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Scott Lahteine
2017-09-06 06:28:30 -05:00
parent f536c4dccb
commit fa5f9c2aec
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1132
Marlin/src/feature/I2CPositionEncoder.cpp Normal file
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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef I2CPOSENC_H
#define I2CPOSENC_H
#include "MarlinConfig.h"
#if ENABLED(I2C_POSITION_ENCODERS)
#include "enum.h"
#include "macros.h"
#include "types.h"
#include <Wire.h>
//=========== Advanced / Less-Common Encoder Configuration Settings ==========
#define I2CPE_EC_THRESH_PROPORTIONAL // if enabled adjusts the error correction threshold
// proportional to the current speed of the axis allows
// for very small error margin at low speeds without
// stuttering due to reading latency at high speeds
#define I2CPE_DEBUG // enable encoder-related debug serial echos
#define I2CPE_REBOOT_TIME 5000 // time we wait for an encoder module to reboot
// after changing address.
#define I2CPE_MAG_SIG_GOOD 0
#define I2CPE_MAG_SIG_MID 1
#define I2CPE_MAG_SIG_BAD 2
#define I2CPE_MAG_SIG_NF 255
#define I2CPE_REQ_REPORT 0
#define I2CPE_RESET_COUNT 1
#define I2CPE_SET_ADDR 2
#define I2CPE_SET_REPORT_MODE 3
#define I2CPE_CLEAR_EEPROM 4
#define I2CPE_LED_PAR_MODE 10
#define I2CPE_LED_PAR_BRT 11
#define I2CPE_LED_PAR_RATE 14
#define I2CPE_REPORT_DISTANCE 0
#define I2CPE_REPORT_STRENGTH 1
#define I2CPE_REPORT_VERSION 2
// Default I2C addresses
#define I2CPE_PRESET_ADDR_X 30
#define I2CPE_PRESET_ADDR_Y 31
#define I2CPE_PRESET_ADDR_Z 32
#define I2CPE_PRESET_ADDR_E 33
#define I2CPE_DEF_AXIS X_AXIS
#define I2CPE_DEF_ADDR I2CPE_PRESET_ADDR_X
// Error event counter; tracks how many times there is an error exceeding a certain threshold
#define I2CPE_ERR_CNT_THRESH 3.00
#define I2CPE_ERR_CNT_DEBOUNCE_MS 2000
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
#define I2CPE_ERR_ARRAY_SIZE 32
#endif
// Error Correction Methods
#define I2CPE_ECM_NONE 0
#define I2CPE_ECM_MICROSTEP 1
#define I2CPE_ECM_PLANNER 2
#define I2CPE_ECM_STALLDETECT 3
// Encoder types
#define I2CPE_ENC_TYPE_ROTARY 0
#define I2CPE_ENC_TYPE_LINEAR 1
// Parser
#define I2CPE_PARSE_ERR 1
#define I2CPE_PARSE_OK 0
#define LOOP_PE(VAR) LOOP_L_N(VAR, I2CPE_ENCODER_CNT)
#define CHECK_IDX() do{ if (!WITHIN(idx, 0, I2CPE_ENCODER_CNT - 1)) return; }while(0)
extern const char axis_codes[XYZE];
typedef union {
volatile int32_t val = 0;
uint8_t bval[4];
} i2cLong;
class I2CPositionEncoder {
private:
AxisEnum encoderAxis = I2CPE_DEF_AXIS;
uint8_t i2cAddress = I2CPE_DEF_ADDR,
ecMethod = I2CPE_DEF_EC_METHOD,
type = I2CPE_DEF_TYPE,
H = I2CPE_MAG_SIG_NF; // Magnetic field strength
int encoderTicksPerUnit = I2CPE_DEF_ENC_TICKS_UNIT,
stepperTicks = I2CPE_DEF_TICKS_REV,
errorCount = 0,
errorPrev = 0;
float ecThreshold = I2CPE_DEF_EC_THRESH;
bool homed = false,
trusted = false,
initialised = false,
active = false,
invert = false,
ec = true;
float axisOffset = 0;
int32_t axisOffsetTicks = 0,
zeroOffset = 0,
lastPosition = 0,
position;
millis_t lastPositionTime = 0,
nextErrorCountTime = 0,
lastErrorTime;
//double positionMm; //calculate
#if ENABLED(I2CPE_ERR_ROLLING_AVERAGE)
uint8_t errIdx = 0;
int err[I2CPE_ERR_ARRAY_SIZE] = { 0 };
#endif
//float positionMm; //calculate
public:
void init(const uint8_t address, const AxisEnum axis);
void reset();
void update();
void set_homed();
int32_t get_raw_count();
FORCE_INLINE float mm_from_count(const int32_t count) {
switch (type) {
default: return -1;
case I2CPE_ENC_TYPE_LINEAR:
return count / encoderTicksPerUnit;
case I2CPE_ENC_TYPE_ROTARY:
return (count * stepperTicks) / (encoderTicksPerUnit * planner.axis_steps_per_mm[encoderAxis]);
}
}
FORCE_INLINE float get_position_mm() { return mm_from_count(get_position()); }
FORCE_INLINE int32_t get_position() { return get_raw_count() - zeroOffset - axisOffsetTicks; }
int32_t get_axis_error_steps(const bool report);
float get_axis_error_mm(const bool report);
void calibrate_steps_mm(const uint8_t iter);
bool passes_test(const bool report);
bool test_axis(void);
FORCE_INLINE int get_error_count(void) { return errorCount; }
FORCE_INLINE void set_error_count(const int newCount) { errorCount = newCount; }
FORCE_INLINE uint8_t get_address() { return i2cAddress; }
FORCE_INLINE void set_address(const uint8_t addr) { i2cAddress = addr; }
FORCE_INLINE bool get_active(void) { return active; }
FORCE_INLINE void set_active(const bool a) { active = a; }
FORCE_INLINE void set_inverted(const bool i) { invert = i; }
FORCE_INLINE AxisEnum get_axis() { return encoderAxis; }
FORCE_INLINE bool get_ec_enabled() { return ec; }
FORCE_INLINE void set_ec_enabled(const bool enabled) { ec = enabled; }
FORCE_INLINE uint8_t get_ec_method() { return ecMethod; }
FORCE_INLINE void set_ec_method(const byte method) { ecMethod = method; }
FORCE_INLINE float get_ec_threshold() { return ecThreshold; }
FORCE_INLINE void set_ec_threshold(const float newThreshold) { ecThreshold = newThreshold; }
FORCE_INLINE int get_encoder_ticks_mm() {
switch (type) {
default: return 0;
case I2CPE_ENC_TYPE_LINEAR:
return encoderTicksPerUnit;
case I2CPE_ENC_TYPE_ROTARY:
return (int)((encoderTicksPerUnit / stepperTicks) * planner.axis_steps_per_mm[encoderAxis]);
}
}
FORCE_INLINE int get_ticks_unit() { return encoderTicksPerUnit; }
FORCE_INLINE void set_ticks_unit(const int ticks) { encoderTicksPerUnit = ticks; }
FORCE_INLINE uint8_t get_type() { return type; }
FORCE_INLINE void set_type(const byte newType) { type = newType; }
FORCE_INLINE int get_stepper_ticks() { return stepperTicks; }
FORCE_INLINE void set_stepper_ticks(const int ticks) { stepperTicks = ticks; }
FORCE_INLINE float get_axis_offset() { return axisOffset; }
FORCE_INLINE void set_axis_offset(const float newOffset) {
axisOffset = newOffset;
axisOffsetTicks = int32_t(axisOffset * get_encoder_ticks_mm());
}
FORCE_INLINE void set_current_position(const float newPositionMm) {
set_axis_offset(get_position_mm() - newPositionMm + axisOffset);
}
};
class I2CPositionEncodersMgr {
private:
static bool I2CPE_anyaxis;
static uint8_t I2CPE_addr, I2CPE_idx;
public:
static void init(void);
// consider only updating one endoder per call / tick if encoders become too time intensive
static void update(void) { LOOP_PE(i) encoders[i].update(); }
static void homed(const AxisEnum axis) {
LOOP_PE(i)
if (encoders[i].get_axis() == axis) encoders[i].set_homed();
}
static void report_position(const int8_t idx, const bool units, const bool noOffset);
static void report_status(const int8_t idx) {
CHECK_IDX();
SERIAL_ECHOPAIR("Encoder ",idx);
SERIAL_ECHOPGM(": ");
encoders[idx].get_raw_count();
encoders[idx].passes_test(true);
}
static void report_error(const int8_t idx) {
CHECK_IDX();
encoders[idx].get_axis_error_steps(true);
}
static void test_axis(const int8_t idx) {
CHECK_IDX();
encoders[idx].test_axis();
}
static void calibrate_steps_mm(const int8_t idx, const int iterations) {
CHECK_IDX();
encoders[idx].calibrate_steps_mm(iterations);
}
static void change_module_address(const uint8_t oldaddr, const uint8_t newaddr);
static void report_module_firmware(const uint8_t address);
static void report_error_count(const int8_t idx, const AxisEnum axis) {
CHECK_IDX();
SERIAL_ECHOPAIR("Error count on ", axis_codes[axis]);
SERIAL_ECHOLNPAIR(" axis is ", encoders[idx].get_error_count());
}
static void reset_error_count(const int8_t idx, const AxisEnum axis) {
CHECK_IDX();
encoders[idx].set_error_count(0);
SERIAL_ECHOPAIR("Error count on ", axis_codes[axis]);
SERIAL_ECHOLNPGM(" axis has been reset.");
}
static void enable_ec(const int8_t idx, const bool enabled, const AxisEnum axis) {
CHECK_IDX();
encoders[idx].set_ec_enabled(enabled);
SERIAL_ECHOPAIR("Error correction on ", axis_codes[axis]);
SERIAL_ECHOPGM(" axis is ");
serialprintPGM(encoders[idx].get_ec_enabled() ? PSTR("en") : PSTR("dis"));
SERIAL_ECHOLNPGM("abled.");
}
static void set_ec_threshold(const int8_t idx, const float newThreshold, const AxisEnum axis) {
CHECK_IDX();
encoders[idx].set_ec_threshold(newThreshold);
SERIAL_ECHOPAIR("Error correct threshold for ", axis_codes[axis]);
SERIAL_ECHOPAIR_F(" axis set to ", newThreshold);
SERIAL_ECHOLNPGM("mm.");
}
static void get_ec_threshold(const int8_t idx, const AxisEnum axis) {
CHECK_IDX();
const float threshold = encoders[idx].get_ec_threshold();
SERIAL_ECHOPAIR("Error correct threshold for ", axis_codes[axis]);
SERIAL_ECHOPAIR_F(" axis is ", threshold);
SERIAL_ECHOLNPGM("mm.");
}
static int8_t idx_from_axis(const AxisEnum axis) {
LOOP_PE(i)
if (encoders[i].get_axis() == axis) return i;
return -1;
}
static int8_t idx_from_addr(const uint8_t addr) {
LOOP_PE(i)
if (encoders[i].get_address() == addr) return i;
return -1;
}
static int8_t parse();
static void M860();
static void M861();
static void M862();
static void M863();
static void M864();
static void M865();
static void M866();
static void M867();
static void M868();
static void M869();
static I2CPositionEncoder encoders[I2CPE_ENCODER_CNT];
};
extern I2CPositionEncodersMgr I2CPEM;
FORCE_INLINE static void gcode_M860() { I2CPEM.M860(); }
FORCE_INLINE static void gcode_M861() { I2CPEM.M861(); }
FORCE_INLINE static void gcode_M862() { I2CPEM.M862(); }
FORCE_INLINE static void gcode_M863() { I2CPEM.M863(); }
FORCE_INLINE static void gcode_M864() { I2CPEM.M864(); }
FORCE_INLINE static void gcode_M865() { I2CPEM.M865(); }
FORCE_INLINE static void gcode_M866() { I2CPEM.M866(); }
FORCE_INLINE static void gcode_M867() { I2CPEM.M867(); }
FORCE_INLINE static void gcode_M868() { I2CPEM.M868(); }
FORCE_INLINE static void gcode_M869() { I2CPEM.M869(); }
#endif //I2C_POSITION_ENCODERS
#endif //I2CPOSENC_H

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/***************************************************************
*
* External DAC for Alligator Board
*
****************************************************************/
#include "Marlin.h"
#if MB(ALLIGATOR)
#include "stepper.h"
#include "dac_dac084s085.h"
dac084s085::dac084s085() {
return ;
}
void dac084s085::begin() {
uint8_t externalDac_buf[2] = {0x20,0x00};//all off
// All SPI chip-select HIGH
pinMode(DAC0_SYNC, OUTPUT);
digitalWrite( DAC0_SYNC , HIGH );
#if EXTRUDERS > 1
pinMode(DAC1_SYNC, OUTPUT);
digitalWrite( DAC1_SYNC , HIGH );
#endif
digitalWrite( SPI_EEPROM1_CS , HIGH );
digitalWrite( SPI_EEPROM2_CS , HIGH );
digitalWrite( SPI_FLASH_CS , HIGH );
digitalWrite( SS_PIN , HIGH );
spiBegin();
//init onboard DAC
delayMicroseconds(2U);
digitalWrite( DAC0_SYNC , LOW );
delayMicroseconds(2U);
digitalWrite( DAC0_SYNC , HIGH );
delayMicroseconds(2U);
digitalWrite( DAC0_SYNC , LOW );
spiSend(SPI_CHAN_DAC,externalDac_buf , 2);
digitalWrite( DAC0_SYNC , HIGH );
#if EXTRUDERS > 1
//init Piggy DAC
delayMicroseconds(2U);
digitalWrite( DAC1_SYNC , LOW );
delayMicroseconds(2U);
digitalWrite( DAC1_SYNC , HIGH );
delayMicroseconds(2U);
digitalWrite( DAC1_SYNC , LOW );
spiSend(SPI_CHAN_DAC,externalDac_buf , 2);
digitalWrite( DAC1_SYNC , HIGH );
#endif
return;
}
void dac084s085::setValue(uint8_t channel, uint8_t value) {
if(channel >= 7) // max channel (X,Y,Z,E0,E1,E2,E3)
return;
if(value > 255) value = 255;
uint8_t externalDac_buf[2] = {0x10,0x00};
if(channel > 3)
externalDac_buf[0] |= (7 - channel << 6);
else
externalDac_buf[0] |= (3 - channel << 6);
externalDac_buf[0] |= (value >> 4);
externalDac_buf[1] |= (value << 4);
// All SPI chip-select HIGH
digitalWrite( DAC0_SYNC , HIGH );
#if EXTRUDERS > 1
digitalWrite( DAC1_SYNC , HIGH );
#endif
digitalWrite( SPI_EEPROM1_CS , HIGH );
digitalWrite( SPI_EEPROM2_CS , HIGH );
digitalWrite( SPI_FLASH_CS , HIGH );
digitalWrite( SS_PIN , HIGH );
if(channel > 3) { // DAC Piggy E1,E2,E3
digitalWrite(DAC1_SYNC , LOW);
delayMicroseconds(2U);
digitalWrite(DAC1_SYNC , HIGH);
delayMicroseconds(2U);
digitalWrite(DAC1_SYNC , LOW);
}
else { // DAC onboard X,Y,Z,E0
digitalWrite(DAC0_SYNC , LOW);
delayMicroseconds(2U);
digitalWrite(DAC0_SYNC , HIGH);
delayMicroseconds(2U);
digitalWrite(DAC0_SYNC , LOW);
}
delayMicroseconds(2U);
spiSend(SPI_CHAN_DAC,externalDac_buf , 2);
return;
}
#endif

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#ifndef dac084s085_h
#define dac084s085_h
class dac084s085 {
public:
dac084s085();
static void begin(void);
static void setValue(uint8_t channel, uint8_t value);
};
#endif //dac084s085_h

