool_is_primed = true; // The first new tool will be primed by toolchanging + #endif + } + } + #endif + + TERN_(SWITCHING_NOZZLE_TWO_SERVOS, raise_nozzle(old_tool)); + + REMEMBER(fr, feedrate_mm_s, XY_PROBE_FEEDRATE_MM_S); + + #if HAS_SOFTWARE_ENDSTOPS + #if HAS_HOTEND_OFFSET + #define _EXT_ARGS , old_tool, new_tool + #else + #define _EXT_ARGS + #endif + update_software_endstops(X_AXIS _EXT_ARGS); + #if DISABLED(DUAL_X_CARRIAGE) + update_software_endstops(Y_AXIS _EXT_ARGS); + update_software_endstops(Z_AXIS _EXT_ARGS); + #endif + #endif + + #if DISABLED(TOOLCHANGE_ZRAISE_BEFORE_RETRACT) && DISABLED(SWITCHING_NOZZLE) + if (can_move_away && TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) { + // Do a small lift to avoid the workpiece in the move back (below) + current_position.z += toolchange_settings.z_raise; + #if HAS_SOFTWARE_ENDSTOPS + NOMORE(current_position.z, soft_endstop.max.z); + #endif + fast_line_to_current(Z_AXIS); + } + #endif + + // Toolchange park + #if ENABLED(TOOLCHANGE_PARK) && DISABLED(SWITCHING_NOZZLE) + if (can_move_away && toolchange_settings.enable_park) { + IF_DISABLED(TOOLCHANGE_PARK_Y_ONLY, current_position.x = toolchange_settings.change_point.x); + IF_DISABLED(TOOLCHANGE_PARK_X_ONLY, current_position.y = toolchange_settings.change_point.y); + planner.buffer_line(current_position, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE), old_tool); + planner.synchronize(); + } + #endif + + #if HAS_HOTEND_OFFSET + xyz_pos_t diff = hotend_offset[new_tool] - hotend_offset[old_tool]; + TERN_(DUAL_X_CARRIAGE, diff.x = 0); + #else + constexpr xyz_pos_t diff{0}; + #endif + + #if ENABLED(DUAL_X_CARRIAGE) + dualx_tool_change(new_tool, no_move); + #elif ENABLED(PARKING_EXTRUDER) // Dual Parking extruder + parking_extruder_tool_change(new_tool, no_move); + #elif ENABLED(MAGNETIC_PARKING_EXTRUDER) // Magnetic Parking extruder + magnetic_parking_extruder_tool_change(new_tool); + #elif ENABLED(SWITCHING_TOOLHEAD) // Switching Toolhead + switching_toolhead_tool_change(new_tool, no_move); + #elif ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching Toolhead + magnetic_switching_toolhead_tool_change(new_tool, no_move); + #elif ENABLED(ELECTROMAGNETIC_SWITCHING_TOOLHEAD) // Magnetic Switching ToolChanger + em_switching_toolhead_tool_change(new_tool, no_move); + #elif ENABLED(SWITCHING_NOZZLE) && !SWITCHING_NOZZLE_TWO_SERVOS // Switching Nozzle (single servo) + // Raise by a configured distance to avoid workpiece, except with + // SWITCHING_NOZZLE_TWO_SERVOS, as both nozzles will lift instead. + if (!no_move) { + const float newz = current_position.z + _MAX(-diff.z, 0.0); + + // Check if Z has space to compensate at least z_offset, and if not, just abort now + const float maxz = _MIN(TERN(HAS_SOFTWARE_ENDSTOPS, soft_endstop.max.z, Z_MAX_POS), Z_MAX_POS); + if (newz > maxz) return; + + current_position.z = _MIN(newz + toolchange_settings.z_raise, maxz); + fast_line_to_current(Z_AXIS); + } + move_nozzle_servo(new_tool); + #endif + + // Set the new active extruder + if (DISABLED(DUAL_X_CARRIAGE)) active_extruder = new_tool; + + // The newly-selected extruder XYZ is actually at... + DEBUG_ECHOLNPAIR("Offset Tool XYZ by { ", diff.x, ", ", diff.y, ", ", diff.z, " }"); + current_position += diff; + + // Tell the planner the new "current position" + sync_plan_position(); + + #if ENABLED(DELTA) + //LOOP_XYZ(i) update_software_endstops(i); // or modify the constrain function + const bool safe_to_move = current_position.z < delta_clip_start_height - 