From 722786966ad284a708502d18ac5daad02012bfc8 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 7 Sep 2017 22:33:16 -0500 Subject: [PATCH] Add gcode.cpp, motion.*, queue.* - Apply to some G-codes. --- Marlin/src/Marlin.cpp | 1158 +---------------- Marlin/src/Marlin.h | 126 +- Marlin/src/core/utility.h | 2 + Marlin/src/feature/mbl/mesh_bed_leveling.cpp | 61 + Marlin/src/feature/mbl/mesh_bed_leveling.h | 2 + .../feature/ubl/G26_Mesh_Validation_Tool.cpp | 2 +- Marlin/src/feature/ubl/ubl.cpp | 1 + Marlin/src/feature/ubl/ubl_motion.cpp | 1 + Marlin/src/gcode/calibrate/G29-mbl.h | 2 + Marlin/src/gcode/config/{M200.h => M200.cpp} | 7 +- Marlin/src/gcode/config/M201.h | 2 +- Marlin/src/gcode/config/M203.h | 2 +- Marlin/src/gcode/config/{M218.h => M218.cpp} | 13 +- Marlin/src/gcode/config/{M221.h => M221.cpp} | 7 +- Marlin/src/gcode/config/M43.h | 6 +- Marlin/src/gcode/config/M92.h | 2 +- Marlin/src/gcode/control/M999.h | 4 +- .../{process_next_command.h => gcode.cpp} | 329 ++++- Marlin/src/gcode/gcode.h | 32 +- Marlin/src/gcode/host/M110.h | 2 + Marlin/src/gcode/lcd/M0_M1.h | 4 +- .../src/gcode/motion/{G0_G1.h => G0_G1.cpp} | 15 +- Marlin/src/gcode/motion/G2_G3.h | 6 +- Marlin/src/gcode/motion/G5.h | 3 +- Marlin/src/gcode/parser.h | 2 +- Marlin/src/gcode/probe/G38.h | 4 +- Marlin/src/gcode/queue.cpp | 473 +++++++ Marlin/src/gcode/queue.h | 106 ++ .../gcode/temperature/{M104.h => M104.cpp} | 26 +- Marlin/src/gcode/temperature/M105.h | 2 +- .../gcode/temperature/{M109.h => M109.cpp} | 18 +- Marlin/src/gcode/temperature/M190.h | 6 +- .../gcode/temperature/{M303.h => M303.cpp} | 5 +- Marlin/src/gcode/units/M82_M83.h | 4 +- Marlin/src/lcd/ultralcd.cpp | 11 +- Marlin/src/libs/nozzle.cpp | 1 + Marlin/src/module/motion.cpp | 574 ++++++++ Marlin/src/module/motion.h | 237 ++++ Marlin/src/module/planner.cpp | 1 + Marlin/src/module/planner_bezier.cpp | 7 +- Marlin/src/module/stepper.cpp | 1 + Marlin/src/sd/cardreader.cpp | 1 + 42 files changed, 1898 insertions(+), 1370 deletions(-) rename Marlin/src/gcode/config/{M200.h => M200.cpp} (93%) rename Marlin/src/gcode/config/{M218.h => M218.cpp} (88%) rename Marlin/src/gcode/config/{M221.h => M221.cpp} (88%) rename Marlin/src/gcode/{process_next_command.h => gcode.cpp} (75%) rename Marlin/src/gcode/motion/{G0_G1.h => G0_G1.cpp} (88%) create mode 100644 Marlin/src/gcode/queue.cpp create mode 100644 Marlin/src/gcode/queue.h rename Marlin/src/gcode/temperature/{M104.h => M104.cpp} (73%) rename Marlin/src/gcode/temperature/{M109.h => M109.cpp} (94%) rename Marlin/src/gcode/temperature/{M303.h => M303.cpp} (95%) create mode 100644 Marlin/src/module/motion.cpp create mode 100644 Marlin/src/module/motion.h diff --git a/Marlin/src/Marlin.cpp b/Marlin/src/Marlin.cpp index 6eb0ee164..dcd8599af 100644 --- a/Marlin/src/Marlin.cpp +++ b/Marlin/src/Marlin.cpp @@ -31,6 +31,7 @@ #include "Marlin.h" #include "lcd/ultralcd.h" +#include "module/motion.h" #include "module/planner.h" #include "module/stepper.h" #include "module/endstops.h" @@ -43,7 +44,10 @@ #include #include "libs/nozzle.h" #include "libs/duration_t.h" + +#include "gcode/gcode.h" #include "gcode/parser.h" +#include "gcode/queue.h" #if HAS_BUZZER && DISABLED(LCD_USE_I2C_BUZZER) #include "libs/buzzer.h" @@ -58,6 +62,10 @@ #include "feature/mbl/mesh_bed_leveling.h" #endif +#if (ENABLED(SWITCHING_EXTRUDER) && !DONT_SWITCH) || ENABLED(SWITCHING_NOZZLE) + #include "module/tool_change.h" +#endif + #if ENABLED(BEZIER_CURVE_SUPPORT) #include "module/planner_bezier.h" #endif @@ -136,22 +144,6 @@ bool Running = true; -/** - * Cartesian Current Position - * Used to track the logical position as moves are queued. - * Used by 'line_to_current_position' to do a move after changing it. - * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'. - */ -float current_position[XYZE] = { 0.0 }; - -/** - * Cartesian Destination - * A temporary position, usually applied to 'current_position'. - * Set with 'gcode_get_destination' or 'set_destination_to_current'. - * 'line_to_destination' sets 'current_position' to 'destination'. - */ -float destination[XYZE] = { 0.0 }; - /** * axis_homed * Flags that each linear axis was homed. @@ -163,38 +155,6 @@ float destination[XYZE] = { 0.0 }; */ bool axis_homed[XYZ] = { false }, axis_known_position[XYZ] = { false }; -/** - * GCode line number handling. Hosts may opt to include line numbers when - * sending commands to Marlin, and lines will be checked for sequentiality. - * M110 N sets the current line number. - */ -static long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0; - -/** - * GCode Command Queue - * A simple ring buffer of BUFSIZE command strings. - * - * Commands are copied into this buffer by the command injectors - * (immediate, serial, sd card) and they are processed sequentially by - * the main loop. The process_next_command function parses the next - * command and hands off execution to individual handler functions. - */ -uint8_t commands_in_queue = 0; // Count of commands in the queue -static uint8_t cmd_queue_index_r = 0, // Ring buffer read position - cmd_queue_index_w = 0; // Ring buffer write position -#if ENABLED(M100_FREE_MEMORY_WATCHER) - char command_queue[BUFSIZE][MAX_CMD_SIZE]; // Necessary so M100 Free Memory Dumper can show us the commands and any corruption -#else // This can be collapsed back to the way it was soon. -static char command_queue[BUFSIZE][MAX_CMD_SIZE]; -#endif - -/** - * Next Injected Command pointer. NULL if no commands are being injected. - * Used by Marlin internally to ensure that commands initiated from within - * are enqueued ahead of any pending serial or sd card commands. - */ -static const char *injected_commands_P = NULL; - #if ENABLED(TEMPERATURE_UNITS_SUPPORT) TempUnit input_temp_units = TEMPUNIT_C; #endif @@ -213,14 +173,12 @@ static const float homing_feedrate_mm_s[] PROGMEM = { }; FORCE_INLINE float homing_feedrate(const AxisEnum a) { return pgm_read_float(&homing_feedrate_mm_s[a]); } -float feedrate_mm_s = MMM_TO_MMS(1500.0); static float saved_feedrate_mm_s; int16_t feedrate_percentage = 100, saved_feedrate_percentage, flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Initialized by settings.load() -bool axis_relative_modes[] = AXIS_RELATIVE_MODES, - volumetric_enabled; +bool volumetric_enabled; float filament_size[EXTRUDERS], volumetric_multiplier[EXTRUDERS]; #if HAS_WORKSPACE_OFFSET @@ -239,13 +197,6 @@ float filament_size[EXTRUDERS], volumetric_multiplier[EXTRUDERS]; #endif #endif -// Software Endstops are based on the configured limits. -#if HAS_SOFTWARE_ENDSTOPS - bool soft_endstops_enabled = true; -#endif -float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, - soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS }; - #if FAN_COUNT > 0 int16_t fanSpeeds[FAN_COUNT] = { 0 }; #if ENABLED(PROBING_FANS_OFF) @@ -254,12 +205,6 @@ float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, #endif #endif -// The active extruder (tool). Set with T command. -uint8_t active_extruder = 0; - -// Relative Mode. Enable with G91, disable with G90. -static bool relative_mode = false; - // For M109 and M190, this flag may be cleared (by M108) to exit the wait loop volatile bool wait_for_heatup = true; @@ -268,11 +213,6 @@ volatile bool wait_for_heatup = true; volatile bool wait_for_user = false; #endif -const char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' }; - -// Number of characters read in the current line of serial input -static int serial_count = 0; - // Inactivity shutdown millis_t previous_cmd_ms = 0; static millis_t max_inactive_time = 0; @@ -285,8 +225,6 @@ static millis_t stepper_inactive_time = (DEFAULT_STEPPER_DEACTIVE_TIME) * 1000UL Stopwatch print_job_timer = Stopwatch(); #endif -static uint8_t target_extruder; - #if HAS_BED_PROBE float zprobe_zoffset; // Initialized by settings.load() #endif @@ -423,8 +361,6 @@ float cartes[XYZ] = { 0 }; #endif #endif -static bool send_ok[BUFSIZE]; - #if HAS_SERVOS HAL_SERVO_LIB servo[NUM_SERVOS]; #define MOVE_SERVO(I, P) servo[I].move(P) @@ -461,21 +397,6 @@ static bool send_ok[BUFSIZE]; static WorkspacePlane workspace_plane = PLANE_XY; #endif -FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); } -FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); } - -#define XYZ_CONSTS_FROM_CONFIG(type, array, CONFIG) \ - static const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG }; \ - static inline type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \ - typedef void __void_##CONFIG##__ - -XYZ_CONSTS_FROM_CONFIG(float, base_min_pos, MIN_POS); -XYZ_CONSTS_FROM_CONFIG(float, base_max_pos, MAX_POS); -XYZ_CONSTS_FROM_CONFIG(float, base_home_pos, HOME_POS); -XYZ_CONSTS_FROM_CONFIG(float, max_length, MAX_LENGTH); -XYZ_CONSTS_FROM_CONFIG(float, home_bump_mm, HOME_BUMP_MM); -XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR); - /** * *************************************************************************** * ******************************** FUNCTIONS ******************************** @@ -484,10 +405,6 @@ XYZ_CONSTS_FROM_CONFIG(signed char, home_dir, HOME_DIR); void stop(); -void get_available_commands(); -void process_next_command(); -void prepare_move_to_destination(); - void get_cartesian_from_steppers(); void set_current_from_steppers_for_axis(const AxisEnum axis); @@ -497,112 +414,11 @@ void set_current_from_steppers_for_axis(const AxisEnum axis); void report_current_position(); -/** - * 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 ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position); - #endif - planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); -} -inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); } - -#if IS_KINEMATIC - - inline void sync_plan_position_kinematic() { - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position); - #endif - planner.set_position_mm_kinematic(current_position); - } - #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic() - -#else - - #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position() - -#endif - #if ENABLED(DIGIPOT_I2C) extern void digipot_i2c_set_current(uint8_t channel, float current); extern void digipot_i2c_init(); #endif -/** - * Inject the next "immediate" command, when possible, onto the front of the queue. - * Return true if any immediate commands remain to inject. - */ -static bool drain_injected_commands_P() { - if (injected_commands_P != NULL) { - size_t i = 0; - char c, cmd[30]; - strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1); - cmd[sizeof(cmd) - 1] = '\0'; - while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command - cmd[i] = '\0'; - if (enqueue_and_echo_command(cmd)) // success? - injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done - } - return (injected_commands_P != NULL); // return whether any more remain -} - -/** - * Record one or many commands to run from program memory. - * Aborts the current queue, if any. - * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards - */ -void enqueue_and_echo_commands_P(const char * const pgcode) { - injected_commands_P = pgcode; - drain_injected_commands_P(); // first command executed asap (when possible) -} - -/** - * Clear the Marlin command queue - */ -void clear_command_queue() { - cmd_queue_index_r = cmd_queue_index_w; - commands_in_queue = 0; -} - -/** - * Once a new command is in the ring buffer, call this to commit it - */ -inline void _commit_command(bool say_ok) { - send_ok[cmd_queue_index_w] = say_ok; - if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0; - commands_in_queue++; -} - -/** - * Copy a command from RAM into the main command buffer. - * Return true if the command was successfully added. - * Return false for a full buffer, or if the 'command' is a comment. - */ -inline bool _enqueuecommand(const char* cmd, bool say_ok=false) { - if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false; - strcpy(command_queue[cmd_queue_index_w], cmd); - _commit_command(say_ok); - return true; -} - -/** - * Enqueue with Serial Echo - */ -bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) { - if (_enqueuecommand(cmd, say_ok)) { - SERIAL_ECHO_START(); - SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd); - SERIAL_CHAR('"'); - SERIAL_EOL(); - return true; - } - return false; -} - void setup_killpin() { #if HAS_KILL SET_INPUT_PULLUP(KILL_PIN); @@ -784,305 +600,6 @@ void servo_init() { #endif // HAS_COLOR_LEDS -void gcode_line_error(const char* err, bool doFlush = true) { - SERIAL_ERROR_START(); - serialprintPGM(err); - SERIAL_ERRORLN(gcode_LastN); - //Serial.println(gcode_N); - if (doFlush) FlushSerialRequestResend(); - serial_count = 0; -} - -/** - * Get all commands waiting on the serial port and queue them. - * Exit when the buffer is full or when no more characters are - * left on the serial port. - */ -inline void get_serial_commands() { - static char serial_line_buffer[MAX_CMD_SIZE]; - static bool serial_comment_mode = false; - - // If the command buffer is empty for too long, - // send "wait" to indicate Marlin is still waiting. - #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0 - static millis_t last_command_time = 0; - const millis_t ms = millis(); - if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) { - SERIAL_ECHOLNPGM(MSG_WAIT); - last_command_time = ms; - } - #endif - - /** - * Loop while serial characters are incoming and the queue is not full - */ - while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) { - - char serial_char = MYSERIAL.read(); - - /** - * If the character ends the line - */ - if (serial_char == '\n' || serial_char == '\r') { - - serial_comment_mode = false; // end of line == end of comment - - if (!serial_count) continue; // skip empty lines - - serial_line_buffer[serial_count] = 0; // terminate string - serial_count = 0; //reset buffer - - char* command = serial_line_buffer; - - while (*command == ' ') command++; // skip any leading spaces - char *npos = (*command == 'N') ? command : NULL, // Require the N parameter to start the line - *apos = strchr(command, '*'); - - if (npos) { - - bool M110 = strstr_P(command, PSTR("M110")) != NULL; - - if (M110) { - char* n2pos = strchr(command + 4, 'N'); - if (n2pos) npos = n2pos; - } - - gcode_N = strtol(npos + 1, NULL, 10); - - if (gcode_N != gcode_LastN + 1 && !M110) { - gcode_line_error(PSTR(MSG_ERR_LINE_NO)); - return; - } - - if (apos) { - byte checksum = 0, count = 0; - while (command[count] != '*') checksum ^= command[count++]; - - if (strtol(apos + 1, NULL, 10) != checksum) { - gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH)); - return; - } - // if no errors, continue parsing - } - else { - gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM)); - return; - } - - gcode_LastN = gcode_N; - // if no errors, continue parsing - } - else if (apos) { // No '*' without 'N' - gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false); - return; - } - - // Movement commands alert when stopped - if (IsStopped()) { - char* gpos = strchr(command, 'G'); - if (gpos) { - const int codenum = strtol(gpos + 1, NULL, 10); - switch (codenum) { - case 0: - case 1: - case 2: - case 3: - SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); - LCD_MESSAGEPGM(MSG_STOPPED); - break; - } - } - } - - #if DISABLED(EMERGENCY_PARSER) - // If command was e-stop process now - if (strcmp(command, "M108") == 0) { - wait_for_heatup = false; - #if ENABLED(ULTIPANEL) - wait_for_user = false; - #endif - } - if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED)); - if (strcmp(command, "M410") == 0) { quickstop_stepper(); } - #endif - - #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0 - last_command_time = ms; - #endif - - // Add the command to the queue - _enqueuecommand(serial_line_buffer, true); - } - else if (serial_count >= MAX_CMD_SIZE - 1) { - // Keep fetching, but ignore normal characters beyond the max length - // The command will be injected when EOL is reached - } - else if (serial_char == '\\') { // Handle escapes - if (MYSERIAL.available() > 0) { - // if we have one more character, copy it over - serial_char = MYSERIAL.read(); - if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char; - } - // otherwise do nothing - } - else { // it's not a newline, carriage return or escape char - if (serial_char == ';') serial_comment_mode = true; - if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char; - } - - } // queue has space, serial has data -} - -#if ENABLED(SDSUPPORT) - - /** - * Get commands from the SD Card until the command buffer is full - * or until the end of the file is reached. The special character '#' - * can also interrupt buffering. - */ - inline void get_sdcard_commands() { - static bool stop_buffering = false, - sd_comment_mode = false; - - if (!IS_SD_PRINTING) return; - - /** - * '#' stops reading from SD to the buffer prematurely, so procedural - * macro calls are possible. If it occurs, stop_buffering is triggered - * and the buffer is run dry; this character _can_ occur in serial com - * due to checksums, however, no checksums are used in SD printing. - */ - - if (commands_in_queue == 0) stop_buffering = false; - - uint16_t sd_count = 0; - bool card_eof = card.eof(); - while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) { - const int16_t n = card.get(); - char sd_char = (char)n; - card_eof = card.eof(); - if (card_eof || n == -1 - || sd_char == '\n' || sd_char == '\r' - || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode) - ) { - if (card_eof) { - SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED); - card.printingHasFinished(); - #if ENABLED(PRINTER_EVENT_LEDS) - LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS); - set_led_color(0, 255, 0); // Green - #if HAS_RESUME_CONTINUE - enqueue_and_echo_commands_P(PSTR("M0")); // end of the queue! - #else - safe_delay(1000); - #endif - set_led_color(0, 0, 0); // OFF - #endif - card.checkautostart(true); - } - else if (n == -1) { - SERIAL_ERROR_START(); - SERIAL_ECHOLNPGM(MSG_SD_ERR_READ); - } - if (sd_char == '#') stop_buffering = true; - - sd_comment_mode = false; // for new command - - if (!sd_count) continue; // skip empty lines (and comment lines) - - command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string - sd_count = 0; // clear sd line buffer - - _commit_command(false); - } - else if (sd_count >= MAX_CMD_SIZE - 1) { - /** - * Keep fetching, but ignore normal characters beyond the max length - * The command will be injected when EOL is reached - */ - } - else { - if (sd_char == ';') sd_comment_mode = true; - if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char; - } - } - } - -#endif // SDSUPPORT - -/** - * Add to the circular command queue the next command from: - * - The command-injection queue (injected_commands_P) - * - The active serial input (usually USB) - * - The SD card file being actively printed - */ -void get_available_commands() { - - // if any immediate commands remain, don't get other commands yet - if (drain_injected_commands_P()) return; - - get_serial_commands(); - - #if ENABLED(SDSUPPORT) - get_sdcard_commands(); - #endif -} - -/** - * Set target_extruder from the T parameter or the active_extruder - * - * Returns TRUE if the target is invalid - */ -bool get_target_extruder_from_command(const uint16_t code) { - if (parser.seenval('T')) { - const int8_t e = parser.value_byte(); - if (e >= EXTRUDERS) { - SERIAL_ECHO_START(); - SERIAL_CHAR('M'); - SERIAL_ECHO(code); - SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e); - return true; - } - target_extruder = e; - } - else - target_extruder = active_extruder; - - return false; -} - -#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) - bool extruder_duplication_enabled = false; // Used in Dual X mode 2 -#endif - -#if ENABLED(DUAL_X_CARRIAGE) - - static DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; - - static float x_home_pos(const int extruder) { - if (extruder == 0) - return LOGICAL_X_POSITION(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 LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS); - } - - static int x_home_dir(const int extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; } - - static float inactive_extruder_x_pos = X2_MAX_POS; // used in mode 0 & 1 - static bool active_extruder_parked = false; // used in mode 1 & 2 - static float raised_parked_position[XYZE]; // used in mode 1 - static millis_t delayed_move_time = 0; // used in mode 1 - static float duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2 - static int16_t duplicate_extruder_temp_offset = 0; // used in mode 2 - -#endif // DUAL_X_CARRIAGE - #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) /** @@ -1312,54 +829,6 @@ inline float get_homing_bump_feedrate(const AxisEnum axis) { return homing_feedrate(axis) / hbd; } -/** - * Move the planner to the current position from wherever it last moved - * (or from wherever it has been told it is located). - */ -inline void line_to_current_position() { - planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder); -} - -/** - * Move the planner to the position stored in the destination array, which is - * used by G0/G1/G2/G3/G5 and many other functions to set a destination. - */ -inline void line_to_destination(const float fr_mm_s) { - planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder); -} -inline void line_to_destination() { line_to_destination(feedrate_mm_s); } - -inline void set_current_to_destination() { COPY(current_position, destination); } -inline void set_destination_to_current() { COPY(destination, current_position); } - -#if IS_KINEMATIC - /** - * Calculate delta, start a line, and set current_position to destination - */ - void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0) { - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination); - #endif - - refresh_cmd_timeout(); - - #if UBL_DELTA - // ubl segmented line will do z-only moves in single segment - ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s)); - #else - if ( current_position[X_AXIS] == destination[X_AXIS] - && current_position[Y_AXIS] == destination[Y_AXIS] - && current_position[Z_AXIS] == destination[Z_AXIS] - && current_position[E_AXIS] == destination[E_AXIS] - ) return; - - planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder); - #endif - - set_current_to_destination(); - } -#endif // IS_KINEMATIC - /** * Plan a move to (X, Y, Z) and set the current_position * The final current_position may not be the one that was requested @@ -1506,7 +975,7 @@ static void setup_for_endstop_or_probe_move() { saved_feedrate_mm_s = feedrate_mm_s; saved_feedrate_percentage = feedrate_percentage; feedrate_percentage = 100; - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); } static void clean_up_after_endstop_or_probe_move() { @@ -1515,7 +984,7 @@ static void clean_up_after_endstop_or_probe_move() { #endif feedrate_mm_s = saved_feedrate_mm_s; feedrate_percentage = saved_feedrate_percentage; - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); } #if HAS_BED_PROBE @@ -2016,7 +1485,7 @@ static void clean_up_after_endstop_or_probe_move() { #endif // Prevent stepper_inactive_time from running out and EXTRUDER_RUNOUT_PREVENT from extruding - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); #if ENABLED(PROBE_DOUBLE_TOUCH) @@ -3024,35 +2493,6 @@ static void homeaxis(const AxisEnum axis) { * *************************************************************************** */ -/** - * Set XYZE destination and feedrate from the current GCode command - * - * - Set destination from included axis codes - * - Set to current for missing axis codes - * - Set the feedrate, if included - */ -void gcode_get_destination() { - LOOP_XYZE(i) { - if (parser.seen(axis_codes[i])) - destination[i] = parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0); - else - destination[i] = current_position[i]; - } - - if (parser.linearval('F') > 0.0) - feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate()); - - #if ENABLED(PRINTCOUNTER) - if (!DEBUGGING(DRYRUN)) - print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]); - #endif - - // Get ABCDHI mixing factors - #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1) - gcode_get_mix(); - #endif -} - #if ENABLED(HOST_KEEPALIVE_FEATURE) /** @@ -3091,14 +2531,12 @@ void gcode_get_destination() { ***************** GCode Handlers ***************** **************************************************/ -#include "gcode/motion/G0_G1.h" - #if ENABLED(ARC_SUPPORT) #include "gcode/motion/G2_G3.h" #endif void dwell(millis_t time) { - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); time += previous_cmd_ms; while (PENDING(millis(), time)) idle(); } @@ -3250,8 +2688,6 @@ static bool pin_is_protected(const int8_t pin) { #include "gcode/stats/M78.h" #endif -#include "gcode/temperature/M104.h" - #if HAS_TEMP_HOTEND || HAS_TEMP_BED void print_heater_state(const float &c, const float &t, @@ -3288,9 +2724,9 @@ static bool pin_is_protected(const int8_t pin) { void print_heaterstates() { #if HAS_TEMP_HOTEND - print_heater_state(thermalManager.degHotend(target_extruder), thermalManager.degTargetHotend(target_extruder) + print_heater_state(thermalManager.degHotend(gcode.target_extruder), thermalManager.degTargetHotend(gcode.target_extruder) #if ENABLED(SHOW_TEMP_ADC_VALUES) - , thermalManager.rawHotendTemp(target_extruder) + , thermalManager.rawHotendTemp(gcode.target_extruder) #endif ); #endif @@ -3311,7 +2747,7 @@ static bool pin_is_protected(const int8_t pin) { ); #endif SERIAL_PROTOCOLPGM(" @:"); - SERIAL_PROTOCOL(thermalManager.getHeaterPower(target_extruder)); + SERIAL_PROTOCOL(thermalManager.getHeaterPower(gcode.target_extruder)); #if HAS_TEMP_BED SERIAL_PROTOCOLPGM(" B@:"); SERIAL_PROTOCOL(thermalManager.getHeaterPower(-1)); @@ -3357,8 +2793,6 @@ static bool pin_is_protected(const int8_t pin) { #include "gcode/control/M410.h" #endif -#include "gcode/temperature/M109.h" - #if HAS_TEMP_BED #include "gcode/temperature/M190.h" #endif @@ -3404,17 +2838,6 @@ static bool pin_is_protected(const int8_t pin) { #include "gcode/control/M85.h" -/** - * Multi-stepper support for M92, M201, M203 - */ -#if ENABLED(DISTINCT_E_FACTORS) - #define GET_TARGET_EXTRUDER(CMD) if (get_target_extruder_from_command(CMD)) return - #define TARGET_EXTRUDER target_extruder -#else - #define GET_TARGET_EXTRUDER(CMD) NOOP - #define TARGET_EXTRUDER 0 -#endif - #include "gcode/config/M92.h" #if ENABLED(M100_FREE_MEMORY_WATCHER) @@ -3461,7 +2884,6 @@ void report_current_position() { #include "gcode/feature/leds/M150.h" #endif -#include "gcode/config/M200.h" #include "gcode/config/M201.h" #if 0 // Not used for Sprinter/grbl gen6 @@ -3484,20 +2906,9 @@ void report_current_position() { #include "gcode/calibrate/M666.h" #endif -#if ENABLED(FWRETRACT) - #include "gcode/feature/fwretract/M207.h" - #include "gcode/feature/fwretract/M208.h" - #include "gcode/feature/fwretract/M209.h" -#endif - #include "gcode/control/M211.h" -#if HOTENDS > 1 - #include "gcode/config/M218.h" -#endif - #include "gcode/config/M220.h" -#include "gcode/config/M221.h" #include "gcode/control/M226.h" @@ -3533,8 +2944,6 @@ void report_current_position() { #include "gcode/config/M302.h" #endif -#include "gcode/temperature/M303.h" - #if ENABLED(MORGAN_SCARA) #include "gcode/scara/M360-M364.h" #endif @@ -3647,80 +3056,6 @@ void quickstop_stepper() { #include "gcode/control/T.h" -#include "gcode/process_next_command.h" - -/** - * Send a "Resend: nnn" message to the host to - * indicate that a command needs to be re-sent. - */ -void FlushSerialRequestResend() { - //char command_queue[cmd_queue_index_r][100]="Resend:"; - MYSERIAL.flush(); - SERIAL_PROTOCOLPGM(MSG_RESEND); - SERIAL_PROTOCOLLN(gcode_LastN + 1); - ok_to_send(); -} - -/** - * Send an "ok" message to the host, indicating - * that a command was successfully processed. - * - * If ADVANCED_OK is enabled also include: - * N Line number of the command, if any - * P Planner space remaining - * B Block queue space remaining - */ -void ok_to_send() { - refresh_cmd_timeout(); - if (!send_ok[cmd_queue_index_r]) return; - SERIAL_PROTOCOLPGM(MSG_OK); - #if ENABLED(ADVANCED_OK) - char* p = command_queue[cmd_queue_index_r]; - if (*p == 'N') { - SERIAL_PROTOCOL(' '); - SERIAL_ECHO(*p++); - while (NUMERIC_SIGNED(*p)) - SERIAL_ECHO(*p++); - } - SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1)); - SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue); - #endif - SERIAL_EOL(); -} - -#if HAS_SOFTWARE_ENDSTOPS - - /** - * Constrain the given coordinates to the software endstops. - */ - - // NOTE: This makes no sense for delta beds other than Z-axis. - // For delta the X/Y would need to be clamped at - // DELTA_PRINTABLE_RADIUS from center of bed, but delta - // now enforces is_position_reachable for X/Y regardless - // of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be - // redundant here. - - void clamp_to_software_endstops(float target[XYZ]) { - if (!soft_endstops_enabled) return; - #if ENABLED(MIN_SOFTWARE_ENDSTOPS) - #if DISABLED(DELTA) - NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]); - NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]); - #endif - NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]); - #endif - #if ENABLED(MAX_SOFTWARE_ENDSTOPS) - #if DISABLED(DELTA) - NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]); - NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]); - #endif - NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]); - #endif - } - -#endif - #if ENABLED(AUTO_BED_LEVELING_BILINEAR) #if ENABLED(ABL_BILINEAR_SUBDIVISION) @@ -4090,426 +3425,6 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) { current_position[axis] = cartes[axis]; } -#if ENABLED(MESH_BED_LEVELING) - - /** - * Prepare a mesh-leveled linear move in a Cartesian setup, - * splitting the move where it crosses mesh borders. - */ - void mesh_line_to_destination(float fr_mm_s, uint8_t x_splits = 0xFF, uint8_t y_splits = 0xFF) { - int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)), - cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)), - cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])), - cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS])); - NOMORE(cx1, GRID_MAX_POINTS_X - 2); - NOMORE(cy1, GRID_MAX_POINTS_Y - 2); - NOMORE(cx2, GRID_MAX_POINTS_X - 2); - NOMORE(cy2, GRID_MAX_POINTS_Y - 2); - - if (cx1 == cx2 && cy1 == cy2) { - // Start and end on same mesh square - line_to_destination(fr_mm_s); - set_current_to_destination(); - return; - } - - #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist) - - float normalized_dist, end[XYZE]; - - // Split at the left/front border of the right/top square - const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2); - if (cx2 != cx1 && TEST(x_splits, gcx)) { - COPY(end, destination); - destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]); - normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); - destination[Y_AXIS] = MBL_SEGMENT_END(Y); - CBI(x_splits, gcx); - } - else if (cy2 != cy1 && TEST(y_splits, gcy)) { - COPY(end, destination); - destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]); - normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); - destination[X_AXIS] = MBL_SEGMENT_END(X); - CBI(y_splits, gcy); - } - else { - // Already split on a border - line_to_destination(fr_mm_s); - set_current_to_destination(); - return; - } - - destination[Z_AXIS] = MBL_SEGMENT_END(Z); - destination[E_AXIS] = MBL_SEGMENT_END(E); - - // Do the split and look for more borders - mesh_line_to_destination(fr_mm_s, x_splits, y_splits); - - // Restore destination from stack - COPY(destination, end); - mesh_line_to_destination(fr_mm_s, x_splits, y_splits); - } - -#elif ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC - - #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS)) - - /** - * Prepare a bilinear-leveled linear move on Cartesian, - * splitting the move where it crosses grid borders. - */ - void bilinear_line_to_destination(float fr_mm_s, uint16_t x_splits = 0xFFFF, uint16_t y_splits = 0xFFFF) { - int cx1 = CELL_INDEX(X, current_position[X_AXIS]), - cy1 = CELL_INDEX(Y, current_position[Y_AXIS]), - cx2 = CELL_INDEX(X, destination[X_AXIS]), - cy2 = CELL_INDEX(Y, destination[Y_AXIS]); - cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2); - cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2); - cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2); - cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2); - - if (cx1 == cx2 && cy1 == cy2) { - // Start and end on same mesh square - line_to_destination(fr_mm_s); - set_current_to_destination(); - return; - } - - #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist) - - float normalized_dist, end[XYZE]; - - // Split at the left/front border of the right/top square - const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2); - if (cx2 != cx1 && TEST(x_splits, gcx)) { - COPY(end, destination); - destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx); - normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); - destination[Y_AXIS] = LINE_SEGMENT_END(Y); - CBI(x_splits, gcx); - } - else if (cy2 != cy1 && TEST(y_splits, gcy)) { - COPY(end, destination); - destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy); - normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); - destination[X_AXIS] = LINE_SEGMENT_END(X); - CBI(y_splits, gcy); - } - else { - // Already split on a border - line_to_destination(fr_mm_s); - set_current_to_destination(); - return; - } - - destination[Z_AXIS] = LINE_SEGMENT_END(Z); - destination[E_AXIS] = LINE_SEGMENT_END(E); - - // Do the split and look for more borders - bilinear_line_to_destination(fr_mm_s, x_splits, y_splits); - - // Restore destination from stack - COPY(destination, end); - bilinear_line_to_destination(fr_mm_s, x_splits, y_splits); - } - -#endif // AUTO_BED_LEVELING_BILINEAR - -#if IS_KINEMATIC && !UBL_DELTA - - /** - * Prepare a linear move in a DELTA or SCARA setup. - * - * This calls planner.buffer_line several times, adding - * small incremental moves for DELTA or SCARA. - */ - inline bool prepare_kinematic_move_to(float ltarget[XYZE]) { - - // Get the top feedrate of the move in the XY plane - const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s); - - // If the move is only in Z/E don't split up the move - if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) { - planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder); - return false; - } - - // Fail if attempting move outside printable radius - if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) return true; - - // Get the cartesian distances moved in XYZE - const float difference[XYZE] = { - ltarget[X_AXIS] - current_position[X_AXIS], - ltarget[Y_AXIS] - current_position[Y_AXIS], - ltarget[Z_AXIS] - current_position[Z_AXIS], - ltarget[E_AXIS] - current_position[E_AXIS] - }; - - // Get the linear distance in XYZ - float cartesian_mm = SQRT(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); - - // If the move is very short, check the E move distance - if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(difference[E_AXIS]); - - // 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 / _feedrate_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 minimum segment size is 0.25mm - #if IS_SCARA - NOMORE(segments, cartesian_mm * 4); - #endif - - // At least one segment is required - NOLESS(segments, 1); - - // The approximate length of each segment - const float inv_segments = 1.0 / float(segments), - segment_distance[XYZE] = { - difference[X_AXIS] * inv_segments, - difference[Y_AXIS] * inv_segments, - difference[Z_AXIS] * inv_segments, - difference[E_AXIS] * inv_segments - }; - - // SERIAL_ECHOPAIR("mm=", cartesian_mm); - // SERIAL_ECHOPAIR(" seconds=", seconds); - // SERIAL_ECHOLNPAIR(" segments=", segments); - - #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING) - // SCARA needs to scale the feed rate from mm/s to degrees/s - const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs - feed_factor = inv_segment_length * _feedrate_mm_s; - float oldA = stepper.get_axis_position_degrees(A_AXIS), - oldB = stepper.get_axis_position_degrees(B_AXIS); - #endif - - // Get the logical current position as starting point - float logical[XYZE]; - COPY(logical, current_position); - - // Drop one segment so the last move is to the exact target. - // If there's only 1 segment, loops will be skipped entirely. - --segments; - - // Calculate and execute the segments - for (uint16_t s = segments + 1; --s;) { - LOOP_XYZE(i) logical[i] += segment_distance[i]; - #if ENABLED(DELTA) - DELTA_LOGICAL_IK(); // Delta can inline its kinematics - #else - inverse_kinematics(logical); - #endif - - ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled - - #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING) - // For SCARA scale the feed rate from mm/s to degrees/s - // Use ratio between the length of the move and the larger angle change - const float adiff = abs(delta[A_AXIS] - oldA), - bdiff = abs(delta[B_AXIS] - oldB); - planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder); - oldA = delta[A_AXIS]; - oldB = delta[B_AXIS]; - #else - planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder); - #endif - } - - // Since segment_distance is only approximate, - // the final move must be to the exact destination. - - #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING) - // For SCARA scale the feed rate from mm/s to degrees/s - // With segments > 1 length is 1 segment, otherwise total length - inverse_kinematics(ltarget); - ADJUST_DELTA(ltarget); - const float adiff = abs(delta[A_AXIS] - oldA), - bdiff = abs(delta[B_AXIS] - oldB); - planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder); - #else - planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder); - #endif - - return false; - } - -#else // !IS_KINEMATIC || UBL_DELTA - - /** - * Prepare a linear move in a Cartesian setup. - * If Mesh Bed Leveling is enabled, perform a mesh move. - * - * Returns true if the caller didn't update current_position. - */ - inline bool prepare_move_to_destination_cartesian() { - #if ENABLED(AUTO_BED_LEVELING_UBL) - const float fr_scaled = MMS_SCALED(feedrate_mm_s); - if (ubl.state.active) { // direct use of ubl.state.active for speed - ubl.line_to_destination_cartesian(fr_scaled, active_extruder); - return true; - } - else - line_to_destination(fr_scaled); - #else - // Do not use feedrate_percentage for E or Z only moves - if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) - line_to_destination(); - else { - const float fr_scaled = MMS_SCALED(feedrate_mm_s); - #if ENABLED(MESH_BED_LEVELING) - if (mbl.active()) { // direct used of mbl.active() for speed - mesh_line_to_destination(fr_scaled); - return true; - } - else - #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) - if (planner.abl_enabled) { // direct use of abl_enabled for speed - bilinear_line_to_destination(fr_scaled); - return true; - } - else - #endif - line_to_destination(fr_scaled); - } - #endif - return false; - } - -#endif // !IS_KINEMATIC || UBL_DELTA - -#if ENABLED(DUAL_X_CARRIAGE) - - /** - * Prepare a linear move in a dual X axis setup - */ - inline bool prepare_move_to_destination_dualx() { - if (active_extruder_parked) { - switch (dual_x_carriage_mode) { - case DXC_FULL_CONTROL_MODE: - break; - case DXC_AUTO_PARK_MODE: - if (current_position[E_AXIS] == destination[E_AXIS]) { - // 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) { - set_current_to_destination(); - NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]); - delayed_move_time = millis(); - return true; - } - } - // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower - for (uint8_t i = 0; i < 3; i++) - planner.buffer_line( - i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS], - i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS], - i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS], - current_position[E_AXIS], - i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS], - active_extruder - ); - delayed_move_time = 0; - active_extruder_parked = false; - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked"); - #endif - break; - case DXC_DUPLICATION_MODE: - if (active_extruder == 0) { - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) { - SERIAL_ECHOPAIR("Set planner X", LOGICAL_X_POSITION(inactive_extruder_x_pos)); - SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset); - } - #endif - // move duplicate extruder into correct duplication position. - planner.set_position_mm( - LOGICAL_X_POSITION(inactive_extruder_x_pos), - current_position[Y_AXIS], - current_position[Z_AXIS], - current_position[E_AXIS] - ); - planner.buffer_line( - current_position[X_AXIS] + duplicate_extruder_x_offset, - current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], - planner.max_feedrate_mm_s[X_AXIS], 1 - ); - SYNC_PLAN_POSITION_KINEMATIC(); - stepper.synchronize(); - extruder_duplication_enabled = true; - active_extruder_parked = false; - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked"); - #endif - } - else { - #if ENABLED(DEBUG_LEVELING_FEATURE) - if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0"); - #endif - } - 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. - */ -void prepare_move_to_destination() { - clamp_to_software_endstops(destination); - refresh_cmd_timeout(); - - #if ENABLED(PREVENT_COLD_EXTRUSION) - - if (!DEBUGGING(DRYRUN)) { - if (destination[E_AXIS] != current_position[E_AXIS]) { - if (thermalManager.tooColdToExtrude(active_extruder)) { - current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part - SERIAL_ECHO_START(); - SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP); - } - #if ENABLED(PREVENT_LENGTHY_EXTRUDE) - if (destination[E_AXIS] - current_position[E_AXIS] > EXTRUDE_MAXLENGTH) { - current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part - SERIAL_ECHO_START(); - SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP); - } - #endif - } - } - - #endif - - if ( - #if UBL_DELTA // Also works for CARTESIAN (smaller segments follow mesh more closely) - ubl.prepare_segmented_line_to(destination, feedrate_mm_s) - #elif IS_KINEMATIC - prepare_kinematic_move_to(destination) - #elif ENABLED(DUAL_X_CARRIAGE) - prepare_move_to_destination_dualx() || prepare_move_to_destination_cartesian() - #else - prepare_move_to_destination_cartesian() - #endif - ) return; - - set_current_to_destination(); -} - #if ENABLED(USE_CONTROLLER_FAN) void controllerFan() { @@ -4840,7 +3755,7 @@ void manage_inactivity(bool ignore_stepper_queue/*=false*/) { } #endif // !SWITCHING_EXTRUDER - previous_cmd_ms = ms; // refresh_cmd_timeout() + gcode.refresh_cmd_timeout() const float olde = current_position[E_AXIS]; current_position[E_AXIS] += EXTRUDER_RUNOUT_EXTRUDE; @@ -5076,8 +3991,7 @@ void setup() { SERIAL_ECHOPAIR(MSG_FREE_MEMORY, freeMemory()); SERIAL_ECHOLNPAIR(MSG_PLANNER_BUFFER_BYTES, (int)sizeof(block_t)*BLOCK_BUFFER_SIZE); - // Send "ok" after commands by default - for (int8_t i = 0; i < BUFSIZE; i++) send_ok[i] = true; + queue_setup(); // Load data from EEPROM if available (or use defaults) // This also updates variables in the planner, elsewhere @@ -5265,42 +4179,8 @@ void loop() { card.checkautostart(false); #endif - if (commands_in_queue) { + advance_command_queue(); - #if ENABLED(SDSUPPORT) - - if (card.saving) { - char* command = command_queue[cmd_queue_index_r]; - if (strstr_P(command, PSTR("M29"))) { - // M29 closes the file - card.closefile(); - SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED); - ok_to_send(); - } - else { - // Write the string from the read buffer to SD - card.write_command(command); - if (card.logging) - process_next_command(); // The card is saving because it's logging - else - ok_to_send(); - } - } - else - process_next_command(); - - #else - - process_next_command(); - - #endif // SDSUPPORT - - // The queue may be reset by a command handler or by code invoked by idle() within a handler - if (commands_in_queue) { - --commands_in_queue; - if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0; - } - } endstops.report_state(); idle(); } diff --git a/Marlin/src/Marlin.h b/Marlin/src/Marlin.h index fa8160e17..cd131be93 100644 --- a/Marlin/src/Marlin.h +++ b/Marlin/src/Marlin.h @@ -167,9 +167,6 @@ void enable_all_steppers(); void disable_e_steppers(); void disable_all_steppers(); -void FlushSerialRequestResend(); -void ok_to_send(); - void kill(const char*); void quickstop_stepper(); @@ -182,13 +179,6 @@ extern bool Running; inline bool IsRunning() { return Running; } inline bool IsStopped() { return !Running; } -bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); // Add a single command to the end of the buffer. Return false on failure. -void enqueue_and_echo_commands_P(const char * const cmd); // Set one or more commands to be prioritized over the next Serial/SD command. -void clear_command_queue(); - -extern millis_t previous_cmd_ms; -inline void refresh_cmd_timeout() { previous_cmd_ms = millis(); } - /** * Feedrate scaling and conversion */ @@ -196,11 +186,11 @@ extern int16_t feedrate_percentage; #define MMS_SCALED(MM_S) ((MM_S)*feedrate_percentage*0.01) -extern bool axis_relative_modes[]; extern bool volumetric_enabled; extern int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder extern float filament_size[EXTRUDERS]; // cross-sectional area of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder. extern float volumetric_multiplier[EXTRUDERS]; // reciprocal of cross-sectional area of filament (in square millimeters), stored this way to reduce computational burden in planner + extern bool axis_known_position[XYZ]; extern bool axis_homed[XYZ]; extern volatile bool wait_for_heatup; @@ -209,48 +199,6 @@ extern volatile bool wait_for_heatup; extern volatile bool wait_for_user; #endif -extern float current_position[NUM_AXIS]; - -// Workspace offsets -#if HAS_WORKSPACE_OFFSET - #if HAS_HOME_OFFSET - extern float home_offset[XYZ]; - #endif - #if HAS_POSITION_SHIFT - extern float position_shift[XYZ]; - #endif -#endif - -#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT - extern float workspace_offset[XYZ]; - #define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS] -#elif HAS_HOME_OFFSET - #define WORKSPACE_OFFSET(AXIS) home_offset[AXIS] -#elif HAS_POSITION_SHIFT - #define WORKSPACE_OFFSET(AXIS) position_shift[AXIS] -#else - #define WORKSPACE_OFFSET(AXIS) 0 -#endif - -#define LOGICAL_POSITION(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS)) -#define RAW_POSITION(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS)) - -#if HAS_POSITION_SHIFT || DISABLED(DELTA) - #define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS) - #define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS) - #define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS) - #define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS) -#else - #define LOGICAL_X_POSITION(POS) (POS) - #define LOGICAL_Y_POSITION(POS) (POS) - #define RAW_X_POSITION(POS) (POS) - #define RAW_Y_POSITION(POS) (POS) -#endif - -#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS) -#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS) -#define RAW_CURRENT_POSITION(A) RAW_##A##_POSITION(current_position[A##_AXIS]) - // Hotend Offsets #if HOTENDS > 1 extern float hotend_offset[XYZ][HOTENDS]; @@ -259,14 +207,6 @@ extern float current_position[NUM_AXIS]; // Software Endstops extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ]; -#if HAS_SOFTWARE_ENDSTOPS - extern bool soft_endstops_enabled; - void clamp_to_software_endstops(float target[XYZ]); -#else - #define soft_endstops_enabled false - #define clamp_to_software_endstops(x) NOOP -#endif - #if HAS_WORKSPACE_OFFSET || ENABLED(DUAL_X_CARRIAGE) void update_software_endstops(const AxisEnum axis); #endif @@ -381,15 +321,15 @@ extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ]; extern Stopwatch print_job_timer; #endif -// Handling multiple extruders pins -extern uint8_t active_extruder; - #if HAS_TEMP_HOTEND || HAS_TEMP_BED void print_heaterstates(); #endif #if ENABLED(MIXING_EXTRUDER) extern float mixing_factor[MIXING_STEPPERS]; + #if MIXING_VIRTUAL_TOOLS > 1 + extern float mixing_virtual_tool_mix[MIXING_VIRTUAL_TOOLS][MIXING_STEPPERS]; + #endif #endif void calculate_volumetric_multipliers(); @@ -406,62 +346,4 @@ void do_blocking_move_to_xy(const float &x, const float &y, const float &fr_mm_s bool axis_unhomed_error(const bool x=true, const bool y=true, const bool z=true); #endif -/** - * position_is_reachable family of functions - */ - -#if IS_KINEMATIC // (DELTA or SCARA) - - #if IS_SCARA - extern const float L1, L2; - #endif - - inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) { - #if ENABLED(DELTA) - return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS); - #elif IS_SCARA - #if MIDDLE_DEAD_ZONE_R > 0 - const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y); - return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2); - #else - return HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y) <= sq(L1 + L2); - #endif - #else // CARTESIAN - // To be migrated from MakerArm branch in future - #endif - } - - inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) { - - // Both the nozzle and the probe must be able to reach the point. - // This won't work on SCARA since the probe offset rotates with the arm. - - return position_is_reachable_raw_xy(rx, ry) - && position_is_reachable_raw_xy(rx - X_PROBE_OFFSET_FROM_EXTRUDER, ry - Y_PROBE_OFFSET_FROM_EXTRUDER); - } - -#else // CARTESIAN - - inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) { - // Add 0.001 margin to deal with float imprecision - return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001) - && WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001); - } - - inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) { - // Add 0.001 margin to deal with float imprecision - return WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001) - && WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001); - } - -#endif // CARTESIAN - -FORCE_INLINE bool position_is_reachable_by_probe_xy(const float &lx, const float &ly) { - return position_is_reachable_by_probe_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly)); -} - -FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) { - return position_is_reachable_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly)); -} - #endif // __MARLIN_H__ diff --git a/Marlin/src/core/utility.h b/Marlin/src/core/utility.h index 45679d2ca..5ad9f11d9 100644 --- a/Marlin/src/core/utility.h +++ b/Marlin/src/core/utility.h @@ -25,6 +25,8 @@ #include "../inc/MarlinConfig.h" +constexpr char axis_codes[XYZE] = { 'X', 'Y', 'Z', 'E' }; + void safe_delay(millis_t ms); #if ENABLED(EEPROM_SETTINGS) diff --git a/Marlin/src/feature/mbl/mesh_bed_leveling.cpp b/Marlin/src/feature/mbl/mesh_bed_leveling.cpp index 3e2942789..35f70967d 100644 --- a/Marlin/src/feature/mbl/mesh_bed_leveling.cpp +++ b/Marlin/src/feature/mbl/mesh_bed_leveling.cpp @@ -26,6 +26,8 @@ #include "mesh_bed_leveling.h" + #include "../../module/motion.h" + mesh_bed_leveling mbl; uint8_t mesh_bed_leveling::status; @@ -49,4 +51,63 @@ ZERO(z_values); } + /** + * Prepare a mesh-leveled linear move in a Cartesian setup, + * splitting the move where it crosses mesh borders. + */ + void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits, uint8_t y_splits) { + int cx1 = mbl.cell_index_x(RAW_CURRENT_POSITION(X)), + cy1 = mbl.cell_index_y(RAW_CURRENT_POSITION(Y)), + cx2 = mbl.cell_index_x(RAW_X_POSITION(destination[X_AXIS])), + cy2 = mbl.cell_index_y(RAW_Y_POSITION(destination[Y_AXIS])); + NOMORE(cx1, GRID_MAX_POINTS_X - 2); + NOMORE(cy1, GRID_MAX_POINTS_Y - 2); + NOMORE(cx2, GRID_MAX_POINTS_X - 2); + NOMORE(cy2, GRID_MAX_POINTS_Y - 2); + + if (cx1 == cx2 && cy1 == cy2) { + // Start and end on same mesh square + line_to_destination(fr_mm_s); + set_current_to_destination(); + return; + } + + #define MBL_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist) + + float normalized_dist, end[XYZE]; + + // Split at the left/front border of the right/top square + const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2); + if (cx2 != cx1 && TEST(x_splits, gcx)) { + COPY(end, destination); + destination[X_AXIS] = LOGICAL_X_POSITION(mbl.index_to_xpos[gcx]); + normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); + destination[Y_AXIS] = MBL_SEGMENT_END(Y); + CBI(x_splits, gcx); + } + else if (cy2 != cy1 && TEST(y_splits, gcy)) { + COPY(end, destination); + destination[Y_AXIS] = LOGICAL_Y_POSITION(mbl.index_to_ypos[gcy]); + normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); + destination[X_AXIS] = MBL_SEGMENT_END(X); + CBI(y_splits, gcy); + } + else { + // Already split on a border + line_to_destination(fr_mm_s); + set_current_to_destination(); + return; + } + + destination[Z_AXIS] = MBL_SEGMENT_END(Z); + destination[E_AXIS] = MBL_SEGMENT_END(E); + + // Do the split and look for more borders + mesh_line_to_destination(fr_mm_s, x_splits, y_splits); + + // Restore destination from stack + COPY(destination, end); + mesh_line_to_destination(fr_mm_s, x_splits, y_splits); + } + #endif // MESH_BED_LEVELING diff --git a/Marlin/src/feature/mbl/mesh_bed_leveling.h b/Marlin/src/feature/mbl/mesh_bed_leveling.h index f22d56531..8096a1746 100644 --- a/Marlin/src/feature/mbl/mesh_bed_leveling.h +++ b/Marlin/src/feature/mbl/mesh_bed_leveling.h @@ -120,4 +120,6 @@ public: extern mesh_bed_leveling mbl; +void mesh_line_to_destination(const float fr_mm_s, uint8_t x_splits=0xFF, uint8_t y_splits=0xFF); + #endif // _MESH_BED_LEVELING_H_ diff --git a/Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp b/Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp index 23b1b96fb..576cd73ee 100644 --- a/Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp +++ b/Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp @@ -33,6 +33,7 @@ #include "../../Marlin.h" #include "../../module/planner.h" #include "../../module/stepper.h" + #include "../../module/motion.h" #include "../../module/temperature.h" #include "../../lcd/ultralcd.h" #include "../../gcode/parser.h" @@ -129,7 +130,6 @@ // External references - extern float feedrate_mm_s; // must set before calling prepare_move_to_destination extern Planner planner; #if ENABLED(ULTRA_LCD) extern char lcd_status_message[]; diff --git a/Marlin/src/feature/ubl/ubl.cpp b/Marlin/src/feature/ubl/ubl.cpp index 7c85db521..54f39e0f5 100644 --- a/Marlin/src/feature/ubl/ubl.cpp +++ b/Marlin/src/feature/ubl/ubl.cpp @@ -30,6 +30,7 @@ #include "../../module/configuration_store.h" #include "../../core/serial.h" #include "../../module/planner.h" + #include "../../module/motion.h" #include "math.h" diff --git a/Marlin/src/feature/ubl/ubl_motion.cpp b/Marlin/src/feature/ubl/ubl_motion.cpp index 8157a3574..b2bcebd77 100644 --- a/Marlin/src/feature/ubl/ubl_motion.cpp +++ b/Marlin/src/feature/ubl/ubl_motion.cpp @@ -28,6 +28,7 @@ #include "../../Marlin.h" #include "../../module/planner.h" #include "../../module/stepper.h" + #include "../../module/motion.h" #include diff --git a/Marlin/src/gcode/calibrate/G29-mbl.h b/Marlin/src/gcode/calibrate/G29-mbl.h index 1694c21ed..184a212a2 100644 --- a/Marlin/src/gcode/calibrate/G29-mbl.h +++ b/Marlin/src/gcode/calibrate/G29-mbl.h @@ -20,6 +20,8 @@ * */ +#include "../queue.h" + #include "../../libs/buzzer.h" #include "../../lcd/ultralcd.h" diff --git a/Marlin/src/gcode/config/M200.h b/Marlin/src/gcode/config/M200.cpp similarity index 93% rename from Marlin/src/gcode/config/M200.h rename to Marlin/src/gcode/config/M200.cpp index aa85d65b8..eae17689c 100644 --- a/Marlin/src/gcode/config/M200.h +++ b/Marlin/src/gcode/config/M200.cpp @@ -20,15 +20,18 @@ * */ +#include "../gcode.h" +#include "../../Marlin.h" + /** * M200: Set filament diameter and set E axis units to cubic units * * T - Optional extruder number. Current extruder if omitted. * D - Diameter of the filament. Use "D0" to switch back to linear units on the E axis. */ -void gcode_M200() { +void GcodeSuite::M200() { - if (get_target_extruder_from_command(200)) return; + if (get_target_extruder_from_command()) return; if (parser.seen('D')) { // setting any extruder filament size disables volumetric on the assumption that diff --git a/Marlin/src/gcode/config/M201.h b/Marlin/src/gcode/config/M201.h index 24464507c..24743f6df 100644 --- a/Marlin/src/gcode/config/M201.h +++ b/Marlin/src/gcode/config/M201.h @@ -27,7 +27,7 @@ */ void gcode_M201() { - GET_TARGET_EXTRUDER(201); + GET_TARGET_EXTRUDER(); LOOP_XYZE(i) { if (parser.seen(axis_codes[i])) { diff --git a/Marlin/src/gcode/config/M203.h b/Marlin/src/gcode/config/M203.h index 9ef3bd031..bde9b7a86 100644 --- a/Marlin/src/gcode/config/M203.h +++ b/Marlin/src/gcode/config/M203.h @@ -27,7 +27,7 @@ */ void gcode_M203() { - GET_TARGET_EXTRUDER(203); + GET_TARGET_EXTRUDER(); LOOP_XYZE(i) if (parser.seen(axis_codes[i])) { diff --git a/Marlin/src/gcode/config/M218.h b/Marlin/src/gcode/config/M218.cpp similarity index 88% rename from Marlin/src/gcode/config/M218.h rename to Marlin/src/gcode/config/M218.cpp index 2359cc969..8d12ef595 100644 --- a/Marlin/src/gcode/config/M218.h +++ b/Marlin/src/gcode/config/M218.cpp @@ -20,6 +20,13 @@ * */ +#include "../../inc/MarlinConfig.h" + +#if HOTENDS > 1 + +#include "../gcode.h" +#include "../../module/motion.h" + /** * M218 - set hotend offset (in linear units) * @@ -28,8 +35,8 @@ * Y * Z - Available with DUAL_X_CARRIAGE and SWITCHING_NOZZLE */ -void gcode_M218() { - if (get_target_extruder_from_command(218) || target_extruder == 0) return; +void GcodeSuite::M218() { + if (get_target_extruder_from_command() || target_extruder == 0) return; if (parser.seenval('X')) hotend_offset[X_AXIS][target_extruder] = parser.value_linear_units(); if (parser.seenval('Y')) hotend_offset[Y_AXIS][target_extruder] = parser.value_linear_units(); @@ -52,3 +59,5 @@ void gcode_M218() { } SERIAL_EOL(); } + +#endif // HOTENDS > 1 diff --git a/Marlin/src/gcode/config/M221.h b/Marlin/src/gcode/config/M221.cpp similarity index 88% rename from Marlin/src/gcode/config/M221.h rename to Marlin/src/gcode/config/M221.cpp index 680d0ac17..f62903e86 100644 --- a/Marlin/src/gcode/config/M221.h +++ b/Marlin/src/gcode/config/M221.cpp @@ -20,11 +20,14 @@ * */ +#include "../gcode.h" +#include "../../Marlin.h" + /** * M221: Set extrusion percentage (M221 T0 S95) */ -void gcode_M221() { - if (get_target_extruder_from_command(221)) return; +void GcodeSuite::M221() { + if (get_target_extruder_from_command()) return; if (parser.seenval('S')) flow_percentage[target_extruder] = parser.value_int(); } diff --git a/Marlin/src/gcode/config/M43.h b/Marlin/src/gcode/config/M43.h index dd4a14be7..c87607c6d 100644 --- a/Marlin/src/gcode/config/M43.h +++ b/Marlin/src/gcode/config/M43.h @@ -20,6 +20,8 @@ * */ +#include "../gcode.h" + #include "../../pins/pinsDebug.h" inline void toggle_pins() { @@ -141,7 +143,7 @@ inline void servo_probe_test() { } if (probe_inverting != deploy_state) SERIAL_PROTOCOLLNPGM("WARNING - INVERTING setting probably backwards"); - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); if (deploy_state != stow_state) { SERIAL_PROTOCOLLNPGM("BLTouch clone detected"); @@ -170,7 +172,7 @@ inline void servo_probe_test() { safe_delay(2); if (0 == j % (500 * 1)) // keep cmd_timeout happy - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); if (deploy_state != READ(PROBE_TEST_PIN)) { // probe triggered diff --git a/Marlin/src/gcode/config/M92.h b/Marlin/src/gcode/config/M92.h index 5c8cd33b9..626ce68dd 100644 --- a/Marlin/src/gcode/config/M92.h +++ b/Marlin/src/gcode/config/M92.h @@ -28,7 +28,7 @@ */ void gcode_M92() { - GET_TARGET_EXTRUDER(92); + GET_TARGET_EXTRUDER(); LOOP_XYZE(i) { if (parser.seen(axis_codes[i])) { diff --git a/Marlin/src/gcode/control/M999.h b/Marlin/src/gcode/control/M999.h index b8d60427a..e8a82e1b1 100644 --- a/Marlin/src/gcode/control/M999.h +++ b/Marlin/src/gcode/control/M999.h @@ -20,6 +20,8 @@ * */ +#include "../queue.h" + /** * M999: Restart after being stopped * @@ -37,5 +39,5 @@ void gcode_M999() { if (parser.boolval('S')) return; // gcode_LastN = Stopped_gcode_LastN; - FlushSerialRequestResend(); + flush_and_request_resend(); } diff --git a/Marlin/src/gcode/process_next_command.h b/Marlin/src/gcode/gcode.cpp similarity index 75% rename from Marlin/src/gcode/process_next_command.h rename to Marlin/src/gcode/gcode.cpp index c4108751e..367725fe5 100644 --- a/Marlin/src/gcode/process_next_command.h +++ b/Marlin/src/gcode/gcode.cpp @@ -20,11 +20,243 @@ * */ +/** + * gcode.cpp - Temporary container for all gcode handlers + * Most will migrate to classes, by feature. + */ + +#include "gcode.h" +GcodeSuite gcode; + +#include "parser.h" +#include "queue.h" +#include "../module/motion.h" + +#if ENABLED(PRINTCOUNTER) + #include "../module/printcounter.h" +#endif + +uint8_t GcodeSuite::target_extruder; +millis_t GcodeSuite::previous_cmd_ms; + +bool GcodeSuite::axis_relative_modes[] = AXIS_RELATIVE_MODES; + +/** + * Set target_extruder from the T parameter or the active_extruder + * + * Returns TRUE if the target is invalid + */ +bool GcodeSuite::get_target_extruder_from_command() { + if (parser.seenval('T')) { + const int8_t e = parser.value_byte(); + if (e >= EXTRUDERS) { + SERIAL_ECHO_START(); + SERIAL_CHAR('M'); + SERIAL_ECHO(parser.codenum); + SERIAL_ECHOLNPAIR(" " MSG_INVALID_EXTRUDER " ", e); + return true; + } + target_extruder = e; + } + else + target_extruder = active_extruder; + + return false; +} + +/** + * Set XYZE destination and feedrate from the current GCode command + * + * - Set destination from included axis codes + * - Set to current for missing axis codes + * - Set the feedrate, if included + */ +void GcodeSuite::get_destination_from_command() { + LOOP_XYZE(i) { + if (parser.seen(axis_codes[i])) + destination[i] = parser.value_axis_units((AxisEnum)i) + (axis_relative_modes[i] || relative_mode ? current_position[i] : 0); + else + destination[i] = current_position[i]; + } + + if (parser.linearval('F') > 0.0) + feedrate_mm_s = MMM_TO_MMS(parser.value_feedrate()); + + #if ENABLED(PRINTCOUNTER) + if (!DEBUGGING(DRYRUN)) + print_job_timer.incFilamentUsed(destination[E_AXIS] - current_position[E_AXIS]); + #endif + + // Get ABCDHI mixing factors + #if ENABLED(MIXING_EXTRUDER) && ENABLED(DIRECT_MIXING_IN_G1) + gcode_get_mix(); + #endif +} + +// +// Placeholders for non-migrated codes +// +extern void gcode_G0_G1( + #if IS_SCARA + bool fast_move=false + #endif +); +extern void gcode_G2_G3(bool clockwise); +extern void gcode_G4(); +extern void gcode_G5(); +extern void gcode_G12(); +extern void gcode_G17(); +extern void gcode_G18(); +extern void gcode_G19(); +extern void gcode_G20(); +extern void gcode_G21(); +extern void gcode_G26(); +extern void gcode_G27(); +extern void gcode_G28(const bool always_home_all); +extern void gcode_G29(); +extern void gcode_G30(); +extern void gcode_G31(); +extern void gcode_G32(); +extern void gcode_G33(); +extern void gcode_G38(bool is_38_2); +extern void gcode_G42(); +extern void gcode_G92(); +extern void gcode_M0_M1(); +extern void gcode_M3_M4(bool is_M3); +extern void gcode_M5(); +extern void gcode_M17(); +extern void gcode_M18_M84(); +extern void gcode_M20(); +extern void gcode_M21(); +extern void gcode_M22(); +extern void gcode_M23(); +extern void gcode_M24(); +extern void gcode_M25(); +extern void gcode_M26(); +extern void gcode_M27(); +extern void gcode_M28(); +extern void gcode_M29(); +extern void gcode_M30(); +extern void gcode_M31(); +extern void gcode_M32(); +extern void gcode_M33(); +extern void gcode_M34(); +extern void gcode_M42(); +extern void gcode_M43(); +extern void gcode_M48(); +extern void gcode_M49(); +extern void gcode_M75(); +extern void gcode_M76(); +extern void gcode_M77(); +extern void gcode_M78(); +extern void gcode_M80(); +extern void gcode_M81(); +extern void gcode_M82(); +extern void gcode_M83(); +extern void gcode_M85(); +extern void gcode_M92(); +extern void gcode_M100(); +extern void gcode_M105(); +extern void gcode_M106(); +extern void gcode_M107(); +extern void gcode_M108(); +extern void gcode_M110(); +extern void gcode_M111(); +extern void gcode_M112(); +extern void gcode_M113(); +extern void gcode_M114(); +extern void gcode_M115(); +extern void gcode_M117(); +extern void gcode_M118(); +extern void gcode_M119(); +extern void gcode_M120(); +extern void gcode_M121(); +extern void gcode_M125(); +extern void gcode_M126(); +extern void gcode_M127(); +extern void gcode_M128(); +extern void gcode_M129(); +extern void gcode_M140(); +extern void gcode_M145(); +extern void gcode_M149(); +extern void gcode_M150(); +extern void gcode_M155(); +extern void gcode_M163(); +extern void gcode_M164(); +extern void gcode_M165(); +extern void gcode_M190(); +extern void gcode_M201(); +extern void gcode_M203(); +extern void gcode_M204(); +extern void gcode_M205(); +extern void gcode_M206(); +extern void gcode_M211(); +extern void gcode_M220(); +extern void gcode_M226(); +extern void gcode_M240(); +extern void gcode_M250(); +extern void gcode_M260(); +extern void gcode_M261(); +extern void gcode_M280(); +extern void gcode_M300(); +extern void gcode_M301(); +extern void gcode_M302(); +extern void gcode_M304(); +extern void gcode_M350(); +extern void gcode_M351(); +extern void gcode_M355(); +extern bool gcode_M360(); +extern bool gcode_M361(); +extern bool gcode_M362(); +extern bool gcode_M363(); +extern bool gcode_M364(); +extern void gcode_M380(); +extern void gcode_M381(); +extern void gcode_M400(); +extern void gcode_M401(); +extern void gcode_M402(); +extern void gcode_M404(); +extern void gcode_M405(); +extern void gcode_M406(); +extern void gcode_M407(); +extern void gcode_M410(); +extern void gcode_M420(); +extern void gcode_M421(); +extern void gcode_M428(); +extern void gcode_M500(); +extern void gcode_M501(); +extern void gcode_M502(); +extern void gcode_M503(); +extern void gcode_M540(); +extern void gcode_M600(); +extern void gcode_M605(); +extern void gcode_M665(); +extern void gcode_M666(); +extern void gcode_M702(); +extern void gcode_M851(); +extern void gcode_M900(); +extern void gcode_M906(); +extern void gcode_M911(); +extern void gcode_M912(); +extern void gcode_M913(); +extern void gcode_M914(); +extern void gcode_M907(); +extern void gcode_M908(); +extern void gcode_M909(); +extern void gcode_M910(); +extern void gcode_M928(); +extern void gcode_M999(); +extern void gcode_T(uint8_t tmp_extruder); + +#if ENABLED(M100_FREE_MEMORY_WATCHER) + extern void M100_dump_routine(const char * const title, const char *start, const char *end); +#endif + /** * Process a single command and dispatch it to its handler * This is called from the main loop() */ -void process_next_command() { +void GcodeSuite::process_next_command() { char * const current_command = command_queue[cmd_queue_index_r]; if (DEBUGGING(ECHO)) { @@ -49,9 +281,9 @@ void process_next_command() { case 0: case 1: #if IS_SCARA - gcode_G0_G1(parser.codenum == 0); + G0_G1(parser.codenum == 0); #else - gcode_G0_G1(); + G0_G1(); #endif break; @@ -76,10 +308,10 @@ void process_next_command() { #if ENABLED(FWRETRACT) case 10: // G10: retract - gcode_G10(); + G10(); break; case 11: // G11: retract_recover - gcode_G11(); + G11(); break; #endif // FWRETRACT @@ -303,9 +535,8 @@ void process_next_command() { break; #endif - case 104: // M104: Set hot end temperature - gcode_M104(); - break; + case 104: M104(); break; // M104: Set hot end temperature + case 109: M109(); break; // M109: Wait for hotend temperature to reach target case 110: // M110: Set Current Line Number gcode_M110(); @@ -353,10 +584,6 @@ void process_next_command() { break; #endif - case 109: // M109: Wait for hotend temperature to reach target - gcode_M109(); - break; - #if HAS_TEMP_BED case 190: // M190: Wait for bed temperature to reach target gcode_M190(); @@ -488,7 +715,7 @@ void process_next_command() { #endif case 200: // M200: Set filament diameter, E to cubic units - gcode_M200(); + M200(); break; case 201: // M201: Set max acceleration for print moves (units/s^2) gcode_M201(); @@ -528,13 +755,13 @@ void process_next_command() { #if ENABLED(FWRETRACT) case 207: // M207: Set Retract Length, Feedrate, and Z lift - gcode_M207(); + M207(); break; case 208: // M208: Set Recover (unretract) Additional Length and Feedrate - gcode_M208(); + M208(); break; case 209: // M209: Turn Automatic Retract Detection on/off - if (MIN_AUTORETRACT <= MAX_AUTORETRACT) gcode_M209(); + if (MIN_AUTORETRACT <= MAX_AUTORETRACT) M209(); break; #endif // FWRETRACT @@ -544,7 +771,7 @@ void process_next_command() { #if HOTENDS > 1 case 218: // M218: Set a tool offset - gcode_M218(); + M218(); break; #endif @@ -553,7 +780,7 @@ void process_next_command() { break; case 221: // M221: Set Flow Percentage - gcode_M221(); + M221(); break; case 226: // M226: Wait until a pin reaches a state @@ -615,7 +842,7 @@ void process_next_command() { #endif // PREVENT_COLD_EXTRUSION case 303: // M303: PID autotune - gcode_M303(); + M303(); break; #if ENABLED(MORGAN_SCARA) @@ -636,6 +863,15 @@ void process_next_command() { break; #endif // SCARA + #if ENABLED(EXT_SOLENOID) + case 380: // M380: Activate solenoid on active extruder + gcode_M380(); + break; + case 381: // M381: Disable all solenoids + gcode_M381(); + break; + #endif + case 400: // M400: Finish all moves gcode_M400(); break; @@ -809,48 +1045,17 @@ void process_next_command() { #endif #if ENABLED(I2C_POSITION_ENCODERS) - - case 860: // M860 Report encoder module position - gcode_M860(); - break; - - case 861: // M861 Report encoder module status - gcode_M861(); - break; - - case 862: // M862 Perform axis test - gcode_M862(); - break; - - case 863: // M863 Calibrate steps/mm - gcode_M863(); - break; - - case 864: // M864 Change module address - gcode_M864(); - break; - - case 865: // M865 Check module firmware version - gcode_M865(); - break; - - case 866: // M866 Report axis error count - gcode_M866(); - break; - - case 867: // M867 Toggle error correction - gcode_M867(); - break; - - case 868: // M868 Set error correction threshold - gcode_M868(); - break; - - case 869: // M869 Report axis error - gcode_M869(); - break; - - #endif // I2C_POSITION_ENCODERS + case 860: M860(); break; // M860: Report encoder module position + case 861: M861(); break; // M861: Report encoder module status + case 862: M862(); break; // M862: Perform axis test + case 863: M863(); break; // M863: Calibrate steps/mm + case 864: M864(); break; // M864: Change module address + case 865: M865(); break; // M865: Check module firmware version + case 866: M866(); break; // M866: Report axis error count + case 867: M867(); break; // M867: Toggle error correction + case 868: M868(); break; // M868: Set error correction threshold + case 869: M869(); break; // M869: Report axis error + #endif case 999: // M999: Restart after being Stopped gcode_M999(); @@ -868,4 +1073,4 @@ void process_next_command() { KEEPALIVE_STATE(NOT_BUSY); ok_to_send(); -} \ No newline at end of file +} diff --git a/Marlin/src/gcode/gcode.h b/Marlin/src/gcode/gcode.h index 90e91898f..2f40b775b 100644 --- a/Marlin/src/gcode/gcode.h +++ b/Marlin/src/gcode/gcode.h @@ -237,8 +237,8 @@ * */ -#ifndef GCODE_H -#define GCODE_H +#ifndef _GCODE_H_ +#define _GCODE_H_ #include "../inc/MarlinConfig.h" #include "parser.h" @@ -252,6 +252,30 @@ public: GcodeSuite() {} + static uint8_t target_extruder; + + static bool axis_relative_modes[]; + + static millis_t previous_cmd_ms; + FORCE_INLINE static void refresh_cmd_timeout() { previous_cmd_ms = millis(); } + + static bool get_target_extruder_from_command(); + static void get_destination_from_command(); + static void process_next_command(); + + /** + * Multi-stepper support for M92, M201, M203 + */ + #if ENABLED(DISTINCT_E_FACTORS) + #define GET_TARGET_EXTRUDER() if (gcode.get_target_extruder_from_command()) return + #define TARGET_EXTRUDER gcode.target_extruder + #else + #define GET_TARGET_EXTRUDER() NOOP + #define TARGET_EXTRUDER 0 + #endif + + static FORCE_INLINE void home_all_axes() { G28(true); } + private: static void G0_G1( @@ -375,7 +399,7 @@ private: static void M48(); #endif - #if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION) + #if ENABLED(UBL_G26_MESH_VALIDATION) static void M49(); #endif @@ -679,4 +703,4 @@ private: extern GcodeSuite gcode; -#endif // GCODE_H +#endif // _GCODE_H_ diff --git a/Marlin/src/gcode/host/M110.h b/Marlin/src/gcode/host/M110.h index 711c05dbb..fb584b370 100644 --- a/Marlin/src/gcode/host/M110.h +++ b/Marlin/src/gcode/host/M110.h @@ -20,6 +20,8 @@ * */ +#include "../queue.h" + /** * M110: Set Current Line Number */ diff --git a/Marlin/src/gcode/lcd/M0_M1.h b/Marlin/src/gcode/lcd/M0_M1.h index 599dfbd5e..a47101fbe 100644 --- a/Marlin/src/gcode/lcd/M0_M1.h +++ b/Marlin/src/gcode/lcd/M0_M1.h @@ -20,6 +20,8 @@ * */ +#include "../gcode.h" + /** * M0: Unconditional stop - Wait for user button press on LCD * M1: Conditional stop - Wait for user button press on LCD @@ -62,7 +64,7 @@ void gcode_M0_M1() { wait_for_user = true; stepper.synchronize(); - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); if (ms > 0) { ms += previous_cmd_ms; // wait until this time for a click diff --git a/Marlin/src/gcode/motion/G0_G1.h b/Marlin/src/gcode/motion/G0_G1.cpp similarity index 88% rename from Marlin/src/gcode/motion/G0_G1.h rename to Marlin/src/gcode/motion/G0_G1.cpp index 077e664bd..4ec0221e4 100644 --- a/Marlin/src/gcode/motion/G0_G1.h +++ b/Marlin/src/gcode/motion/G0_G1.cpp @@ -20,16 +20,25 @@ * */ +#include "../gcode.h" +#include "../../module/motion.h" + +#include "../../Marlin.h" + +#include "../../sd/cardreader.h" + +extern float destination[XYZE]; + /** * G0, G1: Coordinated movement of X Y Z E axes */ -void gcode_G0_G1( +void GcodeSuite::G0_G1( #if IS_SCARA - bool fast_move=false + bool fast_move/*=false*/ #endif ) { if (IsRunning()) { - gcode_get_destination(); // For X Y Z E F + get_destination_from_command(); // For X Y Z E F #if ENABLED(FWRETRACT) if (MIN_AUTORETRACT <= MAX_AUTORETRACT) { diff --git a/Marlin/src/gcode/motion/G2_G3.h b/Marlin/src/gcode/motion/G2_G3.h index f06e623a1..90fadd968 100644 --- a/Marlin/src/gcode/motion/G2_G3.h +++ b/Marlin/src/gcode/motion/G2_G3.h @@ -20,6 +20,8 @@ * */ +#include "../gcode.h" + #if N_ARC_CORRECTION < 1 #undef N_ARC_CORRECTION #define N_ARC_CORRECTION 1 @@ -209,7 +211,7 @@ void gcode_G2_G3(bool clockwise) { relative_mode = true; #endif - gcode_get_destination(); + gcode.get_destination_from_command(); #if ENABLED(SF_ARC_FIX) relative_mode = relative_mode_backup; @@ -252,7 +254,7 @@ void gcode_G2_G3(bool clockwise) { // Send the arc to the planner plan_arc(destination, arc_offset, clockwise); - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); } else { // Bad arguments diff --git a/Marlin/src/gcode/motion/G5.h b/Marlin/src/gcode/motion/G5.h index 9dc162508..38c25c865 100644 --- a/Marlin/src/gcode/motion/G5.h +++ b/Marlin/src/gcode/motion/G5.h @@ -21,6 +21,7 @@ */ #include "../../module/planner_bezier.h" +#include "../../gcode/gcode.h" void plan_cubic_move(const float offset[4]) { cubic_b_spline(current_position, destination, offset, MMS_SCALED(feedrate_mm_s), active_extruder); @@ -52,7 +53,7 @@ void gcode_G5() { } #endif - gcode_get_destination(); + gcode.get_destination_from_command(); const float offset[] = { parser.linearval('I'), diff --git a/Marlin/src/gcode/parser.h b/Marlin/src/gcode/parser.h index 2a9a81c6d..9743a7bb9 100644 --- a/Marlin/src/gcode/parser.h +++ b/Marlin/src/gcode/parser.h @@ -242,7 +242,7 @@ public: FORCE_INLINE static char temp_units_code() { return input_temp_units == TEMPUNIT_K ? 'K' : input_temp_units == TEMPUNIT_F ? 