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* mcp4728.cpp - Arduino library for MicroChip MCP4728 I2C D/A converter
*
* For implementation details, please take a look at the datasheet:
* http://ww1.microchip.com/downloads/en/DeviceDoc/22187a.pdf
*
* For discussion and feedback, please go to:
* http://arduino.cc/forum/index.php/topic,51842.0.html
*/
#include "dac_mcp4728.h"
#include "enum.h"
#if ENABLED(DAC_STEPPER_CURRENT)
uint16_t mcp4728_values[XYZE];
/**
* Begin I2C, get current values (input register and eeprom) of mcp4728
*/
void mcp4728_init() {
Wire.begin();
Wire.requestFrom(int(DAC_DEV_ADDRESS), 24);
while (Wire.available()) {
char deviceID = Wire.read(),
hiByte = Wire.read(),
loByte = Wire.read();
if (!(deviceID & 0x08))
mcp4728_values[(deviceID & 0x30) >> 4] = word((hiByte & 0x0F), loByte);
}
}
/**
* Write input resister value to specified channel using fastwrite method.
* Channel : 0-3, Values : 0-4095
*/
uint8_t mcp4728_analogWrite(uint8_t channel, uint16_t value) {
mcp4728_values[channel] = value;
return mcp4728_fastWrite();
}
/**
* Write all input resistor values to EEPROM using SequencialWrite method.
* This will update both input register and EEPROM value
* This will also write current Vref, PowerDown, Gain settings to EEPROM
*/
uint8_t mcp4728_eepromWrite() {
Wire.beginTransmission(DAC_DEV_ADDRESS);
Wire.write(SEQWRITE);
LOOP_XYZE(i) {
Wire.write(DAC_STEPPER_VREF << 7 | DAC_STEPPER_GAIN << 4 | highByte(mcp4728_values[i]));
Wire.write(lowByte(mcp4728_values[i]));
}
return Wire.endTransmission();
}
/**
* Write Voltage reference setting to all input regiters
*/
uint8_t mcp4728_setVref_all(uint8_t value) {
Wire.beginTransmission(DAC_DEV_ADDRESS);
Wire.write(VREFWRITE | (value ? 0x0F : 0x00));
return Wire.endTransmission();
}
/**
* Write Gain setting to all input regiters
*/
uint8_t mcp4728_setGain_all(uint8_t value) {
Wire.beginTransmission(DAC_DEV_ADDRESS);
Wire.write(GAINWRITE | (value ? 0x0F : 0x00));
return Wire.endTransmission();
}
/**
* Return Input Register value
*/
uint16_t mcp4728_getValue(uint8_t channel) { return mcp4728_values[channel]; }
/**
* Steph: Might be useful in the future
* Return Vout
*
uint16_t mcp4728_getVout(uint8_t channel) {
uint32_t vref = 2048,
vOut = (vref * mcp4728_values[channel] * (_DAC_STEPPER_GAIN + 1)) / 4096;
if (vOut > defaultVDD) vOut = defaultVDD;
return vOut;
}
*/
/**
* Returns DAC values as a 0-100 percentage of drive strength
*/
uint8_t mcp4728_getDrvPct(uint8_t channel) { return uint8_t(100.0 * mcp4728_values[channel] / (DAC_STEPPER_MAX) + 0.5); }
/**
* Receives all Drive strengths as 0-100 percent values, updates
* DAC Values array and calls fastwrite to update the DAC.
*/
void mcp4728_setDrvPct(uint8_t pct[XYZE]) {
LOOP_XYZE(i) mcp4728_values[i] = 0.01 * pct[i] * (DAC_STEPPER_MAX);
mcp4728_fastWrite();
}
/**
* FastWrite input register values - All DAC ouput update. refer to DATASHEET 5.6.1
* DAC Input and PowerDown bits update.
* No EEPROM update
*/
uint8_t mcp4728_fastWrite() {
Wire.beginTransmission(DAC_DEV_ADDRESS);
LOOP_XYZE(i) {
Wire.write(highByte(mcp4728_values[i]));
Wire.write(lowByte(mcp4728_values[i]));
}
return Wire.endTransmission();
}
/**
* Common function for simple general commands
*/
uint8_t mcp4728_simpleCommand(byte simpleCommand) {
Wire.beginTransmission(GENERALCALL);
Wire.write(simpleCommand);
return Wire.endTransmission();
}
#endif // DAC_STEPPER_CURRENT

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* Arduino library for MicroChip MCP4728 I2C D/A converter.
*/
#ifndef DAC_MCP4728_H
#define DAC_MCP4728_H
#include "MarlinConfig.h"
#if ENABLED(DAC_STEPPER_CURRENT)
#include "Wire.h"
#define defaultVDD DAC_STEPPER_MAX //was 5000 but differs with internal Vref
#define BASE_ADDR 0x60
#define RESET 0B00000110
#define WAKE 0B00001001
#define UPDATE 0B00001000
#define MULTIWRITE 0B01000000
#define SINGLEWRITE 0B01011000
#define SEQWRITE 0B01010000
#define VREFWRITE 0B10000000
#define GAINWRITE 0B11000000
#define POWERDOWNWRITE 0B10100000
#define GENERALCALL 0B00000000
#define GAINWRITE 0B11000000
// This is taken from the original lib, makes it easy to edit if needed
// DAC_OR_ADDRESS defined in pins_BOARD.h file
#define DAC_DEV_ADDRESS (BASE_ADDR | DAC_OR_ADDRESS)
void mcp4728_init();
uint8_t mcp4728_analogWrite(uint8_t channel, uint16_t value);
uint8_t mcp4728_eepromWrite();
uint8_t mcp4728_setVref_all(uint8_t value);
uint8_t mcp4728_setGain_all(uint8_t value);
uint16_t mcp4728_getValue(uint8_t channel);
uint8_t mcp4728_fastWrite();
uint8_t mcp4728_simpleCommand(byte simpleCommand);
uint8_t mcp4728_getDrvPct(uint8_t channel);
void mcp4728_setDrvPct(uint8_t pct[XYZE]);
#endif
#endif // DAC_MCP4728_H

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
stepper_dac.cpp - To set stepper current via DAC
Part of Marlin
Copyright (c) 2016 MarlinFirmware
Marlin 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.
Marlin 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 Marlin. If not, see <http://www.gnu.org/licenses/>.
*/
#include "Marlin.h"
#if ENABLED(DAC_STEPPER_CURRENT)
#include "stepper_dac.h"
bool dac_present = false;
const uint8_t dac_order[NUM_AXIS] = DAC_STEPPER_ORDER;
uint8_t dac_channel_pct[XYZE] = DAC_MOTOR_CURRENT_DEFAULT;
int dac_init() {
#if PIN_EXISTS(DAC_DISABLE)
OUT_WRITE(DAC_DISABLE_PIN, LOW); // set pin low to enable DAC
#endif
mcp4728_init();
if (mcp4728_simpleCommand(RESET)) return -1;
dac_present = true;
mcp4728_setVref_all(DAC_STEPPER_VREF);
mcp4728_setGain_all(DAC_STEPPER_GAIN);
if (mcp4728_getDrvPct(0) < 1 || mcp4728_getDrvPct(1) < 1 || mcp4728_getDrvPct(2) < 1 || mcp4728_getDrvPct(3) < 1 ) {
mcp4728_setDrvPct(dac_channel_pct);
mcp4728_eepromWrite();
}
return 0;
}
void dac_current_percent(uint8_t channel, float val) {
if (!dac_present) return;
NOMORE(val, 100);
mcp4728_analogWrite(dac_order[channel], val * 0.01 * (DAC_STEPPER_MAX));
mcp4728_simpleCommand(UPDATE);
}
void dac_current_raw(uint8_t channel, uint16_t val) {
if (!dac_present) return;
NOMORE(val, DAC_STEPPER_MAX);
mcp4728_analogWrite(dac_order[channel], val);
mcp4728_simpleCommand(UPDATE);
}
static float dac_perc(int8_t n) { return 100.0 * mcp4728_getValue(dac_order[n]) * (1.0 / (DAC_STEPPER_MAX)); }
static float dac_amps(int8_t n) { return mcp4728_getDrvPct(dac_order[n]) * (DAC_STEPPER_MAX) * 0.125 * (1.0 / (DAC_STEPPER_SENSE)); }
uint8_t dac_current_get_percent(AxisEnum axis) { return mcp4728_getDrvPct(dac_order[axis]); }
void dac_current_set_percents(const uint8_t pct[XYZE]) {
LOOP_XYZE(i) dac_channel_pct[i] = pct[dac_order[i]];
mcp4728_setDrvPct(dac_channel_pct);
}
void dac_print_values() {
if (!dac_present) return;
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM("Stepper current values in % (Amps):");
SERIAL_ECHO_START();
SERIAL_ECHOPAIR(" X:", dac_perc(X_AXIS));
SERIAL_ECHOPAIR(" (", dac_amps(X_AXIS));
SERIAL_ECHOPAIR(") Y:", dac_perc(Y_AXIS));
SERIAL_ECHOPAIR(" (", dac_amps(Y_AXIS));
SERIAL_ECHOPAIR(") Z:", dac_perc(Z_AXIS));
SERIAL_ECHOPAIR(" (", dac_amps(Z_AXIS));
SERIAL_ECHOPAIR(") E:", dac_perc(E_AXIS));
SERIAL_ECHOPAIR(" (", dac_amps(E_AXIS));
SERIAL_ECHOLN(")");
}
void dac_commit_eeprom() {
if (!dac_present) return;
mcp4728_eepromWrite();
}
#endif // DAC_STEPPER_CURRENT

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
stepper_dac.h - To set stepper current via DAC
Part of Marlin
Copyright (c) 2016 MarlinFirmware
Marlin 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.
Marlin 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 Marlin. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef STEPPER_DAC_H
#define STEPPER_DAC_H
#include "dac_mcp4728.h"
int dac_init();
void dac_current_percent(uint8_t channel, float val);
void dac_current_raw(uint8_t channel, uint16_t val);
void dac_print_values();
void dac_commit_eeprom();
uint8_t dac_current_get_percent(AxisEnum axis);
void dac_current_set_percents(const uint8_t pct[XYZE]);
#endif // STEPPER_DAC_H

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "MarlinConfig.h"
#if ENABLED(DIGIPOT_I2C) && ENABLED(DIGIPOT_MCP4018)
#include "enum.h"
#include "Stream.h"
#include "utility/twi.h"
#include <SlowSoftI2CMaster.h> //https://github.com/stawel/SlowSoftI2CMaster
// Settings for the I2C based DIGIPOT (MCP4018) based on WT150
#define DIGIPOT_I2C_ADDRESS 0x2F
#define DIGIPOT_A4988_Rsx 0.250
#define DIGIPOT_A4988_Vrefmax 1.666
#define DIGIPOT_A4988_MAX_VALUE 127
#define DIGIPOT_A4988_Itripmax(Vref) ((Vref)/(8.0*DIGIPOT_A4988_Rsx))
#define DIGIPOT_A4988_FACTOR ((DIGIPOT_A4988_MAX_VALUE)/DIGIPOT_A4988_Itripmax(DIGIPOT_A4988_Vrefmax))
#define DIGIPOT_A4988_MAX_CURRENT 2.0
static byte current_to_wiper(const float current) {
const int16_t value = ceil(float(DIGIPOT_A4988_FACTOR) * current);
return byte(constrain(value, 0, DIGIPOT_A4988_MAX_VALUE));
}
const uint8_t sda_pins[DIGIPOT_I2C_NUM_CHANNELS] = {
DIGIPOTS_I2C_SDA_X
#if DIGIPOT_I2C_NUM_CHANNELS > 1
, DIGIPOTS_I2C_SDA_Y
#if DIGIPOT_I2C_NUM_CHANNELS > 2
, DIGIPOTS_I2C_SDA_Z
#if DIGIPOT_I2C_NUM_CHANNELS > 3
, DIGIPOTS_I2C_SDA_E0
#if DIGIPOT_I2C_NUM_CHANNELS > 4
, DIGIPOTS_I2C_SDA_E1
#endif
#endif
#endif
#endif
};
static SlowSoftI2CMaster pots[DIGIPOT_I2C_NUM_CHANNELS] = {
SlowSoftI2CMaster { sda_pins[X_AXIS], DIGIPOTS_I2C_SCL }
#if DIGIPOT_I2C_NUM_CHANNELS > 1
, SlowSoftI2CMaster { sda_pins[Y_AXIS], DIGIPOTS_I2C_SCL }
#if DIGIPOT_I2C_NUM_CHANNELS > 2
, SlowSoftI2CMaster { sda_pins[Z_AXIS], DIGIPOTS_I2C_SCL }
#if DIGIPOT_I2C_NUM_CHANNELS > 3
, SlowSoftI2CMaster { sda_pins[E_AXIS], DIGIPOTS_I2C_SCL }
#if DIGIPOT_I2C_NUM_CHANNELS > 4
, SlowSoftI2CMaster { sda_pins[E_AXIS + 1], DIGIPOTS_I2C_SCL }
#endif
#endif
#endif
#endif
};
static void i2c_send(const uint8_t channel, const byte v) {
if (WITHIN(channel, 0, DIGIPOT_I2C_NUM_CHANNELS - 1)) {
pots[channel].i2c_start(((DIGIPOT_I2C_ADDRESS) << 1) | I2C_WRITE);
pots[channel].i2c_write(v);
pots[channel].i2c_stop();
}
}
// This is for the MCP4018 I2C based digipot
void digipot_i2c_set_current(uint8_t channel, float current) {
i2c_send(channel, current_to_wiper(min(max(current, 0.0f), float(DIGIPOT_A4988_MAX_CURRENT))));
}
void digipot_i2c_init() {
static const float digipot_motor_current[] PROGMEM = DIGIPOT_I2C_MOTOR_CURRENTS;
for (uint8_t i = 0; i < DIGIPOT_I2C_NUM_CHANNELS; i++)
pots[i].i2c_init();
// setup initial currents as defined in Configuration_adv.h
for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++)
digipot_i2c_set_current(i, pgm_read_float(&digipot_motor_current[i]));
}
#endif // DIGIPOT_I2C && DIGIPOT_MCP4018

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "MarlinConfig.h"
#if ENABLED(DIGIPOT_I2C) && DISABLED(DIGIPOT_MCP4018)
#include "Stream.h"
#include "utility/twi.h"
#include "Wire.h"
// Settings for the I2C based DIGIPOT (MCP4451) on Azteeg X3 Pro
#if MB(5DPRINT)
#define DIGIPOT_I2C_FACTOR 117.96
#define DIGIPOT_I2C_MAX_CURRENT 1.736
#else
#define DIGIPOT_I2C_FACTOR 106.7
#define DIGIPOT_I2C_MAX_CURRENT 2.5
#endif
static byte current_to_wiper(const float current) {
return byte(CEIL(float((DIGIPOT_I2C_FACTOR * current))));
}
static void i2c_send(const byte addr, const byte a, const byte b) {
Wire.beginTransmission(addr);
Wire.write(a);
Wire.write(b);
Wire.endTransmission();
}
// This is for the MCP4451 I2C based digipot
void digipot_i2c_set_current(uint8_t channel, float current) {
current = min((float) max(current, 0.0f), DIGIPOT_I2C_MAX_CURRENT);
// these addresses are specific to Azteeg X3 Pro, can be set to others,
// In this case first digipot is at address A0=0, A1= 0, second one is at A0=0, A1= 1
byte addr = 0x2C; // channel 0-3
if (channel >= 4) {
addr = 0x2E; // channel 4-7
channel -= 4;
}
// Initial setup
i2c_send(addr, 0x40, 0xFF);
i2c_send(addr, 0xA0, 0xFF);
// Set actual wiper value
byte addresses[4] = { 0x00, 0x10, 0x60, 0x70 };
i2c_send(addr, addresses[channel], current_to_wiper(current));
}
void digipot_i2c_init() {
static const float digipot_motor_current[] PROGMEM = DIGIPOT_I2C_MOTOR_CURRENTS;
Wire.begin();
// setup initial currents as defined in Configuration_adv.h
for (uint8_t i = 0; i < COUNT(digipot_motor_current); i++)
digipot_i2c_set_current(i, pgm_read_float(&digipot_motor_current[i]));
}
#endif // DIGIPOT_I2C

