forked from RF1000/Repetier-Firmware
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Printer.cpp
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Printer.cpp
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/*
This file is part of the Repetier-Firmware for RF devices from Conrad Electronic SE.
Repetier-Firmware 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.
Repetier-Firmware 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 Repetier-Firmware. If not, see <http://www.gnu.org/licenses/>.
*/
#include "Repetier.h"
#include <Wire.h>
#if USE_ADVANCE
uint8_t Printer::maxExtruderSpeed; ///< Timer delay for end extruder speed
volatile int Printer::extruderStepsNeeded; ///< This many extruder steps are still needed, <0 = reverse steps needed.
#endif // USE_ADVANCE
uint8_t Printer::unitIsInches = 0; ///< 0 = Units are mm, 1 = units are inches.
//Stepper Movement Variables
float Printer::axisStepsPerMM[4] = {XAXIS_STEPS_PER_MM,YAXIS_STEPS_PER_MM,ZAXIS_STEPS_PER_MM,1}; ///< Number of steps per mm needed.
float Printer::invAxisStepsPerMM[4]; ///< Inverse of axisStepsPerMM for faster conversion
float Printer::maxFeedrate[4] = {MAX_FEEDRATE_X, MAX_FEEDRATE_Y, MAX_FEEDRATE_Z, DIRECT_FEEDRATE_E}; ///< Maximum allowed feedrate. //DIRECT_FEEDRATE_E added by nibbels, wird aber überschrieben.
float Printer::homingFeedrate[3];
#ifdef RAMP_ACCELERATION
float Printer::maxAccelerationMMPerSquareSecond[4] = {MAX_ACCELERATION_UNITS_PER_SQ_SECOND_X,MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Y,MAX_ACCELERATION_UNITS_PER_SQ_SECOND_Z}; ///< X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts
float Printer::maxTravelAccelerationMMPerSquareSecond[4] = {MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_X,MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Y,MAX_TRAVEL_ACCELERATION_UNITS_PER_SQ_SECOND_Z}; ///< X, Y, Z max acceleration in mm/s^2 for travel moves
#if FEATURE_MILLING_MODE
short Printer::max_milling_all_axis_acceleration = MILLER_ACCELERATION; //miller min speed is limited to too high speed because of acceleration-formula. We use this value in milling mode and make it adjustable within small numbers like 5 to 100 or something like that.
#endif // FEATURE_MILLING_MODE
/** Acceleration in steps/s^2 in printing mode.*/
unsigned long Printer::maxPrintAccelerationStepsPerSquareSecond[4];
/** Acceleration in steps/s^2 in movement mode.*/
unsigned long Printer::maxTravelAccelerationStepsPerSquareSecond[4];
uint32_t Printer::maxInterval;
#endif // RAMP_ACCELERATION
uint8_t Printer::relativeCoordinateMode = false; ///< Determines absolute (false) or relative Coordinates (true).
uint8_t Printer::relativeExtruderCoordinateMode = false; ///< Determines Absolute or Relative E Codes while in Absolute Coordinates mode. E is always relative in Relative Coordinates mode.
volatile long Printer::queuePositionLastSteps[4];
volatile float Printer::queuePositionLastMM[3];
volatile float Printer::queuePositionCommandMM[3];
volatile long Printer::queuePositionTargetSteps[4];
float Printer::originOffsetMM[3] = {0,0,0};
uint8_t Printer::flag0 = 0;
uint8_t Printer::flag1 = 0;
uint8_t Printer::flag2 = 0;
uint8_t Printer::flag3 = 0;
#if ALLOW_EXTENDED_COMMUNICATION < 2
uint8_t Printer::debugLevel = 0; ///< Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication, 32 = No moves
#else
uint8_t Printer::debugLevel = 6; ///< Bitfield defining debug output. 1 = echo, 2 = info, 4 = error, 8 = dry run., 16 = Only communication, 32 = No moves
#endif // ALLOW_EXTENDED_COMMUNICATION < 2
uint8_t Printer::stepsPerTimerCall = 1;
uint16_t Printer::stepsDoublerFrequency = STEP_DOUBLER_FREQUENCY;
uint8_t Printer::menuMode = 0;
unsigned long Printer::interval; ///< Last step duration in ticks.
unsigned long Printer::timer; ///< used for acceleration/deceleration timing
unsigned long Printer::stepNumber; ///< Step number in current move.
#if USE_ADVANCE
#ifdef ENABLE_QUADRATIC_ADVANCE
long Printer::advanceExecuted; ///< Executed advance steps
#endif // ENABLE_QUADRATIC_ADVANCE
volatile int Printer::advanceStepsSet;
#endif // USE_ADVANCE
//float Printer::minimumSpeed; ///< lowest allowed speed to keep integration error small
//float Printer::minimumZSpeed;
long Printer::maxSteps[3]; ///< For software endstops, limit of move in positive direction.
long Printer::minSteps[3]; ///< For software endstops, limit of move in negative direction.
float Printer::lengthMM[3];
float Printer::minMM[3];
float Printer::feedrate; ///< Last requested feedrate.
int Printer::feedrateMultiply; ///< Multiplier for feedrate in percent (factor 1 = 100)
int Printer::extrudeMultiply; ///< Flow multiplier in percdent (factor 1 = 100)
float Printer::extrudeMultiplyError = 0;
float Printer::extrusionFactor = 1.0;
float Printer::maxJerk; ///< Maximum allowed jerk in mm/s
float Printer::maxZJerk; ///< Maximum allowed jerk in z direction in mm/s
float Printer::extruderOffset[3]; ///< offset for different extruder positions.