1; + #else + constexpr bool safe_to_move = true; + #endif + + // Return to position and lower again + const bool should_move = safe_to_move && !no_move && IsRunning(); + if (should_move) { + + TERN_(SINGLENOZZLE_STANDBY_TEMP, thermalManager.singlenozzle_change(old_tool, new_tool)); + + #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + if (should_swap && !too_cold) { + + float fr = toolchange_settings.unretract_speed; + + #if ENABLED(TOOLCHANGE_FS_INIT_BEFORE_SWAP) + if (!toolchange_extruder_ready[new_tool]) { + toolchange_extruder_ready[new_tool] = true; + fr = toolchange_settings.prime_speed; // Next move is a prime + unscaled_e_move(0, MMM_TO_MMS(fr)); // Init planner with 0 length move + } + #endif + + // Unretract (or Prime) + unscaled_e_move(toolchange_settings.swap_length, MMM_TO_MMS(fr)); + + // Extra Prime + unscaled_e_move(toolchange_settings.extra_prime, MMM_TO_MMS(toolchange_settings.prime_speed)); + + // Cutting retraction + #if TOOLCHANGE_FS_WIPE_RETRACT + unscaled_e_move(-(TOOLCHANGE_FS_WIPE_RETRACT), MMM_TO_MMS(toolchange_settings.retract_speed)); + #endif + + // Cool down with fan + #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0 + thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = toolchange_settings.fan_speed; + gcode.dwell(SEC_TO_MS(toolchange_settings.fan_time)); + thermalManager.fan_speed[TOOLCHANGE_FS_FAN] = 0; + #endif + } + #endif + + // Prevent a move outside physical bounds + #if ENABLED(MAGNETIC_SWITCHING_TOOLHEAD) + // If the original position is within tool store area, go to X origin at once + if (destination.y < SWITCHING_TOOLHEAD_Y_POS + SWITCHING_TOOLHEAD_Y_CLEAR) { + current_position.x = 0; + planner.buffer_line(current_position, planner.settings.max_feedrate_mm_s[X_AXIS], new_tool); + planner.synchronize(); + } + #else + apply_motion_limits(destination); + #endif + + // Should the nozzle move back to the old position? + if (can_move_away) { + #if ENABLED(TOOLCHANGE_NO_RETURN) + // Just move back down + DEBUG_ECHOLNPGM("Move back Z only"); + + if (TERN1(TOOLCHANGE_PARK, toolchange_settings.enable_park)) + do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]); + + #else + // Move back to the original (or adjusted) position + DEBUG_POS("Move back", destination); + + #if ENABLED(TOOLCHANGE_PARK) + if (toolchange_settings.enable_park) do_blocking_move_to_xy_z(destination, destination.z, MMM_TO_MMS(TOOLCHANGE_PARK_XY_FEEDRATE)); + #else + do_blocking_move_to_xy(destination, planner.settings.max_feedrate_mm_s[X_AXIS]); + do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]); + #endif + + #endif + } + + else DEBUG_ECHOLNPGM("Move back skipped"); + + #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + if (should_swap && !too_cold) { + // Cutting recover + unscaled_e_move(toolchange_settings.extra_resume + TOOLCHANGE_FS_WIPE_RETRACT, MMM_TO_MMS(toolchange_settings.unretract_speed)); + current_position.e = 0; + sync_plan_position_e(); // New extruder primed and set to 0 + + // Restart Fan + #if HAS_FAN && TOOLCHANGE_FS_FAN >= 0 + RESTORE(fan); + #endif + } + #endif + + TERN_(DUAL_X_CARRIAGE, idex_set_parked(false)); + } + + #if ENABLED(SWITCHING_NOZZLE) + // Move back down. (Including when the new tool is higher.) + if (!should_move) + do_blocking_move_to_z(destination.z, planner.settings.max_feedrate_mm_s[Z_AXIS]); + #endif + + TERN_(SWITCHING_NOZZLE_TWO_SERVOS, lower_nozzle(new_tool)); + + } // (new_tool != old_tool) + + planner.synchronize(); + + #if