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* This module is off by default, but can be enabled to facilitate the display of
* extra debug information during code development. It assumes the existence of a
* Max7219 LED Matrix. A suitable device can be obtained on eBay similar to this:
* http://www.ebay.com/itm/191781645249 for under $2.00 including shipping.
*
* Just connect up +5v and GND to give it power, then connect up the pins assigned
* in Configuration_adv.h. For example, on the Re-ARM you could use:
*
* #define MAX7219_CLK_PIN 77
* #define MAX7219_DIN_PIN 78
* #define MAX7219_LOAD_PIN 79
*
* Max7219_init() is called automatically at startup, and then there are a number of
* support functions available to control the LEDs in the 8x8 grid.
*
* void Max7219_init();
* void Max7219_PutByte(uint8_t data);
* void Max7219(uint8_t reg, uint8_t data);
* void Max7219_LED_On(uint8_t row, uint8_t col);
* void Max7219_LED_Off(uint8_t row, uint8_t col);
* void Max7219_LED_Toggle(uint8_t row, uint8_t col);
* void Max7219_Clear_Row(uint8_t row);
* void Max7219_Clear_Column(uint8_t col);
* void Max7219_Set_Row(uint8_t row, uint8_t val);
* void Max7219_Set_Column(uint8_t col, uint8_t val);
* void Max7219_idle_tasks();
*/
#include "MarlinConfig.h"
#if ENABLED(MAX7219_DEBUG)
#include "Marlin.h"
#include "planner.h"
#include "stepper.h"
#include "Max7219_Debug_LEDs.h"
static uint8_t LEDs[8] = { 0 };
void Max7219_PutByte(uint8_t data) {
for (uint8_t i = 8; i--;) {
WRITE(MAX7219_CLK_PIN, LOW); // tick
WRITE(MAX7219_DIN_PIN, (data & 0x80) ? HIGH : LOW); // send 1 or 0 based on data bit
WRITE(MAX7219_CLK_PIN, HIGH); // tock
data <<= 1;
}
}
void Max7219(const uint8_t reg, const uint8_t data) {
WRITE(MAX7219_LOAD_PIN, LOW); // begin
Max7219_PutByte(reg); // specify register
Max7219_PutByte(data); // put data
WRITE(MAX7219_LOAD_PIN, LOW); // and tell the chip to load the data
WRITE(MAX7219_LOAD_PIN, HIGH);
}
void Max7219_LED_Set(const uint8_t row, const uint8_t col, const bool on) {
if (row > 7 || col > 7) return;
if (TEST(LEDs[row], col) == on) return; // if LED is already on/off, leave alone
if (on) SBI(LEDs[row], col); else CBI(LEDs[row], col);
Max7219(8 - row, LEDs[row]);
}
void Max7219_LED_On(const uint8_t row, const uint8_t col) {
Max7219_LED_Set(row, col, true);
}
void Max7219_LED_Off(const uint8_t row, const uint8_t col) {
Max7219_LED_Set(row, col, false);
}
void Max7219_LED_Toggle(const uint8_t row, const uint8_t col) {
if (row > 7 || col > 7) return;
if (TEST(LEDs[row], col))
Max7219_LED_Off(row, col);
else
Max7219_LED_On(row, col);
}
void Max7219_Clear_Column(const uint8_t col) {
if (col > 7) return;
LEDs[col] = 0;
Max7219(8 - col, LEDs[col]);
}
void Max7219_Clear_Row(const uint8_t row) {
if (row > 7) return;
for (uint8_t c = 0; c <= 7; c++)
Max7219_LED_Off(c, row);
}
void Max7219_Set_Row(const uint8_t row, const uint8_t val) {
if (row > 7) return;
for (uint8_t b = 0; b <= 7; b++)
if (TEST(val, b))
Max7219_LED_On(7 - b, row);
else
Max7219_LED_Off(7 - b, row);
}
void Max7219_Set_Column(const uint8_t col, const uint8_t val) {
if (col > 7) return;
LEDs[col] = val;
Max7219(8 - col, LEDs[col]);
}
void Max7219_init() {
uint8_t i, x, y;
SET_OUTPUT(MAX7219_DIN_PIN);
SET_OUTPUT(MAX7219_CLK_PIN);
OUT_WRITE(MAX7219_LOAD_PIN, HIGH);
//initiation of the max 7219
Max7219(max7219_reg_scanLimit, 0x07);
Max7219(max7219_reg_decodeMode, 0x00); // using an led matrix (not digits)
Max7219(max7219_reg_shutdown, 0x01); // not in shutdown mode
Max7219(max7219_reg_displayTest, 0x00); // no display test
Max7219(max7219_reg_intensity, 0x01 & 0x0F); // the first 0x0F is the value you can set
// range: 0x00 to 0x0F
for (i = 0; i <= 7; i++) { // empty registers, turn all LEDs off
LEDs[i] = 0x00;
Max7219(i + 1, 0);
}
for (x = 0; x <= 7; x++) // Do an aesthetically pleasing pattern to fully test
for (y = 0; y <= 7; y++) { // the Max7219 module and LEDs. First, turn them
Max7219_LED_On(x, y); // all on.
delay(3);
}
for (x = 0; x <= 7; x++) // Now, turn them all off.
for (y = 0; y <= 7; y++) {
Max7219_LED_Off(x, y);
delay(3); // delay() is OK here. Max7219_init() is only called from
} // setup() and nothing is running yet.
delay(150);
for (x = 8; x--;) // Now, do the same thing from the opposite direction
for (y = 0; y <= 7; y++) {
Max7219_LED_On(x, y);
delay(2);
}
for (x = 8; x--;)
for (y = 0; y <= 7; y++) {
Max7219_LED_Off(x, y);
delay(2);
}
}
/**
* These are sample debug features to demonstrate the usage of the 8x8 LED Matrix for debug purposes.
* There is very little CPU burden added to the system by displaying information within the idle()
* task.
*
* But with that said, if your debugging can be facilitated by making calls into the library from
* other places in the code, feel free to do it. The CPU burden for a few calls to toggle an LED
* or clear a row is not very significant.
*/
void Max7219_idle_tasks() {
#if ENABLED(MAX7219_DEBUG_PRINTER_ALIVE)
static int debug_cnt = 0;
if (debug_cnt++ > 100) {
Max7219_LED_Toggle(7, 7);
debug_cnt = 0;
}
#endif
#ifdef MAX7219_DEBUG_STEPPER_HEAD
Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_HEAD);
Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_HEAD + 1);
if ( planner.block_buffer_head < 8)
Max7219_LED_On( planner.block_buffer_head, MAX7219_DEBUG_STEPPER_HEAD);
else
Max7219_LED_On( planner.block_buffer_head-8, MAX7219_DEBUG_STEPPER_HEAD+1);
#endif
#ifdef MAX7219_DEBUG_STEPPER_TAIL
Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_TAIL);
Max7219_Clear_Row(MAX7219_DEBUG_STEPPER_TAIL + 1);
if ( planner.block_buffer_tail < 8)
Max7219_LED_On( planner.block_buffer_tail, MAX7219_DEBUG_STEPPER_TAIL );
else
Max7219_LED_On( planner.block_buffer_tail-8, MAX7219_DEBUG_STEPPER_TAIL+1 );
#endif
#ifdef MAX7219_DEBUG_STEPPER_QUEUE
static int16_t last_depth = 0;
int16_t current_depth = planner.block_buffer_head - planner.block_buffer_tail;
if (current_depth != last_depth) { // usually, no update will be needed.
if (current_depth < 0) current_depth += BLOCK_BUFFER_SIZE;
NOMORE(current_depth, BLOCK_BUFFER_SIZE);
NOMORE(current_depth, 16); // if the BLOCK_BUFFER_SIZE is greater than 16, two lines
// of LEDs is enough to see if the buffer is draining
const uint8_t st = min(current_depth, last_depth),
en = max(current_depth, last_depth);
if (current_depth < last_depth)
for (uint8_t i = st; i <= en; i++) // clear the highest order LEDs
Max7219_LED_Off(i >> 1, MAX7219_DEBUG_STEPPER_QUEUE + (i & 1));
else
for (uint8_t i = st; i <= en; i++) // set the highest order LEDs
Max7219_LED_On(i >> 1, MAX7219_DEBUG_STEPPER_QUEUE + (i & 1));
last_depth = current_depth;
}
#endif
}
#endif // MAX7219_DEBUG

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* This module is off by default, but can be enabled to facilitate the display of
* extra debug information during code development. It assumes the existence of a
* Max7219 LED Matrix. A suitable device can be obtained on eBay similar to this:
* http://www.ebay.com/itm/191781645249 for under $2.00 including shipping.
*
* Just connect up +5v and GND to give it power, then connect up the pins assigned
* in Configuration_adv.h. For example, on the Re-ARM you could use:
*
* #define MAX7219_CLK_PIN 77
* #define MAX7219_DIN_PIN 78
* #define MAX7219_LOAD_PIN 79
*
* Max7219_init() is called automatically at startup, and then there are a number of
* support functions available to control the LEDs in the 8x8 grid.
*
* void Max7219_init();
* void Max7219_PutByte(uint8_t data);
* void Max7219(uint8_t reg, uint8_t data);
* void Max7219_LED_Set(uint8_t row, uint8_t col, bool on);
* void Max7219_LED_On(uint8_t row, uint8_t col);
* void Max7219_LED_Off(uint8_t row, uint8_t col);
* void Max7219_LED_Toggle(uint8_t row, uint8_t col);
* void Max7219_Clear_Row(uint8_t row);
* void Max7219_Clear_Column(uint8_t col);
* void Max7219_Set_Row(uint8_t row, uint8_t val);
* void Max7219_Set_Column(uint8_t col, uint8_t val);
* void Max7219_idle_tasks();
*/
#ifndef __MAX7219_DEBUG_LEDS_H__
#define __MAX7219_DEBUG_LEDS_H__
//
// define max7219 registers
//
#define max7219_reg_noop 0x00
#define max7219_reg_digit0 0x01
#define max7219_reg_digit1 0x02
#define max7219_reg_digit2 0x03
#define max7219_reg_digit3 0x04
#define max7219_reg_digit4 0x05
#define max7219_reg_digit5 0x06
#define max7219_reg_digit6 0x07
#define max7219_reg_digit7 0x08
#define max7219_reg_intensity 0x0A
#define max7219_reg_displayTest 0x0F
#define max7219_reg_decodeMode 0x09
#define max7219_reg_scanLimit 0x0B
#define max7219_reg_shutdown 0x0C
void Max7219_init();
void Max7219_PutByte(uint8_t data);
void Max7219(const uint8_t reg, const uint8_t data);
void Max7219_LED_Set(const uint8_t row, const uint8_t col, const bool on);
void Max7219_LED_On(const uint8_t row, const uint8_t col);
void Max7219_LED_Off(const uint8_t row, const uint8_t col);
void Max7219_LED_Toggle(const uint8_t row, const uint8_t col);
void Max7219_Clear_Row(const uint8_t row);
void Max7219_Clear_Column(const uint8_t col);
void Max7219_Set_Row(const uint8_t row, const uint8_t val);
void Max7219_Set_Column(const uint8_t col, const uint8_t val);
void Max7219_idle_tasks();
#endif // __MAX7219_DEBUG_LEDS_H__

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* blinkm.cpp - Library for controlling a BlinkM over i2c
* Created by Tim Koster, August 21 2013.
*/
#include "Marlin.h"
#if ENABLED(BLINKM)
#include "blinkm.h"
void SendColors(byte red, byte grn, byte blu) {
Wire.begin();
Wire.beginTransmission(0x09);
Wire.write('o'); //to disable ongoing script, only needs to be used once
Wire.write('n');
Wire.write(red);
Wire.write(grn);
Wire.write(blu);
Wire.endTransmission();
}
#endif // BLINKM

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* blinkm.h - Library for controlling a BlinkM over i2c
* Created by Tim Koster, August 21 2013.
*/
#include "Arduino.h"
#include "Wire.h"
void SendColors(byte red, byte grn, byte blu);

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/*
* Driver for the Philips PCA9632 LED driver.
* Written by Robert Mendon Feb 2017.
*/
#include "MarlinConfig.h"
#if ENABLED(PCA9632)
#include "pca9632.h"
#define PCA9632_MODE1_VALUE 0b00000001 //(ALLCALL)
#define PCA9632_MODE2_VALUE 0b00010101 //(DIMMING, INVERT, CHANGE ON STOP,TOTEM)
#define PCA9632_LEDOUT_VALUE 0b00101010
/* Register addresses */
#define PCA9632_MODE1 0x00
#define PCA9632_MODE2 0x01
#define PCA9632_PWM0 0x02
#define PCA9632_PWM1 0x03
#define PCA9632_PWM2 0x04
#define PCA9632_PWM3 0x05
#define PCA9632_GRPPWM 0x06
#define PCA9632_GRPFREQ 0x07
#define PCA9632_LEDOUT 0x08
#define PCA9632_SUBADR1 0x09
#define PCA9632_SUBADR2 0x0A
#define PCA9632_SUBADR3 0x0B
#define PCA9632_ALLCALLADDR 0x0C
#define PCA9632_NO_AUTOINC 0x00
#define PCA9632_AUTO_ALL 0x80
#define PCA9632_AUTO_IND 0xA0
#define PCA9632_AUTOGLO 0xC0
#define PCA9632_AUTOGI 0xE0
// Red LED0
// Green LED1
// Blue LED2
#define PCA9632_RED 0x00
#define PCA9632_GRN 0x02
#define PCA9632_BLU 0x04
#define LED_OFF 0x00
#define LED_ON 0x01
#define LED_PWM 0x02
#define PCA9632_ADDRESS 0b01100000
byte PCA_init = 0;
static void PCA9632_WriteRegister(const byte addr, const byte regadd, const byte value) {
Wire.beginTransmission(addr);
Wire.write(regadd);
Wire.write(value);
Wire.endTransmission();
}
static void PCA9632_WriteAllRegisters(const byte addr, const byte regadd, const byte value1, const byte value2, const byte value3) {
Wire.beginTransmission(addr);
Wire.write(PCA9632_AUTO_IND | regadd);
Wire.write(value1);
Wire.write(value2);
Wire.write(value3);
Wire.endTransmission();
}
#if 0
static byte PCA9632_ReadRegister(const byte addr, const byte regadd) {
Wire.beginTransmission(addr);
Wire.write(regadd);
const byte value = Wire.read();
Wire.endTransmission();
return value;
}
#endif
void PCA9632_SetColor(const byte r, const byte g, const byte b) {
if (!PCA_init) {
PCA_init = 1;
Wire.begin();
PCA9632_WriteRegister(PCA9632_ADDRESS,PCA9632_MODE1, PCA9632_MODE1_VALUE);
PCA9632_WriteRegister(PCA9632_ADDRESS,PCA9632_MODE2, PCA9632_MODE2_VALUE);
}
const byte LEDOUT = (r ? LED_PWM << PCA9632_RED : 0)
| (g ? LED_PWM << PCA9632_GRN : 0)
| (b ? LED_PWM << PCA9632_BLU : 0);
PCA9632_WriteAllRegisters(PCA9632_ADDRESS,PCA9632_PWM0, r, g, b);
PCA9632_WriteRegister(PCA9632_ADDRESS,PCA9632_LEDOUT, LEDOUT);
}
#endif // PCA9632

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/*
* Driver for the Philips PCA9632 LED driver.
* Written by Robert Mendon Feb 2017.
*/
#ifndef __PCA9632_H__
#define __PCA9632_H__
#include "Arduino.h"
#include "Wire.h"
void PCA9632_SetColor(const byte r, const byte g, const byte b);
#endif // __PCA9632_H__

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "mesh_bed_leveling.h"
#if ENABLED(MESH_BED_LEVELING)
mesh_bed_leveling mbl;
uint8_t mesh_bed_leveling::status;
float mesh_bed_leveling::z_offset,
mesh_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
mesh_bed_leveling::index_to_xpos[GRID_MAX_POINTS_X],
mesh_bed_leveling::index_to_ypos[GRID_MAX_POINTS_Y];
mesh_bed_leveling::mesh_bed_leveling() {
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; ++i)
index_to_xpos[i] = MESH_MIN_X + i * (MESH_X_DIST);
for (uint8_t i = 0; i < GRID_MAX_POINTS_Y; ++i)
index_to_ypos[i] = MESH_MIN_Y + i * (MESH_Y_DIST);
reset();
}
void mesh_bed_leveling::reset() {
status = MBL_STATUS_NONE;
z_offset = 0;
ZERO(z_values);
}
#endif // MESH_BED_LEVELING

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "Marlin.h"
#if ENABLED(MESH_BED_LEVELING)
enum MeshLevelingState {
MeshReport,
MeshStart,
MeshNext,
MeshSet,
MeshSetZOffset,
MeshReset
};
enum MBLStatus {
MBL_STATUS_NONE = 0,
MBL_STATUS_HAS_MESH_BIT = 0,
MBL_STATUS_ACTIVE_BIT = 1
};
#define MESH_X_DIST ((MESH_MAX_X - (MESH_MIN_X)) / (GRID_MAX_POINTS_X - 1))
#define MESH_Y_DIST ((MESH_MAX_Y - (MESH_MIN_Y)) / (GRID_MAX_POINTS_Y - 1))
class mesh_bed_leveling {
public:
static uint8_t status; // Has Mesh and Is Active bits
static float z_offset,
z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
index_to_xpos[GRID_MAX_POINTS_X],
index_to_ypos[GRID_MAX_POINTS_Y];
mesh_bed_leveling();
static void reset();
static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
static bool active() { return TEST(status, MBL_STATUS_ACTIVE_BIT); }
static void set_active(const bool onOff) { onOff ? SBI(status, MBL_STATUS_ACTIVE_BIT) : CBI(status, MBL_STATUS_ACTIVE_BIT); }
static bool has_mesh() { return TEST(status, MBL_STATUS_HAS_MESH_BIT); }
static void set_has_mesh(const bool onOff) { onOff ? SBI(status, MBL_STATUS_HAS_MESH_BIT) : CBI(status, MBL_STATUS_HAS_MESH_BIT); }
static inline void zigzag(const int8_t index, int8_t &px, int8_t &py) {
px = index % (GRID_MAX_POINTS_X);
py = index / (GRID_MAX_POINTS_X);
if (py & 1) px = (GRID_MAX_POINTS_X - 1) - px; // Zig zag
}
static void set_zigzag_z(const int8_t index, const float &z) {
int8_t px, py;
zigzag(index, px, py);
set_z(px, py, z);
}
static int8_t cell_index_x(const float &x) {
int8_t cx = (x - (MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 2);
}
static int8_t cell_index_y(const float &y) {
int8_t cy = (y - (MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 2);
}
static int8_t probe_index_x(const float &x) {
int8_t px = (x - (MESH_MIN_X) + 0.5 * (MESH_X_DIST)) * (1.0 / (MESH_X_DIST));
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
}
static int8_t probe_index_y(const float &y) {
int8_t py = (y - (MESH_MIN_Y) + 0.5 * (MESH_Y_DIST)) * (1.0 / (MESH_Y_DIST));
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
}
static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
const float delta_z = (z2 - z1) / (a2 - a1),
delta_a = a0 - a1;
return z1 + delta_a * delta_z;
}
static float get_z(const float &x0, const float &y0
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
, const float &factor
#endif
) {
const int8_t cx = cell_index_x(x0), cy = cell_index_y(y0);
const float z1 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy], index_to_xpos[cx + 1], z_values[cx + 1][cy]),
z2 = calc_z0(x0, index_to_xpos[cx], z_values[cx][cy + 1], index_to_xpos[cx + 1], z_values[cx + 1][cy + 1]),
z0 = calc_z0(y0, index_to_ypos[cy], z1, index_to_ypos[cy + 1], z2);
return z_offset + z0
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
* factor
#endif
;
}
};
extern mesh_bed_leveling mbl;
#endif // MESH_BED_LEVELING