unsigned int Printer::vMaxReached; ///< Maximum reached speed
unsigned long Printer::msecondsPrinting; ///< Milliseconds of printing time (means time with heated extruder)
unsigned long Printer::msecondsMilling; ///< Milliseconds of milling time
float Printer::filamentPrinted; ///< mm of filament printed since counting started
long Printer::ZOffset; ///< Z Offset in um
char Printer::ZMode = DEFAULT_Z_SCALE_MODE; ///< Z Scale 1 = show the z-distance to z-min (print) or to the z-origin (mill), 2 = show the z-distance to the surface of the heat bed (print) or work part (mill)
char Printer::moveMode[3]; ///< move mode which is applied within the Position X/Y/Z menus
#if ENABLE_BACKLASH_COMPENSATION
float Printer::backlash[3];
uint8_t Printer::backlashDir;
#endif // ENABLE_BACKLASH_COMPENSATION
#if FEATURE_MEMORY_POSITION
float Printer::memoryX;
float Printer::memoryY;
float Printer::memoryZ;
float Printer::memoryE;
#endif // FEATURE_MEMORY_POSITION
#ifdef DEBUG_PRINT
int debugWaitLoop = 0;
#endif // DEBUG_PRINT
#if FEATURE_HEAT_BED_Z_COMPENSATION
volatile char Printer::doHeatBedZCompensation;
#endif // FEATURE_HEAT_BED_Z_COMPENSATION
#if FEATURE_WORK_PART_Z_COMPENSATION
volatile char Printer::doWorkPartZCompensation;
volatile long Printer::staticCompensationZ;
#endif // FEATURE_WORK_PART_Z_COMPENSATION
volatile long Printer::queuePositionCurrentSteps[3];
volatile char Printer::stepperDirection[3];
volatile char Printer::blockAll;
#if FEATURE_Z_MIN_OVERRIDE_VIA_GCODE
volatile long Printer::currentZSteps;
#endif // FEATURE_Z_MIN_OVERRIDE_VIA_GCODE
#if FEATURE_HEAT_BED_Z_COMPENSATION || FEATURE_WORK_PART_Z_COMPENSATION
volatile long Printer::compensatedPositionTargetStepsZ;
volatile long Printer::compensatedPositionCurrentStepsZ;
volatile char Printer::endZCompensationStep;
#endif // FEATURE_HEAT_BED_Z_COMPENSATION || FEATURE_WORK_PART_Z_COMPENSATION
#if FEATURE_EXTENDED_BUTTONS || FEATURE_PAUSE_PRINTING
volatile long Printer::directPositionTargetSteps[4];
volatile long Printer::directPositionCurrentSteps[4];
long Printer::directPositionLastSteps[4];
char Printer::waitMove;
#endif // FEATURE_EXTENDED_BUTTONS || FEATURE_PAUSE_PRINTING
#if FEATURE_MILLING_MODE
char Printer::operatingMode;
float Printer::drillFeedrate;
float Printer::drillZDepth;
#endif // FEATURE_MILLING_MODE
#if FEATURE_CONFIGURABLE_Z_ENDSTOPS
char Printer::ZEndstopType;
char Printer::ZEndstopUnknown;
char Printer::lastZDirection;
char Printer::endstopZMinHit;
char Printer::endstopZMaxHit;
#endif // FEATURE_CONFIGURABLE_Z_ENDSTOPS
#if FEATURE_CONFIGURABLE_MILLER_TYPE
char Printer::MillerType;
#endif // FEATURE_CONFIGURABLE_MILLER_TYPE
#if STEPPER_ON_DELAY
char Printer::enabledStepper[3];
#endif // STEPPER_ON_DELAY
#if FEATURE_BEEPER
char Printer::enableBeeper;
#endif // FEATURE_BEEPER
#if FEATURE_CASE_LIGHT
char Printer::enableCaseLight;
#endif // FEATURE_CASE_LIGHT
#if FEATURE_RGB_LIGHT_EFFECTS
char Printer::RGBLightMode;
char Printer::RGBLightStatus;
unsigned long Printer::RGBLightIdleStart;
char Printer::RGBButtonBackPressed;
char Printer::RGBLightModeForceWhite;
#endif // FEATURE_RGB_LIGHT_EFFECTS
#if FEATURE_230V_OUTPUT
char Printer::enable230VOutput;
#endif // FEATURE_230V_OUTPUT
#if FEATURE_24V_FET_OUTPUTS
char Printer::enableFET1;
char Printer::enableFET2;
char Printer::enableFET3;
#endif // FEATURE_24V_FET_OUTPUTS
#if FEATURE_CASE_FAN
bool Printer::ignoreFanOn = false;
unsigned long Printer::prepareFanOff = 0;
unsigned long Printer::fanOffDelay = 0;
#endif // FEATURE_CASE_FAN
#if FEATURE_TYPE_EEPROM
unsigned char Printer::wrongType;
#endif // FEATURE_TYPE_EEPROM
#if FEATURE_UNLOCK_MOVEMENT
//When the printer resets, we should not do movement, because it would not be homed. At least some interaction with buttons or temperature-commands are needed to allow movement.