ENABLED(EXT_SOLENOID) && DISABLED(PARKING_EXTRUDER) + disable_all_solenoids(); + enable_solenoid_on_active_extruder(); + #endif + + #if HAS_PRUSA_MMU1 + if (new_tool >= E_STEPPERS) return invalid_extruder_error(new_tool); + select_multiplexed_stepper(new_tool); + #endif + + #if DO_SWITCH_EXTRUDER + planner.synchronize(); + move_extruder_servo(active_extruder); + #endif + + TERN_(HAS_FANMUX, fanmux_switch(active_extruder)); + + #ifdef EVENT_GCODE_AFTER_TOOLCHANGE + if (!no_move && TERN1(DUAL_X_CARRIAGE, dual_x_carriage_mode == DXC_AUTO_PARK_MODE)) + gcode.process_subcommands_now_P(PSTR(EVENT_GCODE_AFTER_TOOLCHANGE)); + #endif + + SERIAL_ECHO_START(); + SERIAL_ECHOLNPAIR(STR_ACTIVE_EXTRUDER, int(active_extruder)); + + #endif // HAS_MULTI_EXTRUDER +} + +#if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) + + #define DEBUG_OUT ENABLED(DEBUG_TOOLCHANGE_MIGRATION_FEATURE) + #include "../core/debug_out.h" + + bool extruder_migration() { + + #if ENABLED(PREVENT_COLD_EXTRUSION) + if (thermalManager.targetTooColdToExtrude(active_extruder)) { + DEBUG_ECHOLNPGM("Migration Source Too Cold"); + return false; + } + #endif + + // No auto-migration or specified target? + if (!migration.target && active_extruder >= migration.last) { + DEBUG_ECHO_MSG("No Migration Target"); + DEBUG_ECHO_MSG("Target: ", migration.target, " Last: ", migration.last, " Active: ", active_extruder); + migration.automode = false; + return false; + } + + // Migrate to a target or the next extruder + + uint8_t migration_extruder = active_extruder; + + if (migration.target) { + DEBUG_ECHOLNPGM("Migration using fixed target"); + // Specified target ok? + const int16_t t = migration.target - 1; + if (t != active_extruder) migration_extruder = t; + } + else if (migration.automode && migration_extruder < migration.last && migration_extruder < EXTRUDERS - 1) + migration_extruder++; + + if (migration_extruder == active_extruder) { + DEBUG_ECHOLNPGM("Migration source matches active"); + return false; + } + + // Migration begins + DEBUG_ECHOLNPGM("Beginning migration"); + + migration.in_progress = true; // Prevent runout script + planner.synchronize(); + + // Remember position before migration + const float resume_current_e = current_position.e; + + // Migrate the flow + planner.set_flow(migration_extruder, planner.flow_percentage[active_extruder]); + + // Migrate the retracted state + #if ENABLED(FWRETRACT) + fwretract.retracted[migration_extruder] = fwretract.retracted[active_extruder]; + #endif + + // Migrate the temperature to the new hotend + #if HAS_MULTI_HOTEND + thermalManager.setTargetHotend(thermalManager.temp_hotend[active_extruder].target, migration_extruder); + TERN_(AUTOTEMP, planner.autotemp_update()); + TERN_(HAS_DISPLAY, thermalManager.set_heating_message(0)); + thermalManager.wait_for_hotend(active_extruder); + #endif + + // Migrate Linear Advance K factor to the new extruder + TERN_(LIN_ADVANCE, planner.extruder_advance_K[active_extruder] = planner.extruder_advance_K[migration_extruder]); + + // Perform the tool change + tool_change(migration_extruder); + + // Retract if previously retracted + #if ENABLED(FWRETRACT) + if (fwretract.retracted[active_extruder]) + unscaled_e_move(-fwretract.settings.retract_length, fwretract.settings.retract_feedrate_mm_s); + #endif + + // If no available extruder + if (EXTRUDERS < 2 || active_extruder >= EXTRUDERS - 2 || active_extruder == migration.last) + migration.automode = false; + + migration.in_progress = false; + + current_position.e = resume_current_e; + + planner.synchronize(); + planner.set_e_position_mm(current_position.e); // New