'F' : 'C'; } - FORCE_INLINE static char* temp_units_name() { + FORCE_INLINE static const char* temp_units_name() { return input_temp_units == TEMPUNIT_K ? PSTR("Kelvin") : input_temp_units == TEMPUNIT_F ? PSTR("Fahrenheit") : PSTR("Celsius"); } inline static float to_temp_units(const float &f) { diff --git a/Marlin/src/gcode/probe/G38.h b/Marlin/src/gcode/probe/G38.h index ec9ad806a..976569d8f 100644 --- a/Marlin/src/gcode/probe/G38.h +++ b/Marlin/src/gcode/probe/G38.h @@ -20,6 +20,8 @@ * */ +#include "../gcode.h" + static bool G38_run_probe() { bool G38_pass_fail = false; @@ -88,7 +90,7 @@ static bool G38_run_probe() { */ void gcode_G38(bool is_38_2) { // Get X Y Z E F - gcode_get_destination(); + gcode.get_destination_from_command(); setup_for_endstop_or_probe_move(); diff --git a/Marlin/src/gcode/queue.cpp b/Marlin/src/gcode/queue.cpp new file mode 100644 index 000000000..6af72c949 --- /dev/null +++ b/Marlin/src/gcode/queue.cpp @@ -0,0 +1,473 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 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 . + * + */ + +/** + * queue.cpp - The G-code command queue + */ + +#include "queue.h" +#include "gcode.h" + +#include "../lcd/ultralcd.h" +#include "../sd/cardreader.h" +#include "../module/planner.h" +#include "../Marlin.h" + +/** + * GCode line number handling. Hosts may opt to include line numbers when + * sending commands to Marlin, and lines will be checked for sequentiality. + * M110 N sets the current line number. + */ +long gcode_N, gcode_LastN, Stopped_gcode_LastN = 0; + +/** + * GCode Command Queue + * A simple ring buffer of BUFSIZE command strings. + * + * Commands are copied into this buffer by the command injectors + * (immediate, serial, sd card) and they are processed sequentially by + * the main loop. The gcode.process_next_command method parses the next + * command and hands off execution to individual handler functions. + */ +uint8_t commands_in_queue = 0, // Count of commands in the queue + cmd_queue_index_r = 0, // Ring buffer read position + cmd_queue_index_w = 0; // Ring buffer write position + +char command_queue[BUFSIZE][MAX_CMD_SIZE]; + +/** + * Serial command injection + */ + +// Number of characters read in the current line of serial input +static int serial_count = 0; + +bool send_ok[BUFSIZE]; + +/** + * Next Injected Command pointer. NULL if no commands are being injected. + * Used by Marlin internally to ensure that commands initiated from within + * are enqueued ahead of any pending serial or sd card commands. + */ +static const char *injected_commands_P = NULL; + +void queue_setup() { + // Send "ok" after commands by default + for (uint8_t i = 0; i < COUNT(send_ok); i++) send_ok[i] = true; +} + +/** + * Clear the Marlin command queue + */ +void clear_command_queue() { + cmd_queue_index_r = cmd_queue_index_w; + commands_in_queue = 0; +} + +/** + * Once a new command is in the ring buffer, call this to commit it + */ +inline void _commit_command(bool say_ok) { + send_ok[cmd_queue_index_w] = say_ok; + if (++cmd_queue_index_w >= BUFSIZE) cmd_queue_index_w = 0; + commands_in_queue++; +} + +/** + * Copy a command from RAM into the main command buffer. + * Return true if the command was successfully added. + * Return false for a full buffer, or if the 'command' is a comment. + */ +inline bool _enqueuecommand(const char* cmd, bool say_ok/*=false*/) { + if (*cmd == ';' || commands_in_queue >= BUFSIZE) return false; + strcpy(command_queue[cmd_queue_index_w], cmd); + _commit_command(say_ok); + return true; +} + +/** + * Enqueue with Serial Echo + */ +bool enqueue_and_echo_command(const char* cmd, bool say_ok/*=false*/) { + if (_enqueuecommand(cmd, say_ok)) { + SERIAL_ECHO_START(); + SERIAL_ECHOPAIR(MSG_ENQUEUEING, cmd); + SERIAL_CHAR('"'); + SERIAL_EOL(); + return true; + } + return false; +} + +/** + * Inject the next "immediate" command, when possible, onto the front of the queue. + * Return true if any immediate commands remain to inject. + */ +static bool drain_injected_commands_P() { + if (injected_commands_P != NULL) { + size_t i = 0; + char c, cmd[30]; + strncpy_P(cmd, injected_commands_P, sizeof(cmd) - 1); + cmd[sizeof(cmd) - 1] = '\0'; + while ((c = cmd[i]) && c != '\n') i++; // find the end of this gcode command + cmd[i] = '\0'; + if (enqueue_and_echo_command(cmd)) // success? + injected_commands_P = c ? injected_commands_P + i + 1 : NULL; // next command or done + } + return (injected_commands_P != NULL); // return whether any more remain +} + +/** + * Record one or many commands to run from program memory. + * Aborts the current queue, if any. + * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards + */ +void enqueue_and_echo_commands_P(const char * const pgcode) { + injected_commands_P = pgcode; + drain_injected_commands_P(); // first command executed asap (when possible) +} + +/** + * Send an "ok" message to the host, indicating + * that a command was successfully processed. + * + * If ADVANCED_OK is enabled also include: + * N Line number of the command, if any + * P Planner space remaining + * B Block queue space remaining + */ +void ok_to_send() { + gcode.refresh_cmd_timeout(); + if (!send_ok[cmd_queue_index_r]) return; + SERIAL_PROTOCOLPGM(MSG_OK); + #if ENABLED(ADVANCED_OK) + char* p = command_queue[cmd_queue_index_r]; + if (*p == 'N') { + SERIAL_PROTOCOL(' '); + SERIAL_ECHO(*p++); + while (NUMERIC_SIGNED(*p)) + SERIAL_ECHO(*p++); + } + SERIAL_PROTOCOLPGM(" P"); SERIAL_PROTOCOL(int(BLOCK_BUFFER_SIZE - planner.movesplanned() - 1)); + SERIAL_PROTOCOLPGM(" B"); SERIAL_PROTOCOL(BUFSIZE - commands_in_queue); + #endif + SERIAL_EOL(); +} + +/** + * Send a "Resend: nnn" message to the host to + * indicate that a command needs to be re-sent. + */ +void flush_and_request_resend() { + //char command_queue[cmd_queue_index_r][100]="Resend:"; + MYSERIAL.flush(); + SERIAL_PROTOCOLPGM(MSG_RESEND); + SERIAL_PROTOCOLLN(gcode_LastN + 1); + ok_to_send(); +} + +void gcode_line_error(const char* err, bool doFlush = true) { + SERIAL_ERROR_START(); + serialprintPGM(err); + SERIAL_ERRORLN(gcode_LastN); + //Serial.println(gcode_N); + if (doFlush) flush_and_request_resend(); + serial_count = 0; +} + +/** + * Get all commands waiting on the serial port and queue them. + * Exit when the buffer is full or when no more characters are + * left on the serial port. + */ +inline void get_serial_commands() { + static char serial_line_buffer[MAX_CMD_SIZE]; + static bool serial_comment_mode = false; + + // If the command buffer is empty for too long, + // send "wait" to indicate Marlin is still waiting. + #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0 + static millis_t last_command_time = 0; + const millis_t ms = millis(); + if (commands_in_queue == 0 && !MYSERIAL.available() && ELAPSED(ms, last_command_time + NO_TIMEOUTS)) { + SERIAL_ECHOLNPGM(MSG_WAIT); + last_command_time = ms; + } + #endif + + /** + * Loop while serial characters are incoming and the queue is not full + */ + while (commands_in_queue < BUFSIZE && MYSERIAL.available() > 0) { + + char serial_char = MYSERIAL.read(); + + /** + * If the character ends the line + */ + if (serial_char == '\n' || serial_char == '\r') { + + serial_comment_mode = false; // end of line == end of comment + + if (!serial_count) continue; // skip empty lines + + serial_line_buffer[serial_count] = 0; // terminate string + serial_count = 0; //reset buffer + + char* command = serial_line_buffer; + + while (*command == ' ') command++; // skip any leading spaces + char *npos = (*command == 'N') ? command : NULL, // Require the N parameter to start the line + *apos = strchr(command, '*'); + + if (npos) { + + bool M110 = strstr_P(command, PSTR("M110")) != NULL; + + if (M110) { + char* n2pos = strchr(command + 4, 'N'); + if (n2pos) npos = n2pos; + } + + gcode_N = strtol(npos + 1, NULL, 10); + + if (gcode_N != gcode_LastN + 1 && !M110) { + gcode_line_error(PSTR(MSG_ERR_LINE_NO)); + return; + } + + if (apos) { + byte checksum = 0, count = 0; + while (command[count] != '*') checksum ^= command[count++]; + + if (strtol(apos + 1, NULL, 10) != checksum) { + gcode_line_error(PSTR(MSG_ERR_CHECKSUM_MISMATCH)); + return; + } + // if no errors, continue parsing + } + else { + gcode_line_error(PSTR(MSG_ERR_NO_CHECKSUM)); + return; + } + + gcode_LastN = gcode_N; + // if no errors, continue parsing + } + else if (apos) { // No '*' without 'N' + gcode_line_error(PSTR(MSG_ERR_NO_LINENUMBER_WITH_CHECKSUM), false); + return; + } + + // Movement commands alert when stopped + if (IsStopped()) { + char* gpos = strchr(command, 'G'); + if (gpos) { + const int codenum = strtol(gpos + 1, NULL, 10); + switch (codenum) { + case 0: + case 1: + case 2: + case 3: + SERIAL_ERRORLNPGM(MSG_ERR_STOPPED); + LCD_MESSAGEPGM(MSG_STOPPED); + break; + } + } + } + + #if DISABLED(EMERGENCY_PARSER) + // If command was e-stop process now + if (strcmp(command, "M108") == 0) { + wait_for_heatup = false; + #if ENABLED(ULTIPANEL) + wait_for_user = false; + #endif + } + if (strcmp(command, "M112") == 0) kill(PSTR(MSG_KILLED)); + if (strcmp(command, "M410") == 0) { quickstop_stepper(); } + #endif + + #if defined(NO_TIMEOUTS) && NO_TIMEOUTS > 0 + last_command_time = ms; + #endif + + // Add the command to the queue + _enqueuecommand(serial_line_buffer, true); + } + else if (serial_count >= MAX_CMD_SIZE - 1) { + // Keep fetching, but ignore normal characters beyond the max length + // The command will be injected when EOL is reached + } + else if (serial_char == '\\') { // Handle escapes + if (MYSERIAL.available() > 0) { + // if we have one more character, copy it over + serial_char = MYSERIAL.read(); + if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char; + } + // otherwise do nothing + } + else { // it's not a newline, carriage return or escape char + if (serial_char == ';') serial_comment_mode = true; + if (!serial_comment_mode) serial_line_buffer[serial_count++] = serial_char; + } + + } // queue has space, serial has data +} + +#if ENABLED(SDSUPPORT) + + /** + * Get commands from the SD Card until the command buffer is full + * or until the end of the file is reached. The special character '#' + * can also interrupt buffering. + */ + inline void get_sdcard_commands() { + static bool stop_buffering = false, + sd_comment_mode = false; + + if (!IS_SD_PRINTING) return; + + /** + * '#' stops reading from SD to the buffer prematurely, so procedural + * macro calls are possible. If it occurs, stop_buffering is triggered + * and the buffer is run dry; this character _can_ occur in serial com + * due to checksums, however, no checksums are used in SD printing. + */ + + if (commands_in_queue == 0) stop_buffering = false; + + uint16_t sd_count = 0; + bool card_eof = card.eof(); + while (commands_in_queue < BUFSIZE && !card_eof && !stop_buffering) { + const int16_t n = card.get(); + char sd_char = (char)n; + card_eof = card.eof(); + if (card_eof || n == -1 + || sd_char == '\n' || sd_char == '\r' + || ((sd_char == '#' || sd_char == ':') && !sd_comment_mode) + ) { + if (card_eof) { + SERIAL_PROTOCOLLNPGM(MSG_FILE_PRINTED); + card.printingHasFinished(); + #if ENABLED(PRINTER_EVENT_LEDS) + LCD_MESSAGEPGM(MSG_INFO_COMPLETED_PRINTS); + set_led_color(0, 255, 0); // Green + #if HAS_RESUME_CONTINUE + enqueue_and_echo_commands_P(PSTR("M0")); // end of the queue! + #else + safe_delay(1000); + #endif + set_led_color(0, 0, 0); // OFF + #endif + card.checkautostart(true); + } + else if (n == -1) { + SERIAL_ERROR_START(); + SERIAL_ECHOLNPGM(MSG_SD_ERR_READ); + } + if (sd_char == '#') stop_buffering = true; + + sd_comment_mode = false; // for new command + + if (!sd_count) continue; // skip empty lines (and comment lines) + + command_queue[cmd_queue_index_w][sd_count] = '\0'; // terminate string + sd_count = 0; // clear sd line buffer + + _commit_command(false); + } + else if (sd_count >= MAX_CMD_SIZE - 1) { + /** + * Keep fetching, but ignore normal characters beyond the max length + * The command will be injected when EOL is reached + */ + } + else { + if (sd_char == ';') sd_comment_mode = true; + if (!sd_comment_mode) command_queue[cmd_queue_index_w][sd_count++] = sd_char; + } + } + } + +#endif // SDSUPPORT + +/** + * Add to the circular command queue the next command from: + * - The command-injection queue (injected_commands_P) + * - The active serial input (usually USB) + * - The SD card file being actively printed + */ +void get_available_commands() { + + // if any immediate commands remain, don't get other commands yet + if (drain_injected_commands_P()) return; + + get_serial_commands(); + + #if ENABLED(SDSUPPORT) + get_sdcard_commands(); + #endif +} + +/** + * Get the next command in the queue, optionally log it to SD, then dispatch it + */ +void advance_command_queue() { + + if (!commands_in_queue) return; + + #if ENABLED(SDSUPPORT) + + if (card.saving) { + char* command = command_queue[cmd_queue_index_r]; + if (strstr_P(command, PSTR("M29"))) { + // M29 closes the file + card.closefile(); + SERIAL_PROTOCOLLNPGM(MSG_FILE_SAVED); + ok_to_send(); + } + else { + // Write the string from the read buffer to SD + card.write_command(command); + if (card.logging) + gcode.process_next_command(); // The card is saving because it's logging + else + ok_to_send(); + } + } + else + gcode.process_next_command(); + + #else + + gcode.process_next_command(); + + #endif // SDSUPPORT + + // The queue may be reset by a command handler or by code invoked by idle() within a handler + if (commands_in_queue) { + --commands_in_queue; + if (++cmd_queue_index_r >= BUFSIZE) cmd_queue_index_r = 0; + } + +} diff --git a/Marlin/src/gcode/queue.h b/Marlin/src/gcode/queue.h new file mode 100644 index 000000000..65086739b --- /dev/null +++ b/Marlin/src/gcode/queue.h @@ -0,0 +1,106 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 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 . + * + */ + +/** + * queue.h - The G-code command queue, which holds commands before they + * go to the parser and dispatcher. + */ + +#ifndef GCODE_QUEUE_H +#define GCODE_QUEUE_H + +#include "../inc/MarlinConfig.h" + +/** + * GCode line number handling. Hosts may include line numbers when sending + * commands to Marlin, and lines will be checked for sequentiality. + * M110 N sets the current line number. + */ +extern long gcode_LastN, Stopped_gcode_LastN; + +/** + * GCode Command Queue + * A simple ring buffer of BUFSIZE command strings. + * + * Commands are copied into this buffer by the command injectors + * (immediate, serial, sd card) and they are processed sequentially by + * the main loop. The gcode.process_next_command method parses the next + * command and hands off execution to individual handler functions. + */ +extern uint8_t commands_in_queue, // Count of commands in the queue + cmd_queue_index_r; // Ring buffer read position + +extern char command_queue[BUFSIZE][MAX_CMD_SIZE]; + +/** + * Initialization of queue for setup() + */ +void queue_setup(); + +/** + * Clear the Marlin command queue + */ +void clear_command_queue(); + +/** + * Clear the serial line and request a resend of + * the next expected line number. + */ +void flush_and_request_resend(); + +/** + * Send an "ok" message to the host, indicating + * that a command was successfully processed. + * + * If ADVANCED_OK is enabled also include: + * N Line number of the command, if any + * P Planner space remaining + * B Block queue space remaining + */ +void ok_to_send(); + +/** + * Record one or many commands to run from program memory. + * Aborts the current queue, if any. + * Note: drain_injected_commands_P() must be called repeatedly to drain the commands afterwards + */ +void enqueue_and_echo_commands_P(const char * const pgcode); + +/** + * Enqueue with Serial Echo + */ +bool enqueue_and_echo_command(const char* cmd, bool say_ok=false); + +/** + * Add to the circular command queue the next command from: + * - The command-injection queue (injected_commands_P) + * - The active serial input (usually USB) + * - The SD card file being actively printed + */ +void get_available_commands(); + +/** + * Get the next command in the queue, optionally log it to SD, then dispatch it + */ +void advance_command_queue(); + +#endif // GCODE_QUEUE_H diff --git a/Marlin/src/gcode/temperature/M104.h b/Marlin/src/gcode/temperature/M104.cpp similarity index 73% rename from Marlin/src/gcode/temperature/M104.h rename to Marlin/src/gcode/temperature/M104.cpp index 1d5facb28..025a6f032 100644 --- a/Marlin/src/gcode/temperature/M104.h +++ b/Marlin/src/gcode/temperature/M104.cpp @@ -20,23 +20,35 @@ * */ +#include "../gcode.h" +#include "../../module/temperature.h" +#include "../../module/motion.h" +#include "../../module/planner.h" +#include "../../lcd/ultralcd.h" + +#if ENABLED(PRINTJOB_TIMER_AUTOSTART) + #include "../../module/printcounter.h" +#endif + /** * M104: Set hot end temperature */ -void gcode_M104() { - if (get_target_extruder_from_command(104)) return; +void GcodeSuite::M104() { + if (get_target_extruder_from_command()) return; if (DEBUGGING(DRYRUN)) return; + const uint8_t e = target_extruder; + #if ENABLED(SINGLENOZZLE) - if (target_extruder != active_extruder) return; + if (e != active_extruder) return; #endif if (parser.seenval('S')) { const int16_t temp = parser.value_celsius(); - thermalManager.setTargetHotend(temp, target_extruder); + thermalManager.setTargetHotend(temp, e); #if ENABLED(DUAL_X_CARRIAGE) - if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && target_extruder == 0) + if (dual_x_carriage_mode == DXC_DUPLICATION_MODE && e == 0) thermalManager.setTargetHotend(temp ? temp + duplicate_extruder_temp_offset : 0, 1); #endif @@ -53,8 +65,8 @@ void gcode_M104() { } #endif - if (parser.value_celsius() > thermalManager.degHotend(target_extruder)) - lcd_status_printf_P(0, PSTR("E%i %s"), target_extruder + 1, MSG_HEATING); + if (parser.value_celsius() > thermalManager.degHotend(e)) + lcd_status_printf_P(0, PSTR("E%i %s"), e + 1, MSG_HEATING); } #if ENABLED(AUTOTEMP) diff --git a/Marlin/src/gcode/temperature/M105.h b/Marlin/src/gcode/temperature/M105.h index 351ff25c9..b5c7dc99a 100644 --- a/Marlin/src/gcode/temperature/M105.h +++ b/Marlin/src/gcode/temperature/M105.h @@ -24,7 +24,7 @@ * M105: Read hot end and bed temperature */ void gcode_M105() { - if (get_target_extruder_from_command(105)) return; + if (gcode.get_target_extruder_from_command()) return; #if HAS_TEMP_HOTEND || HAS_TEMP_BED SERIAL_PROTOCOLPGM(MSG_OK); diff --git a/Marlin/src/gcode/temperature/M109.h b/Marlin/src/gcode/temperature/M109.cpp similarity index 94% rename from Marlin/src/gcode/temperature/M109.h rename to Marlin/src/gcode/temperature/M109.cpp index b51cf3049..a3740d47a 100644 --- a/Marlin/src/gcode/temperature/M109.h +++ b/Marlin/src/gcode/temperature/M109.cpp @@ -20,6 +20,20 @@ * */ +#include "../gcode.h" +#include "../../module/temperature.h" +#include "../../module/planner.h" +#include "../../lcd/ultralcd.h" +#include "../../Marlin.h" + +#if ENABLED(PRINTJOB_TIMER_AUTOSTART) + #include "../../module/printcounter.h" +#endif + +#if ENABLED(DUAL_X_CARRIAGE) + #include "../../module/motion.h" +#endif + /** * M109: Sxxx Wait for extruder(s) to reach temperature. Waits only when heating. * Rxxx Wait for extruder(s) to reach temperature. Waits when heating and cooling. @@ -32,9 +46,9 @@ #define MIN_COOLING_SLOPE_TIME 60 #endif -void gcode_M109() { +void GcodeSuite::M109() { - if (get_target_extruder_from_command(109)) return; + if (get_target_extruder_from_command()) return; if (DEBUGGING(DRYRUN)) return; #if ENABLED(SINGLENOZZLE) diff --git a/Marlin/src/gcode/temperature/M190.h b/Marlin/src/gcode/temperature/M190.h index 7eab1031f..f4aebb91f 100644 --- a/Marlin/src/gcode/temperature/M190.h +++ b/Marlin/src/gcode/temperature/M190.h @@ -20,6 +20,8 @@ * */ +#include "../gcode.h" + #ifndef MIN_COOLING_SLOPE_DEG_BED #define MIN_COOLING_SLOPE_DEG_BED 1.50 #endif @@ -63,7 +65,7 @@ void gcode_M190() { KEEPALIVE_STATE(NOT_BUSY); #endif - target_extruder = active_extruder; // for print_heaterstates + gcode.target_extruder = active_extruder; // for print_heaterstates #if ENABLED(PRINTER_EVENT_LEDS) const float start_temp = thermalManager.degBed(); @@ -95,7 +97,7 @@ void gcode_M190() { } idle(); - refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out + gcode.refresh_cmd_timeout(); // to prevent stepper_inactive_time from running out const float temp = thermalManager.degBed(); diff --git a/Marlin/src/gcode/temperature/M303.h b/Marlin/src/gcode/temperature/M303.cpp similarity index 95% rename from Marlin/src/gcode/temperature/M303.h rename to Marlin/src/gcode/temperature/M303.cpp index 6dec8dc17..c1c74aafc 100644 --- a/Marlin/src/gcode/temperature/M303.h +++ b/Marlin/src/gcode/temperature/M303.cpp @@ -20,6 +20,9 @@ * */ +#include "../gcode.h" +#include "../../module/temperature.h" + /** * M303: PID relay autotune * @@ -28,7 +31,7 @@ * C * U with a non-zero value will apply the result to current settings */ -void gcode_M303() { +void GcodeSuite::M303() { #if HAS_PID_HEATING const int e = parser.intval('E'), c = parser.intval('C', 5); const bool u = parser.boolval('U'); diff --git a/Marlin/src/gcode/units/M82_M83.h b/Marlin/src/gcode/units/M82_M83.h index 63e0436e5..e0d5409ad 100644 --- a/Marlin/src/gcode/units/M82_M83.h +++ b/Marlin/src/gcode/units/M82_M83.h @@ -23,9 +23,9 @@ /** * M82: Set E codes absolute (default) */ -void gcode_M82() { axis_relative_modes[E_AXIS] = false; } +void gcode_M82() { gcode.axis_relative_modes[E_AXIS] = false; } /** * M83: Set E codes relative while in Absolute Coordinates (G90) mode */ -void gcode_M83() { axis_relative_modes[E_AXIS] = true; } +void gcode_M83() { gcode.axis_relative_modes[E_AXIS] = true; } diff --git a/Marlin/src/lcd/ultralcd.cpp b/Marlin/src/lcd/ultralcd.cpp index 7e40a438e..34012b4ba 100644 --- a/Marlin/src/lcd/ultralcd.cpp +++ b/Marlin/src/lcd/ultralcd.cpp @@ -30,6 +30,9 @@ #include "../module/temperature.h" #include "../module/planner.h" #include "../module/stepper.h" +#include "../module/motion.h" +#include "../gcode/gcode.h" +#include "../gcode/queue.h" #include "../module/configuration_store.h" #include "../Marlin.h" @@ -1734,7 +1737,7 @@ void kill_screen(const char* lcd_msg) { // Encoder knob or keypad buttons adjust the Z position // if (encoderPosition) { - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); const float z = current_position[Z_AXIS] + float((int32_t)encoderPosition) * (MBL_Z_STEP); line_to_z(constrain(z, -(LCD_PROBE_Z_RANGE) * 0.5, (LCD_PROBE_Z_RANGE) * 0.5)); lcdDrawUpdate = LCDVIEW_CALL_REDRAW_NEXT; @@ -2280,7 +2283,7 @@ void kill_screen(const char* lcd_msg) { x_plot += step_scaler / (ENCODER_STEPS_PER_MENU_ITEM); if (abs(step_scaler) >= ENCODER_STEPS_PER_MENU_ITEM) step_scaler = 0; - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); encoderPosition = 0; lcdDrawUpdate = LCDVIEW_REDRAW_NOW; @@ -2317,7 +2320,7 @@ void kill_screen(const char* lcd_msg) { set_current_from_steppers_for_axis(ALL_AXES); sync_plan_position(); ubl_map_move_to_xy(); // Move to new location - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); } } } @@ -2702,7 +2705,7 @@ void kill_screen(const char* lcd_msg) { if (lcd_clicked) { return lcd_goto_previous_menu(); } ENCODER_DIRECTION_NORMAL(); if (encoderPosition) { - refresh_cmd_timeout(); + gcode.refresh_cmd_timeout(); float min = current_position[axis] - 1000, max = current_position[axis] + 1000; diff --git a/Marlin/src/libs/nozzle.cpp b/Marlin/src/libs/nozzle.cpp index c8c4732f9..7b7006ee2 100644 --- a/Marlin/src/libs/nozzle.cpp +++ b/Marlin/src/libs/nozzle.cpp @@ -23,6 +23,7 @@ #include "nozzle.h" #include "../Marlin.h" +#include "../module/motion.h" #include "point_t.h" /** diff --git a/Marlin/src/module/motion.cpp b/Marlin/src/module/motion.cpp new file mode 100644 index 000000000..df227d7e4 --- /dev/null +++ b/Marlin/src/module/motion.cpp @@ -0,0 +1,574 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 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 "../gcode/gcode.h" +// #include "../module/planner.h" +// #include "../Marlin.h" +// #include "../inc/MarlinConfig.h" + +#include "../core/serial.h" +#include "../module/stepper.h" +#include "../module/temperature.h" + +#if IS_SCARA + #include "../libs/buzzer.h" + #include "../lcd/ultralcd.h" +#endif + +#if ENABLED(AUTO_BED_LEVELING_UBL) + #include "../feature/ubl/ubl.h" +#endif + +#define XYZ_CONSTS(type, array, CONFIG) const PROGMEM type array##_P[XYZ] = { X_##CONFIG, Y_##CONFIG, Z_##CONFIG } + +XYZ_CONSTS(float, base_min_pos, MIN_POS); +XYZ_CONSTS(float, base_max_pos, MAX_POS); +XYZ_CONSTS(float, base_home_pos, HOME_POS); +XYZ_CONSTS(float, max_length, MAX_LENGTH); +XYZ_CONSTS(float, home_bump_mm, HOME_BUMP_MM); +XYZ_CONSTS(signed char, home_dir, HOME_DIR); + +// Relative Mode. Enable with G91, disable with G90. +bool relative_mode = false; + +/** + * Cartesian Current Position + * Used to track the logical position as moves are queued. + * Used by 'line_to_current_position' to do a move after changing it. + * Used by 'SYNC_PLAN_POSITION_KINEMATIC' to update 'planner.position'. + */ +float current_position[XYZE] = { 0.0 }; + +/** + * Cartesian Destination + * A temporary position, usually applied to 'current_position'. + * Set with 'get_destination_from_command' or 'set_destination_to_current'. + * 'line_to_destination' sets 'current_position' to 'destination'. + */ +float destination[XYZE] = { 0.0 }; + +// The active extruder (tool). Set with T command. +uint8_t active_extruder = 0; + +// 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! +float feedrate_mm_s = MMM_TO_MMS(1500.0); + +/** + * 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 ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position", current_position); + #endif + planner.set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]); +} + +void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_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() { + planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], feedrate_mm_s, active_extruder); +} + +/** + * Move the planner to the position stored in the destination array, which is + * used by G0/G1/G2/G3/G5 and many other functions to set a destination. + */ +void line_to_destination(const float fr_mm_s) { + planner.buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], fr_mm_s, active_extruder); +} + +#if IS_KINEMATIC + + void sync_plan_position_kinematic() { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("sync_plan_position_kinematic", current_position); + #endif + planner.set_position_mm_kinematic(current_position); + } + + /** + * Calculate delta, start a line, and set current_position to destination + */ + void prepare_uninterpolated_move_to_destination(const float fr_mm_s/*=0.0*/) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) DEBUG_POS("prepare_uninterpolated_move_to_destination", destination); + #endif + + gcode.refresh_cmd_timeout(); + + #if UBL_DELTA + // ubl segmented line will do z-only moves in single segment + ubl.prepare_segmented_line_to(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s)); + #else + if ( current_position[X_AXIS] == destination[X_AXIS] + && current_position[Y_AXIS] == destination[Y_AXIS] + && current_position[Z_AXIS] == destination[Z_AXIS] + && current_position[E_AXIS] == destination[E_AXIS] + ) return; + + planner.buffer_line_kinematic(destination, MMS_SCALED(fr_mm_s ? fr_mm_s : feedrate_mm_s), active_extruder); + #endif + + set_current_to_destination(); + } + +#endif // IS_KINEMATIC + +// Software Endstops are based on the configured limits. +float soft_endstop_min[XYZ] = { X_MIN_BED, Y_MIN_BED, Z_MIN_POS }, + soft_endstop_max[XYZ] = { X_MAX_BED, Y_MAX_BED, Z_MAX_POS }; + +#if HAS_SOFTWARE_ENDSTOPS + + // Software Endstops are based on the configured limits. + bool soft_endstops_enabled = true; + + /** + * Constrain the given coordinates to the software endstops. + */ + + // NOTE: This makes no sense for delta beds other than Z-axis. + // For delta the X/Y would need to be clamped at + // DELTA_PRINTABLE_RADIUS from center of bed, but delta + // now enforces is_position_reachable for X/Y regardless + // of HAS_SOFTWARE_ENDSTOPS, so that enforcement would be + // redundant here. + + void clamp_to_software_endstops(float target[XYZ]) { + if (!soft_endstops_enabled) return; + #if ENABLED(MIN_SOFTWARE_ENDSTOPS) + #if DISABLED(DELTA) + NOLESS(target[X_AXIS], soft_endstop_min[X_AXIS]); + NOLESS(target[Y_AXIS], soft_endstop_min[Y_AXIS]); + #endif + NOLESS(target[Z_AXIS], soft_endstop_min[Z_AXIS]); + #endif + #if ENABLED(MAX_SOFTWARE_ENDSTOPS) + #if DISABLED(DELTA) + NOMORE(target[X_AXIS], soft_endstop_max[X_AXIS]); + NOMORE(target[Y_AXIS], soft_endstop_max[Y_AXIS]); + #endif + NOMORE(target[Z_AXIS], soft_endstop_max[Z_AXIS]); + #endif + } + +#endif + +#if ENABLED(AUTO_BED_LEVELING_BILINEAR) && !IS_KINEMATIC + + #define CELL_INDEX(A,V) ((RAW_##A##_POSITION(V) - bilinear_start[A##_AXIS]) * ABL_BG_FACTOR(A##_AXIS)) + + /** + * Prepare a bilinear-leveled linear move on Cartesian, + * splitting the move where it crosses grid borders. + */ + void bilinear_line_to_destination(const float fr_mm_s, uint16_t x_splits=0xFFFF, uint16_t y_splits=0xFFFF); + int cx1 = CELL_INDEX(X, current_position[X_AXIS]), + cy1 = CELL_INDEX(Y, current_position[Y_AXIS]), + cx2 = CELL_INDEX(X, destination[X_AXIS]), + cy2 = CELL_INDEX(Y, destination[Y_AXIS]); + cx1 = constrain(cx1, 0, ABL_BG_POINTS_X - 2); + cy1 = constrain(cy1, 0, ABL_BG_POINTS_Y - 2); + cx2 = constrain(cx2, 0, ABL_BG_POINTS_X - 2); + cy2 = constrain(cy2, 0, ABL_BG_POINTS_Y - 2); + + if (cx1 == cx2 && cy1 == cy2) { + // Start and end on same mesh square + line_to_destination(fr_mm_s); + set_current_to_destination(); + return; + } + + #define LINE_SEGMENT_END(A) (current_position[A ##_AXIS] + (destination[A ##_AXIS] - current_position[A ##_AXIS]) * normalized_dist) + + float normalized_dist, end[XYZE]; + + // Split at the left/front border of the right/top square + const int8_t gcx = max(cx1, cx2), gcy = max(cy1, cy2); + if (cx2 != cx1 && TEST(x_splits, gcx)) { + COPY(end, destination); + destination[X_AXIS] = LOGICAL_X_POSITION(bilinear_start[X_AXIS] + ABL_BG_SPACING(X_AXIS) * gcx); + normalized_dist = (destination[X_AXIS] - current_position[X_AXIS]) / (end[X_AXIS] - current_position[X_AXIS]); + destination[Y_AXIS] = LINE_SEGMENT_END(Y); + CBI(x_splits, gcx); + } + else if (cy2 != cy1 && TEST(y_splits, gcy)) { + COPY(end, destination); + destination[Y_AXIS] = LOGICAL_Y_POSITION(bilinear_start[Y_AXIS] + ABL_BG_SPACING(Y_AXIS) * gcy); + normalized_dist = (destination[Y_AXIS] - current_position[Y_AXIS]) / (end[Y_AXIS] - current_position[Y_AXIS]); + destination[X_AXIS] = LINE_SEGMENT_END(X); + CBI(y_splits, gcy); + } + else { + // Already split on a border + line_to_destination(fr_mm_s); + set_current_to_destination(); + return; + } + + destination[Z_AXIS] = LINE_SEGMENT_END(Z); + destination[E_AXIS] = LINE_SEGMENT_END(E); + + // Do the split and look for more borders + bilinear_line_to_destination(fr_mm_s, x_splits, y_splits); + + // Restore destination from stack + COPY(destination, end); + bilinear_line_to_destination(fr_mm_s, x_splits, y_splits); + } + +#endif // AUTO_BED_LEVELING_BILINEAR + +#if IS_KINEMATIC && !UBL_DELTA + + /** + * Prepare a linear move in a DELTA or SCARA setup. + * + * This calls planner.buffer_line several times, adding + * small incremental moves for DELTA or SCARA. + */ + inline bool prepare_kinematic_move_to(float ltarget[XYZE]) { + + // Get the top feedrate of the move in the XY plane + const float _feedrate_mm_s = MMS_SCALED(feedrate_mm_s); + + // If the move is only in Z/E don't split up the move + if (ltarget[X_AXIS] == current_position[X_AXIS] && ltarget[Y_AXIS] == current_position[Y_AXIS]) { + planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder); + return false; + } + + // Fail if attempting move outside printable radius + if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) return true; + + // Get the cartesian distances moved in XYZE + const float difference[XYZE] = { + ltarget[X_AXIS] - current_position[X_AXIS], + ltarget[Y_AXIS] - current_position[Y_AXIS], + ltarget[Z_AXIS] - current_position[Z_AXIS], + ltarget[E_AXIS] - current_position[E_AXIS] + }; + + // Get the linear distance in XYZ + float cartesian_mm = SQRT(sq(difference[X_AXIS]) + sq(difference[Y_AXIS]) + sq(difference[Z_AXIS])); + + // If the move is very short, check the E move distance + if (UNEAR_ZERO(cartesian_mm)) cartesian_mm = FABS(difference[E_AXIS]); + + // 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 / _feedrate_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 minimum segment size is 0.25mm + #if IS_SCARA + NOMORE(segments, cartesian_mm * 4); + #endif + + // At least one segment is required + NOLESS(segments, 1); + + // The approximate length of each segment + const float inv_segments = 1.0 / float(segments), + segment_distance[XYZE] = { + difference[X_AXIS] * inv_segments, + difference[Y_AXIS] * inv_segments, + difference[Z_AXIS] * inv_segments, + difference[E_AXIS] * inv_segments + }; + + // SERIAL_ECHOPAIR("mm=", cartesian_mm); + // SERIAL_ECHOPAIR(" seconds=", seconds); + // SERIAL_ECHOLNPAIR(" segments=", segments); + + #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING) + // SCARA needs to scale the feed rate from mm/s to degrees/s + const float inv_segment_length = min(10.0, float(segments) / cartesian_mm), // 