unsigned char Printer::g_unlock_movement = 0;
#endif //FEATURE_UNLOCK_MOVEMENT
uint8_t Printer::motorCurrent[5] = {0,0,0,0,0};
#if FEATURE_ZERO_DIGITS
short Printer::g_pressure_offset = 0;
#endif // FEATURE_ZERO_DIGITS
void Printer::constrainQueueDestinationCoords()
{
if(isNoDestinationCheck()) return;
#if FEATURE_EXTENDED_BUTTONS || FEATURE_PAUSE_PRINTING
#if max_software_endstop_x == true
if (queuePositionTargetSteps[X_AXIS] + directPositionTargetSteps[X_AXIS] > Printer::maxSteps[X_AXIS]) Printer::queuePositionTargetSteps[X_AXIS] = Printer::maxSteps[X_AXIS] - directPositionTargetSteps[X_AXIS];
#endif // max_software_endstop_x == true
#if max_software_endstop_y == true
if (queuePositionTargetSteps[Y_AXIS] + directPositionTargetSteps[Y_AXIS] > Printer::maxSteps[Y_AXIS]) Printer::queuePositionTargetSteps[Y_AXIS] = Printer::maxSteps[Y_AXIS] - directPositionTargetSteps[Y_AXIS];
#endif // max_software_endstop_y == true
#if max_software_endstop_z == true
if (queuePositionTargetSteps[Z_AXIS] + directPositionTargetSteps[Z_AXIS] > Printer::maxSteps[Z_AXIS]) Printer::queuePositionTargetSteps[Z_AXIS] = Printer::maxSteps[Z_AXIS] - directPositionTargetSteps[Z_AXIS];
#endif // max_software_endstop_z == true
#else
#if max_software_endstop_x == true
if (queuePositionTargetSteps[X_AXIS] > Printer::maxSteps[X_AXIS]) Printer::queuePositionTargetSteps[X_AXIS] = Printer::maxSteps[X_AXIS];
#endif // max_software_endstop_x == true
#if max_software_endstop_y == true
if (queuePositionTargetSteps[Y_AXIS] > Printer::maxSteps[Y_AXIS]) Printer::queuePositionTargetSteps[Y_AXIS] = Printer::maxSteps[Y_AXIS];
#endif // max_software_endstop_y == true
#if max_software_endstop_z == true
if (queuePositionTargetSteps[Z_AXIS] > Printer::maxSteps[Z_AXIS]) Printer::queuePositionTargetSteps[Z_AXIS] = Printer::maxSteps[Z_AXIS];
#endif // max_software_endstop_z == true
#endif //FEATURE_EXTENDED_BUTTONS || FEATURE_PAUSE_PRINTING
} // constrainQueueDestinationCoords
void Printer::constrainDirectDestinationCoords()
{
if(isNoDestinationCheck()) return;
if(g_pauseStatus) return; //pausebewegung rechnet mit current queue
#if FEATURE_EXTENDED_BUTTONS || FEATURE_PAUSE_PRINTING
#if max_software_endstop_x == true
if (queuePositionTargetSteps[X_AXIS] + directPositionTargetSteps[X_AXIS] > Printer::maxSteps[X_AXIS]) Printer::directPositionTargetSteps[X_AXIS] = Printer::maxSteps[X_AXIS] - queuePositionTargetSteps[X_AXIS];
#endif // max_software_endstop_x == true
#if max_software_endstop_y == true
if (queuePositionTargetSteps[Y_AXIS] + directPositionTargetSteps[Y_AXIS] > Printer::maxSteps[Y_AXIS]) Printer::directPositionTargetSteps[Y_AXIS] = Printer::maxSteps[Y_AXIS] - queuePositionTargetSteps[Y_AXIS];
#endif // max_software_endstop_y == true
#if max_software_endstop_z == true
if (queuePositionTargetSteps[Z_AXIS] + directPositionTargetSteps[Z_AXIS] > Printer::maxSteps[Z_AXIS]) Printer::directPositionTargetSteps[Z_AXIS] = Printer::maxSteps[Z_AXIS] - queuePositionTargetSteps[Z_AXIS];
#endif // max_software_endstop_z == true
#endif //FEATURE_EXTENDED_BUTTONS || FEATURE_PAUSE_PRINTING
} // constrainDirectDestinationCoords
bool Printer::isPositionAllowed(float x,float y,float z)
{
if(isNoDestinationCheck()) return true;
bool allowed = true;
//Nibbels 11.01.17: Die Funktion ist so wie sie ist etwas unnötig und prüft nix... blende warnings aus.
(void)x;
(void)y;
(void)z;
if(!allowed)
{
Printer::updateCurrentPosition(true);
Commands::printCurrentPosition();
}
return allowed;
} // isPositionAllowed
void Printer::updateDerivedParameter()
{
maxSteps[X_AXIS] = (long)(axisStepsPerMM[X_AXIS]*(minMM[X_AXIS]+lengthMM[X_AXIS]));
maxSteps[Y_AXIS] = (long)(axisStepsPerMM[Y_AXIS]*(minMM[Y_AXIS]+lengthMM[Y_AXIS]));
maxSteps[Z_AXIS] = (long)(axisStepsPerMM[Z_AXIS]*(minMM[Z_AXIS]+lengthMM[Z_AXIS]));
minSteps[X_AXIS] = (long)(axisStepsPerMM[X_AXIS]*minMM[X_AXIS]);
minSteps[Y_AXIS] = (long)(axisStepsPerMM[Y_AXIS]*minMM[Y_AXIS]);
minSteps[Z_AXIS] = (long)(axisStepsPerMM[Z_AXIS]*minMM[Z_AXIS]);
// For which directions do we need backlash compensation
#if ENABLE_BACKLASH_COMPENSATION
backlashDir &= 7;
if(backlashX!=0) backlashDir |= 8;
if(backlashY!=0) backlashDir |= 16;
if(backlashZ!=0) backlashDir |= 32;
#endif // ENABLE_BACKLASH_COMPENSATION
for(uint8_t i = 0; i < 4; i++)
{
invAxisStepsPerMM[i] = 1.0f / axisStepsPerMM[i];
#ifdef RAMP_ACCELERATION
#if FEATURE_MILLING_MODE
if( Printer::operatingMode == OPERATING_MODE_PRINT )