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "Marlin.h"
#if ENABLED(EXPERIMENTAL_I2CBUS)
#include "twibus.h"
#include <Wire.h>
TWIBus::TWIBus() {
#if I2C_SLAVE_ADDRESS == 0
Wire.begin(); // No address joins the BUS as the master
#else
Wire.begin(I2C_SLAVE_ADDRESS); // Join the bus as a slave
#endif
this->reset();
}
void TWIBus::reset() {
this->buffer_s = 0;
this->buffer[0] = 0x00;
}
void TWIBus::address(const uint8_t adr) {
if (!WITHIN(adr, 8, 127)) {
SERIAL_ECHO_START();
SERIAL_ECHOLNPGM("Bad I2C address (8-127)");
}
this->addr = adr;
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("address"), adr);
#endif
}
void TWIBus::addbyte(const char c) {
if (this->buffer_s >= COUNT(this->buffer)) return;
this->buffer[this->buffer_s++] = c;
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("addbyte"), c);
#endif
}
void TWIBus::addbytes(char src[], uint8_t bytes) {
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("addbytes"), bytes);
#endif
while (bytes--) this->addbyte(*src++);
}
void TWIBus::addstring(char str[]) {
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("addstring"), str);
#endif
while (char c = *str++) this->addbyte(c);
}
void TWIBus::send() {
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("send"), this->addr);
#endif
Wire.beginTransmission(this->addr);
Wire.write(this->buffer, this->buffer_s);
Wire.endTransmission();
this->reset();
}
// static
void TWIBus::echoprefix(uint8_t bytes, const char prefix[], uint8_t adr) {
SERIAL_ECHO_START();
serialprintPGM(prefix);
SERIAL_ECHOPAIR(": from:", adr);
SERIAL_ECHOPAIR(" bytes:", bytes);
SERIAL_ECHOPGM(" data:");
}
// static
void TWIBus::echodata(uint8_t bytes, const char prefix[], uint8_t adr) {
echoprefix(bytes, prefix, adr);
while (bytes-- && Wire.available()) SERIAL_CHAR(Wire.read());
SERIAL_EOL();
}
void TWIBus::echobuffer(const char prefix[], uint8_t adr) {
echoprefix(this->buffer_s, prefix, adr);
for (uint8_t i = 0; i < this->buffer_s; i++) SERIAL_CHAR(this->buffer[i]);
SERIAL_EOL();
}
bool TWIBus::request(const uint8_t bytes) {
if (!this->addr) return false;
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("request"), bytes);
#endif
// requestFrom() is a blocking function
if (Wire.requestFrom(this->addr, bytes) == 0) {
#if ENABLED(DEBUG_TWIBUS)
debug("request fail", this->addr);
#endif
return false;
}
return true;
}
void TWIBus::relay(const uint8_t bytes) {
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("relay"), bytes);
#endif
if (this->request(bytes))
echodata(bytes, PSTR("i2c-reply"), this->addr);
}
uint8_t TWIBus::capture(char *dst, const uint8_t bytes) {
this->reset();
uint8_t count = 0;
while (count < bytes && Wire.available())
dst[count++] = Wire.read();
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("capture"), count);
#endif
return count;
}
// static
void TWIBus::flush() {
while (Wire.available()) Wire.read();
}
#if I2C_SLAVE_ADDRESS > 0
void TWIBus::receive(uint8_t bytes) {
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("receive"), bytes);
#endif
echodata(bytes, PSTR("i2c-receive"), 0);
}
void TWIBus::reply(char str[]/*=NULL*/) {
#if ENABLED(DEBUG_TWIBUS)
debug(PSTR("reply"), str);
#endif
if (str) {
this->reset();
this->addstring(str);
}
Wire.write(this->buffer, this->buffer_s);
this->reset();
}
#endif
#if ENABLED(DEBUG_TWIBUS)
// static
void TWIBus::prefix(const char func[]) {
SERIAL_ECHOPGM("TWIBus::");
serialprintPGM(func);
SERIAL_ECHOPGM(": ");
}
void TWIBus::debug(const char func[], uint32_t adr) {
if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(adr); }
}
void TWIBus::debug(const char func[], char c) {
if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(c); }
}
void TWIBus::debug(const char func[], char str[]) {
if (DEBUGGING(INFO)) { prefix(func); SERIAL_ECHOLN(str); }
}
#endif
#endif // EXPERIMENTAL_I2CBUS

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#ifndef TWIBUS_H
#define TWIBUS_H
#include "macros.h"
#include <Wire.h>
// Print debug messages with M111 S2 (Uses 236 bytes of PROGMEM)
//#define DEBUG_TWIBUS
typedef void (*twiReceiveFunc_t)(int bytes);
typedef void (*twiRequestFunc_t)();
#define TWIBUS_BUFFER_SIZE 32
/**
* TWIBUS class
*
* This class implements a wrapper around the two wire (I2C) bus, allowing
* Marlin to send and request data from any slave device on the bus.
*
* The two main consumers of this class are M260 and M261. M260 provides a way
* to send an I2C packet to a device (no repeated starts) by caching up to 32
* bytes in a buffer and then sending the buffer.
* M261 requests data from a device. The received data is relayed to serial out
* for the host to interpret.
*
* For more information see
* - http://marlinfw.org/docs/gcode/M260.html
* - http://marlinfw.org/docs/gcode/M261.html
*
*/
class TWIBus {
private:
/**
* @brief Number of bytes on buffer
* @description Number of bytes in the buffer waiting to be flushed to the bus
*/
uint8_t buffer_s = 0;
/**
* @brief Internal buffer
* @details A fixed buffer. TWI commands can be no longer than this.
*/
char buffer[TWIBUS_BUFFER_SIZE];
public:
/**
* @brief Target device address
* @description The target device address. Persists until changed.
*/
uint8_t addr = 0;
/**
* @brief Class constructor
* @details Initialize the TWI bus and clear the buffer
*/
TWIBus();
/**
* @brief Reset the buffer
* @details Set the buffer to a known-empty state
*/
void reset();
/**
* @brief Send the buffer data to the bus
* @details Flush the buffer to the target address
*/
void send();
/**
* @brief Add one byte to the buffer
* @details Add a byte to the end of the buffer.
* Silently fails if the buffer is full.
*
* @param c a data byte
*/
void addbyte(const char c);
/**
* @brief Add some bytes to the buffer
* @details Add bytes to the end of the buffer.
* Concatenates at the buffer size.
*
* @param src source data address
* @param bytes the number of bytes to add
*/
void addbytes(char src[], uint8_t bytes);
/**
* @brief Add a null-terminated string to the buffer
* @details Add bytes to the end of the buffer up to a nul.
* Concatenates at the buffer size.
*
* @param str source string address
*/
void addstring(char str[]);
/**
* @brief Set the target slave address
* @details The target slave address for sending the full packet
*
* @param adr 7-bit integer address
*/
void address(const uint8_t adr);
/**
* @brief Prefix for echo to serial
* @details Echo a label, length, address, and "data:"
*
* @param bytes the number of bytes to request
*/
static void echoprefix(uint8_t bytes, const char prefix[], uint8_t adr);
/**
* @brief Echo data on the bus to serial
* @details Echo some number of bytes from the bus
* to serial in a parser-friendly format.
*
* @param bytes the number of bytes to request
*/
static void echodata(uint8_t bytes, const char prefix[], uint8_t adr);
/**
* @brief Echo data in the buffer to serial
* @details Echo the entire buffer to serial
* to serial in a parser-friendly format.
*
* @param bytes the number of bytes to request
*/
void echobuffer(const char prefix[], uint8_t adr);
/**
* @brief Request data from the slave device and wait.
* @details Request a number of bytes from a slave device.
* Wait for the data to arrive, and return true
* on success.
*
* @param bytes the number of bytes to request
* @return status of the request: true=success, false=fail
*/
bool request(const uint8_t bytes);
/**
* @brief Capture data from the bus into the buffer.
* @details Capture data after a request has succeeded.
*
* @param bytes the number of bytes to request
* @return the number of bytes captured to the buffer
*/
uint8_t capture(char *dst, const uint8_t bytes);
/**
* @brief Flush the i2c bus.
* @details Get all bytes on the bus and throw them away.
*/
static void flush();
/**
* @brief Request data from the slave device, echo to serial.
* @details Request a number of bytes from a slave device and output
* the returned data to serial in a parser-friendly format.
*
* @param bytes the number of bytes to request
*/
void relay(const uint8_t bytes);
#if I2C_SLAVE_ADDRESS > 0
/**
* @brief Register a slave receive handler
* @details Set a handler to receive data addressed to us
*
* @param handler A function to handle receiving bytes
*/
inline void onReceive(const twiReceiveFunc_t handler) { Wire.onReceive(handler); }
/**
* @brief Register a slave request handler
* @details Set a handler to send data requested from us
*
* @param handler A function to handle receiving bytes
*/
inline void onRequest(const twiRequestFunc_t handler) { Wire.onRequest(handler); }
/**
* @brief Default handler to receive
* @details Receive bytes sent to our slave address
* and simply echo them to serial.
*/
void receive(uint8_t bytes);
/**
* @brief Send a reply to the bus
* @details Send the buffer and clear it.
* If a string is passed, write it into the buffer first.
*/
void reply(char str[]=NULL);
inline void reply(const char str[]) { this->reply((char*)str); }
#endif
#if ENABLED(DEBUG_TWIBUS)
/**
* @brief Prints a debug message
* @details Prints a simple debug message "TWIBus::function: value"
*/
static void prefix(const char func[]);
static void debug(const char func[], uint32_t adr);
static void debug(const char func[], char c);
static void debug(const char func[], char adr[]);
static inline void debug(const char func[], uint8_t v) { debug(func, (uint32_t)v); }
#endif
};
#endif // TWIBUS_H