1/mm/segs + feed_factor = inv_segment_length * _feedrate_mm_s; + float oldA = stepper.get_axis_position_degrees(A_AXIS), + oldB = stepper.get_axis_position_degrees(B_AXIS); + #endif + + // Get the logical current position as starting point + float logical[XYZE]; + COPY(logical, current_position); + + // Drop one segment so the last move is to the exact target. + // If there's only 1 segment, loops will be skipped entirely. + --segments; + + // Calculate and execute the segments + for (uint16_t s = segments + 1; --s;) { + LOOP_XYZE(i) logical[i] += segment_distance[i]; + #if ENABLED(DELTA) + DELTA_LOGICAL_IK(); // Delta can inline its kinematics + #else + inverse_kinematics(logical); + #endif + + ADJUST_DELTA(logical); // Adjust Z if bed leveling is enabled + + #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING) + // For SCARA scale the feed rate from mm/s to degrees/s + // Use ratio between the length of the move and the larger angle change + const float adiff = abs(delta[A_AXIS] - oldA), + bdiff = abs(delta[B_AXIS] - oldB); + planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder); + oldA = delta[A_AXIS]; + oldB = delta[B_AXIS]; + #else + planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], _feedrate_mm_s, active_extruder); + #endif + } + + // Since segment_distance is only approximate, + // the final move must be to the exact destination. + + #if IS_SCARA && ENABLED(SCARA_FEEDRATE_SCALING) + // For SCARA scale the feed rate from mm/s to degrees/s + // With segments > 1 length is 1 segment, otherwise total length + inverse_kinematics(ltarget); + ADJUST_DELTA(ltarget); + const float adiff = abs(delta[A_AXIS] - oldA), + bdiff = abs(delta[B_AXIS] - oldB); + planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], logical[E_AXIS], max(adiff, bdiff) * feed_factor, active_extruder); + #else + planner.buffer_line_kinematic(ltarget, _feedrate_mm_s, active_extruder); + #endif + + return false; + } + +#else // !IS_KINEMATIC || UBL_DELTA + + /** + * Prepare a linear move in a Cartesian setup. + * If Mesh Bed Leveling is enabled, perform a mesh move. + * + * Returns true if the caller didn't update current_position. + */ + inline bool prepare_move_to_destination_cartesian() { + #if ENABLED(AUTO_BED_LEVELING_UBL) + const float fr_scaled = MMS_SCALED(feedrate_mm_s); + if (ubl.state.active) { // direct use of ubl.state.active for speed + ubl.line_to_destination_cartesian(fr_scaled, active_extruder); + return true; + } + else + line_to_destination(fr_scaled); + #else + // Do not use feedrate_percentage for E or Z only moves + if (current_position[X_AXIS] == destination[X_AXIS] && current_position[Y_AXIS] == destination[Y_AXIS]) + line_to_destination(); + else { + const float fr_scaled = MMS_SCALED(feedrate_mm_s); + #if ENABLED(MESH_BED_LEVELING) + if (mbl.active()) { // direct used of mbl.active() for speed + mesh_line_to_destination(fr_scaled); + return true; + } + else + #elif ENABLED(AUTO_BED_LEVELING_BILINEAR) + if (planner.abl_enabled) { // direct use of abl_enabled for speed + bilinear_line_to_destination(fr_scaled); + return true; + } + else + #endif + line_to_destination(fr_scaled); + } + #endif + return false; + } + +#endif // !IS_KINEMATIC || UBL_DELTA + +#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) + bool extruder_duplication_enabled = false; // Used in Dual X mode 2 +#endif + +#if ENABLED(DUAL_X_CARRIAGE) + + DualXMode dual_x_carriage_mode = DEFAULT_DUAL_X_CARRIAGE_MODE; + float inactive_extruder_x_pos = X2_MAX_POS, // used in mode 0 & 1 + raised_parked_position[XYZE], // used in mode 1 + duplicate_extruder_x_offset = DEFAULT_DUPLICATION_X_OFFSET; // used in mode 2 + 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 + + float x_home_pos(const int extruder) { + if (extruder == 0) + return LOGICAL_X_POSITION(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 LOGICAL_X_POSITION(hotend_offset[X_AXIS][1] > 0 ? hotend_offset[X_AXIS][1] : X2_HOME_POS); + } + + /** + * Prepare a linear move in a dual X axis setup + */ + inline bool prepare_move_to_destination_dualx() { + if (active_extruder_parked) { + switch (dual_x_carriage_mode) { + case DXC_FULL_CONTROL_MODE: + break; + case DXC_AUTO_PARK_MODE: + if (current_position[E_AXIS] == destination[E_AXIS]) { + // 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) { + set_current_to_destination(); + NOLESS(raised_parked_position[Z_AXIS], destination[Z_AXIS]); + delayed_move_time = millis(); + return true; + } + } + // unpark extruder: 1) raise, 2) move into starting XY position, 3) lower + for (uint8_t i = 0; i < 3; i++) + planner.buffer_line( + i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS], + i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS], + i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS], + current_position[E_AXIS], + i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS], + active_extruder + ); + delayed_move_time = 0; + active_extruder_parked = false; + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Clear active_extruder_parked"); + #endif + break; + case DXC_DUPLICATION_MODE: + if (active_extruder == 0) { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) { + SERIAL_ECHOPAIR("Set planner X", LOGICAL_X_POSITION(inactive_extruder_x_pos)); + SERIAL_ECHOLNPAIR(" ... Line to X", current_position[X_AXIS] + duplicate_extruder_x_offset); + } + #endif + // move duplicate extruder into correct duplication position. + planner.set_position_mm( + LOGICAL_X_POSITION(inactive_extruder_x_pos), + current_position[Y_AXIS], + current_position[Z_AXIS], + current_position[E_AXIS] + ); + planner.buffer_line( + current_position[X_AXIS] + duplicate_extruder_x_offset, + current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], + planner.max_feedrate_mm_s[X_AXIS], 1 + ); + SYNC_PLAN_POSITION_KINEMATIC(); + stepper.synchronize(); + extruder_duplication_enabled = true; + active_extruder_parked = false; + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Set extruder_duplication_enabled\nClear active_extruder_parked"); + #endif + } + else { + #if ENABLED(DEBUG_LEVELING_FEATURE) + if (DEBUGGING(LEVELING)) SERIAL_ECHOLNPGM("Active extruder not 0"); + #endif + } + 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. + */ +void prepare_move_to_destination() { + clamp_to_software_endstops(destination); + gcode.refresh_cmd_timeout(); + + #if ENABLED(PREVENT_COLD_EXTRUSION) + + if (!DEBUGGING(DRYRUN)) { + if (destination[E_AXIS] != current_position[E_AXIS]) { + if (thermalManager.tooColdToExtrude(active_extruder)) { + current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part + SERIAL_ECHO_START(); + SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP); + } + #if ENABLED(PREVENT_LENGTHY_EXTRUDE) + if (destination[E_AXIS] - current_position[E_AXIS] > EXTRUDE_MAXLENGTH) { + current_position[E_AXIS] = destination[E_AXIS]; // Behave as if the move really took place, but ignore E part + SERIAL_ECHO_START(); + SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP); + } + #endif + } + } + + #endif + + if ( + #if UBL_DELTA // Also works for CARTESIAN (smaller segments follow mesh more closely) + ubl.prepare_segmented_line_to(destination, feedrate_mm_s) + #elif IS_KINEMATIC + prepare_kinematic_move_to(destination) + #elif ENABLED(DUAL_X_CARRIAGE) + prepare_move_to_destination_dualx() || prepare_move_to_destination_cartesian() + #else + prepare_move_to_destination_cartesian() + #endif + ) return; + + set_current_to_destination(); +} diff --git a/Marlin/src/module/motion.h b/Marlin/src/module/motion.h new file mode 100644 index 000000000..f146c3c0a --- /dev/null +++ b/Marlin/src/module/motion.h @@ -0,0 +1,237 @@ +/** + * Marlin 3D Printer Firmware + * Copyright (C) 2016 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.h + * + * High-level motion commands to feed the planner + * Some of these methods may migrate to the planner class. + */ + +#ifndef MOTION_H +#define MOTION_H + +#include "../inc/MarlinConfig.h" + +//#include "../HAL/HAL.h" + +// #if ENABLED(DELTA) +// #include "../module/delta.h" +// #endif + +extern bool relative_mode; + +extern float current_position[XYZE], destination[XYZE]; + +extern float feedrate_mm_s; + +extern uint8_t active_extruder; + +extern float soft_endstop_min[XYZ], soft_endstop_max[XYZ]; + +FORCE_INLINE float pgm_read_any(const float *p) { return pgm_read_float_near(p); } +FORCE_INLINE signed char pgm_read_any(const signed char *p) { return pgm_read_byte_near(p); } + +#define XYZ_DEFS(type, array, CONFIG) \ + extern const type array##_P[XYZ]; \ + FORCE_INLINE type array(AxisEnum axis) { return pgm_read_any(&array##_P[axis]); } \ + typedef void __void_##CONFIG##__ + +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(float, home_bump_mm, HOME_BUMP_MM); +XYZ_DEFS(signed char, home_dir, HOME_DIR); + +#if HAS_SOFTWARE_ENDSTOPS + extern bool soft_endstops_enabled; + void clamp_to_software_endstops(float target[XYZ]); +#else + #define soft_endstops_enabled false + #define clamp_to_software_endstops(x) NOOP +#endif + +inline void set_current_to_destination() { COPY(current_position, destination); } +inline void set_destination_to_current() { COPY(destination, current_position); } + +/** + * 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(); + +#if IS_KINEMATIC + void sync_plan_position_kinematic(); + #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position_kinematic() +#else + #define SYNC_PLAN_POSITION_KINEMATIC() sync_plan_position() +#endif + +/** + * 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(); + +/** + * Move the planner to the position stored in the destination array, which is + * used by G0/G1/G2/G3/G5 and many other functions to set a destination. + */ +void line_to_destination(const float fr_mm_s); + +inline void line_to_destination() { line_to_destination(feedrate_mm_s); } + +#if IS_KINEMATIC + void prepare_uninterpolated_move_to_destination(const float fr_mm_s=0.0); +#endif + +void prepare_move_to_destination(); + +void clamp_to_software_endstops(float target[XYZ]); + +// +// Macros +// + +// Workspace offsets +#if HAS_WORKSPACE_OFFSET + #if HAS_HOME_OFFSET + extern float home_offset[XYZ]; + #endif + #if HAS_POSITION_SHIFT + extern float position_shift[XYZ]; + #endif +#endif + +#if HAS_HOME_OFFSET && HAS_POSITION_SHIFT + extern float workspace_offset[XYZ]; + #define WORKSPACE_OFFSET(AXIS) workspace_offset[AXIS] +#elif HAS_HOME_OFFSET + #define WORKSPACE_OFFSET(AXIS) home_offset[AXIS] +#elif HAS_POSITION_SHIFT + #define WORKSPACE_OFFSET(AXIS) position_shift[AXIS] +#else + #define WORKSPACE_OFFSET(AXIS) 0 +#endif + +#define LOGICAL_POSITION(POS, AXIS) ((POS) + WORKSPACE_OFFSET(AXIS)) +#define RAW_POSITION(POS, AXIS) ((POS) - WORKSPACE_OFFSET(AXIS)) + +#if HAS_POSITION_SHIFT || DISABLED(DELTA) + #define LOGICAL_X_POSITION(POS) LOGICAL_POSITION(POS, X_AXIS) + #define LOGICAL_Y_POSITION(POS) LOGICAL_POSITION(POS, Y_AXIS) + #define RAW_X_POSITION(POS) RAW_POSITION(POS, X_AXIS) + #define RAW_Y_POSITION(POS) RAW_POSITION(POS, Y_AXIS) +#else + #define LOGICAL_X_POSITION(POS) (POS) + #define LOGICAL_Y_POSITION(POS) (POS) + #define RAW_X_POSITION(POS) (POS) + #define RAW_Y_POSITION(POS) (POS) +#endif + +#define LOGICAL_Z_POSITION(POS) LOGICAL_POSITION(POS, Z_AXIS) +#define RAW_Z_POSITION(POS) RAW_POSITION(POS, Z_AXIS) +#define RAW_CURRENT_POSITION(A) RAW_##A##_POSITION(current_position[A##_AXIS]) + +/** + * position_is_reachable family of functions + */ + +#if IS_KINEMATIC // (DELTA or SCARA) + + #if IS_SCARA + extern const float L1, L2; + #endif + + inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) { + #if ENABLED(DELTA) + return HYPOT2(rx, ry) <= sq(DELTA_PRINTABLE_RADIUS); + #elif IS_SCARA + #if MIDDLE_DEAD_ZONE_R > 0 + const float R2 = HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y); + return R2 >= sq(float(MIDDLE_DEAD_ZONE_R)) && R2 <= sq(L1 + L2); + #else + return HYPOT2(rx - SCARA_OFFSET_X, ry - SCARA_OFFSET_Y) <= sq(L1 + L2); + #endif + #else // CARTESIAN + // To be migrated from MakerArm branch in future + #endif + } + + inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) { + + // Both the nozzle and the probe must be able to reach the point. + // This won't work on SCARA since the probe offset rotates with the arm. + + return position_is_reachable_raw_xy(rx, ry) + && position_is_reachable_raw_xy(rx - X_PROBE_OFFSET_FROM_EXTRUDER, ry - Y_PROBE_OFFSET_FROM_EXTRUDER); + } + +#else // CARTESIAN + + inline bool position_is_reachable_raw_xy(const float &rx, const float &ry) { + // Add 0.001 margin to deal with float imprecision + return WITHIN(rx, X_MIN_POS - 0.001, X_MAX_POS + 0.001) + && WITHIN(ry, Y_MIN_POS - 0.001, Y_MAX_POS + 0.001); + } + + inline bool position_is_reachable_by_probe_raw_xy(const float &rx, const float &ry) { + // Add 0.001 margin to deal with float imprecision + return WITHIN(rx, MIN_PROBE_X - 0.001, MAX_PROBE_X + 0.001) + && WITHIN(ry, MIN_PROBE_Y - 0.001, MAX_PROBE_Y + 0.001); + } + +#endif // CARTESIAN + +FORCE_INLINE bool position_is_reachable_by_probe_xy(const float &lx, const float &ly) { + return position_is_reachable_by_probe_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly)); +} + +FORCE_INLINE bool position_is_reachable_xy(const float &lx, const float &ly) { + return position_is_reachable_raw_xy(RAW_X_POSITION(lx), RAW_Y_POSITION(ly)); +} + +#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE) + extern bool extruder_duplication_enabled; // Used in Dual X mode 2 +#endif + +#if ENABLED(DUAL_X_CARRIAGE) + + extern DualXMode dual_x_carriage_mode; + extern float inactive_extruder_x_pos, // used in mode 0 & 1 + raised_parked_position[XYZE], // used in mode 1 + duplicate_extruder_x_offset; // used in mode 2 + extern bool active_extruder_parked; // used in mode 1 & 2 + extern millis_t delayed_move_time; // used in mode 1 + extern int16_t duplicate_extruder_temp_offset; // used in mode 2 + + float x_home_pos(const int extruder); + + FORCE_INLINE int x_home_dir(const uint8_t extruder) { return extruder ? X2_HOME_DIR : X_HOME_DIR; } + +#endif // DUAL_X_CARRIAGE + +#endif // MOTION_H diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index c0e3b3a67..c239b324b 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -60,6 +60,7 @@ #include "planner.h" #include "stepper.h" +#include "motion.h" #include "../module/temperature.h" #include "../lcd/ultralcd.h" #include "../core/language.h" diff --git a/Marlin/src/module/planner_bezier.cpp b/Marlin/src/module/planner_bezier.cpp index fe0a652b5..e5becc10c 100644 --- a/Marlin/src/module/planner_bezier.cpp +++ b/Marlin/src/module/planner_bezier.cpp @@ -31,10 +31,13 @@ #if ENABLED(BEZIER_CURVE_SUPPORT) +#include "planner.h" +#include "motion.h" +#include "temperature.h" + #include "../Marlin.h" -#include "../module/planner.h" #include "../core/language.h" -#include "../module/temperature.h" +#include "../gcode/queue.h" // See the meaning in the documentation of cubic_b_spline(). #define MIN_STEP 0.002 diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index 5835238d5..fecb5c7a9 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -57,6 +57,7 @@ #include "../module/temperature.h" #include "../lcd/ultralcd.h" #include "../core/language.h" +#include "../gcode/queue.h" #include "../sd/cardreader.h" #if MB(ALLIGATOR) diff --git a/Marlin/src/sd/cardreader.cpp b/Marlin/src/sd/cardreader.cpp index 87be1e8a6..0292375d0 100644 --- a/Marlin/src/sd/cardreader.cpp +++ b/Marlin/src/sd/cardreader.cpp @@ -31,6 +31,7 @@ #include "../module/stepper.h" #include "../module/printcounter.h" #include "../core/language.h" +#include "../gcode/queue.h" #include