{
#endif // FEATURE_MILLING_MODE
/** Acceleration in steps/s^2 in printing mode.*/
maxPrintAccelerationStepsPerSquareSecond[i] = maxAccelerationMMPerSquareSecond[i] * axisStepsPerMM[i];
/** Acceleration in steps/s^2 in movement mode.*/
maxTravelAccelerationStepsPerSquareSecond[i] = maxTravelAccelerationMMPerSquareSecond[i] * axisStepsPerMM[i];
#if FEATURE_MILLING_MODE
}
else
{
/** Acceleration in steps/s^2 in milling mode.*/
maxPrintAccelerationStepsPerSquareSecond[i] = MILLER_ACCELERATION * axisStepsPerMM[i];
/** Acceleration in steps/s^2 in milling-movement mode.*/
maxTravelAccelerationStepsPerSquareSecond[i] = MILLER_ACCELERATION * axisStepsPerMM[i];
}
#endif // FEATURE_MILLING_MODE
#endif // RAMP_ACCELERATION
}
float accel;
#if FEATURE_MILLING_MODE
if( Printer::operatingMode == OPERATING_MODE_PRINT )
{
#endif // FEATURE_MILLING_MODE
accel = RMath::max(maxAccelerationMMPerSquareSecond[X_AXIS], maxTravelAccelerationMMPerSquareSecond[X_AXIS]);
#if FEATURE_MILLING_MODE
}
else{
accel = MILLER_ACCELERATION;
}
#endif // FEATURE_MILLING_MODE
float minimumSpeed = accel * sqrt(2.0f / (axisStepsPerMM[X_AXIS] * accel));
if(maxJerk < 2 * minimumSpeed) {// Enforce minimum start speed if target is faster and jerk too low
maxJerk = 2 * minimumSpeed;
Com::printFLN(PSTR("XY jerk was too low, setting to "), maxJerk);
}
#if FEATURE_MILLING_MODE
if( Printer::operatingMode == OPERATING_MODE_PRINT )
{
#endif // FEATURE_MILLING_MODE
accel = RMath::max(maxAccelerationMMPerSquareSecond[Z_AXIS], maxTravelAccelerationMMPerSquareSecond[Z_AXIS]);
#if FEATURE_MILLING_MODE
}
#endif // FEATURE_MILLING_MODE
float minimumZSpeed = 0.5 * accel * sqrt(2.0f / (axisStepsPerMM[Z_AXIS] * accel));
if(maxZJerk < 2 * minimumZSpeed) {
maxZJerk = 2 * minimumZSpeed;
Com::printFLN(PSTR("Z jerk was too low, setting to "), maxZJerk);
}
maxInterval = F_CPU / (minimumSpeed * axisStepsPerMM[X_AXIS]);
uint32_t tmp = F_CPU / (minimumSpeed * axisStepsPerMM[Y_AXIS]);
if(tmp < maxInterval)
maxInterval = tmp;
tmp = F_CPU / (minimumZSpeed * axisStepsPerMM[Z_AXIS]);
if(tmp < maxInterval)
maxInterval = tmp;
Printer::updateAdvanceFlags();
} // updateDerivedParameter
/** \brief Stop heater and stepper motors. Disable power,if possible. */
void Printer::kill(uint8_t only_steppers)
{
if(areAllSteppersDisabled() && only_steppers) return;
if(Printer::isAllKilled()) return;
#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
// disable the fan
Commands::setFanSpeed(0,false);
#endif // FAN_PIN>-1 && FEATURE_FAN_CONTROL
setAllSteppersDisabled();
disableXStepper();
disableYStepper();
disableZStepper();
Extruder::disableAllExtruders();
#if FAN_BOARD_PIN>-1
pwm_pos[NUM_EXTRUDER+1] = 0;
#endif // FAN_BOARD_PIN
if(!only_steppers)
{
for(uint8_t i=0; i<NUM_TEMPERATURE_LOOPS; i++)
Extruder::setTemperatureForExtruder(0,i);
Extruder::setHeatedBedTemperature(0);
UI_STATUS_UPD(UI_TEXT_KILLED);
#if defined(PS_ON_PIN) && PS_ON_PIN>-1
//pinMode(PS_ON_PIN,INPUT);
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, (POWER_INVERTING ? LOW : HIGH));
#endif // defined(PS_ON_PIN) && PS_ON_PIN>-1
Printer::setAllKilled(true);
}
else
{
UI_STATUS_UPD(UI_TEXT_STEPPER_DISABLED);
}
} // kill
void Printer::updateAdvanceFlags()
{
Printer::setAdvanceActivated(false);
#if USE_ADVANCE
for(uint8_t i = 0; i < NUM_EXTRUDER; i++) {
if(extruder[i].advanceL!=0) {
Printer::setAdvanceActivated(true);
}
#ifdef ENABLE_QUADRATIC_ADVANCE
if(extruder[i].advanceK != 0) Printer::setAdvanceActivated(true);
#endif // ENABLE_QUADRATIC_ADVANCE
}
#endif // USE_ADVANCE
} // updateAdvanceFlags
// This is for untransformed move to coordinates in printers absolute Cartesian space
void Printer::moveTo(float x,float y,float z,float e,float f)
{
if(x != IGNORE_COORDINATE)
queuePositionTargetSteps[X_AXIS] = (x + Printer::extruderOffset[X_AXIS]) * axisStepsPerMM[X_AXIS];
if(y != IGNORE_COORDINATE)
queuePositionTargetSteps[Y_AXIS] = (y + Printer::extruderOffset[Y_AXIS]) * axisStepsPerMM[Y_AXIS];
if(z != IGNORE_COORDINATE)
queuePositionTargetSteps[Z_AXIS] = (z + Printer::extruderOffset[Z_AXIS]) * axisStepsPerMM[Z_AXIS];
if(e != IGNORE_COORDINATE)
queuePositionTargetSteps[E_AXIS] = e * axisStepsPerMM[E_AXIS];
if(f != IGNORE_COORDINATE)
feedrate = f;
PrintLine::prepareQueueMove(ALWAYS_CHECK_ENDSTOPS,true);
updateCurrentPosition(false);
} // moveTo
/** Move to transformed Cartesian coordinates, mapping real (model) space to printer space.