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Marlin/src/feature/ubl/G26_Mesh_Validation_Tool.cpp Normal file
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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
/**
* Marlin Firmware -- G26 - Mesh Validation Tool
*/
#include "MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL) && ENABLED(UBL_G26_MESH_VALIDATION)
#include "ubl.h"
#include "Marlin.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "ultralcd.h"
#include "gcode.h"
#define EXTRUSION_MULTIPLIER 1.0
#define RETRACTION_MULTIPLIER 1.0
#define NOZZLE 0.4
#define FILAMENT 1.75
#define LAYER_HEIGHT 0.2
#define PRIME_LENGTH 10.0
#define BED_TEMP 60.0
#define HOTEND_TEMP 205.0
#define OOZE_AMOUNT 0.3
#define SIZE_OF_INTERSECTION_CIRCLES 5
#define SIZE_OF_CROSSHAIRS 3
#if SIZE_OF_CROSSHAIRS >= SIZE_OF_INTERSECTION_CIRCLES
#error "SIZE_OF_CROSSHAIRS must be less than SIZE_OF_INTERSECTION_CIRCLES."
#endif
/**
* G26 Mesh Validation Tool
*
* G26 is a Mesh Validation Tool intended to provide support for the Marlin Unified Bed Leveling System.
* In order to fully utilize and benefit from the Marlin Unified Bed Leveling System an accurate Mesh must
* be defined. G29 is designed to allow the user to quickly validate the correctness of her Mesh. It will
* first heat the bed and nozzle. It will then print lines and circles along the Mesh Cell boundaries and
* the intersections of those lines (respectively).
*
* This action allows the user to immediately see where the Mesh is properly defined and where it needs to
* be edited. The command will generate the Mesh lines closest to the nozzle's starting position. Alternatively
* the user can specify the X and Y position of interest with command parameters. This allows the user to
* focus on a particular area of the Mesh where attention is needed.
*
* B # Bed Set the Bed Temperature. If not specified, a default of 60 C. will be assumed.
*
* C Current When searching for Mesh Intersection points to draw, use the current nozzle location
* as the base for any distance comparison.
*
* D Disable Disable the Unified Bed Leveling System. In the normal case the user is invoking this
* command to see how well a Mesh as been adjusted to match a print surface. In order to do
* this the Unified Bed Leveling System is turned on by the G26 command. The D parameter
* alters the command's normal behaviour and disables the Unified Bed Leveling System even if
* it is on.
*
* H # Hotend Set the Nozzle Temperature. If not specified, a default of 205 C. will be assumed.
*
* F # Filament Used to specify the diameter of the filament being used. If not specified
* 1.75mm filament is assumed. If you are not getting acceptable results by using the
* 'correct' numbers, you can scale this number up or down a little bit to change the amount
* of filament that is being extruded during the printing of the various lines on the bed.
*
* K Keep-On Keep the heaters turned on at the end of the command.
*
* L # Layer Layer height. (Height of nozzle above bed) If not specified .20mm will be used.
*
* O # Ooooze How much your nozzle will Ooooze filament while getting in position to print. This
* is over kill, but using this parameter will let you get the very first 'circle' perfect
* so you have a trophy to peel off of the bed and hang up to show how perfectly you have your
* Mesh calibrated. If not specified, a filament length of .3mm is assumed.
*
* P # Prime Prime the nozzle with specified length of filament. If this parameter is not
* given, no prime action will take place. If the parameter specifies an amount, that much
* will be purged before continuing. If no amount is specified the command will start
* purging filament until the user provides an LCD Click and then it will continue with
* printing the Mesh. You can carefully remove the spent filament with a needle nose
* pliers while holding the LCD Click wheel in a depressed state. If you do not have
* an LCD, you must specify a value if you use P.
*
* Q # Multiplier Retraction Multiplier. Normally not needed. Retraction defaults to 1.0mm and
* un-retraction is at 1.2mm These numbers will be scaled by the specified amount
*
* R # Repeat Prints the number of patterns given as a parameter, starting at the current location.
* If a parameter isn't given, every point will be printed unless G26 is interrupted.
* This works the same way that the UBL G29 P4 R parameter works.
*
* NOTE: If you do not have an LCD, you -must- specify R. This is to ensure that you are
* aware that there's some risk associated with printing without the ability to abort in
* cases where mesh point Z value may be inaccurate. As above, if you do not include a
* parameter, every point will be printed.
*
* S # Nozzle Used to control the size of nozzle diameter. If not specified, a .4mm nozzle is assumed.
*
* U # Random Randomize the order that the circles are drawn on the bed. The search for the closest
* undrawn cicle is still done. But the distance to the location for each circle has a
* random number of the size specified added to it. Specifying S50 will give an interesting
* deviation from the normal behaviour on a 10 x 10 Mesh.
*
* X # X Coord. Specify the starting location of the drawing activity.
*
* Y # Y Coord. Specify the starting location of the drawing activity.
*/
// 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[];
#endif
extern float destination[XYZE];
extern void set_destination_to_current() { COPY(destination, current_position); }
void prepare_move_to_destination();
#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
inline void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
inline void set_current_to_destination() { COPY(current_position, destination); }
#else
extern void sync_plan_position_e() { planner.set_e_position_mm(current_position[E_AXIS]); }
extern void set_current_to_destination() { COPY(current_position, destination); }
#endif
#if ENABLED(NEWPANEL)
void lcd_setstatusPGM(const char* const message, const int8_t level);
void chirp_at_user();
#endif
// Private functions
static uint16_t circle_flags[16], horizontal_mesh_line_flags[16], vertical_mesh_line_flags[16];
float g26_e_axis_feedrate = 0.020,
random_deviation = 0.0;
static bool g26_retracted = false; // Track the retracted state of the nozzle so mismatched
// retracts/recovers won't result in a bad state.
float valid_trig_angle(float);
float unified_bed_leveling::g26_extrusion_multiplier,
unified_bed_leveling::g26_retraction_multiplier,
unified_bed_leveling::g26_nozzle,
unified_bed_leveling::g26_filament_diameter,
unified_bed_leveling::g26_layer_height,
unified_bed_leveling::g26_prime_length,
unified_bed_leveling::g26_x_pos,
unified_bed_leveling::g26_y_pos,
unified_bed_leveling::g26_ooze_amount;
int16_t unified_bed_leveling::g26_bed_temp,
unified_bed_leveling::g26_hotend_temp;
int8_t unified_bed_leveling::g26_prime_flag;
bool unified_bed_leveling::g26_continue_with_closest,
unified_bed_leveling::g26_keep_heaters_on;
int16_t unified_bed_leveling::g26_repeats;
void unified_bed_leveling::G26_line_to_destination(const float &feed_rate) {
const float save_feedrate = feedrate_mm_s;
feedrate_mm_s = feed_rate; // use specified feed rate
prepare_move_to_destination(); // will ultimately call ubl.line_to_destination_cartesian or ubl.prepare_linear_move_to for UBL_DELTA
feedrate_mm_s = save_feedrate; // restore global feed rate
}
#if ENABLED(NEWPANEL)
/**
* Detect ubl_lcd_clicked, debounce it, and return true for cancel
*/
bool user_canceled() {
if (!ubl_lcd_clicked()) return false;
safe_delay(10); // Wait for click to settle
#if ENABLED(ULTRA_LCD)
lcd_setstatusPGM(PSTR("Mesh Validation Stopped."), 99);
lcd_quick_feedback();
#endif
while (!ubl_lcd_clicked()) idle(); // Wait for button release
// If the button is suddenly pressed again,
// ask the user to resolve the issue
lcd_setstatusPGM(PSTR("Release button"), 99); // will never appear...
while (ubl_lcd_clicked()) idle(); // unless this loop happens
lcd_reset_status();
return true;
}
#endif
/**
* G26: Mesh Validation Pattern generation.
*
* Used to interactively edit UBL's Mesh by placing the
* nozzle in a problem area and doing a G29 P4 R command.
*/
void unified_bed_leveling::G26() {
SERIAL_ECHOLNPGM("G26 command started. Waiting for heater(s).");
float tmp, start_angle, end_angle;
int i, xi, yi;
mesh_index_pair location;
// Don't allow Mesh Validation without homing first,
// or if the parameter parsing did not go OK, abort
if (axis_unhomed_error() || parse_G26_parameters()) return;
if (current_position[Z_AXIS] < Z_CLEARANCE_BETWEEN_PROBES) {
do_blocking_move_to_z(Z_CLEARANCE_BETWEEN_PROBES);
stepper.synchronize();
set_current_to_destination();
}
if (turn_on_heaters()) goto LEAVE;
current_position[E_AXIS] = 0.0;
sync_plan_position_e();
if (g26_prime_flag && prime_nozzle()) goto LEAVE;
/**
* Bed is preheated
*
* Nozzle is at temperature
*
* Filament is primed!
*
* It's "Show Time" !!!
*/
ZERO(circle_flags);
ZERO(horizontal_mesh_line_flags);
ZERO(vertical_mesh_line_flags);
// Move nozzle to the specified height for the first layer
set_destination_to_current();
destination[Z_AXIS] = g26_layer_height;
move_to(destination, 0.0);
move_to(destination, g26_ooze_amount);
has_control_of_lcd_panel = true;
//debug_current_and_destination(PSTR("Starting G26 Mesh Validation Pattern."));
/**
* Declare and generate a sin() & cos() table to be used during the circle drawing. This will lighten
* the CPU load and make the arc drawing faster and more smooth
*/
float sin_table[360 / 30 + 1], cos_table[360 / 30 + 1];
for (i = 0; i <= 360 / 30; i++) {
cos_table[i] = SIZE_OF_INTERSECTION_CIRCLES * cos(RADIANS(valid_trig_angle(i * 30.0)));
sin_table[i] = SIZE_OF_INTERSECTION_CIRCLES * sin(RADIANS(valid_trig_angle(i * 30.0)));
}
do {
location = g26_continue_with_closest
? find_closest_circle_to_print(current_position[X_AXIS], current_position[Y_AXIS])
: find_closest_circle_to_print(g26_x_pos, g26_y_pos); // Find the closest Mesh Intersection to where we are now.
if (location.x_index >= 0 && location.y_index >= 0) {
const float circle_x = mesh_index_to_xpos(location.x_index),
circle_y = mesh_index_to_ypos(location.y_index);
// If this mesh location is outside the printable_radius, skip it.
if (!position_is_reachable_raw_xy(circle_x, circle_y)) continue;
xi = location.x_index; // Just to shrink the next few lines and make them easier to understand
yi = location.y_index;
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" Doing circle at: (xi=", xi);
SERIAL_ECHOPAIR(", yi=", yi);
SERIAL_CHAR(')');
SERIAL_EOL();
}
start_angle = 0.0; // assume it is going to be a full circle
end_angle = 360.0;
if (xi == 0) { // Check for bottom edge
start_angle = -90.0;
end_angle = 90.0;
if (yi == 0) // it is an edge, check for the two left corners
start_angle = 0.0;
else if (yi == GRID_MAX_POINTS_Y - 1)
end_angle = 0.0;
}
else if (xi == GRID_MAX_POINTS_X - 1) { // Check for top edge
start_angle = 90.0;
end_angle = 270.0;
if (yi == 0) // it is an edge, check for the two right corners
end_angle = 180.0;
else if (yi == GRID_MAX_POINTS_Y - 1)
start_angle = 180.0;
}
else if (yi == 0) {
start_angle = 0.0; // only do the top side of the cirlce
end_angle = 180.0;
}
else if (yi == GRID_MAX_POINTS_Y - 1) {
start_angle = 180.0; // only do the bottom side of the cirlce
end_angle = 360.0;
}
for (tmp = start_angle; tmp < end_angle - 0.1; tmp += 30.0) {
#if ENABLED(NEWPANEL)
if (user_canceled()) goto LEAVE; // Check if the user wants to stop the Mesh Validation
#endif
int tmp_div_30 = tmp / 30.0;
if (tmp_div_30 < 0) tmp_div_30 += 360 / 30;
if (tmp_div_30 > 11) tmp_div_30 -= 360 / 30;
float x = circle_x + cos_table[tmp_div_30], // for speed, these are now a lookup table entry
y = circle_y + sin_table[tmp_div_30],
xe = circle_x + cos_table[tmp_div_30 + 1],
ye = circle_y + sin_table[tmp_div_30 + 1];
#if IS_KINEMATIC
// Check to make sure this segment is entirely on the bed, skip if not.
if (!position_is_reachable_raw_xy(x, y) || !position_is_reachable_raw_xy(xe, ye)) continue;
#else // not, we need to skip
x = constrain(x, X_MIN_POS + 1, X_MAX_POS - 1); // This keeps us from bumping the endstops
y = constrain(y, Y_MIN_POS + 1, Y_MAX_POS - 1);
xe = constrain(xe, X_MIN_POS + 1, X_MAX_POS - 1);
ye = constrain(ye, Y_MIN_POS + 1, Y_MAX_POS - 1);
#endif
//if (g26_debug_flag) {
// char ccc, *cptr, seg_msg[50], seg_num[10];
// strcpy(seg_msg, " segment: ");
// strcpy(seg_num, " \n");
// cptr = (char*) "01234567890ABCDEF????????";
// ccc = cptr[tmp_div_30];
// seg_num[1] = ccc;
// strcat(seg_msg, seg_num);
// debug_current_and_destination(seg_msg);
//}
print_line_from_here_to_there(LOGICAL_X_POSITION(x), LOGICAL_Y_POSITION(y), g26_layer_height, LOGICAL_X_POSITION(xe), LOGICAL_Y_POSITION(ye), g26_layer_height);
}
if (look_for_lines_to_connect())
goto LEAVE;
}
} while (--g26_repeats && location.x_index >= 0 && location.y_index >= 0);
LEAVE:
lcd_setstatusPGM(PSTR("Leaving G26"), -1);
retract_filament(destination);
destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES;
//debug_current_and_destination(PSTR("ready to do Z-Raise."));
move_to(destination, 0); // Raise the nozzle
//debug_current_and_destination(PSTR("done doing Z-Raise."));
destination[X_AXIS] = g26_x_pos; // Move back to the starting position
destination[Y_AXIS] = g26_y_pos;
//destination[Z_AXIS] = Z_CLEARANCE_BETWEEN_PROBES; // Keep the nozzle where it is
move_to(destination, 0); // Move back to the starting position
//debug_current_and_destination(PSTR("done doing X/Y move."));
has_control_of_lcd_panel = false; // Give back control of the LCD Panel!
if (!g26_keep_heaters_on) {
#if HAS_TEMP_BED
thermalManager.setTargetBed(0);
#endif
thermalManager.setTargetHotend(0, 0);
}
}
float valid_trig_angle(float d) {
while (d > 360.0) d -= 360.0;
while (d < 0.0) d += 360.0;
return d;
}
mesh_index_pair unified_bed_leveling::find_closest_circle_to_print(const float &X, const float &Y) {
float closest = 99999.99;
mesh_index_pair return_val;
return_val.x_index = return_val.y_index = -1;
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
if (!is_bit_set(circle_flags, i, j)) {
const float mx = mesh_index_to_xpos(i), // We found a circle that needs to be printed
my = mesh_index_to_ypos(j);
// Get the distance to this intersection
float f = HYPOT(X - mx, Y - my);
// It is possible that we are being called with the values
// to let us find the closest circle to the start position.
// But if this is not the case, add a small weighting to the
// distance calculation to help it choose a better place to continue.
f += HYPOT(g26_x_pos - mx, g26_y_pos - my) / 15.0;
// Add in the specified amount of Random Noise to our search
if (random_deviation > 1.0)
f += random(0.0, random_deviation);
if (f < closest) {
closest = f; // We found a closer location that is still
return_val.x_index = i; // un-printed --- save the data for it
return_val.y_index = j;
return_val.distance = closest;
}
}
}
}
bit_set(circle_flags, return_val.x_index, return_val.y_index); // Mark this location as done.
return return_val;
}
bool unified_bed_leveling::look_for_lines_to_connect() {
float sx, sy, ex, ey;
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
for (uint8_t j = 0; j < GRID_MAX_POINTS_Y; j++) {
#if ENABLED(NEWPANEL)
if (user_canceled()) return true; // Check if the user wants to stop the Mesh Validation
#endif
if (i < GRID_MAX_POINTS_X) { // We can't connect to anything to the right than GRID_MAX_POINTS_X.
// This is already a half circle because we are at the edge of the bed.
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i + 1, j)) { // check if we can do a line to the left
if (!is_bit_set(horizontal_mesh_line_flags, i, j)) {
//
// We found two circles that need a horizontal line to connect them
// Print it!
//
sx = mesh_index_to_xpos( i ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // right edge
ex = mesh_index_to_xpos(i + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // left edge
sx = constrain(sx, X_MIN_POS + 1, X_MAX_POS - 1);
sy = ey = constrain(mesh_index_to_ypos(j), Y_MIN_POS + 1, Y_MAX_POS - 1);
ex = constrain(ex, X_MIN_POS + 1, X_MAX_POS - 1);
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" Connecting with horizontal line (sx=", sx);
SERIAL_ECHOPAIR(", sy=", sy);
SERIAL_ECHOPAIR(") -> (ex=", ex);
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL();
//debug_current_and_destination(PSTR("Connecting horizontal line."));
}
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
}
bit_set(horizontal_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if we skipped it
}
}
if (j < GRID_MAX_POINTS_Y) { // We can't connect to anything further back than GRID_MAX_POINTS_Y.
// This is already a half circle because we are at the edge of the bed.
if (is_bit_set(circle_flags, i, j) && is_bit_set(circle_flags, i, j + 1)) { // check if we can do a line straight down
if (!is_bit_set( vertical_mesh_line_flags, i, j)) {
//
// We found two circles that need a vertical line to connect them
// Print it!
//
sy = mesh_index_to_ypos( j ) + (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // top edge
ey = mesh_index_to_ypos(j + 1) - (SIZE_OF_INTERSECTION_CIRCLES - (SIZE_OF_CROSSHAIRS)); // bottom edge
sx = ex = constrain(mesh_index_to_xpos(i), X_MIN_POS + 1, X_MAX_POS - 1);
sy = constrain(sy, Y_MIN_POS + 1, Y_MAX_POS - 1);
ey = constrain(ey, Y_MIN_POS + 1, Y_MAX_POS - 1);
if (position_is_reachable_raw_xy(sx, sy) && position_is_reachable_raw_xy(ex, ey)) {
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" Connecting with vertical line (sx=", sx);
SERIAL_ECHOPAIR(", sy=", sy);
SERIAL_ECHOPAIR(") -> (ex=", ex);
SERIAL_ECHOPAIR(", ey=", ey);
SERIAL_CHAR(')');
SERIAL_EOL();
debug_current_and_destination(PSTR("Connecting vertical line."));
}
print_line_from_here_to_there(LOGICAL_X_POSITION(sx), LOGICAL_Y_POSITION(sy), g26_layer_height, LOGICAL_X_POSITION(ex), LOGICAL_Y_POSITION(ey), g26_layer_height);
}
bit_set(vertical_mesh_line_flags, i, j); // Mark it as done so we don't do it again, even if skipped
}
}
}
}
}
}
return false;
}
void unified_bed_leveling::move_to(const float &x, const float &y, const float &z, const float &e_delta) {
float feed_value;
static float last_z = -999.99;
bool has_xy_component = (x != current_position[X_AXIS] || y != current_position[Y_AXIS]); // Check if X or Y is involved in the movement.
if (z != last_z) {
last_z = z;
feed_value = planner.max_feedrate_mm_s[Z_AXIS]/(3.0); // Base the feed rate off of the configured Z_AXIS feed rate
destination[X_AXIS] = current_position[X_AXIS];
destination[Y_AXIS] = current_position[Y_AXIS];
destination[Z_AXIS] = z; // We know the last_z==z or we wouldn't be in this block of code.
destination[E_AXIS] = current_position[E_AXIS];
G26_line_to_destination(feed_value);
stepper.synchronize();
set_destination_to_current();
}
// Check if X or Y is involved in the movement.
// Yes: a 'normal' movement. No: a retract() or recover()
feed_value = has_xy_component ? PLANNER_XY_FEEDRATE() / 10.0 : planner.max_feedrate_mm_s[E_AXIS] / 1.5;
if (g26_debug_flag) SERIAL_ECHOLNPAIR("in move_to() feed_value for XY:", feed_value);
destination[X_AXIS] = x;
destination[Y_AXIS] = y;
destination[E_AXIS] += e_delta;
G26_line_to_destination(feed_value);
stepper.synchronize();
set_destination_to_current();
}
void unified_bed_leveling::retract_filament(const float where[XYZE]) {
if (!g26_retracted) { // Only retract if we are not already retracted!
g26_retracted = true;
move_to(where, -1.0 * g26_retraction_multiplier);
}
}
void unified_bed_leveling::recover_filament(const float where[XYZE]) {
if (g26_retracted) { // Only un-retract if we are retracted.
move_to(where, 1.2 * g26_retraction_multiplier);
g26_retracted = false;
}
}
/**
* print_line_from_here_to_there() takes two cartesian coordinates and draws a line from one
* to the other. But there are really three sets of coordinates involved. The first coordinate
* is the present location of the nozzle. We don't necessarily want to print from this location.
* We first need to move the nozzle to the start of line segment where we want to print. Once
* there, we can use the two coordinates supplied to draw the line.
*
* Note: Although we assume the first set of coordinates is the start of the line and the second
* set of coordinates is the end of the line, it does not always work out that way. This function
* optimizes the movement to minimize the travel distance before it can start printing. This saves
* a lot of time and eliminates a lot of nonsensical movement of the nozzle. However, it does
* cause a lot of very little short retracement of th nozzle when it draws the very first line
* segment of a 'circle'. The time this requires is very short and is easily saved by the other
* cases where the optimization comes into play.
*/
void unified_bed_leveling::print_line_from_here_to_there(const float &sx, const float &sy, const float &sz, const float &ex, const float &ey, const float &ez) {
const float dx_s = current_position[X_AXIS] - sx, // find our distance from the start of the actual line segment
dy_s = current_position[Y_AXIS] - sy,
dist_start = HYPOT2(dx_s, dy_s), // We don't need to do a sqrt(), we can compare the distance^2
// to save computation time
dx_e = current_position[X_AXIS] - ex, // find our distance from the end of the actual line segment
dy_e = current_position[Y_AXIS] - ey,
dist_end = HYPOT2(dx_e, dy_e),
line_length = HYPOT(ex - sx, ey - sy);
// If the end point of the line is closer to the nozzle, flip the direction,
// moving from the end to the start. On very small lines the optimization isn't worth it.
if (dist_end < dist_start && (SIZE_OF_INTERSECTION_CIRCLES) < FABS(line_length)) {
return print_line_from_here_to_there(ex, ey, ez, sx, sy, sz);
}
// Decide whether to retract & bump
if (dist_start > 2.0) {
retract_filament(destination);
//todo: parameterize the bump height with a define
move_to(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS] + 0.500, 0.0); // Z bump to minimize scraping
move_to(sx, sy, sz + 0.500, 0.0); // Get to the starting point with no extrusion while bumped
}
move_to(sx, sy, sz, 0.0); // Get to the starting point with no extrusion / un-Z bump
const float e_pos_delta = line_length * g26_e_axis_feedrate * g26_extrusion_multiplier;
recover_filament(destination);
move_to(ex, ey, ez, e_pos_delta); // Get to the ending point with an appropriate amount of extrusion
}
/**
* This function used to be inline code in G26. But there are so many
* parameters it made sense to turn them into static globals and get
* this code out of sight of the main routine.
*/
bool unified_bed_leveling::parse_G26_parameters() {
g26_extrusion_multiplier = EXTRUSION_MULTIPLIER;
g26_retraction_multiplier = RETRACTION_MULTIPLIER;
g26_nozzle = NOZZLE;
g26_filament_diameter = FILAMENT;
g26_layer_height = LAYER_HEIGHT;
g26_prime_length = PRIME_LENGTH;
g26_bed_temp = BED_TEMP;
g26_hotend_temp = HOTEND_TEMP;
g26_prime_flag = 0;
g26_ooze_amount = parser.linearval('O', OOZE_AMOUNT);
g26_keep_heaters_on = parser.boolval('K');
g26_continue_with_closest = parser.boolval('C');
if (parser.seenval('B')) {
g26_bed_temp = parser.value_celsius();
if (!WITHIN(g26_bed_temp, 15, 140)) {
SERIAL_PROTOCOLLNPGM("?Specified bed temperature not plausible.");
return UBL_ERR;
}
}
if (parser.seenval('L')) {
g26_layer_height = parser.value_linear_units();
if (!WITHIN(g26_layer_height, 0.0, 2.0)) {
SERIAL_PROTOCOLLNPGM("?Specified layer height not plausible.");
return UBL_ERR;
}
}
if (parser.seen('Q')) {
if (parser.has_value()) {
g26_retraction_multiplier = parser.value_float();
if (!WITHIN(g26_retraction_multiplier, 0.05, 15.0)) {
SERIAL_PROTOCOLLNPGM("?Specified Retraction Multiplier not plausible.");
return UBL_ERR;
}
}
else {
SERIAL_PROTOCOLLNPGM("?Retraction Multiplier must be specified.");
return UBL_ERR;
}
}
if (parser.seenval('S')) {
g26_nozzle = parser.value_float();
if (!WITHIN(g26_nozzle, 0.1, 1.0)) {
SERIAL_PROTOCOLLNPGM("?Specified nozzle size not plausible.");
return UBL_ERR;
}
}
if (parser.seen('P')) {
if (!parser.has_value()) {
#if ENABLED(NEWPANEL)
g26_prime_flag = -1;
#else
SERIAL_PROTOCOLLNPGM("?Prime length must be specified when not using an LCD.");
return UBL_ERR;
#endif
}
else {
g26_prime_flag++;
g26_prime_length = parser.value_linear_units();
if (!WITHIN(g26_prime_length, 0.0, 25.0)) {
SERIAL_PROTOCOLLNPGM("?Specified prime length not plausible.");
return UBL_ERR;
}
}
}
if (parser.seenval('F')) {
g26_filament_diameter = parser.value_linear_units();
if (!WITHIN(g26_filament_diameter, 1.0, 4.0)) {
SERIAL_PROTOCOLLNPGM("?Specified filament size not plausible.");
return UBL_ERR;
}
}
g26_extrusion_multiplier *= sq(1.75) / sq(g26_filament_diameter); // If we aren't using 1.75mm filament, we need to
// scale up or down the length needed to get the
// same volume of filament
g26_extrusion_multiplier *= g26_filament_diameter * sq(g26_nozzle) / sq(0.3); // Scale up by nozzle size
if (parser.seenval('H')) {
g26_hotend_temp = parser.value_celsius();
if (!WITHIN(g26_hotend_temp, 165, 280)) {
SERIAL_PROTOCOLLNPGM("?Specified nozzle temperature not plausible.");
return UBL_ERR;
}
}
if (parser.seen('U')) {
randomSeed(millis());
// This setting will persist for the next G26
random_deviation = parser.has_value() ? parser.value_float() : 50.0;
}
#if ENABLED(NEWPANEL)
g26_repeats = parser.intval('R', GRID_MAX_POINTS + 1);
#else
if (!parser.seen('R')) {
SERIAL_PROTOCOLLNPGM("?(R)epeat must be specified when not using an LCD.");
return UBL_ERR;
}
else
g26_repeats = parser.has_value() ? parser.value_int() : GRID_MAX_POINTS + 1;
#endif
if (g26_repeats < 1) {
SERIAL_PROTOCOLLNPGM("?(R)epeat value not plausible; must be at least 1.");
return UBL_ERR;
}
g26_x_pos = parser.linearval('X', current_position[X_AXIS]);
g26_y_pos = parser.linearval('Y', current_position[Y_AXIS]);
if (!position_is_reachable_xy(g26_x_pos, g26_y_pos)) {
SERIAL_PROTOCOLLNPGM("?Specified X,Y coordinate out of bounds.");
return UBL_ERR;
}
/**
* Wait until all parameters are verified before altering the state!
*/
set_bed_leveling_enabled(!parser.seen('D'));
return UBL_OK;
}
#if ENABLED(NEWPANEL)
bool unified_bed_leveling::exit_from_g26() {
lcd_setstatusPGM(PSTR("Leaving G26"), -1);
while (ubl_lcd_clicked()) idle();
return UBL_ERR;
}
#endif
/**
* Turn on the bed and nozzle heat and
* wait for them to get up to temperature.
*/
bool unified_bed_leveling::turn_on_heaters() {
millis_t next = millis() + 5000UL;
#if HAS_TEMP_BED
#if ENABLED(ULTRA_LCD)
if (g26_bed_temp > 25) {
lcd_setstatusPGM(PSTR("G26 Heating Bed."), 99);
lcd_quick_feedback();
#endif
has_control_of_lcd_panel = true;
thermalManager.setTargetBed(g26_bed_temp);
while (abs(thermalManager.degBed() - g26_bed_temp) > 3) {
#if ENABLED(NEWPANEL)
if (ubl_lcd_clicked()) return exit_from_g26();
#endif
if (ELAPSED(millis(), next)) {
next = millis() + 5000UL;
print_heaterstates();
SERIAL_EOL();
}
idle();
}
#if ENABLED(ULTRA_LCD)
}
lcd_setstatusPGM(PSTR("G26 Heating Nozzle."), 99);
lcd_quick_feedback();
#endif
#endif
// Start heating the nozzle and wait for it to reach temperature.
thermalManager.setTargetHotend(g26_hotend_temp, 0);
while (abs(thermalManager.degHotend(0) - g26_hotend_temp) > 3) {
#if ENABLED(NEWPANEL)
if (ubl_lcd_clicked()) return exit_from_g26();
#endif
if (ELAPSED(millis(), next)) {
next = millis() + 5000UL;
print_heaterstates();
SERIAL_EOL();
}
idle();
}
#if ENABLED(ULTRA_LCD)
lcd_reset_status();
lcd_quick_feedback();
#endif
return UBL_OK;
}
/**
* Prime the nozzle if needed. Return true on error.
*/
bool unified_bed_leveling::prime_nozzle() {
#if ENABLED(NEWPANEL)
float Total_Prime = 0.0;
if (g26_prime_flag == -1) { // The user wants to control how much filament gets purged
has_control_of_lcd_panel = true;
lcd_setstatusPGM(PSTR("User-Controlled Prime"), 99);
chirp_at_user();
set_destination_to_current();
recover_filament(destination); // Make sure G26 doesn't think the filament is retracted().
while (!ubl_lcd_clicked()) {
chirp_at_user();
destination[E_AXIS] += 0.25;
#ifdef PREVENT_LENGTHY_EXTRUDE
Total_Prime += 0.25;
if (Total_Prime >= EXTRUDE_MAXLENGTH) return UBL_ERR;
#endif
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
stepper.synchronize(); // Without this synchronize, the purge is more consistent,
// but because the planner has a buffer, we won't be able
// to stop as quickly. So we put up with the less smooth
// action to give the user a more responsive 'Stop'.
set_destination_to_current();
idle();
}
while (ubl_lcd_clicked()) idle(); // Debounce Encoder Wheel
#if ENABLED(ULTRA_LCD)
strcpy_P(lcd_status_message, PSTR("Done Priming")); // We can't do lcd_setstatusPGM() without having it continue;
// So... We cheat to get a message up.
lcd_setstatusPGM(PSTR("Done Priming"), 99);
lcd_quick_feedback();
#endif
has_control_of_lcd_panel = false;
}
else {
#else
{
#endif
#if ENABLED(ULTRA_LCD)
lcd_setstatusPGM(PSTR("Fixed Length Prime."), 99);
lcd_quick_feedback();
#endif
set_destination_to_current();
destination[E_AXIS] += g26_prime_length;
G26_line_to_destination(planner.max_feedrate_mm_s[E_AXIS] / 15.0);
stepper.synchronize();
set_destination_to_current();
retract_filament(destination);
}
return UBL_OK;
}
#endif // AUTO_BED_LEVELING_UBL && UBL_G26_MESH_VALIDATION