extruder primed and ready + DEBUG_ECHOLNPGM("Migration Complete"); + return true; + } + +#endif // TOOLCHANGE_MIGRATION_FEATURE diff --git a/Marlin/src/module/tool_change.h b/Marlin/src/module/tool_change.h new file mode 100644 index 0000000..4f88ca7 --- /dev/null +++ b/Marlin/src/module/tool_change.h @@ -0,0 +1,125 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin] + * + * Based on Sprinter and grbl. + * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + * + */ +#pragma once + +#include "../inc/MarlinConfigPre.h" +#include "../core/types.h" + +//#define DEBUG_TOOLCHANGE_MIGRATION_FEATURE + +#if HAS_MULTI_EXTRUDER + + typedef struct { + #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + float swap_length, extra_prime, extra_resume; + int16_t prime_speed, retract_speed, unretract_speed, fan, fan_speed, fan_time; + #endif + #if ENABLED(TOOLCHANGE_PARK) + bool enable_park; + xy_pos_t change_point; + #endif + float z_raise; + } toolchange_settings_t; + + extern toolchange_settings_t toolchange_settings; + + #if ENABLED(TOOLCHANGE_FILAMENT_SWAP) + extern void tool_change_prime(); + #endif + + #if ENABLED(TOOLCHANGE_FS_PRIME_FIRST_USED) + extern bool enable_first_prime; + #endif + + #if ENABLED(TOOLCHANGE_FS_INIT_BEFORE_SWAP) + extern bool toolchange_extruder_ready[EXTRUDERS]; + #endif + + #if ENABLED(TOOLCHANGE_MIGRATION_FEATURE) + typedef struct { + uint8_t target, last; + bool automode, in_progress; + } migration_settings_t; + constexpr migration_settings_t migration_defaults = { 0, 0, false, false }; + extern migration_settings_t migration; + bool extruder_migration(); + #endif +#endif + +#if DO_SWITCH_EXTRUDER + void move_extruder_servo(const uint8_t e); +#endif + +#if ENABLED(SWITCHING_NOZZLE) + #if SWITCHING_NOZZLE_TWO_SERVOS + void lower_nozzle(const uint8_t e); + void raise_nozzle(const uint8_t e); + #else + void move_nozzle_servo(const uint8_t angle_index); + #endif +#endif + +#if ENABLED(PARKING_EXTRUDER) + + #if ENABLED(PARKING_EXTRUDER_SOLENOIDS_INVERT) + #define PE_MAGNET_ON_STATE !PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE + #else + #define PE_MAGNET_ON_STATE PARKING_EXTRUDER_SOLENOIDS_PINS_ACTIVE + #endif + + void pe_solenoid_set_pin_state(const uint8_t extruder_num, const uint8_t state); + + inline void pe_solenoid_magnet_on(const uint8_t extruder_num) { pe_solenoid_set_pin_state(extruder_num, PE_MAGNET_ON_STATE); } + inline void pe_solenoid_magnet_off(const uint8_t extruder_num) { pe_solenoid_set_pin_state(extruder_num, !PE_MAGNET_ON_STATE); } + + void pe_solenoid_init(); + + extern bool extruder_parked; + inline void parking_extruder_set_parked(const bool parked) { extruder_parked = parked; } + bool parking_extruder_unpark_after_homing(const uint8_t final_tool, bool homed_towards_final_tool); + +#elif ENABLED(MAGNETIC_PARKING_EXTRUDER) + + typedef struct MPESettings { + float parking_xpos[2], // M951 L R + grab_distance; // M951 I + feedRate_t slow_feedrate, // M951 J + fast_feedrate; // M951 H + float travel_distance, // M951 D + compensation_factor; // M951 C + } mpe_settings_t; + + extern mpe_settings_t mpe_settings; + + void mpe_settings_init(); + +#endif + +TERN_(ELECTROMAGNETIC_SWITCHING_TOOLHEAD, void est_init()); + +TERN_(SWITCHING_TOOLHEAD, void swt_init()); + +/** + * Perform a tool-change, which may result in moving the + * previous tool out of the way and the new tool into place. + */ +void tool_change(const uint8_t tmp_extruder, bool no_move=false); -- cgit v1.2.3