*/
void Printer::moveToReal(float x,float y,float z,float e,float f)
{
if(x == IGNORE_COORDINATE) x = queuePositionLastMM[X_AXIS];
else queuePositionLastMM[X_AXIS] = x;
if(y == IGNORE_COORDINATE) y = queuePositionLastMM[Y_AXIS];
else queuePositionLastMM[Y_AXIS] = y;
if(z == IGNORE_COORDINATE) z = queuePositionLastMM[Z_AXIS];
else queuePositionLastMM[Z_AXIS] = z;
x += Printer::extruderOffset[X_AXIS];
y += Printer::extruderOffset[Y_AXIS];
z += Printer::extruderOffset[Z_AXIS];
queuePositionTargetSteps[X_AXIS] = static_cast<int32_t>(floor(x * axisStepsPerMM[X_AXIS] + 0.5));
queuePositionTargetSteps[Y_AXIS] = static_cast<int32_t>(floor(y * axisStepsPerMM[Y_AXIS] + 0.5));
queuePositionTargetSteps[Z_AXIS] = static_cast<int32_t>(floor(z * axisStepsPerMM[Z_AXIS] + 0.5));
if(e != IGNORE_COORDINATE)
queuePositionTargetSteps[E_AXIS] = e * axisStepsPerMM[E_AXIS];
if(f != IGNORE_COORDINATE)
feedrate = f;
PrintLine::prepareQueueMove(ALWAYS_CHECK_ENDSTOPS,true);
} // moveToReal
uint8_t Printer::setOrigin(float xOff,float yOff,float zOff)
{
if( !areAxisHomed() )
{
if( debugErrors() )
{
// we can not set the origin when we do not know the home position
Com::printFLN( PSTR("setOrigin(): home position is unknown") );
}
showError( (void*)ui_text_set_origin, (void*)ui_text_home_unknown );
return 0;
}
originOffsetMM[X_AXIS] = xOff;
originOffsetMM[Y_AXIS] = yOff;
originOffsetMM[Z_AXIS] = zOff;
if( debugInfo() )
{
// output the new origin offsets
Com::printF( PSTR("setOrigin(): x="), originOffsetMM[X_AXIS] );
Com::printF( PSTR("; y="), originOffsetMM[Y_AXIS] );
Com::printFLN( PSTR("; z="), originOffsetMM[Z_AXIS] );
}
return 1;
} // setOrigin
void Printer::updateCurrentPosition(bool copyLastCmd)
{
queuePositionLastMM[X_AXIS] = (float)(queuePositionLastSteps[X_AXIS])*invAxisStepsPerMM[X_AXIS];
queuePositionLastMM[Y_AXIS] = (float)(queuePositionLastSteps[Y_AXIS])*invAxisStepsPerMM[Y_AXIS];
queuePositionLastMM[Z_AXIS] = (float)(queuePositionLastSteps[Z_AXIS])*invAxisStepsPerMM[Z_AXIS];
queuePositionLastMM[X_AXIS] -= Printer::extruderOffset[X_AXIS];
queuePositionLastMM[Y_AXIS] -= Printer::extruderOffset[Y_AXIS];
queuePositionLastMM[Z_AXIS] -= Printer::extruderOffset[Z_AXIS];
if(copyLastCmd)
{
queuePositionCommandMM[X_AXIS] = queuePositionLastMM[X_AXIS];
queuePositionCommandMM[Y_AXIS] = queuePositionLastMM[Y_AXIS];
queuePositionCommandMM[Z_AXIS] = queuePositionLastMM[Z_AXIS];
}
} // updateCurrentPosition
/**
\brief Sets the destination coordinates to values stored in com.
For the computation of the destination, the following facts are considered:
- Are units inches or mm.
- Relative or absolute positioning with special case only extruder relative.
- Offset in x and y direction for multiple extruder support.
*/
uint8_t Printer::setDestinationStepsFromGCode(GCode *com)
{
register long p;
float x, y, z;
if(!relativeCoordinateMode)
{
if(com->hasX()) queuePositionCommandMM[X_AXIS] = queuePositionLastMM[X_AXIS] = convertToMM(com->X) - originOffsetMM[X_AXIS];
if(com->hasY()) queuePositionCommandMM[Y_AXIS] = queuePositionLastMM[Y_AXIS] = convertToMM(com->Y) - originOffsetMM[Y_AXIS];
if(com->hasZ()) queuePositionCommandMM[Z_AXIS] = queuePositionLastMM[Z_AXIS] = convertToMM(com->Z) - originOffsetMM[Z_AXIS];
}
else
{
if(com->hasX()) queuePositionLastMM[X_AXIS] = (queuePositionCommandMM[X_AXIS] += convertToMM(com->X));
if(com->hasY()) queuePositionLastMM[Y_AXIS] = (queuePositionCommandMM[Y_AXIS] += convertToMM(com->Y));
if(com->hasZ()) queuePositionLastMM[Z_AXIS] = (queuePositionCommandMM[Z_AXIS] += convertToMM(com->Z));
}
x = queuePositionCommandMM[X_AXIS] + Printer::extruderOffset[X_AXIS];
y = queuePositionCommandMM[Y_AXIS] + Printer::extruderOffset[Y_AXIS];
z = queuePositionCommandMM[Z_AXIS] + Printer::extruderOffset[Z_AXIS];