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "Marlin.h"
#include "math.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "ubl.h"
#include "hex_print_routines.h"
#include "temperature.h"
extern Planner planner;
/**
* These support functions allow the use of large bit arrays of flags that take very
* little RAM. Currently they are limited to being 16x16 in size. Changing the declaration
* to unsigned long will allow us to go to 32x32 if higher resolution Mesh's are needed
* in the future.
*/
void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y) { CBI(bits[y], x); }
void bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { SBI(bits[y], x); }
bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y) { return TEST(bits[y], x); }
uint8_t ubl_cnt = 0;
void unified_bed_leveling::echo_name() { SERIAL_PROTOCOLPGM("Unified Bed Leveling"); }
void unified_bed_leveling::report_state() {
echo_name();
SERIAL_PROTOCOLPGM(" System v" UBL_VERSION " ");
if (!state.active) SERIAL_PROTOCOLPGM("in");
SERIAL_PROTOCOLLNPGM("active.");
safe_delay(50);
}
static void serial_echo_xy(const int16_t x, const int16_t y) {
SERIAL_CHAR('(');
SERIAL_ECHO(x);
SERIAL_CHAR(',');
SERIAL_ECHO(y);
SERIAL_CHAR(')');
safe_delay(10);
}
ubl_state unified_bed_leveling::state;
float unified_bed_leveling::z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y],
unified_bed_leveling::last_specified_z;
// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
// until determinism prevails
constexpr float unified_bed_leveling::_mesh_index_to_xpos[16],
unified_bed_leveling::_mesh_index_to_ypos[16];
bool unified_bed_leveling::g26_debug_flag = false,
unified_bed_leveling::has_control_of_lcd_panel = false;
volatile int unified_bed_leveling::encoder_diff;
unified_bed_leveling::unified_bed_leveling() {
ubl_cnt++; // Debug counter to insure we only have one UBL object present in memory. We can eliminate this (and all references to ubl_cnt) very soon.
reset();
}
void unified_bed_leveling::reset() {
set_bed_leveling_enabled(false);
state.z_offset = 0;
state.storage_slot = -1;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
planner.z_fade_height = 10.0;
#endif
ZERO(z_values);
last_specified_z = -999.9;
}
void unified_bed_leveling::invalidate() {
set_bed_leveling_enabled(false);
state.z_offset = 0;
set_all_mesh_points_to_value(NAN);
}
void unified_bed_leveling::set_all_mesh_points_to_value(float value) {
for (uint8_t x = 0; x < GRID_MAX_POINTS_X; x++) {
for (uint8_t y = 0; y < GRID_MAX_POINTS_Y; y++) {
z_values[x][y] = value;
}
}
}
// display_map() currently produces three different mesh map types
// 0 : suitable for PronterFace and Repetier's serial console
// 1 : .CSV file suitable for importation into various spread sheets
// 2 : disply of the map data on a RepRap Graphical LCD Panel
void unified_bed_leveling::display_map(const int map_type) {
constexpr uint8_t spaces = 8 * (GRID_MAX_POINTS_X - 2);
SERIAL_PROTOCOLPGM("\nBed Topography Report");
if (map_type == 0) {
SERIAL_PROTOCOLPGM(":\n\n");
serial_echo_xy(0, GRID_MAX_POINTS_Y - 1);
SERIAL_ECHO_SP(spaces + 3);
serial_echo_xy(GRID_MAX_POINTS_X - 1, GRID_MAX_POINTS_Y - 1);
SERIAL_EOL();
serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MAX_Y);
SERIAL_ECHO_SP(spaces);
serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MAX_Y);
SERIAL_EOL();
}
else {
SERIAL_PROTOCOLPGM(" for ");
serialprintPGM(map_type == 1 ? PSTR("CSV:\n\n") : PSTR("LCD:\n\n"));
}
const float current_xi = get_cell_index_x(current_position[X_AXIS] + (MESH_X_DIST) / 2.0),
current_yi = get_cell_index_y(current_position[Y_AXIS] + (MESH_Y_DIST) / 2.0);
for (int8_t j = GRID_MAX_POINTS_Y - 1; j >= 0; j--) {
for (uint8_t i = 0; i < GRID_MAX_POINTS_X; i++) {
const bool is_current = i == current_xi && j == current_yi;
// is the nozzle here? then mark the number
if (map_type == 0) SERIAL_CHAR(is_current ? '[' : ' ');
const float f = z_values[i][j];
if (isnan(f)) {
serialprintPGM(map_type == 0 ? PSTR(" . ") : PSTR("NAN"));
}
else if (map_type <= 1) {
// if we don't do this, the columns won't line up nicely
if (map_type == 0 && f >= 0.0) SERIAL_CHAR(' ');
SERIAL_PROTOCOL_F(f, 3);
}
idle();
if (map_type == 1 && i < GRID_MAX_POINTS_X - 1) SERIAL_CHAR(',');
#if TX_BUFFER_SIZE > 0
MYSERIAL.flushTX();
#endif
safe_delay(15);
if (map_type == 0) {
SERIAL_CHAR(is_current ? ']' : ' ');
SERIAL_CHAR(' ');
}
}
SERIAL_EOL();
if (j && map_type == 0) { // we want the (0,0) up tight against the block of numbers
SERIAL_CHAR(' ');
SERIAL_EOL();
}
}
if (map_type == 0) {
serial_echo_xy(UBL_MESH_MIN_X, UBL_MESH_MIN_Y);
SERIAL_ECHO_SP(spaces + 4);
serial_echo_xy(UBL_MESH_MAX_X, UBL_MESH_MIN_Y);
SERIAL_EOL();
serial_echo_xy(0, 0);
SERIAL_ECHO_SP(spaces + 5);
serial_echo_xy(GRID_MAX_POINTS_X - 1, 0);
SERIAL_EOL();
}
}
bool unified_bed_leveling::sanity_check() {
uint8_t error_flag = 0;
if (settings.calc_num_meshes() < 1) {
SERIAL_PROTOCOLLNPGM("?Insufficient EEPROM storage for a mesh of this size.");
error_flag++;
}
return !!error_flag;
}
#endif // AUTO_BED_LEVELING_UBL