long xSteps = static_cast<long>(floor(x * axisStepsPerMM[X_AXIS] + 0.5f));
long ySteps = static_cast<long>(floor(y * axisStepsPerMM[Y_AXIS] + 0.5f));
long zSteps = static_cast<long>(floor(z * axisStepsPerMM[Z_AXIS] + 0.5f));
if(com->hasX())
{
queuePositionTargetSteps[X_AXIS] = xSteps;
}
else
{
queuePositionTargetSteps[X_AXIS] = queuePositionLastSteps[X_AXIS];
}
if(com->hasY())
{
queuePositionTargetSteps[Y_AXIS] = ySteps;
}
else
{
queuePositionTargetSteps[Y_AXIS] = queuePositionLastSteps[Y_AXIS];
}
if(com->hasZ())
{
queuePositionTargetSteps[Z_AXIS] = zSteps;
}
else
{
queuePositionTargetSteps[Z_AXIS] = queuePositionLastSteps[Z_AXIS];
}
if(com->hasE() && !Printer::debugDryrun())
{
p = convertToMM(com->E * axisStepsPerMM[E_AXIS]);
if(relativeCoordinateMode || relativeExtruderCoordinateMode)
{
if(
#if MIN_EXTRUDER_TEMP > 30
Extruder::current->tempControl.currentTemperatureC < MIN_EXTRUDER_TEMP ||
#endif // MIN_EXTRUDER_TEMP > 30
fabs(com->E) * extrusionFactor > EXTRUDE_MAXLENGTH)
{
p = 0;
}
queuePositionTargetSteps[E_AXIS] = queuePositionLastSteps[E_AXIS] + p;
}
else
{
if(
#if MIN_EXTRUDER_TEMP > 30
Extruder::current->tempControl.currentTemperatureC < MIN_EXTRUDER_TEMP ||
#endif // MIN_EXTRUDER_TEMP > 30
fabs(p - queuePositionLastSteps[E_AXIS]) * extrusionFactor > EXTRUDE_MAXLENGTH * axisStepsPerMM[E_AXIS])
{
queuePositionLastSteps[E_AXIS] = p;
}
queuePositionTargetSteps[E_AXIS] = p;
}
}
else
{
queuePositionTargetSteps[E_AXIS] = queuePositionLastSteps[E_AXIS];
}
if(com->hasF())
{
if(unitIsInches)
feedrate = com->F * (float)feedrateMultiply * 0.0042333f; // Factor is 25.5/60/100
else
feedrate = com->F * (float)feedrateMultiply * 0.00016666666f;
}
if(!Printer::isPositionAllowed(x,y,z))
{
queuePositionLastSteps[E_AXIS] = queuePositionTargetSteps[E_AXIS];
return false; // ignore move
}
return !com->hasNoXYZ() || (com->hasE() && queuePositionTargetSteps[E_AXIS] != queuePositionLastSteps[E_AXIS]); // ignore unproductive moves
} // setDestinationStepsFromGCode
/**
\brief Sets the destination coordinates to the passed values.
*/
uint8_t Printer::setDestinationStepsFromMenu( float relativeX, float relativeY, float relativeZ )
{
float x, y, z;
if( relativeX ) queuePositionLastMM[X_AXIS] = (queuePositionCommandMM[X_AXIS] += relativeX);
if( relativeY ) queuePositionLastMM[Y_AXIS] = (queuePositionCommandMM[Y_AXIS] += relativeY);
if( relativeZ ) queuePositionLastMM[Z_AXIS] = (queuePositionCommandMM[Z_AXIS] += relativeZ);
x = queuePositionCommandMM[X_AXIS] + Printer::extruderOffset[X_AXIS];
y = queuePositionCommandMM[Y_AXIS] + Printer::extruderOffset[Y_AXIS];
z = queuePositionCommandMM[Z_AXIS] + Printer::extruderOffset[Z_AXIS];
long xSteps = static_cast<long>(floor(x * axisStepsPerMM[X_AXIS] + 0.5));
long ySteps = static_cast<long>(floor(y * axisStepsPerMM[Y_AXIS] + 0.5));
long zSteps = static_cast<long>(floor(z * axisStepsPerMM[Z_AXIS] + 0.5));
if( relativeX )
{
queuePositionTargetSteps[X_AXIS] = xSteps;
}
else
{
queuePositionTargetSteps[X_AXIS] = queuePositionLastSteps[X_AXIS];
}
if( relativeY )
{
queuePositionTargetSteps[Y_AXIS] = ySteps;
}
else
{
queuePositionTargetSteps[Y_AXIS] = queuePositionLastSteps[Y_AXIS];
}
if( relativeZ )
{
queuePositionTargetSteps[Z_AXIS] = zSteps;
}
else
{
queuePositionTargetSteps[Z_AXIS] = queuePositionLastSteps[Z_AXIS];
}
if( !Printer::isPositionAllowed( x, y, z ) )
{
if( Printer::debugErrors() )
{
//Com::printFLN( PSTR( "We should not be here." ) );
}
return false; // ignore move
}
PrintLine::prepareQueueMove( ALWAYS_CHECK_ENDSTOPS, true );
return true;
} // setDestinationStepsFromMenu
void Printer::setup()
{
HAL::stopWatchdog();
for(uint8_t i=0; i<NUM_EXTRUDER+3; i++) pwm_pos[i]=0;
#if FEATURE_MILLING_MODE
if( Printer::operatingMode == OPERATING_MODE_PRINT )