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/**
* Marlin 3D Printer Firmware
* Copyright (C) 2016, 2017 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
#ifndef UNIFIED_BED_LEVELING_H
#define UNIFIED_BED_LEVELING_H
#include "MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "Marlin.h"
#include "planner.h"
#include "math.h"
#include "vector_3.h"
#include "configuration_store.h"
#define UBL_VERSION "1.01"
#define UBL_OK false
#define UBL_ERR true
#define USE_NOZZLE_AS_REFERENCE 0
#define USE_PROBE_AS_REFERENCE 1
typedef struct {
int8_t x_index, y_index;
float distance; // When populated, the distance from the search location
} mesh_index_pair;
// ubl.cpp
void bit_clear(uint16_t bits[16], uint8_t x, uint8_t y);
void bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
bool is_bit_set(uint16_t bits[16], uint8_t x, uint8_t y);
// ubl_motion.cpp
void debug_current_and_destination(const char * const title);
// ubl_G29.cpp
enum MeshPointType { INVALID, REAL, SET_IN_BITMAP };
// External references
char *ftostr43sign(const float&, char);
bool ubl_lcd_clicked();
void home_all_axes();
extern uint8_t ubl_cnt;
///////////////////////////////////////////////////////////////////////////////////////////////////////
#if ENABLED(ULTRA_LCD)
extern char lcd_status_message[];
void lcd_quick_feedback();
#endif
#define MESH_X_DIST (float(UBL_MESH_MAX_X - (UBL_MESH_MIN_X)) / float(GRID_MAX_POINTS_X - 1))
#define MESH_Y_DIST (float(UBL_MESH_MAX_Y - (UBL_MESH_MIN_Y)) / float(GRID_MAX_POINTS_Y - 1))
typedef struct {
bool active = false;
float z_offset = 0.0;
int8_t storage_slot = -1;
} ubl_state;
class unified_bed_leveling {
private:
static float last_specified_z;
static int g29_verbose_level,
g29_phase_value,
g29_repetition_cnt,
g29_storage_slot,
g29_map_type,
g29_grid_size;
static bool g29_c_flag, g29_x_flag, g29_y_flag;
static float g29_x_pos, g29_y_pos,
g29_card_thickness,
g29_constant;
#if ENABLED(UBL_G26_MESH_VALIDATION)
static float g26_extrusion_multiplier,
g26_retraction_multiplier,
g26_nozzle,
g26_filament_diameter,
g26_prime_length,
g26_x_pos, g26_y_pos,
g26_ooze_amount,
g26_layer_height;
static int16_t g26_bed_temp,
g26_hotend_temp,
g26_repeats;
static int8_t g26_prime_flag;
static bool g26_continue_with_closest, g26_keep_heaters_on;
#endif
static float measure_point_with_encoder();
static float measure_business_card_thickness(float);
static bool g29_parameter_parsing();
static void find_mean_mesh_height();
static void shift_mesh_height();
static void probe_entire_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map, const bool stow_probe, bool do_furthest);
static void manually_probe_remaining_mesh(const float&, const float&, const float&, const float&, const bool);
static void tilt_mesh_based_on_3pts(const float &z1, const float &z2, const float &z3);
static void tilt_mesh_based_on_probed_grid(const bool do_ubl_mesh_map);
static void g29_what_command();
static void g29_eeprom_dump();
static void g29_compare_current_mesh_to_stored_mesh();
static void fine_tune_mesh(const float &lx, const float &ly, const bool do_ubl_mesh_map);
static bool smart_fill_one(const uint8_t x, const uint8_t y, const int8_t xdir, const int8_t ydir);
static void smart_fill_mesh();
#if ENABLED(UBL_G26_MESH_VALIDATION)
static bool exit_from_g26();
static bool parse_G26_parameters();
static void G26_line_to_destination(const float &feed_rate);
static mesh_index_pair find_closest_circle_to_print(const float&, const float&);
static bool look_for_lines_to_connect();
static bool turn_on_heaters();
static bool prime_nozzle();
static void retract_filament(const float where[XYZE]);
static void recover_filament(const float where[XYZE]);
static void print_line_from_here_to_there(const float&, const float&, const float&, const float&, const float&, const float&);
static void move_to(const float&, const float&, const float&, const float&);
inline static void move_to(const float where[XYZE], const float &de) { move_to(where[X_AXIS], where[Y_AXIS], where[Z_AXIS], de); }
#endif
public:
static void echo_name();
static void report_state();
static void save_ubl_active_state_and_disable();
static void restore_ubl_active_state_and_leave();
static void display_map(const int);
static mesh_index_pair find_closest_mesh_point_of_type(const MeshPointType, const float&, const float&, const bool, uint16_t[16], bool);
static void reset();
static void invalidate();
static void set_all_mesh_points_to_value(float);
static bool sanity_check();
static void G29() _O0; // O0 for no optimization
static void smart_fill_wlsf(const float &) _O2; // O2 gives smaller code than Os on A2560
#if ENABLED(UBL_G26_MESH_VALIDATION)
static void G26();
#endif
static ubl_state state;
static float z_values[GRID_MAX_POINTS_X][GRID_MAX_POINTS_Y];
// 15 is the maximum nubmer of grid points supported + 1 safety margin for now,
// until determinism prevails
constexpr static float _mesh_index_to_xpos[16] PROGMEM = {
UBL_MESH_MIN_X + 0 * (MESH_X_DIST), UBL_MESH_MIN_X + 1 * (MESH_X_DIST),
UBL_MESH_MIN_X + 2 * (MESH_X_DIST), UBL_MESH_MIN_X + 3 * (MESH_X_DIST),
UBL_MESH_MIN_X + 4 * (MESH_X_DIST), UBL_MESH_MIN_X + 5 * (MESH_X_DIST),
UBL_MESH_MIN_X + 6 * (MESH_X_DIST), UBL_MESH_MIN_X + 7 * (MESH_X_DIST),
UBL_MESH_MIN_X + 8 * (MESH_X_DIST), UBL_MESH_MIN_X + 9 * (MESH_X_DIST),
UBL_MESH_MIN_X + 10 * (MESH_X_DIST), UBL_MESH_MIN_X + 11 * (MESH_X_DIST),
UBL_MESH_MIN_X + 12 * (MESH_X_DIST), UBL_MESH_MIN_X + 13 * (MESH_X_DIST),
UBL_MESH_MIN_X + 14 * (MESH_X_DIST), UBL_MESH_MIN_X + 15 * (MESH_X_DIST)
};
constexpr static float _mesh_index_to_ypos[16] PROGMEM = {
UBL_MESH_MIN_Y + 0 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 1 * (MESH_Y_DIST),
UBL_MESH_MIN_Y + 2 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 3 * (MESH_Y_DIST),
UBL_MESH_MIN_Y + 4 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 5 * (MESH_Y_DIST),
UBL_MESH_MIN_Y + 6 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 7 * (MESH_Y_DIST),
UBL_MESH_MIN_Y + 8 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 9 * (MESH_Y_DIST),
UBL_MESH_MIN_Y + 10 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 11 * (MESH_Y_DIST),
UBL_MESH_MIN_Y + 12 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 13 * (MESH_Y_DIST),
UBL_MESH_MIN_Y + 14 * (MESH_Y_DIST), UBL_MESH_MIN_Y + 15 * (MESH_Y_DIST)
};
static bool g26_debug_flag, has_control_of_lcd_panel;
static volatile int encoder_diff; // Volatile because it's changed at interrupt time.
unified_bed_leveling();
FORCE_INLINE static void set_z(const int8_t px, const int8_t py, const float &z) { z_values[px][py] = z; }
static int8_t get_cell_index_x(const float &x) {
const int8_t cx = (x - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST));
return constrain(cx, 0, (GRID_MAX_POINTS_X) - 1); // -1 is appropriate if we want all movement to the X_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
static int8_t get_cell_index_y(const float &y) {
const int8_t cy = (y - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_Y_DIST));
return constrain(cy, 0, (GRID_MAX_POINTS_Y) - 1); // -1 is appropriate if we want all movement to the Y_MAX
} // position. But with this defined this way, it is possible
// to extrapolate off of this point even further out. Probably
// that is OK because something else should be keeping that from
// happening and should not be worried about at this level.
static int8_t find_closest_x_index(const float &x) {
const int8_t px = (x - (UBL_MESH_MIN_X) + (MESH_X_DIST) * 0.5) * (1.0 / (MESH_X_DIST));
return WITHIN(px, 0, GRID_MAX_POINTS_X - 1) ? px : -1;
}
static int8_t find_closest_y_index(const float &y) {
const int8_t py = (y - (UBL_MESH_MIN_Y) + (MESH_Y_DIST) * 0.5) * (1.0 / (MESH_Y_DIST));
return WITHIN(py, 0, GRID_MAX_POINTS_Y - 1) ? py : -1;
}
/**
* z2 --|
* z0 | |
* | | + (z2-z1)
* z1 | | |
* ---+-------------+--------+-- --|
* a1 a0 a2
* |<---delta_a---------->|
*
* calc_z0 is the basis for all the Mesh Based correction. It is used to
* find the expected Z Height at a position between two known Z-Height locations.
*
* It is fairly expensive with its 4 floating point additions and 2 floating point
* multiplications.
*/
FORCE_INLINE static float calc_z0(const float &a0, const float &a1, const float &z1, const float &a2, const float &z2) {
return z1 + (z2 - z1) * (a0 - a1) / (a2 - a1);
}
/**
* z_correction_for_x_on_horizontal_mesh_line is an optimization for
* the case where the printer is making a vertical line that only crosses horizontal mesh lines.
*/
inline static float z_correction_for_x_on_horizontal_mesh_line(const float &lx0, const int x1_i, const int yi) {
if (!WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 2) || !WITHIN(yi, 0, GRID_MAX_POINTS_Y - 1)) {
serialprintPGM( !WITHIN(x1_i, 0, GRID_MAX_POINTS_X - 1) ? PSTR("x1l_i") : PSTR("yi") );
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_x_on_horizontal_mesh_line(lx0=", lx0);
SERIAL_ECHOPAIR(",x1_i=", x1_i);
SERIAL_ECHOPAIR(",yi=", yi);
SERIAL_CHAR(')');
SERIAL_EOL();
return NAN;
}
const float xratio = (RAW_X_POSITION(lx0) - mesh_index_to_xpos(x1_i)) * (1.0 / (MESH_X_DIST)),
z1 = z_values[x1_i][yi];
return z1 + xratio * (z_values[x1_i + 1][yi] - z1);
}
//
// See comments above for z_correction_for_x_on_horizontal_mesh_line
//
inline static float z_correction_for_y_on_vertical_mesh_line(const float &ly0, const int xi, const int y1_i) {
if (!WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(y1_i, 0, GRID_MAX_POINTS_Y - 2)) {
serialprintPGM( !WITHIN(xi, 0, GRID_MAX_POINTS_X - 1) ? PSTR("xi") : PSTR("yl_i") );
SERIAL_ECHOPAIR(" out of bounds in z_correction_for_y_on_vertical_mesh_line(ly0=", ly0);
SERIAL_ECHOPAIR(", xi=", xi);
SERIAL_ECHOPAIR(", y1_i=", y1_i);
SERIAL_CHAR(')');
SERIAL_EOL();
return NAN;
}
const float yratio = (RAW_Y_POSITION(ly0) - mesh_index_to_ypos(y1_i)) * (1.0 / (MESH_Y_DIST)),
z1 = z_values[xi][y1_i];
return z1 + yratio * (z_values[xi][y1_i + 1] - z1);
}
/**
* This is the generic Z-Correction. It works anywhere within a Mesh Cell. It first
* does a linear interpolation along both of the bounding X-Mesh-Lines to find the
* Z-Height at both ends. Then it does a linear interpolation of these heights based
* on the Y position within the cell.
*/
static float get_z_correction(const float &lx0, const float &ly0) {
const int8_t cx = get_cell_index_x(RAW_X_POSITION(lx0)),
cy = get_cell_index_y(RAW_Y_POSITION(ly0));
if (!WITHIN(cx, 0, GRID_MAX_POINTS_X - 2) || !WITHIN(cy, 0, GRID_MAX_POINTS_Y - 2)) {
SERIAL_ECHOPAIR("? in get_z_correction(lx0=", lx0);
SERIAL_ECHOPAIR(", ly0=", ly0);
SERIAL_CHAR(')');
SERIAL_EOL();
#if ENABLED(ULTRA_LCD)
strcpy(lcd_status_message, "get_z_correction() indexes out of range.");
lcd_quick_feedback();
#endif
return NAN; // this used to return state.z_offset
}
const float z1 = calc_z0(RAW_X_POSITION(lx0),
mesh_index_to_xpos(cx), z_values[cx][cy],
mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy]);
const float z2 = calc_z0(RAW_X_POSITION(lx0),
mesh_index_to_xpos(cx), z_values[cx][cy + 1],
mesh_index_to_xpos(cx + 1), z_values[cx + 1][cy + 1]);
float z0 = calc_z0(RAW_Y_POSITION(ly0),
mesh_index_to_ypos(cy), z1,
mesh_index_to_ypos(cy + 1), z2);
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
SERIAL_ECHOPAIR(" raw get_z_correction(", lx0);
SERIAL_CHAR(',');
SERIAL_ECHO(ly0);
SERIAL_ECHOPGM(") = ");
SERIAL_ECHO_F(z0, 6);
}
#endif
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
SERIAL_ECHOPGM(" >>>---> ");
SERIAL_ECHO_F(z0, 6);
SERIAL_EOL();
}
#endif
if (isnan(z0)) { // if part of the Mesh is undefined, it will show up as NAN
z0 = 0.0; // in ubl.z_values[][] and propagate through the
// calculations. If our correction is NAN, we throw it out
// because part of the Mesh is undefined and we don't have the
// information we need to complete the height correction.
#if ENABLED(DEBUG_LEVELING_FEATURE)
if (DEBUGGING(MESH_ADJUST)) {
SERIAL_ECHOPAIR("??? Yikes! NAN in get_z_correction(", lx0);
SERIAL_CHAR(',');
SERIAL_ECHO(ly0);
SERIAL_CHAR(')');
SERIAL_EOL();
}
#endif
}
return z0; // there used to be a +state.z_offset on this line
}
/**
* This function sets the Z leveling fade factor based on the given Z height,
* only re-calculating when necessary.
*
* Returns 1.0 if planner.z_fade_height is 0.0.
* Returns 0.0 if Z is past the specified 'Fade Height'.
*/
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
static inline float fade_scaling_factor_for_z(const float &lz) {
if (planner.z_fade_height == 0.0) return 1.0;
static float fade_scaling_factor = 1.0;
const float rz = RAW_Z_POSITION(lz);
if (last_specified_z != rz) {
last_specified_z = rz;
fade_scaling_factor =
rz < planner.z_fade_height
? 1.0 - (rz * planner.inverse_z_fade_height)
: 0.0;
}
return fade_scaling_factor;
}
#else
FORCE_INLINE static float fade_scaling_factor_for_z(const float &lz) { return 1.0; }
#endif
FORCE_INLINE static float mesh_index_to_xpos(const uint8_t i) {
return i < GRID_MAX_POINTS_X ? pgm_read_float(&_mesh_index_to_xpos[i]) : UBL_MESH_MIN_X + i * (MESH_X_DIST);
}
FORCE_INLINE static float mesh_index_to_ypos(const uint8_t i) {
return i < GRID_MAX_POINTS_Y ? pgm_read_float(&_mesh_index_to_ypos[i]) : UBL_MESH_MIN_Y + i * (MESH_Y_DIST);
}
static bool prepare_segmented_line_to(const float ltarget[XYZE], const float &feedrate);
static void line_to_destination_cartesian(const float &fr, uint8_t e);
}; // class unified_bed_leveling
extern unified_bed_leveling ubl;
#if ENABLED(UBL_G26_MESH_VALIDATION)
FORCE_INLINE void gcode_G26() { ubl.G26(); }
#endif
FORCE_INLINE void gcode_G29() { ubl.G29(); }
#endif // AUTO_BED_LEVELING_UBL
#endif // UNIFIED_BED_LEVELING_H