{
Printer::homingFeedrate[X_AXIS] = HOMING_FEEDRATE_X_PRINT;
Printer::homingFeedrate[Y_AXIS] = HOMING_FEEDRATE_Y_PRINT;
Printer::homingFeedrate[Z_AXIS] = HOMING_FEEDRATE_Z_PRINT;
}
else
{
Printer::homingFeedrate[X_AXIS] = HOMING_FEEDRATE_X_MILL;
Printer::homingFeedrate[Y_AXIS] = HOMING_FEEDRATE_Y_MILL;
Printer::homingFeedrate[Z_AXIS] = HOMING_FEEDRATE_Z_MILL;
}
#else
Printer::homingFeedrate[X_AXIS] = HOMING_FEEDRATE_X_PRINT;
Printer::homingFeedrate[Y_AXIS] = HOMING_FEEDRATE_Y_PRINT;
Printer::homingFeedrate[Z_AXIS] = HOMING_FEEDRATE_Z_PRINT;
#endif // FEATURE_MILLING_MODE
//HAL::delayMilliseconds(500); // add a delay at startup to give hardware time for initalization
HAL::hwSetup();
HAL::allowInterrupts();
#if FEATURE_BEEPER
enableBeeper = BEEPER_MODE;
#endif // FEATURE_BEEPER
Wire.begin();
#if FEATURE_TYPE_EEPROM
determineHardwareType();
if( wrongType )
{
// this firmware is not for this hardware
while( 1 )
{
// this firmware shall not try to do anything at this hardware
}
}
#endif // FEATURE_TYPE_EEPROM
#ifdef ANALYZER
// Channel->pin assignments
#if ANALYZER_CH0>=0
SET_OUTPUT(ANALYZER_CH0);
#endif // ANALYZER_CH0>=0
#if ANALYZER_CH1>=0
SET_OUTPUT(ANALYZER_CH1);
#endif // ANALYZER_CH1>=0
#if ANALYZER_CH2>=0
SET_OUTPUT(ANALYZER_CH2);
#endif // ANALYZER_CH2>=0
#if ANALYZER_CH3>=0
SET_OUTPUT(ANALYZER_CH3);
#endif // ANALYZER_CH3>=0
#if ANALYZER_CH4>=0
SET_OUTPUT(ANALYZER_CH4);
#endif // ANALYZER_CH4>=0
#if ANALYZER_CH5>=0
SET_OUTPUT(ANALYZER_CH5);
#endif // ANALYZER_CH5>=0
#if ANALYZER_CH6>=0
SET_OUTPUT(ANALYZER_CH6);
#endif // ANALYZER_CH6>=0
#if ANALYZER_CH7>=0
SET_OUTPUT(ANALYZER_CH7);
#endif // ANALYZER_CH7>=0
#endif // ANALYZER
#if defined(ENABLE_POWER_ON_STARTUP) && PS_ON_PIN>-1
SET_OUTPUT(PS_ON_PIN); //GND
WRITE(PS_ON_PIN, (POWER_INVERTING ? HIGH : LOW));
#endif // defined(ENABLE_POWER_ON_STARTUP) && PS_ON_PIN>-1
//Initialize Step Pins
SET_OUTPUT(X_STEP_PIN);
SET_OUTPUT(Y_STEP_PIN);
SET_OUTPUT(Z_STEP_PIN);
//Initialize Dir Pins
#if X_DIR_PIN>-1
SET_OUTPUT(X_DIR_PIN);
#endif // X_DIR_PIN>-1
#if Y_DIR_PIN>-1
SET_OUTPUT(Y_DIR_PIN);
#endif // Y_DIR_PIN>-1
#if Z_DIR_PIN>-1
SET_OUTPUT(Z_DIR_PIN);
#endif // Z_DIR_PIN>-1
//Steppers default to disabled.
#if X_ENABLE_PIN > -1
SET_OUTPUT(X_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
disableXStepper();
#endif // X_ENABLE_PIN > -1
#if Y_ENABLE_PIN > -1
SET_OUTPUT(Y_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
disableYStepper();
#endif // Y_ENABLE_PIN > -1
#if Z_ENABLE_PIN > -1
SET_OUTPUT(Z_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
disableZStepper();
#endif // Z_ENABLE_PIN > -1
#if FEATURE_TWO_XSTEPPER
SET_OUTPUT(X2_STEP_PIN);
SET_OUTPUT(X2_DIR_PIN);
#if X2_ENABLE_PIN > -1
SET_OUTPUT(X2_ENABLE_PIN);
if(!X_ENABLE_ON) WRITE(X2_ENABLE_PIN,HIGH);
#endif // X2_ENABLE_PIN > -1
#endif // FEATURE_TWO_XSTEPPER
#if FEATURE_TWO_YSTEPPER
SET_OUTPUT(Y2_STEP_PIN);
SET_OUTPUT(Y2_DIR_PIN);
#if Y2_ENABLE_PIN > -1
SET_OUTPUT(Y2_ENABLE_PIN);
if(!Y_ENABLE_ON) WRITE(Y2_ENABLE_PIN,HIGH);
#endif // Y2_ENABLE_PIN > -1
#endif // FEATURE_TWO_YSTEPPER
#if FEATURE_TWO_ZSTEPPER
SET_OUTPUT(Z2_STEP_PIN);
SET_OUTPUT(Z2_DIR_PIN);
#if X2_ENABLE_PIN > -1
SET_OUTPUT(Z2_ENABLE_PIN);
if(!Z_ENABLE_ON) WRITE(Z2_ENABLE_PIN,HIGH);
#endif // X2_ENABLE_PIN > -1
#endif // FEATURE_TWO_ZSTEPPER
//endstop pullups
#if MIN_HARDWARE_ENDSTOP_X
#if X_MIN_PIN>-1
SET_INPUT(X_MIN_PIN);
#if ENDSTOP_PULLUP_X_MIN
PULLUP(X_MIN_PIN,HIGH);
#endif // ENDSTOP_PULLUP_X_MIN
#else
#error You have defined hardware x min endstop without pin assignment. Set pin number for X_MIN_PIN
#endif // X_MIN_PIN>-1
#endif // MIN_HARDWARE_ENDSTOP_X
#if MIN_HARDWARE_ENDSTOP_Y
#if Y_MIN_PIN>-1
SET_INPUT(Y_MIN_PIN);
#if ENDSTOP_PULLUP_Y_MIN
PULLUP(Y_MIN_PIN,HIGH);