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/**
* 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 <http://www.gnu.org/licenses/>.
*
*/
#include "MarlinConfig.h"
#if ENABLED(AUTO_BED_LEVELING_UBL)
#include "Marlin.h"
#include "ubl.h"
#include "planner.h"
#include "stepper.h"
#include <math.h>
extern float destination[XYZE];
#if AVR_AT90USB1286_FAMILY // Teensyduino & Printrboard IDE extensions have compile errors without this
inline void set_current_to_destination() { COPY(current_position, destination); }
#else
extern void set_current_to_destination();
#endif
#if ENABLED(DELTA)
extern float delta[ABC],
endstop_adj[ABC];
extern float delta_radius,
delta_tower_angle_trim[2],
delta_tower[ABC][2],
delta_diagonal_rod,
delta_calibration_radius,
delta_diagonal_rod_2_tower[ABC],
delta_segments_per_second,
delta_clip_start_height;
extern float delta_safe_distance_from_top();
#endif
static void debug_echo_axis(const AxisEnum axis) {
if (current_position[axis] == destination[axis])
SERIAL_ECHOPGM("-------------");
else
SERIAL_ECHO_F(destination[X_AXIS], 6);
}
void debug_current_and_destination(const char *title) {
// if the title message starts with a '!' it is so important, we are going to
// ignore the status of the g26_debug_flag
if (*title != '!' && !ubl.g26_debug_flag) return;
const float de = destination[E_AXIS] - current_position[E_AXIS];
if (de == 0.0) return; // Printing moves only
const float dx = destination[X_AXIS] - current_position[X_AXIS],
dy = destination[Y_AXIS] - current_position[Y_AXIS],
xy_dist = HYPOT(dx, dy);
if (xy_dist == 0.0) return;
SERIAL_ECHOPGM(" fpmm=");
const float fpmm = de / xy_dist;
SERIAL_ECHO_F(fpmm, 6);
SERIAL_ECHOPGM(" current=( ");
SERIAL_ECHO_F(current_position[X_AXIS], 6);
SERIAL_ECHOPGM(", ");
SERIAL_ECHO_F(current_position[Y_AXIS], 6);
SERIAL_ECHOPGM(", ");
SERIAL_ECHO_F(current_position[Z_AXIS], 6);
SERIAL_ECHOPGM(", ");
SERIAL_ECHO_F(current_position[E_AXIS], 6);
SERIAL_ECHOPGM(" ) destination=( ");
debug_echo_axis(X_AXIS);
SERIAL_ECHOPGM(", ");
debug_echo_axis(Y_AXIS);
SERIAL_ECHOPGM(", ");
debug_echo_axis(Z_AXIS);
SERIAL_ECHOPGM(", ");
debug_echo_axis(E_AXIS);
SERIAL_ECHOPGM(" ) ");
SERIAL_ECHO(title);
SERIAL_EOL();
}
void unified_bed_leveling::line_to_destination_cartesian(const float &feed_rate, uint8_t extruder) {
/**
* Much of the nozzle movement will be within the same cell. So we will do as little computation
* as possible to determine if this is the case. If this move is within the same cell, we will
* just do the required Z-Height correction, call the Planner's buffer_line() routine, and leave
*/
const float start[XYZE] = {
current_position[X_AXIS],
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
},
end[XYZE] = {
destination[X_AXIS],
destination[Y_AXIS],
destination[Z_AXIS],
destination[E_AXIS]
};
const int cell_start_xi = get_cell_index_x(RAW_X_POSITION(start[X_AXIS])),
cell_start_yi = get_cell_index_y(RAW_Y_POSITION(start[Y_AXIS])),
cell_dest_xi = get_cell_index_x(RAW_X_POSITION(end[X_AXIS])),
cell_dest_yi = get_cell_index_y(RAW_Y_POSITION(end[Y_AXIS]));
if (g26_debug_flag) {
SERIAL_ECHOPAIR(" ubl.line_to_destination(xe=", end[X_AXIS]);
SERIAL_ECHOPAIR(", ye=", end[Y_AXIS]);
SERIAL_ECHOPAIR(", ze=", end[Z_AXIS]);
SERIAL_ECHOPAIR(", ee=", end[E_AXIS]);
SERIAL_CHAR(')');
SERIAL_EOL();
debug_current_and_destination(PSTR("Start of ubl.line_to_destination()"));
}
if (cell_start_xi == cell_dest_xi && cell_start_yi == cell_dest_yi) { // if the whole move is within the same cell,
/**
* we don't need to break up the move
*
* If we are moving off the print bed, we are going to allow the move at this level.
* But we detect it and isolate it. For now, we just pass along the request.
*/
if (!WITHIN(cell_dest_xi, 0, GRID_MAX_POINTS_X - 1) || !WITHIN(cell_dest_yi, 0, GRID_MAX_POINTS_Y - 1)) {
// Note: There is no Z Correction in this case. We are off the grid and don't know what
// a reasonable correction would be.
planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + state.z_offset, end[E_AXIS], feed_rate, extruder);
set_current_to_destination();
if (g26_debug_flag)
debug_current_and_destination(PSTR("out of bounds in ubl.line_to_destination()"));
return;
}
FINAL_MOVE:
/**
* Optimize some floating point operations here. We could call float get_z_correction(float x0, float y0) to
* generate the correction for us. But we can lighten the load on the CPU by doing a modified version of the function.
* We are going to only calculate the amount we are from the first mesh line towards the second mesh line once.
* We will use this fraction in both of the original two Z Height calculations for the bi-linear interpolation. And,
* instead of doing a generic divide of the distance, we know the distance is MESH_X_DIST so we can use the preprocessor
* to create a 1-over number for us. That will allow us to do a floating point multiply instead of a floating point divide.
*/
const float xratio = (RAW_X_POSITION(end[X_AXIS]) - mesh_index_to_xpos(cell_dest_xi)) * (1.0 / (MESH_X_DIST));
float z1 = z_values[cell_dest_xi ][cell_dest_yi ] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi ] - z_values[cell_dest_xi][cell_dest_yi ]),
z2 = z_values[cell_dest_xi ][cell_dest_yi + 1] + xratio *
(z_values[cell_dest_xi + 1][cell_dest_yi + 1] - z_values[cell_dest_xi][cell_dest_yi + 1]);
if (cell_dest_xi >= GRID_MAX_POINTS_X - 1) z1 = z2 = 0.0;
// we are done with the fractional X distance into the cell. Now with the two Z-Heights we have calculated, we
// are going to apply the Y-Distance into the cell to interpolate the final Z correction.
const float yratio = (RAW_Y_POSITION(end[Y_AXIS]) - mesh_index_to_ypos(cell_dest_yi)) * (1.0 / (MESH_Y_DIST));
float z0 = cell_dest_yi < GRID_MAX_POINTS_Y - 1 ? (z1 + (z2 - z1) * yratio) * fade_scaling_factor_for_z(end[Z_AXIS]) : 0.0;
/**
* If part of the Mesh is undefined, it will show up as NAN
* in z_values[][] and propagate through the
* calculations. If our correction is NAN, we throw it out
* because part of the Mesh is undefined and we don't have the
* information we need to complete the height correction.
*/
if (isnan(z0)) z0 = 0.0;
planner._buffer_line(end[X_AXIS], end[Y_AXIS], end[Z_AXIS] + z0 + state.z_offset, end[E_AXIS], feed_rate, extruder);
if (g26_debug_flag)
debug_current_and_destination(PSTR("FINAL_MOVE in ubl.line_to_destination()"));
set_current_to_destination();
return;
}
/**
* If we get here, we are processing a move that crosses at least one Mesh Line. We will check
* for the simple case of just crossing X or just crossing Y Mesh Lines after we get all the details
* of the move figured out. We can process the easy case of just crossing an X or Y Mesh Line with less
* computation and in fact most lines are of this nature. We will check for that in the following
* blocks of code:
*/
const float dx = end[X_AXIS] - start[X_AXIS],
dy = end[Y_AXIS] - start[Y_AXIS];
const int left_flag = dx < 0.0 ? 1 : 0,
down_flag = dy < 0.0 ? 1 : 0;
const float adx = left_flag ? -dx : dx,
ady = down_flag ? -dy : dy;
const int dxi = cell_start_xi == cell_dest_xi ? 0 : left_flag ? -1 : 1,
dyi = cell_start_yi == cell_dest_yi ? 0 : down_flag ? -1 : 1;
/**
* Compute the scaling factor for the extruder for each partial move.
* We need to watch out for zero length moves because it will cause us to
* have an infinate scaling factor. We are stuck doing a floating point
* divide to get our scaling factor, but after that, we just multiply by this
* number. We also pick our scaling factor based on whether the X or Y
* component is larger. We use the biggest of the two to preserve precision.
*/
const bool use_x_dist = adx > ady;
float on_axis_distance = use_x_dist ? dx : dy,
e_position = end[E_AXIS] - start[E_AXIS],
z_position = end[Z_AXIS] - start[Z_AXIS];
const float e_normalized_dist = e_position / on_axis_distance,
z_normalized_dist = z_position / on_axis_distance;
int current_xi = cell_start_xi,
current_yi = cell_start_yi;
const float m = dy / dx,
c = start[Y_AXIS] - m * start[X_AXIS];
const bool inf_normalized_flag = (isinf(e_normalized_dist) != 0),
inf_m_flag = (isinf(m) != 0);
/**
* This block handles vertical lines. These are lines that stay within the same
* X Cell column. They do not need to be perfectly vertical. They just can
* not cross into another X Cell column.
*/
if (dxi == 0) { // Check for a vertical line
current_yi += down_flag; // Line is heading down, we just want to go to the bottom
while (current_yi != cell_dest_yi + down_flag) {
current_yi += dyi;
const float next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi));
/**
* if the slope of the line is infinite, we won't do the calculations
* else, we know the next X is the same so we can recover and continue!
* Calculate X at the next Y mesh line
*/
const float x = inf_m_flag ? start[X_AXIS] : (next_mesh_line_y - c) / m;
float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi, current_yi);
z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
/**
* If part of the Mesh is undefined, it will show up as NAN
* in z_values[][] and propagate through the
* calculations. If our correction is NAN, we throw it out
* because part of the Mesh is undefined and we don't have the
* information we need to complete the height correction.
*/
if (isnan(z0)) z0 = 0.0;
const float y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi));
/**
* Without this check, it is possible for the algorithm to generate a zero length move in the case
* where the line is heading down and it is starting right on a Mesh Line boundary. For how often that
* happens, it might be best to remove the check and always 'schedule' the move because
* the planner._buffer_line() routine will filter it if that happens.
*/
if (y != start[Y_AXIS]) {
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
}
planner._buffer_line(x, y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
} //else printf("FIRST MOVE PRUNED ");
}
if (g26_debug_flag)
debug_current_and_destination(PSTR("vertical move done in ubl.line_to_destination()"));
//
// Check if we are at the final destination. Usually, we won't be, but if it is on a Y Mesh Line, we are done.
//
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
goto FINAL_MOVE;
set_current_to_destination();
return;
}
/**
*
* This block handles horizontal lines. These are lines that stay within the same
* Y Cell row. They do not need to be perfectly horizontal. They just can
* not cross into another Y Cell row.
*
*/
if (dyi == 0) { // Check for a horizontal line
current_xi += left_flag; // Line is heading left, we just want to go to the left
// edge of this cell for the first move.
while (current_xi != cell_dest_xi + left_flag) {
current_xi += dxi;
const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi)),
y = m * next_mesh_line_x + c; // Calculate Y at the next X mesh line
float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi, current_yi);
z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
/**
* If part of the Mesh is undefined, it will show up as NAN
* in z_values[][] and propagate through the
* calculations. If our correction is NAN, we throw it out
* because part of the Mesh is undefined and we don't have the
* information we need to complete the height correction.
*/
if (isnan(z0)) z0 = 0.0;
const float x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi));
/**
* Without this check, it is possible for the algorithm to generate a zero length move in the case
* where the line is heading left and it is starting right on a Mesh Line boundary. For how often
* that happens, it might be best to remove the check and always 'schedule' the move because
* the planner._buffer_line() routine will filter it if that happens.
*/
if (x != start[X_AXIS]) {
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? x - start[X_AXIS] : y - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist; // is based on X or Y because this is a horizontal move
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
}
planner._buffer_line(x, y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
} //else printf("FIRST MOVE PRUNED ");
}
if (g26_debug_flag)
debug_current_and_destination(PSTR("horizontal move done in ubl.line_to_destination()"));
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
goto FINAL_MOVE;
set_current_to_destination();
return;
}
/**
*
* This block handles the generic case of a line crossing both X and Y Mesh lines.
*
*/
int xi_cnt = cell_start_xi - cell_dest_xi,
yi_cnt = cell_start_yi - cell_dest_yi;
if (xi_cnt < 0) xi_cnt = -xi_cnt;
if (yi_cnt < 0) yi_cnt = -yi_cnt;
current_xi += left_flag;
current_yi += down_flag;
while (xi_cnt > 0 || yi_cnt > 0) {
const float next_mesh_line_x = LOGICAL_X_POSITION(mesh_index_to_xpos(current_xi + dxi)),
next_mesh_line_y = LOGICAL_Y_POSITION(mesh_index_to_ypos(current_yi + dyi)),
y = m * next_mesh_line_x + c, // Calculate Y at the next X mesh line
x = (next_mesh_line_y - c) / m; // Calculate X at the next Y mesh line
// (No need to worry about m being zero.
// If that was the case, it was already detected
// as a vertical line move above.)
if (left_flag == (x > next_mesh_line_x)) { // Check if we hit the Y line first
// Yes! Crossing a Y Mesh Line next
float z0 = z_correction_for_x_on_horizontal_mesh_line(x, current_xi - left_flag, current_yi + dyi);
z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
/**
* If part of the Mesh is undefined, it will show up as NAN
* in z_values[][] and propagate through the
* calculations. If our correction is NAN, we throw it out
* because part of the Mesh is undefined and we don't have the
* information we need to complete the height correction.
*/
if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? x - start[X_AXIS] : next_mesh_line_y - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
}
planner._buffer_line(x, next_mesh_line_y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
current_yi += dyi;
yi_cnt--;
}
else {
// Yes! Crossing a X Mesh Line next
float z0 = z_correction_for_y_on_vertical_mesh_line(y, current_xi + dxi, current_yi - down_flag);
z0 *= fade_scaling_factor_for_z(end[Z_AXIS]);
/**
* If part of the Mesh is undefined, it will show up as NAN
* in z_values[][] and propagate through the
* calculations. If our correction is NAN, we throw it out
* because part of the Mesh is undefined and we don't have the
* information we need to complete the height correction.
*/
if (isnan(z0)) z0 = 0.0;
if (!inf_normalized_flag) {
on_axis_distance = use_x_dist ? next_mesh_line_x - start[X_AXIS] : y - start[Y_AXIS];
e_position = start[E_AXIS] + on_axis_distance * e_normalized_dist;
z_position = start[Z_AXIS] + on_axis_distance * z_normalized_dist;
}
else {
e_position = end[E_AXIS];
z_position = end[Z_AXIS];
}
planner._buffer_line(next_mesh_line_x, y, z_position + z0 + state.z_offset, e_position, feed_rate, extruder);
current_xi += dxi;
xi_cnt--;
}
if (xi_cnt < 0 || yi_cnt < 0) break; // we've gone too far, so exit the loop and move on to FINAL_MOVE
}
if (g26_debug_flag)
debug_current_and_destination(PSTR("generic move done in ubl.line_to_destination()"));
if (current_position[X_AXIS] != end[X_AXIS] || current_position[Y_AXIS] != end[Y_AXIS])
goto FINAL_MOVE;
set_current_to_destination();
}
#if UBL_DELTA
// macro to inline copy exactly 4 floats, don't rely on sizeof operator
#define COPY_XYZE( target, source ) { \
target[X_AXIS] = source[X_AXIS]; \
target[Y_AXIS] = source[Y_AXIS]; \
target[Z_AXIS] = source[Z_AXIS]; \
target[E_AXIS] = source[E_AXIS]; \
}
#if IS_SCARA // scale the feed rate from mm/s to degrees/s
static float scara_feed_factor, scara_oldA, scara_oldB;
#endif
// We don't want additional apply_leveling() performed by regular buffer_line or buffer_line_kinematic,
// so we call _buffer_line directly here. Per-segmented leveling and kinematics performed first.
inline void _O2 ubl_buffer_segment_raw( float rx, float ry, float rz, float le, float fr ) {
#if ENABLED(DELTA) // apply delta inverse_kinematics
const float delta_A = rz + SQRT( delta_diagonal_rod_2_tower[A_AXIS]
- HYPOT2( delta_tower[A_AXIS][X_AXIS] - rx,
delta_tower[A_AXIS][Y_AXIS] - ry ));
const float delta_B = rz + SQRT( delta_diagonal_rod_2_tower[B_AXIS]
- HYPOT2( delta_tower[B_AXIS][X_AXIS] - rx,
delta_tower[B_AXIS][Y_AXIS] - ry ));
const float delta_C = rz + SQRT( delta_diagonal_rod_2_tower[C_AXIS]
- HYPOT2( delta_tower[C_AXIS][X_AXIS] - rx,
delta_tower[C_AXIS][Y_AXIS] - ry ));
planner._buffer_line(delta_A, delta_B, delta_C, le, fr, active_extruder);
#elif IS_SCARA // apply scara inverse_kinematics (should be changed to save raw->logical->raw)
const float lseg[XYZ] = { LOGICAL_X_POSITION(rx),
LOGICAL_Y_POSITION(ry),
LOGICAL_Z_POSITION(rz)
};
inverse_kinematics(lseg); // this writes delta[ABC] from lseg[XYZ]
// should move the feedrate scaling to scara inverse_kinematics
const float adiff = FABS(delta[A_AXIS] - scara_oldA),
bdiff = FABS(delta[B_AXIS] - scara_oldB);
scara_oldA = delta[A_AXIS];
scara_oldB = delta[B_AXIS];
float s_feedrate = max(adiff, bdiff) * scara_feed_factor;
planner._buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], le, s_feedrate, active_extruder);
#else // CARTESIAN
// Cartesian _buffer_line seems to take LOGICAL, not RAW coordinates
const float lx = LOGICAL_X_POSITION(rx),
ly = LOGICAL_Y_POSITION(ry),
lz = LOGICAL_Z_POSITION(rz);
planner._buffer_line(lx, ly, lz, le, fr, active_extruder);
#endif
}
/**
* Prepare a segmented linear move for DELTA/SCARA/CARTESIAN with UBL and FADE semantics.
* This calls planner._buffer_line multiple times for small incremental moves.
* Returns true if did NOT move, false if moved (requires current_position update).
*/
bool _O2 unified_bed_leveling::prepare_segmented_line_to(const float ltarget[XYZE], const float &feedrate) {
if (!position_is_reachable_xy(ltarget[X_AXIS], ltarget[Y_AXIS])) // fail if moving outside reachable boundary
return true; // did not move, so current_position still accurate
const float tot_dx = ltarget[X_AXIS] - current_position[X_AXIS],
tot_dy = ltarget[Y_AXIS] - current_position[Y_AXIS],
tot_dz = ltarget[Z_AXIS] - current_position[Z_AXIS],
tot_de = ltarget[E_AXIS] - current_position[E_AXIS];
const float cartesian_xy_mm = HYPOT(tot_dx, tot_dy); // total horizontal xy distance
#if IS_KINEMATIC
const float seconds = cartesian_xy_mm / feedrate; // seconds to move xy distance at requested rate
uint16_t segments = lroundf(delta_segments_per_second * seconds), // preferred number of segments for distance @ feedrate
seglimit = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // number of segments at minimum segment length
NOMORE(segments, seglimit); // limit to minimum segment length (fewer segments)
#else
uint16_t segments = lroundf(cartesian_xy_mm * (1.0 / (DELTA_SEGMENT_MIN_LENGTH))); // cartesian fixed segment length
#endif
NOLESS(segments, 1); // must have at least one segment
const float inv_segments = 1.0 / segments; // divide once, multiply thereafter
#if IS_SCARA // scale the feed rate from mm/s to degrees/s
scara_feed_factor = cartesian_xy_mm * inv_segments * feedrate;
scara_oldA = stepper.get_axis_position_degrees(A_AXIS);
scara_oldB = stepper.get_axis_position_degrees(B_AXIS);
#endif
const float seg_dx = tot_dx * inv_segments,
seg_dy = tot_dy * inv_segments,
seg_dz = tot_dz * inv_segments,
seg_de = tot_de * inv_segments;
// Note that E segment distance could vary slightly as z mesh height
// changes for each segment, but small enough to ignore.
float seg_rx = RAW_X_POSITION(current_position[X_AXIS]),
seg_ry = RAW_Y_POSITION(current_position[Y_AXIS]),
seg_rz = RAW_Z_POSITION(current_position[Z_AXIS]),
seg_le = current_position[E_AXIS];
const bool above_fade_height = (
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
planner.z_fade_height != 0 && planner.z_fade_height < RAW_Z_POSITION(ltarget[Z_AXIS])
#else
false
#endif
);
// Only compute leveling per segment if ubl active and target below z_fade_height.
if (!state.active || above_fade_height) { // no mesh leveling
const float z_offset = state.active ? state.z_offset : 0.0;
do {
if (--segments) { // not the last segment
seg_rx += seg_dx;
seg_ry += seg_dy;
seg_rz += seg_dz;
seg_le += seg_de;
} else { // last segment, use exact destination
seg_rx = RAW_X_POSITION(ltarget[X_AXIS]);
seg_ry = RAW_Y_POSITION(ltarget[Y_AXIS]);
seg_rz = RAW_Z_POSITION(ltarget[Z_AXIS]);
seg_le = ltarget[E_AXIS];
}
ubl_buffer_segment_raw( seg_rx, seg_ry, seg_rz + z_offset, seg_le, feedrate );
} while (segments);
return false; // moved but did not set_current_to_destination();
}
// Otherwise perform per-segment leveling
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
const float fade_scaling_factor = fade_scaling_factor_for_z(ltarget[Z_AXIS]);
#endif
// increment to first segment destination
seg_rx += seg_dx;
seg_ry += seg_dy;
seg_rz += seg_dz;
seg_le += seg_de;
for(;;) { // for each mesh cell encountered during the move
// Compute mesh cell invariants that remain constant for all segments within cell.
// Note for cell index, if point is outside the mesh grid (in MESH_INSET perimeter)
// the bilinear interpolation from the adjacent cell within the mesh will still work.
// Inner loop will exit each time (because out of cell bounds) but will come back
// in top of loop and again re-find same adjacent cell and use it, just less efficient
// for mesh inset area.
int8_t cell_xi = (seg_rx - (UBL_MESH_MIN_X)) * (1.0 / (MESH_X_DIST)),
cell_yi = (seg_ry - (UBL_MESH_MIN_Y)) * (1.0 / (MESH_X_DIST));
cell_xi = constrain(cell_xi, 0, (GRID_MAX_POINTS_X) - 1);
cell_yi = constrain(cell_yi, 0, (GRID_MAX_POINTS_Y) - 1);
const float x0 = mesh_index_to_xpos(cell_xi), // 64 byte table lookup avoids mul+add
y0 = mesh_index_to_ypos(cell_yi);
float z_x0y0 = z_values[cell_xi ][cell_yi ], // z at lower left corner
z_x1y0 = z_values[cell_xi+1][cell_yi ], // z at upper left corner
z_x0y1 = z_values[cell_xi ][cell_yi+1], // z at lower right corner
z_x1y1 = z_values[cell_xi+1][cell_yi+1]; // z at upper right corner
if (isnan(z_x0y0)) z_x0y0 = 0; // ideally activating state.active (G29 A)
if (isnan(z_x1y0)) z_x1y0 = 0; // should refuse if any invalid mesh points
if (isnan(z_x0y1)) z_x0y1 = 0; // in order to avoid isnan tests per cell,
if (isnan(z_x1y1)) z_x1y1 = 0; // thus guessing zero for undefined points
float cx = seg_rx - x0, // cell-relative x and y
cy = seg_ry - y0;
const float z_xmy0 = (z_x1y0 - z_x0y0) * (1.0 / (MESH_X_DIST)), // z slope per x along y0 (lower left to lower right)
z_xmy1 = (z_x1y1 - z_x0y1) * (1.0 / (MESH_X_DIST)); // z slope per x along y1 (upper left to upper right)
float z_cxy0 = z_x0y0 + z_xmy0 * cx; // z height along y0 at cx (changes for each cx in cell)
const float z_cxy1 = z_x0y1 + z_xmy1 * cx, // z height along y1 at cx
z_cxyd = z_cxy1 - z_cxy0; // z height difference along cx from y0 to y1
float z_cxym = z_cxyd * (1.0 / (MESH_Y_DIST)); // z slope per y along cx from y0 to y1 (changes for each cx in cell)
// float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy (do inside the segment loop)
// As subsequent segments step through this cell, the z_cxy0 intercept will change
// and the z_cxym slope will change, both as a function of cx within the cell, and
// each change by a constant for fixed segment lengths.
const float z_sxy0 = z_xmy0 * seg_dx, // per-segment adjustment to z_cxy0
z_sxym = (z_xmy1 - z_xmy0) * (1.0 / (MESH_Y_DIST)) * seg_dx; // per-segment adjustment to z_cxym
for(;;) { // for all segments within this mesh cell
float z_cxcy = z_cxy0 + z_cxym * cy; // interpolated mesh z height along cx at cy
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
z_cxcy *= fade_scaling_factor; // apply fade factor to interpolated mesh height
#endif
z_cxcy += state.z_offset; // add fixed mesh offset from G29 Z
if (--segments == 0) { // if this is last segment, use ltarget for exact
seg_rx = RAW_X_POSITION(ltarget[X_AXIS]);
seg_ry = RAW_Y_POSITION(ltarget[Y_AXIS]);
seg_rz = RAW_Z_POSITION(ltarget[Z_AXIS]);
seg_le = ltarget[E_AXIS];
}
ubl_buffer_segment_raw( seg_rx, seg_ry, seg_rz + z_cxcy, seg_le, feedrate );
if (segments == 0 ) // done with last segment
return false; // did not set_current_to_destination()
seg_rx += seg_dx;
seg_ry += seg_dy;
seg_rz += seg_dz;
seg_le += seg_de;
cx += seg_dx;
cy += seg_dy;
if (!WITHIN(cx, 0, MESH_X_DIST) || !WITHIN(cy, 0, MESH_Y_DIST)) { // done within this cell, break to next
break;
}
// Next segment still within same mesh cell, adjust the per-segment
// slope and intercept to compute next z height.
z_cxy0 += z_sxy0; // adjust z_cxy0 by per-segment z_sxy0
z_cxym += z_sxym; // adjust z_cxym by per-segment z_sxym
} // segment loop
} // cell loop
}
#endif // UBL_DELTA
#endif // AUTO_BED_LEVELING_UBL