#endif // ENDSTOP_PULLUP_Y_MIN
#else
#error You have defined hardware y min endstop without pin assignment. Set pin number for Y_MIN_PIN
#endif // Y_MIN_PIN>-1
#endif // MIN_HARDWARE_ENDSTOP_Y
#if MIN_HARDWARE_ENDSTOP_Z
#if Z_MIN_PIN>-1
SET_INPUT(Z_MIN_PIN);
#if ENDSTOP_PULLUP_Z_MIN
PULLUP(Z_MIN_PIN,HIGH);
#endif // ENDSTOP_PULLUP_Z_MIN
#else
#error You have defined hardware z min endstop without pin assignment. Set pin number for Z_MIN_PIN
#endif // Z_MIN_PIN>-1
#endif // MIN_HARDWARE_ENDSTOP_Z
#if MAX_HARDWARE_ENDSTOP_X
#if X_MAX_PIN>-1
SET_INPUT(X_MAX_PIN);
#if ENDSTOP_PULLUP_X_MAX
PULLUP(X_MAX_PIN,HIGH);
#endif // ENDSTOP_PULLUP_X_MAX
#else
#error You have defined hardware x max endstop without pin assignment. Set pin number for X_MAX_PIN
#endif // X_MAX_PIN>-1
#endif // MAX_HARDWARE_ENDSTOP_X
#if MAX_HARDWARE_ENDSTOP_Y
#if Y_MAX_PIN>-1
SET_INPUT(Y_MAX_PIN);
#if ENDSTOP_PULLUP_Y_MAX
PULLUP(Y_MAX_PIN,HIGH);
#endif // ENDSTOP_PULLUP_Y_MAX
#else
#error You have defined hardware y max endstop without pin assignment. Set pin number for Y_MAX_PIN
#endif // Y_MAX_PIN>-1
#endif // MAX_HARDWARE_ENDSTOP_Y
#if MAX_HARDWARE_ENDSTOP_Z
#if Z_MAX_PIN>-1
SET_INPUT(Z_MAX_PIN);
#if ENDSTOP_PULLUP_Z_MAX
PULLUP(Z_MAX_PIN,HIGH);
#endif // ENDSTOP_PULLUP_Z_MAX
#else
#error You have defined hardware z max endstop without pin assignment. Set pin number for Z_MAX_PIN
#endif // Z_MAX_PIN>-1
#endif // MAX_HARDWARE_ENDSTOP_Z
#if FEATURE_USER_INT3
SET_INPUT( RESERVE_DIGITAL_PIN_PD3 );
PULLUP( RESERVE_DIGITAL_PIN_PD3, HIGH );
attachInterrupt( digitalPinToInterrupt(RESERVE_DIGITAL_PIN_PD3) , USER_INTERRUPT3_HOOK, FALLING );
#endif //FEATURE_USER_INT3
#if FEATURE_READ_CALIPER
// read for using pins : https://www.arduino.cc/en/Tutorial/DigitalPins
//where the clock comes in and triggers an interrupt which reads data then:
SET_INPUT( FEATURE_READ_CALIPER_INT_PIN ); //input as default already this is here for explaination more than really having an input.
PULLUP( FEATURE_READ_CALIPER_INT_PIN, HIGH ); //do I need this pullup??
attachInterrupt( digitalPinToInterrupt(FEATURE_READ_CALIPER_INT_PIN) , FEATURE_READ_CALIPER_HOOK, FALLING );
//where data is to read when Int triggers because of clock from caliper:
SET_INPUT( FEATURE_READ_CALIPER_DATA_PIN ); //input as default already this is here for explaination more than really having an input.
PULLUP( FEATURE_READ_CALIPER_DATA_PIN, HIGH ); //do I need this pullup??
#endif //FEATURE_READ_CALIPER
#if FAN_PIN>-1 && FEATURE_FAN_CONTROL
SET_OUTPUT(FAN_PIN);
WRITE(FAN_PIN,LOW);
#endif // FAN_PIN>-1 && FEATURE_FAN_CONTROL
#if FAN_BOARD_PIN>-1
SET_OUTPUT(FAN_BOARD_PIN);
WRITE(FAN_BOARD_PIN,LOW);
#endif // FAN_BOARD_PIN>-1
#if EXT0_HEATER_PIN>-1
SET_OUTPUT(EXT0_HEATER_PIN);
WRITE(EXT0_HEATER_PIN,HEATER_PINS_INVERTED);
#endif // EXT0_HEATER_PIN>-1
#if defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
SET_OUTPUT(EXT1_HEATER_PIN);
WRITE(EXT1_HEATER_PIN,HEATER_PINS_INVERTED);
#endif // defined(EXT1_HEATER_PIN) && EXT1_HEATER_PIN>-1 && NUM_EXTRUDER>1
#if defined(EXT2_HEATER_PIN) && EXT2_HEATER_PIN>-1 && NUM_EXTRUDER>2
SET_OUTPUT(EXT2_HEATER_PIN);
WRITE(EXT2_HEATER_PIN,HEATER_PINS_INVERTED);
#endif // defined(EXT2_HEATER_PIN) && EXT2_HEATER_PIN>-1 && NUM_EXTRUDER>2
#if defined(EXT3_HEATER_PIN) && EXT3_HEATER_PIN>-1 && NUM_EXTRUDER>3
SET_OUTPUT(EXT3_HEATER_PIN);
WRITE(EXT3_HEATER_PIN,HEATER_PINS_INVERTED);
#endif // defined(EXT3_HEATER_PIN) && EXT3_HEATER_PIN>-1 && NUM_EXTRUDER>3
#if defined(EXT4_HEATER_PIN) && EXT4_HEATER_PIN>-1 && NUM_EXTRUDER>4
SET_OUTPUT(EXT4_HEATER_PIN);
WRITE(EXT4_HEATER_PIN,HEATER_PINS_INVERTED);
#endif // defined(EXT4_HEATER_PIN) && EXT4_HEATER_PIN>-1 && NUM_EXTRUDER>4
#if defined(EXT5_HEATER_PIN) && EXT5_HEATER_PIN>-1 && NUM_EXTRUDER>5